/****************************************************************************
 *
 *   (c) 2009-2016 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.
 *
 ****************************************************************************/


/// @file
///     @author Don Gagne <don@thegagnes.com>

#ifndef Bootloader_H
#define Bootloader_H

#include "FirmwareImage.h"

#include <QSerialPort>

#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(QSerialPort* port, const QString portName);
    
    /// @brief Read a PROTO_SYNC response from the bootloader
    /// @return true: Valid sync response was received
    bool sync(QSerialPort* port);
    
    /// @brief Erases the current program
    bool erase(QSerialPort* port);
    
    /// @brief Program the board with the specified image
    bool program(QSerialPort* port, const FirmwareImage* image);
    
    /// @brief Verify the board flash.
    bool verify(QSerialPort* 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(QSerialPort* port, uint32_t& bootloaderVersion, uint32_t& boardID, uint32_t& flashSize);
    
    /// @brief Retrieve the board id from a 3DR Radio
    bool get3DRRadioBoardId(QSerialPort* port, uint32_t& boardID);
    
    /// @brief Sends a PROTO_REBOOT command to the bootloader
    bool reboot(QSerialPort* port);
    
    // 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 boardIDNXPHliteV3 = 28;    ///< NXPHliteV3 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 _binProgram(QSerialPort* port, const FirmwareImage* image);
    bool _ihxProgram(QSerialPort* port, const FirmwareImage* image);
    
    bool _write(QSerialPort* port, const uint8_t* data, qint64 maxSize);
    bool _write(QSerialPort* port, const uint8_t byte);
    
    bool _read(QSerialPort* port, uint8_t* data, qint64 maxSize, int readTimeout = _readTimout);
    
    bool _sendCommand(QSerialPort* port, uint8_t cmd, int responseTimeout = _responseTimeout);
    bool _getCommandResponse(QSerialPort* port, const int responseTimeout = _responseTimeout);
    
    bool _getPX4BoardInfo(QSerialPort* port, uint8_t param, uint32_t& value);
    
    bool _verifyBytes(QSerialPort* port, const FirmwareImage* image);
    bool _binVerifyBytes(QSerialPort* port, const FirmwareImage* image);
    bool _ihxVerifyBytes(QSerialPort* port, const FirmwareImage* image);
    bool _verifyCRC(QSerialPort* port);

    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
    };
    
    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 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
};

#endif // PX4FirmwareUpgrade_H