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Merge branch 'upstream/panda/master' into sync-20260401

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This commit is contained in:
Jason Wen
2026-04-01 22:39:14 -04:00
parent 6ddc631bdd d079b0958b
commit 80b5cfbc27
12 changed files with 59 additions and 51 deletions
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12
board/body/main_comms.h
View File

@@ -89,13 +89,13 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
break;
}
// **** 0xdd: get healthpacket and CANPacket versions
case 0xdd:
resp[0] = HEALTH_PACKET_VERSION;
resp[1] = CAN_PACKET_VERSION;
resp[2] = CAN_HEALTH_PACKET_VERSION;
resp_len = 3U;
// **** 0xdd: get healthpacket and CANPacket version hashes
case 0xdd: {
uint32_t versions[2] = {HEALTH_PACKET_VERSION, CAN_PACKET_VERSION_HASH};
(void)memcpy(resp, (uint8_t *)versions, sizeof(versions));
resp_len = sizeof(versions);
break;
}
default:
// Ignore unhandled requests

4
board/health.h
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@@ -1,8 +1,5 @@
#pragma once
// When changing these structs, python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 18
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
uint32_t voltage_pkt;
@@ -32,7 +29,6 @@ struct __attribute__((packed)) health_t {
uint16_t sound_output_level_pkt;
};
#define CAN_HEALTH_PACKET_VERSION 5
typedef struct __attribute__((packed)) {
uint8_t bus_off;
uint32_t bus_off_cnt;

14
board/jungle/__init__.py
View File

@@ -4,7 +4,7 @@ import struct
from functools import wraps
from panda import Panda, PandaDFU
from panda.python.constants import McuType
from panda.python.constants import McuType, compute_version_hash
BASEDIR = os.path.dirname(os.path.realpath(__file__))
FW_PATH = os.path.join(BASEDIR, "../obj/")
@@ -39,7 +39,7 @@ class PandaJungle(Panda):
H7_DEVICES = [HW_TYPE_V2, ]
SUPPORTED_DEVICES = H7_DEVICES
HEALTH_PACKET_VERSION = 1
HEALTH_PACKET_VERSION = compute_version_hash(os.path.join(BASEDIR, "jungle_health.h"))
HEALTH_STRUCT = struct.Struct("<IffffffHHHHHHHHHHHH")
HARNESS_ORIENTATION_NONE = 0
@@ -108,13 +108,11 @@ class PandaJungle(Panda):
# ******************* control *******************
# Returns tuple with health packet version and CAN packet/USB packet version
def get_packets_versions(self):
dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xdd, 0, 0, 3)
if dat and len(dat) == 3:
a = struct.unpack("BBB", dat)
return (a[0], a[1], a[2])
return (-1, -1, -1)
dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xdd, 0, 0, 8)
if dat and len(dat) == 8:
return struct.unpack("<II", dat)
return (0, 0)
# ******************* jungle stuff *******************

3
board/jungle/jungle_health.h
View File

@@ -1,6 +1,3 @@
// When changing these structs, python/__init__.py needs to be kept up to date!
#define JUNGLE_HEALTH_PACKET_VERSION 1
struct __attribute__((packed)) jungle_health_t {
uint32_t uptime_pkt;
float ch1_power;

12
board/jungle/main_comms.h
View File

@@ -180,13 +180,13 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
current_board->set_can_mode(CAN_MODE_NORMAL);
}
break;
// **** 0xdd: get healthpacket and CANPacket versions
case 0xdd:
resp[0] = JUNGLE_HEALTH_PACKET_VERSION;
resp[1] = CAN_PACKET_VERSION;
resp[2] = CAN_HEALTH_PACKET_VERSION;
resp_len = 3;
// **** 0xdd: get healthpacket and CANPacket version hashes
case 0xdd: {
uint32_t versions[2] = {JUNGLE_HEALTH_PACKET_VERSION, CAN_PACKET_VERSION_HASH};
(void)memcpy(resp, (uint8_t *)versions, sizeof(versions));
resp_len = sizeof(versions);
break;
}
// **** 0xde: set can bitrate
case 0xde:
if ((req->param1 < PANDA_CAN_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {

12
board/main_comms.h
View File

@@ -226,13 +226,13 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
case 0xdc:
set_safety_mode(req->param1, (uint16_t)req->param2);
break;
// **** 0xdd: get healthpacket and CANPacket versions
case 0xdd:
resp[0] = HEALTH_PACKET_VERSION;
resp[1] = CAN_PACKET_VERSION;
resp[2] = CAN_HEALTH_PACKET_VERSION;
resp_len = 3;
// **** 0xdd: get health and CAN packet versions
case 0xdd: {
uint32_t versions[2] = {HEALTH_PACKET_VERSION, CAN_PACKET_VERSION_HASH};
(void)memcpy(resp, (uint8_t *)versions, sizeof(versions));
resp_len = sizeof(versions);
break;
}
// **** 0xde: set can bitrate
case 0xde:
if ((req->param1 < PANDA_CAN_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {