trimtools/monitor/monitor.go

package monitor

import (
	"bytes"
	"code.beefchicken.com/trimtools/dotx"
	"encoding/binary"
	"fmt"
	//	"github.com/jacobsa/go-serial/serial"
	"io"
	"strconv"
	"strings"
	"time"
)

const (
	readWriteBlockSize = 244

	NrmCmdGetSerial  = 0x06
	NrmCmdRSerial    = 0x07
	NrmCmdGetOpt     = 0x4A
	NrmCmdRetOpt     = 0x4B
	NrmCmdModeChange = 0x87

	MonCmdWriteMem = 0x80
	MonCmdReadMem  = 0x82
	MonCmdBaudRate = 0x86
	MonCmdReset    = 0x88
	MonCmdJmp      = 0x89

	MonCmdReadMemAck = 0x92
)

type Monitor struct {
	receiverType ReceiverType
	Dummy        bool
	inMonitor    bool
	receiver     *Receiver
	seekPos      uint32
}

type ReceiverState int

const (
	ReceiverUnexpected ReceiverState = iota
	ReceiverUnresponsive
	ReceiverNormal
	ReceiverInMonitor
)

type ReceiverType int

const (
	ReceiverType4000 ReceiverType = iota
	ReceiverType4400
)

func NewMonitor(receiver *Receiver) *Monitor {
	return &Monitor{receiver: receiver}
}

func (m *Monitor) StartMonitor() error {

	if m.Dummy {
		m.inMonitor = true
		return nil
	}
	fmt.Println("Starting monitor mode...")

	// once we have something that looks like a receiver on the line, figure
	// out what mode it's in.
	state, err := m.receiver.ProbeReceiverState()
	if err != nil {
		return err
	}

	if state == ReceiverUnresponsive {
		return fmt.Errorf("receiver unresponsive")
	}

	if state == ReceiverNormal {
		// get config
		conf, err := m.CmdGetRuntimeConfig()
		if err != nil {
			return err
		}
		fmt.Printf("PPU Version = %.2f\n", conf.BootRomVersion)

		opts, err := m.CmdGetOptions()
		if opts.ReceiverType == 3 { // gauss

		}
		// switch to monitor mode
		err = m.receiver.DoAckCommand(NrmCmdModeChange, []byte{0x57}) // 0x57 is what an ack at 38400 looks like at 9600 baud.
		if err != nil {
			return err
		}

		// When the monitor starts, it reverts back to 9600-N-8-1, so we have to
		// re-configure the serial port.
		err = m.receiver.useSlowBaudRate()
		if err != nil {
			return err
		}

		// It can take a while to boot into monitor mode
		err = m.receiver.waitForMonitor()
		if err != nil {
			return err
		}
	}
	// reconfigure monitor to speak at 38400-N-8-1
	// 0x6D = 4800
	// 0x37 = 9600
	// 0x1B = 19200
	// 0x0E = 38400
	// This appears to respond with 0xFE, but that is just is what a 38400
	// baud ACK (0x06) looks like when received at 9600 baud, and depending
	// on where in the bit the UART samples, different UARTs might see
	// different values, so we just ignore any no-ack error.

	err = m.receiver.DoAckCommand(MonCmdBaudRate, []byte{0x00, 0x0E})
	if err != nil {
		if _, ok := err.(*ProtocolError); !ok {
			return err
		}
	}

	// re-configure port for 38400 baud
	err = m.receiver.useFastBaudRate()
	if err != nil {
		return err
	}

	// Make sure baud switch was successful
	err = m.receiver.waitForMonitor()
	if err != nil {
		return err
	}

	//	}
	m.inMonitor = true

	// we should be in monitor mode now.

	fmt.Printf("Setting chip selects...\n")

	err = m.setChipSelects()
	if err != nil {
		return err
	}

	m.inMonitor = true

	fmt.Println("Monitor mode active.")

	return nil
}

func (m *Monitor) setChipSelects() error {

	// I don't understand the mechanism the PPU uses to communicate to the
	// system memory. The chip select registers only apply to signals originating
	// from the internal bus, so if the PPU is just taking over the bus, then the
	// chip selects wouldn't matter. But they definitely do, and if they're not
	// set properly, the PPU ends up seeing the wrong memory.

