text: /*
   * File      : starryio_uploader.c
   *
   * Change Logs:
   * Date           Author       Notes
   * 2017-02-04     zoujiachi   	the first version
   */
   
  #include <rtdevice.h>
  #include <rtthread.h>
  #include "shell.h"
  #include <stdlib.h>
  #include "ringbuffer.h"
  #include "console.h"
  #include "starryio_uploader.h"
  #include "delay.h"
  #include "starryio_manager.h"
  #include "ff.h"
  
  static const uint32_t crc32_tab[] = {
  	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
  	0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
  	0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
  	0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
  	0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
  	0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
  	0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
  	0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
  	0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
  	0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
  	0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
  	0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
  	0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
  	0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
  	0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
  	0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
  	0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
  	0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
  	0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
  	0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
  	0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
  	0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
  	0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
  	0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
  	0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
  	0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
  	0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
  	0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
  	0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
  	0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
  	0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
  	0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
  };
  
  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,		/**< bootloader protocol revision */
  	BL_REV				= 5,		/**< 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		= 248,		/**< protocol max is 255, must be multiple of 4 */
  
  };
  
  static rt_device_t _dev;
  static ringbuffer* rb;
  
  uint32_t crc32part(const uint8_t *src, size_t len, uint32_t crc32val)
  {
  	size_t i;
  
  	for (i = 0;  i < len;  i++) {
  		crc32val = crc32_tab[(crc32val ^ src[i]) & 0xff] ^ (crc32val >> 8);
  	}
  
  	return crc32val;
  }
  
  static rt_err_t recv_byte_with_timeout(uint8_t *c, unsigned timeout)
  {
  	uint32_t time = time_nowMs();
  	
  	while(time_nowMs()-time < timeout){
  		if(ringbuffer_getlen(rb)){
  			*c = ringbuffer_getc(rb);
  			return RT_EOK;
  		}
  	}
  	
  	return RT_ETIMEOUT;
  }
  
  static rt_err_t recv_bytes(uint8_t *buff, unsigned count)
  {
  	int ret = RT_EOK;
  
  	while (count--) {
  		ret = recv_byte_with_timeout(buff++, 5000);
  
  		if (ret != RT_EOK) {
  			break;
  		}
  	}
  
  	return ret;
  }
  
  static rt_err_t send_char(uint8_t c)
  {
  	rt_size_t bytes;
  	
  	bytes = rt_device_write(_dev, 0, (const void *)&c, 1);
  	if(bytes != 1)
  		return RT_ERROR;
  	
  	return RT_EOK;
  }
  
  static rt_err_t send(uint8_t* buff, uint32_t size)
  {
  	rt_size_t bytes;
  	
  	bytes = rt_device_write(_dev, 0, (const void *)buff, size);
  	if(bytes != size)
  		return RT_ERROR;
  	
  	return RT_EOK;
  }
  
  static rt_err_t get_sync(unsigned timeout)
  {
  	uint8_t c[2];
  	int ret;
  
  	ret = recv_byte_with_timeout(c, timeout);
  
  	if (ret != RT_EOK) {
  		return ret;
  	}
  
  	ret = recv_byte_with_timeout(c + 1, timeout);
  
  	if (ret != RT_EOK) {
  		return ret;
  	}
  
  	if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
  		//Console.print("bad sync 0x%02x,0x%02x\r\n", c[0], c[1]);
  		return RT_ERROR;
  	}
  
  	return RT_EOK;
  }
  
  
  static rt_err_t sync(void)
  {
  	/* complete any pending program operation */
  //	for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++) {
  //		send_char(0);
  //	}
  	
  	send_char(PROTO_GET_SYNC);
  	send_char(PROTO_EOC);
  	
  	return get_sync(50);
  }
  
  static rt_err_t get_info(int param, uint8_t* val, uint32_t size)
  {
  	int ret;
  
  	send_char(PROTO_GET_DEVICE);
  	send_char(param);
  	send_char(PROTO_EOC);
  
  	ret = recv_bytes(val, size);
  
  	if (ret != RT_EOK) {
  		return ret;
  	}
  
  	return get_sync(100);
  }
  
  static rt_err_t erase(void)
  {
  	send_char(PROTO_CHIP_ERASE);
  	send_char(PROTO_EOC);
  	return get_sync(10000);		/* allow 10s timeout */
  }
  
  static rt_err_t program_fs(char* file_name)
  {
  	size_t count = 0;
  	uint8_t* file_buf;
  	rt_err_t ret;
  	uint32_t prog_cnt, prog_offset;
  	uint32_t sum = 0;
  	uint32_t fw_size_remote;
  	uint8_t fill_blank = 0xff;
  	uint32_t crc = 0;
  	
