openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
188
panda/SConscript
Normal file
188
panda/SConscript
Normal file
@@ -0,0 +1,188 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
|
||||
PREFIX = "arm-none-eabi-"
|
||||
BUILDER = "DEV"
|
||||
|
||||
common_flags = []
|
||||
|
||||
panda_root = Dir('.')
|
||||
|
||||
if os.getenv("RELEASE"):
|
||||
BUILD_TYPE = "RELEASE"
|
||||
cert_fn = os.getenv("CERT")
|
||||
assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
|
||||
assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
|
||||
else:
|
||||
BUILD_TYPE = "DEBUG"
|
||||
cert_fn = File("./certs/debug").srcnode().relpath
|
||||
common_flags += ["-DALLOW_DEBUG"]
|
||||
|
||||
if os.getenv("DEBUG"):
|
||||
common_flags += ["-DDEBUG"]
|
||||
|
||||
def objcopy(source, target, env, for_signature):
|
||||
return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
|
||||
|
||||
def get_version(builder, build_type):
|
||||
try:
|
||||
git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
|
||||
except subprocess.CalledProcessError:
|
||||
git = "unknown"
|
||||
return f"{builder}-{git}-{build_type}"
|
||||
|
||||
def get_key_header(name):
|
||||
from Crypto.PublicKey import RSA
|
||||
|
||||
public_fn = File(f'./certs/{name}.pub').srcnode().get_path()
|
||||
with open(public_fn) as f:
|
||||
rsa = RSA.importKey(f.read())
|
||||
assert(rsa.size_in_bits() == 1024)
|
||||
|
||||
rr = pow(2**1024, 2, rsa.n)
|
||||
n0inv = 2**32 - pow(rsa.n, -1, 2**32)
|
||||
|
||||
r = [
|
||||
f"RSAPublicKey {name}_rsa_key = {{",
|
||||
f" .len = 0x20,",
|
||||
f" .n0inv = {n0inv}U,",
|
||||
f" .n = {to_c_uint32(rsa.n)},",
|
||||
f" .rr = {to_c_uint32(rr)},",
|
||||
f" .exponent = {rsa.e},",
|
||||
f"}};",
|
||||
]
|
||||
return r
|
||||
|
||||
def to_c_uint32(x):
|
||||
nums = []
|
||||
for _ in range(0x20):
|
||||
nums.append(x % (2**32))
|
||||
x //= (2**32)
|
||||
return "{" + 'U,'.join(map(str, nums)) + "U}"
|
||||
|
||||
|
||||
def build_project(project_name, project, extra_flags):
|
||||
linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
|
||||
|
||||
flags = project["PROJECT_FLAGS"] + extra_flags + common_flags + [
|
||||
"-Wall",
|
||||
"-Wextra",
|
||||
"-Wstrict-prototypes",
|
||||
"-Werror",
|
||||
"-mlittle-endian",
|
||||
"-mthumb",
|
||||
"-nostdlib",
|
||||
"-fno-builtin",
|
||||
"-std=gnu11",
|
||||
"-fmax-errors=1",
|
||||
f"-T{linkerscript_fn}",
|
||||
]
|
||||
|
||||
includes = [
|
||||
'.',
|
||||
'..',
|
||||
panda_root,
|
||||
f"{panda_root}/board/",
|
||||
f"{panda_root}/board/stm32fx/inc",
|
||||
f"{panda_root}/board/stm32h7/inc",
|
||||
]
|
||||
|
||||
env = Environment(
|
||||
ENV=os.environ,
|
||||
CC=PREFIX + 'gcc',
|
||||
AS=PREFIX + 'gcc',
|
||||
OBJCOPY=PREFIX + 'objcopy',
|
||||
OBJDUMP=PREFIX + 'objdump',
|
||||
CFLAGS=flags,
|
||||
ASFLAGS=flags,
|
||||
LINKFLAGS=flags,
|
||||
CPPPATH=includes,
|
||||
ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
|
||||
BUILDERS={
