Tools: add cx_apj_tool to modify AP_Periph builds

Tools/Carbonix_scripts/carbonix_waf_build.sh

@@ -72,32 +72,16 @@ for file in $(find libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/ -na
   # Copy param file in the output folder
   cp $file $output_folder
 
-  # The find/replace operation works by converting the binary to a single long
-  # line of hex, then uses sed to replace the magic string with the board name
-  # that has been padded with zeros to the same length as the magic string,
-  # then converts the hex back to binary.
+  # Generate the new board name
   new_board_name="$board-$filename"
   if [ ${#new_board_name} -gt $max_board_name_length ]; then
     echo "Board name '$new_board_name' is too long (max $max_board_name_length bytes)"
     exit 1
   fi
-  board_magic_string_hex=$(echo -n "$board_magic_string" | xxd -p | tr -d '\n')
-  board_name_hex=$(echo -n "$new_board_name" | xxd -p | tr -d '\n')
-  # Pad with zeros to the same length as the magic string
-  board_name_hex=$(printf "%-${#board_magic_string_hex}s" "$board_name_hex" | tr ' ' '0')
-
-  for binary in $bin_folder/AP_Periph $bin_folder/AP_Periph.bin; do
-    # Embed the parameters
-    echo "Embedding parameter file $filename into $binary..."
-    Tools/scripts/apj_tool.py $binary --set-file $file &> /dev/null
-
-    # Set the board name
-    echo "Setting board name to $new_board_name in $binary..."
-    cp $binary $binary.tmp
-    xxd -p $binary | tr -d '\n' | sed "s/$board_magic_string_hex/$board_name_hex/g" | xxd -r -p > $binary.tmp
-    mv $binary.tmp $output_folder/$(basename $binary)
-    echo "Output binary Saved at : $output_folder/$(basename $binary)"
-  done
+
+  # Generate the modified binary
+  binary=$bin_folder/AP_Periph.bin
+  Tools/scripts/cx_apj_tool.py $binary --old-board-name $board_magic_string --new-board-name $new_board_name --defaults $file --output $output_folder/$(basename $binary)
   echo ""
 done
 

Tools/scripts/cx_apj_tool.py

@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+"""
+Tool to manipulate Carbonix AP_Periph firmware files.
+
+This tool can be used to set the default parameters in a firmware file and set
+the board name. AP_Periph has an additional APP_DESCRIPTOR within it for the
+bootloader to check the integrity of the firmware. This tool also makes sure
+to fix the CRCs in the APP_DESCRIPTOR when the firmware is modified.
+
+To modify the board name, the input binary needs to have been compiled with a
+known string that is guaranteed to show up only once in the binary. The new
+name is padded with null bytes to match the length of the old name and then
+replaces the old name in the binary.
+
+AP_FLAKE8_CLEAN
+"""
+import struct
+import argparse
+from uploader import crc32
+from apj_tool import embedded_defaults
+
+
+def replace_board_name(image, old_name, new_name):
+    """Find the old_board_name in the image and replace it with the board_name
+
+    Args:
+        image (bytes): The image to replace the board name in
+        old_name (str): The board name currently in the image
+        new_name (str): The new board name to replace the old name with
+
+    Raises:
+        LookupError: When the old_name is not found in the image
+        ValueError: When the new_name is longer than the old_name
+
+    Returns:
+        bytes: The image with the board name replaced
+    """
+    old_bytes = old_name.encode()
+    new_bytes = new_name.encode()
+    offset = image.find(old_bytes)
+    if offset == -1:
+        raise LookupError(f"'{old_name}' not found in image")
+    if image.find(old_bytes, offset+1) != -1:
+        raise LookupError(f"'{old_name}' found multiple times in image")
+    if len(new_bytes) > len(old_bytes):
+        raise ValueError(f"New board name '{new_name}' is too long")
+    # Pad the new name with null bytes to match the length of the old name
+    new_bytes += b'\0' * (len(old_bytes) - len(new_bytes))
+    image = image[:offset] + new_bytes + image[offset+len(old_bytes):]
+    return image
+
+
+def fix_app_descriptor(img):
+    """Find the APP_DESCRIPTOR in the binary file and update the CRCs.
+
+    This function is based on set_app_descriptor in chibios.py. It currently
+    only supports unsigned app descriptors.
+
+    Args:
+        img (bytes): The image to fix
+
+    Raises:
+        AssertionError: When the APP_DESCRIPTOR is not found
+        AssertionError: When the image length does not match the APP_DESCRIPTOR
+
+    Returns:
+        bytes: The image with the APP_DESCRIPTOR updated
+    """
+    descriptor = b'\x40\xa2\xe4\xf1\x64\x68\x91\x06'
+    offset = img.find(descriptor)
+    if offset == -1:
+        raise AssertionError('No APP_DESCRIPTOR found')
+    offset += 8
+    desc_len = 16
+    # Get the existing app descriptor
+    crc1, crc2, img_len, githash = struct.unpack('<IIII', img[offset:offset+desc_len])
+    assert img_len == len(img), 'Bad APP_DESCRIPTOR: image length mismatch'
+    img1 = bytearray(img[:offset])
+    img2 = bytearray(img[offset+desc_len:])
+    crc1 = to_unsigned(crc32(img1))
+    crc2 = to_unsigned(crc32(img2))
+    desc = struct.pack('<IIII', crc1, crc2, len(img), githash)
+    img = img[:offset] + desc + img[offset+desc_len:]
+    return img
+
+
+def to_unsigned(i):
+    """Convert a possibly signed integer to unsigned"""
+    if i < 0:
+        i += 2**32
+    return i
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='Fix app descriptor in binary file')
+    parser.add_argument('bin_file', help='binary file to fix')
+    parser.add_argument('--old-board-name', help='board name to replace in the binary file')
+    parser.add_argument('--new-board-name', help='board name to replace the magic name with')
+    parser.add_argument('--defaults', help='file with default parameters')
+    parser.add_argument('--output', help='output file')
+    args = parser.parse_args()
+
+    if args.old_board_name and not args.new_board_name:
+        parser.error('--old-board-name requires --new-board-name')
+    if args.new_board_name and not args.old_board_name:
+        parser.error('--new-board-name requires --old-board-name')
+    if not args.old_board_name and not args.defaults:
+        parser.error('Nothing to be done. Please provide --old-board-name or --defaults')
+    if len(args.old_board_name.encode()) < len(args.new_board_name.encode()):
+        parser.error('--new-board-name too long to fit in the space occupied by --old-board-name')
+
+    defaults = embedded_defaults(args.bin_file)
+
+    if args.output:
+        defaults.filename = args.output
+
+    if args.defaults:
+        if not defaults.find():
+            raise LookupError('No defaults found in firmware')
+        defaults.set_file(args.defaults)
+
+    if args.old_board_name:
+        defaults.firmware = replace_board_name(defaults.firmware, args.old_board_name, args.new_board_name)
+
+    defaults.firmware = fix_app_descriptor(defaults.firmware)
+    defaults.save()