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openpilot v0.8.6 release

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This commit is contained in:
Vehicle Researcher
2021-07-14 17:34:36 -07:00
parent ce6564c684
commit b201dc1996
429 changed files with 9831 additions and 11933 deletions
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22
panda/python/__init__.py
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@@ -138,11 +138,15 @@ class Panda(object):
HW_TYPE_BLACK_PANDA = b'\x03'
HW_TYPE_PEDAL = b'\x04'
HW_TYPE_UNO = b'\x05'
HW_TYPE_DOS = b'\x06'
CLOCK_SOURCE_MODE_DISABLED = 0
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
CLOCK_SOURCE_MODE_EXTERNAL_SYNC = 2
FLAG_HONDA_ALT_BRAKE = 1
FLAG_HONDA_BOSCH_LONG = 2
def __init__(self, serial=None, claim=True):
self._serial = serial
self._handle = None
@@ -177,7 +181,6 @@ class Panda(object):
self._serial = this_serial
print("opening device", self._serial, hex(device.getProductID()))
self.bootstub = device.getProductID() == 0xddee
self.legacy = (device.getbcdDevice() != 0x2300)
self._handle = device.open()
if sys.platform not in ["win32", "cygwin", "msys", "darwin"]:
self._handle.setAutoDetachKernelDriver(True)
@@ -390,11 +393,17 @@ class Panda(object):
def is_black(self):
return self.get_type() == Panda.HW_TYPE_BLACK_PANDA
def is_pedal(self):
return self.get_type() == Panda.HW_TYPE_PEDAL
def is_uno(self):
return self.get_type() == Panda.HW_TYPE_UNO
def is_dos(self):
return self.get_type() == Panda.HW_TYPE_DOS
def has_obd(self):
return (self.is_uno() or self.is_black())
return (self.is_uno() or self.is_dos() or self.is_black())
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
@@ -420,8 +429,10 @@ class Panda(object):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
time.sleep(0.2)
def set_safety_mode(self, mode=SAFETY_SILENT):
def set_safety_mode(self, mode=SAFETY_SILENT, disable_heartbeat=True):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, 0, b'')
if disable_heartbeat:
self.set_heartbeat_disabled()
def set_can_forwarding(self, from_bus, to_bus):
# TODO: This feature may not work correctly with saturated buses
@@ -619,6 +630,11 @@ class Panda(object):
def send_heartbeat(self):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, 0, 0, b'')
# disable heartbeat checks for use outside of openpilot
# sending a heartbeat will reenable the checks
def set_heartbeat_disabled(self):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf8, 0, 0, b'')
# ******************* RTC *******************
def set_datetime(self, dt):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa1, int(dt.year), 0, b'')