mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.6 KiB
C
50 lines
1.6 KiB
C
/*
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application -> bootloader communication structure This is put into
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the start of RAM by AP_Periph to facilitate firmware upload with
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UAVCAN
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*/
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#pragma once
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#define APP_BOOTLOADER_COMMS_MAGIC 0xc544ad9a
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struct app_bootloader_comms {
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uint32_t magic;
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uint32_t reserved[4];
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uint8_t server_node_id;
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uint8_t my_node_id;
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uint8_t path[201];
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};
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#ifndef FW_MAJOR
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#define FW_MAJOR 0
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#define FW_MINOR 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 = FW_MAJOR;
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uint8_t version_minor = 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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