Make build deterministic and do not rebuild on release2 (#729)

* sort dbc files to make linking deterministic

* touch all files on release2 checkout to prevent rebuild

.gitignore

@@ -1,3 +1,4 @@
+venv/
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -34,3 +35,6 @@ selfdrive/visiond/visiond
 /src/
 
 one
+openpilot
+xx
+

.travis.yml

@@ -10,9 +10,9 @@ script:
   - docker run
       tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
   - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools")'
   - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))'
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools"); exit $(($? & 3))'
   - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
   - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
   - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'

Dockerfile.openpilot

@@ -4,32 +4,45 @@ ENV PYTHONUNBUFFERED 1
 RUN apt-get update && apt-get install -y \
     autoconf \
     build-essential \
-    clang \
-    wget \
     bzip2 \
+    clang \
     git \
-    libglib2.0-0 \
-    libtool \
-    python-pip \
-    libzmq5-dev \
+    libarchive-dev \
+    libavcodec-dev \
+    libavdevice-dev \
+    libavfilter-dev \
+    libavresample-dev \
+    libavutil-dev \
     libffi-dev \
-    libusb-1.0-0 \
+    libglib2.0-0 \
     libssl-dev \
+    libswscale-dev \
+    libtool \
+    libusb-1.0-0 \
+    libzmq5-dev \
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
-    opencl-headers
+    opencl-headers \
+    pkg-config \
+    python-pip \
+    wget
 
 COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
 RUN /tmp/install_capnp.sh
 
 RUN pip install --upgrade pip==18.0
-RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
+RUN pip install pipenv==2018.11.26
 
-COPY requirements_openpilot.txt /tmp/
-RUN pip install -r /tmp/requirements_openpilot.txt
+COPY Pipfile /tmp/
+COPY Pipfile.lock /tmp/
+RUN cd /tmp && pipenv install --deploy --system
 
 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
 
+RUN git clone --branch v0.6  https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+RUN pip install -r /tmp/openpilot/tools/requirements.txt
+RUN pip install fastcluster==1.1.20 scipy==0.19.1
+
 COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal

Pipfile

@@ -0,0 +1,140 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+ipython = "<6.0"
+aenum = "*"
+azure-batch = "==4.1.3"
+azure-common = "==1.1.16"
+azure-nspkg = "==3.0.1"
+azure-storage-blob = "==1.3.1"
+azure-storage-common = "==1.3.0"
+azure-storage-nspkg = "==3.0.0"
+bincopy = "*"
+bleach = "==1.5.0"
+boto = "*"
+"boto3" = "*"
+celery = "*"
+control = "*"
+datadog = "*"
+decorator = "*"
+dlib = "*"
+dominate = "*"
+elasticsearch = "*"
+entium = "==0.1.4"
+fasteners = "*"
+future = "*"
+futures = "*"
+gevent = "*"
+pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
+gunicorn = "*"
+"h5py" = "*"
+hexdump = "*"
+"html5lib" = "==0.9999999"
+imageio = "*"
+intervaltree = "*"
+ipykernel = "<5.0"
+joblib = "*"
+json-logging-py = "*"
+jupyter = "*"
+libarchive = "*"
+lru-dict = "*"
+lxml = "*"
+matplotlib = "==2.2.3"
+"mpld3" = "*"
+msgpack-python = "*"
+nbstripout = "*"
+nose-parameterized = "*"
+numpy = "==1.14.5"
+osmium = "==2.15.0"
+pbr = "==5.1.3"
+percache = "*"
+pprofile = "*"
+psutil = "*"
+pycurl = "*"
+git-pylint-commit-hook = "==2.5.1"
+pymongo = "*"
+"pynmea2" = "*"
+pypolyline = "==0.1.17"
+pysendfile = "*"
+python-logstash = "*"
+pyvcd = "*"
+redis = "*"
+redlock = "*"
+"s2sphere" = "*"
+scikit-image = "*"
+"subprocess32" = "*"
+supervisor = "*"
+tenacity = "*"
+tensorflow-gpu = "==1.13.0rc0"
+"transforms3d" = "*"
+utm = "*"
+"v4l2" = "*"
+visdom = "*"
+PyJWT = "==1.4.1"
+PyMySQL = "==0.9.2"
+Theano = "*"
+Werkzeug = "*"
+"backports.lzma" = "*"
+Flask-Cors = "*"
+Flask-SocketIO = "*"
+"GeoAlchemy2" = "*"
+Keras = ">=2.1.6"
+keras-maskrcnn = "*"
+keras-retinanet = "*"
+Pygments = "*"
+PyNaCl = "*"
+"PySDL2" = "*"
+reverse_geocoder = "*"
+Shapely = "*"
+SQLAlchemy = "==1.2.7"
+uWSGI = "*"
+scipy = "*"
+fastcluster = "==1.1.25"
+backports-abc = "*"
+pygame = "*"
+simplejson = "*"
+
+[packages]
+overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
+atomicwrites = "*"
+cffi = "*"
+crcmod = "*"
+hexdump = "*"
+libusb1 = "*"
+numpy = "*"
+psutil = "*"
+pycapnp = "*"
+cryptography = "*"
+pyserial = "*"
+python-dateutil = "*"
+pyzmq = "*"
+raven = "*"
+requests = "*"
+setproctitle = "*"
+six = "*"
+smbus2 = "*"
+sympy = "*"
+tqdm = "*"
+Cython = "*"
+PyYAML = "*"
+websocket_client = "*"
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
+urllib3 = "*"
+chardet = "*"
+idna = "*"
+gunicorn = "*"
+utm = "*"
+json-rpc = "*"
+Flask = "*"
+PyJWT = "*"
+"Jinja2" = "*"
+nose = "*"
+pyflakes = "*"
+pylint = "*"
+pycryptodome = "*"
+
+[requires]
+python_version = "2.7"

README.md

@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/xY2gdHv.png)](#)
+[![](https://i.imgur.com/UetIFyH.jpg)](#)
 
 Welcome to openpilot
 ======
@@ -77,8 +77,8 @@ Supported Cars
 | Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | CR-V 2017-19             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V Hybrid 2019         | All                  | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | CR-V Hybrid 2017-2019    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2018-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
 | Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
@@ -91,13 +91,15 @@ Supported Cars
 | Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Lexus                | ES Hybrid 2019           | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
-| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
+| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
 | Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Camry 2018               | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-18             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
@@ -109,13 +111,13 @@ Supported Cars
 | Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 
-<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
-<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
-<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).  
-<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).  
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.  
-<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.  
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).  
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). <br />
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
+<sup>4</sup>Subaru Giraffe is DIY. <br />
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
+<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
 
 Community Maintained Cars
 ------
@@ -173,7 +175,6 @@ Directory structure
         ├── locationd       # Soon to be home of precise location
         ├── logcatd         # Android logcat as a service
         ├── loggerd         # Logger and uploader of car data
-        ├── mapd            # Fetches map data and computes next global path
         ├── proclogd        # Logs information from proc
         ├── sensord         # IMU / GPS interface code
         ├── test            # Car simulator running code through virtual maneuvers

RELEASES.md

@@ -1,3 +1,26 @@
+Version 0.6 (2019-07-01)
+========================
+ * New model, with double the pixels and ten times the temporal context!
+ * Car should not take exits when in the right lane
+ * openpilot uses only ~65% of the CPU (down from 75%)
+ * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
+ * loggerd and sensord are open source, every line of openpilot is now open
+ * Panda safety code is MISRA compliant and ships with a signed version on release2
+ * New NEOS is 500MB smaller and has a reproducible usr/pipenv
+ * Lexus ES Hybrid support thanks to wocsor!
+ * Improve tuning for supported Toyota with TSS2
+ * Various other stability improvements
+
+Version 0.5.13 (2019-05-31)
+==========================
+ * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
+ * Reduce EON power consumption by 40%, down to 1100mW, when car is off
+ * Reduce CPU utilization by 20% and improve stability
+ * Temporarily remove mapd functionalities to improve stability
+ * Add openpilot record-only mode for unsupported cars
+ * Synchronize controlsd to boardd to reduce latency
+ * Remove panda support for Subaru giraffe
+
 Version 0.5.12 (2019-05-16)
 ==========================
  * Improve lateral control for the Prius and Prius Prime
@@ -9,8 +32,8 @@ Version 0.5.12 (2019-05-16)
  * Add default speed limits for Estonia thanks to martinl!
  * Subaru Crosstrek support thanks to martinl!
  * Toyota Avalon support thanks to njbrown09!
- * Toyota Rav4 with TSS 2.0 support thansk to wocsor!
- * Toyota Corolla with TSS 2.0 support thansk to wocsor!
+ * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
+ * Toyota Corolla with TSS 2.0 support thanks to wocsor!
 
 Version 0.5.11 (2019-04-17)
 ========================

cereal/.gitignore

@@ -1,3 +1,6 @@
 gen
 node_modules
 package-lock.json
+*.pyc
+__pycache__
+

cereal/car.capnp

@@ -22,7 +22,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 
   enum EventName @0xbaa8c5d505f727de {
     # TODO: copy from error list
-    commIssue @0;
+    canError @0;
     steerUnavailable @1;
     brakeUnavailable @2;
     gasUnavailable @3;
@@ -37,7 +37,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     buttonEnable @12;
     pedalPressed @13;
     cruiseDisabled @14;
-    radarCommIssue @15;
+    radarCanError @15;
     dataNeeded @16;
     speedTooLow @17;
     outOfSpace @18;
@@ -49,7 +49,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     pcmDisable @24;
     noTarget @25;
     radarFault @26;
-    modelCommIssue @27;
+    modelCommIssueDEPRECATED @27;
     brakeHold @28;
     parkBrake @29;
     manualRestart @30;
@@ -74,6 +74,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     invalidGiraffeHonda @49;
     vehicleModelInvalid @50;
     controlsFailed @51;
+    sensorDataInvalid @52;
+    commIssue @53;
   }
 }
 
@@ -122,6 +124,7 @@ struct CarState {
   # lock info
   doorOpen @24 :Bool;
   seatbeltUnlatched @25 :Bool;
+  canValid @26 :Bool;
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
@@ -175,7 +178,7 @@ struct CarState {
 
 # ******* radar state @ 20hz *******
 
-struct RadarState {
+struct RadarData @0x888ad6581cf0aacb {
   errors @0 :List(Error);
   points @1 :List(RadarPoint);
 
@@ -183,7 +186,7 @@ struct RadarState {
   canMonoTimes @2 :List(UInt64);
 
   enum Error {
-    commIssue @0;
+    canError @0;
     fault @1;
     wrongConfig @2;
   }
@@ -292,7 +295,7 @@ struct CarParams {
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
-  safetyModel @9 :Int16;
+  safetyModel @9 :SafetyModel;
   safetyParam @10 :Int16;
 
   steerMaxBP @11 :List(Float32);
@@ -333,6 +336,7 @@ struct CarParams {
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -360,7 +364,7 @@ struct CarParams {
   }
 
 
-  enum SafetyModels {
+  enum SafetyModel {
     # does NOT match board setting
     noOutput @0;
     honda @1;

cereal/generate_javascript.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+rm -r gen/ts
+rm -r gen/js
+
+mkdir gen/ts
+mkdir gen/js
+
+echo "Installing needed npm modules"
+npm i capnpc-ts capnp-ts
+
+capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
+capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
+
+cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
+do
+  TOKEN=`echo $line | sed 's/\./_/g'`
+  ROOT=`echo $line | sed 's/\..*$//g'`
+  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
+  if [[ "$?" == "1" ]]
+  then
+    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
+  fi
+done
+
+tsc ./gen/ts/* --lib es2015 --outDir ./gen/js

cereal/install_capnp.sh

@@ -0,0 +1,39 @@
+set -e
+echo "Installing capnp"
+
+cd /tmp
+VERSION=0.6.1
+wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
+tar xvf capnproto-c++-${VERSION}.tar.gz
+cd capnproto-c++-${VERSION}
+CXXFLAGS="-fPIC" ./configure
+
+make -j4
+
+# manually build binaries statically
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+cp .libs/capnp /usr/local/bin/
+ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
+cp .libs/capnpc-c++ /usr/local/bin/
+cp .libs/capnpc-capnp /usr/local/bin/
+cp .libs/*.a /usr/local/lib
+
+cd /tmp
+echo "Installing c-capnp"
+git clone https://github.com/commaai/c-capnproto.git
+cd c-capnproto
+git submodule update --init --recursive
+autoreconf -f -i -s
+CXXFLAGS="-fPIC" ./configure
+make -j4
+
+# manually build binaries statically
+gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
+
+cp .libs/capnpc-c /usr/local/bin/
+cp .libs/*.a /usr/local/lib

cereal/log.capnp

@@ -150,6 +150,12 @@ struct FrameData {
   }
 }
 
+struct Thumbnail {
+  frameId @0 :UInt32;
+  timestampEof @1 :UInt64;
+  thumbnail @2 :Data;
+}
+
 struct GPSNMEAData {
   timestamp @0 :Int64;
   localWallTime @1 :UInt64;
@@ -305,12 +311,12 @@ struct LiveUI {
   awarenessStatus @3 :Float32;
 }
 
-struct Live20Data {
+struct RadarState @0x9a185389d6fdd05f {
   canMonoTimes @10 :List(UInt64);
   mdMonoTime @6 :UInt64;
   ftMonoTimeDEPRECATED @7 :UInt64;
-  l100MonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarState.Error);
+  controlsStateMonoTime @11 :UInt64;
+  radarErrors @12 :List(Car.RadarData.Error);
 
   # all deprecated
   warpMatrixDEPRECATED @0 :List(Float32);
@@ -368,15 +374,15 @@ struct LiveTracks {
   oncoming @9 :Bool;
 }
 
-struct Live100Data {
+struct ControlsState @0x97ff69c53601abf1 {
   canMonoTimeDEPRECATED @16 :UInt64;
   canMonoTimes @21 :List(UInt64);
-  l20MonoTimeDEPRECATED @17 :UInt64;
+  radarStateMonoTimeDEPRECATED @17 :UInt64;
   mdMonoTimeDEPRECATED @18 :UInt64;
   planMonoTime @28 :UInt64;
   pathPlanMonoTime @50 :UInt64;
 
-  state @31 :ControlState;
+  state @31 :OpenpilotState;
   vEgo @0 :Float32;
   vEgoRaw @32 :Float32;
   aEgoDEPRECATED @1 :Float32;
@@ -433,7 +439,7 @@ struct Live100Data {
     pidState @53 :LateralPIDState;
   }
 
-  enum ControlState {
+  enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
     enabled @2;
@@ -507,12 +513,16 @@ struct ModelData {
     points @0 :List(Float32);
     prob @1 :Float32;
     std @2 :Float32;
+    stds @3 :List(Float32);
+    poly @4 :List(Float32);
   }
 
   struct LeadData {
     dist @0 :Float32;
     prob @1 :Float32;
     std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
   }
 
   struct ModelSettings {
@@ -574,7 +584,9 @@ struct LogRotate {
 
 struct Plan {
   mdMonoTime @9 :UInt64;
-  l20MonoTime @10 :UInt64;
+  radarStateMonoTime @10 :UInt64;
+  commIssue @31 :Bool;
+
   eventsDEPRECATED @13 :List(Car.CarEvent);
 
   # lateral, 3rd order polynomial
@@ -613,7 +625,7 @@ struct Plan {
   decelForTurn @22 :Bool;
   mapValid @25 :Bool;
   radarValid @28 :Bool;
-  radarCommIssue @30 :Bool;
+  radarCanError @30 :Bool;
 
   processingDelay @29 :Float32;
 
@@ -644,10 +656,12 @@ struct PathPlan {
 
   angleSteers @8 :Float32; # deg
   rateSteers @13 :Float32; # deg/s
-  valid @9 :Bool;
+  mpcSolutionValid @9 :Bool;
   paramsValid @10 :Bool;
-  modelValid @12 :Bool;
+  modelValidDEPRECATED @12 :Bool;
   angleOffset @11 :Float32;
+  sensorValid @14 :Bool;
+  commIssue @15 :Bool;
 }
 
 struct LiveLocationData {
@@ -1643,6 +1657,8 @@ struct LiveParametersData {
   angleOffsetAverage @3 :Float32;
   stiffnessFactor @4 :Float32;
   steerRatio @5 :Float32;
+  sensorValid @6 :Bool;
+  yawRate @7 :Float32;
 }
 
 struct LiveMapData {
@@ -1682,6 +1698,7 @@ struct KalmanOdometry {
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
+  valid @67 :Bool = true;
 
   union {
     initData @1 :InitData;
@@ -1690,13 +1707,13 @@ struct Event {
     sensorEventDEPRECATED @4 :SensorEventData;
     can @5 :List(CanData);
     thermal @6 :ThermalData;
-    live100 @7 :Live100Data;
+    controlsState @7 :ControlsState;
     liveEventDEPRECATED @8 :List(LiveEventData);
     model @9 :ModelData;
     features @10 :CalibrationFeatures;
     sensorEvents @11 :List(SensorEventData);
     health @12 :HealthData;
-    live20 @13 :Live20Data;
+    radarState @13 :RadarState;
     liveUIDEPRECATED @14 :LiveUI;
     encodeIdx @15 :EncodeIndex;
     liveTracks @16 :List(LiveTracks);
@@ -1749,5 +1766,8 @@ struct Event {
     cameraOdometry @63 :CameraOdometry;
     pathPlan @64 :PathPlan;
     kalmanOdometry @65 :KalmanOdometry;
+    thumbnail @66: Thumbnail;
+    carEvents @68: List(Car.CarEvent);
+    carParams @69: Car.CarParams;
   }
 }

cereal/maptile.capnp

@@ -0,0 +1,53 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Map");
+
+@0xa086df597ef5d7a0;
+
+# Geometry
+struct Point {
+  x @0: Float64;
+  y @1: Float64;
+  z @2: Float64;
+}
+
+struct PolyLine {
+  points @0: List(Point);
+}
+
+# Map features
+struct Lane {
+  id @0 :Text;
+
+  leftBoundary @1 :LaneBoundary;
+  rightBoundary @2 :LaneBoundary;
+
+  leftAdjacentId @3 :Text;
+  rightAdjacentId @4 :Text;
+
+  inboundIds @5 :List(Text);
+  outboundIds @6 :List(Text);
+
+  struct LaneBoundary {
+    polyLine @0 :PolyLine;
+    startHeading @1 :Float32; # WRT north
+  }
+}
+
+# Map tiles
+struct TileSummary {
+  version @0 :Text;
+  updatedAt @1 :UInt64; # Millis since epoch
+
+  level @2 :UInt8;
+  x @3 :UInt16;
+  y @4 :UInt16;
+}
+
+struct MapTile {
+  summary @0 :TileSummary;
+  lanes @1 :List(Lane);
+}

common/clock.pyx

@@ -0,0 +1,16 @@
+from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
+
+cdef double readclock(int clock_id):
+    cdef timespec ts
+    cdef double current
+
+    clock_gettime(clock_id, &ts)
+    current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+    return current
+
+
+def monotonic_time():
+    return readclock(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+    return readclock(CLOCK_BOOTTIME)

common/file_helpers.py

@@ -0,0 +1,103 @@
+import os
+import shutil
+import tempfile
+from atomicwrites import AtomicWriter
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+def rm_not_exists_ok(path):
+  try:
+    os.remove(path)
+  except OSError:
+    if os.path.exists(path):
+      raise
+
+def rm_tree_or_link(path):
+  if os.path.islink(path):
+    os.unlink(path)
+  elif os.path.isdir(path):
+    shutil.rmtree(path)
+
+def get_tmpdir_on_same_filesystem(path):
+  # TODO(mgraczyk): HACK, we should actually check for which filesystem.
+  normpath = os.path.normpath(path)
+  parts = normpath.split("/")
+  if len(parts) > 1:
+    if parts[1].startswith("raid"):
+      if len(parts) > 2 and parts[2] == "runner":
+        return "/{}/runner/tmp".format(parts[1])
+      elif len(parts) > 2 and parts[2] == "aws":
+        return "/{}/aws/tmp".format(parts[1])
+      else:
+        return "/{}/tmp".format(parts[1])
+    elif parts[1] == "aws":
+      return "/aws/tmp"
+    elif parts[1] == "scratch":
+      return "/scratch/tmp"
+  return "/tmp"
+
+class AutoMoveTempdir(object):
+  def __init__(self, target_path, temp_dir=None):
+    self._target_path = target_path
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    os.rename(self._path, self._target_path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    if type is None:
+      self.close()
+    else:
+      shutil.rmtree(self._path)
+
+class NamedTemporaryDir(object):
+  def __init__(self, temp_dir=None):
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    shutil.rmtree(self._path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    file_obj = writer.get_fileobject(dir=temp_dir)
+    os.chmod(file_obj.name, 0o644)
+    return file_obj
+  return _get_fileobject
+
+def atomic_write_on_fs_tmp(path, **kwargs):
+  """Creates an atomic writer using a temporary file in a temporary directory
+     on the same filesystem as path.
+  """
+  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
+  #                 directory.
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+
+
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
+

common/fingerprints.py

@@ -4,7 +4,7 @@ from common.basedir import BASEDIR
 def get_fingerprint_list():
   # read all the folders in selfdrive/car and return a dict where:
   # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique 
+  # - values are lists dicts of messages that constitute the unique
   #   CAN fingerprint of each car model and all its variants
   fingerprints = {}
   for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:

common/kalman/Makefile

@@ -1,7 +1,7 @@
 all: simple_kalman_impl.so
 
 simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
-	python simple_kalman_setup.py build_ext --inplace
+	python2 simple_kalman_setup.py build_ext --inplace
 	rm -rf build
 	rm simple_kalman_impl.c
 

common/params.py

@@ -41,7 +41,7 @@ def mkdirs_exists_ok(path):
 class TxType(Enum):
   PERSISTENT = 1
   CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_CAR_START = 3
+  CLEAR_ON_PANDA_DISCONNECT = 3
 
 
 class UnknownKeyName(Exception):
@@ -49,32 +49,34 @@ class UnknownKeyName(Exception):
 
 
 keys = {
-  "AccessToken": TxType.PERSISTENT,
-  "CalibrationParams": TxType.PERSISTENT,
-  "CarParams": TxType.CLEAR_ON_CAR_START,
-  "CompletedTrainingVersion": TxType.PERSISTENT,
-  "ControlsParams": TxType.PERSISTENT,
-  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
-  "DongleId": TxType.PERSISTENT,
-  "GitBranch": TxType.PERSISTENT,
-  "GitCommit": TxType.PERSISTENT,
-  "GitRemote": TxType.PERSISTENT,
-  "HasAcceptedTerms": TxType.PERSISTENT,
-  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
-  "IsFcwEnabled": TxType.PERSISTENT,
-  "IsGeofenceEnabled": TxType.PERSISTENT,
-  "IsMetric": TxType.PERSISTENT,
-  "IsUpdateAvailable": TxType.PERSISTENT,
-  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
-  "LimitSetSpeed": TxType.PERSISTENT,
-  "LiveParameters": TxType.PERSISTENT,
-  "LongitudinalControl": TxType.PERSISTENT,
-  "Passive": TxType.PERSISTENT,
-  "RecordFront": TxType.PERSISTENT,
-  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
-  "SpeedLimitOffset": TxType.PERSISTENT,
-  "TrainingVersion": TxType.PERSISTENT,
-  "Version": TxType.PERSISTENT,
+  "AccessToken": [TxType.PERSISTENT],
+  "CalibrationParams": [TxType.PERSISTENT],
+  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CompletedTrainingVersion": [TxType.PERSISTENT],
+  "ControlsParams": [TxType.PERSISTENT],
+  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
+  "DongleId": [TxType.PERSISTENT],
+  "GitBranch": [TxType.PERSISTENT],
+  "GitCommit": [TxType.PERSISTENT],
+  "GitRemote": [TxType.PERSISTENT],
+  "HasAcceptedTerms": [TxType.PERSISTENT],
+  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
+  "IsFcwEnabled": [TxType.PERSISTENT],
+  "IsGeofenceEnabled": [TxType.PERSISTENT],
+  "IsMetric": [TxType.PERSISTENT],
+  "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUploadRawEnabled": [TxType.PERSISTENT],
+  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
+  "LimitSetSpeed": [TxType.PERSISTENT],
+  "LiveParameters": [TxType.PERSISTENT],
+  "LongitudinalControl": [TxType.PERSISTENT],
+  "Passive": [TxType.PERSISTENT],
+  "RecordFront": [TxType.PERSISTENT],
+  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  "SpeedLimitOffset": [TxType.PERSISTENT],
+  "SubscriberInfo": [TxType.PERSISTENT],
+  "TrainingVersion": [TxType.PERSISTENT],
+  "Version": [TxType.PERSISTENT],
 }
 
