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restore UAVCAN bootloader support
- essentially reverting #7878 minus the obsolete board support
This commit is contained in:
Daniel Agar
@@ -0,0 +1,204 @@
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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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#include <nuttx/config.h>
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#include <stdint.h>
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#include <string.h>
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#include "chip.h"
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#include "stm32.h"
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#include <errno.h>
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#include "boot_app_shared.h"
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#include "crc.h"
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#define BOOTLOADER_COMMON_APP_SIGNATURE 0xB0A04150u
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#define BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE 0xB0A0424Cu
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/* CAN_FiRx where (i=0..27|13, x=1, 2)
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* STM32_CAN1_FIR(i,x)
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* Using i = 2 does not requier there block
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* to be enabled nor FINIT in CAN_FMR to be set.
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* todo:Validate this claim on F2, F3
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*/
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#define crc_HiLOC STM32_CAN1_FIR(2,1)
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#define crc_LoLOC STM32_CAN1_FIR(2,2)
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#define signature_LOC STM32_CAN1_FIR(3,1)
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#define bus_speed_LOC STM32_CAN1_FIR(3,2)
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#define node_id_LOC STM32_CAN1_FIR(4,1)
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#define CRC_H 1
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#define CRC_L 0
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inline static void read(bootloader_app_shared_t *pshared)
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{
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pshared->signature = getreg32(signature_LOC);
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pshared->bus_speed = getreg32(bus_speed_LOC);
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pshared->node_id = getreg32(node_id_LOC);
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pshared->crc.ul[CRC_L] = getreg32(crc_LoLOC);
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pshared->crc.ul[CRC_H] = getreg32(crc_HiLOC);
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}
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inline static void write(bootloader_app_shared_t *pshared)
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{
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putreg32(pshared->signature, signature_LOC);
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putreg32(pshared->bus_speed, bus_speed_LOC);
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putreg32(pshared->node_id, node_id_LOC);
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putreg32(pshared->crc.ul[CRC_L], crc_LoLOC);
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putreg32(pshared->crc.ul[CRC_H], crc_HiLOC);
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}
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static uint64_t calulate_signature(bootloader_app_shared_t *pshared)
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{
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uint64_t crc;
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crc = crc64_add_word(CRC64_INITIAL, pshared->signature);
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crc = crc64_add_word(crc, pshared->bus_speed);
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crc = crc64_add_word(crc, pshared->node_id);
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crc ^= CRC64_OUTPUT_XOR;
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return crc;
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}
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static void bootloader_app_shared_init(bootloader_app_shared_t *pshared, eRole_t role)
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{
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memset(pshared, 0, sizeof(bootloader_app_shared_t));
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if (role != Invalid) {
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pshared->signature =
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(role ==
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App ? BOOTLOADER_COMMON_APP_SIGNATURE :
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BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE);
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}
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}
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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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__EXPORT int bootloader_app_shared_read(bootloader_app_shared_t *shared, eRole_t role)
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{
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int rv = -EBADR;
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bootloader_app_shared_t working;
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read(&working);
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if ((role == App ? working.signature == BOOTLOADER_COMMON_APP_SIGNATURE
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: working.signature == BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE)
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&& (working.crc.ull == calulate_signature(&working))) {
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*shared = working;
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rv = OK;
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}
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return rv;
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}
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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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__EXPORT void bootloader_app_shared_write(bootloader_app_shared_t *shared, eRole_t role)
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{
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bootloader_app_shared_t working = *shared;
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working.signature = (role == App ? BOOTLOADER_COMMON_APP_SIGNATURE : BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE);
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working.crc.ull = calulate_signature(&working);
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write(&working);
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}
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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 shoulf 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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__EXPORT void bootloader_app_shared_invalidate(void)
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{
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bootloader_app_shared_t working;
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bootloader_app_shared_init(&working, Invalid);
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write(&working);
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}
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