openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 
 
 

88 lines
4.0 KiB

#!/usr/bin/env python3
import sys
import zlib
def patch(input_filepath, output_filepath, patches):
with open(input_filepath, 'rb') as infile: data = bytearray(infile.read())
for offset, expected_bytes, new_bytes in patches:
if len(expected_bytes) != len(new_bytes):
print(len(expected_bytes), len(new_bytes))
raise ValueError("Expected bytes and new bytes must be the same length")
if offset + len(new_bytes) > len(data): return False
current_bytes = data[offset:offset + len(expected_bytes)]
assert bytes(current_bytes) == expected_bytes, f"Expected {expected_bytes} at offset {offset:x}, but got {current_bytes}"
data[offset:offset + len(new_bytes)] = new_bytes
checksum = sum(data[4:-6]) & 0xff
crc32 = zlib.crc32(data[4:-6]).to_bytes(4, 'little')
data[-5] = checksum
data[-4] = crc32[0]
data[-3] = crc32[1]
data[-2] = crc32[2]
data[-1] = crc32[3]
with open(output_filepath, 'wb') as outfile:
outfile.write(data)
return True
patches = [
# (0x3903 + 1 + 4, b'\x8a', b'\x8b'),
# (0x3cf9 + 1 + 4, b'\x8a', b'\x8b'), # this is the one which triggered...
(0x2a0d + 1 + 4, b'\x0a', b'\x05'), # write handle exit with code 5 (?)
# (0x40e1 + 4, b'\x90\x06\xe6\x04\xf0\x78\x0d\xe6\xfe\x24\x71\x12\x1b\x0b\x60\x0b\x74\x08', b'\x7f\x00\x12\x53\x21\x12\x1c\xfc\x74\x01\xf6\x90\x90\x94\x74\x10\xf0\x22')
# (0x29ad + 1 + 4, b'\x09', b'\x05'), # write handle exit with code 5 (?)
# (0x40ef + 0 + 4, b'\x60', b'\x70'), # jz -> jnz
# (0x40e1 + 0 + 4, b'\x90', b'\x22'), # jmp -> ret
# (0x40fa + 0 + 4, b'\x80', b'\x22'),
# (0x40e1 + 0 + 4, b'\x90\x06\xe6\x04\xf0', b'\x7f\x00\x02\x41\x7c'), # jmp -> ret
]
next_traphandler = 0
def add_traphandler(addr, sec):
global next_traphandler, patches
trap_addr = 0x6000 + next_traphandler * 0x20
return_addr = addr + len(sec)
cntr_addr = 0x3000 + next_traphandler
patches += [
(addr + 4, sec, b'\x02' + trap_addr.to_bytes(2, 'big') + b'\x22'*(len(sec)-3)),
(trap_addr + 4, b'\x00' * (21 + len(sec)),
b'\xc0\xe0\xc0\x82\xc0\x83\x90' + cntr_addr.to_bytes(2, 'big') + b'\xe0\x04\xf0\xd0\x83\xd0\x82\xd0\xe0' + sec + b'\x02' + return_addr.to_bytes(2, 'big')),
]
next_traphandler += 1
# add_traphandler(0x0206, b'\xed\x54\x06') # fill_scsi_resp
# add_traphandler(0x40d9, b'\x78\x6a\xe6') # fill_scsi_to_usb_transport
# add_traphandler(0x4d44, b'\x78\x6a\xe6') # FUN_CODE_4d44
# add_traphandler(0x4784, b'\x78\x6a\xe6') # FUN_CODE_4784
# add_traphandler(0x3e81, b'\x90\xc5\x16') # FUN_CODE_3e81
# add_traphandler(0x32a5, b'\x78\x6a\xe6') # FUN_CODE_32a5
# add_traphandler(0x2a10, b'\x90\xc4\x51') # FUN_CODE_2a10
# add_traphandler(0x2608, b'\x12\x16\x87') # FUN_CODE_2608
# add_traphandler(0x0e78, b'\x90\xc8\x02') # main usb entry
# add_traphandler(0x102f, b'\x12\x18\x0d') # possible scsi entry parser
# add_traphandler(0x1198, b'\x12\x18\x0d') # close_to_scsi_parse_1_and_set_c47a_to_0xff caller to scsi
# add_traphandler(0x180d, b'\x90\x0a\x7d') # close_to_scsi_parse
# add_traphandler(0x1114, b'\x75\x37\x00') # entry into if ((DAT_EXTMEM_c802 >> 2 & 1) != 0) { in main usb entry
# add_traphandler(0x113a, b'\x90\x90\x00') # exit from scsi parse loop
# add_traphandler(0x117b, b'\xd0\x07\xd0\x06') # exit from main usb entry
# add_traphandler(0x2f81, b'\x90\x0a\x59') # main loop? 8
# add_traphandler(0xc7a7, b'\x90\x09\xfa') # call smth in write path 9
# add_traphandler(0x2fcb, b'\x90\x0a\x59') # if ((DAT_EXTMEM_0ae2 != 0) && (DAT_EXTMEM_0ae2 != 0x10)) {
# add_traphandler(0x2fc0, b'\x90\x0a\xe2') # submain loop 11
# add_traphandler(0x30be, b'\x90\x0a\x5a') # aft sub loop 12
# add_traphandler(0x3076, b'\x12\x03\x59') # call to call_wait_for_nvme??(); 13
# add_traphandler(0x30ad, b'\x12\x04\xe4') # call to call_wait_for_nvme??(); 14
# add_traphandler(0x2608, b'\x12\x16\x87') # FUN_CODE_2608
# add_traphandler(0x10ee, b'\x90\x04\x64') # iniside trap handler
# add_traphandler(0x10e0, b'\x90\xc8\x06') # iniside trap handler
# add_traphandler(0x4977, b'\x90\x0a\xa8') # waiter for nvme???
assert patch(sys.argv[1], sys.argv[2], patches) is True