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Revert "openpilot 0.4.3.1 (#220)"

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This reverts commit 640ab12c72.
This commit is contained in:
George Hotz
2018-03-26 14:13:40 -07:00
committed by GitHub
parent 640ab12c72
commit f550656ee8
187 changed files with 4128 additions and 9703 deletions
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panda/python/__init__.py
+42 -83
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@@ -13,9 +13,8 @@ from esptool import ESPROM, CesantaFlasher
from flash_release import flash_release
from update import ensure_st_up_to_date
from serial import PandaSerial
from isotp import isotp_send, isotp_recv
__version__ = '0.0.7'
__version__ = '0.0.6'
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
@@ -105,7 +104,6 @@ class Panda(object):
SAFETY_NOOUTPUT = 0
SAFETY_HONDA = 1
SAFETY_TOYOTA = 2
SAFETY_HONDA_BOSCH = 4
SAFETY_TOYOTA_NOLIMITS = 0x1336
SAFETY_ALLOUTPUT = 0x1337
SAFETY_ELM327 = 0xE327
@@ -183,58 +181,27 @@ class Panda(object):
except Exception:
pass
if not enter_bootloader:
self.reconnect()
def reconnect(self):
self.close()
time.sleep(1.0)
success = False
# wait up to 15 seconds
for i in range(0, 15):
try:
self.connect()
success = True
break
except Exception:
print("reconnecting is taking %d seconds..." % (i+1))
self.close()
time.sleep(1.0)
success = False
# wait up to 15 seconds
for i in range(0, 15):
try:
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu.recover()
self.connect()
success = True
break
except Exception:
pass
time.sleep(1.0)
if not success:
raise Exception("reconnect failed")
print("reconnecting is taking %d seconds..." % (i+1))
try:
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu.recover()
except Exception:
pass
time.sleep(1.0)
if not success:
raise Exception("reset failed")
@staticmethod
def flash_static(handle, code):
# confirm flasher is present
fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
assert fr[4:8] == "\xde\xad\xd0\x0d"
# unlock flash
print("flash: unlocking")
handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
# erase sectors 1 and 2
print("flash: erasing")
handle.controlWrite(Panda.REQUEST_IN, 0xb2, 1, 0, b'')
handle.controlWrite(Panda.REQUEST_IN, 0xb2, 2, 0, b'')
# flash over EP2
STEP = 0x10
print("flash: flashing")
for i in range(0, len(code), STEP):
handle.bulkWrite(2, code[i:i+STEP])
# reset
print("flash: resetting")
try:
handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
except Exception:
pass
def flash(self, fn=None, code=None, reconnect=True):
def flash(self, fn=None, code=None):
if not self.bootstub:
self.reset(enter_bootstub=True)
assert(self.bootstub)
@@ -257,12 +224,28 @@ class Panda(object):
# get version
print("flash: version is "+self.get_version())
# do flash
Panda.flash_static(self._handle, code)
# confirm flasher is present
fr = self._handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
assert fr[4:8] == "\xde\xad\xd0\x0d"
# reconnect
if reconnect:
self.reconnect()
# unlock flash
print("flash: unlocking")
self._handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
# erase sectors 1 and 2
print("flash: erasing")
self._handle.controlWrite(Panda.REQUEST_IN, 0xb2, 1, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xb2, 2, 0, b'')
# flash over EP2
STEP = 0x10
print("flash: flashing")
for i in range(0, len(code), STEP):
self._handle.bulkWrite(2, code[i:i+STEP])
# reset
print("flash: resetting")
self.reset()
def recover(self):
self.reset(enter_bootloader=True)
@@ -332,10 +315,6 @@ class Panda(object):
def get_version(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40)
def is_grey(self):
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
return ret == "\x01"
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
@@ -441,14 +420,6 @@ class Panda(object):
"""
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf1, bus, 0, b'')
# ******************* isotp *******************
def isotp_send(self, addr, dat, bus, recvaddr=None, subaddr=None):
return isotp_send(self, dat, addr, bus, recvaddr, subaddr)
def isotp_recv(self, addr, bus=0, sendaddr=None, subaddr=None):
return isotp_recv(self, addr, bus, sendaddr, subaddr)
# ******************* serial *******************
def serial_read(self, port_number):
@@ -480,11 +451,7 @@ class Panda(object):
# pulse low for wakeup
def kline_wakeup(self):
if DEBUG:
print("kline wakeup...")
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 0, 0, b'')
if DEBUG:
print("kline wakeup done")
def kline_drain(self, bus=2):
# drain buffer
@@ -493,25 +460,19 @@ class Panda(object):
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40)
if len(ret) == 0:
break
elif DEBUG:
print("kline drain: "+str(ret).encode("hex"))
bret += ret
return bytes(bret)
def kline_ll_recv(self, cnt, bus=2):
echo = bytearray()
while len(echo) != cnt:
ret = str(self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo)))
if DEBUG and len(ret) > 0:
print("kline recv: "+ret.encode("hex"))
echo += ret
return str(echo)
echo += self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo))
return echo
def kline_send(self, x, bus=2, checksum=True):
def get_checksum(dat):
result = 0
result += sum(map(ord, dat)) if isinstance(b'dat', str) else sum(dat)
result = -result
return struct.pack("B", result % 0x100)
self.kline_drain(bus=bus)
@@ -519,8 +480,6 @@ class Panda(object):
x += get_checksum(x)
for i in range(0, len(x), 0xf):
ts = x[i:i+0xf]
if DEBUG:
print("kline send: "+ts.encode("hex"))
self._handle.bulkWrite(2, chr(bus).encode()+ts)
echo = self.kline_ll_recv(len(ts), bus=bus)
if echo != ts: