dragonpilot beta3

date: 2023-12-23T21:19:29
commit: 38612b14f1a8aa49d1c6ef61bd67f5a095abb3f9

panda/python/__init__.py

@@ -168,9 +168,9 @@ class Panda:
   HW_TYPE_TRES = b'\x09'
 
   CAN_PACKET_VERSION = 4
-  HEALTH_PACKET_VERSION = 14
+  HEALTH_PACKET_VERSION = 15
   CAN_HEALTH_PACKET_VERSION = 5
-  HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBHBHH")
+  HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBHBBBHfBBHBHHB")
   CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
 
   F2_DEVICES = [HW_TYPE_PEDAL, ]
@@ -194,11 +194,13 @@ class Panda:
   FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
   FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
   FLAG_TOYOTA_LTA = (4 << 8)
+  FLAG_TOYOTA_GAS_INTERCEPTOR = (8 << 8)
 
   FLAG_HONDA_ALT_BRAKE = 1
   FLAG_HONDA_BOSCH_LONG = 2
   FLAG_HONDA_NIDEC_ALT = 4
   FLAG_HONDA_RADARLESS = 8
+  FLAG_HONDA_GAS_INTERCEPTOR = 16
 
   FLAG_HYUNDAI_EV_GAS = 1
   FLAG_HYUNDAI_HYBRID_GAS = 2
@@ -220,6 +222,8 @@ class Panda:
   FLAG_SUBARU_GEN2 = 1
   FLAG_SUBARU_LONG = 2
 
+  FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 1
+
   FLAG_NISSAN_ALT_EPS_BUS = 1
 
   FLAG_GM_HW_CAM = 1
@@ -590,21 +594,21 @@ class Panda:
       "ignition_line": a[9],
       "ignition_can": a[10],
       "controls_allowed": a[11],
-      "gas_interceptor_detected": a[12],
-      "car_harness_status": a[13],
-      "safety_mode": a[14],
-      "safety_param": a[15],
-      "fault_status": a[16],
-      "power_save_enabled": a[17],
-      "heartbeat_lost": a[18],
-      "alternative_experience": a[19],
-      "interrupt_load": a[20],
-      "fan_power": a[21],
-      "safety_rx_checks_invalid": a[22],
-      "spi_checksum_error_count": a[23],
-      "fan_stall_count": a[24],
-      "sbu1_voltage_mV": a[25],
-      "sbu2_voltage_mV": a[26],
+      "car_harness_status": a[12],
+      "safety_mode": a[13],
+      "safety_param": a[14],
+      "fault_status": a[15],
+      "power_save_enabled": a[16],
+      "heartbeat_lost": a[17],
+      "alternative_experience": a[18],
+      "interrupt_load": a[19],
+      "fan_power": a[20],
+      "safety_rx_checks_invalid": a[21],
+      "spi_checksum_error_count": a[22],
+      "fan_stall_count": a[23],
+      "sbu1_voltage_mV": a[24],
+      "sbu2_voltage_mV": a[25],
+      "som_reset_triggered": a[26],
     }
 
   @ensure_can_health_packet_version
@@ -877,63 +881,6 @@ class Panda:
     """
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf2, port_number, 0, b'')
 
-  # ******************* kline *******************
-
-  # pulse low for wakeup
-  def kline_wakeup(self, k=True, l=True):
-    assert k or l, "must specify k-line, l-line, or both"
-    logging.debug("kline wakeup...")
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 2 if k and l else int(l), 0, b'')
-    logging.debug("kline wakeup done")
-
-  def kline_5baud(self, addr, k=True, l=True):
-    assert k or l, "must specify k-line, l-line, or both"
-    logging.debug("kline 5 baud...")
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, 2 if k and l else int(l), addr, b'')
-    logging.debug("kline 5 baud done")
-
-  def kline_drain(self, bus=2):
-    # drain buffer
-    bret = bytearray()
-    while True:
-      ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40)
-      if len(ret) == 0:
-        break
-      logging.debug(f"kline drain: 0x{ret.hex()}")
-      bret += ret
-    return bytes(bret)
-
-  def kline_ll_recv(self, cnt, bus=2):
-    echo = bytearray()
-    while len(echo) != cnt:
-      ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt - len(echo))
-      if len(ret) > 0:
-        logging.debug(f"kline recv: 0x{ret.hex()}")
-      echo += ret
-    return bytes(echo)
-
-  def kline_send(self, x, bus=2, checksum=True):
-    self.kline_drain(bus=bus)
-    if checksum:
-      x += bytes([sum(x) % 0x100])
-    for i in range(0, len(x), 0xf):
-      ts = x[i:i + 0xf]
-      logging.debug(f"kline send: 0x{ts.hex()}")
-      self._handle.bulkWrite(2, bytes([bus]) + ts)
-      echo = self.kline_ll_recv(len(ts), bus=bus)
-      if echo != ts:
-        logging.error(f"**** ECHO ERROR {i} ****")
-        logging.error(f"0x{echo.hex()}")
-        logging.error(f"0x{ts.hex()}")
-    assert echo == ts
-
-  def kline_recv(self, bus=2, header_len=4):
-    # read header (last byte is length)
-    msg = self.kline_ll_recv(header_len, bus=bus)
-    # read data (add one byte to length for checksum)
-    msg += self.kline_ll_recv(msg[-1]+1, bus=bus)
-    return msg
-
   def send_heartbeat(self, engaged=True):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, 0, b'')
 
@@ -975,10 +922,6 @@ class Panda:
     a = struct.unpack("H", dat)
     return a[0]
 
-  # ****************** Phone *****************
-  def set_phone_power(self, enabled):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, int(enabled), 0, b'')
-
   # ****************** Siren *****************
   def set_siren(self, enabled):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')