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AP_Bootloader: use AP_CheckFirmware

This commit is contained in:
Andrew Tridgell 2022-08-11 18:04:13 +10:00 committed by Randy Mackay
parent 635acc370f
commit 3313ca103c
6 changed files with 29 additions and 106 deletions
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12
Tools/AP_Bootloader/AP_Bootloader.cpp
View File

@ -35,6 +35,7 @@
#if EXT_FLASH_SIZE_MB
#include <AP_FlashIface/AP_FlashIface_JEDEC.h>
#endif
#include <AP_CheckFirmware/AP_CheckFirmware.h>
extern "C" {
int main(void);
@ -103,7 +104,8 @@ int main(void)
try_boot = false;
timeout = 0;
}
if (!can_check_firmware()) {
const auto ok = check_good_firmware();
if (ok != check_fw_result_t::CHECK_FW_OK) {
// bad firmware CRC, don't try and boot
timeout = 0;
try_boot = false;
@ -123,7 +125,15 @@ int main(void)
try_boot = false;
timeout = 0;
}
#elif AP_CHECK_FIRMWARE_ENABLED
const auto ok = check_good_firmware();
if (ok != check_fw_result_t::CHECK_FW_OK) {
// bad firmware, don't try and boot
timeout = 0;
try_boot = false;
}
#endif
#if defined(HAL_GPIO_PIN_VBUS) && defined(HAL_ENABLE_VBUS_CHECK)
#if HAL_USE_SERIAL_USB == TRUE
else if (palReadLine(HAL_GPIO_PIN_VBUS) == 0) {

32
Tools/AP_Bootloader/app_comms.h
View File

@ -15,35 +15,3 @@ struct app_bootloader_comms {
uint8_t my_node_id;
uint8_t path[201];
};
#ifndef FW_MAJOR
#define FW_MAJOR 0
#define FW_MINOR 0
#endif
/*
the app_descriptor stored in flash in the main firmware and is used
by the bootloader to confirm that the firmware is not corrupt and is
suitable for this board. The build dependent values in this structure
are filled in by set_app_descriptor() in the waf build
*/
struct app_descriptor {
uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 };
// crc1 is the crc32 from firmware start to start of image_crc1
uint32_t image_crc1 = 0;
// crc2 is the crc32 from the start of version_major to the end of the firmware
uint32_t image_crc2 = 0;
// total size of firmware image in bytes
uint32_t image_size = 0;
uint32_t git_hash = 0;
// software version number
uint8_t version_major = FW_MAJOR;
uint8_t version_minor = FW_MINOR;
// APJ_BOARD_ID (hardware version). This is also used in CAN NodeInfo
// with high byte in HardwareVersion.major and low byte in HardwareVersion.minor
uint16_t board_id = APJ_BOARD_ID;
uint8_t reserved[8] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
};
#define APP_DESCRIPTOR_TOTAL_LENGTH 36
static_assert(sizeof(app_descriptor) == APP_DESCRIPTOR_TOTAL_LENGTH, "app_descriptor incorrect length");

10
Tools/AP_Bootloader/bl_protocol.cpp
View File

@ -53,6 +53,8 @@
#if EXT_FLASH_SIZE_MB
#include <AP_FlashIface/AP_FlashIface_JEDEC.h>
#endif
#include <AP_CheckFirmware/AP_CheckFirmware.h>
// #pragma GCC optimize("O0")
@ -232,6 +234,14 @@ jump_to_app()
{
const uint32_t *app_base = (const uint32_t *)(APP_START_ADDRESS);
#if AP_CHECK_FIRMWARE_ENABLED
const auto ok = check_good_firmware();
if (ok != check_fw_result_t::CHECK_FW_OK) {
// bad firmware, don't try and boot
return;
}
#endif
// If we have QSPI chip start it
#if EXT_FLASH_SIZE_MB
uint8_t* ext_flash_start_addr;

