WO2021012170A1 - Firmware booting method and device, and computer-readable storage medium - Google Patents

Abstract

Provided are a firmware booting method and device, and a computer-readable storage medium. The method comprises: sequentially verifying N preset bootloaders or sequentially verifying N-1 of the N preset bootloaders to acquire the currently booted bootloader from among the N bootloaders, wherein N ≥ 2; and if the current flag bit does not match the currently booted bootloader, switching the current flag bit or skipping the currently booted bootloader, such that the current flag bit matches the currently booted bootloader. Therefore, it can be ensured that the currently booted bootloader matches the version of firmware, so that a device application function can operate normally.

Description

Firmware startup method, equipment and computer readable storage medium Technical field

The embodiments of the present invention relate to the field of drones, and in particular to a firmware startup method, equipment, and computer-readable storage medium.

Background technique

For the safety of startup and upgrade of general embedded devices, the software adopts a startup scheme in which the main and backup versions are mutually backup. For example, the software version of a certain device includes bootloader and firmware. During the startup process, the diskless boot ROM interface (bootrom) of the device's soc chip boots the boot program, and then the boot program boots the firmware.

In order to reduce the probability that the boot program or firmware is damaged and the device cannot start normally, at least two software versions are generally stored in the storage flash as a backup of each other. Taking two software versions as an example, the two software versions are boot program 1, boot program 2, and firmware 1, firmware 2. In the general startup process, it is determined which software version to start by querying a mark bit recorded in the flash. The mark bits can be slot1 and slot2 respectively. When the mark bit is slot1, bootrom boots the boot program 1 and firmware 1. When the mark bit is slot2, bootrom boots the bootloader 2 and firmware 2. When upgrading the software version of a general embedded device, if the current booting is the slot1 version, only the boot program 2 and firmware 2 will be upgraded, and then the mark bit will be changed to slot2. After the device is restarted, it can be switched to slot2 and the slot1 version will remain unchanged. The current booting is the slot2 version, then only the boot program 1 and firmware 1 are upgraded, and then the mark bit is changed to slot1. After the device restarts, it can be switched to slot1 to run, and the version of slot2 remains unchanged.

However, since the boot program does not judge the flag bit during the startup process, it may cause the boot program and the firmware version to not match, which may cause the risk of malfunction. Take the actual application as an example. When the mark bit recorded by the software in the flash is slot2, the bootrom of the chip soc does not judge the mark bit and directly verifies boot program 1. If boot program 1 is successfully checked and started, boot program 1 Start firmware 2 according to the flag slot2 in the flash. In this scenario, bootloader1 and firmware2 will be started together, resulting in a mismatch in the startup version, and there is a risk of abnormal device application functions.

Summary of the invention

The embodiments of the present invention provide a firmware startup method, device, and computer-readable storage medium to solve the technical problem that the startup loader does not match the firmware version in the prior art, which may cause the risk of abnormal functions.

The first aspect of the embodiments of the present invention is to provide a firmware startup method, including:

Perform verification sequentially on N preset boot programs or sequentially verify N-1 of the N preset boot programs, and obtain the boot program currently started among the N boot programs; where N≥ 2;

If the current flag bit does not match the currently started boot program, switch the current flag bit or jump to the currently started boot program, so that the current flag bit and the currently started boot program The boot program matches; wherein the flag bit corresponds to a preset firmware, which is used to enable the currently started boot program to boot the firmware.

The second aspect of the embodiments of the present invention is to provide a firmware startup device, including: a memory and a processor;

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Perform verification sequentially on N preset boot programs or sequentially verify N-1 of the N preset boot programs, and obtain the boot program currently started among the N boot programs; where N≥ 2;

If the current flag bit does not match the currently started boot program, switch the current flag bit or jump to the currently started boot program, so that the current flag bit and the currently started boot program The boot program matches; wherein the flag bit corresponds to a preset firmware, which is used to enable the currently started boot program to boot the firmware.

The third aspect of the embodiments of the present invention is to provide a movable platform, including:

Body

A power system is provided in the body, and the power system is used to provide power to the movable platform; and one or more processors, and the one or more processors are used to execute the first aspect method.

The fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.

