60 lines
1.5 KiB
Python
60 lines
1.5 KiB
Python
#!/usr/bin/env python3
|
|
import os
|
|
import time
|
|
import argparse
|
|
import _thread
|
|
from panda import Panda, MCU_TYPE_F4 # pylint: disable=import-error
|
|
from panda.tests.pedal.canhandle import CanHandle # pylint: disable=import-error
|
|
|
|
|
|
def heartbeat_thread(p):
|
|
while True:
|
|
try:
|
|
p.send_heartbeat()
|
|
time.sleep(0.5)
|
|
except Exception:
|
|
continue
|
|
|
|
def flush_panda():
|
|
while(1):
|
|
if len(p.can_recv()) == 0:
|
|
break
|
|
|
|
def flasher(p, addr, file):
|
|
p.can_send(addr, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
|
|
time.sleep(0.1)
|
|
print("flashing", file)
|
|
flush_panda()
|
|
code = open(file, "rb").read()
|
|
retries = 3 # How many times to retry on timeout error
|
|
while(retries+1>0):
|
|
try:
|
|
Panda.flash_static(CanHandle(p, 0), code, MCU_TYPE_F4)
|
|
except TimeoutError:
|
|
print("Timeout, trying again...")
|
|
retries -= 1
|
|
else:
|
|
print("Successfully flashed")
|
|
break
|
|
|
|
|
|
if __name__ == "__main__":
|
|
parser = argparse.ArgumentParser(description='Flash body over can')
|
|
parser.add_argument("board", type=str, nargs='?', help="choose base or knee")
|
|
parser.add_argument("fn", type=str, nargs='?', help="flash file")
|
|
args = parser.parse_args()
|
|
|
|
assert args.board in ["base", "knee"]
|
|
assert os.path.isfile(args.fn)
|
|
|
|
addr = 0x250 if args.board == "base" else 0x350
|
|
|
|
p = Panda()
|
|
_thread.start_new_thread(heartbeat_thread, (p,))
|
|
p.set_safety_mode(Panda.SAFETY_BODY)
|
|
|
|
print("Flashing motherboard")
|
|
flasher(p, addr, args.fn)
|
|
|
|
print("CAN flashing done")
|