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https://github.com/firestar5683/StarPilot.git
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Vehicle Researcher
96f8e5158e
b42db6d Merge pull request #82 from commaai/uart_dma fd68f86 smallr be99ffc ok that doesn't hurt i think a9f6bf0 this 8b7e849 working now 7fa4808 froze up, maybe thats the fix 1465aa4 ok, it's fixed 915cd84 ugh, ok, need that fd05376 comment out debug 37c5263 big fifo 497f069 dma is all critical, no interrupts 7c34afe minor change 743d244 high baud rate works 5d2a4ba v1.0.6 fbf1390 Toyota Safety: fix in input param 6c01d09 Toyota: less torque error allowance to meet Corolla acceptable behavior 07c01b2 Toyota safety: using input param 4410a59 add safety param support fc81fc1 uart dma in progress 65fb2b2 grey panda query, 1.0.5 f415c9a grey panda detection b68957e add pandadebug support b5e4962 leave msgs around in isotp 0acce2d add recvaddr support 3fc38f4 set bootmode with power d4c052a make that work 21f8195 fix panda serial write af74aa9 from python import git-subtree-dir: panda git-subtree-split: b42db6dc082fb13ef5ac63ed197a63e179651ef6
86 lines
1.8 KiB
Python
86 lines
1.8 KiB
Python
DEBUG = False
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def msg(x):
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if DEBUG:
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print "S:",x.encode("hex")
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if len(x) <= 7:
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ret = chr(len(x)) + x
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else:
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assert False
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return ret.ljust(8, "\x00")
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kmsgs = []
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def recv(panda, cnt, addr, nbus):
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global kmsgs
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ret = []
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while len(ret) < cnt:
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kmsgs += panda.can_recv()
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nmsgs = []
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for ids, ts, dat, bus in kmsgs:
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if ids == addr and bus == nbus and len(ret) < cnt:
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ret.append(dat)
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else:
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# leave around
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nmsgs.append((ids, ts, dat, bus))
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kmsgs = nmsgs[-256:]
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return map(str, ret)
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def isotp_send(panda, x, addr, bus=0, recvaddr=None):
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if recvaddr is None:
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recvaddr = addr+8
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if len(x) <= 7:
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panda.can_send(addr, msg(x), bus)
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else:
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ss = chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF) + x[0:6]
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x = x[6:]
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idx = 1
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sends = []
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while len(x) > 0:
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sends.append(((chr(0x20 + (idx&0xF)) + x[0:7]).ljust(8, "\x00")))
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x = x[7:]
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idx += 1
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# actually send
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panda.can_send(addr, ss, bus)
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rr = recv(panda, 1, recvaddr, bus)[0]
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panda.can_send_many([(addr, None, s, 0) for s in sends])
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def isotp_recv(panda, addr, bus=0, sendaddr=None):
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msg = recv(panda, 1, addr, bus)[0]
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if sendaddr is None:
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sendaddr = addr-8
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if ord(msg[0])&0xf0 == 0x10:
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# first
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tlen = ((ord(msg[0]) & 0xf) << 8) | ord(msg[1])
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dat = msg[2:]
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# 0 block size?
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CONTINUE = "\x30" + "\x00"*7
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panda.can_send(sendaddr, CONTINUE, bus)
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idx = 1
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for mm in recv(panda, (tlen-len(dat) + 7)/8, addr, bus):
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assert ord(mm[0]) == (0x20 | idx)
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dat += mm[1:]
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idx += 1
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elif ord(msg[0])&0xf0 == 0x00:
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# single
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tlen = ord(msg[0]) & 0xf
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dat = msg[1:]
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else:
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assert False
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dat = dat[0:tlen]
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if DEBUG:
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print "R:",dat.encode("hex")
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return dat
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