nopenpilot/selfdrive/pandad.py

97 lines
2.4 KiB
Python
Executable File

#!/usr/bin/env python3
# simple boardd wrapper that updates the panda first
import os
import time
from selfdrive.swaglog import cloudlog
from panda import Panda, PandaDFU, BASEDIR, build_st
def get_firmware_fn():
signed_fn = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
if os.path.exists(signed_fn):
cloudlog.info("Using prebuilt signed firmware")
return signed_fn
else:
cloudlog.info("Building panda firmware")
fn = "obj/panda.bin"
build_st(fn, clean=False)
return os.path.join(BASEDIR, "board", fn)
def get_expected_signature(fw_fn=None):
if fw_fn is None:
fw_fn = get_firmware_fn()
return Panda.get_signature_from_firmware(fw_fn)
def update_panda():
panda = None
panda_dfu = None
cloudlog.info("Connecting to panda")
while True:
# break on normal mode Panda
panda_list = Panda.list()
if len(panda_list) > 0:
cloudlog.info("Panda found, connecting")
panda = Panda(panda_list[0])
break
# flash on DFU mode Panda
panda_dfu = PandaDFU.list()
if len(panda_dfu) > 0:
cloudlog.info("Panda in DFU mode found, flashing recovery")
panda_dfu = PandaDFU(panda_dfu[0])
panda_dfu.recover()
time.sleep(1)
fw_fn = get_firmware_fn()
fw_signature = get_expected_signature(fw_fn)
try:
serial = panda.get_serial()[0].decode("utf-8")
except Exception:
serial = None
panda_version = "bootstub" if panda.bootstub else panda.get_version()
panda_signature = "bootstub" if panda.bootstub else panda.get_signature()
cloudlog.warning("Panda %s connected, version: %s, signature %s, expected %s" % (
serial,
panda_version,
panda_signature.hex(),
fw_signature.hex(),
))
if panda.bootstub or panda_signature != fw_signature:
cloudlog.info("Panda firmware out of date, update required")
panda.flash(fw_fn)
cloudlog.info("Done flashing")
if panda.bootstub:
cloudlog.info("Flashed firmware not booting, flashing development bootloader")
panda.recover()
cloudlog.info("Done flashing bootloader")
if panda.bootstub:
cloudlog.info("Panda still not booting, exiting")
raise AssertionError
panda_signature = panda.get_signature()
if panda_signature != fw_signature:
cloudlog.info("Version mismatch after flashing, exiting")
raise AssertionError
def main(gctx=None):
update_panda()
os.chdir("boardd")
os.execvp("./boardd", ["./boardd"])
if __name__ == "__main__":
main()