fix flashing H7 in bootstub + tests (#1007)

Co-authored-by: Bruce Wayne <batman@comma.ai>

Jenkinsfile

@@ -30,22 +30,6 @@ pipeline {
         }
       }
     }
-    stage('CANFD tests') {
-      steps {
-        lock(resource: "pedal", inversePrecedence: true, quantity: 1) {
-          timeout(time: 10, unit: 'MINUTES') {
-            script {
-              sh "docker run --rm --privileged \
-                    --volume /dev/bus/usb:/dev/bus/usb \
-                    --volume /var/run/dbus:/var/run/dbus \
-                    --net host \
-                    ${env.DOCKER_IMAGE_TAG} \
-                    bash -c 'cd /tmp/panda && ./board/build_all.sh && JUNGLE=058010800f51363038363036 H7_PANDAS_EXCLUDE=\"080021000c51303136383232\" ./tests/canfd/test_canfd.py'"
-            }
-          }
-        }
-      }
-    }
     stage('HITL tests') {
       steps {
         lock(resource: "pandas", inversePrecedence: true, quantity: 1) {
@@ -62,5 +46,21 @@ pipeline {
         }
       }
     }
+    stage('CANFD tests') {
+      steps {
+        lock(resource: "pedal", inversePrecedence: true, quantity: 1) {
+          timeout(time: 10, unit: 'MINUTES') {
+            script {
+              sh "docker run --rm --privileged \
+                    --volume /dev/bus/usb:/dev/bus/usb \
+                    --volume /var/run/dbus:/var/run/dbus \
+                    --net host \
+                    ${env.DOCKER_IMAGE_TAG} \
+                    bash -c 'cd /tmp/panda && ./board/build_all.sh && JUNGLE=058010800f51363038363036 H7_PANDAS_EXCLUDE=\"080021000c51303136383232\" ./tests/canfd/test_canfd.py'"
+            }
+          }
+        }
+      }
+    }
   }
 }

python/__init__.py

@@ -206,8 +206,10 @@ class Panda:
   def __init__(self, serial: Optional[str] = None, claim: bool = True):
     self._serial = serial
     self._handle = None
+    self._bcd_device = None
+
+    # connect and set mcu type
     self.connect(claim)
-    self._mcu_type = self.get_mcu_type()
 
   def close(self):
     self._handle.close()
@@ -238,6 +240,12 @@ class Panda:
               if claim:
                 self._handle.claimInterface(0)
                 # self._handle.setInterfaceAltSetting(0, 0)  # Issue in USB stack
+
+              # bcdDevice wasn't always set to the hw type, ignore if it's the old constant
+              bcd = device.getbcdDevice()
+              if bcd is not None and bcd != 0x2300:
+                self._bcd_device = bytearray([bcd >> 8, ])
+
               break
       except Exception as e:
         print("exception", e)
@@ -245,7 +253,9 @@ class Panda:
       if not wait or self._handle is not None:
         break
       context = usb1.USBContext()  # New context needed so new devices show up
-    assert(self._handle is not None)
+
+    assert self._handle is not None
+    self._mcu_type = self.get_mcu_type()
     self.health_version, self.can_version = self.get_packets_versions()
     print("connected")
 
@@ -264,8 +274,10 @@ class Panda:
       self.reconnect()
 
   def reconnect(self):
-    self.close()
-    time.sleep(1.0)
+    if self._handle is not None:
+      self.close()
+      time.sleep(1.0)
+
     success = False
     # wait up to 15 seconds
     for i in range(0, 15):
@@ -436,7 +448,14 @@ class Panda:
     return bytes(part_1 + part_2)
 
   def get_type(self):
-    return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
+    ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
+
+    # bootstub doesn't implement this call, so fallback to bcdDevice
+    invalid_type = self.bootstub and (ret is None or len(ret) != 1)
+    if invalid_type and self._bcd_device is not None:
+      ret = self._bcd_device
+
+    return ret
 
   # Returns tuple with health packet version and CAN packet/USB packet version
   def get_packets_versions(self):

tests/automated/1_program.py

@@ -1,9 +1,11 @@
+import time
 from nose.tools import assert_equal
 
 from panda import Panda, DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7
 from .helpers import test_all_pandas, panda_connect_and_init
 
 def check_signature(p):
+  assert not p.bootstub, "Flashed firmware not booting. Stuck in bootstub."
   fn = DEFAULT_H7_FW_FN if p.get_mcu_type() == MCU_TYPE_H7  else DEFAULT_FW_FN
   firmware_sig = Panda.get_signature_from_firmware(fn)
   panda_sig = p.get_signature()
@@ -18,5 +20,23 @@ def test_a_recover(p):
 @test_all_pandas
 @panda_connect_and_init(full_reset=False)
 def test_b_flash(p):
+  # test flash from bootstub
+  serial = p._serial
+  assert serial != None
+  p.reset(enter_bootstub=True)
+  p.close()
+  time.sleep(2)
+
+  np = Panda(serial)
+  assert np.bootstub
+  assert np._serial == serial
+  np.flash()
+  np.close()
+
+  p.reconnect()
+  p.reset()
+  check_signature(p)
+
+  # test flash from app
   p.flash()
   check_signature(p)

tests/automated/2_health.py

@@ -1,7 +1,10 @@
 import time
+
+from panda import Panda
 from panda_jungle import PandaJungle  # pylint: disable=import-error
 from .helpers import panda_jungle, test_all_pandas, test_all_gen2_pandas, panda_connect_and_init
 
+
 @test_all_pandas
 @panda_connect_and_init
 def test_ignition(p):
@@ -38,3 +41,23 @@ def test_voltage(p):
     voltage = p.health()['voltage']
     assert ((voltage > 10000) and (voltage < 14000))
     time.sleep(0.1)
+
+@test_all_pandas
+@panda_connect_and_init
+def test_hw_type(p):
+  """
+    hw type should be same in bootstub as application
+  """
+
+  hw_type = p.get_type()
+  mcu_type = p.get_mcu_type()
+  assert mcu_type is not None
+
+  p.reset(enter_bootstub=True, reconnect=True)
+  p.close()
+  time.sleep(3)
+  pp = Panda(p.get_usb_serial())
+  assert pp.bootstub
+  assert pp.get_type() == hw_type, "Bootstub and app hw type mismatch"
+  assert pp.get_mcu_type() == mcu_type, "Bootstub and app MCU type mismatch"
+  pp.close()

tests/automated/helpers.py

@@ -204,11 +204,15 @@ def panda_connect_and_init(fn=None, full_reset=True):
 
       # Check if the pandas did not throw any faults while running test
       for panda in pandas:
-        panda.reconnect()
-        assert panda.health()['fault_status'] == 0
+        if not panda.bootstub:
+          panda.reconnect()
+          assert panda.health()['fault_status'] == 0
     finally:
       for p in pandas:
-        p.close()
+        try:
+          p.close()
+        except Exception:
+          pass
   return wrapper
 
 def clear_can_buffers(panda):