openpilot v0.9.5 release

date: 2023-11-17T23:53:40
master commit: d3aad9ca46

panda/python/dfu.py

@@ -14,9 +14,9 @@ class PandaDFU:
   def __init__(self, dfu_serial: Optional[str]):
     # try USB, then SPI
     handle: Optional[BaseSTBootloaderHandle]
-    handle = PandaDFU.usb_connect(dfu_serial)
+    self._context, handle = PandaDFU.usb_connect(dfu_serial)
     if handle is None:
-      handle = PandaDFU.spi_connect(dfu_serial)
+      self._context, handle = PandaDFU.spi_connect(dfu_serial)
 
     if handle is None:
       raise Exception(f"failed to open DFU device {dfu_serial}")
@@ -24,8 +24,21 @@ class PandaDFU:
     self._handle: BaseSTBootloaderHandle = handle
     self._mcu_type: McuType = self._handle.get_mcu_type()
 
+  def __enter__(self):
+    return self
+
+  def __exit__(self, *args):
+    self.close()
+
+  def close(self):
+    if self._handle is not None:
+      self._handle.close()
+      self._handle = None
+      if self._context is not None:
+        self._context.close()
+
   @staticmethod
-  def usb_connect(dfu_serial: Optional[str]) -> Optional[STBootloaderUSBHandle]:
+  def usb_connect(dfu_serial: Optional[str]):
     handle = None
     context = usb1.USBContext()
     context.open()
@@ -40,10 +53,10 @@ class PandaDFU:
           handle = STBootloaderUSBHandle(device, device.open())
           break
 
-    return handle
+    return context, handle
 
   @staticmethod
-  def spi_connect(dfu_serial: Optional[str]) -> Optional[STBootloaderSPIHandle]:
+  def spi_connect(dfu_serial: Optional[str]):
     handle = None
     this_dfu_serial = None
 
@@ -56,10 +69,10 @@ class PandaDFU:
     if dfu_serial is not None and dfu_serial != this_dfu_serial:
       handle = None
 
-    return handle
+    return None, handle
 
   @staticmethod
-  def list() -> List[str]:
+  def list() -> List[str]: # noqa: A003
     ret = PandaDFU.usb_list()
     ret += PandaDFU.spi_list()
     return list(set(ret))
@@ -82,7 +95,7 @@ class PandaDFU:
   @staticmethod
   def spi_list() -> List[str]:
     try:
-      h = PandaDFU.spi_connect(None)
+      _, h = PandaDFU.spi_connect(None)
       if h is not None:
         dfu_serial = PandaDFU.st_serial_to_dfu_serial(h.get_uid(), h.get_mcu_type())
         return [dfu_serial, ]
@@ -108,8 +121,11 @@ class PandaDFU:
 
   def program_bootstub(self, code_bootstub):
     self._handle.clear_status()
-    self._handle.erase_bootstub()
-    self._handle.erase_app()
+
+    # erase all sectors
+    for i in range(len(self._mcu_type.config.sector_sizes)):
+      self._handle.erase_sector(i)
+
     self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub)
 
   def recover(self):