Compile FrogPilot
This commit is contained in:
FrogAi
@@ -1,197 +0,0 @@
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import os
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import subprocess
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PREFIX = "arm-none-eabi-"
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BUILDER = "DEV"
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common_flags = []
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build_projects = {}
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build_projects["body"] = {
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"MAIN": "main.c",
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"STARTUP_FILE": "startup_stm32f413xx.s",
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"LINKER_SCRIPT": "stm32fx_flash.ld",
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"APP_START_ADDRESS": "0x08004000",
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"PROJECT_FLAGS": [
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"-mcpu=cortex-m4",
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"-mhard-float",
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"-DSTM32F4",
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"-DSTM32F413xx",
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"-mfpu=fpv4-sp-d16",
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"-fsingle-precision-constant",
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"-Os",
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"-g",
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],
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}
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if os.getenv("RELEASE"):
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BUILD_TYPE = "RELEASE"
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cert_fn = os.getenv("CERT")
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assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
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assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
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else:
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BUILD_TYPE = "DEBUG"
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cert_fn = File("../certs/debug").srcnode().relpath
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common_flags += ["-DALLOW_DEBUG"]
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if os.getenv("DEBUG"):
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common_flags += ["-DDEBUG"]
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includes = [
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"inc/STM32F4xx_HAL_Driver/Inc",
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"inc",
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"..",
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".",
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]
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c_sources = [
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["hal_flash", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c"],
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["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
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["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
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["hal_i2c", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c"],
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["hal_i2c_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c"],
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["hal_tim", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c"],
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["hal_tim_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c"],
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["hal_adc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c"],
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["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
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["hal_flash_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c"],
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["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
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["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
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["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
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["hal_adc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c"],
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["hal_dma", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c"],
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["system", "inc/system_stm32f4xx.c"],
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["it", "inc/stm32f4xx_it.c"],
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["bldc", "bldc/bldc.c"],
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["bldc_data", "bldc/BLDC_controller_data.c"],
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["bldc_con", "bldc/BLDC_controller.c"],
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["util", "util.c"],
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]
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c_bstub_sources = [
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["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
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["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
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["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
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["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
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["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
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["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
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["system", "inc/system_stm32f4xx.c"],
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["it", "inc/stm32f4xx_it.c"],
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["util", "util.c"],
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]
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def get_version(builder, build_type):
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try:
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git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
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except subprocess.CalledProcessError:
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git = "00000000"
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return f"{git}"
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def to_c_uint32(x):
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nums = []
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for _ in range(0x20):
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nums.append(x % (2**32))
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x //= (2**32)
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return "{" + 'U,'.join(map(str, nums)) + "U}"
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def get_key_header(name):
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from Crypto.PublicKey import RSA
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public_fn = f'../certs/{name}.pub'
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rsa = RSA.importKey(open(public_fn).read())
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assert(rsa.size_in_bits() == 1024)
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rr = pow(2**1024, 2, rsa.n)
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n0inv = 2**32 - pow(rsa.n, -1, 2**32)
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r = [
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f"RSAPublicKey {name}_rsa_key = {{",
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f" .len = 0x20,",
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f" .n0inv = {n0inv}U,",
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f" .n = {to_c_uint32(rsa.n)},",
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f" .rr = {to_c_uint32(rr)},",
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f" .exponent = {rsa.e},",
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f"}};",
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]
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return r
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def objcopy(source, target, env, for_signature):
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return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
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# Common autogenerated includes
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git_ver = get_version(BUILDER, BUILD_TYPE)
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with open("obj/gitversion.h", "w") as f:
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f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
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certs = [get_key_header(n) for n in ["debug", "release"]]
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with open("obj/cert.h", "w") as f:
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for cert in certs:
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f.write("\n".join(cert) + "\n")
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for project_name in build_projects:
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project = build_projects[project_name]
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linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
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flags = [
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"-Wall",
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"-Wextra",
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"-Wstrict-prototypes",
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"-Werror",
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"-mlittle-endian",
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"-mthumb",
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"-nostdlib",
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"-fno-builtin",
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f"-T{linkerscript_fn}",
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"-std=gnu11",
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"-fdata-sections",
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"-ffunction-sections",
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"-Wl,--gc-sections",
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] + project["PROJECT_FLAGS"] + common_flags
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project_env = Environment(
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ENV=os.environ,
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CC=PREFIX + 'gcc',
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AS=PREFIX + 'gcc',
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OBJCOPY=PREFIX + 'objcopy',
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OBJDUMP=PREFIX + 'objdump',
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ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
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CFLAGS=flags,
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ASFLAGS=flags,
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LINKFLAGS=flags,
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LIBS = ['gcc',],
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CPPPATH=includes,
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BUILDERS={
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'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
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}
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)
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startup = project_env.Object(project["STARTUP_FILE"])
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c_bstub_obj_list = []
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for c in c_bstub_sources:
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c_bstub_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
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# Bootstub
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crypto_obj = [
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project_env.Object(f"rsa-{project_name}", "../crypto/rsa.c"),
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project_env.Object(f"sha-{project_name}", "../crypto/sha.c")
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]
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bootstub_obj = project_env.Object(f"bootstub-{project_name}", "bootstub.c")
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bootstub_elf = project_env.Program(f"obj/bootstub.{project_name}.elf", [startup] + crypto_obj + c_bstub_obj_list + [bootstub_obj])
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bootstub_bin = project_env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
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c_obj_list = []
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for c in c_sources:
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c_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
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# Build main
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main_obj = project_env.Object(f"main-{project_name}", project["MAIN"])
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obj_list = [startup, main_obj] + c_obj_list
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main_elf = project_env.Program(f"obj/{project_name}.elf", obj_list,
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LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
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main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf)
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# Sign main
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sign_py = File("../crypto/sign.py").srcnode().relpath
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panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
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