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CAN-FD non-ISO support (#1082)

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CAN FD non-ISO support
This commit is contained in:
Greg Hogan
2022-10-12 15:28:20 -07:00
committed by GitHub
parent ffb3109e28
commit 2f3e2825e5
7 changed files with 91 additions and 64 deletions
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15
python/__init__.py
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@@ -186,9 +186,9 @@ class Panda:
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 11
CAN_HEALTH_PACKET_VERSION = 2
CAN_HEALTH_PACKET_VERSION = 3
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBBB")
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)
@@ -509,6 +509,7 @@ class Panda:
"can_data_speed": a[17],
"canfd_enabled": a[18],
"brs_enabled": a[19],
"canfd_non_iso": a[20],
}
# ******************* control *******************
@@ -626,14 +627,8 @@ class Panda:
def set_can_data_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
# CAN FD and BRS status
def get_canfd_status(self, bus):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfa, bus, 0, 2)
if dat:
a = struct.unpack("BB", dat)
return (a[0], a[1])
else:
return (None, None)
def set_canfd_non_iso(self, bus, non_iso):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xfc, bus, int(non_iso), b'')
def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')