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