#!/usr/bin/env python3 import os import sys import subprocess import struct import optparse import binascii from io import BytesIO import array crctab = array.array('I', [ 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d]) 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 '{ 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 }' by the build uint32_t crc32_block1 From offset 0 to . (non inclusive) (set by this tool) uint32_t crc32_block2 From offsetof(minor_version) to end (set by this tool) 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) uint16_t board_id (set in source) uint8_t reserved[6] (set to 0xFF by linker script) """ LENGTH = 8 + 4 + 4 + 4 + 4 + 1 + 1 + 2 + 8 DESLENGTH = 4 + 4 + 4 + 4 SIGNATURE = b"\x40\xa2\xe4\xf1\x64\x68\x91\x06" RESERVED = b"\xFF" * 8 def __init__(self, bytes=None): self.signature = AppDescriptor.SIGNATURE self.crc32_block1 = 0 self.crc32_block2 = 0 self.image_size = 0 self.vcs_commit = 0 self.version_major = 0 self.version_minor = 0 self.board_id = 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("<8sLLLLBBH8s", self.signature, self.crc32_block1, self.crc32_block2, self.image_size, self.vcs_commit, self.version_major, self.version_minor, self.board_id, self.reserved) def unpack(self, bytes): (self.signature, self.crc32_block1, self.crc32_block2, self.image_size, self.vcs_commit, self.version_major, self.version_minor, self.board_id, self.reserved) = \ struct.unpack("<8sLLLLBBH8s", bytes) if not self.empty and not self.valid: raise ValueError() @property def empty(self): return (self.signature == AppDescriptor.SIGNATURE and self.crc32_block1 == 0 and self.crc32_block2 == 0 and self.image_size == 0 and self.reserved == AppDescriptor.RESERVED) @property def valid(self): return (self.signature == AppDescriptor.SIGNATURE and self.crc32_block1 != 0 and self.crc32_block2 != 0 and self.image_size > 0 and self.board_id != 0 and self.reserved == AppDescriptor.RESERVED) class FirmwareImage(object): 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 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 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.crc32_block1 = 0 self.app_descriptor.crc32_block2 = 0 self._write_descriptor_raw() content = bytearray(self._contents.getvalue()) if self._padding: content += bytearray.fromhex("ff" * self._padding) # Update the descriptor's CRC based on the computed value and write # it out again self.app_descriptor.crc32_block1 = self.crc32(content[:self.app_descriptor_offset + len(AppDescriptor.SIGNATURE)]) b2 = self.app_descriptor_offset + len(AppDescriptor.SIGNATURE) + AppDescriptor.DESLENGTH self.app_descriptor.crc32_block2 = self.crc32(content[b2:]) self._write_descriptor_raw() def crc32(self, bytes, crc = 0): for byte in bytes: index = (crc ^ byte) & 0xff crc = crctab[index] ^ (crc >> 8) return crc @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() # 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 @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") 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): 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", 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:]) 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} crc32_block1 uint32 0x{1.crc32_block1:08X} crc32_block2 uint32 0x{1.crc32_block2:08X} 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} board_id uint32 0x{1.board_id:X} reserved uint8[8] {1.reserved!r} WRITTEN VALUES ------------------------------------------------------------------------------ Field Type Value signature uint64 {2.signature!r} crc32_block1 uint32 0x{2.crc32_block1:08X} crc32_block2 uint32 0x{2.crc32_block2:08X} 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} board_id uint32 0x{2.board_id:X} reserved uint8[8] {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))