bootloader: Move chip specific things under chip specific folders

- move systick.c under chip specific sources
- move do_jump into chip specific main.c as arch_do_jump
- wrap flash writes to "arch_flash_write" and implement in chip specific main.c
- add bootloader TOC check
- sync image_toc.h with the version currently in use with old bootloader

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

platforms/nuttx/src/bootloader/CMakeLists.txt

@@ -31,11 +31,7 @@
 #
 ############################################################################
 
-add_library(bootloader
-	bl.c
-	${PX4_CHIP}/main.c
-)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/common)
 
-include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-add_subdirectory(lib)
-add_dependencies(bootloader prebuild_targets)
+add_subdirectory(common)
+add_subdirectory(${PX4_CHIP_MANUFACTURER})

platforms/nuttx/src/bootloader/common/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+add_library(bootloader
+	bl.c
+	image_toc.c
+)
+
+target_link_libraries(bootloader
+	PRIVATE
+		arch_bootloader
+)
+
+add_dependencies(bootloader prebuild_targets)
+
+add_subdirectory(lib)

platforms/nuttx/src/bootloader/common/bl.c

@@ -43,8 +43,11 @@
 #include <inttypes.h>
 #include <stdlib.h>
 #include <stdbool.h>
+#include <string.h>
 
 #include "bl.h"
+#include "image_toc.h"
+#include "crypto.h"
 #include "cdcacm.h"
 #include "uart.h"
 
@@ -246,7 +249,7 @@ inline void cout(uint8_t *buf, unsigned len)
 #define arch_flash_lock flash_lock
 #define arch_flash_unlock flash_unlock
 
-#define arch_setvtor(address) SCB_VTOR = address;
+#define arch_setvtor(address) SCB_VTOR = (uint32_t)address;
 
 #endif
 
@@ -283,22 +286,11 @@ buf_get(void)
 	return ret;
 }
 
-static void
-do_jump(uint32_t stacktop, uint32_t entrypoint)
-{
-	asm volatile(
-		"msr msp, %0  \n"
-		"bx %1  \n"
-		: : "r"(stacktop), "r"(entrypoint) :);
-
-	// just to keep noreturn happy
-	for (;;) ;
-}
-
 void
 jump_to_app()
 {
 	const uint32_t *app_base = (const uint32_t *)APP_LOAD_ADDRESS;
+	const uint32_t *vec_base = (const uint32_t *)app_base;
 
 	/*
 	 * We refuse to program the first word of the app until the upload is marked
@@ -308,6 +300,75 @@ jump_to_app()
 		return;
 	}
 
+#ifdef BOOTLOADER_USE_TOC
+	const image_toc_entry_t *toc_entries;
+	uint8_t len;
+	uint8_t i = 0;
+
+	/* When secure btl is used, the address comes from the TOC */
+	app_base = (const uint32_t *)0;
+	vec_base = (const uint32_t *)0;
+
+	/* TOC not found or empty, stay in btl */
+	if (!find_toc(&toc_entries, &len)) {
+		return;
+	}
+
+	/* Verify the first entry, containing the TOC itself */
+	if (!verify_app(0, toc_entries)) {
+		/* Image verification failed, stay in btl */
+		return;
+	}
+
+	/* TOC is verified, loop through all the apps and perform crypto ops */
+	for (i = 0; i < len; i++) {
+		/* Verify app, if needed. i == 0 is already verified */
+		if (i != 0 &&
+		    toc_entries[i].flags1 & TOC_FLAG1_CHECK_SIGNATURE &&
+		    !verify_app(i, toc_entries)) {
+			/* Signature check failed, don't process this app */
+			continue;
+		}
+
+		/* Check if this app needs decryption */
+		if (toc_entries[i].flags1 & TOC_FLAG1_DECRYPT &&
+		    !decrypt_app(i, toc_entries)) {
+			/* Decryption / authenticated decryption failed, skip this app */
+			continue;
+		}
+
+		/* Check if this app needs to be copied to RAM */
+		if (toc_entries[i].flags1 & TOC_FLAG1_COPY) {
+			/* TOC is verified, so we assume that the addresses are good */
+			memcpy(toc_entries[i].target, toc_entries[i].start,
+			       (uintptr_t)toc_entries[i].end - (uintptr_t)toc_entries[i].start);
+		}
+
+		/* Check if this app is bootable, if so set the app_base */
+		if (toc_entries[i].flags1 & TOC_FLAG1_BOOT) {
+			app_base = get_base_addr(&toc_entries[i]);
+		}
+
+		/* Check if this app has vectors, if so set the vec_base */
+		if (toc_entries[i].flags1 & TOC_FLAG1_VTORS) {
+			vec_base = get_base_addr(&toc_entries[i]);
+		}
+	}
+
+	if (app_base == 0) {
+		/* No bootable app found in TOC, bail out */
+		return;
+	}
+
+	if (vec_base == 0) {
+		/* No separate vectors block, vectors come along with the app */
+		vec_base = app_base;
+	}
+
+#else
+
+	/* These checks are arm specific, and not needed when using TOC */
+
 	/*
 	 * The second word of the app is the entrypoint; it must point within the
 	 * flash area (or we have a bad flash).
@@ -320,6 +381,8 @@ jump_to_app()
 		return;
 	}
 
