mirror of https://github.com/commaai/panda.git
PandaDFU: abstract out USB comms (#1274)
* wip * revert that * split list + connect * some more * mypy fix * add clear status back * rename * cleanup * cleaner mypy fix --------- Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
GitHub
parent
946f952aa7
commit
18230831f3
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@ -1,9 +1,12 @@
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from abc import ABC, abstractmethod
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from typing import List
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from typing import List, Optional
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# This mimics the handle given by libusb1 for easy interoperability
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class BaseHandle(ABC):
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"""
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A handle to talk to a panda.
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Borrows heavily from the libusb1 handle API.
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"""
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@abstractmethod
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def close(self) -> None:
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...
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@ -23,3 +26,30 @@ class BaseHandle(ABC):
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@abstractmethod
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def bulkRead(self, endpoint: int, length: int, timeout: int = 0) -> bytes:
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...
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class BaseSTBootloaderHandle(ABC):
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"""
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A handle to talk to a panda while it's in the STM32 bootloader.
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"""
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@abstractmethod
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def close(self) -> None:
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...
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@abstractmethod
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def clear_status(self) -> None:
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...
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@abstractmethod
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def program(self, address: int, dat: bytes, block_size: Optional[int] = None) -> None:
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...
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@abstractmethod
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def erase(self, address: int) -> None:
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...
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@abstractmethod
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def jump(self, address: int) -> None:
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...
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108
python/dfu.py
108
python/dfu.py
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@ -1,20 +1,29 @@
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import usb1
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import struct
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import binascii
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from typing import List, Tuple, Optional
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from .base import BaseSTBootloaderHandle
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from .usb import STBootloaderUSBHandle
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from .constants import McuType
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# *** DFU mode ***
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DFU_DNLOAD = 1
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DFU_UPLOAD = 2
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DFU_GETSTATUS = 3
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DFU_CLRSTATUS = 4
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DFU_ABORT = 6
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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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def __init__(self, dfu_serial: Optional[str]):
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# try USB, then SPI
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handle, mcu_type = PandaDFU.usb_connect(dfu_serial)
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if None in (handle, mcu_type):
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handle, mcu_type = PandaDFU.spi_connect(dfu_serial)
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if handle is None or mcu_type is None:
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raise Exception(f"failed to open DFU device {dfu_serial}")
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self._handle: BaseSTBootloaderHandle = handle
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self._mcu_type: McuType = mcu_type
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@staticmethod
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def usb_connect(dfu_serial: Optional[str]) -> Tuple[Optional[BaseSTBootloaderHandle], Optional[McuType]]:
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handle, mcu_type = None, 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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@ -23,15 +32,26 @@ class PandaDFU:
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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._handle = device.open()
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self._mcu_type = self.get_mcu_type(device)
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handle = STBootloaderUSBHandle(device.open())
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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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mcu_type = McuType.H7 if device.getbcdDevice() == 512 else McuType.F4
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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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return handle, mcu_type
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@staticmethod
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def list():
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def spi_connect(dfu_serial: Optional[str]) -> Tuple[Optional[BaseSTBootloaderHandle], Optional[McuType]]:
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return None, None
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@staticmethod
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def list() -> List[str]:
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ret = PandaDFU.usb_list()
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ret += PandaDFU.spi_list()
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return list(set(ret))
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@staticmethod
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def usb_list() -> List[str]:
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context = usb1.USBContext()
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dfu_serials = []
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try:
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@ -45,6 +65,10 @@ class PandaDFU:
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pass
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return dfu_serials
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@staticmethod
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def spi_list() -> List[str]:
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return []
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@staticmethod
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def st_serial_to_dfu_serial(st: str, mcu_type: McuType = McuType.F4):
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if st is None or st == "none":
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@ -55,52 +79,20 @@ class PandaDFU:
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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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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 get_mcu_type(self) -> McuType:
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return self._mcu_type
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def status(self):
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while 1:
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dat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
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if dat[1] == 0:
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break
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def erase(self, address: int) -> None:
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self._handle.erase(address)
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def clear_status(self):
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# Clear status
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stat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
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if stat[4] == 0xa:
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self._handle.controlRead(0x21, DFU_CLRSTATUS, 0, 0, 0)
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elif stat[4] == 0x9:
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self._handle.controlWrite(0x21, DFU_ABORT, 0, 0, b"")
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self.status()
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stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
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def erase(self, address):
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self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
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self.status()
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def program(self, address, dat, block_size=None):
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if block_size is None:
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block_size = len(dat)
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# Set Address Pointer
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self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
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self.status()
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# Program
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dat += b"\xFF" * ((block_size - len(dat)) % block_size)
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for i in range(0, len(dat) // block_size):
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ldat = dat[i * block_size:(i + 1) * block_size]
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print("programming %d with length %d" % (i, len(ldat)))
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self._handle.controlWrite(0x21, DFU_DNLOAD, 2 + i, 0, ldat)
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self.status()
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def reset(self):
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self._handle.jump(self._mcu_type.config.bootstub_address)
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def program_bootstub(self, code_bootstub):
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self.clear_status()
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self._handle.clear_status()
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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._handle.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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@ -108,11 +100,3 @@ class PandaDFU:
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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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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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_ = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
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except Exception:
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pass
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@ -1,6 +1,8 @@
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from typing import List
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import struct
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from typing import List, Optional
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from .base import BaseHandle, BaseSTBootloaderHandle
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from .base import BaseHandle
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class PandaUsbHandle(BaseHandle):
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def __init__(self, libusb_handle):
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@ -21,3 +23,62 @@ class PandaUsbHandle(BaseHandle):
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def bulkRead(self, endpoint: int, length: int, timeout: int = 0) -> bytes:
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return self._libusb_handle.bulkRead(endpoint, length, timeout) # type: ignore
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class STBootloaderUSBHandle(BaseSTBootloaderHandle):
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DFU_DNLOAD = 1
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DFU_UPLOAD = 2
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DFU_GETSTATUS = 3
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DFU_CLRSTATUS = 4
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DFU_ABORT = 6
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def __init__(self, libusb_handle):
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self._libusb_handle = libusb_handle
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def _status(self) -> None:
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while 1:
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dat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
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if dat[1] == 0:
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break
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def clear_status(self):
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# Clear status
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stat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
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if stat[4] == 0xa:
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self._libusb_handle.controlRead(0x21, self.DFU_CLRSTATUS, 0, 0, 0)
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elif stat[4] == 0x9:
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self._libusb_handle.controlWrite(0x21, self.DFU_ABORT, 0, 0, b"")
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self._status()
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stat = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
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def close(self):
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self._libusb_handle.close()
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def program(self, address: int, dat: bytes, block_size: Optional[int] = None) -> None:
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if block_size is None:
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block_size = len(dat)
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# Set Address Pointer
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self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
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self._status()
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# Program
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dat += b"\xFF" * ((block_size - len(dat)) % block_size)
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for i in range(0, len(dat) // block_size):
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ldat = dat[i * block_size:(i + 1) * block_size]
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print("programming %d with length %d" % (i, len(ldat)))
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self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2 + i, 0, ldat)
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self._status()
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def erase(self, address):
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self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
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self._status()
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def jump(self, address):
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self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
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self._status()
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try:
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self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2, 0, b"")
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_ = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
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except Exception:
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pass
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@ -12,10 +12,10 @@ def test_dfu(p):
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assert Panda.wait_for_dfu(dfu_serial, timeout=20), "failed to enter DFU"
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dfu = PandaDFU(dfu_serial)
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assert dfu._mcu_type == app_mcu_type
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assert dfu.get_mcu_type() == app_mcu_type
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assert dfu_serial in PandaDFU.list()
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dfu.clear_status()
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dfu._handle.clear_status()
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dfu.reset()
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p.reconnect()
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