Some panda's don't go into dfu mode when trying to run openpilot/devel

[pd0wm]

We've gotten multiple reports of pandad getting stuck in "waiting for DSU" when trying to reflash the bootstub. This seems very repeatable for those people. Haven't reproduced yet.

[jyoung8607]

Per @robbederks / f07a6ee we need to bounce through the bootstub first to reach DFU mode from release builds of Panda firmware.

I haven't examined the boardd startup process to see why this isn't happening successfully during normal openpilot manager/boardd startup (or if this is even something that should work by design) but making the same fix to make recover, which uses different code in build.mk to enter DFU, I was eventually able to get an affected user fixed.

This did take two tries to get into DFU, or there may be another state transition required here that I don't see or understand that was necessary to reach DFU mode.

root@localhost:/data/openpilot/panda/board$ make recover
arm-none-eabi-gcc -MT obj/bootstub.panda.o -MMD -MP -MF generated_dependencies/bootstub.Td -g -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -mcpu=cortex-m4 -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os -Tstm32_flash.ld "-DEON" "-DALLOW_DEBUG" -o obj/bootstub.panda.o -c bootstub.c
arm-none-eabi-gcc -g -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -mcpu=cortex-m4 -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os -Tstm32_flash.ld "-DEON" "-DALLOW_DEBUG" -o obj/sha.panda.o -c ../crypto/sha.c
arm-none-eabi-gcc -g -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -mcpu=cortex-m4 -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os -Tstm32_flash.ld "-DEON" "-DALLOW_DEBUG" -o obj/rsa.panda.o -c ../crypto/rsa.c
arm-none-eabi-gcc -g -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -mcpu=cortex-m4 -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os -Tstm32_flash.ld "-DEON" "-DALLOW_DEBUG" -o obj/bootstub.panda.elf obj/startup_stm32f413xx.o obj/bootstub.panda.o obj/sha.panda.o obj/rsa.panda.o
arm-none-eabi-objcopy -v -O binary obj/bootstub.panda.elf obj/bootstub.panda.bin
copy from `obj/bootstub.panda.elf' [elf32-littlearm] to `obj/bootstub.panda.bin' [binary]
PYTHONPATH=../ python3 -c "from python import Panda; Panda().reset(enter_bootstub=True)"
opening device 180045001651383432363133 0xddcc
connected
opening device 180045001651383432363133 0xddee
connected
PYTHONPATH=../ python3 -c "from python import Panda; Panda().reset(enter_bootloader=True)"
opening device 180045001651383432363133 0xddee
connected
sleep 1.0
"tools/dfu-util-aarch64" -d 0483:df11 -a 0 -s 0x08004000 -D obj/panda.bin
dfu-util 0.8

Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2014 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to dfu-util@lists.gnumonks.org

tools/dfu-util-aarch64: Invalid DFU suffix signature
tools/dfu-util-aarch64: A valid DFU suffix will be required in a future dfu-util release!!!
tools/dfu-util-aarch64: No DFU capable USB device available
make: *** [build.mk:48: recover] Error 74


root@localhost:/data/openpilot/panda/board$ make
PYTHONPATH=../ python3 -c "from python import Panda; Panda().flash('obj/panda.bin')"
opening device 180045001651383432363133 0xddcc
connected
flash: bootstub version is v1.7.4-DEV-f67ec28e-RELEASE
flash: unlocking
flash: erasing
flash: flashing
flash: resetting
opening device 180045001651383432363133 0xddee
connected


root@localhost:/data/openpilot/panda/board$ make
PYTHONPATH=../ python3 -c "from python import Panda; Panda().flash('obj/panda.bin')"
opening device 180045001651383432363133 0xddee
connected
flash: main version is v1.7.4-DEV-f67ec28e-RELEASE
flash: bootstub version is v1.7.4-DEV-f67ec28e-RELEASE
flash: unlocking
flash: erasing
flash: flashing
flash: resetting
opening device 180045001651383432363133 0xddee
connected


root@localhost:/data/openpilot/panda/board$ make recover
PYTHONPATH=../ python3 -c "from python import Panda; Panda().reset(enter_bootstub=True)"
opening device 180045001651383432363133 0xddee
connected
opening device 180045001651383432363133 0xddee
connected
PYTHONPATH=../ python3 -c "from python import Panda; Panda().reset(enter_bootloader=True)"
opening device 180045001651383432363133 0xddee
connected
sleep 1.0
"tools/dfu-util-aarch64" -d 0483:df11 -a 0 -s 0x08004000 -D obj/panda.bin
dfu-util 0.8

Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2014 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to dfu-util@lists.gnumonks.org

tools/dfu-util-aarch64: Invalid DFU suffix signature
tools/dfu-util-aarch64: A valid DFU suffix will be required in a future dfu-util release!!!
Opening DFU capable USB device...
ID 0483:df11
Run-time device DFU version 011a
Claiming USB DFU Interface...
Setting Alternate Setting #0 ...
Determining device status: state = dfuERROR, status = 10
dfuERROR, clearing status
Determining device status: state = dfuIDLE, status = 0
dfuIDLE, continuing
DFU mode device DFU version 011a
Device returned transfer size 2048
DfuSe interface name: "Internal Flash  "
Downloading to address = 0x08004000, size = 36224
Download        [=========================] 100%        36224 bytes
Download done.
File downloaded successfully
"tools/dfu-util-aarch64" -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda.bin
dfu-util 0.8

Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2014 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to dfu-util@lists.gnumonks.org

tools/dfu-util-aarch64: Invalid DFU suffix signature
tools/dfu-util-aarch64: A valid DFU suffix will be required in a future dfu-util release!!!
Opening DFU capable USB device...
ID 0483:df11
Run-time device DFU version 011a
Claiming USB DFU Interface...
Setting Alternate Setting #0 ...
Determining device status: state = dfuIDLE, status = 0
dfuIDLE, continuing
DFU mode device DFU version 011a
Device returned transfer size 2048
DfuSe interface name: "Internal Flash  "
Downloading to address = 0x08000000, size = 13508
Download        [=========================] 100%        13508 bytes
Download done.
File downloaded successfully
Transitioning to dfuMANIFEST state

[pd0wm]

This seems to be fixed now.