The firmware startup method, device, and computer-readable storage medium provided in this embodiment determine the currently started boot program by verifying N preset boot programs, and set the current boot program to the current flag When it does not match, the current flag bit is switched or the currently started boot program is jumped, so as to ensure that the currently started boot program matches the version of the firmware, so that the device application function can run normally.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

FIG. 1 is a schematic flowchart of a firmware startup method provided by Embodiment 1 of the present invention;

2 is a schematic flowchart of a firmware startup method provided by Embodiment 2 of the present invention;

3 is a schematic flowchart of a firmware startup method provided by Embodiment 3 of the present invention;

FIG. 4 is another schematic flowchart of the firmware startup method provided by the third embodiment of the present invention;

5 is a schematic flowchart of a firmware startup method provided by Embodiment 4 of the present invention;

6 is a schematic structural diagram of a firmware startup device provided by Embodiment 5 of the present invention;

FIG. 7 is a schematic structural diagram of a movable platform provided by Embodiment 6 of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

In view of the above-mentioned technical problem that the boot loader and the firmware version in the prior art do not match, which may cause the risk of functional abnormality, the present invention provides a firmware boot method, device and computer-readable storage medium.

It should be noted that the firmware startup method, device, and computer-readable storage medium provided by the present invention can be applied to any system in which the startup loader does not match the firmware version.

FIG. 1 is a schematic flowchart of a firmware startup method provided by Embodiment 1 of the present invention. As shown in FIG. 1, the method includes:

Step 101: Perform a check sequentially on N preset boot programs or check N-1 of the N preset boot programs sequentially, to obtain the boot program currently started among the N boot programs; where , N≥2;

Step 102: If the current flag bit does not match the currently started boot program, switch the current flag bit or jump to the currently started boot program so that the current flag bit Matches the boot program currently started.

The execution subject of this embodiment is the firmware startup device. In practical applications, the embedded device is provided with a boot program and firmware. During the startup process, the diskless boot ROM interface (bootrom) of the embedded device's soc chip boots the boot program, and then the boot program boots the firmware. In order to start and upgrade safety, N preset boot programs and N firmware are set in the embedded device, where N≥2. Therefore, when the embedded device upgrades the software version, a boot program and the firmware corresponding to the boot program identifier can be started to upgrade the boot program and firmware that are not currently started. However, since the boot program is in the process of booting the firmware, the boot program needs to send application data to the firmware. If the boot program does not match the firmware version, it will cause the risk of malfunction. Therefore, in order to solve the above problems, when the boot program is started, the N preset boot programs can be checked in turn or N-1 of the N preset boot programs may be checked in turn to obtain N all the boot programs. The boot program currently started in the boot program.

Further, on the basis of any of the foregoing embodiments, the N preset boot programs are sequentially verified or N-1 of the N preset boot programs are sequentially verified to obtain N The boot program currently started in the boot program includes:

When the verification of any boot program is successful, the boot program that is currently successfully verified is used as the currently started boot program, and the verification of the remaining boot programs is stopped.

In this embodiment, the N boot programs have corresponding identifiers, and the N boot programs can be verified in the order of the identifiers, and the boot program that is successfully verified is used as the currently started boot program.

It should be noted that the N preset boot programs are sequentially set at different offset addresses on the flash, and the bootrom starts according to the sequence of the N boot programs on the flash. For example, when the first boot program on the flash is normal (that is, the verification is successful), the first boot program is started; when the first boot program on the flash is abnormal (that is, the verification is unsuccessful), the next boot program is started. A normal boot procedure.

Further, on the basis of any of the foregoing embodiments, the N preset boot programs are sequentially verified or N-1 of the N preset boot programs are sequentially verified to obtain N The boot program currently started in the boot program includes:

When the N-1th boot program is not successfully checked, the Nth boot program is used as the currently started boot program.

In this embodiment, N-1 boot programs can also be verified. In the verification process, if there is a successfully verified boot program in the N-1 boot programs, the successfully verified boot program is taken as the currently started boot program. The boot program, if all N-1 boot programs are not successfully verified, it can be determined that the boot program currently started is the Nth boot program. Thus, the identification of the currently started boot program can be accurately determined.

Further, during the general startup process, a flag bit recorded in the preset storage path is checked to determine which software version to start. Therefore, after the currently started boot program is obtained, it can be determined whether the identifier of the currently started boot program matches the flag bit. If they match, the firmware corresponding to the flag bit can be directly started. At this time, the boot program and the firmware Version matches. Correspondingly, if the identifier of the currently started boot program does not match the flag bit, the current flag bit can be switched, and the flag bit can be switched to be consistent with the currently started boot program identifier, so that the currently started boot program and firmware Matches the version. Optionally, if the identifier of the currently started boot program does not match the flag bit, the currently started boot program can also be jumped, so that the currently started boot program identifier can match the flag bit, so that the currently started boot program The program matches the version of the firmware.

The firmware startup method provided in this embodiment determines the currently started boot program by verifying N preset boot programs, and when the currently started boot program does not match the current flag bit, the current flag Bit switch or jump to the currently started boot program, so as to ensure that the currently started boot program matches the version of the firmware, so that the device application function can run normally.

