Merge pull request #660 from commaai/devel

Openpilot 0.5.12

.gitignore

@@ -1,4 +1,3 @@
-venv/
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -35,6 +34,3 @@ 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" | grep -vi "^\./tools")'
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
   - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools"); exit $(($? & 3))'
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); 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

@@ -4,45 +4,32 @@ ENV PYTHONUNBUFFERED 1
 RUN apt-get update && apt-get install -y \
     autoconf \
     build-essential \
-    bzip2 \
     clang \
+    wget \
+    bzip2 \
     git \
-    libarchive-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavfilter-dev \
-    libavresample-dev \
-    libavutil-dev \
-    libffi-dev \
     libglib2.0-0 \
-    libssl-dev \
-    libswscale-dev \
     libtool \
-    libusb-1.0-0 \
+    python-pip \
     libzmq5-dev \
+    libffi-dev \
+    libusb-1.0-0 \
+    libssl-dev \
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
-    opencl-headers \
-    pkg-config \
-    python-pip \
-    wget
+    opencl-headers
 
 COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
 RUN /tmp/install_capnp.sh
 
 RUN pip install --upgrade pip==18.0
-RUN pip install pipenv==2018.11.26
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
 
-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-RUN cd /tmp && pipenv install --deploy --system
+COPY requirements_openpilot.txt /tmp/
+RUN pip install -r /tmp/requirements_openpilot.txt
 
 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

@@ -1,140 +0,0 @@
-[[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/UetIFyH.jpg)](#)
+[![](https://i.imgur.com/xY2gdHv.png)](#)
 
 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 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                | 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                | 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    |
@@ -91,15 +91,13 @@ 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           | Custom<sup>4</sup>|
-| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
+| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
 | Toyota               | Avalon 2016              | TSS-P                | 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               | 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               | 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            |
@@ -111,13 +109,13 @@ 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).*** <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 />
+<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/).  
 
 Community Maintained Cars
 ------
@@ -175,6 +173,7 @@ 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

@@ -1,26 +1,3 @@
-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
@@ -32,8 +9,8 @@ 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 thanks to wocsor!
- * Toyota Corolla with TSS 2.0 support thanks to wocsor!
+ * Toyota Rav4 with TSS 2.0 support thansk to wocsor!
+ * Toyota Corolla with TSS 2.0 support thansk to wocsor!
 
 Version 0.5.11 (2019-04-17)
 ========================

cereal/.gitignore

@@ -1,6 +1,3 @@
 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
-    canError @0;
+    commIssue @0;
     steerUnavailable @1;
     brakeUnavailable @2;
     gasUnavailable @3;
@@ -37,7 +37,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     buttonEnable @12;
     pedalPressed @13;
     cruiseDisabled @14;
-    radarCanError @15;
+    radarCommIssue @15;
     dataNeeded @16;
     speedTooLow @17;
     outOfSpace @18;
@@ -49,7 +49,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     pcmDisable @24;
     noTarget @25;
     radarFault @26;
-    modelCommIssueDEPRECATED @27;
+    modelCommIssue @27;
     brakeHold @28;
     parkBrake @29;
     manualRestart @30;
@@ -74,8 +74,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     invalidGiraffeHonda @49;
     vehicleModelInvalid @50;
     controlsFailed @51;
-    sensorDataInvalid @52;
-    commIssue @53;
   }
 }
 
@@ -124,7 +122,6 @@ struct CarState {
   # lock info
   doorOpen @24 :Bool;
   seatbeltUnlatched @25 :Bool;
-  canValid @26 :Bool;
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
@@ -178,7 +175,7 @@ struct CarState {
 
 # ******* radar state @ 20hz *******
 
-struct RadarData @0x888ad6581cf0aacb {
+struct RadarState {
   errors @0 :List(Error);
   points @1 :List(RadarPoint);
 
@@ -186,7 +183,7 @@ struct RadarData @0x888ad6581cf0aacb {
   canMonoTimes @2 :List(UInt64);
 
   enum Error {
-    canError @0;
+    commIssue @0;
     fault @1;
     wrongConfig @2;
   }
@@ -295,7 +292,7 @@ struct CarParams {
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
-  safetyModel @9 :SafetyModel;
+  safetyModel @9 :Int16;
   safetyParam @10 :Int16;
 
   steerMaxBP @11 :List(Float32);
@@ -336,7 +333,6 @@ 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);
@@ -364,7 +360,7 @@ struct CarParams {
   }
 
 
-  enum SafetyModel {
+  enum SafetyModels {
     # does NOT match board setting
     noOutput @0;
     honda @1;

cereal/generate_javascript.sh

@@ -1,26 +0,0 @@
-#!/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

@@ -1,39 +0,0 @@
-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

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

@@ -1,53 +0,0 @@
-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

@@ -1,16 +0,0 @@
-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

@@ -1,103 +0,0 @@
-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
-	python2 simple_kalman_setup.py build_ext --inplace
+	python 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_PANDA_DISCONNECT = 3
+  CLEAR_ON_CAR_START = 3
 
 
 class UnknownKeyName(Exception):
@@ -49,34 +49,32 @@ class UnknownKeyName(Exception):
 
 
 keys = {
-  "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],
+  "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,
 }
 
 
@@ -310,14 +308,14 @@ class Params(object):
   def _clear_keys_with_type(self, tx_type):
     with self.transaction(write=True) as txn:
       for key in keys:
-        if tx_type in keys[key]:
+        if keys[key] == tx_type:
           txn.delete(key)
 
   def manager_start(self):
     self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
 
-  def panda_disconnect(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
+  def car_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
 
   def delete(self, key):
     with self.transaction(write=True) as txn:

common/realtime.py

@@ -2,31 +2,58 @@
 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("long syscall(long number, ...);")
+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, ...);
+
+"""
+)
 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")
@@ -72,9 +99,10 @@ class Ratekeeper(object):
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
-    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
+    if 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

@@ -1,5 +1,6 @@
 import numpy as np
 import common.transformations.orientation as orient
+import cv2
 import math
 
 FULL_FRAME_SIZE = (1164, 874)
@@ -125,8 +126,6 @@ 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],
@@ -163,8 +162,6 @@ 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]
@@ -207,10 +204,10 @@ 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

@@ -1,95 +0,0 @@
-#!/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

@@ -1,88 +0,0 @@
-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

@@ -1,7 +0,0 @@
-{
-  "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

@@ -1,675 +0,0 @@
-#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

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

opendbc/acura_ilx_2016_can_generated.dbc

@@ -164,15 +164,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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

@@ -164,15 +164,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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

