From f9368c434b458cbab0e57ab240040275d6181932 Mon Sep 17 00:00:00 2001
From: maakshishov <shishov1101@gmail.com>
Date: Tue, 15 Jun 2021 14:12:00 +0300
Subject: [PATCH] for home

---
 .idea/KX.iml                                  |   8 ++
 .../inspectionProfiles/profiles_settings.xml  |   6 +
 .idea/misc.xml                                |   4 +
 .idea/modules.xml                             |   8 ++
 .idea/workspace.xml                           | 115 ++++++++++++++++++
 __pycache__/kx.cpython-37.pyc                 | Bin 0 -> 1452 bytes
 __pycache__/protocol_kx.cpython-37.pyc        | Bin 0 -> 2826 bytes
 kx.py                                         |  41 +++++++
 main.py                                       |  22 ++++
 protocol_kx.py                                |  87 +++++++++++++
 10 files changed, 291 insertions(+)
 create mode 100644 .idea/KX.iml
 create mode 100644 .idea/inspectionProfiles/profiles_settings.xml
 create mode 100644 .idea/misc.xml
 create mode 100644 .idea/modules.xml
 create mode 100644 .idea/workspace.xml
 create mode 100644 __pycache__/kx.cpython-37.pyc
 create mode 100644 __pycache__/protocol_kx.cpython-37.pyc
 create mode 100644 kx.py
 create mode 100644 main.py
 create mode 100644 protocol_kx.py

diff --git a/.idea/KX.iml b/.idea/KX.iml
new file mode 100644
index 0000000..d0876a7
--- /dev/null
+++ b/.idea/KX.iml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..105ce2d
--- /dev/null
+++ b/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000..a2e120d
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
+</project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..bd01e30
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/KX.iml" filepath="$PROJECT_DIR$/.idea/KX.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
new file mode 100644
index 0000000..0618d4b
--- /dev/null
+++ b/.idea/workspace.xml
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ChangeListManager">
+    <list default="true" id="72cc40b1-c3bf-43e3-bbc5-daa6555ea73d" name="Default Changelist" comment="" />
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="FileTemplateManagerImpl">
+    <option name="RECENT_TEMPLATES">
+      <list>
+        <option value="Python Script" />
+      </list>
+    </option>
+  </component>
+  <component name="ProjectId" id="1tfF9PwSNSXsgpWLjjHxA5A61PP" />
+  <component name="ProjectViewState">
+    <option name="hideEmptyMiddlePackages" value="true" />
+    <option name="showExcludedFiles" value="true" />
+    <option name="showLibraryContents" value="true" />
+  </component>
+  <component name="PropertiesComponent">
+    <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
+  </component>
+  <component name="RunManager" selected="Python.main">
+    <configuration name="main" type="PythonConfigurationType" factoryName="Python" temporary="true" nameIsGenerated="true">
+      <module name="KX" />
+      <option name="INTERPRETER_OPTIONS" value="" />
+      <option name="PARENT_ENVS" value="true" />
+      <envs>
+        <env name="PYTHONUNBUFFERED" value="1" />
+      </envs>
+      <option name="SDK_HOME" value="" />
+      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+      <option name="IS_MODULE_SDK" value="true" />
+      <option name="ADD_CONTENT_ROOTS" value="true" />
+      <option name="ADD_SOURCE_ROOTS" value="true" />
+      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/main.py" />
+      <option name="PARAMETERS" value="" />
+      <option name="SHOW_COMMAND_LINE" value="false" />
+      <option name="EMULATE_TERMINAL" value="false" />
+      <option name="MODULE_MODE" value="false" />
+      <option name="REDIRECT_INPUT" value="false" />
+      <option name="INPUT_FILE" value="" />
+      <method v="2" />
+    </configuration>
+    <configuration name="protocol_kx" type="PythonConfigurationType" factoryName="Python" temporary="true" nameIsGenerated="true">
+      <module name="KX" />
+      <option name="INTERPRETER_OPTIONS" value="" />
+      <option name="PARENT_ENVS" value="true" />
+      <envs>
+        <env name="PYTHONUNBUFFERED" value="1" />
+      </envs>
+      <option name="SDK_HOME" value="" />
+      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+      <option name="IS_MODULE_SDK" value="true" />
+      <option name="ADD_CONTENT_ROOTS" value="true" />
+      <option name="ADD_SOURCE_ROOTS" value="true" />
+      <option name="SCRIPT_NAME" value="D:\KX\protocol_kx.py" />
+      <option name="PARAMETERS" value="" />
+      <option name="SHOW_COMMAND_LINE" value="false" />
+      <option name="EMULATE_TERMINAL" value="false" />
+      <option name="MODULE_MODE" value="false" />
+      <option name="REDIRECT_INPUT" value="false" />
+      <option name="INPUT_FILE" value="" />
+      <method v="2" />
+    </configuration>
+    <recent_temporary>
+      <list>
+        <item itemvalue="Python.main" />
+        <item itemvalue="Python.protocol_kx" />
+      </list>
+    </recent_temporary>
+  </component>
+  <component name="SvnConfiguration">
+    <configuration />
+  </component>
+  <component name="TaskManager">
+    <task active="true" id="Default" summary="Default task">
+      <changelist id="72cc40b1-c3bf-43e3-bbc5-daa6555ea73d" name="Default Changelist" comment="" />
+      <created>1623152084822</created>
+      <option name="number" value="Default" />
+      <option name="presentableId" value="Default" />
+      <updated>1623152084822</updated>
+    </task>
+    <servers />
+  </component>
+  <component name="WindowStateProjectService">
+    <state width="1899" height="285" key="GridCell.Tab.0.bottom" timestamp="1623333108256">
+      <screen x="0" y="0" width="1920" height="1050" />
+    </state>
+    <state width="1899" height="285" key="GridCell.Tab.0.bottom/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1623333108256" />
+    <state width="1882" height="285" key="GridCell.Tab.0.bottom/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623328090440" />
+    <state width="1899" height="285" key="GridCell.Tab.0.center" timestamp="1623333108256">
+      <screen x="0" y="0" width="1920" height="1050" />
+    </state>
+    <state width="1899" height="285" key="GridCell.Tab.0.center/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1623333108256" />
+    <state width="1882" height="285" key="GridCell.Tab.0.center/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623328090440" />
+    <state width="1899" height="285" key="GridCell.Tab.0.left" timestamp="1623333108256">
+      <screen x="0" y="0" width="1920" height="1050" />
+    </state>
+    <state width="1899" height="285" key="GridCell.Tab.0.left/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1623333108256" />
+    <state width="1882" height="285" key="GridCell.Tab.0.left/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623328090440" />
+    <state width="1899" height="285" key="GridCell.Tab.0.right" timestamp="1623333108256">
+      <screen x="0" y="0" width="1920" height="1050" />
+    </state>
+    <state width="1899" height="285" key="GridCell.Tab.0.right/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1623333108256" />
+    <state width="1882" height="285" key="GridCell.Tab.0.right/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623328090440" />
+    <state x="2576" y="349" key="com.intellij.ide.util.TipDialog" timestamp="1623318929088">
+      <screen x="1920" y="0" width="1920" height="1050" />
+    </state>
+    <state x="2576" y="349" key="com.intellij.ide.util.TipDialog/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623318929088" />
+  </component>
+</project>
\ No newline at end of file
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new file mode 100644
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diff --git a/kx.py b/kx.py
new file mode 100644
index 0000000..a05b40c
--- /dev/null
+++ b/kx.py
@@ -0,0 +1,41 @@
+import protocol_kx
+import can
+import cantools
+import os
+import numpy as np
+
+
+K = np.zeros(protocol_kx.KX_K_COUNT)
+
+
+class KX:
+    def __init__(self, id, value, sbl_id, can):
+        K[id] = value
+        self.sbl_id = sbl_id
+        self.can0 = can
+
+
+    def KXInit(self, id, value):
+        K[id] = value
+
+
+    def reset(self):
