def update_panda():
with open(os.path.join(BASEDIR, "VERSION")) as f:
repo_version = f.read()
repo_version += "-EON" if os.path.isfile('/EON') else "-DEV"
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()
print "waiting for board..."
time.sleep(1)
current_version = "bootstub" if panda.bootstub else str(
panda.get_version())
cloudlog.info("Panda connected, version: %s, expected %s" %
(current_version, repo_version))
if panda.bootstub or not current_version.startswith(repo_version):
cloudlog.info("Panda firmware out of date, update required")
signed_fn = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
if os.path.exists(signed_fn):
cloudlog.info("Flashing signed firmware")
panda.flash(fn=signed_fn)
else:
cloudlog.info("Building and flashing unsigned firmware")
panda.flash()
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
version = str(panda.get_version())
if not version.startswith(repo_version):
cloudlog.info("Version mismatch after flashing, exiting")
raise AssertionError
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 = b"" 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 update_panda():
repo_version = get_expected_version()
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()
print("waiting for board...")
time.sleep(1)
try:
serial = panda.get_serial()[0].decode("utf-8")
except Exception:
serial = None
current_version = "bootstub" if panda.bootstub else panda.get_version()
cloudlog.warning("Panda %s connected, version: %s, expected %s" % (serial, current_version, repo_version))
if panda.bootstub or not current_version.startswith(repo_version):
cloudlog.info("Panda firmware out of date, update required")
signed_fn = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
if os.path.exists(signed_fn):
cloudlog.info("Flashing signed firmware")
panda.flash(fn=signed_fn)
else:
cloudlog.info("Building and flashing unsigned firmware")
panda.flash()
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
version = panda.get_version()
if not version.startswith(repo_version):
cloudlog.info("Version mismatch after flashing, exiting")
raise AssertionError
def main() -> NoReturn:
first_run = True
params = Params()
while True:
try:
params.delete("PandaSignatures")
# Flash all Pandas in DFU mode
for p in PandaDFU.list():
cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
PandaDFU(p).recover()
time.sleep(1)
panda_serials = Panda.list()
if len(panda_serials) == 0:
continue
cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
# Flash pandas
pandas = []
for serial in panda_serials:
pandas.append(flash_panda(serial))
# check health for lost heartbeat
for panda in pandas:
health = panda.health()
if health["heartbeat_lost"]:
params.put_bool("PandaHeartbeatLost", True)
cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
if first_run:
cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
panda.reset()
# sort pandas to have deterministic order
pandas.sort(key=cmp_to_key(panda_sort_cmp))
panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))
# log panda fw versions
params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
# close all pandas
for p in pandas:
p.close()
except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
# a panda was disconnected while setting everything up. let's try again
cloudlog.exception("Panda USB exception while setting up")
continue
first_run = False
# run boardd with all connected serials as arguments
os.environ['MANAGER_DAEMON'] = 'boardd'
os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
subprocess.run(["./boardd", *panda_serials], check=True)
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()
repo_version += "-EON" if os.path.isfile('/EON') else "-DEV"
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))
FW_FX_FN = "panda.bin"
is_mcu_h7 = False
if __name__ == "__main__":
cur_dir = os.path.dirname(os.path.realpath(__file__))
# Open manifest
manifest_fn = os.path.join(cur_dir, 'latest.json')
with open(manifest_fn) as manifest:
latest = json.load(manifest)
# Open zip file
zip_fn = os.path.join(cur_dir, latest['version'] + '.zip')
with zipfile.ZipFile(zip_fn) as zip_file:
# Wait for panda to connect
while not PandaDFU.list():
print("Waiting for panda in DFU mode")
if Panda.list():
print("Panda found. Putting in DFU Mode")
panda = Panda()
panda.reset(enter_bootstub=True)
panda.reset(enter_bootloader=True)
time.sleep(0.5)
# Flash bootstub
panda_dfu = PandaDFU(None)
is_mcu_h7 = panda_dfu._mcu_type == MCU_TYPE_H7
fn = BOOTSTUB_H7_FN if is_mcu_h7 else BOOTSTUB_FX_FN
print(f"Detected MCU type {panda_dfu._mcu_type}, flashing {fn}")
def flash_release(path=None, st_serial=None):
