mirror of https://github.com/ArduPilot/ardupilot
103 lines
3.2 KiB
Python
Executable File
103 lines
3.2 KiB
Python
Executable File
#!/usr/bin/env python
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'''
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script to create ap_romfs_embedded.h from a set of static files
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Andrew Tridgell
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May 2017
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'''
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import os, sys, zlib
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def write_encode(out, s):
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out.write(s.encode())
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def embed_file(out, f, idx, embedded_name, uncompressed):
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'''embed one file'''
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try:
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contents = open(f,'rb').read()
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except Exception:
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raise Exception("Failed to embed %s" % f)
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if embedded_name.endswith("bootloader.bin"):
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# round size to a multiple of 32 bytes for bootloader, this ensures
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# it can be flashed on a STM32H7 chip
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blen = len(contents)
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pad = (32 - (blen % 32)) % 32
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if pad != 0:
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contents += bytes([0xff]*pad)
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print("Padded %u bytes for %s to %u" % (pad, embedded_name, len(contents)))
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crc = crc32(contents)
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write_encode(out, '__EXTFLASHFUNC__ static const uint8_t ap_romfs_%u[] = {' % idx)
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if uncompressed:
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# terminate if there's not already an existing null. we don't add it to
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# the contents to avoid storing the wrong length
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null_terminate = 0 not in contents
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b = contents
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else:
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# compress it (max level, max window size, raw stream, max mem usage)
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z = zlib.compressobj(level=9, method=zlib.DEFLATED, wbits=-15, memLevel=9)
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b = z.compress(contents)
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b += z.flush()
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# decompressed data will be null terminated at runtime, nothing to do here
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null_terminate = False
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write_encode(out, ",".join(str(c) for c in b))
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if null_terminate:
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write_encode(out, ",0")
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write_encode(out, '};\n\n');
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return crc, len(contents)
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def crc32(bytes, crc=0):
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'''crc32 equivalent to crc32_small() from AP_Math/crc.cpp'''
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for byte in bytes:
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crc ^= byte
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for i in range(8):
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mask = (-(crc & 1)) & 0xFFFFFFFF
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crc >>= 1
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crc ^= (0xEDB88320 & mask)
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return crc
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def create_embedded_h(filename, files, uncompressed=False):
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'''create a ap_romfs_embedded.h file'''
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out = open(filename, "wb")
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write_encode(out, '''// generated embedded files for AP_ROMFS\n\n''')
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# remove duplicates and sort
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files = sorted(list(set(files)))
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crc = {}
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decompressed_size = {}
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for i in range(len(files)):
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(name, filename) = files[i]
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try:
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crc[filename], decompressed_size[filename] = embed_file(out, filename, i, name, uncompressed)
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except Exception as e:
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print(e)
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return False
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write_encode(out, '''const AP_ROMFS::embedded_file AP_ROMFS::files[] = {\n''')
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for i in range(len(files)):
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(name, filename) = files[i]
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if uncompressed:
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ustr = ' (uncompressed)'
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else:
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ustr = ''
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print("Embedding file %s:%s%s" % (name, filename, ustr))
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write_encode(out, '{ "%s", sizeof(ap_romfs_%u), %d, 0x%08x, ap_romfs_%u },\n' % (
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name, i, decompressed_size[filename], crc[filename], i))
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write_encode(out, '};\n')
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out.close()
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return True
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if __name__ == '__main__':
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import sys
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flist = []
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for i in range(1, len(sys.argv)):
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f = sys.argv[i]
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flist.append((f, f))
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create_embedded_h("/tmp/ap_romfs_embedded.h", flist)
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