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dragonpilot 2022-11-30T09:37:39 for EON/C2
version: dragonpilot v0.9.1 beta for EON/C2 date: 2022-11-30T09:37:39 dp-dev(priv2) master commit: e2204c868277f20a263c2f93e88c42999d0b0c15
This commit is contained in:
Dragonpilot Team
committed by
Comma Device
Comma Device
parent
1fdc1202d1
commit
de34fa87ee
@@ -8,18 +8,23 @@ import hashlib
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import datetime
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import traceback
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import warnings
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import logging
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from functools import wraps
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from typing import Optional
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from itertools import accumulate
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from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7 # pylint: disable=import-error
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from .flash_release import flash_release # noqa pylint: disable=import-error
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from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
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from .serial import PandaSerial # noqa pylint: disable=import-error
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from .isotp import isotp_send, isotp_recv # pylint: disable=import-error
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from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, SECTOR_SIZES_FX, SECTOR_SIZES_H7 # noqa pylint: disable=import-error
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from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, SECTOR_SIZES_FX, SECTOR_SIZES_H7
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from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7
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from .isotp import isotp_send, isotp_recv
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from .spi import SpiHandle
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__version__ = '0.0.10'
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# setup logging
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LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
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logging.basicConfig(level=LOGLEVEL, format='%(message)s')
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BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
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DEBUG = os.getenv("PANDADEBUG") is not None
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@@ -49,7 +54,7 @@ def pack_can_buffer(arr):
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snds.append(b'')
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idx += 1
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#Apply counter to each 64 byte packet
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# Apply counter to each 64 byte packet
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for idx in range(len(snds)):
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tx = b''
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counter = 0
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@@ -167,6 +172,7 @@ class Panda:
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SERIAL_ESP = 1
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SERIAL_LIN1 = 2
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SERIAL_LIN2 = 3
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SERIAL_SOM_DEBUG = 4
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GMLAN_CAN2 = 1
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GMLAN_CAN3 = 2
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@@ -183,6 +189,7 @@ class Panda:
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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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HW_TYPE_TRES = b'\x09'
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CAN_PACKET_VERSION = 2
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HEALTH_PACKET_VERSION = 11
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@@ -192,10 +199,10 @@ class Panda:
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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, HW_TYPE_RED_PANDA_V2)
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H7_DEVICES = (HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
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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, HW_TYPE_RED_PANDA_V2)
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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, HW_TYPE_TRES)
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CLOCK_SOURCE_MODE_DISABLED = 0
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CLOCK_SOURCE_MODE_FREE_RUNNING = 1
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@@ -213,8 +220,8 @@ class Panda:
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FLAG_HYUNDAI_HYBRID_GAS = 2
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FLAG_HYUNDAI_LONG = 4
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FLAG_HYUNDAI_CAMERA_SCC = 8
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FLAG_HYUNDAI_CANFD_HDA2 = 8
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FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 16
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FLAG_HYUNDAI_CANFD_HDA2 = 16
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FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
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FLAG_TESLA_POWERTRAIN = 1
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FLAG_TESLA_LONG_CONTROL = 2
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@@ -229,7 +236,7 @@ class Panda:
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FLAG_GM_HW_CAM = 1
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FLAG_GM_HW_CAM_LONG = 2
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def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
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def __init__(self, serial: Optional[str] = None, claim: bool = True, spi: bool = False, disable_checks: bool = True):
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self._serial = serial
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self._disable_checks = disable_checks
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@@ -237,9 +244,9 @@ class Panda:
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self._bcd_device = None
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# connect and set mcu type
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self._spi = spi
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self.connect(claim)
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def close(self):
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self._handle.close()
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self._handle = None
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@@ -247,10 +254,30 @@ class Panda:
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def connect(self, claim=True, wait=False):
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if self._handle is not None:
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self.close()
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context = usb1.USBContext()
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self._handle = None
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if self._spi:
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self._handle = SpiHandle()
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# TODO implement
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self._serial = "SPIDEV"
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self.bootstub = False
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else:
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self.usb_connect(claim=claim, wait=wait)
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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.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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if self._disable_checks:
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self.set_heartbeat_disabled()
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self.set_power_save(0)
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def usb_connect(self, claim=True, wait=False):
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context = usb1.USBContext()
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while 1:
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try:
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for device in context.getDeviceList(skip_on_error=True):
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@@ -283,16 +310,6 @@ class Panda:
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break
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context = usb1.USBContext() # New context needed so new devices show up
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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.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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if self._disable_checks:
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self.set_heartbeat_disabled()
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self.set_power_save(0)
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def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
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try:
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if enter_bootloader:
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@@ -583,9 +600,6 @@ class Panda:
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# ******************* configuration *******************
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def set_usb_power(self, on):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, int(on), 0, b'')
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def set_power_save(self, power_save_enabled=0):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
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@@ -711,7 +725,7 @@ class Panda:
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def serial_write(self, port_number, ln):
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ret = 0
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for i in range(0, len(ln), 0x20):
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ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
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ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + bytes(ln[i:i + 0x20], 'utf-8'))
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return ret
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def serial_clear(self, port_number):
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@@ -834,7 +848,3 @@ class Panda:
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# ****************** Siren *****************
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def set_siren(self, enabled):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
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# ****************** Debug *****************
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def set_green_led(self, enabled):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
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