bitcraze#700 Check lighthouse bitstream using CRC

Removes the lighthouse deck bitstream from the fimware and check if the
bitstream in the deck is supported using CRC instread of a direct
byte comparison. This allows to remove the DISABLE_LIGHTHOUSE_DRIVER
macro and so to have the listhouse always enabled.

This firmware is now incapable of flashing a new bitstream if needed.
Implementation of a flashing over CRTP is needed to make it fonctional
again.

.github/workflows/CI.yml

@@ -69,9 +69,6 @@ jobs:
         # Build Bigquad deck with all config options
         - >
           "EXTRA_CFLAGS=-DENABLE_BQ_DECK -DBQ_DECK_ENABLE_OSD -DBQ_DECK_ENABLE_PM"
-        # Build with the lighthouse driver
-        - >
-          "EXTRA_CFLAGS=-DDISABLE_LIGHTHOUSE_DRIVER=0"
     env:
       FEATURE: ${{ matrix.features }}
 

docs/functional-areas/lighthouse/setting_up.md

@@ -39,10 +39,6 @@ Clone (or download) the [crazyflie-firmware](https://github.com/bitcraze/crazyfl
 git clone https://github.com/bitcraze/crazyflie-firmware
 ```
 
-### Enable lighthouse support
-
-To compile the firmware with lighthouse support, use the ```DISABLE_LIGHTHOUSE_DRIVER=0``` compile flag. For instance this can be done by adding ```CFLAGS += -DDISABLE_LIGHTHOUSE_DRIVER=0``` to your config.mk file.
-
 ### System identification
 
 The Crayflie will make an educated guess in run time based on the light signals it receives to decide if the system uses lighthouse V1 or V2 base stations. Unfortunately this sometimes fails, and a better option is to comile the firmware with a compile flag to force it to V1 or V2 instead. Add ```CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=1``` or ```CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=2``` depending on your system.

examples/demos/swarm_demo/Makefile

@@ -6,9 +6,6 @@ APP_STACKSIZE=300
 ## Weight of the Crazyflie + Qi + Lighthouse deck
 CFLAGS += -DCF_MASS=0.036f
 
-## To build with lighthouse support
-CFLAGS += -DDISABLE_LIGHTHOUSE_DRIVER=0
-
 ## Force lighthouse 2
 CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=2
 

src/deck/drivers/src/ledring12.c

@@ -773,11 +773,7 @@ static void rssiEffect(uint8_t buffer[][3], bool reset)
  */
 static void lighthouseEffect(uint8_t buffer[][3], bool reset)
 {
-  #if DISABLE_LIGHTHOUSE_DRIVER == 1
-    uint16_t validAngles = 0;
-  #else
-    uint16_t validAngles = pulseProcessorAnglesQuality();
-  #endif
+  uint16_t validAngles = pulseProcessorAnglesQuality();
 
   for (int i = 0; i < NBR_LEDS; i++) {
     buffer[i][0] = LIMIT(LINSCALE(0.0f, 255.0f, 100.0f, 0.0f, validAngles)); // Red (small validAngles)

src/modules/interface/lighthouse/lighthouse_deck_flasher.h

@@ -28,4 +28,4 @@
 
 #pragma once
 
-void lighthouseDeckFlasherCheckVersionAndBoot();
+bool lighthouseDeckFlasherCheckVersionAndBoot();

src/modules/src/lighthouse/lighthouse_core.c

@@ -467,7 +467,12 @@ void lighthouseCoreTask(void *param) {
   lighthouseStorageInitializeGeoDataFromStorage();
   lighthouseStorageInitializeCalibDataFromStorage();
 
-  lighthouseDeckFlasherCheckVersionAndBoot();
+  if (lighthouseDeckFlasherCheckVersionAndBoot() == false) {
+    DEBUG_PRINT("FPGA not booted. Lighthouse disabled!\n");
+    while(1) {
+      vTaskDelay(portMAX_DELAY);
+    }
+  }
   deckIsFlashed = true;
 
 

src/modules/src/lighthouse/lighthouse_deck_flasher.c

@@ -33,58 +33,17 @@
 #include "debug.h"
 #include "lh_bootloader.h"
 #include "lighthouse_deck_flasher.h"
+#include "crc32.h"
 
 #ifdef LH_FLASH_BOOTLOADER
 #include "lh_flasher.h"
 #endif
 
+#define BITSTREAM_CRC 0xe2889216
+#define BITSTREAM_SIZE 104092
 
-// Uncomment if you want to force the Crazyflie to reflash the FPGA binary to the deck at each startup
-// #define FORCE_FLASH_FPGA true
 
-#ifndef FORCE_FLASH_FPGA
-#define FORCE_FLASH_FPGA false
-#endif
-
-
-#ifndef DISABLE_LIGHTHOUSE_DRIVER
-  #define DISABLE_LIGHTHOUSE_DRIVER 1
-#endif
-
-
-#if DISABLE_LIGHTHOUSE_DRIVER == 1
-void lighthouseDeckFlasherCheckVersionAndBoot() {
-    DEBUG_PRINT("No Lighthouse support in FW, deck not initialized\n");
-}
-#else
-
-#define STR2(x) #x
-#define STR(x) STR2(x)
-
