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Merge panda subtree

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old-commit-hash: ef3d8314d3
commatwo_master
Vehicle Researcher 8 years ago
parent e147663381 6dd67df132
commit 11c7429538
15 changed files with 1130 additions and 1043 deletions
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  1. 2
      panda/VERSION
  2. 2
      panda/__init__.py
  3. 16
      panda/board/drivers/uart.h
  4. 7
      panda/boardesp/proxy.c
  5. 12
      panda/drivers/windows/ECUsim CLI/ECUsim CLI.vcxproj
  6. 12
      panda/drivers/windows/ECUsim DLL/ECUsim DLL.vcxproj
  7. 12
      panda/drivers/windows/panda/panda.vcxproj
  8. 8
      panda/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj
  9. 2
      panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
  10. 8
      panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj
  11. 12
      panda/drivers/windows/panda_playground/panda_playground.vcxproj
  12. 8
      panda/examples/isotp.py
  13. 1
      panda/python/__init__.py
  14. 27
      panda/python/serial.py
  15. 48
      panda/tests/location_listener.py

2
panda/VERSION
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@ -1 +1 @@
v1.0.3 v1.0.4

2
panda/__init__.py
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@ -1 +1 @@
from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial

16
panda/board/drivers/uart.h
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@ -5,16 +5,19 @@
// esp = USART1 // esp = USART1
uart_ring esp_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0, uart_ring esp_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0, .w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = USART1 }; .uart = USART1,
.callback = NULL};
// lin1, K-LINE = UART5 // lin1, K-LINE = UART5
// lin2, L-LINE = USART3 // lin2, L-LINE = USART3
uart_ring lin1_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0, uart_ring lin1_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0, .w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = UART5 }; .uart = UART5,
.callback = NULL};
uart_ring lin2_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0, uart_ring lin2_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0, .w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = USART3 }; .uart = USART3,
.callback = NULL};
// debug = USART2 // debug = USART2
void debug_ring_callback(uart_ring *ring); void debug_ring_callback(uart_ring *ring);
@ -59,7 +62,7 @@ void uart_ring_process(uart_ring *q) {
q->uart->CR1 &= ~USART_CR1_TXEIE; q->uart->CR1 &= ~USART_CR1_TXEIE;
} }
if (sr & USART_SR_RXNE) { if (sr & USART_SR_RXNE || sr & USART_SR_ORE) {
uint8_t c = q->uart->DR; // TODO: can drop packets uint8_t c = q->uart->DR; // TODO: can drop packets
uint8_t next_w_ptr = q->w_ptr_rx + 1; uint8_t next_w_ptr = q->w_ptr_rx + 1;
if (next_w_ptr != q->r_ptr_rx) { if (next_w_ptr != q->r_ptr_rx) {
@ -68,6 +71,11 @@ void uart_ring_process(uart_ring *q) {
if (q->callback) q->callback(q); if (q->callback) q->callback(q);
} }
} }
if (sr & USART_SR_ORE) {
// set dropped packet flag?
}
exit_critical_section(); exit_critical_section();
} }

7
panda/boardesp/proxy.c
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@ -225,8 +225,8 @@ void ICACHE_FLASH_ATTR wifi_init() {
char password[] = "testing123"; char password[] = "testing123";
// fetch secure ssid and password // fetch secure ssid and password
// update, try 3 times // update, try 20 times, for 1 second
for (int i = 0; i < 3; i++) { for (int i = 0; i < 20; i++) {
uint8_t digest[SHA_DIGEST_SIZE]; uint8_t digest[SHA_DIGEST_SIZE];
char resp[0x20]; char resp[0x20];
__spi_comm("\x00\x00\x00\x00\x40\xD0\x00\x00\x00\x00\x20\x00", 0xC, recvData, 0x40); __spi_comm("\x00\x00\x00\x00\x40\xD0\x00\x00\x00\x00\x20\x00", 0xC, recvData, 0x40);
@ -251,7 +251,7 @@ void ICACHE_FLASH_ATTR wifi_init() {
config.ssid_len = strlen(ssid); config.ssid_len = strlen(ssid);
config.authmode = AUTH_WPA2_PSK; config.authmode = AUTH_WPA2_PSK;
config.beacon_interval = 100; config.beacon_interval = 100;
config.max_connection = 10; config.max_connection = 4;
wifi_softap_set_config(&config); wifi_softap_set_config(&config);
//set IP //set IP
@ -354,7 +354,6 @@ void ICACHE_FLASH_ATTR user_init() {
system_os_post(LOOP_PRIO, 0, 0); system_os_post(LOOP_PRIO, 0, 0);
} }
void ICACHE_FLASH_ATTR loop(os_event_t *events) { void ICACHE_FLASH_ATTR loop(os_event_t *events) {
system_os_post(LOOP_PRIO, 0, 0); system_os_post(LOOP_PRIO, 0, 0);
} }

