mirror of https://github.com/commaai/panda.git
cleanup MCU definitions (#1226)
* cleanup MCU definitions * rename * enum * enum * fix that
This commit is contained in:
Adeeb Shihadeh
GitHub
parent
33e576214d
commit
76d0459182
13
__init__.py
13
__init__.py
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@ -1,10 +1,5 @@
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from .python import (Panda, PandaDFU, # noqa: F401
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BASEDIR, pack_can_buffer, unpack_can_buffer, calculate_checksum,
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DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC,
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ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE, CANPACKET_HEAD_SIZE)
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from .python.constants import McuType, BASEDIR # noqa: F401
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from .python.serial import PandaSerial # noqa: F401
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from .python.config import (BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, # noqa: F401
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BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, # noqa: F401
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DEVICE_SERIAL_NUMBER_ADDR_FX)
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from .python import (Panda, PandaDFU, # noqa: F401
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pack_can_buffer, unpack_can_buffer, calculate_checksum,
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DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE, CANPACKET_HEAD_SIZE)
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@ -13,8 +13,8 @@ from functools import wraps
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from typing import Optional
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from itertools import accumulate
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from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, SECTOR_SIZES_FX, SECTOR_SIZES_H7
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from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7
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from .constants import McuType
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from .dfu import PandaDFU
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from .isotp import isotp_send, isotp_recv
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from .spi import SpiHandle, PandaSpiException
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@ -25,8 +25,6 @@ LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
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logging.basicConfig(level=LOGLEVEL, format='%(message)s')
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BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
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USBPACKET_MAX_SIZE = 0x40
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CANPACKET_HEAD_SIZE = 0x6
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DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
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@ -409,7 +407,7 @@ class Panda:
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assert fr[4:8] == b"\xde\xad\xd0\x0d"
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# determine sectors to erase
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apps_sectors_cumsum = accumulate(SECTOR_SIZES_H7[1:] if mcu_type == MCU_TYPE_H7 else SECTOR_SIZES_FX[1:])
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apps_sectors_cumsum = accumulate(mcu_type.config.sector_sizes[1:])
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last_sector = next((i + 1 for i, v in enumerate(apps_sectors_cumsum) if v > len(code)), -1)
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assert last_sector >= 1, "Binary too small? No sector to erase."
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assert last_sector < 7, "Binary too large! Risk of overwriting provisioning chunk."
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@ -438,7 +436,7 @@ class Panda:
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def flash(self, fn=None, code=None, reconnect=True):
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if not fn:
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fn = DEFAULT_H7_FW_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_FW_FN
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fn = self._mcu_type.config.app_path
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assert os.path.isfile(fn)
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logging.debug("flash: main version is %s", self.get_version())
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if not self.bootstub:
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@ -602,15 +600,15 @@ class Panda:
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else:
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return (0, 0, 0)
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def get_mcu_type(self):
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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.F2_DEVICES:
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return MCU_TYPE_F2
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return McuType.F2
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elif hw_type in Panda.F4_DEVICES:
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return MCU_TYPE_F4
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return McuType.F4
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elif hw_type in Panda.H7_DEVICES:
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return MCU_TYPE_H7
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return None
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return McuType.H7
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raise ValueError(f"unknown HW type: {hw_type}")
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def has_obd(self):
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return self.get_type() in Panda.HAS_OBD
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@ -1,19 +0,0 @@
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import os
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BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
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BOOTSTUB_ADDRESS = 0x8000000
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BLOCK_SIZE_FX = 0x800
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APP_ADDRESS_FX = 0x8004000
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SECTOR_SIZES_FX = [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)]
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DEVICE_SERIAL_NUMBER_ADDR_FX = 0x1FFF79C0
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DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
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DEFAULT_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin")
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BLOCK_SIZE_H7 = 0x400
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APP_ADDRESS_H7 = 0x8020000
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SECTOR_SIZES_H7 = [0x20000 for _ in range(7)] # there is an 8th sector, but we use that for the provisioning chunk, so don't program over that!
