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Merge panda subtree

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Vehicle Researcher
2019-10-09 18:31:56 +00:00
parent d17745fb5e 38faf7f8a4
commit f2de9784f8
98 changed files with 1314 additions and 796 deletions
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70
panda/python/__init__.py
View File

@@ -1,5 +1,5 @@
# python library to interface with panda
from __future__ import print_function
import binascii
import struct
import hashlib
@@ -9,12 +9,12 @@ import os
import time
import traceback
import subprocess
from dfu import PandaDFU
from esptool import ESPROM, CesantaFlasher
from flash_release import flash_release
from update import ensure_st_up_to_date
from serial import PandaSerial
from isotp import isotp_send, isotp_recv
from .dfu import PandaDFU
from .esptool import ESPROM, CesantaFlasher
from .flash_release import flash_release
from .update import ensure_st_up_to_date
from .serial import PandaSerial
from .isotp import isotp_send, isotp_recv
__version__ = '0.0.9'
@@ -23,7 +23,6 @@ BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEBUG = os.getenv("PANDADEBUG") is not None
# *** wifi mode ***
def build_st(target, mkfile="Makefile"):
from panda import BASEDIR
cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
@@ -46,7 +45,7 @@ def parse_can_buffer(dat):
address = f1 >> 21
dddat = ddat[8:8+(f2&0xF)]
if DEBUG:
print(" R %x: %s" % (address, str(dddat).encode("hex")))
print(" R %x: %s" % (address, binascii.hexlify(dddat)))
ret.append((address, f2>>16, dddat, (f2>>4)&0xFF))
return ret
@@ -109,20 +108,25 @@ class WifiHandle(object):
# *** normal mode ***
class Panda(object):
# matches cereal.car.CarParams.SafetyModel
SAFETY_NOOUTPUT = 0
SAFETY_HONDA = 1
SAFETY_TOYOTA = 2
SAFETY_GM = 3
SAFETY_HONDA_BOSCH = 4
SAFETY_FORD = 5
SAFETY_CADILLAC = 6
SAFETY_HYUNDAI = 7
SAFETY_TESLA = 8
SAFETY_ELM327 = 3
SAFETY_GM = 4
SAFETY_HONDA_BOSCH = 5
SAFETY_FORD = 6
SAFETY_CADILLAC = 7
SAFETY_HYUNDAI = 8
SAFETY_CHRYSLER = 9
SAFETY_TOYOTA_IPAS = 0x1335
SAFETY_TOYOTA_NOLIMITS = 0x1336
SAFETY_ALLOUTPUT = 0x1337
SAFETY_ELM327 = 0xE327
SAFETY_TESLA = 10
SAFETY_SUBARU = 11
SAFETY_GM_PASSIVE = 12
SAFETY_MAZDA = 13
SAFETY_TOYOTA_IPAS = 16
SAFETY_ALLOUTPUT = 17
SAFETY_GM_ASCM = 18
SERIAL_DEBUG = 0
SERIAL_ESP = 1
@@ -135,11 +139,11 @@ class Panda(object):
REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
HW_TYPE_UNKNOWN = '\x00'
HW_TYPE_WHITE_PANDA = '\x01'
HW_TYPE_GREY_PANDA = '\x02'
HW_TYPE_BLACK_PANDA = '\x03'
HW_TYPE_PEDAL = '\x04'
HW_TYPE_UNKNOWN = b'\x00'
HW_TYPE_WHITE_PANDA = b'\x01'
HW_TYPE_GREY_PANDA = b'\x02'
HW_TYPE_BLACK_PANDA = b'\x03'
HW_TYPE_PEDAL = b'\x04'
def __init__(self, serial=None, claim=True):
self._serial = serial
@@ -232,7 +236,7 @@ class Panda(object):
def flash_static(handle, code):
# confirm flasher is present
fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
assert fr[4:8] == "\xde\xad\xd0\x0d"
assert fr[4:8] == b"\xde\xad\xd0\x0d"
# unlock flash
print("flash: unlocking")
@@ -274,7 +278,7 @@ class Panda(object):
fn = os.path.join(BASEDIR, "board", fn)
if code is None:
with open(fn) as f:
with open(fn, "rb") as f:
code = f.read()
# get version
@@ -364,7 +368,7 @@ class Panda(object):
pass
def get_version(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40)
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')
def get_type(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
@@ -429,7 +433,7 @@ class Panda(object):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')
