IQ.Lvbs/IQ.Pilot
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IQ.Pilot Release Commit @ 92b3bb6

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IQ.Lvbs CI [bot]
2026-08-31 21:43:09 -05:00
parent dec9bace9f
commit 091e08e893
9 changed files with 125 additions and 2 deletions
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7
iqpilot/selfdrive/pandad/panda.cc
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@@ -12,6 +12,11 @@
const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
std::string panda_firmware_path() {
const char *runtime_path = getenv("IQPILOT_PANDA_FW_PATH");
return runtime_path != nullptr ? runtime_path : PANDA_FW_PATH;
}
Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
// try USB first, then SPI
try {
@@ -138,7 +143,7 @@ std::optional<std::string> Panda::get_serial() {
bool Panda::up_to_date() {
if (auto fw_sig = get_firmware_version()) {
for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
auto content = util::read_file(std::string(PANDA_FW_PATH) + fn);
auto content = util::read_file(panda_firmware_path() + fn);
if (content.size() >= fw_sig->size() &&
memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
return true;

1
iqpilot/selfdrive/pandad/panda.h
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@@ -42,6 +42,7 @@ struct can_frame {
long src;
};
std::string panda_firmware_path();
class Panda {
private:

2
iqpilot/selfdrive/pandad/pandad.py
View File

@@ -77,6 +77,8 @@ def check_panda_support(panda) -> bool:
def main() -> None:
os.environ["IQPILOT_PANDA_FW_PATH"] = FW_PATH
# signal pandad to close the relay and exit
def signal_handler(signum, frame):
cloudlog.info(f"Caught signal {signum}, exiting")

8
iqpilot/selfdrive/pandad/tests/test_pandad_usbprotocol.cc
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@@ -133,3 +133,11 @@ TEST_CASE("send/recv CAN FD packets") {
test.test_can_recv(0x40);
}
}
TEST_CASE("firmware path runtime override") {
unsetenv("IQPILOT_PANDA_FW_PATH");
REQUIRE(panda_firmware_path() == PANDA_FW_PATH);
setenv("IQPILOT_PANDA_FW_PATH", "/runtime/panda/board/obj/", 1);
REQUIRE(panda_firmware_path() == "/runtime/panda/board/obj/");
unsetenv("IQPILOT_PANDA_FW_PATH");
}