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synced 2026-10-03 14:08:52 +08:00
boot_app_shared automatically generate UAVCAN bootable image
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
347c185967
commit
b422da45ec
@@ -36,4 +36,38 @@ add_dependencies(drivers_bootloaders prebuild_targets)
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include_directories(include)
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target_include_directories(drivers_bootloaders INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(drivers_bootloaders PRIVATE systemlib)
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target_link_libraries(drivers_bootloaders PRIVATE systemlib)
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# generate bootloader_app_shared_t
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if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader")
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set(HW_MAJOR ${uavcanblid_hw_version_major})
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set(HW_MINOR ${uavcanblid_hw_version_minor})
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set(SW_MAJOR ${uavcanblid_sw_version_major})
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set(SW_MINOR ${uavcanblid_sw_version_minor})
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string(REPLACE "\"" "" HWNAME ${uavcanblid_name})
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execute_process(
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COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
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OUTPUT_VARIABLE uavcanbl_git_desc
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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if ("${uavcanbl_git_desc}" STREQUAL "")
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set(uavcanbl_git_desc ffffffff)
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endif()
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set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
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message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
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add_custom_command(OUTPUT ${uavcan_bl_imange_name}
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COMMAND
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${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py
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-v --use-git-hash ${PX4_BINARY_DIR}/${PX4_BOARD}.bin ${uavcan_bl_imange_name}
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DEPENDS
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${PX4_BINARY_DIR}/${PX4_BOARD}.bin
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${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py
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WORKING_DIRECTORY
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${PX4_BINARY_DIR}
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)
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add_custom_target(build_uavcan_bl ALL DEPENDS ${uavcan_bl_imange_name})
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endif()
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+323
@@ -0,0 +1,323 @@
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#!/usr/bin/env python3
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import os
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import sys
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import subprocess
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import struct
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import optparse
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import binascii
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from io import BytesIO
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class GitWrapper:
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@classmethod
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def command(cls, txt):
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cmd = "git " + txt
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pr = subprocess.Popen( cmd , shell = True, stdout = subprocess.PIPE, stderr = subprocess.PIPE )
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(out, error) = pr.communicate()
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if len(error):
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raise Exception(cmd +" failed with [" + error.strip() + "]")
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return out
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class AppDescriptor(object):
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"""
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UAVCAN firmware image descriptor format:
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uint64_t signature (bytes [7:0] set to 'APDesc00' by linker script)
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uint64_t image_crc (set to 0 by linker script)
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uint32_t image_size (set to 0 by linker script)
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uint32_t vcs_commit (set in source or by this tool)
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uint8_t version_major (set in source)
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uint8_t version_minor (set in source)
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uint8_t reserved[6] (set to 0xFF by linker script)
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"""
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LENGTH = 8 + 8 + 4 + 4 + 1 + 1 + 6
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SIGNATURE = b"APDesc00"
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RESERVED = b"\xFF" * 6
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def __init__(self, bytes=None):
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self.signature = AppDescriptor.SIGNATURE
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self.image_crc = 0
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self.image_size = 0
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self.vcs_commit = 0
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self.version_major = 0
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self.version_minor = 0
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self.reserved = AppDescriptor.RESERVED
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if bytes:
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try:
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self.unpack(bytes)
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except Exception:
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raise ValueError("Invalid AppDescriptor: {0}".format(
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binascii.b2a_hex(bytes)))
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def pack(self):
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return struct.pack("<8sQLLBB6s", self.signature, self.image_crc,
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self.image_size, self.vcs_commit,
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self.version_major, self.version_minor,
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self.reserved)
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def unpack(self, bytes):
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(self.signature, self.image_crc, self.image_size, self.vcs_commit,
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self.version_major, self.version_minor, self.reserved) = \
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struct.unpack("<8sQLLBB6s", bytes)
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if not self.empty and not self.valid:
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raise ValueError()
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@property
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def empty(self):
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return (self.signature == AppDescriptor.SIGNATURE and
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self.image_crc == 0 and self.image_size == 0 and
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self.reserved == AppDescriptor.RESERVED)
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@property
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def valid(self):
