Add table of contents structure for px4_fmuv5 targets

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

boards/px4/fmu-v5/nuttx-config/scripts/script.ld

@@ -90,6 +90,7 @@ ENTRY(_stext)
  */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
+EXTERN(_main_toc)
 
 SECTIONS
 {
@@ -103,6 +104,7 @@ SECTIONS
 		_bootdelay_signature = ABSOLUTE(.);
 		FILL(0xffecc2925d7d05c5)
 		. += 8;
+		*(.main_toc)
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)
@@ -186,4 +188,11 @@ SECTIONS
 	} > ITCM_RAM AT > FLASH_AXIM
 
 	_framfuncs = LOADADDR(.ramfunc);
+
+    /* Start of the image signature. This
+     *  has to be in the end of the image
+     */
+	.signature : {
+		_boot_signature = ALIGN(4);
+	} > FLASH_AXIM
 }

boards/px4/fmu-v5/src/CMakeLists.txt

@@ -41,6 +41,7 @@ add_library(drivers_board
 	spi.cpp
 	timer_config.cpp
 	usb.c
+	toc.c
 )
 add_dependencies(drivers_board arch_board_hw_info)
 

boards/px4/fmu-v5/src/toc.c

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 Technology Innovation Institute. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <image_toc.h>
+
+/* (Maximum) size of the signature */
+#define SIGNATURE_SIZE 64
+
+/* Boot image starts at _vectors and ends at
+ * the beginning of signature
+*/
+
+extern uint32_t _vectors[];
+extern const int *_boot_signature;
+
+#define BOOT_ADDR _vectors
+#define BOOT_END ((const void *)&_boot_signature)
+
+/* Boot signature start and end are defined by the
+ * signature definition below
+*/
+
+#define BOOTSIG_ADDR ((const void *)&_boot_signature)
+#define BOOTSIG_END ((const void *)((const uint8_t *)BOOTSIG_ADDR+SIGNATURE_SIZE))
+
+/* RD certifcate may follow boot signature */
+
+#define RDCT_ADDR BOOTSIG_END
+#define RDCT_END ((const void *)((const uint8_t*)BOOTSIG_END+sizeof(image_cert_t)))
+
+/* RD certificate signature follows the certificate */
+
+#define RDCTSIG_ADDR RDCT_END
+#define RDCTSIG_END ((const void *)((const uint8_t*)RDCT_ADDR+SIGNATURE_SIZE))
+
+/* The table of contents */
+
+IMAGE_MAIN_TOC(4) = {
+	{TOC_START_MAGIC, TOC_VERSION},
+	{
+		{"BOOT", BOOT_ADDR, BOOT_END, 0, 1, 0, 0, TOC_FLAG1_BOOT | TOC_FLAG1_CHECK_SIGNATURE},
+		{"SIG1", BOOTSIG_ADDR, BOOTSIG_END, 0, 0, 0, 0, 0},
+		{"RDCT", RDCT_ADDR, RDCT_END, 0, 3, 0, 0, TOC_FLAG1_RDCT | TOC_FLAG1_CHECK_SIGNATURE},
+		{"RDSG", RDCTSIG_ADDR, RDCTSIG_END, 0, 0, 0, 0, 0},
+	},
+	TOC_END_MAGIC
+};