forked from Archive/PX4-Autopilot
339 lines
12 KiB
Python
Executable File
339 lines
12 KiB
Python
Executable File
#!/usr/bin/env python
|
|
|
|
import os
|
|
import sys
|
|
import subprocess
|
|
import struct
|
|
import optparse
|
|
import binascii
|
|
from io import BytesIO
|
|
|
|
class GitWrapper:
|
|
@classmethod
|
|
def command(cls, txt):
|
|
cmd = "git " + txt
|
|
pr = subprocess.Popen( cmd , shell = True, stdout = subprocess.PIPE, stderr = subprocess.PIPE )
|
|
(out, error) = pr.communicate()
|
|
if len(error):
|
|
raise Exception(cmd +" failed with [" + error.strip() + "]")
|
|
return out
|
|
|
|
class AppDescriptor(object):
|
|
"""
|
|
UAVCAN firmware image descriptor format:
|
|
uint64_t signature (bytes [7:0] set to 'APDesc00' by linker script)
|
|
uint64_t image_crc (set to 0 by linker script)
|
|
uint32_t image_size (set to 0 by linker script)
|
|
uint32_t vcs_commit (set in source or by this tool)
|
|
uint8_t version_major (set in source)
|
|
uint8_t version_minor (set in source)
|
|
uint8_t reserved[6] (set to 0xFF by linker script)
|
|
"""
|
|
|
|
LENGTH = 8 + 8 + 4 + 4 + 1 + 1 + 6
|
|
SIGNATURE = b"APDesc00"
|
|
RESERVED = b"\xFF" * 6
|
|
|
|
def __init__(self, bytes=None):
|
|
self.signature = AppDescriptor.SIGNATURE
|
|
self.image_crc = 0
|
|
self.image_size = 0
|
|
self.vcs_commit = 0
|
|
self.version_major = 0
|
|
self.version_minor = 0
|
|
self.reserved = AppDescriptor.RESERVED
|
|
|
|
if bytes:
|
|
try:
|
|
self.unpack(bytes)
|
|
except Exception:
|
|
raise ValueError("Invalid AppDescriptor: {0}".format(
|
|
binascii.b2a_hex(bytes)))
|
|
|
|
def pack(self):
|
|
return struct.pack("<8sQLLBB6s", self.signature, self.image_crc,
|
|
self.image_size, self.vcs_commit,
|
|
self.version_major, self.version_minor,
|
|
self.reserved)
|
|
|
|
def unpack(self, bytes):
|
|
(self.signature, self.image_crc, self.image_size, self.vcs_commit,
|
|
self.version_major, self.version_minor, self.reserved) = \
|
|
struct.unpack("<8sQLLBB6s", bytes)
|
|
|
|
if not self.empty and not self.valid:
|
|
raise ValueError()
|
|
|
|
@property
|
|
def empty(self):
|
|
return (self.signature == AppDescriptor.SIGNATURE and
|
|
self.image_crc == 0 and self.image_size == 0 and
|
|
self.reserved == AppDescriptor.RESERVED)
|
|
|
|
@property
|
|
def valid(self):
|
|
return (self.signature == AppDescriptor.SIGNATURE and
|
|
self.image_crc != 0 and self.image_size > 0 and
|
|
self.reserved == AppDescriptor.RESERVED)
|
|
|
|
|
|
class FirmwareImage(object):
|
|
def __init__(self, path_or_file, mode="r"):
|
|
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())
|
|
else:
|
|
self._contents = BytesIO()
|
|
self._do_write = False
|
|
|
|
self._length = None
|
|
self._descriptor_offset = None
|
|
self._descriptor_bytes = None
|
|
self._descriptor = None
|
|
|
|
def __enter__(self):
|
|
return self
|
|
|
|
def __getattr__(self, attr):
|
|
if attr == "write":
|
|
self._do_write = True
|
|
return getattr(self._contents, attr)
|
|
|
|
def __iter__(self):
|
|
return iter(self._contents)
|
|
|
|
def __exit__(self, *args):
|
|
if self._do_write:
|
|
if getattr(self._file, "seek", None):
|
|
self._file.seek(0)
|
|
self._file.write(self._contents.getvalue())
|
|
if self._padding:
|
|
self._file.write(b'\xff' * self._padding)
|
|
|
|
if self._do_close:
|
|
self._file.close()
|
|
|
|
def _write_descriptor_raw(self):