def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, rate/300, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate/300), b'')
def set_uart_parity(self, uart, parity):
# parity, 0=off, 1=even, 2=odd
@@ -447,7 +451,7 @@ class Panda(object):
for addr, _, dat, bus in arr:
assert len(dat) <= 8
if DEBUG:
print(" W %x: %s" % (addr, dat.encode("hex")))
print(" W %x: %s" % (addr, binascii.hexlify(dat)))
if addr >= 0x800:
rir = (addr << 3) | transmit | extended
else:
@@ -479,7 +483,7 @@ class Panda(object):
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD RECV, RETRYING")
time.sleep(0.1)
time.sleep(0.1)
return parse_can_buffer(dat)
def can_clear(self, bus):
@@ -546,7 +550,7 @@ class Panda(object):
if len(ret) == 0:
break
elif DEBUG:
print("kline drain: "+str(ret).encode("hex"))
print("kline drain: " + binascii.hexlify(ret))
bret += ret
return bytes(bret)
@@ -555,7 +559,7 @@ class Panda(object):
while len(echo) != cnt:
ret = str(self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo)))
if DEBUG and len(ret) > 0:
print("kline recv: "+ret.encode("hex"))
print("kline recv: " + binascii.hexlify(ret))
echo += ret
return str(echo)
@@ -572,7 +576,7 @@ class Panda(object):
for i in range(0, len(x), 0xf):
ts = x[i:i+0xf]
if DEBUG:
print("kline send: "+ts.encode("hex"))
print("kline send: " + binascii.hexlify(ts))
self._handle.bulkWrite(2, chr(bus).encode()+ts)
echo = self.kline_ll_recv(len(ts), bus=bus)
if echo != ts:

34
panda/python/dfu.py
View File

@@ -1,8 +1,9 @@
from __future__ import print_function
import os
import usb1
import struct
import time
import binascii
# *** DFU mode ***
@@ -46,28 +47,27 @@ class PandaDFU(object):
def st_serial_to_dfu_serial(st):
if st == None or st == "none":
return None
uid_base = struct.unpack("H"*6, st.decode("hex"))
return struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3]).encode("hex").upper()
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")
def status(self):
while 1:
dat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
if dat[1] == "\x00":
dat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
if dat[1] == 0:
break
def clear_status(self):
# Clear status
stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
if stat[4] == "\x0a":
stat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
if stat[4] == 0xa:
self._handle.controlRead(0x21, DFU_CLRSTATUS, 0, 0, 0)
elif stat[4] == "\x09":
self._handle.controlWrite(0x21, DFU_ABORT, 0, 0, "")
elif stat[4] == 0x9:
self._handle.controlWrite(0x21, DFU_ABORT, 0, 0, b"")
self.status()
stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
def erase(self, address):
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x41" + struct.pack("I", address))
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
self.status()
def program(self, address, dat, block_size=None):
@@ -75,12 +75,12 @@ class PandaDFU(object):
block_size = len(dat)
# Set Address Pointer
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x21" + struct.pack("I", address))
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
self.status()
# Program
dat += "\xFF"*((block_size-len(dat)) % block_size)
for i in range(0, len(dat)/block_size):
dat += b"\xFF"*((block_size-len(dat)) % block_size)
for i in range(0, len(dat)//block_size):
ldat = dat[i*block_size:(i+1)*block_size]
print("programming %d with length %d" % (i, len(ldat)))
self._handle.controlWrite(0x21, DFU_DNLOAD, 2+i, 0, ldat)
@@ -105,17 +105,17 @@ class PandaDFU(object):
build_st(fn)
fn = os.path.join(BASEDIR, "board", fn)
with open(fn) as f:
with open(fn, "rb") as f:
code = f.read()
self.program_bootstub(code)
def reset(self):
# **** Reset ****
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x21" + struct.pack("I", 0x8000000))
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", 0x8000000))
self.status()
try:
self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, "")
self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")
stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
except Exception:
pass

126
panda/python/esptool.py
View File

@@ -1,5 +1,5 @@
#!/usr/bin/env python
# NB: Before sending a PR to change the above line to '#!/usr/bin/env python2', please read https://github.com/themadinventor/esptool/issues/21
# NB: Before sending a PR to change the above line to '#!/usr/bin/env python3', please read https://github.com/themadinventor/esptool/issues/21
#
# ESP8266 ROM Bootloader Utility
# https://github.com/themadinventor/esptool
@@ -48,7 +48,7 @@ class FakePort(object):
@baudrate.setter
def baudrate(self, x):
print "set baud to", x
print("set baud to", x)
self.panda.set_uart_baud(1, x)
def write(self, buf):
@@ -114,7 +114,7 @@ class ESPROM(object):
""" Read a SLIP packet from the serial port """
def read(self):
return self._slip_reader.next()
return next(self._slip_reader)
""" Write bytes to the serial port while performing SLIP escaping """
def write(self, packet):
@@ -140,7 +140,7 @@ class ESPROM(object):
# same operation as the request or a retries limit has
# exceeded. This is needed for some esp8266s that
# reply with more sync responses than expected.
for retry in xrange(100):
for retry in range(100):
p = self.read()
if len(p) < 8:
continue
@@ -156,14 +156,14 @@ class ESPROM(object):
""" Perform a connection test """
def sync(self):
self.command(ESPROM.ESP_SYNC, '\x07\x07\x12\x20' + 32 * '\x55')
for i in xrange(7):
for i in range(7):
self.command()
""" Try connecting repeatedly until successful, or giving up """
def connect(self):
print 'Connecting...'
print('Connecting...')
for _ in xrange(4):
for _ in range(4):
# issue reset-to-bootloader:
# RTS = either CH_PD or nRESET (both active low = chip in reset)
# DTR = GPIO0 (active low = boot to flasher)
@@ -180,7 +180,7 @@ class ESPROM(object):
# worst-case latency timer should be 255ms (probably <20ms)
self._port.timeout = 0.3
for _ in xrange(4):
for _ in range(4):
try:
self._port.flushInput()
self._slip_reader = slip_reader(self._port)
@@ -250,7 +250,7 @@ class ESPROM(object):
result = self.command(ESPROM.ESP_FLASH_BEGIN,
struct.pack('<IIII', erase_size, num_blocks, ESPROM.ESP_FLASH_BLOCK, offset))[1]
if size != 0:
print "Took %.2fs to erase flash block" % (time.time() - t)
print("Took %.2fs to erase flash block" % (time.time() - t))
if result != "\0\0":
raise FatalError.WithResult('Failed to enter Flash download mode (result "%s")', result)
self._port.timeout = old_tmo
@@ -349,10 +349,10 @@ class ESPROM(object):
self.mem_finish(stub['entry'])
if read_output:
print 'Stub executed, reading response:'
print('Stub executed, reading response:')
while True:
p = self.read()
print hexify(p)
print(hexify(p))
if p == '':
return
@@ -452,7 +452,7 @@ class ESPFirmwareImage(BaseFirmwareImage):
if magic != ESPROM.ESP_IMAGE_MAGIC or segments > 16:
raise FatalError('Invalid firmware image magic=%d segments=%d' % (magic, segments))
for i in xrange(segments):
for i in range(segments):
self.load_segment(load_file)
self.checksum = self.read_checksum(load_file)
@@ -480,7 +480,7 @@ class OTAFirmwareImage(BaseFirmwareImage):