 
@@ -308,14 +310,14 @@ class Params(object):
   def _clear_keys_with_type(self, tx_type):
     with self.transaction(write=True) as txn:
       for key in keys:
-        if keys[key] == tx_type:
+        if tx_type in keys[key]:
           txn.delete(key)
 
   def manager_start(self):
     self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
 
-  def car_start(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
+  def panda_disconnect(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
 
   def delete(self, key):
     with self.transaction(write=True) as txn:

common/realtime.py

@@ -2,58 +2,31 @@
 import os
 import time
 import platform
-import threading
 import subprocess
 import multiprocessing
-
 from cffi import FFI
+
+# Build and load cython module
+import pyximport
+installer = pyximport.install(inplace=True, build_dir='/tmp')
+from common.clock import monotonic_time, sec_since_boot  # pylint: disable=no-name-in-module, import-error
+pyximport.uninstall(*installer)
+assert monotonic_time
+assert sec_since_boot
+
+
+# time step for each process
+DT_CTRL = 0.01  # controlsd
+DT_PLAN = 0.05  # mpc
+DT_MDL = 0.05  # model
+DT_DMON = 0.1  # driver monitoring
+
+
 ffi = FFI()
-ffi.cdef("""
-
-typedef int clockid_t;
-struct timespec {
-    long tv_sec;   /* Seconds.  */
-    long tv_nsec;  /* Nanoseconds.  */
-};
-int clock_gettime (clockid_t clk_id, struct timespec *tp);
-
-long syscall(long number, ...);
-
-"""
-)
+ffi.cdef("long syscall(long number, ...);")
 libc = ffi.dlopen(None)
 
 
-# see <linux/time.h>
-CLOCK_MONOTONIC_RAW = 4
-CLOCK_BOOTTIME = 7
-
-if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
-  c_clock_gettime = libc.clock_gettime
-
-  tlocal = threading.local()
-  def clock_gettime(clk_id):
-    if not hasattr(tlocal, 'ts'):
-      tlocal.ts = ffi.new('struct timespec *')
-
-    ts = tlocal.ts
-
-    r = c_clock_gettime(clk_id, ts)
-    if r != 0:
-      raise OSError("clock_gettime")
-    return ts.tv_sec + ts.tv_nsec * 1e-9
-else:
-  # hack. only for OS X < 10.12
-  def clock_gettime(clk_id):
-    return time.time()
-
-def monotonic_time():
-  return clock_gettime(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return clock_gettime(CLOCK_BOOTTIME)
-
-
 def set_realtime_priority(level):
   if os.getuid() != 0:
     print("not setting priority, not root")
@@ -99,10 +72,9 @@ class Ratekeeper(object):
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
-    if remaining < -self._print_delay_threshold:
+    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
       print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
       lagged = True
     self._frame += 1
     self._remaining = remaining
     return lagged
-

common/transformations/camera.py

@@ -1,6 +1,5 @@
 import numpy as np
 import common.transformations.orientation as orient
-import cv2
 import math
 
 FULL_FRAME_SIZE = (1164, 874)
@@ -126,6 +125,8 @@ def img_from_device(pt_device):
 
 #TODO please use generic img transform below
 def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
+  import cv2
+
   size = img.shape[:2]
   rot = orient.rot_from_euler(eulers)
   quadrangle = np.array([[0, 0],
@@ -162,6 +163,8 @@ def transform_img(base_img,
                  output_size=None,
                  pretransform=None,
                  top_hacks=True):
+  import cv2
+
   size = base_img.shape[:2]
   if not output_size:
     output_size = size[::-1]
@@ -204,10 +207,10 @@ def transform_img(base_img,
 def yuv_crop(frame, output_size, center=None):
   # output_size in camera coordinates so u,v
   # center in array coordinates so row, column
+  import cv2
   rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
   if not center:
     center = (rgb.shape[0]/2, rgb.shape[1]/2)
   rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
                  center[1] - output_size[0]/2: center[1] + output_size[0]/2]
   return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
-

common/vin.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python
+import time
+from common.realtime import sec_since_boot
+import selfdrive.messaging as messaging
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+
+def get_vin(logcan, sendcan):
+
+  # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
+  # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
+  query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
+               [0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
+
+  cnts = [1, 2]  # Number of messages to wait for at each iteration
+  vin_valid = True
+
+  dat = []
+  for i in range(len(query_msg)):
+    cnt = 0
+    sendcan.send(can_list_to_can_capnp([query_msg[i]], msgtype='sendcan'))
+    got_response = False
+    t_start = sec_since_boot()
+    while sec_since_boot() - t_start < 0.05 and not got_response:
+      for a in messaging.drain_sock(logcan):
+        for can in a.can:
+          if can.src == 0 and can.address == 0x7e8:
+            vin_valid = vin_valid and is_vin_response_valid(can.dat, i, cnt)
+            dat += can.dat[2:] if i == 0 else can.dat[1:]
+            cnt += 1
+            if cnt == cnts[i]:
+              got_response = True
+      time.sleep(0.01)
+
+  return "".join(dat[3:]) if vin_valid else ""
+
+"""
+if 'vin' not in gctx:
+  print "getting vin"
+  gctx['vin'] = query_vin()[3:]
+  print "got VIN %s" % (gctx['vin'],)
+  cloudlog.info("got VIN %s" % (gctx['vin'],))
+
+# *** determine platform based on VIN ****
+if vin.startswith("19UDE2F36G"):
+  print "ACURA ILX 2016"
+  self.civic = False
+else:
+  # TODO: add Honda check explicitly
+  print "HONDA CIVIC 2016"
+  self.civic = True
+
+# *** special case VIN of Acura test platform
+if vin == "19UDE2F36GA001322":
+  print "comma.ai test platform detected"
+  # it has a gas interceptor and a torque mod
+  self.torque_mod = True
+"""
+
+
+# sanity checks on response messages from vin query
+def is_vin_response_valid(can_dat, step, cnt):
+
+  can_dat = [ord(i) for i in can_dat]
+
+  if len(can_dat) != 8:
+    # ISO-TP meesages are all 8 bytes
+    return False
+
+  if step == 0:
+    # VIN does not fit in a single message and it's 20 bytes of data
+    if can_dat[0] != 0x10 or can_dat[1] != 0x14:
+       return False
+
+  if step == 1 and cnt == 0:
+    # first response after a CONTINUE query is sent
+    if can_dat[0] != 0x21:
+       return False
+
+  if step == 1 and cnt == 1:
+    # second response after a CONTINUE query is sent
+    if can_dat[0] != 0x22:
+       return False
+
+  return True
+
+
+if __name__ == "__main__":
+  import zmq
+  from selfdrive.services import service_list
+  context = zmq.Context()
+  logcan = messaging.sub_sock(context, service_list['can'].port)
+  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
+  time.sleep(1.)   # give time to sendcan socket to start
+
+  print get_vin(logcan, sendcan)

installer/updater/Makefile

@@ -0,0 +1,88 @@
+CC = clang
+CXX = clang++
+
+PHONELIBS = ../../phonelibs
+
+WARN_FLAGS = -Werror=implicit-function-declaration \
+             -Werror=incompatible-pointer-types \
+             -Werror=int-conversion \
+             -Werror=return-type \
+             -Werror=format-extra-args
+
+CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+
+CURL_FLAGS = -I$(PHONELIBS)/curl/include
+CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
+            $(PHONELIBS)/zlib/lib/libz.a
+
+BORINGSSL_FLAGS = -I$(PHONELIBS)/boringssl/include
+BORINGSSL_LIBS = $(PHONELIBS)/boringssl/lib/libssl_static.a \
+                 $(PHONELIBS)/boringssl/lib/libcrypto_static.a \
+
+NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
+
+JSON11_FLAGS = -I$(PHONELIBS)/json11
+
+OPENGL_LIBS = -lGLESv3
+
+FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
+
+.PHONY: all
+all: updater
+
+OBJS = courbd.ttf.o \
+       ../../selfdrive/common/touch.o \
+       ../../selfdrive/common/framebuffer.o \
+       $(PHONELIBS)/json11/json11.o \
+       $(PHONELIBS)/nanovg/nanovg.o
+
+DEPS := $(OBJS:.o=.d)
+
+updater: updater.o $(OBJS)
+	@echo "[ LINK ] $@"
+	$(CXX) $(CPPFLAGS) -fPIC -o 'updater' $^ \
+    $(FRAMEBUFFER_LIBS) \
+    $(CURL_LIBS) \
+    $(BORINGSSL_LIBS) \
+    -L/system/vendor/lib64 \
+    $(OPENGL_LIBS) \
+    -lcutils -lm -llog
+	strip updater
+
+courbd.ttf.o: ../../selfdrive/assets/courbd.ttf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+%.o: %.c
+	mkdir -p $(@D)
+	@echo "[ CC ] $@"
+	$(CC) $(CPPFLAGS) $(CFLAGS) \
+          -I../.. \
+          -I$(PHONELIBS)/android_frameworks_native/include \
+          -I$(PHONELIBS)/android_system_core/include \
+          -I$(PHONELIBS)/android_hardware_libhardware/include \
+          $(NANOVG_FLAGS) \
+          -c -o '$@' '$<'
+
+%.o: %.cc
+	mkdir -p $(@D)
+	@echo "[ CXX ] $@"
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) \
+           -I../../selfdrive \
+           -I../../ \
+           -I$(PHONELIBS)/android_frameworks_native/include \
+           -I$(PHONELIBS)/android_system_core/include \
+           -I$(PHONELIBS)/android_hardware_libhardware/include \
+           $(NANOVG_FLAGS) \
+           $(JSON11_FLAGS) \
+           $(CURL_FLAGS) \
+           $(BORINGSSL_FLAGS) \
+           -c -o '$@' '$<'
+
+
+.PHONY: clean
+clean:
+	rm -f $(OBJS) $(DEPS)
+
+-include $(DEPS)

installer/updater/update.json

@@ -0,0 +1,7 @@
+{
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f.zip",
+  "ota_hash": "c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a.img",
+  "recovery_len": 15136044,
+  "recovery_hash": "af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a"
+}

installer/updater/updater.cc

@@ -0,0 +1,675 @@
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <cassert>
+
+#include <unistd.h>
+#include <sys/stat.h>
+#include <sys/statvfs.h>
+
+#include <string>
+#include <sstream>
+#include <fstream>
+#include <mutex>
+#include <thread>
+
+#include <curl/curl.h>
+#include <openssl/sha.h>
+
+#include <GLES3/gl3.h>
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+
+#include "nanovg.h"
+#define NANOVG_GLES3_IMPLEMENTATION
+#include "nanovg_gl.h"
+#include "nanovg_gl_utils.h"
+
+#include "json11.hpp"
+
+#include "common/framebuffer.h"
+#include "common/touch.h"
+#include "common/utilpp.h"
+
+#define USER_AGENT "NEOSUpdater-0.2"
+
+#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
+#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
+#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
+const char *manifest_url = MANIFEST_URL_EON;
+
+#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
+#define RECOVERY_COMMAND "/cache/recovery/command"
+
+#define UPDATE_DIR "/data/neoupdate"
+
+extern const uint8_t bin_courbd[] asm("_binary_courbd_ttf_start");
+extern const uint8_t bin_courbd_end[] asm("_binary_courbd_ttf_end");
+
+namespace {
+
+std::string sha256_file(std::string fn, size_t limit=0) {
+  SHA256_CTX ctx;
+  SHA256_Init(&ctx);
+
+  FILE *file = fopen(fn.c_str(), "rb");
+  if (!file) return "";
+
+  const size_t buf_size = 8192;
+  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
+
+  bool read_limit = (limit != 0);
+  while (true) {
+    size_t read_size = buf_size;
+    if (read_limit) read_size = std::min(read_size, limit);
+    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
+    if (!bytes_read) break;
+
+    SHA256_Update(&ctx, buffer.get(), bytes_read);
+
+    if (read_limit) {
+      limit -= bytes_read;
+      if (limit == 0) break;
+    }
+  }
+
+  uint8_t hash[SHA256_DIGEST_LENGTH];
+  SHA256_Final(hash, &ctx);
+
+  fclose(file);
+
+  return util::tohex(hash, sizeof(hash));
+}
+
+size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
+  size_t sz = size * nmeb;
+  ((std::string*)up)->append((char*)ptr, sz);
+  return sz;
+}
+
+std::string download_string(CURL *curl, std::string url) {
+  std::string os;
+
+  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
+  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
+  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
+  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
+  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
+
+  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
+
+  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
+  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
+  CURLcode res = curl_easy_perform(curl);
+  if (res != CURLE_OK) {
+    return "";
+  }
+
+  return os;
+}
+
+size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
+  return fwrite(ptr, size, nmeb, (FILE*)up);
+}
+
+bool check_battery() {
+  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
+  int bat_cap = atoi(bat_cap_s.c_str());
+  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
+  int current_now = atoi(current_now_s.c_str());
+  return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
+}
+
+bool check_space() {
+  struct statvfs stat;
+  if (statvfs("/data/", &stat) != 0) {
+    return false;
+  }
+  size_t space = stat.f_bsize * stat.f_bavail;
+  return space > 2000000000ULL; // 2GB
+}
+
+static void start_settings_activity(const char* name) {
+  char launch_cmd[1024];
+  snprintf(launch_cmd, sizeof(launch_cmd),
+           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
+  system(launch_cmd);
+}
+
+struct Updater {
+  bool do_exit = false;
+
+  TouchState touch;
+
+  int fb_w, fb_h;
+  EGLDisplay display;
+  EGLSurface surface;
+
+  FramebufferState *fb = NULL;
+  NVGcontext *vg = NULL;
+  int font;
+
+  std::thread update_thread_handle;
+
+  std::mutex lock;
+
+  // i hate state machines give me coroutines already
+  enum UpdateState {
+    CONFIRMATION,
+    RUNNING,
+    ERROR,
+  };
+  UpdateState state;
+
+  std::string progress_text;
+  float progress_frac;
+
+  std::string error_text;
+
+  // button
+  int b_x, b_w, b_y, b_h;
+  int balt_x;
+
+  CURL *curl = NULL;
+
+  Updater() {
+    touch_init(&touch);
+
+    fb = framebuffer_init("updater", 0x00001000, false,
+                          &display, &surface, &fb_w, &fb_h);
+    assert(fb);
+
+    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
+    assert(vg);
+    font = nvgCreateFontMem(vg, "courbd", (unsigned char*)bin_courbd, (bin_courbd_end - bin_courbd), 0);
+    assert(font >= 0);
+
+    b_w = 600;
+    balt_x = 200;
+    b_x = fb_w-b_w-200;
+    b_y = 700;
+    b_h = 250;
+
+    state = CONFIRMATION;
+
+  }
+
+  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
+                             curl_off_t ultotal, curl_off_t ulnow) {
+    {
+      std::lock_guard<std::mutex> guard(lock);
+      if (dltotal != 0) {
+        progress_frac = (float) dlno / dltotal;
+      }
+    }
+    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
+    return 0;
+  }
+
+  bool download_file(std::string url, std::string out_fn) {
+    FILE *of = fopen(out_fn.c_str(), "ab");
+    assert(of);
+
+    CURLcode res;
+    long last_resume_from = 0;
+
+    fseek(of, 0, SEEK_END);
+
+    int tries = 4;
+
+    bool ret = false;
+
+    while (true) {
+      long resume_from = ftell(of);
+
+      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
+      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
+      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
+      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
+      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
+
+      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
+      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
+
+      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
+
+      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
+      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
+
+      CURLcode res = curl_easy_perform(curl);
+
+      long response_code = 0;
+      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
+
+      // double content_length = 0.0;
+      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
+
+      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
+      if (res == CURLE_OK) {
+        ret = true;
+        break;
+      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
+        // failed because the file is already complete?
+        ret = true;
+        break;
+      } else if (resume_from == last_resume_from) {
+        // failed and dind't make make forward progress. only retry a couple times
+        tries--;
+        if (tries <= 0) {
+          break;
+        }
+      }
+      last_resume_from = resume_from;
+    }
+    // printf("res %d\n", res);
+
+    // printf("- %ld %f\n", response_code, content_length);
+
+    fclose(of);
+
+    return ret;
+  }
+
+  void set_progress(std::string text) {
+    std::lock_guard<std::mutex> guard(lock);
+    progress_text = text;
+  }
+
+  void set_error(std::string text) {
+    std::lock_guard<std::mutex> guard(lock);
+    error_text = text;
+    state = ERROR;
+  }
+
+  std::string stage_download(std::string url, std::string hash, std::string name) {
+    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
+
+    set_progress("downloading " + name + "...");
+    bool r = download_file(url, out_fn);
+    if (!r) {
+      set_error("failed to download " + name);
+      return "";
+    }
+
+    set_progress("verifying " + name + "...");
+    std::string fn_hash = sha256_file(out_fn);
+    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
+    if (fn_hash != hash) {
+      set_error(name + " was corrupt");
+      unlink(out_fn.c_str());
+      return "";
+    }
+
+    return out_fn;
+  }
+
+  void run_stages() {
+    curl = curl_easy_init();
+    assert(curl);
+
+    if (!check_battery()) {
+      set_error("Please plug power in to your EON and wait for charge");
+      return;
+    }
+
+    if (!check_space()) {
+      set_error("2GB of free space required to update");
+      return;
+    }
+
+    mkdir(UPDATE_DIR, 0777);
+
+    const int EON = (access("/EON", F_OK) != -1);
+
+    set_progress("finding latest version...");
+    std::string manifest_s;
+    if (EON) {
+      manifest_s = download_string(curl, manifest_url);
+    } else {
+      // don't update NEO
+      exit(0);
+    }
+
+    printf("manifest: %s\n", manifest_s.c_str());
+
+    std::string err;
+    auto manifest = json11::Json::parse(manifest_s, err);
+    if (manifest.is_null() || !err.empty()) {
+      set_error("failed to load update manifest");
+      return;
+    }
+
+    std::string ota_url = manifest["ota_url"].string_value();
+    std::string ota_hash = manifest["ota_hash"].string_value();
+
+    std::string recovery_url = manifest["recovery_url"].string_value();
+    std::string recovery_hash = manifest["recovery_hash"].string_value();
+    int recovery_len = manifest["recovery_len"].int_value();
+
+    // std::string installer_url = manifest["installer_url"].string_value();
+    // std::string installer_hash = manifest["installer_hash"].string_value();
+
+    if (ota_url.empty() || ota_hash.empty()) {
+      set_error("invalid update manifest");
+      return;
+    }
+
+    // std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
+    // if (installer_fn.empty()) {
+    //   //error'd
+    //   return;
+    // }
+
+    std::string recovery_fn;
+    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
+      set_progress("skipping recovery flash...");
+    } else {
+      // only download the recovery if it differs from what's flashed
+      set_progress("checking recovery...");
+      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
+      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
+
+      if (existing_recovery_hash != recovery_hash) {
+        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
+        if (recovery_fn.empty()) {
+          // error'd
+          return;
+        }
+      }
+    }
+
+    std::string ota_fn = stage_download(ota_url, ota_hash, "update");
+    if (ota_fn.empty()) {
+      //error'd
+      return;
+    }
+
+    if (!check_battery()) {
+      set_error("must have at least 35% battery to update");
+      return;
+    }
+
+    if (!recovery_fn.empty()) {
+      // flash recovery
+      set_progress("flashing recovery...");
+
+      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
+      if (!flash_file) {
+        set_error("failed to flash recovery");
+        return;
+      }
+
+      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
+      if (!recovery_dev) {
+        fclose(flash_file);
+        set_error("failed to flash recovery");
+        return;
+      }
+
+      const size_t buf_size = 4096;
+      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
+
+      while (true) {
+        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
+        if (!bytes_read) break;
+
+        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
+        if (bytes_read != bytes_written) {
+          fclose(recovery_dev);
+          fclose(flash_file);
+          set_error("failed to flash recovery: write failed");
+          return;
+        }
+      }
+
+      fclose(recovery_dev);
+      fclose(flash_file);
+
+      set_progress("verifying flash...");
+      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
+      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
+
+      if (new_recovery_hash != recovery_hash) {
+        set_error("recovery flash corrupted");
+        return;
+      }
+
+    }
+
+    // write arguments to recovery
+    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
+    if (!cmd_file) {
+      set_error("failed to reboot into recovery");
+      return;
+    }
+    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
+    fclose(cmd_file);
+
+    set_progress("rebooting");
+
+    // remove the continue.sh so we come back into the setup.
+    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
+    //unlink("/data/data/com.termux/files/continue.sh");
+
+    // TODO: this should be generic between android versions
+    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
+    system("service call power 16 i32 0 s16 recovery i32 1");
+    while(1) pause();
+
+    // execl("/system/bin/reboot", "recovery");
+    // set_error("failed to reboot into recovery");
+  }
+
+  void draw_ack_screen(const char *message, const char *button, const char *altbutton) {
+    nvgFontSize(vg, 96.0f);
+    nvgFillColor(vg, nvgRGBA(255,255,255,255));
+    nvgTextAlign(vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
+    nvgTextBox(vg, 50, 100, fb_w-100, message, NULL);
+
+    // draw button
+    if (button) {
+      nvgBeginPath(vg);
+      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
+      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
+      nvgFill(vg);
+
+      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
+      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
+
+      nvgBeginPath(vg);
+      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgStrokeWidth(vg, 5);
+      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
+      nvgStroke(vg);
+    }
+
+    // draw button
+    if (altbutton) {
+      nvgBeginPath(vg);
+      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
+      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
+      nvgFill(vg);
+
+      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
+      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
+
+      nvgBeginPath(vg);
+      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgStrokeWidth(vg, 5);
+      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
+      nvgStroke(vg);
+    }
+  }
+
+  void draw_progress_screen() {
+    // draw progress message
+    nvgFontSize(vg, 64.0f);
+    nvgFillColor(vg, nvgRGBA(255,255,255,255));
+    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+    nvgTextBox(vg, 0, 700, fb_w, progress_text.c_str(), NULL);
+
+    // draw progress bar
+    {
+      int progress_width = 800;
+      int progress_x = fb_w/2-progress_width/2;
+      int progress_y = 768;
+      int progress_height = 15;
+
+      int powerprompt_y = 512;
+      nvgText(vg, fb_w/2, powerprompt_y, "Ensure EON is connected to power", NULL);
+
+      NVGpaint paint = nvgBoxGradient(
+          vg, progress_x + 1, progress_y + 1,
+          progress_width - 2, progress_height, 3, 4, nvgRGB(0, 32, 0), nvgRGB(0, 92, 0));
+      nvgBeginPath(vg);
+      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 3);
+      nvgFillPaint(vg, paint);
+      nvgFill(vg);
+
+      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
+      int bar_pos = ((progress_width - 2) * value);
+
+      paint = nvgBoxGradient(
+          vg, progress_x, progress_y,
+          bar_pos+1.5f, progress_height-1, 3, 4,
+          nvgRGB(220, 100, 0), nvgRGB(128, 100, 0));
+
+      nvgBeginPath(vg);
+      nvgRoundedRect(
+          vg, progress_x+1, progress_y+1,
+          bar_pos, progress_height-2, 3);
+      nvgFillPaint(vg, paint);
+      nvgFill(vg);
+    }
+  }
+
+  void ui_draw() {
+    std::lock_guard<std::mutex> guard(lock);
+
+    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
+
+    switch (state) {
+    case CONFIRMATION:
+      draw_ack_screen("An upgrade to NEOS is required.\n\n"
+                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB\nData on device shouldn't be lost.",
+                      "continue",
+                      "wifi");
+      break;
+    case RUNNING:
+      draw_progress_screen();
+      break;
+    case ERROR:
+      draw_ack_screen(("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
+      break;
+    }
+
+    nvgEndFrame(vg);
+  }
+
+  void ui_update() {
+    std::lock_guard<std::mutex> guard(lock);
+
+    switch (state) {
+    case ERROR:
+    case CONFIRMATION: {
+      int touch_x = -1, touch_y = -1;
+      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
+      if (res == 1 && !is_settings_active()) {
+        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
+          if (state == CONFIRMATION) {
+            state = RUNNING;
+            update_thread_handle = std::thread(&Updater::run_stages, this);
+          }
+        }
+        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
+          if (state == CONFIRMATION) {
+            start_settings_activity("Settings$WifiSettingsActivity");
+          } else if (state == ERROR) {
+            do_exit = 1;
+          }
+        }
+      }
+    }
+    default:
+      break;
+    }
+  }
+
+
+  void go() {
+    while (!do_exit) {
+      ui_update();
+
+      glClearColor(0.19, 0.09, 0.2, 1.0);
+      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+      glEnable(GL_BLEND);
+      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+      ui_draw();
+
+      glDisable(GL_BLEND);
+
+      eglSwapBuffers(display, surface);
+      assert(glGetError() == GL_NO_ERROR);
+
+      // no simple way to do 30fps vsync with surfaceflinger...
+      usleep(30000);
+    }
+
+    if (update_thread_handle.joinable()) {
+      update_thread_handle.join();
+    }
+
+    system("service call power 16 i32 0 i32 0 i32 1");
+  }
+
+  bool is_settings_active() {
+    FILE *fp;
+    char sys_output[4096];
+
+    fp = popen("/bin/dumpsys window windows", "r");
+    if (fp == NULL) {
+      return false;
+    }
+
+    bool active = false;
+    while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
+      if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
+        break;
+      }
+
+      if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
+        active = true;
+        break;
+      }
+    }
+
+    pclose(fp);
+
+    return active;
+  }
+
+};
+
+}
+int main(int argc, char *argv[]) {
+  if (argc > 1) {
+    if (strcmp(argv[1], "local") == 0) {
+      manifest_url = MANIFEST_URL_EON_LOCAL;
+    } else if (strcmp(argv[1], "staging") == 0) {
+      manifest_url = MANIFEST_URL_EON_STAGING;
+    } else {
+      manifest_url = argv[1];
+    }
+  }
+  printf("updating from %s\n", manifest_url);
+  Updater updater;
+  updater.go();
+
+  return 0;
+}

