bootloader: add bootloader version

This adds a new protocol extension which allows to get the bootloader
version.

The bootloader version is different from the bootloader protocol
revision which has stabilized at 5 and is not easy to update unless a
bootloader is actually breaking the protocol. The reason being that both
the Python script as well as the uploader used in QGC will not attempt
to load firmware if they don't know the bootloader version, so it could
basically be considered a "breaking" protocol revision.

Signed-off-by: Julian Oes <julian@oes.ch>

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -132,7 +132,9 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
 
-message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
+# # Capture only the hash part after 'g'
+string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
+set(PX4_GIT_HASH ${CMAKE_MATCH_1})
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"

Tools/px_uploader.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 ############################################################################
 #
-#   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -195,6 +195,7 @@ class uploader(object):
     GET_CHIP        = b'\x2c'     # rev5+  , get chip version
     SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
     GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
+    GET_VERSION     = b'\x2f'     # rev5+  , get chip description in ASCII
     CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
     MAX_DES_LENGTH  = 20
 
@@ -206,6 +207,7 @@ class uploader(object):
     INFO_BOARD_ID   = b'\x02'        # board type
     INFO_BOARD_REV  = b'\x03'        # board revision
     INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
+    BL_VERSION      = b'\x07'        # get bootloader version, e.g. major.minor.patch.githash (up to 20 chars)
 
     PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
     READ_MULTI_MAX  = 252            # protocol max is 255
@@ -412,6 +414,18 @@ class uploader(object):
         pieces = value.split(b",")
         return pieces
 
+    def __getVersion(self):
+        self.__send(uploader.GET_VERSION + uploader.EOC)
+        try:
+            length = self.__recv_int()
+            value = self.__recv(length)
+            self.__getSync()
+        except RuntimeError:
+            # Bootloader doesn't support version call
+            return "unknown"
+        pieces = value.split(b".")
+        return pieces
+
     def __drawProgressBar(self, label, progress, maxVal):
         if maxVal < progress:
             progress = maxVal
@@ -594,6 +608,8 @@ class uploader(object):
         self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
         self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
 
+        self.version = self.__getVersion()
+
     # upload the firmware
     def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
         self.force_erase = force_erase
@@ -625,6 +641,8 @@ class uploader(object):
         print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
         print()
 
+        print(f"Bootloader version: {self.version}")
+
         # Make sure we are doing the right thing
         start = _time()
         if self.board_type != fw.property('board_id'):

platforms/nuttx/src/bootloader/common/CMakeLists.txt

@@ -37,6 +37,10 @@ add_library(bootloader
 	crypto.c
 )
 
+target_compile_definitions(bootloader
+	PRIVATE BOOTLOADER_VERSION="PX4BLv${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH}g${PX4_GIT_HASH}"
+)
+
 target_link_libraries(bootloader
 	PRIVATE
 		arch_bootloader

platforms/nuttx/src/bootloader/common/bl.c

@@ -80,7 +80,7 @@
 // RESET    finalise flash programming, reset chip and starts application
 //
 
-#define BL_PROTOCOL_VERSION         5   // The revision of the bootloader protocol
+#define BL_PROTOCOL_REVISION        5   // The revision of the bootloader protocol
 //* Next revision needs to update
 
 // protocol bytes
@@ -106,6 +106,7 @@
 #define PROTO_GET_CHIP              0x2c    // read chip version (MCU IDCODE)
 #define PROTO_SET_DELAY             0x2d    // set minimum boot delay
 #define PROTO_GET_CHIP_DES          0x2e    // read chip version In ASCII
+#define PROTO_GET_VERSION           0x2f    // read version
 #define PROTO_BOOT                  0x30    // boot the application
 #define PROTO_DEBUG                 0x31    // emit debug information - format not defined
 #define PROTO_SET_BAUD              0x33    // set baud rate on uart
@@ -143,7 +144,8 @@
 #define STATE_PROTO_GET_SN          0x40    // Have Seen read a word from UDID area ( Serial)  at the given address
 #define STATE_PROTO_GET_CHIP        0x80    // Have Seen read chip version (MCU IDCODE)
 #define STATE_PROTO_GET_CHIP_DES    0x100   // Have Seen read chip version In ASCII
-#define STATE_PROTO_BOOT            0x200   // Have Seen boot the application
+#define STATE_PROTO_GET_VERSION     0x200   // Have Seen get version
+#define STATE_PROTO_BOOT            0x400   // Have Seen boot the application
 
