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