forked from Archive/PX4-Autopilot
99 lines
3.1 KiB
C++
99 lines
3.1 KiB
C++
/****************************************************************************
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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 |