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dragonpilot beta3

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date: 2023-10-09T10:55:55
commit: 91b6e3aecd7170f24bccacb10c515ec281c30295
This commit is contained in:
dragonpilot
2023-10-09 10:54:45 -07:00
parent a9ba3193e2
commit cfe0ae9b8a
518 changed files with 159750 additions and 17402 deletions
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84
panda/python/__init__.py
View File

@@ -8,7 +8,7 @@ import hashlib
import binascii
import datetime
import logging
from functools import wraps
from functools import wraps, partial
from typing import Optional
from itertools import accumulate
@@ -90,53 +90,21 @@ def unpack_can_buffer(dat):
return (ret, dat)
def ensure_health_packet_version(fn):
def ensure_version(desc, lib_field, panda_field, fn):
@wraps(fn)
def wrapper(self, *args, **kwargs):
if self.health_version < self.HEALTH_PACKET_VERSION:
raise RuntimeError("Panda firmware has outdated health packet definition. Reflash panda firmware.")
elif self.health_version > self.HEALTH_PACKET_VERSION:
raise RuntimeError("Panda python library has outdated health packet definition. Update panda python library.")
lib_version = getattr(self, lib_field)
panda_version = getattr(self, panda_field)
if lib_version != panda_version:
raise RuntimeError(f"{desc} packet version mismatch: panda's firmware v{panda_version}, library v{lib_version}. Reflash panda.")
return fn(self, *args, **kwargs)
return wrapper
ensure_can_packet_version = partial(ensure_version, "CAN", "CAN_PACKET_VERSION", "can_version")
ensure_can_health_packet_version = partial(ensure_version, "CAN health", "CAN_HEALTH_PACKET_VERSION", "can_health_version")
ensure_health_packet_version = partial(ensure_version, "health", "HEALTH_PACKET_VERSION", "health_version")
def ensure_can_packet_version(fn):
@wraps(fn)
def wrapper(self, *args, **kwargs):
if self.can_version < self.CAN_PACKET_VERSION:
raise RuntimeError("Panda firmware has outdated CAN packet definition. Reflash panda firmware.")
elif self.can_version > self.CAN_PACKET_VERSION:
raise RuntimeError("Panda python library has outdated CAN packet definition. Update panda python library.")
return fn(self, *args, **kwargs)
return wrapper
def ensure_can_health_packet_version(fn):
@wraps(fn)
def wrapper(self, *args, **kwargs):
if self.can_health_version < self.CAN_HEALTH_PACKET_VERSION:
raise RuntimeError("Panda firmware has outdated CAN health packet definition. Reflash panda firmware.")
elif self.can_health_version > self.CAN_HEALTH_PACKET_VERSION:
raise RuntimeError("Panda python library has outdated CAN health packet definition. Update panda python library.")
return fn(self, *args, **kwargs)
return wrapper
def parse_timestamp(dat):
a = struct.unpack("HBBBBBB", dat)
if a[0] == 0:
return None
try:
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
except ValueError:
return None
def unpack_log(dat):
return {
'id': struct.unpack("H", dat[:2])[0],
'timestamp': parse_timestamp(dat[2:10]),
'uptime': struct.unpack("I", dat[10:14])[0],
'msg': bytes(dat[14:]).decode('utf-8', 'ignore').strip('\x00'),
}
class ALTERNATIVE_EXPERIENCE:
DEFAULT = 0
@@ -239,6 +207,7 @@ class Panda:
FLAG_HYUNDAI_CANFD_HDA2 = 16
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
FLAG_HYUNDAI_ALT_LIMITS = 64
FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
@@ -251,6 +220,8 @@ class Panda:
FLAG_SUBARU_GEN2 = 1
FLAG_SUBARU_LONG = 2
FLAG_NISSAN_ALT_EPS_BUS = 1
FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
@@ -281,6 +252,8 @@ class Panda:
if self._handle_open:
self._handle.close()
self._handle_open = False
if self._context is not None:
self._context.close()
def connect(self, claim=True, wait=False):
self.close()
@@ -288,9 +261,9 @@ class Panda:
self._handle = None
while self._handle is None:
# try USB first, then SPI
self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim)
self._context, self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim)
if self._handle is None:
self._handle, serial, self.bootstub, bcd = self.spi_connect(self._connect_serial)
self._context, self._handle, serial, self.bootstub, bcd = self.spi_connect(self._connect_serial)
if not wait:
break
@@ -366,7 +339,7 @@ class Panda:
err = f"panda protocol mismatch: expected {handle.PROTOCOL_VERSION}, got {spi_version}. reflash panda"
raise PandaProtocolMismatch(err)
return handle, spi_serial, bootstub, None
return None, handle, spi_serial, bootstub, None
@classmethod
def usb_connect(cls, serial, claim=True):
@@ -408,7 +381,7 @@ class Panda:
else:
context.close()
return usb_handle, usb_serial, bootstub, bcd
return context, usb_handle, usb_serial, bootstub, bcd
@classmethod
def list(cls): # noqa: A003
@@ -437,7 +410,7 @@ class Panda:
@classmethod
def spi_list(cls):
_, serial, _, _ = cls.spi_connect(None, ignore_version=True)
_, _, serial, _, _ = cls.spi_connect(None, ignore_version=True)
if serial is not None:
return [serial, ]
return []
@@ -468,7 +441,7 @@ class Panda:
success = False
# wait up to 15 seconds
for _ in range(0, 15*10):
for _ in range(15*10):
try:
self.connect()
success = True
@@ -976,7 +949,8 @@ class Panda:
def get_datetime(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa0, 0, 0, 8)
return parse_timestamp(dat)
a = struct.unpack("HBBBBBB", dat)
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
# ****************** Timer *****************
def get_microsecond_timer(self):
@@ -1013,15 +987,3 @@ class Panda:
def force_relay_drive(self, intercept_relay_drive, ignition_relay_drive):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xc5, (int(intercept_relay_drive) | int(ignition_relay_drive) << 1), 0, b'')
# ****************** Logging *****************
def get_logs(self, last_id=None, get_all=False):
assert (last_id is None) or (0 <= last_id < 0xFFFF)
logs = []
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfd, 1 if get_all else 0, last_id if last_id is not None else 0xFFFF, 0x40)
while len(dat) > 0:
if len(dat) == 0x40:
logs.append(unpack_log(dat))
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfd, 0, 0xFFFF, 0x40)
return logs

