-
Notifications
You must be signed in to change notification settings - Fork 33
/
Copy pathpatch_wm330_0306.py
201 lines (159 loc) · 8.62 KB
/
patch_wm330_0306.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
#!/usr/bin/env python
#
# By @Matioupi
# provided under dbad licence http://dbad-license.org/
#
# Version 2.0
#
# Made possible thanks to all OG's work and especially ideas from @jan2642 and
# patience of @jezzab in explaining me some stuff
#
#
# RTFM before asking for support
#
#addresses must be given including the 0x420000 firmware loading offset
from patcher import *
from struct import *
from UBXCFGGEN import *
if __name__ == "__main__":
print("")
print("################################################################################")
print("this patcher is supposed to be used on the 0306 module of P4 standard 2.00.0700 fw")
print("no checks of any kind done that, use at your own risks ")
print("addresses must be given including the 0x420000 firmware loading offset ")
print("################################################################################")
print("")
p = Patcher(sys.argv[1])
ubxcfggen = UBXCFGGEN()
sn = sys.argv[2]
sn_parts = [ ]
sn_parts.append(int(sn[9:11]))
sn_parts.append(int(sn[6:8]))
sn_parts.append(int(sn[3:5]))
sn_parts.append(int(sn[0:2]))
hex_parts = [ ]
sn_hex = ""
for i in range (0,4):
hex_parts.append(unpack('>B',pack('<B',sn_parts[i]))[0])
sn_hex += '%02x' % hex_parts[i]
# Change the firmware code inside image
#
# original P4P 0306 version is 03.02.44.07 = 072C0203
# HardCoded version of the version in some FC function
p.patchByteAtAddress(0x524BD0,hex_parts[0]) #0x07 = 07
p.patchByteAtAddress(0x524BD2,hex_parts[1]) #0x2C = 44
p.patchByteAtAddress(0x524BDE,hex_parts[2]) #0x2 = 2
p.patchByteAtAddress(0x524BE0,hex_parts[3]) #0x3 = 3
newversioncode = sn_hex
print("New version code : %s\n" % newversioncode)
p.patchDataAtAddress(0x4FB148,newversioncode)
p.patchDataAtAddress(0x50D400,newversioncode)
p.patchDataAtAddress(0x524E1C,newversioncode)
p.patchDataAtAddress(0x531100,newversioncode)
# Ascii version of the version string
p.patchStringAtAddress(0x58EA84,sn)
#
# Patch hardcoded values for some flight modes (e.g. autonomous waypoint missions)
# Some of those values are also app limited and need app side patch
# Default app limits :
# range around home point : 500 m
# max path length : 5000 m
# max speed : 15 m/s
# max dist to home point : 500 m
# min/max alt : -200 / + 500 m
#
p.patchFloatAtAddress(0x4AEDE8,-5000.0) # Min altitude relative to home point : default -200.0 m OK P4
p.patchFloatAtAddress(0x4AEDEC,9000.0) # Max altitude relative to home point : default 1000.0 m OK P4
p.patchFloatAtAddress(0x4AEE34,32000.0) # Max distance from one waypoint to home point : default 2000.0 m OK P4
p.patchFloatAtAddress(0x4AF2A8,128000.0) # Max total length of mission : default 30000.0 m OK P4
p.patchFloatAtAddress(0x4AF2FC ,25.0) # Max speed (positive value) : default 15.0 m/s OK P4
p.patchFloatAtAddress(0x4AF300,-25.0) # Max speed (negative value) : default -15.0 m/s OK P4
p.patchFloatAtAddress(0x4AF304,-5000.0) # Min altitude relative to home point : default -200.0 m OK P4
p.patchFloatAtAddress(0x4AF308,9000.0) # Max altitude relative to home point : default 1000.0 m OK P4
p.patchFloatAtAddress(0x4AF980,25.0) # Max speed for in-flight change speed message : default 15.0 m/s OK P4
# Patch ublox AGPS frames filter so that channel can be used for runtime receiver configuration
# Those are still under testing and not yet fully. Better not activate yet
# TODO
nop = "C046"
