Nothing to see

This reverts commit 43332bf3b3.

.clang-tidy

@@ -0,0 +1,19 @@
+---
+Checks: '
+bugprone-*,
+-bugprone-integer-division,
+-bugprone-narrowing-conversions,
+performance-*,
+clang-analyzer-*,
+misc-*,
+-misc-unused-parameters,
+modernize-*,
+-modernize-avoid-c-arrays,
+-modernize-deprecated-headers,
+-modernize-use-auto,
+-modernize-use-using,
+-modernize-use-nullptr,
+-modernize-use-trailing-return-type,
+'
+CheckOptions:
+...

.devcontainer/.gitignore

@@ -0,0 +1,3 @@
+.Xauthority
+.env
+.host/

.devcontainer/Dockerfile

@@ -0,0 +1,17 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
+RUN pip install ipython jupyter jupyterlab
+
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
+RUN usermod -aG video batman
+
+USER batman
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc

.devcontainer/container_post_create.sh

@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+
+TARGET_USER=batman
+source .devcontainer/.host/.env
+
+# override display flag for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
+
+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+sudo chown -R $TARGET_USER: /tmp/scons_cache
+sudo chown -R $TARGET_USER: /tmp/comma_download_cache
+sudo chown -R $TARGET_USER: /home/batman/.comma

.devcontainer/container_post_start.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi

.devcontainer/devcontainer.json

@@ -0,0 +1,53 @@
+{
+  "name": "openpilot devcontainer",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
+  "privileged": true,
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "PYTHONPATH": "${containerWorkspaceFolder}",
+    "TERM": "xterm-256color",
+    "force_color_prompt": "1"
+  },
+  "runArgs": [
+    "--volume=/dev:/dev",
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
+    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
+    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
+    "--shm-size=1G",
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
+  ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    },
+    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
+    "ghcr.io/devcontainers/features/azure-cli:1": {}
+  },
+  "containerUser": "batman",
+  "remoteUser": "batman",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-vscode.cpptools",
+        "ms-toolsai.jupyter",
+        "guyskk.language-cython",
+        "lharri73.dbc"
+      ]
+    }
+  },
+  "mounts": [
+    "type=volume,source=scons_cache,target=/tmp/scons_cache"
+  ]
+}

.devcontainer/host_setup

@@ -0,0 +1,47 @@
+#!/usr/bin/env bash
+
+# pull base image
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi

.devcontainer/host_setup.cmd

@@ -0,0 +1,10 @@
+:: pull base image
+IF NOT DEFINED USE_LOCAL_IMAGE ^
+echo "Updating openpilot_base image if needed..." && ^
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+:: setup .host dir
+mkdir .devcontainer\.host
+
+:: setup host env file
+echo "" > .devcontainer\.host\.env

.dockerignore

@@ -0,0 +1,39 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+*.so
+*.a
+
+venv/
+.venv/
+
+notebooks
+phone
+massivemap
+neos
+installer
+chffr/app2
+chffr/backend/env
+selfdrive/nav
+selfdrive/baseui
+selfdrive/test/simulator2
+**/cache_data
+xx/plus
+xx/community
+xx/projects
+!xx/projects/eon_testing_master
+!xx/projects/map3d
+xx/ops
+xx/junk

.editorconfig

@@ -0,0 +1,11 @@
+root = true
+
+[*]
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+[{*.py, *.pyx, *.pxd}]
+charset = utf-8
+indent_style = space
+indent_size = 2

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,25 +0,0 @@
----
-name: Bug report
-about: Create a report to help us improve openpilot
-title: ''
-labels: 'bug'
-assignees: ''
-
----
-
-**Describe the bug**
-A clear and concise description of what the bug is.
-
-**How to reproduce or log data**
-Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Device/Version information (please complete the following information):**
- - Device: [e.g. EON/EON Gold]
- - Version: [e.g. 0.6.4], or commit hash when on devel
- - Car make/model [e.g. Toyota Prius 2016]
-
-**Additional context**
-Add any other context about the problem here.

