lib: add flash_can.py

This script may be used to update Klipper firmware for CAN
nodes running the CanBoot bootloader.

Signed-off-by:  Eric Callahan <arksine.code@gmail.com>

1 files changed, 553 insertions, 0 deletions

diff --git a/lib/canboot/flash_can.py b/lib/canboot/flash_can.py
new file mode 100755
index 00000000..18100517
--- /dev/null
+++ b/lib/canboot/flash_can.py
@@ -0,0 +1,553 @@
+#!/usr/bin/env python3
+# Script to upload software via Can Bootloader
+#
+# Copyright (C) 2022 Eric Callahan <arksine.code@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+from __future__ import annotations
+import sys
+import os
+import asyncio
+import socket
+import struct
+import logging
+import errno
+import argparse
+import hashlib
+import pathlib
+from typing import Dict, List, Optional, Union
+
+def output_line(msg: str) -> None:
+    sys.stdout.write(msg + "\n")
+    sys.stdout.flush()
+
+def output(msg: str) -> None:
+    sys.stdout.write(msg)
+    sys.stdout.flush()
+
+# Standard crc16 ccitt, take from msgproto.py in Klipper
+def crc16_ccitt(buf: Union[bytes, bytearray]) -> int:
+    crc = 0xffff
+    for data in buf:
+        data ^= crc & 0xff
+        data ^= (data & 0x0f) << 4
+        crc = ((data << 8) | (crc >> 8)) ^ (data >> 4) ^ (data << 3)
+    return crc & 0xFFFF
+
+logging.basicConfig(level=logging.INFO)
+CAN_FMT = "<IB3x8s"
+CAN_READER_LIMIT = 1024 * 1024
+
+# Canboot Defs
+CMD_HEADER = b'\x01\x88'
+CMD_TRAILER = b'\x99\x03'
+BOOTLOADER_CMDS = {
+    'CONNECT': 0x11,
+    'SEND_BLOCK': 0x12,
+    'SEND_EOF': 0x13,
+    'REQUEST_BLOCK': 0x14,
+    'COMPLETE': 0x15,
+    'GET_CANBUS_ID': 0x16,
+}
+
+ACK_SUCCESS = 0xa0
+NACK = 0xf1
+
+# Klipper Admin Defs (for jumping to bootloader)
+KLIPPER_ADMIN_ID = 0x3f0
+KLIPPER_SET_NODE_CMD = 0x01
+KLIPPER_REBOOT_CMD = 0x02
+
+# CAN Admin Defs
+CANBUS_ID_ADMIN = 0x3f0
+CANBUS_ID_ADMIN_RESP = 0x3f1
+CANBUS_CMD_QUERY_UNASSIGNED = 0x00
+CANBUS_CMD_SET_NODEID = 0x11
+CANBUS_CMD_CLEAR_NODE_ID = 0x12
+CANBUS_RESP_NEED_NODEID = 0x20
+CANBUS_NODEID_OFFSET = 128
+
+class FlashCanError(Exception):
+    pass
+
+class CanFlasher:
+    def __init__(
+        self,
+        node: CanNode,
+        fw_file: pathlib.Path
+    ) -> None:
+        self.node = node
+        self.fw_name = fw_file
+        self.fw_sha = hashlib.sha1()
+        self.file_size = 0
+        self.block_size = 64
+        self.block_count = 0
+        self.app_start_addr = 0
+
+    async def connect_btl(self):
+        output_line("Attempting to connect to bootloader")
+        ret = await self.send_command('CONNECT')
+        pinfo = ret[:12]
+        mcu_type = ret[12:]
+        ver_bytes, start_addr, self.block_size = struct.unpack("<4sII", pinfo)
+        self.app_start_addr = start_addr
+        proto_version = ".".join([str(v) for v in reversed(ver_bytes[:3])])
+        if self.block_size not in [64, 128, 256, 512]:
+            raise FlashCanError("Invalid Block Size: %d" % (self.block_size,))
+        while mcu_type and mcu_type[-1] == 0x00:
+            mcu_type = mcu_type[:-1]
+        mcu_type = mcu_type.decode()
+        output_line(
+            f"CanBoot Connected\nProtocol Version: {proto_version}\n"
+            f"Block Size: {self.block_size} bytes\n"
+            f"Application Start: 0x{self.app_start_addr:4X}\n"
+            f"MCU type: {mcu_type}"
+        )
+
+    async def verify_canbus_uuid(self, uuid):
+        output_line("Verifying canbus connection")
+        ret = await self.send_command('GET_CANBUS_ID')
+        mcu_uuid = sum([v << ((5 - i) * 8) for i, v in enumerate(ret[:6])])
+        if mcu_uuid != uuid:
+            raise FlashCanError("UUID mismatch (%s vs %s)" % (uuid, mcu_uuid))
+
+    async def send_command(
+        self,
+        cmdname: str,
+        payload: bytes = b"",
+        tries: int = 5
+    ) -> bytearray:
+        word_cnt = (len(payload) // 4) & 0xFF
+        cmd = BOOTLOADER_CMDS[cmdname]
+        out_cmd = bytearray(CMD_HEADER)
+        out_cmd.append(cmd)
+        out_cmd.append(word_cnt)
+        if payload:
+            out_cmd.extend(payload)
+        crc = crc16_ccitt(out_cmd[2:])
+        out_cmd.extend(struct.pack("<H", crc))
