AP_Bootloader: Add git_sha to the bootloader

Allows for reading of the git sha from the bootloader to ascertain the sha the bootloader is built at

Tools/AP_Bootloader/bl_protocol.cpp

@@ -49,12 +49,17 @@
 #include "bl_protocol.h"
 #include "support.h"
 #include "can.h"
+#include "AP_Bootloader_config.h"
 #include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
 #if EXT_FLASH_SIZE_MB
 #include <AP_FlashIface/AP_FlashIface_JEDEC.h>
 #endif
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
 
+#define FORCE_VERSION_H_INCLUDE
+#include "ap_version.h"
+#undef FORCE_VERSION_H_INCLUDE
+
 // #pragma GCC optimize("O0")
 
 
@@ -122,14 +127,30 @@
 #define PROTO_READ_MULTI_MAX    255	// size of the size field
 
 /* argument values for PROTO_GET_DEVICE */
-#define PROTO_DEVICE_BL_REV	1	// bootloader revision
-#define PROTO_DEVICE_BOARD_ID	2	// board ID
-#define PROTO_DEVICE_BOARD_REV	3	// board revision
-#define PROTO_DEVICE_FW_SIZE	4	// size of flashable area
-#define PROTO_DEVICE_VEC_AREA	5	// contents of reserved vectors 7-10
-#define PROTO_DEVICE_EXTF_SIZE  6   // size of available external flash
+#define PROTO_DEVICE_BL_REV       1  // bootloader revision
+#define PROTO_DEVICE_BOARD_ID	  2  // board ID
+#define PROTO_DEVICE_BOARD_REV	  3  // board revision
+#define PROTO_DEVICE_FW_SIZE	  4  // size of flashable area
+#define PROTO_DEVICE_VEC_AREA	  5  // contents of reserved vectors 7-10
+#define PROTO_DEVICE_EXTF_SIZE    6  // size of available external flash
+#define PROTO_DEVICE_BL_OPTS      7  // bl software info bits
+#define PROTO_DEVICE_BL_SOFTWARE  8  // bl software build
+#define PROTO_DEVICE_APP_SOFTWARE 9  // app software build
+
 // all except PROTO_DEVICE_VEC_AREA and PROTO_DEVICE_BOARD_REV should be done
-#define CHECK_GET_DEVICE_FINISHED(x)   ((x & (0xB)) == 0xB)
+
+// Convert the Device Info to a bitmask
+#define DEVICE_INFO_MASK(x) (1<<(x-1))
+
+// Define the required device info as a mask
+#define REQUIRED_DEVICE_INFO_MASK ( \
+              DEVICE_INFO_MASK(PROTO_DEVICE_BL_REV) \
+            | DEVICE_INFO_MASK(PROTO_DEVICE_BOARD_ID) \
+            | DEVICE_INFO_MASK(PROTO_DEVICE_FW_SIZE) \
+        )
+
+// Checks whether all required device info has been obtained
+#define CHECK_GET_DEVICE_FINISHED(x)   ((x & (REQUIRED_DEVICE_INFO_MASK)) == REQUIRED_DEVICE_INFO_MASK)
 
 // interrupt vector table for STM32
 #define SCB_VTOR 0xE000ED08
@@ -554,6 +575,9 @@ bootloader(unsigned timeout)
         // BOARD_REV reply:	<board rev:4>/INSYNC/EOC
         // FW_SIZE reply:	<firmware size:4>/INSYNC/EOC
         // VEC_AREA reply	<vectors 7-10:16>/INSYNC/EOC
+        // BL_OPTS reply:   <bootloader options:4>/INSYNC/EOC
+        // BL_SOFTWARE reply: <bootloader software:8>/INSYNC/EOC
+        // APP_SOFTWARE reply: <application software:8>/INSYNC/EOC
         // bad arg reply:	INSYNC/INVALID
         //
         case PROTO_GET_DEVICE:
@@ -603,10 +627,75 @@ bootloader(unsigned timeout)
                 cout((uint8_t *)&board_info.extf_size, sizeof(board_info.extf_size));
                 break;
 