@@ -196,8 +196,7 @@ 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_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -261,4 +260,4 @@ 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

@@ -142,15 +142,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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: 5 XXX
- SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
+BO_ 493 HUD_SETTING: 8 XXX
+ SG_ SPEED_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
@@ -128,6 +128,7 @@ 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-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_chr_2018_pt.dbc

@@ -1,17 +1,6 @@
 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
@@ -26,7 +15,6 @@ 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_chr_hybrid_2018_pt.dbc

@@ -20,7 +20,6 @@ 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

@@ -200,8 +200,7 @@ 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_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -266,7 +265,6 @@ 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

@@ -200,8 +200,7 @@ 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_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -266,7 +265,6 @@ 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

@@ -200,8 +200,7 @@ 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_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -266,7 +265,6 @@ 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

@@ -164,15 +164,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
@@ -289,8 +288,8 @@ 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: 5 XXX
- SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
+BO_ 493 HUD_SETTING: 8 XXX
+ SG_ SPEED_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
@@ -367,6 +366,7 @@ 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

@@ -200,8 +200,7 @@ 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_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -266,7 +265,6 @@ 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

@@ -200,8 +200,7 @@ 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_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -266,7 +265,6 @@ 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

@@ -164,15 +164,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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

@@ -164,15 +164,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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

@@ -200,8 +200,7 @@ 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_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -266,7 +265,6 @@ 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

@@ -164,15 +164,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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

@@ -150,15 +150,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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

@@ -164,15 +164,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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

@@ -164,15 +164,14 @@ 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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 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_ 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-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_chr_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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX
@@ -295,21 +295,10 @@ 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_nodsu_pt.dbc starts here"
+CM_ "toyota_chr_2018_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
@@ -324,7 +313,6 @@ 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_chr_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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_nodsu_hybrid_pt.dbc starts here"
+CM_ "toyota_chr_hybrid_2018_pt.dbc starts here"
 
 
 
@@ -318,7 +318,6 @@ 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_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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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

@@ -12,47 +12,6 @@ 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
@@ -81,30 +40,18 @@ 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

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

panda/Dockerfile

@@ -59,4 +59,6 @@ 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

@@ -14,6 +14,8 @@ 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 @@
-v1.4.0
+v1.2.1

panda/board/Makefile.legacy

@@ -0,0 +1,9 @@
+# :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

@@ -1,8 +0,0 @@
-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

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

panda/board/bootstub.c

@@ -12,14 +12,11 @@
   #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/clock.h"
+#include "drivers/drivers.h"
+
 #include "drivers/llgpio.h"
 #include "gpio.h"
 
@@ -27,6 +24,15 @@ void puth(unsigned int i) {}
 #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

@@ -2,15 +2,12 @@ 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
@@ -25,6 +22,7 @@ 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) ((void)sizeof(char[1 - (2 * (!(pred)))]))
+#define COMPILE_TIME_ASSERT(pred) switch(0){case 0:case 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) {
+void adc_init() {
   // 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

@@ -1,38 +1,10 @@
-// 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
-
+// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE, CAN2_TX, CAN2_RX0, CAN2_SCE, CAN3_TX, CAN3_RX0, CAN3_SCE
 #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 *********************
@@ -44,21 +16,24 @@ 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};
 
-// 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;
+#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
 
 // ********************* interrupt safe queue *********************
 
-bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  bool ret = 0;
+int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  int ret = 0;
 
   enter_critical_section();
   if (q->w_ptr != q->r_ptr) {
@@ -85,12 +60,7 @@ int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
     ret = 1;
   }
   exit_critical_section();
-  if (ret == 0) {
-    can_overflow_cnt++;
-    #ifdef DEBUG
-      puts("can_push failed!\n");
-    #endif
-  }
+  if (ret == 0) puts("can_push failed!\n");
   return ret;
 }
 
@@ -110,54 +80,181 @@ 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
-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
+#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]))
 
 #define CANIF_FROM_CAN_NUM(num) (cans[num])
-#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"))
+#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 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);
 
-  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");
+  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;
+    }
   }
 }
 
 void can_init(uint8_t can_number) {
-  if (can_number != 0xff) {
-    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-    set_can_enable(CAN, 1);
-    can_set_speed(can_number);
+  if (can_number == 0xff) return;
 
-    llcan_init(CAN);
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  set_can_enable(CAN, 1);
+  can_set_speed(can_number);
 
-    // in case there are queued up messages
-    process_can(can_number);
+  // 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);
 }
 
-void can_init_all(void) {
+void can_init_all() {
   for (int i=0; i < CAN_MAX; i++) {
     can_init(i);
   }
 }
 
 void can_set_gmlan(int bus) {
-  if ((bus == -1) || (bus != can_num_lookup[3])) {
+  #ifdef PANDA
+  if (bus == -1 || bus != can_num_lookup[3]) {
     // GMLAN OFF
     switch (can_num_lookup[3]) {
       case 1:
@@ -176,9 +273,6 @@ void can_set_gmlan(int bus) {
         can_num_lookup[3] = -1;
         can_init(2);
         break;
-      default:
-        puts("GMLAN bus value invalid\n");
-        break;
     }
   }
 
@@ -190,7 +284,7 @@ void can_set_gmlan(int bus) {
     can_num_lookup[1] = -1;
     can_num_lookup[3] = 1;
     can_init(1);
-  } else if (bus == 2) {
+  } else if (bus == 2 && revision == PANDA_REV_C) {
     puts("GMLAN on CAN3\n");
     // GMLAN on CAN3
     set_can_mode(2, 1);
@@ -199,6 +293,7 @@ void can_set_gmlan(int bus) {
     can_num_lookup[3] = 2;
     can_init(2);
   }
+  #endif
 }
 
 // CAN error
@@ -224,74 +319,125 @@ void can_sce(CAN_TypeDef *CAN) {
     puts("\n");
   #endif
 
-  can_err_cnt += 1;
-  llcan_clear_send(CAN);
+  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;
+  }
   exit_critical_section();
 }
 
 // ***************************** CAN *****************************
 
 void process_can(uint8_t can_number) {
-  if (can_number != 0xff) {
+  if (can_number == 0xff) return;
+#ifdef PANDA
+  power_save_reset_timer();
+#endif
 
-    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);
+  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
 
-    // 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_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_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_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_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;
     }
 
-    exit_critical_section();
+    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();
 }
 
 // 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) != 0) {
+  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
+    }
+
     can_rx_cnt += 1;
 
     // can is live
@@ -308,19 +454,25 @@ void can_rx(uint8_t can_number) {
     to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
 
     // forwarding (panda only)
-    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);
-    }
+    #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
 
     safety_rx_hook(&to_push);
 
-    set_led(LED_BLUE, 1);
+    #ifdef PANDA
+      set_led(LED_BLUE, 1);
+    #endif
     can_push(&can_rx_q, &to_push);
 
     // next
@@ -328,27 +480,35 @@ void can_rx(uint8_t can_number) {
   }
 }
 
-void CAN1_TX_IRQHandler(void) { process_can(0); }
-void CAN1_RX0_IRQHandler(void) { can_rx(0); }
-void CAN1_SCE_IRQHandler(void) { can_sce(CAN1); }
+#ifndef CUSTOM_CAN_INTERRUPTS
 
-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 CAN1_TX_IRQHandler() { process_can(0); }
+void CAN1_RX0_IRQHandler() { can_rx(0); }
+void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
 
-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 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 can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
-  if (safety_tx_hook(to_push) != 0) {
+  if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
     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)) {
+      if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
+        #ifdef PANDA
         // 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));
@@ -360,4 +520,3 @@ 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

@@ -1,40 +0,0 @@
-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

@@ -0,0 +1,141 @@
+#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) {
@@ -18,8 +18,7 @@ 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;
-    j++;
+    out[j++] = bit;
 
     // do the stuffing
     if (bit == last_bit) {
@@ -27,8 +26,7 @@ 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;
-        j++;
+        out[j++] = last_bit;
         bit_cnt = 1;
       }
     } else {
@@ -44,30 +42,27 @@ 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)) != 0) {
+    if (in[i] ^ ((crc>>15)&1)) {
       crc = crc ^ 0x4599;
     }
     crc &= 0x7fff;
   }
   for (int i = 14; i >= 0; i--) {
-    in[in_len] = (crc>>i)&1;
-    in_len++;
+    in[in_len++] = (crc>>i)&1;
   }
   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_len++;
+    in[in_len++] = app[i];
   }
   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_len++;
+    in[in_len++] = (val&(1<<i)) != 0;
   }
   return in_len;
 }
@@ -87,8 +82,8 @@ 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) != 0) {
+  
+  if (to_bang->RIR & 4) {
     // extended identifier
     len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
     len = append_int(pkt, len, 3, 2);    // SRR+IDE
@@ -119,7 +114,9 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   return len;
 }
 
-void setup_timer4(void) {
+#ifdef PANDA
+
+void setup_timer4() {
   // setup
   TIM4->PSC = 48-1;          // tick on 1 us
   TIM4->CR1 = TIM_CR1_CEN;   // enable
@@ -136,7 +133,7 @@ void setup_timer4(void) {
 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;
 
@@ -145,9 +142,9 @@ 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
 }
 
@@ -167,7 +164,7 @@ void reset_gmlan_switch_timeout(void) {
 }
 
 void set_bitbanged_gmlan(int val) {
-  if (val != 0) {
+  if (val) {
     GPIOB->ODR |= (1 << 13);
   } else {
     GPIOB->ODR &= ~(1 << 13);
@@ -185,7 +182,7 @@ 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) {
@@ -194,16 +191,16 @@ void TIM4_IRQHandler(void) {
           gmlan_silent_count++;
         }
       } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
-        bool retry = 0;
+        int 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;
         }
@@ -221,7 +218,7 @@ 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
@@ -233,8 +230,8 @@ 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;
@@ -261,19 +258,19 @@ 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) {
+  if (gmlan_sendmax != -1) return;
 
-    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

@@ -1,81 +0,0 @@
-// 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

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

panda/board/drivers/lline_relay.h

@@ -0,0 +1,88 @@
+#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

@@ -1,16 +1,11 @@
 // 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) {
+void spi_init() {
   //puts("SPI init\n");
   SPI1->CR1 = SPI_CR1_SPE;
 
@@ -28,8 +23,8 @@ void spi_init(void) {
 
   // 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);
 }
 
@@ -113,12 +108,12 @@ void DMA2_Stream3_IRQHandler(void) {
 }
 
 void EXTI4_IRQHandler(void) {
-  volatile int pr = EXTI->PR & (1 << 4);
+  volatile int pr = EXTI->PR;
   #ifdef DEBUG_SPI
     puts("exti4\n");
   #endif
   // SPI CS falling
-  if ((pr & (1 << 4)) != 0) {
+  if (pr & (1 << 4)) {
     spi_total_count = 0;
     spi_rx_dma(spi_buf, 0x14);
   }

panda/board/drivers/uart.h

@@ -1,27 +1,5 @@
 // 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
@@ -50,25 +28,18 @@ 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:
-      ring = &debug_ring;
-      break;
+      return &debug_ring;
     case 1:
-      ring = &esp_ring;
-      break;
+      return &esp_ring;
     case 2:
-      ring = &lin1_ring;
-      break;
+      return &lin1_ring;
     case 3:
-      ring = &lin2_ring;
-      break;
+      return &lin2_ring;
     default:
-      ring = NULL;
-      break;
+      return NULL;
   }
-  return ring;
 }
 
 // ***************************** serial port *****************************
@@ -79,32 +50,31 @@ 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) != 0) {
+    if (sr & USART_SR_TXE) {
       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 != NULL) {
-          q->callback(q);
-        }
+        if (q->callback) q->callback(q);
       }
     }
   }
 
-  if ((sr & USART_SR_ORE) != 0) {
+  if (sr & USART_SR_ORE) {
     // set dropped packet flag?
   }
 
@@ -118,22 +88,22 @@ 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); }
 
-bool getc(uart_ring *q, char *elem) {
-  bool ret = false;
+int getc(uart_ring *q, char *elem) {
+  int ret = 0;
 
   enter_critical_section();
   if (q->w_ptr_rx != q->r_ptr_rx) {
-    if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
+    *elem = q->elems_rx[q->r_ptr_rx];
     q->r_ptr_rx = (q->r_ptr_rx + 1) % FIFO_SIZE;
-    ret = true;
+    ret = 1;
   }
   exit_critical_section();
 
   return ret;
 }
 
-bool injectc(uart_ring *q, char elem) {
-  int ret = false;
+int injectc(uart_ring *q, char elem) {
+  int ret = 0;
   uint16_t next_w_ptr;
 
   enter_critical_section();
@@ -141,15 +111,15 @@ bool 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 = true;
+    ret = 1;
   }
   exit_critical_section();
 
   return ret;
 }
 
-bool putc(uart_ring *q, char elem) {
-  bool ret = false;
+int putc(uart_ring *q, char elem) {
+  int ret = 0;
   uint16_t next_w_ptr;
 
   enter_critical_section();
@@ -157,7 +127,7 @@ bool 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 = true;
+    ret = 1;
   }
   exit_critical_section();
 
