diff options
Diffstat (limited to 'src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c')
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c | 203 |
1 files changed, 179 insertions, 24 deletions
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c b/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c index b8d649ea6..d9e7ca5e9 100644 --- a/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c +++ b/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c @@ -1,3 +1,43 @@ +/**************************************************************************** + * + * Copyright (c) 2015 PX4 Development Team. All rights reserved. + * Author: Ben Dyer <ben_dyer@mac.com> + * Pavel Kirienko <pavel.kirienko@zubax.com> + * David Sidrane <david_s5@nscdg.com> + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + #include <nuttx/config.h> #include <stdint.h> @@ -10,15 +50,21 @@ #include "boot_app_shared.h" #include "crc.h" +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + #define BOOTLOADER_COMMON_APP_SIGNATURE 0xB0A04150u #define BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE 0xB0A0424Cu + /* CAN_FiRx where (i=0..27|13, x=1, 2) * STM32_CAN1_FIR(i,x) * Using i = 2 does not requier there block * to be enabled nor FINIT in CAN_FMR to be set. * todo:Validate this claim on F2, F3 */ + #define crc_HiLOC STM32_CAN1_FIR(2,1) #define crc_LoLOC STM32_CAN1_FIR(2,2) #define signature_LOC STM32_CAN1_FIR(3,1) @@ -27,31 +73,63 @@ #define CRC_H 1 #define CRC_L 0 -inline static void read(bootloader_app_shared_t * pcommon) +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: read + ****************************************************************************/ + +inline static void read(bootloader_app_shared_t * pshared) { - pcommon->signature = getreg32(signature_LOC); - pcommon->bus_speed = getreg32(bus_speed_LOC); - pcommon->node_id = getreg32(node_id_LOC); - pcommon->crc.ul[CRC_L] = getreg32(crc_LoLOC); - pcommon->crc.ul[CRC_H] = getreg32(crc_HiLOC); + pshared->signature = getreg32(signature_LOC); + pshared->bus_speed = getreg32(bus_speed_LOC); + pshared->node_id = getreg32(node_id_LOC); + pshared->crc.ul[CRC_L] = getreg32(crc_LoLOC); + pshared->crc.ul[CRC_H] = getreg32(crc_HiLOC); } -inline static void write(bootloader_app_shared_t * pcommon) +/**************************************************************************** + * Name: write + ****************************************************************************/ + +inline static void write(bootloader_app_shared_t * pshared) { - putreg32(pcommon->signature, signature_LOC); - putreg32(pcommon->bus_speed, bus_speed_LOC); - putreg32(pcommon->node_id, node_id_LOC); - putreg32(pcommon->crc.ul[CRC_L], crc_LoLOC); - putreg32(pcommon->crc.ul[CRC_H], crc_HiLOC); + putreg32(pshared->signature, signature_LOC); + putreg32(pshared->bus_speed, bus_speed_LOC); + putreg32(pshared->node_id, node_id_LOC); + putreg32(pshared->crc.ul[CRC_L], crc_LoLOC); + putreg32(pshared->crc.ul[CRC_H], crc_HiLOC); } -static uint64_t calulate_signature(bootloader_app_shared_t * pcommon) +/**************************************************************************** + * Name: calulate_signature + ****************************************************************************/ + +static uint64_t calulate_signature(bootloader_app_shared_t * pshared) { - size_t size = sizeof(bootloader_app_shared_t) - sizeof(pcommon->crc); + size_t size = sizeof(bootloader_app_shared_t) - sizeof(pshared->crc); uint64_t crc = CRC64_INITIAL; - uint8_t *protected = (uint8_t *) & pcommon->signature; + uint8_t *protected = (uint8_t *) & pshared->signature; while (size--) { @@ -61,12 +139,16 @@ static uint64_t calulate_signature(bootloader_app_shared_t * pcommon) return crc; } -void bootloader_app_shared_init(bootloader_app_shared_t * pcommon, eRole_t role) + +/**************************************************************************** + * Name: bootloader_app_shared_init + ****************************************************************************/ +static void bootloader_app_shared_init(bootloader_app_shared_t * pshared, eRole_t role) { - memset(pcommon, 0, sizeof(bootloader_app_shared_t)); + memset(pshared, 0, sizeof(bootloader_app_shared_t)); if (role != Invalid) { - pcommon->signature = + pshared->signature = (role == App ? BOOTLOADER_COMMON_APP_SIGNATURE : BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE); @@ -74,8 +156,39 @@ void bootloader_app_shared_init(bootloader_app_shared_t * pcommon, eRole_t role) } -int bootloader_app_shared_read(bootloader_app_shared_t * pcommon, - eRole_t role) +/**************************************************************************** + * Public Functions + ****************************************************************************/ +/**************************************************************************** + * Name: bootloader_app_shared_read + * + * Description: + * Based on the role requested, this function will conditionally populate + * a bootloader_app_shared_t structure from the physical locations used + * to transfer the shared data to/from an application (internal data) . + * + * The functions will only populate the structure and return a status + * indicating success, if the internal data has the correct signature as + * requested by the Role AND has a valid crc. + * + * Input Parameters: + * shared - A pointer to a bootloader_app_shared_t return the data in if + * the internal data is valid for the requested Role + * role - An eRole_t of App or BootLoader to validate the internal data + * against. For a Bootloader this would be the value of App to + * read the application passed data. + * + * Returned value: + * OK - Indicates that the internal data has been copied to callers + * bootloader_app_shared_t structure. + * + * -EBADR - The Role or crc of the internal data was not valid. The copy + * did not occur. + * + ****************************************************************************/ + +int bootloader_app_shared_read(bootloader_app_shared_t * shared, + eRole_t role) { int rv = -EBADR; bootloader_app_shared_t working; @@ -86,16 +199,40 @@ int bootloader_app_shared_read(bootloader_app_shared_t * pcommon, : working.signature == BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE) && (working.crc.ull == calulate_signature(&working))) { - *pcommon = working; + *shared = working; rv = OK; } return rv; } -void bootloader_app_shared_write(bootloader_app_shared_t * common, - eRole_t role) +/**************************************************************************** + * Name: bootloader_app_shared_write + * + * Description: + * Based on the role, this function will commit the data passed + * into the physical locations used to transfer the shared data to/from + * an application (internal data) . + * + * The functions will populate the signature and crc the data + * based on the provided Role. + * + * Input Parameters: + * shared - A pointer to a bootloader_app_shared_t data to commit to + * the internal data for passing to/from an application. + * role - An eRole_t of App or BootLoader to use in the internal data + * to be passed to/from an application. For a Bootloader this + * would be the value of Bootloader to write to the passed data. + * to the application via the internal data. + * + * Returned value: + * None. + * + ****************************************************************************/ + +void bootloader_app_shared_write(bootloader_app_shared_t * shared, + eRole_t role) { - bootloader_app_shared_t working = *common; + bootloader_app_shared_t working = *shared; working.signature = (role == App ? BOOTLOADER_COMMON_APP_SIGNATURE : @@ -105,6 +242,24 @@ void bootloader_app_shared_write(bootloader_app_shared_t * common, } +/**************************************************************************** + * Name: bootloader_app_shared_invalidate + * + * Description: + * Invalidates the data passed the physical locations used to transfer + * the shared data to/from an application (internal data) . + * + * The functions will invalidate the signature and crc and shoulf be used + * to prevent deja vu. + * + * Input Parameters: + * None. + * + * Returned value: + * None. + * + ****************************************************************************/ + void bootloader_app_shared_invalidate(void) { bootloader_app_shared_t working; |