  	FIL fp;
  	FRESULT res = f_open(&fp, file_name, FA_OPEN_EXISTING | FA_READ);
  	if(res != FR_OK){
  		Console.print("can not open the file:%s err:%d\n", file_name, res);
  		return RT_ERROR;
  	}
  	
  	prog_cnt = fp.fsize/PROG_MULTI_MAX;
  	prog_offset = fp.fsize%PROG_MULTI_MAX;
  	
  	file_buf = (uint8_t*)rt_malloc(fp.fsize);
  	
  	if(file_buf == NULL){
  		Console.print("malloc fail\r\n");
  		return RT_ERROR;
  	}
  	
  	UINT br; 
  	res = f_read(&fp, file_buf, fp.fsize, &br);
  	if(br != fp.fsize){
  		Console.print("read fail err. size:%d br:%d\n", fp.fsize, br);
  		rt_free(file_buf);
  		return RT_ERROR;
  	}
  	
  	Console.print("erase...\r\n");
  	ret = erase();
  	Console.print("program...\r\n");
  	
  	for (uint32_t i = 0 ; i < prog_cnt ; i++) {
  		/* calculate crc32 sum */
  		sum = crc32part((uint8_t *)&file_buf[i*PROG_MULTI_MAX], PROG_MULTI_MAX, sum);
  		
  		send_char(PROTO_PROG_MULTI);
  		send_char(PROG_MULTI_MAX);
  		send(&file_buf[i*PROG_MULTI_MAX], PROG_MULTI_MAX);
  		send_char(PROTO_EOC);
  
  		ret = get_sync(1000);
  		
  		if (ret != RT_EOK) {
  			Console.print("program fail %ld\r\n", ret);
  			break;
  		}
  	}
  	
  	if (prog_offset) {
  		/* calculate crc32 sum */
  		sum = crc32part((uint8_t *)&file_buf[prog_cnt*PROG_MULTI_MAX], prog_offset, sum);
  		
  		send_char(PROTO_PROG_MULTI);
  		send_char(prog_offset);
  		send(&file_buf[prog_cnt*PROG_MULTI_MAX], prog_offset);
  		send_char(PROTO_EOC);
  
  		ret = get_sync(1000);
  		
  		if (ret != RT_EOK) {
  			Console.print("program fail %ld\r\n", ret);
  		}
  	}
  	
  	/* free file_buf */
  	rt_free(file_buf);
  	
  	ret = get_info(INFO_FLASH_SIZE, (uint8_t*)&fw_size_remote, sizeof(fw_size_remote));
  	send_char(PROTO_EOC);
  
  	if (ret != RT_EOK) {
  		Console.print("could not read firmware size\r\n");
  		return ret;
  	}
  	
  	/* fill the rest with 0xff */
  	count = fp.fsize;
  	while (count < fw_size_remote) {
  		sum = crc32part(&fill_blank, sizeof(fill_blank), sum);
  		count += sizeof(fill_blank);
  	}
  	
  	/* request CRC from IO */
  	send_char(PROTO_GET_CRC);
  	send_char(PROTO_EOC);
  
  	ret = recv_bytes((uint8_t *)(&crc), sizeof(crc));
  	
  	if (ret != RT_EOK) {
  		Console.print("did not receive CRC checksum\r\n");
  		return ret;
  	}
  