@@ -166,24 +136,6 @@ bool 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;
@@ -195,10 +147,10 @@ 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) {
@@ -212,19 +164,19 @@ 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) {
+void uart_dma_drain() {
   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) != 0);
+    while (DMA2_Stream5->CR & DMA_SxCR_EN);
 
-    unsigned int i;
-    for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
+    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) {
@@ -306,23 +258,22 @@ void putch(const char a) {
   }
 }
 
-void puts(const char *a) {
+int 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';
-  idx--;
+  str[idx--] = '\0';
   do {
-    str[idx] = (i % 10) + 0x30;
-    idx--;
+    str[idx--] = (i % 10) + 0x30;
     i /= 10;
-  } while (i != 0);
+  } while (i);
   puts(str + idx + 1);
 }
 
@@ -345,7 +296,7 @@ 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

@@ -1,35 +1,5 @@
 // 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
@@ -43,9 +13,9 @@ 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
@@ -125,11 +95,11 @@ 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
@@ -216,10 +186,17 @@ 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[] = {
@@ -233,6 +210,7 @@ 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
@@ -382,6 +360,8 @@ 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];
@@ -397,10 +377,9 @@ void *USB_ReadPacket(void *dest, uint16_t len) {
   uint32_t i=0;
   uint32_t count32b = (len + 3) / 4;
 
-  for ( i = 0; i < count32b; i++) {
+  for ( i = 0; i < count32b; i++, dest += 4 ) {
     // packed?
     *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
-    dest += 4;
   }
   return ((void *)dest);
 }
@@ -421,9 +400,8 @@ 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++) {
+  for (i = 0; i < count32b; i++, src += 4) {
     USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
-    src += 4;
   }
 }
 
@@ -435,7 +413,7 @@ 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) {
@@ -447,7 +425,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
   }
 }
 
-void usb_reset(void) {
+void usb_reset() {
   // unmask endpoint interrupts, so many sets
   USBx_DEVICE->DAINT = 0xFFFFFFFF;
   USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
@@ -491,16 +469,14 @@ void usb_reset(void) {
 }
 
 char to_hex_char(int a) {
-  char ret;
   if (a < 10) {
-    ret = '0' + a;
+    return '0' + a;
   } else {
-    ret = 'a' + (a - 10);
+    return 'a' + (a-10);
   }
-  return ret;
 }
 
-void usb_setup(void) {
+void usb_setup() {
   int resp_len;
   // setup packet is ready
   switch (setup.b.bRequest) {
@@ -549,32 +525,32 @@ void usb_setup(void) {
           //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 UID_BASE
+              #ifdef PANDA
                 resp[0] = 0x02 + 12*4;
                 resp[1] = 0x03;
 
@@ -587,17 +563,19 @@ void usb_setup(void) {
                   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);
@@ -605,10 +583,12 @@ void usb_setup(void) {
           }
           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);
@@ -629,10 +609,11 @@ void usb_setup(void) {
       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:
@@ -646,28 +627,29 @@ void usb_setup(void) {
       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) {
+void usb_init() {
   // full speed PHY, do reset and remove power down
   /*puth(USBx->GRSTCTL);
   puts(" resetting PHY\n");*/
@@ -760,27 +742,27 @@ void usb_irqhandler(void) {
     puts(" USB interrupt!\n");
   #endif
 
-  if ((gintsts & USB_OTG_GINTSTS_CIDSCHG) != 0) {
+  if (gintsts & USB_OTG_GINTSTS_CIDSCHG) {
     puts("connector ID status change\n");
   }
 
-  if ((gintsts & USB_OTG_GINTSTS_ESUSP) != 0) {
+  if (gintsts & USB_OTG_GINTSTS_ESUSP) {
     puts("ESUSP detected\n");
   }
 
-  if ((gintsts & USB_OTG_GINTSTS_USBRST) != 0) {
+  if (gintsts & USB_OTG_GINTSTS_USBRST) {
     puts("USB reset\n");
     usb_reset();
   }
 
-  if ((gintsts & USB_OTG_GINTSTS_ENUMDNE) != 0) {
+  if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
     puts("enumeration done");
     // Full speed, ENUMSPD
     //puth(USBx_DEVICE->DSTS);
     puts("\n");
   }
 
-  if ((gintsts & USB_OTG_GINTSTS_OTGINT) != 0) {
+  if (gintsts & USB_OTG_GINTSTS_OTGINT) {
     puts("OTG int:");
     puth(USBx->GOTGINT);
     puts("\n");
@@ -790,7 +772,7 @@ void usb_irqhandler(void) {
   }
 
   // RX FIFO first
-  if ((gintsts & USB_OTG_GINTSTS_RXFLVL) != 0) {
+  if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
     // 1. Read the Receive status pop register
     volatile unsigned int rxst = USBx->GRXSTSP;
 
@@ -852,7 +834,7 @@ void usb_irqhandler(void) {
     USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
   }
 
-  if ((gintsts & USB_OTG_GINTSTS_SRQINT) != 0) {
+  if (gintsts & USB_OTG_GINTSTS_SRQINT) {
     // we want to do "A-device host negotiation protocol" since we are the A-device
     /*puts("start request\n");
     puth(USBx->GOTGCTL);
@@ -863,7 +845,7 @@ void usb_irqhandler(void) {
   }
 
   // out endpoint hit
-  if ((gintsts & USB_OTG_GINTSTS_OEPINT) != 0) {
+  if (gintsts & USB_OTG_GINTSTS_OEPINT) {
     #ifdef DEBUG_USB
       puts("  0:");
       puth(USBx_OUTEP(0)->DOEPINT);
@@ -878,7 +860,7 @@ void usb_irqhandler(void) {
       puts(" OUT ENDPOINT\n");
     #endif
 
-    if ((USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) != 0) {
+    if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
       #ifdef DEBUG_USB
         puts("  OUT2 PACKET XFRC\n");
       #endif
@@ -886,32 +868,32 @@ 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) != 0) {
+    if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
       #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) != 0) {
+    } else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
       #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) != 0) {
+    } else if (USBx_OUTEP(3)->DOEPINT) {
       puts("OUTEP3 error ");
       puth(USBx_OUTEP(3)->DOEPINT);
       puts("\n");
     }
 
-    if ((USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) != 0) {
+    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
       // 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) != 0) {
+    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
       usb_setup();
     }
 