	// Maybe the PPU just loads a small ROM monitor into RAM, then hands control
	// back to the CPU? Hmmm.

	err := m.WriteMemory(0x00FFFA58, []uint16{
		0x1004, // CSBAR3 128k @ 0x100000
		0x7B71, // CSOR3 Change DSACK to 13 wait
	})

	if err != nil {
		return err
	}

	err = m.WriteMemory(0x00100000, []byte{0x55, 0x55, 0xAA, 0xAA})
	if err != nil {
		return err
	}

	b, err := m.ReadMemory(0x00100000, 4)
	if err != nil {
		return err
	}

	if bytes.Compare(b, []byte{0x55, 0x55, 0xAA, 0xAA}) == 0 {
		fmt.Printf("SE/SSE/SSi H/W target receiver detected.\n")
		fmt.Printf("Setting SE/SSE/SSi chip selects...\n")

		err = m.WriteMemory(0x00FFFA54, []uint16{
			0x7007, // CSBAR2
			0x7871, // CSOR2
		})
		if err != nil {
			return err
		}

		err = m.WriteMemory(0x00FFFA46, []uint16{
			0x03F5, // CSPAR1
		})
		if err != nil {
			return err
		}

		err = m.WriteMemory(0x00FFFA58, []uint16{
			0x1004, // CSBAR3
			0x7BF1, // CSOR3
		})
		if err != nil {
			return err
		}

		m.receiverType = ReceiverType4000

	} else {
		fmt.Printf("Cheetah/7400 MSi target receiver detected.\n")
		fmt.Printf("Setting Cheetah/7400 MSi chip selects...\n")

		err = m.WriteMemory(0x00FFFA48, []uint16{
			0x0005, // CSBARBT
			0x7831, // CSORBT
			0x0405, // CSBAR0
			0x7831, // CSOR0
			0x7005, // CSBAR1
			0x7831, // CSOR1
			0x7405, // CSBAR2
			0x7831, // CSOR2
		})
		if err != nil {
			return err
		}
		m.receiverType = ReceiverType4400
	}
	return nil
}

// Stop sends a reboot, which disconnects the monitor, and reconfigures the port back
// to the user configuration.
func (m *Monitor) Stop() error {
	return m.CmdResetReceiver()
}

// Close closes the serial port associated with the monitor
func (m *Monitor) Close() {
	m.receiver.port.Close()
}

// ReadMemory reads the device memory, breaking the read up into multiple
// commands as needed.
func (m *Monitor) ReadMemory(addr uint32, length int) ([]byte, error) {
	if !m.inMonitor {
		return nil, fmt.Errorf("receiver not in monitor")
	}
	//fmt.Printf("ReadMemory: addr=%08X length=%d\n", addr, length)

	out := make([]byte, 0)
	for i := 0; i < length; i += readWriteBlockSize {
		l := readWriteBlockSize
		if i+l > length {
			l = length - i
		}

		blockAddr := addr + uint32(i)

		b, err := m.CmdReadMemory(blockAddr, uint8(l))
		if err != nil {
			return nil, err
		}
		out = append(out, b...)
	}
	return out, nil
}

func (m *Monitor) CmdReadMemory(addr uint32, length uint8) ([]byte, error) {
	b := make([]byte, 5)
	binary.BigEndian.PutUint32(b[0:4], addr)
	b[4] = byte(length)

	//fmt.Printf("CmdReadMemory: addr=%08X length=%d\n", blockAddr, l)

	var err error
	const maxRetries = 3

	for r := 0; r < maxRetries; r++ {
		if r > 0 {
			fmt.Printf("CmdReadMemory: read failed: %v. Retrying.\n", err)
		}
		var reply *CommandReply
		if reply, err = m.receiver.DoStxEtxCommand(MonCmdReadMem, b); err != nil {
			continue
		}
		if reply.Command != MonCmdReadMemAck || reply.Status != 0 {
			err = newProtocolError("unexpected response from read memory")
			continue
		}
		if replyAddr := binary.BigEndian.Uint32(reply.Data[0:4]); replyAddr != addr {
			err = newProtocolError("address mismatch in read reply. expected 0x%06X, received 0x%06X", addr, replyAddr)
			continue
		}
		return reply.Data[4:], nil
	}
	return nil, err
}

