Handles USB communication and parsing with a comma.ai Panda. More...

Classes
struct	_CanFrame

struct	_GpsData

struct	_GpsInfo

struct	_GpsMotion

struct	_GpsPosition

struct	_GpsQuality

struct	_GpsSatellite

class	Can
	A class that handles the CAN data. More...

class	CanListener
	An abstract class for new data notifications for new CAN data. More...

class	Gps
	A class that handles the GPS data. More...

class	GpsListener
	An abstract class for new data notifications for new GPS data. More...

class	Handler
	A class that handles the Usb, GPS, and CAN data. More...

class	ObdPidRequest

class	SetSystemTimeObserver

class	ToyotaHandler
	A threaded interface class that handles sending contorl commands to a Panda via a Panda::Handler. More...

class	Usb

class	UsbListener

class	VinReader

Typedefs
typedef struct Panda::_CanFrame	CanFrame

typedef struct Panda::_GpsPosition	GpsPosition

typedef struct Panda::_GpsMotion	GpsMotion

typedef struct Panda::_GpsQuality	GpsQuality

typedef struct Panda::_GpsSatellite	GpsSatellite

typedef struct Panda::_GpsInfo	GpsInfo

typedef struct Panda::_GpsData	GpsData

Enumerations
enum	CanFrameTypes { CAN_FRAME_SINGLE = 0x00, CAN_FRAME_FIRST = 0x01, CAN_FRAME_CONSECUTIVE = 0x02, CAN_FRAME_FLOW_CONTROL = 0x03 }

enum	ObdPidModes { OBD_PID_SERVICE_CURRENT_DATA = 0x01, OBD_PID_SERVICE_FREEZE_FRAME_DATA = 0x02, OBD_PID_SERVICE_VEHICLE_INFO = 0x09 }

enum	ObdPidVehicleInfo { OBD_PID_VEHICLE_INFO_VIN_COUNT = 0x01, OBD_PID_VEHICLE_INFO_VIN = 0x02 }

enum	UsbMode { MODE_SYNCHRONOUS, MODE_ASYNCHRONOUS, MODE_ISOCHRONOUS }

Functions
CanFrame	bufferToCanFrame (char *buffer, int bufferLength)
	Converts a buffer from Panda to CanFrame data. More...

void	canFrameToBuffer (CanFrame &frame, unsigned char *buffer)
	Converts a CanFrame into a buffer for sending to the Panda. More...

CanFrame	buildLkasHud (bool lkaAlert, unsigned char leftLane, unsigned char rightLane, bool barrier, bool twoBeeps, bool repeatedBeeps)
	Constructs the LKAS_HUS command that works on a Toyota RAV4. More...

CanFrame	buildSteeringLKA (unsigned char count, int16_t steerTorque, bool steerRequest, unsigned char lkaState)
	Constructs the STEERING_LKA command, used for sending steering torque. More...

CanFrame	buildACC_CONTROL (double acc, bool permitBraking, bool releaseStandstill, bool miniCar, bool cancelRequest)
	Constructs the ACC_CONTROL command, used for sending cruise cntrol accelerations. More...

CanFrame	buildTRACK_B_1 (unsigned char count)
	Constructs the TRACK_B_1 command, needed to fake adaptive cruise controller operation. Note that there could be more things to fake in this command, but for use of ACC_CONTROL this command is intercepted to prevent run-time faults of the ACC. More...

CanFrame	buildPCM_CRUISE_2 (unsigned char SET_SPEED)
	Unused by ToyotaHandler. Also untested.

CanFrame	buildDSU_CRUISE (unsigned char SET_SPEED)
	Unused by ToyotaHandler. Also untested.

uint8_t	toyotaChecksum (Panda::CanFrame &frame)
	Computes particular checksums within the CAN message, and is not the CRC for the CAN frame itself. More...

void	printFrame (Panda::CanFrame frame)
	This funciton is helpful for debugging but should either not live in toyota.h or shoul dbe removed: More...

const char *	safetyModelToString (int safetyModel)

const char *	carHarnessStatusToString (int car_harness_status)

const char *	faultStatusToString (int fault_status)

std::string	faultsToString (int faults)

const char *	usbPowerModeToString (int usb_power_mode)

void	printPandaHealth (const PandaHealth &health)

Detailed Description

Handles USB communication and parsing with a comma.ai Panda.

