mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-19 21:44:01 +08:00
Squashed 'panda/' content from commit 3b356216
git-subtree-dir: panda git-subtree-split: 3b35621671aaa6de3fc66d85d30e4208a77e2489
This commit is contained in:
Vehicle Researcher
657
python/__init__.py
Normal file
657
python/__init__.py
Normal file
@@ -0,0 +1,657 @@
|
||||
# python library to interface with panda
|
||||
import datetime
|
||||
import binascii
|
||||
import struct
|
||||
import hashlib
|
||||
import socket
|
||||
import usb1
|
||||
import os
|
||||
import time
|
||||
import traceback
|
||||
import subprocess
|
||||
from .dfu import PandaDFU
|
||||
from .esptool import ESPROM, CesantaFlasher # noqa: F401
|
||||
from .flash_release import flash_release # noqa: F401
|
||||
from .update import ensure_st_up_to_date # noqa: F401
|
||||
from .serial import PandaSerial # noqa: F401
|
||||
from .isotp import isotp_send, isotp_recv
|
||||
|
||||
__version__ = '0.0.9'
|
||||
|
||||
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
|
||||
|
||||
DEBUG = os.getenv("PANDADEBUG") is not None
|
||||
|
||||
# *** wifi mode ***
|
||||
def build_st(target, mkfile="Makefile", clean=True):
|
||||
from panda import BASEDIR
|
||||
|
||||
clean_cmd = "make -f %s clean" % mkfile if clean else ":"
|
||||
cmd = 'cd %s && %s && make -f %s %s' % (os.path.join(BASEDIR, "board"), clean_cmd, mkfile, target)
|
||||
try:
|
||||
_ = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
|
||||
except subprocess.CalledProcessError:
|
||||
raise
|
||||
|
||||
def parse_can_buffer(dat):
|
||||
ret = []
|
||||
for j in range(0, len(dat), 0x10):
|
||||
ddat = dat[j:j+0x10]
|
||||
f1, f2 = struct.unpack("II", ddat[0:8])
|
||||
extended = 4
|
||||
if f1 & extended:
|
||||
address = f1 >> 3
|
||||
else:
|
||||
address = f1 >> 21
|
||||
dddat = ddat[8:8+(f2&0xF)]
|
||||
if DEBUG:
|
||||
print(" R %x: %s" % (address, binascii.hexlify(dddat)))
|
||||
ret.append((address, f2>>16, dddat, (f2>>4)&0xFF))
|
||||
return ret
|
||||
|
||||
class PandaWifiStreaming(object):
|
||||
def __init__(self, ip="192.168.0.10", port=1338):
|
||||
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
self.sock.setblocking(0)
|
||||
self.ip = ip
|
||||
self.port = port
|
||||
self.kick()
|
||||
|
||||
def kick(self):
|
||||
# must be called at least every 5 seconds
|
||||
self.sock.sendto("hello", (self.ip, self.port))
|
||||
|
||||
def can_recv(self):
|
||||
ret = []
|
||||
while True:
|
||||
try:
|
||||
dat, addr = self.sock.recvfrom(0x200*0x10)
|
||||
if addr == (self.ip, self.port):
|
||||
ret += parse_can_buffer(dat)
|
||||
except socket.error as e:
|
||||
if e.errno != 35 and e.errno != 11:
|
||||
traceback.print_exc()
|
||||
break
|
||||
return ret
|
||||
|
||||
# stupid tunneling of USB over wifi and SPI
|
||||
class WifiHandle(object):
|
||||
def __init__(self, ip="192.168.0.10", port=1337):
|
||||
self.sock = socket.create_connection((ip, port))
|
||||
|
||||
def __recv(self):
|
||||
ret = self.sock.recv(0x44)
|
||||
length = struct.unpack("I", ret[0:4])[0]
|
||||
return ret[4:4+length]
|
||||
|
||||
def controlWrite(self, request_type, request, value, index, data, timeout=0):
|
||||
