SPI support in bootstub (#1227)

* always build spi

* no dos for now

* spi gpio init

* detect bootstub

* cleanup

* revert that

* move fx stuff

* fix linter

* set erase timeout

* fix types

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>

python/__init__.py

@@ -26,12 +26,12 @@ __version__ = '0.0.10'
 LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
 logging.basicConfig(level=LOGLEVEL, format='%(message)s')
 
-
 USBPACKET_MAX_SIZE = 0x40
 CANPACKET_HEAD_SIZE = 0x6
 DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
 LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
 
+
 def calculate_checksum(data):
   res = 0
   for b in data:
@@ -294,20 +294,22 @@ class Panda:
     # get UID to confirm slave is present and up
     handle = None
     spi_serial = None
+    bootstub = None
     try:
       handle = PandaSpiHandle()
+      bootstub = Panda.flasher_present(handle)
       dat = handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12)
       spi_serial = binascii.hexlify(dat).decode()
     except PandaSpiException:
       pass
 
     # no connection or wrong panda
-    if spi_serial is None or (serial is not None and (spi_serial != serial)):
+    if None in (spi_serial, bootstub) or (serial is not None and (spi_serial != serial)):
       handle = None
       spi_serial = None
+      bootstub = False
 
-    # TODO: detect bootstub
-    return handle, spi_serial, False, None
+    return handle, spi_serial, bootstub, None
 
   @staticmethod
   def usb_connect(serial, claim=True, wait=False):
@@ -421,13 +423,17 @@ class Panda:
     if not success:
       raise Exception("reconnect failed")
 
+  @staticmethod
+  def flasher_present(handle: BaseHandle) -> bool:
+    fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
+    return fr[4:8] == b"\xde\xad\xd0\x0d"
+
   @staticmethod
   def flash_static(handle, code, mcu_type):
     assert mcu_type is not None, "must set valid mcu_type to flash"
 
     # confirm flasher is present
-    fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
-    assert fr[4:8] == b"\xde\xad\xd0\x0d"
+    assert Panda.flasher_present(handle)
 
     # determine sectors to erase
     apps_sectors_cumsum = accumulate(mcu_type.config.sector_sizes[1:])