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UAVCAN bootloader merge duplicate boot_app_shared
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
e656c9c13f
commit
347c185967
@@ -1,216 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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* Author: Ben Dyer <ben_dyer@mac.com>
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* Pavel Kirienko <pavel.kirienko@zubax.com>
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* David Sidrane <david_s5@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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/* Define the signature for the Application descriptor as 'APDesc' and a
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* revision number of 00 used in app_descriptor_t
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*/
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#define APP_DESCRIPTOR_SIGNATURE_ID 'A','P','D','e','s','c'
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#define APP_DESCRIPTOR_SIGNATURE_REV '0','0'
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#define APP_DESCRIPTOR_SIGNATURE APP_DESCRIPTOR_SIGNATURE_ID, APP_DESCRIPTOR_SIGNATURE_REV
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/* N.B. the .ld file must emit this sections */
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# define boot_app_shared_section __attribute__((section(".app_descriptor")))
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/* eRole defines the role of the bootloader_app_shared_t structure */
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typedef enum eRole {
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Invalid,
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App,
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BootLoader
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} eRole_t;
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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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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wattributes"
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typedef begin_packed_struct struct bootloader_app_shared_t {
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union {
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uint64_t ull;
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uint32_t ul[2];
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uint8_t valid;
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} crc;
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uint32_t signature;
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uint32_t bus_speed;
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uint32_t node_id;
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} end_packed_struct bootloader_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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*
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* This structure located by the linker script somewhere after the vector table.
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* (within the first several kilobytes of the beginning address of the
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* application);
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*
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* This structure must be aligned on an 8-byte boundary.
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*
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* The bootloader will scan through the application FLASH image until it
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* finds the signature.
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*
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* The image_crc is calculated as follows:
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* 1) All fields of this structure must be initialized with the correct
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* information about the firmware image bin file
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* (Here after refereed to as image)
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* 2) image_crc set to 0;
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* 3) The CRC 64 is calculated over the image from offset 0 up to and including the
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* last byte of the image file.
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* 4) The calculated CRC 64 is stored in image_crc
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* 5) The new image file is then written to a file a ".img" extension.
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*
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****************************************************************************/
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wattributes"
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#pragma GCC diagnostic ignored "-Wpacked"
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typedef begin_packed_struct struct app_descriptor_t {
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uint8_t signature[sizeof(uint64_t)];
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uint64_t image_crc;
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uint32_t image_size;
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uint32_t vcs_commit;
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uint8_t major_version;
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uint8_t minor_version;
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uint8_t reserved[6];
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} end_packed_struct app_descriptor_t;
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#pragma GCC diagnostic pop
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/****************************************************************************
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* Name: bootloader_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_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_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_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_app_shared_read(bootloader_app_shared_t *shared, eRole_t role);
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/****************************************************************************
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* Name: bootloader_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_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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void bootloader_app_shared_write(bootloader_app_shared_t *shared, eRole_t role);
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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 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_app_shared_invalidate(void);
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__END_DECLS
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@@ -1,95 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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* Author: Ben Dyer <ben_dyer@mac.com>
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* Pavel Kirienko <pavel.kirienko@zubax.com>
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* David Sidrane <david_s5@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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#define CRC16_INITIAL 0xFFFFu
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#define CRC16_OUTPUT_XOR 0x0000u
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#define CRC64_INITIAL 0xFFFFFFFFFFFFFFFFull
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#define CRC64_OUTPUT_XOR 0xFFFFFFFFFFFFFFFFull
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/****************************************************************************
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* Name: crc16_add
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*
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* Description:
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* Use to calculates a CRC-16-CCITT using the polynomial of
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* 0x1021 by adding a value successive values.
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*
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* Input Parameters:
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* crc - The running total of the crc 16
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* value - The value to add
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*
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* Returned Value:
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* The current crc16 with the value processed.
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*
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****************************************************************************/
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uint16_t crc16_add(uint16_t crc, uint8_t value);
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/****************************************************************************
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* Name: crc16_signature
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*
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* Description:
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* Calculates a CRC-16-CCITT using the crc16_add
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* function
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*
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* Input Parameters:
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* initial - The Initial value to uses as the crc's starting point
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* length - The number of bytes to add to the crc
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* bytes - A pointer to any array of length bytes
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*
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* Returned Value:
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* The crc16 of the array of bytes
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*
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****************************************************************************/
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uint16_t crc16_signature(uint16_t initial, size_t length, const uint8_t *bytes);
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/****************************************************************************
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* Name: crc64_add_word
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*
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* Description:
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* Calculates a CRC-64-WE using the polynomial of 0x42F0E1EBA9EA3693
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* See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
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* Check: 0x62EC59E3F1A4F00A
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*
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* Input Parameters:
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* crc - The running total of the crc 64
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* value - The value to add
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*
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* Returned Value:
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* The current crc64 with the value processed.
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*
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****************************************************************************/
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uint64_t crc64_add_word(uint64_t crc, uint32_t value);
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