// WriteMemory writes the device memory, breaking the write up into multiple
// commands as needed.
func (m *Monitor) WriteMemory(addr uint32, data interface{}) error {
	if !m.inMonitor {
		return fmt.Errorf("receiver not in monitor")
	}

	buf := &bytes.Buffer{}
	binary.Write(buf, binary.BigEndian, data)
	b := buf.Bytes()
	length := len(b)

	for i := 0; i < length; i += readWriteBlockSize {
		l := readWriteBlockSize
		if i+l > length {
			l = length - i
		}

		blockAddr := addr + uint32(i)

		err := m.CmdWriteMemory(blockAddr, b[i:i+l])
		if err != nil {
			return err
		}
	}
	return nil
}

func (m *Monitor) CmdWriteMemory(addr uint32, data []byte) error {
	const maxRetries = 3
	buf := make([]byte, 4)
	// for writes the address words are in little endian order, but the bytes
	// within the words are in big endian order
	binary.BigEndian.PutUint16(buf[0:2], uint16(addr&0xFFFF))
	binary.BigEndian.PutUint16(buf[2:4], uint16(addr>>16&0xFFFF))
	buf = append(buf, data...)

	var err error
	for r := 0; r < maxRetries; r++ {
		if r > 0 {
			fmt.Printf("CmdWriteMemory: write failed: %v. Retrying.\n", err)
		}
		err = m.receiver.DoAckCommand(MonCmdWriteMem, buf)
		if err == nil {
			break
		}

	}

	if err != nil {
		return err
	}
	return nil
}

// Jump calls the monitor's jump command.
func (m *Monitor) CmdJump(addr uint32) error {
	if !m.inMonitor {
		return fmt.Errorf("receiver not in monitor")
	}
	b := make([]byte, 4)
	binary.BigEndian.PutUint32(b[0:4], addr)

	return m.receiver.DoAckCommand(MonCmdJmp, b)
}

// ResetReceiver calls the monitor's reset command.
func (m *Monitor) CmdResetReceiver() error {
	if !m.inMonitor {
		return fmt.Errorf("receiver not in monitor")
	}
	err := m.receiver.SendStxEtxRequest(MonCmdReset, []byte{})
	if err != nil {
		return err
	}
	m.inMonitor = false

	// it seems that if I switch the baud rate too soon, the UART will still
	// be transmitting the above data, which will corrupt the command.
	time.Sleep(2 * time.Second)

	// revert the serial port
	err = m.receiver.useUserBaudRate()
	if err != nil {
		return err
	}

	return nil
}

// ReceiverInfo holds all the information we can glean from the receiver by
// probing its memory.
type ReceiverInfo struct {
	Name1                string
	Name2                string
	SerialNumber         int
	SerialNumberString   string
	OptionMemory         []byte
	ConfigMemory         []byte
	FirmwareDate         time.Time
	FirmwareVersionMajor int
	FirmwareVersionMinor int
	FirmwareVersion      float64
	ReceiverType         ReceiverType
	Code1Start           uint32
	Code1End             uint32
	Code1Checksum        uint32
	Code2Start           uint32
	Code2End             uint32
	Code2Checksum        uint32
}

// PrintOptions emulates the output of the loader.exe 'O' monitor mode command
func (info *ReceiverInfo) PrintOptions() {

	// Print receiver identity information
	fmt.Printf("   name1:%s\n", info.Name1)
	fmt.Printf("   name2:%s\n", info.Name2)
	fmt.Printf("ASCII serial #:%14s\n", info.SerialNumberString)
	fmt.Printf("  int serial #:%14d\n", info.SerialNumber)

	// Print Header
	for i := 0; i <= 48; i += 12 {
		fmt.Printf("Options %02d-%02d  ", i, i+11)
	}
	fmt.Printf("\n")

