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openpilot v0.8.8 release

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Vehicle Researcher
2021-08-22 22:13:11 -07:00
parent 444aace15f
commit baffaeee93
193 changed files with 60566 additions and 1933 deletions
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38
panda/python/__init__.py
View File

@@ -8,17 +8,16 @@ import os
import time
import traceback
import sys
from .dfu import PandaDFU # pylint: disable=import-error
from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7 # pylint: disable=import-error
from .flash_release import flash_release # noqa pylint: disable=import-error
from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
from .serial import PandaSerial # noqa pylint: disable=import-error
from .isotp import isotp_send, isotp_recv # pylint: disable=import-error
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN # noqa pylint: disable=import-error
__version__ = '0.0.9'
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
DEBUG = os.getenv("PANDADEBUG") is not None
@@ -139,6 +138,11 @@ class Panda(object):
HW_TYPE_PEDAL = b'\x04'
HW_TYPE_UNO = b'\x05'
HW_TYPE_DOS = b'\x06'
HW_TYPE_RED_PANDA = b'\x07'
F2_DEVICES = [HW_TYPE_PEDAL]
F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
H7_DEVICES = [HW_TYPE_RED_PANDA]
CLOCK_SOURCE_MODE_DISABLED = 0
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
@@ -151,6 +155,7 @@ class Panda(object):
self._serial = serial
self._handle = None
self.connect(claim)
self._mcu_type = self.get_mcu_type()
def close(self):
self._handle.close()
@@ -225,7 +230,7 @@ class Panda(object):
except Exception:
print("reconnecting is taking %d seconds..." % (i + 1))
try:
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
dfu.recover()
except Exception:
pass
@@ -262,6 +267,8 @@ class Panda(object):
pass
def flash(self, fn=DEFAULT_FW_FN, code=None, reconnect=True):
if self._mcu_type == MCU_TYPE_H7 and fn == DEFAULT_FW_FN:
fn = DEFAULT_H7_FW_FN
print("flash: main version is " + self.get_version())
if not self.bootstub:
self.reset(enter_bootstub=True)
@@ -291,7 +298,7 @@ class Panda(object):
if timeout is not None and (time.time() - t_start) > timeout:
return False
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
dfu.recover()
# reflash after recover
@@ -401,9 +408,25 @@ class Panda(object):
def is_dos(self):
return self.get_type() == Panda.HW_TYPE_DOS
def is_red(self):
return self.get_type() == Panda.HW_TYPE_RED_PANDA
def get_mcu_type(self):
hw_type = self.get_type()
if hw_type in Panda.F2_DEVICES:
return MCU_TYPE_F2
elif hw_type in Panda.F4_DEVICES:
return MCU_TYPE_F4
elif hw_type in Panda.H7_DEVICES:
return MCU_TYPE_H7
return None
def has_obd(self):
return (self.is_uno() or self.is_dos() or self.is_black())
return (self.is_uno() or self.is_dos() or self.is_black() or self.is_red())
def has_canfd(self):
return self._mcu_type in Panda.H7_DEVICES
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
@@ -460,6 +483,9 @@ class Panda(object):
def set_can_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed * 10), b'')
def set_can_data_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')

18
panda/python/config.py Normal file
View File

@@ -0,0 +1,18 @@
import os
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
BOOTSTUB_ADDRESS = 0x8000000
BLOCK_SIZE_FX = 0x800
APP_ADDRESS_FX = 0x8004000
DEVICE_SERIAL_NUMBER_ADDR_FX = 0x1FFF79C0
DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
DEFAULT_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin")
BLOCK_SIZE_H7 = 0x400
APP_ADDRESS_H7 = 0x8020000
DEVICE_SERIAL_NUMBER_ADDR_H7 = 0x080FFFC0
DEFAULT_H7_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed")
DEFAULT_H7_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin")

35
panda/python/dfu.py
View File

@@ -1,10 +1,14 @@
import os
import usb1
import struct
import binascii
from .config import BOOTSTUB_ADDRESS, APP_ADDRESS_H7, APP_ADDRESS_FX, BLOCK_SIZE_H7, BLOCK_SIZE_FX, DEFAULT_H7_BOOTSTUB_FN, DEFAULT_BOOTSTUB_FN
MCU_TYPE_F2 = 0
MCU_TYPE_F4 = 1
MCU_TYPE_H7 = 2
# *** DFU mode ***
DFU_DNLOAD = 1
DFU_UPLOAD = 2
DFU_GETSTATUS = 3
@@ -21,6 +25,7 @@ class PandaDFU(object):
except Exception:
continue
if this_dfu_serial == dfu_serial or dfu_serial is None:
self._mcu_type = self.get_mcu_type(device)
self._handle = device.open()
return
raise Exception("failed to open " + dfu_serial if dfu_serial is not None else "DFU device")
@@ -41,11 +46,18 @@ class PandaDFU(object):
return dfu_serials
@staticmethod
def st_serial_to_dfu_serial(st):
def st_serial_to_dfu_serial(st, mcu_type=MCU_TYPE_F4):
if st is None or st == "none":
return None
uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
if mcu_type == MCU_TYPE_H7:
return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
else:
return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
# TODO: Find a way to detect F4 vs F2
def get_mcu_type(self, dev):
return MCU_TYPE_H7 if dev.getbcdDevice() == 512 else MCU_TYPE_F4
def status(self):
while 1:
@@ -85,14 +97,17 @@ class PandaDFU(object):
def program_bootstub(self, code_bootstub):
self.clear_status()
self.erase(0x8004000)
self.erase(0x8000000)
self.program(0x8000000, code_bootstub, 0x800)
self.erase(BOOTSTUB_ADDRESS)
if self._mcu_type == MCU_TYPE_H7:
self.erase(APP_ADDRESS_H7)
self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_H7)
else:
self.erase(APP_ADDRESS_FX)
self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_FX)
self.reset()
def recover(self):
from panda import BASEDIR
fn = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin")
fn = DEFAULT_H7_BOOTSTUB_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_BOOTSTUB_FN
with open(fn, "rb") as f:
code = f.read()
@@ -101,7 +116,7 @@ class PandaDFU(object):
def reset(self):
# **** Reset ****
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", 0x8000000))
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", BOOTSTUB_ADDRESS))
self.status()
try:
self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")