/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "FirmwareImage.h"
#include <QSerialPort>
#include <stdint.h>
/// Bootloader Utility routines. Works with PX4 and 3DR Radio bootloaders.
class Bootloader : public QObject
{
Q_OBJECT
public:
explicit Bootloader(bool sikRadio, QObject *parent = 0);
QString errorString(void) { return _errorString; }
bool open (const QString portName);
void close (void) { _port.close(); }
bool getBoardInfo (uint32_t& bootloaderVersion, uint32_t& boardID, uint32_t& flashSize);
bool initFlashSequence (void);
bool erase (void);
bool program (const FirmwareImage* image);
bool verify (const FirmwareImage* image);
bool reboot (void);
// Supported bootloader board ids
static const int boardIDPX4FMUV1 = 5; ///< PX4 V1 board, as from USB PID
static const int boardIDPX4FMUV2 = 9; ///< PX4 V2 board, as from USB PID
static const int boardIDPX4FMUV4 = 11; ///< PX4 V4 board, as from USB PID
static const int boardIDPX4FMUV4PRO = 13; ///< PX4 V4PRO board, as from USB PID
static const int boardIDPX4FMUV5 = 50; ///< PX4 V5 board, as from USB PID
static const int boardIDPX4Flow = 6; ///< PX4 Flow board, as from USB PID
static const int boardIDAeroCore = 98; ///< Gumstix AeroCore board, as from USB PID
static const int boardIDAUAVX2_1 = 33; ///< AUAV X2.1 board, as from USB PID
static const int boardID3DRRadio = 78; ///< 3DR Radio. This is an arbitrary value unrelated to the PID
static const int boardIDMINDPXFMUV2 = 88; ///< MindPX V2 board, as from USB PID
static const int boardIDTAPV1 = 64; ///< TAP V1 board, as from USB PID
static const int boardIDASCV1 = 65; ///< ASC V1 board, as from USB PID
static const int boardIDCrazyflie2 = 12; ///< Crazyflie 2.0 board, as from USB PID
static const int boardIDOmnibusF4SD = 42; ///< Omnibus F4 SD, as from USB PID
static const int boardIDFMUK66V3 = 28; ///< FMUK66V3 board, as from USB PID
static const int boardIDKakuteF7 = 123; ///< Holybro KakuteF7 board, as from USB PID
static const int boardIDDurandalV1 = 139; ///< Holybro Durandal-v1 board, as from USB PID
static const int boardIDModalFCV1 = 41775; ///< ModalAI FC V1 board, as from USB PID
static const int boardIDUVifyCore = 20; ///< UVify Core board, as from USB PID
/// Simulated board id for V3 which is a V2 board which supports larger flash space
/// IMPORTANT: Make sure this id does not conflict with any newly added real board ids
static const int boardIDPX4FMUV3 = 255;
signals:
/// @brief Signals progress indicator for long running bootloader utility routines
void updateProgress(int curr, int total);
private:
bool _sync (void);
bool _syncWorker (void);
bool _binProgram (const FirmwareImage* image);
bool _ihxProgram (const FirmwareImage* image);
bool _write (const uint8_t* data, qint64 maxSize);
bool _write (const uint8_t byte);
bool _write (const char* data);
bool _read (uint8_t* data, qint64 cBytesExpected, int readTimeout = _readTimout);
bool _sendCommand (uint8_t cmd, int responseTimeout = _responseTimeout);
bool _getCommandResponse (const int responseTimeout = _responseTimeout);
bool _protoGetDevice (uint8_t param, uint32_t& value);
bool _verifyBytes (const FirmwareImage* image);
bool _binVerifyBytes (const FirmwareImage* image);
bool _ihxVerifyBytes (const FirmwareImage* image);
bool _verifyCRC (void);
QString _getNextLine (int timeoutMsecs);
bool _get3DRRadioBoardId (uint32_t& boardID);
enum {
// protocol bytes
PROTO_INSYNC = 0x12, ///< 'in sync' byte sent before status
PROTO_BAD_SILICON_REV = 0x14, ///< device is using silicon not suitable for the target the bootloader was used for
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 = 5, ///< 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 = 0x28 ///< read size for PROTO_READ_MULTI, must be multiple of 4. Sik Radio max size is 0x28
};
QSerialPort _port;
bool _sikRadio = false;
bool _inBootloaderMode = false; ///< true: board is in bootloader mode, false: special case for SiK Radio, board is in command mode
uint32_t _boardID = 0; ///< board id for currently connected board
uint32_t _boardFlashSize = 0; ///< flash size for currently connected board
uint32_t _bootloaderVersion = 0; ///< Bootloader version
uint32_t _imageCRC = 0; ///< CRC for image in currently selected firmware file
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 available
static const int _responseTimeout = 2000; ///< Msecs to wait for command response bytes
static const int _flashSizeSmall = 1032192; ///< Flash size for boards with silicon error
static const int _bootloaderVersionV2CorrectFlash = 5; ///< Anything below this bootloader version on V2 boards cannot trust flash size
};