mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-19 22:53:57 +08:00
openpilot v0.9.6 release
date: 2024-02-21T23:02:42
master commit: 0b4d08fab8
This commit is contained in:
Vehicle Researcher
@@ -28,6 +28,7 @@ logging.basicConfig(level=LOGLEVEL, format='%(message)s')
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CANPACKET_HEAD_SIZE = 0x6
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DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
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LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
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PANDA_BUS_CNT = 4
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def calculate_checksum(data):
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@@ -111,6 +112,7 @@ class ALTERNATIVE_EXPERIENCE:
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DISABLE_DISENGAGE_ON_GAS = 1
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DISABLE_STOCK_AEB = 2
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RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
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ALLOW_AEB = 16
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class Panda:
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@@ -165,24 +167,25 @@ class Panda:
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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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HW_TYPE_CUATRO = b'\x0a'
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CAN_PACKET_VERSION = 4
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HEALTH_PACKET_VERSION = 14
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HEALTH_PACKET_VERSION = 15
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CAN_HEALTH_PACKET_VERSION = 5
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HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBHBHHB")
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HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBHBBBHfBBHBHHB")
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CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
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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, HW_TYPE_TRES]
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H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO]
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INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES)
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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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INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
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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, HW_TYPE_CUATRO)
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MAX_FAN_RPMs = {
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HW_TYPE_UNO: 5100,
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HW_TYPE_DOS: 6500,
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HW_TYPE_TRES: 6600,
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HW_TYPE_CUATRO: 6600,
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}
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HARNESS_STATUS_NC = 0
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@@ -193,11 +196,13 @@ class Panda:
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FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
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FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
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FLAG_TOYOTA_LTA = (4 << 8)
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FLAG_TOYOTA_GAS_INTERCEPTOR = (8 << 8)
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FLAG_HONDA_ALT_BRAKE = 1
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FLAG_HONDA_BOSCH_LONG = 2
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FLAG_HONDA_NIDEC_ALT = 4
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FLAG_HONDA_RADARLESS = 8
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FLAG_HONDA_GAS_INTERCEPTOR = 16
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FLAG_HYUNDAI_EV_GAS = 1
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FLAG_HYUNDAI_HYBRID_GAS = 2
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@@ -229,20 +234,18 @@ class Panda:
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FLAG_FORD_LONG_CONTROL = 1
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FLAG_FORD_CANFD = 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, disable_checks: bool = True, can_speed_kbps: int = 500):
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self._connect_serial = serial
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self._disable_checks = disable_checks
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self._handle: BaseHandle
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self._handle_open = False
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self.can_rx_overflow_buffer = b''
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self._can_speed_kbps = can_speed_kbps
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# connect and set mcu type
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self.connect(claim)
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# reset comms
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self.can_reset_communications()
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def __enter__(self):
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return self
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@@ -300,6 +303,13 @@ class Panda:
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self.set_heartbeat_disabled()
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self.set_power_save(0)
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# reset comms
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self.can_reset_communications()
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# set CAN speed
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for bus in range(PANDA_BUS_CNT):
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self.set_can_speed_kbps(bus, self._can_speed_kbps)
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@classmethod
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def spi_connect(cls, serial, ignore_version=False):
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# get UID to confirm slave is present and up
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@@ -385,7 +395,7 @@ class Panda:
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return context, usb_handle, usb_serial, bootstub, bcd
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@classmethod
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def list(cls): # noqa: A003
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def list(cls):
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ret = cls.usb_list()
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ret += cls.spi_list()
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return list(set(ret))
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@@ -399,7 +409,7 @@ class Panda:
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if device.getVendorID() == 0xbbaa and device.getProductID() in cls.USB_PIDS:
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try:
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serial = device.getSerialNumber()
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if len(serial) == 24 or serial == "pedal":
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if len(serial) == 24:
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ret.append(serial)
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else:
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logging.warning(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
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@@ -591,22 +601,21 @@ class Panda:
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"ignition_line": a[9],
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"ignition_can": a[10],
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"controls_allowed": a[11],
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"gas_interceptor_detected": a[12],
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"car_harness_status": a[13],