+        resetMsg = can.Message(arbitration_id=0xA, data=[99, self.sbl_id], is_extended_id=False)
+        self.can0.send(resetMsg)
+
+
+    def sendK(self):
+        msg = protocol_kx.CANMsgK(self.sbl_id, 0, protocol_kx.KX_FLAG_SEND, K[0])
+        i = 0
+        for element in K:
+            msg.k = element
+            msg.index = i
+            i = i + 1
+            messageK = can.Message(protocol_kx.KX_FLAG_SEND, data=msg, is_extended_id=False)
+            self.can0.send(messageK)
+
+
+    def writeToFlashK(self):
+        msg = protocol_kx.CANMsgK(self.sbl_id, 0, protocol_kx.KX_FLAG_WRITE_REQ, K)
+        messageK = can.Message(protocol_kx.KX_FLAG_READ, data=msg, is_extended_id=False)
+        self.can0.send(messageK)
\ No newline at end of file
diff --git a/main.py b/main.py
new file mode 100644
index 0000000..7babafe
--- /dev/null
+++ b/main.py
@@ -0,0 +1,22 @@
+import kx
+import can
+import protocol_kx
+import os
+
+
+can0 = can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000)
+
+
+KXLOX = kx.KX(protocol_kx.KDescription.K_TEST_SOURCE_2_SIGLVL.value, 950, 255, can0)
+KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MAX.value, 21)
+KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MAX.value, 21)
+KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MIN.value, 1)
+KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MIN.value, 1)
+KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y.value, 7)
+KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X.value, 7)
+KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_SIGLVL.value, 450)
+KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCES_ENABLED.value, 1)
+KXLOX.sendK()
+KXLOX.writeToFlashK()
+os.wait(100)
+KXLOX.reset()
diff --git a/protocol_kx.py b/protocol_kx.py
new file mode 100644
index 0000000..5e0602e
--- /dev/null
+++ b/protocol_kx.py
@@ -0,0 +1,87 @@
+from enum import Enum
+
+
+KX_K_COUNT = 64
+KX_DSS_K_START_IDX = 57
+KX_DSS_K_COUNT = (KX_K_COUNT - KX_DSS_K_START_IDX)
+KX_MAX_CALLBACKS = 4
+KX_CAN_ID = 0x2BB
+KX_FLAG_RECEIVE_REQ = 0
+KX_FLAG_RECEIVE_RESP = 1
+KX_FLAG_SEND = 2
+KX_FLAG_READ_REQ = 3
+KX_FLAG_READ_ERR = 4
+KX_FLAG_READ_OK = 5
+KX_FLAG_WRITE_REQ = 6
+KX_FLAG_WRITE_ERR = 7
+KX_FLAG_WRITE_OK = 8
+
+
+class CANMsgK:
+    def __init__(self, sblID, index, flag, k):
+        self.sblID = sblID
+        self.index = index
+        self.flag = flag
+        self.k = k
+
+
+class KDescription(Enum):
+    K_SBL_ID = 0
+    K_TEST_COMP_RX_CHAIN_DISABLED = 1
+    K_TEST_SOURCES_ENABLED = 2
+    K_TEST_SOURCES_COUNT = 3
+    K_TEST_SOURCE_1_POS_X = 4
+    K_TEST_SOURCE_1_POS_Y = 5
+    K_TEST_SOURCE_1_POS_Z = 6
+    K_TEST_SOURCE_1_VEL_X = 7
+    K_TEST_SOURCE_1_VEL_Y = 8
+    K_TEST_SOURCE_1_VEL_Z = 9
+    K_TEST_SOURCE_1_SIGLVL = 10
+    K_TEST_SOURCE_1_POS_X_MIN = 11
+    K_TEST_SOURCE_1_POS_Y_MIN = 12
+    K_TEST_SOURCE_1_POS_Z_MIN = 13
+    K_TEST_SOURCE_1_POS_X_MAX = 14
+    K_TEST_SOURCE_1_POS_Y_MAX = 15
+    K_TEST_SOURCE_1_POS_Z_MAX = 16
+    K_TEST_SOURCE_2_POS_X = 17
+    K_TEST_SOURCE_2_POS_Y = 18
+    K_TEST_SOURCE_2_POS_Z = 19
+    K_TEST_SOURCE_2_VEL_X = 20
+    K_TEST_SOURCE_2_VEL_Y = 21
+    K_TEST_SOURCE_2_VEL_Z = 22
+    K_TEST_SOURCE_2_SIGLVL = 23
+    K_TEST_SOURCE_2_POS_X_MIN = 24
+    K_TEST_SOURCE_2_POS_Y_MIN = 25
+    K_TEST_SOURCE_2_POS_Z_MIN = 26
+    K_TEST_SOURCE_2_POS_X_MAX = 27
+    K_TEST_SOURCE_2_POS_Y_MAX = 28
+    K_TEST_SOURCE_2_POS_Z_MAX = 29
+    K_JPDA_DT = 30
+    K_JPDA_DX = 31
+    K_JPDA_DY = 32
+    K_JPDA_DVX = 33
+    K_JPDA_DVY = 34
+    K_JPDA_DR = 35
+    K_JPDA_DV = 36
+    K_JPDA_DA = 37
+    K_JPDA_ASSOC_DR = 38
+    K_JPDA_ASSOC_DV = 39
+    K_JPDA_ASSOC_DA = 40
+    K_JPDA_CONFIRM_COUNT = 41
+    K_JPDA_CONFIRM_PERIOD = 42
+    K_JPDA_MISSED_COUNT = 43
+    K_JPDA_PK_VAL_THLD = 44
+    K_JPDA_T_SX = 45
+    K_JPDA_T_SY = 46
+    K_JPDA_T_SVX = 47
+    K_JPDA_T_SVY = 48
+    K_JPDA_ADV_PK_VAL = 49
+    K_JPDA_ADV_SY_MULT = 50
+    K_JPDA_BND_BOX_XL = 51
+    K_JPDA_BND_BOX_XR = 52
+    K_JPDA_BND_BOX_YB = 53
+    K_JPDA_BND_BOX_YT = 54
+    K_MRR_RX_GAIN = 55
+    K_USRR_RX_GAIN = 56
+    K_TO_DSS = 57
+    K_TO_DSS_2 = 58
\ No newline at end of file