Revert "remove mcu_type (#2324)"

This reverts commit 8922b48a30.

board/jungle/__init__.py

@@ -52,7 +52,7 @@ class PandaJungle(Panda):
 
   def flash(self, fn=None, code=None, reconnect=True):
     if not fn:
-      fn = os.path.join(FW_PATH, McuType.H7.config.app_fn.replace("panda", "panda_jungle"))
+      fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn.replace("panda", "panda_jungle"))
     super().flash(fn=fn, code=code, reconnect=reconnect)
 
   def recover(self, timeout: int | None = 60, reset: bool = True) -> bool:
@@ -73,9 +73,15 @@ class PandaJungle(Panda):
     self.flash()
     return True
 
+  def get_mcu_type(self) -> McuType:
+    hw_type = self.get_type()
+    if hw_type in PandaJungle.H7_DEVICES:
+      return McuType.H7
+    raise ValueError(f"unknown HW type: {hw_type}")
+
   def up_to_date(self, fn=None) -> bool:
     if fn is None:
-      fn = os.path.join(FW_PATH, McuType.H7.config.app_fn.replace("panda", "panda_jungle"))
+      fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn.replace("panda", "panda_jungle"))
     return super().up_to_date(fn=fn)
 
   # ******************* health *******************

python/__init__.py

@@ -145,6 +145,7 @@ class Panda:
     else:
       self._connect_serial = serial
 
+    # connect and set mcu type
     self.connect(claim)
 
   def _cli_select_panda(self):
@@ -201,9 +202,13 @@ class Panda:
     self._serial = serial
     self._connect_serial = serial
     self._handle_open = True
+    self._mcu_type = self.get_mcu_type()
     self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
     logger.debug("connected")
 
+    hw_type = self.get_type()
+    assert hw_type in self.SUPPORTED_DEVICES, f"Unknown HW: {hw_type}"
+
     # disable openpilot's heartbeat checks
     if self._disable_checks:
       self.set_heartbeat_disabled()
@@ -330,9 +335,6 @@ class Panda:
     return []
 
   def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
-    if enter_bootstub or enter_bootloader:
-      assert (hw_type := self.get_type()) in self.SUPPORTED_DEVICES, f"Unknown HW: {hw_type}"
-
     # no response is expected since it resets right away
     timeout = 5000 if isinstance(self._handle, PandaSpiHandle) else 15000
     try:
@@ -412,14 +414,16 @@ class Panda:
       pass
 
   def flash(self, fn=None, code=None, reconnect=True):
-    assert (hw_type := self.get_type()) in self.SUPPORTED_DEVICES, f"Unknown HW: {hw_type}"
-
     if self.up_to_date(fn=fn):
       logger.info("flash: already up to date")
       return
 
+    hw_type = self.get_type()
+    if hw_type not in self.SUPPORTED_DEVICES:
+      raise RuntimeError(f"HW type {hw_type.hex()} is deprecated and can no longer be flashed.")
+
     if not fn:
-      fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
+      fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn)
     assert os.path.isfile(fn)
     logger.debug("flash: main version is %s", self.get_version())
     if not self.bootstub:
@@ -434,15 +438,13 @@ class Panda:
     logger.debug("flash: bootstub version is %s", self.get_version())
 
     # do flash
-    Panda.flash_static(self._handle, code, mcu_type=McuType.H7)
+    Panda.flash_static(self._handle, code, mcu_type=self._mcu_type)
 
     # reconnect
     if reconnect:
       self.reconnect()
 
   def recover(self, timeout: int | None = 60, reset: bool = True) -> bool:
-    assert (hw_type := self.get_type()) in self.SUPPORTED_DEVICES, f"Unknown HW: {hw_type}"
-
     dfu_serial = self.get_dfu_serial()
 
     if reset:
@@ -487,7 +489,7 @@ class Panda:
   def up_to_date(self, fn=None) -> bool:
     current = self.get_signature()
     if fn is None:
-      fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
+      fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
     expected = Panda.get_signature_from_firmware(fn)
     return (current == expected)
 
