mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-28 17:13:54 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
59 lines
1.8 KiB
Python
Executable File
59 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python3
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import time
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import struct
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from opendbc.car.structs import CarParams
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from panda import Panda
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from hexdump import hexdump
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from opendbc.car.isotp import isotp_send, isotp_recv
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# 0x7e0 = Toyota
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# 0x18DB33F1 for Honda?
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def get_current_data_for_pid(pid):
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# 01 xx = Show current data
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isotp_send(panda, b"\x01" + bytes([pid]), 0x7e0)
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return isotp_recv(panda, 0x7e8)
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def get_supported_pids():
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ret = []
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pid = 0
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while 1:
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supported = struct.unpack(">I", get_current_data_for_pid(pid)[2:])[0]
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for i in range(1 + pid, 0x21 + pid):
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if supported & 0x80000000:
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ret.append(i)
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supported <<= 1
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pid += 0x20
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if pid not in ret:
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break
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return ret
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if __name__ == "__main__":
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panda = Panda()
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panda.set_safety_mode(CarParams.SafetyModel.elm327)
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panda.can_clear(0)
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# 09 02 = Get VIN
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isotp_send(panda, b"\x09\x02", 0x7df)
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ret = isotp_recv(panda, 0x7e8)
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hexdump(ret)
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print("VIN: %s" % "".join(map(chr, ret[:2])))
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# 03 = get DTCS
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isotp_send(panda, b"\x03", 0x7e0)
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dtcs = isotp_recv(panda, 0x7e8)
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print("DTCs:", "".join(map(chr, dtcs[:2])))
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supported_pids = get_supported_pids()
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print("Supported PIDs:", supported_pids)
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while 1:
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speed = struct.unpack(">B", get_current_data_for_pid(13)[2:])[0] # kph
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rpm = struct.unpack(">H", get_current_data_for_pid(12)[2:])[0] / 4.0 # revs
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throttle = struct.unpack(">B", get_current_data_for_pid(17)[2:])[0] / 255.0 * 100 # percent
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temp = struct.unpack(">B", get_current_data_for_pid(5)[2:])[0] - 40 # degrees C
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load = struct.unpack(">B", get_current_data_for_pid(4)[2:])[0] / 255.0 * 100 # percent
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print("%d KPH, %d RPM, %.1f%% Throttle, %d deg C, %.1f%% load" % (speed, rpm, throttle, temp, load))
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time.sleep(0.2)
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