mirror of https://github.com/ArduPilot/ardupilot
232 lines
7.7 KiB
Python
Executable File
232 lines
7.7 KiB
Python
Executable File
#!/usr/bin/env python
|
|
'''
|
|
tool to manipulate ArduPilot firmware files, changing default parameters
|
|
'''
|
|
|
|
import os, sys, struct, json, base64, zlib, hashlib
|
|
|
|
import argparse
|
|
|
|
class embedded_defaults(object):
|
|
'''class to manipulate embedded defaults in a firmware'''
|
|
def __init__(self, filename):
|
|
self.filename = filename
|
|
self.offset = 0
|
|
self.extension = os.path.splitext(filename)[1]
|
|
if self.extension.lower() in ['.apj', '.px4']:
|
|
self.load_apj()
|
|
elif self.extension.lower() in ['.abin']:
|
|
self.load_abin()
|
|
else:
|
|
self.load_binary()
|
|
|
|
def load_binary(self):
|
|
'''load firmware from binary file'''
|
|
f = open(self.filename,'r')
|
|
self.firmware = f.read()
|
|
f.close()
|
|
print("Loaded binary file of length %u" % len(self.firmware))
|
|
|
|
def load_abin(self):
|
|
'''load firmware from abin file'''
|
|
f = open(self.filename,'r')
|
|
self.headers = []
|
|
while True:
|
|
line = f.readline().rstrip()
|
|
if line == '--':
|
|
break
|
|
self.headers.append(line)
|
|
if len(self.headers) > 50:
|
|
print("Error: too many abin headers")
|
|
sys.exit(1)
|
|
self.firmware = f.read()
|
|
f.close()
|
|
print("Loaded abin file of length %u" % len(self.firmware))
|
|
|
|
def load_apj(self):
|
|
'''load firmware from a json apj or px4 file'''
|
|
f = open(self.filename,'r')
|
|
self.fw_json = json.load(f)
|
|
f.close()
|
|
self.firmware = zlib.decompress(base64.b64decode(self.fw_json['image']))
|
|
print("Loaded apj file of length %u" % len(self.firmware))
|
|
|
|
def save_binary(self):
|
|
'''save binary file'''
|
|
f = open(self.filename, 'w')
|
|
f.write(self.firmware)
|
|
f.close()
|
|
print("Saved binary of length %u" % len(self.firmware))
|
|
|
|
def save_apj(self):
|
|
'''save apj file'''
|
|
self.fw_json['image'] = base64.b64encode(zlib.compress(self.firmware, 9))
|
|
f = open(self.filename,'w')
|
|
json.dump(self.fw_json,f,indent=4)
|
|
f.truncate()
|
|
f.close()
|
|
print("Saved apj of length %u" % len(self.firmware))
|
|
|
|
def save_abin(self):
|
|
'''save abin file'''
|
|
f = open(self.filename,'w')
|
|
for i in range(len(self.headers)):
|
|
line = self.headers[i]
|
|
if line.startswith('MD5: '):
|
|
h = hashlib.new('md5')
|
|
h.update(self.firmware)
|
|
f.write('MD5: %s\n' % h.hexdigest())
|
|
else:
|
|
f.write(line+'\n')
|
|
f.write('--\n')
|
|
f.write(self.firmware)
|
|
f.close()
|
|
print("Saved abin of length %u" % len(self.firmware))
|
|
|
|
def find(self):
|
|
'''find defaults in firmware'''
|
|
# these are the magic headers from AP_Param.cpp
|
|
magic_str = "PARMDEF"
|
|
param_magic = [ 0x55, 0x37, 0xf4, 0xa0, 0x38, 0x5d, 0x48, 0x5b ]
|
|
while True:
|
|
i = self.firmware[self.offset:].find(magic_str)
|
|
if i == -1:
|
|
return None
|
|
matched = True
|
|
for j in range(len(param_magic)):
|
|
if ord(self.firmware[self.offset+i+j+8]) != param_magic[j]:
|
|
matched = False
|
|
break
|
|
if not matched:
|
|
self.offset += i+8
|
|
continue
|
|
self.offset += i
|
|
self.max_len, self.length = struct.unpack("<HH", self.firmware[self.offset+16:self.offset+20])
|
|
return True
|
|
|
|
def contents(self):
|
|
'''return current contents'''
|
|
contents = self.firmware[self.offset+20:self.offset+20+self.length]
|
|
# remove carriage returns
|
|
contents = contents.replace('\r','')
|
|
return contents
|
|
|
|
def set_contents(self, contents):
|
|
'''set new defaults as a string'''
|
|
length = len(contents)
|
|
if length > self.max_len:
|
|
