openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

panda/board/jungle/__init__.py

@@ -0,0 +1,160 @@
+# python library to interface with panda
+import os
+import struct
+from functools import wraps
+from typing import Optional
+
+from panda import Panda, PandaDFU
+from panda.python.constants import McuType
+
+BASEDIR = os.path.dirname(os.path.realpath(__file__))
+FW_PATH = os.path.join(BASEDIR, "obj/")
+
+
+def ensure_jungle_health_packet_version(fn):
+  @wraps(fn)
+  def wrapper(self, *args, **kwargs):
+    if self.health_version != self.HEALTH_PACKET_VERSION:
+      raise RuntimeError(f"Jungle firmware ({self.health_version}) doesn't match the \
+                           library's health packet version ({self.HEALTH_PACKET_VERSION}). \
+                           Reflash jungle.")
+    return fn(self, *args, **kwargs)
+  return wrapper
+
+
+class PandaJungleDFU(PandaDFU):
+  def recover(self):
+    fn = os.path.join(FW_PATH, self._mcu_type.config.bootstub_fn.replace("panda", "panda_jungle"))
+    with open(fn, "rb") as f:
+      code = f.read()
+    self.program_bootstub(code)
+    self.reset()
+
+
+class PandaJungle(Panda):
+  USB_PIDS = (0xddef, 0xddcf)
+
+  HW_TYPE_UNKNOWN = b'\x00'
+  HW_TYPE_V1 = b'\x01'
+  HW_TYPE_V2 = b'\x02'
+
+  F4_DEVICES = [HW_TYPE_V1, ]
+  H7_DEVICES = [HW_TYPE_V2, ]
+
+  HEALTH_PACKET_VERSION = 1
+  HEALTH_STRUCT = struct.Struct("<IffffffHHHHHHHHHHHH")
+
+  HARNESS_ORIENTATION_NONE = 0
+  HARNESS_ORIENTATION_1 = 1
+  HARNESS_ORIENTATION_2 = 2
+
+  @classmethod
+  def spi_connect(cls, serial, ignore_version=False):
+    return None, None, None, None, None
+
+  def flash(self, fn=None, code=None, reconnect=True):
+    if not fn:
+      fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn.replace("panda", "panda_jungle"))
+    super().flash(fn=fn, code=code, reconnect=reconnect)
+
+  def recover(self, timeout: Optional[int] = 60, reset: bool = True) -> bool:
+    dfu_serial = self.get_dfu_serial()
+
+    if reset:
+      self.reset(enter_bootstub=True)
+      self.reset(enter_bootloader=True)
+
+    if not self.wait_for_dfu(dfu_serial, timeout=timeout):
+      return False
+
+    dfu = PandaJungleDFU(dfu_serial)
+    dfu.recover()
+
+    # reflash after recover
+    self.connect(True, True)
+    self.flash()
+    return True
+
+  def get_mcu_type(self) -> McuType:
+    hw_type = self.get_type()
+    if hw_type in PandaJungle.F4_DEVICES:
+      return McuType.F4
+    elif hw_type in PandaJungle.H7_DEVICES:
+      return McuType.H7
+    raise ValueError(f"unknown HW type: {hw_type}")
+
+  def up_to_date(self, fn=None) -> bool:
+    if fn is None:
+      fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn.replace("panda", "panda_jungle"))
+    return super().up_to_date(fn=fn)
+
+  # ******************* health *******************
+
+  @ensure_jungle_health_packet_version
+  def health(self):
+    dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xd2, 0, 0, self.HEALTH_STRUCT.size)
+    a = self.HEALTH_STRUCT.unpack(dat)
+    return {
+      "uptime": a[0],
+      "ch1_power": a[1],
+      "ch2_power": a[2],
+      "ch3_power": a[3],
+      "ch4_power": a[4],
+      "ch5_power": a[5],
+      "ch6_power": a[6],
+      "ch1_sbu1_voltage": a[7] / 1000.0,
+      "ch1_sbu2_voltage": a[8] / 1000.0,
+      "ch2_sbu1_voltage": a[9] / 1000.0,
+      "ch2_sbu2_voltage": a[10] / 1000.0,
+      "ch3_sbu1_voltage": a[11] / 1000.0,
+      "ch3_sbu2_voltage": a[12] / 1000.0,
+      "ch4_sbu1_voltage": a[13] / 1000.0,
+      "ch4_sbu2_voltage": a[14] / 1000.0,
+      "ch5_sbu1_voltage": a[15] / 1000.0,
+      "ch5_sbu2_voltage": a[16] / 1000.0,
+      "ch6_sbu1_voltage": a[17] / 1000.0,
+      "ch6_sbu2_voltage": a[18] / 1000.0,
+    }
+
+  # ******************* control *******************
+
+  # Returns tuple with health packet version and CAN packet/USB packet version
+  def get_packets_versions(self):
+    dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xdd, 0, 0, 3)
+    if dat and len(dat) == 3:
+      a = struct.unpack("BBB", dat)
+      return (a[0], a[1], a[2])
+    return (-1, -1, -1)
+
+  # ******************* jungle stuff *******************
+
+  def set_panda_power(self, enabled):
+    self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa0, int(enabled), 0, b'')
+
+  def set_panda_individual_power(self, port, enabled):
+    self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa3, int(port), int(enabled), b'')
+
+  def set_harness_orientation(self, mode):
+    self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa1, int(mode), 0, b'')
+
+  def set_ignition(self, enabled):
+    self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa2, int(enabled), 0, b'')
+
+  def set_can_silent(self, silent):
+    self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xf5, int(silent), 0, b'')
+
+  # ******************* serial *******************
+
+  def debug_read(self):
+    ret = []
+    while 1:
+      lret = bytes(self._handle.controlRead(PandaJungle.REQUEST_IN, 0xe0, 0, 0, 0x40))
+      if len(lret) == 0:
+        break
+      ret.append(lret)
+    return b''.join(ret)
+
+  # ******************* header pins *******************
+
+  def set_header_pin(self, pin_num, enabled):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(pin_num), int(enabled), b'')