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,47 @@
+name: Bug report
+description: For issues with running openpilot on your comma device
+labels: ["bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -0,0 +1,53 @@
+name: Car bug report
+description: For issues with a particular car make or model
+labels: ["car", "bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: car
+    attributes:
+      label: Which car does this affect?
+      placeholder: Toyota Prius 2017
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,14 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Report model bugs
+    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
+    about: Provide feedback for the driving or driver monitoring models
+  - name: Discussions
+    url: https://github.com/commaai/openpilot/discussions
+    about: For questions and general discussion about openpilot
+  - name: Community Wiki
+    url: https://github.com/commaai/openpilot/wiki
+    about: Check out our community wiki
+  - name: Community Discord
+    url: https://discord.comma.ai
+    about: Check out our community discord

.github/ISSUE_TEMPLATE/enhancement.md

@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -0,0 +1,42 @@
+name: PC bug report
+description: For issues with running openpilot on PC
+labels: ["PC"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: os-version
+    attributes:
+      label: OS Version
+      placeholder: Ubuntu 24.04
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version or commit
+      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/PULL_REQUEST_TEMPLATE/bugfix.md

@@ -0,0 +1,15 @@
+---
+name: Bug fix
+about: For openpilot bug fixes
+title: ''
+labels: 'bugfix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -0,0 +1,19 @@
+---
+name: Car Bug fix
+about: For vehicle/brand specific bug fixes
+title: ''
+labels: 'car bug fix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->
+
+**Route**
+
+Route: [a route with the bug fix]

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -0,0 +1,15 @@
+---
+name: Car port
+about: For new car ports
+title: ''
+labels: 'car port'
+assignees: ''
+---
+
+**Checklist**
+
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

@@ -0,0 +1,13 @@
+---
+name: Fingerprint
+about: For adding fingerprints to existing cars
+title: ''
+labels: 'fingerprint'
+assignees: ''
+---
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint

.github/PULL_REQUEST_TEMPLATE/refactor.md

@@ -0,0 +1,15 @@
+---
+name: Refactor
+about: For code refactors
+title: ''
+labels: 'refactor'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the refactor, including the goals it accomplishes. -->
+
+**Verification**
+
+<!-- Explain how you tested the refactor for regressions. -->

.github/PULL_REQUEST_TEMPLATE/tuning.md

@@ -0,0 +1,31 @@
+---
+name: Tuning
+about: For openpilot tuning changes
+title: ''
+labels: 'tuning'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
+
+**Verification**
+
+<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
+Use the PlotJuggler tuning layout to compare planned versus actual behavior.
+
+Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
+
+Longitudinal:
+* Maintaining speed at 25, 40, 65mph
+* Driving up and down hills
+* Accelerating from a stop
+* Decelerating to a stop
+* Following large changes in set speed
+* Coming to a stop behind a lead car
+
+Lateral:
+* Straight driving at ~25, ~45 and ~65mph
+* Turns driving at ~25, ~45 and ~65mph
+-->

.github/build.py

@@ -0,0 +1,30 @@
+import pathlib
+
+GITHUB_FOLDER = pathlib.Path(__file__).parent
+
+PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
+
+order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
+
+def create_pull_request_template():
+  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
+    f.write("<!-- Please copy and paste the relevant template -->\n\n")
+
+    for t in order:
+      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
+      text = template.read_text()
+
+      # Remove metadata for GitHub
+      start = text.find("---")
+      end = text.find("---", start+1)
+      text = text[end + 4:]
+
+      # Remove comments
+      text = text.replace("<!-- ", "").replace("-->", "")
+
+      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
+      f.write(text)
+      f.write("\n\n")
+      f.write("-->\n\n")
+
+create_pull_request_template()

.github/labeler.yaml

@@ -0,0 +1,79 @@
+CI / testing:
+  - changed-files:
+    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
+
+car:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/**'
+
+body:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/body/*'
+
+chrysler:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
+
+ford:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/ford/*'
+
+gm:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/gm/*'
+
+honda:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/honda/*'
+
+hyundai:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
+
+mazda:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/mazda/*'
+
+nissan:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/nissan/*'
+
+subaru:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/subaru/*'
+
+tesla:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
+
+toyota:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/toyota/*'
+
+volkswagen:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
+
+fingerprint:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
+
+simulation:
+  - changed-files:
+    - any-glob-to-all-files: 'tools/sim/**'
+
+ui:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/ui/**'
+
+tools:
+  - changed-files:
+    - any-glob-to-all-files: 'tools/**'
+
+multilanguage:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+
+research:
+  - changed-files:
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/pull_request_template.md

@@ -1,21 +1,68 @@
-Choose one of the templates below:
+<!-- Please copy and paste the relevant template -->
 
-# Fingerprint
-This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
+<!--- ***** Template: Fingerprint *****
 
-This is an explorer link to a drive with the stock system enabled: ...
+**Car**
+Which car (make, model, year) this fingerprint is for
 
-# Car support
-This pull requests adds support for <Make - Model - Year - Trim>.
+**Route**
+A route with the fingerprint
 
-This is an explorer link to a drive with the stock system enabled: ...
-This is an explorer link to a drive with openpilot system enabled: ...
+-->
 
-# Feature
-This pull requests adds feature X
+<!--- ***** Template: Car Bugfix *****
 
-## Description
-Explain what the feature does
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
+
+**Route**
+
+Route: [a route with the bug fix]
+
+
+-->
+
+<!--- ***** Template: Bugfix *****
+
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
+
+
+-->
+
+<!--- ***** Template: Car Port *****
+
+**Checklist**
+
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):
+
+
+-->
+
+<!--- ***** Template: Refactor *****
+
+**Description**
+
+A description of the refactor, including the goals it accomplishes. 
+
+**Verification**
+
+Explain how you tested the refactor for regressions. 
+
+
+-->
 
-## Testing
-Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.

.github/workflows/auto-cache/action.yaml

@@ -0,0 +1,49 @@
+name: 'automatically cache based on current runner'
+
+inputs:
+  path:
+    description: 'path to cache'
+    required: true
+  key:
+    description: 'key'
+    required: true
+  restore-keys:
+    description: 'restore-keys'
+    required: true
+  save:
+    description: 'whether to save the cache'
+    default: 'false'
+    required: false
+
+runs:
+  using: "composite"
+  steps:
+    - name: setup namespace cache
+      if: ${{ contains(runner.name, 'nsc') }}
+      uses: namespacelabs/nscloud-cache-action@v1
+      with:
+        path: ${{ inputs.path }}
+
+    - name: setup github cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
+      uses: 'actions/cache@v4'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    - name: setup github cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
+      uses: 'actions/cache/restore@v4'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
+    - id: scons-cache-setup
+      shell: bash
+      run: |
+        mkdir -p ${{ inputs.path }}
+        sudo chmod -R 777 ${{ inputs.path }}
+        sudo chown -R $USER ${{ inputs.path }}

.github/workflows/auto_pr_review.yaml

@@ -0,0 +1,53 @@
+name: "PR review"
+on:
+  pull_request_target:
+    types: [opened, reopened, synchronize, edited, edited]
+
+jobs:
+  labeler:
+    name: review
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+
+    # Label PRs
+    - uses: actions/labeler@v5.0.0
+      with:
+        dot: true
+        configuration-path: .github/labeler.yaml
+
+    # Check PR target branch
+    - name: check branch
+      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      if: github.repository == 'commaai/openpilot'
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      with:
+        target: /^(?!master$).*/
+        exclude: /commaai:.*/
+        change-to: ${{ github.base_ref }}
+        already-exists-action: close_this
+        already-exists-comment: "Your PR should be made against the `master` branch"
+
+    # Welcome comment
+    - name: comment
+      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      with:
+        message: |
+            <!-- _(run_id **${{ github.run_id }}**)_ -->
+            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
+            * Convert your PR to a draft unless it's ready to review
+            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Before marking as "ready for review", ensure:
+              * the goal is clearly stated in the description
+              * all the tests are passing
+              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * include a route or your device' dongle ID if relevant
+        comment_tag: run_id
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/badges.yaml

@@ -0,0 +1,37 @@
+name: badges
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+
+jobs:
+  badges:
+    name: create badges
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    permissions:
+      contents: write
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Push badges
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+
+        rm .gitattributes
+
+        git checkout --orphan badges
+        git rm -rf --cached .
+        git config user.email "badge-researcher@comma.ai"
+        git config user.name "Badge Researcher"
+
+        git add translation_badge.svg
+        git commit -m "Add/Update badges"
+        git push -f origin HEAD

.github/workflows/compile-openpilot/action.yaml

@@ -0,0 +1,21 @@
+name: 'compile openpilot'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: .ci_cache/scons_cache
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/compile_frogpilot.yaml

