Lets go Joe

Try New Lateral Changes
Revert "More tests"
2026-08-24 17:53:43 +08:00 · 2025-11-23 09:55:38 -05:00 · 2025-11-18 15:55:51 -06:00 · 2025-11-16 16:09:11 -06:00 · 2025-11-16 15:25:33 -06:00 · 2025-11-16 15:11:41 -06:00
4899 changed files with 1655421 additions and 90551 deletions
@@ -1,5 +0,0 @@
-Wen
-REGIST
-PullRequest
-cancelled
-FOF
@@ -0,0 +1,3 @@
+.Xauthority
+.env
+.host/
@@ -0,0 +1,17 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
+RUN pip install ipython jupyter jupyterlab
+
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
+RUN usermod -aG video batman
+
+USER batman
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+
+TARGET_USER=batman
+source .devcontainer/.host/.env
+
+# override display flag for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
+
+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+sudo chown -R $TARGET_USER: /tmp/scons_cache
+sudo chown -R $TARGET_USER: /tmp/comma_download_cache
+sudo chown -R $TARGET_USER: /home/batman/.comma
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi
@@ -0,0 +1,53 @@
+{
+  "name": "openpilot devcontainer",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
+  "privileged": true,
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "PYTHONPATH": "${containerWorkspaceFolder}",
+    "TERM": "xterm-256color",
+    "force_color_prompt": "1"
+  },
+  "runArgs": [
+    "--volume=/dev:/dev",
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
+    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
+    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
+    "--shm-size=1G",
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
+  ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    },
+    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
+    "ghcr.io/devcontainers/features/azure-cli:1": {}
+  },
+  "containerUser": "batman",
+  "remoteUser": "batman",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-vscode.cpptools",
+        "ms-toolsai.jupyter",
+        "guyskk.language-cython",
+        "lharri73.dbc"
+      ]
+    }
+  },
+  "mounts": [
+    "type=volume,source=scons_cache,target=/tmp/scons_cache"
+  ]
+}
@@ -0,0 +1,47 @@
+#!/usr/bin/env bash
+
+# pull base image
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi
@@ -0,0 +1,10 @@
+:: pull base image
+IF NOT DEFINED USE_LOCAL_IMAGE ^
+echo "Updating openpilot_base image if needed..." && ^
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+:: setup .host dir
+mkdir .devcontainer\.host
+
+:: setup host env file
+echo "" > .devcontainer\.host\.env
@@ -5,7 +5,7 @@ end_of_line = lf
 insert_final_newline = true
 trim_trailing_whitespace = true

-[*.{py,pyx,pxd}]
+[{*.py, *.pyx, *.pxd}]
 charset = utf-8
 indent_style = space
 indent_size = 2
@@ -1,21 +0,0 @@
-* text=auto
-
-# to move existing files into LFS:
-# git add --renormalize .
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.svg filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.ttf filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
@@ -1,11 +0,0 @@
-*       @sunnypilot/dev-internal
-/.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
-/tinygrad_repo @devtekve @Discountchubbs
-/tinygrad/ @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
-/selfdrive/modeld/ @devtekve @Discountchubbs
-/sunnypilot/model* @devtekve @Discountchubbs
-/sunnypilot/sunnylink/ @devtekve
-/system/athena/ @devtekve
@@ -0,0 +1,53 @@
+name: Car bug report
+description: For issues with a particular car make or model
+labels: ["car", "bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: car
+    attributes:
+      label: Which car does this affect?
+      placeholder: Toyota Prius 2017
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+
@@ -1,14 +1,14 @@
 blank_issues_enabled: false
 contact_links:
-  - name: Car bug report
-    url: https://github.com/commaai/opendbc/issues/new
-    about: For issues with a particular car make or model
-  - name: Join the Discord
-    url: https://discord.comma.ai
-    about: The community Discord is for both openpilot development and experience discussion
-  - name: Report driving behavior feedback
-    url: https://discord.com/channels/469524606043160576/1254834193066623017
-    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
+  - name: Report model bugs
+    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
+    about: Provide feedback for the driving or driver monitoring models
+  - name: Discussions
+    url: https://github.com/commaai/openpilot/discussions
+    about: For questions and general discussion about openpilot
  - name: Community Wiki
    url: https://github.com/commaai/openpilot/wiki
    about: Check out our community wiki
+  - name: Community Discord
+    url: https://discord.comma.ai
+    about: Check out our community discord
@@ -0,0 +1,15 @@
+---
+name: Bug fix
+about: For openpilot bug fixes
+title: ''
+labels: 'bugfix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->
@@ -0,0 +1,19 @@
+---
+name: Car Bug fix
+about: For vehicle/brand specific bug fixes
+title: ''
+labels: 'car bug fix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->
+
+**Route**
+
+Route: [a route with the bug fix]
@@ -0,0 +1,15 @@
+---
+name: Car port
+about: For new car ports
+title: ''
+labels: 'car port'
+assignees: ''
+---
+
+**Checklist**
+
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):
@@ -0,0 +1,13 @@
+---
+name: Fingerprint
+about: For adding fingerprints to existing cars
+title: ''
+labels: 'fingerprint'
+assignees: ''
+---
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint
@@ -0,0 +1,15 @@
+---
+name: Refactor
+about: For code refactors
+title: ''
+labels: 'refactor'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the refactor, including the goals it accomplishes. -->
+
+**Verification**
+
+<!-- Explain how you tested the refactor for regressions. -->
@@ -0,0 +1,31 @@
+---
+name: Tuning
+about: For openpilot tuning changes
+title: ''
+labels: 'tuning'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
+
+**Verification**
+
+<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
+Use the PlotJuggler tuning layout to compare planned versus actual behavior.
+
+Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
+
+Longitudinal:
+* Maintaining speed at 25, 40, 65mph
+* Driving up and down hills
+* Accelerating from a stop
+* Decelerating to a stop
+* Following large changes in set speed
+* Coming to a stop behind a lead car
+
+Lateral:
+* Straight driving at ~25, ~45 and ~65mph
+* Turns driving at ~25, ~45 and ~65mph
+-->
@@ -0,0 +1,30 @@
+import pathlib
+
+GITHUB_FOLDER = pathlib.Path(__file__).parent
+
+PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
+
+order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
+
+def create_pull_request_template():
+  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
+    f.write("<!-- Please copy and paste the relevant template -->\n\n")
+
+    for t in order:
+      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
+      text = template.read_text()
+
+      # Remove metadata for GitHub
+      start = text.find("---")
+      end = text.find("---", start+1)
+      text = text[end + 4:]
+
+      # Remove comments
+      text = text.replace("<!-- ", "").replace("-->", "")
+
+      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
+      f.write(text)
+      f.write("\n\n")
+      f.write("-->\n\n")
+
+create_pull_request_template()
@@ -1,14 +1,62 @@
-ci:
+CI / testing:
  - changed-files:
    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"

-chore:
-  - changed-files:
-      - any-glob-to-all-files: "{.github/**}"
-
 car:
  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: 'selfdrive/car/**'
+
+body:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/body/*'
+
+chrysler:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
+
+ford:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/ford/*'
+
+gm:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/gm/*'
+
+honda:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/honda/*'
+
+hyundai:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
+
+mazda:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/mazda/*'
+
+nissan:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/nissan/*'
+
+subaru:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/subaru/*'
+
+tesla:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
+
+toyota:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/toyota/*'
+
+volkswagen:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
+
+fingerprint:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'

 simulation:
  - changed-files:
@@ -16,7 +64,7 @@ simulation:

 ui:
  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: 'selfdrive/ui/**'

 tools:
  - changed-files:
@@ -26,6 +74,6 @@ multilanguage:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/ui/translations/**'

-autonomy:
+research:
  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES
@@ -12,27 +12,19 @@ inputs:
    required: true
  save:
    description: 'whether to save the cache'
-    default: 'true'
+    default: 'false'
    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}

 runs:
  using: "composite"
  steps:
    - name: setup namespace cache
-      id: ns-cache
      if: ${{ contains(runner.name, 'nsc') }}
      uses: namespacelabs/nscloud-cache-action@v1
      with:
        path: ${{ inputs.path }}

    - name: setup github cache
-      id: gha-cache
      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
      uses: 'actions/cache@v4'
      with:
@@ -41,7 +33,6 @@ runs:
        restore-keys: ${{ inputs.restore-keys }}

    - name: setup github cache
-      id: gha-cache-ro
      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
      uses: 'actions/cache/restore@v4'
      with:
@@ -1,7 +1,7 @@
 name: "PR review"
 on:
  pull_request_target:
-    types: [opened, reopened, synchronize, edited]
+    types: [opened, reopened, synchronize, edited, edited]

 jobs:
  labeler:
@@ -9,7 +9,6 @@ jobs:
    permissions:
      contents: read
      pull-requests: write
-      issues: write
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4
@@ -25,67 +24,30 @@ jobs:
    # Check PR target branch
    - name: check branch
      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'sunnypilot/sunnypilot'
+      if: github.repository == 'commaai/openpilot'
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
-        target: /^(?!master-new$).*/
-        exclude: /sunnypilot:.*/
+        target: /^(?!master$).*/
+        exclude: /commaai:.*/
        change-to: ${{ github.base_ref }}
        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master-new` branch"
+        already-exists-comment: "Your PR should be made against the `master` branch"

-  update-pr-labels:
-    name: Update fork's PR Labels
-    runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env: 
-      PR_LABEL: 'dev-c3'
-      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
-    steps:
-      - name: Check if PR has dev-c3 label
-        id: check-labels
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-            
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-            
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            
-            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-      
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-            
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-            
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });
+    # Welcome comment
+    - name: comment
+      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      with:
+        message: |
+            <!-- _(run_id **${{ github.run_id }}**)_ -->
+            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
+            * Convert your PR to a draft unless it's ready to review
+            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Before marking as "ready for review", ensure:
+              * the goal is clearly stated in the description
+              * all the tests are passing
+              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * include a route or your device' dongle ID if relevant
+        comment_tag: run_id
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -7,13 +7,13 @@ on:
 env:
  BASE_IMAGE: openpilot-base
  DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c

 jobs:
  badges:
    name: create badges
    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
    permissions:
      contents: write
    steps:
@@ -23,13 +23,13 @@ jobs:
    - uses: ./.github/workflows/setup-with-retry
    - name: Push badges
      run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
+        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"

        rm .gitattributes

        git checkout --orphan badges
        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
+        git config user.email "badge-researcher@comma.ai"
        git config user.name "Badge Researcher"

        git add translation_badge.svg
@@ -1,226 +0,0 @@
-name: Build All Tinygrad Models and Push to GitLab
-
-on:
-  workflow_dispatch:
-    inputs:
-      branch:
-        description: 'Branch to run workflow from'
-        required: false
-        default: 'master-new'
-        type: string
-
-jobs:
-  setup:
-    runs-on: ubuntu-latest
-    outputs:
-      json_file: ${{ steps.get-json.outputs.json_file }}
-    steps:
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Get next JSON version to use
-        id: get-json
-        run: |
-          cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
-          next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=$json_file" >> $GITHUB_OUTPUT
-
-      - name: Upload context for next jobs
-        uses: actions/upload-artifact@v4
-        with:
-          name: context
-          path: docs
-
-  build-all:
-    runs-on: ubuntu-latest
-    needs: setup
-    env:
-      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          cd ..
-
-      - name: Set next recompiled dir
-        id: set-recompiled
-        run: |
-          cd gitlab_docs/models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="recompiled${next_dir}"
-          mkdir -p "$recompiled_dir"
-          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
-
-      - name: Download context
-        uses: actions/download-artifact@v4
-        with:
-          name: context
-          path: .
-
-      - name: Install dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y jq gh
-
-      - name: Build all tinygrad models
-        id: trigger-builds
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          set -e
-          > triggered_run_ids.txt
-          BRANCH="${{ github.event.inputs.branch }}"
-          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
-            ref=$(echo "$bundle" | jq -r '.ref')
-            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
-            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
-            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
-            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
-            gh workflow run sunnypilot-build-model.yaml \
-              --repo sunnypilot/sunnypilot \
-              --ref "$BRANCH" \
-              -f upstream_branch="$ref" \
-              -f custom_name="$display_name" \
-              -f is_20hz="$is_20hz"
-            for i in {1..24}; do
-              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
-              if [ -n "$RUN_ID" ]; then
-                break
-              fi
-              sleep 5
-            done
-            if [ -z "$RUN_ID" ]; then
-              echo "ould not find the triggered workflow run for $display_name ($ref)"
-              exit 1
-            fi
-            echo "$RUN_ID" >> triggered_run_ids.txt
-          done
-
-      - name: Wait for all model builds to finish
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          set -e
-          SUCCESS_RUNS=()
-          FAILED_RUNS=()
-          declare -A RUN_ID_TO_NAME
-
-          while read -r RUN_ID; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
-            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
-          done < triggered_run_ids.txt
-
-          while read -r RUN_ID; do
-            echo "Watching run ID: $RUN_ID"
-            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
-            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
-            else
-              FAILED_RUNS+=("$RUN_ID")
-            fi
-          done < triggered_run_ids.txt
-
-          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
-            echo "All model builds failed. Aborting."
-            exit 1
-          fi
-
-          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
-            echo "WARNING: The following model builds failed:"
-            for RUN_ID in "${FAILED_RUNS[@]}"; do
-              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
-            done
-            echo "You may want to rerun these models manually."
-          fi
-
-      - name: Download and extract all model artifacts
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
-          SUCCESS_RUNS=()
-          while read -r RUN_ID; do
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
-            fi
-          done < triggered_run_ids.txt
-
-          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
-            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
-            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
-            if [ -n "$ZIP_PATH" ]; then
-              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
-              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
-              rm -f "$ZIP_PATH"
-              echo "Unzipped and removed $ZIP_PATH"
-            else
-              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
-            fi
-            echo "Done processing $ARTIFACT_NAME"
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          mkdir -p models/"$(basename $RECOMPILED_DIR)"
-          git add models/"$(basename $RECOMPILED_DIR)"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
-          git push origin main
-
-      - name: Run json_parser.py to update JSON
-        run: |
-          python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"
-
-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
-          git push origin gh-pages
@@ -1,198 +0,0 @@
-name: Build Single Tinygrad Model and Push
-
-on:
-  workflow_dispatch:
-    inputs:
-      build_model_ref:
-        description: 'Branch to use for build-model workflow'
-        required: false
-        default: 'master-new'
-        type: string
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: number
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: number
-      model_folder:
-        description: 'Model folder'
-        required: true
-        type: choice
-        options:
-          - Simple Plan Models
-          - TR Models
-          - DTR Models
-          - Custom Merge Models
-          - FOF series models
-          - Other
-      custom_model_folder:
-        description: 'Custom model folder name (if "Other" selected)'
-        required: false
-        type: string
-      generation:
-        description: 'Model generation'
-        required: false
-        type: number
-      version:
-        description: 'Minimum selector version'
-        required: false
-        type: number
-
-jobs:
-  build-single:
-    runs-on: ubuntu-latest
-    env:
-      RECOMPILED_DIR: recompiled${{ github.event.inputs.recompiled_dir }}
-      JSON_FILE: docs/docs/driving_models_v${{ github.event.inputs.json_version }}.json
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Install dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y jq gh
-
-      - name: Build model
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
-          gh workflow run sunnypilot-build-model.yaml \
-            --repo sunnypilot/sunnypilot \
-            --ref "${{ github.event.inputs.build_model_ref }}" \
-            -f upstream_branch="${{ github.event.inputs.upstream_branch }}" \
-            -f custom_name="${{ github.event.inputs.custom_name }}"
-
-          for i in {1..24}; do
-            RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
-            if [ -n "$RUN_ID" ]; then
-              break
-            fi
-            sleep 5
-          done
-
-          if [ -z "$RUN_ID" ]; then
-            echo "Could not find the triggered workflow run."
-            exit 1
-          fi
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
-          CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-          echo "Run concluded with: $CONCLUSION"
-          if [[ "$CONCLUSION" != "success" ]]; then
-            echo "Workflow run failed with conclusion: $CONCLUSION"
-            exit 1
-          fi
-
-      - name: Download and extract model artifact
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
-          RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-          ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
-          echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
-          mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
-          echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
-          gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
-          echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
-          ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
-          if [ -n "$ZIP_PATH" ]; then
-            echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
-            unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            rm -f "$ZIP_PATH"
-            echo "Unzipped and removed $ZIP_PATH"
-          else
-            echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME"
-          fi
-          echo "Done processing $ARTIFACT_NAME"
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
-
-      - name: Run json_parser.py to update JSON
-        run: |
-          FOLDER="${{ github.event.inputs.model_folder }}"
-          if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ github.event.inputs.custom_model_folder }}"
-          fi
-          ARGS=""
-          [ -n "$FOLDER" ] && ARGS="$ARGS --model-folder \"$FOLDER\""
-          [ -n "${{ github.event.inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ github.event.inputs.generation }}\""
-          [ -n "${{ github.event.inputs.version }}" ] && ARGS="$ARGS --version \"${{ github.event.inputs.version }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
-
-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages
@@ -1,77 +0,0 @@
-name: cereal validation
-
-on:
-  push:
-    branches:
-      - master
-      - master-new
-  pull_request:
-    paths:
-      - 'cereal/**'
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Generate the log file
-        run: |
-          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
-          ls -la
-          ls -la cereal/messaging/tests
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
-  validate_cereal_with_upstream:
-    name: Validate cereal with Upstream
-    runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          submodules: true
-          ref: "refs/heads/master"
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-      - name: 'Run the validation'
-        run: |
-          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always()
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v7
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY
@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}
@@ -15,7 +15,7 @@ runs:
                          scons -j$(nproc) --cache-populate"
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      if: github.ref == 'refs/heads/master'
      with:
        path: .ci_cache/scons_cache
        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -0,0 +1,277 @@
+name: Compile FrogPilot
+
+on:
+  workflow_dispatch:
+    inputs:
+      runner:
+        description: "Select the runner"
+        required: true
+        default: "c3"
+        type: choice
+        options:
+          - c3
+          - c3x
+      not_vetted:
+        description: "This branch is not vetted"
+        required: false
+        default: "false"
+        type: boolean
+      publish_frogpilot:
+        description: "Push to FrogPilot"
+        required: false
+        default: "false"
+        type: boolean
+      publish_staging:
+        description: "Push to FrogPilot-Staging"
+        required: false
+        default: "false"
+        type: boolean
+      publish_testing:
+        description: "Push to FrogPilot-Testing"
+        required: false
+        default: "false"
+        type: boolean
+      publish_custom_branch:
+        description: "Push to custom branch:"
+        required: false
+        default: ""
+        type: string
+      update_translations:
+        description: "Update missing/outdated translations"
+        required: false
+        default: "false"
+        type: boolean
+      vet_existing_translations:
+        description: "Vet existing translations"
+        required: false
+        default: "false"
+        type: boolean
+
+env:
+  BASEDIR: "${{ github.workspace }}"
+  BUILD_DIR: /data/openpilot
+  OPENAI_API_KEY: "${{ secrets.OPENAI_API_KEY }}"
+
+jobs:
+  get_branch:
+    runs-on:
+      - self-hosted
+      - ${{ github.event.inputs.runner }}
+    outputs:
+      branch: ${{ steps.get_branch.outputs.branch }}
+      python_version: ${{ steps.get_python_version.outputs.python_version }}
+    steps:
+      - name: Determine Current Branch on Runner
+        id: get_branch
+        run: |
+          cd $BUILD_DIR
+
+          BRANCH=$(git rev-parse --abbrev-ref HEAD)
+          echo "branch=$BRANCH" >> $GITHUB_OUTPUT
+
+      - name: Get Python Version from Runner
+        id: get_python_version
+        run: |
+          PYTHON_VERSION=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")
+          echo "python_version=$PYTHON_VERSION" >> $GITHUB_OUTPUT
+
+  translate:
+    if: inputs.update_translations
+    needs: get_branch
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Checkout Required Files
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ needs.get_branch.outputs.branch }}
+          sparse-checkout: |
+            frogpilot/ui/
+            selfdrive/controls/lib/alerts_offroad.json
+            selfdrive/ui/
+            selfdrive/ui/update_translations.py
+            selfdrive/ui/translations/
+            selfdrive/ui/translations/auto_translate.py
+
+      - name: Set Up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "${{ needs.get_branch.outputs.python_version }}"
+
+      - name: Install Dependencies
+        run: pip install requests
+
+      - name: Install Qt5 Tools
+        run: sudo apt update && sudo apt install -y qttools5-dev-tools
+
+      - name: Update Translations
+        run: python selfdrive/ui/update_translations.py --vanish
+
+      - name: Update Missing Translations
+        continue-on-error: true
+        run: python selfdrive/ui/translations/auto_translate.py --all-files
+        timeout-minutes: 300
+
+      - name: Vet Existing Translations
+        if: github.event.inputs.vet_existing_translations == 'true'
+        continue-on-error: true
+        run: python selfdrive/ui/translations/auto_translate.py --all-files --vet-translations
+        timeout-minutes: 300
+
+      - name: Commit and Push Translation Updates
+        run: |
+          if git diff --quiet selfdrive/ui/translations/*.ts; then
+            echo "No translation updates detected."
+            exit 0
+          fi
+
+          git fetch --unshallow origin ${{ needs.get_branch.outputs.branch }}
+          git checkout ${{ needs.get_branch.outputs.branch }}
+          git add selfdrive/ui/translations/*.ts
+          git commit --amend --no-edit
+          git push --force origin ${{ needs.get_branch.outputs.branch }}
+
+  build_and_push:
+    needs:
+      - get_branch
+      - translate
+    if: always()
+    runs-on:
+      - self-hosted
+      - ${{ github.event.inputs.runner }}
+    permissions:
+      contents: write
+    defaults:
+      run:
+        working-directory: ${{ env.BUILD_DIR }}
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global http.postBuffer 104857600
+
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Update Repository
+        run: |
+          git remote set-url origin https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/FrogAi/FrogPilot.git
+
+          if [ "${{ github.event.inputs.update_translations }}" = "true" ]; then
+            git fetch origin ${{ needs.get_branch.outputs.branch }}
+            git reset --hard FETCH_HEAD
+          fi
+
+      - name: Take Ownership of Build
+        run: |
+          sudo chown -R $(whoami):$(whoami) .
+
+      - name: Finalize Build
+        run: |
+          rm -f .clang-tidy
+          rm -f .dockerignore
+          rm -f .editorconfig
+          rm -f .gitattributes
+          rm -f .gitmodules
+          rm -f .lfsconfig
+          rm -f .overlay_init
+          rm -f .pre-commit-config.yaml
+          rm -f .sconsign.dblite
+          rm -f codecov.yml
+          rm -f conftest.py
+          rm -f poetry.lock
+          rm -f pyproject.toml
+          rm -f teleoprtc
+          rm -f Dockerfile.openpilot
+          rm -f Dockerfile.openpilot_base
+          rm -f Jenkinsfile
+
+          rm -f panda/board/obj/.placeholder
+          rm -f panda/board/obj/bootstub.panda.elf
+          rm -f panda/board/obj/bootstub.panda_h7.elf
+          rm -f panda/board/obj/panda.bin
+          rm -f panda/board/obj/panda.elf
+          rm -f panda/board/obj/panda_h7.bin
+          rm -f panda/board/obj/panda_h7.elf
+          rm -f panda/board/obj/version
+
+          find . -name '*.a' -delete
+          find . -name '*.o' -delete
+          find . -name '*.onnx' -delete
+          find . -name '*.os' -delete
+          find . -name '*.pyc' -delete
+          find . -name 'moc_*' -delete
+
+          rm -rf .devcontainer/
+          rm -rf .vscode/
+          rm -rf body/
+          rm -rf opendbc/generator/
+          rm -rf release/
+          rm -rf scripts/
+          rm -rf site_scons/
+          rm -rf teleoprtc_repo/
+
+          find .github -mindepth 1 -maxdepth 1 ! -name 'workflows' -exec rm -rf {} +
+
+          find .github/workflows -mindepth 1 ! \( \
+            -type f \( \
+              -name 'compile_frogpilot.yaml' -o \
+              -name 'review_pull_request.yaml' -o \
+              -name 'schedule_update.yaml' -o \
+              -name 'update_pr_branch.yaml' -o \
+              -name 'update_release_branch.yaml' -o \
+              -name 'update_tinygrad.yaml' \
+            \) \
+          \) -exec rm -rf {} +
+
+          find panda/board/jungle -type f ! -name '__init__.py' -delete
+          find panda/board/jungle -type d -empty -delete
+
+          find third_party/ -name '*x86*' -exec rm -rf {} +
+          find third_party/ -name '*Darwin*' -exec rm -rf {} +
+
+          find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' -o -name 'scripts' \) -exec rm -rf {} +
+
+          find . -name 'SConstruct' -delete
+          find . -name 'SConscript' -delete
+
+          find . -type d \( -iname "debug" -o -iname "test" -o -iname "tests" \) -exec rm -rf {} +
+          find . -type d -empty ! -path "./.git*" -delete
+          find . -type d -name '__pycache__' -exec rm -rf {} +
+          find . -type f -regex '.*matlab.*\.md' -delete
+
+          touch prebuilt
+
+          if [ "${{ github.event.inputs.not_vetted }}" = "true" ]; then
+            touch not_vetted
+          fi
+
+      - name: Add the update_date file
+        if: github.event.inputs.publish_staging == 'true'
+        run: |
+          curl -fLsS https://raw.githubusercontent.com/FrogAi/FrogPilot/FrogPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping."
+
+      - name: Commit Build
+        run: |
+          git add -f .
+          git commit -m "Compile FrogPilot"
+          git push --force origin HEAD
+
+          if [ "${{ github.event.inputs.publish_frogpilot }}" = "true" ]; then
+            git push --force origin HEAD:"FrogPilot"
+          fi
+
+          if [ "${{ github.event.inputs.publish_staging }}" = "true" ]; then
+            git push --force origin HEAD:"FrogPilot-Staging"
+          fi
+
+          if [ "${{ github.event.inputs.publish_testing }}" = "true" ]; then
+            git push --force origin HEAD:"FrogPilot-Testing"
+          fi
+
+          if [ -n "${{ github.event.inputs.publish_custom_branch }}" ]; then
+            git push --force origin HEAD:"${{ github.event.inputs.publish_custom_branch }}"
+          fi
@@ -5,60 +5,59 @@ on:
    branches:
      - master
  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
+
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

+env:
+  BASE_IMAGE: openpilot-base
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
 jobs:
  docs:
    name: build docs
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
+    timeout-minutes: 45
    steps:
-    - uses: commaai/timeout@v1
-
    - uses: actions/checkout@v4
      with:
        submodules: true
-
-    # Build
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Build docs
      run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
+        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"

-    # Push to docs.comma.ai
    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
      with:
        path: openpilot-docs
        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: sunnypilot/sunnypilot-docs
+        repository: commaai/openpilot-docs
    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
      run: |
        set -x

        source release/identity.sh

        cd openpilot-docs
+
        git checkout --orphan tmp
        git rm -rf .

-        # copy over docs
-        cp -r ../docs_site/ docs/
-
-        # GitHub pages config
+        cp -r ../build/docs/html/ docs/
+        cp -r ../docs/README.md .
        touch docs/.nojekyll
        echo -n docs.comma.ai > docs/CNAME
-
        git add -f .
+
        git commit -m "build docs"

        # docs live in different repo to not bloat openpilot's full clone size
@@ -1,45 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  # TODO: gc old branches in a separate job in this workflow
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v7
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
-      with:
-        ref: refs/pull/${{ github.event.issue.number }}/head
-
-    - name: Push to tmp-jenkins branch
-      if: steps.check_comment.outputs.result == 'true'
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
@@ -1,72 +0,0 @@
-name: Sync comma's LFS
-
-env:
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  schedule:
-    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
-  push:
-    branches:
-      - 'master-new'
-  pull_request:
-    branches:
-      - 'master-new'
-  workflow_dispatch:  # enables manual triggering
-    inputs:
-      upstream_branch:
-        default: 'master'
-        type: string
-
-jobs:
-  sync:
-    runs-on: ubuntu-latest
-    # Skip if PR is in draft mode
-    if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          ref: ${{ inputs.upstream_branch }}
-      
-      - name: LFS Fetch
-        run: |
-          git lfs fetch
-
-      - name: Set up Git
-        run: |
-          git config --global user.name 'GitHub Action'
-          git config --global user.email 'action@github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-      
-      - name: Ensure branch
-        run: |
-          if git symbolic-ref -q HEAD >/dev/null; then
-              echo "Already on a branch, proceeding with push"
-            else
-              echo "Detached HEAD state detected, creating temporary branch"
-            git checkout -b temp_branch
-          fi
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push LFS
-        id: sync-and-commit
-        run: |
-          git lfs ls-files -l
-          git lfs push --all origin
@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Checkout master
-        uses: actions/checkout@v4
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - run: pip install onnx
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}
@@ -12,7 +12,7 @@ jobs:
  build_prebuilt:
    name: build prebuilt
    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
    env:
      PUSH_IMAGE: true
    permissions:
@@ -1,29 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master-new
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -1,18 +1,19 @@
 name: release
 on:
  schedule:
-    - cron: '0 9 * * *'
+    - cron: '0 10 * * *'
  workflow_dispatch:

 jobs:
  build_masterci:
    name: build master-ci
    env:
-      ImageOS: ubuntu24
+      TARGET_DIR: /tmp/openpilot
+      ImageOS: ubuntu20
    container:
      image: ghcr.io/commaai/openpilot-base:latest
    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
    permissions:
      checks: read
      contents: write
@@ -22,7 +23,7 @@ jobs:
        sudo apt-get update
        sudo apt-get install -y libyaml-dev
    - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
+      if: ${{ github.event_name != 'workflow_dispatch' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
        ref: master
@@ -38,5 +39,16 @@ jobs:
      run: |
        git config --global --add safe.directory '*'
        git lfs pull
+    - name: Build master-ci
+      run: |
+        release/build_devel.sh
+    - name: Run tests
+      run: |
+        export PYTHONPATH=$TARGET_DIR
+        cd $TARGET_DIR
+        scons -j$(nproc)
+        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
    - name: Push master-ci
-      run: BRANCH=__nightly release/build_devel.sh
+      run: |
+        unset TARGET_DIR
+        BRANCH=master-ci release/build_devel.sh
@@ -5,68 +5,59 @@ on:
    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
  workflow_dispatch:

-env:
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
 jobs:
-  update_translations:
+  bump_submodules:
+    name: bump_submodules
    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-        with:
-          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master-new"
-          delete-branch: true
-          labels: bot
-
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: bump submodules
+      run: |
+        git config --global --add safe.directory '*'
+        git -c submodule."tinygrad".update=none submodule update --remote
+        git add .
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+      with:
+        author: Vehicle Researcher <user@comma.ai>
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: bump submodules
+        title: '[bot] Bump submodules'
+        branch: auto-bump-submodules
+        base: master
+        delete-branch: true
+        body: 'Automatic PR from repo-maintenance -> bump_submodules'
+        labels: bot
  package_updates:
    name: package_updates
    runs-on: ubuntu-latest
    container:
      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
    steps:
    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: uv lock
+    - name: poetry lock
      run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
-    - name: bump submodules
+        pip install poetry
+        poetry lock
+    - name: pre-commit autoupdate
      run: |
        git config --global --add safe.directory '*'
-        git submodule update --remote
-        git add .
-    - name: update car docs
-      run: |
-        export PYTHONPATH="$PWD"
-        scons -j$(nproc) --minimal opendbc_repo
-        python selfdrive/car/docs.py
-        git add docs/CARS.md
+        pre-commit autoupdate
    - name: Create Pull Request
      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
      with:
-        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
-        commit-message: Update Python packages
-        title: '[bot] Update Python packages'
+        author: Vehicle Researcher <user@comma.ai>
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update Python packages and pre-commit hooks
+        title: '[bot] Update Python packages and pre-commit hooks'
        branch: auto-package-updates
-        base: master-new
+        base: master
        delete-branch: true
        body: 'Automatic PR from repo-maintenance -> package_updates'
        labels: bot
@@ -0,0 +1,34 @@
+name: Review Pull Request
+
+on:
+  pull_request_target:
+    types: [opened, reopened]
+
+env:
+  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
+jobs:
+  pr_check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Exit If PR Opened by FrogAi
+        if: ${{ github.actor == 'FrogAi' }}
+        run: |
+          echo PR opened or reopened by FrogAi. No action needed.
+          exit 0
+
+      - name: Close PR for Invalid Target Branch
+        if: ${{ github.base_ref != 'MAKE-PRS-HERE' }}
+        run: |
+          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
+            -f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch."
+
+          gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \
+            -X PATCH \
+            -f state="closed"
+
+      - name: Acknowledge PR for Valid Target Branch
+        if: ${{ github.base_ref == 'MAKE-PRS-HERE' }}
+        run: |
+          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
+            -f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!"
@@ -0,0 +1,57 @@
+name: Schedule FrogPilot Update
+
+on:
+  workflow_dispatch:
+    inputs:
+      scheduled_date:
+        description: "Enter the date to update the \"FrogPilot\" branch (YYYY-MM-DD)"
+        required: true
+
+env:
+  BRANCH: FrogPilot-Staging
+
+jobs:
+  schedule-update:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Checkout ${{ env.BRANCH }}
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ env.BRANCH }}
+          fetch-depth: 3
+
+      - name: Schedule Update for ${{ github.event.inputs.scheduled_date }}
+        run: |
+          echo "${{ github.event.inputs.scheduled_date }}" > .github/update_date
+          git add .github/update_date
+
+      - name: Get Target Commit (Second Most Recent)
+        id: get_target
+        run: |
+          TARGET_COMMIT=$(git rev-parse HEAD~1)
+
+          AUTHOR_DATE=$(git show -s --format=%aD "$TARGET_COMMIT")
+          COMMITTER_DATE=$(git show -s --format=%cD "$TARGET_COMMIT")
+
+          echo "AUTHOR_DATE=$AUTHOR_DATE" >> $GITHUB_ENV
+          echo "COMMITTER_DATE=$COMMITTER_DATE" >> $GITHUB_ENV
+          echo "TARGET_COMMIT=$TARGET_COMMIT" >> $GITHUB_ENV
+
+      - name: Create Fixup Commit for ${{ env.TARGET_COMMIT }}
+        run: git commit --fixup="${{ env.TARGET_COMMIT }}"
+
+      - name: Autosquash Fixup into Target Commit
+        run: |
+          GIT_SEQUENCE_EDITOR=: git rebase --autosquash -i HEAD~3
+
+      - name: Restore Timestamps on Final Two Commits
+        run: |
+          git rebase --exec "GIT_COMMITTER_DATE='${{ env.COMMITTER_DATE }}' git commit --amend --no-edit --date='${{ env.AUTHOR_DATE }}'" HEAD~2
+
+      - name: Push Updated ${{ env.BRANCH }} Branch
+        run: git push origin "${{ env.BRANCH }}" --force-with-lease
@@ -4,22 +4,14 @@ on:
  push:
    branches:
      - master
-      - master-new
  pull_request:
  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string

 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
-  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
  PYTHONWARNINGS: error
  BASE_IMAGE: openpilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -27,50 +19,61 @@ env:
  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: selfdrive/test/docker_build.sh base

-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

-  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
+  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical

 jobs:
  build_release:
-    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
    name: build release
-    runs-on:
-      - 'ubuntu-24.04'
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    env:
      STRIPPED_DIR: /tmp/releasepilot
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
+    - run: git lfs pull
    - name: Build devel
      timeout-minutes: 1
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup-pre-commit
    - uses: ./.github/workflows/setup-with-retry
+    - name: Check submodules
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      timeout-minutes: 1
+      run: release/check-submodules.sh
    - name: Build openpilot and run checks
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
      run: |
        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
+        ${{ env.RUN }} "python system/manager/build.py"
    - name: Run tests
-      timeout-minutes: 1
+      timeout-minutes: 3
      run: |
        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
+        ${{ env.RUN }} "release/check-dirty.sh && \
+                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
+    - name: pre-commit
      timeout-minutes: 3
-      run: release/check-submodules.sh
+      run: |
+        cd $GITHUB_WORKSPACE
+        cp .pre-commit-config.yaml $STRIPPED_DIR
+        cp pyproject.toml $STRIPPED_DIR
+        cp poetry.lock $STRIPPED_DIR
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"

  build:
-    runs-on:
-      - 'ubuntu-24.04'
+    strategy:
+      matrix:
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') ||
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -79,115 +82,107 @@ jobs:
      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache

-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [build]
    steps:
    - uses: actions/checkout@v4
      with:
-        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
-    - name: Save Homebrew cache
-      uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
-    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64

  static_analysis:
    name: static analysis
-    runs-on:
-      - 'ubuntu-latest'
-    env:
-      PYTHONWARNINGS: default
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
-
-  unit_tests:
-    name: unit tests
-    runs-on:
-      - 'ubuntu-24.04'
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
+    - uses: ./.github/workflows/setup-pre-commit
    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
-      run: |
-        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        ./selfdrive/ui/tests/create_test_translations.sh && \
-                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        chmod -R 777 /tmp/comma_download_cache"
+    - name: pre-commit
+      timeout-minutes: 4
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"

-  process_replay:
-    name: process replay
-    if: github.repository == 'commaai/openpilot'  # disable process_replay for forks
-    runs-on:
-      - 'ubuntu-24.04'
+  unit_tests:
+    name: unit tests
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run unit tests
+      timeout-minutes: 15
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        $PYTEST --timeout 60 -m 'not slow' && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        pytest ./selfdrive/ui/tests/test_translations.py"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v4
+      with:
+        name: ${{ github.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  process_replay:
+    name: process replay
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - name: Cache test routes
      id: dependency-cache
      uses: actions/cache@v4
      with:
        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      timeout-minutes: 30
      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
+        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache && \
+                        coverage combine && \
+                        coverage xml"
    - name: Print diff
      id: print-diff
      if: always()
@@ -199,51 +194,69 @@ jobs:
        name: process_replay_diff.txt
        path: selfdrive/test/process_replay/diff.txt
    - name: Upload reference logs
-      if: false # TODO: move this to github instead of azure
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
+    - name: Run model replay with ONNX
+      timeout-minutes: 4
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
+                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                        coverage combine && coverage xml"
    - name: Run regen
-      if: false
      timeout-minutes: 4
      run: |
        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                        chmod -R 777 /tmp/comma_download_cache"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v4
+      with:
+        name: ${{ github.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

  test_cars:
    name: cars
-    runs-on:
-      - 'ubuntu-24.04'
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    strategy:
      fail-fast: false
      matrix:
-        job: [0, 1, 2, 3]
+        job: [0, 1]
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Cache test routes
-      id: routes-cache
-      uses: actions/cache@v4
+      id: dependency-cache
+      uses: ./.github/workflows/auto-cache
      with:
        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }}
+      timeout-minutes: 20
      run: |
-        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                        chmod -R 777 /tmp/comma_download_cache"
      env:
-        NUM_JOBS: 4
+        NUM_JOBS: 2
        JOB_ID: ${{ matrix.job }}
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v4
+      with:
+        name: ${{ github.job }}-${{ matrix.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

  car_docs_diff:
    name: PR comments
    runs-on: ubuntu-latest
-    #if: github.event_name == 'pull_request'
-    if: false  # TODO: run this in opendbc?
+    if: github.event_name == 'pull_request'
    steps:
      - uses: actions/checkout@v4
        with:
@@ -253,7 +266,7 @@ jobs:
      - uses: ./.github/workflows/setup-with-retry
      - name: Get base car info
        run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
          sudo chown -R $USER:$USER ${{ github.workspace }}
      - uses: actions/checkout@v4
        with:
@@ -265,7 +278,7 @@ jobs:
        run: |
          cd current
          ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
          output="${output//$'\n'/'%0A'}"
          echo "::set-output name=diff::$output"
      - name: Find comment
@@ -294,53 +307,24 @@ jobs:
              comment_id: ${{ steps.fc.outputs.comment-id }}
            })

-  simulator_driving:
-    name: simulator driving
-    runs-on:
-      - 'ubuntu-24.04'
-    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Driving test
-      timeout-minutes: 1
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
  create_ui_report:
-    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
    name: Create UI Report
-    runs-on:
-      - 'ubuntu-24.04'
+    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: true
      - uses: ./.github/workflows/setup-with-retry
-      - name: caching frames
-        id: frames-cache
-        uses: actions/cache@v4
-        with:
-          path: .ci_cache/comma_download_cache
-          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
      - name: Build openpilot
        run: ${{ env.RUN }} "scons -j$(nproc)"
      - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
        run: >
            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                            source selfdrive/test/setup_xvfb.sh &&
-                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
-                            chmod -R 777 /tmp/comma_download_cache"
+                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
+                            python selfdrive/ui/tests/test_ui/run.py"
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: ${{ env.REPORT_NAME }}
-          path: selfdrive/ui/tests/test_ui/report_1/screenshots
+          name: report
+          path: selfdrive/ui/tests/test_ui/report
@@ -0,0 +1,12 @@
+name: 'set up pre-commit environment'
+
+runs:
+  using: "composite"
+  steps:
+    - uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/pre-commit
+        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
+        restore-keys: |
+          pre-commit-
+        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}
@@ -17,6 +17,7 @@ runs:
      uses: ./.github/workflows/setup
      continue-on-error: true
      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
    - if: steps.setup1.outcome == 'failure'
      shell: bash
@@ -26,6 +27,7 @@ runs:
      uses: ./.github/workflows/setup
      continue-on-error: true
      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
    - if: steps.setup2.outcome == 'failure'
      shell: bash
@@ -34,4 +36,5 @@ runs:
      if: steps.setup2.outcome == 'failure'
      uses: ./.github/workflows/setup
      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
@@ -1,6 +1,10 @@
 name: 'openpilot env setup'

 inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
  is_retried:
    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
    required: false
@@ -16,20 +20,23 @@ runs:
        echo "You should not run this action directly. Use setup-with-retry instead"
        exit 1

-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
    - shell: bash
      run: git lfs pull

+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
    # build cache
    - id: date
      shell: bash
@@ -53,4 +60,4 @@ runs:
        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
    # build our docker image
    - shell: bash
-      run: eval ${{ env.BUILD }}
+      run: eval ${{ env.BUILD }}
@@ -5,9 +5,8 @@ on:
  workflow_dispatch:

 env:
-  DAYS_BEFORE_PR_CLOSE: 2
-  DAYS_BEFORE_PR_STALE: 9
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
+  DAYS_BEFORE_PR_CLOSE: 3
+  DAYS_BEFORE_PR_STALE: 14

 jobs:
  stale:
@@ -15,38 +14,16 @@ jobs:
    steps:
      - uses: actions/stale@v9
        with:
-          exempt-all-milestones: true
+          exempt-milestones: true

          # pull request config
          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: false
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
-
-  # same as above, but give draft PRs more time
-  stale_drafts:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true

          # issue config
          days-before-issue-stale: -1 # ignore issues for now
@@ -1,169 +0,0 @@
-name: Build Model from Upstream
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  UPSTREAM_REPO: "commaai/openpilot"
-  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
-
-on:
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
-
-jobs:
-  get_model:
-    runs-on: ubuntu-latest
-    outputs:
-      model_date: ${{ steps.commit-date.outputs.model_date }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
-          submodules: recursive
-      - name: Get commit date
-        id: commit-date
-        run: |
-          # Get the commit date in YYYY-MM-DD format
-          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
-          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-      - run: git lfs pull
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: models
-          path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
-
-  build_model:
-    runs-on: self-hosted
-    needs: get_model
-    env:
-      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-
-      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
-
-      - name: Download model artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: models
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-
-      - name: Build Model
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
-
-          # Loop through all .onnx files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
-
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${{ env.OUTPUT_DIR }}
-          mkdir -p ${{ env.OUTPUT_DIR }}
-
-          # Copy the model files
-          rsync -avm \
-            --include='*.dlc' \
-            --include='*.thneed' \
-            --include='*.pkl' \
-            --include='*.onnx' \
-            --exclude='*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
-
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --model-dir "${{ env.MODELS_DIR }}" \
-            --output-dir "${{ env.OUTPUT_DIR }}" \
-            --custom-name "${{ env.MODEL_NAME }}" \
-            --upstream-branch "${{ inputs.upstream_branch }}" \
-            ${{ inputs.is_20hz && '--is-20hz' || '' }}
-
-      - name: Upload Build Artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: model-${{ env.MODEL_NAME }}-${{ github.run_number }}
-          path: ${{ env.OUTPUT_DIR }}
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
@@ -1,332 +0,0 @@
-name: sunnypilot prebuilt action
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-  
-  # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master-new' }} # vars are set on repo settings.
-  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
-  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
-  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
-  
-  # Runtime configuration
-  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
-
-on:
-  push:
-    branches: [ master, master-new, master-dev-c3-new ]
-    tags: [ '*' ]
-  pull_request_target:
-    types: [ labeled ]
-  workflow_dispatch:
-    inputs:
-      wait_for_tests:
-        description: 'Wait for selfdrive_tests to finish'
-        required: false
-        type: boolean
-        default: false
-
-jobs:
-  validate_tests:
-    runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    steps:
-      - uses: actions/checkout@v4
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        with:
-          workflow: selfdrive_tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-  build:
-    needs: [ validate_tests ]
-    concurrency:
-      group: build-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: false
-    runs-on: self-hosted
-    outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      version: ${{ steps.set-env.outputs.version }}
-      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-          ref: ${{ env.SOURCE_BRANCH }}
-          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
-      - run: git lfs pull
-
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set Feature Branch Prebuilt Configuration
-        id: set_feature_configuration
-        if: (
-              !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-              !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-              !(startsWith(github.ref, 'refs/tags/'))
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set dev-c3-new prebuilt Configuration
-        id: set_dev_configuration
-        if: (
-                steps.set_feature_configuration.outcome == 'skipped' && 
-                env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set staging-c3-new prebuilt Configuration
-        id: set_staging_configuration
-        if: (
-                steps.set_feature_configuration.outcome == 'skipped' &&
-                !contains(github.event_name, 'pull_request') &&
-                steps.set_dev_configuration.outcome == 'skipped' && 
-                (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-
-      - name: Set release-c3-new prebuilt Configuration
-        id: set_tag_configuration
-        if: (
-              steps.set_feature_configuration.outcome == 'skipped' &&
-              !contains(github.event_name, 'pull_request') &&
-              steps.set_staging_configuration.outcome == 'skipped' &&
-              startsWith(github.ref, 'refs/tags/')
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
-          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-          
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-
-      - name: Build Main Project
-        run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
-          cd $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
-          touch ${BUILD_DIR}/prebuilt
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            ls -la ${BUILD_DIR}
-          fi
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --include='**/panda/board/' \
-            --include='**/panda/board/obj' \
-            --include='**/panda/board/obj/panda.bin.signed' \
-            --include='**/panda/board/obj/panda_h7.bin.signed' \
-            --include='**/panda/board/obj/bootstub.panda.bin' \
-            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='*.cc' \
-            --exclude='Jenkinsfile' \
-            --exclude='supercombo.onnx' \
-            --exclude='**/panda/board/*' \
-            --exclude='**/panda/board/obj/**' \
-            --exclude='**/panda/certs/' \
-            --exclude='**/panda/crypto/' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='**/selfdrive/ui/*.h' \
-            --exclude='**/selfdrive/ui/**/*.h' \
-            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
-
-      - name: 'Tar.gz files'
-        run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
-          ls -la prebuilt.tar.gz
-
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: prebuilt
-          path: prebuilt.tar.gz
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
-
-  publish:
-    concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build ]
-    runs-on: ubuntu-24.04
-    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: prebuilt
-
-      - name: Untar prebuilt
-        run: |
-          mkdir -p ${{ env.OUTPUT_DIR }}
-          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.email "github-actions[bot]@users.noreply.github.com"
-          git config --global user.name "github-actions[bot]"
-
-      - name: Publish to Public Repository
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
-          ls -la ${{ env.OUTPUT_DIR }}
-
-          ${{ env.CI_DIR }}/publish.sh \
-            "${{ github.workspace }}" \
-            "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
-            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
-          
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-
-  notify:
-    needs: [ build, publish ]
-    runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Alpine Linux environment
-        uses: jirutka/setup-alpine@v1.2.0
-        with:
-          packages: 'jq gettext curl'
-
-      - name: Send Discord Notification
-        env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
-        run: |
-          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
-          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
-          export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ env.SOURCE_BRANCH }}
-          export new_branch=${{ needs.build.outputs.new_branch }}
-          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
-          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
-          
-          echo ""
-          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
-          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
-  
-  manage-pr-labels:
-    name: Remove prebuilt label
-    runs-on: ubuntu-latest
-    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    env:
-      LABEL: prebuilt
-    steps:
-      - name: Remove trust-fork-pr label if present
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.LABEL
-            });
-
-            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
@@ -1,224 +0,0 @@
-name: Build dev-c3-new
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
-  PR_LABEL: "dev-c3"
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  push:
-    branches:
-      - master
-      - master-new    
-  pull_request_target:
-    types: [ labeled ]  
-    branches:    
-      - 'master'        
-      - 'master-new'            
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master-new'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev-c3-new'
-        type: string
-      cancel_in_progress:
-        description: 'Cancel any in-progress runs of this workflow'
-        required: false
-        default: true
-        type: boolean
-
-concurrency:
-  group: ${{ github.workflow }}
-  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    if: (
-            (github.event_name == 'workflow_dispatch')
-            || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-            || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-        )
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        if: (
-                (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-                || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-            )
-        with:
-          workflow: selfdrive_tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    labels(last:10) {
-                      nodes {
-                        name
-                      }
-                    }
-                    headRepository {
-                      name
-                      nameWithOwner
-                      url
-                      isFork
-                    }
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
-
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
-          chmod +x /tmp/squash_and_merge.py && \
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '/tmp/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # If we get here, there are diffs, so push
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -0,0 +1,67 @@
+name: tools
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+
+jobs:
+  simulator_driving:
+    name: simulator driving
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run bridge test
+      run: |
+        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+
+  devcontainer:
+    name: devcontainer
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
+    - name: Setup Dev Container CLI
+      run: npm install -g @devcontainers/cli
+    - name: Build dev container image
+      run: ./scripts/retry.sh devcontainer build --workspace-folder .
+    - name: Run dev container
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
+    - name: Test environment
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
+        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
+        devcontainer exec --workspace-folder . sudo touch /root/test.txt
@@ -1,175 +0,0 @@
-name: "ui preview"
-on:
-  push:
-    branches:
-      - master
-      - master-new
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-      - 'master-new'
-    paths:
-      - 'selfdrive/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui generation to start
-        run: sleep 30
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui
-          ref: openpilot_master_ui
-
-      - name: Saving new master ui
-        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui
-        run: |
-          git checkout --orphan=new_master_ui
-          git rm -rf *
-          git branch -D openpilot_master_ui
-          git branch -m openpilot_master_ui
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui --force
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
-
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
-
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
-
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
-            fi
-          done
-
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "screenshots for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-      - name: Comment Screenshots on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -0,0 +1,85 @@
+name: Update MAKE-PRS-HERE
+
+on:
+  push:
+    branches:
+      - FrogPilot-Staging
+
+env:
+  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
+  SOURCE_BRANCH: FrogPilot-Staging
+  TARGET_BRANCH: MAKE-PRS-HERE
+
+jobs:
+  update_branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Checkout ${{ env.SOURCE_BRANCH }}
+        uses: actions/checkout@v3
+        with:
+          persist-credentials: false
+
+          fetch-depth: 0
+
+          ref: ${{ env.SOURCE_BRANCH }}
+
+      - name: Find "Compile FrogPilot" Commit in ${{ env.SOURCE_BRANCH }}
+        id: find_parent
+        run: |
+          COMMIT=$(git rev-list HEAD -n 1 --grep="Compile FrogPilot")
+          [ -z "$COMMIT" ] && echo "Compile commit not found." >&2 && exit 1
+
+          PARENT=$(git rev-list --parents -n 1 "$COMMIT" | awk '{print $2}')
+          [ -z "$PARENT" ] && echo "Parent commit not found." >&2 && exit 1
+
+          echo "parent_commit=$PARENT" >> "$GITHUB_OUTPUT"
+          echo "compile_commit=$COMMIT" >> "$GITHUB_OUTPUT"
+
+      - name: Fetch and Checkout ${{ env.TARGET_BRANCH }}
+        run: |
+          git fetch origin "${{ env.TARGET_BRANCH }}"
+          git checkout "${{ env.TARGET_BRANCH }}"
+
+      - name: Clean ${{ env.TARGET_BRANCH }} and Apply Updates from ${{ env.SOURCE_BRANCH }}
+        run: |
+          git rm -r --ignore-unmatch .
+          git clean -fdx
+          git checkout "${{ steps.find_parent.outputs.parent_commit }}" -- .
+
+          COMPILE_COMMIT="${{ steps.find_parent.outputs.compile_commit }}"
+          SOURCE_HEAD=$(git rev-parse "origin/${{ env.SOURCE_BRANCH }}")
+
+          [ "$COMPILE_COMMIT" != "$SOURCE_HEAD" ] && git cherry-pick --no-commit "${COMPILE_COMMIT}".."$SOURCE_HEAD"
+
+          rm -f .github/update_date
+
+          git add --all
+
+      - name: Commit and Push to ${{ env.TARGET_BRANCH }}
+        run: |
+          TZ_VALUE="America/Phoenix"
+          day=$(TZ="$TZ_VALUE" date +"%-d")
+          month=$(TZ="$TZ_VALUE" date +"%B")
+          year=$(TZ="$TZ_VALUE" date +"%Y")
+
+          case $day in
+            11|12|13) s=th ;;
+            *) case $((day % 10)) in 1) s=st ;; 2) s=nd ;; 3) s=rd ;; *) s=th ;; esac ;;
+          esac
+
+          commit_message="${month} ${day}${s}, ${year} Update"
+
+          if git log -1 --pretty=%s | grep -q "$commit_message"; then
+            git commit --amend --no-edit
+          else
+            git commit -m "$commit_message"
+          fi
+
+          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
+          git push origin "${{ env.TARGET_BRANCH }}" --force
@@ -0,0 +1,131 @@
+name: Update FrogPilot Branch
+
+on:
+  schedule:
+    - cron: "0 18 * * 6"
+
+env:
+  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
+  BRANCH_FROGPILOT: FrogPilot
+  BRANCH_PREVIOUS: FrogPilot-Previous
+  BRANCH_STAGING: FrogPilot-Staging
+
+  TZ: America/Phoenix
+
+  UPDATE_FILE: .github/update_date
+
+jobs:
+  check_update:
+    runs-on: ubuntu-latest
+    outputs:
+      update_due: ${{ steps.check_update.outputs.update_due }}
+      scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
+    steps:
+      - name: Download the "update_date" File
+        id: download_update
+        run: |
+          curl -fLsS "https://raw.githubusercontent.com/FrogAi/FrogPilot/${{ env.BRANCH_STAGING }}/${{ env.UPDATE_FILE }}" -o update_date || touch update_date_missing
+
+      - name: Check If Update Is Due
+        id: check_update
+        run: |
+          if [ -f update_date_missing ]; then
+            echo "update_due=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+
+          SCHEDULED_DATE=$(cat update_date)
+          CURRENT_DATE=$(TZ="${{ env.TZ }}" date +%F)
+
+          if [ "$SCHEDULED_DATE" != "$CURRENT_DATE" ]; then
+            echo "update_due=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+
+          echo "update_due=true" >> "$GITHUB_OUTPUT"
+          echo "scheduled_date=$SCHEDULED_DATE" >> "$GITHUB_OUTPUT"
+
+  update_branch:
+    needs: check_update
+    if: ${{ needs.check_update.outputs.update_due == 'true' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Checkout ${{ env.BRANCH_STAGING }}
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          ref: ${{ env.BRANCH_STAGING }}
+
+      - name: Authenticate with GITHUB_TOKEN
+        run: |
+          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
+
+      - name: Update README Date and Remove update file
+        run: |
+          DAY=$(TZ="${{ env.TZ }}" date +'%d' | sed 's/^0//')
+
+          case "$DAY" in
+            1|21|31) SUFFIX="st" ;;
+            2|22)    SUFFIX="nd" ;;
+            3|23)    SUFFIX="rd" ;;
+            *)       SUFFIX="th" ;;
+          esac
+
+          MONTH=$(TZ="${{ env.TZ }}" date +'%B')
+          YEAR=$(TZ="${{ env.TZ }}" date +'%Y')
+
+          DATE="${MONTH} ${DAY}${SUFFIX}, ${YEAR}"
+          DATE_ESCAPED=$(printf '%s' "$DATE" | sed -E 's/ /%20/g; s/,/%2C/g')
+
+          sed -i -E "s|(Last%20Updated-)[^-)]*|\1${DATE_ESCAPED}|g" README.md
+
+          git add README.md
+          git rm -f "${{ env.UPDATE_FILE }}"
+          git commit -m "Updated README date to ${DATE}"
+
+      - name: Squash Commits
+        run: |
+          COMMIT_MSG=$(git log -1 --pretty=%B HEAD~1)
+
+          git reset --soft HEAD~2
+          git commit -m "$COMMIT_MSG"
+
+      - name: Rewrite Commit Dates to Noon ${{ env.TZ }}
+        run: |
+          COMMIT_DATETIME="${{ needs.check_update.outputs.scheduled_date }} 12:00"
+          COMMIT_PHX=$(TZ="${{ env.TZ }}" date -d "$COMMIT_DATETIME" +"%Y-%m-%dT%H:%M:%S %z")
+
+          git filter-branch --env-filter "export GIT_AUTHOR_DATE='$COMMIT_PHX'; export GIT_COMMITTER_DATE='$COMMIT_PHX'" "${{ env.BRANCH_STAGING }}"
+
+      - name: Fetch ${{ env.BRANCH_PREVIOUS }} and ${{ env.BRANCH_FROGPILOT }}
+        run: |
+          git fetch origin ${{ env.BRANCH_PREVIOUS }} ${{ env.BRANCH_FROGPILOT }}
+
+      - name: Wait Until Noon ${{ env.TZ }}
+        run: |
+          NOW=$(TZ="${{ env.TZ }}" date +%s)
+          TARGET=$(TZ="${{ env.TZ }}" date -d "12:00" +%s)
+
+          [ "$NOW" -lt "$TARGET" ] && sleep $((TARGET - NOW))
+
+      - name: Push ${{ env.BRANCH_STAGING }}
+        run: |
+          git push origin "${{ env.BRANCH_STAGING }}" --force
+
+      - name: Reset ${{ env.BRANCH_PREVIOUS }} to Match ${{ env.BRANCH_FROGPILOT }}
+        run: |
+          git switch "${{ env.BRANCH_PREVIOUS }}"
+          git reset --hard "origin/${{ env.BRANCH_FROGPILOT }}"
+          git push origin "${{ env.BRANCH_PREVIOUS }}" --force
+
+      - name: Reset ${{ env.BRANCH_FROGPILOT }} to Match ${{ env.BRANCH_STAGING }}
+        run: |
+          git switch "${{ env.BRANCH_FROGPILOT }}"
+          git reset --hard "origin/${{ env.BRANCH_STAGING }}"
+          git push origin "${{ env.BRANCH_FROGPILOT }}" --force
@@ -0,0 +1,79 @@
+name: Update Tinygrad
+
+on:
+  workflow_dispatch:
+    inputs:
+      runner:
+        description: "Select the runner"
+        required: true
+        default: "c3"
+        type: choice
+        options:
+          - c3
+          - c3x
+
+jobs:
+  update_tinygrad:
+    name: Update Tinygrad
+    runs-on:
+      - self-hosted
+      - ${{ github.event.inputs.runner }}
+
+    steps:
+      - name: Get version
+        id: get_version
+        run: |
+          VERSION=$(grep -oP '^VERSION\s*=\s*"\K[^"]+' /data/openpilot/frogpilot/assets/model_manager.py)
+          echo "VERSION=$VERSION"
+          echo "version=$VERSION" >> "$GITHUB_OUTPUT"
+
+      - name: Clone GitLab repo
+        env:
+          GITLAB_TOKEN: ${{ secrets.GITLAB_TOKEN }}
+        run: |
+          rm -rf /data/tmp/frogpilot_tinygrad
+          mkdir -p /data/tmp/frogpilot_tinygrad
+          cd /data/tmp/frogpilot_tinygrad
+
+          git clone --depth 1 --branch Tinygrad "https://oauth2:${GITLAB_TOKEN}@gitlab.com/FrogAi/FrogPilot-Resources.git"
+
+      - name: Create Tinygrad Archive
+        run: |
+          set -euo pipefail
+          cd /data/openpilot
+
+          ARCHIVE_DIR="/data/tmp/frogpilot_tinygrad/FrogPilot-Resources"
+          ARCHIVE_NAME="Tinygrad_${{ steps.get_version.outputs.version }}.tar.gz"
+
+          TMPDIR="$(mktemp -d)"
+          touch "$TMPDIR/SConscript"
+
+          tar -czf "$ARCHIVE_NAME" \
+            --exclude="*.a" \
+            --exclude="*.o" \
+            --exclude="*.onnx" \
+            --exclude="*__pycache__*" \
+            --exclude="*tests*" \
+            --exclude="frogpilot/tinygrad_modeld/SConscript" \
+            frogpilot/tinygrad_modeld tinygrad_repo \
+            -C "$TMPDIR" \
+            --transform 's|^SConscript$|frogpilot/tinygrad_modeld/SConscript|' \
+            SConscript
+
+          mv "$ARCHIVE_NAME" "$ARCHIVE_DIR/"
+          rm -rf "$TMPDIR"
+
+      - name: Push updated Tinygrad
+        run: |
+          cd /data/tmp/frogpilot_tinygrad/FrogPilot-Resources
+
+          git config user.name "James"
+          git config user.email "91348155+FrogAi@users.noreply.github.com"
+
+          git add Tinygrad_*.tar.gz
+          git commit -m "Updated Tinygrad: ${{ steps.get_version.outputs.version }}" || echo "No changes to commit"
+          git push origin Tinygrad
+
+      - name: Cleanup temporary files
+        run: |
+          rm -rf /data/tmp/frogpilot_tinygrad
@@ -1,52 +0,0 @@
-name: 'Wait for Tests'
-description: 'Action to wait for workflow tests to start and complete'
-inputs:
-  workflow:
-    description: 'The workflow file name to monitor'
-    required: true
-    default: 'selfdrive_tests.yaml'
-  branch:
-    description: 'The branch to monitor (defaults to current branch)'
-    required: false
-    default: ''
-  github-token:
-    description: 'GitHub token for API access'
-    required: true
-  wait-time:
-    description: 'Initial sleep time in seconds before monitoring starts'
-    required: false
-    default: '30'
-  should-wait-for-start:
-    description: 'Whether to wait for tests to start'
-    required: false
-    default: false
-
-runs:
-  using: 'composite'
-  steps:
-    - name: Wait for tests to start
-      if: inputs.should-wait-for-start == 'true'
-      shell: bash
-      run: |
-        echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
-        sleep ${{ inputs.wait-time }}
-
-    - name: Wait for tests to finish
-      shell: bash
-      run: |
-        BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
-        
-        echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
-        RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
-        echo "Watching run ID: $RUN_ID"
-        gh run watch "$RUN_ID"
-
-        CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
-        echo "Run concluded with: $CONCLUSION"
-
-        if [[ "$CONCLUSION" != "success" ]]; then
-          echo "❌ Workflow run failed with conclusion: $CONCLUSION"
-          exit 1
-        fi
-      env:
-        GITHUB_TOKEN: ${{ inputs.github-token }}
@@ -14,8 +14,6 @@ model2.png
 a.out
 .hypothesis

