uavcan bootloader:Add support alt boot_alt_app_shared

src/drivers/bootloaders/CMakeLists.txt

@@ -31,7 +31,10 @@
 #
 ############################################################################
 
-add_library(drivers_bootloaders boot_app_shared.c)
+add_library(drivers_bootloaders
+	boot_app_shared.c
+	boot_alt_app_shared.c
+	)
 add_dependencies(drivers_bootloaders prebuild_targets)
 
 include_directories(include)

src/drivers/bootloaders/boot_alt_app_shared.c

@@ -0,0 +1,144 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: David Sidrane <david.sidrane@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <string.h>
+
+#include "chip.h"
+#include "stm32.h"
+
+#include <errno.h>
+
+#include "boot_alt_app_shared.h"
+
+#include <lib/systemlib/crc.h>
+
+extern void *_sapp_bl_shared;
+
+/****************************************************************************
+ * Name: bootloader_alt_app_shared_read
+ *
+ * Description:
+ *   Based on the role requested, this function will conditionally populate
+ *   a bootloader_alt_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_alt_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_alt_app_shared_t structure.
+ *
+ *  -EBADR  - internal data was not valid. The copy did not occur.
+ *
+ ****************************************************************************/
+__EXPORT int bootloader_alt_app_shared_read(bootloader_alt_app_shared_t *alt_shared)
+{
+	int rv = EBADR;
+	bootloader_alt_app_shared_t *bootloader_alt_app_shared = (bootloader_alt_app_shared_t *)&_sapp_bl_shared;
+
+	if (bootloader_alt_app_shared->signature == BL_ALT_APP_SHARED_SIGNATURE) {
+		*alt_shared = *bootloader_alt_app_shared;
+		rv = 0;
+	}
+
+	return rv;
+}
+
+/****************************************************************************
+ * Name: bootloader_alt_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_alt_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.
+ *
+ ****************************************************************************/
+__EXPORT void bootloader_alt_app_shared_write(bootloader_alt_app_shared_t *alt_shared)
+{
+
+	bootloader_alt_app_shared_t *bootloader_alt_app_shared = (bootloader_alt_app_shared_t *)&_sapp_bl_shared;
+	*bootloader_alt_app_shared  = *alt_shared;
+	bootloader_alt_app_shared->signature = BL_ALT_APP_SHARED_SIGNATURE;
+
+}
+
+/****************************************************************************
+ * 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 shoulf be used
+ *   to prevent deja vu.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+__EXPORT void bootloader_alt_app_shared_invalidate(void)
+{
+	bootloader_alt_app_shared_t *bootloader_alt_app_shared = (bootloader_alt_app_shared_t *)&_sapp_bl_shared;
+	bootloader_alt_app_shared->signature = 0;
+
+}

src/drivers/bootloaders/boot_alt_app_shared.h

@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: David Sidrane <david.sidrane@nscdg.com>
+ *
+ * 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
+
+#include <nuttx/compiler.h>
+
+__BEGIN_DECLS
+
+/****************************************************************************
+ *
+ * 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.
+ *
+****************************************************************************/
+
+#define BL_ALT_APP_SHARED_SIGNATURE 0xc544ad9a
+typedef begin_packed_struct struct bootloader_alt_app_shared_t {
+	uint32_t  signature;
+	uint32_t  reserved[4];
+	uint8_t   fw_server_node_id;
+	uint8_t   node_id;
+	uint8_t   path[201];
+} end_packed_struct bootloader_alt_app_shared_t;
+#pragma GCC diagnostic pop
+
+
+/****************************************************************************
+ * Name: bootloader_alt_app_shared_read
+ *
+ * Description:
+ *   Based on the role requested, this function will conditionally populate
+ *   a bootloader_alt_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_alt_app_shared_t return the data in if
+ *   the internal data is valid for the requested Role
+ *
+ * Returned value:
+ *   OK     - Indicates that the internal data has been copied to callers
+ *            bootloader_alt_app_shared_t structure.
+ *
+ *  -EBADR  - The Role or crc of the internal data was not valid. The copy
+ *            did not occur.
+ *
+ ****************************************************************************/
+
+int bootloader_alt_app_shared_read(bootloader_alt_app_shared_t *alt_shared);
+
+/****************************************************************************
+ * Name: bootloader_alt_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_alt_app_shared_t data to commit to
+ *   the internal data for passing to/from an application.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void bootloader_alt_app_shared_write(bootloader_alt_app_shared_t *alt_shared);
+
+/****************************************************************************
+ * Name: bootloader_alt_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_alt_app_shared_invalidate(void);
+
+__END_DECLS

src/drivers/bootloaders/boot_app_shared.h

@@ -95,16 +95,6 @@ typedef begin_packed_struct struct bootloader_app_shared_t {
 	uint32_t node_id;
 } end_packed_struct bootloader_app_shared_t;
 
-#define BL_ALT_APP_SHARED_SIGNATURE 0xc544ad9a
-typedef begin_packed_struct struct bootloader_alt_app_shared_t {
-	uint32_t  signature;
-	uint32_t  reserved[4];
-	uint8_t   fw_server_node_id;
-	uint8_t   node_id;
-	uint8_t   path[201];
-} end_packed_struct bootloader_alt_app_shared_t;
-#pragma GCC diagnostic pop
-
 /****************************************************************************
  *
  * Application firmware descriptor.