raise FatalError('Invalid V2 image magic=%d' % (magic))
if segments != 4:
# segment count is not really segment count here, but we expect to see '4'
print 'Warning: V2 header has unexpected "segment" count %d (usually 4)' % segments
print('Warning: V2 header has unexpected "segment" count %d (usually 4)' % segments)
# irom segment comes before the second header
self.load_segment(load_file, True)
@@ -501,7 +501,7 @@ class OTAFirmwareImage(BaseFirmwareImage):
raise FatalError('Invalid V2 second header magic=%d segments=%d' % (magic, segments))
# load all the usual segments
for _ in xrange(segments):
for _ in range(segments):
self.load_segment(load_file)
self.checksum = self.read_checksum(load_file)
@@ -543,13 +543,13 @@ class ELFFile(object):
tool_nm = "xt-nm"
proc = subprocess.Popen([tool_nm, self.name], stdout=subprocess.PIPE)
except OSError:
print "Error calling %s, do you have Xtensa toolchain in PATH?" % tool_nm
print("Error calling %s, do you have Xtensa toolchain in PATH?" % tool_nm)
sys.exit(1)
for l in proc.stdout:
fields = l.strip().split()
try:
if fields[0] == "U":
print "Warning: ELF binary has undefined symbol %s" % fields[1]
print("Warning: ELF binary has undefined symbol %s" % fields[1])
continue
if fields[0] == "w":
continue # can skip weak symbols
@@ -568,7 +568,7 @@ class ELFFile(object):
try:
proc = subprocess.Popen([tool_readelf, "-h", self.name], stdout=subprocess.PIPE)
except OSError:
print "Error calling %s, do you have Xtensa toolchain in PATH?" % tool_readelf
print("Error calling %s, do you have Xtensa toolchain in PATH?" % tool_readelf)
sys.exit(1)
for l in proc.stdout:
fields = l.strip().split()
@@ -599,7 +599,7 @@ class CesantaFlasher(object):
CMD_BOOT_FW = 6
def __init__(self, esp, baud_rate=0):
print 'Running Cesanta flasher stub...'
print('Running Cesanta flasher stub...')
if baud_rate <= ESPROM.ESP_ROM_BAUD: # don't change baud rates if we already synced at that rate
baud_rate = 0
self._esp = esp
@@ -640,7 +640,7 @@ class CesantaFlasher(object):
raise FatalError('Expected digest, got: %s' % hexify(p))
digest = hexify(p).upper()
expected_digest = hashlib.md5(data).hexdigest().upper()
print
print()
if digest != expected_digest:
raise FatalError('Digest mismatch: expected %s, got %s' % (expected_digest, digest))
p = self._esp.read()
@@ -679,7 +679,7 @@ class CesantaFlasher(object):
raise FatalError('Expected digest, got: %s' % hexify(p))
expected_digest = hexify(p).upper()
digest = hashlib.md5(data).hexdigest().upper()
print
print()
if digest != expected_digest:
raise FatalError('Digest mismatch: expected %s, got %s' % (expected_digest, digest))
p = self._esp.read()
@@ -791,7 +791,7 @@ def binutils_safe_path(p):
try:
return subprocess.check_output(["cygpath", "-w", p]).rstrip('\n')
except subprocess.CalledProcessError:
print "WARNING: Failed to call cygpath to sanitise Cygwin path."
print("WARNING: Failed to call cygpath to sanitise Cygwin path.")
return p
@@ -837,9 +837,9 @@ class FatalError(RuntimeError):
def load_ram(esp, args):
image = LoadFirmwareImage(args.filename)
print 'RAM boot...'
print('RAM boot...')
for (offset, size, data) in image.segments:
print 'Downloading %d bytes at %08x...' % (size, offset),
print('Downloading %d bytes at %08x...' % (size, offset), end=' ')
sys.stdout.flush()
esp.mem_begin(size, div_roundup(size, esp.ESP_RAM_BLOCK), esp.ESP_RAM_BLOCK, offset)
@@ -848,31 +848,31 @@ def load_ram(esp, args):
esp.mem_block(data[0:esp.ESP_RAM_BLOCK], seq)
data = data[esp.ESP_RAM_BLOCK:]
seq += 1
print 'done!'
print('done!')