# ignore data in reply, panda doesn't use it
|
||||
return self.controlRead(request_type, request, value, index, 0, timeout)
|
||||
|
||||
def controlRead(self, request_type, request, value, index, length, timeout=0):
|
||||
self.sock.send(struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length))
|
||||
return self.__recv()
|
||||
|
||||
def bulkWrite(self, endpoint, data, timeout=0):
|
||||
if len(data) > 0x10:
|
||||
raise ValueError("Data must not be longer than 0x10")
|
||||
self.sock.send(struct.pack("HH", endpoint, len(data))+data)
|
||||
self.__recv() # to /dev/null
|
||||
|
||||
def bulkRead(self, endpoint, length, timeout=0):
|
||||
self.sock.send(struct.pack("HH", endpoint, 0))
|
||||
return self.__recv()
|
||||
|
||||
def close(self):
|
||||
self.sock.close()
|
||||
|
||||
# *** normal mode ***
|
||||
|
||||
class Panda(object):
|
||||
|
||||
# matches cereal.car.CarParams.SafetyModel
|
||||
SAFETY_SILENT = 0
|
||||
SAFETY_HONDA_NIDEC = 1
|
||||
SAFETY_TOYOTA = 2
|
||||
SAFETY_ELM327 = 3
|
||||
SAFETY_GM = 4
|
||||
SAFETY_HONDA_BOSCH_GIRAFFE = 5
|
||||
SAFETY_FORD = 6
|
||||
SAFETY_CADILLAC = 7
|
||||
SAFETY_HYUNDAI = 8
|
||||
SAFETY_CHRYSLER = 9
|
||||
SAFETY_TESLA = 10
|
||||
SAFETY_SUBARU = 11
|
||||
SAFETY_MAZDA = 13
|
||||
SAFETY_VOLKSWAGEN = 15
|
||||
SAFETY_TOYOTA_IPAS = 16
|
||||
SAFETY_ALLOUTPUT = 17
|
||||
SAFETY_GM_ASCM = 18
|
||||
SAFETY_NOOUTPUT = 19
|
||||
SAFETY_HONDA_BOSCH_HARNESS = 20
|
||||
|
||||
SERIAL_DEBUG = 0
|
||||
SERIAL_ESP = 1
|
||||
SERIAL_LIN1 = 2
|
||||
SERIAL_LIN2 = 3
|
||||
|
||||
GMLAN_CAN2 = 1
|
||||
GMLAN_CAN3 = 2
|
||||
|
||||
REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
|
||||
REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
|
||||
|
||||
HW_TYPE_UNKNOWN = b'\x00'
|
||||
HW_TYPE_WHITE_PANDA = b'\x01'
|
||||
HW_TYPE_GREY_PANDA = b'\x02'
|
||||
HW_TYPE_BLACK_PANDA = b'\x03'
|
||||
HW_TYPE_PEDAL = b'\x04'
|
||||
HW_TYPE_UNO = b'\x05'
|
||||
|
||||
def __init__(self, serial=None, claim=True):
|
||||
self._serial = serial
|
||||
self._handle = None
|
||||
self.connect(claim)
|
||||
|
||||
def close(self):
|
||||
self._handle.close()
|
||||
self._handle = None
|
||||
|
||||
def connect(self, claim=True, wait=False):
|
||||
if self._handle != None:
|
||||
self.close()
|
||||
|
||||
if self._serial == "WIFI":
|
||||
self._handle = WifiHandle()
|
||||
print("opening WIFI device")
|
||||
self.wifi = True
|
||||
else:
|
||||
context = usb1.USBContext()
|
||||
self._handle = None
|
||||
self.wifi = False
|
||||
|
||||
while 1:
|
||||
try:
|
||||
for device in context.getDeviceList(skip_on_error=True):
|
||||
#print(device)
|
||||
if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
|
||||
try:
|
||||
this_serial = device.getSerialNumber()
|
||||
except Exception:
|
||||
continue
|
||||
if self._serial is None or this_serial == self._serial:
|
||||
self._serial = this_serial
|
||||
print("opening device", self._serial, hex(device.getProductID()))
|
||||
time.sleep(1)
|
||||
self.bootstub = device.getProductID() == 0xddee
|
||||
self.legacy = (device.getbcdDevice() != 0x2300)
|
||||
self._handle = device.open()
|
||||
if claim:
|
||||
self._handle.claimInterface(0)
