mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
/*
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support checking board ID and firmware CRC in the bootloader
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*/
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#include "AP_CheckFirmware.h"
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#include <AP_HAL/HAL.h>
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#include <AP_Math/crc.h>
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#if AP_CHECK_FIRMWARE_ENABLED
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#if defined(HAL_BOOTLOADER_BUILD)
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/*
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check firmware CRC and board ID to see if it matches
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*/
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check_fw_result_t check_good_firmware(void)
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{
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const uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 };
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const uint8_t *flash = (const uint8_t *)(FLASH_LOAD_ADDRESS + (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)*1024);
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const uint32_t flash_size = (BOARD_FLASH_SIZE - (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB))*1024;
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const app_descriptor *ad = (const app_descriptor *)memmem(flash, flash_size-sizeof(app_descriptor), sig, sizeof(sig));
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if (ad == nullptr) {
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// no application signature
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return check_fw_result_t::FAIL_REASON_NO_APP_SIG;
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}
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// check length
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if (ad->image_size > flash_size) {
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return check_fw_result_t::FAIL_REASON_BAD_LENGTH_APP;
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}
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bool id_ok = (ad->board_id == APJ_BOARD_ID);
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#ifdef ALT_BOARD_ID
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id_ok |= (ad->board_id == ALT_BOARD_ID);
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#endif
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if (!id_ok) {
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return check_fw_result_t::FAIL_REASON_BAD_BOARD_ID;
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}
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const uint8_t desc_len = offsetof(app_descriptor, version_major) - offsetof(app_descriptor, image_crc1);
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uint32_t len1 = ((const uint8_t *)&ad->image_crc1) - flash;
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if ((len1 + desc_len) > ad->image_size) {
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return check_fw_result_t::FAIL_REASON_BAD_LENGTH_DESCRIPTOR;
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}
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uint32_t len2 = ad->image_size - (len1 + desc_len);
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uint32_t crc1 = crc32_small(0, flash, len1);
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uint32_t crc2 = crc32_small(0, (const uint8_t *)&ad->version_major, len2);
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if (crc1 != ad->image_crc1 || crc2 != ad->image_crc2) {
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return check_fw_result_t::FAIL_REASON_BAD_CRC;
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}
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return check_fw_result_t::CHECK_FW_OK;
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}
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#endif // HAL_BOOTLOADER_BUILD
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#if !defined(HAL_BOOTLOADER_BUILD)
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extern const AP_HAL::HAL &hal;
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/*
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declare constant app_descriptor in flash
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*/
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extern const struct app_descriptor app_descriptor;
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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const struct app_descriptor app_descriptor __attribute__((section(".app_descriptor")));
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#else
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const struct app_descriptor app_descriptor;
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#endif
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/*
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this is needed to ensure we don't elide the app_descriptor
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*/
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void check_firmware_print(void)
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{
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hal.console->printf("Booting %u/%u\n",
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app_descriptor.version_major,
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app_descriptor.version_minor);
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}
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#endif
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#endif // AP_CHECK_FIRMWARE_ENABLED
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