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dji_flyc_hardcoder.py
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dji_flyc_hardcoder.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
""" Dji Flight Controller firmware binary hard-coded values editor.
The tool can parse Flight Controller firmware converted to ELF.
It finds certain hard-coded values in the binary data, and allows
exporting or importing them.
Only 'setValue' element in the exported file is really changeable,
all the other data is just informational. This includes `maxValue` and
`minValue` - they don't do anything and changing them in the JSON file
will not influence update operation.
Exported values:
og_hardcoded.flyc.max_wp_dist_to_home -
Max distance from one waypoint to home point, in meters.
This value is also app limited and need Android App side patch.
og_hardcoded.flyc.max_alt_above_home -
Max altitude relative to home point, in meters.
This value is also app limited and need Android App side patch.
og_hardcoded.flyc.min_alt_below_home -
Min altitude relative to home point, in meters.
This value is also app limited and need Android App side patch.
og_hardcoded.flyc.max_mission_path_len -
Maximum total length of mission trace, in meters.
og_hardcoded.flyc.max_speed_pos -
Maximum speed used when doing autonomous flights; in meters per second [m/s]".
This value should be positive - in represents the limit when calculated speed
vector is in positive direction.
og_hardcoded.flyc.max_speed_neg -
Maximum negative speed used when doing autonomous flights; in meters
per second [m/s]". This value should be lower than zero, and equal to
max_speed_pos in its absolute value.
"""
# Copyright (C) 2017,2018 Mefistotelis <[email protected]>
# Copyright (C) 2018 Original Gangsters <https://dji-rev.slack.com/>
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
from __future__ import print_function
__version__ = "0.0.1"
__author__ = "Mefistotelis, Matioupi @ Original Gangsters"
__license__ = "GPL"
import sys
import argparse
import os
import re
import io
import collections.abc
import itertools
import enum
import json
from ctypes import *
sys.path.insert(0, './')
from amba_sys_hardcoder import eprint, elf_march_to_asm_config, \
armfw_elf_whole_section_search, armfw_elf_match_to_public_values, \
armfw_elf_paramvals_extract_list, armfw_elf_get_value_update_bytes, \
armfw_elf_paramvals_get_depend_list, armfw_elf_publicval_update, \
armfw_elf_paramvals_update_list, armfw_elf_generic_objdump, \
armfw_asm_search_strings_to_re_list, armfw_elf_paramvals_export_json, \
armfw_elf_paramvals_export_simple_list, armfw_elf_paramvals_export_mapfile, \
VarType, DataVariety, CodeVariety, DummyStruct
def version_string_to_int_getter(val):
ver = re.search(r'^([0-9]+)[.]([0-9]+)[.]([0-9]+)[.]([0-9]+)$', val)
ver_major = int(ver.group(1),10)
ver_minor = int(ver.group(2),10)
ver_mmtnc = int(ver.group(3),10)
ver_revsn = int(ver.group(4),10)
return (ver_major << 24) + (ver_minor << 16) + (ver_mmtnc << 8) + (ver_revsn)
def version_string_to_parts_getter(val,grp):
ver = re.search(r'^([0-9]+)[.]([0-9]+)[.]([0-9]+)[.]([0-9]+)$', val)
return int(ver.group(grp),10)
re_func_wp_check_input_mission_validity_P3X_V01_05_0030 = {
'name': "wp_check_input_mission_validity",
'version': "P3X_FW_V01.05.0030",
're': """
wp_check_input_mission_validity:
push {r4, r5, r6, r7, lr}
ldr r0, \[pc, #(?P<byte_200084A4>[0-9a-fx]+)\]
ldr r7, \[pc, #(?P<byte_20005DF8>[0-9a-fx]+)\]
movs r4, #0
vpush {d8}
sub sp, #0x1c
ldrb r0, \[r0\]
ldrb r1, \[r7\]
cmp r0, r1
beq #(?P<loc_8064122>[0-9a-fx]+)
b #(?P<loc_806438A>[0-9a-fx]+)
loc_80640E2:
add.w r0, r4, r4, lsl #1
add.w r5, r7, r0, lsl #5
ldr r0, \[r5, #0x54\]
bl #(?P<calculate_cali_matrix>[0-9a-fx]+)
vmov d8, r0, r1
ldr r0, \[r5, #0x50\]
bl #(?P<calculate_cali_matrix>[0-9a-fx]+)
vmov d0, r0, r1
vstr d8, \[sp, #(?P<loc_var_28>[0-9a-fx]+)\]
vstr d0, \[sp, #(?P<loc_var_30>[0-9a-fx]+)\]
vldr d0, \[r5, #0x48\]
mov r1, r4
vstr d0, \[sp\]
vldr d0, \[r5, #0x40\]
adr r0, #(?P<cstr_debug_log_l1h>[0-9a-fx]+)
vmov r2, r3, d0
bl #(?P<flight_rec_printf_send_c0E>[0-9a-fx]+)
adds r4, r4, #1
uxtb r4, r4
loc_8064122:
ldrb r0, \[r7\]
cmp r0, r4
bhi #(?P<loc_80640E2>[0-9a-fx]+)
uxtb r0, r0
add.w r0, r0, r0, lsl #1
ldr r1, \[pc, #(?P<byte_20005DF8>[0-9a-fx]+)\]
add.w r0, r7, r0, lsl #5
adds r0, #0x40
movs r2, #0x60
adds r1, #0x40
bl #(?P<memcpy_0>[0-9a-fx]+)
movs r5, #0
b #(?P<loc_806429C>[0-9a-fx]+)
loc_8064142:
add.w r0, r5, r5, lsl #1
add.w r6, r7, r0, lsl #5