@@ -921,7 +903,7 @@ void usb_irqhandler(void) {
   }
 
   // interrupt endpoint hit (Page 1221)
-  if ((gintsts & USB_OTG_GINTSTS_IEPINT) != 0) {
+  if (gintsts & USB_OTG_GINTSTS_IEPINT) {
     #ifdef DEBUG_USB
       puts("  ");
       puth(USBx_INEP(0)->DIEPINT);
@@ -936,8 +918,8 @@ 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 has EP1
-    // as bulk. Setting 1 has EP1 as interrupt. The code to handle
+    // Handle the two interface alternate settings. Setting 0 is 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.
@@ -946,7 +928,7 @@ 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) != 0) {
+        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
           #ifdef DEBUG_USB
           puts("  IN PACKET QUEUE\n");
           #endif
@@ -957,7 +939,7 @@ void usb_irqhandler(void) {
 
       case 1: ////// Interrupt config
         // *** IN token received when TxFIFO is empty
-        if ((USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
+        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
           #ifdef DEBUG_USB
           puts("  IN PACKET QUEUE\n");
           #endif
@@ -968,18 +950,15 @@ void usb_irqhandler(void) {
           }
         }
         break;
-      default:
-        puts("current_int0_alt_setting value invalid\n");
-        break;
     }
 
-    if ((USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
+    if (USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
       #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

@@ -1,5 +1,3 @@
-// this is last place with ifdef PANDA
-
 #ifdef STM32F4
   #include "stm32f4xx_hal_gpio_ex.h"
 #else
@@ -13,25 +11,23 @@
 
 #define PULL_EFFECTIVE_DELAY 10
 
-void puts(const char *a);
-
-bool has_external_debug_serial = 0;
-bool is_giant_panda = 0;
-bool is_entering_bootmode = 0;
+int has_external_debug_serial = 0;
+int is_giant_panda = 0;
+int is_entering_bootmode = 0;
 int revision = PANDA_REV_AB;
-bool is_grey_panda = 0;
+int is_grey_panda = 0;
 
-bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
+int 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++);
-  bool ret = get_gpio_input(GPIO, pin);
+  int 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) {
+void detect() {
   // detect has_external_debug_serial
   has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
 
@@ -65,7 +61,44 @@ void detect(void) {
 
 // ********************* bringup *********************
 
-void periph_init(void) {
+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() {
   // enable GPIOB, UART2, CAN, USB clock
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
@@ -84,22 +117,24 @@ void periph_init(void) {
     RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
   #endif
   RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  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->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->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, bool enabled) {
+void set_can_enable(CAN_TypeDef *CAN, int enabled) {
   // enable CAN busses
   if (CAN == CAN1) {
     #ifdef PANDA
@@ -141,16 +176,16 @@ void set_can_enable(CAN_TypeDef *CAN, bool enabled) {
 #endif
 
 void set_led(int led_num, int on) {
-  if (led_num != -1) {
+  if (led_num == -1) return;
+
   #ifdef PANDA
     set_gpio_output(GPIOC, led_num, !on);
   #else
     set_gpio_output(GPIOB, led_num, !on);
   #endif
-  }
 }
 
-void set_can_mode(int can, bool use_gmlan) {
+void set_can_mode(int can, int use_gmlan) {
   // connects to CAN2 xcvr or GMLAN xcvr
   if (use_gmlan) {
     if (can == 1) {
@@ -162,7 +197,7 @@ void set_can_mode(int can, bool use_gmlan) {
       set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
       set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
 #ifdef CAN3
-    } else if (can == 2) {
+    } else if (revision == PANDA_REV_C && can == 2) {
       // A8,A15: disable normal mode
       set_gpio_mode(GPIOA, 8, MODE_INPUT);
       set_gpio_mode(GPIOA, 15, MODE_INPUT);
@@ -183,9 +218,11 @@ void set_can_mode(int can, bool use_gmlan) {
       set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
 #ifdef CAN3
     } else if (can == 2) {
-      // B3,B4: disable gmlan mode
-      set_gpio_mode(GPIOB, 3, MODE_INPUT);
-      set_gpio_mode(GPIOB, 4, MODE_INPUT);
+      if(revision == PANDA_REV_C){
+        // 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);
@@ -202,7 +239,6 @@ void set_can_mode(int can, bool 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
@@ -219,15 +255,8 @@ 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
@@ -250,16 +279,13 @@ 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) {
+void gpio_init() {
   // pull low to hold ESP in reset??
   // enable OTG out tied to ground
   GPIOA->ODR = 0;
@@ -351,7 +377,11 @@ void gpio_init(void) {
 
   #ifdef PANDA
     // K-line enable moved from B4->B7 to make room for GMLAN on CAN3
-    set_gpio_output(GPIOB, 7, 1); // REV C
+    if (revision == PANDA_REV_C) {
+      set_gpio_output(GPIOB, 7, 1); // REV C
+    } else {
+      set_gpio_output(GPIOB, 4, 1); // REV AB
+    }
 
     // C12,D2: K-Line setup on UART 5
     set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
@@ -362,12 +392,16 @@ void gpio_init(void) {
     set_gpio_output(GPIOA, 14, 1);
 
     // C10,C11: L-Line setup on USART 3
-    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+    // LLine now used for relay output
+    set_gpio_output(GPIOC, 10, 1);
+    //set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
     set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
     set_gpio_pullup(GPIOC, 11, PULL_UP);
   #endif
 
-  set_usb_power_mode(USB_POWER_CLIENT);
+  if (revision == PANDA_REV_C) {
+    set_usb_power_mode(USB_POWER_CLIENT);
+  }
 }
 
 // ********************* early bringup *********************
@@ -379,7 +413,7 @@ void gpio_init(void) {
 extern void *g_pfnVectors;
 extern uint32_t enter_bootloader_mode;
 
-void jump_to_bootloader(void) {
+void jump_to_bootloader() {
   // do enter bootloader
   enter_bootloader_mode = 0;
   void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
@@ -392,11 +426,11 @@ void jump_to_bootloader(void) {
   NVIC_SystemReset();
 }
 
-void early(void) {
+void early() {
   // 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 @@
-// **** libc ****
+// **** shitty 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) {
-  unsigned int i;
+  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) {
-  unsigned int i;
+  int i;
   // TODO: make not slow
   for (i = 0; i < n; i++) {
     ((uint8_t*)dest)[i] = *(uint8_t*)src;
@@ -25,36 +25,26 @@ void *memcpy(void *dest, const void *src, unsigned int n) {
 }
 
 int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
-  unsigned int i;
-  int ret = 0;
+  int i;
   for (i = 0; i < num; i++) {
-    if ( ((uint8_t*)ptr1)[i] != ((uint8_t*)ptr2)[i] ) {
-      ret = -1;
-      break;
-    }
+    if ( ((uint8_t*)ptr1)[i] != ((uint8_t*)ptr2)[i] ) return -1;
   }
-  return ret;
+  return 0;
 }
 