+#endif
+
 	/* just for paranoia's sake */
 	arch_flash_lock();
 
@@ -336,10 +399,10 @@ jump_to_app()
 	board_deinit();
 
 	/* switch exception handlers to the application */
-	arch_setvtor(APP_LOAD_ADDRESS);
+	arch_setvtor(vec_base);
 
-	/* extract the stack and entrypoint from the app vector table and go */
-	do_jump(app_base[0], app_base[1]);
+	/* make arch specific jump to app */
+	arch_do_jump(app_base);
 }
 
 volatile unsigned timer[NTIMERS];

platforms/nuttx/src/bootloader/common/bl.h

@@ -112,7 +112,8 @@ extern uint32_t flash_func_read_otp(uint32_t address);
 extern uint32_t flash_func_read_sn(uint32_t address);
 extern void arch_flash_lock(void);
 extern void arch_flash_unlock(void);
-extern void arch_setvtor(uint32_t address);
+extern void arch_setvtor(const uint32_t *address);
+extern void arch_do_jump(const uint32_t *app_base);
 void arch_systic_init(void);
 void arch_systic_deinit(void);
 

platforms/nuttx/src/bootloader/common/crypto.h

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file crypto.h
+ *
+ * Wrapper for the crypto stuff
+ *
+ */
+
+#pragma once
+
+#ifdef BOOTLOADER_USE_TOC
+
+#ifdef BOOTLOADER_USE_SECURITY
+
+#include <stdlib.h>
+
+#include "hw_config.h"
+#include "image_toc.h"
+
+bool verify_app(uint16_t idx, const image_toc_entry_t *toc_entries);
+
+bool decrypt_app(uint16_t idx, const image_toc_entry_t *toc_entries);
+
+#else
+
+/* No security, application verification passes always */
+
+static inline bool verify_app(uint16_t idx, const image_toc_entry_t *toc_entries) {return true;}
+
+/* No security, decrypting is not possible */
+
+static inline bool decrypt_app(uint16_t idx, const image_toc_entry_t *toc_entries) {return false;}
+
+#endif
+
+#endif