|
||||
#self._handle.setInterfaceAltSetting(0, 0) #Issue in USB stack
|
||||
break
|
||||
except Exception as e:
|
||||
print("exception", e)
|
||||
traceback.print_exc()
|
||||
if wait == False or self._handle != None:
|
||||
break
|
||||
context = usb1.USBContext() #New context needed so new devices show up
|
||||
assert(self._handle != None)
|
||||
print("connected")
|
||||
|
||||
def reset(self, enter_bootstub=False, enter_bootloader=False):
|
||||
# reset
|
||||
try:
|
||||
if enter_bootloader:
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'')
|
||||
else:
|
||||
if enter_bootstub:
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'')
|
||||
else:
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
|
||||
except Exception:
|
||||
pass
|
||||
if not enter_bootloader:
|
||||
self.reconnect()
|
||||
|
||||
def reconnect(self):
|
||||
self.close()
|
||||
time.sleep(1.0)
|
||||
success = False
|
||||
# wait up to 15 seconds
|
||||
for i in range(0, 15):
|
||||
try:
|
||||
self.connect()
|
||||
success = True
|
||||
break
|
||||
except Exception:
|
||||
print("reconnecting is taking %d seconds..." % (i+1))
|
||||
try:
|
||||
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
|
||||
dfu.recover()
|
||||
except Exception:
|
||||
pass
|
||||
time.sleep(1.0)
|
||||
if not success:
|
||||
raise Exception("reconnect failed")
|
||||
|
||||
@staticmethod
|
||||
def flash_static(handle, code):
|
||||
# confirm flasher is present
|
||||
fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
|
||||
assert fr[4:8] == b"\xde\xad\xd0\x0d"
|
||||
|
||||
# unlock flash
|
||||
print("flash: unlocking")
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
|
||||
|
||||
# erase sectors 1 through 3
|
||||
print("flash: erasing")
|
||||
for i in range(1, 4):
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
|
||||
|
||||
# flash over EP2
|
||||
STEP = 0x10
|
||||
print("flash: flashing")
|
||||
for i in range(0, len(code), STEP):
|
||||
handle.bulkWrite(2, code[i:i+STEP])
|
||||
|
||||
# reset
|
||||
print("flash: resetting")
|
||||
try:
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def flash(self, fn=None, code=None, reconnect=True):
|
||||
print("flash: main version is " + self.get_version())
|
||||
if not self.bootstub:
|
||||
self.reset(enter_bootstub=True)
|
||||
assert(self.bootstub)
|
||||
|
||||
if fn is None and code is None:
|
||||
if self.legacy:
|
||||
fn = "obj/comma.bin"
|
||||
print("building legacy st code")
|
||||
build_st(fn, "Makefile.legacy")
|
||||
else:
|
||||
fn = "obj/panda.bin"
|
||||
print("building panda st code")
|
||||
build_st(fn)
|
||||
fn = os.path.join(BASEDIR, "board", fn)
|
||||
|
||||
if code is None:
|
||||
with open(fn, "rb") as f:
|
||||
code = f.read()
|
||||
|
||||
# get version
|
||||
print("flash: bootstub version is " + self.get_version())
|
||||
|
||||
# do flash
|
||||
Panda.flash_static(self._handle, code)
|
||||
|
||||
# reconnect
|
||||
if reconnect:
|
||||
self.reconnect()
|
||||
|
||||
def recover(self, timeout=None):
|
||||
self.reset(enter_bootloader=True)
|
||||
t_start = time.time()
|
||||
while len(PandaDFU.list()) == 0:
|
||||
print("waiting for DFU...")
