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panda/python/__init__.py

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# python library to interface with panda
import datetime
import binascii
import struct
import hashlib
import socket
import usb1
import os
import time
import traceback
import subprocess
from .dfu import PandaDFU
from .esptool import ESPROM, CesantaFlasher # noqa: F401
from .flash_release import flash_release # noqa: F401
from .update import ensure_st_up_to_date # noqa: F401
from .serial import PandaSerial # noqa: F401
from .isotp import isotp_send, isotp_recv
__version__ = '0.0.9'
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEBUG = os.getenv("PANDADEBUG") is not None
# *** wifi mode ***
def build_st(target, mkfile="Makefile"):
from panda import BASEDIR
cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
try:
_ = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
except subprocess.CalledProcessError:
#output = exception.output
#returncode = exception.returncode
raise
def parse_can_buffer(dat):
ret = []
for j in range(0, len(dat), 0x10):
ddat = dat[j:j+0x10]
f1, f2 = struct.unpack("II", ddat[0:8])
extended = 4
if f1 & extended:
address = f1 >> 3
else:
address = f1 >> 21
dddat = ddat[8:8+(f2&0xF)]
if DEBUG:
print(" R %x: %s" % (address, binascii.hexlify(dddat)))
ret.append((address, f2>>16, dddat, (f2>>4)&0xFF))
return ret
class PandaWifiStreaming(object):
def __init__(self, ip="192.168.0.10", port=1338):
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.sock.setblocking(0)
self.ip = ip
self.port = port
self.kick()
def kick(self):
# must be called at least every 5 seconds
self.sock.sendto("hello", (self.ip, self.port))
def can_recv(self):
ret = []
while True:
try:
dat, addr = self.sock.recvfrom(0x200*0x10)
if addr == (self.ip, self.port):
ret += parse_can_buffer(dat)
except socket.error as e:
if e.errno != 35 and e.errno != 11:
traceback.print_exc()
break
return ret
# stupid tunneling of USB over wifi and SPI
class WifiHandle(object):
def __init__(self, ip="192.168.0.10", port=1337):
self.sock = socket.create_connection((ip, port))
def __recv(self):
ret = self.sock.recv(0x44)
length = struct.unpack("I", ret[0:4])[0]
return ret[4:4+length]
def controlWrite(self, request_type, request, value, index, data, timeout=0):
# ignore data in reply, panda doesn't use it
return self.controlRead(request_type, request, value, index, 0, timeout)
def controlRead(self, request_type, request, value, index, length, timeout=0):
self.sock.send(struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length))
return self.__recv()
def bulkWrite(self, endpoint, data, timeout=0):
if len(data) > 0x10:
raise ValueError("Data must not be longer than 0x10")
self.sock.send(struct.pack("HH", endpoint, len(data))+data)
self.__recv() # to /dev/null
def bulkRead(self, endpoint, length, timeout=0):
self.sock.send(struct.pack("HH", endpoint, 0))
return self.__recv()
def close(self):
self.sock.close()
# *** normal mode ***
class Panda(object):
# matches cereal.car.CarParams.SafetyModel
SAFETY_NOOUTPUT = 0
SAFETY_HONDA = 1
SAFETY_TOYOTA = 2
SAFETY_ELM327 = 3
SAFETY_GM = 4
SAFETY_HONDA_BOSCH = 5
SAFETY_FORD = 6
SAFETY_CADILLAC = 7
SAFETY_HYUNDAI = 8
SAFETY_CHRYSLER = 9
SAFETY_TESLA = 10
SAFETY_SUBARU = 11
SAFETY_MAZDA = 13
SAFETY_VOLKSWAGEN = 15
SAFETY_TOYOTA_IPAS = 16
SAFETY_ALLOUTPUT = 17
SAFETY_GM_ASCM = 18
SERIAL_DEBUG = 0
SERIAL_ESP = 1
SERIAL_LIN1 = 2
SERIAL_LIN2 = 3
GMLAN_CAN2 = 1
GMLAN_CAN3 = 2
REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
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'
def __init__(self, serial=None, claim=True):
self._serial = serial
self._handle = None
self.connect(claim)
def close(self):
self._handle.close()
self._handle = None
def connect(self, claim=True, wait=False):
if self._handle != None:
self.close()
if self._serial == "WIFI":
self._handle = WifiHandle()
print("opening WIFI device")
self.wifi = True
else:
context = usb1.USBContext()
self._handle = None
self.wifi = False
while 1:
try:
for device in context.getDeviceList(skip_on_error=True):
#print(device)
if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
try:
this_serial = device.getSerialNumber()
except Exception:
continue
if self._serial is None or this_serial == self._serial:
self._serial = this_serial
print("opening device", self._serial, hex(device.getProductID()))
time.sleep(1)
self.bootstub = device.getProductID() == 0xddee
self.legacy = (device.getbcdDevice() != 0x2300)
self._handle = device.open()
if claim:
self._handle.claimInterface(0)
#self._handle.setInterfaceAltSetting(0, 0) #Issue in USB stack
break
except Exception as e:
print("exception", e)
traceback.print_exc()
if wait == False or self._handle != None:
break
context = usb1.USBContext() #New context needed so new devices show up
assert(self._handle != None)
print("connected")
def reset(self, enter_bootstub=False, enter_bootloader=False):
# reset
try:
if enter_bootloader:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'')
else:
if enter_bootstub:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'')
else:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
except Exception:
pass
if not enter_bootloader:
self.reconnect()
def reconnect(self):
self.close()
time.sleep(1.0)
