mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-02-18 17:23:52 +08:00
Merge branch 'master' of https://github.com/sunnypilot/panda
This commit is contained in:
infiniteCable2
@@ -114,30 +114,23 @@ class Panda:
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# from https://github.com/commaai/openpilot/blob/103b4df18cbc38f4129555ab8b15824d1a672bdf/cereal/log.capnp#L648
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HW_TYPE_UNKNOWN = b'\x00'
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HW_TYPE_WHITE = b'\x01'
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HW_TYPE_GREY_PANDA = b'\x02'
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HW_TYPE_BLACK = b'\x03'
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HW_TYPE_PEDAL = b'\x04'
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HW_TYPE_UNO = b'\x05'
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HW_TYPE_DOS = b'\x06'
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HW_TYPE_RED_PANDA = b'\x07'
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HW_TYPE_RED_PANDA_V2 = b'\x08'
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HW_TYPE_TRES = b'\x09'
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HW_TYPE_CUATRO = b'\x0a'
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CAN_PACKET_VERSION = 4
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HEALTH_PACKET_VERSION = 16
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HEALTH_PACKET_VERSION = 17
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CAN_HEALTH_PACKET_VERSION = 5
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HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHBHHB")
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HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHHHB")
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CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
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F4_DEVICES = [HW_TYPE_WHITE, HW_TYPE_BLACK, HW_TYPE_DOS, ]
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H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO]
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SUPPORTED_DEVICES = H7_DEVICES
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INTERNAL_DEVICES = (HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
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DEPRECATED_DEVICES = (HW_TYPE_WHITE, HW_TYPE_BLACK) + (HW_TYPE_GREY_PANDA, HW_TYPE_PEDAL, HW_TYPE_UNO, HW_TYPE_RED_PANDA_V2)
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INTERNAL_DEVICES = (HW_TYPE_TRES, HW_TYPE_CUATRO)
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MAX_FAN_RPMs = {
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HW_TYPE_DOS: 6500,
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HW_TYPE_TRES: 6600,
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HW_TYPE_CUATRO: 12500,
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}
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@@ -213,23 +206,6 @@ class Panda:
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if self._handle is None:
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raise Exception("failed to connect to panda")
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# Some fallback logic to determine panda and MCU type for old bootstubs,
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# since we now support multiple MCUs and need to know which fw to flash.
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# Three cases to consider:
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# A) oldest bootstubs don't have any way to distinguish
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# MCU or panda type
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# B) slightly newer (~2 weeks after first C3's built) bootstubs
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# have the panda type set in the USB bcdDevice
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# C) latest bootstubs also implement the endpoint for panda type
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self._bcd_hw_type = None
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ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
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missing_hw_type_endpoint = self.bootstub and ret.startswith(b'\xff\x00\xc1\x3e\xde\xad\xd0\x0d')
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if missing_hw_type_endpoint and bcd is not None:
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self._bcd_hw_type = bcd
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# For case A, we assume F4 MCU type, since all H7 pandas should be case B at worst
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self._assume_f4_mcu = (self._bcd_hw_type is None) and missing_hw_type_endpoint
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self._serial = serial
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self._connect_serial = serial
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self._handle_open = True
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@@ -238,7 +214,7 @@ class Panda:
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logger.debug("connected")
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hw_type = self.get_type()
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if hw_type in Panda.DEPRECATED_DEVICES:
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if hw_type not in self.SUPPORTED_DEVICES:
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print("WARNING: Using deprecated HW")
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# disable openpilot's heartbeat checks
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@@ -454,7 +430,7 @@ class Panda:
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handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
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# flash over EP2
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STEP = 0x10
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STEP = 0x200
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logger.info("flash: flashing")
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for i in range(0, len(code), STEP):
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handle.bulkWrite(2, code[i:i + STEP])
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@@ -472,7 +448,7 @@ class Panda:
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return
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hw_type = self.get_type()
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if hw_type in Panda.DEPRECATED_DEVICES:
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if hw_type not in self.SUPPORTED_DEVICES:
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raise RuntimeError(f"HW type {hw_type.hex()} is deprecated and can no longer be flashed.")
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if not fn:
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@@ -578,10 +554,9 @@ class Panda:
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"fan_power": a[19],
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"safety_rx_checks_invalid": a[20],
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"spi_error_count": a[21],
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"fan_stall_count": a[22],
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"sbu1_voltage_mV": a[23],
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"sbu2_voltage_mV": a[24],
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"som_reset_triggered": a[25],
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"sbu1_voltage_mV": a[22],
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"sbu2_voltage_mV": a[23],
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"som_reset_triggered": a[24],
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}
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@ensure_can_health_packet_version
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@@ -644,13 +619,7 @@ class Panda:
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return bytes(part_1 + part_2)
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def get_type(self):
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ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
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# old bootstubs don't implement this endpoint, see comment in Panda.device
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if self._bcd_hw_type is not None and (ret is None or len(ret) != 1):
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ret = self._bcd_hw_type
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return ret
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return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
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# Returns tuple with health packet version and CAN packet/USB packet version
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def get_packets_versions(self):
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@@ -663,15 +632,8 @@ class Panda:
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def get_mcu_type(self) -> McuType:
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hw_type = self.get_type()
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if hw_type in Panda.F4_DEVICES:
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return McuType.F4
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elif hw_type in Panda.H7_DEVICES:
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if hw_type in Panda.H7_DEVICES:
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return McuType.H7
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else:
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# have to assume F4, see comment in Panda.connect
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if self._assume_f4_mcu:
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return McuType.F4
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raise ValueError(f"unknown HW type: {hw_type}")
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def is_internal(self):
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@@ -849,8 +811,6 @@ class Panda:
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
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# ****************** Debug *****************
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def set_green_led(self, enabled):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
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# arr: timer period
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# ccrN: channel N pulse length
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@@ -24,19 +24,6 @@ class McuConfig(NamedTuple):
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# assume bootstub is in sector 0
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return self.bootstub_address + sum(self.sector_sizes[:i])
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F4Config = McuConfig(
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"STM32F4",
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0x463,
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[0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
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16,
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0x1FFF7A10,
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0x800,
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0x1FFF79C0,
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0x8004000,
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"panda.bin.signed",
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0x8000000,
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"bootstub.panda.bin",
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)
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H7Config = McuConfig(
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"STM32H7",
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@@ -55,7 +42,6 @@ H7Config = McuConfig(
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@enum.unique
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class McuType(enum.Enum):
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F4 = F4Config
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H7 = H7Config
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@property
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@@ -97,15 +97,13 @@ class PandaDFU:
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return []
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@staticmethod
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def st_serial_to_dfu_serial(st: str, mcu_type: McuType = McuType.F4):
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def st_serial_to_dfu_serial(st: str, mcu_type: McuType = McuType.H7):
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if st is None or st == "none":
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return None
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try:
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uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
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if mcu_type == McuType.H7:
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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")
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else:
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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")
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except struct.error:
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return None
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@@ -118,10 +116,11 @@ class PandaDFU:
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def program_bootstub(self, code_bootstub):
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self._handle.clear_status()
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# erase all sectors
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for i in range(len(self._mcu_type.config.sector_sizes)):
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# erase bootstub + app sectors
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for i in (0, 1):
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self._handle.erase_sector(i)
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# write bootstub
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self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub)
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def recover(self):
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