mirror of https://github.com/commaai/panda.git
122 lines
3.6 KiB
Python
122 lines
3.6 KiB
Python
from __future__ import print_function
|
|
import os
|
|
import usb1
|
|
import struct
|
|
import time
|
|
|
|
# *** DFU mode ***
|
|
|
|
DFU_DNLOAD = 1
|
|
DFU_UPLOAD = 2
|
|
DFU_GETSTATUS = 3
|
|
DFU_CLRSTATUS = 4
|
|
DFU_ABORT = 6
|
|
|
|
class PandaDFU(object):
|
|
def __init__(self, dfu_serial):
|
|
context = usb1.USBContext()
|
|
for device in context.getDeviceList(skip_on_error=True):
|
|
if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11:
|
|
try:
|
|
this_dfu_serial = device.open().getASCIIStringDescriptor(3)
|
|
except Exception:
|
|
continue
|
|
if this_dfu_serial == dfu_serial or dfu_serial is None:
|
|
self._handle = device.open()
|
|
self.legacy = "07*128Kg" in self._handle.getASCIIStringDescriptor(4)
|
|
return
|
|
raise Exception("failed to open "+dfu_serial)
|
|
|
|
@staticmethod
|
|
def list():
|
|
context = usb1.USBContext()
|
|
dfu_serials = []
|
|
try:
|
|
for device in context.getDeviceList(skip_on_error=True):
|
|
if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11:
|
|
try:
|
|
dfu_serials.append(device.open().getASCIIStringDescriptor(3))
|
|
except Exception:
|
|
pass
|
|
except Exception:
|
|
pass
|
|
return dfu_serials
|
|
|
|
@staticmethod
|
|
def st_serial_to_dfu_serial(st):
|
|
if st == None or st == "none":
|
|
return None
|
|
uid_base = struct.unpack("H"*6, st.decode("hex"))
|
|
return struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3]).encode("hex").upper()
|
|
|
|
|
|
def status(self):
|
|
while 1:
|
|
dat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
|
|
if dat[1] == "\x00":
|
|
break
|
|
|
|
def clear_status(self):
|
|
# Clear status
|
|
stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
|
|
if stat[4] == "\x0a":
|
|
self._handle.controlRead(0x21, DFU_CLRSTATUS, 0, 0, 0)
|
|
elif stat[4] == "\x09":
|
|
self._handle.controlWrite(0x21, DFU_ABORT, 0, 0, "")
|
|
self.status()
|
|
stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
|
|
|
|
def erase(self, address):
|
|
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x41" + struct.pack("I", address))
|
|
self.status()
|
|
|
|
def program(self, address, dat, block_size=None):
|
|
if block_size == None:
|
|
block_size = len(dat)
|
|
|
|
# Set Address Pointer
|
|
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x21" + struct.pack("I", address))
|
|
self.status()
|
|
|
|
# Program
|
|
dat += "\xFF"*((block_size-len(dat)) % block_size)
|
|
for i in range(0, len(dat)/block_size):
|
|
ldat = dat[i*block_size:(i+1)*block_size]
|
|
print("programming %d with length %d" % (i, len(ldat)))
|
|
self._handle.controlWrite(0x21, DFU_DNLOAD, 2+i, 0, ldat)
|
|
self.status()
|
|
|
|
def program_bootstub(self, code_bootstub):
|
|
self.clear_status()
|
|
self.erase(0x8004000)
|
|
self.erase(0x8000000)
|
|
self.program(0x8000000, code_bootstub, 0x800)
|
|
self.reset()
|
|
|
|
def recover(self):
|
|
from panda import BASEDIR, build_st
|
|
if self.legacy:
|
|
fn = "obj/bootstub.comma.bin"
|
|
print("building legacy bootstub")
|
|
build_st(fn, "Makefile.legacy")
|
|
else:
|
|
fn = "obj/bootstub.panda.bin"
|
|
print("building panda bootstub")
|
|
build_st(fn)
|
|
fn = os.path.join(BASEDIR, "board", fn)
|
|
|
|
with open(fn) as f:
|
|
code = f.read()
|
|
|
|
self.program_bootstub(code)
|
|
|
|
def reset(self):
|
|
# **** Reset ****
|
|
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x21" + struct.pack("I", 0x8000000))
|
|
self.status()
|
|
try:
|
|
self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, "")
|
|
stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
|
|
except Exception:
|
|
pass
|