-/docs_site/
-
 *.dylib
 *.DSYM
 *.d
@@ -36,7 +34,6 @@ a.out
 *.pyxbldc
 *.vcd
 *.qm
-*_pyx.cpp
 config.json
 clcache
 compile_commands.json
@@ -46,14 +43,18 @@ persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
-cereal/messaging/bridge
+selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
+selfdrive/ui/translations/alerts_generated.h
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
+selfdrive/modeld/_modeld
+selfdrive/modeld/_dmonitoringmodeld
+/src/

 notebooks
 hyperthneed
@@ -70,13 +71,11 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh

+selfdrive/modeld/thneed/compile
+selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
-sunnypilot/modeld*/models/*.pkl

 *.bz2
-*.zst

 build/

@@ -84,27 +83,3 @@ build/

 poetry.toml
 Pipfile
-
-### VisualStudioCode ###
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
-
-### JetBrains ###
-!.idea/customTargets.xml
-!.idea/tools/*
-!.run/*
@@ -1,21 +1,21 @@
 [submodule "panda"]
  path = panda
-  url = https://github.com/sunnyhaibin/panda.git
+  url = ../../commaai/panda.git
 [submodule "opendbc"]
-  path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
+  path = opendbc
+  url = ../../commaai/opendbc.git
 [submodule "msgq"]
  path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
+  url = ../../commaai/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
-  url = https://github.com/commaai/rednose.git
+  url = ../../commaai/rednose.git
+[submodule "body"]
+  path = body
+  url = ../../commaai/body.git
 [submodule "teleoprtc_repo"]
  path = teleoprtc_repo
-  url = https://github.com/commaai/teleoprtc
+  url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
-[submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
-  url = https://github.com/sunnypilot/neural-network-data.git
+  url = https://github.com/geohot/tinygrad.git
@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CLionExternalBuildManager">
-    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
-      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
-      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Release" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-  </component>
-</project>
@@ -1,23 +0,0 @@
-<toolSet name="External Tools">
-  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-</toolSet>
@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
-	locksverify = false
@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false
@@ -0,0 +1,103 @@
+exclude: '^(tinygrad_repo)'
+repos:
+-   repo: meta
+    hooks:
+    -   id: check-hooks-apply
+    -   id: check-useless-excludes
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+    -   id: check-ast
+        exclude: '^(third_party)/'
+    -   id: check-json
+        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
+    -   id: check-toml
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
+    -   id: check-added-large-files
+        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        args:
+        - --maxkb=120
+        - --enforce-all
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+    -   id: codespell
+        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        args:
+        # if you've got a short variable name that's getting flagged, add it here
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
+        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.4.8
+    hooks:
+    -   id: ruff
+        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
+-   repo: local
+    hooks:
+    -   id: mypy
+        name: mypy
+        entry: mypy
+        language: system
+        types: [python]
+        args:
+        - --local-partial-types
+        - --explicit-package-bases
+        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
+        args:
+        - --error-exitcode=1
+        - --language=c++
+        - --quiet
+        - --force
+        - -j8
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --quiet
+        - --counting=total
+        - --linelength=240
+        # https://google.github.io/styleguide/cppguide.html
+        # relevant rules are whitelisted, see all options with: cpplint --filter=
+        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
+-   repo: https://github.com/MarcoGorelli/cython-lint
+    rev: v0.16.2
+    hooks:
+    -   id: cython-lint
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --max-line-length=240
+        - --ignore=E111, E302, E305
+-   repo: local
+    hooks:
+    -   id: test_translations
+        name: test translations
+        entry: pytest selfdrive/ui/tests/test_translations.py
+        language: system
+        pass_filenames: false
+        files: '^selfdrive/ui/translations/'
+-   repo: https://github.com/python-poetry/poetry
+    rev: '1.8.0'
+    hooks:
+    -   id: poetry-check
+        name: validate poetry lock
+        args:
+        - --lock
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.4
+    hooks:
+    -   id: check-github-workflows
@@ -0,0 +1 @@
+3.11.4
@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -7,6 +7,7 @@
      "description": "Select the process to debug",
      "options": [
        "selfdrive/controls/controlsd.py",
+        "selfdrive/navd/navd.py",
        "system/timed/timed.py",
        "tools/sim/run_bridge.py"
      ]
@@ -1,12 +1,30 @@
 FROM ghcr.io/commaai/openpilot-base:latest

-ENV PYTHONUNBUFFERED=1
+ENV PYTHONUNBUFFERED 1

-ENV OPENPILOT_PATH=/home/batman/openpilot
+ENV OPENPILOT_PATH /home/batman/openpilot
+ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}

 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}

-COPY . ${OPENPILOT_PATH}/
+COPY SConstruct ${OPENPILOT_PATH}
+
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
+COPY ./third_party ${OPENPILOT_PATH}/third_party
+COPY ./site_scons ${OPENPILOT_PATH}/site_scons
+COPY ./rednose ${OPENPILOT_PATH}/rednose
+COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
+COPY ./tools ${OPENPILOT_PATH}/tools
+COPY ./release ${OPENPILOT_PATH}/release
+COPY ./common ${OPENPILOT_PATH}/common
+COPY ./opendbc ${OPENPILOT_PATH}/opendbc
+COPY ./cereal ${OPENPILOT_PATH}/cereal
+COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
+COPY ./msgq ${OPENPILOT_PATH}/msgq
+COPY ./panda ${OPENPILOT_PATH}/panda
+COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
+COPY ./body ${OPENPILOT_PATH}/body

 RUN scons --cache-readonly -j$(nproc)
@@ -1,21 +1,21 @@
-FROM ubuntu:24.04
+FROM ubuntu:20.04

-ENV PYTHONUNBUFFERED=1
+ENV PYTHONUNBUFFERED 1

 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
    rm -rf /var/lib/apt/lists/*

 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8

 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
+    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp

 # Add OpenCL
@@ -30,53 +30,53 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
    gcc-arm-none-eabi \
    tmux \
    vim \
+    lsb-core \
    libx11-6 \
-    wget \
  && rm -rf /var/lib/apt/lists/*

-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+RUN mkdir -p /tmp/opencl-driver-intel
+
+RUN cd /tmp/opencl-driver-intel && \
+    echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
    cd / && \
    rm -rf /tmp/opencl-driver-intel

-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1

 RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji

 ARG USER=batman
-ARG USER_UID=1001
+ARG USER_UID=1000
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
 RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER

-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+ENV POETRY_VIRTUALENVS_CREATE=false
+ENV PYENV_VERSION=3.11.4
+ENV PYENV_ROOT="/home/$USER/pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"

-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
+COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
+
+RUN cd /tmp && \
    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
+    rm -rf /tmp/* && \
+    rm -rf /home/$USER/.cache && \
+    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
+    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test

 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
@@ -12,12 +12,10 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'

 set -e

-export TERM=xterm-256color
-
 shopt -s huponexit # kill all child processes when the shell exits

 export CI=1
@@ -27,11 +25,10 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
+export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
+export PYTEST_ADDOPTS="-n 0"


 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
@@ -66,7 +63,9 @@ fi
 ln -snf ${env.TEST_DIR} /data/pythonpath

 cd ${env.TEST_DIR} || true
-time ${cmd}
+${cmd}
+exit 0
+
 END"""

    sh script: ssh_cmd, label: step_label
@@ -79,37 +78,52 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
        return
    }

-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
    def extra = extra_env.collect { "export ${it}" }.join('\n');
    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'

    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
+        timeout(time: 20, unit: 'MINUTES') {
          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
          }
          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
+            device(device_ip, item[0], item[1])
+          }
+        }
+      }
+    }
+  }
+}

-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }

-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
+    checkout scm
+
+    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
+
+    def openpilot_base = retryWithDelay (3, 15) {
+      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
+    }
+
+    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
+      openpilot_base.inside(dockerArgs) {
+        timeout(time: 20, unit: 'MINUTES') {
+          try {
+            retryWithDelay (3, 15) {
+              sh "git config --global --add safe.directory '*'"
+              sh "git submodule update --init --recursive"
+              sh "git lfs pull"
+            }
+            body()
+          } finally {
+              sh "rm -rf ${env.WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
            }
          }
        }
@@ -118,43 +132,16 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
  }
 }

-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
 def setupCredentials() {
  withCredentials([
    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
  ]) {
    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
  }
 }

-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}

 node {
  env.CI = "1"
@@ -166,11 +153,11 @@ node {
  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
                         'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
+  if (env.BRANCH_NAME != 'master') {
    properties([
        disableConcurrentBuilds(abortPrevious: true)
    ])
@@ -179,98 +166,82 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
      deviceStage("build release3-staging", "tici-needs-can", [], [
-        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
+        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
      ])
    }

-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tici-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tici-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
+    if (env.BRANCH_NAME == 'master-ci') {
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
    }

    if (!env.BRANCH_NAME.matches(excludeRegex)) {
    parallel (
      // tici tests
      'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
+        deviceStage("onroad", "tici-needs-can", [], [
+          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
+          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
+          ["build openpilot", "cd system/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
        ])
      },
      'HW + Unit Tests': {
        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
+          ["build", "cd system/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
+          ["test manager", "pytest system/manager/test/test_manager.py"],
        ])
      },
      'loopback': {
        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          ["build openpilot", "cd system/manager && ./build.py"],
+          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
        ])
      },
-      'camerad AR0231': {
+      'camerad': {
        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          ["build", "cd system/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
        ])
-      },
-      'camerad OX03C10': {
        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          ["build", "cd system/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
        ])
      },
      'sensord': {
        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          ["build", "cd system/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
        ])
        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          ["build", "cd system/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
        ])
      },
      'replay': {
        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          ["build", "cd system/manager && ./build.py"],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
        ])
      },
      'tizi': {
        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
+          ["build openpilot", "cd system/manager && ./build.py"],
+          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
        ])
      },

@@ -1,21 +0,0 @@
-# Custom MIT License
-
-Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
-
-1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
-
-2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
-   "This software is licensed under a custom license requiring permission for use."
-
-3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
-   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
-
-4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
-
---
-
-Haibin Wen, SUNNYPILOT LLC
@@ -1,119 +1,252 @@
-![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
+<div align="center" style="text-align: center;">

-## 🌞 What is sunnypilot?
-[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
+<h1>openpilot</h1>

-## 💭 Join our Discord
-Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://discord.gg/sunnypilot
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 300+ supported cars.
+</p>

-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+<h3>
+  <a href="https://docs.comma.ai">Docs</a>
+  <span> · </span>
+  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
+  <span> · </span>
+  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
+  <span> · </span>
+  <a href="https://discord.comma.ai">Community</a>
+  <span> · </span>
+  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+</h3>

-## Documentation
-https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`

-## 🚘 Running on a dedicated device in a car
-* A supported device to run this software
-    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
-* This software
-* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
+[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
+[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
+[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)

-Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+</div>

-## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
-
-* sunnypilot not installed or you installed a version before 0.8.17?
-  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
-  4. Complete the rest of the installation following the onscreen instructions.
-
-* sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three, go to `Settings` ▶️ `Software`.
-  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
-  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
-
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+<table>
+  <tr>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
+    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
+  </tr>
+</table>


-> [!IMPORTANT]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
+Using openpilot in a car
+------

-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
+To use openpilot in a car, you need four things:
+1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.

-> [!TIP]
-> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

-## 🎆 Pull Requests
-We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
+------

-Pull requests should be against the most current `master-new` branch.
+<div align="center" style="text-align: center;">

-## 📊 User Data
+<h1>FrogPilot 🐸</h1>

-By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
+[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/FrogAi/FrogPilot)
+[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://discord.frogpilot.download)
+[![Last Updated](https://img.shields.io/badge/Last%20Updated-August%209th%2C%202025-brightgreen)](https://github.com/FrogAi/FrogPilot/releases/latest)
+[![Wiki](https://img.shields.io/badge/Wiki-FrogPilot-blue?logo=wiki)](https://frogpilot.wiki.gg/)

-sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
+</div>

-sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
+------

-By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+**FrogPilot** is a custom frog-themed fork of openpilot that embraces a collaborative, community-driven approach to push the project forward. It delivers bleeding-edge features and experimental improvements far ahead of official releases. As an unofficial and highly experimental version of openpilot, **FrogPilot** should always be used with caution!

-## Licensing
+openpilot vs **FrogPilot**
+------

-sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
+#### Community
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| A Welcoming Community | ❌ | ✅ |
+| Erich / Primary Moderators / 🦇 | ✅ | ❌ |

-The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
+#### Core Features
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| Always On Lateral (Steering) | ❌ | ✅ |
+| Blind Spot Integration | ✅ | ✅ |
+| Conditional Experimental Mode | ❌ | ✅ |
+| Custom Themes | ❌ | ✅ |
+| Driver Monitoring | ✅ | ✅ |
+| Driving Model Selector | ❌ | ✅ |
+| Holiday Themes | ❌ | ✅ |
+| Speed Limit Support | ❌ | ✅ |
+| Weather Detection | ❌ | ✅ |

-> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
->
-> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
->
-> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
-> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-> NO WARRANTY EXPRESSED OR IMPLIED.**
+#### Device & Hardware
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| Advanced Volume Controller | ❌ | ✅ |
+| Automatic Version Backups | ❌ | ✅ |
+| C3 Support | ❌ | ✅ |
+| comma Pedal Support | ❌ | ✅ |
+| High Quality Recordings | ❌ | ✅ |
+| SDSU Support | ❌ | ✅ |
+| ZSS Support | ❌ | ✅ |

-For full license terms, please see the [`LICENSE`](LICENSE) file.
+#### Gas/Brake
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| Adaptive Cruise Control (ACC) | ✅ | ✅ |
+| Advanced Live Tuning | ❌ | ✅ |
+| Custom Following Distances | ❌ | ✅ |
+| Faster Human-Like Acceleration | ❌ | ✅ |
+| Human-Like Speed Control in Curves | ❌ | ✅ |
+| Smoother Human-Like Braking | ❌ | ✅ |

-## 💰 Support sunnypilot
-If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
+#### Steering
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| Advanced Live Tuning | ❌ | ✅ |
+| Automatic Lane Changes | ❌ | ✅ |
+| Increased Steering Torque* | ❌ | ✅ |
+| Lane Centering (LKAS) | ✅ | ✅ |
+| Lane Change Assist | ✅ | ✅ |

+*Select vehicles only

-By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
+And much much more!

+🌟 Highlight Features
+------

-<h3>GitHub Sponsor</h3>
+### 🚗 Always On Lateral (AOL)

-<a href="https://github.com/sponsors/sunnyhaibin">
-  <img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
-</a>
-<br>
+With **"Always On Lateral"**, lane-centering stays active whenever cruise control is on, even when you press the accelerator or brake. This means steering assist won't cut out during manual speed adjustments giving you continuous support through curves, traffic, or mountain roads!

-<h3>PayPal</h3>
+---

-<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
-<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
-</a>
-<br></br>
+### 🧠 Conditional Experimental Mode (CEM)

-Your continuous love and support are greatly appreciated! Enjoy 🥰
+**["Experimental Mode"](https://blog.comma.ai/090release/#experimental-mode)** lets openpilot drive at the speed it thinks a human would to allow slowing for curves, stopping at stoplights/stop signs, and adapting to traffic. This makes it powerful in complex scenarios, but it's still, well, "experimental" and less predictable than **"Chill Mode"**. But **"Conditional Experimental Mode"** gives you the best of both worlds by automatically switching between **"Chill Mode"** for steady cruising and **"Experimental Mode"** for more advanced situations to help fully automate your driving experience!

