/**************************************************************************** * * Copyright (c) 2015 PX4 Development Team. All rights reserved. * Author: Ben Dyer * Pavel Kirienko * David Sidrane * * 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. * ****************************************************************************/ #pragma once /**************************************************************************** * Included Files ****************************************************************************/ #include __BEGIN_DECLS /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* Define the signature for the Application descriptor as 'APDesc' and a * revision number of 00 used in app_descriptor_t */ #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 /* N.B. the .ld file must emit this sections */ # define boot_app_shared_section __attribute__((section(".app_descriptor"))) /**************************************************************************** * Public Type Definitions ****************************************************************************/ /* eRole defines the role of the bootloader_app_shared_t structure */ typedef enum eRole { Invalid, App, BootLoader } eRole_t; /**************************************************************************** * * Bootloader and Application shared structure. * * The data in this structure 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 by design. * * For reference, the following is performed based on eRole in API calls * defined below: * * 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 application, 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 resulting values are then copied to the CAN filter * registers by bootloader_app_shared_read and * bootloader_app_shared_write. * ****************************************************************************/ #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wattributes" typedef begin_packed_struct struct bootloader_app_shared_t { union { uint64_t ull; uint32_t ul[2]; uint8_t valid; } crc; uint32_t signature; uint32_t bus_speed; uint32_t node_id; } end_packed_struct bootloader_app_shared_t; #pragma GCC diagnostic pop /**************************************************************************** * * Application firmware descriptor. * * This structure located by the linker script somewhere after the vector table. * (within the first several kilobytes of the beginning address of the * application); * * This structure must be aligned on an 8-byte boundary. * * The bootloader will scan through the application FLASH image until it * finds the signature. * * The image_crc is calculated as follows: * 1) All fields of this structure must be initialized with the correct * information about the firmware image bin file * (Here after refereed to as image) * 2) image_crc set to 0; * 3) The CRC 64 is calculated over the image from offset 0 up to and including the * last byte of the image file. * 4) The calculated CRC 64 is stored in image_crc * 5) The new image file is then written to a file a ".img" extension. * ****************************************************************************/ #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wattributes" #pragma GCC diagnostic ignored "-Wpacked" typedef begin_packed_struct struct app_descriptor_t { uint8_t signature[sizeof(uint64_t)]; uint64_t image_crc; uint32_t image_size; uint32_t vcs_commit; uint8_t major_version; uint8_t minor_version; uint8_t reserved[6]; } end_packed_struct app_descriptor_t; #pragma GCC diagnostic pop /**************************************************************************** * Global Variables ****************************************************************************/ /**************************************************************************** * Public Function Prototypes ****************************************************************************/ /**************************************************************************** * Name: bootloader_app_shared_read * * Description: * Based on the role requested, this function will conditionally populate * a bootloader_app_shared_t structure from the physical locations used * to transfer the shared data to/from an application (internal data) . * * The functions will only populate the structure and return a status * indicating success, if the internal data has the correct signature as * requested by the Role AND has a valid crc. * * Input Parameters: * shared - A pointer to a bootloader_app_shared_t return the data in if * the internal data is valid for the requested Role * role - An eRole_t of App or BootLoader to validate the internal data * against. For a Bootloader this would be the value of App to * read the application passed data. * * Returned value: * OK - Indicates that the internal data has been copied to callers * bootloader_app_shared_t structure. * * -EBADR - The Role or crc of the internal data was not valid. The copy * did not occur. * ****************************************************************************/ int bootloader_app_shared_read(bootloader_app_shared_t *shared, eRole_t role); /**************************************************************************** * Name: bootloader_app_shared_write * * Description: * Based on the role, this function will commit the data passed * into the physical locations used to transfer the shared data to/from * an application (internal data) . * * The functions will populate the signature and crc the data * based on the provided Role. * * Input Parameters: * shared - A pointer to a bootloader_app_shared_t data to commit to * the internal data for passing to/from an application. * role - An eRole_t of App or BootLoader to use in the internal data * to be passed to/from an application. For a Bootloader this * would be the value of Bootloader to write to the passed data. * to the application via the internal data. * * Returned value: * None. * ****************************************************************************/ void bootloader_app_shared_write(bootloader_app_shared_t *shared, eRole_t role); /**************************************************************************** * Name: bootloader_app_shared_invalidate * * Description: * Invalidates the data passed the physical locations used to transfer * the shared data to/from an application (internal data) . * * The functions will invalidate the signature and crc and should be used * to prevent deja vu. * * Input Parameters: * None. * * Returned value: * None. * ****************************************************************************/ void bootloader_app_shared_invalidate(void); __END_DECLS