Function Documentation

CanFrame Panda::bufferToCanFrame	(	char *	buffer,
		int	bufferLength
	)

Converts a buffer from Panda to CanFrame data.

Parameters

buffer	The buffer from the Panda read.
bufferLength	The number of bytes in the buffer. Should be 8-16

Returns: A constructed CanFrame, populated witht eh bufffer data

CanFrame Panda::buildACC_CONTROL	(	double	acc,
		bool	permitBraking,
		bool	releaseStandstill,
		bool	miniCar,
		bool	cancelRequest
	)

Constructs the ACC_CONTROL command, used for sending cruise cntrol accelerations.

Parameters

permitBraking	Unsure of purpose outside of name. Should be 1 when sending control commands, perhaps.
releaseStandstill	Unsure of purpose outside of name. Should be 1 when sending control commands when car has been commanded to stop and is desired to let the car continue to be controlle dout of a stop, perhaps.
miniCar	Will display the "Mini Car" on the HUD, but only works when the cruise control is activated and operating.
cancelRequest	Will cancel the cruise controller, informing the driver to regain control of the vehicle.

Returns: A constructed ACC_CONTROL CanFrame.

CanFrame Panda::buildLkasHud	(	bool	lkaAlert,
		unsigned char	leftLane,
		unsigned char	rightLane,
		bool	barrier,
		bool	twoBeeps,
		bool	repeatedBeeps
	)

Constructs the LKAS_HUS command that works on a Toyota RAV4.

Parameters

lkaAlert	Will invoke a "Please grab steering wheel" notification on the car HUD.
leftlane	Can be 0-3, and will show different left lane visuals on the HUD.
rightlane	Can be 0-3, and will show different right lane visuals on the HUD.
barrier	Will display a barrier on the right and left lanes.
twoBeeps	Will cause a single two-beep audible alert in the car. If called too frequently then it may not trigger.
repeatedBeeps	Will cause a continuous audible beeping alert.

Returns: A constructed LKA_HUD CanFrame

CanFrame Panda::buildSteeringLKA	(	unsigned char	count,
		int16_t	steerTorque,
		bool	steerRequest,
		unsigned char	lkaState
	)

Constructs the STEERING_LKA command, used for sending steering torque.

Parameters

count	This needs to increase by 1 on each send, probably for error checking.
steerTorque	In unknown units, but is valid from -1500:1500.
steerRequest	Should be set to 1 when a steering torque is sent. This is shown by CAN reading of the built-in LKA.
lkaState	Unknown, labeled in the DBC. Stays 0 based on CAN data.

Returns: A constructed STEERING_LKA CanFrame.

CanFrame Panda::buildTRACK_B_1 ( unsigned char count )

Constructs the TRACK_B_1 command, needed to fake adaptive cruise controller operation. Note that there could be more things to fake in this command, but for use of ACC_CONTROL this command is intercepted to prevent run-time faults of the ACC.

Parameters

count Needs to be increment on each call. It may be only 6 bits long even though the DBC states 8-bits. See ToyotaHandler for how this is handeled.

Returns: A constructed TRACK_B_1 CanFrame.

void Panda::canFrameToBuffer	(	CanFrame &	frame,
		unsigned char *	buffer
	)

Converts a CanFrame into a buffer for sending to the Panda.

Parameters

frame	The CAN frame of data to be sent
buffer	The array of data to be sent. Should be 16 bytes in length.

void Panda::printFrame ( Panda::CanFrame frame )

This funciton is helpful for debugging but should either not live in toyota.h or shoul dbe removed:

Parameters

frame The frame to be printed to the console

uint8_t Panda::toyotaChecksum ( Panda::CanFrame & frame )

Computes particular checksums within the CAN message, and is not the CRC for the CAN frame itself.

Parameters

frame The frame for the checksum to be computer

Returns: The resulting checksum for the CAN frame.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Function Documentation