@@ -0,0 +1,277 @@
+name: Compile FrogPilot
+
+on:
+  workflow_dispatch:
+    inputs:
+      runner:
+        description: "Select the runner"
+        required: true
+        default: "c3"
+        type: choice
+        options:
+          - c3
+          - c3x
+      not_vetted:
+        description: "This branch is not vetted"
+        required: false
+        default: "false"
+        type: boolean
+      publish_frogpilot:
+        description: "Push to FrogPilot"
+        required: false
+        default: "false"
+        type: boolean
+      publish_staging:
+        description: "Push to FrogPilot-Staging"
+        required: false
+        default: "false"
+        type: boolean
+      publish_testing:
+        description: "Push to FrogPilot-Testing"
+        required: false
+        default: "false"
+        type: boolean
+      publish_custom_branch:
+        description: "Push to custom branch:"
+        required: false
+        default: ""
+        type: string
+      update_translations:
+        description: "Update missing/outdated translations"
+        required: false
+        default: "false"
+        type: boolean
+      vet_existing_translations:
+        description: "Vet existing translations"
+        required: false
+        default: "false"
+        type: boolean
+
+env:
+  BASEDIR: "${{ github.workspace }}"
+  BUILD_DIR: /data/openpilot
+  OPENAI_API_KEY: "${{ secrets.OPENAI_API_KEY }}"
+
+jobs:
+  get_branch:
+    runs-on:
+      - self-hosted
+      - ${{ github.event.inputs.runner }}
+    outputs:
+      branch: ${{ steps.get_branch.outputs.branch }}
+      python_version: ${{ steps.get_python_version.outputs.python_version }}
+    steps:
+      - name: Determine Current Branch on Runner
+        id: get_branch
+        run: |
+          cd $BUILD_DIR
+
+          BRANCH=$(git rev-parse --abbrev-ref HEAD)
+          echo "branch=$BRANCH" >> $GITHUB_OUTPUT
+
+      - name: Get Python Version from Runner
+        id: get_python_version
+        run: |
+          PYTHON_VERSION=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")
+          echo "python_version=$PYTHON_VERSION" >> $GITHUB_OUTPUT
+
+  translate:
+    if: inputs.update_translations
+    needs: get_branch
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Checkout Required Files
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ needs.get_branch.outputs.branch }}
+          sparse-checkout: |
+            frogpilot/ui/
+            selfdrive/controls/lib/alerts_offroad.json
+            selfdrive/ui/
+            selfdrive/ui/update_translations.py
+            selfdrive/ui/translations/
+            selfdrive/ui/translations/auto_translate.py
+
+      - name: Set Up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "${{ needs.get_branch.outputs.python_version }}"
+
+      - name: Install Dependencies
+        run: pip install requests
+
+      - name: Install Qt5 Tools
+        run: sudo apt update && sudo apt install -y qttools5-dev-tools
+
+      - name: Update Translations
+        run: python selfdrive/ui/update_translations.py --vanish
+
+      - name: Update Missing Translations
+        continue-on-error: true
+        run: python selfdrive/ui/translations/auto_translate.py --all-files
+        timeout-minutes: 300
+
+      - name: Vet Existing Translations
+        if: github.event.inputs.vet_existing_translations == 'true'
+        continue-on-error: true
+        run: python selfdrive/ui/translations/auto_translate.py --all-files --vet-translations
+        timeout-minutes: 300
+
+      - name: Commit and Push Translation Updates
+        run: |
+          if git diff --quiet selfdrive/ui/translations/*.ts; then
+            echo "No translation updates detected."
+            exit 0
+          fi
+
+          git fetch --unshallow origin ${{ needs.get_branch.outputs.branch }}
+          git checkout ${{ needs.get_branch.outputs.branch }}
+          git add selfdrive/ui/translations/*.ts
+          git commit --amend --no-edit
+          git push --force origin ${{ needs.get_branch.outputs.branch }}
+
+  build_and_push:
+    needs:
+      - get_branch
+      - translate
+    if: always()
+    runs-on:
+      - self-hosted
+      - ${{ github.event.inputs.runner }}
+    permissions:
+      contents: write
+    defaults:
+      run:
+        working-directory: ${{ env.BUILD_DIR }}
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global http.postBuffer 104857600
+
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Update Repository
+        run: |
+          git remote set-url origin https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/FrogAi/FrogPilot.git
+
+          if [ "${{ github.event.inputs.update_translations }}" = "true" ]; then
+            git fetch origin ${{ needs.get_branch.outputs.branch }}
+            git reset --hard FETCH_HEAD
+          fi
+
+      - name: Take Ownership of Build
+        run: |
+          sudo chown -R $(whoami):$(whoami) .
+
+      - name: Finalize Build
+        run: |
+          rm -f .clang-tidy
+          rm -f .dockerignore
+          rm -f .editorconfig
+          rm -f .gitattributes
+          rm -f .gitmodules
+          rm -f .lfsconfig
+          rm -f .overlay_init
+          rm -f .pre-commit-config.yaml
+          rm -f .sconsign.dblite
+          rm -f codecov.yml
+          rm -f conftest.py
+          rm -f poetry.lock
+          rm -f pyproject.toml
+          rm -f teleoprtc
+          rm -f Dockerfile.openpilot
+          rm -f Dockerfile.openpilot_base
+          rm -f Jenkinsfile
+
+          rm -f panda/board/obj/.placeholder
+          rm -f panda/board/obj/bootstub.panda.elf
+          rm -f panda/board/obj/bootstub.panda_h7.elf
+          rm -f panda/board/obj/panda.bin
+          rm -f panda/board/obj/panda.elf
+          rm -f panda/board/obj/panda_h7.bin
+          rm -f panda/board/obj/panda_h7.elf
+          rm -f panda/board/obj/version
+
+          find . -name '*.a' -delete
+          find . -name '*.o' -delete
+          find . -name '*.onnx' -delete
+          find . -name '*.os' -delete
+          find . -name '*.pyc' -delete
+          find . -name 'moc_*' -delete
+
+          rm -rf .devcontainer/
+          rm -rf .vscode/
+          rm -rf body/
+          rm -rf opendbc/generator/
+          rm -rf release/
+          rm -rf scripts/
+          rm -rf site_scons/
+          rm -rf teleoprtc_repo/
+
+          find .github -mindepth 1 -maxdepth 1 ! -name 'workflows' -exec rm -rf {} +
+
+          find .github/workflows -mindepth 1 ! \( \
+            -type f \( \
+              -name 'compile_frogpilot.yaml' -o \
+              -name 'review_pull_request.yaml' -o \
+              -name 'schedule_update.yaml' -o \
+              -name 'update_pr_branch.yaml' -o \
+              -name 'update_release_branch.yaml' -o \
+              -name 'update_tinygrad.yaml' \
+            \) \
+          \) -exec rm -rf {} +
+
+          find panda/board/jungle -type f ! -name '__init__.py' -delete
+          find panda/board/jungle -type d -empty -delete
+
+          find third_party/ -name '*x86*' -exec rm -rf {} +
+          find third_party/ -name '*Darwin*' -exec rm -rf {} +
+
+          find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' -o -name 'scripts' \) -exec rm -rf {} +
+
+          find . -name 'SConstruct' -delete
+          find . -name 'SConscript' -delete
+
+          find . -type d \( -iname "debug" -o -iname "test" -o -iname "tests" \) -exec rm -rf {} +
+          find . -type d -empty ! -path "./.git*" -delete
+          find . -type d -name '__pycache__' -exec rm -rf {} +
+          find . -type f -regex '.*matlab.*\.md' -delete
+
+          touch prebuilt
+
+          if [ "${{ github.event.inputs.not_vetted }}" = "true" ]; then
+            touch not_vetted
+          fi
+
+      - name: Add the update_date file
+        if: github.event.inputs.publish_staging == 'true'
+        run: |
+          curl -fLsS https://raw.githubusercontent.com/FrogAi/FrogPilot/FrogPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping."
+
+      - name: Commit Build
+        run: |
+          git add -f .
+          git commit -m "Compile FrogPilot"
+          git push --force origin HEAD
+
+          if [ "${{ github.event.inputs.publish_frogpilot }}" = "true" ]; then
+            git push --force origin HEAD:"FrogPilot"
+          fi
+
+          if [ "${{ github.event.inputs.publish_staging }}" = "true" ]; then
+            git push --force origin HEAD:"FrogPilot-Staging"
+          fi
+
+          if [ "${{ github.event.inputs.publish_testing }}" = "true" ]; then
+            git push --force origin HEAD:"FrogPilot-Testing"
+          fi
+
+          if [ -n "${{ github.event.inputs.publish_custom_branch }}" ]; then
+            git push --force origin HEAD:"${{ github.event.inputs.publish_custom_branch }}"
+          fi