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DEVICE_SERIAL_NUMBER_ADDR_H7 = 0x080FFFC0
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DEFAULT_H7_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed")
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DEFAULT_H7_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin")
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@ -0,0 +1,50 @@
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import os
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import enum
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from typing import List, NamedTuple
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BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
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class McuConfig(NamedTuple):
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mcu: str
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block_size: int
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sector_sizes: List[int]
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serial_number_address: int
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app_address: int
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app_path: str
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bootstub_address: int
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bootstub_path: str
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Fx = (
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0x800,
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[0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
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0x1FFF79C0,
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0x8004000,
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os.path.join(BASEDIR, "board", "obj", "panda.bin.signed"),
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0x8000000,
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os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin"),
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)
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F2Config = McuConfig("STM32F2", *Fx)
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F4Config = McuConfig("STM32F4", *Fx)
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H7Config = McuConfig(
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"STM32H7",
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0x400,
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# there is an 8th sector, but we use that for the provisioning chunk, so don't program over that!
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[0x20000 for _ in range(7)],
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0x080FFFC0,
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0x8020000,
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os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed"),
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0x8000000,
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os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin"),
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)
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@enum.unique
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class McuType(enum.Enum):
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F2 = F2Config
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F4 = F4Config
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H7 = H7Config
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@property
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def config(self):
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return self.value
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@ -1,12 +1,9 @@
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import usb1
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import struct
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import binascii
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from .config import BOOTSTUB_ADDRESS, APP_ADDRESS_H7, APP_ADDRESS_FX, BLOCK_SIZE_H7, BLOCK_SIZE_FX, DEFAULT_H7_BOOTSTUB_FN, DEFAULT_BOOTSTUB_FN
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from .constants import McuType
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MCU_TYPE_F2 = 0
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MCU_TYPE_F4 = 1
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MCU_TYPE_H7 = 2
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# *** DFU mode ***
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DFU_DNLOAD = 1
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@ -15,8 +12,9 @@ DFU_GETSTATUS = 3
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DFU_CLRSTATUS = 4
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DFU_ABORT = 6
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class PandaDFU(object):
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class PandaDFU:
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def __init__(self, dfu_serial):
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self._handle = None
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context = usb1.USBContext()
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for device in context.getDeviceList(skip_on_error=True):
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if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11:
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@ -25,10 +23,12 @@ class PandaDFU(object):
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except Exception:
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continue
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if this_dfu_serial == dfu_serial or dfu_serial is None:
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self._mcu_type = self.get_mcu_type(device)
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self._handle = device.open()
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return
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raise Exception("failed to open " + dfu_serial if dfu_serial is not None else "DFU device")
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self._mcu_type = self.get_mcu_type(device)
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break
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if self._handle is None:
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raise Exception(f"failed to open DFU device {dfu_serial}")
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@staticmethod
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def list():
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@ -46,18 +46,19 @@ class PandaDFU(object):
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return dfu_serials
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@staticmethod
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def st_serial_to_dfu_serial(st, mcu_type=MCU_TYPE_F4):
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def st_serial_to_dfu_serial(st, mcu_type=McuType.F4):
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if st is None or st == "none":
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return None
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uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
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if mcu_type == MCU_TYPE_H7:
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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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# TODO: Find a way to detect F4 vs F2
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def get_mcu_type(self, dev):
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return MCU_TYPE_H7 if dev.getbcdDevice() == 512 else MCU_TYPE_F4
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def get_mcu_type(self, dev) -> McuType:
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# TODO: Find a way to detect F4 vs F2
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# TODO: also check F4 BCD, don't assume in else
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return McuType.H7 if dev.getbcdDevice() == 512 else McuType.F4