12
panda/drivers/windows/ECUsim CLI/ECUsim CLI.vcxproj
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<ProjectConfiguration Include="Debug|Win32"> <ProjectConfiguration Include="Debug|Win32">
<Configuration>Debug</Configuration> <Configuration>Debug</Configuration>
@ -22,32 +22,32 @@
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<Keyword>Win32Proj</Keyword> <Keyword>Win32Proj</Keyword>
<RootNamespace>ECUsimCLI</RootNamespace> <RootNamespace>ECUsimCLI</RootNamespace>
<WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion> <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
</PropertyGroup> </PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType> <ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries> <UseDebugLibraries>true</UseDebugLibraries>
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<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>

12
panda/drivers/windows/ECUsim DLL/ECUsim DLL.vcxproj
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<ItemGroup Label="ProjectConfigurations"> <ItemGroup Label="ProjectConfigurations">
<ProjectConfiguration Include="Debug|Win32"> <ProjectConfiguration Include="Debug|Win32">
<Configuration>Debug</Configuration> <Configuration>Debug</Configuration>
@ -22,32 +22,32 @@
<ProjectGuid>{96E0E646-EE76-444D-9A77-A0CD7F781DEB}</ProjectGuid> <ProjectGuid>{96E0E646-EE76-444D-9A77-A0CD7F781DEB}</ProjectGuid>
<Keyword>Win32Proj</Keyword> <Keyword>Win32Proj</Keyword>
<RootNamespace>ECUsimDLL</RootNamespace> <RootNamespace>ECUsimDLL</RootNamespace>
<WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion> <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
</PropertyGroup> </PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType> <ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries> <UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType> <ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries> <UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
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<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
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<UseDebugLibraries>false</UseDebugLibraries> <UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>

12
panda/drivers/windows/panda/panda.vcxproj
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<ItemGroup Label="ProjectConfigurations"> <ItemGroup Label="ProjectConfigurations">
<ProjectConfiguration Include="Debug|Win32"> <ProjectConfiguration Include="Debug|Win32">
<Configuration>Debug</Configuration> <Configuration>Debug</Configuration>
@ -22,32 +22,32 @@
<ProjectGuid>{5528AEFB-638D-49AF-B9D4-965154E7D531}</ProjectGuid> <ProjectGuid>{5528AEFB-638D-49AF-B9D4-965154E7D531}</ProjectGuid>
<Keyword>Win32Proj</Keyword> <Keyword>Win32Proj</Keyword>
<RootNamespace>panda</RootNamespace> <RootNamespace>panda</RootNamespace>
<WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion> <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
</PropertyGroup> </PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType> <ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries> <UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
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<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>

8
panda/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<ItemGroup Label="ProjectConfigurations"> <ItemGroup Label="ProjectConfigurations">
<ProjectConfiguration Include="Debug|Win32"> <ProjectConfiguration Include="Debug|Win32">
<Configuration>Debug</Configuration> <Configuration>Debug</Configuration>
@ -14,21 +14,21 @@
<ProjectGuid>{7912F978-B48C-4C5D-8BFD-5D1E22158E47}</ProjectGuid> <ProjectGuid>{7912F978-B48C-4C5D-8BFD-5D1E22158E47}</ProjectGuid>
<Keyword>Win32Proj</Keyword> <Keyword>Win32Proj</Keyword>
<RootNamespace>pandaJ2534DLLTest</RootNamespace> <RootNamespace>pandaJ2534DLLTest</RootNamespace>
<WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion> <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
<ProjectName>Tests</ProjectName> <ProjectName>Tests</ProjectName>
</PropertyGroup> </PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType> <ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries> <UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
<UseOfMfc>false</UseOfMfc> <UseOfMfc>false</UseOfMfc>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
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<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
<UseOfMfc>false</UseOfMfc> <UseOfMfc>false</UseOfMfc>

2
panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
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@ -112,7 +112,7 @@ DWORD PandaJ2534Device::can_recv_thread() {
} }
} else { } else {
for (auto& conn : this->connections) for (auto& conn : this->connections)
if (conn->isProtoCan() && conn->getPort() == msg_in.bus) if (conn != nullptr && conn->isProtoCan() && conn->getPort() == msg_in.bus)
conn->processMessage(msg_out); conn->processMessage(msg_out);
} }
} }

