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Rivian: Flash xnor's Longitudinal Upgrade Kit prior supported panda check (#1752)

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* fixed missing internal panda

* lets do it like that

* cleanup

* move up

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
Lukas Heintz
2026-03-05 18:34:08 +01:00
committed by GitHub
parent baaa2704ee
commit 7c3759e147
2 changed files with 17 additions and 11 deletions
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6
selfdrive/pandad/pandad.py
View File

@@ -134,6 +134,9 @@ def main() -> None:
cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
# custom flasher for xnor's Rivian Longitudinal Upgrade Kit
flash_rivian_long(panda_serials)
# skip flashing and health check if no supported panda is detected
if not check_panda_support(panda_serials):
continue
@@ -142,9 +145,6 @@ def main() -> None:
panda_serial = panda_serials[0]
panda = flash_panda(panda_serial)
# flash Rivian longitudinal upgrade panda
flash_rivian_long(panda)
# Ensure internal panda is present if expected
if HARDWARE.has_internal_panda() and not panda.is_internal():
cloudlog.error("Internal panda is missing, trying again")

22
sunnypilot/selfdrive/pandad/rivian_long_flasher.py
View File

@@ -72,9 +72,10 @@ def _flash_panda(panda: Panda) -> None:
_flash_static(panda._handle, code)
panda.reconnect()
cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {panda.get_usb_serial()}")
def flash_rivian_long(panda: Panda) -> None:
def flash_rivian_long(panda_serials: list[str]) -> None:
if not os.path.isfile(FW_PATH):
cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
return
@@ -83,13 +84,18 @@ def flash_rivian_long(panda: Panda) -> None:
cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
return
# only flash external black pandas (HW_TYPE_BLACK = 0x03)
if panda.get_type() == b'\x03' and not panda.is_internal():
try:
_flash_panda(panda)
except Exception:
cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
for serial in panda_serials:
panda = Panda(serial)
# only flash external black pandas (HW_TYPE_BLACK = 0x03)
if panda.get_type() == b'\x03' and not panda.is_internal():
try:
_flash_panda(panda)
except Exception:
cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
panda.close()
return
if __name__ == '__main__':
flash_rivian_long(Panda())
flash_rivian_long(Panda.list())