-<span>-</span> Jason, Founder of sunnypilot
+**"Conditional Experimental Mode"** switches into **"Experimental Mode"** when conditions like these are met:
+- Approaching curves and turns
+- Detecting slower or stopped lead vehicles
+- Driving below a set speed
+- Predicting an upcoming stop (e.g. stoplight or stop sign)
+
+Once conditions clear it returns to **"Chill Mode"** for stability and predictability.
+
+**Note: Stay attentive as "Experimental Mode" is an alpha feature and mistakes are expected!**
+
+---
+
+### 🎭 Driving Personalities
+
+With **"Driving Personalities"**, you choose how the vehicle behaves with four adjustable profiles:
+
+- **Traffic:** Catered towards stop-and-go traffic by minimizing gaps and delays  
+- **Aggressive:** Aimed to provide tighter following distances and quicker reactions  
+- **Standard:** Useful for a balanced, all-purpose driving  
+- **Relaxed:** A smoother driving experience with larger following distance gaps  
+
+Each profile can be fine-tuned to change the desired following distance, acceleration, and braking style letting you shape **FrogPilot**'s behavior to match your own driving preferences! Profiles can be switched instantly using the following distance button on the steering wheel, while **"Traffic Mode"** can be enabled by simply holding down the following distance button.
+
+---
+
+### 📏 Speed Limit Controller (SLC)
+
+With **"Speed Limit Controller"**, **FrogPilot** automatically adapts to the road's posted speed using information from downloaded **["OpenStreetMap"](https://www.openstreetmap.org)** maps, online **["Mapbox"](https://www.mapbox.com)** data, and the vehicle's dashboard (if supported).
+
+Offsets let you fine-tune how closely **FrogPilot** follows posted limits across different speed ranges allowing you to cruise slightly above or below for a more natural driving experience. If no speed limit is available, you can choose whether **FrogPilot** drives at the set speed, falls back to the last known speed limit, or uses **"Experimental Mode"** to estimate one with the driving model.
+
+Maps can be downloaded directly in settings and updated automatically on a schedule ensuring your device always has the latest speed limits!
+
+**Note: Speed limits are only as accurate as the available speed limit data. Always stay attentive and adjust your speed when necessary!**
+
+---
+
+### 🎨 Themes
+
+With **"Themes"**, you can personalize **FrogPilot**'s driving screen to make it uniquely yours! Choose from:
+
+- **Color Schemes**
+- **Icon Packs**
+- **Sound Packs**
+- **Turn Signal Animations**
+- **Steering Wheel Icons**
+
+Enjoy pre-existing **FrogPilot** and seasonal holiday themes, or you can create your own with the **"Theme Maker"** and even share them with the community! For extra fun, enable features like the Mario Kart–style **"Rainbow Path"** or **"Random Events"** that add playful visual effects while you drive!
+
+---
+
+And lots more! From safety enhancements to personalization options, **FrogPilot** continues to evolve with features that put you in control. Check it out today for yourself!
+
+---
+
+🔧 Branches
+------
+| Branch                     | Install&nbsp;URL          | Description                                            | Recommended&nbsp;For     |
+|----------------------------|---------------------------|--------------------------------------------------------|--------------------------|
+| FrogPilot                  | frogpilot.download        | The main release branch.                               | Everyone                 |
+| FrogPilot&#8209;Staging    | staging.frogpilot.download| Beta branch with upcoming features. Expect bugs!       | Early&nbsp;Adopters      |
+| FrogPilot&#8209;Testing    | testing.frogpilot.download| Alpha branch with bleeding-edge features. Breaks often!| Advanced&nbsp;Testers    |
+| FrogPilot&#8209;Development| No :)                     | Active development branch. Don't use!                  | **FrogPilot**&nbsp;Developers|
+| MAKE&#8209;PRS&#8209;HERE  | No :)                     | Workspace for pull requests. Don't use!                | Contributors             |
+
+🧰 How to Install
+------
+
+The easiest way to install **FrogPilot** is by entering this URL on the installation screen:
+
+```
+frogpilot.download
+```
+
+**DO NOT** install the **FrogPilot-Development** branch. I'm constantly breaking things on there, so unless you don't want to use **FrogPilot**, **NEVER** install it!
+
+![](https://i.imgur.com/LTCqRqB.png)
+
+🐞 Bug Reports / Feature Requests
+------
+
+If you run into bugs, issues, or have ideas for new features, please post about it on the **[FrogPilot Discord](https://discord.gg/frogpilot)**! Feedback helps improve **FrogPilot** and create a better experience for everyone!
+
+To report a bug, please post it in [**#bug-reports**](https://discord.com/channels/1137853399715549214/1162100167110053888).  
+To request a feature, please post it in [**#feature-requests**](https://discord.com/channels/1137853399715549214/1160318669839147259).  
+
+Please include as much detail as possible! Photos, videos, log files, or anything that can help explain the issue or idea are very helpful!
+
+I'll do my best to respond promptly, but not every request can be addressed right away. Your feedback is always appreciated and helps make **FrogPilot** the best it can be!
+
+📋 Credits
+------
+
+* [Aidenir](https://github.com/Aidenir)
+* [AlexandreSato](https://github.com/AlexandreSato)
+* [cfranyota](https://github.com/cfranyota)
+* [cydia2020](https://github.com/cydia2020)
+* [dragonpilot-community](https://github.com/dragonpilot-community)
+* [ErichMoraga](https://github.com/ErichMoraga)
+* [garrettpall](https://github.com/garrettpall)
+* [jakethesnake420](https://github.com/jakethesnake420)
+* [jyoung8607](https://github.com/jyoung8607)
+* [mike8643](https://github.com/mike8643)
+* [neokii](https://github.com/neokii)
+* [OPGM](https://github.com/opgm)
+* [OPKR](https://github.com/openpilotkr)
+* [pfeiferj](https://github.com/pfeiferj)
+* [realfast](https://github.com/realfast)
+* [syncword](https://github.com/syncword)
+* [twilsonco](https://github.com/twilsonco)
+
+Star History
+------
+
+[![Star History Chart](https://api.star-history.com/svg?repos=FrogAi/FrogPilot&type=Date)](https://www.star-history.com/#FrogAi/FrogPilot&Date)
@@ -1,40 +1,3 @@
-Version 0.10.0 (2025-07-07)
-========================
-* New driving model
-  * Lead car ground-truth fixes
-  * Ported over VAE from the MLSIM stack
-  * New training architecture described in CVPR paper
-* Enable live-learned steering actuation delay
-* Opt-in audio recording for dashcam video
-
-Version 0.9.9 (2025-05-23)
-========================
-* New driving model
-  * New training architecture using parts from MLSIM
-* Steering actuation delay is now learned online
-* Ford Escape 2023-24 support thanks to incognitojam!
-* Ford Kuga 2024 support thanks to incognitojam!
-* Hyundai Nexo 2021 support thanks to sunnyhaibin!
-* Tesla Model 3 and Y support thanks to lukasloetkolben!
-* Lexus RC 2023 support thanks to nelsonjchen!
-
-Version 0.9.8 (2025-02-28)
-========================
-* New driving model
-  * Model now gates applying positive acceleration in Chill mode
-* New driver monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for bigger driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
-* Added toggle to enable driver monitoring even when openpilot is not engaged
-* Localizer rewritten to remove GPS dependency at runtime
-* Firehose Mode for maximizing your training data uploads
-* Enable openpilot longitudinal control for Ford Q3 vehicles
-* New Toyota TSS2 longitudinal tune
-* Rivian R1S and R1T support thanks to lukasloetkolben!
-* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
-
 Version 0.9.7 (2024-06-13)
 ========================
 * New driving model
@@ -39,21 +39,30 @@ AddOption('--clazy',
          action='store_true',
          help='build with clazy')

+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
 AddOption('--ccflags',
          action='store',
          type='string',
          default='',
          help='pass arbitrary flags over the command line')

+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
 AddOption('--external-sconscript',
          action='store',
          metavar='FILE',
          dest='external_sconscript',
          help='add an external SConscript to the build')

-AddOption('--mutation',
+AddOption('--pc-thneed',
          action='store_true',
-          help='generate mutation-ready code')
+          dest='pc_thneed',
+          help='use thneed on pc')

 AddOption('--minimal',
          action='store_false',
@@ -61,12 +70,6 @@ AddOption('--minimal',
          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
          help='the minimum build to run openpilot. no tests, tools, etc.')

-AddOption('--stock-ui',
-          action='store_true',
-          dest='stock_ui',
-          default=False,
-          help='Build stock openpilot UI instead of sunnypilot UI')
-
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -99,6 +102,7 @@ if arch == "larch64":

  libpath = [
    "/usr/local/lib",
+    "/usr/lib",
    "/system/vendor/lib64",
    f"#third_party/acados/{arch}/lib",
  ]
@@ -165,9 +169,9 @@ else:
 if arch != "Darwin":
  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]

-if not GetOption('stock_ui'):
-  cflags += ["-DSUNNYPILOT"]
-  cxxflags += ["-DSUNNYPILOT"]
+# Enable swaglog include in submodules
+cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
+cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']

 ccflags_option = GetOption('ccflags')
 if ccflags_option:
@@ -183,9 +187,12 @@ env = Environment(
    "-Werror",
    "-Wshadow",
    "-Wno-unknown-warning-option",
+    "-Wno-deprecated-register",
+    "-Wno-register",
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
+    "-Wno-error=unused-but-set-variable",
    "-Wno-vla-cxx-extension",
  ] + cflags + ccflags,

@@ -199,8 +206,13 @@ env = Environment(
    "#third_party/json11",
    "#third_party/linux/include",
    "#third_party/snpe/include",
+    "#third_party/qrcode",
    "#third_party",
+    "#cereal",
    "#msgq",
+    "#opendbc/can",
+    "#third_party/maplibre-native-qt/include",
+    f"#third_party/maplibre-native-qt/{arch}/include"
  ],

  CC='clang',
@@ -222,7 +234,7 @@ env = Environment(
  COMPILATIONDB_USE_ABSPATH=True,
  REDNOSE_ROOT="#",
  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#rednose_repo/site_scons/site_tools"],
 )

 if arch == "Darwin":
@@ -230,11 +242,11 @@ if arch == "Darwin":
  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
  env["LINKFLAGS"] += darwin_rpath_link_flags

-env.CompilationDatabase('compile_commands.json')
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')

 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)

@@ -261,12 +273,11 @@ if arch == "Darwin":
 else:
  envCython["LINKFLAGS"] = ["-pthread", "-shared"]

-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
+Export('envCython')

 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]

 qt_libs = []
 if arch == "Darwin":
@@ -299,19 +310,28 @@ else:
  elif arch != "Darwin":
    qt_libs += ["GL"]
 qt_env['QT3DIR'] = qt_env['QTDIR']
-qt_env.Tool('qt3')

-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
+
+qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
 qt_flags = [
  "-D_REENTRANT",
  "-DQT_NO_DEBUG",
  "-DQT_WIDGETS_LIB",
  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
  "-DQT_CORE_LIB",
  "-DQT_MESSAGELOGCONTEXT",
 ]
 qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
+qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"]
+qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath]
 qt_env['LIBS'] = qt_libs

 if GetOption("clazy"):
@@ -331,40 +351,39 @@ Export('env', 'qt_env', 'arch', 'real_arch')
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')

-common = [_common, 'json11', 'zmq']
+common = [_common, 'json11']
 gpucommon = [_gpucommon]

 Export('common', 'gpucommon')

 # Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
-
+SConscript(['msgq_repo/SConscript'])
 SConscript(['cereal/SConscript'])
-
 Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
+messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
 Export('messaging')


 # Build other submodules
-SConscript(['panda/SConscript'])
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])

 # Build rednose library
 SConscript(['rednose/SConscript'])

 # Build system services
 SConscript([
+  'system/proclogd/SConscript',
  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
  SConscript([
+    'system/sensord/SConscript',
    'system/logcatd/SConscript',
-    'system/proclogd/SConscript',
  ])

 if arch == "larch64":
@@ -375,8 +394,6 @@ SConscript(['third_party/SConscript'])

 SConscript(['selfdrive/SConscript'])

