mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-02-19 18:13:57 +08:00
Code Issues Packages Projects Releases Wiki Activity

dragonpilot 2022-11-30T09:37:39 for EON/C2

Browse Source 
version: dragonpilot v0.9.1 beta for EON/C2
date: 2022-11-30T09:37:39
dp-dev(priv2) master commit: e2204c868277f20a263c2f93e88c42999d0b0c15
This commit is contained in:
Dragonpilot Team
2022-11-30 09:29:13 +00:00
committed by Comma Device
parent 1fdc1202d1
commit de34fa87ee
149 changed files with 9492 additions and 3631 deletions
Download Patch File Download Diff File Expand all files Collapse all files

76
panda/python/__init__.py
View File

@@ -8,18 +8,23 @@ import hashlib
import datetime
import traceback
import warnings
import logging
from functools import wraps
from typing import Optional
from itertools import accumulate
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, SECTOR_SIZES_FX, SECTOR_SIZES_H7 # noqa pylint: disable=import-error
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, SECTOR_SIZES_FX, SECTOR_SIZES_H7
from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7
from .isotp import isotp_send, isotp_recv
from .spi import SpiHandle
__version__ = '0.0.10'
# setup logging
LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
logging.basicConfig(level=LOGLEVEL, format='%(message)s')
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEBUG = os.getenv("PANDADEBUG") is not None
@@ -49,7 +54,7 @@ def pack_can_buffer(arr):
snds.append(b'')
idx += 1
#Apply counter to each 64 byte packet
# Apply counter to each 64 byte packet
for idx in range(len(snds)):
tx = b''
counter = 0
@@ -167,6 +172,7 @@ class Panda:
SERIAL_ESP = 1
SERIAL_LIN1 = 2
SERIAL_LIN2 = 3
SERIAL_SOM_DEBUG = 4
GMLAN_CAN2 = 1
GMLAN_CAN3 = 2
@@ -183,6 +189,7 @@ class Panda:
HW_TYPE_DOS = b'\x06'
HW_TYPE_RED_PANDA = b'\x07'
HW_TYPE_RED_PANDA_V2 = b'\x08'
HW_TYPE_TRES = b'\x09'
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 11
@@ -192,10 +199,10 @@ class Panda:
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, HW_TYPE_RED_PANDA_V2)
H7_DEVICES = (HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS)
HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2)
HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
CLOCK_SOURCE_MODE_DISABLED = 0
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
@@ -213,8 +220,8 @@ class Panda:
FLAG_HYUNDAI_HYBRID_GAS = 2
FLAG_HYUNDAI_LONG = 4
FLAG_HYUNDAI_CAMERA_SCC = 8
FLAG_HYUNDAI_CANFD_HDA2 = 8
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 16
FLAG_HYUNDAI_CANFD_HDA2 = 16
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
@@ -229,7 +236,7 @@ class Panda:
FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
def __init__(self, serial: Optional[str] = None, claim: bool = True, spi: bool = False, disable_checks: bool = True):
self._serial = serial
self._disable_checks = disable_checks
@@ -237,9 +244,9 @@ class Panda:
self._bcd_device = None
# connect and set mcu type
self._spi = spi
self.connect(claim)
def close(self):
self._handle.close()
self._handle = None
@@ -247,10 +254,30 @@ class Panda:
def connect(self, claim=True, wait=False):
if self._handle is not None:
self.close()
context = usb1.USBContext()
self._handle = None
if self._spi:
self._handle = SpiHandle()
# TODO implement
self._serial = "SPIDEV"
self.bootstub = False
else:
self.usb_connect(claim=claim, wait=wait)
assert self._handle is not None
self._mcu_type = self.get_mcu_type()
self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
print("connected")
# disable openpilot's heartbeat checks
if self._disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
def usb_connect(self, claim=True, wait=False):
context = usb1.USBContext()
while 1:
try:
for device in context.getDeviceList(skip_on_error=True):
@@ -283,16 +310,6 @@ class Panda:
break
context = usb1.USBContext() # New context needed so new devices show up
assert self._handle is not None
self._mcu_type = self.get_mcu_type()
self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
print("connected")
# disable openpilot's heartbeat checks
if self._disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
try:
if enter_bootloader:
@@ -583,9 +600,6 @@ class Panda:
# ******************* configuration *******************
def set_usb_power(self, on):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, int(on), 0, b'')
def set_power_save(self, power_save_enabled=0):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
@@ -711,7 +725,7 @@ class Panda:
def serial_write(self, port_number, ln):
ret = 0
for i in range(0, len(ln), 0x20):
ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + bytes(ln[i:i + 0x20], 'utf-8'))
return ret
def serial_clear(self, port_number):
@@ -834,7 +848,3 @@ class Panda:
# ****************** Siren *****************
def set_siren(self, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
# ****************** Debug *****************
def set_green_led(self, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')

