mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 09:07:36 +08:00
Jukka Laitinen
64d264b49a
- 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>
107 lines
3.8 KiB
C
107 lines
3.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2020 Technology Innovation Institute. All rights reserved.
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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 "hw_config.h"
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#ifdef BOOTLOADER_USE_TOC
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#include <inttypes.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include <string.h>
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#include "image_toc.h"
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#include "bl.h"
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/* Helper macros to define flash start and end addresses, based on info from
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* hw_config.h
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*/
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#define FLASH_START_ADDRESS (APP_LOAD_ADDRESS & (~(BOARD_FLASH_SIZE - 1)))
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#define FLASH_END_ADDRESS (FLASH_START_ADDRESS + BOARD_FLASH_SIZE)
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bool find_toc(const image_toc_entry_t **toc_entries, uint8_t *len)
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{
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const uintptr_t toc_start_u32 = APP_LOAD_ADDRESS + BOOT_DELAY_ADDRESS + 8;
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const image_toc_start_t *toc_start = (const image_toc_start_t *)toc_start_u32;
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const image_toc_entry_t *entry = (const image_toc_entry_t *)(toc_start_u32 + sizeof(image_toc_start_t));
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int i = 0;
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uint8_t sig_idx;
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const uint32_t toc_end_magic = TOC_END_MAGIC;
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if (toc_start->magic == TOC_START_MAGIC &&
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toc_start->version <= TOC_VERSION) {
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/* Count the entries in TOC */
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while (i < MAX_TOC_ENTRIES &&
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(uintptr_t)&entry[i] <= FLASH_END_ADDRESS - sizeof(uintptr_t) &&
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memcmp(&entry[i], &toc_end_magic, sizeof(toc_end_magic))) {
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i++;
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}
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/* The number of toc entries found must be within bounds, and the
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* application has to lie within the flashable area. Also ensure that
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* end > start.
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*/
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if (i <= MAX_TOC_ENTRIES && i > 0 &&
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(uintptr_t)entry[0].start == APP_LOAD_ADDRESS &&
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(uintptr_t)entry[0].end <= (FLASH_END_ADDRESS - sizeof(uintptr_t)) &&
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(uintptr_t)entry[0].end > (uintptr_t)entry[0].start) {
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sig_idx = entry[0].signature_idx;
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/* The signature idx for the first app must be within the TOC, and
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* the signature must be within the flash area, not overlapping the
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* app. Also ensure that end > start.
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*/
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if (sig_idx > 0 &&
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sig_idx < MAX_TOC_ENTRIES &&
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(uintptr_t)entry[sig_idx].start >= (uintptr_t)entry[0].end &&
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(uintptr_t)entry[sig_idx].end <= FLASH_END_ADDRESS &&
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(uintptr_t)entry[sig_idx].end > (uintptr_t)entry[sig_idx].start) {
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*toc_entries = entry;
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*len = i;
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return true;
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}
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}
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}
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*toc_entries = NULL;
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*len = 0;
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return false;
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}
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#endif
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