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"safety_mode": a[14],
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"safety_param": a[15],
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"fault_status": a[16],
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"power_save_enabled": a[17],
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"heartbeat_lost": a[18],
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"alternative_experience": a[19],
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"interrupt_load": a[20],
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"fan_power": a[21],
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"safety_rx_checks_invalid": a[22],
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"spi_checksum_error_count": a[23],
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"fan_stall_count": a[24],
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"sbu1_voltage_mV": a[25],
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"sbu2_voltage_mV": a[26],
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"som_reset_triggered": a[27],
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"car_harness_status": a[12],
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"safety_mode": a[13],
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"safety_param": a[14],
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"fault_status": a[15],
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"power_save_enabled": a[16],
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"heartbeat_lost": a[17],
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"alternative_experience": a[18],
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"interrupt_load": a[19],
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"fan_power": a[20],
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"safety_rx_checks_invalid": a[21],
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"spi_checksum_error_count": a[22],
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"fan_stall_count": a[23],
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"sbu1_voltage_mV": a[24],
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"sbu2_voltage_mV": a[25],
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"som_reset_triggered": a[26],
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}
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@ensure_can_health_packet_version
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@@ -688,9 +697,7 @@ class Panda:
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def get_mcu_type(self) -> McuType:
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hw_type = self.get_type()
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if hw_type in Panda.F2_DEVICES:
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return McuType.F2
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elif hw_type in Panda.F4_DEVICES:
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if hw_type in Panda.F4_DEVICES:
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return McuType.F4
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elif hw_type in Panda.H7_DEVICES:
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return McuType.H7
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@@ -879,63 +886,6 @@ class Panda:
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"""
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf2, port_number, 0, b'')
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# ******************* kline *******************
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# pulse low for wakeup
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def kline_wakeup(self, k=True, l=True):
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assert k or l, "must specify k-line, l-line, or both"
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logging.debug("kline wakeup...")
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 2 if k and l else int(l), 0, b'')
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logging.debug("kline wakeup done")
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def kline_5baud(self, addr, k=True, l=True):
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assert k or l, "must specify k-line, l-line, or both"
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logging.debug("kline 5 baud...")
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, 2 if k and l else int(l), addr, b'')
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logging.debug("kline 5 baud done")
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def kline_drain(self, bus=2):
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# drain buffer
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bret = bytearray()
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while True:
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ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40)
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if len(ret) == 0:
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break
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logging.debug(f"kline drain: 0x{ret.hex()}")
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bret += ret
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return bytes(bret)
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def kline_ll_recv(self, cnt, bus=2):
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echo = bytearray()
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while len(echo) != cnt:
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ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt - len(echo))
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if len(ret) > 0:
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logging.debug(f"kline recv: 0x{ret.hex()}")
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echo += ret
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return bytes(echo)
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def kline_send(self, x, bus=2, checksum=True):
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self.kline_drain(bus=bus)
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if checksum:
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x += bytes([sum(x) % 0x100])
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for i in range(0, len(x), 0xf):
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ts = x[i:i + 0xf]
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logging.debug(f"kline send: 0x{ts.hex()}")
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self._handle.bulkWrite(2, bytes([bus]) + ts)
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echo = self.kline_ll_recv(len(ts), bus=bus)
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if echo != ts:
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logging.error(f"**** ECHO ERROR {i} ****")
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logging.error(f"0x{echo.hex()}")
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logging.error(f"0x{ts.hex()}")
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assert echo == ts
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def kline_recv(self, bus=2, header_len=4):
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# read header (last byte is length)
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msg = self.kline_ll_recv(header_len, bus=bus)
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# read data (add one byte to length for checksum)
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msg += self.kline_ll_recv(msg[-1]+1, bus=bus)
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return msg
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def send_heartbeat(self, engaged=True):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, 0, b'')
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@@ -977,10 +927,6 @@ class Panda:
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a = struct.unpack("H", dat)
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return a[0]
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# ****************** Phone *****************
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def set_phone_power(self, enabled):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, int(enabled), 0, b'')
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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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