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Squashed 'panda/' changes from 30c7ca8a5..256d274e7

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256d274e7 Fix Mac installation instruction per: https://github.com/commaai/panda/pull/308/files
bfd8ff1b1 Update cppcheck commit with more coverage
b143a1cf9 Fixed Misra complaint
606f1d913 Fixed RTC on non-uno boards, second try. Cannot work when there is no xtal.
933c75770 Fix RTC on non-uno boards (#311)
48d0d0c78 VW button spam: fix safety and add tests (#306)
6cccf969a Fan and IR at 0 when in power savings mode (#309)
05373282a board get_sdk scripts were left on python2
de18a7ef1 bump version after uno merge
1965817d3 Changed default values for testing
a12a148d5 Uno (#274)
7d29dc5a2 bump panda version. We really need a better way
40075321d VW: stricter limits to comply with comma safety policy
e2e2be92c add safety mode to health packet
101238c7f turned on VW ignition based CAN logic
a0d8d5dae fix misra 5.3: check_ignition is intended as check_started and can't be used twice
ea636de61 made check_ignition function to both look at ignition_line and ignition_can
1102e6965 make ignition logic common for all cars (#303)
3a110c6f6 bump version after CMSIS core upgrade
55dfa5230 Update core to CMSIS 5.6 release  (#251)
ee864907c fix linter 2
f410b110d fix linter
55957d6e4 proper python3 exception inheritance
6ba0f47b5 fix linter errors
5c49fe050 Merge pull request #145 from gregjhogan/uds
0f361999b timeout is float
396d6aad5 safety_replay only installs few extra requirements
25af7d301 Misra also need python 3 env
7434c5ce2 centralize requirements for tests
a0c37c70a coverage not needed in linter reqs
fce38a91d Linter python (#299)
62e2f5caa update cppcheck commit
711810d2f more uds debug
4454e3a6b better CAN comm abstraction
6b1f28f57 fix more encoding and some bytes cleanup (#300)
43adad311 fix WARNING_INDICATOR_REQUESTED name
9c857da37 0x
b64d6fa5d typing
768fdf7e1 bytes() > chr().encode()
1be15ea93 custom errors from thread
68da8315f more python3
eb358e81c uds lib example
4f288586d updates for python3
932745f62 support tx flow control for chunked messages
b1c371292 add timeout param
cdf2f626b bug fixes
b1a319577 fix rx message filtering bug
80fb6a6fa convert uds lib to class
59cd2b47f handle separation time in microseconds
4429600d8 fix separation time parsing
c641e66f7 fix typo
48b8dcc6f fix flow control delay scale
78f413d88 flow control delay
33a5167d9 bug fixes
8ee89a091 multi-frame tx
5e89a9c72 clear rx buffer and numeric error ids
966230063 fix remaining size calculation
01ef1fae3 zero pad messages before sending
1ddc9735d uds can communication
dca176e71 syntax errors
95be4811e SERVICE_TYPE enum
98e73b51d more UDS message type implementation
c1c5b0356 uds lib
162f4853d fix chr to bytes conversions (#298)
4972376de Update VW regression test to follow Comma safety index refactoring (#296)
f9053f5df more Python 3 fixes, attempting to fix jenkins wifi regresison test (#295)
2f9e07628 Panda safety code for Volkswagen, Audi, SEAT, and Škoda (#293)

git-subtree-dir: panda
git-subtree-split: 256d274e760ce00d4e5ff5e0d9b86d0fb5924568

old-commit-hash: 22023ebd58
This commit is contained in:
Vehicle Researcher
2019-10-31 17:02:31 -07:00
parent 6f518e8816
commit 0ba412d52e
123 changed files with 2974 additions and 425 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.circleci/config.yml
+15
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@@ -92,6 +92,20 @@ jobs:
command: |
docker run language_check /bin/bash -c "cd /panda/tests/language; ./test_language.py"
linter_python:
machine:
docker_layer_caching: true
steps:
- checkout
- run:
name: Build image
command: "docker build -t linter_python -f tests/linter_python/Dockerfile ."
- run:
name: Run linter python test
command: |
docker run linter_python /bin/bash -c "cd /panda/tests/linter_python; PYTHONPATH=/ ./flake8_panda.sh"
docker run linter_python /bin/bash -c "cd /panda/tests/linter_python; PYTHONPATH=/ ./pylint_panda.sh"
workflows:
version: 2
main:
@@ -101,3 +115,4 @@ workflows:
- build
- safety_replay
- language_check
- linter_python
Jenkinsfile
Vendored
+15
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@@ -46,6 +46,21 @@ pipeline {
}
}
}
/*
stage('Test Dev Build (WIFI)') {
steps {
lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
timeout(time: 60, unit: 'MINUTES') {
script {
sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh'"
sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
sh "docker rm ${env.DOCKER_NAME}"
}
}
}
}
}
*/
}
post {
failure {
README.md
+2
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@@ -108,6 +108,8 @@ to ensure that the behavior remains unchanged.
* compiling the code in various configuration and flashing it both through USB and WiFi.
* Receiving, sending and forwarding CAN messages on all buses, over USB and WiFi.
In addition, we run [Pylint](https://www.pylint.org/) and [Flake8](https://github.com/PyCQA/flake8) linters on all python files within the panda repo.
Hardware
------
UPDATING.md
+6 -6
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@@ -1,9 +1,9 @@
# Updating your panda
Panda should update automatically via the [Chffr](http://chffr.comma.ai/) app ([apple](https://itunes.apple.com/us/app/chffr-dash-cam-that-remembers/id1146683979) and [android](https://play.google.com/store/apps/details?id=ai.comma.chffr))
Panda should update automatically via the [openpilot](http://openpilot.comma.ai/).
If it doesn't however, you can use the following commands on linux or Mac OSX
`sudo pip install --upgrade pandacan`
` PYTHONPATH="" sudo python -c "import panda; panda.flash_release()"`
(You'll need to have `pip` and `sudo` installed.)
On Linux or Mac OSX, you can manually update it using:
```
sudo pip install --upgrade pandacan`
PYTHONPATH="" sudo python -c "import panda; panda.flash_release()"`
```
VERSION
+1 -1
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@@ -1 +1 @@
v1.5.3
v1.5.9
__init__.py
+1 -1
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@@ -1 +1 @@
from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial # noqa: F401
board/README.md
+1
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@@ -4,6 +4,7 @@ Dependencies
**Mac**
```
xcode-select --install
./get_sdk_mac.sh
```
board/board.h
+30 -3
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@@ -7,9 +7,12 @@
// ///// Board definition and detection ///// //
#include "drivers/harness.h"
#ifdef PANDA
#include "drivers/fan.h"
#include "drivers/rtc.h"
#include "boards/white.h"
#include "boards/grey.h"
#include "boards/black.h"
#include "boards/uno.h"
#else
#include "boards/pedal.h"
#endif
@@ -23,6 +26,9 @@ void detect_board_type(void) {
} else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
hw_type = HW_TYPE_GREY_PANDA;
current_board = &board_grey;
} else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
hw_type = HW_TYPE_UNO;
current_board = &board_uno;
} else {
hw_type = HW_TYPE_BLACK_PANDA;
current_board = &board_black;
@@ -31,7 +37,7 @@ void detect_board_type(void) {
#ifdef PEDAL
hw_type = HW_TYPE_PEDAL;
current_board = &board_pedal;
#else
#else
hw_type = HW_TYPE_UNKNOWN;
puts("Hardware type is UNKNOWN!\n");
#endif
@@ -60,6 +66,27 @@ void detect_configuration(void) {
}
// ///// Board functions ///// //
// TODO: Make these config options in the board struct
bool board_has_gps(void) {
return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA));
}
return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
}
bool board_has_gmlan(void) {
return ((hw_type == HW_TYPE_WHITE_PANDA) || (hw_type == HW_TYPE_GREY_PANDA));
}
bool board_has_obd(void) {
return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
}
bool board_has_lin(void) {
return ((hw_type == HW_TYPE_WHITE_PANDA) || (hw_type == HW_TYPE_GREY_PANDA));
}
bool board_has_rtc(void) {
return (hw_type == HW_TYPE_UNO);
}
bool board_has_relay(void) {
return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
}
board/board_declarations.h
+15
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@@ -8,6 +8,9 @@ typedef void (*board_set_esp_gps_mode)(uint8_t mode);
typedef void (*board_set_can_mode)(uint8_t mode);
typedef void (*board_usb_power_mode_tick)(uint64_t tcnt);
typedef bool (*board_check_ignition)(void);
typedef uint32_t (*board_read_current)(void);
typedef void (*board_set_ir_power)(uint8_t percentage);
typedef void (*board_set_fan_power)(uint8_t percentage);
struct board {
const char *board_type;
@@ -21,6 +24,9 @@ struct board {
board_set_can_mode set_can_mode;
board_usb_power_mode_tick usb_power_mode_tick;
board_check_ignition check_ignition;
board_read_current read_current;
board_set_ir_power set_ir_power;
board_set_fan_power set_fan_power;
};
// ******************* Definitions ********************
@@ -30,6 +36,7 @@ struct board {
#define HW_TYPE_GREY_PANDA 2U
#define HW_TYPE_BLACK_PANDA 3U
#define HW_TYPE_PEDAL 4U
#define HW_TYPE_UNO 5U
// LED colors
#define LED_RED 0U
@@ -55,3 +62,11 @@ struct board {
// ********************* Globals **********************
uint8_t usb_power_mode = USB_POWER_NONE;
// ************ Board function prototypes *************
bool board_has_gps(void);
bool board_has_gmlan(void);
bool board_has_obd(void);
bool board_has_lin(void);
bool board_has_rtc(void);
bool board_has_relay(void);
board/boards/black.h
+19 -5
View File
@@ -23,7 +23,8 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
}
void black_enable_can_transcievers(bool enabled) {
for(uint8_t i=1U; i<=4U; i++){
uint8_t t1 = enabled ? 1U : 2U; // leave transciever 1 enabled to detect CAN ignition
for(uint8_t i=t1; i<=4U; i++) {
black_enable_can_transciever(i, enabled);
}
}
@@ -132,6 +133,19 @@ bool black_check_ignition(void){
return harness_check_ignition();
}
uint32_t black_read_current(void){
// No current sense on black panda
return 0U;
}
void black_set_ir_power(uint8_t percentage){
UNUSED(percentage);
}
void black_set_fan_power(uint8_t percentage){
UNUSED(percentage);
}
void black_init(void) {
common_init_gpio();
@@ -153,9 +167,6 @@ void black_init(void) {
set_gpio_output(GPIOC, 10, 1);
set_gpio_output(GPIOC, 11, 1);
// C8: FAN aka TIM3_CH3
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
// Turn on GPS load switch.
black_set_gps_load_switch(true);
@@ -213,5 +224,8 @@ const board board_black = {
.set_esp_gps_mode = black_set_esp_gps_mode,
.set_can_mode = black_set_can_mode,
.usb_power_mode_tick = black_usb_power_mode_tick,
.check_ignition = black_check_ignition
.check_ignition = black_check_ignition,
.read_current = black_read_current,
.set_fan_power = black_set_fan_power,
.set_ir_power = black_set_ir_power
};
board/boards/common.h
+4 -2
View File
@@ -58,16 +58,18 @@ void peripherals_init(void){
#endif
RCC->APB1ENR |= RCC_APB1ENR_DACEN;
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // main counter
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // slow loop and pedal
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // gmlan_alt
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // pedal and fan PWM
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // gmlan_alt and IR PWM
//RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
//RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
RCC->APB1ENR |= RCC_APB1ENR_PWREN; // for RTC config
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
//RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
RCC->APB2ENR |= RCC_APB2ENR_TIM9EN; // slow loop
}
// Detection with internal pullup
board/boards/grey.h
+4 -1
View File
@@ -14,5 +14,8 @@ const board board_grey = {
.set_esp_gps_mode = white_set_esp_gps_mode,
.set_can_mode = white_set_can_mode,
.usb_power_mode_tick = white_usb_power_mode_tick,
.check_ignition = white_check_ignition
.check_ignition = white_check_ignition,
.read_current = white_read_current,
.set_fan_power = white_set_fan_power,
.set_ir_power = white_set_ir_power
};
board/boards/pedal.h
+16
View File
@@ -60,6 +60,19 @@ bool pedal_check_ignition(void){
return false;
}
uint32_t pedal_read_current(void){
// No current sense on pedal
return 0U;
}
void pedal_set_ir_power(uint8_t percentage){
UNUSED(percentage);
}
void pedal_set_fan_power(uint8_t percentage){
UNUSED(percentage);
}
void pedal_init(void) {
common_init_gpio();
@@ -93,4 +106,7 @@ const board board_pedal = {
.set_can_mode = pedal_set_can_mode,
.usb_power_mode_tick = pedal_usb_power_mode_tick,
.check_ignition = pedal_check_ignition,
.read_current = pedal_read_current,
.set_fan_power = pedal_set_fan_power,
.set_ir_power = pedal_set_ir_power
};
board/boards/uno.h
+247
View File
@@ -0,0 +1,247 @@
// ///////////// //
// Uno + Harness //
// ///////////// //
void uno_enable_can_transciever(uint8_t transciever, bool enabled) {
switch (transciever){
case 1U:
set_gpio_output(GPIOC, 1, !enabled);
break;
case 2U:
set_gpio_output(GPIOC, 13, !enabled);
break;
case 3U:
set_gpio_output(GPIOA, 0, !enabled);
break;
case 4U:
set_gpio_output(GPIOB, 10, !enabled);
break;
default:
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
break;
}
}
void uno_enable_can_transcievers(bool enabled) {
for(uint8_t i=1U; i<=4U; i++){
uno_enable_can_transciever(i, enabled);
}
}
void uno_set_led(uint8_t color, bool enabled) {
switch (color){
case LED_RED:
set_gpio_output(GPIOC, 9, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOC, 7, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOC, 6, !enabled);
break;
default:
break;
}
}
void uno_set_gps_load_switch(bool enabled) {
set_gpio_output(GPIOC, 12, enabled);
}
void uno_set_usb_power_mode(uint8_t mode) {
UNUSED(mode);
puts("Setting USB mode makes no sense on UNO\n");
}
void uno_set_esp_gps_mode(uint8_t mode) {
switch (mode) {
case ESP_GPS_DISABLED:
// GPS OFF
set_gpio_output(GPIOB, 1, 0);
set_gpio_output(GPIOC, 5, 0);
uno_set_gps_load_switch(false);
break;
case ESP_GPS_ENABLED:
// GPS ON
set_gpio_output(GPIOB, 1, 1);
set_gpio_output(GPIOC, 5, 1);
uno_set_gps_load_switch(true);
break;
case ESP_GPS_BOOTMODE:
set_gpio_output(GPIOB, 1, 1);
set_gpio_output(GPIOC, 5, 0);
uno_set_gps_load_switch(true);
break;
default:
puts("Invalid ESP/GPS mode\n");
break;
}
}
void uno_set_can_mode(uint8_t mode){
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
// B12,B13: disable OBD mode
set_gpio_mode(GPIOB, 12, MODE_INPUT);
set_gpio_mode(GPIOB, 13, MODE_INPUT);
// B5,B6: normal CAN2 mode
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
} else {
// B5,B6: disable normal CAN2 mode
set_gpio_mode(GPIOB, 5, MODE_INPUT);
set_gpio_mode(GPIOB, 6, MODE_INPUT);
// B12,B13: OBD mode
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
}
break;
default:
puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
break;
}
}
void uno_set_bootkick(bool enabled){
set_gpio_output(GPIOB, 14, !enabled);
}
void uno_usb_power_mode_tick(uint64_t tcnt){
if(tcnt == 3U){
uno_set_bootkick(false);
}
}
bool uno_check_ignition(void){
// ignition is checked through harness
return harness_check_ignition();
}
void uno_set_usb_switch(bool phone){
set_gpio_output(GPIOB, 3, phone);
}
void uno_set_ir_power(uint8_t percentage){
pwm_set(TIM4, 2, percentage);
}
void uno_set_fan_power(uint8_t percentage){
// Enable fan power only if percentage is non-zero.
set_gpio_output(GPIOA, 1, (percentage != 0U));
fan_set_power(percentage);
}
uint32_t uno_read_current(void){
// No current sense on Uno
return 0U;
}
void uno_init(void) {
common_init_gpio();
// A8,A15: normal CAN3 mode
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
// C0: OBD_SBU1 (orientation detection)
// C3: OBD_SBU2 (orientation detection)
set_gpio_mode(GPIOC, 0, MODE_ANALOG);
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
// C10: OBD_SBU1_RELAY (harness relay driving output)
// C11: OBD_SBU2_RELAY (harness relay driving output)
set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output(GPIOC, 10, 1);
set_gpio_output(GPIOC, 11, 1);
// C8: FAN PWM aka TIM3_CH3
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
// Turn on GPS load switch.
