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canbootloader:Use Micro hal and arch selection

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nxp/s32k14x:board_identity: Return length of mfguid

nxp/s32k14x:CAN driver

nxp/s32k14x:Drver Added ABORT on error

canbootloader:Use N words for first word

canbootloader:Ensure the up_progmem API always defined
This commit is contained in:
David Sidrane
2021-02-24 19:20:15 +01:00
committed by Lorenz Meier
parent ea255234da
commit 62c0c96749
20 changed files with 1303 additions and 62 deletions
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platforms/nuttx/src/canbootloader/uavcan/main.c
+20 -17
View File
@@ -45,7 +45,6 @@
#include <string.h>
#include "chip.h"
#include "stm32.h"
#include "nvic.h"
#include "board.h"
@@ -100,7 +99,7 @@ typedef volatile struct bootloader_t {
union {
uint32_t l;
uint8_t b[sizeof(uint32_t)];
} fw_word0;
} fw_word0[LATER_FLAHSED_WORDS];
} bootloader_t;
@@ -341,14 +340,14 @@ static void find_descriptor(void)
*
*
* Input Parameters:
* first_word - the value read from the first word of the Application's
* first_word - pointer the value read from the first 2 words of the Application's
* in FLASH image.
*
* Returned Value:
* true if the application in flash is valid., false otherwise.
*
****************************************************************************/
static bool is_app_valid(uint32_t first_word)
static bool is_app_valid(volatile uint32_t *first_words)
{
uint32_t block_crc1;
uint32_t block_crc2;
@@ -356,7 +355,7 @@ static bool is_app_valid(uint32_t first_word)
find_descriptor();
if (!bootloader.fw_image_descriptor || first_word == 0xFFFFFFFFu) {
if (!bootloader.fw_image_descriptor || first_words[0] == 0xFFFFFFFFu) {
return false;
}
@@ -373,9 +372,9 @@ static bool is_app_valid(uint32_t first_word)
return false;
}
block_crc1 = crc32_signature(0, sizeof(first_word), (const uint8_t *)&first_word);
block_crc1 = crc32_signature(0, LATER_FLAHSED_WORDS * sizeof(uint32_t), (const uint8_t *)first_words);
block_crc1 = crc32_signature(block_crc1, (size_t)(&bootloader.fw_image_descriptor->crc32_block1) -
(size_t)(bootloader.fw_image + 1), (const uint8_t *)(bootloader.fw_image + 1));
(size_t)(bootloader.fw_image + LATER_FLAHSED_WORDS), (const uint8_t *)(bootloader.fw_image + LATER_FLAHSED_WORDS));
block_crc2 = crc32_signature(0, block2_len,
(const uint8_t *) &bootloader.fw_image_descriptor->major_version);
@@ -842,10 +841,15 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t
data[length] = 0xff;
}
/* Save the first word off */
/* Save the first words off */
if (request.offset == 0u) {
bootloader.fw_word0.l = *(uint32_t *)data;
*(uint32_t *)data = 0xffffffff;
uint32_t *datal = (uint32_t *)data;
bootloader.fw_word0[0].l = datal[0];
datal[0] = 0xffffffff;
#if LATER_FLAHSED_WORDS > 1
bootloader.fw_word0[1].l = datal[1];
datal[1] = 0xffffffff;
#endif
}
flash_status = bl_flash_write(flash_address + request.offset,
@@ -1089,12 +1093,12 @@ __EXPORT int main(int argc, char *argv[])
*
*/
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
bootloader.wait_for_getnodeinfo = (stm32_gpioread(GPIO_GETNODEINFO_JUMPER) ^
bootloader.wait_for_getnodeinfo = (px4_arch_gpioread(GPIO_GETNODEINFO_JUMPER) ^
OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT);
#endif
/* Is the memory in the Application space occupied by a valid application? */
bootloader.app_valid = is_app_valid(bootloader.fw_image[0]);
bootloader.app_valid = is_app_valid(bootloader.fw_image);
board_indicate(reset);
@@ -1312,7 +1316,6 @@ __EXPORT int main(int argc, char *argv[])
LOGMESSAGE_STAGE_ERASE,
LOGMESSAGE_RESULT_START);
/* Need to signal that the app is no longer valid if Node Info Request are done */
bootloader.app_valid = false;
@@ -1335,7 +1338,7 @@ __EXPORT int main(int argc, char *argv[])
}
/* Did we program a valid image ?*/
if (!is_app_valid(bootloader.fw_word0.l)) {
if (!is_app_valid(&bootloader.fw_word0[0].l)) {
bootloader.app_valid = 0u;
board_indicate(fw_update_invalid_crc);
@@ -1344,9 +1347,9 @@ __EXPORT int main(int argc, char *argv[])
goto failure;
}
/* Yes Commit the first word to location 0 of the Application image in flash */
status = bl_flash_write((uint32_t) bootloader.fw_image, (uint8_t *) &bootloader.fw_word0.b[0],
sizeof(bootloader.fw_word0.b));
/* Yes Commit the first word(s) to location 0 of the Application image in flash */
status = bl_flash_write((uint32_t) bootloader.fw_image, (uint8_t *) &bootloader.fw_word0[0].b[0],
sizeof(bootloader.fw_word0));
if (status != FLASH_OK) {
error_log_stage = LOGMESSAGE_STAGE_FINALIZE;