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IO: Simplify CRC check logic

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This commit is contained in:
Lorenz Meier
2021-03-02 13:07:55 +01:00
parent d9e33b68cf
commit d5d09bab84
6 changed files with 54 additions and 56 deletions
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boards/cubepilot/cubeorange/init/rc.board_defaults
-1
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@@ -43,4 +43,3 @@ param set-default UAVCAN_ENABLE 2
set LOGGER_BUF 64
set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
boards/cubepilot/cubeorange/src/board_config.h
+1
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@@ -46,6 +46,7 @@
/* PX4IO connection configuration */
#define BOARD_USES_PX4IO_VERSION 2
#define BOARD_PX4IO_FW_SEARCH_PATHS {"/etc/extras/cubepilot_io-v2_default.bin","/fs/microsd/cubepilot_io-v2_default.bin", nullptr }
#define PX4IO_SERIAL_DEVICE "/dev/ttyS3"
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
boards/cubepilot/cubeyellow/init/rc.board_defaults
-1
View File
@@ -23,4 +23,3 @@ param set-default UAVCAN_ENABLE 2
set LOGGER_BUF 64
set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
boards/cubepilot/cubeyellow/src/board_config.h
+1
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@@ -46,6 +46,7 @@
/* PX4IO connection configuration */
#define BOARD_USES_PX4IO_VERSION 2
#define BOARD_PX4IO_FW_SEARCH_PATHS {"/etc/extras/cubepilot_io-v2_default.bin","/fs/microsd/cubepilot_io-v2_default.bin", nullptr }
#define PX4IO_SERIAL_DEVICE "/dev/ttyS3"
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
platforms/common/include/px4_platform_common/board_common.h
+1 -1
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@@ -228,7 +228,7 @@
# else
/* Use PX4IO FW search paths defaults based on version */
# if BOARD_USES_PX4IO_VERSION == 2
# define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4_io-v2_default.bin","/fs/microsd/px4_io-v2_default.bin", "/fs/microsd/px4io2.bin", nullptr }
# define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4_io-v2_default.bin","/fs/microsd/px4_io-v2_default.bin", nullptr }
# endif
# endif
#endif
src/drivers/px4io/px4io.cpp
+51 -53
View File
@@ -132,6 +132,13 @@ public:
*/
virtual int detect();
/**
* @brief Check the integrity of the IO binary
*
* Succeeds if the IO binary matches the binary we have stored.
*/
int check_crc(const char *file, uint32_t io_crc);
/**
* IO Control handler.
*
@@ -463,6 +470,46 @@ bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
return true;
}
int PX4IO::check_crc(const char *file, uint32_t io_crc)
{
int fd = ::open(file, O_RDONLY);
if (fd == -1) {
PX4_WARN("open of %s failed: %d", file, errno);
return PX4_ERROR;
}
const uint32_t app_size_max = 0xf000;
uint32_t fw_crc = 0;
uint32_t nbytes = 0;
while (true) {
uint8_t buf[16];
int n = ::read(fd, buf, sizeof(buf));
if (n <= 0) { break; }
fw_crc = crc32part(buf, n, fw_crc);
nbytes += n;
}
::close(fd);
while (nbytes < app_size_max) {
uint8_t b = 0xff;
fw_crc = crc32part(&b, 1, fw_crc);
nbytes++;
}
if (io_crc != fw_crc) {
PX4_DEBUG("Firmware CRC mismatch 0x%08x 0x%08lx", io_crc, fw_crc);
return -EINVAL;
} else {
return PX4_OK;
}
}
int PX4IO::init()
{
/* do regular cdev init */
@@ -524,21 +571,6 @@ int PX4IO::init()
_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
/*
* Check for IO flight state - if FMU was flagged to be in
* armed state, FMU is recovering from an in-air reset.
* Read back status and request the commander to arm
* in this case.
*/
uint16_t reg = 0;
/* get IO's last seen FMU state */
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, &reg, sizeof(reg));
if (ret != OK) {
return ret;
}
/* dis-arm IO before touching anything */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED | PX4IO_P_SETUP_ARMING_LOCKDOWN,
0);
@@ -2035,10 +2067,7 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
return ret;
}
if (io_crc != arg) {
PX4_DEBUG("Firmware CRC mismatch 0x%08x 0x%08lx", io_crc, arg);
return -EINVAL;
}
ret = check_crc((const char *)arg, io_crc);
break;
}
@@ -2117,7 +2146,7 @@ void start(int argc, char *argv[])
device::Device *interface = get_interface();
/* create the driver - it will set g_dev */
PX4IO *dev = new PX4IO(interface);
(void)new PX4IO(interface);
if (g_dev == nullptr) {
delete interface;
@@ -2192,36 +2221,7 @@ void checkcrc(int argc, char *argv[])
exit(1);
}
int fd = open(argv[1], O_RDONLY);
if (fd == -1) {
PX4_WARN("open of %s failed: %d", argv[1], errno);
exit(1);
}
const uint32_t app_size_max = 0xf000;
uint32_t fw_crc = 0;
uint32_t nbytes = 0;
while (true) {
uint8_t buf[16];
int n = read(fd, buf, sizeof(buf));
if (n <= 0) { break; }
fw_crc = crc32part(buf, n, fw_crc);
nbytes += n;
}
close(fd);
while (nbytes < app_size_max) {
uint8_t b = 0xff;
fw_crc = crc32part(&b, 1, fw_crc);
nbytes++;
}
int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, (long unsigned int)argv[1]);
if (!keep_running) {
delete g_dev;
@@ -2229,11 +2229,9 @@ void checkcrc(int argc, char *argv[])
}
if (ret != OK) {
PX4_ERR("check CRC failed: %d, CRC: %u", ret, fw_crc);
PX4_ERR("check CRC failed: %d", ret);
exit(1);
} else {
PX4_INFO("IO FW CRC match");
}
exit(0);