	// Print option values
	optNames := []string{
		"opt #00", "opt #01", "Locator", "opt #03", "RTCMAsci", "CyclPrnt", "PosStats", "TailBuoy", "PFinder", "LandSeis", "RTCMnetw", "CarPhDis",
		"Caltrans", "MxL1only", "RmtDnlod", "Demo", "opt #16", "RT17dsab", "LclDatum", "opt #19", "DualFreq", "SerPorts", "MulDatum", "ExtFreq",
		"EventMrk", "1PPS", "opt #26", "opt #27", "RTCM in", "RTCM out", "SyncLimt", "NMEA out", "NGS", "opt #33", "MultWYPT", "LctrCrPh",
		"Kinematc", "Config'd", "MemLimit", "RTK-L1", "RTK-OTF", "IONOFREE", "opt #42", "opt #43", "opt #44", "opt #45", "opt #46", "opt #47",
		"opt #48", "opt #49", "opt #50", "opt #51", "opt #52", "opt #53", "opt #54", "opt #55", "opt #56", "opt #57", "opt #58", "opt #59",
	}
	for i := 0; i < 12; i++ {
		for j := i; j <= i+48; j += 12 {
			fmt.Printf("$%02x-%-11s", info.OptionMemory[j], optNames[j])
		}
		fmt.Printf("\n")
	}

}

func (info *ReceiverInfo) PrintVersions() {
	// TODO: empty string in param 3 should say '(TEST)' when in test mode
	fmt.Printf("  Code Version: %1d.%02d %s    Date: %s\n", info.FirmwareVersionMajor, info.FirmwareVersionMinor, "", info.FirmwareDate.Format("02-Jan-06"))
	fmt.Printf("    Code1: %06X-%06X   Code2: %06X-%06X\n", info.Code1Start, info.Code1End-1, info.Code2Start, info.Code2End-1)
	fmt.Printf("Checksums:    %06X               %06X\n", info.Code1Checksum, info.Code2Checksum)
}

// GetReceiverInfo reads receiver information out of the receiver. Unlike GetOptions
// and GetRuntimeConfig, this reads the values straight out of memory.
func (m *Monitor) GetReceiverInfo() (*ReceiverInfo, error) {
	if !m.inMonitor {
		return nil, fmt.Errorf("receiver not in monitor")
	}
	info := &ReceiverInfo{}

	// Read the receiver-specific configuration.
	// 0x80600 and 0x22d both contain the same data, but for some reason some
	// code reads from one area and some from the other.
	b, err := m.ReadMemory(0x80600, 0x97) // or 0x80600? I'm so confused.
	if err != nil {
		return nil, err
	}
	info.Name1 = cStrtoGoStr(b[60:96])
	info.Name2 = cStrtoGoStr(b[96:132])
	info.SerialNumberString = cStrtoGoStr(b[132:147])
	info.SerialNumber = int(binary.BigEndian.Uint32(b[147:151]))
	info.OptionMemory = b[0:60]
	info.ReceiverType = m.receiverType

	configBase := uint32(0x000001F0)

	// read the configuration memory
	b, err = m.ReadMemory(configBase, 0x3A)
	if err != nil {
		return nil, err
	}
	info.ConfigMemory = b

	date := int(binary.BigEndian.Uint32(info.ConfigMemory[0x222-configBase:]))
	month := date / 10000
	day := date / 100 % 100
	year := date % 100
	if year >= 80 {
		year += 1900
	} else {
		year += 2000
	}
	info.FirmwareDate = time.Date(year, time.Month(month), day, 0, 0, 0, 0, time.UTC)

	ver := int(binary.BigEndian.Uint16(info.ConfigMemory[0x204-configBase:]))
	info.FirmwareVersionMajor = ver / 100
	info.FirmwareVersionMinor = ver % 100
	info.FirmwareVersion = float64(ver) / 100

	info.Code1Start = binary.BigEndian.Uint32(info.ConfigMemory[0x1f0-configBase:])
	info.Code1End = binary.BigEndian.Uint32(info.ConfigMemory[0x1f4-configBase:])
	info.Code2Start = binary.BigEndian.Uint32(info.ConfigMemory[0x1f8-configBase:])
	info.Code2End = binary.BigEndian.Uint32(info.ConfigMemory[0x1fc-configBase:])

