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