success = False
# wait up to 15 seconds
for i in range(0, 15):
try:
self.connect()
success = True
break
except Exception:
print("reconnecting is taking %d seconds..." % (i+1))
try:
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu.recover()
except Exception:
pass
time.sleep(1.0)
if not success:
raise Exception("reconnect failed")
@staticmethod
def flash_static(handle, code):
# confirm flasher is present
fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
assert fr[4:8] == b"\xde\xad\xd0\x0d"
# unlock flash
print("flash: unlocking")
handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
# erase sectors 1 through 3
print("flash: erasing")
for i in range(1, 4):
handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
# flash over EP2
STEP = 0x10
print("flash: flashing")
for i in range(0, len(code), STEP):
handle.bulkWrite(2, code[i:i+STEP])
# reset
print("flash: resetting")
try:
handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
except Exception:
pass
def flash(self, fn=None, code=None, reconnect=True):
print("flash: main version is " + self.get_version())
if not self.bootstub:
self.reset(enter_bootstub=True)
assert(self.bootstub)
if fn is None and code is None:
if self.legacy:
fn = "obj/comma.bin"
print("building legacy st code")
build_st(fn, "Makefile.legacy")
else:
fn = "obj/panda.bin"
print("building panda st code")
build_st(fn)
fn = os.path.join(BASEDIR, "board", fn)
if code is None:
with open(fn, "rb") as f:
code = f.read()
# get version
print("flash: bootstub version is " + self.get_version())
# do flash
Panda.flash_static(self._handle, code)
# reconnect
if reconnect:
self.reconnect()
def recover(self, timeout=None):
self.reset(enter_bootloader=True)
t_start = time.time()
while len(PandaDFU.list()) == 0:
print("waiting for DFU...")
time.sleep(0.1)
if timeout is not None and (time.time() - t_start) > timeout:
return False
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu.recover()
# reflash after recover
self.connect(True, True)
self.flash()
return True
@staticmethod
def flash_ota_st():
ret = os.system("cd %s && make clean && make ota" % (os.path.join(BASEDIR, "board")))
time.sleep(1)
return ret==0
@staticmethod
def flash_ota_wifi(release=False):
release_str = "RELEASE=1" if release else ""
ret = os.system("cd {} && make clean && {} make ota".format(os.path.join(BASEDIR, "boardesp"),release_str))
time.sleep(1)
return ret==0
@staticmethod
def list():
context = usb1.USBContext()
ret = []
try:
for device in context.getDeviceList(skip_on_error=True):
if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
try:
ret.append(device.getSerialNumber())
except Exception:
continue
except Exception:
pass
# TODO: detect if this is real
#ret += ["WIFI"]
return ret
def call_control_api(self, msg):
self._handle.controlWrite(Panda.REQUEST_OUT, msg, 0, 0, b'')
# ******************* health *******************
def health(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 27)
a = struct.unpack("IIIIIBBBBBBB", dat)
return {
"voltage": a[0],
"current": a[1],
"can_send_errs": a[2],
"can_fwd_errs": a[3],
"gmlan_send_errs": a[4],
"ignition_line": a[5],
"ignition_can": a[6],
"controls_allowed": a[7],
"gas_interceptor_detected": a[8],
"car_harness_status": a[9],
"usb_power_mode": a[10],
"safety_mode": a[11]
}
# ******************* control *******************
def enter_bootloader(self):
try:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xd1, 0, 0, b'')
except Exception as e:
print(e)
pass
def get_version(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')
def get_type(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
def is_white(self):
return self.get_type() == Panda.HW_TYPE_WHITE_PANDA
def is_grey(self):
return self.get_type() == Panda.HW_TYPE_GREY_PANDA
def is_black(self):
return self.get_type() == Panda.HW_TYPE_BLACK_PANDA
def is_uno(self):
return self.get_type() == Panda.HW_TYPE_UNO
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
assert(hashsig == calc_hash)
return [dat[0:0x10].decode("utf8"), dat[0x10:0x10+10].decode("utf8")]
def get_secret(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10)
# ******************* configuration *******************
def set_usb_power(self, on):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, int(on), 0, b'')
def set_esp_power(self, on):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xd9, int(on), 0, b'')
def esp_reset(self, bootmode=0):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
time.sleep(0.2)
def set_safety_mode(self, mode=SAFETY_NOOUTPUT):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, 0, b'')
def set_can_forwarding(self, from_bus, to_bus):
# TODO: This feature may not work correctly with saturated buses
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdd, from_bus, to_bus, b'')
def set_gmlan(self, bus=2):
# TODO: check panda type
if bus is None:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 0, 0, b'')
elif bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
def set_obd(self, obd):
# TODO: check panda type
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, int(obd), 0, b'')
def set_can_loopback(self, enable):
# set can loopback mode for all buses
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
def set_can_enable(self, bus_num, enable):