print 'All segments done, executing at %08x' % image.entrypoint
print('All segments done, executing at %08x' % image.entrypoint)
esp.mem_finish(image.entrypoint)
def read_mem(esp, args):
print '0x%08x = 0x%08x' % (args.address, esp.read_reg(args.address))
print('0x%08x = 0x%08x' % (args.address, esp.read_reg(args.address)))
def write_mem(esp, args):
esp.write_reg(args.address, args.value, args.mask, 0)
print 'Wrote %08x, mask %08x to %08x' % (args.value, args.mask, args.address)
print('Wrote %08x, mask %08x to %08x' % (args.value, args.mask, args.address))
def dump_mem(esp, args):
f = file(args.filename, 'wb')
for i in xrange(args.size / 4):
for i in range(args.size / 4):
d = esp.read_reg(args.address + (i * 4))
f.write(struct.pack('<I', d))
if f.tell() % 1024 == 0:
print '\r%d bytes read... (%d %%)' % (f.tell(),
f.tell() * 100 / args.size),
print('\r%d bytes read... (%d %%)' % (f.tell(),
f.tell() * 100 / args.size), end=' ')
sys.stdout.flush()
print 'Done!'
print('Done!')
def detect_flash_size(esp, args):
@@ -881,10 +881,10 @@ def detect_flash_size(esp, args):
size_id = flash_id >> 16
args.flash_size = {18: '2m', 19: '4m', 20: '8m', 21: '16m', 22: '32m'}.get(size_id)
if args.flash_size is None:
print 'Warning: Could not auto-detect Flash size (FlashID=0x%x, SizeID=0x%x), defaulting to 4m' % (flash_id, size_id)
print('Warning: Could not auto-detect Flash size (FlashID=0x%x, SizeID=0x%x), defaulting to 4m' % (flash_id, size_id))
args.flash_size = '4m'
else:
print 'Auto-detected Flash size:', args.flash_size
print('Auto-detected Flash size:', args.flash_size)
def write_flash(esp, args):
@@ -900,10 +900,10 @@ def write_flash(esp, args):
image = argfile.read()
argfile.seek(0) # rewind in case we need it again
if address + len(image) > int(args.flash_size.split('m')[0]) * (1 << 17):
print 'WARNING: Unlikely to work as data goes beyond end of flash. Hint: Use --flash_size'
print('WARNING: Unlikely to work as data goes beyond end of flash. Hint: Use --flash_size')
# Fix sflash config data.
if address == 0 and image[0] == '\xe9':
print 'Flash params set to 0x%02x%02x' % (flash_mode, flash_size_freq)
print('Flash params set to 0x%02x%02x' % (flash_mode, flash_size_freq))
image = image[0:2] + flash_params + image[4:]
# Pad to sector size, which is the minimum unit of writing (erasing really).
if len(image) % esp.ESP_FLASH_SECTOR != 0:
@@ -911,11 +911,11 @@ def write_flash(esp, args):
t = time.time()
flasher.flash_write(address, image, not args.no_progress)
t = time.time() - t
print ('\rWrote %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
print('\rWrote %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
% (len(image), address, t, len(image) / t * 8 / 1000))
print 'Leaving...'
print('Leaving...')
if args.verify:
print 'Verifying just-written flash...'
print('Verifying just-written flash...')
_verify_flash(flasher, args, flash_params)
flasher.boot_fw()
@@ -923,18 +923,18 @@ def write_flash(esp, args):
def image_info(args):
image = LoadFirmwareImage(args.filename)
print('Image version: %d' % image.version)
print('Entry point: %08x' % image.entrypoint) if image.entrypoint != 0 else 'Entry point not set'
print '%d segments' % len(image.segments)
print
print(('Entry point: %08x' % image.entrypoint) if image.entrypoint != 0 else 'Entry point not set')
print('%d segments' % len(image.segments))
print()
checksum = ESPROM.ESP_CHECKSUM_MAGIC
for (idx, (offset, size, data)) in enumerate(image.segments):
if image.version == 2 and idx == 0:
print 'Segment 1: %d bytes IROM0 (no load address)' % size
print('Segment 1: %d bytes IROM0 (no load address)' % size)
else:
print 'Segment %d: %5d bytes at %08x' % (idx + 1, size, offset)
print('Segment %d: %5d bytes at %08x' % (idx + 1, size, offset))
checksum = ESPROM.checksum(data, checksum)
print
print 'Checksum: %02x (%s)' % (image.checksum, 'valid' if image.checksum == checksum else 'invalid!')