-#define INCBIN(name, file) \
-    __asm__(".section .rodata\n" \
-            ".global incbin_" STR(name) "_start\n" \
-            ".align 4\n" \
-            "incbin_" STR(name) "_start:\n" \
-            ".incbin \"" file "\"\n" \
-            \
-            ".global incbin_" STR(name) "_end\n" \
-            ".align 1\n" \
-            "incbin_" STR(name) "_end:\n" \
-            ".byte 0\n" \
-            ".align 4\n" \
-            STR(name) "Size:\n" \
-            ".int incbin_" STR(name) "_end - incbin_" STR(name) "_start\n" \
-    ); \
-    extern const __attribute__((aligned(4))) void* incbin_ ## name ## _start; \
-    extern const void* incbin_ ## name ## _end; \
-    extern const int name ## Size; \
-    static const __attribute__((used)) unsigned char* name = (unsigned char*) & incbin_ ## name ## _start; \
-
-INCBIN(bitstream, BLOBS_LOC"lighthouse.bin");
-
-
-void lighthouseDeckFlasherCheckVersionAndBoot() {
+bool lighthouseDeckFlasherCheckVersionAndBoot() {
   lhblInit(I2C1_DEV);
 
   #ifdef LH_FLASH_BOOTLOADER
@@ -94,51 +53,45 @@ void lighthouseDeckFlasherCheckVersionAndBoot() {
   #endif
 
   uint8_t bootloaderVersion = 0;
-  lhblGetVersion(&bootloaderVersion);
+  if (lhblGetVersion(&bootloaderVersion) == false) {
+    DEBUG_PRINT("Cannot communicate with lighthouse bootloader, aborting!\n");
+    return false;
+  }
   DEBUG_PRINT("Lighthouse bootloader version: %d\n", bootloaderVersion);
 
   // Wakeup mem
   lhblFlashWakeup();
   vTaskDelay(M2T(1));
 
-  // Checking the bitstreams are identical
-  // Also decoding bitstream version for console
+  // Decoding bitstream version for console
   static char deckBitstream[65];
   lhblFlashRead(LH_FW_ADDR, 64, (uint8_t*)deckBitstream);
   deckBitstream[64] = 0;
   int deckVersion = strtol(&deckBitstream[2], NULL, 10);
-  int embeddedVersion = strtol((char*)&bitstream[2], NULL, 10);
 
-  bool identical = true;
-  for (int i=0; i<=bitstreamSize; i+=64) {
-    int length = ((i+64)<bitstreamSize)?64:bitstreamSize-i;
+  // Checking that the bitstream has the right checksum
+  crc32Context_t crcContext;
+  crc32ContextInit(&crcContext);
+
+  for (int i=0; i<=BITSTREAM_SIZE; i+=64) {
+    int length = ((i+64)<BITSTREAM_SIZE)?64:BITSTREAM_SIZE-i;
     lhblFlashRead(LH_FW_ADDR + i, length, (uint8_t*)deckBitstream);
-    if (memcmp(deckBitstream, &bitstream[i], length)) {
-      DEBUG_PRINT("Fail comparing firmware\n");
-      identical = false;
-      break;
-    }
+    crc32Update(&crcContext, deckBitstream, length);
   }
 
-  if (identical == false || FORCE_FLASH_FPGA) {
-    DEBUG_PRINT("Deck has version %d and we embeed version %d\n", deckVersion, embeddedVersion);
-    DEBUG_PRINT("Updating deck with embedded version!\n");
-
-    // Erase LH deck FW
-    lhblFlashEraseFirmware();
-
-    // Flash LH deck FW
-    if (lhblFlashWriteFW((uint8_t*)bitstream, bitstreamSize)) {
-      DEBUG_PRINT("FW updated [OK]\n");
-      deckVersion = embeddedVersion;
-    } else {
-      DEBUG_PRINT("FW updated [FAILED]\n");
-    }
-  }
+  uint32_t crc = crc32Out(&crcContext);
+  bool pass = crc == BITSTREAM_CRC;
+  DEBUG_PRINT("Bitstream CRC32: %x %s\n", (int)crc, pass?"[PASS]":"[FAIL]");
 
   // Launch LH deck FW
-  DEBUG_PRINT("Firmware version %d verified, booting deck!\n", deckVersion);
-  lhblBootToFW();
+  if (pass) {
+    DEBUG_PRINT("Firmware version %d verified, booting deck!\n", deckVersion);
+    lhblBootToFW();
+  } else {
+    DEBUG_PRINT("The deck bitstream does not match the required bitstream.\n");
+    DEBUG_PRINT("We require lighthouse bitstream of size %d and CRC32 %x.\n", BITSTREAM_SIZE, BITSTREAM_CRC);
+    DEBUG_PRINT("Leaving the deck in bootloader mode ...\n");
+  }
+
+  return pass;
 }
-
-#endif

tools/make/config.mk.example

@@ -102,9 +102,6 @@
 ## SDCard test configuration ------------------------------------
 # FATFS_DISKIO_TESTS  = 1	# Set to 1 to enable FatFS diskio function tests. Erases card.
 
-## To build with lighthouse support
-# CFLAGS += -DDISABLE_LIGHTHOUSE_DRIVER=0
-
 ## Force lighthouse V1 or V2 type system
 # Lighthouse V1
 # CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=1