7
panda/python/base.py
View File

@@ -53,14 +53,9 @@ class BaseSTBootloaderHandle(ABC):
...
@abstractmethod
def erase_app(self) -> None:
...
@abstractmethod
def erase_bootstub(self) -> None:
def erase_sector(self, sector: int) -> None:
...
@abstractmethod
def jump(self, address: int) -> None:
...

1
panda/python/ccp.py
View File

@@ -1,4 +1,3 @@
#!/usr/bin/env python3
import sys
import time
import struct

15
panda/python/constants.py
View File

@@ -10,35 +10,40 @@ USBPACKET_MAX_SIZE = 0x40
class McuConfig(NamedTuple):
mcu: str
mcu_idcode: int
sector_sizes: List[int]
sector_count: int # total sector count, used for MCU identification in DFU mode
uid_address: int
block_size: int
sector_sizes: List[int]
serial_number_address: int
app_address: int
app_fn: str
bootstub_address: int
bootstub_fn: str
def sector_address(self, i):
# assume bootstub is in sector 0
return self.bootstub_address + sum(self.sector_sizes[:i])
Fx = (
0x1FFF7A10,
0x800,
[0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
0x1FFF79C0,
0x8004000,
"panda.bin.signed",
0x8000000,
"bootstub.panda.bin",
)
F2Config = McuConfig("STM32F2", 0x411, *Fx)
F4Config = McuConfig("STM32F4", 0x463, *Fx)
F2Config = McuConfig("STM32F2", 0x411, [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(7)], 12, *Fx)
F4Config = McuConfig("STM32F4", 0x463, [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)], 16, *Fx)
H7Config = McuConfig(
"STM32H7",
0x483,
[0x20000 for _ in range(7)],
8,
0x1FF1E800,
0x400,
# there is an 8th sector, but we use that for the provisioning chunk, so don't program over that!
[0x20000 for _ in range(7)],
0x080FFFC0,
0x8020000,
"panda_h7.bin.signed",

