mirror of
https://jihulab.com/mr-one/openpilot.git
synced 2026-10-27 04:53:44 +08:00
1okko
105 lines
3.5 KiB
Bash
Executable File
105 lines
3.5 KiB
Bash
Executable File
#!/bin/bash
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# ============================================================
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# 手动把 bootstub 烧进 SPI panda (STM32H725) 的 flash
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# 适用: 新 panda / panda 固件损坏 / 需要重刷 bootstub 时
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# 用法: ssh comma@<设备IP> 'bash /home/comma/flash_bootstub.sh'
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# 注意: 烧完必须给 panda 完整断电再上电!
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# ============================================================
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export PATH=/usr/local/venv/bin:$PATH
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export PYTHONPATH=/data/openpilot
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cd /data/openpilot || { echo "ERROR: /data/openpilot not found"; exit 1; }
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if [ ! -f panda/board/obj/bootstub.panda_h7.bin ]; then
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echo "ERROR: bootstub.panda_h7.bin not found (need to build first: scons)"
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exit 1
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fi
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echo "bootstub file: $(ls -la panda/board/obj/bootstub.panda_h7.bin | awk '{print $5}') bytes"
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echo "firmware version: $(cat panda/board/obj/version 2>/dev/null)"
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# 1) 进入 ROM bootloader: RST复位 + BOOT0=1 (保持高)
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echo ">> entering ROM bootloader (BOOT0=1)..."
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echo 1 > /sys/class/gpio/gpio124/value
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echo 1 > /sys/class/gpio/gpio134/value
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sleep 0.2
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echo 0 > /sys/class/gpio/gpio124/value
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sleep 0.1
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echo 0 > /sys/class/gpio/gpio134/value
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sleep 1
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# 2) 单 handle 分块刷写 bootstub (带重试 + 读回校验)
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python3 << 'PYEOF'
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import time, sys
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from panda.python.spi import STBootloaderSPIHandle
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from panda.python.constants import FW_PATH, McuType
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import os
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BS = 256
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fn = os.path.join(FW_PATH, McuType.H7.config.bootstub_fn)
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code = open(fn, "rb").read()
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nblocks = (len(code) + BS - 1) // BS
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print(f"bootstub {len(code)} bytes, {nblocks} blocks")
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def w(pin, val):
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with open(f"/sys/class/gpio/gpio{pin}/value", "w") as f:
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f.write(str(val))
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for attempt in range(30):
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# reset with BOOT0 held high (each retry)
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w(124, 1); w(134, 1); time.sleep(0.2)
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w(124, 0); time.sleep(0.1); w(134, 0); time.sleep(1)
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try:
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h = STBootloaderSPIHandle()
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except Exception:
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print(f" attempt {attempt}: connect fail")
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continue
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print(f" attempt {attempt}: connected, chipid={hex(h.get_chip_id())}")
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for round_ in range(8):
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try:
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h.erase_sector(0); h.erase_sector(1)
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except Exception as e:
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print(f" erase err {e}")
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break
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ok = True
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for i in range(nblocks):
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block = code[i*BS:(i+1)*BS].ljust(BS, b"\xFF")
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addr = 0x08000000 + i*BS
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success = False
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for r in range(6):
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try:
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h.program(addr, block)
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if h.read(addr, BS) == block:
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success = True
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break
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except Exception:
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pass
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if not success:
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ok = False
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print(f" round {round_}: block {i} failed")
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break
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if ok:
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v = h.read(0x08000000, 32)
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print(f" *** BOOTSTUB FLASH SUCCESS *** head={v.hex()}")
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sys.exit(0)
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try:
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h.close()
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except Exception:
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pass
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print("FLASH FAILED after all retries")
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sys.exit(1)
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PYEOF
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# 3) 恢复正常模式 (BOOT0=0)
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echo 0 > /sys/class/gpio/gpio134/value
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echo 1 > /sys/class/gpio/gpio124/value
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sleep 0.3
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echo 0 > /sys/class/gpio/gpio124/value
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echo ""
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echo "=============================================================="
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echo " bootstub 已烧入 flash!"
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echo " 现在必须给 panda 完整断电再上电:"
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echo " 拔掉 panda 电源 / 关掉供电开关, 等 2~3 秒, 再上电"
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echo " 上电后 panda 绿灯会闪烁(soft flasher), pandad 会自动刷 app"
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echo "=============================================================="
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