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49 lines
1.6 KiB
49 lines
1.6 KiB
/* |
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application -> bootloader communication structure This is put into |
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the start of RAM by AP_Periph to facilitate firmware upload with |
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UAVCAN |
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*/ |
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#pragma once |
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#define APP_BOOTLOADER_COMMS_MAGIC 0xc544ad9a |
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struct app_bootloader_comms { |
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uint32_t magic; |
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uint32_t reserved[4]; |
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uint8_t server_node_id; |
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uint8_t my_node_id; |
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uint8_t path[201]; |
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}; |
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#ifndef FW_MAJOR |
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#define FW_MAJOR 0 |
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#define FW_MINOR 0 |
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#endif |
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/* |
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the app_descriptor stored in flash in the main firmware and is used |
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by the bootloader to confirm that the firmware is not corrupt and is |
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suitable for this board. The build dependent values in this structure |
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are filled in by set_app_descriptor() in the waf build |
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*/ |
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struct app_descriptor { |
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uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 }; |
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// crc1 is the crc32 from firmware start to start of image_crc1 |
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uint32_t image_crc1 = 0; |
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// crc2 is the crc32 from the start of version_major to the end of the firmware |
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uint32_t image_crc2 = 0; |
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// total size of firmware image in bytes |
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uint32_t image_size = 0; |
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uint32_t git_hash = 0; |
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// software version number |
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uint8_t version_major = FW_MAJOR; |
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uint8_t version_minor = FW_MINOR; |
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// APJ_BOARD_ID (hardware version). This is also used in CAN NodeInfo |
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// with high byte in HardwareVersion.major and low byte in HardwareVersion.minor |
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uint16_t board_id = APJ_BOARD_ID; |
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uint8_t reserved[8] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff }; |
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}; |
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#define APP_DESCRIPTOR_TOTAL_LENGTH 36 |
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static_assert(sizeof(app_descriptor) == APP_DESCRIPTOR_TOTAL_LENGTH, "app_descriptor incorrect length");
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