Further, on the basis of any one of the foregoing embodiments, before the step of verifying the N preset boot programs in turn or the step of verifying N-1 of the N preset boot programs, the method further includes :

The N preset boot programs are obtained from the preset first storage path.

In this embodiment, in order to verify the N preset boot programs or N−1 of the N preset boot programs, the N preset boot programs need to be acquired first. Specifically, the N preset boot programs can be obtained from the preset first storage path. Wherein, the first storage path may specifically be Flash.

Further, after obtaining the N preset boot programs, the currently started boot program may be determined according to the N preset boot programs. Specifically, on the basis of any of the foregoing embodiments, the N preset boot programs The set boot program is checked in turn or N-1 of the N preset boot programs are checked in turn, including:

Performing a decryption operation on the N preset boot programs or performing a decryption operation on N-1 of the N preset boot programs to obtain the decrypted boot program;

The digital signature of the decrypted boot program is verified.

In this embodiment, the boot program is generally encrypted. Therefore, in order to verify the boot program, it is first necessary to perform an encryption operation on the N preset boot programs or N-1 of the N preset boot programs to obtain the decrypted boot program. The boot program generally includes a code part and a data part. Therefore, after obtaining the decrypted boot program, the digital signature of the data part in the decrypted boot program can be verified. If a certain boot program is damaged or faulty, the verification cannot be successful. Therefore, the boot program that is successfully verified can be used as the currently started boot program.

The firmware startup method provided in this embodiment encrypts the boot program and verifies the digital signature of the decrypted boot program, so as to accurately determine the boot program currently started.

FIG. 2 is a schematic flowchart of a firmware startup method provided in Embodiment 2 of the present invention. Based on any of the above embodiments, the method includes:

Step 201: Perform verification sequentially on N preset boot programs or sequentially verify N-1 of the N preset boot programs, to obtain the currently started boot program among the N boot programs; where , N≥2;

Step 102 specifically includes:

Step 202: If the identifier of the currently started boot program is greater than the current flag bit, switch the current flag bit.

In this embodiment, if the current flag bit does not match the currently started boot program, the current flag bit can be switched, or the currently started boot program can be jumped. Specifically, the size relationship between the identifier of the currently started boot program and the current flag bit can be judged, and if the flag of the currently started boot program is greater than the current flag bit, the current flag bit can be switched.

Taking a practical application as an example, since the boot program tries to start sequentially according to the logo of the boot program during the startup process, if the logo of the currently started boot program is 2, it can be determined that the boot program 1 is faulty and cannot be started. However, if the current boot flag is 1, the firmware started according to the boot flag should also be firmware 1. However, the boot program 1 fails and cannot be started, and there is a mismatch between the boot program and the firmware. To switch. Optionally, the flag bit can be switched to 2. At this time, the currently started boot program is boot program 2, the booted firmware is firmware 2, and the boot program matches the firmware version.

Further, on the basis of any of the foregoing embodiments, the switching the current flag bit includes:

Controlling the boot program to switch the current flag bit to a flag bit matching the logo of the boot program.

In this embodiment, the switch of the flag bit can be realized through the boot program. Specifically, the boot program can be controlled to switch the current flag bit to a flag bit matching the boot program identifier. For example, if the currently started boot program is boot program 3, the boot program can switch the flag bit to 3. Furthermore, in practical applications, the boot program 3 can start the firmware 3 according to the flag bit, and the boot program matches the firmware version.

The firmware startup method provided in this implementation can switch the current flag bit when the logo of the currently started boot program is greater than the current flag bit, so as to ensure that the boot program matches the firmware version, thereby ensuring that the embedded system normal operation.

Figure 3 is a schematic flow diagram of the firmware startup method provided in the third embodiment of the present invention; Figure 4 is a schematic flow diagram of the firmware startup method provided by an embodiment of the present invention. Based on any of the above embodiments, as shown in Figures 3 to 4 As shown, the method includes:

Step 301: Perform verification on N preset boot programs in turn or verify N-1 of the N preset boot programs in turn, to obtain the currently started boot program among the N boot programs; where , N≥2;

Step 102 specifically includes:

Step 302: If the identifier of the currently started boot program is smaller than the current flag bit, jump to the currently started boot program.

In this embodiment, if the current flag bit does not match the currently started boot program, the current flag bit can be switched, or the currently started boot program can be jumped. Specifically, the size relationship between the logo of the currently started boot program and the current flag bit can be judged. If the logo of the currently started boot program is smaller than the current flag bit, then the currently started boot program can be jumped. .