launch_chffrplus.sh

@@ -1,5 +1,11 @@
 #!/usr/bin/bash
 
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
 if [ -z "$PASSIVE" ]; then
   export PASSIVE="1"
 fi
@@ -7,9 +13,16 @@ fi
 function launch {
   # apply update
   if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-     git reset --hard @{u} &&
-     git clean -xdf &&
-     exec "${BASH_SOURCE[0]}"
+    git reset --hard @{u} &&
+    git clean -xdf &&
+
+    # Touch all files on release2 after checkout to prevent rebuild
+    BRANCH=$(git rev-parse --abbrev-ref HEAD)
+    if [[ "$BRANCH" == "release2" ]]; then
+        touch **
+    fi
+
+    exec "${BASH_SOURCE[0]}"
   fi
 
   # no cpu rationing for now

opendbc/acura_ilx_2016_can_generated.dbc

@@ -164,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/acura_rdx_2018_can_generated.dbc

@@ -164,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/generator/honda/_bosch_2018.dbc

@@ -196,7 +196,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -260,4 +261,4 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

opendbc/generator/honda/_honda_2017.dbc

@@ -142,14 +142,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/generator/honda/honda_civic_touring_2016_can.dbc

@@ -50,8 +50,8 @@ BO_ 450 EPB_STATUS: 8 EPB
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 493 HUD_SETTING: 8 XXX
- SG_ SPEED_UNIT : 5|1@0+ (1,0) [0|1] "" EON
+BO_ 493 HUD_SETTING: 5 XXX
+ SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
 
 BO_ 487 BRAKE_PRESSURE: 4 VSA
  SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
@@ -128,7 +128,6 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
-VAL_ 493 SPEED_UNIT 1 "mph" 0 "kph" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;

opendbc/generator/toyota/_toyota_2017.dbc

@@ -91,7 +91,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc

@@ -16,7 +16,7 @@ BO_ 581 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

opendbc/generator/toyota/toyota_nodsu_hybrid_pt.dbc

@@ -20,6 +20,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/toyota_nodsu_pt.dbc

@@ -1,6 +1,17 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
 
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
+ SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
@@ -15,6 +26,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/honda_accord_lx15t_2018_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +266,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
 CM_ "honda_accord_lx15t_2018_can.dbc starts here"
 
 

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +266,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
 CM_ "honda_accord_s2t_2018_can.dbc starts here"
 
 

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +266,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
 
 

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -164,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -288,8 +289,8 @@ BO_ 450 EPB_STATUS: 8 EPB
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 493 HUD_SETTING: 8 XXX
- SG_ SPEED_UNIT : 5|1@0+ (1,0) [0|1] "" EON
+BO_ 493 HUD_SETTING: 5 XXX
+ SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
 
 BO_ 487 BRAKE_PRESSURE: 4 VSA
  SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
@@ -366,7 +367,6 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
-VAL_ 493 SPEED_UNIT 1 "mph" 0 "kph" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +266,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
 CM_ "honda_crv_ex_2017_can.dbc starts here"
 
 

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +266,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
 CM_ "honda_crv_hybrid_2019_can.dbc starts here"
 
 

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -164,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -164,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +266,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
 CM_ "honda_insight_ex_2019_can.dbc starts here"
 
 

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -164,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc

@@ -150,14 +150,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/honda_pilot_touring_2017_can_generated.dbc

@@ -164,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc

@@ -164,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/lexus_gs300h_2017_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/lexus_is_2018_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/lexus_is_hybrid_2017_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/lexus_rx_hybrid_2017_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/toyota_avalon_2017_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/toyota_camry_hybrid_2018_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX
@@ -314,7 +314,7 @@ BO_ 581 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

opendbc/toyota_corolla_2017_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/toyota_highlander_2017_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/toyota_nodsu_hybrid_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX
@@ -295,7 +295,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_chr_hybrid_2018_pt.dbc starts here"
+CM_ "toyota_nodsu_hybrid_pt.dbc starts here"
 
 
 
@@ -318,6 +318,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/toyota_nodsu_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX
@@ -295,10 +295,21 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_chr_2018_pt.dbc starts here"
+CM_ "toyota_nodsu_pt.dbc starts here"
 
 
 
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
+ SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
@@ -313,6 +324,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/toyota_prius_2017_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/toyota_rav4_2017_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

opendbc/toyota_sienna_xle_2018_pt_generated.dbc

@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX

panda/.circleci/config.yml

@@ -12,6 +12,47 @@ jobs:
           name: Run safety test
           command: |
             docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+
+  misra-c2012:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_misra -f tests/misra/Dockerfile ."
+      - run:
+          name: Run Misra C 2012 test
+          command: |
+            mkdir /tmp/misra
+            docker run -v /tmp/misra:/tmp/misra panda_misra /bin/bash -c "cd /panda/tests/misra; ./test_misra.sh"
+      - store_artifacts:
+          name: Store cppcheck test output
+          path: /tmp/misra/cppcheck_output.txt
+      - store_artifacts:
+          name: Store misra test output
+          path: /tmp/misra/misra_output.txt
+      - store_artifacts:
+          name: Store cppcheck safety test output
+          path: /tmp/misra/cppcheck_safety_output.txt
+      - store_artifacts:
+          name: Store misra safety test output
+          path: /tmp/misra/misra_safety_output.txt
+
+
+  strict-compiler:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_strict_compiler -f tests/build_strict/Dockerfile ."
+      - run:
+          name: Build Panda with strict compiler rules
+          command: |
+            docker run panda_strict_compiler /bin/bash -c "cd /panda/tests/build_strict; ./test_build_strict.sh"
+
   build:
     machine:
       docker_layer_caching: true
@@ -40,18 +81,30 @@ jobs:
           name: Build Pedal STM bootstub image
           command: |
             docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/bootstub.bin"
-      - run:
-          name: Build NEO STM image
-          command: |
-            docker run panda_build /bin/bash -c "cd /panda/board; make clean; make -f Makefile.legacy obj/comma.bin"
       - run:
           name: Build ESP image
           command: |
             docker run panda_build /bin/bash -c "cd /panda/boardesp; make user1.bin"
 
+  safety_replay:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_safety_replay -f tests/safety_replay/Dockerfile ."
+      - run:
+          name: Replay drives
+          command: |
+            docker run panda_safety_replay /bin/bash -c "cd /openpilot/panda/tests/safety_replay; PYTHONPATH=/openpilot ./test_safety_replay.py"
+
 workflows:
   version: 2
   main:
     jobs:
       - safety
+      - misra-c2012
+      - strict-compiler
       - build
+      - safety_replay

panda/.gitignore

@@ -10,5 +10,6 @@ a.out
 dist/
 pandacan.egg-info/
 board/obj/
-examples/output.csv
-.DS_Store
+examples/output.csv
+.DS_Store
+nosetests.xml

panda/Dockerfile

@@ -59,6 +59,4 @@ USER pandauser
 RUN cd /tmp/panda/boardesp && ./get_sdk_ci.sh
 USER root
 
-COPY ./xx/pandaextra /tmp/pandaextra
-
 ADD ./panda.tar.gz /tmp/panda

panda/Jenkinsfile

@@ -14,8 +14,6 @@ pipeline {
       steps {
         timeout(time: 60, unit: 'MINUTES') {
           script {
-            sh 'git clone --no-checkout --depth 1 git@github.com:commaai/xx.git || true'
-            sh 'cd xx && git fetch origin && git checkout origin/master -- pandaextra && cd ..' // Needed for certs for panda flashing
             sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
             dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
           }

panda/VERSION

@@ -1 +1 @@
-v1.2.1
+v1.4.0

panda/board/Makefile.legacy

@@ -1,9 +0,0 @@
-# :set noet
-PROJ_NAME = comma
-CFLAGS  = -g -Wall
-
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
-CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-STARTUP_FILE = startup_stm32f205xx
-
-include build.mk

panda/board/Makefile.strict

@@ -0,0 +1,8 @@
+PROJ_NAME = panda
+CFLAGS = -g -Wall -Wextra -Wstrict-prototypes
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
+CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+STARTUP_FILE = startup_stm32f413xx
+
+include build.mk

