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panda
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add st updater

master
George Hotz 2017-08-28 10:42:23 -07:00
parent 36a259855e
commit 22a00b1043
9 changed files with 111 additions and 39 deletions
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2
VERSION
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@ -1 +1 @@
v0.9.3
v0.9.4

2
__init__.py
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@ -1 +1 @@
from .panda import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release
from .panda import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st

2
board/build.mk
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@ -27,7 +27,7 @@ bin: obj/$(PROJ_NAME).bin
# this flashes everything
recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
-PYTHONPATH=../ python -c "from panda import Panda; Panda().reset(enter_bootloader=True)"
sleep 2.0
sleep 1.0
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.$(PROJ_NAME).bin

41
panda/__init__.py
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@ -11,6 +11,7 @@ import traceback
from dfu import PandaDFU
from esptool import ESPROM, CesantaFlasher
from flash_release import flash_release
from update import ensure_st_up_to_date
__version__ = '0.0.4'
@ -18,6 +19,10 @@ BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
# *** wifi mode ***
def build_st(target, mkfile="Makefile"):
from panda import BASEDIR
assert(os.system('cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)) == 0)
def parse_can_buffer(dat):
ret = []
for j in range(0, len(dat), 0x10):
@ -133,7 +138,8 @@ class Panda(object):
#print(device)
if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
if self._serial is None or device.getSerialNumber() == self._serial:
print("opening device", device.getSerialNumber(), hex(device.getProductID()))
self._serial = device.getSerialNumber()
print("opening device", self._serial, hex(device.getProductID()))
self.bootstub = device.getProductID() == 0xddee
self.legacy = (device.getbcdDevice() != 0x2300)
self._handle = device.open()
@ -175,17 +181,21 @@ class Panda(object):
raise Exception("reset failed")
time.sleep(1.0)
def flash(self, fn=None, code=None):
if not self.bootstub:
self.reset(enter_bootstub=True)
assert(self.bootstub)
if fn is None and code is None:
ret = os.system("cd %s && make clean && make -f %s %s" % (os.path.join(BASEDIR, "board"),
"Makefile.legacy" if self.legacy else "Makefile",
"obj/comma.bin" if self.legacy else "obj/panda.bin"))
fn = os.path.join(BASEDIR, "board", "obj", "comma.bin" if self.legacy else "panda.bin")
if self.legacy:
fn = "obj/comma.bin"
print("building legacy st code")
build_st(fn, "Makefile.legacy")
else:
fn = "obj/panda.bin"
print("building panda st code")
build_st(fn)
fn = os.path.join(BASEDIR, "board", fn)
if code is None:
with open(fn) as f:
@ -217,6 +227,19 @@ class Panda(object):
print("flash: resetting")
self.reset()
def recover(self):
self.reset(enter_bootloader=True)
while len(PandaDFU.list()) == 0:
print("waiting for DFU...")
time.sleep(0.1)
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu.recover()
# reflash after recover
self.connect(True, True)
self.flash()
@staticmethod
def flash_ota_st():
ret = os.system("cd %s && make clean && make ota" % (os.path.join(BASEDIR, "board")))
@ -229,12 +252,6 @@ class Panda(object):
time.sleep(1)
return ret==0
@staticmethod
def recover(legacy=False):
ret = os.system("cd %s && make clean && make -f %s recover" % (os.path.join(BASEDIR, "board"), "Makefile.legacy" if legacy else "Makefile"))
time.sleep(1)
return ret==0
@staticmethod
def list():
context = usb1.USBContext()