74
panda/python/flash_release.py
View File

@@ -1,74 +0,0 @@
#!/usr/bin/env python3
import sys
import time
import requests
import json
import io
def flash_release(path=None, st_serial=None):
from panda import Panda, PandaDFU
from zipfile import ZipFile
def status(x):
print("\033[1;32;40m" + x + "\033[00m")
if st_serial is not None:
# look for Panda
panda_list = Panda.list()
if len(panda_list) == 0:
raise Exception("panda not found, make sure it's connected and your user can access it")
elif len(panda_list) > 1:
raise Exception("Please only connect one panda")
st_serial = panda_list[0]
print("Using panda with serial %s" % st_serial)
if path is None:
print("Fetching latest firmware from github.com/commaai/panda-artifacts")
r = requests.get("https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json")
url = json.loads(r.text)['url']
r = requests.get(url)
print("Fetching firmware from %s" % url)
path = io.BytesIO(r.content)
zf = ZipFile(path)
zf.printdir()
version = zf.read("version").decode().strip()
status("0. Preparing to flash " + str(version))
code_bootstub = zf.read("bootstub.panda.bin")
code_panda = zf.read("panda.bin")
# enter DFU mode
status("1. Entering DFU mode")
panda = Panda(st_serial)
panda.reset(enter_bootstub=True)
panda.reset(enter_bootloader=True)
time.sleep(1)
# program bootstub
status("2. Programming bootstub")
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(st_serial))
dfu.program_bootstub(code_bootstub)
time.sleep(1)
# flash main code
status("3. Flashing main code")
panda = Panda(st_serial)
panda.flash(code=code_panda)
panda.close()
# check for connection
status("4. Verifying version")
panda = Panda(st_serial)
my_version = panda.get_version()
print("dongle id: %s" % panda.get_serial()[0])
print(my_version, "should be", version)
assert(str(version) == str(my_version))
# done!
status("6. Success!")
if __name__ == "__main__":
flash_release(*sys.argv[1:])

105
panda/python/spi.py Normal file
View File

@@ -0,0 +1,105 @@
import math
import struct
import spidev
import logging
from functools import reduce
from typing import List
# Constants
SYNC = 0x5A
HACK = 0x79
DACK = 0x85
NACK = 0x1F
CHECKSUM_START = 0xAB
MAX_RETRY_COUNT = 5
USB_MAX_SIZE = 0x40
# This mimics the handle given by libusb1 for easy interoperability
class SpiHandle:
def __init__(self):
self.spi = spidev.SpiDev() # pylint: disable=c-extension-no-member
self.spi.open(0, 0)
self.spi.max_speed_hz = 30000000
# helpers
def _calc_checksum(self, data: List[int]) -> int:
cksum = CHECKSUM_START
for b in data:
cksum ^= b
return cksum
def _transfer(self, endpoint: int, data, max_rx_len: int = 1000) -> bytes:
logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
logging.debug("==============================================")
for n in range(MAX_RETRY_COUNT):
logging.debug("\ntry #%d", n+1)
try:
logging.debug("- send header")
packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
self.spi.xfer2(packet)
logging.debug("- waiting for ACK")
# TODO: add timeout?
dat = b"\x00"
while dat[0] not in [HACK, NACK]:
dat = self.spi.xfer2(b"\x12")
if dat[0] == NACK:
raise Exception("Got NACK response for header")
# send data
logging.debug("- sending data")
packet = bytes([*data, self._calc_checksum(data)])
self.spi.xfer2(packet)
logging.debug("- waiting for ACK")
dat = b"\x00"
while dat[0] not in [DACK, NACK]:
dat = self.spi.xfer2(b"\xab")
if dat[0] == NACK:
raise Exception("Got NACK response for data")
# get response length, then response
response_len_bytes = bytes(self.spi.xfer2(b"\x00" * 2))
response_len = struct.unpack("<H", response_len_bytes)[0]
logging.debug("- receiving response")
dat = bytes(self.spi.xfer2(b"\x00" * (response_len + 1)))
if self._calc_checksum([DACK, *response_len_bytes, *dat]) != 0:
raise Exception("SPI got bad checksum")
return dat[:-1]
except Exception:
logging.exception("SPI transfer failed, %d retries left", n)
raise Exception(f"SPI transaction failed {MAX_RETRY_COUNT} times")
# libusb1 functions
def close(self):
self.spi.close()
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = 0):
return self._transfer(0, struct.pack("<BHHH", request, value, index, 0))
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = 0):
return self._transfer(0, struct.pack("<BHHH", request, value, index, length))
# TODO: implement these properly
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = 0) -> int:
for x in range(math.ceil(len(data) / USB_MAX_SIZE)):
self._transfer(endpoint, data[USB_MAX_SIZE*x:USB_MAX_SIZE*(x+1)])
return len(data)
def bulkRead(self, endpoint: int, length: int, timeout: int = 0) -> bytes:
ret: List[int] = []
for _ in range(math.ceil(length / USB_MAX_SIZE)):
d = self._transfer(endpoint, [], max_rx_len=USB_MAX_SIZE)
ret += d
if len(d) < USB_MAX_SIZE:
break
return bytes(ret)

44
panda/python/update.py
View File

@@ -1,44 +0,0 @@
#!/usr/bin/env python3
import os
import time
def ensure_st_up_to_date():
from panda import Panda, PandaDFU, BASEDIR
with open(os.path.join(BASEDIR, "VERSION")) as f:
repo_version = f.read()
repo_version += "-EON" if os.path.isfile('/EON') else "-DEV"
panda = None
panda_dfu = None
while 1:
# break on normal mode Panda
panda_list = Panda.list()
if len(panda_list) > 0:
panda = Panda(panda_list[0])
break
# flash on DFU mode Panda
panda_dfu = PandaDFU.list()
if len(panda_dfu) > 0:
panda_dfu = PandaDFU(panda_dfu[0])
panda_dfu.recover()
print("waiting for board...")
time.sleep(1)
if panda.bootstub or not panda.get_version().startswith(repo_version):
panda.flash()
if panda.bootstub:
panda.recover()
assert(not panda.bootstub)
version = str(panda.get_version())
print("%s should be %s" % (version, repo_version))
assert(version.startswith(repo_version))
if __name__ == "__main__":
ensure_st_up_to_date()