# sets the can transciever enable pin
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, int(bus_num), int(enable), b'')
def set_can_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')
def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate/300), b'')
def set_uart_parity(self, uart, parity):
# parity, 0=off, 1=even, 2=odd
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe2, uart, parity, b'')
def set_uart_callback(self, uart, install):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe3, uart, int(install), b'')
# ******************* can *******************
def can_send_many(self, arr):
snds = []
transmit = 1
extended = 4
for addr, _, dat, bus in arr:
assert len(dat) <= 8
if DEBUG:
print(" W %x: %s" % (addr, binascii.hexlify(dat)))
if addr >= 0x800:
rir = (addr << 3) | transmit | extended
else:
rir = (addr << 21) | transmit
snd = struct.pack("II", rir, len(dat) | (bus << 4)) + dat
snd = snd.ljust(0x10, b'\x00')
snds.append(snd)
while True:
try:
#print("DAT: %s"%b''.join(snds).__repr__())
if self.wifi:
for s in snds:
self._handle.bulkWrite(3, s)
else:
self._handle.bulkWrite(3, b''.join(snds))
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD SEND MANY, RETRYING")
def can_send(self, addr, dat, bus):
self.can_send_many([[addr, None, dat, bus]])
def can_recv(self):
dat = bytearray()
while True:
try:
dat = self._handle.bulkRead(1, 0x10*256)
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD RECV, RETRYING")
time.sleep(0.1)
return parse_can_buffer(dat)
def can_clear(self, bus):
"""Clears all messages from the specified internal CAN ringbuffer as
though it were drained.
Args:
bus (int): can bus number to clear a tx queue, or 0xFFFF to clear the
global can rx queue.
"""
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf1, bus, 0, b'')
# ******************* isotp *******************
def isotp_send(self, addr, dat, bus, recvaddr=None, subaddr=None):
return isotp_send(self, dat, addr, bus, recvaddr, subaddr)
def isotp_recv(self, addr, bus=0, sendaddr=None, subaddr=None):
return isotp_recv(self, addr, bus, sendaddr, subaddr)
# ******************* serial *******************
def serial_read(self, port_number):
ret = []
while 1:
lret = bytes(self._handle.controlRead(Panda.REQUEST_IN, 0xe0, port_number, 0, 0x40))
if len(lret) == 0:
break
ret.append(lret)
return b''.join(ret)
def serial_write(self, port_number, ln):
ret = 0
for i in range(0, len(ln), 0x20):
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'')
# ******************* kline *******************
# pulse low for wakeup
def kline_wakeup(self):
if DEBUG:
print("kline wakeup...")
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 0, 0, b'')
if DEBUG:
print("kline wakeup done")
def kline_drain(self, bus=2):
# drain buffer
bret = bytearray()
while True:
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40)
if len(ret) == 0:
break
elif DEBUG:
print("kline drain: " + binascii.hexlify(ret))
bret += ret
return bytes(bret)
def kline_ll_recv(self, cnt, bus=2):
echo = bytearray()
while len(echo) != cnt:
ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo))
if DEBUG and len(ret) > 0:
print("kline recv: " + binascii.hexlify(ret))
echo += ret
return str(echo)
def kline_send(self, x, bus=2, checksum=True):
def get_checksum(dat):
result = 0
result += sum(map(ord, dat)) if isinstance(b'dat', str) else sum(dat)
result = -result
return struct.pack("B", result % 0x100)
self.kline_drain(bus=bus)
if checksum:
x += get_checksum(x)
for i in range(0, len(x), 0xf):
ts = x[i:i+0xf]
if DEBUG:
print("kline send: " + binascii.hexlify(ts))
self._handle.bulkWrite(2, bytes([bus]) + ts)
echo = self.kline_ll_recv(len(ts), bus=bus)
if echo != ts:
print("**** ECHO ERROR %d ****" % i)
print(binascii.hexlify(echo))
print(binascii.hexlify(ts))
assert echo == ts
def kline_recv(self, bus=2):
msg = self.kline_ll_recv(2, bus=bus)
msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus)
return msg
def send_heartbeat(self):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, 0, 0, b'')
# ******************* RTC *******************
def set_datetime(self, dt):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa1, int(dt.year), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa2, int(dt.month), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa3, int(dt.day), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa4, int(dt.isoweekday()), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa5, int(dt.hour), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa6, int(dt.minute), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa7, int(dt.second), 0, b'')
def get_datetime(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa0, 0, 0, 8)
a = struct.unpack("HBBBBBB", dat)
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
# ******************* IR *******************
def set_ir_power(self, percentage):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb0, int(percentage), 0, b'')
# ******************* Fan ******************
def set_fan_power(self, percentage):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb1, int(percentage), 0, b'')
def get_fan_rpm(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xb2, 0, 0, 2)
a = struct.unpack("H", dat)
return a[0]
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