mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-26 09:04:01 +08:00
562394e2ae
* start on panda abstraction layer
* handle bulk transfer in library
* Safety model abstraction
* Abstract hw type into library
* Handle disconnect
* RTC stuff
* Fan control
* Health
* Panda fw version
* Read serial
* Power saving
* Power mode
* Cleanup pigeon thread init
* Rename safety setter variable name
* Remove comment
* Unused global cleanup
* malloc -> new
* whitespace
* Use std::thread
* Use std::thread for safety setter
* Cleanup igntion_last global
* Heartbeat
* logd
* More global cleanup
* Put back sleep
* ir pwr
* Always broadcast health
* init struct with zeroes
* Fix eon build
* fix race condition
* fix Adeebs comments
* abstract can send and receive
old-commit-hash: 80acb32825
79 lines
2.3 KiB
C++
79 lines
2.3 KiB
C++
#pragma once
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#include <ctime>
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#include <cstdint>
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#include <pthread.h>
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#include <libusb-1.0/libusb.h>
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#include "cereal/gen/cpp/car.capnp.h"
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#include "cereal/gen/cpp/log.capnp.h"
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// double the FIFO size
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#define RECV_SIZE (0x1000)
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#define TIMEOUT 0
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// copied from panda/board/main.c
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struct __attribute__((packed)) health_t {
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uint32_t uptime;
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uint32_t voltage;
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uint32_t current;
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uint32_t can_rx_errs;
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uint32_t can_send_errs;
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uint32_t can_fwd_errs;
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uint32_t gmlan_send_errs;
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uint32_t faults;
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uint8_t ignition_line;
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uint8_t ignition_can;
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uint8_t controls_allowed;
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uint8_t gas_interceptor_detected;
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uint8_t car_harness_status;
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uint8_t usb_power_mode;
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uint8_t safety_model;
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uint8_t fault_status;
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uint8_t power_save_enabled;
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};
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class Panda {
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private:
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libusb_context *ctx = NULL;
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libusb_device_handle *dev_handle = NULL;
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pthread_mutex_t usb_lock;
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void handle_usb_issue(int err, const char func[]);
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void cleanup();
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public:
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Panda();
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~Panda();
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bool connected = true;
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cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
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bool is_pigeon = false;
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bool has_rtc = false;
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// HW communication
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int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT);
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int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT);
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int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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// Panda functionality
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cereal::HealthData::HwType get_hw_type();
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void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
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void set_rtc(struct tm sys_time);
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struct tm get_rtc();
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void set_fan_speed(uint16_t fan_speed);
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uint16_t get_fan_speed();
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void set_ir_pwr(uint16_t ir_pwr);
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health_t get_health();
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void set_loopback(bool loopback);
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const char* get_firmware_version();
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const char* get_serial();
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void set_power_saving(bool power_saving);
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void set_usb_power_mode(cereal::HealthData::UsbPowerMode power_mode);
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void send_heartbeat();
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void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
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int can_receive(cereal::Event::Builder &event);
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};
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