add.w r4, r6, #0x40
vldr d0, \[r6, #0x40\]
vldr d1, \[pc, #(?P<dbl_minus_pi_half>[0-9a-fx]+)\]
vmov r0, r1, d0
vmov r2, r3, d1
bl #(?P<sub_808B480>[0-9a-fx]+)
loc_80641D6:
blo #(?P<loc_80641D6>[0-9a-fx]+)
vldr d0, \[r4\]
vldr d1, \[pc, #(?P<dbl_pi_half>[0-9a-fx]+)\]
vmov r0, r1, d0
vmov r2, r3, d1
bl #(?P<sub_8086F86>[0-9a-fx]+)
blo #(?P<loc_80641D6>[0-9a-fx]+)
vldr d0, \[r4, #8\]
vldr d1, \[pc, #(?P<dbl_minus_pi>[0-9a-fx]+)\]
vmov r0, r1, d0
vmov r2, r3, d1
bl #(?P<sub_808B480>[0-9a-fx]+)
blo #(?P<loc_80641D6>[0-9a-fx]+)
vldr d0, \[r4, #8\]
vldr d1, \[pc, #(?P<dbl_just_pi>[0-9a-fx]+)\]
vmov r0, r1, d0
vmov r2, r3, d1
bl #(?P<sub_8086F86>[0-9a-fx]+)
blo #(?P<loc_80641D6>[0-9a-fx]+)
ldr r1, \[pc, #(?P<min_alt_below_home>[0-9a-fx]+)\]
ldr r0, \[r4, #0x10\]
cmp r0, r1
bhi #(?P<loc_80641D6>[0-9a-fx]+)
ldr r1, \[pc, #(?P<max_alt_above_home>[0-9a-fx]+)\]
cmp r0, r1
bgt #(?P<loc_80641D6>[0-9a-fx]+)
ldrsh.w r0, \[r4, #0x18\]
cmn.w r0, #0xb4
blt #(?P<loc_80641D6>[0-9a-fx]+)
cmp r0, #0xb4
bgt #(?P<loc_80641D6>[0-9a-fx]+)
ldrsh.w r0, \[r4, #0x1a\]
cmn.w r0, #0x384 ; 900
blt #(?P<loc_80641D6>[0-9a-fx]+)
cmp r0, #0
bgt #(?P<loc_80641D6>[0-9a-fx]+)
ldrb r0, \[r4, #0x1c\]
cmp r0, #2
blo #(?P<loc_80641E0>[0-9a-fx]+)
loc_80641D6:
mov r1, r5
adr r0, #(?P<cstr_wp_data_val_fail>[0-9a-fx]+)
bl #(?P<flight_rec_printf_send_c0E>[0-9a-fx]+)
b #(?P<loc_806432E>[0-9a-fx]+)
; block of code here, 35 words in P3X_FW_V01.07.0060
dcw (?P<undefined_varlen_2>([0-9a-fx]+[, ]*){32,48})
vmov r0, s0
ldr r1, \[pc, #(?P<max_wp_dist_to_home>[0-9a-fx]+)\]
cmp r0, r1
ble #(?P<loc_806423A>[0-9a-fx]+)
mov r1, r5
adr r0, #(?P<cstr_wp_dist_too_large>[0-9a-fx]+)
bl #(?P<flight_rec_printf_send_c0E>[0-9a-fx]+)
movs r0, #0xe6
b #(?P<loc_806421C>[0-9a-fx]+)
loc_806423A:
ldrb r0, \[r7, #0xd\]
cmp r0, #1
bne #(?P<loc_8064248>[0-9a-fx]+)
ldrb r0, \[r7\]
subs r0, r0, #1
cmp r0, r5
beq #(?P<loc_8064298>[0-9a-fx]+)
loc_8064248:
ldrb r0, \[r7, #0xf\]
cmp r0, #1
bne #(?P<loc_8064298>[0-9a-fx]+)
vldr s1, \[r4, #0x14\]
ldr r1, \[pc, #(?P<flt_minus_twentytwo_dot_four>[0-9a-fx]+)\]
vmov r0, s1
add r0, r1
ldr r1, \[pc, #(?P<flt_positive_epsylon>[0-9a-fx]+)\]
cmp r0, r1
blo #(?P<loc_806426A>[0-9a-fx]+)
; block of code here, 29 words in P3X_FW_V01.07.0060
dcw (?P<undefined_varlen_3>([0-9a-fx]+[, ]*){24,40})
adds r5, r5, #1
uxtb r5, r5
loc_806429C:
ldrb r0, \[r7\]
cmp r0, r5
bhi.w #(?P<loc_8064142>[0-9a-fx]+)
bl #(?P<sub_8064078>[0-9a-fx]+)
ldr r0, \[pc, #(?P<byte_200081F8>[0-9a-fx]+)\]
ldr r1, \[pc, #(?P<max_mission_path_len>[0-9a-fx]+)\]
vstr s0, \[r0, #0x2bc\]
vmov r0, s0
cmp r0, r1
ble #(?P<loc_80642D2>[0-9a-fx]+)
vmov r0, s0
bl #(?P<calculate_cali_matrix>[0-9a-fx]+)
vmov d0, r0, r1
ldr r0, \[pc, #(?P<cstr_total_dis_too_long>[0-9a-fx]+)\]
vmov r2, r3, d0
bl #(?P<flight_rec_printf_send_c0E>[0-9a-fx]+)
movs r0, #0xe2
b #(?P<loc_806421C>[0-9a-fx]+)
; The function continues
""",
'vars': {
'wp_check_input_mission_validity': {'type': VarType.DIRECT_LINE_OF_CODE, 'variety': CodeVariety.FUNCTION},
'calculate_cali_matrix': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'flight_rec_printf_send_c0E': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'memcpy_0': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'sub_8064078': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'sub_808B480': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'sub_8086F86': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'loc_80640E2': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_8064122': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_80641D6': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_80641E0': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_806423A': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_806421C': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_8064248': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_806426A': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_8064298': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_806429C': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_806432E': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_806438A': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_8064142': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_80642D2': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_806421C': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'undefined_varlen_2': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT16_T, 'array': (32,48)},