uno_set_gps_load_switch(true);
// Turn on phone regulator
set_gpio_output(GPIOB, 4, 1);
// Initialize IR PWM and set to 0%
set_gpio_alternate(GPIOB, 7, GPIO_AF2_TIM4);
pwm_init(TIM4, 2);
uno_set_ir_power(0U);
// Initialize fan and set to 0%
fan_init();
uno_set_fan_power(0U);
// Initialize harness
harness_init();
// Initialize RTC
rtc_init();
// Enable CAN transcievers
uno_enable_can_transcievers(true);
// Disable LEDs
uno_set_led(LED_RED, false);
uno_set_led(LED_GREEN, false);
uno_set_led(LED_BLUE, false);
// Set normal CAN mode
uno_set_can_mode(CAN_MODE_NORMAL);
// flip CAN0 and CAN2 if we are flipped
if (car_harness_status == HARNESS_STATUS_NORMAL) {
can_flip_buses(0, 2);
}
// init multiplexer
can_set_obd(car_harness_status, false);
// Switch to phone usb mode if harness connection is powered by less than 7V
if(adc_get_voltage() < 7000U){
uno_set_usb_switch(true);
} else {
uno_set_usb_switch(false);
}
// Bootkick phone
uno_set_bootkick(true);
}
const harness_configuration uno_harness_config = {
.has_harness = true,
.GPIO_SBU1 = GPIOC,
.GPIO_SBU2 = GPIOC,
.GPIO_relay_normal = GPIOC,
.GPIO_relay_flipped = GPIOC,
.pin_SBU1 = 0,
.pin_SBU2 = 3,
.pin_relay_normal = 10,
.pin_relay_flipped = 11,
.adc_channel_SBU1 = 10,
.adc_channel_SBU2 = 13
};
const board board_uno = {
.board_type = "Uno",
.harness_config = &uno_harness_config,
.init = uno_init,
.enable_can_transciever = uno_enable_can_transciever,
.enable_can_transcievers = uno_enable_can_transcievers,
.set_led = uno_set_led,
.set_usb_power_mode = uno_set_usb_power_mode,
.set_esp_gps_mode = uno_set_esp_gps_mode,
.set_can_mode = uno_set_can_mode,
.usb_power_mode_tick = uno_usb_power_mode_tick,
.check_ignition = uno_check_ignition,
.read_current = uno_read_current,
.set_fan_power = uno_set_fan_power,
.set_ir_power = uno_set_ir_power
};
board/boards/white.h
+20 -3
View File
@@ -20,8 +20,10 @@ void white_enable_can_transciever(uint8_t transciever, bool enabled) {
}
void white_enable_can_transcievers(bool enabled) {
for(uint8_t i=1; i<=3U; i++)
uint8_t t1 = enabled ? 1U : 2U; // leave transciever 1 enabled to detect CAN ignition
for(uint8_t i=t1; i<=3U; i++) {
white_enable_can_transciever(i, enabled);
}
}
void white_set_led(uint8_t color, bool enabled) {
@@ -150,6 +152,10 @@ void white_set_can_mode(uint8_t mode){
}
}
uint32_t white_read_current(void){
return adc_get(ADCCHAN_CURRENT);
}
uint64_t marker = 0;
void white_usb_power_mode_tick(uint64_t tcnt){
@@ -158,7 +164,7 @@ void white_usb_power_mode_tick(uint64_t tcnt){
#define CURRENT_THRESHOLD 0xF00U
#define CLICKS 5U // 5 seconds to switch modes
uint32_t current = adc_get(ADCCHAN_CURRENT);
uint32_t current = white_read_current();
// ~0x9a = 500 ma
// puth(current); puts("\n");
@@ -217,6 +223,14 @@ void white_usb_power_mode_tick(uint64_t tcnt){
#endif
}
void white_set_ir_power(uint8_t percentage){
UNUSED(percentage);
}
void white_set_fan_power(uint8_t percentage){
UNUSED(percentage);
}
bool white_check_ignition(void){
// ignition is on PA1
return !get_gpio_input(GPIOA, 1);
@@ -315,5 +329,8 @@ const board board_white = {
.set_esp_gps_mode = white_set_esp_gps_mode,
.set_can_mode = white_set_can_mode,
.usb_power_mode_tick = white_usb_power_mode_tick,
.check_ignition = white_check_ignition
.check_ignition = white_check_ignition,
.read_current = white_read_current,
.set_fan_power = white_set_fan_power,
.set_ir_power = white_set_ir_power
};
board/bootstub.c
+1
View File
@@ -33,6 +33,7 @@ const board *current_board;
#include "drivers/clock.h"
#include "drivers/llgpio.h"
#include "drivers/adc.h"
#include "drivers/pwm.h"
#include "board.h"
board/drivers/can.h
+37 -3
View File
@@ -30,6 +30,9 @@ void can_init_all(void);
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
// Ignition detected from CAN meessages
bool ignition_can = false;
// end API
#define ALL_CAN_SILENT 0xFF
@@ -173,7 +176,7 @@ void can_flip_buses(uint8_t bus1, uint8_t bus2){
// TODO: Cleanup with new abstraction
void can_set_gmlan(uint8_t bus) {
if(hw_type != HW_TYPE_BLACK_PANDA){
if(board_has_gmlan()){
// first, disable GMLAN on prev bus
uint8_t prev_bus = can_num_lookup[3];
if (bus != prev_bus) {
@@ -226,7 +229,7 @@ void can_set_obd(uint8_t harness_orientation, bool obd){
} else {
puts("setting CAN2 to be normal\n");
}
if(hw_type == HW_TYPE_BLACK_PANDA){
if(board_has_obd()){
if(obd != (bool)(harness_orientation == HARNESS_STATUS_NORMAL)){
// B5,B6: disable normal mode
set_gpio_mode(GPIOB, 5, MODE_INPUT);
@@ -243,7 +246,7 @@ void can_set_obd(uint8_t harness_orientation, bool obd){
set_gpio_mode(GPIOB, 13, MODE_INPUT);
}
} else {
puts("OBD CAN not available on non-black panda\n");
puts("OBD CAN not available on this board\n");
}
}
@@ -332,6 +335,36 @@ void process_can(uint8_t can_number) {
}
}
void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
if (bus == 0) {
// GM exception
if ((addr == 0x1F1) && (len == 8)) {
//Bit 5 is ignition "on"
ignition_can = (GET_BYTE(to_push, 0) & 0x20) != 0;
}
// Tesla exception
if ((addr == 0x348) && (len == 8)) {
// GTW_status
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
}
// Cadillac exception
if ((addr == 0x160) && (len == 5)) {
// this message isn't all zeros when ignition is on
ignition_can = GET_BYTES_04(to_push) != 0;
}
// VW exception
if ((addr == 0x3C0) && (len == 4)) {
// VW Terminal 15 (ignition-on) state
ignition_can = (GET_BYTE(to_push, 2) & 0x2) != 0;
}
}
}
// CAN receive handlers
// blink blue when we are receiving CAN messages
void can_rx(uint8_t can_number) {
@@ -365,6 +398,7 @@ void can_rx(uint8_t can_number) {
}
safety_rx_hook(&to_push);
ignition_can_hook(&to_push);
current_board->set_led(LED_BLUE, true);
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
board/drivers/fan.h
+36
View File
@@ -0,0 +1,36 @@
void fan_init(void){
// Init PWM speed control
pwm_init(TIM3, 3);
// Init TACH interrupt
SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI2_PD;
EXTI->IMR |= (1U << 2);
EXTI->RTSR |= (1U << 2);
EXTI->FTSR |= (1U << 2);
NVIC_EnableIRQ(EXTI2_IRQn);
}
void fan_set_power(uint8_t percentage){
pwm_set(TIM3, 3, percentage);
}
uint16_t fan_tach_counter = 0U;
uint16_t fan_rpm = 0U;
// Can be way more acurate than this, but this is probably good enough for our purposes.
// Call this every second
void fan_tick(void){
// 4 interrupts per rotation
fan_rpm = fan_tach_counter * 15U;
fan_tach_counter = 0U;
}
// TACH interrupt handler
void EXTI2_IRQHandler(void) {
volatile unsigned int pr = EXTI->PR & (1U << 2);
if ((pr & (1U << 2)) != 0U) {
fan_tach_counter++;
}
EXTI->PR = (1U << 2);
}
board/drivers/pwm.h
+55
View File
@@ -0,0 +1,55 @@
#define PWM_COUNTER_OVERFLOW 2000U // To get ~50kHz
void pwm_init(TIM_TypeDef *TIM, uint8_t channel){
// Enable timer and auto-reload
TIM->CR1 = TIM_CR1_CEN | TIM_CR1_ARPE;
// Set channel as PWM mode 1 and enable output
switch(channel){
case 1U:
TIM->CCMR1 |= (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1PE);
TIM->CCER |= TIM_CCER_CC1E;
break;
case 2U:
TIM->CCMR1 |= (TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2PE);
TIM->CCER |= TIM_CCER_CC2E;
break;
case 3U:
TIM->CCMR2 |= (TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3PE);
TIM->CCER |= TIM_CCER_CC3E;
break;
case 4U:
TIM->CCMR2 |= (TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4PE);
TIM->CCER |= TIM_CCER_CC4E;
break;
default:
break;
}
// Set max counter value
TIM->ARR = PWM_COUNTER_OVERFLOW;
// Update registers and clear counter
TIM->EGR |= TIM_EGR_UG;
}
// TODO: Implement for 32-bit timers
void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage){
uint16_t comp_value = (((uint16_t) percentage * PWM_COUNTER_OVERFLOW) / 100U);
switch(channel){
case 1U:
TIM->CCR1 = comp_value;
break;
case 2U:
TIM->CCR2 = comp_value;
break;
case 3U:
TIM->CCR3 = comp_value;
break;
case 4U:
TIM->CCR4 = comp_value;
break;
default:
break;
}
}
board/drivers/rtc.h
+108
View File
@@ -0,0 +1,108 @@
#define RCC_BDCR_OPTIONS (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL_0 | RCC_BDCR_LSEON)
#define RCC_BDCR_MASK (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL | RCC_BDCR_LSEMOD | RCC_BDCR_LSEBYP | RCC_BDCR_LSEON)
#define YEAR_OFFSET 2000U
typedef struct __attribute__((packed)) timestamp_t {
uint16_t year;
uint8_t month;
uint8_t day;
uint8_t weekday;
uint8_t hour;
uint8_t minute;
uint8_t second;
} timestamp_t;
uint8_t to_bcd(uint16_t value){
return (((value / 10U) & 0x0FU) << 4U) | ((value % 10U) & 0x0FU);
}
uint16_t from_bcd(uint8_t value){
return (((value & 0xF0U) >> 4U) * 10U) + (value & 0x0FU);
}
void rtc_init(void){
if(board_has_rtc()){
// Initialize RTC module and clock if not done already.
if((RCC->BDCR & RCC_BDCR_MASK) != RCC_BDCR_OPTIONS){
puts("Initializing RTC\n");
// Reset backup domain
RCC->BDCR |= RCC_BDCR_BDRST;
// Disable write protection
PWR->CR |= PWR_CR_DBP;
// Clear backup domain reset
RCC->BDCR &= ~(RCC_BDCR_BDRST);
// Set RTC options
RCC->BDCR = RCC_BDCR_OPTIONS | (RCC->BDCR & (~RCC_BDCR_MASK));
// Enable write protection
PWR->CR &= ~(PWR_CR_DBP);
}
}
}
void rtc_set_time(timestamp_t time){
if(board_has_rtc()){
puts("Setting RTC time\n");
// Disable write protection
PWR->CR |= PWR_CR_DBP;
RTC->WPR = 0xCA;
RTC->WPR = 0x53;
// Enable initialization mode
RTC->ISR |= RTC_ISR_INIT;
while((RTC->ISR & RTC_ISR_INITF) == 0){}
// Set time
RTC->TR = (to_bcd(time.hour) << RTC_TR_HU_Pos) | (to_bcd(time.minute) << RTC_TR_MNU_Pos) | (to_bcd(time.second) << RTC_TR_SU_Pos);
RTC->DR = (to_bcd(time.year - YEAR_OFFSET) << RTC_DR_YU_Pos) | (time.weekday << RTC_DR_WDU_Pos) | (to_bcd(time.month) << RTC_DR_MU_Pos) | (to_bcd(time.day) << RTC_DR_DU_Pos);
// Set options
RTC->CR = 0U;
// Disable initalization mode
RTC->ISR &= ~(RTC_ISR_INIT);
// Wait for synchronization
while((RTC->ISR & RTC_ISR_RSF) == 0){}
// Re-enable write protection
RTC->WPR = 0x00;
PWR->CR &= ~(PWR_CR_DBP);
}
}
timestamp_t rtc_get_time(void){
timestamp_t result;
// Init with zero values in case there is no RTC running
result.year = 0U;
result.month = 0U;
result.day = 0U;
result.weekday = 0U;
result.hour = 0U;
result.minute = 0U;
result.second = 0U;
if(board_has_rtc()){
// Wait until the register sync flag is set
while((RTC->ISR & RTC_ISR_RSF) == 0){}
// Read time and date registers. Since our HSE > 7*LSE, this should be fine.
uint32_t time = RTC->TR;
uint32_t date = RTC->DR;
// Parse values
result.year = from_bcd((date & (RTC_DR_YT | RTC_DR_YU)) >> RTC_DR_YU_Pos) + YEAR_OFFSET;
result.month = from_bcd((date & (RTC_DR_MT | RTC_DR_MU)) >> RTC_DR_MU_Pos);
result.day = from_bcd((date & (RTC_DR_DT | RTC_DR_DU)) >> RTC_DR_DU_Pos);
result.weekday = ((date & RTC_DR_WDU) >> RTC_DR_WDU_Pos);
result.hour = from_bcd((time & (RTC_TR_HT | RTC_TR_HU)) >> RTC_TR_HU_Pos);
result.minute = from_bcd((time & (RTC_TR_MNT | RTC_TR_MNU)) >> RTC_TR_MNU_Pos);
result.second = from_bcd((time & (RTC_TR_ST | RTC_TR_SU)) >> RTC_TR_SU_Pos);
}
return result;
}
board/get_sdk.sh
+1 -1
View File
@@ -1,3 +1,3 @@
#!/bin/bash
sudo apt-get install gcc-arm-none-eabi python-pip
sudo pip2 install libusb1 pycrypto requests
sudo pip install libusb1 pycrypto requests
board/get_sdk_mac.sh
+1 -1
View File
@@ -2,4 +2,4 @@
# Need formula for gcc
brew tap ArmMbed/homebrew-formulae
brew install python dfu-util arm-none-eabi-gcc
pip2 install libusb1 pycrypto requests
pip install --user libusb1 pycrypto requests
board/inc/cmsis_compiler.h
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:3eeeb716701baca7c9aec136ada74ac29fa5731d188c1728f66b13e54a69ab64
size 9482
board/inc/cmsis_gcc.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:6c7e75d09887cb3035f18bc6f4fdbd7392a50379cd556315deb3bcb762d99078
size 40062
oid sha256:9bf43ac370e82ed7c9cc9a9fb5b624276fa03d15f96103550c7ab3b043f048f2
size 62628
board/inc/cmsis_version.h
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:d649eaa2fb1c421add02950ab9c111ccabb8be27197f3d37e03f03357e817ff8
size 1677
board/inc/core_cm3.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:03a80f17ff18c5d0e3b234009f98698cd402b8ea972df687a6cfafd8b8a78654
size 102146
oid sha256:01793bb15ec31729c8d1d4422a2e86ce5e0728b6a8834b94f08ea46c4c43b3b5
size 109421
board/inc/core_cm4.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:83c5d601dd5640a863fe4dc43cd228b46239bbf9f07b51102bf0c1c8f235cdfa
size 112561
oid sha256:dd13b2caea9d4490a5d49cdb86fbfa3e0d7b01343dc0ad8560c10a924626320e
size 120868
board/inc/core_cmFunc.h
-3
View File
@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:1fdd226d82bde2a90231ba47a59377158b8907e4cada2a6215f32dcf13ab35cd
size 3533
board/inc/core_cmInstr.h
-3
View File
@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c9b8e36d05097da5d493f197aa7f81ce517f4532536925b568ccbd6e2c01eb8a
size 3549
board/inc/core_cmSimd.h
-3
View File
@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:5d338d36730ccbd138126078e17f69c308a015f0a88d85bd639af072e527d53d
size 3566
board/inc/mpu_armv7.h
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:16660b4b9af5c288949272e55dfc463fd704acd7bbbe34f0fa6acbdea2d41c22
size 11691
board/main.c
+107 -40
View File
@@ -13,6 +13,7 @@
#include "drivers/llcan.h"
#include "drivers/llgpio.h"
#include "drivers/adc.h"
#include "drivers/pwm.h"
#include "board.h"
@@ -35,6 +36,10 @@
// ********************* Serial debugging *********************
bool check_started(void) {
return current_board->check_ignition() || ignition_can;
}
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
@@ -80,10 +85,10 @@ void started_interrupt_handler(uint8_t interrupt_line) {
#ifdef EON
// set power savings mode here if on EON build
int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
int power_save_state = check_started() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
set_power_save_state(power_save_state);
// set CDP usb power mode everytime that the car starts to make sure EON is charging
if (current_board->check_ignition()) {
if (check_started()) {
current_board->set_usb_power_mode(USB_POWER_CDP);
}
#endif
@@ -117,7 +122,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
switch (mode) {
case SAFETY_NOOUTPUT:
set_intercept_relay(false);
if(hw_type == HW_TYPE_BLACK_PANDA){
if(board_has_obd()){
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_SILENT;
@@ -125,7 +130,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
case SAFETY_ELM327:
set_intercept_relay(false);
heartbeat_counter = 0U;
if(hw_type == HW_TYPE_BLACK_PANDA){
if(board_has_obd()){
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
}
can_silent = ALL_CAN_LIVE;
@@ -133,19 +138,12 @@ void set_safety_mode(uint16_t mode, int16_t param) {
default:
set_intercept_relay(true);
heartbeat_counter = 0U;
if(hw_type == HW_TYPE_BLACK_PANDA){
if(board_has_obd()){
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_LIVE;
break;
}
if (safety_ignition_hook() != -1) {
// if the ignition hook depends on something other than the started GPIO
// we have to disable power savings (fix for GM and Tesla)
set_power_save_state(POWER_SAVE_STATUS_DISABLED);
} else {
// power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
}
can_init_all();
}
}
@@ -159,30 +157,21 @@ int get_health_pkt(void *dat) {
uint32_t can_send_errs_pkt;
uint32_t can_fwd_errs_pkt;
uint32_t gmlan_send_errs_pkt;
uint8_t started_pkt;
uint8_t ignition_line_pkt;
uint8_t ignition_can_pkt;
uint8_t controls_allowed_pkt;
uint8_t gas_interceptor_detected_pkt;
uint8_t car_harness_status_pkt;
uint8_t usb_power_mode_pkt;
uint8_t safety_mode_pkt;
} *health = dat;
health->voltage_pkt = adc_get_voltage();
health->current_pkt = current_board->read_current();
// No current sense on panda black
if(hw_type != HW_TYPE_BLACK_PANDA){
health->current_pkt = adc_get(ADCCHAN_CURRENT);
} else {
health->current_pkt = 0;
}
int safety_ignition = safety_ignition_hook();
if (safety_ignition < 0) {
//Use the GPIO pin to determine ignition
health->started_pkt = (uint8_t)(current_board->check_ignition());
} else {
//Current safety hooks want to determine ignition (ex: GM)
health->started_pkt = safety_ignition;
}
//Use the GPIO pin to determine ignition or use a CAN based logic
health->ignition_line_pkt = (uint8_t)(current_board->check_ignition());
health->ignition_can_pkt = (uint8_t)(ignition_can);
health->controls_allowed_pkt = controls_allowed;
health->gas_interceptor_detected_pkt = gas_interceptor_detected;
@@ -191,10 +180,17 @@ int get_health_pkt(void *dat) {
health->gmlan_send_errs_pkt = gmlan_send_errs;
health->car_harness_status_pkt = car_harness_status;
health->usb_power_mode_pkt = usb_power_mode;
health->safety_mode_pkt = (uint8_t)(current_safety_mode);
return sizeof(*health);
}
int get_rtc_pkt(void *dat) {
timestamp_t t = rtc_get_time();
(void)memcpy(dat, &t, sizeof(t));
return sizeof(t);
}
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
@@ -247,7 +243,76 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
unsigned int resp_len = 0;
uart_ring *ur = NULL;
int i;
timestamp_t t;
switch (setup->b.bRequest) {
// **** 0xa0: get rtc time
case 0xa0:
resp_len = get_rtc_pkt(resp);
break;
// **** 0xa1: set rtc year
case 0xa1:
t = rtc_get_time();
t.year = setup->b.wValue.w;
rtc_set_time(t);
break;
// **** 0xa2: set rtc month
case 0xa2:
t = rtc_get_time();
t.month = setup->b.wValue.w;
rtc_set_time(t);
break;
// **** 0xa3: set rtc day
case 0xa3:
t = rtc_get_time();
t.day = setup->b.wValue.w;
rtc_set_time(t);
break;
// **** 0xa4: set rtc weekday
case 0xa4:
t = rtc_get_time();
t.weekday = setup->b.wValue.w;
rtc_set_time(t);
break;
// **** 0xa5: set rtc hour
case 0xa5:
t = rtc_get_time();
t.hour = setup->b.wValue.w;
rtc_set_time(t);
break;
// **** 0xa6: set rtc minute
case 0xa6:
t = rtc_get_time();
t.minute = setup->b.wValue.w;
rtc_set_time(t);
break;
// **** 0xa7: set rtc second
case 0xa7:
t = rtc_get_time();
t.second = setup->b.wValue.w;
rtc_set_time(t);
break;
// **** 0xb0: set IR power
case 0xb0:
if(power_save_status == POWER_SAVE_STATUS_DISABLED){
current_board->set_ir_power(setup->b.wValue.w);
} else {
puts("Setting IR power not allowed in power saving mode\n");
}
break;
// **** 0xb1: set fan power
case 0xb1:
if(power_save_status == POWER_SAVE_STATUS_DISABLED){
current_board->set_fan_power(setup->b.wValue.w);
} else {
puts("Setting fan power not allowed in power saving mode\n");
}
break;
// **** 0xb2: get fan rpm
case 0xb2:
resp[0] = (fan_rpm & 0x00FFU);
resp[1] = ((fan_rpm & 0xFF00U) >> 8U);
resp_len = 2;
break;
// **** 0xc0: get CAN debug info
case 0xc0:
puts("can tx: "); puth(can_tx_cnt);
@@ -335,7 +400,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xdb: set GMLAN (white/grey) or OBD CAN (black) multiplexing mode
case 0xdb:
if(hw_type == HW_TYPE_BLACK_PANDA){
if(board_has_obd()){
if (setup->b.wValue.w == 1U) {
// Enable OBD CAN
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
@@ -583,8 +648,8 @@ uint64_t tcnt = 0;
// called once per second
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void TIM3_IRQHandler(void) {
if (TIM3->SR != 0) {
void TIM1_BRK_TIM9_IRQHandler(void) {
if (TIM9->SR != 0) {
can_live = pending_can_live;
current_board->usb_power_mode_tick(tcnt);
@@ -602,6 +667,10 @@ void TIM3_IRQHandler(void) {
puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
#endif
// Tick fan driver
fan_tick();
//puts("Fan speed: "); puth((unsigned int) fan_rpm); puts("rpm\n");
// set green LED to be controls allowed
current_board->set_led(LED_GREEN, controls_allowed);
@@ -616,7 +685,7 @@ void TIM3_IRQHandler(void) {
// check heartbeat counter if we are running EON code. If the heartbeat has been gone for a while, go to NOOUTPUT safety mode.
