mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-19 08:12:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

openpilot v0.8.14 release

Browse Source 
date: 2022-05-24T01:48:37
master commit: 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
This commit is contained in:
Vehicle Researcher
2022-05-24 01:48:39 +00:00
parent d87428f98b
commit 15ee981d5b
947 changed files with 30533 additions and 74879 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda/python/__init__.py
+46 -23
View File
@@ -8,6 +8,7 @@ import time
import traceback
import sys
from functools import wraps
from typing import Optional
from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7 # pylint: disable=import-error
from .flash_release import flash_release # noqa pylint: disable=import-error
from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
@@ -114,7 +115,13 @@ def ensure_can_packet_version(fn):
return fn(self, *args, **kwargs)
return wrapper
class Panda(object):
class ALTERNATIVE_EXPERIENCE:
DEFAULT = 0
DISABLE_DISENGAGE_ON_GAS = 1
DISABLE_STOCK_AEB = 2
RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
class Panda:
# matches cereal.car.CarParams.SafetyModel
SAFETY_SILENT = 0
@@ -138,6 +145,11 @@ class Panda(object):
SAFETY_VOLKSWAGEN_PQ = 21
SAFETY_SUBARU_LEGACY = 22
SAFETY_HYUNDAI_LEGACY = 23
SAFETY_HYUNDAI_COMMUNITY = 24
SAFETY_STELLANTIS = 25
SAFETY_FAW = 26
SAFETY_BODY = 27
SAFETY_HYUNDAI_HDA2 = 28
SERIAL_DEBUG = 0
SERIAL_ESP = 1
@@ -160,16 +172,20 @@ class Panda(object):
HW_TYPE_RED_PANDA = b'\x07'
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 3
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHI")
HEALTH_PACKET_VERSION = 7
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIf")
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]
H7_DEVICES = [HW_TYPE_RED_PANDA]
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)
H7_DEVICES = (HW_TYPE_RED_PANDA, )
CLOCK_SOURCE_MODE_DISABLED = 0
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
# first byte is for EPS scaling factor
FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
FLAG_HONDA_ALT_BRAKE = 1
FLAG_HONDA_BOSCH_LONG = 2
FLAG_HONDA_NIDEC_ALT = 4
@@ -177,10 +193,11 @@ class Panda(object):
FLAG_HYUNDAI_EV_GAS = 1
FLAG_HYUNDAI_HYBRID_GAS = 2
FLAG_HYUNDAI_LONG = 4
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
def __init__(self, serial=None, claim=True):
def __init__(self, serial: Optional[str] = None, claim: bool = True):
self._serial = serial
self._handle = None
self.connect(claim)
@@ -200,7 +217,7 @@ class Panda(object):
while 1:
try:
for device in context.getDeviceList(skip_on_error=True):
if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
try:
this_serial = device.getSerialNumber()
except Exception:
@@ -210,7 +227,7 @@ class Panda(object):
print("opening device", self._serial, hex(device.getProductID()))
self.bootstub = device.getProductID() == 0xddee
self._handle = device.open()
if sys.platform not in ["win32", "cygwin", "msys", "darwin"]:
if sys.platform not in ("win32", "cygwin", "msys", "darwin"):
self._handle.setAutoDetachKernelDriver(True)
if claim:
self._handle.claimInterface(0)
@@ -313,9 +330,11 @@ class Panda(object):
if reconnect:
self.reconnect()
def recover(self, timeout=None):
self.reset(enter_bootstub=True)
self.reset(enter_bootloader=True)
def recover(self, timeout: Optional[int] = None, reset: bool = True) -> bool:
if reset:
self.reset(enter_bootstub=True)
self.reset(enter_bootloader=True)
t_start = time.time()
while len(PandaDFU.list()) == 0:
print("waiting for DFU...")
@@ -337,7 +356,7 @@ class Panda(object):
ret = []
try:
for device in context.getDeviceList(skip_on_error=True):
if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
try:
ret.append(device.getSerialNumber())
except Exception:
@@ -375,8 +394,9 @@ class Panda(object):
"fault_status": a[16],
"power_save_enabled": a[17],
"heartbeat_lost": a[18],
"unsafe_mode": a[19],
"alternative_experience": a[19],
"blocked_msg_cnt": a[20],
"interrupt_load": a[21],
}
# ******************* control *******************
@@ -391,7 +411,7 @@ class Panda(object):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')
@staticmethod
def get_signature_from_firmware(fn):
def get_signature_from_firmware(fn) -> bytes:
f = open(fn, 'rb')
f.seek(-128, 2) # Seek from end of file
return f.read(128)
@@ -447,11 +467,11 @@ class Panda(object):
def has_obd(self):
return (self.is_uno() or self.is_dos() or self.is_black() or self.is_red())
def has_canfd(self):
return self._mcu_type in Panda.H7_DEVICES
def has_canfd(self) -> bool:
return self.get_type() in Panda.H7_DEVICES
def is_internal(self):
return self.get_type() in [Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS]
def is_internal(self) -> bool:
return self.get_type() in (Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS)
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
@@ -473,6 +493,9 @@ class Panda(object):
def set_power_save(self, power_save_enabled=0):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
def enable_deepsleep(self):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xfb, 0, 0, b'')
def set_esp_power(self, on):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xd9, int(on), 0, b'')
@@ -480,8 +503,8 @@ class Panda(object):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
time.sleep(0.2)
def set_safety_mode(self, mode=SAFETY_SILENT, disable_checks=True):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, 0, b'')
def set_safety_mode(self, mode=SAFETY_SILENT, param=0, disable_checks=True):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
if disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
@@ -490,7 +513,7 @@ class Panda(object):
# 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]:
elif bus in (Panda.GMLAN_CAN2, Panda.GMLAN_CAN3):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
def set_obd(self, obd):
@@ -511,7 +534,7 @@ class Panda(object):
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
# CAN FD and BRS status
def get_canfd_status(self, bus):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfa, bus, 0, 2)
if dat: