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Tools/scripts/firmware_version_decoder.py
279 строк
9 KB
Erkan Vatan
Tools: add t3-gem-o1 board
28 окт 2025, 02:43
28 окт 2025, 02:43
871abcf
Код
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О чём код?
#!/usr/bin/env python3 # flake8: noqa import enum import io import sys import struct from argparse import ArgumentParser from dataclasses import dataclass from elftools.elf.elffile import ELFFile from typing import Any class FirmwareVersionType(enum.Enum): Dev = 0 Alpha = 64 Beta = 128 RC = 192 Official = 255 EnumEnd = 256 @staticmethod def get_release(version: int) -> str: """ Return the closest release type for a given version type, going down. This is required because it is common in ardupilot to increase the version type for successive betas, such as here: https://github.com/ArduPilot/ardupilot/blame/8890c44370a7cf27d5efc872ef6da288ae3bc41f/ArduCopter/version.h#L12 """ for release in reversed(FirmwareVersionType): if version >= release.value: return release return "Unknown" class VehicleType(enum.Enum): Rover = 1 ArduCopter = 2 ArduPlane = 3 AntennaTracker = 4 UNKNOWN = 5 Replay = 6 ArduSub = 7 iofirmware = 8 AP_Periph = 9 NONE = 256 class BoardType(enum.Enum): SITL = 3 SMACCM = 4 PX4 = 5 LINUX = 7 VRBRAIN = 8 CHIBIOS = 10 F4LIGHT = 11 EMPTY = 99 class BoardSubType(enum.Enum): NONE = 65535 LINUX_NONE = 1000 LINUX_ERLEBOARD = 1001 LINUX_PXF = 1002 LINUX_NAVIO = 1003 LINUX_ZYNQ = 1004 LINUX_BBBMINI = 1005 LINUX_BEBOP = 1006 LINUX_ERLEBRAIN2 = 1009 LINUX_BH = 1010 LINUX_PXFMINI = 1012 LINUX_NAVIO2 = 1013 LINUX_DISCO = 1014 LINUX_AERO = 1015 LINUX_DARK = 1016 LINUX_BLUE = 1018 LINUX_OCPOC_ZYNQ = 1019 LINUX_EDGE = 1020 LINUX_RST_ZYNQ = 1021 LINUX_POCKET = 1022 LINUX_NAVIGATOR = 1023 LINUX_VNAV = 1024 LINUX_OBAL = 1025 LINUX_CANZERO = 1026 LINUX_T3_GEM_O1 = 1029 CHIBIOS_SKYVIPER_F412 = 5000 CHIBIOS_FMUV3 = 5001 CHIBIOS_FMUV4 = 5002 CHIBIOS_GENERIC = 5009 CHIBIOS_FMUV5 = 5013 CHIBIOS_VRBRAIN_V51 = 5016 CHIBIOS_VRBRAIN_V52 = 5017 CHIBIOS_VRUBRAIN_V51 = 5018 CHIBIOS_VRCORE_V10 = 5019 CHIBIOS_VRBRAIN_V54 = 5020 @dataclass class FWVersion: header: int = 0x61706677766572FB header_version: bytes = bytes([0, 0]) pointer_size: int = 0 vehicle_type: VehicleType = VehicleType.NONE board_type: BoardType = BoardType.EMPTY board_subtype: BoardSubType = BoardSubType.NONE major: int = 0 minor: int = 0 patch: int = 0 firmware_type: FirmwareVersionType = FirmwareVersionType.EnumEnd os_software_version: int = 0 firmware_string: str = "" firmware_hash_string: str = "" firmware_hash: int = 0 middleware_name: str = "" middleware_hash_string: str = "" os_name: str = "" os_hash_string: str = "" def __str__(self): header = self.header.to_bytes(8, byteorder="big") header_version = self.header_version.to_bytes(2, byteorder="big") firmware_day = self.os_software_version % 100 firmware_month = self.os_software_version % 10000 - firmware_day firmware_year = self.os_software_version - firmware_month - firmware_day firmware_month = int(firmware_month / 100) firmware_year = int(firmware_year / 10000) return f""" {self.__class__.__name__}: header: magic: {header[0:7].decode("utf-8")} checksum: {hex(header[-1])} version: {header_version[0]}.{header_version[1]} pointer_size: {self.pointer_size} firmware: string: {self.firmware_string} vehicle: {self.vehicle_type.name} board: {self.board_type.name} board subtype: {self.board_subtype.name} hash: {self.firmware_hash_string} hash integer: 0x{self.firmware_hash:02x} version: {self.major}.{self.minor}.