panda/board/README.md

@@ -23,12 +23,6 @@ Programming
 make
 ```
 
-**NEO**
-
-```
-make -f Makefile.legacy
-```
-
 Troubleshooting
 ----
 

panda/board/bootstub.c

@@ -12,11 +12,14 @@
   #include "stm32f2xx_hal_gpio_ex.h"
 #endif
 
+// default since there's no serial
+void puts(const char *a) {}
+void puth(unsigned int i) {}
+
 #include "libc.h"
 #include "provision.h"
 
-#include "drivers/drivers.h"
-
+#include "drivers/clock.h"
 #include "drivers/llgpio.h"
 #include "gpio.h"
 
@@ -24,15 +27,6 @@
 #include "drivers/usb.h"
 //#include "drivers/uart.h"
 
-#ifdef PEDAL
-#define CUSTOM_CAN_INTERRUPTS
-#include "safety.h"
-#include "drivers/can.h"
-#endif
-
-int puts(const char *a) { return 0; }
-void puth(unsigned int i) {}
-
 #include "crypto/rsa.h"
 #include "crypto/sha.h"
 

panda/board/build.mk

@@ -2,12 +2,15 @@ CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os
 
 CFLAGS += -Tstm32_flash.ld
 
+DFU_UTIL = "dfu-util"
+
 # Compile fast charge (DCP) only not on EON
 ifeq (,$(wildcard /EON))
   BUILDER = DEV
 else
   CFLAGS += "-DEON"
   BUILDER = EON
+  DFU_UTIL = "tools/dfu-util-aarch64"
 endif
 
 CC = arm-none-eabi-gcc
@@ -22,7 +25,6 @@ else
   CFLAGS += "-DALLOW_DEBUG"
 endif
 
-DFU_UTIL = "dfu-util"
 
 DEPDIR = generated_dependencies
 $(shell mkdir -p -m 777 $(DEPDIR) >/dev/null)

panda/board/config.h

@@ -22,17 +22,17 @@
 
 #include <stdbool.h>
 #define NULL ((void*)0)
-#define COMPILE_TIME_ASSERT(pred) switch(0){case 0:case pred:;}
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred)))]))
 
-#define min(a,b) \
+#define MIN(a,b) \
  ({ __typeof__ (a) _a = (a); \
      __typeof__ (b) _b = (b); \
-   _a < _b ? _a : _b; })
+   (_a < _b) ? _a : _b; })
 
-#define max(a,b) \
+#define MAX(a,b) \
  ({ __typeof__ (a) _a = (a); \
      __typeof__ (b) _b = (b); \
-   _a > _b ? _a : _b; })
+   (_a > _b) ? _a : _b; })
 
 #define MAX_RESP_LEN 0x40
 

panda/board/drivers/adc.h

@@ -8,7 +8,7 @@
 #define ADCCHAN_VOLTAGE 12
 #define ADCCHAN_CURRENT 13
 
-void adc_init() {
+void adc_init(void) {
   // global setup
   ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
   //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;

panda/board/drivers/can.h

@@ -1,10 +1,38 @@
-// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE, CAN2_TX, CAN2_RX0, CAN2_SCE, CAN3_TX, CAN3_RX0, CAN3_SCE
+// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
+//       CAN2_TX, CAN2_RX0, CAN2_SCE
+//       CAN3_TX, CAN3_RX0, CAN3_SCE
+
+typedef struct {
+  volatile uint32_t w_ptr;
+  volatile uint32_t r_ptr;
+  uint32_t fifo_size;
+  CAN_FIFOMailBox_TypeDef *elems;
+} can_ring;
+
+#define CAN_BUS_RET_FLAG 0x80
+#define CAN_BUS_NUM_MASK 0x7F
+
+#define BUS_MAX 4
+
+extern int can_live, pending_can_live;
+
+// must reinit after changing these
+extern int can_loopback, can_silent;
+extern uint32_t can_speed[4];
+
+void can_set_forwarding(int from, int to);
+
+void can_init(uint8_t can_number);
+void can_init_all(void);
+void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
+bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
+
+// end API
+
 #define ALL_CAN_SILENT 0xFF
 #define ALL_CAN_BUT_MAIN_SILENT 0xFE
 #define ALL_CAN_LIVE 0
 
-#include "lline_relay.h"
-
 int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
 
 // ********************* instantiate queues *********************
@@ -16,24 +44,21 @@ int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_S
 can_buffer(rx_q, 0x1000)
 can_buffer(tx1_q, 0x100)
 can_buffer(tx2_q, 0x100)
+can_buffer(tx3_q, 0x100)
+can_buffer(txgmlan_q, 0x100)
+can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
 
-#ifdef PANDA
-  can_buffer(tx3_q, 0x100)
-  can_buffer(txgmlan_q, 0x100)
-  can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
-#else
-  can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
-#endif
-
-#ifdef PANDA
-// Forward declare
-void power_save_reset_timer();
-#endif
+// global CAN stats
+int can_rx_cnt = 0;
+int can_tx_cnt = 0;
+int can_txd_cnt = 0;
+int can_err_cnt = 0;
+int can_overflow_cnt = 0;
 
 // ********************* interrupt safe queue *********************
 
-int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  int ret = 0;
+bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = 0;
 
   enter_critical_section();
   if (q->w_ptr != q->r_ptr) {
@@ -60,7 +85,12 @@ int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
     ret = 1;
   }
   exit_critical_section();
-  if (ret == 0) puts("can_push failed!\n");
+  if (ret == 0) {
+    can_overflow_cnt++;
+    #ifdef DEBUG
+      puts("can_push failed!\n");
+    #endif
+  }
   return ret;
 }
 
@@ -80,181 +110,54 @@ void can_clear(can_ring *q) {
 // can_num_lookup: Translates from 'bus number' to 'can number'.
 // can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
 
-int can_rx_cnt = 0;
-int can_tx_cnt = 0;
-int can_txd_cnt = 0;
-int can_err_cnt = 0;
-
-// NEO:         Bus 1=CAN1   Bus 2=CAN2
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
-#ifdef PANDA
-  CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
-  uint8_t bus_lookup[] = {0,1,2};
-  uint8_t can_num_lookup[] = {0,1,2,-1};
-  int8_t can_forwarding[] = {-1,-1,-1,-1};
-  uint32_t can_speed[] = {5000, 5000, 5000, 333};
-  bool can_autobaud_enabled[] = {false, false, false, false};
-  #define CAN_MAX 3
-#else
-  CAN_TypeDef *cans[] = {CAN1, CAN2};
-  uint8_t bus_lookup[] = {1,0};
-  uint8_t can_num_lookup[] = {1,0};
-  int8_t can_forwarding[] = {-1,-1};
-  uint32_t can_speed[] = {5000, 5000};
-  bool can_autobaud_enabled[] = {false, false};
-  #define CAN_MAX 2
-#endif
-
-uint32_t can_autobaud_speeds[] = {5000, 2500, 1250, 1000, 10000};
-#define AUTOBAUD_SPEEDS_LEN (sizeof(can_autobaud_speeds) / sizeof(can_autobaud_speeds[0]))
+CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
+uint8_t bus_lookup[] = {0,1,2};
+uint8_t can_num_lookup[] = {0,1,2,-1};
+int8_t can_forwarding[] = {-1,-1,-1,-1};
+uint32_t can_speed[] = {5000, 5000, 5000, 333};
+#define CAN_MAX 3
 
 #define CANIF_FROM_CAN_NUM(num) (cans[num])
-#ifdef PANDA
-#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : (CAN==CAN2 ? 1 : 2))
-#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : (CAN==CAN2 ? "CAN2" : "CAN3"))
-#else
-#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : 1)
-#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : "CAN2")
-#endif
+#define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
+#define CAN_NAME_FROM_CANIF(CAN) ((CAN)==CAN1 ? "CAN1" : ((CAN) == CAN2 ? "CAN2" : "CAN3"))
 #define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
 #define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
 
-// other option
-/*#define CAN_QUANTA 16
-#define CAN_SEQ1 13
-#define CAN_SEQ2 2*/
-
-// this is needed for 1 mbps support
-#define CAN_QUANTA 8
-#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
-#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
-
-#define CAN_PCLK 24000
-// 333 = 33.3 kbps
-// 5000 = 500 kbps
-#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
-
-void can_autobaud_speed_increment(uint8_t can_number) {
-  uint32_t autobaud_speed = can_autobaud_speeds[0];
-  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  for (int i = 0; i < AUTOBAUD_SPEEDS_LEN; i++) {
-    if (can_speed[bus_number] == can_autobaud_speeds[i]) {
-      if (i+1 < AUTOBAUD_SPEEDS_LEN) {
-        autobaud_speed = can_autobaud_speeds[i+1];
-      }
-      break;
-    }
-  }
-  can_speed[bus_number] = autobaud_speed;
-#ifdef DEBUG
-  CAN_TypeDef* CAN = CANIF_FROM_CAN_NUM(can_number);
-  puts(CAN_NAME_FROM_CANIF(CAN));
-  puts(" auto-baud test ");
-  putui(can_speed[bus_number]);
-  puts(" cbps\n");
-#endif
-}
-
 void process_can(uint8_t can_number);
 
 void can_set_speed(uint8_t can_number) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  while (true) {
-    // initialization mode
-    CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
-    while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-
-    // set time quanta from defines
-    CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
-              (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
-              (can_speed_to_prescaler(can_speed[bus_number]) - 1);
-
-    // silent loopback mode for debugging
-    if (can_loopback) {
-      CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
-    }
-    if (can_silent & (1 << can_number)) {
-      CAN->BTR |= CAN_BTR_SILM;
-    }
-
-    // reset
-    CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
-
-    #define CAN_TIMEOUT 1000000
-    int tmp = 0;
-    while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
-    if (tmp < CAN_TIMEOUT) {
-      return;
-    }
-
-    if (can_autobaud_enabled[bus_number]) {
-      can_autobaud_speed_increment(can_number);
-    } else {
-      puts("CAN init FAILED!!!!!\n");
-      puth(can_number); puts(" ");
-      puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
-      return;
-    }
+  if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, can_silent & (1 << can_number))) {
+    puts("CAN init FAILED!!!!!\n");
+    puth(can_number); puts(" ");
+    puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
   }
 }
 
 void can_init(uint8_t can_number) {
-  if (can_number == 0xff) return;
+  if (can_number != 0xff) {
+    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    set_can_enable(CAN, 1);
+    can_set_speed(can_number);
 
-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  set_can_enable(CAN, 1);
-  can_set_speed(can_number);
+    llcan_init(CAN);
 
-  // accept all filter
-  CAN->FMR |= CAN_FMR_FINIT;
-
-  // no mask
-  CAN->sFilterRegister[0].FR1 = 0;
-  CAN->sFilterRegister[0].FR2 = 0;
-  CAN->sFilterRegister[14].FR1 = 0;
-  CAN->sFilterRegister[14].FR2 = 0;
-  CAN->FA1R |= 1 | (1 << 14);
-
-  CAN->FMR &= ~(CAN_FMR_FINIT);
-
-  // enable certain CAN interrupts
-  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
-
-  switch (can_number) {
-    case 0:
-      NVIC_EnableIRQ(CAN1_TX_IRQn);
-      NVIC_EnableIRQ(CAN1_RX0_IRQn);
-      NVIC_EnableIRQ(CAN1_SCE_IRQn);
-      break;
-    case 1:
-      NVIC_EnableIRQ(CAN2_TX_IRQn);
-      NVIC_EnableIRQ(CAN2_RX0_IRQn);
-      NVIC_EnableIRQ(CAN2_SCE_IRQn);
-      break;
-#ifdef CAN3
-    case 2:
-      NVIC_EnableIRQ(CAN3_TX_IRQn);
-      NVIC_EnableIRQ(CAN3_RX0_IRQn);
-      NVIC_EnableIRQ(CAN3_SCE_IRQn);
-      break;
-#endif
+    // in case there are queued up messages
+    process_can(can_number);
   }
-
-  // in case there are queued up messages
-  process_can(can_number);
 }
 
-void can_init_all() {
+void can_init_all(void) {
   for (int i=0; i < CAN_MAX; i++) {
     can_init(i);
   }
 }
 
 void can_set_gmlan(int bus) {
-  #ifdef PANDA
-  if (bus == -1 || bus != can_num_lookup[3]) {
+  if ((bus == -1) || (bus != can_num_lookup[3])) {
     // GMLAN OFF
     switch (can_num_lookup[3]) {
       case 1:
@@ -273,6 +176,9 @@ void can_set_gmlan(int bus) {
         can_num_lookup[3] = -1;
         can_init(2);
         break;
+      default:
+        puts("GMLAN bus value invalid\n");
+        break;
     }
   }
 
@@ -284,7 +190,7 @@ void can_set_gmlan(int bus) {
     can_num_lookup[1] = -1;
     can_num_lookup[3] = 1;
     can_init(1);
-  } else if (bus == 2 && revision == PANDA_REV_C) {
+  } else if (bus == 2) {
     puts("GMLAN on CAN3\n");
     // GMLAN on CAN3
     set_can_mode(2, 1);
@@ -293,7 +199,6 @@ void can_set_gmlan(int bus) {
     can_num_lookup[3] = 2;
     can_init(2);
   }
-  #endif
 }
 
 // CAN error
@@ -319,125 +224,74 @@ void can_sce(CAN_TypeDef *CAN) {
     puts("\n");
   #endif
 
-  uint8_t can_number = CAN_NUM_FROM_CANIF(CAN);
-  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-
-  if (CAN->MSR & CAN_MSR_WKUI) {
-    //Waking from sleep
-    #ifdef DEBUG
-      puts("WAKE\n");
-    #endif
-    set_can_enable(CAN, 1);
-    CAN->MSR &= ~(CAN_MSR_WKUI);
-    CAN->MSR = CAN->MSR;
-#ifdef PANDA
-    power_save_reset_timer();
-#endif
-  } else {
-    can_err_cnt += 1;
-
-
-    if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
-      can_autobaud_speed_increment(can_number);
-      can_set_speed(can_number);
-    }
-
-    // clear current send
-    CAN->TSR |= CAN_TSR_ABRQ0;
-    CAN->MSR &= ~(CAN_MSR_ERRI);
-    CAN->MSR = CAN->MSR;
-  }
+  can_err_cnt += 1;
+  llcan_clear_send(CAN);
   exit_critical_section();
 }
 
 // ***************************** CAN *****************************
 
 void process_can(uint8_t can_number) {
-  if (can_number == 0xff) return;
-#ifdef PANDA
-  power_save_reset_timer();
-#endif
+  if (can_number != 0xff) {
 
-  enter_critical_section();
+    enter_critical_section();
 
-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  #ifdef DEBUG
-    puts("process CAN TX\n");
-  #endif
+    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  // check for empty mailbox
-  CAN_FIFOMailBox_TypeDef to_send;
-  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
-    // add successfully transmitted message to my fifo
-    if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
-      can_txd_cnt += 1;
+    // check for empty mailbox
+    CAN_FIFOMailBox_TypeDef to_send;
+    if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+      // add successfully transmitted message to my fifo
+      if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
+        can_txd_cnt += 1;
 
-      if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
-        CAN_FIFOMailBox_TypeDef to_push;
-        to_push.RIR = CAN->sTxMailBox[0].TIR;
-        to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
-        to_push.RDLR = CAN->sTxMailBox[0].TDLR;
-        to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-        can_push(&can_rx_q, &to_push);
+        if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
+          CAN_FIFOMailBox_TypeDef to_push;
+          to_push.RIR = CAN->sTxMailBox[0].TIR;
+          to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
+          to_push.RDLR = CAN->sTxMailBox[0].TDLR;
+          to_push.RDHR = CAN->sTxMailBox[0].TDHR;
+          can_push(&can_rx_q, &to_push);
+        }
+
+        if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
+          #ifdef DEBUG
+            puts("CAN TX ERROR!\n");
+          #endif
+        }
+
+        if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
+          #ifdef DEBUG
+            puts("CAN TX ARBITRATION LOST!\n");
+          #endif
+        }
+
+        // clear interrupt
+        // careful, this can also be cleared by requesting a transmission
+        CAN->TSR |= CAN_TSR_RQCP0;
       }
 
-      if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
-        #ifdef DEBUG
-          puts("CAN TX ERROR!\n");
-        #endif
+      if (can_pop(can_queues[bus_number], &to_send)) {
+        can_tx_cnt += 1;
+        // only send if we have received a packet
+        CAN->sTxMailBox[0].TDLR = to_send.RDLR;
+        CAN->sTxMailBox[0].TDHR = to_send.RDHR;
+        CAN->sTxMailBox[0].TDTR = to_send.RDTR;
+        CAN->sTxMailBox[0].TIR = to_send.RIR;
       }
-
-      if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
-        #ifdef DEBUG
-          puts("CAN TX ARBITRATION LOST!\n");
-        #endif
-      }
-
-      // clear interrupt
-      // careful, this can also be cleared by requesting a transmission
-      CAN->TSR |= CAN_TSR_RQCP0;
     }
 
-    if (can_pop(can_queues[bus_number], &to_send)) {
-      if (CAN->MCR & CAN_MCR_SLEEP) {
-        set_can_enable(CAN, 1);
-        CAN->MCR &= ~(CAN_MCR_SLEEP);
-        CAN->MCR |= CAN_MCR_INRQ;
-        while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-        CAN->MCR &= ~(CAN_MCR_INRQ);
-      }
-      can_tx_cnt += 1;
-      // only send if we have received a packet
-      CAN->sTxMailBox[0].TDLR = to_send.RDLR;
-      CAN->sTxMailBox[0].TDHR = to_send.RDHR;
-      CAN->sTxMailBox[0].TDTR = to_send.RDTR;
-      CAN->sTxMailBox[0].TIR = to_send.RIR;
-    }
+    exit_critical_section();
   }
-
-  exit_critical_section();
 }
 
 // CAN receive handlers
 // blink blue when we are receiving CAN messages
 void can_rx(uint8_t can_number) {
-  #ifdef PANDA
-    power_save_reset_timer();
-  #endif
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  while (CAN->RF0R & CAN_RF0R_FMP0) {
-    if (can_autobaud_enabled[bus_number]) {
-      can_autobaud_enabled[bus_number] = false;
-      puts(CAN_NAME_FROM_CANIF(CAN));
-    #ifdef DEBUG
-      puts(" auto-baud ");
-      putui(can_speed[bus_number]);
-      puts(" cbps\n");
-    #endif
-    }
-
+  while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
     can_rx_cnt += 1;
 
     // can is live
@@ -454,25 +308,19 @@ void can_rx(uint8_t can_number) {
     to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
 
     // forwarding (panda only)
-    #ifdef PANDA
-      if ((get_lline_status() != 0) || !relay_control) { //Relay engaged or relay isn't controlled, allow fwd
-        int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
-        if (bus_fwd_num != -1) {
-          CAN_FIFOMailBox_TypeDef to_send;
-          to_send.RIR = to_push.RIR | 1; // TXRQ
-          to_send.RDTR = to_push.RDTR;
-          to_send.RDLR = to_push.RDLR;
-          to_send.RDHR = to_push.RDHR;
-          can_send(&to_send, bus_fwd_num);
-        }
-      }
-    #endif
+    int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+    if (bus_fwd_num != -1) {
+      CAN_FIFOMailBox_TypeDef to_send;
+      to_send.RIR = to_push.RIR | 1; // TXRQ
+      to_send.RDTR = to_push.RDTR;
+      to_send.RDLR = to_push.RDLR;
+      to_send.RDHR = to_push.RDHR;
+      can_send(&to_send, bus_fwd_num);
+    }
 
     safety_rx_hook(&to_push);
 
-    #ifdef PANDA
-      set_led(LED_BLUE, 1);
-    #endif
+    set_led(LED_BLUE, 1);
     can_push(&can_rx_q, &to_push);
 
     // next
@@ -480,35 +328,27 @@ void can_rx(uint8_t can_number) {
   }
 }
 
-#ifndef CUSTOM_CAN_INTERRUPTS
+void CAN1_TX_IRQHandler(void) { process_can(0); }
+void CAN1_RX0_IRQHandler(void) { can_rx(0); }
+void CAN1_SCE_IRQHandler(void) { can_sce(CAN1); }
 
-void CAN1_TX_IRQHandler() { process_can(0); }
-void CAN1_RX0_IRQHandler() { can_rx(0); }
-void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
+void CAN2_TX_IRQHandler(void) { process_can(1); }
+void CAN2_RX0_IRQHandler(void) { can_rx(1); }
+void CAN2_SCE_IRQHandler(void) { can_sce(CAN2); }
 
-void CAN2_TX_IRQHandler() { process_can(1); }
-void CAN2_RX0_IRQHandler() { can_rx(1); }
-void CAN2_SCE_IRQHandler() { can_sce(CAN2); }
-
-#ifdef CAN3
-void CAN3_TX_IRQHandler() { process_can(2); }
-void CAN3_RX0_IRQHandler() { can_rx(2); }
-void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
-#endif
-
-#endif
+void CAN3_TX_IRQHandler(void) { process_can(2); }
+void CAN3_RX0_IRQHandler(void) { can_rx(2); }
+void CAN3_SCE_IRQHandler(void) { can_sce(CAN3); }
 
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
-  if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
+  if (safety_tx_hook(to_push) != 0) {
     if (bus_number < BUS_MAX) {
       // add CAN packet to send queue
       // bus number isn't passed through
       to_push->RDTR &= 0xF;
-      if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
-        #ifdef PANDA
+      if ((bus_number == 3) && (can_num_lookup[3] == 0xFF)) {
         // TODO: why uint8 bro? only int8?
         bitbang_gmlan(to_push);
-        #endif
       } else {
         can_push(can_queues[bus_number], to_push);
         process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
@@ -520,3 +360,4 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
 void can_set_forwarding(int from, int to) {
   can_forwarding[from] = to;
 }
+

panda/board/drivers/clock.h

@@ -0,0 +1,40 @@
+void clock_init(void) {
+  // enable external oscillator
+  RCC->CR |= RCC_CR_HSEON;
+  while ((RCC->CR & RCC_CR_HSERDY) == 0);
+
+  // divide shit
+  RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
+
+  // 16mhz crystal
+  RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
+                 RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
+
+  // start PLL
+  RCC->CR |= RCC_CR_PLLON;
+  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
+
+  // Configure Flash prefetch, Instruction cache, Data cache and wait state
+  // *** without this, it breaks ***
+  FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
+
+  // switch to PLL
+  RCC->CFGR |= RCC_CFGR_SW_PLL;
+  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
+
+  // *** running on PLL ***
+}
+
+void watchdog_init(void) {
+  // setup watchdog
+  IWDG->KR = 0x5555;
+  IWDG->PR = 0;          // divider /4
+  // 0 = 0.125 ms, let's have a 50ms watchdog
+  IWDG->RLR = 400 - 1;
+  IWDG->KR = 0xCCCC;
+}
+
+void watchdog_feed(void) {
+  IWDG->KR = 0xAAAA;
+}
+

panda/board/drivers/drivers.h

@@ -1,141 +0,0 @@
-#ifndef PANDA_DRIVERS_H
-#define PANDA_DRIVERS_H
-
-// ********************* LLGPIO *********************
-
-#define MODE_INPUT 0
-#define MODE_OUTPUT 1
-#define MODE_ALTERNATE 2
-#define MODE_ANALOG 3
-
-#define PULL_NONE 0
-#define PULL_UP 1
-#define PULL_DOWN 2
-
-void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode);
-void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val);
-void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode);
-void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode);
-
-int get_gpio_input(GPIO_TypeDef *GPIO, int pin);
-
-
-// ********************* USB *********************
-// IRQs: OTG_FS
-
-typedef union {
-  uint16_t w;
-  struct BW {
-    uint8_t msb;
-    uint8_t lsb;
-  }
-  bw;
-}
-uint16_t_uint8_t;
-
-typedef union _USB_Setup {
-  uint32_t d8[2];
-  struct _SetupPkt_Struc
-  {
-    uint8_t           bmRequestType;
-    uint8_t           bRequest;
-    uint16_t_uint8_t  wValue;
-    uint16_t_uint8_t  wIndex;
-    uint16_t_uint8_t  wLength;
-  } b;
-}
-USB_Setup_TypeDef;
-
-void usb_init();
-int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired);
-int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
-void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
-void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
-void usb_cb_enumeration_complete();
-
-
-// ********************* UART *********************
-// IRQs: USART1, USART2, USART3, UART5
-
-#define FIFO_SIZE 0x400
-typedef struct uart_ring {
-  uint16_t w_ptr_tx;
-  uint16_t r_ptr_tx;
-  uint8_t elems_tx[FIFO_SIZE];
-  uint16_t w_ptr_rx;
-  uint16_t r_ptr_rx;
-  uint8_t elems_rx[FIFO_SIZE];
-  USART_TypeDef *uart;
-  void (*callback)(struct uart_ring*);
-} uart_ring;
-
-void uart_init(USART_TypeDef *u, int baud);
-
-int getc(uart_ring *q, char *elem);
-int putc(uart_ring *q, char elem);
-
-int puts(const char *a);
-void puth(unsigned int i);
-void hexdump(const void *a, int l);
-
-
-// ********************* ADC *********************
-
-void adc_init();
-uint32_t adc_get(int channel);
-
-
-// ********************* DAC *********************
-
-void dac_init();
-void dac_set(int channel, uint32_t value);
-
-
-// ********************* TIMER *********************
-
-void timer_init(TIM_TypeDef *TIM, int psc);
-
-
-// ********************* SPI *********************
-// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
-
-void spi_init();
-int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
-
-
-// ********************* CAN *********************
-// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
-//       CAN2_TX, CAN2_RX0, CAN2_SCE
-//       CAN3_TX, CAN3_RX0, CAN3_SCE
-
-typedef struct {
-  uint32_t w_ptr;
-  uint32_t r_ptr;
-  uint32_t fifo_size;
-  CAN_FIFOMailBox_TypeDef *elems;
-} can_ring;
-
-#define CAN_BUS_RET_FLAG 0x80
-#define CAN_BUS_NUM_MASK 0x7F
-
-#ifdef PANDA
-  #define BUS_MAX 4
-#else
-  #define BUS_MAX 2
-#endif
-
-extern int can_live, pending_can_live;
-
-// must reinit after changing these
-extern int can_loopback, can_silent;
-extern uint32_t can_speed[];
-
-void can_set_forwarding(int from, int to);
-
-void can_init(uint8_t can_number);
-void can_init_all();
-void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
-int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
-
-#endif
-

panda/board/drivers/gmlan_alt.h

@@ -9,7 +9,7 @@
 
 #define MAX_BITS_CAN_PACKET (200)
 
-int gmlan_alt_mode = DISABLED; 
+int gmlan_alt_mode = DISABLED;
 
 // returns out_len
 int do_bitstuff(char *out, char *in, int in_len) {