-SConscript(['sunnypilot/SConscript'])
-
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
  SConscript(['tools/replay/SConscript'])
  if arch != "larch64":
@@ -0,0 +1,50 @@
+name: tests
+on: [push, pull_request]
+
+env:
+  RUN: docker run --rm body /bin/bash -c
+  PERSIST: docker run --name body body /bin/sh -c
+  BUILD: |
+      docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile) || true
+      docker pull ghcr.io/commaai/body:latest || true
+      docker build --cache-from ghcr.io/commaai/body:latest -t body -f Dockerfile .
+
+jobs:
+  docker_push:
+    name: docker push
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/body'
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Login to dockerhub
+        run: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+      - name: Tag image
+        run: docker tag body ghcr.io/commaai/body:latest
+      - name: Push image
+        run: docker push ghcr.io/commaai/body:latest
+
+  build:
+    name: build
+    runs-on: ubuntu-latest
+    timeout-minutes: 45
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Build firmware
+        run: $RUN "cd /tmp/openpilot/body && scons"
+
+  python_linter:
+    name: python linter
+    runs-on: ubuntu-latest
+    timeout-minutes: 45
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Run static analysis
+        run: |
+          $RUN "cd /tmp/openpilot/body && git init && git add -A && pre-commit run --all"
@@ -0,0 +1,15 @@
+*.pyc
+.*.swp
+.*.swo
+*.o
+*.so
+*.os
+*.d
+*.dump
+a.out
+*~
+.#*
+.vscode*
+.DS_Store
+board/obj/
+.sconsign.dblite
@@ -0,0 +1,20 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+    -   id: check-ast
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v1.4.0
+    hooks:
+    -   id: mypy
+        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
+                                  'types-pycurl']
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.0.282
+    hooks:
+    - id: ruff
@@ -0,0 +1,36 @@
+FROM ubuntu:24.04
+ENV PYTHONUNBUFFERED 1
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    autoconf \
+    automake \
+    ca-certificates \
+    clang \
+    curl \
+    g++ \
+    gcc-arm-none-eabi libnewlib-arm-none-eabi \
+    git \
+    libtool \
+    libssl-dev \
+    libsqlite3-dev \
+    libffi-dev \
+    locales \
+    make \
+    patch \
+    pkg-config \
+    python3-pip \
+    zlib1g-dev \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+COPY requirements.txt /tmp/
+RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
+
+COPY . /tmp/openpilot/body
+RUN rm -rf /tmp/openpilot/body/.git
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
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+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
@@ -0,0 +1,18 @@
+# comma body
+
+This the firmware for the comma body robotics dev kit.
+
+
+Learn more at [commabody.com](https://commabody.com/).
+
+## building
+
+Compile: `scons`
+
+Flash bootstub and app: `board/recover.sh`  # STM flasher should be connected to debug port, needs openocd
+
+Flash app through CAN bus with panda:
+
+`board/flash_base.sh`  # base motherboard
+
+`board/flash_knee.sh`  # knee motherboard
@@ -0,0 +1 @@
+SConscript('board/SConscript')
@@ -0,0 +1,197 @@
+import os
+import subprocess
+
+PREFIX = "arm-none-eabi-"
+BUILDER = "DEV"
+
+common_flags = []
+build_projects = {}
+
+build_projects["body"] = {
+  "MAIN": "main.c",
+  "STARTUP_FILE": "startup_stm32f413xx.s",
+  "LINKER_SCRIPT": "stm32fx_flash.ld",
+  "APP_START_ADDRESS": "0x08004000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ],
+}
+
+if os.getenv("RELEASE"):
+  BUILD_TYPE = "RELEASE"
+  cert_fn = os.getenv("CERT")
+  assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
+  assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
+else:
+  BUILD_TYPE = "DEBUG"
+  cert_fn = File("../certs/debug").srcnode().relpath
+  common_flags += ["-DALLOW_DEBUG"]
+
+if os.getenv("DEBUG"):
+  common_flags += ["-DDEBUG"]
+
+includes = [
+  "inc/STM32F4xx_HAL_Driver/Inc",
+  "inc",
+  "..",
+  ".",
+]
+
+c_sources = [
+  ["hal_flash", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c"],
+  ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
+  ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
+  ["hal_i2c", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c"],
+  ["hal_i2c_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c"],
+  ["hal_tim", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c"],
+  ["hal_tim_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c"],
+  ["hal_adc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c"],
+  ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
+  ["hal_flash_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c"],
+  ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
+  ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
+  ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
+  ["hal_adc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c"],
+  ["hal_dma", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c"],
+  ["system", "inc/system_stm32f4xx.c"],
+  ["it", "inc/stm32f4xx_it.c"],
+  ["bldc", "bldc/bldc.c"],
+  ["bldc_data", "bldc/BLDC_controller_data.c"],
+  ["bldc_con", "bldc/BLDC_controller.c"],
+  ["util", "util.c"],
+]
+
+c_bstub_sources = [
+  ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
+  ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
+  ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
+  ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
+  ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
+  ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
+  ["system", "inc/system_stm32f4xx.c"],
+  ["it", "inc/stm32f4xx_it.c"],
+  ["util", "util.c"],
+]
+
+def get_version(builder, build_type):
+  try:
+    git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
+  except subprocess.CalledProcessError:
+    git = "00000000"
+  return f"{git}"
+
+
+def to_c_uint32(x):
+  nums = []
+  for _ in range(0x20):
+    nums.append(x % (2**32))
+    x //= (2**32)
+  return "{" + 'U,'.join(map(str, nums)) + "U}"
+
+
+def get_key_header(name):
+  from Crypto.PublicKey import RSA
+
+  public_fn = f'../certs/{name}.pub'
+  rsa = RSA.importKey(open(public_fn).read())
+  assert(rsa.size_in_bits() == 1024)
+
+  rr = pow(2**1024, 2, rsa.n)
+  n0inv = 2**32 - pow(rsa.n, -1, 2**32)
+
+  r = [
+    f"RSAPublicKey {name}_rsa_key = {{",
+    f"  .len = 0x20,",
+    f"  .n0inv = {n0inv}U,",
+    f"  .n = {to_c_uint32(rsa.n)},",
+    f"  .rr = {to_c_uint32(rr)},",
+    f"  .exponent = {rsa.e},",
+    f"}};",
+  ]
+  return r
+
+def objcopy(source, target, env, for_signature):
+    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
+
+# Common autogenerated includes
+git_ver = get_version(BUILDER, BUILD_TYPE)
+with open("obj/gitversion.h", "w") as f:
+  f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
+
+certs = [get_key_header(n) for n in ["debug", "release"]]
+with open("obj/cert.h", "w") as f:
+  for cert in certs:
+    f.write("\n".join(cert) + "\n")
+
+for project_name in build_projects:
+  project = build_projects[project_name]
+  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
+
+  flags = [
+    "-Wall",
+    "-Wextra",
+    "-Wstrict-prototypes",
+    "-Werror",
+    "-mlittle-endian",
+    "-mthumb",
+    "-nostdlib",
+    "-fno-builtin",
+    f"-T{linkerscript_fn}",
+    "-std=gnu11",
+    "-fdata-sections",
+    "-ffunction-sections",
+    "-Wl,--gc-sections",
+  ] + project["PROJECT_FLAGS"] + common_flags
+
+  project_env = Environment(
+    ENV=os.environ,
+    CC=PREFIX + 'gcc',
+    AS=PREFIX + 'gcc',
+    OBJCOPY=PREFIX + 'objcopy',
+    OBJDUMP=PREFIX + 'objdump',
+    ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
+    CFLAGS=flags,
+    ASFLAGS=flags,
+    LINKFLAGS=flags,
+    LIBS = ['gcc',],
+    CPPPATH=includes,
+    BUILDERS={
+      'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
+    }
+  )
+  startup = project_env.Object(project["STARTUP_FILE"])
+
+  c_bstub_obj_list = []
+  for c in c_bstub_sources:
+    c_bstub_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
+
+  # Bootstub
+  crypto_obj = [
+    project_env.Object(f"rsa-{project_name}", "../crypto/rsa.c"),
+    project_env.Object(f"sha-{project_name}", "../crypto/sha.c")
+  ]
+  bootstub_obj = project_env.Object(f"bootstub-{project_name}", "bootstub.c")
+  bootstub_elf = project_env.Program(f"obj/bootstub.{project_name}.elf", [startup] + crypto_obj + c_bstub_obj_list + [bootstub_obj])
+  bootstub_bin = project_env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
+
+  c_obj_list = []
+  for c in c_sources:
+    c_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
+
+  # Build main
+  main_obj = project_env.Object(f"main-{project_name}", project["MAIN"])
+  obj_list = [startup, main_obj] + c_obj_list
+  main_elf = project_env.Program(f"obj/{project_name}.elf", obj_list,
+    LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+  main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf)
+
+  # Sign main
+  sign_py = File("../crypto/sign.py").srcnode().relpath
+  panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
@@ -0,0 +1,550 @@
+/*
+ * File: BLDC_controller.h
+ *
+ * Code generated for Simulink model 'BLDC_controller'.
+ *
+ * Model version                  : 1.1297
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
+ * Emulation hardware selection:
+ *    Differs from embedded hardware (MATLAB Host)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. RAM efficiency
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_BLDC_controller_h_
+#define RTW_HEADER_BLDC_controller_h_
+#include "rtwtypes.h"
+#ifndef BLDC_controller_COMMON_INCLUDES_
+# define BLDC_controller_COMMON_INCLUDES_
+#include "rtwtypes.h"
+#endif                                 /* BLDC_controller_COMMON_INCLUDES_ */
+
+/* Macros for accessing real-time model data structure */
+
+/* Forward declaration for rtModel */
+typedef struct tag_RTM RT_MODEL;
+
+/* Block signals and states (auto storage) for system '<S13>/Counter' */
+typedef struct {
+  int16_T UnitDelay_DSTATE;            /* '<S18>/UnitDelay' */
+} DW_Counter;
+
+/* Block signals and states (auto storage) for system '<S50>/Low_Pass_Filter' */
+typedef struct {
+  int32_T UnitDelay1_DSTATE[2];        /* '<S56>/UnitDelay1' */
+} DW_Low_Pass_Filter;
+
+/* Block signals and states (auto storage) for system '<S25>/Counter' */
+typedef struct {
+  uint16_T UnitDelay_DSTATE;           /* '<S30>/UnitDelay' */
+} DW_Counter_b;
+
+/* Block signals and states (auto storage) for system '<S21>/either_edge' */
+typedef struct {
+  boolean_T UnitDelay_DSTATE;          /* '<S26>/UnitDelay' */
+} DW_either_edge;
+
+/* Block signals and states (auto storage) for system '<S20>/Debounce_Filter' */
+typedef struct {
+  DW_either_edge either_edge_p;        /* '<S21>/either_edge' */
+  DW_Counter_b Counter_e;              /* '<S24>/Counter' */
+  DW_Counter_b Counter_n1;             /* '<S25>/Counter' */
+  boolean_T UnitDelay_DSTATE;          /* '<S21>/UnitDelay' */
+} DW_Debounce_Filter;
+
+/* Block signals and states (auto storage) for system '<S83>/I_backCalc_fixdt' */
+typedef struct {
+  int32_T UnitDelay_DSTATE;            /* '<S88>/UnitDelay' */
+  int32_T UnitDelay_DSTATE_m;          /* '<S90>/UnitDelay' */
+} DW_I_backCalc_fixdt;
+
+/* Block signals and states (auto storage) for system '<S63>/PI_clamp_fixdt' */
+typedef struct {
+  int32_T ResettableDelay_DSTATE;      /* '<S77>/Resettable Delay' */
+  uint8_T icLoad;                      /* '<S77>/Resettable Delay' */
+  boolean_T UnitDelay1_DSTATE;         /* '<S74>/UnitDelay1' */
+} DW_PI_clamp_fixdt;
+
+/* Block signals and states (auto storage) for system '<S61>/PI_clamp_fixdt' */
+typedef struct {
+  int32_T ResettableDelay_DSTATE;      /* '<S67>/Resettable Delay' */
+  uint8_T icLoad;                      /* '<S67>/Resettable Delay' */
+  boolean_T UnitDelay1_DSTATE;         /* '<S65>/UnitDelay1' */
+} DW_PI_clamp_fixdt_m;
+
+/* Block signals and states (auto storage) for system '<S62>/PI_clamp_fixdt' */
+typedef struct {
+  int16_T ResettableDelay_DSTATE;      /* '<S72>/Resettable Delay' */
+  uint8_T icLoad;                      /* '<S72>/Resettable Delay' */
+  boolean_T UnitDelay1_DSTATE;         /* '<S69>/UnitDelay1' */
+} DW_PI_clamp_fixdt_g;
+
+/* Block signals and states (auto storage) for system '<Root>' */
+typedef struct {
+  DW_PI_clamp_fixdt_g PI_clamp_fixdt_kh;/* '<S62>/PI_clamp_fixdt' */
+  DW_PI_clamp_fixdt_m PI_clamp_fixdt_l4;/* '<S61>/PI_clamp_fixdt' */
+  DW_PI_clamp_fixdt PI_clamp_fixdt_i;  /* '<S63>/PI_clamp_fixdt' */
+  DW_I_backCalc_fixdt I_backCalc_fixdt_j;/* '<S82>/I_backCalc_fixdt' */
+  DW_I_backCalc_fixdt I_backCalc_fixdt1;/* '<S83>/I_backCalc_fixdt1' */
+  DW_I_backCalc_fixdt I_backCalc_fixdt_i;/* '<S83>/I_backCalc_fixdt' */
+  DW_either_edge either_edge_i;        /* '<S20>/either_edge' */
+  DW_Debounce_Filter Debounce_Filter_k;/* '<S20>/Debounce_Filter' */
+  DW_Low_Pass_Filter Low_Pass_Filter_m;/* '<S50>/Low_Pass_Filter' */
+  DW_Counter Counter_e;                /* '<S13>/Counter' */
+  int32_T Divide1;                     /* '<S81>/Divide1' */
+  int32_T UnitDelay_DSTATE;            /* '<S40>/UnitDelay' */
+  int16_T Gain4_e[3];                  /* '<S57>/Gain4' */
+  int16_T DataTypeConversion[2];       /* '<S56>/Data Type Conversion' */
+  int16_T z_counterRawPrev;            /* '<S17>/z_counterRawPrev' */
+  int16_T Merge;                       /* '<S59>/Merge' */
+  int16_T Switch1;                     /* '<S78>/Switch1' */
+  int16_T Vd_max1;                     /* '<S80>/Vd_max1' */
+  int16_T Gain3;                       /* '<S80>/Gain3' */
+  int16_T Vq_max_M1;                   /* '<S80>/Vq_max_M1' */
+  int16_T Gain5;                       /* '<S80>/Gain5' */
+  int16_T i_max;                       /* '<S80>/i_max' */
+  int16_T Divide1_n;                   /* '<S80>/Divide1' */
+  int16_T Gain1;                       /* '<S80>/Gain1' */
+  int16_T Gain4;                       /* '<S80>/Gain4' */
+  int16_T Switch2_i;                   /* '<S87>/Switch2' */
+  int16_T Switch2_o;                   /* '<S93>/Switch2' */
+  int16_T Switch2_a;                   /* '<S91>/Switch2' */
+  int16_T Divide3;                     /* '<S42>/Divide3' */
+  int16_T Merge1;                      /* '<S33>/Merge1' */
+  int16_T Abs1;                        /* '<S5>/Abs1' */
+  int16_T Abs5_h;                      /* '<S50>/Abs5' */
+  int16_T Divide11;                    /* '<S17>/Divide11' */
+  int16_T r_sin_M1;                    /* '<S52>/r_sin_M1' */
+  int16_T r_cos_M1;                    /* '<S52>/r_cos_M1' */
+  int16_T UnitDelay3_DSTATE;           /* '<S13>/UnitDelay3' */
+  int16_T UnitDelay4_DSTATE;           /* '<S17>/UnitDelay4' */
+  int16_T UnitDelay2_DSTATE;           /* '<S17>/UnitDelay2' */
+  int16_T UnitDelay3_DSTATE_o;         /* '<S17>/UnitDelay3' */
+  int16_T UnitDelay5_DSTATE;           /* '<S17>/UnitDelay5' */
+  int16_T UnitDelay4_DSTATE_e;         /* '<S13>/UnitDelay4' */
+  int16_T UnitDelay4_DSTATE_eu;        /* '<S8>/UnitDelay4' */
+  int8_T Switch2_e;                    /* '<S12>/Switch2' */
+  int8_T UnitDelay2_DSTATE_b;          /* '<S12>/UnitDelay2' */
+  int8_T If1_ActiveSubsystem;          /* '<S7>/If1' */
+  int8_T If2_ActiveSubsystem;          /* '<S7>/If2' */
+  int8_T If1_ActiveSubsystem_j;        /* '<S47>/If1' */
+  int8_T SwitchCase_ActiveSubsystem;   /* '<S59>/Switch Case' */
+  int8_T If1_ActiveSubsystem_a;        /* '<S59>/If1' */
+  int8_T If1_ActiveSubsystem_o;        /* '<S48>/If1' */
+  int8_T SwitchCase_ActiveSubsystem_d; /* '<S80>/Switch Case' */
+  int8_T If2_ActiveSubsystem_f;        /* '<S33>/If2' */
+  int8_T If2_ActiveSubsystem_a;        /* '<S45>/If2' */
+  uint8_T z_ctrlMod;                   /* '<S5>/F03_02_Control_Mode_Manager' */
+  uint8_T UnitDelay3_DSTATE_fy;        /* '<S10>/UnitDelay3' */
+  uint8_T UnitDelay1_DSTATE;           /* '<S10>/UnitDelay1' */
+  uint8_T UnitDelay2_DSTATE_f;         /* '<S10>/UnitDelay2' */
+  uint8_T UnitDelay_DSTATE_e;          /* '<S20>/UnitDelay' */
+  uint8_T is_active_c1_BLDC_controller;/* '<S5>/F03_02_Control_Mode_Manager' */
+  uint8_T is_c1_BLDC_controller;       /* '<S5>/F03_02_Control_Mode_Manager' */
+  uint8_T is_ACTIVE;                   /* '<S5>/F03_02_Control_Mode_Manager' */
+  boolean_T Merge_p;                   /* '<S21>/Merge' */
+  boolean_T dz_cntTrnsDet;             /* '<S17>/dz_cntTrnsDet' */
+  boolean_T UnitDelay2_DSTATE_c;       /* '<S2>/UnitDelay2' */
+  boolean_T UnitDelay5_DSTATE_m;       /* '<S2>/UnitDelay5' */
+  boolean_T UnitDelay6_DSTATE;         /* '<S2>/UnitDelay6' */
+  boolean_T UnitDelay_DSTATE_b;        /* '<S39>/UnitDelay' */
+  boolean_T UnitDelay1_DSTATE_n;       /* '<S17>/UnitDelay1' */
+  boolean_T n_commDeacv_Mode;          /* '<S13>/n_commDeacv' */
+  boolean_T dz_cntTrnsDet_Mode;        /* '<S17>/dz_cntTrnsDet' */
+} DW;
+
+/* Constant parameters (auto storage) */
+typedef struct {
+  /* Computed Parameter: r_sin_M1_Table
+   * Referenced by: '<S52>/r_sin_M1'
+   */
+  int16_T r_sin_M1_Table[181];
+
+  /* Computed Parameter: r_cos_M1_Table
+   * Referenced by: '<S52>/r_cos_M1'
+   */
+  int16_T r_cos_M1_Table[181];
+
+  /* Computed Parameter: r_sin3PhaA_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaA_M1'
+   */
+  int16_T r_sin3PhaA_M1_Table[181];
+
+  /* Computed Parameter: r_sin3PhaB_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaB_M1'
+   */
+  int16_T r_sin3PhaB_M1_Table[181];
+
+  /* Computed Parameter: r_sin3PhaC_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaC_M1'
+   */
+  int16_T r_sin3PhaC_M1_Table[181];
+
+  /* Computed Parameter: iq_maxSca_M1_Table
+   * Referenced by: '<S80>/iq_maxSca_M1'
+   */
+  uint16_T iq_maxSca_M1_Table[50];
+
+  /* Computed Parameter: z_commutMap_M1_table
+   * Referenced by: '<S94>/z_commutMap_M1'
+   */
+  int8_T z_commutMap_M1_table[18];
+
+  /* Computed Parameter: vec_hallToPos_Value
+   * Referenced by: '<S11>/vec_hallToPos'
+   */
+  int8_T vec_hallToPos_Value[8];
+} ConstP;
+
+/* External inputs (root inport signals with auto storage) */
+typedef struct {
+  boolean_T b_motEna;                  /* '<Root>/b_motEna' */
+  uint8_T z_ctrlModReq;                /* '<Root>/z_ctrlModReq' */
+  int16_T r_inpTgt;                    /* '<Root>/r_inpTgt' */
+  uint8_T b_hallA;                     /* '<Root>/b_hallA ' */
+  uint8_T b_hallB;                     /* '<Root>/b_hallB' */
+  uint8_T b_hallC;                     /* '<Root>/b_hallC' */
+  int16_T i_phaAB;                     /* '<Root>/i_phaAB' */
+  int16_T i_phaBC;                     /* '<Root>/i_phaBC' */
+  int16_T i_DCLink;                    /* '<Root>/i_DCLink' */
+  int16_T a_mechAngle;                 /* '<Root>/a_mechAngle' */
+} ExtU;
+
+/* External outputs (root outports fed by signals with auto storage) */
+typedef struct {
+  int16_T DC_phaA;                     /* '<Root>/DC_phaA' */
+  int16_T DC_phaB;                     /* '<Root>/DC_phaB' */
+  int16_T DC_phaC;                     /* '<Root>/DC_phaC' */
+  uint8_T z_errCode;                   /* '<Root>/z_errCode' */
+  int16_T n_mot;                       /* '<Root>/n_mot' */
+  int16_T a_elecAngle;                 /* '<Root>/a_elecAngle' */
+  int16_T iq;                          /* '<Root>/iq' */
+  int16_T id;                          /* '<Root>/id' */
+} ExtY;
+
+/* Parameters (auto storage) */
+struct P_ {
+  int32_T dV_openRate;                 /* Variable: dV_openRate
+                                        * Referenced by: '<S37>/dV_openRate'
+                                        */
+  int16_T dz_cntTrnsDetHi;             /* Variable: dz_cntTrnsDetHi
+                                        * Referenced by: '<S17>/dz_cntTrnsDet'
+                                        */
+  int16_T dz_cntTrnsDetLo;             /* Variable: dz_cntTrnsDetLo
+                                        * Referenced by: '<S17>/dz_cntTrnsDet'
+                                        */
+  int16_T n_cruiseMotTgt;              /* Variable: n_cruiseMotTgt
+                                        * Referenced by: '<S61>/n_cruiseMotTgt'
+                                        */
+  int16_T z_maxCntRst;                 /* Variable: z_maxCntRst
+                                        * Referenced by:
+                                        *   '<S13>/Counter'
+                                        *   '<S13>/z_maxCntRst'
+                                        *   '<S13>/z_maxCntRst2'
+                                        *   '<S13>/UnitDelay3'
+                                        *   '<S17>/z_counter'
+                                        */
+  uint16_T cf_speedCoef;               /* Variable: cf_speedCoef
+                                        * Referenced by: '<S17>/cf_speedCoef'
+                                        */
+  uint16_T t_errDequal;                /* Variable: t_errDequal
+                                        * Referenced by: '<S20>/t_errDequal'
+                                        */
+  uint16_T t_errQual;                  /* Variable: t_errQual
+                                        * Referenced by: '<S20>/t_errQual'
+                                        */
+  int16_T Vd_max;                      /* Variable: Vd_max
+                                        * Referenced by:
+                                        *   '<S36>/Vd_max'
+                                        *   '<S80>/Vd_max1'
+                                        */
+  int16_T Vq_max_M1[46];               /* Variable: Vq_max_M1
+                                        * Referenced by: '<S80>/Vq_max_M1'
+                                        */
+  int16_T Vq_max_XA[46];               /* Variable: Vq_max_XA
+                                        * Referenced by: '<S80>/Vq_max_XA'
+                                        */
+  int16_T a_phaAdvMax;                 /* Variable: a_phaAdvMax
+                                        * Referenced by: '<S42>/a_phaAdvMax'
+                                        */
+  int16_T i_max;                       /* Variable: i_max
+                                        * Referenced by:
+                                        *   '<S36>/i_max'
+                                        *   '<S80>/i_max'
+                                        */
+  int16_T id_fieldWeakMax;             /* Variable: id_fieldWeakMax
+                                        * Referenced by: '<S42>/id_fieldWeakMax'
+                                        */
+  int16_T n_commAcvLo;                 /* Variable: n_commAcvLo
+                                        * Referenced by: '<S13>/n_commDeacv'
+                                        */
+  int16_T n_commDeacvHi;               /* Variable: n_commDeacvHi
+                                        * Referenced by: '<S13>/n_commDeacv'
+                                        */
+  int16_T n_fieldWeakAuthHi;           /* Variable: n_fieldWeakAuthHi
+                                        * Referenced by: '<S42>/n_fieldWeakAuthHi'
+                                        */
+  int16_T n_fieldWeakAuthLo;           /* Variable: n_fieldWeakAuthLo
+                                        * Referenced by: '<S42>/n_fieldWeakAuthLo'
+                                        */
+  int16_T n_max;                       /* Variable: n_max
+                                        * Referenced by:
+                                        *   '<S36>/n_max'
+                                        *   '<S80>/n_max1'
+                                        */
+  int16_T n_stdStillDet;               /* Variable: n_stdStillDet
+                                        * Referenced by: '<S13>/n_stdStillDet'
+                                        */
+  int16_T r_errInpTgtThres;            /* Variable: r_errInpTgtThres
+                                        * Referenced by: '<S20>/r_errInpTgtThres'
+                                        */
+  int16_T r_fieldWeakHi;               /* Variable: r_fieldWeakHi
+                                        * Referenced by: '<S42>/r_fieldWeakHi'
+                                        */
+  int16_T r_fieldWeakLo;               /* Variable: r_fieldWeakLo
+                                        * Referenced by: '<S42>/r_fieldWeakLo'
+                                        */
+  uint16_T cf_KbLimProt;               /* Variable: cf_KbLimProt
+                                        * Referenced by:
+                                        *   '<S82>/cf_KbLimProt'
+                                        *   '<S83>/cf_KbLimProt'
+                                        */
+  uint16_T cf_idKp;                    /* Variable: cf_idKp
+                                        * Referenced by: '<S63>/cf_idKp1'
+                                        */
+  uint16_T cf_iqKp;                    /* Variable: cf_iqKp
+                                        * Referenced by: '<S62>/cf_iqKp'
+                                        */
+  uint16_T cf_nKp;                     /* Variable: cf_nKp
+                                        * Referenced by: '<S61>/cf_nKp'
+                                        */
+  uint16_T cf_currFilt;                /* Variable: cf_currFilt
+                                        * Referenced by: '<S50>/cf_currFilt'
+                                        */
+  uint16_T cf_idKi;                    /* Variable: cf_idKi
+                                        * Referenced by: '<S63>/cf_idKi1'
+                                        */
+  uint16_T cf_iqKi;                    /* Variable: cf_iqKi
+                                        * Referenced by: '<S62>/cf_iqKi'
+                                        */
+  uint16_T cf_iqKiLimProt;             /* Variable: cf_iqKiLimProt
+                                        * Referenced by:
+                                        *   '<S81>/cf_iqKiLimProt'
+                                        *   '<S83>/cf_iqKiLimProt'
+                                        */
+  uint16_T cf_nKi;                     /* Variable: cf_nKi
+                                        * Referenced by: '<S61>/cf_nKi'
+                                        */
+  uint16_T cf_nKiLimProt;              /* Variable: cf_nKiLimProt
+                                        * Referenced by:
+                                        *   '<S82>/cf_nKiLimProt'
+                                        *   '<S83>/cf_nKiLimProt'
+                                        */
+  uint8_T n_polePairs;                 /* Variable: n_polePairs
+                                        * Referenced by: '<S15>/n_polePairs'
+                                        */
+  uint8_T z_ctrlTypSel;                /* Variable: z_ctrlTypSel
+                                        * Referenced by: '<S1>/z_ctrlTypSel'
+                                        */
+  uint8_T z_selPhaCurMeasABC;          /* Variable: z_selPhaCurMeasABC
+                                        * Referenced by: '<S49>/z_selPhaCurMeasABC'
+                                        */
+  boolean_T b_angleMeasEna;            /* Variable: b_angleMeasEna
+                                        * Referenced by:
+                                        *   '<S3>/b_angleMeasEna'
+                                        *   '<S13>/b_angleMeasEna'
+                                        */
+  boolean_T b_cruiseCtrlEna;           /* Variable: b_cruiseCtrlEna
+                                        * Referenced by: '<S1>/b_cruiseCtrlEna'
+                                        */
+  boolean_T b_diagEna;                 /* Variable: b_diagEna
+                                        * Referenced by: '<S4>/b_diagEna'
+                                        */
+  boolean_T b_fieldWeakEna;            /* Variable: b_fieldWeakEna
