mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-19 16:22:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

openpilot v0.9.3 release

Browse Source 
date: 2023-06-16T05:25:00
master commit: 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
This commit is contained in:
Vehicle Researcher
2023-06-16 05:25:01 +00:00
parent cfd8323ccb
commit c39abc00af
188 changed files with 4182 additions and 2011 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda/python/__init__.py
+26 -15
View File
@@ -14,7 +14,7 @@ from typing import Optional
from itertools import accumulate
from .base import BaseHandle
from .constants import McuType
from .constants import FW_PATH, McuType
from .dfu import PandaDFU
from .isotp import isotp_send, isotp_recv
from .spi import PandaSpiHandle, PandaSpiException
@@ -401,14 +401,16 @@ class Panda:
return []
def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
# no response is expected since it resets right away
timeout = 5000 if isinstance(self._handle, PandaSpiHandle) else 15000
try:
if enter_bootloader:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'', timeout=timeout, expect_disconnect=True)
else:
if enter_bootstub:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=timeout, expect_disconnect=True)
else:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout, expect_disconnect=True)
except Exception:
pass
if not enter_bootloader and reconnect:
@@ -477,13 +479,13 @@ class Panda:
# reset
logging.warning("flash: resetting")
try:
handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True)
except Exception:
pass
def flash(self, fn=None, code=None, reconnect=True):
if not fn:
fn = self._mcu_type.config.app_path
fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn)
assert os.path.isfile(fn)
logging.debug("flash: main version is %s", self.get_version())
if not self.bootstub:
@@ -523,18 +525,33 @@ class Panda:
return True
@staticmethod
def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool:
def wait_for_dfu(dfu_serial: Optional[str], timeout: Optional[int] = None) -> bool:
t_start = time.monotonic()
while dfu_serial not in PandaDFU.list():
dfu_list = PandaDFU.list()
while (dfu_serial is None and len(dfu_list) == 0) or (dfu_serial is not None and dfu_serial not in dfu_list):
logging.debug("waiting for DFU...")
time.sleep(0.1)
if timeout is not None and (time.monotonic() - t_start) > timeout:
return False
dfu_list = PandaDFU.list()
return True
@staticmethod
def wait_for_panda(serial: Optional[str], timeout: int) -> bool:
t_start = time.monotonic()
serials = Panda.list()
while (serial is None and len(serials) == 0) or (serial is not None and serial not in serials):
logging.debug("waiting for panda...")
time.sleep(0.1)
if timeout is not None and (time.monotonic() - t_start) > timeout:
return False
serials = Panda.list()
return True
def up_to_date(self) -> bool:
current = self.get_signature()
expected = Panda.get_signature_from_firmware(self.get_mcu_type().config.app_path)
fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
expected = Panda.get_signature_from_firmware(fn)
return (current == expected)
def call_control_api(self, msg):
@@ -617,12 +634,6 @@ class Panda:
# ******************* control *******************
def enter_bootloader(self):
try:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xd1, 0, 0, b'')
except Exception:
logging.exception("exception while entering bootloader")
def get_version(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')