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openpilot v0.8.8 release

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Vehicle Researcher
2021-08-22 22:13:11 -07:00
parent 444aace15f
commit baffaeee93
193 changed files with 60566 additions and 1933 deletions
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38
panda/python/__init__.py
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@@ -8,17 +8,16 @@ import os
import time
import traceback
import sys
from .dfu import PandaDFU # pylint: disable=import-error
from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7 # pylint: disable=import-error
from .flash_release import flash_release # noqa pylint: disable=import-error
from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
from .serial import PandaSerial # noqa pylint: disable=import-error
from .isotp import isotp_send, isotp_recv # pylint: disable=import-error
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN # noqa pylint: disable=import-error
__version__ = '0.0.9'
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
DEBUG = os.getenv("PANDADEBUG") is not None
@@ -139,6 +138,11 @@ class Panda(object):
HW_TYPE_PEDAL = b'\x04'
HW_TYPE_UNO = b'\x05'
HW_TYPE_DOS = b'\x06'
HW_TYPE_RED_PANDA = b'\x07'
F2_DEVICES = [HW_TYPE_PEDAL]
F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
H7_DEVICES = [HW_TYPE_RED_PANDA]
CLOCK_SOURCE_MODE_DISABLED = 0
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
@@ -151,6 +155,7 @@ class Panda(object):
self._serial = serial
self._handle = None
self.connect(claim)
self._mcu_type = self.get_mcu_type()
def close(self):
self._handle.close()
@@ -225,7 +230,7 @@ class Panda(object):
except Exception:
print("reconnecting is taking %d seconds..." % (i + 1))
try:
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
dfu.recover()
except Exception:
pass
@@ -262,6 +267,8 @@ class Panda(object):
pass
def flash(self, fn=DEFAULT_FW_FN, code=None, reconnect=True):
if self._mcu_type == MCU_TYPE_H7 and fn == DEFAULT_FW_FN:
fn = DEFAULT_H7_FW_FN
print("flash: main version is " + self.get_version())
if not self.bootstub:
self.reset(enter_bootstub=True)
@@ -291,7 +298,7 @@ class Panda(object):
if timeout is not None and (time.time() - t_start) > timeout:
return False
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
dfu.recover()
# reflash after recover
@@ -401,9 +408,25 @@ class Panda(object):
def is_dos(self):
return self.get_type() == Panda.HW_TYPE_DOS
def is_red(self):
return self.get_type() == Panda.HW_TYPE_RED_PANDA
def get_mcu_type(self):
hw_type = self.get_type()
if hw_type in Panda.F2_DEVICES:
return MCU_TYPE_F2
elif hw_type in Panda.F4_DEVICES:
return MCU_TYPE_F4
elif hw_type in Panda.H7_DEVICES:
return MCU_TYPE_H7
return None
def has_obd(self):
return (self.is_uno() or self.is_dos() or self.is_black())
return (self.is_uno() or self.is_dos() or self.is_black() or self.is_red())
def has_canfd(self):
return self._mcu_type in Panda.H7_DEVICES
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
@@ -460,6 +483,9 @@ class Panda(object):
def set_can_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed * 10), b'')
def set_can_data_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')