lp-dp 2023-05-25T03:10:00 for EON/C2

version: lp-dp v0.9.3 for EON/C2
date: 2023-05-25T03:10:00
commit: 409000e6091be63a423d23e7940d569fed28497e

panda/python/__init__.py

@@ -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
@@ -151,7 +151,7 @@ class Panda:
   SAFETY_NOOUTPUT = 19
   SAFETY_HONDA_BOSCH = 20
   SAFETY_VOLKSWAGEN_PQ = 21
-  SAFETY_SUBARU_LEGACY = 22
+  SAFETY_SUBARU_PREGLOBAL = 22
   SAFETY_HYUNDAI_LEGACY = 23
   SAFETY_HYUNDAI_COMMUNITY = 24
   SAFETY_STELLANTIS = 25
@@ -239,6 +239,8 @@ class Panda:
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
 
+  FLAG_FORD_LONG_CONTROL = 1
+
   def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
     self._connect_serial = serial
     self._disable_checks = disable_checks
@@ -403,14 +405,16 @@ 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)
       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)
         else:
-          self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
+          self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout)
     except Exception:
       pass
     if not enter_bootloader and reconnect:
@@ -485,7 +489,7 @@ class Panda:
 
   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:
@@ -536,7 +540,8 @@ class Panda:
 
   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):

panda/python/constants.py

@@ -3,7 +3,7 @@ import enum
 from typing import List, NamedTuple
 
 BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
-
+FW_PATH = os.path.join(BASEDIR, "board/obj/")
 
 class McuConfig(NamedTuple):
   mcu: str
@@ -13,9 +13,9 @@ class McuConfig(NamedTuple):
   sector_sizes: List[int]
   serial_number_address: int
   app_address: int
-  app_path: str
+  app_fn: str
   bootstub_address: int
-  bootstub_path: str
+  bootstub_fn: str
 
 Fx = (
   0x1FFF7A10,
@@ -23,9 +23,9 @@ Fx = (
   [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
   0x1FFF79C0,
   0x8004000,
-  os.path.join(BASEDIR, "board", "obj", "panda.bin.signed"),
+  "panda.bin.signed",
   0x8000000,
-  os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin"),
+  "bootstub.panda.bin",
 )
 F2Config = McuConfig("STM32F2", 0x411, *Fx)
 F4Config = McuConfig("STM32F4", 0x463, *Fx)
@@ -39,9 +39,9 @@ H7Config = McuConfig(
   [0x20000 for _ in range(7)],
   0x080FFFC0,
   0x8020000,
-  os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed"),
+  "panda_h7.bin.signed",
   0x8000000,
-  os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin"),
+  "bootstub.panda_h7.bin",
 )
 
 @enum.unique

panda/python/dfu.py

@@ -1,3 +1,4 @@
+import os
 import usb1
 import struct
 import binascii
@@ -6,7 +7,7 @@ from typing import List, Optional
 from .base import BaseSTBootloaderHandle
 from .spi import STBootloaderSPIHandle, PandaSpiException
 from .usb import STBootloaderUSBHandle
-from .constants import McuType
+from .constants import FW_PATH, McuType
 
 
 class PandaDFU:
@@ -110,10 +111,10 @@ class PandaDFU:
     self._handle.erase_bootstub()
     self._handle.erase_app()
     self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub)
-    self.reset()
 
   def recover(self):
-    with open(self._mcu_type.config.bootstub_path, "rb") as f:
+    fn = os.path.join(FW_PATH, self._mcu_type.config.bootstub_fn)
+    with open(fn, "rb") as f:
       code = f.read()
     self.program_bootstub(code)
-
+    self.reset()

panda/python/spi.py

@@ -58,7 +58,14 @@ class SpiDevice:
   """
   Provides locked, thread-safe access to a panda's SPI interface.
   """
-  def __init__(self, speed):
+
+  # 50MHz is the max of the 845. older rev comma three
+  # may not support the full 50MHz
+  MAX_SPEED = 50000000
+
+  def __init__(self, speed=MAX_SPEED):
+    assert speed <= self.MAX_SPEED
+
     if not os.path.exists(DEV_PATH):
       raise PandaSpiUnavailable(f"SPI device not found: {DEV_PATH}")
     if spidev is None:
@@ -87,9 +94,7 @@ class PandaSpiHandle(BaseHandle):
   A class that mimics a libusb1 handle for panda SPI communications.
   """
   def __init__(self):
-    # 50MHz is the max of the 845. older rev comma three
-    # may not support the full 50MHz
-    self.dev = SpiDevice(50000000)
+    self.dev = SpiDevice()
 
   # helpers
   def _calc_checksum(self, data: List[int]) -> int:
@@ -115,8 +120,11 @@ class PandaSpiHandle(BaseHandle):
     logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
     logging.debug("==============================================")
 
+    n = 0
+    start_time = time.monotonic()
     exc = PandaSpiException()
-    for n in range(MAX_XFER_RETRY_COUNT):
+    while (time.monotonic() - start_time) < timeout*1e-3:
+      n += 1
       logging.debug("\ntry #%d", n+1)
       try:
         logging.debug("- send header")
@@ -124,16 +132,18 @@ class PandaSpiHandle(BaseHandle):
         packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
         spi.xfer2(packet)
 
+        to = timeout - (time.monotonic() - start_time)*1e3
         logging.debug("- waiting for header ACK")
-        self._wait_for_ack(spi, HACK, timeout, 0x11)
+        self._wait_for_ack(spi, HACK, int(to), 0x11)
 
         # send data
         logging.debug("- sending data")
         packet = bytes([*data, self._calc_checksum(data)])
         spi.xfer2(packet)
 
+        to = timeout - (time.monotonic() - start_time)*1e3
         logging.debug("- waiting for data ACK")
-        self._wait_for_ack(spi, DACK, timeout, 0x13)
+        self._wait_for_ack(spi, DACK, int(to), 0x13)
 
         # get response length, then response
         response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
@@ -149,7 +159,7 @@ class PandaSpiHandle(BaseHandle):
         return dat[:-1]
       except PandaSpiException as e:
         exc = e
-        logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True)
+        logging.debug("SPI transfer failed, retrying", exc_info=True)
     raise exc
 
   # libusb1 functions