Power

Manage device power, parked services and vehicle-specific Panda wake behavior.

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Daniel Koepping <elkoled@gmail.com>
Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com>

panda/python/__init__.py

@@ -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
@@ -408,7 +410,9 @@ 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")
@@ -440,7 +444,7 @@ 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:
@@ -455,7 +459,7 @@ 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:
@@ -506,7 +510,7 @@ 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)
 
@@ -639,8 +643,16 @@ 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):
     """

panda/python/constants.py

@@ -31,6 +31,13 @@ class McuConfig(NamedTuple):
     return self.bootstub_address + sum(self.sector_sizes[:i])
 
 
+F4Config = McuConfig(
+  "STM32F4", 0x463,
+  [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
+  16, 0x1FFF7A10, 0x800, 0x1FFF79C0, 0x8004000,
+  "panda.bin.signed", 0x8000000, "bootstub.panda.bin",
+)
+
 H7Config = McuConfig(
   "STM32H7",
   0x483,
@@ -48,6 +55,7 @@ H7Config = McuConfig(
 
 @enum.unique
 class McuType(enum.Enum):
+  F4 = F4Config
   H7 = H7Config
 
   @property

panda/python/dfu.py

@@ -104,6 +104,8 @@ class PandaDFU:
       uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
       if mcu_type == McuType.H7:
         return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
+      if mcu_type == McuType.F4:
+        return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
     except struct.error:
       return None