mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
99 lines
4.4 KiB
Python
Executable File
99 lines
4.4 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import os, zlib, struct, hashlib
|
|
from tinygrad.helpers import getenv
|
|
from tinygrad.runtime.support.usb import USB3
|
|
|
|
SUPPORTED_CONTROLLERS = [
|
|
(0x174C, 0x2464),
|
|
(0x174C, 0x2463),
|
|
(0xADD1, 0x0001),
|
|
]
|
|
if getenv("USBDEV", ""): SUPPORTED_CONTROLLERS.insert(0, (int(x, 16) for x in getenv("USBDEV", "").split(":")))
|
|
|
|
def patch(input_filepath, file_hash, patches):
|
|
with open(input_filepath, 'rb') as infile: data = bytearray(infile.read())
|
|
|
|
if_hash = hashlib.md5(data).hexdigest()
|
|
if if_hash != file_hash:
|
|
raise ValueError(f"File hash mismatch: expected {file_hash}, got {if_hash}")
|
|
|
|
for offset, expected_bytes, new_bytes in patches:
|
|
if len(expected_bytes) != len(new_bytes):
|
|
raise ValueError("Expected bytes and new bytes must be the same length")
|
|
|
|
if offset + len(new_bytes) > len(data): return False
|
|
current_bytes = data[offset:offset + len(expected_bytes)]
|
|
assert bytes(current_bytes) == expected_bytes, f"Expected {expected_bytes} at offset {offset:x}, but got {current_bytes}"
|
|
data[offset:offset + len(new_bytes)] = new_bytes
|
|
|
|
checksum = sum(data[4:-6]) & 0xff
|
|
crc32 = zlib.crc32(data[4:-6]).to_bytes(4, 'little')
|
|
data[-5] = checksum
|
|
data[-4] = crc32[0]
|
|
data[-3] = crc32[1]
|
|
data[-2] = crc32[2]
|
|
data[-1] = crc32[3]
|
|
return data
|
|
|
|
path = os.path.dirname(os.path.abspath(__file__))
|
|
file_hash = "5284e618d96ef804c06f47f3b73656b7"
|
|
file_path = os.path.join(path, "Software/AS_USB4_240417_85_00_00.bin")
|
|
|
|
if not os.path.exists(file_path):
|
|
url = "https://web.archive.org/web/20250430124720/https://www.station-drivers.com/index.php/en/component/remository/func-download/6341/chk,3ef8b04704a18eb2fc57ff60382379ad/no_html,1/lang,en-gb/"
|
|
os.system(f'curl -o "{path}/fw.zip" "{url}"')
|
|
os.system(f'unzip -o "{path}/fw.zip" "Software/AS_USB4_240417_85_00_00.bin" -d "{path}"')
|
|
|
|
patches = [(0x2a0d + 1 + 4, b'\x0a', b'\x05')]
|
|
patched_fw = patch(file_path, file_hash, patches)
|
|
|
|
dev = None
|
|
for vendor, device in SUPPORTED_CONTROLLERS:
|
|
try:
|
|
dev = USB3(vendor, device, 0x81, 0x83, 0x02, 0x04, use_bot=True)
|
|
break
|
|
except RuntimeError: pass
|
|
if dev is None:
|
|
raise RuntimeError('Could not open controller. You can set USBDEV environment variable to your device\'s vendor and device ID (e.g., USBDEV="174C:2464")')
|
|
|
|
config1 = bytes([
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0x41, 0x41, 0x41, 0x41, 0x42, 0x42, 0x42, 0x42, 0x30, 0x30, 0x36, 0x30,
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x74, 0x69, 0x6E, 0x79, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x74, 0x69, 0x6E, 0x79,
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0x55, 0x53, 0x42, 0x20, 0x33, 0x2E, 0x32, 0x20, 0x50, 0x43, 0x49, 0x65,
|
|
0x20, 0x54, 0x69, 0x6E, 0x79, 0x45, 0x6E, 0x63, 0x6C, 0x6F, 0x73, 0x75, 0x72, 0x65, 0xFF, 0xFF,
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0x54, 0x69, 0x6E, 0x79, 0x45, 0x6E, 0x63, 0x6C, 0x6F, 0x73, 0x75, 0x72,
|
|
0x65, 0xFF, 0xFF, 0xFF, 0xD1, 0xAD, 0x01, 0x00, 0x00, 0x01, 0xCF, 0xFF, 0x02, 0xFF, 0x5A, 0x94])
|
|
|
|
config2 = bytes([
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0x47, 0x6F, 0x70, 0x6F, 0x64, 0x20, 0x47, 0x72, 0x6F, 0x75, 0x70, 0x20,
|
|
0x4C, 0x69, 0x6D, 0x69, 0x74, 0x65, 0x64, 0x2E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x55, 0x53, 0x42, 0x34,
|
|
0x20, 0x4E, 0x56, 0x4D, 0x65, 0x20, 0x53, 0x53, 0x44, 0x20, 0x50, 0x72, 0x6F, 0x20, 0x45, 0x6E,
|
|
0x63, 0x6C, 0x6F, 0x73, 0x75, 0x72, 0x65, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0x8C, 0xBF, 0xFF, 0x97, 0xC1, 0xF3, 0xFF, 0xFF, 0x01, 0x2D, 0x66, 0xD6,
|
|
0x66, 0x06, 0x00, 0xC0, 0x87, 0x01, 0x5A, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xCA, 0x01, 0x66, 0xD6,
|
|
0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0xFF, 0xFF, 0x01, 0x00, 0xA5, 0x67])
|
|
|
|
part1 = patched_fw[:0xff00]
|
|
part2 = patched_fw[0xff00:]
|
|
|
|
# config patch
|
|
cdb = struct.pack('>BBB12x', 0xe1, 0x50, 0x0)
|
|
dev.send_batch(cdbs=[cdb], odata=[config1])
|
|
|
|
cdb = struct.pack('>BBB12x', 0xe1, 0x50, 0x1)
|
|
dev.send_batch(cdbs=[cdb], odata=[config2])
|
|
|
|
cdb = struct.pack('>BBI', 0xe3, 0x50, len(part1))
|
|
dev.send_batch(cdbs=[cdb], odata=[part1])
|
|
|
|
cdb = struct.pack('>BBI', 0xe3, 0xd0, len(part2))
|
|
dev.send_batch(cdbs=[cdb], odata=[part2])
|
|
|
|
cdb = struct.pack('>BB13x', 0xe8, 0x51)
|
|
dev.send_batch(cdbs=[cdb])
|
|
|
|
print("done, you can disconnect the controller!")
|