 #if defined(TARGET_HW_PX4_PIO_V1)
 #define STATE_ALLOWS_ERASE        (STATE_PROTO_GET_SYNC)
@@ -158,6 +160,18 @@
 static uint8_t bl_type;
 static uint8_t last_input;
 
+int get_version(int n, uint8_t *version_str)
+{
+	int len = strlen(BOOTLOADER_VERSION);
+
+	if (len > n) {
+		len = n;
+	}
+
+	strncpy((char *)version_str, BOOTLOADER_VERSION, n);
+	return len;
+}
+
 inline void cinit(void *config, uint8_t interface)
 {
 #if INTERFACE_USB
@@ -258,7 +272,7 @@ inline void cout(uint8_t *buf, unsigned len)
 
 #endif
 
-static const uint32_t bl_proto_rev = BL_PROTOCOL_VERSION; // value returned by PROTO_DEVICE_BL_REV
+static const uint32_t bl_proto_rev = BL_PROTOCOL_REVISION; // value returned by PROTO_DEVICE_BL_REV
 
 static unsigned head, tail;
 static uint8_t rx_buf[256] USB_DATA_ALIGN;
@@ -973,7 +987,7 @@ bootloader(unsigned timeout)
 		// read the chip  description
 		//
 		// command:     GET_CHIP_DES/EOC
-		// reply:     <value:4>/INSYNC/OK
+		// reply:     <length:4><buffer...>/INSYNC/OK
 		case PROTO_GET_CHIP_DES: {
 				uint8_t buffer[MAX_DES_LENGTH];
 				unsigned len = MAX_DES_LENGTH;
@@ -990,6 +1004,25 @@ bootloader(unsigned timeout)
 			}
 			break;
 
+		// read the bootloader version (not to be confused with protocol revision)
+		//
+		// command:     GET_VERSION/EOC
+		// reply:     <length:4><buffer...>/INSYNC/OK
+		case PROTO_GET_VERSION: {
+				uint8_t buffer[MAX_VERSION_LENGTH];
+
+				// expect EOC
+				if (!wait_for_eoc(2)) {
+					goto cmd_bad;
+				}
+
+				int len = get_version(sizeof(buffer), buffer);
+				cout_word(len);
+				cout(buffer, len);
+				SET_BL_STATE(STATE_PROTO_GET_VERSION);
+			}
+			break;
+
 #ifdef BOOT_DELAY_ADDRESS
 
 		case PROTO_SET_DELAY: {
@@ -1107,4 +1140,4 @@ bad_silicon:
 		continue;
 #endif
 	}
-}
+}

platforms/nuttx/src/bootloader/common/bl.h

@@ -96,6 +96,7 @@ extern int buf_get(void);
 #endif
 
 #define MAX_DES_LENGTH 20
+#define MAX_VERSION_LENGTH 32
 
 #define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
 extern void led_on(unsigned led);
@@ -123,6 +124,8 @@ extern uint32_t get_mcu_id(void);
 int get_mcu_desc(int max, uint8_t *revstr);
 extern int check_silicon(void);
 
+int get_version(int max, uint8_t *version_str);
+
 /*****************************************************************************
  * Interface in/output.
  */
@@ -135,4 +138,4 @@ extern void cout(uint8_t *buf, unsigned len);
 #if !defined(APP_VECTOR_OFFSET)
 #  define APP_VECTOR_OFFSET 0
 #endif
-#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t))
+#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t))

platforms/nuttx/src/px4/common/CMakeLists.txt

@@ -83,4 +83,4 @@ add_subdirectory(srgbled)
 if (DEFINED PX4_CRYPTO)
 	add_library(px4_random nuttx_random.c)
 	target_link_libraries(px4_random PRIVATE nuttx_crypto)
-endif()
+endif()