sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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#!/usr/bin/env python3
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import time
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from collections import namedtuple
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from openpilot.common.i2c import SMBus
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# https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
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AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
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CONFIG = [
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AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
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AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
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AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
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AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
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AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
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AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
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AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
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AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
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AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
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AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
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AmpConfig("DAI2 attenuation (DV2)", 0x0, 0x31, 0, 0b00001111),
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AmpConfig("DAI2: DC blocking", 0b1, 0x20, 0, 0b00000001),
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AmpConfig("DAI2: High sample rate", 0b0, 0x20, 3, 0b00001000),
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AmpConfig("ALC enable", 0b1, 0x43, 7, 0b10000000),
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AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
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AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
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AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
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AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
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AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
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AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
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AmpConfig("Excursion limiter lower corner freq", 0b00, 0x41, 0, 0b00000011),
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AmpConfig("Excursion limiter threshold", 0b000, 0x42, 0, 0b00001111),
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AmpConfig("Distortion limit (THDCLP)", 0x6, 0x46, 4, 0b11110000),
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AmpConfig("Distortion limiter release time constant", 0b0, 0x46, 0, 0b00000001),
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AmpConfig("Right DAC input mixer: DAI1 left", 0b0, 0x22, 3, 0b00001000),
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AmpConfig("Right DAC input mixer: DAI1 right", 0b0, 0x22, 2, 0b00000100),
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AmpConfig("Right DAC input mixer: DAI2 left", 0b1, 0x22, 1, 0b00000010),
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AmpConfig("Right DAC input mixer: DAI2 right", 0b0, 0x22, 0, 0b00000001),
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AmpConfig("DAI1 audio port selector", 0b10, 0x16, 6, 0b11000000),
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AmpConfig("DAI2 audio port selector", 0b01, 0x1E, 6, 0b11000000),
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AmpConfig("Enable left digital microphone", 0b1, 0x48, 5, 0b00100000),
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AmpConfig("Enable right digital microphone", 0b1, 0x48, 4, 0b00010000),
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AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
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AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
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AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
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AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
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AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
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AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
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AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
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AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
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AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
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AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
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AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
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AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
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AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
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AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
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AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
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AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
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AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
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AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
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AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
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AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
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AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
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AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
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AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
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AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
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]
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class Amplifier:
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AMP_I2C_BUS = 0
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AMP_ADDRESS = 0x10
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def __init__(self, debug=False):
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self.debug = debug
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def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig:
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return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000)
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def _set_configs(self, configs: list[AmpConfig]) -> None:
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with SMBus(self.AMP_I2C_BUS) as bus:
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for config in configs:
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if self.debug:
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print(f"Setting \"{config.name}\" to {config.value}:")
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old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
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new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
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bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
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if self.debug:
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print(f" Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
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def set_configs(self, configs: list[AmpConfig]) -> bool:
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# retry in case panda is using the amp
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tries = 15
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backoff = 0.
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for i in range(tries):
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try:
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self._set_configs(configs)
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return True
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except OSError:
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backoff += 0.1
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time.sleep(backoff)
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print(f"Failed to set amp config, {tries - i - 1} retries left")
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return False
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def set_global_shutdown(self, amp_disabled: bool) -> bool:
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return self.set_configs([self._get_shutdown_config(amp_disabled), ])
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def initialize_configuration(self) -> bool:
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cfgs = [
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self._get_shutdown_config(True),
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*CONFIG,
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self._get_shutdown_config(False),
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]
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return self.set_configs(cfgs)
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if __name__ == "__main__":
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amp = Amplifier()
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amp.initialize_configuration()
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