uploader.h

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/****************************************************************************
 *
 *   Copyright (c) 2012-2015 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
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#ifndef _PX4IO_UPLOADER_H
#define _PX4IO_UPLOADER_H value

#include <stdint.h>
#include <stdbool.h>


class PX4IO_Uploader
{
public:
    PX4IO_Uploader();
    virtual ~PX4IO_Uploader() = default;

    int         upload(const char *filenames[]);

private:
    enum {

        PROTO_NOP               = 0x00,
        PROTO_OK                = 0x10,
        PROTO_FAILED            = 0x11,
        PROTO_INSYNC            = 0x12,
        PROTO_INVALID           = 0x13,
        PROTO_BAD_SILICON_REV   = 0x14,
        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_GET_OTP           = 0x2a,
        PROTO_GET_SN            = 0x2b,
        PROTO_GET_CHIP          = 0x2c,
        PROTO_SET_DELAY         = 0x2d,
        PROTO_GET_CHIP_DES      = 0x2e,
        PROTO_REBOOT            = 0x30,

        INFO_BL_REV         = 1,        
        BL_REV          = 5,        
        INFO_BOARD_ID       = 2,        
        INFO_BOARD_REV      = 3,        
        INFO_FLASH_SIZE     = 4,        
        PROG_MULTI_MAX      = 248,      
    };

    int         _io_fd;
    int         _fw_fd;

    uint32_t        bl_rev; 
    void            log(const char *fmt, ...);

    int         recv_byte_with_timeout(uint8_t *c, unsigned timeout);
    int         recv_bytes(uint8_t *p, unsigned count);
    void            drain();
    int         send(uint8_t c);
    int         send(uint8_t *p, unsigned count);
    int         get_sync(unsigned timeout = 40);
    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