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return (self.signature == AppDescriptor.SIGNATURE and
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self.image_crc != 0 and self.image_size > 0 and
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self.reserved == AppDescriptor.RESERVED)
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class FirmwareImage(object):
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def __init__(self, path_or_file, mode="r"):
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if getattr(path_or_file, "read", None):
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self._file = path_or_file
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self._do_close = False
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self._padding = 0
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else:
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if "b" not in mode:
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self._file = open(path_or_file, mode + "b")
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else:
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self._file = open(path_or_file, mode)
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self._do_close = True
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self._padding = 4
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if "r" in mode:
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self._contents = BytesIO(self._file.read())
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else:
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self._contents = BytesIO()
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self._do_write = False
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self._length = None
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self._descriptor_offset = None
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self._descriptor_bytes = None
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self._descriptor = None
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def __enter__(self):
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return self
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def __getattr__(self, attr):
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if attr == "write":
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self._do_write = True
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return getattr(self._contents, attr)
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def __iter__(self):
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return iter(self._contents)
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def __exit__(self, *args):
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if self._do_write:
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if getattr(self._file, "seek", None):
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self._file.seek(0)
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self._file.write(self._contents.getvalue())
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if self._padding:
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self._file.write(b'\xff' * self._padding)
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if self._do_close:
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self._file.close()
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def _write_descriptor_raw(self):
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# Seek to the appropriate location, write the serialized
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# descriptor, and seek back.
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prev_offset = self._contents.tell()
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self._contents.seek(self._descriptor_offset)
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self._contents.write(self._descriptor.pack())
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self._contents.seek(prev_offset)
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def write_descriptor(self):
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# Set the descriptor's length and CRC to the values required for
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# CRC computation
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self.app_descriptor.image_size = self.length
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self.app_descriptor.image_crc = 0
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self._write_descriptor_raw()
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# Update the descriptor's CRC based on the computed value and write
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# it out again
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self.app_descriptor.image_crc = self.crc
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self._write_descriptor_raw()
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@property
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def crc(self):
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MASK = 0xFFFFFFFFFFFFFFFF
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POLY = 0x42F0E1EBA9EA3693
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# Calculate the image CRC with the image_crc field in the app
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# descriptor zeroed out.
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crc_offset = self.app_descriptor_offset + len(AppDescriptor.SIGNATURE)
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content = bytearray(self._contents.getvalue())
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content[crc_offset:crc_offset + 8] = bytearray.fromhex("00" * 8)
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if self._padding:
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content += bytearray.fromhex("ff" * self._padding)
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val = MASK
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for byte in content:
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val ^= (byte << 56) & MASK
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for bit in range(8):
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if val & (1 << 63):
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val = ((val << 1) & MASK) ^ POLY
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else:
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val <<= 1
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return (val & MASK) ^ MASK
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@property
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def padding(self):
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return self._padding
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@property
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def length(self):
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if not self._length:
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# Find the length of the file by seeking to the end and getting
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# the offset
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prev_offset = self._contents.tell()
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self._contents.seek(0, os.SEEK_END)
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self._length = self._contents.tell()
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if self._padding:
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fill = self._padding - (self._length % self._padding)
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if fill:
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self._length += fill
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self._padding = fill
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self._contents.seek(prev_offset)
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return self._length
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@property
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def app_descriptor_offset(self):
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if not self._descriptor_offset:
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# Save the current position
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prev_offset = self._contents.tell()
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# Check each byte in the file to see if a valid descriptor starts
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# at that location. Slow, but not slow enough to matter.