+                                        * Referenced by:
+                                        *   '<S6>/b_fieldWeakEna'
+                                        *   '<S97>/b_fieldWeakEna'
+                                        */
+};
+
+/* Parameters (auto storage) */
+typedef struct P_ P;
+
+/* Real-time Model Data Structure */
+struct tag_RTM {
+  P *defaultParam;
+  ExtU *inputs;
+  ExtY *outputs;
+  DW *dwork;
+};
+
+/* Constant parameters (auto storage) */
+extern const ConstP rtConstP;
+
+/* Model entry point functions */
+extern void BLDC_controller_initialize(RT_MODEL *const rtM);
+extern void BLDC_controller_step(RT_MODEL *const rtM);
+
+/*-
+ * These blocks were eliminated from the model due to optimizations:
+ *
+ * Block '<S13>/Scope2' : Unused code path elimination
+ * Block '<S14>/Scope' : Unused code path elimination
+ * Block '<S41>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S41>/Data Type Propagation' : Unused code path elimination
+ * Block '<S43>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S43>/Data Type Propagation' : Unused code path elimination
+ * Block '<S44>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S44>/Data Type Propagation' : Unused code path elimination
+ * Block '<S70>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S70>/Data Type Propagation' : Unused code path elimination
+ * Block '<S75>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S75>/Data Type Propagation' : Unused code path elimination
+ * Block '<S79>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S79>/Data Type Propagation' : Unused code path elimination
+ * Block '<S84>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S84>/Data Type Propagation' : Unused code path elimination
+ * Block '<S87>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S87>/Data Type Propagation' : Unused code path elimination
+ * Block '<S91>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S91>/Data Type Propagation' : Unused code path elimination
+ * Block '<S93>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S93>/Data Type Propagation' : Unused code path elimination
+ * Block '<S7>/Scope12' : Unused code path elimination
+ * Block '<S7>/Scope8' : Unused code path elimination
+ * Block '<S7>/toNegative' : Unused code path elimination
+ * Block '<S97>/Scope' : Unused code path elimination
+ * Block '<S2>/Data Type Conversion' : Eliminate redundant data type conversion
+ * Block '<S72>/Data Type Conversion1' : Eliminate redundant data type conversion
+ */
+
+/*-
+ * The generated code includes comments that allow you to trace directly
+ * back to the appropriate location in the model.  The basic format
+ * is <system>/block_name, where system is the system number (uniquely
+ * assigned by Simulink) and block_name is the name of the block.
+ *
+ * Note that this particular code originates from a subsystem build,
+ * and has its own system numbers different from the parent model.
+ * Refer to the system hierarchy for this subsystem below, and use the
+ * MATLAB hilite_system command to trace the generated code back
+ * to the parent model.  For example,
+ *
+ * hilite_system('BLDCmotor_FOC_R2017b_fixdt/BLDC_controller')    - opens subsystem BLDCmotor_FOC_R2017b_fixdt/BLDC_controller
+ * hilite_system('BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Kp') - opens and selects block Kp
+ *
+ * Here is the system hierarchy for this model
+ *
+ * '<Root>' : 'BLDCmotor_FOC_R2017b_fixdt'
+ * '<S1>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller'
+ * '<S2>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Call_Scheduler'
+ * '<S3>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations'
+ * '<S4>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics'
+ * '<S5>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager'
+ * '<S6>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening'
+ * '<S7>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control'
+ * '<S8>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management'
+ * '<S9>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Task_Scheduler'
+ * '<S10>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Edge_Detector'
+ * '<S11>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_02_Position_Calculation'
+ * '<S12>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_03_Direction_Detection'
+ * '<S13>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation'
+ * '<S14>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Electrical_Angle_Estimation'
+ * '<S15>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement'
+ * '<S16>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter'
+ * '<S17>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Raw_Motor_Speed_Estimation'
+ * '<S18>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter/rst_Delay'
+ * '<S19>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement/Modulo_fixdt'
+ * '<S20>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled'
+ * '<S21>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter'
+ * '<S22>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/either_edge'
+ * '<S23>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Default'
+ * '<S24>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification'
+ * '<S25>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification'
+ * '<S26>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/either_edge'
+ * '<S27>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter'
+ * '<S28>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter/rst_Delay'
+ * '<S29>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter'
+ * '<S30>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter/rst_Delay'
+ * '<S31>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_01_Mode_Transition_Calculation'
+ * '<S32>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_02_Control_Mode_Manager'
+ * '<S33>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis'
+ * '<S34>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Control_Type'
+ * '<S35>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Mode'
+ * '<S36>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/FOC_Control_Type'
+ * '<S37>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode'
+ * '<S38>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter'
+ * '<S39>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/rising_edge_init'
+ * '<S40>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Delay_Init1'
+ * '<S41>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Saturation Dynamic'
+ * '<S42>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled'
+ * '<S43>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled/Saturation Dynamic'
+ * '<S44>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled/Saturation Dynamic1'
+ * '<S45>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward'
+ * '<S46>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse'
+ * '<S47>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC'
+ * '<S48>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations'
+ * '<S49>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform'
+ * '<S50>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Current_Filtering'
+ * '<S51>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Park_Transform'
+ * '<S52>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Sine_Cosine_Approximation'
+ * '<S53>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesAB'
+ * '<S54>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesAC'
+ * '<S55>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesBC'
+ * '<S56>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Current_Filtering/Low_Pass_Filter'
+ * '<S57>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse/Inv_Clarke_Transform'
+ * '<S58>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse/Inv_Park_Transform'
+ * '<S59>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled'
+ * '<S60>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Open_Mode'
+ * '<S61>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode'
+ * '<S62>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode'
+ * '<S63>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation'
+ * '<S64>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Voltage_Mode'
+ * '<S65>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt'
+ * '<S66>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Clamping_circuit'
+ * '<S67>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Integrator'
+ * '<S68>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Saturation_hit'
+ * '<S69>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt'
+ * '<S70>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/Saturation Dynamic1'
+ * '<S71>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Clamping_circuit'
+ * '<S72>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Integrator'
+ * '<S73>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Saturation_hit'
+ * '<S74>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt'
+ * '<S75>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/Saturation Dynamic'
+ * '<S76>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Clamping_circuit'
+ * '<S77>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Integrator'
+ * '<S78>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Saturation_hit'
+ * '<S79>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Voltage_Mode/Saturation Dynamic1'
+ * '<S80>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled'
+ * '<S81>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Speed_Mode_Protection'
+ * '<S82>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection'
+ * '<S83>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection'
+ * '<S84>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Speed_Mode_Protection/Saturation Dynamic'
+ * '<S85>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt'
+ * '<S86>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt/Integrator'
+ * '<S87>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
+ * '<S88>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt'
+ * '<S89>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1'
+ * '<S90>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt/Integrator'
+ * '<S91>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
+ * '<S92>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1/Integrator'
+ * '<S93>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1/Saturation Dynamic1'
+ * '<S94>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/COM_Method'
+ * '<S95>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/FOC_Method'
+ * '<S96>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method'
+ * '<S97>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation'
+ * '<S98>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation/Modulo_fixdt'
+ */
+#endif                                 /* RTW_HEADER_BLDC_controller_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
@@ -0,0 +1,386 @@
+/*
+ * File: BLDC_controller_data.c
+ *
+ * Code generated for Simulink model 'BLDC_controller'.
+ *
+ * Model version                  : 1.1297
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
+ * Emulation hardware selection:
+ *    Differs from embedded hardware (MATLAB Host)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. RAM efficiency
+ * Validation result: Not run
+ */
+
+#include "BLDC_controller.h"
+
+/* Constant parameters (auto storage) */
+const ConstP rtConstP = {
+  /* Computed Parameter: r_sin_M1_Table
+   * Referenced by: '<S52>/r_sin_M1'
+   */
+  { 8192, 8682, 9162, 9630, 10087, 10531, 10963, 11381, 11786, 12176, 12551,
+    12911, 13255, 13583, 13894, 14189, 14466, 14726, 14968, 15191, 15396, 15582,
+    15749, 15897, 16026, 16135, 16225, 16294, 16344, 16374, 16384, 16374, 16344,
+    16294, 16225, 16135, 16026, 15897, 15749, 15582, 15396, 15191, 14968, 14726,
+    14466, 14189, 13894, 13583, 13255, 12911, 12551, 12176, 11786, 11381, 10963,
+    10531, 10087, 9630, 9162, 8682, 8192, 7692, 7182, 6664, 6138, 5604, 5063,
+    4516, 3964, 3406, 2845, 2280, 1713, 1143, 572, 0, -572, -1143, -1713, -2280,
+    -2845, -3406, -3964, -4516, -5063, -5604, -6138, -6664, -7182, -7692, -8192,
+    -8682, -9162, -9630, -10087, -10531, -10963, -11381, -11786, -12176, -12551,
+    -12911, -13255, -13583, -13894, -14189, -14466, -14726, -14968, -15191,
+    -15396, -15582, -15749, -15897, -16026, -16135, -16225, -16294, -16344,
+    -16374, -16384, -16374, -16344, -16294, -16225, -16135, -16026, -15897,
+    -15749, -15582, -15396, -15191, -14968, -14726, -14466, -14189, -13894,
+    -13583, -13255, -12911, -12551, -12176, -11786, -11381, -10963, -10531,
+    -10087, -9630, -9162, -8682, -8192, -7692, -7182, -6664, -6138, -5604, -5063,
+    -4516, -3964, -3406, -2845, -2280, -1713, -1143, -572, 0, 572, 1143, 1713,
+    2280, 2845, 3406, 3964, 4516, 5063, 5604, 6138, 6664, 7182, 7692, 8192 },
+
+  /* Computed Parameter: r_cos_M1_Table
+   * Referenced by: '<S52>/r_cos_M1'
+   */
+  { 14189, 13894, 13583, 13255, 12911, 12551, 12176, 11786, 11381, 10963, 10531,
+    10087, 9630, 9162, 8682, 8192, 7692, 7182, 6664, 6138, 5604, 5063, 4516,
+    3964, 3406, 2845, 2280, 1713, 1143, 572, 0, -572, -1143, -1713, -2280, -2845,
+    -3406, -3964, -4516, -5063, -5604, -6138, -6664, -7182, -7692, -8192, -8682,
+    -9162, -9630, -10087, -10531, -10963, -11381, -11786, -12176, -12551, -12911,
+    -13255, -13583, -13894, -14189, -14466, -14726, -14968, -15191, -15396,
+    -15582, -15749, -15897, -16026, -16135, -16225, -16294, -16344, -16374,
+    -16384, -16374, -16344, -16294, -16225, -16135, -16026, -15897, -15749,
+    -15582, -15396, -15191, -14968, -14726, -14466, -14189, -13894, -13583,
+    -13255, -12911, -12551, -12176, -11786, -11381, -10963, -10531, -10087,
+    -9630, -9162, -8682, -8192, -7692, -7182, -6664, -6138, -5604, -5063, -4516,
+    -3964, -3406, -2845, -2280, -1713, -1143, -572, 0, 572, 1143, 1713, 2280,
+    2845, 3406, 3964, 4516, 5063, 5604, 6138, 6664, 7182, 7692, 8192, 8682, 9162,
+    9630, 10087, 10531, 10963, 11381, 11786, 12176, 12551, 12911, 13255, 13583,
+    13894, 14189, 14466, 14726, 14968, 15191, 15396, 15582, 15749, 15897, 16026,
+    16135, 16225, 16294, 16344, 16374, 16384, 16374, 16344, 16294, 16225, 16135,
+    16026, 15897, 15749, 15582, 15396, 15191, 14968, 14726, 14466, 14189 },
+
+  /* Computed Parameter: r_sin3PhaA_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaA_M1'
+   */
+  { -13091, -13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009,
+    -16159, -16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172,
+    -16079, -15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306,
+    -15248, -15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377,
+    -15461, -15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253,
+    -16317, -16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816,
+    -15577, -15289, -14953, -14565, -14126, -13634, -13091, -12496, -11849,
+    -11154, -10411, -9623, -8791, -7921, -7014, -6075, -5107, -4115, -3104,
+    -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075, 7014, 7921, 8791, 9623,
+    10411, 11154, 11849, 12496, 13091, 13634, 14126, 14565, 14953, 15289, 15577,
+    15816, 16009, 16159, 16269, 16340, 16377, 16383, 16362, 16317, 16253, 16172,
+    16079, 15977, 15870, 15762, 15656, 15555, 15461, 15377, 15306, 15248, 15206,
+    15180, 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762,
+    15870, 15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269,
+    16159, 16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496,
+    11849, 11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077,
+    1041, 0, -1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791,
+    -9623, -10411, -11154, -11849, -12496, -13091 },
+
+  /* Computed Parameter: r_sin3PhaB_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaB_M1'
+   */
+  { 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762, 15870,
+    15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269, 16159,
+    16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496, 11849,
+    11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077, 1041, 0,
+    -1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791, -9623, -10411,
+    -11154, -11849, -12496, -13091, -13634, -14126, -14565, -14953, -15289,
+    -15577, -15816, -16009, -16159, -16269, -16340, -16377, -16383, -16362,
+    -16317, -16253, -16172, -16079, -15977, -15870, -15762, -15656, -15555,
+    -15461, -15377, -15306, -15248, -15206, -15180, -15172, -15180, -15206,
+    -15248, -15306, -15377, -15461, -15555, -15656, -15762, -15870, -15977,
+    -16079, -16172, -16253, -16317, -16362, -16383, -16377, -16340, -16269,
+    -16159, -16009, -15816, -15577, -15289, -14953, -14565, -14126, -13634,
+    -13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075,
+    -5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075,
+    7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126,
+    14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383,
+    16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461,
+    15377, 15306, 15248, 15206, 15180, 15172 },
+
+  /* Computed Parameter: r_sin3PhaC_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaC_M1'
+   */
+  { -13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075,
+    -5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075,
+    7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126,
+    14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383,
+    16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461,
+    15377, 15306, 15248, 15206, 15180, 15172, 15180, 15206, 15248, 15306, 15377,
+    15461, 15555, 15656, 15762, 15870, 15977, 16079, 16172, 16253, 16317, 16362,
+    16383, 16377, 16340, 16269, 16159, 16009, 15816, 15577, 15289, 14953, 14565,
+    14126, 13634, 13091, 12496, 11849, 11154, 10411, 9623, 8791, 7921, 7014,
+    6075, 5107, 4115, 3104, 2077, 1041, 0, -1041, -2077, -3104, -4115, -5107,
+    -6075, -7014, -7921, -8791, -9623, -10411, -11154, -11849, -12496, -13091,
+    -13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009, -16159,
+    -16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172, -16079,
+    -15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306, -15248,
+    -15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377, -15461,
+    -15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253, -16317,
+    -16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816, -15577,
+    -15289, -14953, -14565, -14126, -13634, -13091 },
+
+  /* Computed Parameter: iq_maxSca_M1_Table
+   * Referenced by: '<S80>/iq_maxSca_M1'
+   */
+  { 65535U, 65523U, 65484U, 65418U, 65326U, 65207U, 65062U, 64890U, 64691U,
+    64465U, 64211U, 63930U, 63620U, 63281U, 62913U, 62516U, 62088U, 61630U,
+    61140U, 60618U, 60062U, 59473U, 58848U, 58187U, 57489U, 56752U, 55974U,
+    55155U, 54291U, 53381U, 52422U, 51413U, 50349U, 49227U, 48043U, 46792U,
+    45470U, 44069U, 42581U, 40997U, 39307U, 37494U, 35541U, 33422U, 31105U,
+    28540U, 25655U, 22323U, 18304U, 12974U },
+
+  /* Computed Parameter: z_commutMap_M1_table
+   * Referenced by: '<S94>/z_commutMap_M1'
+   */
+  { -1, 1, 0, -1, 0, 1, 0, -1, 1, 1, -1, 0, 1, 0, -1, 0, 1, -1 },
+
+  /* Computed Parameter: vec_hallToPos_Value
+   * Referenced by: '<S11>/vec_hallToPos'
+   */
+  { 0, 2, 0, 1, 4, 3, 5, 0 }
+};
+
+P rtP_Left = {
+  /* Variable: dV_openRate
+   * Referenced by: '<S37>/dV_openRate'
+   */
+  12288,
+
+  /* Variable: dz_cntTrnsDetHi
+   * Referenced by: '<S17>/dz_cntTrnsDet'
+   */
+  40,
+
+  /* Variable: dz_cntTrnsDetLo
+   * Referenced by: '<S17>/dz_cntTrnsDet'
+   */
+  20,
+
+  /* Variable: n_cruiseMotTgt
+   * Referenced by: '<S61>/n_cruiseMotTgt'
+   */
+  0,
+
+  /* Variable: z_maxCntRst
+   * Referenced by:
+   *   '<S13>/Counter'
+   *   '<S13>/z_maxCntRst'
+   *   '<S13>/z_maxCntRst2'
+   *   '<S13>/UnitDelay3'
+   *   '<S17>/z_counter'
+   */
+  2000,
+
+  /* Variable: cf_speedCoef
+   * Referenced by: '<S17>/cf_speedCoef'
+   */
+  10667U,
+
+  /* Variable: t_errDequal
+   * Referenced by: '<S20>/t_errDequal'
+   */
+  9600U,
+
+  /* Variable: t_errQual
+   * Referenced by: '<S20>/t_errQual'
+   */
+  1280U,
+
+  /* Variable: Vd_max
+   * Referenced by:
+   *   '<S36>/Vd_max'
+   *   '<S80>/Vd_max1'
+   */
+  14400,
+
+  /* Variable: Vq_max_M1
+   * Referenced by: '<S80>/Vq_max_M1'
+   */
+  { 14400, 14396, 14386, 14368, 14343, 14311, 14271, 14225, 14171, 14109, 14040,
+    13963, 13879, 13786, 13685, 13576, 13459, 13333, 13198, 13053, 12900, 12736,
+    12562, 12377, 12181, 11973, 11753, 11520, 11273, 11011, 10733, 10438, 10124,
+    9790, 9433, 9051, 8640, 8196, 7713, 7184, 6597, 5935, 5170, 4245, 3019, 0 },
+
+  /* Variable: Vq_max_XA
+   * Referenced by: '<S80>/Vq_max_XA'
+   */
+  { 0, 320, 640, 960, 1280, 1600, 1920, 2240, 2560, 2880, 3200, 3520, 3840, 4160,
+    4480, 4800, 5120, 5440, 5760, 6080, 6400, 6720, 7040, 7360, 7680, 8000, 8320,
+    8640, 8960, 9280, 9600, 9920, 10240, 10560, 10880, 11200, 11520, 11840,
+    12160, 12480, 12800, 13120, 13440, 13760, 14080, 14400 },
+
+  /* Variable: a_phaAdvMax
+   * Referenced by: '<S42>/a_phaAdvMax'
+   */
+  400,
+
+  /* Variable: i_max
+   * Referenced by:
+   *   '<S36>/i_max'
+   *   '<S80>/i_max'
+   */
+  12000,
+
+  /* Variable: id_fieldWeakMax
+   * Referenced by: '<S42>/id_fieldWeakMax'
+   */
+  4000,
+
+  /* Variable: n_commAcvLo
+   * Referenced by: '<S13>/n_commDeacv'
+   */
+  240,
+
+  /* Variable: n_commDeacvHi
+   * Referenced by: '<S13>/n_commDeacv'
+   */
+  480,
+
+  /* Variable: n_fieldWeakAuthHi
+   * Referenced by: '<S42>/n_fieldWeakAuthHi'
+   */
+  6400,
+
+  /* Variable: n_fieldWeakAuthLo
+   * Referenced by: '<S42>/n_fieldWeakAuthLo'
+   */
+  4800,
+
+  /* Variable: n_max
+   * Referenced by:
+   *   '<S36>/n_max'
+   *   '<S80>/n_max1'
+   */
+  16000,
+
+  /* Variable: n_stdStillDet
+   * Referenced by: '<S13>/n_stdStillDet'
+   */
+  48,
+
+  /* Variable: r_errInpTgtThres
+   * Referenced by: '<S20>/r_errInpTgtThres'
+   */
+  9600,
+
+  /* Variable: r_fieldWeakHi
+   * Referenced by: '<S42>/r_fieldWeakHi'
+   */
+  16000,
+
+  /* Variable: r_fieldWeakLo
+   * Referenced by: '<S42>/r_fieldWeakLo'
+   */
+  12000,
+
+  /* Variable: cf_KbLimProt
+   * Referenced by:
+   *   '<S82>/cf_KbLimProt'
+   *   '<S83>/cf_KbLimProt'
+   */
+  768U,
+
+  /* Variable: cf_idKp
+   * Referenced by: '<S63>/cf_idKp1'
+   */
+  819U,
+
+  /* Variable: cf_iqKp
+   * Referenced by: '<S62>/cf_iqKp'
+   */
+  1229U,
+
+  /* Variable: cf_nKp
+   * Referenced by: '<S61>/cf_nKp'
+   */
+  4833U,
+
+  /* Variable: cf_currFilt
+   * Referenced by: '<S50>/cf_currFilt'
+   */
+  7864U,
+
+  /* Variable: cf_idKi
+   * Referenced by: '<S63>/cf_idKi1'
+   */
+  737U,
+
+  /* Variable: cf_iqKi
+   * Referenced by: '<S62>/cf_iqKi'
+   */
+  1229U,
+
+  /* Variable: cf_iqKiLimProt
+   * Referenced by:
+   *   '<S81>/cf_iqKiLimProt'
+   *   '<S83>/cf_iqKiLimProt'
+   */
+  737U,
+
+  /* Variable: cf_nKi
+   * Referenced by: '<S61>/cf_nKi'
+   */
+  251U,
+
+  /* Variable: cf_nKiLimProt
+   * Referenced by:
+   *   '<S82>/cf_nKiLimProt'
+   *   '<S83>/cf_nKiLimProt'
+   */
+  246U,
+
+  /* Variable: n_polePairs
+   * Referenced by: '<S15>/n_polePairs'
+   */
+  15U,
+
+  /* Variable: z_ctrlTypSel
+   * Referenced by: '<S1>/z_ctrlTypSel'
+   */
+  2U,
+
+  /* Variable: z_selPhaCurMeasABC
+   * Referenced by: '<S49>/z_selPhaCurMeasABC'
+   */
+  0U,
+
+  /* Variable: b_angleMeasEna
+   * Referenced by:
+   *   '<S3>/b_angleMeasEna'
+   *   '<S13>/b_angleMeasEna'
+   */
+  0,
+
+  /* Variable: b_cruiseCtrlEna
+   * Referenced by: '<S1>/b_cruiseCtrlEna'
+   */
+  0,
+
+  /* Variable: b_diagEna
+   * Referenced by: '<S4>/b_diagEna'
+   */
+  1,
+
+  /* Variable: b_fieldWeakEna
+   * Referenced by:
+   *   '<S6>/b_fieldWeakEna'
+   *   '<S97>/b_fieldWeakEna'
+   */
+  0
+};                                     /* Modifiable parameters */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
@@ -0,0 +1,270 @@
+/*
+* This file implements FOC motor control.
+* This control method offers superior performanace
+* compared to previous cummutation method. The new method features:
+* ► reduced noise and vibrations
+* ► smooth torque output
+* ► improved motor efficiency -> lower energy consumption
+*
+* Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "stm32f4xx_hal.h"
+#include "defines.h"
+#include "config.h"
+#include "util.h"
+
+// Matlab includes and defines - from auto-code generation
+// ###############################################################################
+#include "BLDC_controller.h"           /* Model's header file */
+#include "rtwtypes.h"
+
+extern board_t board;
+
+extern RT_MODEL *const rtM_Left;
+extern RT_MODEL *const rtM_Right;
+
+extern DW   rtDW_Left;                  /* Observable states */
+extern ExtU rtU_Left;                   /* External inputs */
+extern ExtY rtY_Left;                   /* External outputs */
+extern P    rtP_Left;
+
+extern DW   rtDW_Right;                 /* Observable states */
+extern ExtU rtU_Right;                  /* External inputs */
+extern ExtY rtY_Right;                  /* External outputs */
+// ###############################################################################
+
+static int16_t pwm_margin;              /* This margin allows to have a window in the PWM signal for proper FOC Phase currents measurement */
+
+extern uint8_t ctrlModReq;
+static int16_t curDC_max = (I_DC_MAX * A2BIT_CONV);
+int16_t curL_phaA = 0, curL_phaB = 0, curL_DC = 0;
+int16_t curR_phaB = 0, curR_phaC = 0, curR_DC = 0;
+
+volatile int pwml = 0;
+volatile int pwmr = 0;
+
+extern volatile adc_buf_t adc_buffer;
+
+uint8_t buzzerFreq          = 0;
+uint8_t buzzerPattern       = 0;
+uint8_t buzzerCount         = 0;
+volatile uint32_t buzzerTimer = 0;
+static uint8_t  buzzerPrev  = 0;
+static uint8_t  buzzerIdx   = 0;
+
+uint8_t        enable_motors = 0;        // initially motors are disabled for SAFETY
+static uint8_t enableFin    = 0;
+
+static const uint16_t pwm_res  = CORE_FREQ / 2 / PWM_FREQ;
+
+static uint16_t offsetcount = 0;
+static int16_t offsetrlA    = 2000;
+static int16_t offsetrlB    = 2000;
+static int16_t offsetrrB    = 2000;
+static int16_t offsetrrC    = 2000;
+static int16_t offsetdcl    = 2000;
+static int16_t offsetdcr    = 2000;
+
+int16_t        batVoltage       = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
+static int32_t batVoltageFixdt  = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 16;  // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
+
+int32_t motPosL = 0;
+int32_t motPosR = 0;
+
+// DMA interrupt frequency =~ 16 kHz
+void DMA2_Stream0_IRQHandler(void) {
+  DMA2->LIFCR = DMA_LIFCR_CTCIF0;
+
+  if(offsetcount < 2000) {  // calibrate ADC offsets
+    offsetcount++;
+    offsetrlA = (adc_buffer.rlA + offsetrlA) / 2;
+    offsetrlB = (adc_buffer.rlB + offsetrlB) / 2;
+    offsetrrB = (adc_buffer.rrB + offsetrrB) / 2;
+    offsetrrC = (adc_buffer.rrC + offsetrrC) / 2;
+    offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
+    offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
+    return;
+  }
+
+  if (buzzerTimer % 1000 == 0) {  // Filter battery voltage at a slower sampling rate
+    filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt);
+    batVoltage = (int16_t)(batVoltageFixdt >> 16);  // convert fixed-point to integer
+  }
+
+  // Get Left motor currents
+  curL_phaA = (int16_t)(offsetrlA - adc_buffer.rlA);
+  curL_phaB = (int16_t)(offsetrlB - adc_buffer.rlB);
+  curL_DC   = (int16_t)(offsetdcl - adc_buffer.dcl);
+
+  // Get Right motor currents
+  curR_phaB = (int16_t)(offsetrrB - adc_buffer.rrB);
+  curR_phaC = (int16_t)(offsetrrC - adc_buffer.rrC);
