openpilot v0.9.4 release

date: 2023-07-27T18:38:32
master commit: fa310d9e25

panda/python/usb.py

@@ -0,0 +1,94 @@
+import struct
+
+from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
+from .constants import McuType
+
+class PandaUsbHandle(BaseHandle):
+  def __init__(self, libusb_handle):
+    self._libusb_handle = libusb_handle
+
+  def close(self):
+    self._libusb_handle.close()
+
+  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False):
+    return self._libusb_handle.controlWrite(request_type, request, value, index, data, timeout)
+
+  def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
+    return self._libusb_handle.controlRead(request_type, request, value, index, length, timeout)
+
+  def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
+    return self._libusb_handle.bulkWrite(endpoint, data, timeout)  # type: ignore
+
+  def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
+    return self._libusb_handle.bulkRead(endpoint, length, timeout)  # type: ignore
+
+
+
+class STBootloaderUSBHandle(BaseSTBootloaderHandle):
+  DFU_DNLOAD = 1
+  DFU_UPLOAD = 2
+  DFU_GETSTATUS = 3
+  DFU_CLRSTATUS = 4
+  DFU_ABORT = 6
+
+  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
+
+  def _status(self) -> None:
+    while 1:
+      dat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
+      if dat[1] == 0:
+        break
+
+  def _erase_page_address(self, address: int) -> None:
+    self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
+    self._status()
+
+  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 clear_status(self):
+    # Clear status
+    stat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
+    if stat[4] == 0xa:
+      self._libusb_handle.controlRead(0x21, self.DFU_CLRSTATUS, 0, 0, 0)
+    elif stat[4] == 0x9:
+      self._libusb_handle.controlWrite(0x21, self.DFU_ABORT, 0, 0, b"")
+      self._status()
+    stat = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
+
+  def close(self):
+    self._libusb_handle.close()
+
+  def program(self, address, dat):
+    # Set Address Pointer
+    self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
+    self._status()
+
+    # 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):
+      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)
+      self._status()
+
+  def jump(self, address):
+    self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
+    self._status()
+    try:
+      self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2, 0, b"")
+      _ = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
+    except Exception:
+      pass