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uavcan bootloader use new AppDes

This commit is contained in:
David Sidrane 2021-01-28 13:08:16 -08:00 committed by Daniel Agar
parent bfdc6cd675
commit 760e47bbf9
7 changed files with 239 additions and 86 deletions
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3
platforms/nuttx/src/canbootloader/include/can.h
View File

@ -53,7 +53,8 @@ typedef enum {
CAN_125KBAUD = 1,
CAN_250KBAUD = 2,
CAN_500KBAUD = 3,
CAN_1MBAUD = 4
CAN_1MBAUD = 4,
CAN_UNDEFINED = 999,
} can_speed_t;
typedef enum {

92
platforms/nuttx/src/canbootloader/uavcan/main.c
View File

@ -82,6 +82,8 @@
#pragma message "******** DANGER DEBUG_APPLICATION_INPLACE is DEFINED ******"
#endif
extern bootloader_alt_app_shared_t _sapp_bl_shared;
typedef volatile struct bootloader_t {
can_speed_t bus_speed;
volatile uint8_t health;
@ -208,7 +210,7 @@ static void node_info_process(bl_timer_id id, void *context)
bootloader.fw_image_descriptor->minor_version;
response.software_version.vcs_commit =
bootloader.fw_image_descriptor->vcs_commit;
bootloader.fw_image_descriptor->git_hash;
response.software_version.image_crc =
bootloader.fw_image_descriptor->image_crc;
@ -292,9 +294,9 @@ static void find_descriptor(void)
app_descriptor_t *descriptor = NULL;
union {
uint64_t ull;
char text[sizeof(uint64_t)];
uint8_t bytes[sizeof(uint64_t)];
} sig = {
.text = {APP_DESCRIPTOR_SIGNATURE}
.bytes = APP_DESCRIPTOR_SIGNATURE
};
do {
@ -312,8 +314,8 @@ static void find_descriptor(void)
*
* Description:
* This functions validates the applications image based on the validity of
* the Application firmware descriptor's crc and the value of the first word
* in the FLASH image.
* the Application firmware descriptor's 2 crcs and the value of
* the first word in the FLASH image.
*
*
* Input Parameters:
@ -326,9 +328,9 @@ static void find_descriptor(void)
****************************************************************************/
static bool is_app_valid(uint32_t first_word)
{
uint64_t crc;
size_t i, length, crc_offset;
uint32_t word;
uint32_t block_crc1;
uint32_t block_crc2;
size_t length;
find_descriptor();
@ -342,32 +344,21 @@ static bool is_app_valid(uint32_t first_word)
return false;
}
crc_offset = (size_t)(&bootloader.fw_image_descriptor->image_crc) -
(size_t) bootloader.fw_image;
crc_offset >>= 2u;
length >>= 2u;
block_crc1 = crc32_signature(0, sizeof(first_word), (const uint8_t *)&first_word);
block_crc1 = crc32_signature(block_crc1, (size_t)(&bootloader.fw_image_descriptor->crc32_block1) -
(size_t)(bootloader.fw_image + 1), (const uint8_t *)(bootloader.fw_image + 1));
crc = crc64_add_word(CRC64_INITIAL, first_word);
for (i = 1u; i < length; i++) {
if (i == crc_offset || i == crc_offset + 1u) {
/* Zero out the CRC field while computing the CRC */
word = 0u;
} else {
word = bootloader.fw_image[i];
}
crc = crc64_add_word(crc, word);
}
crc ^= CRC64_OUTPUT_XOR;
block_crc2 = crc32_signature(0,
(size_t) bootloader.fw_image_descriptor->image_size - ((size_t)&bootloader.fw_image_descriptor->major_version
- (size_t)bootloader.fw_image),
(const uint8_t *) &bootloader.fw_image_descriptor->major_version);
#if defined(DEBUG_APPLICATION_INPLACE)
return true;
#endif
return crc == bootloader.fw_image_descriptor->image_crc;
return block_crc1 == bootloader.fw_image_descriptor->crc32_block1
&& block_crc2 == bootloader.fw_image_descriptor->crc32_block2;
}
/****************************************************************************
@ -976,11 +967,16 @@ static void application_run(size_t fw_image_size, bootloader_app_shared_t *commo
static int autobaud_and_get_dynamic_node_id(bl_timer_id tboot, can_speed_t *speed, uint32_t *node_id)
{
board_indicate(autobaud_start);
bool autobaud_only = *speed == CAN_UNDEFINED;
int rv = can_autobaud(speed, tboot);
if (rv != CAN_BOOT_TIMEOUT) {
board_indicate(autobaud_end);
if (autobaud_only) {
return rv;
}
board_indicate(allocation_start);
#if defined(DEBUG_APPLICATION_INPLACE)
*node_id = 125;
@ -1071,9 +1067,24 @@ __EXPORT int main(int argc, char *argv[])
board_indicate(reset);
/* Was this boot a result of the Application being told it has a FW update ? */
bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) &&
common.bus_speed && common.node_id;
/* Was this boot a result of An Alternate Application being told it has a FW update ? */
bootloader_alt_app_shared_t *ps = (bootloader_alt_app_shared_t *) &_sapp_bl_shared;
if (ps->signature == BL_ALT_APP_SHARED_SIGNATURE) {
common.node_id = ps->node_id;
common.bus_speed = CAN_UNDEFINED;
bootloader.app_bl_request = ps->node_id != 0;
ps->signature = 0;
} else {
/* Was this boot a result of the Application being told it has a FW update ? */
bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) &&
common.bus_speed && common.node_id;
}
/*
* Mark CRC to say this is not from
@ -1130,6 +1141,23 @@ __EXPORT int main(int argc, char *argv[])
if (bootloader.app_bl_request) {
bootloader.bus_speed = common.bus_speed;
/* if the the bootloader_alt_app_shared_t was used there is not bit rate.
* So let auto baud only as signaled by bootloader.bus_speed == CAN_UNDEFINED
*/
if (common.bus_speed == CAN_UNDEFINED) {
if (CAN_OK != autobaud_and_get_dynamic_node_id(tboot, (can_speed_t *)&bootloader.bus_speed, &common.node_id)) {
/*
* It is OK that node ID is set to the preferred Appl Node ID because
* common.crc.valid is not true yet
*/
goto boot;
}
}
can_init(can_freq2speed(common.bus_speed), CAN_Mode_Normal);
} else {

