mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
80 lines
3.2 KiB
Python
80 lines
3.2 KiB
Python
import ctypes
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import os
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from pathlib import Path
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import re
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import shlex
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import struct
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import subprocess
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import zlib
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import pytest
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ROOT = Path(__file__).resolve().parents[2]
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@pytest.fixture(scope='module')
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def flash_test(tmp_path_factory):
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directory = tmp_path_factory.mktemp('flash-self-test')
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declaration = re.search(
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r'(?:#ifdef STM32H7\n)?extern int _app_start\[[^\n]+\n(?:#else\nextern int _app_start\[[^\n]+\n#endif)?',
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(ROOT / 'board/main_comms.h').read_text(),
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).group()
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source = (ROOT / 'board/drivers/self_test.h').read_text()
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functions = '\n'.join(re.search(r'^static [^\n]+ ' + name + r'\([^\n]*\) \{.*?^\}', source, re.M | re.S).group()
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for name in ('flash_crc_len', 'flash_crc_stored', 'flash_test_next'))
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code = directory / 'flash.c'
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code.write_text('\n'.join([
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'#include <stdint.h>\n#include <stdbool.h>\n#include <string.h>\n#include "board/crypto/rsa.h"\n#define STM32H7',
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'#define FLASH_CRC_CHUNK 0x400U\n#define MIN(a,b) ((a)<(b)?(a):(b))', declaration,
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'int _app_start[sizeof(_app_start) / sizeof(int)];', (ROOT / 'board/crc.h').read_text(), functions,
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'void load(const void *p, unsigned n) { memset(_app_start, 0, sizeof(_app_start)); memcpy(_app_start, p, MIN(n,sizeof(_app_start))); crc32_init(); }',
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'unsigned capacity(void) { return sizeof(_app_start); }',
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'bool boot(void) { unsigned n=flash_crc_len(); return n && crc32((void *)_app_start,n)==flash_crc_stored(); }',
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'bool tick(void) { unsigned crc=0; return flash_test_next(&crc); }',
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]))
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library = directory / 'flash.so'
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subprocess.run([*shlex.split(os.environ.get('CC', 'cc')), '-shared', '-fPIC', '-O2', '-I', str(ROOT), '-o', str(library), str(code)], check=True)
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result = ctypes.CDLL(str(library))
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result.load.argtypes = [ctypes.c_void_p, ctypes.c_uint]
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result.boot.restype = result.tick.restype = ctypes.c_bool
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return result
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def signed_image(size):
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payload = struct.pack('<I', size + 12) + bytes(i % 251 for i in range(size - 4))
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return payload + struct.pack('<I', zlib.crc32(payload)) + b'VERS' + struct.pack('<I', 2) + bytes(128)
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@pytest.mark.parametrize('size', (4096, 196608, 220000, 0xE0000 - 140))
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@pytest.mark.parametrize('corrupt', (False, True))
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def test_boot_and_incremental_crc(flash_test, size, corrupt):
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image = bytearray(signed_image(size))
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if corrupt:
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image[size - 1] ^= 1
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flash_test.load(bytes(image), len(image))
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assert flash_test.boot() is not corrupt
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ticks = [flash_test.tick() for _ in range((size + 1023) // 1024)]
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assert all(ticks[:-1])
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assert ticks[-1] is not corrupt
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@pytest.mark.parametrize('length', (0, 11, 0xE0000 - 127, 0xE0000, 0xE0001, 0xFFFFFFFF))
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def test_invalid_lengths(flash_test, length):
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image = struct.pack('<I', length) + bytes(128)
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flash_test.load(image, len(image))
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assert not flash_test.boot()
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assert not flash_test.tick()
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def test_h7_flash_capacity(flash_test):
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assert flash_test.capacity() == 1024 * 1024 - 128 * 1024
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@pytest.mark.parametrize('image', sorted((ROOT / 'board/obj').glob('panda_h7*.bin.signed')), ids=lambda p: p.name)
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def test_shipped_h7_crc(flash_test, image):
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data = image.read_bytes()
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assert len(data) <= flash_test.capacity()
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flash_test.load(data, len(data))
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assert flash_test.boot()
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