'undefined_varlen_3': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT16_T, 'array': (24,40)},
'byte_200084A4': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.UNKNOWN},
'byte_20005DF8': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.UNKNOWN},
'cstr_debug_log_l1h': {'type': VarType.RELATIVE_ADDR_TO_PTR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.CHAR, 'array': "null_term"},
'cstr_wp_data_val_fail': {'type': VarType.RELATIVE_ADDR_TO_PTR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.CHAR, 'array': "null_term"},
'dbl_just_pi': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_minus_pi': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_minus_pi_half': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_pi_half': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'cstr_wp_dist_too_large': {'type': VarType.RELATIVE_ADDR_TO_PTR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.CHAR, 'array': "null_term"},
'flt_minus_twentytwo_dot_four': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT},
'flt_positive_epsylon': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT},
'cstr_total_dis_too_long': {'type': VarType.RELATIVE_ADDR_TO_PTR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.CHAR, 'array': "null_term"},
'byte_200081F8': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.UNKNOWN},
'max_alt_above_home': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "1.0", 'maxValue': "1000000.0", 'defaultValue': "1000.0",
'description': "Max altitude relative to home point"},
'min_alt_below_home': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "-1.0", 'maxValue': "-1000000.0", 'defaultValue': "-200.0",
'description': "Min altitude relative to home point"},
'max_wp_dist_to_home': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "10.0", 'maxValue': "1000000.0", 'defaultValue': "2000.0",
'description': "Max distance from one waypoint to home point"},
'max_mission_path_len': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "10.0", 'maxValue': "1000000.0", 'defaultValue': "30000.0",
'description': "Max total length of mission"},
'loc_var_28': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'loc_var_30': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
},
}
re_func_wp_check_input_mission_validity_WM330_V03_01_10_93 = {
'name': "wp_check_input_mission_validity",
'version': "wm330_0306_v03.01.10.93",
're': """
wp_check_input_mission_validity:
(push[.]w|push) {(?P<regsA>(r[0-9]+[, ]*|[a-z][a-z][, ]*){2,8}), lr}
ldr (r0|r6), \[pc, #(?P<unk_2042AD08>[0-9a-fx]+)\]
movs (r5|r4), #0
; this beginning comes from WM100 and WM220; it is different in WM330
;movs r5, #0
;ldr r6, \[pc, #(?P<byte_20428D08>[0-9a-fx]+)\]
;ldrb.w r1, \[r0, #(?P<rel_byte_2042B3B0>[0-9a-fx]+)\]
;ldrb r0, \[r6\]
;cmp r1, r0
;bne #(?P<loc_4ADCD0>[0-9a-fx]+)
;add.w r0, r0, r0, lsl #1
;movs r2, #0x60
;add.w r0, r6, r0, lsl #5
;adds r0, #0x40
;add.w r1, r6, #0x40
;bl #(?P<sub_4BEB10>[0-9a-fx]+)
;b #(?P<loc_4ADECE>[0-9a-fx]+)
; this beginning comes from wm220_0306_v03.02.13.12:
;movs r4, #0
;ldr r0, \[pc, #0x180\]
;sub sp, #0x24
;adds r6, #0x10
;ldrb.w r0, \[r0, #0x6ac\]
;ldrb r1, \[r6\]
;cmp r0, r1
;beq #0x4852b4
;b #0x485688
;add.w r0, r4, r4, lsl #1
;add.w r0, r6, r0, lsl #5
;vldr s0, \[r0, #0x54\]
;vcvt.f64.f32 d0, s0
;vstr d0, \[sp, #0x18\]
;vldr s0, \[r0, #0x50\]
;vcvt.f64.f32 d0, s0
;vstr d0, \[sp, #0x10\]
;vldr d0, \[r0, #0x48\]
;vstr d0, \[sp, #8\]
;vldr d0, \[r0, #0x40\]
;vstr d0, \[sp\]
;bl #0x4c3c4a
;ldr r3, \[r0, #0xc\]
;movs r0, #0x28
;adr r1, #0x13c
;mov r2, r4
;blx r3
;adds r4, r4, #1
;uxtb r4, r4
;ldrb r0, \[r6\]
;cmp r0, r4
;bhi #0x485272
;uxtb r0, r0
;ldr r1, \[pc, #0x74\]
;movs r2, #0x60
;add.w r0, r0, r0, lsl #1
;adds r1, #0x50
;add.w r0, r6, r0, lsl #5
;adds r0, #0x40
;bl #0x4c4076
;movs r5, #0
;b #0x485574
; the beginning from WM330 looks like the longer one; not pasted here
dcw (?P<undefined_varlen_1>([0-9a-fx]+[, ]*){12,64})
loc_4ADBE8:
add.w r0, r5, r5, lsl #1
add.w r7, r6, r0, lsl #5
add.w r4, r7, #0x40
vldr d0, \[r7, #0x40\]
vldr d1, \[pc, #(?P<dbl_minus_pi_half>[0-9a-fx]+)\]
vcmpe.f64 d0, d1
vmrs apsr_nzcv, fpscr
blo #(?P<loc_val_fail2>[0-9a-fx]+)
vldr d1, \[pc, #(?P<dbl_pi_half>[0-9a-fx]+)\]
vcmpe.f64 d0, d1
vmrs apsr_nzcv, fpscr
; this comes from WM100 and newer WM220:
;bgt #(?P<loc_val_fail2>[0-9a-fx]+)
; in from wm220_0306_v03.02.13.12, there is a long block of data+code, not listed here
dcw (?P<undefined_varlen_5>([0-9a-fx]+[, ]*){1,196})
vldr d0, \[r4, #8\]
vldr d1, \[pc, #(?P<dbl_minus_pi>[0-9a-fx]+)\]
vcmpe.f64 d0, d1
vmrs apsr_nzcv, fpscr
blo #(?P<loc_val_fail>[0-9a-fx]+)
vldr d1, \[pc, #(?P<dbl_just_pi>[0-9a-fx]+)\]
vcmpe.f64 d0, d1
vmrs apsr_nzcv, fpscr
bgt #(?P<loc_val_fail>[0-9a-fx]+)
ldr r2, \[pc, #(?P<min_alt_below_home>[0-9a-fx]+)\]
ldr r0, \[r4, #0x10\]
cmp r0, r2
bhi #(?P<loc_val_fail>[0-9a-fx]+)
ldr r2, \[pc, #(?P<max_alt_above_home>[0-9a-fx]+)\]
cmp r0, r2
bgt #(?P<loc_val_fail>[0-9a-fx]+)
ldrsh.w r0, \[r4, #0x18\]
cmn.w r0, #0xb4
blt #(?P<loc_val_fail>[0-9a-fx]+)
cmp r0, #0xb4
bgt #(?P<loc_val_fail>[0-9a-fx]+)
ldrsh.w r0, \[r4, #0x1a\]
cmn.w r0, #0x384 ; 900
blt #(?P<loc_val_fail>[0-9a-fx]+)
cmp r0, #0
bgt #(?P<loc_val_fail>[0-9a-fx]+)
; this comes from WM100 and WM220; it is different in WM330
;ldrsh.w r0, \[r4, #0x1e\]
;movw r2, #0x5dc ; 1500
;cmn r0, r2
;blt #(?P<loc_val_fail>[0-9a-fx]+)
;cmp r0, r2
;bgt #(?P<loc_val_fail>[0-9a-fx]+)
;ldrb.w r0, \[r4, #0x20\]
;cmp r0, #3
;bhs #(?P<loc_val_fail>[0-9a-fx]+)
;ldrb r0, \[r4, #0x1c\]
;cmp r0, #2
;blo #(?P<loc_chk_contn1>[0-9a-fx]+)
; the block from WM330 is shorter; not pasted here
dcw (?P<undefined_varlen_2>([0-9a-fx]+[, ]*){3,20})
loc_val_fail:
bl #(?P<get_logger>[0-9a-fx]+)
ldr r3, \[r0, #0xc\]
movs r0, #(?P<log_tag1>[0-9a-fx]+)
adr r1, #(?P<cstr_wp_data_val_fail>[0-9a-fx]+)
mov r2, r5
blx r3
; this comes from WM100 and WM220; it is different in WM330
loc_ret1:
;pop[.]w {(?P<regsA>(r[0-9]+[, ]*|[a-z][a-z][, ]*){2,8}), pc}
dcw (?P<undefined_varlen_3>([0-9a-fx]+[, ]*){1,48})
loc_chk_contn2:
cmp r0, #1
bne #(?P<loc_4ADCEE>[0-9a-fx]+)
loc_chk_contn3:
ldrb r1, \[r6\]
subs r1, r1, #1
cmp r1, r5
beq #(?P<loc_4ADD0E>[0-9a-fx]+)
loc_4ADCEE:
vmov r1, s0
ldr r2, \[pc, #(?P<max_wp_dist_to_home>[0-9a-fx]+)\]
cmp r1, r2
ble #(?P<loc_4ADD0A>[0-9a-fx]+)
bl #(?P<get_logger>[0-9a-fx]+)
ldr r3, \[r0, #0xc\]
movs r0, #(?P<log_tag2>[0-9a-fx]+)
adr r1, #(?P<cstr_wp_dist_too_large>[0-9a-fx]+)
mov r2, r5
blx r3
movs r0, #0xe6
b #(?P<loc_ret1>[0-9a-fx]+)
loc_4ADD0A:
cmp r0, #1
bne #(?P<loc_4ADD16>[0-9a-fx]+)
loc_4ADD0E:
ldrb r0, \[r6\]
subs r0, r0, #1
cmp r0, r5
beq #(?P<loc_4ADD36>[0-9a-fx]+)
loc_4ADD16:
ldrb r0, \[r6, #(?P<rel_byte_20428D17>[0-9a-fx]+)\]
cmp r0, #1
bne #(?P<loc_4ADD36>[0-9a-fx]+)
vldr s1, \[r4, #0x14\]
ldr r1, \[pc, #(?P<flt_minus_twentytwo_dot_four>[0-9a-fx]+)\]
vmov r0, s1
add r0, r1
ldr r1, \[pc, #(?P<flt_positive_epsylon>[0-9a-fx]+)\]
cmp r0, r1
blo #(?P<loc_4ADD38>[0-9a-fx]+)
bl #(?P<get_logger>[0-9a-fx]+)
; some code and a large data block comes here
; in wm220_0306_v03.02.13.12, it is 30 words long; in newer version, much longer
dcw (?P<undefined_varlen_4>([0-9a-fx]+[, ]*){28,240})
adds r5, r5, #1
uxtb r5, r5
loc_4ADECE:
ldrb r1, \[r6\]
cmp r1, r5
bhi.w #(?P<loc_4ADBE8>[0-9a-fx]+)
bl #(?P<sub_4AD984>[0-9a-fx]+)
ldr r4, \[pc, #(?P<unk_2042B108>[0-9a-fx]+)\]
vmov r0, s0
ldr r1, \[pc, #(?P<max_mission_path_len>[0-9a-fx]+)\]
vstr s0, \[r4, #(?P<rel_unk_var01>[0-9a-fx]+)\]
cmp r0, r1
ble #(?P<loc_4ADF06>[0-9a-fx]+)
bl #(?P<get_logger>[0-9a-fx]+)
vldr s0, \[r4, #(?P<rel_unk_var01>[0-9a-fx]+)\]
ldr r5, \[r0, #0xc\]
movs r0, #(?P<log_tag3>[0-9a-fx]+)
ldr r1, \[pc, #(?P<cstr_total_dis_too_long>[0-9a-fx]+)\]
vcvt.f64.f32 d0, s0
vmov r2, r3, d0
blx r5
movs r0, #0xe2
b #(?P<loc_ret1>[0-9a-fx]+)
loc_4ADF06:
movs r4, #0
b #(?P<loc_4ADF30>[0-9a-fx]+)
; The function continues
""",
'vars': {
'wp_check_input_mission_validity': {'type': VarType.DIRECT_LINE_OF_CODE, 'variety': CodeVariety.FUNCTION},
'get_logger': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
#'sub_4BEB10': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'sub_4AD984': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'loc_val_fail2': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_val_fail': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
#'loc_chk_contn1': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
#'loc_4ADCD0': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4ADCEE': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4ADD0A': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4ADD0E': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4ADD16': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4ADD36': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4ADD38': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
#'loc_4ADECE': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4ADBE8': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4ADF06': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4ADF30': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_ret1': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'regsA': {'type': VarType.DIRECT_OPERAND, 'variety': DataVariety.UNKNOWN},