+        out_cmd.extend(CMD_TRAILER)
+        while tries:
+            data = bytearray()
+            recd_len = 0
+            try:
+                self.node.write(out_cmd)
+                read_done = False
+                while not read_done:
+                    ret = await self.node.readuntil()
+                    data.extend(ret)
+                    while len(data) > 7:
+                        if data[:2] != CMD_HEADER:
+                            data = data[1:]
+                            continue
+                        recd_len = data[3] * 4
+                        read_done = len(data) == recd_len + 8
+                        break
+
+            except Exception:
+                logging.exception("Can Read Error")
+            else:
+                trailer = data[-2:]
+                recd_crc, = struct.unpack("<H", data[-4:-2])
+                calc_crc = crc16_ccitt(data[2:-4])
+                recd_ack = data[2]
+                cmd_response = 0
+                if recd_len:
+                    cmd_response, = struct.unpack("<I", data[4:8])
+                if trailer != CMD_TRAILER:
+                    logging.info(
+                        f"Command '{cmdname}': Invalid Trailer Received "
+                        f"0x{trailer.hex()}"
+                    )
+                elif recd_crc != calc_crc:
+                    logging.info(
+                        f"Command '{cmdname}': Frame CRC Mismatch, expected: "
+                        f"{calc_crc}, received {recd_crc}"
+                    )
+                elif recd_ack != ACK_SUCCESS:
+                    logging.info(f"Command '{cmdname}': Received NACK")
+                elif cmd_response != cmd:
+                    logging.info(
+                        f"Command '{cmdname}': Acknowledged wrong command, "
+                        f"expected: {cmd:2x}, received: {cmd_response:2x}"
+                    )
+                else:
+                    # Validation passed, return payload sans command
+                    if recd_len <= 4:
+                        return bytearray()
+                    return data[8:recd_len + 4]
+            tries -= 1
+            # clear the read buffer
+            try:
+                await self.node.read(1024, timeout=.1)
+            except asyncio.TimeoutError:
+                pass
+            await asyncio.sleep(.1)
+        raise FlashCanError("Error sending command [%s] to Can Device"
+                            % (cmdname))
+
+    async def send_file(self):
+        last_percent = 0
+        output_line("Flashing '%s'..." % (self.fw_name))
+        output("\n[")
+        with open(self.fw_name, 'rb') as f:
+            f.seek(0, os.SEEK_END)
+            self.file_size = f.tell()
+            f.seek(0)
+            flash_address = self.app_start_addr
+            while True:
+                buf = f.read(self.block_size)
+                if not buf:
+                    break
+                if len(buf) < self.block_size:
+                    buf += b"\xFF" * (self.block_size - len(buf))
+                self.fw_sha.update(buf)
+                prefix = struct.pack("<I", flash_address)
+                for _ in range(3):
+                    resp = await self.send_command('SEND_BLOCK', prefix + buf)
+                    recd_addr, = struct.unpack("<I", resp)
+                    if recd_addr == flash_address:
+                        break
+                    logging.info(
+                        f"Block write mismatch: expected: {flash_address:4X}, "
+                        f"received: {recd_addr:4X}"
+                    )
+                    await asyncio.sleep(.1)
+                else:
+                    raise FlashCanError(
+                        f"Flash write failed, block address 0x{recd_addr:4X}"
+                    )
+                flash_address += self.block_size
+                self.block_count += 1
+                uploaded = self.block_count * self.block_size
+                pct = int(uploaded / float(self.file_size) * 100 + .5)
+                if pct >= last_percent + 2:
+                    last_percent += 2.