#ifdef EON
if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
puts("EON hasn't sent a heartbeat for 0x"); puth(heartbeat_counter); puts(" seconds. Safety is set to NOOUTPUT mode.\n");
if(current_safety_mode != SAFETY_NOOUTPUT){
set_safety_mode(SAFETY_NOOUTPUT, 0U);
@@ -627,7 +696,7 @@ void TIM3_IRQHandler(void) {
// on to the next one
tcnt += 1U;
}
TIM3->SR = 0;
TIM9->SR = 0;
}
int main(void) {
@@ -675,8 +744,7 @@ int main(void) {
uart_init(&uart_ring_esp_gps, 115200);
}
// there is no LIN on panda black
if(hw_type != HW_TYPE_BLACK_PANDA){
if(board_has_lin()){
// enable LIN
uart_init(&uart_ring_lin1, 10400);
UART5->CR2 |= USART_CR2_LINEN;
@@ -714,14 +782,13 @@ int main(void) {
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
}
// only enter power save after the first cycle
/*if (current_board->check_ignition()) {
/*if (check_started()) {
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
}*/
#endif
// 48mhz / 65536 ~= 732 / 732 = 1
timer_init(TIM3, 732);
NVIC_EnableIRQ(TIM3_IRQn);
// 1hz
timer_init(TIM9, 1464);
NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
#ifdef DEBUG
puts("DEBUG ENABLED\n");
board/power_saving.h
+11 -4
View File
@@ -25,7 +25,6 @@ void set_power_save_state(int state) {
enable = true;
}
// Switch CAN transcievers
current_board->enable_can_transcievers(enable);
// Switch EPS/GPS
@@ -34,17 +33,25 @@ void set_power_save_state(int state) {
} else {
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
}
if(hw_type != HW_TYPE_BLACK_PANDA){
if(board_has_gmlan()){
// turn on GMLAN
set_gpio_output(GPIOB, 14, enable);
set_gpio_output(GPIOB, 15, enable);
}
// turn on LIN
if(board_has_lin()){
// turn on LIN
set_gpio_output(GPIOB, 7, enable);
set_gpio_output(GPIOA, 14, enable);
}
// Switch off IR and fan when in power saving
if(!enable){
current_board->set_ir_power(0U);
current_board->set_fan_power(0U);
}
power_save_status = state;
}
}
board/safety.h
+3 -8
View File
@@ -14,6 +14,7 @@
#include "safety/safety_chrysler.h"
#include "safety/safety_subaru.h"
#include "safety/safety_mazda.h"
#include "safety/safety_volkswagen.h"
#include "safety/safety_elm327.h"
// from cereal.car.CarParams.SafetyModel
@@ -29,8 +30,8 @@
#define SAFETY_CHRYSLER 9U
#define SAFETY_TESLA 10U
#define SAFETY_SUBARU 11U
#define SAFETY_GM_PASSIVE 12U
#define SAFETY_MAZDA 13U
#define SAFETY_VOLKSWAGEN 15U
#define SAFETY_TOYOTA_IPAS 16U
#define SAFETY_ALLOUTPUT 17U
#define SAFETY_GM_ASCM 18U
@@ -50,12 +51,6 @@ int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
return current_hooks->tx_lin(lin_num, data, len);
}
// -1 = Disabled (Use GPIO to determine ignition)
// 0 = Off (not started)
// 1 = On (started)
int safety_ignition_hook() {
return current_hooks->ignition();
}
int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return current_hooks->fwd(bus_num, to_fwd);
}
@@ -78,8 +73,8 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_CHRYSLER, &chrysler_hooks},
{SAFETY_TESLA, &tesla_hooks},
{SAFETY_SUBARU, &subaru_hooks},
{SAFETY_GM_PASSIVE, &gm_passive_hooks},
{SAFETY_MAZDA, &mazda_hooks},
{SAFETY_VOLKSWAGEN, &volkswagen_hooks},
{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
{SAFETY_ALLOUTPUT, &alloutput_hooks},
{SAFETY_GM_ASCM, &gm_ascm_hooks},
board/safety/safety_cadillac.h
-12
View File
@@ -10,7 +10,6 @@ const int CADILLAC_MAX_RATE_DOWN = 5;
const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
bool cadillac_ign = 0;
int cadillac_cruise_engaged_last = 0;
int cadillac_rt_torque_last = 0;
const int cadillac_torque_msgs_n = 4;
@@ -35,11 +34,6 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
update_sample(&cadillac_torque_driver, torque_driver_new);
}
// this message isn't all zeros when ignition is on
if ((addr == 0x160) && (bus == 0)) {
cadillac_ign = GET_BYTES_04(to_push) != 0;
}
// enter controls on rising edge of ACC, exit controls on ACC off
if ((addr == 0x370) && (bus == 0)) {
int cruise_engaged = GET_BYTE(to_push, 2) & 0x80; // bit 23
@@ -118,11 +112,6 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void cadillac_init(int16_t param) {
UNUSED(param);
controls_allowed = 0;
cadillac_ign = 0;
}
static int cadillac_ign_hook(void) {
return cadillac_ign;
}
const safety_hooks cadillac_hooks = {
@@ -130,6 +119,5 @@ const safety_hooks cadillac_hooks = {
.rx = cadillac_rx_hook,
.tx = cadillac_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = cadillac_ign_hook,
.fwd = default_fwd_hook,
};
board/safety/safety_chrysler.h
-1
View File
@@ -136,6 +136,5 @@ const safety_hooks chrysler_hooks = {
.rx = chrysler_rx_hook,
.tx = chrysler_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = chrysler_fwd_hook,
};
board/safety/safety_defaults.h
-6
View File
@@ -2,10 +2,6 @@ void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
UNUSED(to_push);
}
int default_ign_hook(void) {
return -1; // use GPIO to determine ignition
}
// *** no output safety mode ***
static void nooutput_init(int16_t param) {
@@ -36,7 +32,6 @@ const safety_hooks nooutput_hooks = {
.rx = default_rx_hook,
.tx = nooutput_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = default_fwd_hook,
};
@@ -64,6 +59,5 @@ const safety_hooks alloutput_hooks = {
.rx = default_rx_hook,
.tx = alloutput_tx_hook,
.tx_lin = alloutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = default_fwd_hook,
};
board/safety/safety_elm327.h
-1
View File
@@ -38,6 +38,5 @@ const safety_hooks elm327_hooks = {
.rx = default_rx_hook,
.tx = elm327_tx_hook,
.tx_lin = elm327_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = default_fwd_hook,
};
board/safety/safety_ford.h
-1
View File
@@ -97,6 +97,5 @@ const safety_hooks ford_hooks = {
.rx = ford_rx_hook,
.tx = ford_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = default_fwd_hook,
};
board/safety/safety_gm.h
-36
View File
@@ -24,7 +24,6 @@ int gm_gas_prev = 0;
bool gm_moving = false;
// silence everything if stock car control ECUs are still online
bool gm_ascm_detected = 0;
bool gm_ignition_started = 0;
int gm_rt_torque_last = 0;
int gm_desired_torque_last = 0;
uint32_t gm_ts_last = 0;
@@ -41,13 +40,6 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
update_sample(&gm_torque_driver, torque_driver_new);
}
if ((addr == 0x1F1) && (bus_number == 0)) {
//Bit 5 should be ignition "on"
//Backup plan is Bit 2 (accessory power)
bool ign = (GET_BYTE(to_push, 0) & 0x20) != 0;
gm_ignition_started = ign;
}
// sample speed, really only care if car is moving or not
// rear left wheel speed
if (addr == 842) {
@@ -224,41 +216,13 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void gm_init(int16_t param) {
UNUSED(param);
controls_allowed = 0;
gm_ignition_started = 0;
}
static int gm_ign_hook(void) {
return gm_ignition_started;
}
// All sending is disallowed.
// The only difference from "no output" model
// is using GM ignition hook.
static void gm_passive_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus_number = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
if ((addr == 0x1F1) && (bus_number == 0)) {
bool ign = (GET_BYTE(to_push, 0) & 0x20) != 0;
gm_ignition_started = ign;
}
}
const safety_hooks gm_hooks = {
.init = gm_init,
.rx = gm_rx_hook,
.tx = gm_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = gm_ign_hook,
.fwd = default_fwd_hook,
};
const safety_hooks gm_passive_hooks = {
.init = gm_init,
.rx = gm_passive_rx_hook,
.tx = nooutput_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = gm_ign_hook,
.fwd = default_fwd_hook,
};
board/safety/safety_gm_ascm.h
-1
View File
@@ -39,7 +39,6 @@ const safety_hooks gm_ascm_hooks = {
.rx = default_rx_hook,
.tx = alloutput_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = gm_ascm_fwd_hook,
};
board/safety/safety_honda.h
+3 -5
View File
@@ -156,7 +156,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
// This avoids unintended engagements while still allowing resume spam
int bus_pt = ((hw_type == HW_TYPE_BLACK_PANDA) && honda_bosch_hardware)? 1 : 0;
int bus_pt = ((board_has_relay()) && honda_bosch_hardware)? 1 : 0;
if ((addr == 0x296) && honda_bosch_hardware &&
!current_controls_allowed && (bus == bus_pt)) {
if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
@@ -210,8 +210,8 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int bus_fwd = -1;
int bus_rdr_cam = (hw_type == HW_TYPE_BLACK_PANDA) ? 2 : 1; // radar bus, camera side
int bus_rdr_car = (hw_type == HW_TYPE_BLACK_PANDA) ? 0 : 2; // radar bus, car side
int bus_rdr_cam = (board_has_relay()) ? 2 : 1; // radar bus, camera side
int bus_rdr_car = (board_has_relay()) ? 0 : 2; // radar bus, car side
if (bus_num == bus_rdr_car) {
bus_fwd = bus_rdr_cam;
@@ -231,7 +231,6 @@ const safety_hooks honda_hooks = {
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = honda_fwd_hook,
};
@@ -240,6 +239,5 @@ const safety_hooks honda_bosch_hooks = {
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = honda_bosch_fwd_hook,
};
board/safety/safety_hyundai.h
-1
View File
@@ -155,6 +155,5 @@ const safety_hooks hyundai_hooks = {
.rx = hyundai_rx_hook,
.tx = hyundai_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = hyundai_fwd_hook,
};
board/safety/safety_mazda.h
-1
View File
@@ -164,6 +164,5 @@ const safety_hooks mazda_hooks = {
.rx = mazda_rx_hook,
.tx = mazda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = mazda_fwd_hook,
};
board/safety/safety_subaru.h
-1
View File
@@ -124,6 +124,5 @@ const safety_hooks subaru_hooks = {
.rx = subaru_rx_hook,
.tx = subaru_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = subaru_fwd_hook,
};
board/safety/safety_tesla.h
-16
View File
@@ -39,9 +39,6 @@ int tesla_gas_prev = 0;
int tesla_speed = 0;
int eac_status = 0;
int tesla_ignition_started = 0;
void set_gmlan_digital_output(int to_set);
void reset_gmlan_switch_timeout(void);
void gmlan_switch_init(int timeout_enable);
@@ -66,13 +63,6 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
}
// Detect drive rail on (ignition) (start recording)
if (addr == 0x348) {
// GTW_status
int drive_rail_on = GET_BYTE(to_push, 0) & 0x1;
tesla_ignition_started = drive_rail_on == 1;
}
// exit controls on brake press
// DI_torque2::DI_brakePedal 0x118
if (addr == 0x118) {
@@ -183,14 +173,9 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void tesla_init(int16_t param) {
UNUSED(param);
controls_allowed = 0;
tesla_ignition_started = 0;
gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
}
static int tesla_ign_hook(void) {
return tesla_ignition_started;
}
static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int bus_fwd = -1;
@@ -224,6 +209,5 @@ const safety_hooks tesla_hooks = {
.rx = tesla_rx_hook,
.tx = tesla_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = tesla_ign_hook,
.fwd = tesla_fwd_hook,
};
board/safety/safety_toyota.h
-1
View File
@@ -224,6 +224,5 @@ const safety_hooks toyota_hooks = {
.rx = toyota_rx_hook,
.tx = toyota_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = toyota_fwd_hook,
};
board/safety/safety_toyota_ipas.h
-1
View File
@@ -164,6 +164,5 @@ const safety_hooks toyota_ipas_hooks = {
.rx = toyota_ipas_rx_hook,
.tx = toyota_ipas_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = toyota_fwd_hook,
};
board/safety/safety_volkswagen.h
+167
View File
@@ -0,0 +1,167 @@
const int VOLKSWAGEN_MAX_STEER = 250; // 2.5 Nm (EPS side max of 3.0Nm with fault if violated)
const int VOLKSWAGEN_MAX_RT_DELTA = 75; // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
const uint32_t VOLKSWAGEN_RT_INTERVAL = 250000; // 250ms between real time checks
const int VOLKSWAGEN_MAX_RATE_UP = 4; // 2.0 Nm/s available rate of change from the steering rack (EPS side delta-limit of 5.0 Nm/s)
const int VOLKSWAGEN_MAX_RATE_DOWN = 10; // 5.0 Nm/s available rate of change from the steering rack (EPS side delta-limit of 5.0 Nm/s)
const int VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE = 80;
const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;
struct sample_t volkswagen_torque_driver; // last few driver torques measured
int volkswagen_rt_torque_last = 0;
int volkswagen_desired_torque_last = 0;
uint32_t volkswagen_ts_last = 0;
int volkswagen_gas_prev = 0;
// Safety-relevant CAN messages for the Volkswagen MQB platform.
