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uavcan bootloader use new AppDes

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This commit is contained in:
David Sidrane
2021-01-28 13:08:16 -08:00
committed by Daniel Agar
parent bfdc6cd675
commit 760e47bbf9
7 changed files with 239 additions and 86 deletions
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3
platforms/nuttx/src/canbootloader/include/can.h
View File

@@ -53,7 +53,8 @@ typedef enum {
CAN_125KBAUD = 1,
CAN_250KBAUD = 2,
CAN_500KBAUD = 3,
CAN_1MBAUD = 4
CAN_1MBAUD = 4,
CAN_UNDEFINED = 999,
} can_speed_t;
typedef enum {

92
platforms/nuttx/src/canbootloader/uavcan/main.c
View File

@@ -82,6 +82,8 @@
#pragma message "******** DANGER DEBUG_APPLICATION_INPLACE is DEFINED ******"
#endif
extern bootloader_alt_app_shared_t _sapp_bl_shared;
typedef volatile struct bootloader_t {
can_speed_t bus_speed;
volatile uint8_t health;
@@ -208,7 +210,7 @@ static void node_info_process(bl_timer_id id, void *context)
bootloader.fw_image_descriptor->minor_version;
response.software_version.vcs_commit =
bootloader.fw_image_descriptor->vcs_commit;
bootloader.fw_image_descriptor->git_hash;
response.software_version.image_crc =
bootloader.fw_image_descriptor->image_crc;
@@ -292,9 +294,9 @@ static void find_descriptor(void)
app_descriptor_t *descriptor = NULL;
union {
uint64_t ull;
char text[sizeof(uint64_t)];
uint8_t bytes[sizeof(uint64_t)];
} sig = {
.text = {APP_DESCRIPTOR_SIGNATURE}
.bytes = APP_DESCRIPTOR_SIGNATURE
};
do {
@@ -312,8 +314,8 @@ static void find_descriptor(void)
*
* Description:
* This functions validates the applications image based on the validity of
* the Application firmware descriptor's crc and the value of the first word
* in the FLASH image.
* the Application firmware descriptor's 2 crcs and the value of
* the first word in the FLASH image.
*
*
* Input Parameters:
@@ -326,9 +328,9 @@ static void find_descriptor(void)
****************************************************************************/
static bool is_app_valid(uint32_t first_word)
{
uint64_t crc;
size_t i, length, crc_offset;
uint32_t word;
uint32_t block_crc1;
uint32_t block_crc2;
size_t length;
find_descriptor();
@@ -342,32 +344,21 @@ static bool is_app_valid(uint32_t first_word)
return false;
}
crc_offset = (size_t)(&bootloader.fw_image_descriptor->image_crc) -
(size_t) bootloader.fw_image;
crc_offset >>= 2u;
length >>= 2u;
block_crc1 = crc32_signature(0, sizeof(first_word), (const uint8_t *)&first_word);
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));
crc = crc64_add_word(CRC64_INITIAL, first_word);
for (i = 1u; i < length; i++) {
if (i == crc_offset || i == crc_offset + 1u) {
/* Zero out the CRC field while computing the CRC */
word = 0u;
} else {
word = bootloader.fw_image[i];
}
crc = crc64_add_word(crc, word);
}
crc ^= CRC64_OUTPUT_XOR;
block_crc2 = crc32_signature(0,
(size_t) bootloader.fw_image_descriptor->image_size - ((size_t)&bootloader.fw_image_descriptor->major_version
- (size_t)bootloader.fw_image),
(const uint8_t *) &bootloader.fw_image_descriptor->major_version);
#if defined(DEBUG_APPLICATION_INPLACE)
return true;
#endif
return crc == bootloader.fw_image_descriptor->image_crc;
return block_crc1 == bootloader.fw_image_descriptor->crc32_block1
&& block_crc2 == bootloader.fw_image_descriptor->crc32_block2;
}
/****************************************************************************
@@ -976,11 +967,16 @@ static void application_run(size_t fw_image_size, bootloader_app_shared_t *commo
static int autobaud_and_get_dynamic_node_id(bl_timer_id tboot, can_speed_t *speed, uint32_t *node_id)
{
board_indicate(autobaud_start);
bool autobaud_only = *speed == CAN_UNDEFINED;
int rv = can_autobaud(speed, tboot);
if (rv != CAN_BOOT_TIMEOUT) {
board_indicate(autobaud_end);
if (autobaud_only) {
return rv;
}
board_indicate(allocation_start);
#if defined(DEBUG_APPLICATION_INPLACE)
*node_id = 125;
@@ -1071,9 +1067,24 @@ __EXPORT int main(int argc, char *argv[])
board_indicate(reset);
/* Was this boot a result of the Application being told it has a FW update ? */
bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) &&
common.bus_speed && common.node_id;
/* Was this boot a result of An Alternate Application being told it has a FW update ? */
bootloader_alt_app_shared_t *ps = (bootloader_alt_app_shared_t *) &_sapp_bl_shared;
if (ps->signature == BL_ALT_APP_SHARED_SIGNATURE) {
common.node_id = ps->node_id;
common.bus_speed = CAN_UNDEFINED;
bootloader.app_bl_request = ps->node_id != 0;
ps->signature = 0;
} else {
/* Was this boot a result of the Application being told it has a FW update ? */
bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) &&
common.bus_speed && common.node_id;
}
/*
* Mark CRC to say this is not from
@@ -1130,6 +1141,23 @@ __EXPORT int main(int argc, char *argv[])
if (bootloader.app_bl_request) {
bootloader.bus_speed = common.bus_speed;
/* if the the bootloader_alt_app_shared_t was used there is not bit rate.
* So let auto baud only as signaled by bootloader.bus_speed == CAN_UNDEFINED
*/
if (common.bus_speed == CAN_UNDEFINED) {
if (CAN_OK != autobaud_and_get_dynamic_node_id(tboot, (can_speed_t *)&bootloader.bus_speed, &common.node_id)) {
/*
* It is OK that node ID is set to the preferred Appl Node ID because
* common.crc.valid is not true yet
*/
goto boot;
}
}
can_init(can_freq2speed(common.bus_speed), CAN_Mode_Normal);
} else {