+            case PROTO_DEVICE_BL_OPTS:
+            {
+                uint32_t options = 0;
+#if AP_CHECK_FIRMWARE_ENABLED
+#if AP_SIGNED_FIRMWARE
+                options |= OptionSignedFirmware;
+#else
+                options |= OptionUnsignedFirmware;
+#endif
+                if (check_good_firmware() == check_fw_result_t::CHECK_FW_OK) {
+                    options |= OptionCheckFWOk;
+                }
+#endif
+#if AP_BOOTLOADER_FLASH_FROM_SD_ENABLED
+                options |= OptionFlashFromSDCard;
+#endif
+                cout((uint8_t *)&options, sizeof(options));
+                break;
+            }
+
+            case PROTO_DEVICE_BL_SOFTWARE:
+            {
+                static_assert(strlen(GIT_VERSION_EXTENDED) == 16, "Incorrect SHA length");
+                const uint32_t len = strlen(GIT_VERSION_EXTENDED);
+                const uint32_t chunk_size = 8;
+
+                // convert the SHA from char to uint32 chunks to be sent out
+                for (uint8_t i = 0; i < len; i += chunk_size) {
+                    uint32_t value = 0;
+                    for (uint32_t j = 0; j < chunk_size; ++j) {
+                        value <<= 4; // Shift left by 4 bits to make room for next nibble
+                        value |= char_to_hex(GIT_VERSION_EXTENDED[i + j]);
+                    }
+                    cout((uint8_t *)&value, sizeof(value));
+                }
+                break;
+            }
+
+            case PROTO_DEVICE_APP_SOFTWARE:
+            {
+#if AP_CHECK_FIRMWARE_ENABLED
+                const auto *ad = get_app_descriptor();
+
+                if (ad != nullptr) {
+                    // app_descriptor is valid, grab the hash and output
+                    // !todo: app_descriptor only stores a uint32 worth of the sha,
+                    //        so send a zeroed upper chunk, and handle display in uploader.py
+                    //
+                    //        If app_descriptor is updated, we should update this to support reporting
+                    //        the full sha.
+                    const uint32_t hash_hi = 0;
+                    cout((uint8_t *)&hash_hi, sizeof(hash_hi));
+
+                    uint32_t git_hash;
+                    git_hash = ad->git_hash;
+                    cout((uint8_t *)&git_hash, sizeof(git_hash));
+                    break;                    
+                }
+#endif // AP_CHECK_FIRMWARE_ENABLED
+                // either app descriptor is null, or check firmware is not enabled
+                goto cmd_bad;
+
+                break;
+            }
+
             default:
                 goto cmd_bad;
             }
-            done_get_device_flags |= (1<<(arg-1)); // set the flags for use when resetting timeout 
+            done_get_device_flags |= DEVICE_INFO_MASK(arg); // set the flags for use when resetting timeout 
             break;
 
         // erase and prepare for programming

Tools/AP_Bootloader/bl_protocol.h

@@ -19,3 +19,10 @@ void bootloader(unsigned timeout);
 
 enum led_state {LED_BLINK, LED_ON, LED_OFF, LED_BAD_FW};
 void led_set(enum led_state state);
+
+enum bl_info_opts {
+    OptionUnsignedFirmware  = 1 << 0,
+    OptionSignedFirmware    = 1 << 1,
+    OptionFlashFromSDCard   = 1 << 2,
+    OptionCheckFWOk         = 1 << 3,
+};

Tools/AP_Bootloader/support.h

@@ -11,6 +11,7 @@ struct boardinfo {
     uint32_t	board_rev;
     uint32_t	fw_size;
     uint32_t    extf_size;
+    uint32_t    git_hash;
 } __attribute__((packed));
 
 extern struct boardinfo board_info;

Tools/AP_Bootloader/wscript

@@ -10,6 +10,8 @@ def build(bld):
     else:
         flashiface_lib = []
 
+    _build_dynamic_sources(bld)
+
     bld.ap_stlib(
         name= 'AP_Bootloader_libs',
         use='dronecan',
@@ -34,3 +36,19 @@ def build(bld):
         use=['AP_Bootloader_libs', 'libcanard', 'dronecan'],
         program_groups='bootloader'
     )
+
+def _build_dynamic_sources(bld):
+    def write_version_header(tsk):
+        bld = tsk.generator.bld
+        return bld.write_version_header(tsk.outputs[0].abspath())
+
+    bld(
+        name='ap_version',
+        target='ap_version.h',
+        vars=['AP_VERSION_ITEMS'],
+        rule=write_version_header,
+    )
+
+    bld.env.prepend_value('INCLUDES', [
+        bld.bldnode.abspath(),
+    ])