You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
61 lines
1.8 KiB
61 lines
1.8 KiB
7 years ago
|
import os
|
||
|
|
import subprocess
|
||
|
|
|
||
|
|
from cffi import FFI
|
||
|
|
|
||
|
|
can_dir = os.path.dirname(os.path.abspath(__file__))
|
||
|
|
libpandasafety_fn = os.path.join(can_dir, "libpandasafety.so")
|
||
|
|
subprocess.check_call(["make"], cwd=can_dir)
|
||
|
|
|
||
|
|
ffi = FFI()
|
||
|
|
ffi.cdef("""
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint32_t TIR; /*!< CAN TX mailbox identifier register */
|
||
|
|
uint32_t TDTR; /*!< CAN mailbox data length control and time stamp register */
|
||
|
|
uint32_t TDLR; /*!< CAN mailbox data low register */
|
||
|
|
uint32_t TDHR; /*!< CAN mailbox data high register */
|
||
|
|
} CAN_TxMailBox_TypeDef;
|
||
|
|
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint32_t RIR; /*!< CAN receive FIFO mailbox identifier register */
|
||
|
|
uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */
|
||
|
|
uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */
|
||
|
|
uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
|
||
|
|
} CAN_FIFOMailBox_TypeDef;
|
||
|
|
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint32_t CNT;
|
||
|
|
} TIM_TypeDef;
|
||
|
|
|
||
|
|
void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||
|
|
int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||
|
|
void toyota_init(int16_t param);
|
||
|
|
void set_controls_allowed(int c);
|
||
|
|
void reset_angle_control(void);
|
||
|
|
int get_controls_allowed(void);
|
||
|
|
void init_tests_toyota(void);
|
||
|
|
void set_timer(int t);
|
||
|
|
void set_torque_meas(int min, int max);
|
||
|
|
void set_rt_torque_last(int t);
|
||
|
|
void set_desired_torque_last(int t);
|
||
|
|
int get_torque_meas_min(void);
|
||
|
|
int get_torque_meas_max(void);
|
||
|
|
|
||
|
|
void init_tests_honda(void);
|
||
|
|
int get_ego_speed(void);
|
||
|
|
void honda_init(int16_t param);
|
||
|
|
void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||
|
|
int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||
|
|
int get_brake_prev(void);
|
||
|
|
int get_gas_prev(void);
|
||
|
|
|
||
|
|
void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||
|
|
int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||
|
|
|
||
|
|
""")
|
||
|
|
|
||
|
|
libpandasafety = ffi.dlopen(libpandasafety_fn)
|