@@ -18,7 +18,8 @@ int do_bitstuff(char *out, char *in, int in_len) {
   int j = 0;
   for (int i = 0; i < in_len; i++) {
     char bit = in[i];
-    out[j++] = bit;
+    out[j] = bit;
+    j++;
 
     // do the stuffing
     if (bit == last_bit) {
@@ -26,7 +27,8 @@ int do_bitstuff(char *out, char *in, int in_len) {
       if (bit_cnt == 5) {
         // 5 in a row the same, do stuff
         last_bit = !bit;
-        out[j++] = last_bit;
+        out[j] = last_bit;
+        j++;
         bit_cnt = 1;
       }
     } else {
@@ -42,27 +44,30 @@ int append_crc(char *in, int in_len) {
   int crc = 0;
   for (int i = 0; i < in_len; i++) {
     crc <<= 1;
-    if (in[i] ^ ((crc>>15)&1)) {
+    if ((in[i] ^ ((crc >> 15) & 1)) != 0) {
       crc = crc ^ 0x4599;
     }
     crc &= 0x7fff;
   }
   for (int i = 14; i >= 0; i--) {
-    in[in_len++] = (crc>>i)&1;
+    in[in_len] = (crc>>i)&1;
+    in_len++;
   }
   return in_len;
 }
 
 int append_bits(char *in, int in_len, char *app, int app_len) {
   for (int i = 0; i < app_len; i++) {
-    in[in_len++] = app[i];
+    in[in_len] = app[i];
+    in_len++;
   }
   return in_len;
 }
 
 int append_int(char *in, int in_len, int val, int val_len) {
   for (int i = val_len-1; i >= 0; i--) {
-    in[in_len++] = (val&(1<<i)) != 0;
+    in[in_len] = (val&(1<<i)) != 0;
+    in_len++;
   }
   return in_len;
 }
@@ -82,8 +87,8 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   // test packet
   int dlc_len = to_bang->RDTR & 0xF;
   len = append_int(pkt, len, 0, 1);    // Start-of-frame
-  
-  if (to_bang->RIR & 4) {
+
+  if ((to_bang->RIR & 4) != 0) {
     // extended identifier
     len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
     len = append_int(pkt, len, 3, 2);    // SRR+IDE
@@ -114,9 +119,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   return len;
 }
 
-#ifdef PANDA
-
-void setup_timer4() {
+void setup_timer4(void) {
   // setup
   TIM4->PSC = 48-1;          // tick on 1 us
   TIM4->CR1 = TIM_CR1_CEN;   // enable
@@ -133,7 +136,7 @@ void setup_timer4() {
 int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
 int can_timeout_counter = GMLAN_TICKS_PER_SECOND; //1 second
 
-int inverted_bit_to_send = GMLAN_HIGH; 
+int inverted_bit_to_send = GMLAN_HIGH;
 int gmlan_switch_below_timeout = -1;
 int gmlan_switch_timeout_enable = 0;
 
@@ -142,9 +145,9 @@ void gmlan_switch_init(int timeout_enable) {
   gmlan_alt_mode = GPIO_SWITCH;
   gmlan_switch_below_timeout = 1;
   set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-  
+
   setup_timer4();
-  
+
   inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
 }
 
@@ -164,7 +167,7 @@ void reset_gmlan_switch_timeout(void) {
 }
 
 void set_bitbanged_gmlan(int val) {
-  if (val) {
+  if (val != 0) {
     GPIOB->ODR |= (1 << 13);
   } else {
     GPIOB->ODR &= ~(1 << 13);
@@ -182,7 +185,7 @@ int gmlan_fail_count = 0;
 
 void TIM4_IRQHandler(void) {
   if (gmlan_alt_mode == BITBANG) {
-    if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
+    if ((TIM4->SR & TIM_SR_UIF) && (gmlan_sendmax != -1)) {
       int read = get_gpio_input(GPIOB, 12);
       if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
         if (read == 0) {
@@ -191,16 +194,16 @@ void TIM4_IRQHandler(void) {
           gmlan_silent_count++;
         }
       } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
-        int retry = 0;
+        bool retry = 0;
         // in send loop
-        if (gmlan_sending > 0 &&  // not first bit
-           (read == 0 && pkt_stuffed[gmlan_sending-1] == 1) &&  // bus wrongly dominant
-           gmlan_sending != (gmlan_sendmax-11)) {    //not ack bit
+        if ((gmlan_sending > 0) &&  // not first bit
+           ((read == 0) && (pkt_stuffed[gmlan_sending-1] == 1)) &&  // bus wrongly dominant
+           (gmlan_sending != (gmlan_sendmax - 11))) {    //not ack bit
           puts("GMLAN ERR: bus driven at ");
           puth(gmlan_sending);
           puts("\n");
           retry = 1;
-        } else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) {    // recessive during ACK
+        } else if ((read == 1) && (gmlan_sending == (gmlan_sendmax - 11))) {    // recessive during ACK
           puts("GMLAN ERR: didn't recv ACK\n");
           retry = 1;
         }
@@ -218,7 +221,7 @@ void TIM4_IRQHandler(void) {
           gmlan_sending++;
         }
       }
-      if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
+      if ((gmlan_sending == gmlan_sendmax) || (gmlan_fail_count == MAX_FAIL_COUNT)) {
         set_bitbanged_gmlan(1); // recessive
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
         TIM4->DIER = 0;  // no update interrupt
@@ -230,8 +233,8 @@ void TIM4_IRQHandler(void) {
   } //bit bang mode
 
   else if (gmlan_alt_mode == GPIO_SWITCH) {
-    if (TIM4->SR & TIM_SR_UIF && gmlan_switch_below_timeout != -1) {
-      if (can_timeout_counter == 0 && gmlan_switch_timeout_enable) {
+    if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
+      if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
         //it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
         set_gpio_output(GPIOB, 13, GMLAN_LOW);
         gmlan_switch_below_timeout = -1;
@@ -258,19 +261,19 @@ void TIM4_IRQHandler(void) {
 void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
   gmlan_alt_mode = BITBANG;
   // TODO: make failure less silent
-  if (gmlan_sendmax != -1) return;
+  if (gmlan_sendmax == -1) {
 
-  int len = get_bit_message(pkt_stuffed, to_bang);
-  gmlan_fail_count = 0;
-  gmlan_silent_count = 0;
-  gmlan_sending = 0;
-  gmlan_sendmax = len;
+    int len = get_bit_message(pkt_stuffed, to_bang);
+    gmlan_fail_count = 0;
+    gmlan_silent_count = 0;
+    gmlan_sending = 0;
+    gmlan_sendmax = len;
 
-  // setup for bitbang loop
-  set_bitbanged_gmlan(1); // recessive
-  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
+    // setup for bitbang loop
+    set_bitbanged_gmlan(1); // recessive
+    set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
 
-  setup_timer4();
+    setup_timer4();
+  }
 }
 
-#endif

panda/board/drivers/llcan.h

@@ -0,0 +1,81 @@
+// this is needed for 1 mbps support
+#define CAN_QUANTA 8
+#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
+#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
+
+#define CAN_PCLK 24000
+// 333 = 33.3 kbps
+// 5000 = 500 kbps
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
+
+bool llcan_set_speed(CAN_TypeDef *CAN, uint32_t speed, bool loopback, bool silent) {
+  // initialization mode
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+
+  // set time quanta from defines
+  CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+            (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+            (can_speed_to_prescaler(speed) - 1);
+
+  // silent loopback mode for debugging
+  if (loopback) {
+    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+  }
+  if (silent) {
+    CAN->BTR |= CAN_BTR_SILM;
+  }
+
+  // reset
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
+
+  #define CAN_TIMEOUT 1000000
+  int tmp = 0;
+  bool ret = false;
+  while(((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
+  if (tmp < CAN_TIMEOUT) {
+    ret = true;
+  }
+
+  return ret;
+}
+
+void llcan_init(CAN_TypeDef *CAN) {
+  // accept all filter
+  CAN->FMR |= CAN_FMR_FINIT;
+
+  // no mask
+  CAN->sFilterRegister[0].FR1 = 0;
+  CAN->sFilterRegister[0].FR2 = 0;
+  CAN->sFilterRegister[14].FR1 = 0;
+  CAN->sFilterRegister[14].FR2 = 0;
+  CAN->FA1R |= 1 | (1U << 14);
+
+  CAN->FMR &= ~(CAN_FMR_FINIT);
+
+  // enable certain CAN interrupts
+  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
+
+  if (CAN == CAN1) {
+    NVIC_EnableIRQ(CAN1_TX_IRQn);
+    NVIC_EnableIRQ(CAN1_RX0_IRQn);
+    NVIC_EnableIRQ(CAN1_SCE_IRQn);
+  } else if (CAN == CAN2) {
+    NVIC_EnableIRQ(CAN2_TX_IRQn);
+    NVIC_EnableIRQ(CAN2_RX0_IRQn);
+    NVIC_EnableIRQ(CAN2_SCE_IRQn);
+#ifdef CAN3
+  } else if (CAN == CAN3) {
+    NVIC_EnableIRQ(CAN3_TX_IRQn);
+    NVIC_EnableIRQ(CAN3_RX0_IRQn);
+    NVIC_EnableIRQ(CAN3_SCE_IRQn);
+#endif
+  }
+}
+
+void llcan_clear_send(CAN_TypeDef *CAN) {
+  CAN->TSR |= CAN_TSR_ABRQ0;
+  CAN->MSR &= ~(CAN_MSR_ERRI);
+  CAN->MSR = CAN->MSR;
+}
+

panda/board/drivers/llgpio.h

@@ -1,3 +1,12 @@
+#define MODE_INPUT 0
+#define MODE_OUTPUT 1
+#define MODE_ALTERNATE 2
+#define MODE_ANALOG 3
+
+#define PULL_NONE 0
+#define PULL_UP 1
+#define PULL_DOWN 2
+
 void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
   uint32_t tmp = GPIO->MODER;
   tmp &= ~(3 << (pin*2));
@@ -5,8 +14,8 @@ void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
   GPIO->MODER = tmp;
 }
 
-void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val) {
-  if (val) {
+void set_gpio_output(GPIO_TypeDef *GPIO, int pin, bool enabled) {
+  if (enabled) {
     GPIO->ODR |= (1 << pin);
   } else {
     GPIO->ODR &= ~(1 << pin);
@@ -30,6 +39,6 @@ void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
 }
 
 int get_gpio_input(GPIO_TypeDef *GPIO, int pin) {
-  return (GPIO->IDR & (1 << pin)) == (1 << pin);
+  return (GPIO->IDR & (1U << pin)) == (1U << pin);
 }
 

panda/board/drivers/lline_relay.h

@@ -1,88 +0,0 @@
-#ifdef PANDA
-
-int relay_control = 0;  // True if relay is controlled through l-line
-
-/* Conrol a relay connected to l-line pin */
-
-// 160us cycles, 1 high, 25 low
-
-volatile int turn_on_relay = 0;
-volatile int on_cycles = 25;
-
-//5s timeout
-#define LLINE_TIMEOUT_CYCLES 31250
-volatile int timeout_cycles = LLINE_TIMEOUT_CYCLES;
-
-void TIM5_IRQHandler(void) {
-  if (TIM5->SR & TIM_SR_UIF) {
-    on_cycles--;
-    timeout_cycles--;
-    if (timeout_cycles == 0) {
-      turn_on_relay = 0;
-    }
-    if (on_cycles > 0) {
-      if (turn_on_relay) {
-        set_gpio_output(GPIOC, 10, 0);
-      }
-    }
-    else {
-      set_gpio_output(GPIOC, 10, 1);
-      on_cycles = 25;
-    }
-  }
-  TIM5->ARR = 160-1;
-  TIM5->SR = 0;
-}
-
-void lline_relay_init (void) {
-  set_lline_output(0);
-  relay_control = 1;
-  set_gpio_output(GPIOC, 10, 1);
-
-  // setup
-  TIM5->PSC = 48-1; // tick on 1 us
-  TIM5->CR1 = TIM_CR1_CEN;   // enable
-  TIM5->ARR = 50-1;         // 50 us
-  TIM5->DIER = TIM_DIER_UIE; // update interrupt
-  TIM5->CNT = 0;
-
-  NVIC_EnableIRQ(TIM5_IRQn);
-
-#ifdef DEBUG
-  puts("INIT LLINE\n");
-  puts(" SR ");
-  putui(TIM5->SR);
-  puts(" PSC ");
-  putui(TIM5->PSC);
-  puts(" CR1 ");
-  putui(TIM5->CR1);
-  puts(" ARR ");
-  putui(TIM5->ARR);
-  puts(" DIER ");
-  putui(TIM5->DIER);
-  puts(" SR ");
-  putui(TIM5->SR);
-  puts(" CNT ");
-  putui(TIM5->CNT);
-  puts("\n");
-#endif
-}
-
-void lline_relay_release (void) {
-  set_lline_output(0);
-  relay_control = 0;
-  puts("RELEASE LLINE\n");
-  set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
-  NVIC_DisableIRQ(TIM5_IRQn);
-}
-
-void set_lline_output(int to_set) {
-  timeout_cycles = LLINE_TIMEOUT_CYCLES;
-  turn_on_relay = to_set;
-}
-
-int get_lline_status() {
-  return turn_on_relay;
-}
-
-#endif

panda/board/drivers/spi.h

@@ -1,11 +1,16 @@
 // IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
 
+void spi_init(void);
+int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
+
+// end API
+
 #define SPI_BUF_SIZE 256
 uint8_t spi_buf[SPI_BUF_SIZE];
 int spi_buf_count = 0;
 int spi_total_count = 0;
 
-void spi_init() {
+void spi_init(void) {
   //puts("SPI init\n");
   SPI1->CR1 = SPI_CR1_SPE;
 
@@ -23,8 +28,8 @@ void spi_init() {
 
   // setup interrupt on falling edge of SPI enable (on PA4)
   SYSCFG->EXTICR[2] = SYSCFG_EXTICR2_EXTI4_PA;
-  EXTI->IMR = (1 << 4);
-  EXTI->FTSR = (1 << 4);
+  EXTI->IMR |= (1 << 4);
+  EXTI->FTSR |= (1 << 4);
   NVIC_EnableIRQ(EXTI4_IRQn);
 }
 
@@ -108,12 +113,12 @@ void DMA2_Stream3_IRQHandler(void) {
 }
 
 void EXTI4_IRQHandler(void) {
-  volatile int pr = EXTI->PR;
+  volatile int pr = EXTI->PR & (1 << 4);
   #ifdef DEBUG_SPI
     puts("exti4\n");
   #endif
   // SPI CS falling
-  if (pr & (1 << 4)) {
+  if ((pr & (1 << 4)) != 0) {
     spi_total_count = 0;
     spi_rx_dma(spi_buf, 0x14);
   }

panda/board/drivers/uart.h

@@ -1,5 +1,27 @@
 // IRQs: USART1, USART2, USART3, UART5
 
+#define FIFO_SIZE 0x400
+typedef struct uart_ring {
+  volatile uint16_t w_ptr_tx;
+  volatile uint16_t r_ptr_tx;
+  uint8_t elems_tx[FIFO_SIZE];
+  volatile uint16_t w_ptr_rx;
+  volatile uint16_t r_ptr_rx;
+  uint8_t elems_rx[FIFO_SIZE];
+  USART_TypeDef *uart;
+  void (*callback)(struct uart_ring*);
+} uart_ring;
+
+void uart_init(USART_TypeDef *u, int baud);
+
+bool getc(uart_ring *q, char *elem);
+bool putc(uart_ring *q, char elem);
+
+void puts(const char *a);
+void puth(unsigned int i);
+void hexdump(const void *a, int l);
+
+
 // ***************************** serial port queues *****************************
 
 // esp = USART1
@@ -28,18 +50,25 @@ uart_ring debug_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
 
 
 uart_ring *get_ring_by_number(int a) {
+  uart_ring *ring = NULL;
   switch(a) {
     case 0:
-      return &debug_ring;
+      ring = &debug_ring;
+      break;
     case 1:
-      return &esp_ring;
+      ring = &esp_ring;
+      break;
     case 2:
-      return &lin1_ring;
+      ring = &lin1_ring;
+      break;
     case 3:
-      return &lin2_ring;
+      ring = &lin2_ring;
+      break;
     default:
-      return NULL;
+      ring = NULL;
+      break;
   }
+  return ring;
 }
 
 // ***************************** serial port *****************************
@@ -50,31 +79,32 @@ void uart_ring_process(uart_ring *q) {
   int sr = q->uart->SR;
 
   if (q->w_ptr_tx != q->r_ptr_tx) {
-    if (sr & USART_SR_TXE) {
+    if ((sr & USART_SR_TXE) != 0) {
       q->uart->DR = q->elems_tx[q->r_ptr_tx];
       q->r_ptr_tx = (q->r_ptr_tx + 1) % FIFO_SIZE;
-    } else {
-      // push on interrupt later
-      q->uart->CR1 |= USART_CR1_TXEIE;
     }
+    // there could be more to send
+    q->uart->CR1 |= USART_CR1_TXEIE;
   } else {
     // nothing to send
     q->uart->CR1 &= ~USART_CR1_TXEIE;
   }
 
-  if (sr & USART_SR_RXNE || sr & USART_SR_ORE) {
+  if ((sr & USART_SR_RXNE) || (sr & USART_SR_ORE)) {
     uint8_t c = q->uart->DR;  // TODO: can drop packets
     if (q != &esp_ring) {
       uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
       if (next_w_ptr != q->r_ptr_rx) {
         q->elems_rx[q->w_ptr_rx] = c;
         q->w_ptr_rx = next_w_ptr;
-        if (q->callback) q->callback(q);
+        if (q->callback != NULL) {
+          q->callback(q);
+        }
       }
     }
   }
 
-  if (sr & USART_SR_ORE) {
+  if ((sr & USART_SR_ORE) != 0) {
     // set dropped packet flag?
   }
 
@@ -88,22 +118,22 @@ void USART2_IRQHandler(void) { uart_ring_process(&debug_ring); }
 void USART3_IRQHandler(void) { uart_ring_process(&lin2_ring); }
 void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }
 
-int getc(uart_ring *q, char *elem) {
-  int ret = 0;
+bool getc(uart_ring *q, char *elem) {
+  bool ret = false;
 
   enter_critical_section();
   if (q->w_ptr_rx != q->r_ptr_rx) {
-    *elem = q->elems_rx[q->r_ptr_rx];
+    if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
     q->r_ptr_rx = (q->r_ptr_rx + 1) % FIFO_SIZE;
-    ret = 1;
+    ret = true;
   }
   exit_critical_section();
 
   return ret;
 }
 
-int injectc(uart_ring *q, char elem) {
-  int ret = 0;
+bool injectc(uart_ring *q, char elem) {
+  int ret = false;
   uint16_t next_w_ptr;
 
   enter_critical_section();
@@ -111,15 +141,15 @@ int injectc(uart_ring *q, char elem) {
   if (next_w_ptr != q->r_ptr_rx) {
     q->elems_rx[q->w_ptr_rx] = elem;
     q->w_ptr_rx = next_w_ptr;
-    ret = 1;
+    ret = true;
   }
   exit_critical_section();
 
   return ret;
 }
 
-int putc(uart_ring *q, char elem) {
-  int ret = 0;
+bool putc(uart_ring *q, char elem) {
+  bool ret = false;
   uint16_t next_w_ptr;
 
   enter_critical_section();
@@ -127,7 +157,7 @@ int putc(uart_ring *q, char elem) {
   if (next_w_ptr != q->r_ptr_tx) {
     q->elems_tx[q->w_ptr_tx] = elem;
     q->w_ptr_tx = next_w_ptr;
-    ret = 1;
+    ret = true;
   }
   exit_critical_section();
 
@@ -136,6 +166,24 @@ int putc(uart_ring *q, char elem) {
   return ret;
 }
 
+void uart_flush(uart_ring *q) {
+  while (q->w_ptr_tx != q->r_ptr_tx) {
+    __WFI();
+  }
+}
+
+void uart_flush_sync(uart_ring *q) {
+  // empty the TX buffer
+  while (q->w_ptr_tx != q->r_ptr_tx) {
+    uart_ring_process(q);
+  }
+}
+
+void uart_send_break(uart_ring *u) {
+  while ((u->uart->CR1 & USART_CR1_SBK) != 0);
+  u->uart->CR1 |= USART_CR1_SBK;
+}
+
 void clear_uart_buff(uart_ring *q) {
   enter_critical_section();
   q->w_ptr_tx = 0;
@@ -147,10 +195,10 @@ void clear_uart_buff(uart_ring *q) {
 
 // ***************************** start UART code *****************************
 
-#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_)*25)/(4*(_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_))/100)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
+#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_) * 25) / (4 * (_BAUD_)))
+#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_)) / 100)
+#define __DIVFRAQ(_PCLK_, _BAUD_)                    ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16) + 50) / 100)
+#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
 
 void uart_set_baud(USART_TypeDef *u, int baud) {
   if (u == USART1) {
@@ -164,19 +212,19 @@ void uart_set_baud(USART_TypeDef *u, int baud) {
 #define USART1_DMA_LEN 0x20
 char usart1_dma[USART1_DMA_LEN];
 
-void uart_dma_drain() {
+void uart_dma_drain(void) {
   uart_ring *q = &esp_ring;
 
   enter_critical_section();
 
-  if (DMA2->HISR & DMA_HISR_TCIF5 || DMA2->HISR & DMA_HISR_HTIF5 || DMA2_Stream5->NDTR != USART1_DMA_LEN) {
+  if ((DMA2->HISR & DMA_HISR_TCIF5) || (DMA2->HISR & DMA_HISR_HTIF5) || (DMA2_Stream5->NDTR != USART1_DMA_LEN)) {
     // disable DMA
     q->uart->CR3 &= ~USART_CR3_DMAR;
     DMA2_Stream5->CR &= ~DMA_SxCR_EN;
-    while (DMA2_Stream5->CR & DMA_SxCR_EN);
+    while ((DMA2_Stream5->CR & DMA_SxCR_EN) != 0);
 
-    int i;
-    for (i = 0; i < USART1_DMA_LEN - DMA2_Stream5->NDTR; i++) {
+    unsigned int i;
+    for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
       char c = usart1_dma[i];
       uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
       if (next_w_ptr != q->r_ptr_rx) {
@@ -258,22 +306,23 @@ void putch(const char a) {
   }
 }
 
-int puts(const char *a) {
+void puts(const char *a) {
   for (;*a;a++) {
     if (*a == '\n') putch('\r');
     putch(*a);
   }
-  return 0;
 }
 
 void putui(uint32_t i) {
   char str[11];
   uint8_t idx = 10;
-  str[idx--] = '\0';
+  str[idx] = '\0';
+  idx--;
   do {
-    str[idx--] = (i % 10) + 0x30;
+    str[idx] = (i % 10) + 0x30;
+    idx--;
     i /= 10;
-  } while (i);
+  } while (i != 0);
   puts(str + idx + 1);
 }
 
@@ -296,7 +345,7 @@ void puth2(unsigned int i) {
 void hexdump(const void *a, int l) {
   int i;
   for (i=0;i<l;i++) {
-    if (i != 0 && (i&0xf) == 0) puts("\n");
+    if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
     puth2(((const unsigned char*)a)[i]);
     puts(" ");
   }

panda/board/drivers/usb.h

@@ -1,5 +1,35 @@
 // IRQs: OTG_FS
 
+typedef union {
+  uint16_t w;
+  struct BW {
+    uint8_t msb;
+    uint8_t lsb;
+  }
+  bw;
+}
+uint16_t_uint8_t;
+
+typedef union _USB_Setup {
+  uint32_t d8[2];
+  struct _SetupPkt_Struc
+  {
+    uint8_t           bmRequestType;
+    uint8_t           bRequest;
+    uint16_t_uint8_t  wValue;
+    uint16_t_uint8_t  wIndex;
+    uint16_t_uint8_t  wLength;
+  } b;
+}
+USB_Setup_TypeDef;
+
+void usb_init(void);
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
+int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired);
+void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired);
+void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired);
+void usb_cb_enumeration_complete(void);
+
 // **** supporting defines ****
 
 typedef struct
@@ -13,9 +43,9 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
 #define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
 #define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
-#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
-#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
-#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
+#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE))
 #define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
 
 #define  USB_REQ_GET_STATUS                             0x00
@@ -95,11 +125,11 @@ uint8_t resp[MAX_RESP_LEN];
 
 // Convert machine byte order to USB byte order
 #define TOUSBORDER(num)\
-  (num&0xFF), ((num>>8)&0xFF)
+  ((num) & 0xFF), (((num) >> 8) & 0xFF)
 
 // take in string length and return the first 2 bytes of a string descriptor
 #define STRING_DESCRIPTOR_HEADER(size)\
-  (((size * 2 + 2)&0xFF) | 0x0300)
+  (((((size) * 2) + 2) & 0xFF) | 0x0300)
 
 uint8_t device_desc[] = {
   DSCR_DEVICE_LEN, USB_DESC_TYPE_DEVICE, //Length, Type
@@ -186,17 +216,10 @@ uint16_t string_manufacturer_desc[] = {
   'c', 'o', 'm', 'm', 'a', '.', 'a', 'i'
 };
 
-#ifdef PANDA
 uint16_t string_product_desc[] = {
   STRING_DESCRIPTOR_HEADER(5),
   'p', 'a', 'n', 'd', 'a'
 };
-#else
-uint16_t string_product_desc[] = {
-  STRING_DESCRIPTOR_HEADER(5),
-  'N', 'E', 'O', 'v', '1'
-};
-#endif
 
 // default serial number when we're not a panda
 uint16_t string_serial_desc[] = {
@@ -210,7 +233,6 @@ uint16_t string_configuration_desc[] = {
   '0', '1' // "01"
 };
 
-#ifdef PANDA
 // WCID (auto install WinUSB driver)
 // https://github.com/pbatard/libwdi/wiki/WCID-Devices
 // https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/winusb-installation#automatic-installation-of--winusb-without-an-inf-file
@@ -360,8 +382,6 @@ uint8_t winusb_20_desc[WINUSB_PLATFORM_DESCRIPTOR_LENGTH] = {
     '1', 0x00, 'a', 0x00, 'd', 0x00, 'e', 0x00, '9', 0x00, '}', 0x00, 0x00, 0x00 // 78 bytes
 };
 
-#endif
-
 // current packet
 USB_Setup_TypeDef setup;
 uint8_t usbdata[0x100];
@@ -377,9 +397,10 @@ void *USB_ReadPacket(void *dest, uint16_t len) {
   uint32_t i=0;
   uint32_t count32b = (len + 3) / 4;
 
-  for ( i = 0; i < count32b; i++, dest += 4 ) {
+  for ( i = 0; i < count32b; i++) {
     // packed?
     *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
+    dest += 4;
   }
   return ((void *)dest);
 }
@@ -400,8 +421,9 @@ void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
   USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
 
   // load the FIFO
-  for (i = 0; i < count32b; i++, src += 4) {
+  for (i = 0; i < count32b; i++) {
     USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
+    src += 4;
   }
 }
 
@@ -413,7 +435,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
   hexdump(src, len);
   #endif
 
-  uint16_t wplen = min(len, 0x40);
+  uint16_t wplen = MIN(len, 0x40);
   USB_WritePacket(src, wplen, 0);
 
   if (wplen < len) {
@@ -425,7 +447,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
   }
 }
 
-void usb_reset() {
+void usb_reset(void) {
   // unmask endpoint interrupts, so many sets
   USBx_DEVICE->DAINT = 0xFFFFFFFF;
   USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
@@ -469,14 +491,16 @@ void usb_reset() {
 }
 
 char to_hex_char(int a) {
+  char ret;
   if (a < 10) {
-    return '0' + a;
+    ret = '0' + a;
   } else {
-    return 'a' + (a-10);
+    ret = 'a' + (a - 10);
   }
+  return ret;
 }
 
-void usb_setup() {
+void usb_setup(void) {
   int resp_len;
   // setup packet is ready
   switch (setup.b.bRequest) {
@@ -525,32 +549,32 @@ void usb_setup() {
           //puts("    writing device descriptor\n");
 
           // setup transfer
-          USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
+          USB_WritePacket(device_desc, MIN(sizeof(device_desc), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
 
           //puts("D");
           break;
         case USB_DESC_TYPE_CONFIGURATION:
-          USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
+          USB_WritePacket(configuration_desc, MIN(sizeof(configuration_desc), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
         case USB_DESC_TYPE_DEVICE_QUALIFIER:
-          USB_WritePacket(device_qualifier, min(sizeof(device_qualifier), setup.b.wLength.w), 0);
+          USB_WritePacket(device_qualifier, MIN(sizeof(device_qualifier), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