  	/* compare the CRC sum from the IO with the one calculated */
  	if (sum != crc) {
  		Console.print("CRC wrong: received: %x, expected: %x\r\n", crc, sum);
  		return RT_ERROR;
  	}else{
  		Console.print("CRC check ok, received: %x, expected: %x\r\n", crc, sum);
  	}
  	
  	return RT_EOK;
  }
  
  static rt_err_t program_serial(size_t fw_size)
  {
  	size_t count = 0;
  	uint8_t* file_buf;
  	rt_err_t ret;
  	uint32_t prog_cnt, prog_offset;
  	uint32_t sum = 0;
  	uint32_t fw_size_remote;
  	uint8_t fill_blank = 0xff;
  	uint32_t crc = 0;
  	
  	struct finsh_shell* shell = finsh_get_shell();
  	
  	prog_cnt = fw_size/PROG_MULTI_MAX;
  	prog_offset = fw_size%PROG_MULTI_MAX;
  	
  	/* read file from serial */
  	file_buf = (uint8_t*)rt_malloc(fw_size);
  	
  	if(file_buf == NULL){
  		Console.print("malloc fail\r\n");
  		return RT_ERROR;
  	}
  	
  	while(count < fw_size){
  		count += rt_device_read(shell->device, 0, &file_buf[count], fw_size-count);
  	}
  	
  	Console.print("program...\r\n");
  	
  	for (uint32_t i = 0 ; i < prog_cnt ; i++) {
  		
  //		Console.print("i:%d\r\n", i);
  //		
  //		while (count < PROG_MULTI_MAX) {
  //			count += rt_device_read(shell->device, 0, &file_buf[count], PROG_MULTI_MAX-count);
  //		}
  		
  		//Console.print("cnt:%d\r\n", count);
  		
  		/* calculate crc32 sum */
  		sum = crc32part((uint8_t *)&file_buf[i*PROG_MULTI_MAX], PROG_MULTI_MAX, sum);
  		
  		send_char(PROTO_PROG_MULTI);
  		send_char(PROG_MULTI_MAX);
  		send(&file_buf[i*PROG_MULTI_MAX], PROG_MULTI_MAX);
  		send_char(PROTO_EOC);
  
  		ret = get_sync(1000);
  		
  		if (ret != RT_EOK) {
  			Console.print("program fail %ld\r\n", ret);
  			break;
  		}
  	}
  	
  	if (prog_offset) {
  		
  //		count = 0;
  //		
  //		while (count < prog_offset) {
  //			count += rt_device_read(shell->device, 0, &file_buf[count], PROG_MULTI_MAX-count);
  //		}
  		
  		/* calculate crc32 sum */
  		sum = crc32part((uint8_t *)&file_buf[prog_cnt*PROG_MULTI_MAX], prog_offset, sum);
  		
  		send_char(PROTO_PROG_MULTI);
  		send_char(prog_offset);
  		send(&file_buf[prog_cnt*PROG_MULTI_MAX], prog_offset);
  		send_char(PROTO_EOC);
  
  		ret = get_sync(1000);
  		
  		if (ret != RT_EOK) {
  			Console.print("program fail %ld\r\n", ret);
  		}
  	}
  	
  	/* free file_buf */
  	rt_free(file_buf);
  	
  	ret = get_info(INFO_FLASH_SIZE, (uint8_t*)&fw_size_remote, sizeof(fw_size_remote));
  	send_char(PROTO_EOC);
  
  	if (ret != RT_EOK) {
  		Console.print("could not read firmware size\r\n");
  		return ret;
  	}
  	
  	/* fill the rest with 0xff */
  	count = fw_size;
  	while (count < fw_size_remote) {
  		sum = crc32part(&fill_blank, sizeof(fill_blank), sum);
  		count += sizeof(fill_blank);
  	}
  	
  	/* request CRC from IO */
  	send_char(PROTO_GET_CRC);
  	send_char(PROTO_EOC);
  
  	ret = recv_bytes((uint8_t *)(&crc), sizeof(crc));
  	
  	if (ret != RT_EOK) {
  		Console.print("did not receive CRC checksum\r\n");
  		return ret;
  	}
  