from panda import Panda, PandaDFU
from zipfile import ZipFile
def status(x):
print("\033[1;32;40m" + x + "\033[00m")
if st_serial is not None:
# look for Panda
panda_list = Panda.list()
if len(panda_list) == 0:
raise Exception(
"panda not found, make sure it's connected and your user can access it"
)
elif len(panda_list) > 1:
raise Exception("Please only connect one panda")
st_serial = panda_list[0]
print("Using panda with serial %s" % st_serial)
if path is None:
print(
"Fetching latest firmware from github.com/commaai/panda-artifacts")
r = requests.get(
"https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json"
)
url = json.loads(r.text)['url']
r = requests.get(url)
print("Fetching firmware from %s" % url)
path = io.BytesIO(r.content)
zf = ZipFile(path)
zf.printdir()
version = zf.read("version").decode()
status("0. Preparing to flash " + str(version))
code_bootstub = zf.read("bootstub.panda.bin")
code_panda = zf.read("panda.bin")
# enter DFU mode
status("1. Entering DFU mode")
panda = Panda(st_serial)
panda.reset(enter_bootstub=True)
panda.reset(enter_bootloader=True)
time.sleep(1)
# program bootstub
status("2. Programming bootstub")
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(st_serial))
dfu.program_bootstub(code_bootstub)
time.sleep(1)
# flash main code
status("3. Flashing main code")
panda = Panda(st_serial)
panda.flash(code=code_panda)
panda.close()
# check for connection
status("4. Verifying version")
panda = Panda(st_serial)
my_version = panda.get_version()
print("dongle id: %s" % panda.get_serial()[0])
print(my_version, "should be", version)
assert (str(version) == str(my_version))
# done!
status("6. Success!")
if __name__ == "__main__":
if jungle:
serials = PandaJungle.list()
else:
serials = Panda.list()
num_senders = len(serials)
if num_senders == 0:
print("No senders found. Exiting")
sys.exit(1)
else:
print("%d senders found. Starting broadcast" % num_senders)
if "FLASH" in os.environ:
for s in PandaDFU.list():
PandaDFU(s).recover()
time.sleep(1)
for s in serials:
Panda(s).recover()
Panda(s).flash()
pool = Pool(num_senders, initializer=initializer)
pool.map_async(send_thread, serials)
while True:
try:
time.sleep(10)
except KeyboardInterrupt:
pool.terminate()
from panda import Panda, PandaDFU
if __name__ == "__main__":
cur_dir = os.path.dirname(os.path.realpath(__file__))
# Open manifest
manifest_fn = os.path.join(cur_dir, 'latest.json')
with open(manifest_fn) as manifest:
latest = json.load(manifest)
# Open zip file
zip_fn = os.path.join(cur_dir, latest['version'] + '.zip')
with zipfile.ZipFile(zip_fn) as zip_file:
# Wait for panda to connect
while not PandaDFU.list():
print("Waiting for panda in DFU mode")
if Panda.list():
print("Panda found. Putting in DFU Mode")
panda = Panda()
panda.reset(enter_bootstub=True)
panda.reset(enter_bootloader=True)
time.sleep(0.5)
# Flash bootstub
bootstub_code = zip_file.open('bootstub.panda.bin').read()
PandaDFU(None).program_bootstub(bootstub_code)
# Wait for panda to come back online
def flash_release(path=None, st_serial=None):
from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
from zipfile import ZipFile
def status(x):
print("\033[1;32;40m" + x + "\033[00m")
if st_serial == None:
# look for Panda
panda_list = Panda.list()
if len(panda_list) == 0:
raise Exception(
"panda not found, make sure it's connected and your user can access it"
)
elif len(panda_list) > 1:
raise Exception("Please only connect one panda")
st_serial = panda_list[0]
print("Using panda with serial %s" % st_serial)
if path == None:
print(
"Fetching latest firmware from github.com/commaai/panda-artifacts")
r = requests.get(
"https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json"
)
url = json.loads(r.text)['url']
r = requests.get(url)
print("Fetching firmware from %s" % url)
path = io.StringIO(r.content)
zf = ZipFile(path)
zf.printdir()
version = zf.read("version")
status("0. Preparing to flash " + version)
code_bootstub = zf.read("bootstub.panda.bin")
code_panda = zf.read("panda.bin")
code_boot_15 = zf.read("boot_v1.5.bin")
code_boot_15 = code_boot_15[0:2] + "\x00\x30" + code_boot_15[4:]
code_user1 = zf.read("user1.bin")
code_user2 = zf.read("user2.bin")
# enter DFU mode
status("1. Entering DFU mode")
panda = Panda(st_serial)
panda.enter_bootloader()
time.sleep(1)
# program bootstub
status("2. Programming bootstub")
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(st_serial))
dfu.program_bootstub(code_bootstub)
time.sleep(1)
# flash main code
status("3. Flashing main code")
panda = Panda(st_serial)
panda.flash(code=code_panda)
panda.close()
# flashing ESP
if panda.is_white():
status("4. Flashing ESP (slow!)")
