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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef Bootloader_H
#define Bootloader_H
#include "FirmwareImage.h"
#include "qextserialport.h"
#include <stdint.h>
/// Bootloader Utility routines. Works with PX4 bootloader and 3DR Radio bootloader.
class Bootloader : public QObject
{
Q_OBJECT
public:
explicit Bootloader(QObject *parent = 0);
/// @brief Returns the error message associated with the last failed call to one of the bootloader
/// utility routine below.
QString errorString(void) { return _errorString; }
/// @brief Opens a port to the bootloader
bool open(QextSerialPort* port, const QString portName);
/// @brief Read a PROTO_SYNC response from the bootloader
/// @return true: Valid sync response was received
bool sync(QextSerialPort* port);
/// @brief Erases the current program
bool erase(QextSerialPort* port);
/// @brief Program the board with the specified image
bool program(QextSerialPort* port, const FirmwareImage* image);
/// @brief Verify the board flash.
bool verify(QextSerialPort* port, const FirmwareImage* image);
/// @brief Retrieve a set of board info from the bootloader of PX4 FMU and PX4 Flow boards
/// @param bootloaderVersion Returned INFO_BL_REV
/// @param boardID Returned INFO_BOARD_ID
/// @param flashSize Returned INFO_FLASH_SIZE
bool getPX4BoardInfo(QextSerialPort* port, uint32_t& bootloaderVersion, uint32_t& boardID, uint32_t& flashSize);
/// @brief Retrieve the board id from a 3DR Radio
bool get3DRRadioBoardId(QextSerialPort* port, uint32_t& boardID);
/// @brief Sends a PROTO_REBOOT command to the bootloader
bool reboot(QextSerialPort* port);
// Supported bootloader board ids
static const int boardIDPX4FMUV1 = 5; ///< PX4 V1 board
static const int boardIDPX4FMUV2 = 9; ///< PX4 V2 board
static const int boardIDPX4Flow = 6; ///< PX4 Flow board
static const int boardIDAeroCore = 98; ///< Gumstix AeroCore board
static const int boardID3DRRadio = 78; ///< 3DR Radio
signals:
/// @brief Signals progress indicator for long running bootloader utility routines
void updateProgress(int curr, int total);
private:
bool _binProgram(QextSerialPort* port, const FirmwareImage* image);
bool _ihxProgram(QextSerialPort* port, const FirmwareImage* image);
bool _write(QextSerialPort* port, const uint8_t* data, qint64 maxSize);
bool _write(QextSerialPort* port, const uint8_t byte);
bool _read(QextSerialPort* port, uint8_t* data, qint64 maxSize, int readTimeout = _readTimout);
bool _sendCommand(QextSerialPort* port, uint8_t cmd, int responseTimeout = _responseTimeout);
bool _getCommandResponse(QextSerialPort* port, const int responseTimeout = _responseTimeout);
bool _getPX4BoardInfo(QextSerialPort* port, uint8_t param, uint32_t& value);
bool _verifyBytes(QextSerialPort* port, const FirmwareImage* image);
bool _binVerifyBytes(QextSerialPort* port, const FirmwareImage* image);
bool _ihxVerifyBytes(QextSerialPort* port, const FirmwareImage* image);
bool _verifyCRC(QextSerialPort* port);
enum {
// protocol bytes
PROTO_INSYNC = 0x12, ///< 'in sync' byte sent before status
PROTO_EOC = 0x20, ///< end of command
// Reply bytes
PROTO_OK = 0x10, ///< INSYNC/OK - 'ok' response
PROTO_FAILED = 0x11, ///< INSYNC/FAILED - 'fail' response
PROTO_INVALID = 0x13, ///< INSYNC/INVALID - 'invalid' response for bad commands
// Command bytes
PROTO_GET_SYNC = 0x21, ///< NOP for re-establishing sync
PROTO_GET_DEVICE = 0x22, ///< get device ID bytes
PROTO_CHIP_ERASE = 0x23, ///< erase program area and reset program address
PROTO_LOAD_ADDRESS = 0x24, ///< set next programming address
PROTO_PROG_MULTI = 0x27, ///< write bytes at program address and increment
PROTO_GET_CRC = 0x29, ///< compute & return a CRC
PROTO_BOOT = 0x30, ///< boot the application
// Command bytes - Rev 2 boootloader only
PROTO_CHIP_VERIFY = 0x24, ///< begin verify mode
PROTO_READ_MULTI = 0x28, ///< read bytes at programm address and increment
INFO_BL_REV = 1, ///< bootloader protocol revision
BL_REV_MIN = 2, ///< Minimum supported bootlader protocol
BL_REV_MAX = 4, ///< Maximum 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 = 64, ///< write size for PROTO_PROG_MULTI, must be multiple of 4
READ_MULTI_MAX = 255 ///< read size for PROTO_READ_MULTI, must be multiple of 4
};
uint32_t _boardID; ///< board id for currently connected board
uint32_t _boardFlashSize; ///< flash size for currently connected board
uint32_t _imageCRC; ///< CRC for image in currently selected firmware file
uint32_t _bootloaderVersion; ///< Bootloader version
QString _firmwareFilename; ///< Currently selected firmware file to flash
QString _errorString; ///< Last error
static const int _eraseTimeout = 20000; ///< Msecs to wait for response from erase command
static const int _rebootTimeout = 10000; ///< Msecs to wait for reboot command to cause serial port to disconnect
static const int _verifyTimeout = 5000; ///< Msecs to wait for response to PROTO_GET_CRC command
static const int _readTimout = 2000; ///< Msecs to wait for read bytes to become avilable
static const int _responseTimeout = 2000; ///< Msecs to wait for command response bytes
};
#endif // PX4FirmwareUpgrade_H