+                    output("#")
+            resp = await self.send_command('SEND_EOF')
+            page_count, = struct.unpack("<I", resp)
+            output_line("]\n\nWrite complete: %d pages" % (page_count))
+
+    async def verify_file(self):
+        last_percent = 0
+        output_line("Verifying (block count = %d)..." % (self.block_count,))
+        output("\n[")
+        ver_sha = hashlib.sha1()
+        for i in range(self.block_count):
+            flash_address = i * self.block_size + self.app_start_addr
+            for _ in range(3):
+                payload = struct.pack("<I", flash_address)
+                resp = await self.send_command("REQUEST_BLOCK", payload)
+                recd_addr, = struct.unpack("<I", resp[:4])
+                if recd_addr == flash_address:
+                    break
+                logging.info(
+                    f"Block read mismatch: expected: 0x{flash_address:4X}, "
+                    f"received: 0x{recd_addr}"
+                )
+                await asyncio.sleep(.1)
+            else:
+                output_line("Error")
+                raise FlashCanError("Block Request Error, block: %d" % (i,))
+            ver_sha.update(resp[4:])
+            pct = int(i * self.block_size / float(self.file_size) * 100 + .5)
+            if pct >= last_percent + 2:
+                last_percent += 2
+                output("#")
+        ver_hex = ver_sha.hexdigest().upper()
+        fw_hex = self.fw_sha.hexdigest().upper()
+        if ver_hex != fw_hex:
+            raise FlashCanError("Checksum mismatch: Expected %s, Received %s"
+                                % (fw_hex, ver_hex))
+        output_line("]\n\nVerification Complete: SHA = %s" % (ver_hex))
+
+    async def finish(self):
+        await self.send_command("COMPLETE")
+
+
+class CanNode:
+    def __init__(self, node_id: int, cansocket: CanSocket) -> None:
+        self.node_id = node_id
+        self._reader = asyncio.StreamReader(CAN_READER_LIMIT)
+        self._cansocket = cansocket
+
+    async def read(
+        self, n: int = -1, timeout: Optional[float] = 2
+    ) -> bytes:
+        return await asyncio.wait_for(self._reader.read(n), timeout)
+
+    async def readexactly(
+        self, n: int, timeout: Optional[float] = 2
+    ) -> bytes:
+        return await asyncio.wait_for(self._reader.readexactly(n), timeout)
+
+    async def readuntil(
+        self, sep: bytes = b"\x03", timeout: Optional[float] = 2
+    ) -> bytes:
+        return await asyncio.wait_for(self._reader.readuntil(sep), timeout)
+
+    def write(self, payload: Union[bytes, bytearray]) -> None:
+        if isinstance(payload, bytearray):
+            payload = bytes(payload)
+        self._cansocket.send(self.node_id, payload)
+
+    async def write_with_response(
+        self,
+        payload: Union[bytearray, bytes],
+        resp_length: int,
+        timeout: Optional[float] = 2.
