phase 1

selfdrive/pandad/pandad.py

@@ -32,7 +32,8 @@ def flash_panda(panda_serial: str) -> Panda:
     raise
 
   # skip flashing if the detected panda is not supported
-  if panda.get_type() not in Panda.SUPPORTED_DEVICES:
+  supported_panda = check_panda_support(panda)
+  if not supported_panda:
     cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
     return panda
 
@@ -68,19 +69,10 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda_serials: list[str]) -> bool:
+def check_panda_support(panda) -> bool:
-  unsupported = []
+  hw_type = panda.get_type()
-  for serial in panda_serials:
+  if hw_type in Panda.SUPPORTED_DEVICES:
-    panda = Panda(serial)
+    return True
-    hw_type = panda.get_type()
-    panda.close()
-    if hw_type in Panda.SUPPORTED_DEVICES:
-      return True
-
-    unsupported.append((serial, hw_type))
-
-  for serial, hw_type in unsupported:
-    cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...")
 
   return False
 
@@ -134,17 +126,13 @@ def main() -> None:
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
-      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
-      flash_rivian_long(panda_serials)
-
-      # skip flashing and health check if no supported panda is detected
-      if not check_panda_support(panda_serials):
-        continue
-
       # Flash the first panda
       panda_serial = panda_serials[0]
       panda = flash_panda(panda_serial)
 
+      # flash Rivian longitudinal upgrade panda
+      flash_rivian_long(panda)
+
       # Ensure internal panda is present if expected
       if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
@@ -155,6 +143,12 @@ def main() -> None:
       # log panda fw version
       params.put("PandaSignatures", panda.get_signature())
 
+      # skip health check if the detected panda is not supported
+      supported_panda = check_panda_support(panda)
+      if not supported_panda:
+        cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
+        continue
+
       # check health for lost heartbeat
       health = panda.health()
       if health["heartbeat_lost"]:

sunnypilot/selfdrive/pandad/rivian_long_flasher.py

@@ -74,7 +74,7 @@ def _flash_panda(panda: Panda) -> None:
   panda.reconnect()
 
 
-def flash_rivian_long(panda_serials: list[str]) -> None:
+def flash_rivian_long(panda: Panda) -> None:
   if not os.path.isfile(FW_PATH):
     cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
     return
@@ -83,19 +83,13 @@ def flash_rivian_long(panda_serials: list[str]) -> None:
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
     return
 
-  for serial in panda_serials:
+  # only flash external black pandas (HW_TYPE_BLACK = 0x03)
-    panda = Panda(serial)
+  if panda.get_type() == b'\x03' and not panda.is_internal():
-    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    try:
-    if panda.get_type() == b'\x03' and not panda.is_internal():
+      _flash_panda(panda)
-      try:
+    except Exception:
-        _flash_panda(panda)
+      cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
-        cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {serial}")
-      except Exception:
-        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
-    panda.close()
-
-  return
 
 
 if __name__ == '__main__':
-  flash_rivian_long(Panda.list())
+  flash_rivian_long(Panda())