waf: build hex file with and without bootloader

this allows for DFU tools without losing parameters

Tools/ardupilotwaf/chibios.py

@@ -113,7 +113,7 @@ class build_abin(Task.Task):
 class build_intel_hex(Task.Task):
     '''build an intel hex file for upload with DFU'''
     color='CYAN'
-    run_str='${TOOLS_SCRIPTS}/make_intel_hex.sh ${SRC} ${FLASH_RESERVE_START_KB} ${TGT}'
+    run_str='${TOOLS_SCRIPTS}/make_intel_hex.py ${SRC} ${FLASH_RESERVE_START_KB}'
     always_run = True
     def keyword(self):
         return "Generating"

Tools/scripts/make_intel_hex.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+
+import sys, os, shutil
+import intelhex
+
+# make two intel hex files, one including bootloader and one without
+# for loading with DFU based tools
+
+if len(sys.argv) != 4:
+    print("Usage: make_intel_hex.py BINFILE BOOTLOADER RESERVE_KB")
+    sys.exit(1)
+
+scripts = os.path.dirname(__file__)
+binfile = sys.argv[1]
+bootloaderfile = sys.argv[2]
+reserve_kb = int(sys.argv[3])
+(root,ext) = os.path.splitext(binfile)
+hexfile = root + ".hex"
+hex_with_bl = root + "_with_bl.hex"
+
+if not os.path.exists(binfile):
+   print("Can't find bin file %s" % binfile)
+   sys.exit(1)
+
+if not os.path.exists(bootloaderfile):
+    print("Can't find bootloader file %s" % bootloaderfile)
+    sys.exit(1)
+
+blimage = bytes(open(bootloaderfile, "rb").read())
+blimage += bytes(chr(255) * (reserve_kb * 1024 - len(blimage)))
+
+appimage = bytes(open(binfile,"rb").read())
+
+with_bl = blimage + appimage
+
+tmpfile = hexfile + ".tmp"
+
+open(tmpfile, "wb").write(appimage)
+
+intelhex.bin2hex(tmpfile, hexfile, offset=(0x08000000 + reserve_kb*1024))
+
+open(tmpfile, "wb").write(with_bl)
+
+intelhex.bin2hex(tmpfile, hex_with_bl, offset=0x08000000)
+
+os.unlink(tmpfile)
+print("Created %s" % hexfile)
+print("Created %s" % hex_with_bl)

Tools/scripts/make_intel_hex.sh

@@ -1,30 +0,0 @@
-#!/bin/sh
-# make an intel hex file including bootloader, for loading with DFU
-
-if [ $# -lt 4 ]; then
-    echo "Usage: make_intel_hex.sh BINFILE BOOTLOADER RESERVE_KB HEXFILEOUT"
-    exit 1
-fi
-
-SCRIPTS=$(dirname $0)
-
-BINFILE="$1"
-BOOTLOADERFILE="$2"
-RESERVE_KB="$3"
-HEXFILE="$4"
-
-[ -f "$BINFILE" ] || {
-    echo "Can't find bin file $BINFILE"
-    exit 1
-}
-
-[ -f "$BOOTLOADERFILE" ] || {
-    echo "Can't find bootloader file $BOOTLOADERFILE"
-    exit 1
-}
-
-cat "$BOOTLOADERFILE" > "$HEXFILE".tmp
-dd bs=1024 seek=$RESERVE_KB if="$BINFILE" of="$HEXFILE".tmp 2>&1
-"$SCRIPTS"/bin2hex.py --offset 0x08000000 "$HEXFILE".tmp "$HEXFILE"
-rm -f "$HEXFILE".tmp
-echo "Created $HEXFILE"