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Diffstat (limited to 'src/drivers/px4io/uploader.h')
-rw-r--r-- | src/drivers/px4io/uploader.h | 104 |
1 files changed, 104 insertions, 0 deletions
diff --git a/src/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h new file mode 100644 index 000000000..135202dd1 --- /dev/null +++ b/src/drivers/px4io/uploader.h @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file uploader.h + * Firmware uploader definitions for PX4IO. + */ + +#ifndef _PX4IO_UPLOADER_H +#define _PX4IO_UPLOADER_H value + +#include <stdint.h> +#include <stdbool.h> + + +class PX4IO_Uploader +{ +public: + PX4IO_Uploader(); + virtual ~PX4IO_Uploader(); + + int upload(const char *filenames[]); + +private: + enum { + + PROTO_NOP = 0x00, + PROTO_OK = 0x10, + PROTO_FAILED = 0x11, + PROTO_INSYNC = 0x12, + PROTO_EOC = 0x20, + PROTO_GET_SYNC = 0x21, + PROTO_GET_DEVICE = 0x22, + PROTO_CHIP_ERASE = 0x23, + PROTO_CHIP_VERIFY = 0x24, + PROTO_PROG_MULTI = 0x27, + PROTO_READ_MULTI = 0x28, + PROTO_GET_CRC = 0x29, + PROTO_REBOOT = 0x30, + + INFO_BL_REV = 1, /**< bootloader protocol revision */ + BL_REV = 3, /**< supported bootloader protocol */ + INFO_BOARD_ID = 2, /**< board type */ + INFO_BOARD_REV = 3, /**< board revision */ + INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */ + + PROG_MULTI_MAX = 60, /**< protocol max is 255, must be multiple of 4 */ + READ_MULTI_MAX = 60, /**< protocol max is 255, something overflows with >= 64 */ + + }; + + int _io_fd; + int _fw_fd; + + uint32_t bl_rev; /**< bootloader revision */ + + void log(const char *fmt, ...); + + int recv(uint8_t &c, unsigned timeout); + int recv(uint8_t *p, unsigned count); + void drain(); + int send(uint8_t c); + int send(uint8_t *p, unsigned count); + int get_sync(unsigned timeout = 1000); + int sync(); + int get_info(int param, uint32_t &val); + int erase(); + int program(size_t fw_size); + int verify_rev2(size_t fw_size); + int verify_rev3(size_t fw_size); + int reboot(); +}; + +#endif |