diff options
Diffstat (limited to 'src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h')
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h | 260 |
1 files changed, 198 insertions, 62 deletions
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h b/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h index b13ba1131..12f683f58 100644 --- a/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h +++ b/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h @@ -1,66 +1,97 @@ - -/* +/**************************************************************************** * - */ + * 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. + * + ****************************************************************************/ + #pragma once -/* -Application firmware descriptor. - -This is located by the linker script somewhere aftert the vector table. -(within the first several kilobytes of the application); -This struct must be aligned on an 8-byte boundary. - -The bootloader scans through the application FLASH image until it -finds the signature. - -The image_crc is calculated as follows: - 1) All fields of this struct must be initalized with the correct information about - the firmware image bin file (Here after refered to as image) - 2) image_crc set to 0; - 3) The CRC 64 is caculated over the image from offset 0 up to and including the - last byte of the image file. - 4) The caculated CRC 64 is stored in image_crc - 5) The new image file is then written to a file a ".img" extention. -*/ -typedef struct - { - uint64_t signature; - uint64_t image_crc; - uint32_t image_size; - uint32_t vcs_commit; - uint8_t major_version; - uint8_t minor_version; - uint8_t reserved[6]; - } -__attribute__ ((packed)) app_descriptor_t; +/**************************************************************************** + * Included Files + ****************************************************************************/ + +# include <nuttx/compiler.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Define the signature for the Application descriptor as 'APDesc' and a + * revision number of 00 used in app_descriptor_t + */ -// APDesc00 #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 -/* -Bootloader/app common structure. - -The data in this struct is passed in SRAM or the the CAN filter registers -from bootloader to application and application to bootloader. +/**************************************************************************** + * Public Type Definitions + ****************************************************************************/ -Do not assume any mapping or location for the passing of this data -that is done in the read and write routines and is abstracted on purpose. +/* eRole defines the role of the bootloader_app_shared_t structure */ -The application must write BOOTLOADER_COMMON_APP_SIGNATURE to the signature -field when passing data to the bootloader; when the bootloader passes data -to the app, it must write BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE to the -signature field. +typedef enum eRole { + Invalid, + App, + BootLoader +} eRole_t; -The CRC is calculated over the structure from signature to the last byte. -The resuluting values are then copied to the CAN filter registers by -bootloader_app_shared_read and bootloader_app_shared_write. +/**************************************************************************** + * + * Bootloader and Application shared structure. + * + * The data in this structure is passed in SRAM or the the CAN filter + * registers from bootloader to application and application to bootloader. + * + * Do not assume any mapping or location for the passing of this data + * that is done in the read and write routines and is abstracted by design. + * + * For reference, the following is performed based on eRole in API calls + * defined below: + * + * The application must write BOOTLOADER_COMMON_APP_SIGNATURE to the + * signature field when passing data to the bootloader; when the + * bootloader passes data to the application, it must write + * BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE to the signature field. + * + * The CRC is calculated over the structure from signature to the + * last byte. The resulting values are then copied to the CAN filter + * registers by bootloader_app_shared_read and + * bootloader_app_shared_write. + * +****************************************************************************/ -*/ -typedef struct - { +typedef struct packed_struct bootloader_app_shared_t { union { uint64_t ull; @@ -69,20 +100,125 @@ typedef struct uint32_t signature; uint32_t bus_speed; uint32_t node_id; - } __attribute__ ((packed)) bootloader_app_shared_t; +} bootloader_app_shared_t ; + +/**************************************************************************** + * + * Application firmware descriptor. + * + * This structure located by the linker script somewhere after the vector table. + * (within the first several kilobytes of the beginning address of the + * application); + * + * This structure must be aligned on an 8-byte boundary. + * + * The bootloader will scan through the application FLASH image until it + * finds the signature. + * + * The image_crc is calculated as follows: + * 1) All fields of this structure must be initialized with the correct + * information about the firmware image bin file + * (Here after refereed to as image) + * 2) image_crc set to 0; + * 3) The CRC 64 is calculated over the image from offset 0 up to and including the + * last byte of the image file. + * 4) The calculated CRC 64 is stored in image_crc + * 5) The new image file is then written to a file a ".img" extension. + * +****************************************************************************/ -typedef enum eRole +typedef struct packed_struct app_descriptor_t { - Invalid, - App, - BootLoader - } eRole_t; + uint64_t signature; + uint64_t image_crc; + uint32_t image_size; + uint32_t vcs_commit; + uint8_t major_version; + uint8_t minor_version; + uint8_t reserved[6]; +} app_descriptor_t; +/**************************************************************************** + * Global Variables + ****************************************************************************/ -void bootloader_app_shared_init(bootloader_app_shared_t * common, - eRole_t role); -int bootloader_app_shared_read(bootloader_app_shared_t * common, +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ +/**************************************************************************** + * 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); -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); + +/**************************************************************************** + * 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 should be used + * to prevent deja vu. + * + * Input Parameters: + * None. + * + * Returned value: + * None. + * + ****************************************************************************/ + void bootloader_app_shared_invalidate(void); |