print()
print('Checksum: %02x (%s)' % (image.checksum, 'valid' if image.checksum == checksum else 'invalid!'))
def make_image(args):
@@ -979,7 +979,7 @@ def elf2image(args):
if irom_offs < 0:
raise FatalError('Address of symbol _irom0_text_start in ELF is located before flash mapping address. Bad linker script?')
if (irom_offs & 0xFFF) != 0: # irom0 isn't flash sector aligned
print "WARNING: irom0 section offset is 0x%08x. ELF is probably linked for 'elf2image --version=2'" % irom_offs
print("WARNING: irom0 section offset is 0x%08x. ELF is probably linked for 'elf2image --version=2'" % irom_offs)
with open(args.output + "0x%05x.bin" % irom_offs, "wb") as f:
f.write(data)
f.close()
@@ -991,21 +991,21 @@ def elf2image(args):
def read_mac(esp, args):
mac = esp.read_mac()
print 'MAC: %s' % ':'.join(map(lambda x: '%02x' % x, mac))
print('MAC: %s' % ':'.join(['%02x' % x for x in mac]))
def chip_id(esp, args):
chipid = esp.chip_id()
print 'Chip ID: 0x%08x' % chipid
print('Chip ID: 0x%08x' % chipid)
def erase_flash(esp, args):
flasher = CesantaFlasher(esp, args.baud)
print 'Erasing flash (this may take a while)...'
print('Erasing flash (this may take a while)...')
t = time.time()
flasher.flash_erase_chip()
t = time.time() - t
print 'Erase took %.1f seconds' % t
print('Erase took %.1f seconds' % t)
def run(esp, args):
@@ -1015,8 +1015,8 @@ def run(esp, args):
def flash_id(esp, args):
flash_id = esp.flash_id()
esp.flash_finish(False)
print 'Manufacturer: %02x' % (flash_id & 0xff)
print 'Device: %02x%02x' % ((flash_id >> 8) & 0xff, (flash_id >> 16) & 0xff)
print('Manufacturer: %02x' % (flash_id & 0xff))
print('Device: %02x%02x' % ((flash_id >> 8) & 0xff, (flash_id >> 16) & 0xff))
def read_flash(esp, args):
@@ -1024,7 +1024,7 @@ def read_flash(esp, args):
t = time.time()
data = flasher.flash_read(args.address, args.size, not args.no_progress)
t = time.time() - t
print ('\rRead %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
print('\rRead %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
% (len(data), args.address, t, len(data) / t * 8 / 1000))
file(args.filename, 'wb').write(data)
@@ -1037,26 +1037,26 @@ def _verify_flash(flasher, args, flash_params=None):
if address == 0 and image[0] == '\xe9' and flash_params is not None:
image = image[0:2] + flash_params + image[4:]
image_size = len(image)
print 'Verifying 0x%x (%d) bytes @ 0x%08x in flash against %s...' % (image_size, image_size, address, argfile.name)
print('Verifying 0x%x (%d) bytes @ 0x%08x in flash against %s...' % (image_size, image_size, address, argfile.name))
# Try digest first, only read if there are differences.
digest, _ = flasher.flash_digest(address, image_size)
digest = hexify(digest).upper()
expected_digest = hashlib.md5(image).hexdigest().upper()
if digest == expected_digest:
print '-- verify OK (digest matched)'
print('-- verify OK (digest matched)')
continue
else:
differences = True
if getattr(args, 'diff', 'no') != 'yes':
print '-- verify FAILED (digest mismatch)'
print('-- verify FAILED (digest mismatch)')
continue
flash = flasher.flash_read(address, image_size)
assert flash != image
diff = [i for i in xrange(image_size) if flash[i] != image[i]]
print '-- verify FAILED: %d differences, first @ 0x%08x' % (len(diff), address + diff[0])
diff = [i for i in range(image_size) if flash[i] != image[i]]
print('-- verify FAILED: %d differences, first @ 0x%08x' % (len(diff), address + diff[0]))
for d in diff:
print ' %08x %02x %02x' % (address + d, ord(flash[d]), ord(image[d]))
print(' %08x %02x %02x' % (address + d, ord(flash[d]), ord(image[d])))
if differences:
raise FatalError("Verify failed.")
