Merge panda subtree

old-commit-hash: 02968cda63

panda/python/__init__.py

@@ -13,8 +13,9 @@ 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__ = '0.0.6'
+__version__ = '0.0.7'
 
 BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
 
@@ -104,6 +105,7 @@ class Panda(object):
   SAFETY_NOOUTPUT = 0
   SAFETY_HONDA = 1
   SAFETY_TOYOTA = 2
+  SAFETY_HONDA_BOSCH = 4
   SAFETY_TOYOTA_NOLIMITS = 0x1336
   SAFETY_ALLOUTPUT = 0x1337
   SAFETY_ELM327 = 0xE327
@@ -181,27 +183,58 @@ class Panda(object):
     except Exception:
       pass
     if not enter_bootloader:
-      self.close()
-      time.sleep(1.0)
-      success = False
-      # wait up to 15 seconds
-      for i in range(0, 15):
-        try:
-          self.connect()
-          success = True
-          break
-        except Exception:
-          print("reconnecting is taking %d seconds..." % (i+1))
-          try:
-            dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
-            dfu.recover()
-          except Exception:
-            pass
-          time.sleep(1.0)
-      if not success:
-        raise Exception("reset failed")
+      self.reconnect()
 
-  def flash(self, fn=None, code=None):
+  def reconnect(self):
+    self.close()
+    time.sleep(1.0)
+    success = False
+    # wait up to 15 seconds
+    for i in range(0, 15):
+      try:
+        self.connect()
+        success = True
+        break
+      except Exception:
+        print("reconnecting is taking %d seconds..." % (i+1))
+        try:
+          dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
+          dfu.recover()
+        except Exception:
+          pass
+        time.sleep(1.0)
+    if not success:
+      raise Exception("reconnect failed")
+
+  @staticmethod
+  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"
+
+    # unlock flash
+    print("flash: unlocking")
+    handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
+
+    # erase sectors 1 and 2
+    print("flash: erasing")
+    handle.controlWrite(Panda.REQUEST_IN, 0xb2, 1, 0, b'')
+    handle.controlWrite(Panda.REQUEST_IN, 0xb2, 2, 0, b'')
+
+    # flash over EP2
+    STEP = 0x10
+    print("flash: flashing")
+    for i in range(0, len(code), STEP):
+      handle.bulkWrite(2, code[i:i+STEP])
+
+    # reset
+    print("flash: resetting")
+    try:
+      handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
+    except Exception:
+      pass
+
+  def flash(self, fn=None, code=None, reconnect=True):
     if not self.bootstub:
       self.reset(enter_bootstub=True)
     assert(self.bootstub)
@@ -224,28 +257,12 @@ class Panda(object):
     # get version
     print("flash: version is "+self.get_version())
 
-    # confirm flasher is present
-    fr = self._handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
-    assert fr[4:8] == "\xde\xad\xd0\x0d"
+    # do flash
+    Panda.flash_static(self._handle, code)
 
-    # unlock flash
-    print("flash: unlocking")
-    self._handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
-
-    # erase sectors 1 and 2
-    print("flash: erasing")
-    self._handle.controlWrite(Panda.REQUEST_IN, 0xb2, 1, 0, b'')
-    self._handle.controlWrite(Panda.REQUEST_IN, 0xb2, 2, 0, b'')
-
-    # flash over EP2
-    STEP = 0x10
-    print("flash: flashing")
-    for i in range(0, len(code), STEP):
-      self._handle.bulkWrite(2, code[i:i+STEP])
-
-    # reset
-    print("flash: resetting")
-    self.reset()
+    # reconnect
+    if reconnect:
+      self.reconnect()
 
   def recover(self):
     self.reset(enter_bootloader=True)
@@ -315,6 +332,10 @@ class Panda(object):
   def get_version(self):
     return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40)
 
+  def is_grey(self):
+    ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
+    return ret == "\x01"
+
   def get_serial(self):
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
     hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
@@ -420,6 +441,14 @@ class Panda(object):
     """
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf1, bus, 0, b'')
 
+  # ******************* isotp *******************
+
+  def isotp_send(self, addr, dat, bus, recvaddr=None, subaddr=None):
+    return isotp_send(self, dat, addr, bus, recvaddr, subaddr)
+
+  def isotp_recv(self, addr, bus=0, sendaddr=None, subaddr=None):
+    return isotp_recv(self, addr, bus, sendaddr, subaddr)
+
   # ******************* serial *******************
 
   def serial_read(self, port_number):
@@ -451,7 +480,11 @@ class Panda(object):
 
   # pulse low for wakeup
   def kline_wakeup(self):
+    if DEBUG:
+      print("kline wakeup...")
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 0, 0, b'')
+    if DEBUG:
+      print("kline wakeup done")
 
   def kline_drain(self, bus=2):
     # drain buffer
@@ -460,19 +493,25 @@ class Panda(object):
       ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40)
       if len(ret) == 0:
         break
+      elif DEBUG:
+        print("kline drain: "+str(ret).encode("hex"))
       bret += ret
     return bytes(bret)
 
   def kline_ll_recv(self, cnt, bus=2):
     echo = bytearray()
     while len(echo) != cnt:
-      echo += self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo))
-    return echo
+      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"))
+      echo += ret
+    return str(echo)
 
   def kline_send(self, x, bus=2, checksum=True):
     def get_checksum(dat):
       result = 0
       result += sum(map(ord, dat)) if isinstance(b'dat', str) else sum(dat)
+      result = -result
       return struct.pack("B", result % 0x100)
 
     self.kline_drain(bus=bus)
@@ -480,6 +519,8 @@ class Panda(object):
       x += get_checksum(x)
     for i in range(0, len(x), 0xf):
       ts = x[i:i+0xf]
+      if DEBUG:
+        print("kline send: "+ts.encode("hex"))
       self._handle.bulkWrite(2, chr(bus).encode()+ts)
       echo = self.kline_ll_recv(len(ts), bus=bus)
       if echo != ts: