Initial commit: Livox SDK2 source (excluding build artifacts)

2026-08-26 01:38:14 +09:00
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+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef LIVOX_UPGRADE_FIRMWARE_H_
+#define LIVOX_UPGRADE_FIRMWARE_H_
+
+#include <fstream>
+#include <ios>
+
+#include "FastCRC/FastCRC.h"
+
+namespace livox {
+namespace lidar {
+
+const uint32_t kMd5SignatureLength = 16;
+const uint32_t kEnlFileVersionV2 = 0x02000000;
+const uint32_t kEnlFileVersionV3 = 0x03000000;
+
+typedef enum {
+  kFirmwareMultiApp = 0,
+  kFirmwareApp = 1,
+  kFirmwareLoader = 2,
+  kFirmwareUnknown = 3,
+} FirmwareType;
+
+typedef enum {
+  kFirmwareDeviceTypeHub = 0,          /**< Livox Hub. */
+  kFirmwareDeviceTypeLidarMid40 = 1,   /**< Mid-40. */
+  kFirmwareDeviceTypeLidarTele = 2,    /**< Tele. */
+  kFirmwareDeviceTypeLidarHorizon = 3, /**< Horizon. */
+  kFirmwareDeviceTypeLidarHubV2 = 4,   /**< HubV2. */
+  kFirmwareDeviceTypeLidarMidLite = 5, /**< Mid-Lite. */
+  kFirmwareDeviceTypeLidarMid70 = 6,   /**< Mid-70. */
+  kFirmwareDeviceTypeLidarAvia = 7,    /**< Avia. */
+  kFirmwareDeviceTypeLidarXxx1 = 8,    /**< xxx1. */
+  kFirmwareDeviceTypeLidarXxx2 = 9,    /**< xxx2. */
+  kFirmwareDeviceTypeLidarHap = 10,    /**< Hap */
+  kFirmwareDeviceUnkown
+} FirmwareDeviceType;
+
+#pragma pack(1)
+
+// typedef struct {
+//   uint32_t file_version;
+//   uint32_t firmware_version;
+//   uint32_t firmware_length;
+//   uint8_t firmware_type;
+//   uint8_t device_type;
+//   uint8_t encrypt_type;
+//   uint8_t rsvd[2];
+//   uint8_t checksum_type;
+//   uint16_t checksum_length;
+//   uint8_t checksum[256];
+//   uint64_t modify_time;
+//   uint16_t header_checksum;
+// } LivoxEncryptFirmwareHeader;
+
+
+typedef struct {
+  uint32_t file_version;
+  uint32_t firmware_version;
+  uint32_t firmware_length;
+  uint8_t firmware_type;
+  uint8_t device_type;
+  uint8_t encrypt_type;
+  uint8_t rsvd[2];
+  uint8_t checksum_type;
+  uint16_t checksum_length;
+  uint8_t checksum[128];
+  uint8_t hw_whitelist[128];
+  uint64_t modify_time;
+  uint16_t header_checksum;
+} LivoxEncryptFirmwareHeader;
+
+typedef struct {
+  uint8_t overall_signature[kMd5SignatureLength];
+} LivoxEncryptFirmwareTail;
+
+/** Lidar feature. */
+typedef enum {
+  kEverythingIsOk = 0,
+  kFirmwareOutOfLength = 1,
+  kSystemIsNotReady = 2,
+  kFirmwareTypeMismatch = 3,
+  kUpgradeStateMismatch = 4,
+} RequestUpgradeReturnCode;
+
+const uint32_t kGeneralTryCountLimit = 10;
+const uint32_t kGetProcessTryCountLimit = 30;
+const uint32_t kGetProgressTryCountLimit = 10;
+
+#pragma pack()
+
+class Firmware {
+ public:
+  Firmware();
+  ~Firmware();
+  bool Open(const char *firmware_path);
+  void Close();
+
+  const uint32_t FirmwarePackageVersion() const { return header_.file_version; }
+
+
+  LivoxEncryptFirmwareHeader header_;
+  uint8_t *data_;
+  LivoxEncryptFirmwareTail tail_;
+  uint64_t file_size_;
+
+ private:
+  uint64_t MiniFileSize();
+  bool ReadAndCheckHeader();
+  std::ifstream file_;
+
+  FastCRC16 crc16_;
+};
+
+}
+}
+
+#endif //LIVOX_UPGRADE_FIRMWARE_H_