print("Error: Length %u larger than maximum %u" % (length, self.max_len))
|
|
sys.exit(1)
|
|
new_fw = self.firmware[:self.offset+18]
|
|
new_fw += struct.pack("<H", length)
|
|
new_fw += contents
|
|
new_fw += self.firmware[self.offset+20+length:]
|
|
self.firmware = new_fw
|
|
self.length = len(contents)
|
|
|
|
def set_file(self, filename):
|
|
'''set defaults to contents of a file'''
|
|
print("Setting defaults from %s" % filename)
|
|
f = open(filename, 'r')
|
|
contents = f.read()
|
|
f.close()
|
|
# remove carriage returns from the file
|
|
contents = contents.replace('\r','')
|
|
self.set_contents(contents)
|
|
|
|
def split_multi(self, str, separators):
|
|
'''split a string, handling multiple separators'''
|
|
for sep in separators:
|
|
str = str.replace(sep, ' ')
|
|
return str.split()
|
|
|
|
def set_one(self, set):
|
|
'''set a single parameter'''
|
|
v = set.split('=')
|
|
if len(v) != 2:
|
|
print("Error: set takes form NAME=VALUE")
|
|
sys.exit(1)
|
|
param_name = v[0].upper()
|
|
param_value = v[1]
|
|
|
|
contents = self.contents()
|
|
lines = contents.strip().split('\n')
|
|
changed = False
|
|
for i in range(len(lines)):
|
|
a = self.split_multi(lines[i], ", =\t")
|
|
if len(a) != 2:
|
|
continue
|
|
if a[0].upper() == param_name:
|
|
separator=lines[i][len(param_name)]
|
|
print("Changing %s from %s to %s" % (param_name, a[1], param_value))
|
|
lines[i] = '%s%s%s' % (param_name, separator, param_value)
|
|
changed = True
|
|
if not changed:
|
|
print("Adding %s=%s" % (param_name, param_value))
|
|
lines.append('%s=%s' % (param_name, param_value))
|
|
contents = '\n'.join(lines)
|
|
contents = contents.lstrip() + '\n'
|
|
self.set_contents(contents)
|
|
|
|
def save(self):
|
|
'''save new firmware'''
|
|
if self.extension.lower() in ['.apj', '.px4']:
|
|
self.save_apj()
|
|
elif self.extension.lower() in ['.abin']:
|
|
self.save_abin()
|
|
else:
|
|
self.save_binary()
|
|
|
|
def extract(self):
|
|
'''extract firmware image to *.bin'''
|
|
a = os.path.splitext(self.filename)
|
|
if len(a) == 1:
|
|
a.append('.bin')
|
|
else:
|
|
a = (a[0], '.bin')
|
|
binfile = ''.join(a)
|
|
print("Extracting firmware to %s" % binfile)
|
|
f = open(binfile,'w')
|
|
f.write(self.firmware)
|
|
f.close()
|
|
|
|
|
|
def defaults_contents(firmware, ofs, length):
|
|
'''return current defaults contents'''
|
|
return firmware
|
|
|
|
parser = argparse.ArgumentParser(description='manipulate parameter defaults in an ArduPilot firmware')
|
|
|
|
parser.add_argument('firmware_file')
|
|
parser.add_argument('--set-file', type=str, default=None, help='replace parameter defaults from a file')
|
|
parser.add_argument('--set', type=str, default=None, help='replace one parameter default, in form NAME=VALUE')
|
|
parser.add_argument('--show', action='store_true', default=False, help='show current parameter defaults')
|
|
parser.add_argument('--extract', action='store_true', default=False, help='extract firmware image to *.bin')
|
|
|
|
args = parser.parse_args()
|
|
|
|
defaults = embedded_defaults(args.firmware_file)
|
|
|
|
if not defaults.find():
|
|
print("Error: Param defaults support not found in firmware")
|
|
sys.exit(1)
|
|
|
|
print("Found param defaults max_length=%u length=%u" % (defaults.max_len, defaults.length))
|
|
|
|
if args.set_file:
|
|
# load new defaults from a file
|
|
defaults.set_file(args.set_file)
|
|
defaults.save()
|
|
|
|
if args.set:
|
|
# set a single parameter
|
|
defaults.set_one(args.set)
|
|
defaults.save()
|
|
|
|
if args.show:
|
|
# show all defaults
|
|
print(defaults.contents())
|
|
|
|
if args.extract:
|
|
defaults.extract()
|