ardupilot/Tools/scripts/build_bootloaders.py

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#!/usr/bin/env python
"""
script to build all of our bootloaders using AP_Bootloader and put the resulting binaries in Tools/bootloaders
"""
import os
import shutil
import subprocess
import sys
import fnmatch
# get command line arguments
from argparse import ArgumentParser
parser = ArgumentParser(description='make_secure_bl')
parser.add_argument("--signing-key", type=str, default=None, help="signing key for secure bootloader")
parser.add_argument("--debug", action='store_true', default=False, help="build with debug symbols")
parser.add_argument("pattern", type=str, default='*', help="board wildcard pattern")
args = parser.parse_args()
if args.signing_key is not None and os.path.basename(args.signing_key).lower().find("private") != -1:
# prevent the easy mistake of using private key
print("You must use the public key in the bootloader")
sys.exit(1)
os.environ['PYTHONUNBUFFERED'] = '1'
failed_boards = set()
def get_board_list():
'''add boards based on existance of hwdef-bl.dat in subdirectories for ChibiOS'''
board_list = []
dirname, dirlist, filenames = next(os.walk('libraries/AP_HAL_ChibiOS/hwdef'))
for d in dirlist:
hwdef = os.path.join(dirname, d, 'hwdef-bl.dat')
if os.path.exists(hwdef):
board_list.append(d)
return board_list
def run_program(cmd_list):
print("Running (%s)" % " ".join(cmd_list))
retcode = subprocess.call(cmd_list)
if retcode != 0:
print("Build failed: %s" % ' '.join(cmd_list))
return False
return True
def build_board(board):
configure_args = "--board %s --bootloader --no-submodule-update --Werror" % board
configure_args = configure_args.split()
if args.signing_key is not None:
print("Building secure bootloader")
configure_args.append("--signed-fw")
if args.debug is not None:
print("Building with debug symbols")
configure_args.append("--debug")
if not run_program(["./waf", "configure"] + configure_args):
return False
if not run_program(["./waf", "clean"]):
return False
if not run_program(["./waf", "bootloader"]):
return False
return True
for board in get_board_list():
if not fnmatch.fnmatch(board, args.pattern):
continue
print("Building for %s" % board)
if not build_board(board):
failed_boards.add(board)
continue
bl_file = 'Tools/bootloaders/%s_bl.bin' % board
hex_file = 'Tools/bootloaders/%s_bl.hex' % board
elf_file = 'Tools/bootloaders/%s_bl.elf' % board
shutil.copy('build/%s/bin/AP_Bootloader.bin' % board, bl_file)
print("Created %s" % bl_file)
shutil.copy('build/%s/bootloader/AP_Bootloader' % board, elf_file)
print("Created %s" % elf_file)
if args.signing_key is not None:
print("Signing bootloader with %s" % args.signing_key)
if not run_program(["./Tools/scripts/signing/make_secure_bl.py", bl_file, args.signing_key]):
print("Failed to sign bootloader for %s" % board)
sys.exit(1)
if not run_program(["./Tools/scripts/signing/make_secure_bl.py", elf_file, args.signing_key]):
print("Failed to sign ELF bootloader for %s" % board)
sys.exit(1)
if not run_program([sys.executable, "Tools/scripts/bin2hex.py", "--offset", "0x08000000", bl_file, hex_file]):
failed_boards.add(board)
continue
print("Created %s" % hex_file)
if len(failed_boards):
print("Failed boards: %s" % list(failed_boards))