|
||||
time.sleep(0.1)
|
||||
if timeout is not None and (time.time() - t_start) > timeout:
|
||||
return False
|
||||
|
||||
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
|
||||
dfu.recover()
|
||||
|
||||
# reflash after recover
|
||||
self.connect(True, True)
|
||||
self.flash()
|
||||
return True
|
||||
|
||||
@staticmethod
|
||||
def flash_ota_st():
|
||||
ret = os.system("cd %s && make clean && make ota" % (os.path.join(BASEDIR, "board")))
|
||||
time.sleep(1)
|
||||
return ret==0
|
||||
|
||||
@staticmethod
|
||||
def flash_ota_wifi(release=False):
|
||||
release_str = "RELEASE=1" if release else ""
|
||||
ret = os.system("cd {} && make clean && {} make ota".format(os.path.join(BASEDIR, "boardesp"),release_str))
|
||||
time.sleep(1)
|
||||
return ret==0
|
||||
|
||||
@staticmethod
|
||||
def list():
|
||||
context = usb1.USBContext()
|
||||
ret = []
|
||||
try:
|
||||
for device in context.getDeviceList(skip_on_error=True):
|
||||
if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
|
||||
try:
|
||||
ret.append(device.getSerialNumber())
|
||||
except Exception:
|
||||
continue
|
||||
except Exception:
|
||||
pass
|
||||
# TODO: detect if this is real
|
||||
#ret += ["WIFI"]
|
||||
return ret
|
||||
|
||||
def call_control_api(self, msg):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, msg, 0, 0, b'')
|
||||
|
||||
# ******************* health *******************
|
||||
|
||||
def health(self):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 41)
|
||||
a = struct.unpack("IIIIIIIIBBBBBBBBB", dat)
|
||||
return {
|
||||
"uptime": a[0],
|
||||
"voltage": a[1],
|
||||
"current": a[2],
|
||||
"can_rx_errs": a[3],
|
||||
"can_send_errs": a[4],
|
||||
"can_fwd_errs": a[5],
|
||||
"gmlan_send_errs": a[6],
|
||||
"faults": a[7],
|
||||
"ignition_line": a[8],
|
||||
"ignition_can": a[9],
|
||||
"controls_allowed": a[10],
|
||||
"gas_interceptor_detected": a[11],
|
||||
"car_harness_status": a[12],
|
||||
"usb_power_mode": a[13],
|
||||
"safety_mode": a[14],
|
||||
"fault_status": a[15],
|
||||
"power_save_enabled": a[16]
|
||||
}
|
||||
|
||||
# ******************* control *******************
|
||||
|
||||
def enter_bootloader(self):
|
||||
try:
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xd1, 0, 0, b'')
|
||||
except Exception as e:
|
||||
print(e)
|
||||
pass
|
||||
|
||||
def get_version(self):
|
||||
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')
|
||||
|
||||
@staticmethod
|
||||
def get_signature_from_firmware(fn):
|
||||
f = open(fn, 'rb')
|
||||
f.seek(-128, 2) # Seek from end of file
|
||||
return f.read(128)
|
||||
|
||||
def get_signature(self):
|
||||
part_1 = self._handle.controlRead(Panda.REQUEST_IN, 0xd3, 0, 0, 0x40)
|
||||
part_2 = self._handle.controlRead(Panda.REQUEST_IN, 0xd4, 0, 0, 0x40)
|
||||
return bytes(part_1 + part_2)
|
||||
|
||||
def get_type(self):
|
||||
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
|
||||
|
||||
def is_white(self):
|
||||
return self.get_type() == Panda.HW_TYPE_WHITE_PANDA
|
||||
|
||||
def is_grey(self):
|
||||
return self.get_type() == Panda.HW_TYPE_GREY_PANDA
|
||||
|
||||
def is_black(self):
|
||||
return self.get_type() == Panda.HW_TYPE_BLACK_PANDA
|
||||
|
||||
def is_uno(self):
|
||||
return self.get_type() == Panda.HW_TYPE_UNO
|
||||
|
||||
def has_obd(self):
|
||||
return (self.is_uno() or self.is_black())
|
||||
|
||||
def get_serial(self):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
|
||||
hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
|
||||
assert(hashsig == calc_hash)
|
||||
return [dat[0:0x10].decode("utf8"), dat[0x10:0x10+10].decode("utf8")]
|
||||
|
||||
def get_secret(self):
|
||||
return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10)
|
||||
|
||||
# ******************* configuration *******************
|
||||
|
||||
def set_usb_power(self, on):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, int(on), 0, b'')
|
||||
|
||||
def set_power_save(self, power_save_enabled=0):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
|
||||
|
||||
def set_esp_power(self, on):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xd9, int(on), 0, b'')
|
||||
|
||||
def esp_reset(self, bootmode=0):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
|
||||
time.sleep(0.2)
|
||||
|
||||