'undefined_varlen_1': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT16_T, 'array': (12,64)},
'undefined_varlen_2': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT16_T, 'array': (3,20)},
'undefined_varlen_3': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT16_T, 'array': (1,48)},
'undefined_varlen_4': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT16_T, 'array': (28,240)},
'undefined_varlen_5': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT16_T, 'array': (1,196)},
'log_tag1': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT8_T},
'log_tag2': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT8_T},
'log_tag3': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT8_T},
#'byte_20428D08': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.UNKNOWN},
'unk_2042AD08': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.UNKNOWN},
'cstr_wp_data_val_fail': {'type': VarType.RELATIVE_ADDR_TO_PTR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.CHAR, 'array': "null_term"},
'dbl_just_pi': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_minus_pi': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_minus_pi_half': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_pi_half': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'cstr_wp_dist_too_large': {'type': VarType.RELATIVE_ADDR_TO_PTR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.CHAR, 'array': "null_term"},
'flt_minus_twentytwo_dot_four': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT},
'flt_positive_epsylon': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT},
'cstr_total_dis_too_long': {'type': VarType.RELATIVE_ADDR_TO_PTR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.CHAR, 'array': "null_term"},
'unk_2042B108': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.UNKNOWN},
'max_alt_above_home': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "1.0", 'maxValue': "1000000.0", 'defaultValue': "1000.0",
'description': "Max altitude relative to home point"},
'min_alt_below_home': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "-1.0", 'maxValue': "-1000000.0", 'defaultValue': "-200.0",
'description': "Min altitude relative to home point"},
'max_wp_dist_to_home': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "10.0", 'maxValue': "1000000.0", 'defaultValue': "2000.0",
'description': "Max distance from one waypoint to home point"},
'max_mission_path_len': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "10.0", 'maxValue': "1000000.0", 'defaultValue': "30000.0",
'description': "Max total length of mission"},
#'rel_byte_2042B3B0': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20428D17': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_unk_var01': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
},
}
re_func_wp_mission_data_verify_P3X_V01_05_0030 = {
'name': "wp_mission_data_verify",
'version': "P3X_FW_V01.05.0030",
're': """
wp_mission_data_verify:
push {(?P<regsA>(r[0-9]+[, ]*|[a-z][a-z][, ]*){2,4}), lr}
ldr r4, \[pc, #(?P<byte_20005DF8>[0-9a-fx]+)\]
movs r1, #0
vpush {d8}
sub sp, #0xc
ldrb r2, \[r0\], #7
strb r2, \[r4\]
ldr r2, \[r0, #-0x6\]
str r2, \[r4, #(?P<rel_dword_20005DFC>[0-9a-fx]+)\]
ldr r2, \[r0, #-0x2\]
str r2, \[r4, #(?P<rel_dword_20005E00>[0-9a-fx]+)\]
ldrb r2, \[r0, #2\]
strb r2, \[r4, #(?P<rel_byte_20005E04>[0-9a-fx]+)\]
ldrb r2, \[r0, #3\]
strb r2, \[r4, #(?P<rel_byte_20005E05>[0-9a-fx]+)\]
ldrb r2, \[r0, #4\]
strb r2, \[r4, #(?P<rel_byte_20005E06>[0-9a-fx]+)\]
ldrb r2, \[r0, #5\]
strb r2, \[r4, #(?P<rel_byte_20005E07>[0-9a-fx]+)\]
ldrb r2, \[r0, #6\]
strb r2, \[r4, #(?P<rel_byte_20005E08>[0-9a-fx]+)\]
ldrb r2, \[r0, #7\]
strb r2, \[r4, #(?P<rel_byte_20005E09>[0-9a-fx]+)\]
ldr r2, \[r0, #8\]
str r2, \[sp\]
ldr r2, \[r0, #0xc\]
str r2, \[sp, #4\]
vldr d0, \[sp\]
vstr d0, \[r4, #0x18\]
ldr r2, \[r0, #0x10\]
str r2, \[sp\]
ldr r2, \[r0, #0x14\]
str r2, \[sp, #4\]
vldr d0, \[sp\]
vstr d0, \[r4, #0x20\]
ldr r2, \[r0, #0x18\]
str r2, \[r4, #(?P<rel_dword_20005E20>[0-9a-fx]+)\]
ldrb r2, \[r0, #0x1c\]
subs r0, r0, #7
strb.w r2, \[r4, #(?P<rel_byte_20005E24>[0-9a-fx]+)\]
loc_80643F0:
adds r2, r0, r1
adds r3, r4, r1
adds r1, r1, #1
ldrb.w r2, \[r2, #0x24\]
uxtb r1, r1
strb.w r2, \[r3, #(?P<rel_byte_20005E25>[0-9a-fx]+)\]
cmp r1, #0xf
blo #(?P<loc_80643F0>[0-9a-fx]+)
ldrb r0, \[r4, #(?P<rel_byte_20005E05>[0-9a-fx]+)\]