Take the actual application as an example, if the currently started boot program is boot program 1, but the current flag bit is firmware 2, at this time, the boot program currently started can be jumped to the boot matching firmware 2. Program 2, so that the boot program matches the firmware version.

Further, on the basis of any of the foregoing embodiments, the jump to the currently started boot program includes:

Write the jump flag bit in the preset second storage path.

In this embodiment, a jump flag bit can be written in the preset second storage path to realize the jump to the currently started boot program. Wherein, the second storage path may be Ram. Furthermore, it is possible to determine whether to jump to the boot program by detecting whether there is a jump flag in the Ram, which provides a basis for matching the version of the boot program with the firmware.

The firmware startup method provided in this embodiment jumps to the currently started boot program when the identifier of the currently started boot program is less than the current mark bit, so as to ensure that the boot program matches the firmware version, thereby enabling Ensure the normal operation of the embedded system.

Further, on the basis of any of the foregoing embodiments, the jump to the currently started boot program includes:

The boot program that matches the current mark bit is verified, and when the check succeeds, the currently started boot program is jumped to make the current mark bit match the currently started boot program.

Optionally, in order to save resources, after completing the jump of the boot program that is currently successfully checked, the check operation on the remaining boot program may be stopped.

The firmware startup method provided in this embodiment can verify the boot program that matches the current flag bit when the identifier of the currently started boot program is smaller than the current flag bit, so that the currently started boot program can be checked. The jump to enable the currently started boot program to match the version of the firmware to avoid malfunctions of the embedded system.

Further, on the basis of any of the foregoing embodiments, the method further includes:

The boot program that matches the current flag bit is checked, and when the check is unsuccessful, the current flag bit is switched to make the current flag bit match the boot program currently started.

In this embodiment, the boot program that matches the current flag bit is checked, and when the check is unsuccessful, the current flag bit is switched so that the current flag bit and the currently started The boot program matches. Taking a practical application as an example, if the currently started boot program is boot program 2, and the current flag bit is 4, when boot program 4 is not successfully verified, it indicates that other boot programs may malfunction and cannot start normally. At this point, in order to realize the normal startup of the firmware, you can switch the current flag bit, switch the current flag bit to 2, and start firmware 2 according to the current flag bit. At this time, the boot program 2 and firmware 2 version match .

The firmware startup method provided in this embodiment checks the boot program that matches the current flag bit, and when the check is unsuccessful, switches the current flag bit so that the switched flag bit is the same as the current boot program match. Thereby it can be ensured that the boot program started is consistent with the firmware version.

Taking practical applications as an example, the embedded system can be equipped with boot program 1, boot program 2, firmware 1, and firmware 2. Bootrom starts the boot program, and the boot program boots the firmware. Bootrom generally tries to start the boot program in sequence according to the boot program number. When the boot program 1 fails, you can continue to start the boot program 2. However, when the boot program starts, it does not know its own number. Therefore, in order to determine the number of the boot program currently started, the boot program may be read from the preset first storage path, and the boot program after the read may be verified. Specifically, as shown in FIG. 4, the method includes:

Step 401: Start the bootrom;

Step 402, bootrom starts the boot program;

Step 403: Determine whether there is a jump flag bit in the preset second storage path, if it does not exist, jump to step 404, and if it exists, jump to step 411;

Step 404: Verify the boot program 1 to determine whether the verification is successful, if the verification is successful, skip to step 405; if the verification fails, skip to step 411;

Step 405: Determine that the currently started boot program is boot program 1;

Step 406: Determine whether the current flag bit is 1, if yes, skip to step 407, and if not, skip to step 408;

Step 407: Start the firmware 1 according to the current flag bit;

Step 408: Set a jump flag bit in the preset second storage path;

Step 409: Verify the boot program 2. If the verification is successful, skip to step 402, and if the verification is not successful, skip to step 410;

Step 410: The startup fails, the current flag bit is switched to 1, and the firmware 1 is started according to the current flag bit 1;

Step 411: Determine that the currently started boot program is boot program 2;

Step 412: Determine whether the current flag bit is 1; if yes, skip to step 413, if not, skip to step 415;

Step 413: Modify the current flag bit to 2;

Step 414: Start the firmware 2 according to the current flag bit;

Step 415: Start the firmware 2 according to the current flag bit.