def set_safety_mode(self, mode=SAFETY_SILENT):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, 0, b'')
|
||||
|
||||
def set_can_forwarding(self, from_bus, to_bus):
|
||||
# TODO: This feature may not work correctly with saturated buses
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdd, from_bus, to_bus, b'')
|
||||
|
||||
def set_gmlan(self, bus=2):
|
||||
# TODO: check panda type
|
||||
if bus is None:
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 0, 0, b'')
|
||||
elif bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
|
||||
|
||||
def set_obd(self, obd):
|
||||
# TODO: check panda type
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, int(obd), 0, b'')
|
||||
|
||||
def set_can_loopback(self, enable):
|
||||
# set can loopback mode for all buses
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
|
||||
|
||||
def set_can_enable(self, bus_num, enable):
|
||||
# sets the can transciever enable pin
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, int(bus_num), int(enable), b'')
|
||||
|
||||
def set_can_speed_kbps(self, bus, speed):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')
|
||||
|
||||
def set_uart_baud(self, uart, rate):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate/300), b'')
|
||||
|
||||
def set_uart_parity(self, uart, parity):
|
||||
# parity, 0=off, 1=even, 2=odd
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe2, uart, parity, b'')
|
||||
|
||||
def set_uart_callback(self, uart, install):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe3, uart, int(install), b'')
|
||||
|
||||
# ******************* can *******************
|
||||
|
||||
def can_send_many(self, arr):
|
||||
snds = []
|
||||
transmit = 1
|
||||
extended = 4
|
||||
for addr, _, dat, bus in arr:
|
||||
assert len(dat) <= 8
|
||||
if DEBUG:
|
||||
print(" W %x: %s" % (addr, binascii.hexlify(dat)))
|
||||
if addr >= 0x800:
|
||||
rir = (addr << 3) | transmit | extended
|
||||
else:
|
||||
rir = (addr << 21) | transmit
|
||||
snd = struct.pack("II", rir, len(dat) | (bus << 4)) + dat
|
||||
snd = snd.ljust(0x10, b'\x00')
|
||||
snds.append(snd)
|
||||
|
||||
while True:
|
||||
try:
|
||||
#print("DAT: %s"%b''.join(snds).__repr__())
|
||||
if self.wifi:
|
||||
for s in snds:
|
||||
self._handle.bulkWrite(3, s)
|
||||
else:
|
||||
self._handle.bulkWrite(3, b''.join(snds))
|
||||
break
|
||||
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
|
||||
print("CAN: BAD SEND MANY, RETRYING")
|
||||
|
||||
def can_send(self, addr, dat, bus):
|
||||
self.can_send_many([[addr, None, dat, bus]])
|
||||
|
||||
def can_recv(self):
|
||||
dat = bytearray()
|
||||
while True:
|
||||
try:
|
||||
dat = self._handle.bulkRead(1, 0x10*256)
|
||||
break
|
||||
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
|
||||
print("CAN: BAD RECV, RETRYING")
|
||||
time.sleep(0.1)
|
||||
return parse_can_buffer(dat)
|
||||
|
||||
def can_clear(self, bus):
|
||||
"""Clears all messages from the specified internal CAN ringbuffer as
|
||||
though it were drained.
|
||||
|
||||
Args:
|
||||
bus (int): can bus number to clear a tx queue, or 0xFFFF to clear the
|
||||
global can rx queue.
|
||||
|
||||
"""
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf1, bus, 0, b'')
|
||||
|
||||
# ******************* isotp *******************
|
||||
|
||||
def isotp_send(self, addr, dat, bus, recvaddr=None, subaddr=None):
|
||||
return isotp_send(self, dat, addr, bus, recvaddr, subaddr)
|
||||
|
||||
def isotp_recv(self, addr, bus=0, sendaddr=None, subaddr=None):
|
||||
return isotp_recv(self, addr, bus, sendaddr, subaddr)
|
||||
|
||||
# ******************* serial *******************
|
||||
|
||||
def serial_read(self, port_number):
|
||||
ret = []
|
||||
while 1:
|
||||
lret = bytes(self._handle.controlRead(Panda.REQUEST_IN, 0xe0, port_number, 0, 0x40))
|
||||
if len(lret) == 0:
|
||||
break
|
||||
ret.append(lret)
|
||||
return b''.join(ret)
|
||||
|
||||
def serial_write(self, port_number, ln):
|
||||
ret = 0
|
||||
for i in range(0, len(ln), 0x20):
|
||||
ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i+0x20])
|
||||
return ret
|
||||
|
||||
def serial_clear(self, port_number):
|
||||
"""Clears all messages (tx and rx) from the specified internal uart
|
||||
ringbuffer as though it were drained.