	// read checksums
	b, err = m.ReadMemory(info.Code1End-12, 4)
	if err != nil {
		return nil, err
	}
	info.Code1Checksum = binary.BigEndian.Uint32(b)
	b, err = m.ReadMemory(info.Code2End-12, 4)
	if err != nil {
		return nil, err
	}
	info.Code2Checksum = binary.BigEndian.Uint32(b)

	if info.FirmwareVersion > 5.60 {
	}
	return info, nil
}

func cStrtoGoStr(b []byte) string {
	i := bytes.IndexByte(b, 0)
	if i < 0 {
		return string(b)
	}
	return string(b[:i])
}

type RuntimeConfig struct {
	SerialNumber      string
	ReceiverType      string
	NavProcessVersion float64
	SigProcessVersion float64
	BootRomVersion    float64
	AntennaSerial     string
	AntennaType       string
	Channels          string
	ChannelsL1        string
}

func progressBar(width, progress, total int) string {
	progressBlocks := []rune{'▏', '▎', '▍', '▌', '▋', '▊', '▉', '█'}
	p := float64(progress) / float64(total)
	blocks := int(float64(width) * p)
	eighths := int(float64(width)*p*8) % 8
	bar := strings.Repeat("█", blocks)
	blankWidth := width - blocks - 1
	if blankWidth < 0 {
		blankWidth = 0
	}
	blank := strings.Repeat("-", blankWidth)
	return fmt.Sprintf("(%0.2f%%) %s%c%s\n", p*100, bar, progressBlocks[eighths], blank)
}

type codeBlock struct {
	start uint32
	end   uint32
}

func (m *Monitor) CaptureReceiverFirmware() (*dotx.DotXFile, error) {

	info, err := m.GetReceiverInfo()
	if err != nil {
		return nil, err
	}
	dotX := dotx.NewDotX()

	// these chip selects are hard-coded into the first two records in the file
	dotX.AddBlock(0x00FFFA54, []byte{0x70, 0x07, 0x78, 0x71})
	dotX.AddBlock(0x00FFFA46, []byte{0x03, 0xF5})

	// then the code blocks
	codeBlocks := []*dotx.Block{
		{StartAddr: info.Code1Start, EndAddr: info.Code1End},
		{StartAddr: info.Code2Start, EndAddr: info.Code2End},
	}

	totalBytes := 0

	for _, cb := range codeBlocks {
		totalBytes += cb.Len()
	}

	bytesWriten := 0

	for _, block := range codeBlocks {
		blockLen := block.Len()
		b, err := m.ReadMemory(block.StartAddr, blockLen)
		if err != nil {
			return nil, err
		}
		block.Bytes = b
		dotX.Blocks = append(dotX.Blocks, block)
		bytesWriten += blockLen
	}

	// func(i uint32) {
	// 	fmt.Printf("$%08X  %s\r", i, progressBar(50, int(i-block.StartAddr)+bytesWriten, totalBytes))
	// }

	return dotX, nil
}

func (m *Monitor) CmdGetRuntimeConfig() (*RuntimeConfig, error) {
	if m.inMonitor {
		return nil, fmt.Errorf("receiver not in normal mode")
	}
	r, err := m.receiver.DoStxEtxCommand(NrmCmdGetSerial, []byte{})
	if err != nil {
		return nil, err
	}

	if r.Command != NrmCmdRSerial || r.Status != 0 {
		return nil, newProtocolError("unexpected response from read memory")
	}

	conf := &RuntimeConfig{}

	conf.SerialNumber = strings.TrimSpace(cStrtoGoStr(r.Data[0:8]))
	conf.ReceiverType = strings.TrimSpace(cStrtoGoStr(r.Data[8:16]))

