make_can_boot_descriptor.py
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#!/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"):
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.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()
if self._padding:
fill = self._padding - (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}
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))