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px4-firmware
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make_can_boot_descriptor:Add padding argument

This commit is contained in:
David Sidrane 2021-09-09 14:52:11 -07:00 committed by Daniel Agar
parent 360c3781f3
commit f4e9672fde
2 changed files with 24 additions and 11 deletions
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5
src/drivers/bootloaders/CMakeLists.txt
View File

@ -47,6 +47,9 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader")
set(HW_MINOR ${uavcanblid_hw_version_minor})
set(SW_MAJOR ${uavcanblid_sw_version_major})
set(SW_MINOR ${uavcanblid_sw_version_minor})
if("${uavcanbl_padding}" STREQUAL "")
set(uavcanbl_padding 4)
endif()
math(EXPR HWBOARD_ID "(${HW_MAJOR} << 8) + ${HW_MINOR}")
@ -68,7 +71,7 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader")
${PX4_BINARY_DIR}/${uavcan_bl_image_name}
${PX4_BINARY_DIR}/deploy/${HWBOARD_ID}.bin
COMMAND
${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_image_name}
${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_image_name}
COMMAND
COMMAND ${CMAKE_COMMAND} -E make_directory deploy
COMMAND

30
src/drivers/bootloaders/make_can_boot_descriptor.py
View File

@ -120,18 +120,17 @@ class AppDescriptor(object):
class FirmwareImage(object):
def __init__(self, path_or_file, mode="r"):
def __init__(self, path_or_file, mode="r", padding = 4):
self._padding = padding;
if getattr(path_or_file, "read", None):
self._file = path_or_file
self._do_close = False
self._padding = 0
else:
if "b" not in mode:
self._file = open(path_or_file, mode + "b")
else:
self._file = open(path_or_file, mode)
self._do_close = True
self._padding = 4
if "r" in mode:
self._contents = BytesIO(self._file.read())
@ -216,11 +215,20 @@ class FirmwareImage(object):
prev_offset = self._contents.tell()
self._contents.seek(0, os.SEEK_END)
self._length = self._contents.tell()
if self._padding:
fill = self._padding - (self._length % self._padding)
if fill:
self._length += fill
self._padding = fill
# Was Padding requested
if self._padding != 0:
# If so. then is the file already a multiple of the padding?
if 0 == (self._length % self._padding):
# padding not needed
self._padding = 0
# Still need padding
if self._padding:
fill = self._padding - (self._length % self._padding)
if fill:
self._length += fill
#report back the fill which is the padding
self._padding = fill
self._contents.seek(prev_offset)
return self._length
@ -285,6 +293,8 @@ if __name__ == "__main__":
metavar="IMAGE")
parser.add_option("-v", "--verbose", dest="verbose", action="store_true",
help="show additional firmware information on stdout")
parser.add_option("-p", "--padding", dest="padding", type= int, default=4,
help="Padds the image to a multple of")
options, args = parser.parse_args()
if len(args) not in (0, 2):
@ -315,8 +325,8 @@ if __name__ == "__main__":
bootloader_size = int(options.bootloader_size)
with FirmwareImage(in_file, "rb") as in_image:
with FirmwareImage(out_file, "wb") as out_image:
with FirmwareImage(in_file, "rb", 0) as in_image:
with FirmwareImage(out_file, "wb", options.padding) as out_image:
image = in_image.read()
out_image.write(bootloader_image)
out_image.write(image[bootloader_size:])