/* support checking board ID and firmware CRC in the bootloader */ #include "AP_CheckFirmware.h" #include #include #if AP_CHECK_FIRMWARE_ENABLED #if defined(HAL_BOOTLOADER_BUILD) /* check firmware CRC and board ID to see if it matches */ check_fw_result_t check_good_firmware(void) { 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 return check_fw_result_t::FAIL_REASON_NO_APP_SIG; } // check length if (ad->image_size > flash_size) { return check_fw_result_t::FAIL_REASON_BAD_LENGTH_APP; } 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) { return check_fw_result_t::FAIL_REASON_BAD_BOARD_ID; } 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) { return check_fw_result_t::FAIL_REASON_BAD_LENGTH_DESCRIPTOR; } 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) { return check_fw_result_t::FAIL_REASON_BAD_CRC; } return check_fw_result_t::CHECK_FW_OK; } #endif // HAL_BOOTLOADER_BUILD #if !defined(HAL_BOOTLOADER_BUILD) extern const AP_HAL::HAL &hal; /* declare constant app_descriptor in flash */ extern const struct app_descriptor app_descriptor; #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS const struct app_descriptor app_descriptor __attribute__((section(".app_descriptor"))); #else const struct app_descriptor app_descriptor; #endif /* this is needed to ensure we don't elide the app_descriptor */ void check_firmware_print(void) { hal.console->printf("Booting %u/%u\n", app_descriptor.version_major, app_descriptor.version_minor); } #endif #endif // AP_CHECK_FIRMWARE_ENABLED