root/nxos/boot_firmware

#!/usr/bin/env python

from __future__ import division
import sys
import os.path
import struct

nxt_path = os.path.join(
    os.path.split(os.path.abspath(__file__))[0], '..', 'pynxt')
sys.path = [nxt_path]+sys.path

import nxt
import nxt.samba
import nxt.flash

USAGE = '''
Syntax: %(n)s <kernel binary file>
        %(n)s <kernel name> <boot type>

Examples:
        %(n)s systems/tests/tests_samba.bin
        %(n)s tests rom
'''.strip()

STATUS_REPORT = '''
Kernel %s:
 * In-RAM size: %s
 * In-ROM size: %s
 * Wasted RAM: %s
 * Load address: 0x%x
 * Boot method: %s
'''.strip()

def kernel_path_from_name(name, variant):
    return 'systems/%s/%s_%s.bin' % (name, name, variant)

def get_kernel():
    if len(sys.argv) not in (2,3):
        print USAGE % {'n': sys.argv[0]}
        return (None, None, None)
    if len(sys.argv) == 3:
        kernel_file = kernel_path_from_name(sys.argv[1], sys.argv[2])
    else:
        kernel_file = sys.argv[1]

    if not os.path.isfile(kernel_file):
        print 'Kernel image %s not found.' % kernel_file
        return (None, None, None)

    # Load the firmware image, and separate the header from the actual
    # image.
    f = open(kernel_file)
    fw_and_header = f.read()
    f.close()
    header = fw_and_header[-21:]
    fw = fw_and_header[:-21]

    header = struct.unpack('<5LB', header)
    if header[0] != 0xDEADBEEF:
        print 'Invalid magic on kernel image, cannot process.'
        return (None, None, None)
    return (kernel_file, header, fw)

def format_number(size):
    if size < 1024:
        return '%dB' % size
    else:
        return '%.2fkB' % (size/1024)

def main():
    filename, header, fw = get_kernel()
    if fw is None:
        return 1
    (_, ramsize, ramwaste, romsize, loadaddr, samba) = header
    print STATUS_REPORT % (filename, format_number(ramsize),
                           format_number(romsize), format_number(ramwaste),
                           loadaddr, {0:'Flash Boot', 1:'SAM-BA Boot'}[samba])
    print
    a = raw_input('Boot? [Y/n] ').lower()
    while a not in ('', 'y', 'n', 'yes', 'no'):
        a = raw_input('Boot? [Y/n] ').lower()
    if a in ('no', 'n'):
        return 0

    s = nxt.samba.SambaBrick()
    try:
        print 'Looking for the NXT in SAM-BA mode...'
        s.open(timeout=60)
        print 'Brick found!'
    except nxt.samba.SambaOpenError, e:
        print 'Error: %s.' % str(e)
        return 1
    except KeyboardInterrupt:
        print 'Cancelled.'
        return 0

    if samba:
        print 'Uploading firmware...',
        s.write_buffer(loadaddr, fw)
        print 'Ok'
    else:
        print 'Flashing firmware...',
        f = nxt.flash.FlashController(s)
        f.flash(fw)
        print 'Ok'

    print 'Jumping to 0x%x...' % loadaddr,
    s.jump(loadaddr)
    print 'Ok'
    s.close()
    return 0

if __name__ == '__main__':
    sys.exit(main())