#ifndef DRV_IAP_H
#define DRV_IAP_H

#include "stm32f1xx.h"
#include "stdint.h"
#include "stdbool.h"


#define COMP_ID     "RTK_G_IAP"
#define COMP_VER    "0.0.1"



//MSG : | MSG_T 6 | PACK 1k | CRC 2 |
#define IAP_PACK_SIZE   256 + 8 + 2

typedef struct _mavlink_system {
    uint8_t stx;          //起始标志
    uint8_t headbytes;    //头部字节数
    uint8_t checkbytes;   //校验字节数
    uint8_t sysid;       //系统ID
    uint8_t compid;       //组件ID
    uint8_t tx_seq;       //发送序号
    uint8_t rx_seq;       //接收序号
} mavlink_system_t;

extern mavlink_system_t  mavlink_system;

typedef struct _mavlink_msg {
    uint8_t stx;
    uint8_t payload;
    uint8_t seq;   
    uint8_t sysid;
    uint8_t compid;
    uint8_t msgid;
} mavlink_msg_t;

extern mavlink_msg_t  mavlink_msg;

extern bool recv_aid_flag,   //急救模式标志，收到特殊恢复指令时置位
    recv_init_flag,          //初始化标志，收到升级初始化指令时置位
    recv_erasure_flag,       //FLASH擦除完成标志
    recv_finish_flag,        //固件传输完成标志
    recv_onepack_flag;       //数据包接收完成标志

typedef enum {
    DEFAULT = 0,              //默认状态
    INIT,                     //初始化状态
    TRANSMIT,                 //传输状态
    FINISH,                    //升级完成状态
    FAIL                      //升级失败状态
} IAP_STATUS;   //升级状态

extern IAP_STATUS recv_iap_flag; 

extern int iap_bin_Size;      //固件文件大小
extern short iap_bin_num, pre_iap_bin_num;   
extern unsigned char one_pack_size;    //数据包大小

extern bool pack_send_flag;


#define MAVLINK_ACK_ID 21

#define MAVLINK_BOOTLOADER_STATUS 199
#define MAVLINK_IAP_HEART 200

#define BOOTLOADER_STATUS_OK 0                 // 正常
#define BOOTLOADER_STATUS_NEEDTRANSMIT 1       // 没有程序，需要升级
#define BOOTLOADER_STATUS_FLASH_ERASOR_ERROR 2 // Flash 擦除失败
#define BOOTLOADER_STATUS_FLASH_WRITE_ERROR 3  // Flash 写入失败

extern unsigned char send_what;
extern uint8_t ack_id;
extern short id_cont;

extern uint32_t usb_tx_index;
extern uint8_t usb_tx_buf[IAP_PACK_SIZE];

extern uint32_t usb_rx_index;
extern uint8_t usb_rx_buf[IAP_PACK_SIZE + 2];

extern bool IAP_STATUS_FLAG;

void send_mavlink_ack(void);

void send_mavlink_bootloader_status(uint8_t bootloader_status);

void recv_iap_station_data_hookfunction(unsigned char rec_data);






#endif