{self.patch} type: {self.firmware_type.name} os: name: {self.os_name} hash: {self.os_hash_string} software_version: {firmware_day}/{firmware_month}/{firmware_year} middleware: name: {self.middleware_name} hash: {self.middleware_hash_string} """ class Decoder: def __init__(self) -> None: self.bytesio = io.BytesIO() self.fwversion = FWVersion() self.byteorder = "" self.pointer_size = 0 self.elffile = None def unpack(self, struct_format: str) -> Any: struct_format = f"{self.byteorder}{struct_format}" size = struct.calcsize(struct_format) return struct.unpack(struct_format, self.bytesio.read(size))[0] def unpack_string_from_pointer(self) -> str: pointer_format = "Q" if self.pointer_size == 8 else "I" address = self.unpack(pointer_format) # nullptr, return empty string if address == 0: return "" # Calculate address offset for PIE (Position Independent Executables) binaries address = next(self.elffile.address_offsets(address)) current_address = self.bytesio.seek(0, io.SEEK_CUR) self.bytesio.seek(address) string = [] while True: string += self.bytesio.read(1) if string[-1] == 0: string = string[0 : len(string) - 1] break self.bytesio.seek(current_address) return bytes(string).decode("UTF-8") @staticmethod def locate_header(data: bytes, byteorder: str) -> int: return data.find(struct.pack(f"{byteorder}Q", FWVersion.header)) def unpack_fwversion(self) -> None: assert self.bytesio.read(8) == struct.pack( f"{self.byteorder}Q", FWVersion.header ) self.fwversion.header_version = self.unpack("H") major_version = self.fwversion.header_version >> 8 self.pointer_size = self.unpack("B") self.fwversion.pointer_size = self.pointer_size self.unpack("B") # reserved self.fwversion.vehicle_type = VehicleType(self.unpack("B")) self.fwversion.board_type = BoardType(self.unpack("B")) self.fwversion.board_subtype = BoardSubType(self.unpack("H")) self.fwversion.major = self.unpack("B") self.fwversion.minor = self.unpack("B") self.fwversion.patch = self.unpack("B") self.fwversion.firmware_type = FirmwareVersionType.get_release(self.unpack("B")) self.fwversion.os_software_version = self.unpack("I") self.fwversion.firmware_string = self.unpack_string_from_pointer() self.fwversion.firmware_hash_string = self.unpack_string_from_pointer() if major_version >= 2: self.fwversion.firmware_hash = self.unpack("I") self.fwversion.middleware_name = self.unpack_string_from_pointer() self.fwversion.middleware_hash_string = self.unpack_string_from_pointer() self.fwversion.os_name = self.unpack_string_from_pointer() self.fwversion.os_hash_string = self.unpack_string_from_pointer() def process(self, filename) -> FWVersion: # We need the file open for ELFFile file = open(filename, "rb") data = file.read() self.elffile = ELFFile(file) if not data: raise RuntimeError("Failed to find FWVersion.") # Detect endianness for order in [">", "<"]: position = Decoder.locate_header(data, order) if position != -1: self.byteorder = order self.bytesio = io.BytesIO(data) self.bytesio.seek(position) break else: raise RuntimeError("Failed to find FWVersion.") # Unpack struct and print it self.unpack_fwversion() return self.fwversion if __name__ == "__main__": assert ( sys.version_info.major >= 3 and sys.version_info.minor >= 7 ), "Python version should be at least 3.7" # Parse arguments parser = ArgumentParser(description=__doc__) parser.add_argument( "-f", dest="file", required=True, help="File that contains a valid ardupilot firmware in ELF format.", ) parser.add_argument( "--expected-hash", dest="expected_hash", help="Expected git hash. The script fails if this doesn't match the git hash in the binary file. Used in CI", ) args = parser.parse_args() decoder = Decoder() try: firmware_data = decoder.process(args.file) except Exception as e: print(f"Error decoding FWVersion: {type(e)}") exit(-1) print(firmware_data) if args.expected_hash and args.expected_hash != firmware_data.firmware_hash_string: print(f"Git hashes don't match! expected: {args.expected_hash}, got {firmware_data.firmware_hash_string}") exit(-1)