#define MSG_EPS_01 0x09F
#define MSG_MOTOR_20 0x121
#define MSG_ACC_06 0x122
#define MSG_HCA_01 0x126
#define MSG_GRA_ACC_01 0x12B
#define MSG_LDW_02 0x397
#define MSG_KLEMMEN_STATUS_01 0x3C0
static void volkswagen_init(int16_t param) {
UNUSED(param); // May use param in the future to indicate MQB vs PQ35/PQ46/NMS vs MLB, or wiring configuration.
controls_allowed = 0;
}
static void volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
// Update driver input torque samples from EPS_01.Driver_Strain for absolute torque, and EPS_01.Driver_Strain_VZ
// for the direction.
if ((bus == 0) && (addr == MSG_EPS_01)) {
int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
if (sign == 1) {
torque_driver_new *= -1;
}
update_sample(&volkswagen_torque_driver, torque_driver_new);
}
// Monitor ACC_06.ACC_Status_ACC for stock ACC status. Because the current MQB port is lateral-only, OP's control
// allowed state is directly driven by stock ACC engagement. Permit the ACC message to come from either bus, in
// order to accommodate future camera-side integrations if needed.
if (addr == MSG_ACC_06) {
int acc_status = (GET_BYTE(to_push, 7) & 0x70) >> 4;
controls_allowed = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
}
// exit controls on rising edge of gas press. Bits [12-20)
if (addr == MSG_MOTOR_20) {
int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
if ((gas > 0) && (volkswagen_gas_prev == 0) && long_controls_allowed) {
controls_allowed = 0;
}
volkswagen_gas_prev = gas;
}
}
static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
int tx = 1;
// Safety check for HCA_01 Heading Control Assist torque.
if (addr == MSG_HCA_01) {
bool violation = false;
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3F) << 8);
int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
if (sign == 1) {
desired_torque *= -1;
}
uint32_t ts = TIM2->CNT;
if (controls_allowed) {
// *** global torque limit check ***
violation |= max_limit_check(desired_torque, VOLKSWAGEN_MAX_STEER, -VOLKSWAGEN_MAX_STEER);
// *** torque rate limit check ***
violation |= driver_limit_check(desired_torque, volkswagen_desired_torque_last, &volkswagen_torque_driver,
VOLKSWAGEN_MAX_STEER, VOLKSWAGEN_MAX_RATE_UP, VOLKSWAGEN_MAX_RATE_DOWN,
VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE, VOLKSWAGEN_DRIVER_TORQUE_FACTOR);
volkswagen_desired_torque_last = desired_torque;
// *** torque real time rate limit check ***
violation |= rt_rate_limit_check(desired_torque, volkswagen_rt_torque_last, VOLKSWAGEN_MAX_RT_DELTA);
// every RT_INTERVAL set the new limits
uint32_t ts_elapsed = get_ts_elapsed(ts, volkswagen_ts_last);
if (ts_elapsed > VOLKSWAGEN_RT_INTERVAL) {
volkswagen_rt_torque_last = desired_torque;
volkswagen_ts_last = ts;
}
}
// no torque if controls is not allowed
if (!controls_allowed && (desired_torque != 0)) {
violation = true;
}
// reset to 0 if either controls is not allowed or there's a violation
if (violation || !controls_allowed) {
volkswagen_desired_torque_last = 0;
volkswagen_rt_torque_last = 0;
volkswagen_ts_last = ts;
}
if (violation) {
tx = 0;
}
}
// FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
// This avoids unintended engagements while still allowing resume spam
if ((bus == 2) && (addr == MSG_GRA_ACC_01) && !controls_allowed) {
// disallow resume and set: bits 16 and 19
if ((GET_BYTE(to_send, 2) & 0x9) != 0) {
tx = 0;
}
}
// 1 allows the message through
return tx;
}
static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int addr = GET_ADDR(to_fwd);
int bus_fwd = -1;
// NOTE: Will need refactoring for other bus layouts, such as no-forwarding at camera or J533 running-gear CAN
switch (bus_num) {
case 0:
// Forward all traffic from J533 gateway to Extended CAN devices.
bus_fwd = 2;
break;
case 2:
if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) {
// OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera.
bus_fwd = -1;
} else {
// Forward all remaining traffic from Extended CAN devices to J533 gateway.
bus_fwd = 0;
}
break;
default:
// No other buses should be in use; fallback to do-not-forward.
bus_fwd = -1;
break;
}
return bus_fwd;
}
const safety_hooks volkswagen_hooks = {
.init = volkswagen_init,
.rx = volkswagen_rx_hook,
.tx = volkswagen_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = volkswagen_fwd_hook,
};
board/safety_declarations.h
-3
View File
@@ -14,7 +14,6 @@ struct lookup_t {
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
int safety_ignition_hook(void);
uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
int to_signed(int d, int bits);
void update_sample(struct sample_t *sample, int sample_new);
@@ -31,12 +30,10 @@ typedef void (*safety_hook_init)(int16_t param);
typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
typedef int (*ign_hook)(void);
typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
typedef struct {
safety_hook_init init;
ign_hook ignition;
rx_hook rx;
tx_hook tx;
tx_lin_hook tx_lin;
board/tools/enter_download_mode.py
+1 -1
View File
@@ -11,7 +11,7 @@ def enter_download_mode(device):
try:
handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, b'')
except (usb1.USBErrorIO, usb1.USBErrorPipe) as e:
except (usb1.USBErrorIO, usb1.USBErrorPipe):
print("Device download mode enabled.")
time.sleep(1)
else:
crypto/getcertheader.py
-1
View File
@@ -1,6 +1,5 @@
#!/usr/bin/env python3
import sys
import struct
from Crypto.PublicKey import RSA
def egcd(a, b):
examples/can_bit_transition.py
-2
View File
@@ -1,6 +1,4 @@
#!/usr/bin/env python3
import binascii
import csv
import sys
examples/can_unique.py
-2
View File
@@ -13,10 +13,8 @@
# 0,344,c000c00000000000
import binascii
import csv
import sys
from panda import Panda
class Message():
"""Details about a specific message ID."""
examples/eps_read_software_ids.py
Executable
+59
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@@ -0,0 +1,59 @@
#!/usr/bin/env python3
from panda import Panda
from panda.python.uds import UdsClient, NegativeResponseError, DATA_IDENTIFIER_TYPE
if __name__ == "__main__":
address = 0x18da30f1 # Honda EPS
panda = Panda()
uds_client = UdsClient(panda, address, debug=False)
print("tester present ...")
uds_client.tester_present()
try:
print("")
print("read data by id: boot software id ...")
data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.BOOT_SOFTWARE_IDENTIFICATION)
print(data.decode('utf-8'))
except NegativeResponseError as e:
print(e)
try:
print("")
print("read data by id: application software id ...")
data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
print(data.decode('utf-8'))
except NegativeResponseError as e:
print(e)
try:
print("")
print("read data by id: application data id ...")
data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
print(data.decode('utf-8'))
except NegativeResponseError as e:
print(e)
try:
print("")
print("read data by id: boot software fingerprint ...")
data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.BOOT_SOFTWARE_FINGERPRINT)
print(data.decode('utf-8'))
except NegativeResponseError as e:
print(e)
try:
print("")
print("read data by id: application software fingerprint ...")
data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_FINGERPRINT)
print(data.decode('utf-8'))
except NegativeResponseError as e:
print(e)
try:
print("")
print("read data by id: application data fingerprint ...")
data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_FINGERPRINT)
print(data.decode('utf-8'))
except NegativeResponseError as e:
print(e)
examples/get_panda_password.py
+1
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@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import sys
from panda import Panda
def get_panda_password():
examples/query_vin_and_stats.py
+6 -5
View File
@@ -8,9 +8,10 @@ from panda.python.isotp import isotp_send, isotp_recv
# 0x7e0 = Toyota
# 0x18DB33F1 for Honda?
def get_current_data_for_pid(pid):
# 01 xx = Show current data
isotp_send(panda, "\x01"+chr(pid), 0x7e0)
isotp_send(panda, b"\x01"+ bytes([pid]), 0x7e0)
return isotp_recv(panda, 0x7e8)
def get_supported_pids():
@@ -33,15 +34,15 @@ if __name__ == "__main__":
panda.can_clear(0)
# 09 02 = Get VIN
isotp_send(panda, "\x09\x02", 0x7df)
isotp_send(panda, b"\x09\x02", 0x7df)
ret = isotp_recv(panda, 0x7e8)
hexdump(ret)
print("VIN: %s" % ret[2:])
print("VIN: %s" % "".join(map(chr, ret[:2])))
# 03 = get DTCS
isotp_send(panda, "\x03", 0x7e0)
isotp_send(panda, b"\x03", 0x7e0)
dtcs = isotp_recv(panda, 0x7e8)
print("DTCs:", dtcs[2:].encode("hex"))
print("DTCs:", "".join(map(chr, dtcs[:2])))
supported_pids = get_supported_pids()
print("Supported PIDs:",supported_pids)
examples/tesla_tester.py
+2 -2
View File
@@ -29,11 +29,11 @@ def tesla_tester():
# BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more. For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
print("Unlocking Tesla...")
p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)
p.can_send(0x248, b"\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)
#Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both)
print("Opening Frunk...")
p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
p.can_send(0x248, b"\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
#Back to safety...
print("Disabling output on Panda...")
python/__init__.py
+45 -13
View File
@@ -1,5 +1,5 @@
# python library to interface with panda
import datetime
import binascii
import struct
import hashlib
@@ -10,10 +10,10 @@ import time
import traceback
import subprocess
from .dfu import PandaDFU
from .esptool import ESPROM, CesantaFlasher
from .flash_release import flash_release
from .update import ensure_st_up_to_date
from .serial import PandaSerial
from .esptool import ESPROM, CesantaFlasher # noqa: F401
from .flash_release import flash_release # noqa: F401
from .update import ensure_st_up_to_date # noqa: F401
from .serial import PandaSerial # noqa: F401
from .isotp import isotp_send, isotp_recv
__version__ = '0.0.9'
@@ -27,10 +27,10 @@ def build_st(target, mkfile="Makefile"):
from panda import BASEDIR
cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
try:
output = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
except subprocess.CalledProcessError as exception:
output = exception.output
returncode = exception.returncode
_ = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
except subprocess.CalledProcessError:
#output = exception.output
#returncode = exception.returncode
raise
def parse_can_buffer(dat):
@@ -122,8 +122,8 @@ class Panda(object):
SAFETY_CHRYSLER = 9
SAFETY_TESLA = 10
SAFETY_SUBARU = 11
SAFETY_GM_PASSIVE = 12
SAFETY_MAZDA = 13
SAFETY_VOLKSWAGEN = 15
SAFETY_TOYOTA_IPAS = 16
SAFETY_ALLOUTPUT = 17
SAFETY_GM_ASCM = 18
@@ -144,6 +144,7 @@ class Panda(object):
HW_TYPE_GREY_PANDA = b'\x02'
HW_TYPE_BLACK_PANDA = b'\x03'
HW_TYPE_PEDAL = b'\x04'
HW_TYPE_UNO = b'\x05'
def __init__(self, serial=None, claim=True):
self._serial = serial
@@ -382,11 +383,14 @@ class Panda(object):
def is_black(self):
return self.get_type() == Panda.HW_TYPE_BLACK_PANDA
def is_uno(self):
return self.get_type() == Panda.HW_TYPE_UNO
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
assert(hashsig == calc_hash)
return [dat[0:0x10], dat[0x10:0x10+10]]
return [dat[0:0x10].decode("utf8"), dat[0x10:0x10+10].decode("utf8")]
def get_secret(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10)
@@ -557,7 +561,7 @@ class Panda(object):
def kline_ll_recv(self, cnt, bus=2):
echo = bytearray()
while len(echo) != cnt:
ret = str(self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo)))
ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo))
if DEBUG and len(ret) > 0:
print("kline recv: " + binascii.hexlify(ret))
echo += ret
@@ -577,7 +581,7 @@ class Panda(object):
ts = x[i:i+0xf]
if DEBUG:
print("kline send: " + binascii.hexlify(ts))
self._handle.bulkWrite(2, chr(bus).encode()+ts)
self._handle.bulkWrite(2, bytes([bus]) + ts)
echo = self.kline_ll_recv(len(ts), bus=bus)
if echo != ts:
print("**** ECHO ERROR %d ****" % i)
@@ -592,3 +596,31 @@ class Panda(object):
def send_heartbeat(self):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, 0, 0, b'')
# ******************* RTC *******************
def set_datetime(self, dt):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa1, int(dt.year), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa2, int(dt.month), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa3, int(dt.day), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa4, int(dt.isoweekday()), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa5, int(dt.hour), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa6, int(dt.minute), 0, b'')
self._handle.controlWrite(Panda.REQUEST_OUT, 0xa7, int(dt.second), 0, b'')
def get_datetime(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa0, 0, 0, 8)
a = struct.unpack("HBBBBBB", dat)
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
# ******************* IR *******************
def set_ir_power(self, percentage):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb0, int(percentage), 0, b'')
# ******************* Fan ******************
def set_fan_power(self, percentage):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb1, int(percentage), 0, b'')
def get_fan_rpm(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xb2, 0, 0, 2)
a = struct.unpack("H", dat)
return a[0]
python/dfu.py
+1 -3
View File
@@ -1,8 +1,6 @@
import os
import usb1
import struct
import time
import binascii
# *** DFU mode ***
@@ -116,6 +114,6 @@ class PandaDFU(object):
self.status()
try:
self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")
stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
_ = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
except Exception:
pass
python/esptool.py
+7 -7
View File
@@ -29,7 +29,7 @@ import subprocess
import sys
import tempfile
import time
import traceback
#import traceback
import usb1
__version__ = "1.2"
@@ -44,7 +44,7 @@ class FakePort(object):
@property
def baudrate(self):
return self._baudrate
return self.baudrate
@baudrate.setter
def baudrate(self, x):
@@ -434,7 +434,7 @@ class BaseFirmwareImage(object):
def write_v1_header(self, f, segments):
f.write(struct.pack('<BBBBI', ESPROM.ESP_IMAGE_MAGIC, len(segments),
self.flash_mode, self.flash_size_freq, self.entrypoint))
self.flash_mode, self.flash_size_freq, self.entrypoint)) # pylint: disable=no-member
class ESPFirmwareImage(BaseFirmwareImage):
@@ -864,7 +864,7 @@ def write_mem(esp, args):
def dump_mem(esp, args):
f = file(args.filename, 'wb')
f = open(args.filename, 'wb')
for i in range(args.size / 4):
d = esp.read_reg(args.address + (i * 4))
f.write(struct.pack('<I', d))
@@ -944,7 +944,7 @@ def make_image(args):
if len(args.segfile) != len(args.segaddr):
raise FatalError('Number of specified files does not match number of specified addresses')
for (seg, addr) in zip(args.segfile, args.segaddr):
data = file(seg, 'rb').read()
data = open(seg, 'rb').read()
image.add_segment(addr, data)
image.entrypoint = args.entrypoint
image.save(args.output)
@@ -1026,7 +1026,7 @@ def read_flash(esp, args):
t = time.time() - t
print('\rRead %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
% (len(data), args.address, t, len(data) / t * 8 / 1000))
file(args.filename, 'wb').write(data)
open(args.filename, 'wb').write(data)
def _verify_flash(flasher, args, flash_params=None):
@@ -1235,7 +1235,7 @@ class AddrFilenamePairAction(argparse.Action):
for i in range(0,len(values),2):
try:
address = int(values[i],0)
except ValueError as e:
except ValueError:
raise argparse.ArgumentError(self,'Address "%s" must be a number' % values[i])
try:
argfile = open(values[i + 1], 'rb')
python/isotp.py
+9 -9
View File
@@ -6,7 +6,7 @@ def msg(x):
if DEBUG:
print("S:", binascii.hexlify(x))
if len(x) <= 7:
ret = chr(len(x)) + x
ret = bytes([len(x)]) + x
else:
assert False
return ret.ljust(8, b"\x00")
@@ -40,7 +40,7 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
dat = msg[3:]
# 0 block size?
CONTINUE = chr(subaddr).encode("utf8") + b"\x30" + b"\x00"*6
CONTINUE = bytes([subaddr]) + b"\x30" + b"\x00"*6
panda.can_send(sendaddr, CONTINUE, bus)
idx = 1
@@ -68,22 +68,22 @@ def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None):
if len(x) <= 7 and subaddr is None:
panda.can_send(addr, msg(x), bus)
elif len(x) <= 6 and subaddr is not None:
panda.can_send(addr, chr(subaddr)+msg(x)[0:7], bus)
panda.can_send(addr, bytes([subaddr]) + msg(x)[0:7], bus)
else:
if subaddr:
ss = (chr(subaddr) + chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF)).encode("utf8") + x[0:5]
ss = bytes([subaddr, 0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:5]
x = x[5:]
else:
ss = (chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF)).encode("utf8") + x[0:6]
ss = bytes([0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:6]
x = x[6:]
idx = 1
sends = []
while len(x) > 0:
if subaddr:
sends.append((((chr(subaddr) + chr(0x20 + (idx&0xF))).encode('utf8') + x[0:6]).ljust(8, b"\x00")))
sends.append(((bytes([subaddr, 0x20 + (idx & 0xF)]) + x[0:6]).ljust(8, b"\x00")))
x = x[6:]
else:
sends.append(((chr(0x20 + (idx&0xF)).encode("utf8") + x[0:7]).ljust(8, b"\x00")))
sends.append(((bytes([0x20 + (idx & 0xF)]) + x[0:7]).ljust(8, b"\x00")))
x = x[7:]
idx += 1
@@ -107,7 +107,7 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
else:
msg = recv(panda, 1, addr, bus)[0]
if msg[0]&0xf0 == 0x10:
if msg[0] & 0xf0 == 0x10:
# first
tlen = ((msg[0] & 0xf) << 8) | msg[1]
dat = msg[2:]
@@ -122,7 +122,7 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
assert mm[0] == (0x20 | (idx&0xF))
dat += mm[1:]
idx += 1
elif msg[0]&0xf0 == 0x00:
elif msg[0] & 0xf0 == 0x00:
# single
tlen = msg[0] & 0xf
dat = msg[1:]
python/serial.py
+1 -4
View File
@@ -19,10 +19,7 @@ class PandaSerial(object):
def write(self, dat):
#print "W: ", dat.encode("hex")
#print ' pigeon_send("' + ''.join(map(lambda x: "\\x%02X" % ord(x), dat)) + '");'
if(isinstance(dat, bytes)):
return self.panda.serial_write(self.port, dat)
else:
return self.panda.serial_write(self.port, str.encode(dat))
return self.panda.serial_write(self.port, dat)
def close(self):
pass
python/uds.py
+770
View File
@@ -0,0 +1,770 @@
#!/usr/bin/env python3
import time
import struct
from typing import NamedTuple, List
from enum import IntEnum
from queue import Queue, Empty
from threading import Thread
from binascii import hexlify
class SERVICE_TYPE(IntEnum):
DIAGNOSTIC_SESSION_CONTROL = 0x10
ECU_RESET = 0x11
SECURITY_ACCESS = 0x27
COMMUNICATION_CONTROL = 0x28
TESTER_PRESENT = 0x3E
ACCESS_TIMING_PARAMETER = 0x83
SECURED_DATA_TRANSMISSION = 0x84
CONTROL_DTC_SETTING = 0x85
RESPONSE_ON_EVENT = 0x86
LINK_CONTROL = 0x87
READ_DATA_BY_IDENTIFIER = 0x22
READ_MEMORY_BY_ADDRESS = 0x23
READ_SCALING_DATA_BY_IDENTIFIER = 0x24
READ_DATA_BY_PERIODIC_IDENTIFIER = 0x2A
DYNAMICALLY_DEFINE_DATA_IDENTIFIER = 0x2C
WRITE_DATA_BY_IDENTIFIER = 0x2E
WRITE_MEMORY_BY_ADDRESS = 0x3D
CLEAR_DIAGNOSTIC_INFORMATION = 0x14
READ_DTC_INFORMATION = 0x19
INPUT_OUTPUT_CONTROL_BY_IDENTIFIER = 0x2F
ROUTINE_CONTROL = 0x31
REQUEST_DOWNLOAD = 0x34
REQUEST_UPLOAD = 0x35
TRANSFER_DATA = 0x36
REQUEST_TRANSFER_EXIT = 0x37
class SESSION_TYPE(IntEnum):
DEFAULT = 1
PROGRAMMING = 2
EXTENDED_DIAGNOSTIC = 3
SAFETY_SYSTEM_DIAGNOSTIC = 4
class RESET_TYPE(IntEnum):
HARD = 1
KEY_OFF_ON = 2
SOFT = 3
ENABLE_RAPID_POWER_SHUTDOWN = 4
DISABLE_RAPID_POWER_SHUTDOWN = 5
class ACCESS_TYPE(IntEnum):
REQUEST_SEED = 1
SEND_KEY = 2
class CONTROL_TYPE(IntEnum):
ENABLE_RX_ENABLE_TX = 0
ENABLE_RX_DISABLE_TX = 1
DISABLE_RX_ENABLE_TX = 2
DISABLE_RX_DISABLE_TX = 3
class MESSAGE_TYPE(IntEnum):
NORMAL = 1
NETWORK_MANAGEMENT = 2
NORMAL_AND_NETWORK_MANAGEMENT = 3
class TIMING_PARAMETER_TYPE(IntEnum):
READ_EXTENDED_SET = 1
SET_TO_DEFAULT_VALUES = 2
READ_CURRENTLY_ACTIVE = 3
SET_TO_GIVEN_VALUES = 4
class DTC_SETTING_TYPE(IntEnum):
ON = 1
OFF = 2
class RESPONSE_EVENT_TYPE(IntEnum):
STOP_RESPONSE_ON_EVENT = 0
ON_DTC_STATUS_CHANGE = 1
ON_TIMER_INTERRUPT = 2
ON_CHANGE_OF_DATA_IDENTIFIER = 3
REPORT_ACTIVATED_EVENTS = 4
START_RESPONSE_ON_EVENT = 5
CLEAR_RESPONSE_ON_EVENT = 6
ON_COMPARISON_OF_VALUES = 7
class LINK_CONTROL_TYPE(IntEnum):
VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE = 1
VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE = 2
TRANSITION_BAUDRATE = 3
class BAUD_RATE_TYPE(IntEnum):
PC9600 = 1
PC19200 = 2
PC38400 = 3
PC57600 = 4
PC115200 = 5
CAN125000 = 16
CAN250000 = 17
CAN500000 = 18
CAN1000000 = 19
class DATA_IDENTIFIER_TYPE(IntEnum):
BOOT_SOFTWARE_IDENTIFICATION = 0xF180
APPLICATION_SOFTWARE_IDENTIFICATION = 0xF181
APPLICATION_DATA_IDENTIFICATION = 0xF182
BOOT_SOFTWARE_FINGERPRINT = 0xF183
APPLICATION_SOFTWARE_FINGERPRINT = 0xF184
APPLICATION_DATA_FINGERPRINT = 0xF185
ACTIVE_DIAGNOSTIC_SESSION = 0xF186
VEHICLE_MANUFACTURER_SPARE_PART_NUMBER = 0xF187
VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER = 0xF188
VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER = 0xF189
SYSTEM_SUPPLIER_IDENTIFIER = 0xF18A
ECU_MANUFACTURING_DATE = 0xF18B
ECU_SERIAL_NUMBER = 0xF18C
SUPPORTED_FUNCTIONAL_UNITS = 0xF18D
VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER = 0xF18E
VIN = 0xF190
VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER = 0xF191
SYSTEM_SUPPLIER_ECU_HARDWARE_NUMBER = 0xF192
SYSTEM_SUPPLIER_ECU_HARDWARE_VERSION_NUMBER = 0xF193
SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER = 0xF194
SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER = 0xF195
EXHAUST_REGULATION_OR_TYPE_APPROVAL_NUMBER = 0xF196
SYSTEM_NAME_OR_ENGINE_TYPE = 0xF197
REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER = 0xF198
PROGRAMMING_DATE = 0xF199
CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER = 0xF19A
CALIBRATION_DATE = 0xF19B
CALIBRATION_EQUIPMENT_SOFTWARE_NUMBER = 0xF19C
ECU_INSTALLATION_DATE = 0xF19D
ODX_FILE = 0xF19E
ENTITY = 0xF19F
class TRANSMISSION_MODE_TYPE(IntEnum):
SEND_AT_SLOW_RATE = 1
SEND_AT_MEDIUM_RATE = 2
SEND_AT_FAST_RATE = 3
STOP_SENDING = 4
class DYNAMIC_DEFINITION_TYPE(IntEnum):
DEFINE_BY_IDENTIFIER = 1
DEFINE_BY_MEMORY_ADDRESS = 2
CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER = 3
class DynamicSourceDefinition(NamedTuple):
data_identifier: int
position: int
memory_size: int
memory_address: int
class DTC_GROUP_TYPE(IntEnum):
EMISSIONS = 0x000000
ALL = 0xFFFFFF
class DTC_REPORT_TYPE(IntEnum):
NUMBER_OF_DTC_BY_STATUS_MASK = 0x01
DTC_BY_STATUS_MASK = 0x02
DTC_SNAPSHOT_IDENTIFICATION = 0x03
DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER = 0x04
DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER = 0x05
DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER = 0x06
NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD = 0x07
DTC_BY_SEVERITY_MASK_RECORD = 0x08
SEVERITY_INFORMATION_OF_DTC = 0x09
SUPPORTED_DTC = 0x0A
FIRST_TEST_FAILED_DTC = 0x0B
FIRST_CONFIRMED_DTC = 0x0C
MOST_RECENT_TEST_FAILED_DTC = 0x0D
MOST_RECENT_CONFIRMED_DTC = 0x0E
MIRROR_MEMORY_DTC_BY_STATUS_MASK = 0x0F
MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER = 0x10
NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK = 0x11
NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK = 0x12
EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK = 0x13
DTC_FAULT_DETECTION_COUNTER = 0x14
DTC_WITH_PERMANENT_STATUS = 0x15
class DTC_STATUS_MASK_TYPE(IntEnum):
TEST_FAILED = 0x01
TEST_FAILED_THIS_OPERATION_CYCLE = 0x02
PENDING_DTC = 0x04
CONFIRMED_DTC = 0x08
TEST_NOT_COMPLETED_SINCE_LAST_CLEAR = 0x10
TEST_FAILED_SINCE_LAST_CLEAR = 0x20
TEST_NOT_COMPLETED_THIS_OPERATION_CYCLE = 0x40
WARNING_INDICATOR_REQUESTED = 0x80
ALL = 0xFF
class DTC_SEVERITY_MASK_TYPE(IntEnum):
MAINTENANCE_ONLY = 0x20
CHECK_AT_NEXT_HALT = 0x40
CHECK_IMMEDIATELY = 0x80
ALL = 0xE0
class CONTROL_PARAMETER_TYPE(IntEnum):
RETURN_CONTROL_TO_ECU = 0
RESET_TO_DEFAULT = 1
FREEZE_CURRENT_STATE = 2
SHORT_TERM_ADJUSTMENT = 3
class ROUTINE_CONTROL_TYPE(IntEnum):
START = 1
STOP = 2
REQUEST_RESULTS = 3
class ROUTINE_IDENTIFIER_TYPE(IntEnum):
ERASE_MEMORY = 0xFF00
CHECK_PROGRAMMING_DEPENDENCIES = 0xFF01
ERASE_MIRROR_MEMORY_DTCS = 0xFF02
class MessageTimeoutError(Exception):
pass
class NegativeResponseError(Exception):
def __init__(self, message, service_id, error_code):
self.message = message
self.service_id = service_id
self.error_code = error_code
def __str__(self):
return self.message
class InvalidServiceIdError(Exception):
pass
class InvalidSubFunctioneError(Exception):
pass
_negative_response_codes = {
0x00: 'positive response',
0x10: 'general reject',
0x11: 'service not supported',
0x12: 'sub-function not supported',
0x13: 'incorrect message length or invalid format',
0x14: 'response too long',
0x21: 'busy repeat request',
0x22: 'conditions not correct',
0x24: 'request sequence error',
0x25: 'no response from subnet component',
0x26: 'failure prevents execution of requested action',
0x31: 'request out of range',
0x33: 'security access denied',
0x35: 'invalid key',
0x36: 'exceed numebr of attempts',
0x37: 'required time delay not expired',
0x70: 'upload download not accepted',
0x71: 'transfer data suspended',
0x72: 'general programming failure',
0x73: 'wrong block sequence counter',
0x78: 'request correctly received - response pending',
0x7e: 'sub-function not supported in active session',
0x7f: 'service not supported in active session',
0x81: 'rpm too high',
0x82: 'rpm too low',
0x83: 'engine is running',
0x84: 'engine is not running',
0x85: 'engine run time too low',
0x86: 'temperature too high',
0x87: 'temperature too low',
0x88: 'vehicle speed too high',
0x89: 'vehicle speed too low',
0x8a: 'throttle/pedal too high',
0x8b: 'throttle/pedal too low',
0x8c: 'transmission not in neutral',
0x8d: 'transmission not in gear',
0x8f: 'brake switch(es) not closed',
0x90: 'shifter lever not in park',
0x91: 'torque converter clutch locked',
0x92: 'voltage too high',
0x93: 'voltage too low',
}
class IsoTpMessage():
def __init__(self, can_tx_queue: Queue, can_rx_queue: Queue, timeout: float, debug: bool=False):
self.can_tx_queue = can_tx_queue
self.can_rx_queue = can_rx_queue
self.timeout = timeout
self.debug = debug
def send(self, dat: bytes) -> None:
self.tx_dat = dat
self.tx_len = len(dat)
self.tx_idx = 0
self.tx_done = False
if self.debug: print(f"ISO-TP: REQUEST - {hexlify(self.tx_dat)}")
self._tx_first_frame()
def _tx_first_frame(self) -> None:
if self.tx_len < 8:
# single frame (send all bytes)
if self.debug: print("ISO-TP: TX - single frame")
msg = (bytes([self.tx_len]) + self.tx_dat).ljust(8, b"\x00")
self.tx_done = True
else:
# first frame (send first 6 bytes)
if self.debug: print("ISO-TP: TX - first frame")
msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:6]).ljust(8, b"\x00")
self.can_tx_queue.put(msg)
def recv(self) -> bytes:
self.rx_dat = b""
self.rx_len = 0
self.rx_idx = 0
self.rx_done = False
try:
while True:
self._isotp_rx_next()
if self.tx_done and self.rx_done:
return self.rx_dat
except Empty:
raise MessageTimeoutError("timeout waiting for response")
finally:
if self.debug: print(f"ISO-TP: RESPONSE - {hexlify(self.rx_dat)}")
def _isotp_rx_next(self) -> None:
rx_data = self.can_rx_queue.get(block=True, timeout=self.timeout)
# single rx_frame
if rx_data[0] >> 4 == 0x0:
self.rx_len = rx_data[0] & 0xFF
self.rx_dat = rx_data[1:1+self.rx_len]
self.rx_idx = 0
self.rx_done = True
if self.debug: print(f"ISO-TP: RX - single frame - idx={self.rx_idx} done={self.rx_done}")
return
# first rx_frame
if rx_data[0] >> 4 == 0x1:
self.rx_len = ((rx_data[0] & 0x0F) << 8) + rx_data[1]
self.rx_dat = rx_data[2:]
self.rx_idx = 0
self.rx_done = False
if self.debug: print(f"ISO-TP: RX - first frame - idx={self.rx_idx} done={self.rx_done}")
if self.debug: print(f"ISO-TP: TX - flow control continue")
# send flow control message (send all bytes)
msg = b"\x30\x00\x00".ljust(8, b"\x00")
self.can_tx_queue.put(msg)
return
# consecutive rx frame
if rx_data[0] >> 4 == 0x2:
assert self.rx_done == False, "isotp - rx: consecutive frame with no active frame"
self.rx_idx += 1
assert self.rx_idx & 0xF == rx_data[0] & 0xF, "isotp - rx: invalid consecutive frame index"
rx_size = self.rx_len - len(self.rx_dat)
self.rx_dat += rx_data[1:1+min(rx_size, 7)]
if self.rx_len == len(self.rx_dat):
self.rx_done = True
if self.debug: print(f"ISO-TP: RX - consecutive frame - idx={self.rx_idx} done={self.rx_done}")
return
# flow control
if rx_data[0] >> 4 == 0x3:
assert self.tx_done == False, "isotp - rx: flow control with no active frame"
assert rx_data[0] != 0x32, "isotp - rx: flow-control overflow/abort"
assert rx_data[0] == 0x30 or rx_data[0] == 0x31, "isotp - rx: flow-control transfer state indicator invalid"
if rx_data[0] == 0x30:
if self.debug: print("ISO-TP: RX - flow control continue")
delay_ts = rx_data[2] & 0x7F
# scale is 1 milliseconds if first bit == 0, 100 micro seconds if first bit == 1
delay_div = 1000. if rx_data[2] & 0x80 == 0 else 10000.
# first frame = 6 bytes, each consecutive frame = 7 bytes
start = 6 + self.tx_idx * 7
count = rx_data[1]
end = start + count * 7 if count > 0 else self.tx_len
for i in range(start, end, 7):
if delay_ts > 0 and i > start:
delay_s = delay_ts / delay_div
if self.debug: print(f"ISO-TP: TX - delay - seconds={delay_s}")
time.sleep(delay_s)
self.tx_idx += 1
# consecutive tx frames
msg = (bytes([0x20 | (self.tx_idx & 0xF)]) + self.tx_dat[i:i+7]).ljust(8, b"\x00")
self.can_tx_queue.put(msg)
if end >= self.tx_len:
self.tx_done = True
if self.debug: print(f"ISO-TP: TX - consecutive frame - idx={self.tx_idx} done={self.tx_done}")
elif rx_data[0] == 0x31:
# wait (do nothing until next flow control message)
if self.debug: print("ISO-TP: TX - flow control wait")
class UdsClient():
def __init__(self, panda, tx_addr: int, rx_addr: int=None, bus: int=0, timeout: float=10, debug: bool=False):
self.panda = panda
self.bus = bus
self.tx_addr = tx_addr
if rx_addr == None:
if tx_addr < 0xFFF8:
# standard 11 bit response addr (add 8)
self.rx_addr = tx_addr+8
elif tx_addr > 0x10000000 and tx_addr < 0xFFFFFFFF:
# standard 29 bit response addr (flip last two bytes)
self.rx_addr = (tx_addr & 0xFFFF0000) + (tx_addr<<8 & 0xFF00) + (tx_addr>>8 & 0xFF)
else:
raise ValueError("invalid tx_addr: {}".format(tx_addr))
self.can_tx_queue = Queue()
self.can_rx_queue = Queue()
self.timeout = timeout
self.debug = debug
self.can_thread = Thread(target=self._can_thread, args=(self.debug,))
self.can_thread.daemon = True
self.can_thread.start()
def _can_thread(self, debug: bool=False):
try:
# allow all output
self.panda.set_safety_mode(0x1337)
# clear tx buffer
self.panda.can_clear(self.bus)
# clear rx buffer
self.panda.can_clear(0xFFFF)
while True:
# send
while not self.can_tx_queue.empty():
msg = self.can_tx_queue.get(block=False)
if debug: print("CAN-TX: {} - {}".format(hex(self.tx_addr), hexlify(msg)))
self.panda.can_send(self.tx_addr, msg, self.bus)
# receive
msgs = self.panda.can_recv()
for rx_addr, rx_ts, rx_data, rx_bus in msgs:
if rx_bus != self.bus or rx_addr != self.rx_addr or len(rx_data) == 0:
continue
if debug: print("CAN-RX: {} - {}".format(hex(self.rx_addr), hexlify(rx_data)))
self.can_rx_queue.put(rx_data)
else:
time.sleep(0.01)
finally:
self.panda.close()
# generic uds request
def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int=None, data: bytes=None) -> bytes:
req = bytes([service_type])
if subfunction is not None:
req += bytes([subfunction])
if data is not None:
req += data
# send request, wait for response
isotp_msg = IsoTpMessage(self.can_tx_queue, self.can_rx_queue, self.timeout, self.debug)
isotp_msg.send(req)
while True:
resp = isotp_msg.recv()
resp_sid = resp[0] if len(resp) > 0 else None
# negative response
if resp_sid == 0x7F:
service_id = resp[1] if len(resp) > 1 else -1
try:
service_desc = SERVICE_TYPE(service_id).name
except Exception:
service_desc = 'NON_STANDARD_SERVICE'
error_code = resp[2] if len(resp) > 2 else -1
try:
error_desc = _negative_response_codes[error_code]
except Exception:
error_desc = resp[3:]
# wait for another message if response pending
if error_code == 0x78:
if self.debug: print("UDS-RX: response pending")
continue
raise NegativeResponseError('{} - {}'.format(service_desc, error_desc), service_id, error_code)
# positive response
if service_type+0x40 != resp_sid:
resp_sid_hex = hex(resp_sid) if resp_sid is not None else None
raise InvalidServiceIdError('invalid response service id: {}'.format(resp_sid_hex))
if subfunction is not None:
resp_sfn = resp[1] if len(resp) > 1 else None
if subfunction != resp_sfn:
resp_sfn_hex = hex(resp_sfn) if resp_sfn is not None else None
raise InvalidSubFunctioneError('invalid response subfunction: {}'.format(hex(resp_sfn_hex)))
# return data (exclude service id and sub-function id)
return resp[(1 if subfunction is None else 2):]
# services
def diagnostic_session_control(self, session_type: SESSION_TYPE):
self._uds_request(SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, subfunction=session_type)
def ecu_reset(self, reset_type: RESET_TYPE):
resp = self._uds_request(SERVICE_TYPE.ECU_RESET, subfunction=reset_type)
power_down_time = None
if reset_type == RESET_TYPE.ENABLE_RAPID_POWER_SHUTDOWN:
power_down_time = resp[0]
return power_down_time
def security_access(self, access_type: ACCESS_TYPE, security_key: bytes=None):
request_seed = access_type % 2 != 0
if request_seed and security_key is not None:
raise ValueError('security_key not allowed')
if not request_seed and security_key is None:
raise ValueError('security_key is missing')
resp = self._uds_request(SERVICE_TYPE.SECURITY_ACCESS, subfunction=access_type, data=security_key)
if request_seed:
security_seed = resp
return security_seed
def communication_control(self, control_type: CONTROL_TYPE, message_type: MESSAGE_TYPE):
data = bytes([message_type])
self._uds_request(SERVICE_TYPE.COMMUNICATION_CONTROL, subfunction=control_type, data=data)
def tester_present(self, ):
self._uds_request(SERVICE_TYPE.TESTER_PRESENT, subfunction=0x00)
def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: bytes=None):
write_custom_values = timing_parameter_type == TIMING_PARAMETER_TYPE.SET_TO_GIVEN_VALUES
read_values = (
timing_parameter_type == TIMING_PARAMETER_TYPE.READ_CURRENTLY_ACTIVE or
timing_parameter_type == TIMING_PARAMETER_TYPE.READ_EXTENDED_SET
)
if not write_custom_values and parameter_values is not None:
raise ValueError('parameter_values not allowed')
if write_custom_values and parameter_values is None:
raise ValueError('parameter_values is missing')
resp = self._uds_request(SERVICE_TYPE.ACCESS_TIMING_PARAMETER, subfunction=timing_parameter_type, data=parameter_values)
if read_values:
# TODO: parse response into values?
parameter_values = resp
return parameter_values
def secured_data_transmission(self, data: bytes):
# TODO: split data into multiple input parameters?
resp = self._uds_request(SERVICE_TYPE.SECURED_DATA_TRANSMISSION, subfunction=None, data=data)
# TODO: parse response into multiple output values?
return resp
def control_dtc_setting(self, dtc_setting_type: DTC_SETTING_TYPE):
self._uds_request(SERVICE_TYPE.CONTROL_DTC_SETTING, subfunction=dtc_setting_type)
def response_on_event(self, response_event_type: RESPONSE_EVENT_TYPE, store_event: bool, window_time: int, event_type_record: int, service_response_record: int):
if store_event:
response_event_type |= 0x20
# TODO: split record parameters into arrays
data = bytes([window_time, event_type_record, service_response_record])
resp = self._uds_request(SERVICE_TYPE.RESPONSE_ON_EVENT, subfunction=response_event_type, data=data)
if response_event_type == RESPONSE_EVENT_TYPE.REPORT_ACTIVATED_EVENTS:
return {
"num_of_activated_events": resp[0],
"data": resp[1:], # TODO: parse the reset of response
}
return {
"num_of_identified_events": resp[0],
"event_window_time": resp[1],
"data": resp[2:], # TODO: parse the reset of response
}
def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: BAUD_RATE_TYPE=None):
if link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE:
# baud_rate_type = BAUD_RATE_TYPE
data = bytes([baud_rate_type])
elif link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE:
# baud_rate_type = custom value (3 bytes big-endian)
data = struct.pack('!I', baud_rate_type)[1:]
else:
data = None
self._uds_request(SERVICE_TYPE.LINK_CONTROL, subfunction=link_control_type, data=data)
def read_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE):
# TODO: support list of identifiers
data = struct.pack('!H', data_identifier_type)
resp = self._uds_request(SERVICE_TYPE.READ_DATA_BY_IDENTIFIER, subfunction=None, data=data)
resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
if resp_id != data_identifier_type:
raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
return resp[2:]
def read_memory_by_address(self, memory_address: int, memory_size: int, memory_address_bytes: int=4, memory_size_bytes: int=1):
if memory_address_bytes < 1 or memory_address_bytes > 4:
raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
if memory_size_bytes < 1 or memory_size_bytes > 4:
raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
data = bytes([memory_size_bytes<<4 | memory_address_bytes])
if memory_address >= 1<<(memory_address_bytes*8):
raise ValueError('invalid memory_address: {}'.format(memory_address))
data += struct.pack('!I', memory_address)[4-memory_address_bytes:]
if memory_size >= 1<<(memory_size_bytes*8):
raise ValueError('invalid memory_size: {}'.format(memory_size))
data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
resp = self._uds_request(SERVICE_TYPE.READ_MEMORY_BY_ADDRESS, subfunction=None, data=data)
return resp
def read_scaling_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE):
data = struct.pack('!H', data_identifier_type)
resp = self._uds_request(SERVICE_TYPE.READ_SCALING_DATA_BY_IDENTIFIER, subfunction=None, data=data)
resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
if resp_id != data_identifier_type:
raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
return resp[2:] # TODO: parse the response
def read_data_by_periodic_identifier(self, transmission_mode_type: TRANSMISSION_MODE_TYPE, periodic_data_identifier: int):
# TODO: support list of identifiers
data = bytes([transmission_mode_type, periodic_data_identifier])
self._uds_request(SERVICE_TYPE.READ_DATA_BY_PERIODIC_IDENTIFIER, subfunction=None, data=data)
def dynamically_define_data_identifier(self, dynamic_definition_type: DYNAMIC_DEFINITION_TYPE, dynamic_data_identifier: int, source_definitions: List[DynamicSourceDefinition], memory_address_bytes: int=4, memory_size_bytes: int=1):
if memory_address_bytes < 1 or memory_address_bytes > 4:
raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
if memory_size_bytes < 1 or memory_size_bytes > 4:
raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
data = struct.pack('!H', dynamic_data_identifier)
if dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_IDENTIFIER:
for s in source_definitions:
data += struct.pack('!H', s["data_identifier"]) + bytes([s["position"], s["memory_size"]])
elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_MEMORY_ADDRESS:
data += bytes([memory_size_bytes<<4 | memory_address_bytes])
for s in source_definitions:
if s["memory_address"] >= 1<<(memory_address_bytes*8):
raise ValueError('invalid memory_address: {}'.format(s["memory_address"]))
data += struct.pack('!I', s["memory_address"])[4-memory_address_bytes:]
if s["memory_size"] >= 1<<(memory_size_bytes*8):
raise ValueError('invalid memory_size: {}'.format(s["memory_size"]))
data += struct.pack('!I', s["memory_size"])[4-memory_size_bytes:]
elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER:
pass
else:
raise ValueError('invalid dynamic identifier type: {}'.format(hex(dynamic_definition_type)))
self._uds_request(SERVICE_TYPE.DYNAMICALLY_DEFINE_DATA_IDENTIFIER, subfunction=dynamic_definition_type, data=data)
def write_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, data_record: bytes):
data = struct.pack('!H', data_identifier_type) + data_record
resp = self._uds_request(SERVICE_TYPE.WRITE_DATA_BY_IDENTIFIER, subfunction=None, data=data)
resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
if resp_id != data_identifier_type:
raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
def write_memory_by_address(self, memory_address: int, memory_size: int, data_record: bytes, memory_address_bytes: int=4, memory_size_bytes: int=1):
if memory_address_bytes < 1 or memory_address_bytes > 4:
raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
if memory_size_bytes < 1 or memory_size_bytes > 4:
raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
data = bytes([memory_size_bytes<<4 | memory_address_bytes])
if memory_address >= 1<<(memory_address_bytes*8):
raise ValueError('invalid memory_address: {}'.format(memory_address))
data += struct.pack('!I', memory_address)[4-memory_address_bytes:]
if memory_size >= 1<<(memory_size_bytes*8):
raise ValueError('invalid memory_size: {}'.format(memory_size))
data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
data += data_record
self._uds_request(SERVICE_TYPE.WRITE_MEMORY_BY_ADDRESS, subfunction=0x00, data=data)
def clear_diagnostic_information(self, dtc_group_type: DTC_GROUP_TYPE):
data = struct.pack('!I', dtc_group_type)[1:] # 3 bytes
self._uds_request(SERVICE_TYPE.CLEAR_DIAGNOSTIC_INFORMATION, subfunction=None, data=data)
def read_dtc_information(self, dtc_report_type: DTC_REPORT_TYPE, dtc_status_mask_type: DTC_STATUS_MASK_TYPE=DTC_STATUS_MASK_TYPE.ALL, dtc_severity_mask_type: DTC_SEVERITY_MASK_TYPE=DTC_SEVERITY_MASK_TYPE.ALL, dtc_mask_record: int=0xFFFFFF, dtc_snapshot_record_num: int=0xFF, dtc_extended_record_num: int=0xFF):
data = b''
# dtc_status_mask_type
if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_STATUS_MASK or \
dtc_report_type == DTC_REPORT_TYPE.DTC_BY_STATUS_MASK or \
dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_BY_STATUS_MASK or \
dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK or \
dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK or \
dtc_report_type == DTC_REPORT_TYPE.EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK:
data += bytes([dtc_status_mask_type])
# dtc_mask_record
if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \
dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \
dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
dtc_report_type == DTC_REPORT_TYPE.SEVERITY_INFORMATION_OF_DTC:
data += struct.pack('!I', dtc_mask_record)[1:] # 3 bytes
# dtc_snapshot_record_num
if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \
dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \
dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER:
data += ord(dtc_snapshot_record_num)
# dtc_extended_record_num
if dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER:
data += bytes([dtc_extended_record_num])
# dtc_severity_mask_type
if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD or \
dtc_report_type == DTC_REPORT_TYPE.DTC_BY_SEVERITY_MASK_RECORD:
data += bytes([dtc_severity_mask_type, dtc_status_mask_type])
resp = self._uds_request(SERVICE_TYPE.READ_DTC_INFORMATION, subfunction=dtc_report_type, data=data)
# TODO: parse response
return resp
def input_output_control_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, control_parameter_type: CONTROL_PARAMETER_TYPE, control_option_record: bytes, control_enable_mask_record: bytes=b''):
data = struct.pack('!H', data_identifier_type) + bytes([control_parameter_type]) + control_option_record + control_enable_mask_record
resp = self._uds_request(SERVICE_TYPE.INPUT_OUTPUT_CONTROL_BY_IDENTIFIER, subfunction=None, data=data)
resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
if resp_id != data_identifier_type:
raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
return resp[2:]
def routine_control(self, routine_control_type: ROUTINE_CONTROL_TYPE, routine_identifier_type: ROUTINE_IDENTIFIER_TYPE, routine_option_record: bytes=b''):
data = struct.pack('!H', routine_identifier_type) + routine_option_record
resp = self._uds_request(SERVICE_TYPE.ROUTINE_CONTROL, subfunction=routine_control_type, data=data)
resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
if resp_id != routine_identifier_type:
raise ValueError('invalid response routine identifier: {}'.format(hex(resp_id)))
return resp[2:]
def request_download(self, memory_address: int, memory_size: int, memory_address_bytes: int=4, memory_size_bytes: int=4, data_format: int=0x00):
data = bytes([data_format])
if memory_address_bytes < 1 or memory_address_bytes > 4:
raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
if memory_size_bytes < 1 or memory_size_bytes > 4:
raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
data += bytes([memory_size_bytes<<4 | memory_address_bytes])
if memory_address >= 1<<(memory_address_bytes*8):
raise ValueError('invalid memory_address: {}'.format(memory_address))
data += struct.pack('!I', memory_address)[4-memory_address_bytes:]
if memory_size >= 1<<(memory_size_bytes*8):
raise ValueError('invalid memory_size: {}'.format(memory_size))
data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
resp = self._uds_request(SERVICE_TYPE.REQUEST_DOWNLOAD, subfunction=None, data=data)
max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else None
if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
max_num_bytes = struct.unpack('!I', (b"\x00"*(4-max_num_bytes_len))+resp[1:max_num_bytes_len+1])[0]
else:
raise ValueError('invalid max_num_bytes_len: {}'.format(max_num_bytes_len))
return max_num_bytes # max number of bytes per transfer data request
def request_upload(self, memory_address: int, memory_size: int, memory_address_bytes: int=4, memory_size_bytes: int=4, data_format: int=0x00):
data = bytes([data_format])
if memory_address_bytes < 1 or memory_address_bytes > 4:
raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
if memory_size_bytes < 1 or memory_size_bytes > 4:
raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
data += bytes([memory_size_bytes<<4 | memory_address_bytes])
if memory_address >= 1<<(memory_address_bytes*8):
raise ValueError('invalid memory_address: {}'.format(memory_address))
data += struct.pack('!I', memory_address)[4-memory_address_bytes:]
if memory_size >= 1<<(memory_size_bytes*8):
raise ValueError('invalid memory_size: {}'.format(memory_size))
data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
resp = self._uds_request(SERVICE_TYPE.REQUEST_UPLOAD, subfunction=None, data=data)
max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else None
if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
max_num_bytes = struct.unpack('!I', (b"\x00"*(4-max_num_bytes_len))+resp[1:max_num_bytes_len+1])[0]
else:
raise ValueError('invalid max_num_bytes_len: {}'.format(max_num_bytes_len))
return max_num_bytes # max number of bytes per transfer data request
def transfer_data(self, block_sequence_count: int, data: bytes=b''):
data = bytes([block_sequence_count]) + data
resp = self._uds_request(SERVICE_TYPE.TRANSFER_DATA, subfunction=None, data=data)
resp_id = resp[0] if len(resp) > 0 else None
if resp_id != block_sequence_count:
raise ValueError('invalid block_sequence_count: {}'.format(resp_id))
return resp[1:]
def request_transfer_exit(self):
self._uds_request(SERVICE_TYPE.REQUEST_TRANSFER_EXIT, subfunction=None)
python/update.py
-1
View File
@@ -12,7 +12,6 @@ def ensure_st_up_to_date():
panda = None
panda_dfu = None
should_flash_recover = False
while 1:
# break on normal mode Panda
requirements.txt
+7 -3
View File
@@ -1,7 +1,11 @@
libusb1 == 1.6.6
hexdump
pycrypto
tqdm
numpy==1.17.2
hexdump>=3.3
pycrypto==2.6.1
tqdm>=4.14.0
nose
parameterized
requests
flake8==3.7.8
pylint==2.4.2
cffi==1.11.4
setup.py
+1 -1
View File
@@ -13,7 +13,7 @@
import codecs
import os
import re
from setuptools import setup, Extension
from setuptools import setup
here = os.path.abspath(os.path.dirname(__file__))
tests/automated/0_builds.py
-1
View File
@@ -1,4 +1,3 @@
import os
from panda import build_st
def test_build_panda():
tests/automated/1_program.py
+1 -3
View File
@@ -1,6 +1,4 @@
import os
from panda import Panda
from .helpers import panda_type_to_serial, test_white_and_grey, test_all_pandas, panda_connect_and_init
from .helpers import test_all_pandas, panda_connect_and_init
@test_all_pandas
@panda_connect_and_init
tests/automated/2_usb_to_can.py
+1 -3
View File
@@ -1,5 +1,3 @@
import os
import sys
import time
from panda import Panda
@@ -180,6 +178,6 @@ def test_gmlan_bad_toggle(p):
@test_all_pandas
@panda_connect_and_init
def test_serial_debug(p):
junk = p.serial_read(Panda.SERIAL_DEBUG)
_ = p.serial_read(Panda.SERIAL_DEBUG) # junk
p.call_control_api(0xc0)
assert(p.serial_read(Panda.SERIAL_DEBUG).startswith(b"can "))
tests/automated/3_wifi.py
-2
View File
@@ -1,5 +1,3 @@
import os
import time
from panda import Panda
from .helpers import connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
tests/automated/4_wifi_functionality.py
-2
View File
@@ -1,8 +1,6 @@
import time
from panda import Panda
from .helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
from nose.tools import timed, assert_equal, assert_less, assert_greater
@test_white
@panda_type_to_serial
tests/automated/5_wifi_udp.py
+1 -1
View File
@@ -3,7 +3,7 @@ import sys
import time
from .helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
from panda import Panda, PandaWifiStreaming
from nose.tools import timed, assert_equal, assert_less, assert_greater
from nose.tools import assert_less, assert_greater
@test_white
@panda_type_to_serial
tests/automated/6_two_panda.py
+1 -1
View File
@@ -171,7 +171,7 @@ def test_black_loopback(panda0, panda1):
time.sleep(0.1)
# check for receive
cans_echo = send_panda.can_recv()
_ = send_panda.can_recv() # cans echo
cans_loop = recv_panda.can_recv()
loop_buses = []
tests/automated/helpers.py
+5 -6
View File
@@ -2,13 +2,12 @@ import os
import sys
import time
import random
import binascii
import subprocess
import requests
import _thread
from functools import wraps
from panda import Panda
from nose.tools import timed, assert_equal, assert_less, assert_greater
from nose.tools import assert_equal
from parameterized import parameterized, param
SPEED_NORMAL = 500
@@ -50,7 +49,7 @@ def connect_wifi(serial=None):
FNULL = open(os.devnull, 'w')
def _connect_wifi(dongle_id, pw, insecure_okay=False):
ssid = "panda-" + dongle_id.decode("utf8")
ssid = "panda-" + dongle_id
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
if not r:
@@ -69,7 +68,7 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
if sys.platform == "darwin":
os.system("networksetup -setairportnetwork en0 %s %s" % (ssid, pw))
else:
wlan_interface = subprocess.check_output(["sh", "-c", "iw dev | awk '/Interface/ {print $2}'"]).strip()
wlan_interface = subprocess.check_output(["sh", "-c", "iw dev | awk '/Interface/ {print $2}'"]).strip().decode('utf8')
cnt = 0
MAX_TRIES = 10
while cnt < MAX_TRIES:
@@ -87,13 +86,13 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
if "-pair" in wifi_scan[0]:
os.system("nmcli d wifi connect %s-pair" % (ssid))
connect_cnt = 0
MAX_TRIES = 20
MAX_TRIES = 100
while connect_cnt < MAX_TRIES:
connect_cnt += 1
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
if r:
print("Waiting for panda to ping...")
time.sleep(0.1)
time.sleep(0.5)
else:
break
if insecure_okay:
tests/black_loopback_test.py
+5 -8
View File
@@ -11,9 +11,6 @@ import time
import random
import argparse
from hexdump import hexdump
from itertools import permutations
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
@@ -33,7 +30,7 @@ def run_test(sleep_duration):
pandas[0] = Panda(pandas[0])
pandas[1] = Panda(pandas[1])
# find out the hardware types
# find out the hardware types
if not pandas[0].is_black() or not pandas[1].is_black():
print("Connect two black pandas to run this test!")
assert False
@@ -66,14 +63,14 @@ def run_test(sleep_duration):
test_buses(pandas[0], pandas[1], test_array, sleep_duration)
print("***************** TESTING (1 --> 0) *****************")
test_buses(pandas[1], pandas[0], test_array, sleep_duration)
def test_buses(send_panda, recv_panda, test_array, sleep_duration):
for send_bus, send_obd, recv_obd, recv_buses in test_array:
send_panda.send_heartbeat()
recv_panda.send_heartbeat()
print("\nSend bus:", send_bus, " Send OBD:", send_obd, " Recv OBD:", recv_obd)
# set OBD on pandas
send_panda.set_gmlan(True if send_obd else None)
recv_panda.set_gmlan(True if recv_obd else None)
@@ -92,7 +89,7 @@ def test_buses(send_panda, recv_panda, test_array, sleep_duration):
time.sleep(0.1)
# check for receive
cans_echo = send_panda.can_recv()
_ = send_panda.can_recv() # cans echo
cans_loop = recv_panda.can_recv()
loop_buses = []
@@ -101,7 +98,7 @@ def test_buses(send_panda, recv_panda, test_array, sleep_duration):
loop_buses.append(loop[3])
if len(cans_loop) == 0:
print(" No loop")
# test loop buses
recv_buses.sort()
loop_buses.sort()
tests/black_white_loopback_test.py
+2 -5
View File
@@ -11,9 +11,6 @@ import time
import random
import argparse
from hexdump import hexdump
from itertools import permutations
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
@@ -118,10 +115,10 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
# check for receive
if direction:
cans_echo = black_panda.can_recv()
_ = black_panda.can_recv() # can echo
cans_loop = other_panda.can_recv()
else:
cans_echo = other_panda.can_recv()
_ = other_panda.can_recv() # can echo
cans_loop = black_panda.can_recv()
loop_buses = []
tests/black_white_relay_endurance.py
+8 -11
View File
@@ -11,9 +11,6 @@ import time
import random
import argparse
from hexdump import hexdump
from itertools import permutations
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
@@ -42,7 +39,7 @@ def run_test(sleep_duration):
black_panda = None
other_panda = None
# find out which one is black
if pandas[0].is_black() and not pandas[1].is_black():
black_panda = pandas[0]
@@ -69,7 +66,7 @@ def run_test(sleep_duration):
test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
counter += 1
runtime = time.time() - start_time
print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors, "Runtime: ", runtime)
@@ -80,7 +77,7 @@ def run_test(sleep_duration):
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
time.sleep(1)
temp_start_time = time.time()
def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
global nonzero_bus_errors, zero_bus_errors, content_errors
@@ -94,7 +91,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
black_panda.send_heartbeat()
other_panda.send_heartbeat()
print("\ntest can: ", send_bus, " OBD: ", obd)
# set OBD on black panda
black_panda.set_gmlan(True if obd else None)
@@ -109,7 +106,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
other_panda.can_clear(recv_bus)
else:
black_panda.can_clear(recv_bus)
black_panda.can_recv()
other_panda.can_recv()
@@ -124,10 +121,10 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
# check for receive
if direction:
cans_echo = black_panda.can_recv()
_ = black_panda.can_recv() # cans echo
cans_loop = other_panda.can_recv()
else:
cans_echo = other_panda.can_recv()
_ = other_panda.can_recv() # cans echo
cans_loop = black_panda.can_recv()
loop_buses = []
@@ -141,7 +138,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
print(" No loop")
if not os.getenv("NOASSERT"):
assert False
# test loop buses
recv_buses.sort()
loop_buses.sort()
tests/black_white_relay_test.py
+7 -10
View File
@@ -10,9 +10,6 @@ import time
import random
import argparse
from hexdump import hexdump
from itertools import permutations
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
@@ -46,7 +43,7 @@ def run_test(sleep_duration):
black_panda = None
other_panda = None
if type0 == "\x03" and type1 != "\x03":
black_panda = pandas[0]
other_panda = pandas[1]
@@ -86,15 +83,15 @@ def run_test(sleep_duration):
assert False
counter += 1
print("Number of cycles:", counter, "Open errors:", open_errors, "Closed errors:", closed_errors, "Content errors:", content_errors)
print("Number of cycles:", counter, "Open errors:", open_errors, "Closed errors:", closed_errors, "Content errors:", content_errors)
def test_buses(black_panda, other_panda, test_obj):
global content_errors
send_bus, obd, recv_buses = test_obj
black_panda.send_heartbeat()
other_panda.send_heartbeat()
# Set OBD on send panda
other_panda.set_gmlan(True if obd else None)
@@ -103,7 +100,7 @@ def test_buses(black_panda, other_panda, test_obj):
for recv_bus in recv_buses:
black_panda.can_clear(recv_bus)
black_panda.can_recv()
other_panda.can_recv()
@@ -114,7 +111,7 @@ def test_buses(black_panda, other_panda, test_obj):
time.sleep(0.05)
# check for receive
cans_echo = other_panda.can_recv()
_ = other_panda.can_recv() # can echo
cans_loop = black_panda.can_recv()
loop_buses = []
@@ -122,7 +119,7 @@ def test_buses(black_panda, other_panda, test_obj):
if (loop[0] != at) or (loop[2] != st):
content_errors += 1
loop_buses.append(loop[3])
# test loop buses
recv_buses.sort()
loop_buses.sort()
tests/elm_car_simulator.py
+3 -3
View File
@@ -109,9 +109,9 @@ class ELMCarSimulator():
print(" LIN Reply (%x)" % to_addr, binascii.hexlify(msg))
PHYS_ADDR = 0x80
FUNC_ADDR = 0xC0
#FUNC_ADDR = 0xC0
RECV = 0xF1
SEND = 0x33 # Car OBD Functional Address
#SEND = 0x33 # Car OBD Functional Address
headers = struct.pack("BBB", PHYS_ADDR | len(msg), RECV, to_addr)
if not self.__silent:
print(" Sending LIN", binascii.hexlify(headers+msg),
@@ -172,7 +172,7 @@ class ELMCarSimulator():
while not self.__stop:
for address, ts, data, src in self.panda.can_recv():
if self.__on and src is 0 and len(data) == 8 and data[0] >= 2:
if self.__on and src == 0 and len(data) == 8 and data[0] >= 2:
if not self.__silent:
print("Processing CAN message", src, hex(address), binascii.hexlify(data))
self.__can_process_msg(data[1], data[2], address, ts, data, src)
tests/elm_wifi.py
+30 -32
View File
@@ -1,16 +1,14 @@
import os
import sys
import time
import socket
import select
import pytest
import struct
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from . import elm_car_simulator
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", ".."))
from panda import Panda
from panda.tests import elm_car_simulator
def elm_connect():
s = socket.create_connection(("192.168.0.10", 35000))
@@ -234,35 +232,35 @@ def test_elm_send_lin_multiline_msg():
send_compare(s, b'0902\r', # headers OFF, Spaces ON
b"BUS INIT: OK\r"
"49 02 01 00 00 00 31 \r"
"49 02 02 44 34 47 50 \r"
"49 02 03 30 30 52 35 \r"
"49 02 04 35 42 31 32 \r"
"49 02 05 33 34 35 36 \r\r>")
b"49 02 01 00 00 00 31 \r"
b"49 02 02 44 34 47 50 \r"
b"49 02 03 30 30 52 35 \r"
b"49 02 04 35 42 31 32 \r"
b"49 02 05 33 34 35 36 \r\r>")
send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
send_compare(s, b'0902\r', # Headers OFF, Spaces OFF
b"49020100000031\r"
"49020244344750\r"
"49020330305235\r"
"49020435423132\r"
"49020533343536\r\r>")
b"49020244344750\r"
b"49020330305235\r"
b"49020435423132\r"
b"49020533343536\r\r>")
send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
send_compare(s, b'0902\r', # Headers ON, Spaces OFF
b"87F1104902010000003105\r"
"87F11049020244344750E4\r"
"87F11049020330305235BD\r"
"87F11049020435423132B1\r"
"87F11049020533343536AA\r\r>")
b"87F11049020244344750E4\r"
b"87F11049020330305235BD\r"
b"87F11049020435423132B1\r"
b"87F11049020533343536AA\r\r>")
send_compare(s, b'ATS1\r', b'OK\r\r>') # Spaces ON
send_compare(s, b'0902\r', # Headers ON, Spaces ON
b"87 F1 10 49 02 01 00 00 00 31 05 \r"
"87 F1 10 49 02 02 44 34 47 50 E4 \r"
"87 F1 10 49 02 03 30 30 52 35 BD \r"
"87 F1 10 49 02 04 35 42 31 32 B1 \r"
"87 F1 10 49 02 05 33 34 35 36 AA \r\r>")
b"87 F1 10 49 02 02 44 34 47 50 E4 \r"
b"87 F1 10 49 02 03 30 30 52 35 BD \r"
b"87 F1 10 49 02 04 35 42 31 32 B1 \r"
b"87 F1 10 49 02 05 33 34 35 36 AA \r\r>")
finally:
sim.stop()
sim.join()
@@ -322,7 +320,7 @@ def test_elm_panda_safety_mode_KWPFast():
def kline_send(p, x, bus=2):
p.kline_drain(bus=bus)
p._handle.bulkWrite(2, chr(bus).encode()+x)
p._handle.bulkWrite(2, bytes([bus]) + x)
return timed_recv_check(p, bus, x)
def did_send(priority, toaddr, fromaddr, dat, bus=2, checkbyte=None):
@@ -461,7 +459,7 @@ def test_elm_send_can_multimsg():
sim.can_add_extra_noise(b'\x03\x41\x0D\xFA', addr=0x7E9)# Inject message into the stream
send_compare(s, b'010D\r',
b"7E8 03 41 0D 53 \r"
"7E9 03 41 0D FA \r\r>") # Check it was ignored.
b"7E9 03 41 0D FA \r\r>") # Check it was ignored.
finally:
sim.stop()
sim.join()
@@ -503,28 +501,28 @@ def test_elm_send_can_multiline_msg():
send_compare(s, b'0902\r', # headers OFF, Spaces ON
b"014 \r"
"0: 49 02 01 31 44 34 \r"
"1: 47 50 30 30 52 35 35 \r"
"2: 42 31 32 33 34 35 36 \r\r>")
b"0: 49 02 01 31 44 34 \r"
b"1: 47 50 30 30 52 35 35 \r"
b"2: 42 31 32 33 34 35 36 \r\r>")
send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
send_compare(s, b'0902\r', # Headers OFF, Spaces OFF
b"014\r"
"0:490201314434\r"
"1:47503030523535\r"
"2:42313233343536\r\r>")
b"0:490201314434\r"
b"1:47503030523535\r"
b"2:42313233343536\r\r>")
send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
send_compare(s, b'0902\r', # Headers ON, Spaces OFF
b"7E81014490201314434\r"
"7E82147503030523535\r"
"7E82242313233343536\r\r>")
b"7E82147503030523535\r"
b"7E82242313233343536\r\r>")
send_compare(s, b'ATS1\r', b'OK\r\r>') # Spaces ON
send_compare(s, b'0902\r', # Headers ON, Spaces ON
b"7E8 10 14 49 02 01 31 44 34 \r"
"7E8 21 47 50 30 30 52 35 35 \r"
"7E8 22 42 31 32 33 34 35 36 \r\r>")
b"7E8 21 47 50 30 30 52 35 35 \r"
b"7E8 22 42 31 32 33 34 35 36 \r\r>")
finally:
sim.stop()
sim.join()
tests/fan_test.py
Executable
+17
View File
@@ -0,0 +1,17 @@
#!/usr/bin/env python
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
power = 0
if __name__ == "__main__":
p = Panda()
while True:
p.set_fan_power(power)
time.sleep(5)
print("Power: ", power, "RPM: ", str(p.get_fan_rpm()))
power += 10
power %=100
tests/gmbitbang/recv.py
+3 -4
View File
@@ -1,17 +1,16 @@
#!/usr/bin/env python3
import time
from panda import Panda
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_gmlan(bus=2)
#p.can_send(0xaaa, "\x00\x00", bus=3)
#p.can_send(0xaaa, b"\x00\x00", bus=3)
last_add = None
while 1:
ret = p.can_recv()
if len(ret) > 0:
add = ret[0][0]
if last_add is not None and add != last_add+1:
print("MISS %d %d" % (last_add, add))
if last_add is not None and add != last_add + 1:
print("MISS: ", last_add, add)
last_add = add
print(ret)
tests/gmbitbang/rigol.py
+1
View File
@@ -1,4 +1,5 @@
#!/usr/bin/env python3
# pylint: skip-file
import numpy as np
import visa
import matplotlib.pyplot as plt
tests/gps_stability_test.py
+19 -23
View File
@@ -77,7 +77,7 @@ def init_gps(panda):
# Upping baud rate
print("Upping GPS baud rate")
msg = add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % GPS_BAUD)+"\r\n"
msg = str.encode(add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % GPS_BAUD)+"\r\n")
ser.write(msg)
time.sleep(1) # needs a wait for it to actually send
@@ -86,24 +86,24 @@ def init_gps(panda):
# Sending all config messages boardd sends
print("Sending config")
ser.write("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F")
ser.write("\xB5\x62\x06\x3E\x00\x00\x44\xD2")
ser.write("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35")
ser.write("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80")
ser.write("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85")
ser.write("\xB5\x62\x06\x00\x00\x00\x06\x18")
ser.write("\xB5\x62\x06\x00\x01\x00\x01\x08\x22")
ser.write("\xB5\x62\x06\x00\x01\x00\x02\x09\x23")
ser.write("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24")
ser.write("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
ser.write("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
ser.write("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
ser.write("\xB5\x62\x06\x24\x00\x00\x2A\x84")
ser.write("\xB5\x62\x06\x23\x00\x00\x29\x81")
ser.write("\xB5\x62\x06\x1E\x00\x00\x24\x72")
ser.write("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51")
ser.write("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70")
ser.write("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
ser.write(b"\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F")
ser.write(b"\xB5\x62\x06\x3E\x00\x00\x44\xD2")
ser.write(b"\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35")
ser.write(b"\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80")
ser.write(b"\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85")
ser.write(b"\xB5\x62\x06\x00\x00\x00\x06\x18")
ser.write(b"\xB5\x62\x06\x00\x01\x00\x01\x08\x22")
ser.write(b"\xB5\x62\x06\x00\x01\x00\x02\x09\x23")
ser.write(b"\xB5\x62\x06\x00\x01\x00\x03\x0A\x24")
ser.write(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
ser.write(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
ser.write(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
ser.write(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
ser.write(b"\xB5\x62\x06\x23\x00\x00\x29\x81")
ser.write(b"\xB5\x62\x06\x1E\x00\x00\x24\x72")
ser.write(b"\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51")
ser.write(b"\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70")
ser.write(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
print("Initialized GPS")
@@ -163,7 +163,3 @@ if __name__ == "__main__":
print("Total max failures: ", max_failures)
received_messages = 0
received_bytes = 0
tests/ir_test.py
Executable
+17
View File
@@ -0,0 +1,17 @@
#!/usr/bin/env python
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
power = 0
if __name__ == "__main__":
p = Panda()
while True:
p.set_ir_power(power)
print("Power: ", str(power))
time.sleep(1)
power += 10
power %=100
tests/language/Dockerfile
-1
View File
@@ -14,5 +14,4 @@ RUN pyenv install 3.7.3
RUN pyenv global 3.7.3
RUN pyenv rehash
COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
COPY . /panda
tests/language/test_language.py
+1 -1
View File
@@ -20,7 +20,7 @@ if __name__ == "__main__":
res = subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT)
print(res)
found_bad_language = True
except subprocess.CalledProcessError as e:
except subprocess.CalledProcessError:
pass
if found_bad_language:
sys.exit("Failed: found bad language")
tests/linter_python/.pylintrc
+585
View File
@@ -0,0 +1,585 @@
[MASTER]
