mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-06 20:43:46 +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
1.4 KiB
Python
59 lines
1.4 KiB
Python
import time
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import usb1
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class Resetter():
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def __init__(self):
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self._handle = None
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self.connect()
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def __enter__(self):
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return self
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def __exit__(self, *args):
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self.close()
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def close(self):
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self._handle.close()
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self._context.close()
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self._handle = None
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def connect(self):
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if self._handle:
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self.close()
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self._handle = None
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self._context = usb1.USBContext()
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self._context.open()
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for device in self._context.getDeviceList(skip_on_error=True):
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if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddc0:
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try:
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self._handle = device.open()
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self._handle.claimInterface(0)
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break
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except Exception as e:
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print(e)
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assert self._handle
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def enable_power(self, port, enabled):
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self._handle.controlWrite((usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE), 0xff, port, enabled, b'')
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def enable_boot(self, enabled):
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self._handle.controlWrite((usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE), 0xff, 0, enabled, b'')
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def cycle_power(self, dfu=False, ports=None):
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if ports is None:
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ports = [1, 2, 3]
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self.enable_boot(dfu)
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for port in ports:
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self.enable_power(port, False)
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time.sleep(0.05)
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for port in ports:
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self.enable_power(port, True)
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time.sleep(0.05)
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self.enable_boot(False)
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time.sleep(0.12) # takes the kernel this long to detect the disconnect
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