github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
107 lines
3.3 KiB
Python
Executable File
107 lines
3.3 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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import os
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from itertools import accumulate
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from openpilot.cereal import messaging
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from opendbc.car.structs import car
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from panda import Panda
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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FW_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "rivian_long_fw.bin.signed")
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SECTOR_SIZES = [0x4000] * 4 + [0x10000] + [0x20000] * 11
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def _is_rivian() -> bool:
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params = Params()
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# check fixed fingerprint
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if bundle := params.get("CarPlatformBundle"):
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if bundle.get("brand") == "rivian":
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return True
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# check cached fingerprint
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CP_bytes = params.get("CarParamsPersistent")
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if CP_bytes is not None:
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CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
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if CP.brand == "rivian":
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return True
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return False
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def _flash_static(handle, code):
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assert Panda.flasher_present(handle)
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last_sector = next((i + 1 for i, v in enumerate(accumulate(SECTOR_SIZES[1:])) if v > len(code)), -1)
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assert 1 <= last_sector < 7, "Invalid firmware size"
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handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
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for i in range(1, last_sector + 1):
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handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
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for i in range(0, len(code), 0x10):
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handle.bulkWrite(2, code[i:i + 0x10])
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try:
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handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True)
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except Exception:
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pass
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def _flash_panda(panda: Panda) -> None:
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expected_sig = Panda.get_signature_from_firmware(FW_PATH)
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if not panda.bootstub and panda.get_signature() == expected_sig:
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cloudlog.info(f"F4 panda {panda.get_usb_serial()} already up to date")
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return
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cloudlog.info(f"Flashing F4 panda {panda.get_usb_serial()}")
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with open(FW_PATH, "rb") as f:
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code = f.read()
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if not panda.bootstub:
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# enter bootstub directly, panda.reset() rejects deprecated hw types
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try:
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panda._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=15000, expect_disconnect=True)
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except Exception:
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pass
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panda.close()
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panda.reconnect()
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_flash_static(panda._handle, code)
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panda.reconnect()
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cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {panda.get_usb_serial()}")
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def flash_rivian_long(panda_serials: list[str]) -> None:
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if not os.path.isfile(FW_PATH):
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cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
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return
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if not _is_rivian():
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cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
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return
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# only check USB connected pandas, internal panda uses SPI and is never an external panda
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usb_serials = set(Panda.usb_list())
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for serial in panda_serials:
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if serial not in usb_serials:
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continue
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panda = Panda(serial)
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# only flash external black pandas (HW_TYPE_BLACK = 0x03)
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if panda.get_type() == b'\x03' and not panda.is_internal():
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try:
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_flash_panda(panda)
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except Exception:
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cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
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panda.close()
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return
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if __name__ == '__main__':
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flash_rivian_long(Panda.list())
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