platforms/nuttx/src/bootloader/common/image_toc.c

@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 Technology Innovation Institute. All rights reserved.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#include "hw_config.h"
+
+#ifdef BOOTLOADER_USE_TOC
+
+#include <inttypes.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <string.h>
+
+#include "image_toc.h"
+
+#include "bl.h"
+
+/* Helper macros to define flash start and end addresses, based on info from
+ * hw_config.h
+ */
+#define FLASH_START_ADDRESS (APP_LOAD_ADDRESS & (~(BOARD_FLASH_SIZE - 1)))
+#define FLASH_END_ADDRESS (FLASH_START_ADDRESS + BOARD_FLASH_SIZE)
+
+bool find_toc(const image_toc_entry_t **toc_entries, uint8_t *len)
+{
+	const uintptr_t toc_start_u32 = APP_LOAD_ADDRESS + BOOT_DELAY_ADDRESS + 8;
+	const image_toc_start_t *toc_start = (const image_toc_start_t *)toc_start_u32;
+	const image_toc_entry_t *entry = (const image_toc_entry_t *)(toc_start_u32 + sizeof(image_toc_start_t));
+
+	int i = 0;
+	uint8_t sig_idx;
+	const uint32_t toc_end_magic = TOC_END_MAGIC;
+
+	if (toc_start->magic == TOC_START_MAGIC &&
+	    toc_start->version <= TOC_VERSION) {
+
+		/* Count the entries in TOC */
+		while (i < MAX_TOC_ENTRIES &&
+		       (uintptr_t)&entry[i] <= FLASH_END_ADDRESS - sizeof(uintptr_t) &&
+		       memcmp(&entry[i], &toc_end_magic, sizeof(toc_end_magic))) {
+			i++;
+		}
+
+		/* The number of toc entries found must be within bounds, and the
+		 * application has to lie within the flashable area. Also ensure that
+		 * end > start.
+		 */
+
+		if (i <= MAX_TOC_ENTRIES && i > 0 &&
+		    (uintptr_t)entry[0].start == APP_LOAD_ADDRESS &&
+		    (uintptr_t)entry[0].end <= (FLASH_END_ADDRESS - sizeof(uintptr_t)) &&
+		    (uintptr_t)entry[0].end > (uintptr_t)entry[0].start) {
+			sig_idx = entry[0].signature_idx;
+
+			/* The signature idx for the first app must be within the TOC, and
+			* the signature must be within the flash area, not overlapping the
+			* app. Also ensure that end > start.
+			*/
+
+			if (sig_idx > 0 &&
+			    sig_idx < MAX_TOC_ENTRIES &&
+			    (uintptr_t)entry[sig_idx].start >= (uintptr_t)entry[0].end &&
+			    (uintptr_t)entry[sig_idx].end <= FLASH_END_ADDRESS &&
+			    (uintptr_t)entry[sig_idx].end > (uintptr_t)entry[sig_idx].start) {
+				*toc_entries = entry;
+				*len = i;
+				return true;
+			}
+		}
+	}
+
+	*toc_entries = NULL;
+	*len = 0;
+	return false;
+}
+
+#endif

platforms/nuttx/src/bootloader/common/lib/CMakeLists.txt

@@ -32,7 +32,6 @@
 ############################################################################
 
 add_library(bootloader_lib
-	systick.c
 	cdcacm.c
 	uart.c
 	flash_cache.c

platforms/nuttx/src/bootloader/common/lib/flash_cache.c

@@ -38,6 +38,7 @@
 
 #include <nuttx/progmem.h>
 
+extern ssize_t arch_flash_write(size_t address, const void *buffer, size_t buflen);
 
 flash_cache_line_t flash_cache[FC_NUMBER_LINES];
 
@@ -76,7 +77,7 @@ inline int fc_is_dirty(flash_cache_line_t *fl)
 int fc_flush(flash_cache_line_t *fl)
 {
 	size_t bytes = (fl->index + 1) * sizeof(fl->words[0]);
-	size_t rv = up_progmem_write(fl->start_address, fl->words, bytes);
+	size_t rv = arch_flash_write(fl->start_address, fl->words, bytes);
 
 	if (rv == bytes) {
 		rv = 0;

platforms/nuttx/src/bootloader/stm/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+add_subdirectory(${PX4_CHIP})
+

platforms/nuttx/src/bootloader/stm/stm32_common/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+px4_add_library(arch_bootloader
+	main.c
+	systick.c
+)
+
+target_link_libraries(arch_bootloader
+	PRIVATE
+		bootloader_lib
+)

platforms/nuttx/src/bootloader/stm/stm32_common/main.c

@@ -424,22 +424,27 @@ clock_deinit(void)
 
 }
 
-inline void arch_flash_lock(void)
+void arch_flash_lock(void)
 {
 	stm32h7_flash_lock(STM32_FLASH_BANK1);
 	stm32h7_flash_lock(STM32_FLASH_BANK2);
 }
 