 // ********************* IRQ helpers *********************
 
-int interrupts_enabled = 0;
-void enable_interrupts(void) {
-  interrupts_enabled = 1;
-  __enable_irq();
-}
-
 int critical_depth = 0;
-void enter_critical_section(void) {
+void enter_critical_section() {
   __disable_irq();
   // this is safe because interrupts are disabled
   critical_depth += 1;
 }
 
-void exit_critical_section(void) {
+void exit_critical_section() {
   // this is safe because interrupts are disabled
   critical_depth -= 1;
-  if ((critical_depth == 0) && interrupts_enabled) {
+  if (critical_depth == 0) {
     __enable_irq();
   }
 }

panda/board/main.c

@@ -1,15 +1,14 @@
-//#define EON
-
 #include "config.h"
 #include "obj/gitversion.h"
 
 // ********************* includes *********************
 
-
 #include "libc.h"
+#include "safety.h"
 #include "provision.h"
 
-#include "drivers/llcan.h"
+#include "drivers/drivers.h"
+
 #include "drivers/llgpio.h"
 #include "gpio.h"
 
@@ -17,16 +16,25 @@
 #include "drivers/adc.h"
 #include "drivers/usb.h"
 #include "drivers/gmlan_alt.h"
-#include "drivers/timer.h"
-#include "drivers/clock.h"
-
-#ifndef EON
+#include "drivers/can.h"
 #include "drivers/spi.h"
-#endif
+#include "drivers/timer.h"
 
 #include "power_saving.h"
-#include "safety.h"
-#include "drivers/can.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;
+}
 
 // ********************* serial debugging *********************
 
@@ -62,38 +70,6 @@ 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) {
@@ -109,25 +85,40 @@ 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
 
-  // 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 * 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
 
-  // 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 = is_gpio_started();
+    health->started = (GPIOA->IDR & (1 << 1)) == 0;
   } 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;
@@ -139,34 +130,26 @@ int get_health_pkt(void *dat) {
   return sizeof(*health);
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
-  UNUSED(hardwired);
+int usb_cb_ep1_in(uint8_t *usbdata, int len, int 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, bool hardwired) {
-  UNUSED(hardwired);
+void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
+  if (len == 0) return;
   uart_ring *ur = get_ring_by_number(usbdata[0]);
-  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
-        }
-      }
-    }
+  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]));
   }
 }
 
 // send on CAN
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
-  UNUSED(hardwired);
+void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
   int dpkt = 0;
   for (dpkt = 0; dpkt < len; dpkt += 0x10) {
     uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
@@ -180,17 +163,25 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, bool 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
   }
 }
 
-bool is_enumerated = 0;
+int 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, bool hardwired) {
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
   int resp_len = 0;
   uart_ring *ur = NULL;
   int i;
@@ -210,14 +201,16 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xd0: fetch serial number
     case 0xd0:
-      // 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;
-      }
+      #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
       break;
     // **** 0xd1: enter bootloader mode
     case 0xd1:
@@ -236,18 +229,19 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool 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;
@@ -279,43 +273,44 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xdb: set GMLAN multiplexing mode
     case 0xdb:
-      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);
+      #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);
         }
-      } else {
-        can_set_gmlan(-1);
-      }
+      #endif
       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);
-        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);
+        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;
         }
-        #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;
@@ -323,37 +318,28 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool 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;
       }
@@ -361,17 +347,13 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool 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
@@ -394,9 +376,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool 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)
@@ -406,25 +386,27 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xe6: set USB power
     case 0xe6:
-      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 (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);
+        }
       }
       break;
     // **** 0xf0: do k-line wValue pulse on uart2 for Acura
     case 0xf0:
       if (setup->b.wValue.w == 1) {
-        GPIOC->ODR &= ~(1U << 10);
+        GPIOC->ODR &= ~(1 << 10);
         GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
         GPIOC->MODER |= GPIO_MODER_MODER10_0;
       } else {
-        GPIOC->ODR &= ~(1U << 12);
+        GPIOC->ODR &= ~(1 << 12);
         GPIOC->MODER &= ~GPIO_MODER_MODER12_1;
         GPIOC->MODER |= GPIO_MODER_MODER12_0;
       }
@@ -432,11 +414,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       for (i = 0; i < 80; i++) {
         delay(8000);
         if (setup->b.wValue.w == 1) {
-          GPIOC->ODR |= (1U << 10);
-          GPIOC->ODR &= ~(1U << 10);
+          GPIOC->ODR |= (1 << 10);
+          GPIOC->ODR &= ~(1 << 10);
         } else {
-          GPIOC->ODR |= (1U << 12);
-          GPIOC->ODR &= ~(1U << 12);
+          GPIOC->ODR |= (1 << 12);
+          GPIOC->ODR &= ~(1 << 12);
         }
       }
 
@@ -464,12 +446,22 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     case 0xf2:
       {
         uart_ring * rb = get_ring_by_number(setup->b.wValue.w);
-        if (rb != NULL) {
+        if (rb) {
           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);
@@ -479,11 +471,12 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool 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:
@@ -502,122 +495,29 @@ 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) {
+void __initialize_hardware_early() {
   early();
 }
 
-void __attribute__ ((noinline)) enable_fpu(void) {
+void __attribute__ ((noinline)) enable_fpu() {
   // enable the FPU
-  SCB->CPACR |= ((3UL << (10U * 2)) | (3UL << (11U * 2)));
+  SCB->CPACR |= ((3UL << 10*2) | (3UL << 11*2));
 }
 
-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) {
+int main() {
   // shouldn't have interrupts here, but just in case
   __disable_irq();
 
@@ -631,21 +531,21 @@ int main(void) {
 
   // detect the revision and init the GPIOs
   puts("config:\n");
-  puts((revision == PANDA_REV_C) ? "  panda rev c\n" : "  panda rev a or b\n");
+  #ifdef PANDA
+    puts(revision == PANDA_REV_C ? "  panda rev c\n" : "  panda rev a or b\n");
+  #else
+    puts("  legacy\n");
+  #endif
   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) {
@@ -654,18 +554,22 @@ int main(void) {
     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
@@ -681,67 +585,136 @@ int main(void) {
   // 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();
 
-#ifndef EON
+#ifdef PANDA
   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_interrupts();
+
+  __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;
 
   // LED should keep on blinking all the time
   uint64_t cnt = 0;
 