27
panda/dfu.py
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@ -1,6 +1,8 @@
from __future__ import print_function
import os
import usb1
import struct
import time
# *** DFU mode ***
@ -21,6 +23,7 @@ class PandaDFU(object):
pass
if this_dfu_serial == dfu_serial:
self._handle = device.open()
self.legacy = "07*128Kg" in self._handle.getASCIIStringDescriptor(4)
return
raise Exception("failed to open "+dfu_serial)
@ -78,6 +81,30 @@ class PandaDFU(object):
self._handle.controlWrite(0x21, DFU_DNLOAD, 2+i, 0, ldat)
self.status()
def program_bootstub(self, code_bootstub):
self.clear_status()
self.erase(0x8004000)
self.erase(0x8000000)
self.program(0x8000000, code_bootstub, 0x800)
self.reset()
def recover(self):
from panda import BASEDIR, build_st
if self.legacy:
fn = "obj/bootstub.comma.bin"
print("building legacy bootstub")
build_st(fn, "Makefile.legacy")
else:
fn = "obj/bootstub.panda.bin"
print("building panda bootstub")
build_st(fn)
fn = os.path.join(BASEDIR, "board", fn)
with open(fn) as f:
code = f.read()
self.program_bootstub(code)
def reset(self):
# **** Reset ****
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x21" + struct.pack("I", 0x8000000))

9
panda/flash_release.py
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@ -55,11 +55,7 @@ def flash_release(path=None, st_serial=None):
# program bootstub
status("2. Programming bootstub")
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(st_serial))
dfu.clear_status()
dfu.erase(0x8004000)
dfu.erase(0x8000000)
dfu.program(0x8000000, code_bootstub, 0x800)
dfu.reset()
dfu.program_bootstub(code_bootstub)
time.sleep(1)
# flash main code
@ -67,7 +63,6 @@ def flash_release(path=None, st_serial=None):
panda = Panda(st_serial)
panda.flash(code=code_panda)
panda.close()
time.sleep(1)
# flashing ESP
status("4. Flashing ESP (slow!)")
@ -98,5 +93,3 @@ def flash_release(path=None, st_serial=None):
if __name__ == "__main__":
flash_release(*sys.argv[1:])

44
panda/update.py 100755
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@ -0,0 +1,44 @@
#!/usr/bin/env python
import os
import time
def ensure_st_up_to_date():
from panda import Panda, PandaDFU, BASEDIR
with open(os.path.join(BASEDIR, "VERSION")) as f:
repo_version = f.read()
panda = None
panda_dfu = None
should_flash_recover = False
while 1:
# break on normal mode Panda
panda_list = Panda.list()
if len(panda_list) > 0:
panda = Panda(panda_list[0])
break
# flash on DFU mode Panda
panda_dfu = PandaDFU.list()
if len(panda_dfu) > 0:
panda_dfu = PandaDFU(panda_dfu[0])
panda_dfu.recover()
print "waiting for board..."
time.sleep(1)
if panda.bootstub or not panda.get_version().startswith(repo_version):
panda.flash()
if panda.bootstub:
panda.recover()
assert(not panda.bootstub)
version = str(panda.get_version())
print("%s should be %s" % (version, repo_version))
assert(version.startswith(repo_version))
if __name__ == "__main__":
ensure_st_up_to_date()

14
tests/automated/0_builds.py
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@ -1,19 +1,15 @@
import os
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
def build(target, mkfile="Makefile"):
assert(os.system('cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "../board"), mkfile, mkfile, target)) == 0)
from panda import build_st
def test_build_legacy():
build("obj/comma.bin", "Makefile.legacy")
build_st("obj/comma.bin", "Makefile.legacy")
def test_build_bootstub_legacy():
build("obj/bootstub.comma.bin", "Makefile.legacy")
build_st("obj/bootstub.comma.bin", "Makefile.legacy")
def test_build_panda():
build("obj/panda.bin")
build_st("obj/panda.bin")
def test_build_bootstub_panda():
build("obj/bootstub.panda.bin")
build_st("obj/bootstub.panda.bin")

9
tests/automated/1_program.py
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@ -1,16 +1,11 @@
import os
from panda import Panda
LEGACY = os.getenv("LEGACY") is not None
# must run first
def test_recover():
# download the latest code
assert(Panda.recover(legacy=LEGACY))
# connect to the panda
p = Panda()
p.recover()
def test_flash():
p = Panda()
p.flash()