8
panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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@ -14,19 +14,19 @@
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<Keyword>Win32Proj</Keyword> <Keyword>Win32Proj</Keyword>
<RootNamespace>pandaJ2534DLL</RootNamespace> <RootNamespace>pandaJ2534DLL</RootNamespace>
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<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
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12
panda/drivers/windows/panda_playground/panda_playground.vcxproj
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
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@ -22,32 +22,32 @@
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<Keyword>Win32Proj</Keyword> <Keyword>Win32Proj</Keyword>
<RootNamespace>panda_playground</RootNamespace> <RootNamespace>panda_playground</RootNamespace>
<WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion> <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
</PropertyGroup> </PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
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<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
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<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
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<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>

8
panda/examples/isotp.py
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@ -43,9 +43,13 @@ def recv(panda, cnt, addr, nbus):
kmsgs = nmsgs kmsgs = nmsgs
return map(str, ret) return map(str, ret)
def isotp_recv(panda, addr, bus=0): def isotp_recv(panda, addr, bus=0, sendaddr=None):
msg = recv(panda, 1, addr, bus)[0] msg = recv(panda, 1, addr, bus)[0]
if sendaddr is None:
sendaddr = addr-8
if ord(msg[0])&0xf0 == 0x10: if ord(msg[0])&0xf0 == 0x10:
# first # first
tlen = ((ord(msg[0]) & 0xf) << 8) | ord(msg[1]) tlen = ((ord(msg[0]) & 0xf) << 8) | ord(msg[1])
@ -54,7 +58,7 @@ def isotp_recv(panda, addr, bus=0):
# 0 block size? # 0 block size?
CONTINUE = "\x30" + "\x00"*7 CONTINUE = "\x30" + "\x00"*7
panda.can_send(addr-8, CONTINUE, bus) panda.can_send(sendaddr, CONTINUE, bus)
idx = 1 idx = 1
for mm in recv(panda, (tlen-len(dat) + 7)/8, addr, bus): for mm in recv(panda, (tlen-len(dat) + 7)/8, addr, bus):

1
panda/python/__init__.py
Unescape View File

@ -12,6 +12,7 @@ from dfu import PandaDFU
from esptool import ESPROM, CesantaFlasher from esptool import ESPROM, CesantaFlasher
from flash_release import flash_release from flash_release import flash_release
from update import ensure_st_up_to_date from update import ensure_st_up_to_date
from serial import PandaSerial
__version__ = '0.0.6' __version__ = '0.0.6'

27
panda/python/serial.py
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@ -0,0 +1,27 @@
# mimic a python serial port
class PandaSerial(object):
def __init__(self, panda, port, baud):
self.panda = panda
self.port = port
self.panda.set_uart_parity(self.port, 0)
self.panda.set_uart_baud(self.port, baud)
self.buf = ""
def read(self, l=1):
tt = self.panda.serial_read(self.port)
if len(tt) > 0:
#print "R: ", tt.encode("hex")
self.buf += tt
ret = self.buf[0:l]
self.buf = self.buf[l:]
return ret
def write(self, dat):
#print "W: ", dat.encode("hex")
#print ' pigeon_send("' + ''.join(map(lambda x: "\\x%02X" % ord(x), dat)) + '");'
return self.panda.serial_write(self.port, dat)
def close(self):
pass

48
panda/tests/location_listener.py
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@ -0,0 +1,48 @@
#!/usr/bin/env python
import os
import time
import sys
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda, PandaSerial
def add_nmea_checksum(msg):
d = msg[1:]
cs = 0
for i in d:
cs ^= ord(i)
return msg + "*%02X" % cs
if __name__ == "__main__":
panda = Panda()
ser = PandaSerial(panda, 1, 9600)
# power cycle by toggling reset
print "resetting"
panda.set_esp_power(0)
time.sleep(0.5)
panda.set_esp_power(1)
time.sleep(0.5)
print "done"
print ser.read(1024)
# upping baud rate
# 460800 has issues
baudrate = 460800
print "upping baud rate"
msg = 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
# new panda serial
ser = PandaSerial(panda, 1, baudrate)
while True:
ret = ser.read(1024)
if len(ret) > 0:
sys.stdout.write(ret)
sys.stdout.flush()
#print str(ret).encode("hex")
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