In this embodiment, the boot program 1 can be read from the preset first storage path first, and the boot program 1 can be verified. If the verification is passed, it means that the boot program 1 is currently started. Determine the current flag bit. If it is detected that the current flag bit is 1, then firmware 1 can be booted by boot program 1. At this time, boot program 1 and firmware 1 version match. Correspondingly, if the current flag bit is 2, then the jump flag bit needs to be written in the preset second storage path, and boot program 2 is read and verified from the storage path of boot program 2. If If the verification is passed, the next time the power is turned on, before the boot program is verified, it can be determined whether there is a jump flag in the second storage path. If a jump flag is detected in the second storage path, you can Start the boot program 2 so that the boot program 2 can start the firmware 2 according to the current flag bit. At this time, the boot program 2 matches the firmware 2 version. If the boot program 2 fails the verification, the current flag bit can be modified to 1, so that the boot program 1 can start the firmware 1 according to the flag bit 1. At this time, the boot program 1 matches the firmware 1 version. In addition, the boot program 1 is read from the preset first storage path, and after the boot program 1 is verified, if the verification fails, the boot program 2 currently started is represented. Determine the current flag bit. If it is detected that the current flag bit is 1, the current flag bit needs to be modified. Specifically, the current flag bit can be modified by the boot program 1 to 2, so that the boot program 2 can start the firmware 2. When the bootloader 2 matches the firmware 2 version. If it is detected that the current flag bit is 2, the boot program 2 can start the firmware 2. At this time, the boot program 2 matches the firmware 2 version. Further, in order to avoid occupying too much storage space, after the jump is completed according to the jump mark bit, the jump mark bit written in the preset second storage path may be deleted.

FIG. 5 is a schematic flowchart of a firmware startup method provided by Embodiment 4 of the present invention. Based on any of the above embodiments, before step 101, it further includes:

Step 501: Determine whether the jump flag bit exists in the preset second storage path;

Step 502: If not, verify the N preset boot programs in turn or verify N-1 of the N preset boot programs in turn.

In this embodiment, whether to jump to the boot program is determined by detecting whether there is a jump flag bit in Ram. Specifically, before the boot program is verified, it can be determined whether there is a jump mark in the second storage path. If the bit does not exist, it means that the current boot program does not need to jump. At this time, the N preset boot programs can be checked in turn or N-1 of the N preset boot programs can be checked in turn. To obtain the currently started boot program.

The firmware startup method provided in this embodiment determines whether to jump to the boot program by detecting whether there is a jump flag bit in the Ram, so that the currently started boot program can be quickly determined, so that the boot program and the firmware version are the same. Match, and then can ensure the normal operation of the embedded system.

Further, on the basis of any of the foregoing embodiments, when N=2, the N preset boot programs include a first boot program and a second boot program;

The method also includes:

When the jump flag bit exists in the second storage path, it is determined that the currently started boot program is the second boot program.

In this embodiment, the number of boot programs may be two, specifically including a first boot program and a second boot program. Specifically, since the boot program is generally started from the first boot program, if it is detected that there is a jump flag bit in the second storage path, it can be directly determined according to the jump flag bit that the currently started boot program is the second boot program. Bootloader.

The firmware startup method provided in this embodiment determines that the currently started boot program is the second boot program when the jump flag bit exists in the second storage path, so that the currently started boot program can be quickly controlled. The program is determined so that the boot program and the firmware version match, thereby ensuring the normal operation of the embedded system.

Further, on the basis of any of the foregoing embodiments, in the process of writing the jump mark bit, the identification of the boot program that needs to be jumped can also be marked in the jump mark bit; specifically, the switch mark It also includes the logo of the boot program after the jump;

The method also includes:

When the jump flag bit exists in the second storage path, the currently started boot program is determined according to the identifier of the boot program after the jump.

In this embodiment, when it is detected that there is a jump mark bit in the second storage path, the identification of the boot program after the jump in the jump mark bit can also be determined, and the startup corresponds to the identification of the boot program after the jump. Bootloader. Then the firmware version to be subsequently started can match the boot program.

Taking a practical application as an example, when it is detected that there is a jump flag in the second storage path, it is determined that the logo of the boot program after the jump in the jump flag is boot program 3, and boot program 3 can be started at this time. Furthermore, the firmware activated according to the flag bit is also firmware 3 that matches the boot program 3.

The firmware startup method provided in this embodiment determines the currently started boot program according to the identifier of the boot program after the jump when the jump flag bit exists in the second storage path, so that Quickly determine the boot program currently started to match the version of the boot program with the firmware, thereby ensuring the normal operation of the embedded system.

Further, on the basis of any of the foregoing embodiments, the switching the current flag bit or jumping the currently started boot program includes:

If the identifier of the currently started boot program is greater than the current flag bit, then switch the current flag bit and clear the jump flag bit.