  	/* compare the CRC sum from the IO with the one calculated */
  	if (sum != crc) {
  		Console.print("CRC wrong: received: %x, expected: %x\r\n", crc, sum);
  		return RT_ERROR;
  	}else{
  		Console.print("CRC check ok, received: %x, expected: %x\r\n", crc, sum);
  	}
  
  	return RT_EOK;
  }
  
  static rt_err_t reboot()
  {
  	send_char(PROTO_REBOOT);
  	time_waitUs(100 * 1000);
  	send_char(PROTO_EOC);
  
  	return RT_EOK;
  }
  
  //this function will be callback on rt_hw_serial_isr()
  static rt_err_t uploader_serial_rx_ind(rt_device_t dev, rt_size_t size)
  {
  	rt_size_t bytes;
  	uint8_t ch[RT_SERIAL_RB_BUFSZ];
  	
  	bytes = rt_device_read(_dev , 0 , ch , size);
  	
  	if(bytes){
  		for(uint32_t i = 0 ; i<bytes ; i++){
  			if(!ringbuffer_putc(rb, ch[i]))
  				Console.print("ringbuffer full\r\n");
  		}
  	}else{
  		Console.print("uploader listen err:%ld\r\n" , bytes);
  	}
  
      return RT_EOK;
  }
  
  void starryio_upload(void)
  {
  	uint32_t bl_rev;
  	rt_err_t ret;
  	uint8_t file_size[32] = {0};
  	uint32_t time = time_nowMs();
  	
  	struct finsh_shell* shell = finsh_get_shell();
  	
  	Console.print("starryio uploader, wait sync signal...\r\n");
  	
  	if(uploader_init() != RT_EOK){
  		uploader_deinit();
  		return ;
  	}
  	
  	request_reboot();	/* reboot starryio to let device enter bootloader */
  	
  	ringbuffer_flush(rb);	/*flush ring buffer*/
  	
  	while(time_nowMs() - time < 10000) {
  		if(sync() == RT_EOK){
  			char ch;
  			Console.print("sync success\r\n");
  			get_info(INFO_BL_REV, (uint8_t*)&bl_rev, sizeof(bl_rev));
  			Console.print("found bootloader revision: %d\r\n", bl_rev);
  			
  			Console.print("please choose download method:\n1:file system  2:serial  3:cancel\n");
  			ch = shell_wait_ch();
  			
  			if(ch == '1'){
  				ret = program_fs("starryio.bin");
  			}else if(ch == '2'){
  				Console.print(".bin file size:");
  			
  				for(uint32_t i = 0 ; ; i++){
  					//rt_sem_take(&shell->rx_sem, RT_WAITING_FOREVER);
  					//rt_device_read(shell->device, 0, &file_size[i], 1);
  					file_size[i] = shell_wait_ch();
  					Console.print("%c", file_size[i]);
  					if(file_size[i] < '0' || file_size[i] > '9'){
  						file_size[i] = '\0';
  						break;
  					}
  				}
  				
  				size_t f_size = atoi((char*)file_size);
  				Console.print("file size is %d, upload now? Y/N\r\n", f_size);
  				
  				ch = shell_wait_ch();
  				if(ch == 'Y' || ch == 'y'){
  					Console.print("erase...\r\n");
  					ret = erase();
  					ret = program_serial(f_size);
  				}else{
  					return ;
  				}
  			}else{
  				return ;
  			}
  			
  			if (ret != RT_EOK) {
  				Console.print("program failed!\r\n");
  				return ;
  			}else{
  				Console.print("program success!\r\n");
  				
  				ret = reboot();
  			
  				if (ret != RT_EOK) {
  					Console.print("reboot failed\r\n");
  					rt_device_close(_dev);
  				}else{
  					Console.print("update complete\r\n");
  				}
  			}
  			
  			uploader_deinit();
  			return;
  		}
  	}
  }
  
  rt_err_t uploader_init(void)
  {	
  	_dev = starryio_get_device();
  	
  	if(_dev == RT_NULL)
      {
          Console.print("serial device usart6 not found!\r\n");
          return RT_EEMPTY;
      }
  	
  	rb = ringbuffer_create(256);
  	rt_device_set_rx_indicate(_dev, uploader_serial_rx_ind);
  
  	if(rb == NULL){
  		Console.print("create ringbuffer err\r\n");
  		return RT_ERROR;
  	}
  	
  	return RT_EOK;
  }
  
  rt_err_t uploader_deinit(void)
  {
  	ringbuffer_delete(rb);
  	px4io_reset_rx_ind();
  	_dev = NULL;
  	
  	return RT_EOK;
  }
  
  