	conf.NavProcessVersion, _ = strconv.ParseFloat(cStrtoGoStr(r.Data[16:21]), 64)
	conf.NavProcessVersion /= 100
	conf.SigProcessVersion, _ = strconv.ParseFloat(cStrtoGoStr(r.Data[21:26]), 64)
	conf.SigProcessVersion /= 100
	conf.BootRomVersion, _ = strconv.ParseFloat(cStrtoGoStr(r.Data[26:31]), 64)
	conf.BootRomVersion /= 100

	conf.AntennaSerial = strings.TrimSpace(cStrtoGoStr(r.Data[31:39]))
	conf.AntennaType = strings.TrimSpace(cStrtoGoStr(r.Data[39:41]))
	conf.Channels = strings.TrimSpace(cStrtoGoStr(r.Data[41:43]))
	conf.ChannelsL1 = strings.TrimSpace(cStrtoGoStr(r.Data[43:45]))

	return conf, nil
}

type Options struct {
	ElevationMask      int
	PDOPMask           float64
	SyncTime           float64
	FastestMeasRate    float64
	CurrentPortID      int
	PortsAvailable     int
	L1L2Operation      int
	CarrierPhase       bool
	KinematicMode      bool
	LocatorMode        bool
	PowerUpOption      bool
	RTKOption          bool
	NMEA0183Outputs    bool
	RTCM1Input         bool
	RTCM2Input         bool
	RTCM1Output        bool
	RTCM2Output        bool
	NavOption          bool
	FirmwareUpdate     bool
	EventMarker        int
	PulsePerSec        int
	ExtTimeInput       int
	CoCOM              bool
	MemoryInstalled    int
	MemoryUsed         int
	RTCMNetwork        bool
	DataFormat         int
	DataOffset         int
	PositionStatistics bool
	RemoteDownload     bool
	LocalDatums        bool
	RealTimeSurveyData bool
	CalTrans           bool
	ReceiverType       int
}

func (m *Monitor) CmdGetOptions() (*Options, error) {
	if m.inMonitor {
		return nil, fmt.Errorf("receiver not in normal mode")
	}
	r, err := m.receiver.DoStxEtxCommand(NrmCmdGetOpt, []byte{})
	if err != nil {
		return nil, err
	}

	if r.Command != NrmCmdRetOpt || r.Status != 0 {
		return nil, newProtocolError("unexpected response from read memory")
	}

	opts := &Options{
		ElevationMask:      int(r.Data[0]),
		PDOPMask:           float64(r.Data[1]) * 0.1,
		SyncTime:           float64(binary.BigEndian.Uint16(r.Data[2:4])) * 1,
		FastestMeasRate:    float64(binary.BigEndian.Uint16(r.Data[4:6])) * .1,
		CurrentPortID:      int(r.Data[6]),
		PortsAvailable:     int(r.Data[7]),
		L1L2Operation:      int(r.Data[8]),
		CarrierPhase:       r.Data[9] == 1,
		KinematicMode:      r.Data[10] == 1,
		LocatorMode:        r.Data[11] == 1,
		PowerUpOption:      r.Data[12] == 1,
		RTKOption:          r.Data[13] == 1,
		NMEA0183Outputs:    r.Data[18] == 1,
		RTCM1Input:         r.Data[19] == 1,
		RTCM2Input:         r.Data[20] == 1,
		RTCM1Output:        r.Data[21] == 1,
		RTCM2Output:        r.Data[22] == 1,
		NavOption:          r.Data[23] == 1,
		FirmwareUpdate:     r.Data[24] == 1,
		EventMarker:        int(r.Data[25]),
		PulsePerSec:        int(r.Data[26]),
		ExtTimeInput:       int(r.Data[27]),
		CoCOM:              r.Data[28] == 1,
		MemoryInstalled:    int(binary.BigEndian.Uint16(r.Data[29:31])),
		MemoryUsed:         int(r.Data[31]),
		RTCMNetwork:        r.Data[32] == 1,
		DataFormat:         int(r.Data[34]),
		DataOffset:         int(binary.BigEndian.Uint16(r.Data[35:37])),
		PositionStatistics: r.Data[37] == 1,
		RemoteDownload:     r.Data[38] == 1,
		LocalDatums:        r.Data[39] == 1,
		RealTimeSurveyData: r.Data[40] == 1,
		CalTrans:           r.Data[41] == 1,
		ReceiverType:       int(r.Data[44]),
	}

	return opts, nil
}

func (m *Monitor) ProgramReceiver(fw *dotx.DotXFile) error {
	fmt.Printf("Writing receiver program...\n")
	save := make([]byte, 8)
	totalBytes := fw.TotalBytes()
	t := 0
	var err error
	progressBarWidth := 50
	progressBlocks := []rune{'▏', '▎', '▍', '▌', '▋', '▊', '▉', '█'}