|
|
# Seek to the appropriate location, write the serialized
|
|
# descriptor, and seek back.
|
|
prev_offset = self._contents.tell()
|
|
self._contents.seek(self._descriptor_offset)
|
|
self._contents.write(self._descriptor.pack())
|
|
self._contents.seek(prev_offset)
|
|
|
|
def write_descriptor(self):
|
|
# Set the descriptor's length and CRC to the values required for
|
|
# CRC computation
|
|
self.app_descriptor.image_size = self.length
|
|
self.app_descriptor.image_crc = 0
|
|
|
|
self._write_descriptor_raw()
|
|
|
|
# Update the descriptor's CRC based on the computed value and write
|
|
# it out again
|
|
self.app_descriptor.image_crc = self.crc
|
|
|
|
self._write_descriptor_raw()
|
|
|
|
@property
|
|
def crc(self):
|
|
MASK = 0xFFFFFFFFFFFFFFFF
|
|
POLY = 0x42F0E1EBA9EA3693
|
|
|
|
# Calculate the image CRC with the image_crc field in the app
|
|
# descriptor zeroed out.
|
|
crc_offset = self.app_descriptor_offset + len(AppDescriptor.SIGNATURE)
|
|
content = bytearray(self._contents.getvalue())
|
|
content[crc_offset:crc_offset + 8] = bytearray.fromhex("00" * 8)
|
|
if self._padding:
|
|
content += bytearray.fromhex("ff" * self._padding)
|
|
val = MASK
|
|
for byte in content:
|
|
val ^= (byte << 56) & MASK
|
|
for bit in range(8):
|
|
if val & (1 << 63):
|
|
val = ((val << 1) & MASK) ^ POLY
|
|
else:
|
|
val <<= 1
|
|
|
|
return (val & MASK) ^ MASK
|
|
|
|
@property
|
|
def padding(self):
|
|
return self._padding
|
|
|
|
@property
|
|
def length(self):
|
|
if not self._length:
|
|
# Find the length of the file by seeking to the end and getting
|
|
# the offset
|
|
prev_offset = self._contents.tell()
|
|
self._contents.seek(0, os.SEEK_END)
|
|
self._length = self._contents.tell()
|
|
if self._padding:
|
|
fill = self._length % self._padding
|
|
if fill:
|
|
self._length += fill
|
|
self._padding = fill
|
|
self._contents.seek(prev_offset)
|
|
|
|
return self._length
|
|
|
|
@property
|
|
def app_descriptor_offset(self):
|
|
if not self._descriptor_offset:
|
|
# Save the current position
|
|
prev_offset = self._contents.tell()
|
|
# Check each byte in the file to see if a valid descriptor starts
|
|
# at that location. Slow, but not slow enough to matter.
|
|
offset = 0
|
|
while offset < self.length - AppDescriptor.LENGTH:
|
|
self._contents.seek(offset)
|
|
try:
|
|
# If this throws an exception, there isn't a valid
|
|
# descriptor at this offset
|
|
AppDescriptor(self._contents.read(AppDescriptor.LENGTH))
|
|
except Exception:
|
|
offset += 1
|
|
else:
|
|
self._descriptor_offset = offset
|
|
break
|
|
# Go back to the previous position
|
|
self._contents.seek(prev_offset)
|
|
if not self._descriptor_offset:
|
|
raise Exception('AppDescriptor not found')
|
|
|
|
return self._descriptor_offset
|
|
|
|
@property
|
|
def app_descriptor(self):
|
|
if not self._descriptor:
|
|
# Save the current position
|
|
prev_offset = self._contents.tell()
|
|
# Jump to the descriptor adn parse it
|
|
self._contents.seek(self.app_descriptor_offset)
|
|
self._descriptor_bytes = self._contents.read(AppDescriptor.LENGTH)
|
|
self._descriptor = AppDescriptor(self._descriptor_bytes)
|
|
# Go back to the previous offset
|
|
self._contents.seek(prev_offset)
|
|
|
|
return self._descriptor
|
|
|
|
@app_descriptor.setter
|
|
def app_descriptor(self, value):
|
|
self._descriptor = value
|
|
|
|
|
|
if __name__ == "__main__":
|
|
parser = optparse.OptionParser(usage="usage: %prog [options] [IN OUT]")
|
|
parser.add_option("--vcs-commit", dest="vcs_commit", default=None,
|
|
help="set the descriptor's VCS commit value to COMMIT",