+  curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
+
+  // Disable PWM when current limit is reached (current chopping)
+  // This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
+  if(ABS(curL_DC) > curDC_max || enable_motors == 0) {
+    LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
+  } else {
+    LEFT_TIM->BDTR |= TIM_BDTR_MOE;
+  }
+
+  if(ABS(curR_DC)  > curDC_max || enable_motors == 0) {
+    RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
+  } else {
+    RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
+  }
+
+  // Create square wave for buzzer
+  buzzerTimer++;
+  if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0) {
+    if (buzzerPrev == 0) {
+      buzzerPrev = 1;
+      if (++buzzerIdx > (buzzerCount + 2)) {    // pause 2 periods
+        buzzerIdx = 1;
+      }
+    }
+    if (buzzerTimer % buzzerFreq == 0 && (buzzerIdx <= buzzerCount || buzzerCount == 0)) {
+      HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
+    }
+  } else if (buzzerPrev) {
+      HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, GPIO_PIN_RESET);
+      buzzerPrev = 0;
+  }
+
+  // Adjust pwm_margin depending on the selected Control Type
+  if (rtP_Left.z_ctrlTypSel == FOC_CTRL) {
+    pwm_margin = 110;
+  } else {
+    pwm_margin = 0;
+  }
+
+  // ############################### MOTOR CONTROL ###############################
+
+  int ul, vl, wl;
+  int ur, vr, wr;
+  static boolean_T OverrunFlag = false;
+
+  if (OverrunFlag) {
+    return;
+  }
+  OverrunFlag = true;
+
+  /* Make sure to stop BOTH motors in case of an error */
+  enableFin = enable_motors && !rtY_Left.z_errCode && !rtY_Right.z_errCode;
+
+  // ========================= LEFT MOTOR ============================
+    uint8_t hall_ul = !(board.hall_left.hall_portA->IDR & board.hall_left.hall_pinA);
+    uint8_t hall_vl = !(board.hall_left.hall_portB->IDR & board.hall_left.hall_pinB);
+    uint8_t hall_wl = !(board.hall_left.hall_portC->IDR & board.hall_left.hall_pinC);
+
+    rtU_Left.b_motEna     = enableFin;
+    rtU_Left.z_ctrlModReq = ctrlModReq;
+    rtU_Left.r_inpTgt     = pwml;
+    rtU_Left.b_hallA      = hall_wl;
+    rtU_Left.b_hallB      = hall_vl;
+    rtU_Left.b_hallC      = hall_ul;
+    rtU_Left.i_phaAB      = curL_phaA;
+    rtU_Left.i_phaBC      = curL_phaB;
+    rtU_Left.i_DCLink     = curL_DC;
+
+    #ifdef MOTOR_LEFT_ENA
+    BLDC_controller_step(rtM_Left);
+    #endif
+
+    ul            = rtY_Left.DC_phaA;
+    vl            = rtY_Left.DC_phaB;
+    wl            = rtY_Left.DC_phaC;
+
+    /* Apply commands */
+    LEFT_TIM->LEFT_TIM_U    = (uint16_t)CLAMP(ul + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+    LEFT_TIM->LEFT_TIM_V    = (uint16_t)CLAMP(vl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+    LEFT_TIM->LEFT_TIM_W    = (uint16_t)CLAMP(wl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+  // =================================================================
+
+
+  // ========================= RIGHT MOTOR ===========================
+    uint8_t hall_ur = !(board.hall_right.hall_portA->IDR & board.hall_right.hall_pinA);
+    uint8_t hall_vr = !(board.hall_right.hall_portB->IDR & board.hall_right.hall_pinB);
+    uint8_t hall_wr = !(board.hall_right.hall_portC->IDR & board.hall_right.hall_pinC);
+
+    rtU_Right.b_motEna      = enableFin;
+    rtU_Right.z_ctrlModReq  = ctrlModReq;
+    rtU_Right.r_inpTgt      = pwmr;
+    rtU_Right.b_hallA       = hall_ur;
+    rtU_Right.b_hallB       = hall_vr;
+    rtU_Right.b_hallC       = hall_wr;
+    rtU_Right.i_phaAB       = curR_phaB;
+    rtU_Right.i_phaBC       = curR_phaC;
+    rtU_Right.i_DCLink      = curR_DC;
+
+    #ifdef MOTOR_RIGHT_ENA
+    BLDC_controller_step(rtM_Right);
+    #endif
+
+    ur            = rtY_Right.DC_phaA;
+    vr            = rtY_Right.DC_phaB;
+    wr            = rtY_Right.DC_phaC;
+
+    /* Apply commands */
+    RIGHT_TIM->RIGHT_TIM_U  = (uint16_t)CLAMP(ur + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+    RIGHT_TIM->RIGHT_TIM_V  = (uint16_t)CLAMP(vr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+    RIGHT_TIM->RIGHT_TIM_W  = (uint16_t)CLAMP(wr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+  // =================================================================
+
+  OverrunFlag = false;
+
+  static int16_t motAngleLeftLast = 0;
+  static int16_t motAngleRightLast = 0;
+  static int32_t cycleDegsL = 0;  // wheel encoder roll over count in deg
+  static int32_t cycleDegsR = 0;  // wheel encoder roll over count in deg
+  int16_t diffL = 0;
+  int16_t diffR = 0;
+  static int16_t cnt = 0;
+
+  if (enable_motors == 0) { // Reset everything if motors are disabled
+    cycleDegsL = 0;
+    cycleDegsR = 0;
+    diffL = 0;
+    diffR = 0;
+    cnt = 0;
+  }
+  if (cnt == 0) {
+    motAngleLeftLast = rtY_Left.a_elecAngle;
+    motAngleRightLast = rtY_Right.a_elecAngle;
+  }
+
+  diffL = rtY_Left.a_elecAngle - motAngleLeftLast;
+  if (diffL < -180) {
+    cycleDegsL = cycleDegsL - 360;
+  } else if (diffL > 180) {
+    cycleDegsL = cycleDegsL  + 360;
+  }
+  motPosL = cycleDegsL + (360 - rtY_Left.a_elecAngle);
+
+  diffR = rtY_Right.a_elecAngle - motAngleRightLast;
+  if (diffR < -180) {
+    cycleDegsR = cycleDegsR - 360;
+  } else if (diffR > 180) {
+    cycleDegsR = cycleDegsR  + 360;
+  }
+  motPosR = cycleDegsR + (360 - rtY_Right.a_elecAngle);
+
+  motAngleLeftLast = rtY_Left.a_elecAngle;
+  motAngleRightLast = rtY_Right.a_elecAngle;
+  cnt++;
+}
@@ -0,0 +1,104 @@
+/*
+ * File: rtwtypes.h
+ *
+ * Code generated for Simulink model 'BLDC_controller'.
+ *
+ * Model version                  : 1.1297
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
+ * Emulation hardware selection:
+ *    Differs from embedded hardware (MATLAB Host)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. RAM efficiency
+ * Validation result: Not run
+ */
+
+#ifndef RTWTYPES_H
+#define RTWTYPES_H
+
+/* Logical type definitions */
+#if (!defined(__cplusplus))
+#  ifndef false
+#   define false                       (0U)
+#  endif
+
+#  ifndef true
+#   define true                        (1U)
+#  endif
+#endif
+
+/*=======================================================================*
+ * Target hardware information
+ *   Device type: MATLAB Host
+ *   Number of bits:     char:   8    short:   16    int:  32
+ *                       long:  32    long long:  64
+ *                       native word size:  64
+ *   Byte ordering: LittleEndian
+ *   Signed integer division rounds to: Zero
+ *   Shift right on a signed integer as arithmetic shift: on
+ *=======================================================================*/
+
+/*=======================================================================*
+ * Fixed width word size data types:                                     *
+ *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+ *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+ *   real32_T, real64_T           - 32 and 64 bit floating point numbers *
+ *=======================================================================*/
+typedef signed char int8_T;
+typedef unsigned char uint8_T;
+typedef short int16_T;
+typedef unsigned short uint16_T;
+typedef int int32_T;
+typedef unsigned int uint32_T;
+typedef long long int64_T;
+typedef unsigned long long uint64_T;
+typedef float real32_T;
+typedef double real64_T;
+
+/*===========================================================================*
+ * Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T,       *
+ *                           real_T, time_T, ulong_T, ulonglong_T.           *
+ *===========================================================================*/
+typedef double real_T;
+typedef double time_T;
+typedef unsigned char boolean_T;
+typedef int int_T;
+typedef unsigned int uint_T;
+typedef unsigned long ulong_T;
+typedef unsigned long long ulonglong_T;
+typedef char char_T;
+typedef unsigned char uchar_T;
+typedef char_T byte_T;
+
+/*=======================================================================*
+ * Min and Max:                                                          *
+ *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+ *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+ *=======================================================================*/
+#define MAX_int8_T                     ((int8_T)(127))
+#define MIN_int8_T                     ((int8_T)(-128))
+#define MAX_uint8_T                    ((uint8_T)(255U))
+#define MAX_int16_T                    ((int16_T)(32767))
+#define MIN_int16_T                    ((int16_T)(-32768))
+#define MAX_uint16_T                   ((uint16_T)(65535U))
+#define MAX_int32_T                    ((int32_T)(2147483647))
+#define MIN_int32_T                    ((int32_T)(-2147483647-1))
+#define MAX_uint32_T                   ((uint32_T)(0xFFFFFFFFU))
+#define MAX_int64_T                    ((int64_T)(9223372036854775807LL))
+#define MIN_int64_T                    ((int64_T)(-9223372036854775807LL-1LL))
+#define MAX_uint64_T                   ((uint64_T)(0xFFFFFFFFFFFFFFFFULL))
+
+/* Block D-Work pointer type */
+typedef void * pointer_T;
+
+#endif                                 /* RTWTYPES_H */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
@@ -0,0 +1,90 @@
+extern uint8_t hw_type;
+board_t board;
+
+void board_detect(void) {
+  hw_type = board_id();
+  // 0 = base, 3 = knee
+  if (hw_type == HW_TYPE_BASE) {
+    board.hall_left.hall_portA = GPIOC;
+    board.hall_left.hall_pinA = GPIO_PIN_13;
+    board.hall_left.hall_portB = GPIOC;
+    board.hall_left.hall_pinB = GPIO_PIN_14;
+    board.hall_left.hall_portC = GPIOC;
+    board.hall_left.hall_pinC = GPIO_PIN_15;
+
+    board.hall_right.hall_portA = GPIOC;
+    board.hall_right.hall_pinA = GPIO_PIN_10;
+    board.hall_right.hall_portB = GPIOC;
+    board.hall_right.hall_pinB = GPIO_PIN_11;
+    board.hall_right.hall_portC = GPIOC;
+    board.hall_right.hall_pinC = GPIO_PIN_12;
+
+    board.CAN = CAN2;
+    board.can_alt_tx = GPIO_AF9_CAN2;
+    board.can_alt_rx = GPIO_AF9_CAN2;
+    board.can_pinRX = GPIO_PIN_5;
+    board.can_portRX = GPIOB;
+    board.can_pinTX = GPIO_PIN_6;
+    board.can_portTX = GPIOB;
+    board.can_pinEN = GPIO_PIN_7;
+    board.can_portEN = GPIOB;
+
+    board.ignition_pin = GPIO_PIN_9;
+    board.ignition_port = GPIOB;
+
+    board.led_pinR = GPIO_PIN_2;
+    board.led_portR = GPIOD;
+    board.led_pinG = GPIO_PIN_15;
+    board.led_portG = GPIOA;
+    board.led_pinB = GPIO_PIN_1;
+    board.led_portB = GPIOC;
+
+    board.can_addr_offset = 0x0U;
+    board.uds_offset = 0x0U;
+
+  } else if (hw_type == HW_TYPE_KNEE) {
+    board.hall_left.hall_portA = GPIOC;
+    board.hall_left.hall_pinA = GPIO_PIN_14;
+    board.hall_left.hall_portB = GPIOC;
+    board.hall_left.hall_pinB = GPIO_PIN_15;
+    board.hall_left.hall_portC = GPIOC;
+    board.hall_left.hall_pinC = GPIO_PIN_13;
+
+    board.hall_right.hall_portA = GPIOD;
+    board.hall_right.hall_pinA = GPIO_PIN_2;
+    board.hall_right.hall_portB = GPIOC;
+    board.hall_right.hall_pinB = GPIO_PIN_0;
+    board.hall_right.hall_portC = GPIOC;
+    board.hall_right.hall_pinC = GPIO_PIN_1;
+
+    board.CAN = CAN1;
+    board.can_alt_tx = GPIO_AF8_CAN1;
+    board.can_alt_rx = GPIO_AF9_CAN1;
+    board.can_pinRX = GPIO_PIN_11;
+    board.can_portRX = GPIOA;
+    board.can_pinTX = GPIO_PIN_9;
+    board.can_portTX = GPIOB;
+    board.can_pinEN = 0; // No pin, pulled down with 10k resistor
+    board.can_portEN = GPIOB;
+
+    board.ignition_pin = 0; // No pin, always enabled
+    board.ignition_port = GPIOB;
+
+    board.led_pinR = GPIO_PIN_2;
+    board.led_portR = GPIOB;
+    board.led_pinG = GPIO_PIN_15;
+    board.led_portG = GPIOA;
+    board.led_pinB = GPIO_PIN_5;
+    board.led_portB = GPIOB;
+
+    board.can_addr_offset = KNEE_ADDR_OFFSET;
+    board.uds_offset = 0x10U;
+
+    #ifndef BOOTSTUB
+    MX_I2C_Init();
+    #endif
+  } else {
+    // Fail to detect, halt
+    while(1) {}
+  }
+}
@@ -0,0 +1,119 @@
+#define BOOTSTUB
+
+#define VERS_TAG 0x53524556
+#define MIN_VERSION 2
+
+#define RECOVERY_MODE_DELAY 5
+
+// ********************* Includes *********************
+#include <stdbool.h>
+#include <stdint.h>
+#include "libc.h"
+#include "stm32f4xx_hal.h"
+#include "defines.h"
+#include "setup.h"
+#include "drivers/clock.h"
+#include "early_init.h"
+
+#include "crypto/rsa.h"
+#include "crypto/sha.h"
+
+#include "obj/cert.h"
+#include "obj/gitversion.h"
+
+#include "drivers/llbxcan.h"
+#include "drivers/llflash.h"
+#include "provision.h"
+#include "util.h"
+#include "boards.h"
+
+#include "flasher.h"
+
+uint8_t hw_type;                 // type of the board detected(0 - base, 3 - knee)
+
+void __initialize_hardware_early(void) {
+  early_initialization();
+}
+
+void fail(void) {
+  soft_flasher_start();
+}
+
+// know where to sig check
+extern void *_app_start[];
+
+int main(void) {
+  HAL_Init();
+  HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
+  HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+
+  SystemClock_Config();
+  MX_GPIO_Clocks_Init();
+
+  board_detect();
+  MX_GPIO_Common_Init();
+
+  out_enable(POWERSWITCH, true);
+  out_enable(LED_RED, false);
+  out_enable(LED_GREEN, false);
+  out_enable(LED_BLUE, false);
+
+  if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && (hw_type == HW_TYPE_BASE)) {
+    uint16_t cnt_press = 0;
+    while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+      HAL_Delay(10);
+      cnt_press++;
+      if (cnt_press == (RECOVERY_MODE_DELAY * 100)) {
+        out_enable(LED_GREEN, true);
+        soft_flasher_start();
+      }
+    }
+  }
+
+  if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
+    enter_bootloader_mode = 0;
+    soft_flasher_start();
+  }
+
+  // validate length
+  int len = (int)_app_start[0];
+  if ((len < 8) || (len > (0x1000000 - 0x4000 - 4 - RSANUMBYTES))) goto fail;
+
+  // compute SHA hash
+  uint8_t digest[SHA_DIGEST_SIZE];
+  SHA_hash(&_app_start[1], len-4, digest);
+
+  // verify version, last bytes in the signed area
+  uint32_t vers[2] = {0};
+  memcpy(&vers, ((void*)&_app_start[0]) + len - sizeof(vers), sizeof(vers));
+  if (vers[0] != VERS_TAG || vers[1] < MIN_VERSION) {
+    goto fail;
+  }
+
+  // verify RSA signature
+  if (RSA_verify(&release_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) {
+    goto good;
+  }
+
+  // allow debug if built from source
+#ifdef ALLOW_DEBUG
+  if (RSA_verify(&debug_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) {
+    goto good;
+  }
+#endif
+
+// here is a failure
+fail:
+  fail();
+  return 0;
+good:
+  // jump to flash
+  ((void(*)(void)) _app_start[1])();
+  return 0;
+}
@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import os
+import time
+import argparse
+import _thread
+from panda import Panda, MCU_TYPE_F4  # pylint: disable=import-error
+from panda.tests.pedal.canhandle import CanHandle  # pylint: disable=import-error
+
+
+def heartbeat_thread(p):
+  while True:
+    try:
+      p.send_heartbeat()
+      time.sleep(0.5)
+    except Exception:
+      continue
+
+def flush_panda():
+  while(1):
+    if len(p.can_recv()) == 0:
+      break
+
+def flasher(p, addr, file):
+  p.can_send(addr, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
+  time.sleep(0.1)
+  print("flashing", file)
+  flush_panda()
+  code = open(file, "rb").read()
+  retries = 3 # How many times to retry on timeout error
+  while(retries+1>0):
+    try:
+      Panda.flash_static(CanHandle(p, 0), code, MCU_TYPE_F4)
+    except TimeoutError:
+      print("Timeout, trying again...")
+      retries -= 1
+    else:
+      print("Successfully flashed")
+      break
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Flash body over can')
+  parser.add_argument("board", type=str, nargs='?', help="choose base or knee")
+  parser.add_argument("fn", type=str, nargs='?', help="flash file")
+  args = parser.parse_args()
+
+  assert args.board in ["base", "knee"]
+  assert os.path.isfile(args.fn)
+
+  addr = 0x250 if args.board == "base" else 0x350
+
+  p = Panda()
+  _thread.start_new_thread(heartbeat_thread, (p,))
+  p.set_safety_mode(Panda.SAFETY_BODY)
+
+  print("Flashing motherboard")
+  flasher(p, addr, args.fn)
+
+  print("CAN flashing done")
@@ -0,0 +1,190 @@
+// Define to prevent recursive inclusion
+#ifndef COMMS_H
+#define COMMS_H
+
+#define OFFSET            0x8U
+#define BROADCAST_ADDR    0x7DFU
+#define FALLBACK_ADDR     0x7E0U
+#define FALLBACK_R_ADDR   (FALLBACK_ADDR + OFFSET)
+#define ENGINE_ADDR       0x720U
+#define ENGINE_R_ADDR     (ENGINE_ADDR + OFFSET)
+#define DEBUG_ADDR        0x721U
+#define DEBUG_R_ADDR      (DEBUG_ADDR + OFFSET)
+
+#include "drivers/llbxcan.h"
+#include "uds.h"
+
+extern P rtP_Left;
+extern P rtP_Right;
+extern volatile int16_t cmdL;                    // global variable for Left Command
+extern volatile int16_t cmdR;                    // global variable for Right Command
+extern uint8_t hw_type;
+extern board_t board;
+
+extern uint32_t enter_bootloader_mode;
+extern volatile uint32_t torque_cmd_timeout;
+
+extern volatile uint32_t ignition_off_counter;
+
+const uint8_t crc_poly = 0xD5U;  // standard crc8
+uint32_t current_idx = 0;
+
+typedef struct {
+  volatile uint32_t w_ptr;
+  volatile uint32_t r_ptr;
+  uint32_t fifo_size;
+  CAN_FIFOMailBox_TypeDef *elems;
+} can_ring;
+
+#define can_buffer(x, size) \
+  CAN_FIFOMailBox_TypeDef elems_##x[size]; \
+  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) };
+
+can_buffer(tx_q, 0x1A0)
+
+bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = 0;
+
+  if (q->w_ptr != q->r_ptr) {
+    *elem = q->elems[q->r_ptr];
+    if ((q->r_ptr + 1U) == q->fifo_size) {
+      q->r_ptr = 0;
+    } else {
+      q->r_ptr += 1U;
+    }
+    ret = 1;
+  }
+  return ret;
+}
+
+bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = false;
+  uint32_t next_w_ptr;
+
+  if ((q->w_ptr + 1U) == q->fifo_size) {
+    next_w_ptr = 0;
+  } else {
+    next_w_ptr = q->w_ptr + 1U;
+  }
+  if (next_w_ptr != q->r_ptr) {
+    q->elems[q->w_ptr] = *elem;
+    q->w_ptr = next_w_ptr;
+    ret = true;
+  }
+  return ret;
+}
+
+void can_send_msg(uint32_t addr, uint32_t dhr, uint32_t dlr, uint8_t len) {
+  CAN_FIFOMailBox_TypeDef to_push;
+
+  to_push.RDHR = dhr;
+  to_push.RDLR = dlr;
+  to_push.RDTR = len;
+  to_push.RIR = ((addr >= 0x800U) ? ((addr << 3) | (1U << 2)) : (addr << 21)) | 1;
+
+  can_push(&can_tx_q, &to_push);
+}
+
+void process_can(void) {
+  __disable_irq();
+  CAN_FIFOMailBox_TypeDef to_send;
+  if ((board.CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+    if (can_pop(&can_tx_q, &to_send)) {
+      board.CAN->sTxMailBox[0].TDLR = to_send.RDLR;
+      board.CAN->sTxMailBox[0].TDHR = to_send.RDHR;
+      board.CAN->sTxMailBox[0].TDTR = to_send.RDTR;
+      board.CAN->sTxMailBox[0].TIR = to_send.RIR;
+    }
+  }
+  __enable_irq();
+}
+
+void can_rx(void) {
+  while ((board.CAN->RF0R & CAN_RF0R_FMP0) != 0) {
+    uint32_t address = board.CAN->sFIFOMailBox[0].RIR >> 21;
+    if (address == (0x250U + board.can_addr_offset)) {
+      if ((GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0]) == 0xdeadface) && (GET_MAILBOX_BYTES_48(&board.CAN->sFIFOMailBox[0]) == 0x0ab00b1e)) {
+        enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+        NVIC_SystemReset();
+      }
+      #define MSG_TRQ_LEN 6
+      uint8_t dat[MSG_TRQ_LEN];
+      for (int i=0; i<MSG_TRQ_LEN; i++) {
+        dat[i] = GET_MAILBOX_BYTE(&board.CAN->sFIFOMailBox[0], i);
+      }
+      uint16_t valueL = ((dat[0] << 8U) | dat[1]);
+      uint16_t valueR = ((dat[2] << 8U) | dat[3]);
+
+      uint8_t idx = dat[4] & 0xFU;
+      if (crc_checksum(dat, 5, crc_poly) == dat[5]) {
+        if (((current_idx + 1U) & 0xFU) == idx) {
+          cmdL = valueL;
+          cmdR = valueR;
+          torque_cmd_timeout = 0;
+        }
+        current_idx = idx;
+      }
+      out_enable(LED_BLUE, true);
+    } else if (address == (0x251U + board.can_addr_offset)) {
+      #define MSG_SPD_LEN 5
+      uint8_t dat[MSG_TRQ_LEN];
+      for (int i=0; i<MSG_TRQ_LEN; i++) {
+        dat[i] = GET_MAILBOX_BYTE(&board.CAN->sFIFOMailBox[0], i);
+      }
+      uint16_t valueL = ((dat[0] << 8U) | dat[1]);
+      uint16_t valueR = ((dat[2] << 8U) | dat[3]);
+
+      if (crc_checksum(dat, 4, crc_poly) == dat[4]) {
+        if ((valueL == 0) || (valueR == 0)) {
+          rtP_Left.n_max = rtP_Right.n_max = N_MOT_MAX << 4;
+        } else {
+          rtP_Left.n_max = valueL << 4;
+          rtP_Right.n_max = valueR << 4;
+        }
+      }
+      out_enable(LED_BLUE, true);
+    } else if ((address == BROADCAST_ADDR) || // Process UBS and OBD2 requests
+              (address == FALLBACK_ADDR) ||
+              (address == (ENGINE_ADDR + board.uds_offset)) ||
+              (address == (DEBUG_ADDR + board.uds_offset))) {
+      process_uds(address, GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0]));
+      out_enable(LED_BLUE, true);
+    } else if ((hw_type == HW_TYPE_BASE) && (address == 0x203U + KNEE_ADDR_OFFSET)) { // detect knee by body and set flag for use with UDS message
+      knee_detected = 1;
+    } else if ((hw_type == HW_TYPE_KNEE) && (address == 0x202U)) { // CAN based ignition for knee
+      ignition_off_counter = 0;
+    }
+    // next
+    board.CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_TX_IRQHandler(void) {
+  // clear interrupt
+  board.CAN->TSR |= CAN_TSR_RQCP0;
+  process_can();
+}
+
+void CAN1_SCE_IRQHandler(void) {
+  llcan_clear_send(board.CAN);
+}
+
+void CAN1_RX0_IRQHandler(void) {
+  can_rx();
+}
+
+void CAN2_TX_IRQHandler(void) {
+  // clear interrupt
+  board.CAN->TSR |= CAN_TSR_RQCP0;
+  process_can();
+}
+
+void CAN2_SCE_IRQHandler(void) {
+  llcan_clear_send(board.CAN);
+}
+
+void CAN2_RX0_IRQHandler(void) {
+  can_rx();
+}
+
+#endif
@@ -0,0 +1,79 @@
+// Define to prevent recursive inclusion
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#include "stm32f4xx_hal.h"
+
+#define CORE_FREQ               96000000U // MCU frequency in hertz
+#define I2C_CLOCKSPEED          100     // I2C clock in kHz
+#define PWM_FREQ                16000   // PWM frequency in Hz / is also used for buzzer
+#define DEAD_TIME               48      // PWM deadtime
+#define DELAY_IN_MAIN_LOOP      5       // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
+#define A2BIT_CONV              50      // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
+
+#define IGNITION_OFF_DELAY      5       // Stop sending CAN messages after 5 seconds
+
+#define ADC_CONV_CLOCK_CYCLES   (ADC_SAMPLETIME_15CYCLES)
+#define ADC_CLOCK_DIV           (4)
+#define ADC_TOTAL_CONV_TIME     (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV
+
+#define KNEE_ADDR_OFFSET        0x100U
+#define ANGLE_TO_DEGREES        0.021972656 // Convert 14 bit angle sensor output to degrees
+#define GEARBOX_RATIO_LEFT      19
+#define GEARBOX_RATIO_RIGHT     19
+#define TRQ_LIMIT_LEFT          400      // Torque limit for knee gearbox(left)
+#define TRQ_LIMIT_RIGHT         200      // Torque limit for hip gearbox(right)
+
+#define BAT_FILT_COEF           655       // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
+#define BAT_CALIB_REAL_VOLTAGE  3192      // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
+#define BAT_CALIB_ADC           1275      // adc-value measured by mainboard (value nr 5 on UART debug output)
+#define BAT_CELLS               7         // battery number of cells. Normal Hoverboard battery: 10s
+#define VOLTS_PER_PERCENT       0.00814    // Volts per percent, for conversion of volts to percentage
+#define BAT_LVL2                (358 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 24%
+#define BAT_LVL1                (351 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 15%
+#define BAT_DEAD                (339 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 0%
+
+#define TEMP_FILT_COEF          655       // temperature filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
+#define TEMP_CAL_LOW_ADC        945      // temperature 1: ADC value
+#define TEMP_CAL_LOW_DEG_C      250       // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
+#define TEMP_CAL_HIGH_ADC       949      // temperature 2: ADC value
+#define TEMP_CAL_HIGH_DEG_C     251       // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
+#define TEMP_WARNING_ENABLE     0         // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
+#define TEMP_WARNING            600       // annoying fast beeps [°C * 10].  Here 60.0 °C
+#define TEMP_POWEROFF_ENABLE    0         // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
+#define TEMP_POWEROFF           650       // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C
+
+#define COM_CTRL        0               // [-] Commutation Control Type
+#define SIN_CTRL        1               // [-] Sinusoidal Control Type
+#define FOC_CTRL        2               // [-] Field Oriented Control (FOC) Type
+
+#define OPEN_MODE       0               // [-] OPEN mode
+#define VLT_MODE        1               // [-] VOLTAGE mode
+#define SPD_MODE        2               // [-] SPEED mode
+#define TRQ_MODE        3               // [-] TORQUE mode
+
+// Enable/Disable Motor
+#define MOTOR_LEFT_ENA                  // [-] Enable LEFT motor.  Comment-out if this motor is not needed to be operational
+#define MOTOR_RIGHT_ENA                 // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
+
+// Control selections
+#define CTRL_TYP_SEL    FOC_CTRL        // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
+#define CTRL_MOD_REQ    TRQ_MODE        // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC!
+#define DIAG_ENA        1               // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
+
+// Limitation settings
+#define I_MOT_MAX       15              // [A] Maximum single motor current limit
+#define I_DC_MAX        17              // [A] Maximum stage2 DC Link current limit for Commutation and Sinusoidal types (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A)
+#define N_MOT_MAX       100            // [rpm] Maximum motor speed limit // 100 ~= 52m/m
+#define TORQUE_BASE_MAX 1000
+
+// Field Weakening / Phase Advance
+#define FIELD_WEAK_ENA  0               // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
+#define FIELD_WEAK_MAX  5               // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed. Up to 10A has been tested using 10" wheels.
+#define PHASE_ADV_MAX   25              // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
+#define FIELD_WEAK_HI   1000            // (1000, 1500] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500.
+#define FIELD_WEAK_LO   750             // ( 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.
+
+#define SPEED_COEFFICIENT   16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
+
+#endif
@@ -0,0 +1,188 @@
+// Define to prevent recursive inclusion
+#ifndef DEFINES_H
+#define DEFINES_H
+
+#include "stm32f4xx_hal.h"
+#include "config.h"
+
+#define LEFT_TIM TIM8
+#define LEFT_TIM_U CCR1
+#define LEFT_TIM_UH_PIN GPIO_PIN_6
+#define LEFT_TIM_UH_PORT GPIOC
+#define LEFT_TIM_UL_PIN GPIO_PIN_7
+#define LEFT_TIM_UL_PORT GPIOA
+#define LEFT_TIM_V CCR2
+#define LEFT_TIM_VH_PIN GPIO_PIN_7
+#define LEFT_TIM_VH_PORT GPIOC
+#define LEFT_TIM_VL_PIN GPIO_PIN_0
+#define LEFT_TIM_VL_PORT GPIOB
+#define LEFT_TIM_W CCR3
+#define LEFT_TIM_WH_PIN GPIO_PIN_8
+#define LEFT_TIM_WH_PORT GPIOC
+#define LEFT_TIM_WL_PIN GPIO_PIN_1
+#define LEFT_TIM_WL_PORT GPIOB
+
+#define RIGHT_TIM TIM1
+#define RIGHT_TIM_U CCR1
+#define RIGHT_TIM_UH_PIN GPIO_PIN_8
+#define RIGHT_TIM_UH_PORT GPIOA
+#define RIGHT_TIM_UL_PIN GPIO_PIN_13
+#define RIGHT_TIM_UL_PORT GPIOB
+#define RIGHT_TIM_V CCR2
+#define RIGHT_TIM_VH_PIN GPIO_PIN_9
+#define RIGHT_TIM_VH_PORT GPIOA
+#define RIGHT_TIM_VL_PIN GPIO_PIN_14
+#define RIGHT_TIM_VL_PORT GPIOB