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offset = 0
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while offset < self.length - AppDescriptor.LENGTH:
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self._contents.seek(offset)
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try:
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# If this throws an exception, there isn't a valid
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# descriptor at this offset
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AppDescriptor(self._contents.read(AppDescriptor.LENGTH))
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except Exception:
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offset += 1
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else:
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self._descriptor_offset = offset
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break
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# Go back to the previous position
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self._contents.seek(prev_offset)
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if not self._descriptor_offset:
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raise Exception('AppDescriptor not found')
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return self._descriptor_offset
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@property
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def app_descriptor(self):
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if not self._descriptor:
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# Save the current position
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prev_offset = self._contents.tell()
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# Jump to the descriptor adn parse it
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self._contents.seek(self.app_descriptor_offset)
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self._descriptor_bytes = self._contents.read(AppDescriptor.LENGTH)
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self._descriptor = AppDescriptor(self._descriptor_bytes)
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# Go back to the previous offset
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self._contents.seek(prev_offset)
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return self._descriptor
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@app_descriptor.setter
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def app_descriptor(self, value):
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self._descriptor = value
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if __name__ == "__main__":
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parser = optparse.OptionParser(usage="usage: %prog [options] [IN OUT]")
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parser.add_option("--vcs-commit", dest="vcs_commit", default=None,
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help="set the descriptor's VCS commit value to COMMIT",
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metavar="COMMIT")
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parser.add_option("-g", "--use-git-hash", dest="use_git_hash", action="store_true",
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help="set the descriptor's VCS commit value to the current git hash",
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metavar="GIT")
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parser.add_option("--bootloader-size", dest="bootloader_size", default=0,
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help="don't write the first SIZE bytes of the image",
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metavar="SIZE")
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parser.add_option("--bootloader-image", dest="bootloader_image", default=0,
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help="prepend a bootloader image to the output file",
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metavar="IMAGE")
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parser.add_option("-v", "--verbose", dest="verbose", action="store_true",
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help="show additional firmware information on stdout")
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options, args = parser.parse_args()
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if len(args) not in (0, 2):
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parser.error("specify both IN or OUT for file operation, or " +
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"neither for stdin/stdout operation")
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if options.vcs_commit and options.use_git_hash:
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parser.error("options --vcs-commit and --use-git-commit are mutually exclusive")
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if options.use_git_hash:
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try:
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options.vcs_commit = int(GitWrapper.command("rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit"),16)
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except Exception as e:
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print("Git Command failed "+ str(e) +"- Exiting!")
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quit()
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if args:
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in_file = args[0]
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out_file = args[1]
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else:
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in_file = sys.stdin
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out_file = sys.stdout
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bootloader_image = b""
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if options.bootloader_image:
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with open(options.bootloader_image, "rb") as bootloader:
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bootloader_image = bootloader.read()
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bootloader_size = int(options.bootloader_size)
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with FirmwareImage(in_file, "rb") as in_image:
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with FirmwareImage(out_file, "wb") as out_image:
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image = in_image.read()
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out_image.write(bootloader_image)
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out_image.write(image[bootloader_size:])
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if options.vcs_commit:
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out_image.app_descriptor.vcs_commit = options.vcs_commit
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out_image.write_descriptor()
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if options.verbose:
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sys.stderr.write(
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"""
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Application descriptor located at offset 0x{0.app_descriptor_offset:08X}
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""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
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bootloader_size, len(bootloader_image)))
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if bootloader_size:
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sys.stderr.write(
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"""Ignored the first {3:d} bytes of the input image. Prepended {4:d} bytes of
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bootloader image to the output image.
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""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
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bootloader_size, len(bootloader_image)))
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sys.stderr.write(
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"""------------------------------------------------------------------------------
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Field Type Value
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signature uint64 {2.signature!r}
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image_crc uint64 0x{2.image_crc:016X}
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image_size uint32 0x{2.image_size:X} ({2.image_size:d} B)
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vcs_commit uint32 {2.vcs_commit:08X}
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version_major uint8 {2.version_major:d}
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version_minor uint8 {2.version_minor:d}
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reserved uint8[6] {2.reserved!r}
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""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
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bootloader_size, len(bootloader_image)))
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if out_image.padding:
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sys.stderr.write(
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"""
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padding added {}
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""".format(out_image.padding))
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