.github/workflows/docs.yaml

@@ -0,0 +1,64 @@
+name: docs
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  BASE_IMAGE: openpilot-base
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+jobs:
+  docs:
+    name: build docs
+    runs-on: ubuntu-latest
+    timeout-minutes: 45
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Build docs
+      run: |
+        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
+
+    - uses: actions/checkout@v4
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      with:
+        path: openpilot-docs
+        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
+        repository: commaai/openpilot-docs
+    - name: Push
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        set -x
+
+        source release/identity.sh
+
+        cd openpilot-docs
+
+        git checkout --orphan tmp
+        git rm -rf .
+
+        cp -r ../build/docs/html/ docs/
+        cp -r ../docs/README.md .
+        touch docs/.nojekyll
+        echo -n docs.comma.ai > docs/CNAME
+        git add -f .
+
+        git commit -m "build docs"
+
+        # docs live in different repo to not bloat openpilot's full clone size
+        git push -f origin tmp:gh-pages

.github/workflows/prebuilt.yaml

@@ -0,0 +1,39 @@
+name: prebuilt
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  BUILD: selfdrive/test/docker_build.sh prebuilt
+
+jobs:
+  build_prebuilt:
+    name: build prebuilt
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    env:
+      PUSH_IMAGE: true
+    permissions:
+      checks: read
+      contents: read
+      packages: write
+    steps:
+    - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build prebuilt'
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        check-regexp: ^((?!.*(build master-ci).*).)*$
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Build and Push docker image
+      run: |
+        $DOCKER_LOGIN
+        eval "$BUILD"