@@ -1067,7 +1067,7 @@ def verify_flash(esp, args, flash_params=None):
def version(args):
print __version__
print(__version__)
#
# End of operations functions
@@ -1203,12 +1203,12 @@ def main():
'version', help='Print esptool version')
# internal sanity check - every operation matches a module function of the same name
for operation in subparsers.choices.keys():
for operation in list(subparsers.choices.keys()):
assert operation in globals(), "%s should be a module function" % operation
args = parser.parse_args()
print 'esptool.py v%s' % __version__
print('esptool.py v%s' % __version__)
# operation function can take 1 arg (args), 2 args (esp, arg)
# or be a member function of the ESPROM class.
@@ -1310,5 +1310,5 @@ if __name__ == '__main__':
try:
main()
except FatalError as e:
print '\nA fatal error occurred: %s' % e
print('\nA fatal error occurred: %s' % e)
sys.exit(2)

8
panda/python/flash_release.py
View File

@@ -1,10 +1,10 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import sys
import time
import requests
import json
import StringIO
import io
def flash_release(path=None, st_serial=None):
from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
@@ -29,7 +29,7 @@ def flash_release(path=None, st_serial=None):
url = json.loads(r.text)['url']
r = requests.get(url)
print("Fetching firmware from %s" % url)
path = StringIO.StringIO(r.content)
path = io.StringIO(r.content)
zf = ZipFile(path)
zf.printdir()

54
panda/python/isotp.py
View File

@@ -1,13 +1,15 @@
import binascii
DEBUG = False
def msg(x):
if DEBUG:
print "S:",x.encode("hex")
print("S:", binascii.hexlify(x))
if len(x) <= 7:
ret = chr(len(x)) + x
else:
assert False
return ret.ljust(8, "\x00")
return ret.ljust(8, b"\x00")
kmsgs = []
def recv(panda, cnt, addr, nbus):
@@ -24,35 +26,35 @@ def recv(panda, cnt, addr, nbus):
# leave around
nmsgs.append((ids, ts, dat, bus))
kmsgs = nmsgs[-256:]
return map(str, ret)
return ret
def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
msg = recv(panda, 1, addr, bus)[0]
# TODO: handle other subaddr also communicating
assert ord(msg[0]) == subaddr
assert msg[0] == subaddr
if ord(msg[1])&0xf0 == 0x10:
if msg[1]&0xf0 == 0x10:
# first
tlen = ((ord(msg[1]) & 0xf) << 8) | ord(msg[2])
tlen = ((msg[1] & 0xf) << 8) | msg[2]
dat = msg[3:]
