mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-02-26 12:33:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

extend fingerprint for multipanda ports (#22798)

Browse Source
This commit is contained in:
Robbe Derks
2021-11-05 13:17:27 +01:00
committed by GitHub
parent 6d9b414c20
commit 6bef60ddf5
1 changed files with 9 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
selfdrive/car/car_helpers.py
View File

@@ -126,14 +126,17 @@ def fingerprint(logcan, sendcan):
a = get_one_can(logcan)
for can in a.can:
# need to independently try to fingerprint both bus 0 and 1 to work
# for the combo black_panda and honda_bosch. Ignore extended messages
# and VIN query response.
# Include bus 2 for toyotas to disambiguate cars using camera messages
# (ideally should be done for all cars but we can't for Honda Bosch)
if can.src in range(0, 4):
# The fingerprint dict is generated for all buses, this way the car interface
# can use it to detect a (valid) multipanda setup and initialize accordingly
if can.src < 128:
if can.src not in finger.keys():
finger[can.src] = {}
finger[can.src][can.address] = len(can.dat)
for b in candidate_cars:
# Include bus 2 for toyotas to disambiguate cars using camera messages
# (ideally should be done for all cars but we can't for Honda Bosch)
# Ignore extended messages and VIN query response.
if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])