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def status(self):
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while 1:
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@ -97,26 +98,18 @@ class PandaDFU(object):
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def program_bootstub(self, code_bootstub):
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self.clear_status()
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self.erase(BOOTSTUB_ADDRESS)
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if self._mcu_type == MCU_TYPE_H7:
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self.erase(APP_ADDRESS_H7)
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self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_H7)
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else:
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self.erase(APP_ADDRESS_FX)
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self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_FX)
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self.erase(self._mcu_type.config.bootstub_address)
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self.erase(self._mcu_type.config.app_address)
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self.program(self._mcu_type.config.bootstub_address, code_bootstub, self._mcu_type.config.block_size)
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self.reset()
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def recover(self):
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fn = DEFAULT_H7_BOOTSTUB_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_BOOTSTUB_FN
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with open(fn, "rb") as f:
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with open(self._mcu_type.config.bootstub_path, "rb") as f:
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code = f.read()
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self.program_bootstub(code)
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def reset(self):
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# **** Reset ****
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self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", BOOTSTUB_ADDRESS))
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self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", self._mcu_type.config.bootstub_address))
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self.status()
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try:
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self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")
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@ -1,16 +1,20 @@
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import os
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import time
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from panda import Panda, PandaDFU, MCU_TYPE_H7, BASEDIR
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from panda import Panda, PandaDFU, McuType, BASEDIR
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from .helpers import test_all_pandas, panda_connect_and_init, check_signature
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@test_all_pandas
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@panda_connect_and_init
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def test_a_known_bootstub(p):
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# Test that compiled app can work with known production bootstub
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KNOWN_H7_BOOTSTUB_FN = os.path.join(BASEDIR, "tests", "hitl", "known_bootstub", "bootstub.panda_h7.bin")
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KNOWN_BOOTSTUB_FN = os.path.join(BASEDIR, "tests", "hitl", "known_bootstub", "bootstub.panda.bin")
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"""
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Test that compiled app can work with known production bootstub
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"""
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known_bootstubs = {
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McuType.F4: "bootstub.panda.bin",
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McuType.H7: "bootstub.panda_h7.bin",
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}
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p.reset(enter_bootstub=True)
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p.reset(enter_bootloader=True)
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@ -19,8 +23,8 @@ def test_a_known_bootstub(p):
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assert Panda.wait_for_dfu(dfu_serial, timeout=30)
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dfu = PandaDFU(dfu_serial)
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fn = KNOWN_H7_BOOTSTUB_FN if p._mcu_type == MCU_TYPE_H7 else KNOWN_BOOTSTUB_FN
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with open(fn, "rb") as f:
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fn = known_bootstubs[p._mcu_type]
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with open(os.path.join(BASEDIR, "tests/hitl/known_bootstub", fn), "rb") as f:
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code = f.read()
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dfu.program_bootstub(code)
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@ -7,7 +7,7 @@ from functools import wraps, partial
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from nose.tools import assert_equal
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from parameterized import parameterized
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from panda import Panda, DEFAULT_H7_FW_FN, DEFAULT_FW_FN, MCU_TYPE_H7
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from panda import Panda
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from panda_jungle import PandaJungle # pylint: disable=import-error
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SPEED_NORMAL = 500
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@ -210,7 +210,6 @@ def clear_can_buffers(panda):
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def check_signature(p):
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assert not p.bootstub, "Flashed firmware not booting. Stuck in bootstub."
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fn = DEFAULT_H7_FW_FN if p.get_mcu_type() == MCU_TYPE_H7 else DEFAULT_FW_FN
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firmware_sig = Panda.get_signature_from_firmware(fn)
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firmware_sig = Panda.get_signature_from_firmware(p.get_mcu_type().config.app_path)
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panda_sig = p.get_signature()
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assert_equal(panda_sig, firmware_sig)
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@ -1,8 +1,7 @@
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#!/usr/bin/env python3
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import time
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import argparse
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from panda import Panda
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from panda.python.dfu import MCU_TYPE_F2
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from panda import Panda, McuType
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from panda.tests.pedal.canhandle import CanHandle
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@ -29,6 +28,6 @@ if __name__ == "__main__":
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time.sleep(0.1)
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print("flashing", args.fn)
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code = open(args.fn, "rb").read()
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Panda.flash_static(CanHandle(p, 0), code, mcu_type=MCU_TYPE_F2)
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Panda.flash_static(CanHandle(p, 0), code, mcu_type=McuType.F2)
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print("can flash done")
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