         case USB_DESC_TYPE_STRING:
           switch (setup.b.wValue.bw.msb) {
             case STRING_OFFSET_LANGID:
-              USB_WritePacket((uint8_t*)string_language_desc, min(sizeof(string_language_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_language_desc, MIN(sizeof(string_language_desc), setup.b.wLength.w), 0);
               break;
             case STRING_OFFSET_IMANUFACTURER:
-              USB_WritePacket((uint8_t*)string_manufacturer_desc, min(sizeof(string_manufacturer_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_manufacturer_desc, MIN(sizeof(string_manufacturer_desc), setup.b.wLength.w), 0);
               break;
             case STRING_OFFSET_IPRODUCT:
-              USB_WritePacket((uint8_t*)string_product_desc, min(sizeof(string_product_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_product_desc, MIN(sizeof(string_product_desc), setup.b.wLength.w), 0);
               break;
             case STRING_OFFSET_ISERIAL:
-              #ifdef PANDA
+              #ifdef UID_BASE
                 resp[0] = 0x02 + 12*4;
                 resp[1] = 0x03;
 
@@ -563,19 +587,17 @@ void usb_setup() {
                   resp[2 + i*4 + 3] = '\0';
                 }
 
-                USB_WritePacket(resp, min(resp[0], setup.b.wLength.w), 0);
+                USB_WritePacket(resp, MIN(resp[0], setup.b.wLength.w), 0);
               #else
-                USB_WritePacket((const uint8_t *)string_serial_desc, min(sizeof(string_serial_desc), setup.b.wLength.w), 0);
+                USB_WritePacket((const uint8_t *)string_serial_desc, MIN(sizeof(string_serial_desc), setup.b.wLength.w), 0);
               #endif
               break;
-            #ifdef PANDA
             case STRING_OFFSET_ICONFIGURATION:
-              USB_WritePacket((uint8_t*)string_configuration_desc, min(sizeof(string_configuration_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_configuration_desc, MIN(sizeof(string_configuration_desc), setup.b.wLength.w), 0);
               break;
             case 238:
-              USB_WritePacket((uint8_t*)string_238_desc, min(sizeof(string_238_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_238_desc, MIN(sizeof(string_238_desc), setup.b.wLength.w), 0);
               break;
-            #endif
             default:
               // nothing
               USB_WritePacket(0, 0, 0);
@@ -583,12 +605,10 @@ void usb_setup() {
           }
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
-        #ifdef PANDA
         case USB_DESC_TYPE_BINARY_OBJECT_STORE:
-          USB_WritePacket(binary_object_store_desc, min(sizeof(binary_object_store_desc), setup.b.wLength.w), 0);
+          USB_WritePacket(binary_object_store_desc, MIN(sizeof(binary_object_store_desc), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
-        #endif
         default:
           // nothing here?
           USB_WritePacket(0, 0, 0);
@@ -609,11 +629,10 @@ void usb_setup() {
       USB_WritePacket(0, 0, 0);
       USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
       break;
-    #ifdef PANDA
     case WEBUSB_VENDOR_CODE:
       switch (setup.b.wIndex.w) {
         case WEBUSB_REQ_GET_URL:
-          USB_WritePacket(webusb_url_descriptor, min(sizeof(webusb_url_descriptor), setup.b.wLength.w), 0);
+          USB_WritePacket(webusb_url_descriptor, MIN(sizeof(webusb_url_descriptor), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
         default:
@@ -627,29 +646,28 @@ void usb_setup() {
       switch (setup.b.wIndex.w) {
         // winusb 2.0 descriptor from BOS
         case WINUSB_REQ_GET_DESCRIPTOR:
-          USB_WritePacket_EP0((uint8_t*)winusb_20_desc, min(sizeof(winusb_20_desc), setup.b.wLength.w));
+          USB_WritePacket_EP0((uint8_t*)winusb_20_desc, MIN(sizeof(winusb_20_desc), setup.b.wLength.w));
           break;
         // Extended Compat ID OS Descriptor
         case WINUSB_REQ_GET_COMPATID_DESCRIPTOR:
-          USB_WritePacket_EP0((uint8_t*)winusb_ext_compatid_os_desc, min(sizeof(winusb_ext_compatid_os_desc), setup.b.wLength.w));
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_compatid_os_desc, MIN(sizeof(winusb_ext_compatid_os_desc), setup.b.wLength.w));
           break;
         // Extended Properties OS Descriptor
         case WINUSB_REQ_GET_EXT_PROPS_OS:
-          USB_WritePacket_EP0((uint8_t*)winusb_ext_prop_os_desc, min(sizeof(winusb_ext_prop_os_desc), setup.b.wLength.w));
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_prop_os_desc, MIN(sizeof(winusb_ext_prop_os_desc), setup.b.wLength.w));
           break;
         default:
           USB_WritePacket_EP0(0, 0);
       }
       break;
-    #endif
     default:
       resp_len = usb_cb_control_msg(&setup, resp, 1);
-      USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
+      USB_WritePacket(resp, MIN(resp_len, setup.b.wLength.w), 0);
       USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
   }
 }
 
-void usb_init() {
+void usb_init(void) {
   // full speed PHY, do reset and remove power down
   /*puth(USBx->GRSTCTL);
   puts(" resetting PHY\n");*/
@@ -742,27 +760,27 @@ void usb_irqhandler(void) {
     puts(" USB interrupt!\n");
   #endif
 
-  if (gintsts & USB_OTG_GINTSTS_CIDSCHG) {
+  if ((gintsts & USB_OTG_GINTSTS_CIDSCHG) != 0) {
     puts("connector ID status change\n");
   }
 
-  if (gintsts & USB_OTG_GINTSTS_ESUSP) {
+  if ((gintsts & USB_OTG_GINTSTS_ESUSP) != 0) {
     puts("ESUSP detected\n");
   }
 
-  if (gintsts & USB_OTG_GINTSTS_USBRST) {
+  if ((gintsts & USB_OTG_GINTSTS_USBRST) != 0) {
     puts("USB reset\n");
     usb_reset();
   }
 
-  if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
+  if ((gintsts & USB_OTG_GINTSTS_ENUMDNE) != 0) {
     puts("enumeration done");
     // Full speed, ENUMSPD
     //puth(USBx_DEVICE->DSTS);
     puts("\n");
   }
 
-  if (gintsts & USB_OTG_GINTSTS_OTGINT) {
+  if ((gintsts & USB_OTG_GINTSTS_OTGINT) != 0) {
     puts("OTG int:");
     puth(USBx->GOTGINT);
     puts("\n");
@@ -772,7 +790,7 @@ void usb_irqhandler(void) {
   }
 
   // RX FIFO first
-  if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
+  if ((gintsts & USB_OTG_GINTSTS_RXFLVL) != 0) {
     // 1. Read the Receive status pop register
     volatile unsigned int rxst = USBx->GRXSTSP;
 
@@ -834,7 +852,7 @@ void usb_irqhandler(void) {
     USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
   }
 
-  if (gintsts & USB_OTG_GINTSTS_SRQINT) {
+  if ((gintsts & USB_OTG_GINTSTS_SRQINT) != 0) {
     // we want to do "A-device host negotiation protocol" since we are the A-device
     /*puts("start request\n");
     puth(USBx->GOTGCTL);
@@ -845,7 +863,7 @@ void usb_irqhandler(void) {
   }
 
   // out endpoint hit
-  if (gintsts & USB_OTG_GINTSTS_OEPINT) {
+  if ((gintsts & USB_OTG_GINTSTS_OEPINT) != 0) {
     #ifdef DEBUG_USB
       puts("  0:");
       puth(USBx_OUTEP(0)->DOEPINT);
@@ -860,7 +878,7 @@ void usb_irqhandler(void) {
       puts(" OUT ENDPOINT\n");
     #endif
 
-    if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+    if ((USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT2 PACKET XFRC\n");
       #endif
@@ -868,32 +886,32 @@ void usb_irqhandler(void) {
       USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
     }
 
-    if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+    if ((USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET XFRC\n");
       #endif
       USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
       USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
+    } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET WTF\n");
       #endif
       // if NAK was set trigger this, unknown interrupt
       USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
       USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT) {
+    } else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
       puts("OUTEP3 error ");
       puth(USBx_OUTEP(3)->DOEPINT);
       puts("\n");
     }
 
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
+    if ((USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) != 0) {
       // ready for next packet
       USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
     }
 
     // respond to setup packets
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
+    if ((USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) != 0) {
       usb_setup();
     }
 
@@ -903,7 +921,7 @@ void usb_irqhandler(void) {
   }
 
   // interrupt endpoint hit (Page 1221)
-  if (gintsts & USB_OTG_GINTSTS_IEPINT) {
+  if ((gintsts & USB_OTG_GINTSTS_IEPINT) != 0) {
     #ifdef DEBUG_USB
       puts("  ");
       puth(USBx_INEP(0)->DIEPINT);
@@ -918,8 +936,8 @@ void usb_irqhandler(void) {
     // No need to set NAK in OTG_DIEPCTL0 when nothing to send,
     // Appears USB core automatically sets NAK. WritePacket clears it.
 
-    // Handle the two interface alternate settings. Setting 0 is has
-    // EP1 as bulk. Setting 1 has EP1 as interrupt. The code to handle
+    // Handle the two interface alternate settings. Setting 0 has EP1
+    // as bulk. Setting 1 has EP1 as interrupt. The code to handle
     // these two EP variations are very similar and can be
     // restructured for smaller code footprint. Keeping split out for
     // now for clarity.
@@ -928,7 +946,7 @@ void usb_irqhandler(void) {
     switch (current_int0_alt_setting) {
       case 0: ////// Bulk config
         // *** IN token received when TxFIFO is empty
-        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+        if ((USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
           #ifdef DEBUG_USB
           puts("  IN PACKET QUEUE\n");
           #endif
@@ -939,7 +957,7 @@ void usb_irqhandler(void) {
 
       case 1: ////// Interrupt config
         // *** IN token received when TxFIFO is empty
-        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+        if ((USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
           #ifdef DEBUG_USB
           puts("  IN PACKET QUEUE\n");
           #endif
@@ -950,15 +968,18 @@ void usb_irqhandler(void) {
           }
         }
         break;
+      default:
+        puts("current_int0_alt_setting value invalid\n");
+        break;
     }
 
-    if (USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+    if ((USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
       #ifdef DEBUG_USB
       puts("  IN PACKET QUEUE\n");
       #endif
 
-      if (ep0_txlen != 0 && (USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40) {
-        uint16_t len = min(ep0_txlen, 0x40);
+      if ((ep0_txlen != 0) && ((USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40)) {
+        uint16_t len = MIN(ep0_txlen, 0x40);
         USB_WritePacket(ep0_txdata, len, 0);
         ep0_txdata += len;
         ep0_txlen -= len;

panda/board/gpio.h

@@ -1,3 +1,5 @@
+// this is last place with ifdef PANDA
+
 #ifdef STM32F4
   #include "stm32f4xx_hal_gpio_ex.h"
 #else
@@ -11,23 +13,25 @@
 
 #define PULL_EFFECTIVE_DELAY 10
 
-int has_external_debug_serial = 0;
-int is_giant_panda = 0;
-int is_entering_bootmode = 0;
-int revision = PANDA_REV_AB;
-int is_grey_panda = 0;
+void puts(const char *a);
 
-int detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
+bool has_external_debug_serial = 0;
+bool is_giant_panda = 0;
+bool is_entering_bootmode = 0;
+int revision = PANDA_REV_AB;
+bool is_grey_panda = 0;
+
+bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
   set_gpio_mode(GPIO, pin, MODE_INPUT);
   set_gpio_pullup(GPIO, pin, mode);
   for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
-  int ret = get_gpio_input(GPIO, pin);
+  bool ret = get_gpio_input(GPIO, pin);
   set_gpio_pullup(GPIO, pin, PULL_NONE);
   return ret;
 }
 
 // must call again from main because BSS is zeroed
-void detect() {
+void detect(void) {
   // detect has_external_debug_serial
   has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
 
@@ -61,44 +65,7 @@ void detect() {
 
 // ********************* bringup *********************
 
-void clock_init() {
-  // enable external oscillator
-  RCC->CR |= RCC_CR_HSEON;
-  while ((RCC->CR & RCC_CR_HSERDY) == 0);
-
-  // divide shit
-  RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
-  #ifdef PANDA
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
-  #else
-    #ifdef PEDAL
-      // comma pedal has a 16mhz crystal
-      RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                     RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
-    #else
-      // NEO board has a 8mhz crystal
-      RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                     RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
-    #endif
-  #endif
-
-  // start PLL
-  RCC->CR |= RCC_CR_PLLON;
-  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
-
-  // Configure Flash prefetch, Instruction cache, Data cache and wait state
-  // *** without this, it breaks ***
-  FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
-
-  // switch to PLL
-  RCC->CFGR |= RCC_CFGR_SW_PLL;
-  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
-
-  // *** running on PLL ***
-}
-
-void periph_init() {
+void periph_init(void) {
   // enable GPIOB, UART2, CAN, USB clock
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
@@ -117,24 +84,22 @@ void periph_init() {
     RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
   #endif
   RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
+  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
+  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
   RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
   RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
   RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
-
-  // needed?
   RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
 }
 
 // ********************* setters *********************
 
-void set_can_enable(CAN_TypeDef *CAN, int enabled) {
+void set_can_enable(CAN_TypeDef *CAN, bool enabled) {
   // enable CAN busses
   if (CAN == CAN1) {
     #ifdef PANDA
@@ -176,16 +141,16 @@ void set_can_enable(CAN_TypeDef *CAN, int enabled) {
 #endif
 
 void set_led(int led_num, int on) {
-  if (led_num == -1) return;
-
+  if (led_num != -1) {
   #ifdef PANDA
     set_gpio_output(GPIOC, led_num, !on);
   #else
     set_gpio_output(GPIOB, led_num, !on);
   #endif
+  }
 }
 
-void set_can_mode(int can, int use_gmlan) {
+void set_can_mode(int can, bool use_gmlan) {
   // connects to CAN2 xcvr or GMLAN xcvr
   if (use_gmlan) {
     if (can == 1) {
@@ -197,7 +162,7 @@ void set_can_mode(int can, int use_gmlan) {
       set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
       set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
 #ifdef CAN3
-    } else if (revision == PANDA_REV_C && can == 2) {
+    } else if (can == 2) {
       // A8,A15: disable normal mode
       set_gpio_mode(GPIOA, 8, MODE_INPUT);
       set_gpio_mode(GPIOA, 15, MODE_INPUT);
@@ -218,11 +183,9 @@ void set_can_mode(int can, int use_gmlan) {
       set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
 #ifdef CAN3
     } else if (can == 2) {
-      if(revision == PANDA_REV_C){
-        // B3,B4: disable gmlan mode
-        set_gpio_mode(GPIOB, 3, MODE_INPUT);
-        set_gpio_mode(GPIOB, 4, MODE_INPUT);
-      }
+      // B3,B4: disable gmlan mode
+      set_gpio_mode(GPIOB, 3, MODE_INPUT);
+      set_gpio_mode(GPIOB, 4, MODE_INPUT);
       // A8,A15: normal mode
       set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
       set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
@@ -239,6 +202,7 @@ void set_can_mode(int can, int use_gmlan) {
 int usb_power_mode = USB_POWER_NONE;
 
 void set_usb_power_mode(int mode) {
+  bool valid_mode = true;
   switch (mode) {
     case USB_POWER_CLIENT:
       // B2,A13: set client mode
@@ -255,8 +219,15 @@ void set_usb_power_mode(int mode) {
       set_gpio_output(GPIOB, 2, 0);
       set_gpio_output(GPIOA, 13, 0);
       break;
+    default:
+      valid_mode = false;
+      puts("Invalid usb power mode\n");
+      break;
+  }
+
+  if (valid_mode) {
+    usb_power_mode = mode;
   }
-  usb_power_mode = mode;
 }
 
 #define ESP_DISABLED 0
@@ -279,13 +250,16 @@ void set_esp_mode(int mode) {
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 0);
       break;
+    default:
+      puts("Invalid esp mode\n");
+      break;
   }
 }
 
 // ********************* big init function *********************
 
 // board specific
-void gpio_init() {
+void gpio_init(void) {
   // pull low to hold ESP in reset??
   // enable OTG out tied to ground
   GPIOA->ODR = 0;
@@ -377,11 +351,7 @@ void gpio_init() {
 
   #ifdef PANDA
     // K-line enable moved from B4->B7 to make room for GMLAN on CAN3
-    if (revision == PANDA_REV_C) {
-      set_gpio_output(GPIOB, 7, 1); // REV C
-    } else {
-      set_gpio_output(GPIOB, 4, 1); // REV AB
-    }
+    set_gpio_output(GPIOB, 7, 1); // REV C
 
     // C12,D2: K-Line setup on UART 5
     set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
@@ -392,16 +362,12 @@ void gpio_init() {
     set_gpio_output(GPIOA, 14, 1);
 
     // C10,C11: L-Line setup on USART 3
-    // LLine now used for relay output
-    set_gpio_output(GPIOC, 10, 1);
-    //set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
     set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
     set_gpio_pullup(GPIOC, 11, PULL_UP);
   #endif
 
-  if (revision == PANDA_REV_C) {
-    set_usb_power_mode(USB_POWER_CLIENT);
-  }
+  set_usb_power_mode(USB_POWER_CLIENT);
 }
 
 // ********************* early bringup *********************
@@ -413,7 +379,7 @@ void gpio_init() {
 extern void *g_pfnVectors;
 extern uint32_t enter_bootloader_mode;
 
-void jump_to_bootloader() {
+void jump_to_bootloader(void) {
   // do enter bootloader
   enter_bootloader_mode = 0;
   void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
@@ -426,11 +392,11 @@ void jump_to_bootloader() {
   NVIC_SystemReset();
 }
 
-void early() {
+void early(void) {
   // after it's been in the bootloader, things are initted differently, so we reset
-  if (enter_bootloader_mode != BOOT_NORMAL &&
-      enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC &&
-      enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC) {
+  if ((enter_bootloader_mode != BOOT_NORMAL) &&
+      (enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
+      (enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) {
     enter_bootloader_mode = BOOT_NORMAL;
     NVIC_SystemReset();
   }

panda/board/libc.h

@@ -1,12 +1,12 @@
-// **** shitty libc ****
+// **** libc ****
 
 void delay(int a) {
   volatile int i;
-  for (i=0;i<a;i++);
+  for (i = 0; i < a; i++);
 }
 
 void *memset(void *str, int c, unsigned int n) {
-  int i;
+  unsigned int i;
   for (i = 0; i < n; i++) {
     *((uint8_t*)str) = c;
     ++str;
@@ -15,7 +15,7 @@ void *memset(void *str, int c, unsigned int n) {
 }
 
 void *memcpy(void *dest, const void *src, unsigned int n) {
-  int i;
+  unsigned int i;
   // TODO: make not slow
   for (i = 0; i < n; i++) {
     ((uint8_t*)dest)[i] = *(uint8_t*)src;
@@ -25,26 +25,36 @@ void *memcpy(void *dest, const void *src, unsigned int n) {
 }
 
 int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
-  int i;
+  unsigned int i;
+  int ret = 0;
   for (i = 0; i < num; i++) {
-    if ( ((uint8_t*)ptr1)[i] != ((uint8_t*)ptr2)[i] ) return -1;
+    if ( ((uint8_t*)ptr1)[i] != ((uint8_t*)ptr2)[i] ) {
+      ret = -1;
+      break;
+    }
   }
-  return 0;
+  return ret;
 }
 
 // ********************* IRQ helpers *********************
 
+int interrupts_enabled = 0;
+void enable_interrupts(void) {
+  interrupts_enabled = 1;
+  __enable_irq();
+}
+
 int critical_depth = 0;
-void enter_critical_section() {
+void enter_critical_section(void) {
   __disable_irq();
   // this is safe because interrupts are disabled
   critical_depth += 1;
 }
 
-void exit_critical_section() {
+void exit_critical_section(void) {
   // this is safe because interrupts are disabled
   critical_depth -= 1;
-  if (critical_depth == 0) {
+  if ((critical_depth == 0) && interrupts_enabled) {
     __enable_irq();
   }
 }

panda/board/main.c

@@ -1,14 +1,15 @@
+//#define EON
+
 #include "config.h"
 #include "obj/gitversion.h"
 
 // ********************* includes *********************
 
+
 #include "libc.h"
-#include "safety.h"
 #include "provision.h"
 
-#include "drivers/drivers.h"
-
+#include "drivers/llcan.h"
 #include "drivers/llgpio.h"
 #include "gpio.h"
 
@@ -16,25 +17,16 @@
 #include "drivers/adc.h"
 #include "drivers/usb.h"
 #include "drivers/gmlan_alt.h"
-#include "drivers/can.h"
-#include "drivers/spi.h"
 #include "drivers/timer.h"
+#include "drivers/clock.h"
+
+#ifndef EON
+#include "drivers/spi.h"
+#endif
 
 #include "power_saving.h"
-
-
-// ***************************** fan *****************************
-
-void fan_init() {
-  // timer for fan PWM
-  TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
-  TIM3->CCER = TIM_CCER_CC3E;
-  timer_init(TIM3, 10);
-}
-
-void fan_set_speed(int fan_speed) {
-  TIM3->CCR3 = fan_speed;
-}
+#include "safety.h"
+#include "drivers/can.h"
 
 // ********************* serial debugging *********************
 
@@ -70,6 +62,38 @@ void debug_ring_callback(uart_ring *ring) {
   }
 }
 
+// ***************************** started logic *****************************
+
+bool is_gpio_started(void) {
+  // ignition is on PA1
+  return (GPIOA->IDR & (1U << 1)) == 0;
+}
+
+void EXTI1_IRQHandler(void) {
+  volatile int pr = EXTI->PR & (1U << 1);
+  if ((pr & (1U << 1)) != 0) {
+    #ifdef DEBUG
+      puts("got started interrupt\n");
+    #endif
+
+    // jenky debounce
+    delay(100000);
+
+    // set power savings mode here
+    int power_save_state = is_gpio_started() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
+    set_power_save_state(power_save_state);
+    EXTI->PR = (1U << 1);
+  }
+}
+
+void started_interrupt_init(void) {
+  SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
+  EXTI->IMR |= (1U << 1);
+  EXTI->RTSR |= (1U << 1);
+  EXTI->FTSR |= (1U << 1);
+  NVIC_EnableIRQ(EXTI1_IRQn);
+}
+
 // ***************************** USB port *****************************
 
 int get_health_pkt(void *dat) {
@@ -85,40 +109,25 @@ int get_health_pkt(void *dat) {
 
   //Voltage will be measured in mv. 5000 = 5V
   uint32_t voltage = adc_get(ADCCHAN_VOLTAGE);
-  if (revision == PANDA_REV_AB) {
-    //REVB has a 100, 27 (27/127) voltage divider
-    //Here is the calculation for the scale
-    //ADCV = VIN_S * (27/127) * (4095/3.3)
-    //RETVAL = ADCV * s = VIN_S*1000
-    //s = 1000/((4095/3.3)*(27/127)) = 3.79053046
 
-    //Avoid needing floating point math
-    health->voltage = (voltage * 3791) / 1000;
-  } else {
-    //REVC has a 10, 1 (1/11) voltage divider
-    //Here is the calculation for the scale (s)
-    //ADCV = VIN_S * (1/11) * (4095/3.3)
-    //RETVAL = ADCV * s = VIN_S*1000
-    //s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
+  // REVC has a 10, 1 (1/11) voltage divider
+  // Here is the calculation for the scale (s)
+  // ADCV = VIN_S * (1/11) * (4095/3.3)
+  // RETVAL = ADCV * s = VIN_S*1000
+  // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
 
-    //Avoid needing floating point math
-    health->voltage = (voltage * 8862) / 1000;
-  }
+  // Avoid needing floating point math
+  health->voltage = (voltage * 8862) / 1000;
 
-#ifdef PANDA
   health->current = adc_get(ADCCHAN_CURRENT);
   int safety_ignition = safety_ignition_hook();
   if (safety_ignition < 0) {
     //Use the GPIO pin to determine ignition
-    health->started = (GPIOA->IDR & (1 << 1)) == 0;
+    health->started = is_gpio_started();
   } else {
     //Current safety hooks want to determine ignition (ex: GM)
     health->started = safety_ignition;
   }
-#else
-  health->current = 0;
-  health->started = (GPIOC->IDR & (1 << 13)) != 0;
-#endif
 
   health->controls_allowed = controls_allowed;
   health->gas_interceptor_detected = gas_interceptor_detected;
@@ -130,26 +139,34 @@ int get_health_pkt(void *dat) {
   return sizeof(*health);
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) {
+int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
   CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
