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Merge branch 'upstream/panda/master' into sync-20250731

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# Conflicts:
#	pyproject.toml
#	python/__init__.py
This commit is contained in:
Jason Wen
2025-07-31 21:28:55 -04:00
parent c597f948f9 3bb456fd9a
commit 2f42800648
81 changed files with 639 additions and 1907 deletions
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41
python/__init__.py
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@@ -105,9 +105,6 @@ ensure_health_packet_version = partial(ensure_version, "health", "HEALTH_PACKET_
class Panda:
SERIAL_DEBUG = 0
SERIAL_ESP = 1
SERIAL_LIN1 = 2
SERIAL_LIN2 = 3
SERIAL_SOM_DEBUG = 4
USB_VIDS = (0xbbaa, 0x3801) # 0x3801 is comma's registered VID
@@ -115,15 +112,10 @@ class Panda:
REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
# from https://github.com/commaai/openpilot/blob/103b4df18cbc38f4129555ab8b15824d1a672bdf/cereal/log.capnp#L648
HW_TYPE_UNKNOWN = b'\x00'
HW_TYPE_WHITE_PANDA = b'\x01'
HW_TYPE_GREY_PANDA = b'\x02'
HW_TYPE_BLACK_PANDA = b'\x03'
HW_TYPE_PEDAL = b'\x04'
HW_TYPE_UNO = b'\x05'
HW_TYPE_DOS = b'\x06'
HW_TYPE_RED_PANDA = b'\x07'
HW_TYPE_RED_PANDA_V2 = b'\x08'
HW_TYPE_TRES = b'\x09'
HW_TYPE_CUATRO = b'\x0a'
@@ -133,14 +125,12 @@ class Panda:
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHBHHB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
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, HW_TYPE_CUATRO]
F4_DEVICES = [HW_TYPE_DOS, ]
H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO]
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)
INTERNAL_DEVICES = (HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
MAX_FAN_RPMs = {
HW_TYPE_UNO: 5100,
HW_TYPE_DOS: 6500,
HW_TYPE_TRES: 6600,
HW_TYPE_CUATRO: 12500,
@@ -522,16 +512,16 @@ class Panda:
dfu_list = PandaDFU.list()
return True
@staticmethod
def wait_for_panda(serial: str | None, timeout: int) -> bool:
@classmethod
def wait_for_panda(cls, serial: str | None, timeout: int) -> bool:
t_start = time.monotonic()
serials = Panda.list()
serials = cls.list()
while (serial is None and len(serials) == 0) or (serial is not None and serial not in serials):
logger.debug("waiting for panda...")
time.sleep(0.1)
if timeout is not None and (time.monotonic() - t_start) > timeout:
return False
serials = Panda.list()
serials = cls.list()
return True
def up_to_date(self, fn=None) -> bool:
@@ -572,7 +562,7 @@ class Panda:
"interrupt_load": a[18],
"fan_power": a[19],
"safety_rx_checks_invalid": a[20],
"spi_checksum_error_count": a[21],
"spi_error_count": a[21],
"fan_stall_count": a[22],
"sbu1_voltage_mV": a[23],
"sbu2_voltage_mV": a[24],
@@ -669,9 +659,6 @@ class Panda:
raise ValueError(f"unknown HW type: {hw_type}")
def has_obd(self):
return self.get_type() in Panda.HAS_OBD
def is_internal(self):
return self.get_type() in Panda.INTERNAL_DEVICES
@@ -816,16 +803,6 @@ class Panda:
ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
return ret
def serial_clear(self, port_number):
"""Clears all messages (tx and rx) from the specified internal uart
ringbuffer as though it were drained.
Args:
port_number (int): port number of the uart to clear.
"""
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf2, port_number, 0, b'')
def send_heartbeat(self, engaged=True, engaged_mads=True):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, engaged_mads, b'')