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Merge branch 'upstream/panda/master' into sync-20250908

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# Conflicts:
#	python/__init__.py
This commit is contained in:
Jason Wen
2025-09-08 00:01:48 -04:00
parent 7eab6fd61b 819fa5854e
commit 39517742e6
74 changed files with 42 additions and 25182 deletions
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64
python/__init__.py
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@@ -115,30 +115,23 @@ class Panda:
# from https://github.com/commaai/openpilot/blob/103b4df18cbc38f4129555ab8b15824d1a672bdf/cereal/log.capnp#L648
HW_TYPE_UNKNOWN = b'\x00'
HW_TYPE_WHITE = b'\x01'
HW_TYPE_GREY_PANDA = b'\x02'
HW_TYPE_BLACK = 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'
CAN_PACKET_VERSION = 4
HEALTH_PACKET_VERSION = 16
HEALTH_PACKET_VERSION = 17
CAN_HEALTH_PACKET_VERSION = 5
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHBHHB")
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHHHB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
F4_DEVICES = [HW_TYPE_WHITE, HW_TYPE_BLACK, HW_TYPE_DOS, ]
H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO]
SUPPORTED_DEVICES = H7_DEVICES
INTERNAL_DEVICES = (HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
DEPRECATED_DEVICES = (HW_TYPE_WHITE, HW_TYPE_BLACK) + (HW_TYPE_GREY_PANDA, HW_TYPE_PEDAL, HW_TYPE_UNO, HW_TYPE_RED_PANDA_V2)
INTERNAL_DEVICES = (HW_TYPE_TRES, HW_TYPE_CUATRO)
MAX_FAN_RPMs = {
HW_TYPE_DOS: 6500,
HW_TYPE_TRES: 6600,
HW_TYPE_CUATRO: 12500,
}
@@ -214,23 +207,6 @@ class Panda:
if self._handle is None:
raise Exception("failed to connect to panda")
# Some fallback logic to determine panda and MCU type for old bootstubs,
# since we now support multiple MCUs and need to know which fw to flash.
# Three cases to consider:
# A) oldest bootstubs don't have any way to distinguish
# MCU or panda type
# B) slightly newer (~2 weeks after first C3's built) bootstubs
# have the panda type set in the USB bcdDevice
# C) latest bootstubs also implement the endpoint for panda type
self._bcd_hw_type = None
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
missing_hw_type_endpoint = self.bootstub and ret.startswith(b'\xff\x00\xc1\x3e\xde\xad\xd0\x0d')
if missing_hw_type_endpoint and bcd is not None:
self._bcd_hw_type = bcd
# For case A, we assume F4 MCU type, since all H7 pandas should be case B at worst
self._assume_f4_mcu = (self._bcd_hw_type is None) and missing_hw_type_endpoint
self._serial = serial
self._connect_serial = serial
self._handle_open = True
@@ -239,7 +215,7 @@ class Panda:
logger.debug("connected")
hw_type = self.get_type()
if hw_type in Panda.DEPRECATED_DEVICES:
if hw_type not in self.SUPPORTED_DEVICES:
print("WARNING: Using deprecated HW")
# disable openpilot's heartbeat checks
@@ -455,7 +431,7 @@ class Panda:
handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
# flash over EP2
STEP = 0x10
STEP = 0x200
logger.info("flash: flashing")
for i in range(0, len(code), STEP):
handle.bulkWrite(2, code[i:i + STEP])
@@ -473,7 +449,7 @@ class Panda:
return
hw_type = self.get_type()
if hw_type in Panda.DEPRECATED_DEVICES:
if hw_type not in self.SUPPORTED_DEVICES:
raise RuntimeError(f"HW type {hw_type.hex()} is deprecated and can no longer be flashed.")
if not fn:
@@ -579,10 +555,9 @@ class Panda:
"fan_power": a[19],
"safety_rx_checks_invalid": a[20],
"spi_error_count": a[21],
"fan_stall_count": a[22],
"sbu1_voltage_mV": a[23],
"sbu2_voltage_mV": a[24],
"som_reset_triggered": a[25],
"sbu1_voltage_mV": a[22],
"sbu2_voltage_mV": a[23],
"som_reset_triggered": a[24],
}
@ensure_can_health_packet_version
@@ -645,13 +620,7 @@ class Panda:
return bytes(part_1 + part_2)
def get_type(self):
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
# old bootstubs don't implement this endpoint, see comment in Panda.device
if self._bcd_hw_type is not None and (ret is None or len(ret) != 1):
ret = self._bcd_hw_type
return ret
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
# Returns tuple with health packet version and CAN packet/USB packet version
def get_packets_versions(self):
@@ -664,15 +633,8 @@ class Panda:
def get_mcu_type(self) -> McuType:
hw_type = self.get_type()
if hw_type in Panda.F4_DEVICES:
return McuType.F4
elif hw_type in Panda.H7_DEVICES:
if hw_type in Panda.H7_DEVICES:
return McuType.H7
else:
# have to assume F4, see comment in Panda.connect
if self._assume_f4_mcu:
return McuType.F4
raise ValueError(f"unknown HW type: {hw_type}")
def is_internal(self):
@@ -850,8 +812,6 @@ class Panda:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
# ****************** Debug *****************
def set_green_led(self, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
# arr: timer period
# ccrN: channel N pulse length