|
||||
|
||||
Args:
|
||||
port_number (int): port number of the uart to clear.
|
||||
|
||||
"""
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf2, port_number, 0, b'')
|
||||
|
||||
# ******************* kline *******************
|
||||
|
||||
# pulse low for wakeup
|
||||
def kline_wakeup(self):
|
||||
if DEBUG:
|
||||
print("kline wakeup...")
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 0, 0, b'')
|
||||
if DEBUG:
|
||||
print("kline wakeup done")
|
||||
|
||||
def kline_drain(self, bus=2):
|
||||
# drain buffer
|
||||
bret = bytearray()
|
||||
while True:
|
||||
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40)
|
||||
if len(ret) == 0:
|
||||
break
|
||||
elif DEBUG:
|
||||
print("kline drain: " + binascii.hexlify(ret))
|
||||
bret += ret
|
||||
return bytes(bret)
|
||||
|
||||
def kline_ll_recv(self, cnt, bus=2):
|
||||
echo = bytearray()
|
||||
while len(echo) != cnt:
|
||||
ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo))
|
||||
if DEBUG and len(ret) > 0:
|
||||
print("kline recv: " + binascii.hexlify(ret))
|
||||
echo += ret
|
||||
return str(echo)
|
||||
|
||||
def kline_send(self, x, bus=2, checksum=True):
|
||||
def get_checksum(dat):
|
||||
result = 0
|
||||
result += sum(map(ord, dat)) if isinstance(b'dat', str) else sum(dat)
|
||||
result = -result
|
||||
return struct.pack("B", result % 0x100)
|
||||
|
||||
self.kline_drain(bus=bus)
|
||||
if checksum:
|
||||
x += get_checksum(x)
|
||||
for i in range(0, len(x), 0xf):
|
||||
ts = x[i:i+0xf]
|
||||
if DEBUG:
|
||||
print("kline send: " + binascii.hexlify(ts))
|
||||
self._handle.bulkWrite(2, bytes([bus]) + ts)
|
||||
echo = self.kline_ll_recv(len(ts), bus=bus)
|
||||
if echo != ts:
|
||||
print("**** ECHO ERROR %d ****" % i)
|
||||
print(binascii.hexlify(echo))
|
||||
print(binascii.hexlify(ts))
|
||||
assert echo == ts
|
||||
|
||||
def kline_recv(self, bus=2):
|
||||
msg = self.kline_ll_recv(2, bus=bus)
|
||||
msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus)
|
||||
return msg
|
||||
|
||||
def send_heartbeat(self):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, 0, 0, b'')
|
||||
|
||||
# ******************* RTC *******************
|
||||
def set_datetime(self, dt):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa1, int(dt.year), 0, b'')
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa2, int(dt.month), 0, b'')
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa3, int(dt.day), 0, b'')
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa4, int(dt.isoweekday()), 0, b'')
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa5, int(dt.hour), 0, b'')
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa6, int(dt.minute), 0, b'')
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa7, int(dt.second), 0, b'')
|
||||
|
||||
def get_datetime(self):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa0, 0, 0, 8)
|
||||
a = struct.unpack("HBBBBBB", dat)
|
||||
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
|
||||
|
||||
# ******************* IR *******************
|
||||
def set_ir_power(self, percentage):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb0, int(percentage), 0, b'')
|
||||
|
||||
# ******************* Fan ******************
|
||||
def set_fan_power(self, percentage):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb1, int(percentage), 0, b'')
|
||||
|
||||
def get_fan_rpm(self):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xb2, 0, 0, 2)
|
||||
a = struct.unpack("H", dat)
|
||||
return a[0]
|
||||
|
||||
# ****************** Phone *****************
|
||||
def set_phone_power(self, enabled):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, int(enabled), 0, b'')
|
||||
Reference in New Issue
Block a user