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60 lines
1.8 KiB
60 lines
1.8 KiB
import os
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import subprocess
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from cffi import FFI
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can_dir = os.path.dirname(os.path.abspath(__file__))
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libpandasafety_fn = os.path.join(can_dir, "libpandasafety.so")
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subprocess.check_call(["make"], cwd=can_dir)
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ffi = FFI()
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ffi.cdef("""
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typedef struct
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{
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uint32_t TIR; /*!< CAN TX mailbox identifier register */
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uint32_t TDTR; /*!< CAN mailbox data length control and time stamp register */
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uint32_t TDLR; /*!< CAN mailbox data low register */
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uint32_t TDHR; /*!< CAN mailbox data high register */
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} CAN_TxMailBox_TypeDef;
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typedef struct
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{
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uint32_t RIR; /*!< CAN receive FIFO mailbox identifier register */
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uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */
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uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */
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uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
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} CAN_FIFOMailBox_TypeDef;
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typedef struct
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{
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uint32_t CNT;
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} TIM_TypeDef;
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void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
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int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
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void toyota_init(int16_t param);
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void set_controls_allowed(int c);
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void reset_angle_control(void);
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int get_controls_allowed(void);
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void init_tests_toyota(void);
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void set_timer(int t);
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void set_torque_meas(int min, int max);
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void set_rt_torque_last(int t);
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void set_desired_torque_last(int t);
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int get_torque_meas_min(void);
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int get_torque_meas_max(void);
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void init_tests_honda(void);
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int get_ego_speed(void);
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void honda_init(int16_t param);
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void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
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int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
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int get_brake_prev(void);
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int get_gas_prev(void);
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void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
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int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
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""")
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libpandasafety = ffi.dlopen(libpandasafety_fn)
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