|
||||
'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
|
||||
},
|
||||
tools=["default", "compilation_db"],
|
||||
)
|
||||
|
||||
startup = env.Object(f"obj/startup_{project_name}", project["STARTUP_FILE"])
|
||||
|
||||
# Bootstub
|
||||
crypto_obj = [
|
||||
env.Object(f"rsa-{project_name}", f"{panda_root}/crypto/rsa.c"),
|
||||
env.Object(f"sha-{project_name}", f"{panda_root}/crypto/sha.c")
|
||||
]
|
||||
bootstub_obj = env.Object(f"bootstub-{project_name}", File(project.get("BOOTSTUB", f"{panda_root}/board/bootstub.c")))
|
||||
bootstub_elf = env.Program(f"obj/bootstub.{project_name}.elf",
|
||||
[startup] + crypto_obj + [bootstub_obj])
|
||||
env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
|
||||
|
||||
# Build main
|
||||
main_obj = env.Object(f"main-{project_name}", project["MAIN"])
|
||||
main_elf = env.Program(f"obj/{project_name}.elf", [startup, main_obj],
|
||||
LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
|
||||
main_bin = env.Objcopy(f"obj/{project_name}.bin", main_elf)
|
||||
|
||||
# Sign main
|
||||
sign_py = File(f"{panda_root}/crypto/sign.py").srcnode().relpath
|
||||
env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
|
||||
|
||||
|
||||
base_project_f4 = {
|
||||
"MAIN": "main.c",
|
||||
"STARTUP_FILE": File("./board/stm32fx/startup_stm32f413xx.s"),
|
||||
"LINKER_SCRIPT": File("./board/stm32fx/stm32f4_flash.ld"),
|
||||
"APP_START_ADDRESS": "0x8004000",
|
||||
"PROJECT_FLAGS": [
|
||||
"-mcpu=cortex-m4",
|
||||
"-mhard-float",
|
||||
"-DSTM32F4",
|
||||
"-DSTM32F413xx",
|
||||
"-mfpu=fpv4-sp-d16",
|
||||
"-fsingle-precision-constant",
|
||||
"-Os",
|
||||
"-g",
|
||||
],
|
||||
}
|
||||
|
||||
base_project_h7 = {
|
||||
"MAIN": "main.c",
|
||||
"STARTUP_FILE": File("./board/stm32h7/startup_stm32h7x5xx.s"),
|
||||
"LINKER_SCRIPT": File("./board/stm32h7/stm32h7x5_flash.ld"),
|
||||
"APP_START_ADDRESS": "0x8020000",
|
||||
"PROJECT_FLAGS": [
|
||||
"-mcpu=cortex-m7",
|
||||
"-mhard-float",
|
||||
"-DSTM32H7",
|
||||
"-DSTM32H725xx",
|
||||
"-mfpu=fpv5-d16",
|
||||
"-fsingle-precision-constant",
|
||||
"-Os",
|
||||
"-g",
|
||||
],
|
||||
}
|
||||
|
||||
Export('base_project_f4', 'base_project_h7', 'build_project')
|
||||
|
||||
|
||||
# Common autogenerated includes
|
||||
with open("board/obj/gitversion.h", "w") as f:
|
||||
f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
|
||||
|
||||
with open("board/obj/version", "w") as f:
|
||||
f.write(f'{get_version(BUILDER, BUILD_TYPE)}')
|
||||
|
||||
certs = [get_key_header(n) for n in ["debug", "release"]]
|
||||
with open("board/obj/cert.h", "w") as f:
|
||||
for cert in certs:
|
||||
f.write("\n".join(cert) + "\n")
|
||||
|
||||
# panda fw
|
||||
SConscript('board/SConscript')
|
||||
|
||||
# panda jungle fw
|
||||
SConscript('board/jungle/SConscript')
|
||||
|
||||
# test files
|
||||
if GetOption('extras'):
|
||||
SConscript('tests/libpanda/SConscript')
|
||||
Reference in New Issue
Block a user