34
panda/python/dfu.py
View File

@@ -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
@@ -56,7 +69,7 @@ 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]: # noqa: A003
@@ -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):

11
panda/python/spi.py
View File

@@ -17,10 +17,8 @@ from .utils import crc8_pedal
try:
import spidev
import spidev2
except ImportError:
spidev = None
spidev2 = None
# Constants
SYNC = 0x5A
@@ -194,6 +192,7 @@ class PandaSpiHandle(BaseHandle):
return dat[3:-1]
def _transfer_kernel_driver(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
import spidev2
self.tx_buf[:len(data)] = data
self.ioctl_data.endpoint = endpoint
self.ioctl_data.tx_length = len(data)
@@ -403,12 +402,6 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
# *** PandaDFU API ***
def erase_app(self):
self.erase_sector(1)
def erase_bootstub(self):
self.erase_sector(0)
def get_mcu_type(self):
return self._mcu_type
@@ -421,7 +414,7 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
def program(self, address, dat):
bs = 256 # max block size for writing to flash over SPI
dat += b"\xFF" * ((bs - len(dat)) % bs)
for i in range(0, len(dat) // bs):
for i in range(len(dat) // bs):
block = dat[i * bs:(i + 1) * bs]
self._cmd(0x31, data=[
struct.pack('>I', address + i*bs),

1
panda/python/uds.py
View File

@@ -1,4 +1,3 @@
#!/usr/bin/env python3
import time
import struct
from collections import deque

22
panda/python/usb.py
View File

@@ -34,9 +34,16 @@ class STBootloaderUSBHandle(BaseSTBootloaderHandle):
def __init__(self, libusb_device, libusb_handle):
self._libusb_handle = libusb_handle
# TODO: Find a way to detect F4 vs F2
# TODO: also check F4 BCD, don't assume in else
self._mcu_type = McuType.H7 if libusb_device.getbcdDevice() == 512 else McuType.F4
# example from F4: lsusb -v | grep Flash
# iInterface 4 @Internal Flash /0x08000000/04*016Kg,01*064Kg,011*128Kg
for i in range(20):
desc = libusb_handle.getStringDescriptor(i, 0)
if desc is not None and desc.startswith("@Internal Flash"):
sector_count = sum([int(s.split('*')[0]) for s in desc.split('/')[-1].split(',')])
break
mcu_by_sector_count = {m.config.sector_count: m for m in McuType}
assert sector_count in mcu_by_sector_count, f"Unkown MCU: {sector_count=}"
self._mcu_type = mcu_by_sector_count[sector_count]
def _status(self) -> None:
while 1:
@@ -51,11 +58,8 @@ class STBootloaderUSBHandle(BaseSTBootloaderHandle):
def get_mcu_type(self):
return self._mcu_type
def erase_app(self):
self._erase_page_address(self._mcu_type.config.app_address)
def erase_bootstub(self):
self._erase_page_address(self._mcu_type.config.bootstub_address)
def erase_sector(self, sector: int):
self._erase_page_address(self._mcu_type.config.sector_address(sector))
def clear_status(self):
# Clear status
@@ -78,7 +82,7 @@ class STBootloaderUSBHandle(BaseSTBootloaderHandle):
# Program
bs = min(len(dat), self._mcu_type.config.block_size)
dat += b"\xFF" * ((bs - len(dat)) % bs)
for i in range(0, len(dat) // bs):
for i in range(len(dat) // bs):
ldat = dat[i * bs:(i + 1) * bs]
print("programming %d with length %d" % (i, len(ldat)))
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2 + i, 0, ldat)