movs r5, #1
cbnz r0, #(?P<loc_806440C>[0-9a-fx]+)
strb r5, \[r4, #(?P<rel_byte_20005E05>[0-9a-fx]+)\]
; the code above isn't really important and can be replaced by variable size data when needed
loc_806440C:
ldrb r0, \[r4\]
subs r0, r0, #2
cmp r0, #0x63
bhs #(?P<loc_8064478>[0-9a-fx]+)
ldr r0, \[r4, #(?P<rel_dword_20005DFC>[0-9a-fx]+)\]
cmp.w r0, #0x40000000 ; 2.0
blt #(?P<loc_8064478>[0-9a-fx]+)
ldr r1, \[pc, #(?P<max_speed_pos>[0-9a-fx]+)\]
cmp r0, r1
bgt #(?P<loc_8064478>[0-9a-fx]+)
ldr r2, \[pc, #(?P<max_speed_neg>[0-9a-fx]+)\]
ldr r0, \[r4, #(?P<rel_dword_20005E00>[0-9a-fx]+)\]
cmp r0, r2
bhi #(?P<loc_8064478>[0-9a-fx]+)
cmp r0, r1
bgt #(?P<loc_8064478>[0-9a-fx]+)
ldrb r0, \[r4, #(?P<rel_byte_20005E04>[0-9a-fx]+)\]
cmp r0, #5
bhs #(?P<loc_8064478>[0-9a-fx]+)
ldrb r0, \[r4, #(?P<rel_byte_20005E06>[0-9a-fx]+)\]
cmp r0, #5
bhs #(?P<loc_8064478>[0-9a-fx]+)
ldrb r0, \[r4, #(?P<rel_byte_20005E07>[0-9a-fx]+)\]
cmp r0, #2
bhs #(?P<loc_8064478>[0-9a-fx]+)
ldrb r0, \[r4, #(?P<rel_byte_20005E08>[0-9a-fx]+)\]
cmp r0, #2
bhs #(?P<loc_8064478>[0-9a-fx]+)
ldrb r0, \[r4, #(?P<rel_byte_20005E09>[0-9a-fx]+)\]
cmp r0, #2
bhs #(?P<loc_8064478>[0-9a-fx]+)
vldr d0, \[r4, #0x18\]
vldr d1, \[pc, #(?P<dbl_minus_pi_half>[0-9a-fx-]+)\]
vmov r0, r1, d0
vmov r2, r3, d1
bl #(?P<sub_808B480>[0-9a-fx]+)
blo #(?P<loc_8064478>[0-9a-fx]+)
vldr d0, \[r4, #0x18\]
vldr d1, \[pc, #(?P<dbl_pi_half>[0-9a-fx-]+)\]
vmov r0, r1, d0
vmov r2, r3, d1
; block of code, 187 words in P3X_FW_V01.07.0060 starting with:
;bl #(?P<sub_8086F86>[0-9a-fx]+)
; block of code, 189 words in P3X_FW_V01.10.0090 starting with:
;b #0x8064a10
;b #0x8064a6e
dcw (?P<undefined_varlen_1>([0-9a-fx]+[, ]*){176,200})
vldr d0, \[r4, #0x20\]
vldr d1, \[pc, #(?P<dbl_minus_pi>[0-9a-fx-]+)\]
vmov r0, r1, d0
vmov r2, r3, d1
bl #(?P<sub_808B480>[0-9a-fx]+)
blo #(?P<loc_8064642>[0-9a-fx]+)
vldr d0, \[r4, #0x20\]
vldr d1, \[pc, #(?P<dbl_just_pi>[0-9a-fx-]+)\]
vmov r0, r1, d0
vmov r2, r3, d1
bl #(?P<sub_8086F86>[0-9a-fx]+)
blo #(?P<loc_8064642>[0-9a-fx]+)
ldr r1, \[pc, #(?P<min_alt_below_home_inst2>[0-9a-fx]+)\]
ldr r0, \[r4, #(?P<rel_dword_20005E20>[0-9a-fx]+)\]
cmp r0, r1
bhi #(?P<loc_8064642>[0-9a-fx]+)
ldr r1, \[pc, #(?P<max_alt_above_home_inst2>[0-9a-fx]+)\]
cmp r0, r1
bgt #(?P<loc_8064642>[0-9a-fx]+)
ldrb.w r0, \[r4, #(?P<rel_byte_20005E24>[0-9a-fx]+)\]
cmp r0, #2
bhs #(?P<loc_8064642>[0-9a-fx]+)
vldr s0, \[r4, #8\]
vldr s1, \[r4, #4\]
vabs.f32 s0, s0
vcmpe.f32 s0, s1
vmrs apsr_nzcv, fpscr
ble #(?P<loc_8064652>[0-9a-fx]+)
loc_8064642:
adr r0, #(?P<cstr_mission_info_data_invalid>[0-9a-fx]+)
bl #(?P<flight_rec_printf_send_c0E>[0-9a-fx]+)
movs r0, #0xe0
; The function continues
""",
'vars': {
'wp_mission_data_verify': {'type': VarType.DIRECT_LINE_OF_CODE, 'variety': CodeVariety.FUNCTION},
'loc_8064478': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_80643F0': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_806440C': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_8064642': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_8064652': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'sub_808B480': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'sub_8086F86': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'sub_808B480': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'sub_8086F86': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'flight_rec_printf_send_c0E': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'undefined_varlen_1': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT16_T, 'array': (176,200)},
'regsA': {'type': VarType.DIRECT_OPERAND, 'variety': DataVariety.UNKNOWN},
'rel_dword_20005DFC': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_dword_20005E00': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20005E04': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20005E05': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20005E06': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20005E07': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20005E08': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20005E09': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_dword_20005E20': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20005E24': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20005E25': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'byte_20005DF8': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.UNKNOWN},
