dragonpilot beta3

date: 2024-02-12T12:52:55
commit: 0f5fdc8c6be06fb8901e8be8f3fa7d00596eb1f4

panda/python/__init__.py

@@ -28,6 +28,7 @@ logging.basicConfig(level=LOGLEVEL, format='%(message)s')
 CANPACKET_HEAD_SIZE = 0x6
 DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
 LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
+PANDA_BUS_CNT = 4
 
 
 def calculate_checksum(data):
@@ -111,7 +112,8 @@ class ALTERNATIVE_EXPERIENCE:
   DISABLE_DISENGAGE_ON_GAS = 1
   DISABLE_STOCK_AEB = 2
   RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
-  ALKA = 16
+  ALLOW_AEB = 16
+  ALKA = 32
 
 class Panda:
 
@@ -166,6 +168,7 @@ class Panda:
   HW_TYPE_RED_PANDA = b'\x07'
   HW_TYPE_RED_PANDA_V2 = b'\x08'
   HW_TYPE_TRES = b'\x09'
+  HW_TYPE_CUATRO = b'\x0a'
 
   CAN_PACKET_VERSION = 4
   HEALTH_PACKET_VERSION = 15
@@ -175,15 +178,16 @@ class Panda:
 
   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, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES]
+  H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO]
 
-  INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES)
-  HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
+  INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
+  HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO)
 
   MAX_FAN_RPMs = {
     HW_TYPE_UNO: 5100,
     HW_TYPE_DOS: 6500,
     HW_TYPE_TRES: 6600,
+    HW_TYPE_CUATRO: 6600,
   }
 
   HARNESS_STATUS_NC = 0
@@ -232,20 +236,18 @@ class Panda:
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2
 
-  def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
+  def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500):
     self._connect_serial = serial
     self._disable_checks = disable_checks
 
     self._handle: BaseHandle
     self._handle_open = False
     self.can_rx_overflow_buffer = b''
+    self._can_speed_kbps = can_speed_kbps
 
     # connect and set mcu type
     self.connect(claim)
 
-    # reset comms
-    self.can_reset_communications()
-
   def __enter__(self):
     return self
 
@@ -303,6 +305,13 @@ class Panda:
       self.set_heartbeat_disabled()
       self.set_power_save(0)
 
+    # reset comms
+    self.can_reset_communications()
+
+    # set CAN speed
+    for bus in range(PANDA_BUS_CNT):
+      self.set_can_speed_kbps(bus, self._can_speed_kbps)
+
   @classmethod
   def spi_connect(cls, serial, ignore_version=False):
     # get UID to confirm slave is present and up
@@ -388,7 +397,7 @@ class Panda:
     return context, usb_handle, usb_serial, bootstub, bcd
 
   @classmethod
-  def list(cls): # noqa: A003
+  def list(cls):
     ret = cls.usb_list()
     ret += cls.spi_list()
     return list(set(ret))

panda/python/dfu.py

@@ -72,7 +72,7 @@ class PandaDFU:
     return None, handle
 
   @staticmethod
-  def list() -> List[str]: # noqa: A003
+  def list() -> List[str]:
     ret = PandaDFU.usb_list()
     ret += PandaDFU.spi_list()
     return list(set(ret))