In this embodiment, if it is detected that the logo of the currently started boot program is greater than the current flag bit, it may be that other boot programs have failed and cannot be started. At this time, in order to ensure that the boot program matches the firmware version, it is required Switch the current mark bit. After switching the mark bit, you can also clear the current jump mark bit. Therefore, it is possible to avoid the occupation of storage space on the basis of ensuring that the boot program and the firmware version match.

Further, on the basis of any of the foregoing embodiments, the flag bit corresponds to a preset firmware, and the method further includes:

If the current flag bit matches the currently started boot program, the firmware corresponding to the flag bit is booted according to the flag bit.

In this embodiment, if it is detected that the current flag bit matches the currently started boot program, the flag bit corresponds to the preset firmware, so that the currently started boot program can start the corresponding firmware according to the flag bit , And then the boot program matches the firmware version. For example, if the currently started boot program is boot program 2, and the current flag bit is firmware 2, then firmware 2 can be directly booted to start.

In the firmware startup method provided by this embodiment, when the current flag bit matches the currently started boot program, the firmware corresponding to the flag bit is booted according to the flag bit, thereby ensuring that the boot program and the firmware Match the version of the embedded system, and then the embedded system can run normally.

FIG. 6 is a schematic structural diagram of a firmware startup device provided by Embodiment 5 of the present invention. As shown in FIG. 5, the firmware startup device includes a memory 61 and a processor 62;

The memory 61 is used to store program codes;

The processor 62 calls the program code, and when the program code is executed, is used to perform the following operations:

Perform verification sequentially on N preset boot programs or sequentially verify N-1 of the N preset boot programs to obtain the boot program currently started among the N boot programs; where N≥ 2;

If the current flag bit does not match the currently started boot program, switch the current flag bit or jump to the currently started boot program, so that the current flag bit and the currently started boot program The boot program matches.

Further, on the basis of any one of the foregoing embodiments, the processor sequentially checks N preset boot programs or checks N-1 of the N preset boot programs sequentially, When obtaining the currently started boot program among the N boot programs, it is used to:

When the verification of any boot program is successful, the boot program that is currently successfully verified is used as the currently started boot program, and the verification of the remaining boot programs is stopped.

It should be noted that the firmware startup device may be an embedded device.

Further, on the basis of any one of the foregoing embodiments, the processor sequentially checks N preset boot programs or checks N-1 of the N preset boot programs sequentially, When obtaining the currently started boot program among the N boot programs, it is used to:

When the N-1th boot program is not successfully checked, the Nth boot program is used as the currently started boot program.

Further, on the basis of any of the foregoing embodiments, before the processor sequentially verifies the N preset boot programs or sequentially verifies N-1 of the N preset boot programs , Also used for:

The N preset boot programs are obtained from the preset first storage path.

The firmware startup device also includes FLASH, which is used to store the boot program.

Further, on the basis of any of the foregoing embodiments, when the processor sequentially verifies N preset boot programs or sequentially verifies N-1 of the N preset boot programs For:

Performing a decryption operation on the N preset boot programs or performing a decryption operation on N-1 of the N preset boot programs to obtain the decrypted boot program;

The digital signature of the decrypted boot program is verified.

Further, on the basis of any of the foregoing embodiments, when the processor switches the current flag bit or jumps the currently started boot program, it is configured to:

If the identifier of the currently started boot program is greater than the current flag bit, then the current flag bit is switched.

Further, on the basis of any of the foregoing embodiments, when the processor switches the current flag bit or jumps the currently started boot program, it is configured to:

If the identifier of the currently started boot program is smaller than the current mark bit, then jump to the currently started boot program.

Further, on the basis of any of the foregoing embodiments, when the processor jumps the currently started boot program, it is configured to:

The boot program that matches the current mark bit is verified, and when the check succeeds, the currently started boot program is jumped to make the current mark bit match the currently started boot program.

Further, on the basis of any of the foregoing embodiments, when the processor switches the current flag bit, it is configured to:

Controlling the boot program to switch the current flag bit to a flag bit matching the logo of the boot program.

Further, on the basis of any of the foregoing embodiments, when the processor jumps the currently started boot program, it is configured to:

Write the jump flag bit in the preset second storage path.

The firmware startup device also includes RAM for storing the jump flag bit.

Further, on the basis of any of the foregoing embodiments, before the processor sequentially verifies the N preset boot programs or sequentially verifies N-1 of the N preset boot programs , Also used for:

Determining whether the jump flag bit exists in the preset second storage path;

If not, then check the N preset boot programs in turn or check N-1 of the N preset boot programs in turn.

Further, on the basis of any of the foregoing embodiments, when N=2, the N preset boot programs include a first boot program and a second boot program;

The processor is also used for:

When the jump flag bit exists in the second storage path, it is determined that the currently started boot program is the second boot program.