.github/workflows/release.yaml

@@ -0,0 +1,54 @@
+name: release
+on:
+  schedule:
+    - cron: '0 10 * * *'
+  workflow_dispatch:
+
+jobs:
+  build_masterci:
+    name: build master-ci
+    env:
+      TARGET_DIR: /tmp/openpilot
+      ImageOS: ubuntu20
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    permissions:
+      checks: read
+      contents: write
+    steps:
+    - name: Install wait-on-check-action dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libyaml-dev
+    - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build master-ci'
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        check-regexp: ^((?!.*(build prebuilt).*).)*$
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+        fetch-depth: 0
+    - name: Pull LFS
+      run: |
+        git config --global --add safe.directory '*'
+        git lfs pull
+    - name: Build master-ci
+      run: |
+        release/build_devel.sh
+    - name: Run tests
+      run: |
+        export PYTHONPATH=$TARGET_DIR
+        cd $TARGET_DIR
+        scons -j$(nproc)
+        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
+    - name: Push master-ci
+      run: |
+        unset TARGET_DIR
+        BRANCH=master-ci release/build_devel.sh

.github/workflows/repo-maintenance.yaml

@@ -0,0 +1,63 @@
+name: repo maintenance
+
+on:
+  schedule:
+    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  workflow_dispatch:
+
+jobs:
+  bump_submodules:
+    name: bump_submodules
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: bump submodules
+      run: |
+        git config --global --add safe.directory '*'
+        git -c submodule."tinygrad".update=none submodule update --remote
+        git add .
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+      with:
+        author: Vehicle Researcher <user@comma.ai>
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: bump submodules
+        title: '[bot] Bump submodules'
+        branch: auto-bump-submodules
+        base: master
+        delete-branch: true
+        body: 'Automatic PR from repo-maintenance -> bump_submodules'
+        labels: bot
+  package_updates:
+    name: package_updates
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v4
+    - name: poetry lock
+      run: |
+        pip install poetry
+        poetry lock
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+      with:
+        author: Vehicle Researcher <user@comma.ai>
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update Python packages and pre-commit hooks
+        title: '[bot] Update Python packages and pre-commit hooks'
+        branch: auto-package-updates
+        base: master
+        delete-branch: true
+        body: 'Automatic PR from repo-maintenance -> package_updates'
+        labels: bot

.github/workflows/review_pull_request.yaml

@@ -0,0 +1,34 @@
+name: Review Pull Request
+
+on:
+  pull_request_target:
+    types: [opened, reopened]
+
+env:
+  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
+jobs:
+  pr_check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Exit If PR Opened by FrogAi
+        if: ${{ github.actor == 'FrogAi' }}
+        run: |
+          echo PR opened or reopened by FrogAi. No action needed.
+          exit 0
+
+      - name: Close PR for Invalid Target Branch
+        if: ${{ github.base_ref != 'MAKE-PRS-HERE' }}
+        run: |
+          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
+            -f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch."
+
+          gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \
+            -X PATCH \
+            -f state="closed"
+
+      - name: Acknowledge PR for Valid Target Branch
+        if: ${{ github.base_ref == 'MAKE-PRS-HERE' }}
+        run: |
+          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
+            -f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!"

.github/workflows/schedule_update.yaml

@@ -0,0 +1,57 @@
+name: Schedule FrogPilot Update
+
+on:
+  workflow_dispatch:
+    inputs:
+      scheduled_date:
+        description: "Enter the date to update the \"FrogPilot\" branch (YYYY-MM-DD)"
+        required: true
+
+env:
+  BRANCH: FrogPilot-Staging
+
+jobs:
+  schedule-update:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Checkout ${{ env.BRANCH }}
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ env.BRANCH }}
+          fetch-depth: 3
+
+      - name: Schedule Update for ${{ github.event.inputs.scheduled_date }}
+        run: |
+          echo "${{ github.event.inputs.scheduled_date }}" > .github/update_date
+          git add .github/update_date
+
+      - name: Get Target Commit (Second Most Recent)
+        id: get_target
+        run: |
+          TARGET_COMMIT=$(git rev-parse HEAD~1)
+
+          AUTHOR_DATE=$(git show -s --format=%aD "$TARGET_COMMIT")
+          COMMITTER_DATE=$(git show -s --format=%cD "$TARGET_COMMIT")
+
+          echo "AUTHOR_DATE=$AUTHOR_DATE" >> $GITHUB_ENV
+          echo "COMMITTER_DATE=$COMMITTER_DATE" >> $GITHUB_ENV
+          echo "TARGET_COMMIT=$TARGET_COMMIT" >> $GITHUB_ENV
+
+      - name: Create Fixup Commit for ${{ env.TARGET_COMMIT }}
+        run: git commit --fixup="${{ env.TARGET_COMMIT }}"
+
+      - name: Autosquash Fixup into Target Commit
+        run: |
+          GIT_SEQUENCE_EDITOR=: git rebase --autosquash -i HEAD~3
+
+      - name: Restore Timestamps on Final Two Commits
+        run: |
+          git rebase --exec "GIT_COMMITTER_DATE='${{ env.COMMITTER_DATE }}' git commit --amend --no-edit --date='${{ env.AUTHOR_DATE }}'" HEAD~2
+
+      - name: Push Updated ${{ env.BRANCH }} Branch
+        run: git push origin "${{ env.BRANCH }}" --force-with-lease