@@ -599,6 +601,12 @@ class Panda:
     else:
       return (0, 0, 0)
 
+  def get_mcu_type(self) -> McuType:
+    hw_type = self.get_type()
+    if hw_type in Panda.H7_DEVICES:
+      return McuType.H7
+    raise ValueError(f"unknown HW type: {hw_type}")
+
   def is_internal(self):
     return self.get_type() in Panda.INTERNAL_DEVICES
 
@@ -619,7 +627,7 @@ class Panda:
     return self._serial
 
   def get_dfu_serial(self):
-    return PandaDFU.st_serial_to_dfu_serial(self._serial, McuType.H7)
+    return PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type)
 
   def get_uid(self):
     """

tests/hitl/1_program.py

@@ -11,6 +11,7 @@ def check_signature(p):
 
 
 def test_dfu(p):
+  app_mcu_type = p.get_mcu_type()
   dfu_serial = p.get_dfu_serial()
 
   p.reset(enter_bootstub=True)
@@ -18,7 +19,7 @@ def test_dfu(p):
   assert Panda.wait_for_dfu(dfu_serial, timeout=19), "failed to enter DFU"
 
   dfu = PandaDFU(dfu_serial)
-  assert dfu.get_mcu_type() == McuType.H7
+  assert dfu.get_mcu_type() == app_mcu_type
 
   assert dfu_serial in PandaDFU.list()
 
@@ -37,9 +38,9 @@ def test_known_bootstub(p):
     McuType.H7: ["bootstub.panda_h7.bin"],
   }
 
-  for kb in known_bootstubs[McuType.H7]:
+  for kb in known_bootstubs[p.get_mcu_type()]:
-    app_serial = p.get_usb_serial()
+    app_ids = (p.get_mcu_type(), p.get_usb_serial())
-    assert app_serial is not None
+    assert None not in app_ids
 
     p.reset(enter_bootstub=True)
     p.reset(enter_bootloader=True)
@@ -56,9 +57,10 @@ def test_known_bootstub(p):
 
     p.connect(claim=False, wait=True)
 
-    # check for serial mismatch
+    # check for MCU or serial mismatch
     with Panda(p._serial, claim=False) as np:
-      assert np.get_usb_serial() == app_serial
+      bootstub_ids = (np.get_mcu_type(), np.get_usb_serial())
+      assert app_ids == bootstub_ids
 
     # ensure we can flash app and it jumps to app
     p.flash()

tests/hitl/2_health.py

@@ -17,6 +17,8 @@ def test_hw_type(p):
   """
 
   hw_type = p.get_type()
+  mcu_type = p.get_mcu_type()
+  assert mcu_type is not None
 
   app_uid =  p.get_uid()
   usb_serial = p.get_usb_serial()
@@ -28,6 +30,7 @@ def test_hw_type(p):
   with Panda(p.get_usb_serial()) as pp:
     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"
     assert pp.get_uid() == app_uid
 
 def test_heartbeat(p, panda_jungle):

tests/hitl/reset_jungles.py

@@ -15,6 +15,7 @@ def recover(s):
 def flash(s):
   with PandaJungle(s) as p:
     p.flash()
+    return p.get_mcu_type()
 
 # Reset + flash all CI hardware to get it into a consistent state
 # * port 1: jungles-under-test
@@ -41,4 +42,5 @@ if __name__ == "__main__":
       for s in SERIALS:
         assert PandaJungle.wait_for_panda(s, timeout=10)
       assert set(PandaJungle.list()) >= SERIALS
-      list(exc.map(flash, SERIALS, timeout=20))
+      mcu_types = list(exc.map(flash, SERIALS, timeout=20))
+      assert set(mcu_types) == {McuType.H7, }