forked from Archive/PX4-Autopilot
uavcan bootloader:Add support alt boot_alt_app_shared
This commit is contained in:
David Sidrane
Daniel Agar
parent
28030e96e2
commit
7a6ed0281b
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@ -31,7 +31,10 @@
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#
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############################################################################
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add_library(drivers_bootloaders boot_app_shared.c)
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add_library(drivers_bootloaders
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boot_app_shared.c
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boot_alt_app_shared.c
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)
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add_dependencies(drivers_bootloaders prebuild_targets)
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include_directories(include)
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@ -0,0 +1,144 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david.sidrane@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <string.h>
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#include "chip.h"
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#include "stm32.h"
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#include <errno.h>
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#include "boot_alt_app_shared.h"
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#include <lib/systemlib/crc.h>
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extern void *_sapp_bl_shared;
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/****************************************************************************
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* Name: bootloader_alt_app_shared_read
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*
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* Description:
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* Based on the role requested, this function will conditionally populate
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* a bootloader_alt_app_shared_t structure from the physical locations used
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* to transfer the shared data to/from an application (internal data) .
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*
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* The functions will only populate the structure and return a status
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* indicating success, if the internal data has the correct signature as
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* requested by the Role AND has a valid crc.
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*
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* Input Parameters:
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* shared - A pointer to a bootloader_alt_app_shared_t return the data in if
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* the internal data is valid for the requested Role
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* role - An eRole_t of App or BootLoader to validate the internal data
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* against. For a Bootloader this would be the value of App to
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* read the application passed data.
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*
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* Returned value:
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* OK - Indicates that the internal data has been copied to callers
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* bootloader_alt_app_shared_t structure.
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*
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* -EBADR - internal data was not valid. The copy did not occur.
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*
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****************************************************************************/
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__EXPORT int bootloader_alt_app_shared_read(bootloader_alt_app_shared_t *alt_shared)
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{
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int rv = EBADR;
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bootloader_alt_app_shared_t *bootloader_alt_app_shared = (bootloader_alt_app_shared_t *)&_sapp_bl_shared;
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if (bootloader_alt_app_shared->signature == BL_ALT_APP_SHARED_SIGNATURE) {
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*alt_shared = *bootloader_alt_app_shared;
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rv = 0;
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}
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return rv;
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}
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/****************************************************************************
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* Name: bootloader_alt_app_shared_write
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*
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* Description:
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* Based on the role, this function will commit the data passed
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* into the physical locations used to transfer the shared data to/from
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* an application (internal data) .
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*
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* The functions will populate the signature and crc the data
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* based on the provided Role.
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*
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* Input Parameters:
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* shared - A pointer to a bootloader_alt_app_shared_t data to commit to
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* the internal data for passing to/from an application.
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* role - An eRole_t of App or BootLoader to use in the internal data
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* to be passed to/from an application. For a Bootloader this
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* would be the value of Bootloader to write to the passed data.
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* to the application via the internal data.
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*
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* Returned value:
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* None.
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*
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****************************************************************************/
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__EXPORT void bootloader_alt_app_shared_write(bootloader_alt_app_shared_t *alt_shared)
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{
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bootloader_alt_app_shared_t *bootloader_alt_app_shared = (bootloader_alt_app_shared_t *)&_sapp_bl_shared;
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*bootloader_alt_app_shared = *alt_shared;
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bootloader_alt_app_shared->signature = BL_ALT_APP_SHARED_SIGNATURE;
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}
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/****************************************************************************
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* Name: bootloader_app_shared_invalidate
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*
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* Description:
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* Invalidates the data passed the physical locations used to transfer
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* the shared data to/from an application (internal data) .
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*
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* The functions will invalidate the signature and crc and shoulf be used
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* to prevent deja vu.
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*
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* Input Parameters:
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* None.
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*
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* Returned value:
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* None.
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*
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****************************************************************************/
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__EXPORT void bootloader_alt_app_shared_invalidate(void)
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{
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bootloader_alt_app_shared_t *bootloader_alt_app_shared = (bootloader_alt_app_shared_t *)&_sapp_bl_shared;
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bootloader_alt_app_shared->signature = 0;
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}
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@ -0,0 +1,146 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david.sidrane@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <nuttx/compiler.h>
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__BEGIN_DECLS
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/****************************************************************************
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*
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* Bootloader and Application shared structure.
