diff options
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 64 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 2 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/px4io.c | 20 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 1 |
4 files changed, 85 insertions, 2 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index f5fb618c3..cc3815f3e 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -54,6 +54,7 @@ #include <unistd.h> #include <fcntl.h> #include <math.h> +#include <crc32.h> #include <arch/board/board.h> @@ -96,6 +97,7 @@ extern device::Device *PX4IO_serial_interface() weak_function; #define PX4IO_SET_DEBUG _IOC(0xff00, 0) #define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) #define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 2) +#define PX4IO_CHECK_CRC _IOC(0xff00, 3) #define UPDATE_INTERVAL_MIN 2 // 2 ms -> 500 Hz #define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz @@ -1660,11 +1662,13 @@ void PX4IO::print_status() { /* basic configuration */ - printf("protocol %u hardware %u bootloader %u buffer %uB\n", + printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n", io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER)); + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC+1)); printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n", io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT), @@ -2157,6 +2161,19 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) ret = OK; break; + case PX4IO_CHECK_CRC: { + /* check IO firmware CRC against passed value */ + uint32_t io_crc = 0; + ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2); + if (ret != OK) + return ret; + if (io_crc != arg) { + debug("crc mismatch 0x%08x 0x%08x", (unsigned)io_crc, arg); + return -EINVAL; + } + break; + } + case PX4IO_INAIR_RESTART_ENABLE: /* set/clear the 'in-air restart' bit */ @@ -2717,6 +2734,49 @@ px4io_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "checkcrc")) { + /* + check IO CRC against CRC of a file + */ + if (argc <= 2) { + printf("usage: px4io checkcrc filename\n"); + exit(1); + } + if (g_dev == nullptr) { + printf("px4io is not started\n"); + exit(1); + } + int fd = open(argv[2], O_RDONLY); + if (fd == -1) { + printf("open of %s failed - %d\n", argv[2], errno); + exit(1); + } + const uint32_t app_size_max = 0xf000; + uint32_t fw_crc = 0; + uint32_t nbytes = 0; + while (true) { + uint8_t buf[16]; + int n = read(fd, buf, sizeof(buf)); + if (n <= 0) break; + fw_crc = crc32part(buf, n, fw_crc); + nbytes += n; + } + close(fd); + while (nbytes < app_size_max) { + uint8_t b = 0xff; + fw_crc = crc32part(&b, 1, fw_crc); + nbytes++; + } + + int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc); + if (ret != OK) { + printf("check CRC failed - %d\n", ret); + exit(1); + } + printf("CRCs match\n"); + exit(0); + } + if (!strcmp(argv[1], "rx_dsm") || !strcmp(argv[1], "rx_dsm_10bit") || !strcmp(argv[1], "rx_dsm_11bit") || diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 2856bdea4..cffabbb45 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -189,6 +189,8 @@ enum { /* DSM bind states */ #define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ #define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ +#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ + /* autopilot control values, -10000..10000 */ #define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */ diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index cd9bd197b..745bd5705 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -45,6 +45,7 @@ #include <string.h> #include <poll.h> #include <signal.h> +#include <crc32.h> #include <drivers/drv_pwm_output.h> #include <drivers/drv_hrt.h> @@ -124,6 +125,22 @@ heartbeat_blink(void) LED_BLUE(heartbeat = !heartbeat); } + +static void +calculate_fw_crc(void) +{ +#define APP_SIZE_MAX 0xf000 +#define APP_LOAD_ADDRESS 0x08001000 + // compute CRC of the current firmware + uint32_t sum = 0; + for (unsigned p = 0; p < APP_SIZE_MAX; p += 4) { + uint32_t bytes = *(uint32_t *)(p + APP_LOAD_ADDRESS); + sum = crc32part((uint8_t *)&bytes, sizeof(bytes), sum); + } + r_page_setup[PX4IO_P_SETUP_CRC] = sum & 0xFFFF; + r_page_setup[PX4IO_P_SETUP_CRC+1] = sum >> 16; +} + int user_start(int argc, char *argv[]) { @@ -136,6 +153,9 @@ user_start(int argc, char *argv[]) /* configure the high-resolution time/callout interface */ hrt_init(); + /* calculate our fw CRC so FMU can decide if we need to update */ + calculate_fw_crc(); + /* * Poll at 1ms intervals for received bytes that have not triggered * a DMA event. diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 6785e5366..1a8519aec 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -157,6 +157,7 @@ volatile uint16_t r_page_setup[] = #endif [PX4IO_P_SETUP_SET_DEBUG] = 0, [PX4IO_P_SETUP_REBOOT_BL] = 0, + [PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0, }; #define PX4IO_P_SETUP_FEATURES_VALID (0) |