-  for (cnt=0;;cnt++) {
-    if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
-      int div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4 : 1);
+  #ifdef PANDA
+    uint64_t marker = 0;
+    #define CURRENT_THRESHOLD 0xF00
+    #define CLICKS 8
+  #endif
 
-      // 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); }
+  for (cnt=0;;cnt++) {
+    can_live = pending_can_live;
+
+    //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;
+            }
           }
+          // 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

@@ -1,26 +1,29 @@
+//#define DEBUG
+//#define CAN_LOOPBACK_MODE
+//#define USE_INTERNAL_OSC
+
 #include "../config.h"
 
-#include "drivers/llcan.h"
+#include "drivers/drivers.h"
 #include "drivers/llgpio.h"
-#include "drivers/clock.h"
-#include "drivers/adc.h"
-#include "drivers/dac.h"
-#include "drivers/timer.h"
-
 #include "gpio.h"
+
+#define CUSTOM_CAN_INTERRUPTS
+
 #include "libc.h"
+#include "safety.h"
+#include "drivers/adc.h"
+#include "drivers/uart.h"
+#include "drivers/dac.h"
+#include "drivers/can.h"
+#include "drivers/timer.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
@@ -32,8 +35,6 @@ void __initialize_hardware_early() {
 
 // ********************* serial debugging *********************
 
-#ifdef PEDAL_USB
-
 void debug_ring_callback(uart_ring *ring) {
   char rcv;
   while (getc(ring, &rcv)) {
@@ -41,12 +42,14 @@ void debug_ring_callback(uart_ring *ring) {
   }
 }
 
-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) {}
+#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) {}
 void usb_cb_enumeration_complete() {}
 
-int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
   int resp_len = 0;
   uart_ring *ur = NULL;
   switch (setup->b.bRequest) {
@@ -56,7 +59,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool 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;
       }
@@ -182,7 +185,7 @@ void CAN1_RX0_IRQHandler() {
 
 void CAN1_SCE_IRQHandler() {
   state = FAULT_SCE;
-  llcan_clear_send(CAN);
+  can_sce(CAN);
 }
 
 int pdl0 = 0, pdl1 = 0;
@@ -246,14 +249,15 @@ 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);
   }
 
-  watchdog_feed();
+  // feed the watchdog
+  IWDG->KR = 0xAAAA;
 }
 
 int main() {
@@ -274,18 +278,24 @@ int main() {
   adc_init();
 
   // init can
-  llcan_set_speed(CAN1, 5000, false, false);
-  llcan_init(CAN1);
+  can_silent = ALL_CAN_LIVE;
+  can_init(0);
 
   // 48mhz / 65536 ~= 732
   timer_init(TIM3, 15);
   NVIC_EnableIRQ(TIM3_IRQn);
 
-  watchdog_init();
+  // 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;
 
   puts("**** INTERRUPTS ON ****\n");
   __enable_irq();
 
+
   // main pedal loop
   while (1) {
     pedal();

panda/board/power_saving.h

@@ -1,43 +1,157 @@
 #define POWER_SAVE_STATUS_DISABLED 0
-#define POWER_SAVE_STATUS_ENABLED 1
+//Moving to enabled, but can wakeup not yet enabled
+#define POWER_SAVE_STATUS_SWITCHING 1
+#define POWER_SAVE_STATUS_ENABLED 2
 
-int power_save_status = POWER_SAVE_STATUS_DISABLED;
+volatile int power_save_status = POWER_SAVE_STATUS_DISABLED;
 
-void set_power_save_state(int state) {
+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
 
-  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;
-    }
+  //Turn off GMLAN
+  set_gpio_output(GPIOB, 14, 0);
+  set_gpio_output(GPIOB, 15, 0);
 
-    // turn on can
-    set_can_enable(CAN1, enable);
-    set_can_enable(CAN2, enable);
-    set_can_enable(CAN3, enable);
+#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
 
-    // turn on GMLAN
-    set_gpio_output(GPIOB, 14, enable);
-    set_gpio_output(GPIOB, 15, enable);
+  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]));
+  }
 
-    // turn on LIN
-    set_gpio_output(GPIOB, 7, enable);
-    set_gpio_output(GPIOA, 14, enable);
+  //Setup timer for can enable
+  TIM6->PSC = 48-1; // tick on 1 us
 
-    power_save_status = state;
+  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();
+    }
+#endif
+  } else {
+    TIM6->CR1 |= TIM_CR1_CEN;
   }
 }

panda/board/safety.h

@@ -1,12 +1,70 @@
-// include first, needed by safety policies
-#include "safety_declarations.h"
+// 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 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"
@@ -39,6 +97,10 @@ 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;
@@ -57,6 +119,7 @@ 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
 
@@ -71,101 +134,93 @@ 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) {
-  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++) {
+  for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;
-      set_status = 0;    // set
-      break;
+      if (current_hooks->init) current_hooks->init(param);
+      return 0;
     }
   }
-  if ((set_status == 0) && (current_hooks->init != NULL)) {
-    current_hooks->init(param);
-  }
-  return set_status;
+  return -1;
 }
 
 // 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;
+  return ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
 }
 
 // convert a trimmed integer to signed 32 bit int
 int to_signed(int d, int bits) {
-  int d_signed = d;
-  if (d >= (1 << MAX((bits - 1), 0))) {
-    d_signed = d - (1 << MAX(bits, 0));
+  if (d >= (1 << (bits - 1))) {
+    d -= (1 << bits);
   }
-  return d_signed;
+  return d;
 }
 
 // given a new sample, update the smaple_t struct
 void update_sample(struct sample_t *sample, int sample_new) {
-  int sample_size = sizeof(sample->values) / sizeof(sample->values[0]);
-  for (int i = sample_size - 1; i > 0; i--) {
+  for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 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->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];
-    }
+  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];
   }
 }
 
-bool max_limit_check(int val, const int MAX_VAL, const int MIN_VAL) {
-  return (val > MAX_VAL) || (val < MIN_VAL);
+int max_limit_check(int val, const int MAX, const int MIN) {
+  return (val > MAX) || (val < MIN);
 }
 
 // check that commanded value isn't too far from measured
-bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
+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) {
 
   // *** val rate limit check ***
-  int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
-  int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
+  int highest_allowed_val = max(val_last, 0) + MAX_RATE_UP;
+  int lowest_allowed_val = min(val_last, 0) - MAX_RATE_UP;
 
   // if we've exceeded the meas val, we must start moving toward 0
-  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));
+  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));
 
   // check for violation
-  return (val < lowest_allowed) || (val > highest_allowed);
+  return (val < lowest_allowed_val) || (val > highest_allowed_val);
 }
 
