mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-02-21 21:43:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

openpilot v0.8.8 release

Browse Source
This commit is contained in:
Vehicle Researcher
2021-08-22 22:13:11 -07:00
parent 444aace15f
commit baffaeee93
193 changed files with 60566 additions and 1933 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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"")