   int ilen = 0;
-  while (ilen < min(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) ilen++;
+  while (ilen < MIN(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) {
+    ilen++;
+  }
   return ilen*0x10;
 }
 
 // send on serial, first byte to select the ring
-void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
-  if (len == 0) return;
+void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
   uart_ring *ur = get_ring_by_number(usbdata[0]);
-  if (!ur) return;
-  if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
-    if (ur == &esp_ring) power_save_reset_timer();
-    for (int i = 1; i < len; i++) while (!putc(ur, usbdata[i]));
+  if ((len != 0) && (ur != NULL)) {
+    if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
+      for (int i = 1; i < len; i++) {
+        while (!putc(ur, usbdata[i])) {
+          // wait
+        }
+      }
+    }
   }
 }
 
 // send on CAN
-void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
+void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
   int dpkt = 0;
   for (dpkt = 0; dpkt < len; dpkt += 0x10) {
     uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
@@ -163,25 +180,17 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
 
     uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
     can_send(&to_push, bus_number);
-
-    #ifdef PANDA
-      // Enable relay on can message if allowed.
-      // Temporary until OP has support for relay
-      if (safety_relay_hook()) {
-        set_lline_output(1);
-      }
-    #endif
   }
 }
 
-int is_enumerated = 0;
+bool is_enumerated = 0;
 
 void usb_cb_enumeration_complete() {
   puts("USB enumeration complete\n");
   is_enumerated = 1;
 }
 
-int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
   int resp_len = 0;
   uart_ring *ur = NULL;
   int i;
@@ -201,16 +210,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xd0: fetch serial number
     case 0xd0:
-      #ifdef PANDA
-        // addresses are OTP
-        if (setup->b.wValue.w == 1) {
-          memcpy(resp, (void *)0x1fff79c0, 0x10);
-          resp_len = 0x10;
-        } else {
-          get_provision_chunk(resp);
-          resp_len = PROVISION_CHUNK_LEN;
-        }
-      #endif
+      // addresses are OTP
+      if (setup->b.wValue.w == 1) {
+        memcpy(resp, (void *)0x1fff79c0, 0x10);
+        resp_len = 0x10;
+      } else {
+        get_provision_chunk(resp);
+        resp_len = PROVISION_CHUNK_LEN;
+      }
       break;
     // **** 0xd1: enter bootloader mode
     case 0xd1:
@@ -229,19 +236,18 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
           enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
           NVIC_SystemReset();
           break;
+        default:
+          puts("Bootloader mode invalid\n");
+          break;
       }
       break;
     // **** 0xd2: get health packet
     case 0xd2:
       resp_len = get_health_pkt(resp);
       break;
-    // **** 0xd3: set fan speed
-    case 0xd3:
-      fan_set_speed(setup->b.wValue.w);
-      break;
     // **** 0xd6: get version
     case 0xd6:
-      COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN)
+      COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN);
       memcpy(resp, gitversion, sizeof(gitversion));
       resp_len = sizeof(gitversion)-1;
       break;
@@ -273,44 +279,43 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xdb: set GMLAN multiplexing mode
     case 0xdb:
-      #ifdef PANDA
-        if (setup->b.wValue.w == 1) {
-          // GMLAN ON
-          if (setup->b.wIndex.w == 1) {
-            can_set_gmlan(1);
-          } else if (setup->b.wIndex.w == 2) {
-            // might be ignored on rev b panda
-            can_set_gmlan(2);
-          }
-        } else {
-          can_set_gmlan(-1);
+      if (setup->b.wValue.w == 1) {
+        // GMLAN ON
+        if (setup->b.wIndex.w == 1) {
+          can_set_gmlan(1);
+        } else if (setup->b.wIndex.w == 2) {
+          can_set_gmlan(2);
         }
-      #endif
+      } else {
+        can_set_gmlan(-1);
+      }
       break;
     // **** 0xdc: set safety mode
     case 0xdc:
       // this is the only way to leave silent mode
       // and it's blocked over WiFi
       // Allow ELM security mode to be set over wifi.
-      if (hardwired || setup->b.wValue.w == SAFETY_NOOUTPUT || setup->b.wValue.w == SAFETY_ELM327) {
+      if (hardwired || (setup->b.wValue.w == SAFETY_NOOUTPUT) || (setup->b.wValue.w == SAFETY_ELM327)) {
         safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
-        switch (setup->b.wValue.w) {
-          case SAFETY_NOOUTPUT:
-            can_silent = ALL_CAN_SILENT;
-            break;
-          case SAFETY_ELM327:
-            can_silent = ALL_CAN_BUT_MAIN_SILENT;
-            can_autobaud_enabled[0] = false;
-            break;
-          default:
-            can_silent = ALL_CAN_LIVE;
-            can_autobaud_enabled[0] = false;
-            can_autobaud_enabled[1] = false;
-            #ifdef PANDA
-              can_autobaud_enabled[2] = false;
-            #endif
-            break;
+        if (safety_ignition_hook() != -1) {
+          // if the ignition hook depends on something other than the started GPIO
+          // we have to disable power savings (fix for GM and Tesla)
+          set_power_save_state(POWER_SAVE_STATUS_DISABLED);
         }
+        #ifndef EON
+          // always LIVE on EON
+          switch (setup->b.wValue.w) {
+            case SAFETY_NOOUTPUT:
+              can_silent = ALL_CAN_SILENT;
+              break;
+            case SAFETY_ELM327:
+              can_silent = ALL_CAN_BUT_MAIN_SILENT;
+              break;
+            default:
+              can_silent = ALL_CAN_LIVE;
+              break;
+          }
+        #endif
         can_init_all();
       }
       break;
@@ -318,28 +323,37 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     case 0xdd:
       // wValue = Can Bus Num to forward from
       // wIndex = Can Bus Num to forward to
-      if (setup->b.wValue.w < BUS_MAX && setup->b.wIndex.w < BUS_MAX &&
-          setup->b.wValue.w != setup->b.wIndex.w) { // set forwarding
+      if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
+          (setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
         can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
-      } else if(setup->b.wValue.w < BUS_MAX && setup->b.wIndex.w == 0xFF){ //Clear Forwarding
+      } else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFF)){ //Clear Forwarding
         can_set_forwarding(setup->b.wValue.w, -1);
       }
       break;
     // **** 0xde: set can bitrate
     case 0xde:
       if (setup->b.wValue.w < BUS_MAX) {
-        can_autobaud_enabled[setup->b.wValue.w] = false;
         can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
         can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
       }
       break;
+    // **** 0xdf: set long controls allowed
+    case 0xdf:
+      if (hardwired) {
+        long_controls_allowed = setup->b.wValue.w & 1;
+      }
+      break;
     // **** 0xe0: uart read
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
-      if (ur == &esp_ring) uart_dma_drain();
+      if (!ur) {
+        break;
+      }
+      if (ur == &esp_ring) {
+        uart_dma_drain();
+      }
       // read
-      while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
+      while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
                          getc(ur, (char*)&resp[resp_len])) {
         ++resp_len;
       }
@@ -347,13 +361,17 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     // **** 0xe1: uart set baud rate
     case 0xe1:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
+      if (!ur) {
+        break;
+      }
       uart_set_baud(ur->uart, setup->b.wIndex.w);
       break;
     // **** 0xe2: uart set parity
     case 0xe2:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
+      if (!ur) {
+        break;
+      }
       switch (setup->b.wIndex.w) {
         case 0:
           // disable parity, 8-bit
@@ -376,7 +394,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     // **** 0xe4: uart set baud rate extended
     case 0xe4:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
+      if (!ur) {
+        break;
+      }
       uart_set_baud(ur->uart, (int)setup->b.wIndex.w*300);
       break;
     // **** 0xe5: set CAN loopback (for testing)
@@ -386,27 +406,25 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xe6: set USB power
     case 0xe6:
-      if (revision == PANDA_REV_C) {
-        if (setup->b.wValue.w == 1) {
-          puts("user setting CDP mode\n");
-          set_usb_power_mode(USB_POWER_CDP);
-        } else if (setup->b.wValue.w == 2) {
-          puts("user setting DCP mode\n");
-          set_usb_power_mode(USB_POWER_DCP);
-        } else {
-          puts("user setting CLIENT mode\n");
-          set_usb_power_mode(USB_POWER_CLIENT);
-        }
+      if (setup->b.wValue.w == 1) {
+        puts("user setting CDP mode\n");
+        set_usb_power_mode(USB_POWER_CDP);
+      } else if (setup->b.wValue.w == 2) {
+        puts("user setting DCP mode\n");
+        set_usb_power_mode(USB_POWER_DCP);
+      } else {
+        puts("user setting CLIENT mode\n");
+        set_usb_power_mode(USB_POWER_CLIENT);
       }
       break;
     // **** 0xf0: do k-line wValue pulse on uart2 for Acura
     case 0xf0:
       if (setup->b.wValue.w == 1) {
-        GPIOC->ODR &= ~(1 << 10);
+        GPIOC->ODR &= ~(1U << 10);
         GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
         GPIOC->MODER |= GPIO_MODER_MODER10_0;
       } else {
-        GPIOC->ODR &= ~(1 << 12);
+        GPIOC->ODR &= ~(1U << 12);
         GPIOC->MODER &= ~GPIO_MODER_MODER12_1;
         GPIOC->MODER |= GPIO_MODER_MODER12_0;
       }
@@ -414,11 +432,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       for (i = 0; i < 80; i++) {
         delay(8000);
         if (setup->b.wValue.w == 1) {
-          GPIOC->ODR |= (1 << 10);
-          GPIOC->ODR &= ~(1 << 10);
+          GPIOC->ODR |= (1U << 10);
+          GPIOC->ODR &= ~(1U << 10);
         } else {
-          GPIOC->ODR |= (1 << 12);
-          GPIOC->ODR &= ~(1 << 12);
+          GPIOC->ODR |= (1U << 12);
+          GPIOC->ODR &= ~(1U << 12);
         }
       }
 
@@ -446,22 +464,12 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     case 0xf2:
       {
         uart_ring * rb = get_ring_by_number(setup->b.wValue.w);
-        if (rb) {
+        if (rb != NULL) {
           puts("Clearing UART queue.\n");
           clear_uart_buff(rb);
         }
         break;
       }
-    // **** 0xf3: set l-line relay
-    case 0xf3:
-      {
-        #ifdef PANDA
-          if (safety_relay_hook()) {
-            set_lline_output(setup->b.wValue.w == 1);
-          }
-        #endif
-        break;
-      }
     default:
       puts("NO HANDLER ");
       puth(setup->b.bRequest);
@@ -471,12 +479,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
   return resp_len;
 }
 
-#ifdef PANDA
 int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   // data[0]  = endpoint
   // data[2]  = length
   // data[4:] = data
-
+  UNUSED(len);
   int resp_len = 0;
   switch (data[0]) {
     case 0:
@@ -495,29 +502,122 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
       // ep 3, send CAN
       usb_cb_ep3_out(data+4, data[2], 0);
       break;
+    default:
+      puts("SPI data invalid");
+      break;
   }
   return resp_len;
 }
 
-#else
-
-int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) { return 0; };
-
-#endif
-
 
 // ***************************** main code *****************************
 
-void __initialize_hardware_early() {
+void __initialize_hardware_early(void) {
   early();
 }
 
-void __attribute__ ((noinline)) enable_fpu() {
+void __attribute__ ((noinline)) enable_fpu(void) {
   // enable the FPU
-  SCB->CPACR |= ((3UL << 10*2) | (3UL << 11*2));
+  SCB->CPACR |= ((3UL << (10U * 2)) | (3UL << (11U * 2)));
 }
 
-int main() {
+uint64_t tcnt = 0;
+uint64_t marker = 0;
+
+// called once per second
+void TIM3_IRQHandler(void) {
+  #define CURRENT_THRESHOLD 0xF00
+  #define CLICKS 5 // 5 seconds to switch modes
+
+  if (TIM3->SR != 0) {
+    can_live = pending_can_live;
+
+    //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
+
+    uint32_t current = adc_get(ADCCHAN_CURRENT);
+
+    switch (usb_power_mode) {
+      case USB_POWER_CLIENT:
+        if ((tcnt-marker) >= CLICKS) {
+          if (!is_enumerated) {
+            puts("USBP: didn't enumerate, switching to CDP mode\n");
+            // switch to CDP
+            set_usb_power_mode(USB_POWER_CDP);
+            marker = tcnt;
+          }
+        }
+        // keep resetting the timer if it's enumerated
+        if (is_enumerated) {
+          marker = tcnt;
+        }
+        break;
+      case USB_POWER_CDP:
+        // On the EON, if we get into CDP mode we stay here. No need to go to DCP.
+        #ifndef EON
+          // been CLICKS clicks since we switched to CDP
+          if ((tcnt-marker) >= CLICKS) {
+            // measure current draw, if positive and no enumeration, switch to DCP
+            if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
+              puts("USBP: no enumeration with current draw, switching to DCP mode\n");
+              set_usb_power_mode(USB_POWER_DCP);
+              marker = tcnt;
+            }
+          }
+          // keep resetting the timer if there's no current draw in CDP
+          if (current >= CURRENT_THRESHOLD) {
+            marker = tcnt;
+          }
+        #endif
+        break;
+      case USB_POWER_DCP:
+        // been at least CLICKS clicks since we switched to DCP
+        if ((tcnt-marker) >= CLICKS) {
+          // if no current draw, switch back to CDP
+          if (current >= CURRENT_THRESHOLD) {
+            puts("USBP: no current draw, switching back to CDP mode\n");
+            set_usb_power_mode(USB_POWER_CDP);
+            marker = tcnt;
+          }
+        }
+        // keep resetting the timer if there's current draw in DCP
+        if (current < CURRENT_THRESHOLD) {
+          marker = tcnt;
+        }
+        break;
+      default:
+        puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
+        break;
+    }
+
+    // ~0x9a = 500 ma
+    /*puth(current);
+    puts("\n");*/
+
+    // reset this every 16th pass
+    if ((tcnt&0xF) == 0) {
+      pending_can_live = 0;
+    }
+    #ifdef DEBUG
+      puts("** blink ");
+      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
+      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
+      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
+    #endif
+
+    // set green LED to be controls allowed
+    set_led(LED_GREEN, controls_allowed);
+
+    // turn off the blue LED, turned on by CAN
+    // unless we are in power saving mode
+    set_led(LED_BLUE, (tcnt & 1) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
+
+    // on to the next one
+    tcnt += 1;
+  }
+  TIM3->SR = 0;
+}
+
+int main(void) {
   // shouldn't have interrupts here, but just in case
   __disable_irq();
 
@@ -531,21 +631,21 @@ int main() {
 
   // detect the revision and init the GPIOs
   puts("config:\n");
-  #ifdef PANDA
-    puts(revision == PANDA_REV_C ? "  panda rev c\n" : "  panda rev a or b\n");
-  #else
-    puts("  legacy\n");
-  #endif
+  puts((revision == PANDA_REV_C) ? "  panda rev c\n" : "  panda rev a or b\n");
   puts(has_external_debug_serial ? "  real serial\n" : "  USB serial\n");
   puts(is_giant_panda ? "  GIANTpanda detected\n" : "  not GIANTpanda\n");
   puts(is_grey_panda ? "  gray panda detected!\n" : "  white panda\n");
   puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  no bootmode\n");
+
+  // non rev c panda are no longer supported
+  while (revision != PANDA_REV_C) {
+    // hang
+  }
+
   gpio_init();
 
-#ifdef PANDA
   // panda has an FPU, let's use it!
   enable_fpu();
-#endif
 
   // enable main uart if it's connected
   if (has_external_debug_serial) {
@@ -554,22 +654,18 @@ int main() {
     uart_init(USART2, 115200);
   }
 
-#ifdef PANDA
   if (is_grey_panda) {
     uart_init(USART1, 9600);
   } else {
     // enable ESP uart
     uart_init(USART1, 115200);
-    #ifdef EON
-      set_esp_mode(ESP_DISABLED);
-    #endif
   }
+
   // enable LIN
   uart_init(UART5, 10400);
   UART5->CR2 |= USART_CR2_LINEN;
   uart_init(USART3, 10400);
   USART3->CR2 |= USART_CR2_LINEN;
-#endif
 
   // init microsecond system timer
   // increments 1000000 times per second
@@ -585,136 +681,67 @@ int main() {
   // default to silent mode to prevent issues with Ford
   // hardcode a specific safety mode if you want to force the panda to be in a specific mode
   safety_set_mode(SAFETY_NOOUTPUT, 0);
+#ifdef EON
+  // if we're on an EON, it's fine for CAN to be live for fingerprinting
+  can_silent = ALL_CAN_LIVE;
+#else
   can_silent = ALL_CAN_SILENT;
+#endif
   can_init_all();
 
   adc_init();
 
-#ifdef PANDA
+#ifndef EON
   spi_init();
 #endif
+
+#ifdef EON
+  // have to save power
+  if (!is_grey_panda) {
+    set_esp_mode(ESP_DISABLED);
+  }
+  // only enter power save after the first cycle
+  /*if (is_gpio_started()) {
+    set_power_save_state(POWER_SAVE_STATUS_ENABLED);
+  }*/
+  // interrupt on started line
+  started_interrupt_init();
+#endif
+
+  // 48mhz / 65536 ~= 732 / 732 = 1
+  timer_init(TIM3, 732);
+  NVIC_EnableIRQ(TIM3_IRQn);
+
 #ifdef DEBUG
   puts("DEBUG ENABLED\n");
 #endif
 
-  // set PWM
-  fan_init();
-  fan_set_speed(0);
-
   puts("**** INTERRUPTS ON ****\n");
-
-  __enable_irq();
-
-  power_save_init();
-
-  // if the error interrupt is enabled to quickly when the CAN bus is active
-  // something bad happens and you can't connect to the device over USB
-  delay(10000000);
-  CAN1->IER |= CAN_IER_ERRIE | CAN_IER_LECIE;
+  enable_interrupts();
 
   // LED should keep on blinking all the time
   uint64_t cnt = 0;
 
-  #ifdef PANDA
-    uint64_t marker = 0;
-    #define CURRENT_THRESHOLD 0xF00
-    #define CLICKS 8
-  #endif
-
   for (cnt=0;;cnt++) {
-    can_live = pending_can_live;
+    if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
+      int div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4 : 1);
 
-    //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
-
-    #ifdef PANDA
-      uint32_t current = adc_get(ADCCHAN_CURRENT);
-
-      switch (usb_power_mode) {
-        case USB_POWER_CLIENT:
-          if ((cnt-marker) >= CLICKS) {
-            if (!is_enumerated) {
-              puts("USBP: didn't enumerate, switching to CDP mode\n");
-              // switch to CDP
-              set_usb_power_mode(USB_POWER_CDP);
-              marker = cnt;
-            }
+      // useful for debugging, fade breaks = panda is overloaded
+      for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) {
+        for (int fade = 0; fade < 1024; fade += 8) {
+          for (int i = 0; i < (128/div_mode); i++) {
+            set_led(LED_RED, 1);
+            if (fade < 512) { delay(fade); } else { delay(1024-fade); }
+            set_led(LED_RED, 0);
+            if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
           }
-          // keep resetting the timer if it's enumerated
-          if (is_enumerated) {
-            marker = cnt;
-          }
-          break;
-        case USB_POWER_CDP:
-#ifndef EON
-          // been CLICKS clicks since we switched to CDP
-          if ((cnt-marker) >= CLICKS) {
-            // measure current draw, if positive and no enumeration, switch to DCP
-            if (!is_enumerated && current < CURRENT_THRESHOLD) {
-              puts("USBP: no enumeration with current draw, switching to DCP mode\n");
-              set_usb_power_mode(USB_POWER_DCP);
-              marker = cnt;
-            }
-          }
-          // keep resetting the timer if there's no current draw in CDP
-          if (current >= CURRENT_THRESHOLD) {
-            marker = cnt;
-          }
-#endif
-          break;
-        case USB_POWER_DCP:
-          // been at least CLICKS clicks since we switched to DCP
-          if ((cnt-marker) >= CLICKS) {
-            // if no current draw, switch back to CDP
-            if (current >= CURRENT_THRESHOLD) {
-              puts("USBP: no current draw, switching back to CDP mode\n");
-              set_usb_power_mode(USB_POWER_CDP);
-              marker = cnt;
-            }
-          }
-          // keep resetting the timer if there's current draw in DCP
-          if (current < CURRENT_THRESHOLD) {
-            marker = cnt;
-          }
-          break;
-      }
-
-      // ~0x9a = 500 ma
-      /*puth(current);
-      puts("\n");*/
-    #endif
-
-    // reset this every 16th pass
-    if ((cnt&0xF) == 0) pending_can_live = 0;
-
-    #ifdef DEBUG
-      puts("** blink ");
-      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
-      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
-      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
-    #endif
-
-    // set green LED to be controls allowed
-    set_led(LED_GREEN, controls_allowed);
-
-    // blink the red LED
-    int div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4 : 1);
-
-    for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) {
-      for (int fade = 0; fade < 1024; fade += 8) {
-        for (int i = 0; i < 128/div_mode; i++) {
-          set_led(LED_RED, 0);
-          if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
-          set_led(LED_RED, 1);
-          if (fade < 512) { delay(fade); } else { delay(1024-fade); }
         }
       }
+    } else {
+      __WFI();
     }
-
-    // turn off the blue LED, turned on by CAN
-    #ifdef PANDA
-      set_led(LED_BLUE, 0);
-    #endif
   }
 
   return 0;
 }
+

panda/board/pedal/main.c

@@ -1,29 +1,26 @@
-//#define DEBUG
-//#define CAN_LOOPBACK_MODE
-//#define USE_INTERNAL_OSC
-
 #include "../config.h"
 
-#include "drivers/drivers.h"
+#include "drivers/llcan.h"
 #include "drivers/llgpio.h"
-#include "gpio.h"
-
-#define CUSTOM_CAN_INTERRUPTS
-
-#include "libc.h"
-#include "safety.h"
+#include "drivers/clock.h"
 #include "drivers/adc.h"
-#include "drivers/uart.h"
 #include "drivers/dac.h"
-#include "drivers/can.h"
 #include "drivers/timer.h"
 
+#include "gpio.h"
+#include "libc.h"
+
 #define CAN CAN1
 
 //#define PEDAL_USB
 
 #ifdef PEDAL_USB
+  #include "drivers/uart.h"
   #include "drivers/usb.h"
+#else
+  // no serial either
+  void puts(const char *a) {}
+  void puth(unsigned int i) {}
 #endif
 
 #define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
@@ -35,6 +32,8 @@ void __initialize_hardware_early() {
 
 // ********************* serial debugging *********************
 
+#ifdef PEDAL_USB
+
 void debug_ring_callback(uart_ring *ring) {
   char rcv;
   while (getc(ring, &rcv)) {
@@ -42,14 +41,12 @@ void debug_ring_callback(uart_ring *ring) {
   }
 }
 
-#ifdef PEDAL_USB
-
-int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
-void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
-void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
+int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) { return 0; }
+void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {}
+void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {}
 void usb_cb_enumeration_complete() {}
 
-int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
   int resp_len = 0;
   uart_ring *ur = NULL;
   switch (setup->b.bRequest) {
@@ -59,7 +56,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       if (!ur) break;
       if (ur == &esp_ring) uart_dma_drain();
       // read
-      while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
+      while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
                          getc(ur, (char*)&resp[resp_len])) {
         ++resp_len;
       }
@@ -185,7 +182,7 @@ void CAN1_RX0_IRQHandler() {
 
 void CAN1_SCE_IRQHandler() {
   state = FAULT_SCE;
-  can_sce(CAN);
+  llcan_clear_send(CAN);
 }
 
 int pdl0 = 0, pdl1 = 0;
@@ -249,15 +246,14 @@ void pedal() {
 
   // write the pedal to the DAC
   if (state == NO_FAULT) {
-    dac_set(0, max(gas_set_0, pdl0));
-    dac_set(1, max(gas_set_1, pdl1));
+    dac_set(0, MAX(gas_set_0, pdl0));