'dbl_minus_pi_half': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_pi_half': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'cstr_mission_info_data_invalid': {'type': VarType.RELATIVE_ADDR_TO_PTR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.CHAR, 'array': "null_term"},
'dbl_just_pi': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_minus_pi': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'rel_dword_20005E20': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_byte_20005E24': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'max_speed_pos': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "1.0", 'maxValue': "1000000.0", 'defaultValue': "15.0",
'description': "Max speed (positive value); in meters per second [m/s]"},
'max_speed_neg': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "-1.0", 'maxValue': "-1000000.0", 'defaultValue': "-15.0",
'description': "Max speed (negative value); in meters per second [m/s]"},
'max_alt_above_home_inst2': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'depend': "max_alt_above_home", 'getter': (lambda val: val)},
'min_alt_below_home_inst2': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'depend': "min_alt_below_home", 'getter': (lambda val: val)},
},
}
re_func_wp_mission_data_verify_WM330_V03_01_10_93 = {
'name': "wp_mission_data_verify",
'version': "wm330_0306_v03.01.10.93",
're': """
wp_mission_data_verify:
push {(?P<regsA>(r[0-9]+[, ]*|[a-z][a-z][, ]*){2,4}), lr}
ldr r4, \[pc, #(?P<byte_20428D08>[0-9a-fx]+)\]
; block of code, 51 words in wm220_0306_v03.02.35.05
; block of code, 42 words in wm330_0306_v03.01.10.93
; below code example is from WM100
;sub sp, #0x1c
;ldrb r1, \[r0\]
;movs r3, #0
;strb r1, \[r4\]
;ldr.w r1, \[r0, #1\]
;str r1, \[r4, #4\]
;ldr.w r1, \[r0, #5\]
;str r1, \[r4, #8\]
;ldrb r1, \[r0, #9\]
;strb r1, \[r4, #0xc\]
;ldrb r1, \[r0, #0xa\]
;strb r1, \[r4, #0xd\]
;ldrb r1, \[r0, #0xb\]
;strb r1, \[r4, #0xe\]
;ldrb r1, \[r0, #0xc\]
;strb r1, \[r4, #0xf\]
;ldrb r1, \[r0, #0xd\]
;strb r1, \[r4, #0x10\]
;ldrb r1, \[r0, #0xe\]
;strb r1, \[r4, #0x11\]
;ldr.w r2, \[r0, #0x13\]
;ldr.w r1, \[r0, #0xf\]
;strd r1, r2, \[r4, #0x18\]
;ldr.w r2, \[r0, #0x1b\]
;ldr.w r1, \[r0, #0x17\]
;strd r1, r2, \[r4, #0x20\]
;ldr.w r1, \[r0, #0x1f\]
;str r1, \[r4, #0x28\]
;ldrb.w r1, \[r0, #0x23\]
;strb.w r1, \[r4, #0x2c\]
;ldrb.w r1, \[r0, #0x24\]
;strb.w r1, \[r4, #0x2d\]
;ldrh.w r1, \[r0, #0x25\]
;strh r1, \[r4, #0x2e\]
;ldrh.w r1, \[r0, #0x27\]
;strh r1, \[r4, #0x30\]
dcw (?P<undefined_varlen_1>([0-9a-fx]+[, ]*){40,64})
loc_4AE050:
adds r1, r0, r3
adds r2, r4, r3
adds r3, r3, #1
ldrb.w r1, \[r1, #(?P<rel_unkn_val1>[0-9a-fx]+)\]
uxtb r3, r3
cmp r3, #(?P<var_loop_limit1>[0-9a-fx]+) ; 0xa or 0xf
strb.w r1, \[r2, #(?P<rel_unkn_val2>[0-9a-fx]+)\]
blo #(?P<loc_4AE050>[0-9a-fx]+)
ldrb r0, \[r4, #0xd\]
movs (r2|r1), #1
cbnz r0, #(?P<loc_4AE06C>[0-9a-fx]+)
strb (r2|r1), \[r4, #0xd\]
loc_4AE06C:
ldrb r0, \[r4\]
subs r0, r0, #2
cmp r0, #0x63
bhs #(?P<loc_4AE12C>[0-9a-fx]+)
vldr s5, \[r4, #4\]
vmov r0, s5
cmp.w r0, #0x40000000 ; 2.0
blt #(?P<loc_4AE12C>[0-9a-fx]+)
vmov r0, s5
ldr r[12], \[pc, #(?P<max_speed_pos>[0-9a-fx]+)\]
cmp r0, r[12]
bgt #(?P<loc_4AE12C>[0-9a-fx]+)
vldr s4, \[r4, #8\]
ldr r3, \[pc, #(?P<max_speed_neg>[0-9a-fx]+)\]
vmov r0, s4
cmp r0, r3
bhi #(?P<loc_4AE12C>[0-9a-fx]+)
vmov r0, s4
cmp r0, r[12] ; either r1 or r2 is used
bgt #(?P<loc_4AE12C>[0-9a-fx]+)
ldrb r0, \[r4, #0xc\]
cmp r0, #(?P<max_unkn1_val>[0-9a-fx]+)
bhs #(?P<loc_4AE12C>[0-9a-fx]+)
ldrb r0, \[r4, #0xe\]
cmp r0, #(?P<max_unkn2_val>[0-9a-fx]+)
bhs #(?P<loc_4AE12C>[0-9a-fx]+)
ldrb r0, \[r4, #0xf\]
cmp r0, #2
bhs #(?P<loc_4AE12C>[0-9a-fx]+)
ldrb r0, \[r4, #0x10\]
cmp r0, #2
bhs #(?P<loc_4AE12C>[0-9a-fx]+)
ldrb r0, \[r4, #0x11\]
cmp r0, #[32]
bhs #(?P<loc_4AE12C>[0-9a-fx]+)
vldr d0, \[r4, #0x18\]
vldr d1, \[pc, #(?P<dbl_minus_pi_half>[0-9a-fx-]+)\]
vcmpe.f64 d0, d1
vmrs apsr_nzcv, fpscr
blo #(?P<loc_4AE12C>[0-9a-fx]+)
vldr d1, \[pc, #(?P<dbl_pi_half>[0-9a-fx-]+)\]
vcmpe.f64 d0, d1
vmrs apsr_nzcv, fpscr
bgt #(?P<loc_4AE12C>[0-9a-fx]+)
vldr d0, \[r4, #0x20\]
vldr d1, \[pc, #(?P<dbl_minus_pi>[0-9a-fx-]+)\]
vcmpe.f64 d0, d1
vmrs apsr_nzcv, fpscr
blo #(?P<loc_4AE12C>[0-9a-fx]+)
vldr d1, \[pc, #(?P<dbl_just_pi>[0-9a-fx-]+)\]
vcmpe.f64 d0, d1
vmrs apsr_nzcv, fpscr
bgt #(?P<loc_4AE12C>[0-9a-fx]+)
ldr r[12], \[pc, #(?P<min_alt_below_home_inst2>[0-9a-fx]+)\]
ldr r0, \[r4, #0x28\]
cmp r0, r[12]
bhi #(?P<loc_4AE12C>[0-9a-fx]+)
ldr r[12], \[pc, #(?P<max_alt_above_home_inst2>[0-9a-fx]+)\]
cmp r0, r[12]
bgt #(?P<loc_4AE12C>[0-9a-fx]+)