30
src/drivers/bootloaders/boot_app_shared.h
View File

@ -44,9 +44,7 @@ __BEGIN_DECLS
* revision number of 00 used in app_descriptor_t
*/
#define APP_DESCRIPTOR_SIGNATURE_ID 'A','P','D','e','s','c'
#define APP_DESCRIPTOR_SIGNATURE_REV '0','0'
#define APP_DESCRIPTOR_SIGNATURE APP_DESCRIPTOR_SIGNATURE_ID, APP_DESCRIPTOR_SIGNATURE_REV
#define APP_DESCRIPTOR_SIGNATURE { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 }
/* N.B. the .ld file must emit this sections */
# define boot_app_shared_section __attribute__((section(".app_descriptor")))
@ -96,6 +94,15 @@ typedef begin_packed_struct struct bootloader_app_shared_t {
uint32_t bus_speed;
uint32_t node_id;
} end_packed_struct bootloader_app_shared_t;
#define BL_ALT_APP_SHARED_SIGNATURE 0xc544ad9a
typedef begin_packed_struct struct bootloader_alt_app_shared_t {
uint32_t signature;
uint32_t reserved[4];
uint8_t fw_server_node_id;
uint8_t node_id;
uint8_t path[201];
} end_packed_struct bootloader_alt_app_shared_t;
#pragma GCC diagnostic pop
/****************************************************************************
@ -128,12 +135,19 @@ typedef begin_packed_struct struct bootloader_app_shared_t {
#pragma GCC diagnostic ignored "-Wpacked"
typedef begin_packed_struct struct app_descriptor_t {
uint8_t signature[sizeof(uint64_t)];
uint64_t image_crc;
union {
uint64_t image_crc;
struct {
uint32_t crc32_block1;
uint32_t crc32_block2;
};
};
uint32_t image_size;
uint32_t vcs_commit;
uint8_t major_version;
uint8_t minor_version;
uint8_t reserved[6];
uint32_t git_hash;
uint8_t major_version;
uint8_t minor_version;
uint16_t board_id;
uint8_t reserved[ 3 + 3 + 2];
} end_packed_struct app_descriptor_t;
#pragma GCC diagnostic pop