+    dac_set(1, MAX(gas_set_1, pdl1));
   } else {
     dac_set(0, pdl0);
     dac_set(1, pdl1);
   }
 
-  // feed the watchdog
-  IWDG->KR = 0xAAAA;
+  watchdog_feed();
 }
 
 int main() {
@@ -278,24 +274,18 @@ int main() {
   adc_init();
 
   // init can
-  can_silent = ALL_CAN_LIVE;
-  can_init(0);
+  llcan_set_speed(CAN1, 5000, false, false);
+  llcan_init(CAN1);
 
   // 48mhz / 65536 ~= 732
   timer_init(TIM3, 15);
   NVIC_EnableIRQ(TIM3_IRQn);
 
-  // setup watchdog
-  IWDG->KR = 0x5555;
-  IWDG->PR = 0;          // divider /4
-  // 0 = 0.125 ms, let's have a 50ms watchdog
-  IWDG->RLR = 400 - 1;
-  IWDG->KR = 0xCCCC;
+  watchdog_init();
 
   puts("**** INTERRUPTS ON ****\n");
   __enable_irq();
 
-
   // main pedal loop
   while (1) {
     pedal();

panda/board/power_saving.h

@@ -1,157 +1,43 @@
 #define POWER_SAVE_STATUS_DISABLED 0
-//Moving to enabled, but can wakeup not yet enabled
-#define POWER_SAVE_STATUS_SWITCHING 1
-#define POWER_SAVE_STATUS_ENABLED 2
+#define POWER_SAVE_STATUS_ENABLED 1
 
-volatile int power_save_status = POWER_SAVE_STATUS_DISABLED;
+int power_save_status = POWER_SAVE_STATUS_DISABLED;
 
-void power_save_enable(void) {
-  power_save_status = POWER_SAVE_STATUS_SWITCHING;
-  puts("Saving power\n");
-  //Turn off can transciever
-  set_can_enable(CAN1, 0);
-  set_can_enable(CAN2, 0);
-#ifdef PANDA
-  set_can_enable(CAN3, 0);
-#endif
+void set_power_save_state(int state) {
 
-  //Turn off GMLAN
-  set_gpio_output(GPIOB, 14, 0);
-  set_gpio_output(GPIOB, 15, 0);
-
-#ifdef PANDA
-  //Turn off LIN K
-  if (revision == PANDA_REV_C) {
-    set_gpio_output(GPIOB, 7, 0); // REV C
-  } else {
-    set_gpio_output(GPIOB, 4, 0); // REV AB
-  }
-  // LIN L
-  set_gpio_output(GPIOA, 14, 0);
-#endif
-
-  if (is_grey_panda) {
-    char* UBLOX_SLEEP_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
-    int len = 12;
-    uart_ring *ur = get_ring_by_number(1);
-    for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
-  }
-
-  //Setup timer for can enable
-  TIM6->PSC = 48-1; // tick on 1 us
-
-  TIM6->ARR = 12; // 12us
-  // Enable, One-Pulse Mode, Only overflow interrupt
-  TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
-  TIM6->EGR = TIM_EGR_UG;
-  TIM6->CR1 |= TIM_CR1_CEN;
-}
-
-void power_save_enable_can_wake(void) {
-  // CAN Automatic Wake must be done a little while after the sleep
-  // On some cars turning off the can transciver can trigger the wakeup
-  power_save_status = POWER_SAVE_STATUS_ENABLED;
-  puts("Turning can off\n");
-  CAN1->MCR |= CAN_MCR_SLEEP;
-  CAN1->MCR |= CAN_MCR_AWUM;
-
-  CAN2->MCR |= CAN_MCR_SLEEP;
-  CAN2->MCR |= CAN_MCR_AWUM;
-#ifdef PANDA
-  CAN3->MCR |= CAN_MCR_SLEEP;
-  CAN3->MCR |= CAN_MCR_AWUM;
-#endif
-
-  //set timer back
-  TIM6->PSC = 48000-1; // tick on 1 ms
-  TIM6->ARR = 10000; // 10s
-  // Enable, One-Pulse Mode, Only overflow interrupt
-  TIM6->CR1 = TIM_CR1_OPM | TIM_CR1_URS;
-  TIM6->EGR = TIM_EGR_UG;
-}
-
-void power_save_disable(void) {
-  power_save_status = POWER_SAVE_STATUS_DISABLED;
-  puts("not Saving power\n");
-  TIM6->CR1 |= TIM_CR1_CEN; //Restart timer
-  TIM6->CNT = 0;
-
-  //Turn on can
-  set_can_enable(CAN1, 1);
-  set_can_enable(CAN2, 1);
-
-#ifdef PANDA
-  set_can_enable(CAN3, 1);
-#endif
-
-  //Turn on GMLAN
-  set_gpio_output(GPIOB, 14, 1);
-  set_gpio_output(GPIOB, 15, 1);
-
-#ifdef PANDA
-  //Turn on LIN K
-  if (revision == PANDA_REV_C) {
-    set_gpio_output(GPIOB, 7, 1); // REV C
-  } else {
-    set_gpio_output(GPIOB, 4, 1); // REV AB
-  }
-  // LIN L
-  set_gpio_output(GPIOA, 14, 1);
-#endif
-
-  if (is_grey_panda) {
-    char* UBLOX_WAKE_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
-    int len = 12;
-    uart_ring *ur = get_ring_by_number(1);
-    for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
-  }
-
-  //set timer back
-  TIM6->PSC = 48000-1; // tick on 1 ms
-  TIM6->ARR = 10000; // 10s
-  // Enable, One-Pulse Mode, Only overflow interrupt
-  TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
-  TIM6->EGR = TIM_EGR_UG;
-  TIM6->CR1 |= TIM_CR1_CEN;
-}
-
-
-
-// Reset timer when activity
-void power_save_reset_timer() {
-  TIM6->CNT = 0;
-  if (power_save_status != POWER_SAVE_STATUS_DISABLED){
-    power_save_disable();
-  }
-}
-
-void power_save_init(void) {
-  puts("Saving power init\n");
-  TIM6->PSC = 48000-1; // tick on 1 ms
-
-
-  TIM6->ARR = 10000; // 10s
-  // Enable, One-Pulse Mode, Only overflow interrupt
-  TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
-  TIM6->EGR = TIM_EGR_UG;
-  NVIC_EnableIRQ(TIM6_DAC_IRQn);
-  puts("Saving power init done\n");
-  TIM6->DIER = TIM_DIER_UIE;
-  TIM6->CR1 |= TIM_CR1_CEN;
-}
-
-void TIM6_DAC_IRQHandler(void) {
-  //Timeout switch to power saving mode.
-  if (TIM6->SR & TIM_SR_UIF) {
-    TIM6->SR = 0;
-#ifdef EON
-    if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
-      power_save_enable();
-    } else if (power_save_status == POWER_SAVE_STATUS_SWITCHING) {
-      power_save_enable_can_wake();
+  bool is_valid_state = (state == POWER_SAVE_STATUS_ENABLED) || (state == POWER_SAVE_STATUS_DISABLED);
+  if (is_valid_state && (state != power_save_status)) {
+    bool enable = false;
+    if (state == POWER_SAVE_STATUS_ENABLED) {
+      puts("enable power savings\n");
+      if (is_grey_panda) {
+        char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
+        uart_ring *ur = get_ring_by_number(1);
+        for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
+      }
+    } else {
+      puts("disable power savings\n");
+      if (is_grey_panda) {
+        char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
+        uart_ring *ur = get_ring_by_number(1);
+        for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
+      }
+      enable = true;
     }
-#endif
-  } else {
-    TIM6->CR1 |= TIM_CR1_CEN;
+
+    // turn on can
+    set_can_enable(CAN1, enable);
+    set_can_enable(CAN2, enable);
+    set_can_enable(CAN3, enable);
+
+    // turn on GMLAN
+    set_gpio_output(GPIOB, 14, enable);
+    set_gpio_output(GPIOB, 15, enable);
+
+    // turn on LIN
+    set_gpio_output(GPIOB, 7, enable);
+    set_gpio_output(GPIOA, 14, enable);
+
+    power_save_status = state;
   }
 }

panda/board/safety.h

@@ -1,70 +1,12 @@
-// sample struct that keeps 3 samples in memory
-struct sample_t {
-  int values[6];
-  int min;
-  int max;
-} sample_t_default = {{0}, 0, 0};
-
-// no float support in STM32F2 micros (cortex-m3)
-#ifdef PANDA
-struct lookup_t {
-  float x[3];
-  float y[3];
-};
-#endif
-
-void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
-int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
-int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
-int safety_ignition_hook();
-uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
-int to_signed(int d, int bits);
-void update_sample(struct sample_t *sample, int sample_new);
-int max_limit_check(int val, const int MAX, const int MIN);
-int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
-  const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
-int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
-  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
-  const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
-int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
-#ifdef PANDA
-float interpolate(struct lookup_t xy, float x);
-
-void lline_relay_init (void);
-void lline_relay_release (void);
-void set_lline_output(int to_set);
-#endif
-
-typedef void (*safety_hook_init)(int16_t param);
-typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
-typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
-typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
-typedef int (*ign_hook)();
-typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
-typedef int (*relay_hook)();
-
-typedef struct {
-  safety_hook_init init;
-  ign_hook ignition;
-  rx_hook rx;
-  tx_hook tx;
-  tx_lin_hook tx_lin;
-  fwd_hook fwd;
-  relay_hook relay;
-} safety_hooks;
-
-// This can be set by the safety hooks.
-int controls_allowed = 0;
-
+// include first, needed by safety policies
+#include "safety_declarations.h"
 // Include the actual safety policies.
 #include "safety/safety_defaults.h"
 #include "safety/safety_honda.h"
 #include "safety/safety_toyota.h"
-#ifdef PANDA
 #include "safety/safety_toyota_ipas.h"
 #include "safety/safety_tesla.h"
 #include "safety/safety_gm_ascm.h"
-#endif
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
@@ -97,10 +39,6 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }
 
-int safety_relay_hook(void) {
-  return current_hooks->relay();
-}
-
 typedef struct {
   uint16_t id;
   const safety_hooks *hooks;
@@ -119,7 +57,6 @@ typedef struct {
 #define SAFETY_SUBARU 10
 #define SAFETY_GM_ASCM 0x1334
 #define SAFETY_TOYOTA_IPAS 0x1335
-#define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
 #define SAFETY_ELM327 0xE327
 
@@ -134,93 +71,101 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
-  {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
-#ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
   {SAFETY_GM_ASCM, &gm_ascm_hooks},
   {SAFETY_TESLA, &tesla_hooks},
-#endif
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
   {SAFETY_ELM327, &elm327_hooks},
 };
 
-#define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
-
 int safety_set_mode(uint16_t mode, int16_t param) {
-  for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
+  int set_status = -1;   // not set
+  int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
+  for (int i = 0; i < hook_config_count; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;
-      if (current_hooks->init) current_hooks->init(param);
-      return 0;
+      set_status = 0;    // set
+      break;
     }
   }
-  return -1;
+  if ((set_status == 0) && (current_hooks->init != NULL)) {
+    current_hooks->init(param);
+  }
+  return set_status;
 }
 
 // compute the time elapsed (in microseconds) from 2 counter samples
+// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
-  return ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
+  return ts - ts_last;
 }
 
 // convert a trimmed integer to signed 32 bit int
 int to_signed(int d, int bits) {
-  if (d >= (1 << (bits - 1))) {
-    d -= (1 << bits);
+  int d_signed = d;
+  if (d >= (1 << MAX((bits - 1), 0))) {
+    d_signed = d - (1 << MAX(bits, 0));
   }
-  return d;
+  return d_signed;
 }
 
 // given a new sample, update the smaple_t struct
 void update_sample(struct sample_t *sample, int sample_new) {
-  for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 1; i > 0; i--) {
+  int sample_size = sizeof(sample->values) / sizeof(sample->values[0]);
+  for (int i = sample_size - 1; i > 0; i--) {
     sample->values[i] = sample->values[i-1];
   }
   sample->values[0] = sample_new;
 
   // get the minimum and maximum measured samples
-  sample->min = sample->max = sample->values[0];
-  for (int i = 1; i < sizeof(sample->values)/sizeof(sample->values[0]); i++) {
-    if (sample->values[i] < sample->min) sample->min = sample->values[i];
-    if (sample->values[i] > sample->max) sample->max = sample->values[i];
+  sample->min = sample->values[0];
+  sample->max = sample->values[0];
+  for (int i = 1; i < sample_size; i++) {
+    if (sample->values[i] < sample->min) {
+      sample->min = sample->values[i];
+    }
+    if (sample->values[i] > sample->max) {
+      sample->max = sample->values[i];
+    }
   }
 }
 
-int max_limit_check(int val, const int MAX, const int MIN) {
-  return (val > MAX) || (val < MIN);
+bool max_limit_check(int val, const int MAX_VAL, const int MIN_VAL) {
+  return (val > MAX_VAL) || (val < MIN_VAL);
 }
 
 // check that commanded value isn't too far from measured
-int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
+bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
 
   // *** val rate limit check ***
-  int highest_allowed_val = max(val_last, 0) + MAX_RATE_UP;
-  int lowest_allowed_val = min(val_last, 0) - MAX_RATE_UP;
+  int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
+  int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
 
   // if we've exceeded the meas val, we must start moving toward 0
-  highest_allowed_val = min(highest_allowed_val, max(val_last - MAX_RATE_DOWN, max(val_meas->max, 0) + MAX_ERROR));
-  lowest_allowed_val = max(lowest_allowed_val, min(val_last + MAX_RATE_DOWN, min(val_meas->min, 0) - MAX_ERROR));
+  int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN, MAX(val_meas->max, 0) + MAX_ERROR));
+  int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN, MIN(val_meas->min, 0) - MAX_ERROR));
 
   // check for violation
-  return (val < lowest_allowed_val) || (val > highest_allowed_val);
+  return (val < lowest_allowed) || (val > highest_allowed);
 }
 
 // check that commanded value isn't fighting against driver
-int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
-  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
+bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
+  const int MAX_VAL, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
   const int MAX_ALLOWANCE, const int DRIVER_FACTOR) {
 
-  int highest_allowed = max(val_last, 0) + MAX_RATE_UP;
-  int lowest_allowed = min(val_last, 0) - MAX_RATE_UP;
+  int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
+  int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
 
-  int driver_max_limit = MAX + (MAX_ALLOWANCE + val_driver->max) * DRIVER_FACTOR;
-  int driver_min_limit = -MAX + (-MAX_ALLOWANCE + val_driver->min) * DRIVER_FACTOR;
+  int driver_max_limit = MAX_VAL + (MAX_ALLOWANCE + val_driver->max) * DRIVER_FACTOR;
+  int driver_min_limit = -MAX_VAL + (-MAX_ALLOWANCE + val_driver->min) * DRIVER_FACTOR;
 
   // if we've exceeded the applied torque, we must start moving toward 0
-  highest_allowed = min(highest_allowed, max(val_last - MAX_RATE_DOWN,
-                                             max(driver_max_limit, 0)));
-  lowest_allowed = max(lowest_allowed, min(val_last + MAX_RATE_DOWN,
-                                           min(driver_min_limit, 0)));
+  int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN,
+                                             MAX(driver_max_limit, 0)));
+  int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN,
+                                           MIN(driver_min_limit, 0)));
 
   // check for violation
   return (val < lowest_allowed) || (val > highest_allowed);
@@ -228,40 +173,43 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
 
 
 // real time check, mainly used for steer torque rate limiter
-int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
+bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
 
   // *** torque real time rate limit check ***
-  int highest_val = max(val_last, 0) + MAX_RT_DELTA;
-  int lowest_val = min(val_last, 0) - MAX_RT_DELTA;
+  int highest_val = MAX(val_last, 0) + MAX_RT_DELTA;
+  int lowest_val = MIN(val_last, 0) - MAX_RT_DELTA;
 
   // check for violation
   return (val < lowest_val) || (val > highest_val);
 }
 
 
-#ifdef PANDA
 // interp function that holds extreme values
 float interpolate(struct lookup_t xy, float x) {
+
   int size = sizeof(xy.x) / sizeof(xy.x[0]);
+  float ret = xy.y[size - 1];  // default output is last point
+
   // x is lower than the first point in the x array. Return the first point
   if (x <= xy.x[0]) {
-    return xy.y[0];
+    ret = xy.y[0];
 
   } else {
     // find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
-    for (int i=0; i < size-1; i++) {
+    for (int i=0; i < (size - 1); i++) {
       if (x < xy.x[i+1]) {
         float x0 = xy.x[i];
         float y0 = xy.y[i];
         float dx = xy.x[i+1] - x0;
         float dy = xy.y[i+1] - y0;
         // dx should not be zero as xy.x is supposed ot be monotonic
-        if (dx <= 0.) dx = 0.0001;
-        return dy * (x - x0) / dx + y0;
+        if (dx <= 0.) {
+          dx = 0.0001;
+        }
+        ret = (dy * (x - x0) / dx) + y0;
+        break;
       }
     }
-    // if no such point is found, then x > xy.x[size-1]. Return last point
-    return xy.y[size - 1];
   }
+  return ret;
 }
-#endif

panda/board/safety/safety_cadillac.h

@@ -1,8 +1,10 @@
+#define CADILLAC_TORQUE_MSG_N 4      // 4 torque messages: 0x151, 0x152, 0x153, 0x154
+
 const int CADILLAC_MAX_STEER = 150; // 1s
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
 const int CADILLAC_MAX_RT_DELTA = 75;       // max delta torque allowed for real time checks
-const int32_t CADILLAC_RT_INTERVAL = 250000;    // 250ms between real time checks
+const uint32_t CADILLAC_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int CADILLAC_MAX_RATE_UP = 2;
 const int CADILLAC_MAX_RATE_DOWN = 5;
 const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
@@ -11,21 +13,19 @@ const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
 int cadillac_ign = 0;
 int cadillac_cruise_engaged_last = 0;
 int cadillac_rt_torque_last = 0;
-int cadillac_desired_torque_last[4] = {0};      // 4 torque messages
+const int cadillac_torque_msgs_n = 4;
+int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0};
 uint32_t cadillac_ts_last = 0;
 int cadillac_supercruise_on = 0;
 struct sample_t cadillac_torque_driver;         // last few driver torques measured
 
-int cadillac_get_torque_idx(uint32_t addr) {
-  if (addr==0x151) return 0;
-  else if (addr==0x152) return 1;
-  else if (addr==0x153) return 2;
-  else return 3;
+int cadillac_get_torque_idx(int addr, int array_size) {
+  return MIN(MAX(addr - 0x151, 0), array_size);  // 0x151 is id 0, 0x152 is id 1 and so on...
 }
 
 static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus_number = (to_push->RDTR >> 4) & 0xFF;
-  uint32_t addr = to_push->RIR >> 21;
+  int bus = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
 
   if (addr == 356) {
     int torque_driver_new = ((to_push->RDLR & 0x7) << 8) | ((to_push->RDLR >> 8) & 0xFF);
@@ -35,16 +35,17 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // this message isn't all zeros when ignition is on
-  if (addr == 0x160 && bus_number == 0) {
+  if ((addr == 0x160) && (bus == 0)) {
     cadillac_ign = to_push->RDLR > 0;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((addr == 0x370) && (bus_number == 0)) {
+  if ((addr == 0x370) && (bus == 0)) {
     int cruise_engaged = to_push->RDLR & 0x800000;  // bit 23
     if (cruise_engaged && !cadillac_cruise_engaged_last) {
       controls_allowed = 1;
-    } else if (!cruise_engaged) {
+    }
+    if (!cruise_engaged) {
       controls_allowed = 0;
     }
     cadillac_cruise_engaged_last = cruise_engaged;
@@ -57,14 +58,15 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 }
 
 static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-  uint32_t addr = to_send->RIR >> 21;
+  int tx = 1;
+  int addr = GET_ADDR(to_send);
 
   // steer cmd checks
-  if (addr == 0x151 || addr == 0x152 || addr == 0x153 || addr == 0x154) {
+  if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
     int desired_torque = ((to_send->RDLR & 0x3f) << 8) + ((to_send->RDLR & 0xff00) >> 8);
     int violation = 0;
     uint32_t ts = TIM2->CNT;
-    int idx = cadillac_get_torque_idx(addr);
+    int idx = cadillac_get_torque_idx(addr, CADILLAC_TORQUE_MSG_N);
     desired_torque = to_signed(desired_torque, 14);
 
     if (controls_allowed) {
@@ -105,22 +107,20 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
 
     if (violation || cadillac_supercruise_on) {
-      return false;
+      tx = 0;
     }
 
   }
-  return true;
+  return tx;
 }
 
 static void cadillac_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
   cadillac_ign = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
-static int cadillac_ign_hook() {
+static int cadillac_ign_hook(void) {
   return cadillac_ign;
 }
 
@@ -130,6 +130,5 @@ const safety_hooks cadillac_hooks = {
   .tx = cadillac_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = cadillac_ign_hook,
-  .fwd = alloutput_fwd_hook,
-  .relay = nooutput_relay_hook,
+  .fwd = default_fwd_hook,
 };

panda/board/safety/safety_chrysler.h

@@ -1,11 +1,11 @@
 const int CHRYSLER_MAX_STEER = 261;
 const int CHRYSLER_MAX_RT_DELTA = 112;        // max delta torque allowed for real time checks
-const int32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
+const uint32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
 const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
 
-int chrysler_camera_detected = 0;             // is giraffe switch 2 high?
+bool chrysler_camera_detected = 0;             // is giraffe switch 2 high?
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
@@ -13,40 +13,32 @@ uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured
 
 static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus = (to_push->RDTR >> 4) & 0xFF;
-  uint32_t addr;
-  if (to_push->RIR & 4) {
-    // Extended
-    // Not looked at, but have to be separated
-    // to avoid address collision
-    addr = to_push->RIR >> 3;
-  } else {
-    // Normal
-    addr = to_push->RIR >> 21;
-  }
+  int bus = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
 
   // Measured eps torque
   if (addr == 544) {
-    int rdhr = to_push->RDHR;
-    int torque_meas_new = ((rdhr & 0x7) << 8) + ((rdhr & 0xFF00) >> 8) - 1024;
+    uint32_t rdhr = to_push->RDHR;
+    int torque_meas_new = ((rdhr & 0x7U) << 8) + ((rdhr & 0xFF00U) >> 8) - 1024U;
 
     // update array of samples
     update_sample(&chrysler_torque_meas, torque_meas_new);
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if (addr == 0x1f4) {
+  if (addr == 0x1F4) {
     int cruise_engaged = ((to_push->RDLR & 0x380000) >> 19) == 7;
     if (cruise_engaged && !chrysler_cruise_engaged_last) {
       controls_allowed = 1;
-    } else if (!cruise_engaged) {
+    }
+    if (!cruise_engaged) {
       controls_allowed = 0;
     }
     chrysler_cruise_engaged_last = cruise_engaged;
   }
 
   // check if stock camera ECU is still online
-  if (bus == 0 && addr == 0x292) {
+  if ((bus == 0) && (addr == 0x292)) {
     chrysler_camera_detected = 1;
     controls_allowed = 0;
   }
@@ -54,27 +46,21 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
 static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
-  // There can be only one! (camera)
+  int tx = 1;
+
+  // If camera is on bus 0, then nothing can be sent
   if (chrysler_camera_detected) {
-    return 0;
-  }
-
-  uint32_t addr;
-  if (to_send->RIR & 4) {
-    // Extended
-    addr = to_send->RIR >> 3;
-  } else {
-    // Normal
-    addr = to_send->RIR >> 21;
+    tx = 0;
   }
 
+  int addr = GET_ADDR(to_send);
 
   // LKA STEER
   if (addr == 0x292) {
-    int rdlr = to_send->RDLR;
-    int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - 1024;
+    uint32_t rdlr = to_send->RDLR;
+    int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8) - 1024U;
     uint32_t ts = TIM2->CNT;
-    int violation = 0;
+    bool violation = 0;
 
     if (controls_allowed) {
 
@@ -112,7 +98,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
 
     if (violation) {
-      return false;
+      tx = 0;
     }
   }
 
@@ -122,27 +108,28 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // TODO: fix bug preventing the button msg to be fwd'd on bus 2
 
   // 1 allows the message through
-  return true;
+  return tx;
 }
 
 static void chrysler_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = 0;
   chrysler_camera_detected = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  int32_t addr = to_fwd->RIR >> 21;
+
+  int bus_fwd = -1;
+  int addr = GET_ADDR(to_fwd);
   // forward CAN 0 -> 2 so stock LKAS camera sees messages
-  if (bus_num == 0 && !chrysler_camera_detected) {
-    return 2;
+  if ((bus_num == 0) && !chrysler_camera_detected) {
+    bus_fwd = 2;
   }
   // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
-  if (bus_num == 2 && !chrysler_camera_detected && addr != 658 && addr != 678) {
-    return 0;
+  if ((bus_num == 2) && !chrysler_camera_detected && (addr != 658) && (addr != 678)) {
+    bus_fwd = 0;
   }
-  return -1;  // do not forward
+  return bus_fwd;
 }
 
 
@@ -153,5 +140,4 @@ const safety_hooks chrysler_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = chrysler_fwd_hook,
-  .relay = nooutput_relay_hook,
 };