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openpilot v0.8.16 release

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date: 2022-08-23T18:53:11
master commit: f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
This commit is contained in:
Vehicle Researcher
2022-08-23 18:53:12 +00:00
parent 1ccc74201e
commit 108478216b
523 changed files with 314272 additions and 4451 deletions
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panda/python/__init__.py
+86 -32
View File
@@ -9,12 +9,13 @@ import traceback
import sys
from functools import wraps
from typing import Optional
from itertools import accumulate
from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7 # pylint: disable=import-error
from .flash_release import flash_release # noqa pylint: disable=import-error
from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
from .serial import PandaSerial # noqa pylint: disable=import-error
from .isotp import isotp_send, isotp_recv # pylint: disable=import-error
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN # noqa pylint: disable=import-error
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, SECTOR_SIZES_FX, SECTOR_SIZES_H7 # noqa pylint: disable=import-error
__version__ = '0.0.10'
@@ -149,7 +150,7 @@ class Panda:
SAFETY_STELLANTIS = 25
SAFETY_FAW = 26
SAFETY_BODY = 27
SAFETY_HYUNDAI_HDA2 = 28
SAFETY_HYUNDAI_CANFD = 28
SERIAL_DEBUG = 0
SERIAL_ESP = 1
@@ -172,8 +173,8 @@ class Panda:
HW_TYPE_RED_PANDA = b'\x07'
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 7
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIf")
HEALTH_PACKET_VERSION = 8
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIfB")
F2_DEVICES = (HW_TYPE_PEDAL, )
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
@@ -194,17 +195,33 @@ class Panda:
FLAG_HYUNDAI_EV_GAS = 1
FLAG_HYUNDAI_HYBRID_GAS = 2
FLAG_HYUNDAI_LONG = 4
FLAG_HYUNDAI_CAMERA_SCC = 8
FLAG_HYUNDAI_CANFD_HDA2 = 1
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 2
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
FLAG_CHRYSLER_RAM_DT = 1
FLAG_VOLKSWAGEN_LONG_CONTROL = 1
def __init__(self, serial: Optional[str] = None, claim: bool = True):
FLAG_CHRYSLER_RAM_DT = 1
FLAG_CHRYSLER_RAM_HD = 2
FLAG_SUBARU_GEN2 = 1
FLAG_GM_HW_CAM = 1
def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
self._serial = serial
self._disable_checks = disable_checks
self._handle = None
self._bcd_device = None
# connect and set mcu type
self.connect(claim)
self._mcu_type = self.get_mcu_type()
def close(self):
self._handle.close()
@@ -235,6 +252,12 @@ class Panda:
if claim:
self._handle.claimInterface(0)
# self._handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
# bcdDevice wasn't always set to the hw type, ignore if it's the old constant
bcd = device.getbcdDevice()
if bcd is not None and bcd != 0x2300:
self._bcd_device = bytearray([bcd >> 8, ])
break
except Exception as e:
print("exception", e)
@@ -242,11 +265,18 @@ class Panda:
if not wait or self._handle is not None:
break
context = usb1.USBContext() # New context needed so new devices show up
assert(self._handle is not None)
assert self._handle is not None
self._mcu_type = self.get_mcu_type()
self.health_version, self.can_version = self.get_packets_versions()
print("connected")
def reset(self, enter_bootstub=False, enter_bootloader=False):
# disable openpilot's heartbeat checks
if self._disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
try:
if enter_bootloader:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'')
@@ -257,12 +287,14 @@ class Panda:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
except Exception:
pass
if not enter_bootloader:
if not enter_bootloader and reconnect:
self.reconnect()
def reconnect(self):
self.close()
time.sleep(1.0)
if self._handle is not None:
self.close()
time.sleep(1.0)
success = False
# wait up to 15 seconds
for i in range(0, 15):
@@ -284,18 +316,26 @@ class Panda:
@staticmethod
def flash_static(handle, code):
def flash_static(handle, code, mcu_type):
assert mcu_type is not None, "must set valid mcu_type to flash"
# confirm flasher is present
fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
assert fr[4:8] == b"\xde\xad\xd0\x0d"
# determine sectors to erase
apps_sectors_cumsum = accumulate(SECTOR_SIZES_H7[1:] if mcu_type == MCU_TYPE_H7 else SECTOR_SIZES_FX[1:])
last_sector = next((i + 1 for i, v in enumerate(apps_sectors_cumsum) if v > len(code)), -1)
assert last_sector >= 1, "Binary too small? No sector to erase."
assert last_sector < 7, "Binary too large! Risk of overwriting provisioning chunk."
