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use scons to build panda fw (#20457)

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* use scons to build panda fw

* add arm gcc to dockerfile

* install gcc on macOS

* pandad shutdown test is flaky and broken due to faster startup

* bump panda
old-commit-hash: 0e338d2b91
This commit is contained in:
Willem Melching
2021-03-24 14:44:39 +01:00
committed by GitHub
parent eae1fa481c
commit 285e086d80
10 changed files with 31 additions and 47 deletions
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selfdrive/manager/test/test_manager.py
+2 -2
View File
@@ -13,7 +13,7 @@ os.environ['FAKEUPLOAD'] = "1"
# TODO: make eon fast
MAX_STARTUP_TIME = 30 if EON else 15
ALL_PROCESSES = [p.name for p in managed_processes.values() if type(p) is not DaemonProcess]
ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and (p.name not in ['updated', 'pandad'])]
class TestManager(unittest.TestCase):
@@ -42,7 +42,7 @@ class TestManager(unittest.TestCase):
for p in ALL_PROCESSES:
managed_processes[p].start()
time.sleep(10)
time.sleep(30)
for p in reversed(ALL_PROCESSES):
exit_code = managed_processes[p].stop(retry=False)
selfdrive/pandad.py
+9 -21
View File
@@ -3,13 +3,16 @@
import os
import time
from panda import BASEDIR as PANDA_BASEDIR, Panda, PandaDFU, build_st
from panda import BASEDIR as PANDA_BASEDIR, Panda, PandaDFU
from common.basedir import BASEDIR
from common.gpio import gpio_init, gpio_set
from selfdrive.hardware import TICI
from selfdrive.hardware.tici.pins import GPIO_HUB_RST_N, GPIO_STM_BOOT0, GPIO_STM_RST_N
from selfdrive.swaglog import cloudlog
PANDA_FW_FN = os.path.join(PANDA_BASEDIR, "board", "obj", "panda.bin.signed")
def set_panda_power(power=True):
if not TICI:
return
@@ -25,24 +28,9 @@ def set_panda_power(power=True):
gpio_set(GPIO_STM_RST_N, not power)
def get_firmware_fn():
signed_fn = os.path.join(PANDA_BASEDIR, "board", "obj", "panda.bin.signed")
if os.path.exists(signed_fn):
cloudlog.info("Using prebuilt signed firmware")
return signed_fn
else:
cloudlog.info("Building panda firmware")
fn = "obj/panda.bin"
build_st(fn, clean=False)
return os.path.join(PANDA_BASEDIR, "board", fn)
def get_expected_signature(fw_fn=None):
if fw_fn is None:
fw_fn = get_firmware_fn()
def get_expected_signature():
try:
return Panda.get_signature_from_firmware(fw_fn)
return Panda.get_signature_from_firmware(PANDA_FW_FN)
except Exception:
cloudlog.exception("Error computing expected signature")
return b""
@@ -71,8 +59,7 @@ def update_panda():
time.sleep(1)
fw_fn = get_firmware_fn()
fw_signature = get_expected_signature(fw_fn)
fw_signature = get_expected_signature()
try:
serial = panda.get_serial()[0].decode("utf-8")
@@ -90,7 +77,7 @@ def update_panda():
if panda.bootstub or panda_signature != fw_signature:
cloudlog.info("Panda firmware out of date, update required")
panda.flash(fw_fn)
panda.flash()
cloudlog.info("Done flashing")
if panda.bootstub:
@@ -111,6 +98,7 @@ def update_panda():
cloudlog.info("Resetting panda")
panda.reset()
def main():
set_panda_power()
update_panda()