Bootload.hs

-- |
-- Module:      SwiftNav.SBP.Bootload
-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.
-- License:     LGPL-3
-- Maintainer:  Mark Fine <dev@swiftnav.com>
-- Stability:   experimental
-- Portability: portable
--
-- Messages for the bootloading configuration on the device.  These are in the
-- implementation-defined range (0x0000-0x00FF), and are intended for internal
-- use only. Note that some of these messages share the same message type ID
-- for both the host request and the device response.

module SwiftNav.SBP.Bootload where

import Control.Monad
import Control.Monad.Loops
import Data.Binary
import Data.Binary.Get
import Data.Binary.IEEE754
import Data.Binary.Put
import Data.ByteString
import Data.ByteString.Lazy hiding ( ByteString )
import Data.Int
import Data.Word

msgBootloaderHandshakeReq :: Word16
msgBootloaderHandshakeReq = 0x00B3

-- | SBP class for message MSG_BOOTLOADER_HANDSHAKE_REQ (0x00B3).
--
-- The handshake message request from the host establishes a handshake between
-- the device bootloader and the host. The response from the device is
-- MSG_BOOTLOADER_HANDSHAKE_RESP.
data MsgBootloaderHandshakeReq = MsgBootloaderHandshakeReq
  deriving ( Show, Read, Eq )

instance Binary MsgBootloaderHandshakeReq where
  get =
    return MsgBootloaderHandshakeReq

  put MsgBootloaderHandshakeReq =
    return ()

msgBootloaderHandshakeResp :: Word16
msgBootloaderHandshakeResp = 0x00B4

-- | SBP class for message MSG_BOOTLOADER_HANDSHAKE_RESP (0x00B4).
--
-- The handshake message response from the device establishes a handshake
-- between the device bootloader and the host. The request from the host is
-- MSG_BOOTLOADER_HANDSHAKE_REQ.  The payload contains the bootloader version
-- number and the SBP protocol version number.
data MsgBootloaderHandshakeResp = MsgBootloaderHandshakeResp
  { msgBootloaderHandshakeRespFlags   :: Word32
    -- ^ Bootloader flags
  , msgBootloaderHandshakeRespVersion :: ByteString
    -- ^ Bootloader version number
  } deriving ( Show, Read, Eq )

instance Binary MsgBootloaderHandshakeResp where
  get = do
    msgBootloaderHandshakeRespFlags <- getWord32le
    msgBootloaderHandshakeRespVersion <- liftM toStrict getRemainingLazyByteString
    return MsgBootloaderHandshakeResp {..}

  put MsgBootloaderHandshakeResp {..} = do
    putWord32le msgBootloaderHandshakeRespFlags
    putByteString msgBootloaderHandshakeRespVersion

msgBootloaderJumpToApp :: Word16
msgBootloaderJumpToApp = 0x00B1

-- | SBP class for message MSG_BOOTLOADER_JUMP_TO_APP (0x00B1).
--
-- The host initiates the bootloader to jump to the application.
data MsgBootloaderJumpToApp = MsgBootloaderJumpToApp
  { msgBootloaderJumpToAppJump :: Word8
    -- ^ Ignored by the device
  } deriving ( Show, Read, Eq )

instance Binary MsgBootloaderJumpToApp where
  get = do
    msgBootloaderJumpToAppJump <- getWord8
    return MsgBootloaderJumpToApp {..}

  put MsgBootloaderJumpToApp {..} = do
    putWord8 msgBootloaderJumpToAppJump

msgNapDeviceDnaReq :: Word16
msgNapDeviceDnaReq = 0x00DE

-- | SBP class for message MSG_NAP_DEVICE_DNA_REQ (0x00DE).
--
-- The device message from the host reads a unique device identifier from the
-- SwiftNAP, an FPGA. The host requests the ID by sending a
-- MSG_NAP_DEVICE_DNA_REQ message. The device responds with a
-- MSG_NAP_DEVICE_DNA_RESP message with the device ID in the payload. Note that
-- this ID is tied to the FPGA, and not related to the Piksi's serial number.
data MsgNapDeviceDnaReq = MsgNapDeviceDnaReq
  deriving ( Show, Read, Eq )

instance Binary MsgNapDeviceDnaReq where
  get =
    return MsgNapDeviceDnaReq

  put MsgNapDeviceDnaReq =
    return ()

msgNapDeviceDnaResp :: Word16
msgNapDeviceDnaResp = 0x00DD

-- | SBP class for message MSG_NAP_DEVICE_DNA_RESP (0x00DD).
--
-- The device message from the host reads a unique device identifier from the
-- SwiftNAP, an FPGA. The host requests the ID by sending a
-- MSG_NAP_DEVICE_DNA_REQ message. The device responds with a
-- MSG_NAP_DEVICE_DNA_RESP messagage with the device ID in the payload. Note
-- that this ID is tied to the FPGA, and not related to the Piksi's serial
-- number.
data MsgNapDeviceDnaResp = MsgNapDeviceDnaResp
  { msgNapDeviceDnaRespDna :: [Word8]
    -- ^ 57-bit SwiftNAP FPGA Device ID. Remaining bits are padded on the right.
  } deriving ( Show, Read, Eq )

instance Binary MsgNapDeviceDnaResp where
  get = do
    msgNapDeviceDnaRespDna <- replicateM 8 getWord8
    return MsgNapDeviceDnaResp {..}

  put MsgNapDeviceDnaResp {..} = do
    mapM_ putWord8 msgNapDeviceDnaRespDna

msgBootloaderHandshakeDepA :: Word16
msgBootloaderHandshakeDepA = 0x00B0

-- | SBP class for message MSG_BOOTLOADER_HANDSHAKE_DEP_A (0x00B0).
--
-- Deprecated.
data MsgBootloaderHandshakeDepA = MsgBootloaderHandshakeDepA
  { msgBootloaderHandshakeDepAHandshake :: [Word8]
    -- ^ Version number string (not NULL terminated)
  } deriving ( Show, Read, Eq )

instance Binary MsgBootloaderHandshakeDepA where
  get = do
    msgBootloaderHandshakeDepAHandshake <- whileM (liftM not isEmpty) getWord8
    return MsgBootloaderHandshakeDepA {..}

  put MsgBootloaderHandshakeDepA {..} = do
    mapM_ putWord8 msgBootloaderHandshakeDepAHandshake