# unlock flash
print("flash: unlocking")
handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
# erase sectors 1 through 3
print("flash: erasing")
for i in range(1, 4):
# erase sectors
print(f"flash: erasing sectors 1 - {last_sector}")
for i in range(1, last_sector + 1):
handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
# flash over EP2
@@ -311,9 +351,10 @@ class Panda:
except Exception:
pass
def flash(self, fn=DEFAULT_FW_FN, code=None, reconnect=True):
if self._mcu_type == MCU_TYPE_H7 and fn == DEFAULT_FW_FN:
fn = DEFAULT_H7_FW_FN
def flash(self, fn=None, code=None, reconnect=True):
if not fn:
fn = DEFAULT_H7_FW_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_FW_FN
assert os.path.isfile(fn)
print("flash: main version is " + self.get_version())
if not self.bootstub:
self.reset(enter_bootstub=True)
@@ -327,25 +368,23 @@ class Panda:
print("flash: bootstub version is " + self.get_version())
# do flash
Panda.flash_static(self._handle, code)
Panda.flash_static(self._handle, code, mcu_type=self._mcu_type)
# reconnect
if reconnect:
self.reconnect()
def recover(self, timeout: Optional[int] = None, reset: bool = True) -> bool:
dfu_serial = PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type)
if reset:
self.reset(enter_bootstub=True)
self.reset(enter_bootloader=True)
t_start = time.time()
while len(PandaDFU.list()) == 0:
print("waiting for DFU...")
time.sleep(0.1)
if timeout is not None and (time.time() - t_start) > timeout:
return False
if not self.wait_for_dfu(dfu_serial, timeout=timeout):
return False
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
dfu = PandaDFU(dfu_serial)
dfu.recover()
# reflash after recover
@@ -353,6 +392,16 @@ class Panda:
self.flash()
return True
@staticmethod
def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool:
t_start = time.monotonic()
while dfu_serial not in PandaDFU.list():
print("waiting for DFU...")
time.sleep(0.1)
if timeout is not None and (time.monotonic() - t_start) > timeout:
return False
return True
@staticmethod
def list():
context = usb1.USBContext()
@@ -400,6 +449,7 @@ class Panda:
"alternative_experience": a[19],
"blocked_msg_cnt": a[20],
"interrupt_load": a[21],
"fan_power": a[22],
}
# ******************* control *******************
@@ -425,7 +475,14 @@ class Panda:
return bytes(part_1 + part_2)
def get_type(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
# bootstub doesn't implement this call, so fallback to bcdDevice
invalid_type = self.bootstub and (ret is None or len(ret) != 1)
if invalid_type and self._bcd_device is not None:
ret = self._bcd_device
return ret
# Returns tuple with health packet version and CAN packet/USB packet version
def get_packets_versions(self):
@@ -506,11 +563,8 @@ class Panda:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
time.sleep(0.2)
def set_safety_mode(self, mode=SAFETY_SILENT, param=0, disable_checks=True):
def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
if disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
def set_gmlan(self, bus=2):
# TODO: check panda type
panda/python/config.py
+2 -1
View File
@@ -1,18 +1,19 @@
import os
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
BOOTSTUB_ADDRESS = 0x8000000
BLOCK_SIZE_FX = 0x800
APP_ADDRESS_FX = 0x8004000
SECTOR_SIZES_FX = [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)]
DEVICE_SERIAL_NUMBER_ADDR_FX = 0x1FFF79C0
DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
DEFAULT_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin")
BLOCK_SIZE_H7 = 0x400
APP_ADDRESS_H7 = 0x8020000
SECTOR_SIZES_H7 = [0x20000 for _ in range(7)] # there is an 8th sector, but we use that for the provisioning chunk, so don't program over that!
DEVICE_SERIAL_NUMBER_ADDR_H7 = 0x080FFFC0
DEFAULT_H7_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed")
DEFAULT_H7_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin")