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dragonpilot 2022-10-07T10:01:36 for EON/C2
version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-10-07T10:01:36 dp-dev(priv2) master commit: 3aecc0939a714f5f572b3cbe85669ed389161870
This commit is contained in:
Dragonpilot Team
committed by
Comma Device
Comma Device
parent
fe6459224b
commit
4c3c884245
@@ -117,6 +117,16 @@ def ensure_can_packet_version(fn):
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return fn(self, *args, **kwargs)
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return wrapper
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def ensure_can_health_packet_version(fn):
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@wraps(fn)
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def wrapper(self, *args, **kwargs):
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if self.can_health_version < self.CAN_HEALTH_PACKET_VERSION:
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raise RuntimeError("Panda firmware has outdated CAN health packet definition. Reflash panda firmware.")
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elif self.can_health_version > self.CAN_HEALTH_PACKET_VERSION:
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raise RuntimeError("Panda python library has outdated CAN health packet definition. Update panda python library.")
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return fn(self, *args, **kwargs)
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return wrapper
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class ALTERNATIVE_EXPERIENCE:
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DEFAULT = 0
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DISABLE_DISENGAGE_ON_GAS = 1
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@@ -172,17 +182,20 @@ class Panda:
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HW_TYPE_UNO = b'\x05'
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HW_TYPE_DOS = b'\x06'
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HW_TYPE_RED_PANDA = b'\x07'
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HW_TYPE_RED_PANDA_V2 = b'\x08'
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CAN_PACKET_VERSION = 2
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HEALTH_PACKET_VERSION = 8
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HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIfB")
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HEALTH_PACKET_VERSION = 11
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CAN_HEALTH_PACKET_VERSION = 2
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HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBB")
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CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBB")
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F2_DEVICES = (HW_TYPE_PEDAL, )
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F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
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H7_DEVICES = (HW_TYPE_RED_PANDA, )
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H7_DEVICES = (HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2)
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INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS)
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HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA)
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HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2)
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CLOCK_SOURCE_MODE_DISABLED = 0
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CLOCK_SOURCE_MODE_FREE_RUNNING = 1
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@@ -272,7 +285,7 @@ class Panda:
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assert self._handle is not None
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self._mcu_type = self.get_mcu_type()
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self.health_version, self.can_version = self.get_packets_versions()
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self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
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print("connected")
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# disable openpilot's heartbeat checks
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@@ -438,26 +451,64 @@ class Panda:
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"uptime": a[0],
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"voltage": a[1],
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"current": a[2],
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"can_rx_errs": a[3],
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"can_send_errs": a[4],
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"can_fwd_errs": a[5],
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"gmlan_send_errs": a[6],
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"faults": a[7],
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"ignition_line": a[8],
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"ignition_can": a[9],
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"controls_allowed": a[10],
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"gas_interceptor_detected": a[11],
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"car_harness_status": a[12],
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"usb_power_mode": a[13],
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"safety_tx_blocked": a[3],
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"safety_rx_invalid": a[4],
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"tx_buffer_overflow": a[5],
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"rx_buffer_overflow": a[6],
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"gmlan_send_errs": a[7],
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"faults": a[8],
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"ignition_line": a[9],
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"ignition_can": a[10],
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"controls_allowed": a[11],
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"gas_interceptor_detected": a[12],
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"car_harness_status": a[13],
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"safety_mode": a[14],
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"safety_param": a[15],
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"fault_status": a[16],
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"power_save_enabled": a[17],
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"heartbeat_lost": a[18],
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"alternative_experience": a[19],
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"blocked_msg_cnt": a[20],
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"interrupt_load": a[21],
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"fan_power": a[22],
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"interrupt_load": a[20],
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"fan_power": a[21],
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"safety_rx_checks_invalid": a[22],
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"usb_power_mode": a[23],
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}
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@ensure_can_health_packet_version
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def can_health(self, can_number):
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LEC_ERROR_CODE = {
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0: "No error",
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1: "Stuff error",
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2: "Form error",
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3: "AckError",
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4: "Bit1Error",
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5: "Bit0Error",
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6: "CRCError",
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7: "NoChange",
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}
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dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc2, int(can_number), 0, self.CAN_HEALTH_STRUCT.size)
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a = self.CAN_HEALTH_STRUCT.unpack(dat)
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return {
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"bus_off": a[0],
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"bus_off_cnt": a[1],
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"error_warning": a[2],
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"error_passive": a[3],
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"last_error": LEC_ERROR_CODE[a[4]],
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"last_stored_error": LEC_ERROR_CODE[a[5]],
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"last_data_error": LEC_ERROR_CODE[a[6]],
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"last_data_stored_error": LEC_ERROR_CODE[a[7]],
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"receive_error_cnt": a[8],
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"transmit_error_cnt": a[9],
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"total_error_cnt": a[10],
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"total_tx_lost_cnt": a[11],
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"total_rx_lost_cnt": a[12],
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"total_tx_cnt": a[13],
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"total_rx_cnt": a[14],
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"total_fwd_cnt": a[15],
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"can_speed": a[16],
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"can_data_speed": a[17],
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"canfd_enabled": a[18],
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"brs_enabled": a[19],
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}
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# ******************* control *******************
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@@ -494,12 +545,12 @@ class Panda:
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# Returns tuple with health packet version and CAN packet/USB packet version
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def get_packets_versions(self):
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dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 2)
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if dat:
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a = struct.unpack("BB", dat)
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return (a[0], a[1])
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dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 3)
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if dat and len(dat) == 3:
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a = struct.unpack("BBB", dat)
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return (a[0], a[1], a[2])
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else:
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return (0, 0)
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return (0, 0, 0)
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def get_mcu_type(self):
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hw_type = self.get_type()
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