.github/workflows/selfdrive_tests.yaml

@@ -0,0 +1,330 @@
+name: selfdrive
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  PYTHONWARNINGS: error
+  BASE_IMAGE: openpilot-base
+  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
+
+jobs:
+  build_release:
+    name: build release
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    env:
+      STRIPPED_DIR: /tmp/releasepilot
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Build devel
+      timeout-minutes: 1
+      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup-pre-commit
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Check submodules
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      timeout-minutes: 1
+      run: release/check-submodules.sh
+    - name: Build openpilot and run checks
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "python system/manager/build.py"
+    - name: Run tests
+      timeout-minutes: 3
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "release/check-dirty.sh && \
+                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
+    - name: pre-commit
+      timeout-minutes: 3
+      run: |
+        cd $GITHUB_WORKSPACE
+        cp .pre-commit-config.yaml $STRIPPED_DIR
+        cp pyproject.toml $STRIPPED_DIR
+        cp poetry.lock $STRIPPED_DIR
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+
+  build:
+    strategy:
+      matrix:
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') ||
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: Setup docker push
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+      run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        $DOCKER_LOGIN
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [build]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
+  static_analysis:
+    name: static analysis
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-pre-commit
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: pre-commit
+      timeout-minutes: 4
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+
+  unit_tests:
+    name: unit tests
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run unit tests
+      timeout-minutes: 15
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        $PYTEST --timeout 60 -m 'not slow' && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        pytest ./selfdrive/ui/tests/test_translations.py"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v4
+      with:
+        name: ${{ github.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  process_replay:
+    name: process replay
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - name: Cache test routes
+      id: dependency-cache
+      uses: actions/cache@v4
+      with:
+        path: .ci_cache/comma_download_cache
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run replay
+      timeout-minutes: 30
+      run: |
+        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache && \
+                        coverage combine && \
+                        coverage xml"
+    - name: Print diff
+      id: print-diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v4
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+    - name: Upload reference logs
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
+    - name: Run model replay with ONNX
+      timeout-minutes: 4
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
+                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                        coverage combine && coverage xml"
+    - name: Run regen
+      timeout-minutes: 4
+      run: |
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v4
+      with:
+        name: ${{ github.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  test_cars:
+    name: cars
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    strategy:
+      fail-fast: false
+      matrix:
+        job: [0, 1]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Cache test routes
+      id: dependency-cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/comma_download_cache
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Test car models
+      timeout-minutes: 20
+      run: |
+        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
+      env:
+        NUM_JOBS: 2
+        JOB_ID: ${{ matrix.job }}
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v4
+      with:
+        name: ${{ github.job }}-${{ matrix.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  car_docs_diff:
+    name: PR comments
+    runs-on: ubuntu-latest
+    if: github.event_name == 'pull_request'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+          ref: ${{ github.event.pull_request.base.ref }}
+      - run: git lfs pull
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Get base car info
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+          path: current
+      - run: cd current && git lfs pull
+      - name: Save car docs diff
+        id: save_diff
+        run: |
+          cd current
+          ${{ env.RUN }} "scons -j$(nproc)"
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
+          output="${output//$'\n'/'%0A'}"
+          echo "::set-output name=diff::$output"
+      - name: Find comment
+        if: ${{ env.AZURE_TOKEN != '' }}
+        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          body-includes: This PR makes changes to
+      - name: Update comment
+        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
+        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: "${{ steps.save_diff.outputs.diff }}"
+          edit-mode: replace
+      - name: Delete comment
+        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
+        uses: actions/github-script@v7
+        with:
+          script: |
+            github.rest.issues.deleteComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              comment_id: ${{ steps.fc.outputs.comment-id }}
+            })
+
+  create_ui_report:
+    name: Create UI Report
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create Test Report
+        run: >
+            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                            source selfdrive/test/setup_xvfb.sh &&
+                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
+                            python selfdrive/ui/tests/test_ui/run.py"
+      - name: Upload Test Report
+        uses: actions/upload-artifact@v4
+        with:
+          name: report
+          path: selfdrive/ui/tests/test_ui/report