#
# UBlox configuration tuning
# from tests performed both with Spark unit and another U-blox unit at same
# firmware version, do not try to enable SBAS, especially with differential
# corrections those corrections are for GPS only and in many case this will actually
# decrease the number of vailable satellites without really increasing accuracy
# choice to have Galileo has an extra constellation seems better.
# The M8 chips at 3.01 firmware are not able to handle GPS+GLO+Beidou
#
# This patch need an app side patch to push offline ephemeris containing Galileo to
# the chip otherwise it seems that those sats may never be acquired/used
#
# Prepare new UBX frames data
#
# BEGIN OF REPLACING UBX-MON-VER BY OTHER SET OF FRAMES
ubxmonver = "B5620A0400000E34" # Original DJI UBX-MON-VER
newubxframes = ubxmonver
# Original DJI UBX-CFG-CFG frame : save config in flash
newubxframes = newubxframes + ubxcfggen.genUBXCFGCFG("SAVE_CURRENT")
# "B56206090D0000000000FFFF000000000000031DAB"
length_part1 = len(newubxframes)/2 # Move this line at the place you want to do replacement (UBX-MON-VER -> newubxframes part 1 / UBX-CFG-CFG -> newubxframes part 2)
# END OF REPLACING UBX-MON-VER BY OTHER SET OF FRAMES
# BEGIN OF REPLACING UBX-CFG-CFG BY OTHER SET OF FRAMES
# New UBX-CFG-SBAS frame :
#enabled=False,allowtestmode=False,useintegrity=False,usediffcorr=False,userange=False,maxSBAS=0,prnList=[]
newubxframes = newubxframes + ubxcfggen.genUBXCFGSBAS(False,False,False,False,False,0,[])
# "B5620616080000010100000000002697"
# New UBX-CFG-PMS : use GNSS chip at max power
newubxframes = newubxframes + ubxcfggen.genUBXCFGPMS(0x0,0,0)
# "B562068608000000000000000000945A"
#horizonMask=5,minCN0=0,minSv=0,pDop=10.0,tDop=10.0,pAcc=30,tAcc=300,fixedAlt2D=0.0,fixedAltVar2D=1.0,staticHoldMaxSpeed=0,staticHoldMaxDist=0,dgnssTimeout=60
newubxframes = newubxframes + ubxcfggen.genUBXCFGNAV5(7,2,0,5,0,0,10.0,10.0,30,300,0.0,1.0,0,0,60)
# "B56206242400FFFF070200000000102700000500640064001E002C01003C000000000000000000000000E061"
# New UBX-CFG-GNSS frame :
#useGPS=True,minGPS=8,maxGPS=16,
#useGLO=True,minGLO=8,maxGLO=14,
#useGAL=True,minGAL=8,maxGAL=10,
#useSBAS=False,minSBAS=0,maxSBAS=2,
#useBEIDOU=False,minBEIDOU=8,maxBEIDOU=16,
#useQZSS=True,minQZSS=0,maxQZSS=3, (ublox recommands to always have QZSS & GPS together to avoir cross corelation issues)
#useIMES=False,minIMES=0,maxIMES=8
newubxframes = newubxframes + ubxcfggen.genUBXCFGGNSS(True,8,16,True,8,14,True,8,10,False,0,2,False,8,16,True,0,3,False,0,8)
# "B562063E3C00002020070008100001000101010002000000010102080A000100010103081000000001010400080000000101050003000100010106080E0001000101536C"
# END OF REPLACING UBX-CFG-CFG BY OTHER SET OF FRAMES
total_length = len(newubxframes)/2
length_part2 = total_length - length_part1
unmodded_firmware_end = p.firmware_end
# Checks
if (length_part1 > 255 or length_part2 > 255):
print("!!! ERROR : UBX Configuration Frames cannot exceed 255 bytes in length each !!!")
print("!!! Remove some frames !!!")
exit(1)
# Add extra data page(s) for the new Ublox config frames
if (total_length > 255):
p.addPageAtEndOfImage(256,2)
else:
p.addPageAtEndOfImage(256,1)
# Change the location of old UBX preforged frames to the new one
p.patchAddressAtAddress(0x52127C,unmodded_firmware_end)
# Write new UBX frames at beginning of new page
p.patchDataAtAddress(unmodded_firmware_end,newubxframes)
# ROM:00520F42 LDR R0, [R0,#8]
# TO PATCH : ROM:00520F44 MOVS R2, #8
# ROM:00520F46 LDR R1, =UBLOX_FRAMES
# ROM:00520F48 B.W sub_42A37C
# ROM:00520F4C ; ---------------------------------------------------------------------------
# ROM:00520F4C LDR R1, =UBLOX_FRAMES
# TO PATCH : ROM:00520F4E MOVS R2, #0x15
# ROM:00520F50 LDR R0, [R0,#8]
# TO PATCH : ROM:00520F52 ADDS R1, #8
# ROM:00520F54 B.W sub_42A37C
# Patch the instructions that get the size of the frames to send,
# New UBX frames must stay below 255 bytes total
# Minimal checks performed
p.patchByteAtAddress(0x520E9C,length_part1)
p.patchByteAtAddress(0x520EA6,length_part2)
p.patchByteAtAddress(0x520EAA,length_part1)
# Disable QCchecking instructions about LLH / ECEF mismatch
#p.patchDataAtAddress(0x5219B0,nop)
#p.patchDataAtAddress(0x521E68,nop)
#p.patchDataAtAddress(0x521F56,nop)
p.write(sys.argv[1]+".patched")