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openpilot v0.7.7 release

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This commit is contained in:
Vehicle Researcher
2020-07-14 21:26:01 +00:00
committed by Adeeb Shihadeh
parent 9e7fb4680d
commit b205dd6954
751 changed files with 4845 additions and 114080 deletions
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panda/python/isotp.py
+18 -13
View File
@@ -1,4 +1,5 @@
import binascii
import time
DEBUG = False
@@ -34,22 +35,22 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
# TODO: handle other subaddr also communicating
assert msg[0] == subaddr
if msg[1]&0xf0 == 0x10:
if msg[1] & 0xf0 == 0x10:
# first
tlen = ((msg[1] & 0xf) << 8) | msg[2]
dat = msg[3:]
# 0 block size?
CONTINUE = bytes([subaddr]) + b"\x30" + b"\x00"*6
CONTINUE = bytes([subaddr]) + b"\x30" + b"\x00" * 6
panda.can_send(sendaddr, CONTINUE, bus)
idx = 1
for mm in recv(panda, (tlen-len(dat) + 5)//6, addr, bus):
for mm in recv(panda, (tlen - len(dat) + 5) // 6, addr, bus):
assert mm[0] == subaddr
assert mm[1] == (0x20 | (idx&0xF))
assert mm[1] == (0x20 | (idx & 0xF))
dat += mm[2:]
idx += 1
elif msg[1]&0xf0 == 0x00:
elif msg[1] & 0xf0 == 0x00:
# single
tlen = msg[1] & 0xf
dat = msg[2:]
@@ -61,9 +62,9 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
# **** import below this line ****
def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None):
def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None):
if recvaddr is None:
recvaddr = addr+8
recvaddr = addr + 8
if len(x) <= 7 and subaddr is None:
panda.can_send(addr, msg(x), bus)
@@ -96,11 +97,16 @@ def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None):
rr = recv(panda, 1, recvaddr, bus)[0]
panda.can_send(addr, sends[-1], 0)
else:
panda.can_send_many([(addr, None, s, 0) for s in sends])
if rate is None:
panda.can_send_many([(addr, None, s, bus) for s in sends])
else:
for dat in sends:
panda.can_send(addr, dat, bus)
time.sleep(rate)
def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
if sendaddr is None:
sendaddr = addr-8
sendaddr = addr - 8
if subaddr is not None:
dat = isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr)
@@ -113,13 +119,13 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
dat = msg[2:]
# 0 block size?
CONTINUE = b"\x30" + b"\x00"*7
CONTINUE = b"\x30" + b"\x00" * 7
panda.can_send(sendaddr, CONTINUE, bus)
idx = 1
for mm in recv(panda, (tlen-len(dat) + 6)//7, addr, bus):
assert mm[0] == (0x20 | (idx&0xF))
for mm in recv(panda, (tlen - len(dat) + 6) // 7, addr, bus):
assert mm[0] == (0x20 | (idx & 0xF))
dat += mm[1:]
idx += 1
elif msg[0] & 0xf0 == 0x00:
@@ -134,4 +140,3 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
print("R:", binascii.hexlify(dat))
return dat