Tools: use crc_crc32() in app descriptor

Tools/ardupilotwaf/chibios.py

@@ -13,7 +13,6 @@ import shutil
 import sys
 import re
 import pickle
-import zlib
 import struct
 
 _dynamic_env_data = {}
@@ -126,9 +125,12 @@ class set_app_descriptor(Task.Task):
         # to CRC32 of image after descriptor. This is very efficient
         # for bootloader to calculate
         # after CRC comes image length and 32 bit git hash
+        upload_tools = self.env.get_flat('UPLOAD_TOOLS')
+        sys.path.append(upload_tools)
+        from uploader import crc32
         desc_len = 16
-        crc1 = to_unsigned(zlib.crc32(img[:offset]))
-        crc2 = to_unsigned(zlib.crc32(img[offset+desc_len:]))
+        crc1 = to_unsigned(crc32(bytearray(img[:offset])))
+        crc2 = to_unsigned(crc32(bytearray(img[offset+desc_len:])))
         githash = to_unsigned(int('0x' + self.generator.bld.git_head_hash(short=True),16))
         desc = struct.pack('<IIII', crc1, crc2, len(img), githash)
         img = img[:offset] + desc + img[offset+desc_len:]

Tools/scripts/uploader.py

@@ -96,12 +96,8 @@ else:
 compatible_IDs = {33: (9, 'AUAVX2.1')}
 
 
-class firmware(object):
-    '''Loads a firmware file'''
-
-    desc = {}
-    image = bytes()
-    crctab = array.array('I', [
+# CRC equivalent to crc_crc32() in AP_Math/crc.cpp
+crctab = array.array('I', [
     0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
     0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
     0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
@@ -134,6 +130,19 @@ class firmware(object):
     0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
     0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
     0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
+
+def crc32(bytes, state=0):
+    '''crc32 exposed for use by chibios.py'''
+    for byte in bytes:
+        index = (state ^ byte) & 0xff
+        state = crctab[index] ^ (state >> 8)
+    return state
+
+class firmware(object):
+    '''Loads a firmware file'''
+
+    desc = {}
+    image = bytes()
     crcpad = bytearray(b'\xff\xff\xff\xff')
 
     def __init__(self, path):
@@ -152,16 +161,10 @@ class firmware(object):
     def property(self, propname):
         return self.desc[propname]
 
-    def __crc32(self, bytes, state):
-        for byte in bytes:
-            index = (state ^ byte) & 0xff
-            state = self.crctab[index] ^ (state >> 8)
-        return state
-
     def crc(self, padlen):
-        state = self.__crc32(self.image, int(0))
+        state = crc32(self.image, int(0))
         for i in range(len(self.image), (padlen - 1), 4):
-            state = self.__crc32(self.crcpad, state)
+            state = crc32(self.crcpad, state)
         return state