# 0 block size?
CONTINUE = chr(subaddr) + "\x30" + "\x00"*6
CONTINUE = chr(subaddr).encode("utf8") + b"\x30" + b"\x00"*6
panda.can_send(sendaddr, CONTINUE, bus)
idx = 1
for mm in recv(panda, (tlen-len(dat) + 5)/6, addr, bus):
assert ord(mm[0]) == subaddr
assert ord(mm[1]) == (0x20 | (idx&0xF))
for mm in recv(panda, (tlen-len(dat) + 5)//6, addr, bus):
assert mm[0] == subaddr
assert mm[1] == (0x20 | (idx&0xF))
dat += mm[2:]
idx += 1
elif ord(msg[1])&0xf0 == 0x00:
elif msg[1]&0xf0 == 0x00:
# single
tlen = ord(msg[1]) & 0xf
tlen = msg[1] & 0xf
dat = msg[2:]
else:
print msg.encode("hex")
print(binascii.hexlify(msg))
assert False
return dat[0:tlen]
@@ -69,26 +71,26 @@ def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None):
panda.can_send(addr, chr(subaddr)+msg(x)[0:7], bus)
else:
if subaddr:
ss = chr(subaddr) + chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF) + x[0:5]
ss = (chr(subaddr) + chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF)).encode("utf8") + x[0:5]
x = x[5:]
else:
ss = chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF) + x[0:6]
ss = (chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF)).encode("utf8") + x[0:6]
x = x[6:]
idx = 1
sends = []
while len(x) > 0:
if subaddr:
sends.append(((chr(subaddr) + chr(0x20 + (idx&0xF)) + x[0:6]).ljust(8, "\x00")))
sends.append((((chr(subaddr) + chr(0x20 + (idx&0xF))).encode('utf8') + x[0:6]).ljust(8, b"\x00")))
x = x[6:]
else:
sends.append(((chr(0x20 + (idx&0xF)) + x[0:7]).ljust(8, "\x00")))
sends.append(((chr(0x20 + (idx&0xF)).encode("utf8") + x[0:7]).ljust(8, b"\x00")))
x = x[7:]
idx += 1
# actually send
panda.can_send(addr, ss, bus)
rr = recv(panda, 1, recvaddr, bus)[0]
if rr.find("\x30\x01") != -1:
if rr.find(b"\x30\x01") != -1:
for s in sends[:-1]:
panda.can_send(addr, s, 0)
rr = recv(panda, 1, recvaddr, bus)[0]
@@ -105,31 +107,31 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
else:
msg = recv(panda, 1, addr, bus)[0]
if ord(msg[0])&0xf0 == 0x10:
if msg[0]&0xf0 == 0x10:
# first
tlen = ((ord(msg[0]) & 0xf) << 8) | ord(msg[1])
tlen = ((msg[0] & 0xf) << 8) | msg[1]
dat = msg[2:]
# 0 block size?
CONTINUE = "\x30" + "\x00"*7
CONTINUE = b"\x30" + b"\x00"*7
panda.can_send(sendaddr, CONTINUE, bus)
idx = 1
for mm in recv(panda, (tlen-len(dat) + 6)/7, addr, bus):
assert ord(mm[0]) == (0x20 | (idx&0xF))
for mm in recv(panda, (tlen-len(dat) + 6)//7, addr, bus):
assert mm[0] == (0x20 | (idx&0xF))
dat += mm[1:]
idx += 1
elif ord(msg[0])&0xf0 == 0x00:
elif msg[0]&0xf0 == 0x00:
# single
tlen = ord(msg[0]) & 0xf
tlen = msg[0] & 0xf
dat = msg[1:]
else:
assert False
dat = dat[0:tlen]
if DEBUG:
print "R:",dat.encode("hex")
print("R:", binascii.hexlify(dat))
return dat

7
panda/python/serial.py
View File

@@ -5,7 +5,7 @@ class PandaSerial(object):
self.port = port
self.panda.set_uart_parity(self.port, 0)
self.panda.set_uart_baud(self.port, baud)
self.buf = ""
self.buf = b""
def read(self, l=1):
tt = self.panda.serial_read(self.port)
@@ -19,7 +19,10 @@ class PandaSerial(object):
def write(self, dat):
#print "W: ", dat.encode("hex")
#print ' pigeon_send("' + ''.join(map(lambda x: "\\x%02X" % ord(x), dat)) + '");'
return self.panda.serial_write(self.port, dat)
if(isinstance(dat, bytes)):
return self.panda.serial_write(self.port, dat)
else:
return self.panda.serial_write(self.port, str.encode(dat))
def close(self):
pass

4
panda/python/update.py
View File

@@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import os
import time
@@ -27,7 +27,7 @@ def ensure_st_up_to_date():
panda_dfu = PandaDFU(panda_dfu[0])
panda_dfu.recover()
print "waiting for board..."
print("waiting for board...")
time.sleep(1)
if panda.bootstub or not panda.get_version().startswith(repo_version):