mirror of
https://github.com/ArduPilot/ardupilot
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72 lines
2.2 KiB
C
72 lines
2.2 KiB
C
/*
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support checking board ID and firmware CRC in the bootloader
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_OpenDroneID/AP_OpenDroneID_config.h>
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#ifndef AP_CHECK_FIRMWARE_ENABLED
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#define AP_CHECK_FIRMWARE_ENABLED AP_OPENDRONEID_ENABLED
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#endif
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#if AP_CHECK_FIRMWARE_ENABLED
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enum class check_fw_result_t : uint8_t {
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CHECK_FW_OK = 0,
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FAIL_REASON_NO_APP_SIG = 10,
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FAIL_REASON_BAD_LENGTH_APP = 11,
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FAIL_REASON_BAD_BOARD_ID = 12,
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FAIL_REASON_BAD_CRC = 13,
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FAIL_REASON_IN_UPDATE = 14,
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FAIL_REASON_WATCHDOG = 15,
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FAIL_REASON_BAD_LENGTH_DESCRIPTOR = 16,
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};
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#ifndef FW_MAJOR
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#define APP_FW_MAJOR 0
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#define APP_FW_MINOR 0
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#else
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#define APP_FW_MAJOR FW_MAJOR
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#define APP_FW_MINOR FW_MINOR
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(APJ_BOARD_ID)
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// this allows for sitl_periph_gps to build
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#define APJ_BOARD_ID 0
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#endif
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/*
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the app_descriptor stored in flash in the main firmware and is used
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by the bootloader to confirm that the firmware is not corrupt and is
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suitable for this board. The build dependent values in this structure
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are filled in by set_app_descriptor() in the waf build
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*/
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struct app_descriptor {
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uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 };
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// crc1 is the crc32 from firmware start to start of image_crc1
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uint32_t image_crc1 = 0;
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// crc2 is the crc32 from the start of version_major to the end of the firmware
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uint32_t image_crc2 = 0;
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// total size of firmware image in bytes
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uint32_t image_size = 0;
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uint32_t git_hash = 0;
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// software version number
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uint8_t version_major = APP_FW_MAJOR;
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uint8_t version_minor = APP_FW_MINOR;
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// APJ_BOARD_ID (hardware version). This is also used in CAN NodeInfo
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// with high byte in HardwareVersion.major and low byte in HardwareVersion.minor
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uint16_t board_id = APJ_BOARD_ID;
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uint8_t reserved[8] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
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};
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#define APP_DESCRIPTOR_TOTAL_LENGTH 36
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static_assert(sizeof(app_descriptor) == APP_DESCRIPTOR_TOTAL_LENGTH, "app_descriptor incorrect length");
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#ifdef HAL_BOOTLOADER_BUILD
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check_fw_result_t check_good_firmware(void);
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#endif
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void check_firmware_print(void);
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#endif // AP_CHECK_FIRMWARE_ENABLED
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