+    ) -> bytes:
+        self.write(payload)
+        return await self.readexactly(resp_length, timeout)
+
+    def feed_data(self, data: bytes) -> None:
+        self._reader.feed_data(data)
+
+    def close(self) -> None:
+        self._reader.feed_eof()
+
+class CanSocket:
+    def __init__(self, loop: asyncio.AbstractEventLoop):
+        self._loop = loop
+        self.cansock = socket.socket(socket.PF_CAN, socket.SOCK_RAW,
+                                     socket.CAN_RAW)
+        self.admin_node = CanNode(CANBUS_ID_ADMIN, self)
+        self.nodes: Dict[int, CanNode] = {
+            CANBUS_ID_ADMIN_RESP: self.admin_node
+        }
+
+        self.input_buffer = b""
+        self.output_packets: List[bytes] = []
+        self.input_busy = False
+        self.output_busy = False
+        self.closed = True
+
+    def _handle_can_response(self) -> None:
+        try:
+            data = self.cansock.recv(4096)
+        except socket.error as e:
+            # If bad file descriptor allow connection to be
+            # closed by the data check
+            if e.errno == errno.EBADF:
+                logging.exception("Can Socket Read Error, closing")
+                data = b''
+            else:
+                return
+        if not data:
+            # socket closed
+            self.close()
+            return
+        self.input_buffer += data
+        if self.input_busy:
+            return
+        self.input_busy = True
+        while len(self.input_buffer) >= 16:
+            packet = self.input_buffer[:16]
+            self._process_packet(packet)
+            self.input_buffer = self.input_buffer[16:]
+        self.input_busy = False
+
+    def _process_packet(self, packet: bytes) -> None:
+        can_id, length, data = struct.unpack(CAN_FMT, packet)
+        can_id &= socket.CAN_EFF_MASK
+        payload = data[:length]
+        node = self.nodes.get(can_id)
+        if node is not None:
+            node.feed_data(payload)
+
+    def send(self, can_id: int, payload: bytes = b"") -> None:
+        if can_id > 0x7FF:
+            can_id |= socket.CAN_EFF_FLAG
+        if not payload:
+            packet = struct.pack(CAN_FMT, can_id, 0, b"")
+            self.output_packets.append(packet)
+        else:
+            while payload:
+                length = min(len(payload), 8)
+                pkt_data = payload[:length]
+                payload = payload[length:]
+                packet = struct.pack(
+                    CAN_FMT, can_id, length, pkt_data)
+                self.output_packets.append(packet)
+        if self.output_busy:
+            return
+        self.output_busy = True
+        asyncio.create_task(self._do_can_send())
+
+    async def _do_can_send(self):
+        while self.output_packets:
+            packet = self.output_packets.pop(0)
+            try:
+                await self._loop.sock_sendall(self.cansock, packet)
+            except socket.error:
+                logging.info("Socket Write Error, closing")
+                self.close()
+                break
+        self.output_busy = False
+
+    def _jump_to_bootloader(self, uuid: int):
+        # TODO: Send Klipper Admin command to jump to bootloader.
+        # It will need to be implemented
+        output_line("Sending bootloader jump command...")
+        plist = [(uuid >> ((5 - i) * 8)) & 0xFF for i in range(6)]
+        plist.insert(0, KLIPPER_REBOOT_CMD)
+        self.send(KLIPPER_ADMIN_ID, bytes(plist))
+
+    async def _query_uuids(self) -> List[int]:
+        output_line("Checking for canboot nodes...")
+        payload = bytes([CANBUS_CMD_QUERY_UNASSIGNED])
+        self.admin_node.write(payload)
+        curtime = self._loop.time()
+        endtime = curtime + 2.
+        self.uuids: List[int] = []
+        while curtime < endtime:
+            diff = endtime - curtime
+            try:
+                resp = await self.admin_node.readexactly(8, diff)
+            except asyncio.TimeoutError:
+                break
+            finally:
+                curtime = self._loop.time()
+            if resp[0] != CANBUS_RESP_NEED_NODEID:
+                continue
+            app_names = {
+                KLIPPER_SET_NODE_CMD: "Klipper",
+                CANBUS_CMD_SET_NODEID: "CanBoot"
+            }
+            app = app_names.get(resp[7], "Unknown")
+            data = resp[1:7]
+            output_line(f"Detected UUID: {data.hex()}, Application: {app}")
+            uuid = sum([v << ((5 - i) * 8) for i, v in enumerate(data)])
+            if uuid not in self.uuids and app == "CanBoot":
+                self.uuids.append(uuid)
+        return self.uuids
+
+    def _reset_nodes(self) -> None:
+        output_line("Resetting all bootloader node IDs...")