	// set fixFailedWrite to true to have the code just correct the first 8
	// bytes of memory to remove the boot blocker. This is a kludge for testing.
	fixFailedWrite := false

	for i, block := range fw.Blocks {
		if fixFailedWrite && i > 2 {
			// all we want are the chip selects and CODE1
			continue
		}
		recs := block.ToRecords(244)
		fmt.Printf("Writing block %d ($%08X - $%08X)...\n", i, block.StartAddr, block.EndAddr)
		for _, rec := range recs {
			t += len(rec.Bytes)
			p := float64(t) / float64(totalBytes)
			blocks := int(float64(progressBarWidth) * p)
			eighths := int(float64(progressBarWidth)*p*8) % 8
			bar := strings.Repeat("█", blocks)
			blankWidth := progressBarWidth - blocks - 1
			if blankWidth < 0 {
				blankWidth = 0
			}
			blank := strings.Repeat("-", blankWidth)

			progressBar := fmt.Sprintf("%s%c%s", bar, progressBlocks[eighths], blank)
			fmt.Printf("$%08X  (%0.2f%%) %s\r", rec.Addr, p*100, progressBar)

			if rec.Addr == 0x00000000 {
				// This replaces the first 8 bytes of the firmware image with
				// 4E72270000000000. The first 8 bytes are the stack pointer and
				// reset vector. The first value is actually a STOP #$2700
				// instruction, and the 0x00000000 reset vector means that STOP
				// is the only thing that will be executed. This saves the intended
				// value to write to memory at the end of the firmware upgrade
				// process, guaranteeing that the receiver will not function
				// with a half-baked firmware. Crafty, Trimble.
				b2 := make([]byte, len(rec.Bytes))
				copy(b2, rec.Bytes)
				copy(save[0:8], rec.Bytes[0:8])
				binary.BigEndian.PutUint32(b2[0:], 0x4E722700)
				binary.BigEndian.PutUint32(b2[4:], 0x00000000)
				err = m.WriteMemory(rec.Addr, b2)

				if fixFailedWrite {
					// for a fixFailedWrite all I care about is the first record.
					break
				}
			} else {
				err = m.WriteMemory(rec.Addr, rec.Bytes)
			}
			if err != nil {
				return err
			}
			if m.Dummy {
				time.Sleep(1 * time.Millisecond)
			}
		}
		fmt.Printf("% 80s\r", "")
	}
	fmt.Printf("\rDone. %d bytes written.\n", t)
	err = m.WriteMemory(0x00000000, save)
	if err != nil {
		return err
	}

	fmt.Printf("Rebooting receiver.\n")
	return m.CmdResetReceiver()
}

// Read implements the io.ReadSeeker interface
func (m *Monitor) Read(p []byte) (n int, err error) {
	p, err = m.ReadMemory(m.seekPos, len(p))
	m.seekPos += uint32(len(p))
	return len(p), err
}

// Seek implements the io.ReadSeeker interface
func (m *Monitor) Seek(offset int64, whence int) (int64, error) {
	var abs int64
	switch whence {
	case io.SeekStart:
		abs = offset
	case io.SeekCurrent:
		abs = int64(m.seekPos) + offset
	default:
		return 0, fmt.Errorf("Seek: invalid whence")
	}
	if abs < 0 {
		return 0, fmt.Errorf("Seek: negative position")
	}
	m.seekPos = uint32(abs)
	return abs, nil
}

func ReadMemory(f io.ReadSeeker, addr uint32, length int) ([]byte, error) {
	_, err := f.Seek(int64(addr), io.SeekStart)
	if err != nil {
		return nil, err
	}
	b := make([]byte, length)
	_, err = f.Read(b)
	if err != nil {
		return nil, err
	}
	return b, nil
}

type RawReceiverInfo struct {
	Options            [60]byte
	Name1              [36]byte
	Name2              [36]byte
	SerialNumberString [15]byte
	SerialNumber       uint32
}

