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338 lines
12 KiB
338 lines
12 KiB
#!/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._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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"""READ VALUES |
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------------------------------------------------------------------------------ |
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Field Type Value |
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signature uint64 {1.signature!r} |
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image_crc uint64 0x{1.image_crc:016X} |
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image_size uint32 0x{1.image_size:X} ({1.image_size:d} B) |
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vcs_commit uint32 {1.vcs_commit:08X} |
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version_major uint8 {1.version_major:d} |
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version_minor uint8 {1.version_minor:d} |
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reserved uint8[6] {1.reserved!r} |
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WRITTEN VALUES |
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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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