# python library to interface with panda
import os
import struct
from functools import wraps
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/")
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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
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class PandaJungleDFU(PandaDFU):
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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()
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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
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@classmethod
def spi_connect(cls, serial, ignore_version=False):
return None, None, None, None, None
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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)
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def recover(self, timeout: int | None = 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
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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
else:
# have to assume F4, see comment in Panda.connect
# initially Jungle V1 has HW type: bytearray(b'')
if hw_type == b'' or self._assume_f4_mcu:
return McuType.F4
raise ValueError(f"unknown HW type: {hw_type}")
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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 *******************
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@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
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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 *******************
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def set_panda_power(self, enabled):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa0, int(enabled), 0, b'')
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def set_panda_individual_power(self, port, enabled):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa3, int(port), int(enabled), b'')
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def set_harness_orientation(self, mode):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa1, int(mode), 0, b'')
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def set_ignition(self, enabled):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa2, int(enabled), 0, b'')
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def set_can_silent(self, silent):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xf5, int(silent), 0, b'')
# ******************* serial *******************
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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 *******************
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def set_header_pin(self, pin_num, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(pin_num), int(enabled), b'')