mawei/openpilot
1
0
Fork 0
mirror of https://jihulab.com/mr-one/openpilot.git synced 2026-10-27 21:13:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

port USB black panda (DOS/F4) support: pandad USB comms, python lib, F4 firmware

Browse Source
This commit is contained in:
comma
2026-08-28 09:02:11 +08:00
parent 5e0748d5f7
commit 170253de81
52 changed files with 24878 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda/python/__init__.py
+19 -6
View File
@@ -131,7 +131,14 @@ class Panda:
# from https://github.com/commaai/openpilot/blob/103b4df18cbc38f4129555ab8b15824d1a672bdf/cereal/log.capnp#L648
HW_TYPE_UNKNOWN = b'\x00'
HW_TYPE_WHITE_PANDA = b'\x01'
HW_TYPE_GREY_PANDA = b'\x02'
HW_TYPE_BLACK_PANDA = b'\x03'
HW_TYPE_PEDAL = b'\x04'
HW_TYPE_UNO = b'\x05'
HW_TYPE_DOS = b'\x06'
HW_TYPE_RED_PANDA = b'\x07'
HW_TYPE_RED_PANDA_V2 = b'\x08'
HW_TYPE_TRES = b'\x09'
HW_TYPE_CUATRO = b'\x0a'
HW_TYPE_BODY = b'\xb1'
@@ -141,8 +148,9 @@ class Panda:
HEALTH_STRUCT = _parse_c_struct(os.path.join(BASEDIR, "board/health.h"), "health_t")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO, HW_TYPE_BODY]
SUPPORTED_DEVICES = H7_DEVICES
H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO, HW_TYPE_BODY]
F4_DEVICES = [HW_TYPE_BLACK_PANDA, HW_TYPE_DOS]
SUPPORTED_DEVICES = H7_DEVICES + F4_DEVICES
INTERNAL_DEVICES = (HW_TYPE_TRES, HW_TYPE_CUATRO)
@@ -437,7 +445,7 @@ class Panda:
return
if not fn:
fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
fn = os.path.join(FW_PATH, self.mcu_type.config.app_fn)
assert os.path.isfile(fn)
logger.debug("flash: main version is %s", self.get_version())
if not self.bootstub:
@@ -452,7 +460,7 @@ class Panda:
logger.debug("flash: bootstub version is %s", self.get_version())
# do flash
Panda.flash_static(self._handle, code, mcu_type=McuType.H7)
Panda.flash_static(self._handle, code, mcu_type=self.mcu_type)
# reconnect
if reconnect:
@@ -503,7 +511,7 @@ class Panda:
def up_to_date(self, fn=None) -> bool:
current = self.get_signature()
if fn is None:
fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
fn = os.path.join(FW_PATH, self.mcu_type.config.app_fn)
expected = Panda.get_signature_from_firmware(fn)
return (current == expected)
@@ -619,6 +627,10 @@ class Panda:
def is_internal(self):
return self.get_type() in Panda.INTERNAL_DEVICES
@property
def mcu_type(self) -> McuType:
return McuType.F4 if self.get_type() in Panda.F4_DEVICES else McuType.H7
def get_serial(self):
"""
Returns the comma-issued dongle ID from our provisioning
@@ -636,7 +648,7 @@ class Panda:
return self._serial
def get_dfu_serial(self):
return PandaDFU.st_serial_to_dfu_serial(self._serial, McuType.H7)
return PandaDFU.st_serial_to_dfu_serial(self._serial, self.mcu_type)
def get_uid(self):
"""
@@ -808,3 +820,4 @@ class Panda:
def read_som_gpio(self) -> bool:
r = self._handle.controlRead(Panda.REQUEST_IN, 0xc6, 0, 0, 1)
return r[0] == 1