140 lines
4.2 KiB
Python
140 lines
4.2 KiB
Python
# python library to interface with panda
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import struct
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import usb1
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from usb1 import USBErrorIO, USBErrorOverflow
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class Panda(object):
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def __init__(self, serial=None, claim=True):
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context = usb1.USBContext()
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self.handle = None
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for device in context.getDeviceList(skip_on_error=True):
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if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
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if serial is None or device.getSerialNumber() == serial:
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print "opening device", device.getSerialNumber()
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self.handle = device.open()
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if claim:
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self.handle.claimInterface(0)
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break
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assert self.handle != None
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@staticmethod
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def list():
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context = usb1.USBContext()
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ret = []
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for device in context.getDeviceList(skip_on_error=True):
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if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
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ret.append(device.getSerialNumber())
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return ret
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# ******************* health *******************
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def health(self):
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dat = self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x20)
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a = struct.unpack("IIBBBBB", dat)
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return {"voltage": a[0], "current": a[1],
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"started": a[2], "controls_allowed": a[3],
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"gas_interceptor_detected": a[4],
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"started_signal_detected": a[5],
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"started_alt": a[6]}
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# ******************* can *******************
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def set_gmlan(self, on):
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if on:
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdb, 1, 0, '')
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else:
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdb, 0, 0, '')
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def can_send_many(self, arr):
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snds = []
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for addr, _, dat, bus in arr:
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snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (bus << 4)) + dat
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snd = snd.ljust(0x10, '\x00')
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snds.append(snd)
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while 1:
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try:
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self.handle.bulkWrite(3, ''.join(snds))
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break
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except (USBErrorIO, USBErrorOverflow):
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print "CAN: BAD SEND MANY, RETRYING"
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def can_send(self, addr, dat, bus):
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self.can_send_many([[addr, None, dat, bus]])
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def can_recv(self):
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def __parse_can_buffer(dat):
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ret = []
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for j in range(0, len(dat), 0x10):
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ddat = dat[j:j+0x10]
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f1, f2 = struct.unpack("II", ddat[0:8])
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ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xf))
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return ret
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dat = ""
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while 1:
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try:
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dat = self.handle.bulkRead(1, 0x10*256)
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break
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except (USBErrorIO, USBErrorOverflow):
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print "CAN: BAD RECV, RETRYING"
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return __parse_can_buffer(dat)
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# ******************* serial *******************
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def serial_read(self, port_number):
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return self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, port_number, 0, 0x100)
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def serial_write(self, port_number):
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return self.handle.bulkWrite(2, chr(port_number) + ln)
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# ******************* kline *******************
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# pulse low for wakeup
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def kline_wakeup(self):
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ret = self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xf0, 0, 0, "")
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def kline_drain(self, bus=2):
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# drain buffer
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bret = ""
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while 1:
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ret = self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, bus, 0, 0x100)
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if len(ret) == 0:
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break
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bret += str(ret)
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return bret
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def kline_ll_recv(self, cnt, bus=2):
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echo = ""
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while len(echo) != cnt:
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echo += str(self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, bus, 0, cnt-len(echo)))
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return echo
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def kline_send(self, x, bus=2, checksum=True):
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def get_checksum(dat):
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result = 0
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result += sum(map(ord, dat))
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result = -result
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return chr(result&0xFF)
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self.kline_drain(bus=bus)
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if checksum:
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x += get_checksum(x)
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for i in range(0, len(x), 0x10):
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ts = x[i:i+0x10]
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self.handle.bulkWrite(2, chr(bus)+ts)
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echo = self.kline_ll_recv(len(ts), bus=bus)
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if echo != ts:
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print "**** ECHO ERROR %d ****" % i
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print echo.encode("hex")
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print ts.encode("hex")
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assert echo == ts
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def kline_recv(self, bus=2):
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msg = self.kline_ll_recv(2, bus=bus)
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msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus)
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return msg
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