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Comma 3 Panda Support

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firestar5683
2026-10-04 00:34:57 -05:00
parent e87f51970b
commit 54fbde0bf3
61 changed files with 25394 additions and 47 deletions
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panda/python/__init__.py
+19 -7
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@@ -129,6 +129,7 @@ class Panda:
# from https://github.com/commaai/openpilot/blob/103b4df18cbc38f4129555ab8b15824d1a672bdf/cereal/log.capnp#L648
HW_TYPE_UNKNOWN = b'\x00'
HW_TYPE_DOS = b'\x06'
HW_TYPE_RED_PANDA = b'\x07'
HW_TYPE_TRES = b'\x09'
HW_TYPE_CUATRO = b'\x0a'
@@ -150,9 +151,10 @@ class Panda:
HEALTH_FLAG_HARDFAULT_RESET = 1 << 8
H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO, HW_TYPE_BODY]
SUPPORTED_DEVICES = H7_DEVICES
F4_DEVICES = [HW_TYPE_DOS]
SUPPORTED_DEVICES = H7_DEVICES + F4_DEVICES
INTERNAL_DEVICES = (HW_TYPE_TRES, HW_TYPE_CUATRO)
INTERNAL_DEVICES = (HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
HARNESS_STATUS_NC = 0
HARNESS_STATUS_NORMAL = 1
@@ -413,7 +415,9 @@ class Panda:
apps_sectors_cumsum = accumulate(mcu_type.config.sector_sizes[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."
assert last_sector < len(mcu_type.config.sector_sizes), "Binary too large! Risk of overwriting provisioning chunk."
if mcu_type == McuType.F4:
assert last_sector < 12, "DOS bootstubs support sectors 1..11"
# unlock flash
logger.info("flash: unlocking")
@@ -445,7 +449,7 @@ class Panda:
return
if not fn:
fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
assert os.path.isfile(fn)
logger.debug("flash: main version is %s", self.get_version())
if not self.bootstub:
@@ -460,7 +464,7 @@ class Panda:
logger.debug("flash: bootstub version is %s", self.get_version())
# do flash
Panda.flash_static(self._handle, code, mcu_type=McuType.H7)
Panda.flash_static(self._handle, code, mcu_type=self.get_mcu_type())
# reconnect
if reconnect:
@@ -511,7 +515,7 @@ class Panda:
def up_to_date(self, fn=None) -> bool:
current = self.get_signature()
if fn is None:
fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
expected = Panda.get_signature_from_firmware(fn)
return (current == expected)
@@ -644,8 +648,16 @@ class Panda:
"""
return self._serial
def get_mcu_type(self) -> McuType:
hw_type = self.get_type()
if hw_type in self.F4_DEVICES:
return McuType.F4
if hw_type in self.H7_DEVICES:
return McuType.H7
raise ValueError(f"Unknown HW: {hw_type}")
def get_dfu_serial(self):
return PandaDFU.st_serial_to_dfu_serial(self._serial, McuType.H7)
return PandaDFU.st_serial_to_dfu_serial(self._serial, self.get_mcu_type())
def get_uid(self):
"""