mirror of https://github.com/ArduPilot/ardupilot
waf: added generation of app descriptor
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parent
022705f401
commit
eab65f0e9f
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@ -13,6 +13,8 @@ import shutil
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import sys
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import sys
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import re
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import re
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import pickle
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import pickle
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import zlib
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import struct
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_dynamic_env_data = {}
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_dynamic_env_data = {}
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def _load_dynamic_env_data(bld):
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def _load_dynamic_env_data(bld):
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@ -93,6 +95,46 @@ class generate_bin(Task.Task):
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def __str__(self):
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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def to_unsigned(i):
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'''convert a possibly signed integer to unsigned'''
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if i < 0:
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i += 2**32
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return i
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class set_app_descriptor(Task.Task):
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'''setup app descriptor in bin file'''
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color='BLUE'
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always_run = True
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def keyword(self):
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return "app_descriptor"
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def run(self):
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if not 'APP_DESCRIPTOR' in self.env:
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return
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if self.env.APP_DESCRIPTOR == 'MissionPlanner':
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descriptor = b'\x40\xa2\xe4\xf1\x64\x68\x91\x06'
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else:
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Logs.error("Bad APP_DESCRIPTOR %s" % self.env.APP_DESCRIPTOR)
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return
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img = open(self.inputs[0].abspath(), 'rb').read()
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offset = img.find(descriptor)
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if offset == -1:
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Logs.error("Failed to find %s APP_DESCRIPTOR" % self.env.APP_DESCRIPTOR)
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return
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offset += 8
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# next 8 bytes is 64 bit CRC. We set first 4 bytes to
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# CRC32 of image before descriptor and 2nd 4 bytes
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# to CRC32 of image after descriptor. This is very efficient
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# for bootloader to calculate
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# after CRC comes image length and 32 bit git hash
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desc_len = 16
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crc1 = to_unsigned(zlib.crc32(img[:offset]))
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crc2 = to_unsigned(zlib.crc32(img[offset+desc_len:]))
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githash = to_unsigned(int('0x' + self.generator.bld.git_head_hash(short=True),16))
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desc = struct.pack('<IIII', crc1, crc2, len(img), githash)
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img = img[:offset] + desc + img[offset+desc_len:]
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Logs.info("Applying %s APP_DESCRIPTOR %08x%08x" % (self.env.APP_DESCRIPTOR, crc1, crc2))
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open(self.inputs[0].abspath(), 'wb').write(img)
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class generate_apj(Task.Task):
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class generate_apj(Task.Task):
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'''generate an apj firmware file'''
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'''generate an apj firmware file'''
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color='CYAN'
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color='CYAN'
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@ -148,6 +190,7 @@ def chibios_firmware(self):
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self.link_task.always_run = True
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self.link_task.always_run = True
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link_output = self.link_task.outputs[0]
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link_output = self.link_task.outputs[0]
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hex_task = None
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bin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name)
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bin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name)
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apj_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
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apj_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
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@ -177,7 +220,14 @@ def chibios_firmware(self):
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src=link_output)
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src=link_output)
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default_params_task.set_run_after(self.link_task)
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default_params_task.set_run_after(self.link_task)
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generate_bin_task.set_run_after(default_params_task)
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generate_bin_task.set_run_after(default_params_task)
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if self.env.APP_DESCRIPTOR:
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app_descriptor_task = self.create_task('set_app_descriptor', src=bin_target)
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app_descriptor_task.set_run_after(generate_bin_task)
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generate_apj_task.set_run_after(app_descriptor_task)
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if hex_task is not None:
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hex_task.set_run_after(app_descriptor_task)
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if self.bld.options.upload:
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if self.bld.options.upload:
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_upload_task = self.create_task('upload_fw', src=apj_target)
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_upload_task = self.create_task('upload_fw', src=apj_target)
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_upload_task.set_run_after(generate_apj_task)
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_upload_task.set_run_after(generate_apj_task)
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