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*
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* The data in this structure is passed in SRAM or the the CAN filter
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* registers from bootloader to application and application to bootloader.
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*
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* Do not assume any mapping or location for the passing of this data
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* that is done in the read and write routines and is abstracted by design.
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*
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* For reference, the following is performed based on eRole in API calls
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* defined below:
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*
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* The application must write BOOTLOADER_COMMON_APP_SIGNATURE to the
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* signature field when passing data to the bootloader; when the
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* bootloader passes data to the application, it must write
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* BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE to the signature field.
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*
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* The CRC is calculated over the structure from signature to the
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* last byte. The resulting values are then copied to the CAN filter
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* registers by bootloader_app_shared_read and
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* bootloader_app_shared_write.
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*
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****************************************************************************/
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#define BL_ALT_APP_SHARED_SIGNATURE 0xc544ad9a
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typedef begin_packed_struct struct bootloader_alt_app_shared_t {
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uint32_t signature;
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uint32_t reserved[4];
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uint8_t fw_server_node_id;
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uint8_t node_id;
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uint8_t path[201];
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} end_packed_struct bootloader_alt_app_shared_t;
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#pragma GCC diagnostic pop
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/****************************************************************************
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* Name: bootloader_alt_app_shared_read
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*
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* Description:
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* Based on the role requested, this function will conditionally populate
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* a bootloader_alt_app_shared_t structure from the physical locations used
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* to transfer the shared data to/from an application (internal data) .
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*
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* The functions will only populate the structure and return a status
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* indicating success, if the internal data has the correct signature as
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* requested by the Role AND has a valid crc.
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*
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* Input Parameters:
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* shared - A pointer to a bootloader_alt_app_shared_t return the data in if
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* the internal data is valid for the requested Role
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*
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* Returned value:
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* OK - Indicates that the internal data has been copied to callers
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* bootloader_alt_app_shared_t structure.
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*
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* -EBADR - The Role or crc of the internal data was not valid. The copy
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* did not occur.
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*
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****************************************************************************/
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int bootloader_alt_app_shared_read(bootloader_alt_app_shared_t *alt_shared);
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/****************************************************************************
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* Name: bootloader_alt_app_shared_write
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*
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* Description:
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* Based on the role, this function will commit the data passed
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* into the physical locations used to transfer the shared data to/from
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* an application (internal data) .
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*
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* The functions will populate the signature and crc the data
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* based on the provided Role.
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*
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* Input Parameters:
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* shared - A pointer to a bootloader_alt_app_shared_t data to commit to
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* the internal data for passing to/from an application.
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*
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* Returned value:
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* None.
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*
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****************************************************************************/
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void bootloader_alt_app_shared_write(bootloader_alt_app_shared_t *alt_shared);
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/****************************************************************************
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* Name: bootloader_alt_app_shared_invalidate
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*
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* Description:
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* Invalidates the data passed the physical locations used to transfer
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* the shared data to/from an application (internal data) .
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*
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* The functions will invalidate the signature and crc and should be used
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* to prevent deja vu.
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*
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* Input Parameters:
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* None.
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*
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* Returned value:
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* None.
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*
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****************************************************************************/
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void bootloader_alt_app_shared_invalidate(void);
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__END_DECLS
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@ -95,16 +95,6 @@ typedef begin_packed_struct struct bootloader_app_shared_t {
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uint32_t node_id;
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} end_packed_struct bootloader_app_shared_t;
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#define BL_ALT_APP_SHARED_SIGNATURE 0xc544ad9a
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typedef begin_packed_struct struct bootloader_alt_app_shared_t {
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uint32_t signature;
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uint32_t reserved[4];
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uint8_t fw_server_node_id;
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uint8_t node_id;
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uint8_t path[201];
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} end_packed_struct bootloader_alt_app_shared_t;
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#pragma GCC diagnostic pop
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/****************************************************************************
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*
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* Application firmware descriptor.
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