134
src/drivers/bootloaders/make_can_boot_descriptor.py
View File

@ -7,6 +7,41 @@ import struct
import optparse
import binascii
from io import BytesIO
import array
crctab = array.array('I', [
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
class GitWrapper:
@classmethod
@ -21,26 +56,31 @@ class GitWrapper:
class AppDescriptor(object):
"""
UAVCAN firmware image descriptor format:
uint64_t signature (bytes [7:0] set to 'APDesc00' by linker script)
uint64_t image_crc (set to 0 by linker script)
uint32_t image_size (set to 0 by linker script)
uint32_t vcs_commit (set in source or by this tool)
uint64_t signature (bytes [7:0] set to '{ 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 }' by the build
uint32_t crc32_block1 From offset 0 to . (non inclusive) (set by this tool)
uint32_t crc32_block2 From offsetof(minor_version) to end (set by this tool)
uint32_t image_size (set to 0 by linker script)
uint32_t vcs_commit (set in source or by this tool)
uint8_t version_major (set in source)
uint8_t version_minor (set in source)
uint16_t board_id (set in source)
uint8_t reserved[6] (set to 0xFF by linker script)
"""
LENGTH = 8 + 8 + 4 + 4 + 1 + 1 + 6
SIGNATURE = b"APDesc00"
RESERVED = b"\xFF" * 6
LENGTH = 8 + 4 + 4 + 4 + 4 + 1 + 1 + 2 + 8
DESLENGTH = 4 + 4 + 4 + 4
SIGNATURE = b"\x40\xa2\xe4\xf1\x64\x68\x91\x06"
RESERVED = b"\xFF" * 8
def __init__(self, bytes=None):
self.signature = AppDescriptor.SIGNATURE
self.image_crc = 0
self.crc32_block1 = 0
self.crc32_block2 = 0
self.image_size = 0
self.vcs_commit = 0
self.version_major = 0
self.version_minor = 0
self.board_id = 0
self.reserved = AppDescriptor.RESERVED
if bytes:
@ -51,15 +91,16 @@ class AppDescriptor(object):
binascii.b2a_hex(bytes)))
def pack(self):
return struct.pack("<8sQLLBB6s", self.signature, self.image_crc,
self.image_size, self.vcs_commit,
return struct.pack("<8sLLLLBBH8s", self.signature, self.crc32_block1,
self.crc32_block2, self.image_size, self.vcs_commit,
self.version_major, self.version_minor,
self.board_id,
self.reserved)
def unpack(self, bytes):
(self.signature, self.image_crc, self.image_size, self.vcs_commit,
self.version_major, self.version_minor, self.reserved) = \
struct.unpack("<8sQLLBB6s", bytes)
(self.signature, self.crc32_block1, self.crc32_block2, self.image_size, self.vcs_commit,
self.version_major, self.version_minor, self.board_id, self.reserved) = \
struct.unpack("<8sLLLLBBH8s", bytes)
if not self.empty and not self.valid:
raise ValueError()
@ -67,13 +108,14 @@ class AppDescriptor(object):
@property
def empty(self):
return (self.signature == AppDescriptor.SIGNATURE and
self.image_crc == 0 and self.image_size == 0 and
self.reserved == AppDescriptor.RESERVED)
self.crc32_block1 == 0 and self.crc32_block2 == 0 and
self.image_size == 0 and self.reserved == AppDescriptor.RESERVED)
@property
def valid(self):
return (self.signature == AppDescriptor.SIGNATURE and
self.image_crc != 0 and self.image_size > 0 and
self.crc32_block1 != 0 and self.crc32_block2 != 0 and
self.image_size > 0 and self.board_id != 0 and
self.reserved == AppDescriptor.RESERVED)
@ -136,38 +178,31 @@ class FirmwareImage(object):
# Set the descriptor's length and CRC to the values required for
# CRC computation
self.app_descriptor.image_size = self.length
self.app_descriptor.image_crc = 0
self.app_descriptor.crc32_block1 = 0
self.app_descriptor.crc32_block2 = 0
self._write_descriptor_raw()
content = bytearray(self._contents.getvalue())
if self._padding:
content += bytearray.fromhex("ff" * self._padding)
# Update the descriptor's CRC based on the computed value and write
# it out again
self.app_descriptor.image_crc = self.crc
self.app_descriptor.crc32_block1 = self.crc32(content[:self.app_descriptor_offset + len(AppDescriptor.SIGNATURE)])
b2 = self.app_descriptor_offset + len(AppDescriptor.SIGNATURE) + AppDescriptor.DESLENGTH
self.app_descriptor.crc32_block2 = self.crc32(content[b2:])
self._write_descriptor_raw()
@property
def crc(self):
MASK = 0xFFFFFFFFFFFFFFFF
POLY = 0x42F0E1EBA9EA3693
def crc32(self, bytes, crc = 0):
# Calculate the image CRC with the image_crc field in the app
# descriptor zeroed out.
crc_offset = self.app_descriptor_offset + len(AppDescriptor.SIGNATURE)
content = bytearray(self._contents.getvalue())
content[crc_offset:crc_offset + 8] = bytearray.fromhex("00" * 8)
if self._padding:
content += bytearray.fromhex("ff" * self._padding)
val = MASK
for byte in content:
val ^= (byte << 56) & MASK
for bit in range(8):
if val & (1 << 63):
val = ((val << 1) & MASK) ^ POLY
else:
val <<= 1
return (val & MASK) ^ MASK
for byte in bytes:
index = (crc ^ byte) & 0xff
crc = crctab[index] ^ (crc >> 8)
return crc
@property
def padding(self):
@ -234,7 +269,6 @@ class FirmwareImage(object):
def app_descriptor(self, value):
self._descriptor = value
if __name__ == "__main__":
parser = optparse.OptionParser(usage="usage: %prog [options] [IN OUT]")
parser.add_option("--vcs-commit", dest="vcs_commit", default=None,
@ -305,15 +339,31 @@ bootloader image to the output image.
""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
bootloader_size, len(bootloader_image)))
sys.stderr.write(
"""------------------------------------------------------------------------------
"""READ VALUES
------------------------------------------------------------------------------
Field Type Value
signature uint64 {1.signature!r}
crc32_block1 uint32 0x{1.crc32_block1:08X}
crc32_block2 uint32 0x{1.crc32_block2:08X}
image_size uint32 0x{1.image_size:X} ({1.image_size:d} B)
vcs_commit uint32 {1.vcs_commit:08X}
version_major uint8 {1.version_major:d}
version_minor uint8 {1.version_minor:d}
board_id uint32 0x{1.board_id:X}
reserved uint8[8] {1.reserved!r}
WRITTEN VALUES
------------------------------------------------------------------------------
Field Type Value
signature uint64 {2.signature!r}
image_crc uint64 0x{2.image_crc:016X}
crc32_block1 uint32 0x{2.crc32_block1:08X}
crc32_block2 uint32 0x{2.crc32_block2:08X}
image_size uint32 0x{2.image_size:X} ({2.image_size:d} B)
vcs_commit uint32 {2.vcs_commit:08X}
version_major uint8 {2.version_major:d}
version_minor uint8 {2.version_minor:d}
reserved uint8[6] {2.reserved!r}
board_id uint32 0x{2.board_id:X}
reserved uint8[8] {2.reserved!r}
""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
bootloader_size, len(bootloader_image)))
if out_image.padding:

7
src/drivers/uavcannode/UavcanNode.cpp
View File

@ -73,13 +73,14 @@ namespace uavcannode
* image crc, size etc of this application
*/
boot_app_shared_section app_descriptor_t AppDescriptor = {
.signature = {APP_DESCRIPTOR_SIGNATURE},
.signature = APP_DESCRIPTOR_SIGNATURE,
.image_crc = 0,
.image_size = 0,
.vcs_commit = 0,
.git_hash = 0,
.major_version = APP_VERSION_MAJOR,
.minor_version = APP_VERSION_MINOR,
.reserved = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff }
.board_id = HW_VERSION_MAJOR << 8 | HW_VERSION_MINOR,
.reserved = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff }
};
UavcanNode *UavcanNode::_instance;

38
src/lib/systemlib/crc.c
View File

@ -132,6 +132,44 @@ uint16_t crc16_signature(uint16_t initial, size_t length, const uint8_t *bytes)
return initial ^ CRC16_OUTPUT_XOR;
}
/****************************************************************************
* Name: crc32_signature
*
* Description:
* Calculates a CRC-32 function
*
* Input Parameters:
* acc - The accumulator value to uses as the crc's starting point
* length - The number of bytes to add to the crc
* bytes - A pointer to any array of length bytes
*
* Returned Value:
* The crc32 of the array of bytes
*
****************************************************************************/
uint32_t crc32_signature(uint32_t acc, size_t length, const uint8_t *bytes)
{
size_t i;
const uint32_t poly = 0xedb88320u;
const uint8_t bits = 8u;
uint8_t w = bits;
for (i = 0u; i < length; i++) {
acc ^= bytes[i];
w = bits;
while (w--) {
const uint32_t xor = -(acc & 1);
acc >>= 1;
acc ^= (poly & xor);
}
}
return acc;
}
/****************************************************************************
* Name: crc64_add_word
*

21
src/lib/systemlib/crc.h
View File

@ -96,6 +96,27 @@ uint16_t crc16_add(uint16_t crc, uint8_t value);
uint16_t crc16_signature(uint16_t initial, size_t length,
const uint8_t *bytes);
/****************************************************************************
* Name: crc32_signature
*
* Description:
* Calculates a CRC-32
* function
*
* Input Parameters:
* acc - The Initial value to uses as the crc's starting point
* length - The number of bytes to add to the crc
* bytes - A pointer to any array of length bytes
*
* Returned Value:
* The crc16 of the array of bytes
*
****************************************************************************/
uint32_t crc32_signature(uint32_t acc, size_t length,
const uint8_t *bytes);
/****************************************************************************
* Name: crc64_add_word
*