+#define RIGHT_TIM_W CCR3
+#define RIGHT_TIM_WH_PIN GPIO_PIN_10
+#define RIGHT_TIM_WH_PORT GPIOA
+#define RIGHT_TIM_WL_PIN GPIO_PIN_15
+#define RIGHT_TIM_WL_PORT GPIOB
+
+#define LEFT_DC_CUR_PIN GPIO_PIN_3
+#define LEFT_U_CUR_PIN GPIO_PIN_5
+#define LEFT_V_CUR_PIN GPIO_PIN_6
+
+#define LEFT_DC_CUR_PORT GPIOA
+#define LEFT_U_CUR_PORT GPIOA
+#define LEFT_V_CUR_PORT GPIOA
+
+#define RIGHT_DC_CUR_PIN GPIO_PIN_2
+#define RIGHT_U_CUR_PIN GPIO_PIN_0
+#define RIGHT_V_CUR_PIN GPIO_PIN_1
+
+#define RIGHT_DC_CUR_PORT GPIOA
+#define RIGHT_U_CUR_PORT GPIOA
+#define RIGHT_V_CUR_PORT GPIOA
+
+#define BATT_PIN GPIO_PIN_4
+#define BATT_PORT GPIOA
+
+#define BUZZER_PIN GPIO_PIN_2
+#define BUZZER_PORT GPIOC
+
+#define OFF_PIN GPIO_PIN_4
+#define OFF_PORT GPIOC
+
+#define BUTTON_PIN GPIO_PIN_8
+#define BUTTON_PORT GPIOB
+
+#define CHARGER_PIN GPIO_PIN_12
+#define CHARGER_PORT GPIOA
+
+#define SW_I2C1_SCL_GPIO  GPIOB
+#define SW_I2C1_SDA_GPIO  GPIOB
+#define SW_I2C1_SCL_PIN   GPIO_PIN_3
+#define SW_I2C1_SDA_PIN   GPIO_PIN_4
+
+// UID pins
+#define KEY1_PIN GPIO_PIN_10
+#define KEY1_PORT GPIOB
+#define KEY2_PIN GPIO_PIN_9
+#define KEY2_PORT GPIOC
+
+#define DELAY_TIM_FREQUENCY_US 1000000
+
+#define MILLI_R (R * 1000)
+#define MILLI_PSI (PSI * 1000)
+#define MILLI_V (V * 1000)
+
+#define NO 0
+#define YES 1
+#define ABS(a) (((a) < 0) ? -(a) : (a))
+#define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x)))
+#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0f) : (((x) < (-lowhigh)) ? (-1.0f) : (0.0f)))
+#define SAT2(x, low, high) (((x) > (high)) ? (1.0f) : (((x) < (low)) ? (-1.0f) : (0.0f)))
+#define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
+#define DEG(a) ((a)*M_PI / 180.0f)
+#define RAD(a) ((a)*180.0f / M_PI)
+#define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0)))
+#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
+#define IN_RANGE(x, low, high) (((x) >= (low)) && ((x) <= (high)))
+#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
+#define MIN(a, b) (((a) < (b)) ? (a) : (b))
+#define MAX(a, b) (((a) > (b)) ? (a) : (b))
+#define MIN3(a, b, c) MIN(a, MIN(b, c))
+#define MAX3(a, b, c) MAX(a, MAX(b, c))
+#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
+#define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min))
+
+#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
+#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
+
+#define BOOT_NORMAL 0xdeadb111U
+#define ENTER_SOFTLOADER_MAGIC 0xdeadc0deU
+
+#define APP_START_ADDRESS 0x8004000U
+#define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
+
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))
+
+#define LED_RED     0
+#define LED_GREEN   1
+#define LED_BLUE    2
+#define IGNITION    3
+#define POWERSWITCH 4
+#define TRANSCEIVER 5
+
+#define HW_TYPE_BASE 0
+#define HW_TYPE_KNEE 3
+
+typedef struct {
+  uint32_t rrB;
+  uint32_t rrC;
+  uint32_t rlA;
+  uint32_t rlB;
+  uint32_t dcr;
+  uint32_t dcl;
+  uint32_t batt1;
+  uint32_t temp;
+} adc_buf_t;
+
+typedef struct {
+  GPIO_TypeDef* hall_portA;
+  uint16_t hall_pinA;
+  GPIO_TypeDef* hall_portB;
+  uint16_t hall_pinB;
+  GPIO_TypeDef* hall_portC;
+  uint16_t hall_pinC;
+} hall_sensor;
+
+typedef struct {
+  hall_sensor hall_left;
+  hall_sensor hall_right;
+
+  CAN_TypeDef* CAN;
+  uint8_t can_alt_tx;
+  uint8_t can_alt_rx;
+  GPIO_TypeDef* can_portTX;
+  uint16_t can_pinTX;
+  GPIO_TypeDef* can_portRX;
+  uint16_t can_pinRX;
+  GPIO_TypeDef* can_portEN;
+  uint16_t can_pinEN;
+
+  GPIO_TypeDef* ignition_port;
+  uint16_t ignition_pin;
+
+  uint16_t can_addr_offset;
+  uint8_t uds_offset;
+
+  GPIO_TypeDef* led_portR;
+  uint16_t led_pinR;
+  GPIO_TypeDef* led_portG;
+  uint16_t led_pinG;
+  GPIO_TypeDef* led_portB;
+  uint16_t led_pinB;
+
+} board_t;
+
+typedef struct {
+    uint8_t left_i2c : 1;
+    uint8_t left_angle : 1;
+    uint8_t right_i2c : 1;
+    uint8_t right_angle : 1;
+} fault_status_t;
+
+#endif // DEFINES_H
@@ -0,0 +1,69 @@
+// Default addresses for AS5048B
+#define AS5048_ADDRESS_LEFT 0x40
+#define AS5048_ADDRESS_RIGHT 0x41
+#define UNKNOWN_IMU 0x68
+
+#define AS5048B_PROG_REG 0x03
+#define AS5048B_ADDR_REG 0x15
+#define AS5048B_ZEROMSB_REG 0x16 //bits 0..7
+#define AS5048B_ZEROLSB_REG 0x17 //bits 0..5
+#define AS5048B_GAIN_REG 0xFA
+#define AS5048B_DIAG_REG 0xFB
+#define AS5048B_MAGNMSB_REG 0xFC //bits 0..7
+#define AS5048B_MAGNLSB_REG 0xFD //bits 0..5
+#define AS5048B_ANGLMSB_REG 0xFE //bits 0..7
+#define AS5048B_ANGLLSB_REG 0xFF //bits 0..5
+
+extern I2C_HandleTypeDef hi2c1;
+
+const uint8_t init_imu_regaddr[] = {0x76, 0x4c, 0x4e, 0x4f, 0x50, 0x51, 0x52, 0x53};
+const uint8_t init_imu_data[] =    {0x00, 0x12, 0x2f, 0x26, 0x67, 0x04, 0x00, 0x00};
+
+fault_status_t fault_status = {0};
+
+void angle_sensor_read(uint16_t *sensor_angle) {
+
+  if (fault_status.left_i2c && fault_status.right_i2c) { // Try to reinitialize halted I2C
+    if (HAL_I2C_Init(&hi2c1) == HAL_OK) {
+      fault_status.left_i2c = 0;
+      fault_status.right_i2c = 0;
+    }
+  }
+
+  uint8_t buf[2];
+  if (HAL_I2C_Mem_Read(&hi2c1, (AS5048_ADDRESS_LEFT<<1), AS5048B_ANGLMSB_REG, I2C_MEMADD_SIZE_8BIT, buf, 2, 10) == HAL_OK) {
+    sensor_angle[0] = (buf[0] << 6) | (buf[1] & 0x3F);
+    fault_status.left_i2c = 0;
+  } else {
+    fault_status.left_i2c = 1;
+  }
+  if (HAL_I2C_Mem_Read(&hi2c1, (AS5048_ADDRESS_RIGHT<<1), AS5048B_ANGLMSB_REG, I2C_MEMADD_SIZE_8BIT, buf, 2, 10) == HAL_OK) {
+    sensor_angle[1] = (buf[0] << 6) | (buf[1] & 0x3F);
+    fault_status.right_i2c = 0;
+  } else {
+    fault_status.right_i2c = 1;
+  }
+}
+
+void IMU_soft_init(void) {
+  i2c_port_init();
+
+  for (int8_t i = 3; i > 0; i--) {
+    SW_I2C_WriteControl_8Bit((UNKNOWN_IMU<<1), 0x75, 0x00);
+  }
+  for (int8_t i = sizeof(init_imu_regaddr)-1; i >= 0; i--) {
+    SW_I2C_WriteControl_8Bit((UNKNOWN_IMU<<1), init_imu_regaddr[i], init_imu_data[i]);
+  }
+}
+
+void IMU_soft_sensor_read(uint16_t *unknown_imu_data) {
+  static uint8_t buf[12];
+
+  SW_I2C_WriteControl_8Bit((UNKNOWN_IMU<<1), 0x76, 0x00);
+  SW_I2C_Multi_ReadnControl_8Bit((UNKNOWN_IMU<<1), 0x1F, 6, buf);
+  SW_I2C_Multi_ReadnControl_8Bit((UNKNOWN_IMU<<1), 0x25, 6, &buf[6]);
+
+  for (int8_t i = 5; i >= 0; i--) {
+    unknown_imu_data[i] = (buf[i*2] << 8) | (buf[(i*2)+1]);
+  }
+}
@@ -0,0 +1,63 @@
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1)
+  {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+/** System Clock Configuration
+*/
+void SystemClock_Config(void) {
+  RCC_OscInitTypeDef RCC_OscInitStruct;
+  RCC_ClkInitTypeDef RCC_ClkInitStruct;
+
+  /** Configure the main internal regulator output voltage
+  */
+  __HAL_RCC_SYSCFG_CLK_ENABLE();
+  __HAL_RCC_PWR_CLK_ENABLE();
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
+  /**Initializes the CPU, AHB and APB busses clocks
+    */
+  RCC_OscInitStruct.OscillatorType      = RCC_OSCILLATORTYPE_HSI;
+  RCC_OscInitStruct.HSIState            = RCC_HSI_ON;
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+  RCC_OscInitStruct.PLL.PLLState        = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource       = RCC_PLLSOURCE_HSI;
+
+  RCC_OscInitStruct.PLL.PLLM            = 8;
+  RCC_OscInitStruct.PLL.PLLN            = 96; // Gives 96 Mhz core clock
+  RCC_OscInitStruct.PLL.PLLP            = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLQ            = 2;
+  RCC_OscInitStruct.PLL.PLLR            = 2;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+    Error_Handler();
+  }
+
+  /**Initializes the CPU, AHB and APB busses clocks
+    */
+  RCC_ClkInitStruct.ClockType           = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                                        |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource        = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider       = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider      = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider      = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
+    Error_Handler();
+  }
+
+  /**Configure the Systick interrupt time
+    */
+  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
+
+  /**Configure the Systick
+    */
+  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
+
+  /* SysTick_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+}
@@ -0,0 +1,305 @@
+#define SW_I2C_WAIT_TIME  22
+
+#define I2C_READ       0x01
+#define READ_CMD       1
+#define WRITE_CMD      0
+
+
+void SW_I2C_init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure = { 0 };
+
+  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
+
+  GPIO_InitStructure.Pin = SW_I2C1_SCL_PIN;
+  HAL_GPIO_Init(SW_I2C1_SCL_GPIO, &GPIO_InitStructure);
+  GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN;
+  HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure);
+}
+
+uint8_t SW_I2C_ReadVal_SDA(void)
+{
+  uint8_t ret;
+  ret = (uint16_t)HAL_GPIO_ReadPin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN);
+  return ret;
+}
+
+void sda_high(void)
+{
+  HAL_GPIO_WritePin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN, GPIO_PIN_SET);
+}
+
+
+void sda_low(void)
+{
+  HAL_GPIO_WritePin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN, GPIO_PIN_RESET);
+}
+
+
+void scl_high(void)
+{
+  HAL_GPIO_WritePin(SW_I2C1_SCL_GPIO, SW_I2C1_SCL_PIN, GPIO_PIN_SET);
+}
+
+
+void scl_low(void)
+{
+  HAL_GPIO_WritePin(SW_I2C1_SCL_GPIO, SW_I2C1_SCL_PIN, GPIO_PIN_RESET);
+}
+
+void sda_out(uint8_t out)
+{
+  if (out) {
+    sda_high();
+  } else {
+    sda_low();
+  }
+}
+
+void sda_in_mode(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure = { 0 };
+
+  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStructure.Mode = GPIO_MODE_INPUT;
+
+  GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN;
+  HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure);
+}
+
+void sda_out_mode(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure = { 0 };
+
+  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD;
+
+  GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN;
+  HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure);
+}
+
+void i2c_clk_data_out(void)
+{
+  scl_high();
+  delay(SW_I2C_WAIT_TIME);
+  scl_low();
+}
+
+void i2c_port_init(void)
+{
+  sda_high();
+  scl_high();
+}
+
+void i2c_start_condition(void)
+{
+  sda_high();
+  scl_high();
+
+  delay(SW_I2C_WAIT_TIME);
+  sda_low();
+  delay(SW_I2C_WAIT_TIME);
+  scl_low();
+
+  delay(SW_I2C_WAIT_TIME << 1);
+}
+
+void i2c_stop_condition(void)
+{
+  sda_low();
+  scl_high();
+
+  delay(SW_I2C_WAIT_TIME);
+  sda_high();
+  delay(SW_I2C_WAIT_TIME);
+}
+
+uint8_t i2c_check_ack(void)
+{
+  uint8_t ack;
+  int i;
+  unsigned int temp;
+
+  sda_in_mode();
+
+  scl_high();
+
+  ack = 0;
+  delay(SW_I2C_WAIT_TIME);
+
+  for (i = 10; i > 0; i--) {
+    temp = !(SW_I2C_ReadVal_SDA());
+    if (temp)
+    {
+      ack = 1;
+      break;
+    }
+  }
+  scl_low();
+  sda_out_mode();
+
+  delay(SW_I2C_WAIT_TIME);
+  return ack;
+}
+
+void i2c_check_not_ack(void)
+{
+  sda_in_mode();
+  i2c_clk_data_out();
+  sda_out_mode();
+  delay(SW_I2C_WAIT_TIME);
+}
+
+void i2c_slave_address(uint8_t IICID, uint8_t readwrite)
+{
+  int x;
+
+  if (readwrite) {
+    IICID |= I2C_READ;
+  } else {
+    IICID &= ~I2C_READ;
+  }
+
+  scl_low();
+
+  for (x = 7; x >= 0; x--) {
+    sda_out(IICID & (1 << x));
+    delay(SW_I2C_WAIT_TIME);
+    i2c_clk_data_out();
+  }
+}
+
+void i2c_register_address(uint8_t addr)
+{
+  int x;
+
+  scl_low();
+
+  for (x = 7; x >= 0; x--) {
+    sda_out(addr & (1 << x));
+    delay(SW_I2C_WAIT_TIME);
+    i2c_clk_data_out();
+  }
+}
+
+void i2c_send_ack(void)
+{
+  sda_out_mode();
+  sda_low();
+
+  delay(SW_I2C_WAIT_TIME);
+  scl_high();
+
+  delay(SW_I2C_WAIT_TIME << 1);
+
+  sda_low();
+  delay(SW_I2C_WAIT_TIME << 1);
+
+  scl_low();
+
+  sda_out_mode();
+
+  delay(SW_I2C_WAIT_TIME);
+}
+
+void SW_I2C_Write_Data(uint8_t data)
+{
+  int x;
+
+  scl_low();
+
+  for (x = 7; x >= 0; x--) {
+    sda_out(data & (1 << x));
+    delay(SW_I2C_WAIT_TIME);
+    i2c_clk_data_out();
+  }
+}
+
+uint8_t SW_I2C_Read_Data(void)
+{
+  int x;
+  uint8_t readdata = 0;
+
+  sda_in_mode();
+
+  for (x = 8; x--;) {
+    scl_high();
+
+    readdata <<= 1;
+    if (SW_I2C_ReadVal_SDA()) { readdata |= 0x01; }
+
+    delay(SW_I2C_WAIT_TIME);
+    scl_low();
+
+    delay(SW_I2C_WAIT_TIME);
+  }
+
+  sda_out_mode();
+  return readdata;
+}
+
+uint8_t SW_I2C_WriteControl_8Bit(uint8_t IICID, uint8_t regaddr, uint8_t data)
+{
+  uint8_t returnack = true;
+
+  i2c_start_condition();
+
+  i2c_slave_address(IICID, WRITE_CMD);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  i2c_register_address(regaddr);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  SW_I2C_Write_Data(data);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  i2c_stop_condition();
+
+  return returnack;
+}
+
+uint8_t SW_I2C_Multi_ReadnControl_8Bit(uint8_t IICID, uint8_t regaddr, uint8_t rcnt, uint8_t (*pdata))
+{
+  uint8_t returnack = true;
+  uint8_t index;
+
+  i2c_port_init();
+
+  i2c_start_condition();
+
+  i2c_slave_address(IICID, WRITE_CMD);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  i2c_register_address(regaddr);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  i2c_start_condition();
+
+  i2c_slave_address(IICID, READ_CMD);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  for ( index = 0 ; index < (rcnt-1) ; index++) {
+    delay(SW_I2C_WAIT_TIME);
+    pdata[index] = SW_I2C_Read_Data();
+    i2c_send_ack();
+  }
+
+  pdata[rcnt-1] = SW_I2C_Read_Data();
+
+  i2c_check_not_ack();
+
+  i2c_stop_condition();
+
+  return returnack;
+}
@@ -0,0 +1,125 @@
+// SAE 2284-3 : minimum 16 tq, SJW 3, sample point at 81.3%
+#define CAN_QUANTA 16U
+#define CAN_SEQ1 12U
+#define CAN_SEQ2 3U
+#define CAN_SJW  3U
+
+#define CAN_PCLK (CORE_FREQ / 2U / 1000U)
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
+#define CAN_INIT_TIMEOUT_MS 500
+
+bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
+  bool ret = true;
+
+  // initialization mode
+  CAN1->MCR = CAN_MCR_INRQ; // When we want to use only CAN2 - need to do that
+  CAN_obj->MCR = CAN_MCR_INRQ;
+  uint32_t timeout_counter = 0U;
+  while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK){
+    // Delay for about 1ms
+    delay(10000);
+    timeout_counter++;
+
+    if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+      ret = false;
+      break;
+    }
+  }
+
+  if(ret){
+    // set time quanta from defines
+    CAN_obj->BTR = ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+                    (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+                    (CAN_BTR_SJW_0 * (CAN_SJW-1)) |
+                    (can_speed_to_prescaler(speed) - 1U));
+
+    // silent loopback mode for debugging
+    if (loopback) {
+      CAN_obj->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+    }
+    if (silent) {
+      CAN_obj->BTR |= CAN_BTR_SILM;
+    }
+
+    CAN_obj->MCR |= CAN_MCR_AWUM; // Automatic wakeup mode
+    CAN_obj->MCR |= CAN_MCR_ABOM; // Automatic bus-off management
+    CAN_obj->MCR &= ~CAN_MCR_NART; // Automatic retransmission
+    CAN_obj->MCR |= CAN_MCR_TXFP; // Priority driven by the request order (chronologically)
+    CAN_obj->MCR &= ~CAN_MCR_INRQ;
+
+    timeout_counter = 0U;
+    while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
+      // Delay for about 1ms
+      delay(10000);
+      timeout_counter++;
+
+      if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+        ret = false;
+        break;
+      }
+    }
+  }
+
+  return ret;
+}
+
+bool llcan_init(CAN_TypeDef *CAN_obj) {
+  bool ret = true;
+
+  // Enter init mode
+  CAN_obj->FMR |= CAN_FMR_FINIT;
+
+  // Wait for INAK bit to be set
+  uint32_t timeout_counter = 0U;
+  while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
+    // Delay for about 1ms
+    delay(10000);
+    timeout_counter++;
+
+    if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+      ret = false;
+      break;
+    }
+  }
+
+  if(ret){
+    // no mask
+    // For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters.
+    // Filters MUST be set always through CAN1(Master) as CAN2/3 are Slave
+    CAN1->sFilterRegister[0].FR1 = 0U;
+    CAN1->sFilterRegister[0].FR2 = 0U;
+    CAN1->sFilterRegister[14].FR1 = 0U;
+    CAN1->sFilterRegister[14].FR2 = 0U;
+    CAN1->FA1R |= 1U | (1U << 14);
+
+    // Exit init mode, do not wait
+    CAN_obj->FMR &= ~CAN_FMR_FINIT;
+
+    // enable certain CAN interrupts
+    CAN1->IER = 0U; // When we want to use only CAN2 - need to do that
+    CAN_obj->IER = CAN_IER_FMPIE0 | CAN_IER_TMEIE | CAN_IER_WKUIE;
+
+    if (CAN_obj == CAN1) {
+      HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
+      HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+      HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
+    } else {
+      HAL_NVIC_SetPriority(CAN2_TX_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
+      HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
+      HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
+    }
+  }
+  return ret;
+}
+
+void llcan_clear_send(CAN_TypeDef *CAN_obj) {
+  CAN_obj->TSR |= CAN_TSR_ABRQ0;
+  CAN_obj->MSR &= ~CAN_MSR_ERRI;
+  // cppcheck-suppress selfAssignment ; needed to clear the register
+  CAN_obj->MSR = CAN_obj->MSR;
+}
@@ -0,0 +1,26 @@
+bool flash_is_locked(void) {
+  return (FLASH->CR & FLASH_CR_LOCK);
+}
+
+void flash_unlock(void) {
+  FLASH->KEYR = 0x45670123;
+  FLASH->KEYR = 0xCDEF89AB;
+}
+
+bool flash_erase_sector(uint8_t sector, bool unlocked) {
+  // don't erase the bootloader(sector 0)
+  if (sector != 0 && sector < 12 && unlocked) {
+    FLASH->CR = (sector << 3) | FLASH_CR_SER;
+    FLASH->CR |= FLASH_CR_STRT;
+    while (FLASH->SR & FLASH_SR_BSY);
+    return true;
+  }
+  return false;
+}
+
+void flash_write_word(void *prog_ptr, uint32_t data) {
+  uint32_t *pp = prog_ptr;
+  FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
+  *pp = data;
+  while (FLASH->SR & FLASH_SR_BSY);
+}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
firestarsdog	42f4a367e7	Lets go Joe	2025-11-23 09:55:38 -05:00
firestar5683	764241e4a2	Try New Lateral Changes	2025-11-18 15:55:51 -06:00
firestar5683	5810b9eec6	Revert "More tests" This reverts commit `9d8dda5da5`.	2025-11-16 16:09:11 -06:00
firestar5683	9d8dda5da5	More tests	2025-11-16 15:25:33 -06:00
firestar5683	c380088c43	Revert "Update interface.py" This reverts commit `a98673078f`.	2025-11-16 15:11:41 -06:00
firestar5683	a98673078f	Update interface.py	2025-11-16 15:08:00 -06:00
firestar5683	58c0086397	Revert "test2" This reverts commit `94e0e51822`.	2025-11-16 15:06:17 -06:00
firestar5683	94e0e51822	test2	2025-11-16 14:31:47 -06:00
firestar5683	4bdb7d893a	test	2025-11-15 17:22:05 -06:00
firestar5683	735f2ffa8f	Update frogpilot_planner.py	2025-11-15 15:22:08 -06:00
firestar5683	cedb7d36c0	Dates and Favorites	2025-11-15 15:22:08 -06:00
firestar5683	4ed9954683	neurips	2025-11-14 14:36:00 -06:00
firestar5683	014b8e3761	st2	2025-11-14 14:34:25 -06:00
firestar5683	67c8a91af1	Accel Tests	2025-11-14 01:39:19 -06:00
firestar5683	71e59d7f45	kaofui icons	2025-11-11 00:37:09 -06:00
firestar5683	639ffae827	Paddle Planner	2025-11-11 00:18:10 -06:00
firestar5683	5b010f6ac5	Revert "Upstream Lateral" This reverts commit `fc992975bc`.	2025-11-10 23:07:55 -06:00
firestar5683	9062b03406	Revert "Update latcontrol_torque.py" This reverts commit `5276fe2c93`.	2025-11-10 23:07:52 -06:00
firestar5683	6115c32d6a	Revert "more lateral" This reverts commit `c26b8b282c`.	2025-11-10 23:07:44 -06:00
firestar5683	c26b8b282c	more lateral	2025-11-07 00:55:26 -06:00
firestar5683	9b1f36c9db	Pedal Toggle	2025-11-07 00:55:26 -06:00
firestar5683	424281afc2	ST	2025-11-05 11:31:43 -06:00
firestar5683	5276fe2c93	Update latcontrol_torque.py	2025-11-03 16:51:17 -06:00
firestar5683	d9e1ca6c7e	Revert "The Great Flipper" This reverts commit `e5b0fa63cf`.	2025-11-01 00:43:16 -05:00
firestarsdog	e5b0fa63cf	The Great Flipper	2025-11-01 00:38:57 -05:00
firestar5683	fc992975bc	Upstream Lateral	2025-10-31 20:53:39 -05:00
firestar5683	0fdd87b733	Revert "upstream lateral" This reverts commit `3a491742a8`.	2025-10-29 07:55:04 -05:00
firestar5683	3a491742a8	upstream lateral	2025-10-28 20:43:01 -05:00
firestar5683	75f3f4436d	CGWM	2025-10-25 14:17:58 -05:00
firestar5683	8e99f09b5e	Upstream	2025-10-25 14:17:58 -05:00
firestar5683	543250a0d5	follow filter update	2025-10-24 02:40:32 -05:00
firestar5683	0538b6ef8c	Revert "Update longitudinal_planner.py" This reverts commit `f81ebc40ef`.	2025-10-22 16:34:05 -05:00
firestar5683	f81ebc40ef	Update longitudinal_planner.py	2025-10-22 14:50:47 -05:00
firestar5683	7dcd6dc09c	Revert "Update interfaces.py" This reverts commit `8d47e393aa`.	2025-10-22 07:54:33 -05:00
firestar5683	8d47e393aa	Update interfaces.py	2025-10-22 07:42:51 -05:00
firestar5683	dbabb56568	Revert "Upstream Sync" This reverts commit `1ec8084286`.	2025-10-21 23:12:19 -05:00
firestar5683	4bbaf022f3	Medium Fanta	2025-10-21 23:11:04 -05:00
firestar5683	1ec8084286	Upstream Sync	2025-10-21 23:11:04 -05:00
firestar5683	67615d51b8	GWM9	2025-10-21 23:11:04 -05:00
firestar5683	52798d30be	Follow Update 2	2025-10-21 23:11:04 -05:00
firestar5683	38b1ea4e6b	No more paddle logging	2025-10-21 23:11:04 -05:00
firestar5683	d882e78e7c	Upstream Throttle	2025-10-20 15:33:27 -05:00
firestar5683	b3c8edab9b	Update interfaces.py	2025-10-20 11:07:43 -05:00
firestar5683	d813855ca8	no nnff	2025-10-19 17:59:10 -05:00
firestar5683	eb43fe43a9	New Following	2025-10-19 15:48:20 -05:00
firestar5683	a91b43e4ef	Scene Complexity	2025-10-17 23:18:33 -05:00
firestar5683	395fec88df	Update carcontroller.py	2025-10-17 21:03:17 -05:00
firestar5683	2361e69c51	Update interface.py	2025-10-17 21:03:17 -05:00
firestar5683	a72a8a065d	CEM	2025-10-17 21:03:17 -05:00
firestar5683	f4e91750b9	lite	2025-10-17 21:03:17 -05:00
firestar5683	91ad8e0d0e	Modify torque tuning parameters in interfaces.py Adjusted torque tuning parameters for improved performance.	2025-10-17 21:03:17 -05:00
firestar5683	658a707553	CEM 60mph	2025-10-17 00:25:44 -05:00
firestar5683	be5778bf59	Hurts Donut	2025-10-16 23:57:26 -05:00
firestar5683	85f39c4ea4	Smoothy Boi	2025-10-16 23:35:37 -05:00
firestar5683	0182b746a4	Lat3	2025-10-15 22:58:25 -05:00
firestar5683	31e1415015	oopsie doopsie	2025-10-12 00:09:46 -05:00
firestar5683	8143c0a440	New change	2025-10-11 11:25:29 -05:00
firestar5683	e3f53b55c0	Revert "Lateral Test" This reverts commit `7f91fb7766`.	2025-10-11 11:25:09 -05:00
firestar5683	6933b72411	Revert "Update interface.py" This reverts commit `04d8bd0810`.	2025-10-11 11:24:59 -05:00
firestar5683	b2d7385d90	NewLateral2	2025-10-10 19:22:03 -05:00
firestar5683	a79e6f1689	Fix Standard	2025-10-10 19:12:26 -05:00
firestar5683	800ab6984b	tcpv3	2025-10-10 13:12:44 -05:00
firestar5683	b4d94b39df	tcpv2	2025-10-10 13:12:44 -05:00
firestar5683	fa83aef8bb	Pedal Panda?	2025-10-10 13:12:44 -05:00
firestar5683	068065ca56	NID	2025-10-09 15:38:29 -05:00
firestar5683	3ecc94938b	New Lateral Changes Revert "New Lateral Changes" This reverts commit 33da93ba70e7aafd8ebb171c1347d8a2a6e363f6. Reapply "New Lateral Changes" This reverts commit ce56770c167a032867d3e885a3bcea11cb455624. Update neural_network_feedforward.py	2025-10-09 14:57:18 -05:00
firestar5683	af876fe604	error?	2025-10-08 22:39:15 -05:00
firestar5683	06b3926693	Revert "Update frogpilot_variables.py" This reverts commit `fe211c5f32`.	2025-10-08 19:13:15 -05:00
firestar5683	da1a8045e9	Fix New Devices	2025-10-08 19:13:11 -05:00
firestar5683	c5c5238030	NN2	2025-10-08 17:22:31 -05:00
firestar5683	fe211c5f32	Update frogpilot_variables.py	2025-10-08 11:03:05 -05:00
firestar5683	04d8bd0810	Update interface.py	2025-10-08 10:42:19 -05:00
firestar5683	de2d716944	Revert "lat test 2" This reverts commit `1bfd2f4353`.	2025-10-08 10:41:33 -05:00
firestar5683	1bfd2f4353	lat test 2	2025-10-08 08:15:00 -05:00
firestar5683	9b9ad5b675	No positive P-response for long control if user-selected parameter set	2025-10-07 21:17:22 -05:00
firestar5683	8352e71960	Restore changes to get_RadarState_from_vision	2025-10-07 21:17:04 -05:00
firestar5683	413fadbe36	very very minor performance improvements	2025-10-07 21:15:24 -05:00
roenthomas	de20aebae6	No positive P-response for long control if user-selected parameter set Corrected implementation of twilsonco commit https://github.com/twilsonco/openpilot/commit/fcdcba66ad20d294d794135463f25d85092b4162 Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>	2025-10-07 14:29:10 -04:00
roenthomas	1cc2ac6e69	Restore changes to get_RadarState_from_vision Minimal deviations from upstream FP	2025-10-07 14:26:51 -04:00
THERoen	f30c67d600	very very minor performance improvements Removed the power operator from the uncalled cubic interp function and replaced them with assigned variables under multiplication. Added t5 variable for akima and removed two instances of multiplication and replaced it with one instance of assignment. Probably more text so far than performance improvements.	2025-10-07 14:21:20 -04:00
firestar5683	08460b76f1	North Nevada	2025-10-07 12:47:21 -05:00
firestar5683	8480d347f9	Redneck 2.0	2025-10-07 12:47:20 -05:00
firestar5683	64c0cfed9c	Automatic updates	2025-10-04 13:52:26 -05:00
firestar5683	7f91fb7766	Lateral Test	2025-10-04 13:52:26 -05:00
firestar5683	315fd1c3b9	Update frogpilot_acceleration.py	2025-10-04 13:52:26 -05:00
firestar5683	c97208c1dd	SteerAlerts	2025-10-04 13:52:26 -05:00
firestar5683	bc4c9d0e92	Revert "Tinygrad Dmonitoring" This reverts commit b7442fd437aaae0e738940cd8a8e74e4b1e3ca58.	2025-10-03 20:54:17 -05:00
firestar5683	578102a984	Tinygrad Dmonitoring	2025-10-03 20:54:17 -05:00
firestar5683	27c2b4c4c2	TCP	2025-10-03 19:51:38 -05:00
firestar5683	ac3bddd86c	Update gm_global_a_powertrain_generated.dbc	2025-10-03 16:40:39 -05:00
firestar5683	e83541cc50	Revert "Cruise Fault?" This reverts commit `74a743deef`.	2025-10-03 16:31:14 -05:00
firestar5683	74a743deef	Cruise Fault?	2025-10-03 16:10:45 -05:00
firestar5683	93ea691b29	Update	2025-10-03 00:36:13 -05:00
firestar5683	e649966e1e	Revert "Kao Panda"	2025-10-03 00:18:27 -05:00
firestar5683	3b187f154f	Update safety.h	2025-10-03 00:13:20 -05:00
firestar5683	dd9383c5e3	Kao Panda	2025-10-03 00:12:11 -05:00
firestar5683	d0d28e661b	Revert "Torque Panda" This reverts commit a7bdfba74192ce0255d36f30beb84a0078712ea5.	2025-10-03 00:12:11 -05:00
firestar5683	9dc71ad3cf	Torque Panda	2025-10-03 00:12:11 -05:00
firestar5683	5edc219e5d	Revert "Kao Panda" This reverts commit 1e7507bb3fead978798222dd7d08d799fb317e00.	2025-10-03 00:12:11 -05:00
firestar5683	52cfb685ef	Kao Panda	2025-10-03 00:12:10 -05:00
firestar5683	34fb03993a	Revert "Plumbology" This reverts commit 7ed06717d74f6a7033fcf3cd834a712771507d4e.	2025-10-03 00:12:10 -05:00
firestar5683	2815f8c42a	Plumbology	2025-10-03 00:12:10 -05:00
firestar5683	d348125af5	Revert "Torque panda" This reverts commit f2baeb4eb2d00f5deef6e41bf249260f50375437. Reapply "Torque panda" This reverts commit b33f49b19e137286d19e93f33dc35b10abc057a8. Revert "Reapply "Torque panda"" This reverts commit b2601be93b354f6ac75e2aef666e92deb9206cff.	2025-10-03 00:12:10 -05:00
firestar5683	d8a9651f96	Torque panda	2025-10-03 00:12:10 -05:00
firestar5683	c3d051cda7	Update	2025-10-03 00:12:10 -05:00
firestar5683	1cdf6ccd04	Dom	2025-09-30 08:56:54 -05:00
firestar5683	48d5c4d004	Tinygrad	2025-09-29 10:38:03 -05:00
firestar5683	14bead366a	Revert "Compile FrogPilot" This reverts commit `255c89c6ab`.	2025-09-29 10:33:41 -05:00
James	255c89c6ab	Compile FrogPilot	2025-09-27 12:00:00 -07:00
James	a759abb082	September 27th, 2025 Update	2025-09-27 12:00:00 -07:00
James	73821d9482	FrogPilot 0.9.7	2025-09-27 12:00:00 -07:00
James	be881fc77a	OPGM Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>	2025-09-27 12:00:00 -07:00
James	6d316f2bc7	openpilot v0.9.7 release date: 2024-06-11T01:36:39 master commit: f8cb04e4a8b032b72a909f68b808a50936184bee	2025-09-27 12:00:00 -07:00