# A comma-separated list of package or module names from where C extensions may
# be loaded. Extensions are loading into the active Python interpreter and may
# run arbitrary code
extension-pkg-whitelist=scipy
# Add files or directories to the blacklist. They should be base names, not
# paths.
ignore=CVS
# Add files or directories matching the regex patterns to the blacklist. The
# regex matches against base names, not paths.
ignore-patterns=
# Python code to execute, usually for sys.path manipulation such as
# pygtk.require().
#init-hook=
# Use multiple processes to speed up Pylint.
jobs=4
# List of plugins (as comma separated values of python modules names) to load,
# usually to register additional checkers.
load-plugins=
# Pickle collected data for later comparisons.
persistent=yes
# Specify a configuration file.
#rcfile=
# When enabled, pylint would attempt to guess common misconfiguration and emit
# user-friendly hints instead of false-positive error messages
suggestion-mode=yes
# Allow loading of arbitrary C extensions. Extensions are imported into the
# active Python interpreter and may run arbitrary code.
unsafe-load-any-extension=no
[MESSAGES CONTROL]
# Only show warnings with the listed confidence levels. Leave empty to show
# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
confidence=
# Disable the message, report, category or checker with the given id(s). You
# can either give multiple identifiers separated by comma (,) or put this
# option multiple times (only on the command line, not in the configuration
# file where it should appear only once).You can also use "--disable=all" to
# disable everything first and then reenable specific checks. For example, if
# you want to run only the similarities checker, you can use "--disable=all
# --enable=similarities". If you want to run only the classes checker, but have
# no Warning level messages displayed, use"--disable=all --enable=classes
# --disable=W"
disable=print-statement,
parameter-unpacking,
unpacking-in-except,
old-raise-syntax,
backtick,
long-suffix,
old-ne-operator,
old-octal-literal,
import-star-module-level,
non-ascii-bytes-literal,
raw-checker-failed,
bad-inline-option,
locally-disabled,
locally-enabled,
file-ignored,
suppressed-message,
useless-suppression,
deprecated-pragma,
apply-builtin,
basestring-builtin,
buffer-builtin,
cmp-builtin,
coerce-builtin,
execfile-builtin,
file-builtin,
long-builtin,
raw_input-builtin,
reduce-builtin,
standarderror-builtin,
unicode-builtin,
xrange-builtin,
coerce-method,
delslice-method,
getslice-method,
setslice-method,
no-absolute-import,
old-division,
dict-iter-method,
dict-view-method,
next-method-called,
metaclass-assignment,
indexing-exception,
raising-string,
reload-builtin,
oct-method,
hex-method,
nonzero-method,
cmp-method,
input-builtin,
round-builtin,
intern-builtin,
unichr-builtin,
map-builtin-not-iterating,
zip-builtin-not-iterating,
range-builtin-not-iterating,
filter-builtin-not-iterating,
using-cmp-argument,
eq-without-hash,
div-method,
idiv-method,
rdiv-method,
exception-message-attribute,
invalid-str-codec,
sys-max-int,
bad-python3-import,
deprecated-string-function,
deprecated-str-translate-call,
deprecated-itertools-function,
deprecated-types-field,
next-method-defined,
dict-items-not-iterating,
dict-keys-not-iterating,
dict-values-not-iterating,
bad-indentation,
line-too-long,
missing-docstring,
multiple-statements,
bad-continuation,
invalid-name,
too-many-arguments,
too-many-locals,
superfluous-parens,
bad-whitespace,
too-many-instance-attributes,
wrong-import-position,
ungrouped-imports,
wrong-import-order,
protected-access,
trailing-whitespace,
too-many-branches,
too-few-public-methods,
too-many-statements,
trailing-newlines,
attribute-defined-outside-init,
too-many-return-statements,
too-many-public-methods,
unused-argument,
old-style-class,
no-init,
len-as-condition,
unneeded-not,
no-self-use,
multiple-imports,
no-else-return,
logging-not-lazy,
fixme,
redefined-outer-name,
unused-variable,
unsubscriptable-object,
expression-not-assigned,
too-many-boolean-expressions,
consider-using-ternary,
invalid-unary-operand-type,
relative-import,
deprecated-lambda
# Enable the message, report, category or checker with the given id(s). You can
# either give multiple identifier separated by comma (,) or put this option
# multiple time (only on the command line, not in the configuration file where
# it should appear only once). See also the "--disable" option for examples.
enable=c-extension-no-member
[REPORTS]
# Python expression which should return a note less than 10 (10 is the highest
# note). You have access to the variables errors warning, statement which
# respectively contain the number of errors / warnings messages and the total
# number of statements analyzed. This is used by the global evaluation report
# (RP0004).
evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
# Template used to display messages. This is a python new-style format string
# used to format the message information. See doc for all details
#msg-template=
# Set the output format. Available formats are text, parseable, colorized, json
# and msvs (visual studio).You can also give a reporter class, eg
# mypackage.mymodule.MyReporterClass.
output-format=text
# Tells whether to display a full report or only the messages
reports=no
# Activate the evaluation score.
score=yes
[REFACTORING]
# Maximum number of nested blocks for function / method body
max-nested-blocks=5
# Complete name of functions that never returns. When checking for
# inconsistent-return-statements if a never returning function is called then
# it will be considered as an explicit return statement and no message will be
# printed.
never-returning-functions=optparse.Values,sys.exit
[LOGGING]
# Logging modules to check that the string format arguments are in logging
# function parameter format
logging-modules=logging
[SPELLING]
# Limits count of emitted suggestions for spelling mistakes
max-spelling-suggestions=4
# Spelling dictionary name. Available dictionaries: none. To make it working
# install python-enchant package.
spelling-dict=
# List of comma separated words that should not be checked.
spelling-ignore-words=
# A path to a file that contains private dictionary; one word per line.
spelling-private-dict-file=
# Tells whether to store unknown words to indicated private dictionary in
# --spelling-private-dict-file option instead of raising a message.
spelling-store-unknown-words=no
[MISCELLANEOUS]
# List of note tags to take in consideration, separated by a comma.
notes=FIXME,
XXX,
TODO
[SIMILARITIES]
# Ignore comments when computing similarities.
ignore-comments=yes
# Ignore docstrings when computing similarities.
ignore-docstrings=yes
# Ignore imports when computing similarities.
ignore-imports=no
# Minimum lines number of a similarity.
min-similarity-lines=4
[TYPECHECK]
# List of decorators that produce context managers, such as
# contextlib.contextmanager. Add to this list to register other decorators that
# produce valid context managers.
contextmanager-decorators=contextlib.contextmanager
# List of members which are set dynamically and missed by pylint inference
# system, and so shouldn't trigger E1101 when accessed. Python regular
# expressions are accepted.
generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
# Tells whether missing members accessed in mixin class should be ignored. A
# mixin class is detected if its name ends with "mixin" (case insensitive).
ignore-mixin-members=yes
# This flag controls whether pylint should warn about no-member and similar
# checks whenever an opaque object is returned when inferring. The inference
# can return multiple potential results while evaluating a Python object, but
# some branches might not be evaluated, which results in partial inference. In
# that case, it might be useful to still emit no-member and other checks for
# the rest of the inferred objects.
ignore-on-opaque-inference=yes
# List of class names for which member attributes should not be checked (useful
# for classes with dynamically set attributes). This supports the use of
# qualified names.
ignored-classes=optparse.Values,thread._local,_thread._local
# List of module names for which member attributes should not be checked
# (useful for modules/projects where namespaces are manipulated during runtime
# and thus existing member attributes cannot be deduced by static analysis. It
# supports qualified module names, as well as Unix pattern matching.
ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
# Show a hint with possible names when a member name was not found. The aspect
# of finding the hint is based on edit distance.
missing-member-hint=yes
# The minimum edit distance a name should have in order to be considered a
# similar match for a missing member name.
missing-member-hint-distance=1
# The total number of similar names that should be taken in consideration when
# showing a hint for a missing member.
missing-member-max-choices=1
[VARIABLES]
# List of additional names supposed to be defined in builtins. Remember that
# you should avoid to define new builtins when possible.
additional-builtins=
# Tells whether unused global variables should be treated as a violation.
allow-global-unused-variables=yes
# List of strings which can identify a callback function by name. A callback
# name must start or end with one of those strings.
callbacks=cb_,
_cb
# A regular expression matching the name of dummy variables (i.e. expectedly
# not used).
dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
# Argument names that match this expression will be ignored. Default to name
# with leading underscore
ignored-argument-names=_.*|^ignored_|^unused_
# Tells whether we should check for unused import in __init__ files.
init-import=no
# List of qualified module names which can have objects that can redefine
# builtins.
redefining-builtins-modules=six.moves,past.builtins,future.builtins
[FORMAT]
# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
expected-line-ending-format=
# Regexp for a line that is allowed to be longer than the limit.
ignore-long-lines=^\s*(# )?<?https?://\S+>?$
# Number of spaces of indent required inside a hanging or continued line.
indent-after-paren=4
# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1
# tab).
indent-string=' '
# Maximum number of characters on a single line.
max-line-length=100
# Maximum number of lines in a module
max-module-lines=1000
# List of optional constructs for which whitespace checking is disabled. `dict-
# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}.
# `trailing-comma` allows a space between comma and closing bracket: (a, ).
# `empty-line` allows space-only lines.
no-space-check=trailing-comma,
dict-separator
# Allow the body of a class to be on the same line as the declaration if body
# contains single statement.
single-line-class-stmt=no
# Allow the body of an if to be on the same line as the test if there is no
# else.
single-line-if-stmt=no
[BASIC]
# Naming style matching correct argument names
argument-naming-style=snake_case
# Regular expression matching correct argument names. Overrides argument-
# naming-style
#argument-rgx=
# Naming style matching correct attribute names
attr-naming-style=snake_case
# Regular expression matching correct attribute names. Overrides attr-naming-
# style
#attr-rgx=
# Bad variable names which should always be refused, separated by a comma
bad-names=foo,
bar,
baz,
toto,
tutu,
tata
# Naming style matching correct class attribute names
class-attribute-naming-style=any
# Regular expression matching correct class attribute names. Overrides class-
# attribute-naming-style
#class-attribute-rgx=
# Naming style matching correct class names
class-naming-style=PascalCase
# Regular expression matching correct class names. Overrides class-naming-style
#class-rgx=
# Naming style matching correct constant names
const-naming-style=UPPER_CASE
# Regular expression matching correct constant names. Overrides const-naming-
# style
#const-rgx=
# Minimum line length for functions/classes that require docstrings, shorter
# ones are exempt.
docstring-min-length=-1
# Naming style matching correct function names
function-naming-style=snake_case
# Regular expression matching correct function names. Overrides function-
# naming-style
#function-rgx=
# Good variable names which should always be accepted, separated by a comma
good-names=i,
j,
k,
ex,
Run,
_
# Include a hint for the correct naming format with invalid-name
include-naming-hint=no
# Naming style matching correct inline iteration names
inlinevar-naming-style=any
# Regular expression matching correct inline iteration names. Overrides
# inlinevar-naming-style
#inlinevar-rgx=
# Naming style matching correct method names
method-naming-style=snake_case
# Regular expression matching correct method names. Overrides method-naming-
# style
#method-rgx=
# Naming style matching correct module names
module-naming-style=snake_case
# Regular expression matching correct module names. Overrides module-naming-
# style
#module-rgx=
# Colon-delimited sets of names that determine each other's naming style when
# the name regexes allow several styles.
name-group=
# Regular expression which should only match function or class names that do
# not require a docstring.
no-docstring-rgx=^_
# List of decorators that produce properties, such as abc.abstractproperty. Add
# to this list to register other decorators that produce valid properties.
property-classes=abc.abstractproperty
# Naming style matching correct variable names
variable-naming-style=snake_case
# Regular expression matching correct variable names. Overrides variable-
# naming-style
#variable-rgx=
[DESIGN]
# Maximum number of arguments for function / method
max-args=5
# Maximum number of attributes for a class (see R0902).
max-attributes=7
# Maximum number of boolean expressions in a if statement
max-bool-expr=5
# Maximum number of branch for function / method body
max-branches=12
# Maximum number of locals for function / method body
max-locals=15
# Maximum number of parents for a class (see R0901).
max-parents=7
# Maximum number of public methods for a class (see R0904).
max-public-methods=20
# Maximum number of return / yield for function / method body
max-returns=6
# Maximum number of statements in function / method body
max-statements=50
# Minimum number of public methods for a class (see R0903).
min-public-methods=2
[CLASSES]
# List of method names used to declare (i.e. assign) instance attributes.
defining-attr-methods=__init__,
__new__,
setUp
# List of member names, which should be excluded from the protected access
# warning.
exclude-protected=_asdict,
_fields,
_replace,
_source,
_make
# List of valid names for the first argument in a class method.
valid-classmethod-first-arg=cls
# List of valid names for the first argument in a metaclass class method.
valid-metaclass-classmethod-first-arg=mcs
[IMPORTS]
# Allow wildcard imports from modules that define __all__.
allow-wildcard-with-all=no
# Analyse import fallback blocks. This can be used to support both Python 2 and
# 3 compatible code, which means that the block might have code that exists
# only in one or another interpreter, leading to false positives when analysed.
analyse-fallback-blocks=no
# Deprecated modules which should not be used, separated by a comma
deprecated-modules=regsub,
TERMIOS,
Bastion,
rexec
# Create a graph of external dependencies in the given file (report RP0402 must
# not be disabled)
ext-import-graph=
# Create a graph of every (i.e. internal and external) dependencies in the
# given file (report RP0402 must not be disabled)
import-graph=
# Create a graph of internal dependencies in the given file (report RP0402 must
# not be disabled)
int-import-graph=
# Force import order to recognize a module as part of the standard
# compatibility libraries.
known-standard-library=
# Force import order to recognize a module as part of a third party library.
known-third-party=enchant
[EXCEPTIONS]
# Exceptions that will emit a warning when being caught. Defaults to
# "Exception"
overgeneral-exceptions=Exception
tests/linter_python/Dockerfile
+19
View File
@@ -0,0 +1,19 @@
FROM ubuntu:16.04
RUN apt-get update && apt-get install -y make python python-pip locales curl git zlib1g-dev libffi-dev bzip2 libssl-dev
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
RUN pyenv install 3.7.3
RUN pyenv global 3.7.3
RUN pyenv rehash
COPY requirements.txt /tmp/
RUN pip install -r /tmp/requirements.txt
COPY . /panda
tests/linter_python/flake8_panda.sh
Executable
+8
View File
@@ -0,0 +1,8 @@
#!/usr/bin/env bash
RESULT=$(python3 -m flake8 --select=F $(find ../../ -type f | grep -v "/boardesp/" | grep -v "/cppcheck/" | grep "\.py$"))
if [[ $RESULT ]]; then
echo "Pyflakes found errors in the code. Please fix and try again"
echo "$RESULT"
exit 1
fi
tests/linter_python/pylint_panda.sh
Executable
+11
View File
@@ -0,0 +1,11 @@
#!/usr/bin/env bash
python3 -m pylint --disable=R,C,W $(find ../../ -type f | grep -v "/boardesp/" | grep -v "/cppcheck/" | grep "\.py$")
exit_status=$?
(( res = exit_status & 3 ))
if [[ $res != 0 ]]; then
echo "Pylint found errors in the code. Please fix and try again"
exit 1
fi
tests/location_listener.py
+1 -1
View File
@@ -30,7 +30,7 @@ if __name__ == "__main__":
baudrate = 460800
print("upping baud rate")
msg = add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % baudrate)+"\r\n"
msg = str.encode(add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % baudrate)+"\r\n")
print(msg)
ser.write(msg)
time.sleep(0.1) # needs a wait for it to actually send
tests/loopback_test.py
+1 -1
View File
@@ -55,7 +55,7 @@ def run_test_w_pandas(pandas, sleep_duration):
# send the characters
st = get_test_string()
st = b"\xaa"+chr(len(st)+3).encode()+st
st = bytes([0xaa, len(st) + 3]) + st
h[ho[0]].kline_send(st, bus=bus, checksum=False)
# check for receive
tests/misra/Dockerfile
+16 -3
View File
@@ -1,6 +1,19 @@
FROM ubuntu:16.04
RUN apt-get update && apt-get install -y make python python-pip git
COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
RUN pip install -r /panda/tests/safety/requirements.txt
RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev libusb-1.0-0
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
RUN pyenv install 3.7.3
RUN pyenv global 3.7.3
RUN pyenv rehash
COPY requirements.txt /tmp/
RUN pip install -r /tmp/requirements.txt
COPY . /panda
tests/misra/coverage_table
+4 -4
View File
@@ -9,9 +9,9 @@
2.6 X (Cppcheck)
2.7
3.1 X (Addon)
3.2
3.2 X (Addon)
4.1 X (Addon)
4.2
4.2 X (Addon)
5.1 X (Addon)
5.2 X (Addon)
5.3 X (Addon)
@@ -123,7 +123,7 @@
20.12
20.13 X (Addon)
20.14 X (Addon)
21.1
21.1 X (Addon)
21.2
21.3 X (Addon)
21.4 X (Addon)
@@ -134,7 +134,7 @@
21.9 X (Addon)
21.10 X (Addon)
21.11 X (Addon)
21.12
21.12 X (Addon)
22.1 X (Cppcheck)
22.2 X (Cppcheck)
22.3
tests/misra/suppressions.txt
+2
View File
@@ -4,3 +4,5 @@ misra.19.2
misra.11.4
# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
misra.11.5
# Required: it's ok re-defining potentially reserved Macro names. Not likely to cause confusion
misra.21.1
tests/misra/test_misra.sh
+1 -1
View File
@@ -4,7 +4,7 @@ mkdir /tmp/misra || true
git clone https://github.com/danmar/cppcheck.git || true
cd cppcheck
git fetch
git checkout ff7dba91e177dfb712477faddb9e91bece7e743c
git checkout bdd41151ed550e3d240a6dd6847859216b7ad736
make -j4
cd ../../../
tests/pedal/enter_canloader.py
-1
View File
@@ -1,5 +1,4 @@
#!/usr/bin/env python3
import sys
import time
import struct
import argparse
tests/rtc_test.py
Executable
+13
View File
@@ -0,0 +1,13 @@
#!/usr/bin/env python
import os
import sys
import datetime
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
if __name__ == "__main__":
p = Panda()
p.set_datetime(datetime.datetime.now())
print(p.get_datetime())

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