mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-08-08 01:35:40 +08:00
Code Issues Packages Projects Releases Wiki Activity

add DragonBTG mode

Browse Source
This commit is contained in:
dragonpilot
2020-01-08 15:04:49 +10:00
parent ecef8200d5
commit 6cbde9f3e4
6 changed files with 49 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
btg_mode.sh
Executable
+11
View File
@@ -0,0 +1,11 @@
#!/usr/bin/bash
mode=$1
if [ $1 -eq 1 ]; then
printf %s "1" > /data/params/d/DragonBTG
fi
if [ $1 -eq 0 ]; then
printf %s "0" > /data/params/d/DragonBTG
fi
rm -rf /data/openpilot/selfdrive/boardd/boardd && reboot
common/params.py
+3 -2
View File
@@ -150,8 +150,8 @@ keys = {
"DragonEnableSlowOnCurve": [TxType.PERSISTENT],
"DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
"DragonToyotaSnGMod": [TxType.PERSISTENT],
"DragonIsEON": [TxType.PERSISTENT],
"DragonHWChecked": [TxType.PERSISTENT],
"DragonIsEON": [TxType.PERSISTENT], # deprecated
"DragonHWChecked": [TxType.PERSISTENT], # deprecated
"DragonEnableSRLearner": [TxType.PERSISTENT],
"DragonWazeMode": [TxType.PERSISTENT],
"DragonRunWaze": [TxType.PERSISTENT],
@@ -160,6 +160,7 @@ keys = {
"DragonAssistedLCMinMPH": [TxType.PERSISTENT],
"DragonAutoLCMinMPH": [TxType.PERSISTENT],
"DragonAutoLCDelay": [TxType.PERSISTENT],
"DragonBTG": [TxType.PERSISTENT],
}
selfdrive/boardd/SConscript
+6
View File
@@ -1,5 +1,11 @@
Import('env', 'common', 'messaging')
# dragonpilot - Add read DragonBTG value
if FindFile('DragonBTG', '/data/params/d') != None:
with open('/data/params/d/DragonBTG') as f:
if (int(f.read())) == 1:
env.Append(CCFLAGS='-DDragonBTG')
env.Program('boardd.cc', LIBS=['usb-1.0', common, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
selfdrive/boardd/boardd.cc
+14
View File
@@ -76,6 +76,7 @@ void pigeon_init();
void *pigeon_thread(void *crap);
void *safety_setter_thread(void *s) {
#ifndef DragonBTG
// diagnostic only is the default, needed for VIN query
pthread_mutex_lock(&usb_lock);
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
@@ -101,6 +102,7 @@ void *safety_setter_thread(void *s) {
pthread_mutex_lock(&usb_lock);
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
pthread_mutex_unlock(&usb_lock);
#endif
char *value;
size_t value_sz = 0;
@@ -355,12 +357,14 @@ void can_health(PubSocket *publisher) {
} while(cnt != sizeof(health));
pthread_mutex_unlock(&usb_lock);
#ifndef DragonBTG
// Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
if (health.safety_model == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
pthread_mutex_lock(&usb_lock);
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
pthread_mutex_unlock(&usb_lock);
}
#endif
bool ignition = ((health.ignition_line != 0) || (health.ignition_can != 0));
@@ -396,12 +400,14 @@ void can_health(PubSocket *publisher) {
libusb_control_transfer(dev_handle, 0xc0, 0xe7, 1, 0, NULL, 0, TIMEOUT);
pthread_mutex_unlock(&usb_lock);
}
#ifndef DragonBTG
// set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
if (!ignition && (health.safety_model != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
pthread_mutex_lock(&usb_lock);
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
pthread_mutex_unlock(&usb_lock);
}
#endif
#endif
// clear VIN, CarParams, and set new safety on car start
@@ -813,6 +819,11 @@ void *pigeon_thread(void *crap) {
if (pigeon_needs_init) {
pigeon_needs_init = false;
pigeon_init();
#ifdef DragonBTG
pthread_mutex_lock(&usb_lock);
libusb_control_transfer(dev_handle, 0x40, 0xdc, 2, 100, NULL, 0, TIMEOUT);
pthread_mutex_unlock(&usb_lock);
#endif
}
int alen = 0;
while (alen < 0xfc0) {
@@ -855,6 +866,9 @@ int set_realtime_priority(int level) {
int main() {
int err;
LOGW("starting boardd");
#ifdef DragonBTG
LOGW("boardd is running in DragonBTG mode");
#endif
// set process priority
err = set_realtime_priority(4);
selfdrive/dragonpilot/dragonconf/__init__.py
+15 -19
View File
@@ -54,8 +54,6 @@ default_conf = {
'DragonEnableSlowOnCurve': '1',
'DragonEnableLeadCarMovingAlert': '0',
'DragonToyotaSnGMod': '0',
'DragonIsEON': '1',
'DragonHWChecked': '0',
'DragonEnableSRLearner': '1',
'DragonWazeMode': '0',
'DragonRunWaze': '0',
@@ -64,36 +62,34 @@ default_conf = {
'DragonAssistedLCMinMPH': 37,
'DragonAutoLCMinMPH': 60,
'DragonAutoLCDelay': 2,
'DragonBTG': 0,
}
deprecated_conf = {
'DragonDisableDriverSafetyCheck': 'DragonEnableDriverSafetyCheck',
'DragonTempDisableSteerOnSignal': 'DragonEnableSteeringOnSignal',
'DragonDisableLogger': 'DragonEnableLogger',
'DragonDisableUploader': 'DragonEnableUploader',
'DragonBBUI': 'DragonUIDev',
'DragonIsEON': '',
'DragonHWChecked': '',
}
# deprecated_conf_invert = {
deprecated_conf_invert = {
# 'DragonDisableDriverSafetyCheck': True,
# 'DragonTempDisableSteerOnSignal': False,
# 'DragonDisableLogger': True,
# 'DragonDisableUploader': True,
# 'DragonBBUI': False
# }
}
def dragonpilot_set_params(params):
# remove deprecated params
# for old, new in deprecated_conf.items():
# if params.get(old) is not None:
# if new is not None:
# old_val = str(params.get(old))
# new_val = old_val
# # invert the value if true
# if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
# new_val = "1" if old_val == "0" else "0"
# put_nonblocking(new, new_val)
# params.delete(old)
for old, new in deprecated_conf.items():
if params.get(old) is not None:
if new is not None:
old_val = str(params.get(old))
new_val = old_val
# invert the value if true
if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
new_val = "1" if old_val == "0" else "0"
put_nonblocking(new, new_val)
params.delete(old)
# set params
for key, val in default_conf.items():
selfdrive/thermald.py
-3
View File
@@ -178,9 +178,6 @@ def thermald_thread():
dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
dragon_charging_max = int(params.get('DragonCharging'))
dragon_discharging_min = int(params.get('DragonDisCharging'))
charging_disabled = False
dragon_hw_checked = True if params.get('DragonHWChecked', encoding='utf8') == "1" else False
dragon_is_eon = False if params.get('DragonIsEON', encoding='utf8') == "0" else True
while 1:
health = messaging.recv_sock(health_sock, wait=True)