openpilot v0.9.9 release

date: 2025-06-05T19:54:08
master commit: 8aadf02b2fd91f4e1285e18c2c7feb32d93b66f5

panda/python/__init__.py

@@ -143,7 +143,7 @@ class Panda:
     HW_TYPE_UNO: 5100,
     HW_TYPE_DOS: 6500,
     HW_TYPE_TRES: 6600,
-    HW_TYPE_CUATRO: 6600,
+    HW_TYPE_CUATRO: 12500,
   }
 
   HARNESS_STATUS_NC = 0
@@ -860,8 +860,12 @@ class Panda:
   def set_green_led(self, enabled):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
 
-  def set_clock_source_period(self, period):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, period, 0, b'')
+  # arr: timer period
+  # ccrN: channel N pulse length
+  def set_clock_source_timer_params(self, arr, ccr1, ccr2, ccr3):
+    param1 = ((ccr1 & 0xFF) << 8) | (ccr2 & 0xFF)
+    param2 = ((ccr3 & 0xFF) << 8) | (arr & 0xFF)
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, param1, param2, b'')
 
   def force_relay_drive(self, intercept_relay_drive, ignition_relay_drive):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xc5, (int(intercept_relay_drive) | int(ignition_relay_drive) << 1), 0, b'')

panda/python/socketpanda.py

@@ -30,6 +30,8 @@ CANFD_FDF = 0x04 # mark CAN FD for dual use of struct canfd_frame
 # https://github.com/torvalds/linux/blob/47ac09b91befbb6a235ab620c32af719f8208399/include/uapi/asm-generic/socket.h#L61
 SO_RXQ_OVFL = 40
 
+import typing
+@typing.no_type_check # mypy struggles with macOS here...
 def create_socketcan(interface:str, recv_buffer_size:int, fd:bool) -> socket.socket:
   # settings mostly from https://github.com/linux-can/can-utils/blob/master/candump.c
   socketcan = socket.socket(socket.AF_CAN, socket.SOCK_RAW, socket.CAN_RAW)

panda/python/spi.py

@@ -103,7 +103,7 @@ class SpiDevice:
 
     with SPI_LOCK:
       if speed not in SPI_DEVICES:
-        SPI_DEVICES[speed] = spidev.SpiDev()  # pylint: disable=c-extension-no-member
+        SPI_DEVICES[speed] = spidev.SpiDev()
         SPI_DEVICES[speed].open(0, 0)
         SPI_DEVICES[speed].max_speed_hz = speed
       self._spidev = SPI_DEVICES[speed]