-inline void arch_flash_unlock(void)
+void arch_flash_unlock(void)
 {
 	fc_reset();
 	stm32h7_flash_unlock(STM32_FLASH_BANK1);
 	stm32h7_flash_unlock(STM32_FLASH_BANK2);
 }
 
-inline void arch_setvtor(uint32_t address)
+ssize_t arch_flash_write(size_t address, const void *buffer, size_t buflen)
 {
-	putreg32(address, NVIC_VECTAB);
+	return up_progmem_write(address, buffer, buflen);
+}
+
+inline void arch_setvtor(const uint32_t *address)
+{
+	putreg32((uint32_t)address, NVIC_VECTAB);
 }
 
 uint32_t
@@ -611,6 +616,23 @@ led_toggle(unsigned led)
 # define SCB_CPACR (*((volatile uint32_t *) (((0xE000E000UL) + 0x0D00UL) + 0x088)))
 #endif
 
+/* Make the actual jump to app */
+void
+arch_do_jump(const uint32_t *app_base)
+{
+	/* extract the stack and entrypoint from the app vector table and go */
+	uint32_t stacktop = app_base[0];
+	uint32_t entrypoint = app_base[1];
+
+	asm volatile(
+		"msr msp, %0  \n"
+		"bx %1  \n"
+		: : "r"(stacktop), "r"(entrypoint) :);
+
+	// just to keep noreturn happy
+	for (;;) ;
+}
+
 int
 bootloader_main(void)
 {

platforms/nuttx/src/bootloader/stm/stm32_common/systick.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 #include "arm_arch.h"
-#include "systick.h"
+#include "lib/systick.h"
 #include <nvic.h>
 
 uint8_t systick_get_countflag(void)

platforms/nuttx/src/bootloader/stm/stm32h7/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+add_subdirectory(../stm32_common arch_bootloader)

src/include/image_toc.h

@@ -34,6 +34,11 @@
 #ifndef _IMAGE_TOC_H
 #define _IMAGE_TOC_H
 
+#include <stdbool.h>
+
+/* Max number of TOC entries */
+#define MAX_TOC_ENTRIES 32
+
 /* Table of contents entry flags, describing what to
    do with the image
 */
@@ -41,6 +46,7 @@
 #define TOC_FLAG1_VTORS 0x2
 #define TOC_FLAG1_CHECK_SIGNATURE 0x4
 #define TOC_FLAG1_DECRYPT 0x8
+#define TOC_FLAG1_COPY 0x10
 
 #define TOC_FLAG1_RDCT 0x80
 
@@ -54,7 +60,6 @@
 #define TOC_VERSION BOARD_IMAGE_TOC_VERSION
 #endif
 
-
 /* Markers for TOC start and end in the image */
 
 typedef const struct __attribute__((__packed__)) image_toc_start {
@@ -68,7 +73,7 @@ typedef struct __attribute__((__packed__)) image_toc_entry {
 	unsigned char name[4];  /* Name of the section */
 	const void *start;      /* Start address of the section in flash */
 	const void *end;        /* End of the section */
-	const void *target;     /* Copy target address of the section */
+	void *target;           /* Copy target address of the section */
 	uint8_t signature_idx;  /* Index to the signature in the TOC */
 	uint8_t signature_key;  /* Key index for the signature */
 	uint8_t encryption_key; /* Key index for encryption */
@@ -102,4 +107,15 @@ typedef struct __attribute__((__packed__))
 	uint8_t signature[];
 } image_cert_t;
 
+extern bool find_toc(const image_toc_entry_t **toc_entries, uint8_t *len);
+
+/* If decrypt or copy flags are defined, this returns the target address.
+ * Otherwise, return the start address.
+ */
+inline static const void *get_base_addr(const image_toc_entry_t *e)
+{
+	return (e->flags1 & TOC_FLAG1_DECRYPT) || (e->flags1 & TOC_FLAG1_COPY) ?
+	       e->target : e->start;
+}
+
 #endif