|
|
metavar="COMMIT")
|
|
parser.add_option("-g", "--use-git-hash", dest="use_git_hash", action="store_true",
|
|
help="set the descriptor's VCS commit value to the current git hash",
|
|
metavar="GIT")
|
|
parser.add_option("--bootloader-size", dest="bootloader_size", default=0,
|
|
help="don't write the first SIZE bytes of the image",
|
|
metavar="SIZE")
|
|
parser.add_option("--bootloader-image", dest="bootloader_image", default=0,
|
|
help="prepend a bootloader image to the output file",
|
|
metavar="IMAGE")
|
|
parser.add_option("-v", "--verbose", dest="verbose", action="store_true",
|
|
help="show additional firmware information on stdout")
|
|
|
|
options, args = parser.parse_args()
|
|
if len(args) not in (0, 2):
|
|
parser.error("specify both IN or OUT for file operation, or " +
|
|
"neither for stdin/stdout operation")
|
|
|
|
if options.vcs_commit and options.use_git_hash:
|
|
parser.error("options --vcs-commit and --use-git-commit are mutually exclusive")
|
|
|
|
if options.use_git_hash:
|
|
try:
|
|
options.vcs_commit = int(GitWrapper.command("rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit"),16)
|
|
except Exception as e:
|
|
print("Git Command failed "+ str(e) +"- Exiting!")
|
|
quit()
|
|
|
|
if args:
|
|
in_file = args[0]
|
|
out_file = args[1]
|
|
else:
|
|
in_file = sys.stdin
|
|
out_file = sys.stdout
|
|
|
|
bootloader_image = b""
|
|
if options.bootloader_image:
|
|
with open(options.bootloader_image, "rb") as bootloader:
|
|
bootloader_image = bootloader.read()
|
|
|
|
bootloader_size = int(options.bootloader_size)
|
|
|
|
with FirmwareImage(in_file, "rb") as in_image:
|
|
with FirmwareImage(out_file, "wb") as out_image:
|
|
image = in_image.read()
|
|
out_image.write(bootloader_image)
|
|
out_image.write(image[bootloader_size:])
|
|
if options.vcs_commit:
|
|
out_image.app_descriptor.vcs_commit = options.vcs_commit
|
|
out_image.write_descriptor()
|
|
|
|
if options.verbose:
|
|
sys.stderr.write(
|
|
"""
|
|
Application descriptor located at offset 0x{0.app_descriptor_offset:08X}
|
|
|
|
""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
|
|
bootloader_size, len(bootloader_image)))
|
|
if bootloader_size:
|
|
sys.stderr.write(
|
|
"""Ignored the first {3:d} bytes of the input image. Prepended {4:d} bytes of
|
|
bootloader image to the output image.
|
|
|
|
""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
|
|
bootloader_size, len(bootloader_image)))
|
|
sys.stderr.write(
|
|
"""READ VALUES
|
|
------------------------------------------------------------------------------
|
|
|
|
Field Type Value
|
|
signature uint64 {1.signature!r}
|
|
image_crc uint64 0x{1.image_crc:016X}
|
|
image_size uint32 0x{1.image_size:X} ({1.image_size:d} B)
|
|
vcs_commit uint32 {1.vcs_commit:08X}
|
|
version_major uint8 {1.version_major:d}
|
|
version_minor uint8 {1.version_minor:d}
|
|
reserved uint8[6] {1.reserved!r}
|
|
|
|
WRITTEN VALUES
|
|
------------------------------------------------------------------------------
|
|
|
|
Field Type Value
|
|
signature uint64 {2.signature!r}
|
|
image_crc uint64 0x{2.image_crc:016X}
|
|
image_size uint32 0x{2.image_size:X} ({2.image_size:d} B)
|
|
vcs_commit uint32 {2.vcs_commit:08X}
|
|
version_major uint8 {2.version_major:d}
|
|
version_minor uint8 {2.version_minor:d}
|
|
reserved uint8[6] {2.reserved!r}
|
|
|
|
""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
|
|
bootloader_size, len(bootloader_image)))
|
|
if out_image.padding:
|
|
sys.stderr.write(
|
|
"""
|
|
padding added {}
|
|
""".format(out_image.padding))
|