Bootloader: Add Reading of Git SHA to bootloader

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")
 
 
@@ -106,6 +111,7 @@
 #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    // baud rate on uart
@@ -1047,6 +1053,29 @@ 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;
+            }
+
+            uint32_t len = strlen(GIT_VERSION_EXTENDED);
+            if (len > MAX_VERSION_LENGTH) {
+                len = MAX_VERSION_LENGTH;
+            }
+            memcpy(buffer, GIT_VERSION_EXTENDED, len);
+
+            cout_word(len);
+            cout(buffer, len);
+        }
+        break;
+
 #ifdef BOOT_DELAY_ADDRESS
 
         case PROTO_SET_DELAY: {

Tools/AP_Bootloader/bl_protocol.h

@@ -14,6 +14,7 @@ void bootloader(unsigned timeout);
 #endif
 
 #define MAX_DES_LENGTH 20
+#define MAX_VERSION_LENGTH 32
 
 #define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
 

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(),
+    ])

Tools/ardupilotwaf/boards.py

@@ -553,7 +553,9 @@ def pre_build(self, bld):
             self.embed_ROMFS_files(bld)
 
     def build(self, bld):
+        git_hash_ext = bld.git_head_hash(short=True, hash_abbrev=16)
         bld.ap_version_append_str('GIT_VERSION', bld.git_head_hash(short=True))
+        bld.ap_version_append_str('GIT_VERSION_EXTENDED', git_hash_ext)
         bld.ap_version_append_int('GIT_VERSION_INT', int("0x" + bld.git_head_hash(short=True), base=16))
         bld.ap_version_append_str('AP_BUILD_ROOT', bld.srcnode.abspath())
         import time

Tools/ardupilotwaf/git_submodule.py

@@ -156,19 +156,19 @@ def _post_fun(bld):
 def git_submodule_post_fun(bld):
     bld.add_post_fun(_post_fun)
 
-def _git_head_hash(ctx, path, short=False):
+def _git_head_hash(ctx, path, short=False, hash_abbrev=8):
     cmd = [ctx.env.get_flat('GIT'), 'rev-parse']
     if short:
-        cmd.append('--short=8')
+        cmd.append(f'--short={hash_abbrev}')
     cmd.append('HEAD')
     out = ctx.cmd_and_log(cmd, quiet=Context.BOTH, cwd=path)
     return out.strip()
 
 @conf
-def git_submodule_head_hash(self, name, short=False):
+def git_submodule_head_hash(self, name, short=False, hash_abbrev=8):
     module_node = self.srcnode.make_node(os.path.join('modules', name))
-    return _git_head_hash(self, module_node.abspath(), short=short)
+    return _git_head_hash(self, module_node.abspath(), short=short, hash_abbrev=hash_abbrev)
 
 @conf
-def git_head_hash(self, short=False):
-    return _git_head_hash(self, self.srcnode.abspath(), short=short)
+def git_head_hash(self, short=False, hash_abbrev=8):
+    return _git_head_hash(self, self.srcnode.abspath(), short=short, hash_abbrev=hash_abbrev)

Tools/scripts/uploader.py

@@ -225,6 +225,7 @@ 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_SOFTWARE    = b'\x2f'
     MAX_DES_LENGTH  = 20
 
     REBOOT          = b'\x30'
@@ -262,7 +263,8 @@ def __init__(self,
                  source_system=None,
                  source_component=None,
                  no_extf=False,
-                 force_erase=False):
+                 force_erase=False,
+                 identify_only=False):
         self.MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')  # NOQA
         self.MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')  # NOQA
         if target_component is None:
@@ -273,6 +275,7 @@ def __init__(self,
             source_component = 1
         self.no_extf = no_extf
         self.force_erase = force_erase
+        self.identify_only = identify_only
 
         # open the port, keep the default timeout short so we can poll quickly
         self.port = serial.Serial(portname, baudrate_bootloader, timeout=2.0, write_timeout=2.0)
@@ -437,6 +440,17 @@ def __getCHIPDes(self):
         peices = value.split(",")
         return peices
 
+    # send the GET_SOFTWARE command
+    def __getBootloaderSoftware(self):
+        self.__send(uploader.GET_SOFTWARE + uploader.EOC)
+        length = self.__recv_int()
+        print(f"RX Len: {length}")
+        value = self.__recv(length)
+        if runningPython3:
+            value = value.decode('ascii')
+        self.__getSync()
+        return value
+
     def __drawProgressBar(self, label, progress, maxVal):
         if maxVal < progress:
             progress = maxVal
@@ -737,6 +751,13 @@ def identify(self):
         self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
         self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
 
+        if self.identify_only:
+            # Only run if we are trying to identify the board
+            try:
+                self.git_hash_bl = self.__getBootloaderSoftware()
+            except Exception:
+                self.__sync()
+
     def dump_board_info(self):
         # OTP added in v4:
         print("Bootloader Protocol: %u" % self.bl_rev)
@@ -839,6 +860,9 @@ def dump_board_info(self):
             print("  board_type: %u" % self.board_type)
         print("  board_rev: %u" % self.board_rev)
 
+        if hasattr(self, "git_hash_bl") and self.git_hash_bl is not None:
+            print("  git hash (Bootloader): %s" % self.git_hash_bl)
+
         print("Identification complete")
 
     def board_name_for_board_id(self, board_id):
@@ -1162,7 +1186,8 @@ def main():
                                   args.source_system,
                                   args.source_component,
                                   args.no_extf,
-                                  args.force_erase)
+                                  args.force_erase,
+                                  args.identify)
 
                 except Exception as e:
                     if not is_WSL and not is_WSL2 and "win32" not in _platform: