mirror of https://github.com/commaai/panda.git
96 lines
3.4 KiB
Python
96 lines
3.4 KiB
Python
import struct
|
|
from typing import List
|
|
|
|
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
|
|
from .constants import McuType
|
|
|
|
class PandaUsbHandle(BaseHandle):
|
|
def __init__(self, libusb_handle):
|
|
self._libusb_handle = libusb_handle
|
|
|
|
def close(self):
|
|
self._libusb_handle.close()
|
|
|
|
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False):
|
|
return self._libusb_handle.controlWrite(request_type, request, value, index, data, timeout)
|
|
|
|
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
|
|
return self._libusb_handle.controlRead(request_type, request, value, index, length, timeout)
|
|
|
|
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
|
|
return self._libusb_handle.bulkWrite(endpoint, data, timeout) # type: ignore
|
|
|
|
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
|
|
return self._libusb_handle.bulkRead(endpoint, length, timeout) # type: ignore
|
|
|
|
|
|
|
|
class STBootloaderUSBHandle(BaseSTBootloaderHandle):
|
|
DFU_DNLOAD = 1
|
|
DFU_UPLOAD = 2
|
|
DFU_GETSTATUS = 3
|
|
DFU_CLRSTATUS = 4
|
|
DFU_ABORT = 6
|
|
|
|
def __init__(self, libusb_device, libusb_handle):
|
|
self._libusb_handle = libusb_handle
|
|
|
|
# TODO: Find a way to detect F4 vs F2
|
|
# TODO: also check F4 BCD, don't assume in else
|
|
self._mcu_type = McuType.H7 if libusb_device.getbcdDevice() == 512 else McuType.F4
|
|
|
|
def _status(self) -> None:
|
|
while 1:
|
|
dat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
|
|
if dat[1] == 0:
|
|
break
|
|
|
|
def _erase_page_address(self, address: int) -> None:
|
|
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
|
|
self._status()
|
|
|
|
def get_mcu_type(self):
|
|
return self._mcu_type
|
|
|
|
def erase_app(self):
|
|
self._erase_page_address(self._mcu_type.config.app_address)
|
|
|
|
def erase_bootstub(self):
|
|
self._erase_page_address(self._mcu_type.config.bootstub_address)
|
|
|
|
def clear_status(self):
|
|
# Clear status
|
|
stat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
|
|
if stat[4] == 0xa:
|
|
self._libusb_handle.controlRead(0x21, self.DFU_CLRSTATUS, 0, 0, 0)
|
|
elif stat[4] == 0x9:
|
|
self._libusb_handle.controlWrite(0x21, self.DFU_ABORT, 0, 0, b"")
|
|
self._status()
|
|
stat = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
|
|
|
|
def close(self):
|
|
self._libusb_handle.close()
|
|
|
|
def program(self, address, dat):
|
|
# Set Address Pointer
|
|
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
|
|
self._status()
|
|
|
|
# Program
|
|
bs = min(len(dat), self._mcu_type.config.block_size)
|
|
dat += b"\xFF" * ((bs - len(dat)) % bs)
|
|
for i in range(0, len(dat) // bs):
|
|
ldat = dat[i * bs:(i + 1) * bs]
|
|
print("programming %d with length %d" % (i, len(ldat)))
|
|
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2 + i, 0, ldat)
|
|
self._status()
|
|
|
|
def jump(self, address):
|
|
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
|
|
self._status()
|
|
try:
|
|
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2, 0, b"")
|
|
_ = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
|
|
except Exception:
|
|
pass
|