pandad: support GPIO recovery when in bootstub (#28090)

pandad: recover when in bootstub

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 8a6312ef14

selfdrive/boardd/pandad.py

@@ -26,7 +26,7 @@ def flash_panda(panda_serial: str) -> Panda:
   panda = Panda(panda_serial)
 
   fw_signature = get_expected_signature(panda)
-  internal_panda = panda.is_internal() and not panda.bootstub
+  internal_panda = panda.is_internal()
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
   panda_signature = b"" if panda.bootstub else panda.get_signature()
@@ -39,7 +39,7 @@ def flash_panda(panda_serial: str) -> Panda:
 
   if panda.bootstub:
     bootstub_version = panda.get_version()
-    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
+    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}")
     if internal_panda:
       HARDWARE.recover_internal_panda()
     panda.recover(reset=(not internal_panda))
@@ -95,7 +95,7 @@ def main() -> NoReturn:
       panda_serials = Panda.list()
       if len(panda_serials) == 0:
         if first_run:
-          cloudlog.info("Resetting internal panda")
+          cloudlog.info("No pandas found, resetting internal panda")
           HARDWARE.reset_internal_panda()
           time.sleep(2)  # wait to come back up
         continue

system/hardware/tici/hardware.py

@@ -581,8 +581,9 @@ class Tici(HardwareBase):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 1)
-    time.sleep(2)
+    time.sleep(1)
     gpio_set(GPIO.STM_RST_N, 0)
+    time.sleep(1)
     gpio_set(GPIO.STM_BOOT0, 0)