Further, on the basis of any of the foregoing embodiments, the switching mark includes an identification of the boot program after the jump;

The processor is also used for:

When the jump flag bit exists in the second storage path, the currently started boot program is determined according to the identifier of the boot program after the jump.

Further, on the basis of any of the foregoing embodiments, when the processor switches the current flag bit or jumps the currently started boot program, it is configured to:

If the identifier of the currently started boot program is greater than the current flag bit, then switch the current flag bit and clear the jump flag bit.

Further, on the basis of any of the foregoing embodiments, the flag bit corresponds to a preset firmware, and the processor is further configured to:

If the current flag bit matches the currently started boot program, the firmware corresponding to the flag bit is booted according to the flag bit.

FIG. 7 is a schematic structural diagram of a movable platform provided by Embodiment 6 of the present invention. As shown in FIG. 7, the movable platform 71 includes:

Body 72;

The power system 73 is provided in the body 72, and the power system 73 is used to provide power to the movable platform 71; and one or more processors 74, the one or more processors 74 are used to execute The method described in any of the above embodiments.

The movable platform also includes FLASH, which is used to store the boot program.

The mobile platform also includes RAM for storing jump flag bits.

Yet another embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method according to any of the foregoing embodiments.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the above-mentioned embodiment.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute the method described in the various embodiments of the present invention. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, namely, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims (34)

