openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

panda/python/dfu.py

@@ -0,0 +1,136 @@
+import os
+import usb1
+import struct
+import binascii
+from typing import List, Optional
+
+from .base import BaseSTBootloaderHandle
+from .spi import STBootloaderSPIHandle, PandaSpiException
+from .usb import STBootloaderUSBHandle
+from .constants import FW_PATH, McuType
+
+
+class PandaDFU:
+  def __init__(self, dfu_serial: Optional[str]):
+    # try USB, then SPI
+    handle: Optional[BaseSTBootloaderHandle]
+    self._context, handle = PandaDFU.usb_connect(dfu_serial)
+    if handle is None:
+      self._context, handle = PandaDFU.spi_connect(dfu_serial)
+
+    if handle is None:
+      raise Exception(f"failed to open DFU device {dfu_serial}")
+
+    self._handle: BaseSTBootloaderHandle = handle
+    self._mcu_type: McuType = self._handle.get_mcu_type()
+
+  def __enter__(self):
+    return self
+
+  def __exit__(self, *args):
+    self.close()
+
+  def close(self):
+    if self._handle is not None:
+      self._handle.close()
+      self._handle = None
+      if self._context is not None:
+        self._context.close()
+
+  @staticmethod
+  def usb_connect(dfu_serial: Optional[str]):
+    handle = None
+    context = usb1.USBContext()
+    context.open()
+    for device in context.getDeviceList(skip_on_error=True):
+      if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11:
+        try:
+          this_dfu_serial = device.open().getASCIIStringDescriptor(3)
+        except Exception:
+          continue
+
+        if this_dfu_serial == dfu_serial or dfu_serial is None:
+          handle = STBootloaderUSBHandle(device, device.open())
+          break
+
+    return context, handle
+
+  @staticmethod
+  def spi_connect(dfu_serial: Optional[str]):
+    handle = None
+    this_dfu_serial = None
+
+    try:
+      handle = STBootloaderSPIHandle()
+      this_dfu_serial = PandaDFU.st_serial_to_dfu_serial(handle.get_uid(), handle.get_mcu_type())
+    except PandaSpiException:
+      handle = None
+
+    if dfu_serial is not None and dfu_serial != this_dfu_serial:
+      handle = None
+
+    return None, handle
+
+  @staticmethod
+  def list() -> List[str]:
+    ret = PandaDFU.usb_list()
+    ret += PandaDFU.spi_list()
+    return list(set(ret))
+
+  @staticmethod
+  def usb_list() -> List[str]:
+    dfu_serials = []
+    try:
+      with usb1.USBContext() as context:
+        for device in context.getDeviceList(skip_on_error=True):
+          if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11:
+            try:
+              dfu_serials.append(device.open().getASCIIStringDescriptor(3))
+            except Exception:
+              pass
+    except Exception:
+      pass
+    return dfu_serials
+
+  @staticmethod
+  def spi_list() -> List[str]:
+    try:
+      _, h = PandaDFU.spi_connect(None)
+      if h is not None:
+        dfu_serial = PandaDFU.st_serial_to_dfu_serial(h.get_uid(), h.get_mcu_type())
+        return [dfu_serial, ]
+    except PandaSpiException:
+      pass
+    return []
+
+  @staticmethod
+  def st_serial_to_dfu_serial(st: str, mcu_type: McuType = McuType.F4):
+    if st is None or st == "none":
+      return None
+    uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
+    if mcu_type == McuType.H7:
+      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
+    else:
+      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
+
+  def get_mcu_type(self) -> McuType:
+    return self._mcu_type
+
+  def reset(self):
+    self._handle.jump(self._mcu_type.config.bootstub_address)
+
+  def program_bootstub(self, code_bootstub):
+    self._handle.clear_status()
+
+    # erase all sectors
+    for i in range(len(self._mcu_type.config.sector_sizes)):
+      self._handle.erase_sector(i)
+
+    self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub)
+
+  def recover(self):
+    fn = os.path.join(FW_PATH, self._mcu_type.config.bootstub_fn)
+    with open(fn, "rb") as f:
+      code = f.read()
+    self.program_bootstub(code)
+    self.reset()