+        payload = bytes([CANBUS_CMD_CLEAR_NODE_ID])
+        self.admin_node.write(payload)
+
+    def _set_node_id(self, uuid: int) -> CanNode:
+        # Convert ID to a list
+        plist = [(uuid >> ((5 - i) * 8)) & 0xFF for i in range(6)]
+        plist.insert(0, CANBUS_CMD_SET_NODEID)
+        node_id = len(self.nodes) + CANBUS_NODEID_OFFSET
+        plist.append(node_id)
+        payload = bytes(plist)
+        self.admin_node.write(payload)
+        decoded_id = node_id * 2 + 0x100
+        node = CanNode(decoded_id, self)
+        self.nodes[decoded_id + 1] = node
+        return node
+
+    async def run(self, intf: str, uuid: int, fw_path: pathlib.Path) -> None:
+        if not fw_path.is_file():
+            raise FlashCanError("Invalid firmware path '%s'" % (fw_path))
+        try:
+            self.cansock.bind((intf,))
+        except Exception:
+            raise FlashCanError("Unable to bind socket to can0")
+        self.closed = False
+        self.cansock.setblocking(False)
+        self._loop.add_reader(
+            self.cansock.fileno(), self._handle_can_response)
+        self._jump_to_bootloader(uuid)
+        await asyncio.sleep(.5)
+        self._reset_nodes()
+        await asyncio.sleep(.5)
+        id_list = await self._query_uuids()
+        if uuid not in id_list:
+            raise FlashCanError(
+                f"Unable to find node matching UUID: {uuid:06x}"
+            )
+        node = self._set_node_id(uuid)
+        flasher = CanFlasher(node, fw_path)
+        await asyncio.sleep(.5)
+        try:
+            await flasher.connect_btl()
+            await flasher.verify_canbus_uuid(uuid)
+            await flasher.send_file()
+            await flasher.verify_file()
+        finally:
+            # always attempt to send the complete command. If
+            # there is an error it will exit the bootloader
+            # unless comms were broken
+            await flasher.finish()
+
+    async def run_query(self, intf: str):
+        try:
+            self.cansock.bind((intf,))
+        except Exception:
+            raise FlashCanError("Unable to bind socket to can0")
+        self.closed = False
+        self.cansock.setblocking(False)
+        self._loop.add_reader(
+            self.cansock.fileno(), self._handle_can_response)
+        self._reset_nodes()
+        await asyncio.sleep(.5)
+        await self._query_uuids()
+
+    def close(self):
+        if self.closed:
+            return
+        self.closed = True
+        for node in self.nodes.values():
+            node.close()
+        self._loop.remove_reader(self.cansock.fileno())
+        self.cansock.close()
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Can Bootloader Flash Utility")
+    parser.add_argument(
+        "-i", "--interface", default="can0", metavar='<can interface>',
+        help="Can Interface"
+    )
+    parser.add_argument(
+        "-f", "--firmware", metavar="<klipper.bin>",
+        default="~/klipper/out/klipper.bin",
+        help="Path to Klipper firmware file")
+    parser.add_argument(
+        "-u", "--uuid", metavar="<uuid>", default=None,
+        help="Can device uuid"
+    )
+    parser.add_argument(
+        "-q", "--query", action="store_true",
+        help="Query Bootloader Device IDs"
+    )
+    parser.add_argument(
+        "-v", "--verbose", action="store_true",
+        help="Enable verbose responses"
+    )
+
+    args = parser.parse_args()
+    if not args.verbose:
+        logging.getLogger().setLevel(logging.CRITICAL)
+    intf = args.interface
+    fpath = pathlib.Path(args.firmware).expanduser().resolve()
+    loop = asyncio.get_event_loop()
+    try:
+        cansock = CanSocket(loop)
+        if args.query:
+            loop.run_until_complete(cansock.run_query(intf))
+        else:
+            if args.uuid is None:
+                raise FlashCanError(
+                    "The 'uuid' option must be specified to flash a device"
+                )
+            uuid = int(args.uuid, 16)
+            loop.run_until_complete(cansock.run(intf, uuid, fpath))
+    except Exception as e:
+        logging.exception("Can Flash Error")
+        sys.exit(-1)
+    finally:
+        if cansock is not None:
+            cansock.close()
+    if args.query:
+        output_line("Query Complete")
+    else:
+        output_line("CAN Flash Success")
+
+
+if __name__ == '__main__':
+    main()