A method for starting firmware, characterized in that it comprises: Perform verification sequentially on N preset boot programs or sequentially verify N-1 of the N preset boot programs, and obtain the boot program currently started among the N boot programs; where N≥ 2; If the current flag bit does not match the currently started boot program, switch the current flag bit or jump to the currently started boot program, so that the current flag bit and the currently started boot program The boot program matches. The method according to claim 1, wherein the N preset boot programs are checked sequentially or N-1 of the N preset boot programs are checked sequentially to obtain N The boot program currently started in the boot program includes: When the verification of any boot program is successful, the boot program that is currently successfully verified is used as the currently started boot program, and the verification of the remaining boot programs is stopped. The method according to claim 1, wherein the N preset boot programs are checked sequentially or N-1 of the N preset boot programs are checked sequentially to obtain N The boot program currently started in the boot program includes: When the N-1th boot program is not successfully checked, the Nth boot program is used as the currently started boot program. The method according to claim 1, characterized in that, before sequentially verifying the N preset boot programs or sequentially verifying N-1 of the N preset boot programs, the method further comprises : The N preset boot programs are obtained from the preset first storage path. The method according to claim 1, wherein the sequentially verifying the N preset boot programs or sequentially verifying N-1 of the N preset boot programs comprises: Performing a decryption operation on the N preset boot programs or performing a decryption operation on N-1 of the N preset boot programs to obtain the decrypted boot program; The digital signature of the decrypted boot program is verified. The method according to any one of claims 1 to 5, wherein the switching the current flag bit or jumping the currently started boot program comprises: If the identifier of the currently started boot program is greater than the current flag bit, the current flag bit is switched. The method according to any one of claims 1 to 5, wherein the switching the current flag bit or jumping the currently started boot program comprises: If the identifier of the currently started boot program is smaller than the current mark bit, then jump to the currently started boot program. 8. The method according to claim 7, wherein the jump to the currently started boot program comprises: The boot program that matches the current mark bit is verified, and when the check succeeds, the currently started boot program is jumped to make the current mark bit match the currently started boot program. The method according to claim 8, wherein said switching the current flag bit further comprises: The boot program that matches the current flag bit is checked, and when the check is unsuccessful, the current flag bit is switched to make the current flag bit match the boot program currently started. The method according to claim 6, wherein said switching the current flag bit comprises: Controlling the boot program to switch the current flag bit to a flag bit matching the logo of the boot program. 8. The method according to claim 7, wherein the jump to the currently started boot program comprises: Write the jump flag bit in the preset second storage path. The method according to claim 11, characterized in that, before sequentially verifying the N preset boot programs or sequentially verifying N-1 of the N preset boot programs, the method further comprises : Determining whether the jump flag bit exists in the preset second storage path; If not, then check the N preset boot programs in turn or check N-1 of the N preset boot programs in turn. The method according to claim 12, wherein when N=2, the N preset boot programs include a first boot program and a second boot program; The method also includes: When the jump flag bit exists in the second storage path, it is determined that the currently started boot program is the second boot program. The method according to claim 12, wherein the switch mark further includes an identification of the boot program after the jump; The method also includes: When the jump flag bit exists in the second storage path, the currently started boot program is determined according to the identifier of the boot program after the jump. The method according to claim 14, wherein the switching the current flag bit or jumping the currently started boot program comprises: If the identifier of the currently started boot program is greater than the current flag bit, then switch the current flag bit and clear the jump flag bit. The method according to any one of claims 1-5 and 8-15, wherein the flag bit corresponds to a preset firmware, and the method further comprises: If the current flag bit matches the currently started boot program, the firmware corresponding to the flag bit is booted according to the flag bit. A firmware startup device, which is characterized by comprising: a memory and a processor; The memory is used to store program codes; The processor calls the program code, and when the program code is executed, is used to perform the following operations: Perform verification sequentially on N preset boot programs or sequentially verify N-1 of the N preset boot programs, and obtain the boot program currently started among the N boot programs; where N≥ 2; If the current flag bit does not match the currently started boot program, switch the current flag bit or jump to the currently started boot program, so that the current flag bit and the currently started boot program The boot program matches. The device according to claim 17, wherein the processor is sequentially verifying N preset boot programs or sequentially verifying N-1 of the N preset boot programs, When obtaining the currently started boot program among the N boot programs, it is used to: When the verification of any boot program is successful, the boot program that is currently successfully verified is used as the currently started boot program, and the verification of the remaining boot programs is stopped. The device according to claim 17, wherein the processor is sequentially verifying N preset boot programs or sequentially verifying N-1 of the N preset boot programs, When obtaining the currently started boot program among the N boot programs, it is used to: When the N-1th boot program is not successfully checked, the Nth boot program is used as the currently started boot program. The device according to claim 17, characterized in that, before the processor sequentially checks the N preset boot programs or checks N-1 of the N preset boot programs sequentially , Also used for: The N preset boot programs are obtained from the preset first storage path. The device according to claim 17, characterized in that, when the processor sequentially checks N preset boot programs or sequentially checks N-1 of the N preset boot programs For: Performing a decryption operation on the N preset boot programs or performing a decryption operation on N-1 of the N preset boot programs to obtain the decrypted boot program; The digital signature of the decrypted boot program is verified. The device according to any one of claims 17-21, wherein the processor is configured to: when switching the current flag bit or jumping to the currently started boot program: If the identifier of the currently started boot program is greater than the current flag bit, the current flag bit is switched. The device according to any one of claims 17-21, wherein the processor is configured to: when switching the current flag bit or jumping to the currently started boot program: If the identifier of the currently started boot program is smaller than the current mark bit, then jump to the currently started boot program. The device according to claim 23, wherein the processor is configured to: when jumping to the currently started boot program: The boot program that matches the current mark bit is checked, and when the check succeeds, the currently started boot program is jumped to make the current mark bit match the currently started boot program. The device according to claim 24, wherein the processor is configured to: when switching the current flag bit: The boot program that matches the current flag bit is checked, and when the check is unsuccessful, the current flag bit is switched to make the current flag bit match the boot program currently started. 22. The device according to claim 23, wherein the processor is configured to: when switching the current flag bit: Controlling the boot program to switch the current flag bit to a flag bit matching the logo of the boot program. The device according to claim 23, wherein the processor is configured to: when jumping to the currently started boot program: Write the jump flag bit in the preset second storage path. The device according to claim 27, characterized in that, before the processor sequentially verifies the N preset boot programs or sequentially verifies N-1 of the N preset boot programs , Also used for: Determining whether the jump flag bit exists in the preset second storage path; If not, then check the N preset boot programs in turn or check N-1 of the N preset boot programs in turn. The device according to claim 28, wherein when N=2, the N preset boot programs include a first boot program and a second boot program; The processor is also used for: When the jump flag bit exists in the second storage path, it is determined that the currently started boot program is the second boot program. The device according to claim 28, wherein the switch mark further includes an identifier of the boot program after the jump; The processor is also used for: When the jump flag bit exists in the second storage path, the currently started boot program is determined according to the identifier of the boot program after the jump. The device according to claim 30, wherein the processor is configured to: when switching the current flag bit or jumping to the currently started boot program: If the identifier of the currently started boot program is greater than the current flag bit, then switch the current flag bit and clear the jump flag bit. The device according to any one of claims 17-21 and 24-31, wherein the flag bit corresponds to a preset firmware, and the processor is further configured to: If the current flag bit matches the currently started boot program, the firmware corresponding to the flag bit is booted according to the flag bit. A movable platform, characterized in that it comprises: Body A power system, which is provided in the body, and the power system is used to provide power to the movable platform; and one or more processors, and the one or more processors are used to execute claims 1-16 Any of the methods described. A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1-16.

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