// GetReceiverInfo reads receiver information out of the receiver. Unlike GetOptions
// and GetRuntimeConfig, this reads the values straight out of memory.
func GetReceiverInfo(f io.ReadSeeker) (*ReceiverInfo, error) {

	info := &ReceiverInfo{}

	// Read the receiver-specific configuration.
	// 0x80600 and 0x22d both contain the same data, but for some reason some
	// code reads from one area and some from the other.
	b, err := ReadMemory(f, 0x80600, 0x97)
	if err != nil {
		return nil, err
	}
	info.OptionMemory = b[0:60]
	info.Name1 = cStrtoGoStr(b[60:96])
	info.Name2 = cStrtoGoStr(b[96:132])
	info.SerialNumberString = cStrtoGoStr(b[132:147])
	info.SerialNumber = int(binary.BigEndian.Uint32(b[147:151]))

	configBase := uint32(0x000001F0)

	// read the configuration memory
	b, err = ReadMemory(f, configBase, 0x3A)
	if err != nil {
		return nil, err
	}
	info.ConfigMemory = b

	date := int(binary.BigEndian.Uint32(info.ConfigMemory[0x222-configBase:]))
	month := date / 10000
	day := date / 100 % 100
	year := date % 100
	if year >= 80 {
		year += 1900
	} else {
		year += 2000
	}
	info.FirmwareDate = time.Date(year, time.Month(month), day, 0, 0, 0, 0, time.UTC)

	ver := int(binary.BigEndian.Uint16(info.ConfigMemory[0x204-configBase:]))
	info.FirmwareVersionMajor = ver / 100
	info.FirmwareVersionMinor = ver % 100
	info.FirmwareVersion = float64(ver) / 100

	info.Code1Start = binary.BigEndian.Uint32(info.ConfigMemory[0x1f0-configBase:])
	info.Code1End = binary.BigEndian.Uint32(info.ConfigMemory[0x1f4-configBase:])
	info.Code2Start = binary.BigEndian.Uint32(info.ConfigMemory[0x1f8-configBase:])
	info.Code2End = binary.BigEndian.Uint32(info.ConfigMemory[0x1fc-configBase:])

	// read checksums
	b, err = ReadMemory(f, info.Code1End-12, 4)
	if err != nil {
		return nil, err
	}
	info.Code1Checksum = binary.BigEndian.Uint32(b)
	b, err = ReadMemory(f, info.Code2End-12, 4)
	if err != nil {
		return nil, err
	}
	info.Code2Checksum = binary.BigEndian.Uint32(b)

	if info.FirmwareVersion > 5.60 {
	}
	return info, nil
}

func CaptureReceiverFirmware(f io.ReadSeeker) (*dotx.DotXFile, error) {

	info, err := GetReceiverInfo(f)
	if err != nil {
		return nil, err
	}
	dotX := dotx.NewDotX()

	// these chip selects are hard-coded into the first two records in the file
	dotX.AddBlock(0x00FFFA54, []byte{0x70, 0x07, 0x78, 0x71})
	dotX.AddBlock(0x00FFFA46, []byte{0x03, 0xF5})

	// then the code blocks
	codeBlocks := []*dotx.Block{
		{StartAddr: info.Code1Start, EndAddr: info.Code1End},
		{StartAddr: info.Code2Start, EndAddr: info.Code2End},
	}

	totalBytes := 0

	for _, cb := range codeBlocks {
		totalBytes += cb.Len()
	}

	bytesWriten := 0

	for _, block := range codeBlocks {
		blockLen := block.Len()
		b, err := ReadMemory(f, block.StartAddr, blockLen)
		if err != nil {
			return nil, err
		}
		block.Bytes = b
		dotX.Blocks = append(dotX.Blocks, block)
		bytesWriten += blockLen
	}

	return dotX, nil
}