 // check that commanded value isn't fighting against driver
-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,
+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 highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
-  int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
+  int highest_allowed = max(val_last, 0) + MAX_RATE_UP;
+  int lowest_allowed = min(val_last, 0) - MAX_RATE_UP;
 
-  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;
+  int driver_max_limit = MAX + (MAX_ALLOWANCE + val_driver->max) * DRIVER_FACTOR;
+  int driver_min_limit = -MAX + (-MAX_ALLOWANCE + val_driver->min) * DRIVER_FACTOR;
 
   // if we've exceeded the applied torque, we must start moving toward 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)));
+  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)));
 
   // check for violation
   return (val < lowest_allowed) || (val > highest_allowed);
@@ -173,43 +228,40 @@ bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
 
 
 // real time check, mainly used for steer torque rate limiter
-bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
+int 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]) {
-    ret = xy.y[0];
+    return 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;
-        }
-        ret = (dy * (x - x0) / dx) + y0;
-        break;
+        if (dx <= 0.) dx = 0.0001;
+        return dy * (x - x0) / dx + y0;
       }
     }
+    // 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

@@ -1,10 +1,8 @@
-#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 uint32_t CADILLAC_RT_INTERVAL = 250000;    // 250ms between real time checks
+const int32_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;
@@ -13,19 +11,21 @@ const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
 int cadillac_ign = 0;
 int cadillac_cruise_engaged_last = 0;
 int cadillac_rt_torque_last = 0;
-const int cadillac_torque_msgs_n = 4;
-int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0};
+int cadillac_desired_torque_last[4] = {0};      // 4 torque messages
 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(int addr, int array_size) {
-  return MIN(MAX(addr - 0x151, 0), array_size);  // 0x151 is id 0, 0x152 is id 1 and so on...
+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;
 }
 
 static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus = GET_BUS(to_push);
-  int addr = GET_ADDR(to_push);
+  int bus_number = (to_push->RDTR >> 4) & 0xFF;
+  uint32_t addr = to_push->RIR >> 21;
 
   if (addr == 356) {
     int torque_driver_new = ((to_push->RDLR & 0x7) << 8) | ((to_push->RDLR >> 8) & 0xFF);
@@ -35,17 +35,16 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // this message isn't all zeros when ignition is on
-  if ((addr == 0x160) && (bus == 0)) {
+  if (addr == 0x160 && bus_number == 0) {
     cadillac_ign = to_push->RDLR > 0;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((addr == 0x370) && (bus == 0)) {
+  if ((addr == 0x370) && (bus_number == 0)) {
     int cruise_engaged = to_push->RDLR & 0x800000;  // bit 23
     if (cruise_engaged && !cadillac_cruise_engaged_last) {
       controls_allowed = 1;
-    }
-    if (!cruise_engaged) {
+    } else if (!cruise_engaged) {
       controls_allowed = 0;
     }
     cadillac_cruise_engaged_last = cruise_engaged;
@@ -58,15 +57,14 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 }
 
 static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-  int tx = 1;
-  int addr = GET_ADDR(to_send);
+  uint32_t addr = to_send->RIR >> 21;
 
   // 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, CADILLAC_TORQUE_MSG_N);
+    int idx = cadillac_get_torque_idx(addr);
     desired_torque = to_signed(desired_torque, 14);
 
     if (controls_allowed) {
@@ -107,20 +105,22 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
 
     if (violation || cadillac_supercruise_on) {
-      tx = 0;
+      return false;
     }
 
   }
-  return tx;
+  return true;
 }
 
 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(void) {
+static int cadillac_ign_hook() {
   return cadillac_ign;
 }
 
@@ -130,5 +130,6 @@ const safety_hooks cadillac_hooks = {
   .tx = cadillac_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = cadillac_ign_hook,
-  .fwd = default_fwd_hook,
+  .fwd = alloutput_fwd_hook,
+  .relay = nooutput_relay_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 uint32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
+const int32_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
 
-bool chrysler_camera_detected = 0;             // is giraffe switch 2 high?
+int 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;
@@ -13,32 +13,40 @@ 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 = GET_BUS(to_push);
-  int addr = GET_ADDR(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;
+  }
 
   // Measured eps torque
   if (addr == 544) {
-    uint32_t rdhr = to_push->RDHR;
-    int torque_meas_new = ((rdhr & 0x7U) << 8) + ((rdhr & 0xFF00U) >> 8) - 1024U;
+    int rdhr = to_push->RDHR;
+    int torque_meas_new = ((rdhr & 0x7) << 8) + ((rdhr & 0xFF00) >> 8) - 1024;
 
     // 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;
-    }
-    if (!cruise_engaged) {
+    } else 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;
   }
@@ -46,21 +54,27 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
 static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
-  int tx = 1;
-
-  // If camera is on bus 0, then nothing can be sent
+  // There can be only one! (camera)
   if (chrysler_camera_detected) {
-    tx = 0;
+    return 0;
+  }
+
+  uint32_t addr;
+  if (to_send->RIR & 4) {
+    // Extended
+    addr = to_send->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_send->RIR >> 21;
   }
 
-  int addr = GET_ADDR(to_send);
 
   // LKA STEER
   if (addr == 0x292) {
-    uint32_t rdlr = to_send->RDLR;
-    int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8) - 1024U;
+    int rdlr = to_send->RDLR;
+    int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - 1024;
     uint32_t ts = TIM2->CNT;
-    bool violation = 0;
+    int violation = 0;
 
     if (controls_allowed) {
 
@@ -98,7 +112,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
 
     if (violation) {
-      tx = 0;
+      return false;
     }
   }
 
@@ -108,28 +122,27 @@ 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 tx;
+  return true;
 }
 
 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) {
-
-  int bus_fwd = -1;
-  int addr = GET_ADDR(to_fwd);
+  int32_t addr = to_fwd->RIR >> 21;
   // forward CAN 0 -> 2 so stock LKAS camera sees messages
-  if ((bus_num == 0) && !chrysler_camera_detected) {
-    bus_fwd = 2;
+  if (bus_num == 0 && !chrysler_camera_detected) {
+    return 2;
   }
   // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
-  if ((bus_num == 2) && !chrysler_camera_detected && (addr != 658) && (addr != 678)) {
-    bus_fwd = 0;
+  if (bus_num == 2 && !chrysler_camera_detected && addr != 658 && addr != 678) {
+    return 0;
   }
-  return bus_fwd;
+  return -1;  // do not forward
 }
 
 
@@ -140,4 +153,5 @@ const safety_hooks chrysler_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = chrysler_fwd_hook,
+  .relay = nooutput_relay_hook,
 };