mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-28 17:13:54 +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.
41 lines
947 B
Python
Executable File
41 lines
947 B
Python
Executable File
#!/usr/bin/env python3
|
|
import time
|
|
from panda import Panda, PandaDFU
|
|
|
|
class GPIO:
|
|
STM_RST_N = 124
|
|
STM_BOOT0 = 134
|
|
|
|
|
|
def gpio_init(pin, output):
|
|
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
|
f.write(b"out" if output else b"in")
|
|
|
|
def gpio_set(pin, high):
|
|
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
|
f.write(b"1" if high else b"0")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
for pin in (GPIO.STM_RST_N, GPIO.STM_BOOT0):
|
|
gpio_init(pin, True)
|
|
|
|
# flash bootstub
|
|
print("resetting into DFU")
|
|
gpio_set(GPIO.STM_RST_N, 1)
|
|
gpio_set(GPIO.STM_BOOT0, 1)
|
|
time.sleep(0.2)
|
|
gpio_set(GPIO.STM_RST_N, 0)
|
|
gpio_set(GPIO.STM_BOOT0, 0)
|
|
|
|
# bootstub flash takes 2s and is limited by the 255 byte flashing chunk size
|
|
print("flashing bootstub")
|
|
assert Panda.wait_for_dfu(None, 5)
|
|
PandaDFU(None).recover()
|
|
|
|
print("flashing app")
|
|
assert Panda.wait_for_panda(None, 5)
|
|
p = Panda()
|
|
assert p.bootstub
|
|
p.flash()
|