77
Tools/AP_Bootloader/can.cpp
View File

@ -38,7 +38,7 @@
#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
#include <stdio.h>
#include <AP_HAL_ChibiOS/CANIface.h>
#include <AP_CheckFirmware/AP_CheckFirmware.h>
static CanardInstance canard;
static uint32_t canard_memory_pool[4096/4];
@ -84,16 +84,6 @@ static struct {
uint32_t sector_ofs;
} fw_update;
enum {
FAIL_REASON_NO_APP_SIG = 10,
FAIL_REASON_BAD_LENGTH_APP = 11,
FAIL_REASON_BAD_BOARD_ID = 12,
FAIL_REASON_BAD_CRC = 13,
FAIL_REASON_IN_UPDATE = 14,
FAIL_REASON_WATCHDOG = 15,
FAIL_REASON_BAD_LENGTH_DESCRIPTOR = 16,
};
/*
get cpu unique ID
*/
@ -238,7 +228,9 @@ static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* tra
if (len < UAVCAN_PROTOCOL_FILE_READ_RESPONSE_DATA_MAX_LENGTH) {
fw_update.node_id = 0;
flash_write_flush();
if (can_check_firmware()) {
const auto ok = check_good_firmware();
node_status.vendor_specific_status_code = uint8_t(ok);
if (ok == check_fw_result_t::CHECK_FW_OK) {
jump_to_app();
}
}
@ -624,64 +616,6 @@ void can_set_node_id(uint8_t node_id)
initial_node_id = node_id;
}
/*
check firmware CRC to see if it matches
*/
bool can_check_firmware(void)
{
if (fw_update.node_id != 0) {
// we're doing an update, don't boot this fw
node_status.vendor_specific_status_code = FAIL_REASON_IN_UPDATE;
return false;
}
const uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 };
const uint8_t *flash = (const uint8_t *)(FLASH_LOAD_ADDRESS + (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)*1024);
const uint32_t flash_size = (BOARD_FLASH_SIZE - (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB))*1024;
const app_descriptor *ad = (const app_descriptor *)memmem(flash, flash_size-sizeof(app_descriptor), sig, sizeof(sig));
if (ad == nullptr) {
// no application signature
node_status.vendor_specific_status_code = FAIL_REASON_NO_APP_SIG;
printf("No app sig\n");
return false;
}
// check length
if (ad->image_size > flash_size) {
node_status.vendor_specific_status_code = FAIL_REASON_BAD_LENGTH_APP;
printf("Bad fw length %u\n", ad->image_size);
return false;
}
bool id_ok = (ad->board_id == APJ_BOARD_ID);
#ifdef ALT_BOARD_ID
id_ok |= (ad->board_id == ALT_BOARD_ID);
#endif
if (!id_ok) {
node_status.vendor_specific_status_code = FAIL_REASON_BAD_BOARD_ID;
printf("Bad board_id %u should be %u\n", ad->board_id, APJ_BOARD_ID);
return false;
}
const uint8_t desc_len = offsetof(app_descriptor, version_major) - offsetof(app_descriptor, image_crc1);
uint32_t len1 = ((const uint8_t *)&ad->image_crc1) - flash;
if ((len1 + desc_len) > ad->image_size) {
node_status.vendor_specific_status_code = FAIL_REASON_BAD_LENGTH_DESCRIPTOR;
printf("Bad fw descriptor length %u\n", ad->image_size);
return false;
}
uint32_t len2 = ad->image_size - (len1 + desc_len);
uint32_t crc1 = crc32_small(0, flash, len1);
uint32_t crc2 = crc32_small(0, (const uint8_t *)&ad->version_major, len2);
if (crc1 != ad->image_crc1 || crc2 != ad->image_crc2) {
node_status.vendor_specific_status_code = FAIL_REASON_BAD_CRC;
printf("Bad app CRC 0x%08x:0x%08x 0x%08x:0x%08x\n", ad->image_crc1, ad->image_crc2, crc1, crc2);
return false;
}
printf("Good firmware\n");
return true;
}
// check for a firmware update marker left by app
bool can_check_update(void)
{
@ -742,6 +676,7 @@ bool can_check_update(void)
void can_start()
{
node_status.vendor_specific_status_code = uint8_t(check_good_firmware());
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_MAINTENANCE;
#if HAL_USE_CAN
@ -770,7 +705,7 @@ void can_start()
get_random_range(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
if (stm32_was_watchdog_reset()) {
node_status.vendor_specific_status_code = FAIL_REASON_WATCHDOG;
node_status.vendor_specific_status_code = uint8_t(check_fw_result_t::FAIL_REASON_WATCHDOG);
}
}

1
Tools/AP_Bootloader/can.h
View File

@ -1,5 +1,4 @@
void can_start();
void can_update();
void can_set_node_id(uint8_t node_id);
bool can_check_firmware(void);
bool can_check_update(void);

3
Tools/AP_Bootloader/wscript
View File

@ -25,7 +25,8 @@ def build(bld):
name= 'AP_Bootloader_libs',
ap_vehicle='AP_Bootloader',
ap_libraries= flashiface_lib + [
'AP_Math'
'AP_Math',
'AP_CheckFirmware'
])
bld(