1 files changed, 88 insertions, 0 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
new file mode 100644
index 000000000..b13ba1131
--- /dev/null
+++ b/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h
@@ -0,0 +1,88 @@
+
+/*
+ *
+ */
+#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;
+
+// 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.
+
+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.
+
+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.
+
+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.
+
+*/
+typedef struct
+  {
+    union
+      {
+        uint64_t ull;
+        uint32_t ul[2];
+      } crc;
+    uint32_t signature;
+    uint32_t bus_speed;
+    uint32_t node_id;
+  } __attribute__ ((packed)) bootloader_app_shared_t;
+
+typedef enum eRole
+  {
+    Invalid,
+    App,
+    BootLoader
+  } eRole_t;
+
+
+void bootloader_app_shared_init(bootloader_app_shared_t * common,
+                                     eRole_t role);
+int bootloader_app_shared_read(bootloader_app_shared_t * common,
+                                     eRole_t role);
+void bootloader_app_shared_write(bootloader_app_shared_t * common,
+                                       eRole_t role);
+void bootloader_app_shared_invalidate(void);