align = lambda x, sz=0x1000: x + "\xFF" * ((sz - len(x)) % sz)
esp = ESPROM(st_serial)
esp.connect()
flasher = CesantaFlasher(esp, 230400)
flasher.flash_write(0x0, align(code_boot_15), True)
flasher.flash_write(0x1000, align(code_user1), True)
flasher.flash_write(0x81000, align(code_user2), True)
flasher.flash_write(0x3FE000, "\xFF" * 0x1000)
flasher.boot_fw()
del flasher
del esp
time.sleep(1)
else:
status("4. No ESP in non-white panda")
# check for connection
status("5. Verifying version")
panda = Panda(st_serial)
my_version = panda.get_version()
print("dongle id: %s" % panda.get_serial()[0])
print(my_version, "should be", version)
assert (str(version) == str(my_version))
# done!
status("6. Success!")
def flash_release(path=None, st_serial=None):
from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
from zipfile import ZipFile
def status(x):
print("\033[1;32;40m"+x+"\033[00m")
if st_serial == None:
# look for Panda
panda_list = Panda.list()
if len(panda_list) == 0:
raise Exception("panda not found, make sure it's connected and your user can access it")
elif len(panda_list) > 1:
raise Exception("Please only connect one panda")
st_serial = panda_list[0]
print("Using panda with serial %s" % st_serial)
if path == None:
print("Fetching latest firmware from github.com/commaai/panda-artifacts")
r = requests.get("https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json")
url = json.loads(r.text)['url']
r = requests.get(url)
print("Fetching firmware from %s" % url)
path = StringIO.StringIO(r.content)
zf = ZipFile(path)
zf.printdir()
version = zf.read("version")
status("0. Preparing to flash "+version)
code_bootstub = zf.read("bootstub.panda.bin")
code_panda = zf.read("panda.bin")
code_boot_15 = zf.read("boot_v1.5.bin")
code_boot_15 = code_boot_15[0:2] + "\x00\x30" + code_boot_15[4:]
code_user1 = zf.read("user1.bin")
code_user2 = zf.read("user2.bin")
# enter DFU mode
status("1. Entering DFU mode")
panda = Panda(st_serial)
panda.enter_bootloader()
time.sleep(1)
# program bootstub
status("2. Programming bootstub")
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(st_serial))
dfu.program_bootstub(code_bootstub)
time.sleep(1)
# flash main code
status("3. Flashing main code")
panda = Panda(st_serial)
panda.flash(code=code_panda)
panda.close()
# flashing ESP
status("4. Flashing ESP (slow!)")
align = lambda x, sz=0x1000: x+"\xFF"*((sz-len(x)) % sz)
esp = ESPROM(st_serial)
esp.connect()
flasher = CesantaFlasher(esp, 230400)
flasher.flash_write(0x0, align(code_boot_15), True)
flasher.flash_write(0x1000, align(code_user1), True)
flasher.flash_write(0x81000, align(code_user2), True)
flasher.flash_write(0x3FE000, "\xFF"*0x1000)
flasher.boot_fw()
del flasher
del esp
time.sleep(1)
# check for connection
status("5. Verifying version")
panda = Panda(st_serial)
my_version = panda.get_version()
print("dongle id: %s" % panda.get_serial()[0])
print(my_version, "should be", version)
assert(str(version) == str(my_version))
# done!
status("6. Success!")