ldrb.w r0, \[r4, #0x2c\]
cmp r0, #2
bhs #(?P<loc_4AE12C>[0-9a-fx]+)
""",
're_after': """ ; this code matches WM100 and WM220, but not WM330
ldrb.w r0, \[r4, #0x2d\]
cmp r0, #3
bhs #(?P<loc_4AE12C>[0-9a-fx]+)
vabs.f32 s0, s4
vcmpe.f32 s0, s5
vmrs apsr_nzcv, fpscr
ble #(?P<loc_4AE13E>[0-9a-fx]+)
loc_4AE12C:
bl #(?P<get_logger>[0-9a-fx]+)
ldr r2, \[r0, #0xc\]
movs r0, #0x28
; The function continues
""",
'vars': {
'wp_mission_data_verify': {'type': VarType.DIRECT_LINE_OF_CODE, 'variety': CodeVariety.FUNCTION},
'loc_4AE050': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4AE06C': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
'loc_4AE12C': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
#'loc_4AE13E': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.CHUNK},
#'get_logger': {'type': VarType.ABSOLUTE_ADDR_TO_CODE, 'variety': CodeVariety.FUNCTION},
'undefined_varlen_1': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT16_T, 'array': (40,64)},
'regsA': {'type': VarType.DIRECT_OPERAND, 'variety': DataVariety.UNKNOWN},
'byte_20428D08': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.UNKNOWN},
'rel_unkn_val1': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'rel_unkn_val2': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
#'rel_byte_2042B3B0': {'type': VarType.RELATIVE_OFFSET, 'variety': DataVariety.UNKNOWN},
'var_loop_limit1': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT8_T},
'max_unkn1_val': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT8_T},
'max_unkn2_val': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.INT8_T},
'dbl_just_pi': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_minus_pi': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_minus_pi_half': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'dbl_pi_half': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.DOUBLE},
'max_speed_pos': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "1.0", 'maxValue': "1000000.0", 'defaultValue': "15.0",
'description': "Max speed (positive value); in meters per second [m/s]"},
'max_speed_neg': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'minValue': "-1.0", 'maxValue': "-1000000.0", 'defaultValue': "-15.0",
'description': "Max speed (negative value); in meters per second [m/s]"},
'max_alt_above_home_inst2': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'depend': "max_alt_above_home", 'getter': (lambda val: val)},
'min_alt_below_home_inst2': {'type': VarType.RELATIVE_ADDR_TO_GLOBAL_DATA, 'baseaddr': "PC+", 'variety': DataVariety.FLOAT,
'public': "og_hardcoded.flyc", 'depend': "min_alt_below_home", 'getter': (lambda val: val)},
},
}
re_func_firmware_release_marking_WM330_V03_01_10_93 = {
'name': "firmware_release_marking",
'version': "wm330_0306_v03.01.10.93",
# if multiple copies of the pattern are found, make public vars from subsequent ones depend on first
'multiple': "depend",
're': """
dcb (?P<starter_odd_even>([0-9a-fx]+[, ]*){2,3})
dcb "SDK-v(?P<sdk_version>[1-2][.][0-9]) BETA"
dcb " (?P<product_code>[A-Z][A-Z]?[0-9][0-9][0-9])-"
dcb "(?P<firmware_version>[0-9][0-9][.][0-9][0-9][.][0-9][0-9][.][0-9][0-9])"
""",
'vars': {
'starter_odd_even': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.UINT8_T, 'array': (2,3)},
'sdk_version': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.CHAR, 'array': 3},
'product_code': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.CHAR, 'array': (4,5)},
'firmware_version': {'type': VarType.DIRECT_INT_VALUE, 'variety': DataVariety.CHAR, 'array': 11,
'public': "og_hardcoded.flyc", 'minValue': "00.00.00.00", 'maxValue': "99.99.99.99",
'description': "Firmware version number"},
},
}
re_func_check_activation_authority_WM220_V03_02_13_12 = {
'name': "check_activation_authority",
# No public properties - only here to avoid 'not found' warnings
'version': "wm220_0306_v03.02.13.12",
're': """
check_activation_authority:
push.w {(?P<regsA>(r[0-9]+[, ]*|[a-z][a-z][, ]*){5,8}), lr}
movs r4, r0
beq #(?P<loc_510806>[0-9a-fx]+)
ldr r0, \[pc, #0x1b4\]
ldrb.w r0, \[r0, #0x90f\]
cmp r0, #1
beq #(?P<loc_51080C>[0-9a-fx]+)
b #(?P<loc_510828>[0-9a-fx]+)
loc_510806:
movs r0, #1
locret_510808:
pop.w {(?P<regsA>(r[0-9]+[, ]*|[a-z][a-z][, ]*){5,8}), pc}
loc_51080C:
ldr r0, \[r4\]
sub.w r1, r0, #0x2700
subs r1, #0x66
beq #(?P<loc_5108A2>[0-9a-fx]+)
loc_510844:
ldr r0, \[r4\]
bl #(?P<sub_51078E>[0-9a-fx]+)
ldr.w r8, \[pc, #(?P<unkval_4350>[0-9a-fx]+)\]
movs r6, #0
cmp r0, #2
mov r5, r0
bhs #(?P<loc_5108B4>[0-9a-fx]+)