.github/workflows/setup-pre-commit/action.yaml

@@ -0,0 +1,12 @@
+name: 'set up pre-commit environment'
+
+runs:
+  using: "composite"
+  steps:
+    - uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/pre-commit
+        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
+        restore-keys: |
+          pre-commit-
+        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}

.github/workflows/setup-with-retry/action.yaml

@@ -0,0 +1,40 @@
+name: 'openpilot env setup, with retry on failure'
+
+inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: false
+    default: ''
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
+
+runs:
+  using: "composite"
+  steps:
+    - id: setup1
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        is_retried: true
+    - if: steps.setup1.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup2
+      if: steps.setup1.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        is_retried: true
+    - if: steps.setup2.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup3
+      if: steps.setup2.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        is_retried: true

.github/workflows/setup/action.yaml

@@ -0,0 +1,63 @@
+name: 'openpilot env setup'
+
+inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
+  is_retried:
+    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
+    required: false
+    default: 'false'
+
+runs:
+  using: "composite"
+  steps:
+    # assert that this action is retried using the setup-with-retry
+    - shell: bash
+      if: ${{ inputs.is_retried == 'false' }}
+      run: |
+        echo "You should not run this action directly. Use setup-with-retry instead"
+        exit 1
+
+    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
+    - shell: bash
+      run: git lfs pull
+
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
+    # build cache
+    - id: date
+      shell: bash
+      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - shell: bash
+      run: echo "$CACHE_COMMIT_DATE"
+    - id: scons-cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/scons_cache
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}
+    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
+    - id: normalize-file-permissions
+      shell: bash
+      name: Normalize file permissions to ensure a consistent docker build cache
+      run: |
+        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
+        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
+    # build our docker image
+    - shell: bash
+      run: eval ${{ env.BUILD }}

.github/workflows/stale.yaml

@@ -0,0 +1,29 @@
+name: stale
+on:
+  schedule:
+    - cron: '30 1 * * *'
+  workflow_dispatch:
+
+env:
+  DAYS_BEFORE_PR_CLOSE: 3
+  DAYS_BEFORE_PR_STALE: 14
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v9
+        with:
+          exempt-milestones: true
+
+          # pull request config
+          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
+          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          stale-pr-label: stale
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
+          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
+          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+
+          # issue config
+          days-before-issue-stale: -1 # ignore issues for now

.github/workflows/tools_tests.yaml

@@ -0,0 +1,67 @@
+name: tools
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+
+jobs:
+  simulator_driving:
+    name: simulator driving
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run bridge test
+      run: |
+        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+
+  devcontainer:
+    name: devcontainer
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
+    - name: Setup Dev Container CLI
+      run: npm install -g @devcontainers/cli
+    - name: Build dev container image
+      run: ./scripts/retry.sh devcontainer build --workspace-folder .
+    - name: Run dev container
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
+    - name: Test environment
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
+        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
+        devcontainer exec --workspace-folder . sudo touch /root/test.txt

.github/workflows/update_pr_branch.yaml

@@ -0,0 +1,85 @@
+name: Update MAKE-PRS-HERE
+
+on:
+  push:
+    branches:
+      - FrogPilot-Staging
+
+env:
+  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
+  SOURCE_BRANCH: FrogPilot-Staging
+  TARGET_BRANCH: MAKE-PRS-HERE
+
+jobs:
+  update_branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Checkout ${{ env.SOURCE_BRANCH }}
+        uses: actions/checkout@v3
+        with:
+          persist-credentials: false
+
+          fetch-depth: 0
+
+          ref: ${{ env.SOURCE_BRANCH }}
+
+      - name: Find "Compile FrogPilot" Commit in ${{ env.SOURCE_BRANCH }}
+        id: find_parent
+        run: |
+          COMMIT=$(git rev-list HEAD -n 1 --grep="Compile FrogPilot")
+          [ -z "$COMMIT" ] && echo "Compile commit not found." >&2 && exit 1
+
+          PARENT=$(git rev-list --parents -n 1 "$COMMIT" | awk '{print $2}')
+          [ -z "$PARENT" ] && echo "Parent commit not found." >&2 && exit 1
+
+          echo "parent_commit=$PARENT" >> "$GITHUB_OUTPUT"
+          echo "compile_commit=$COMMIT" >> "$GITHUB_OUTPUT"
+
+      - name: Fetch and Checkout ${{ env.TARGET_BRANCH }}
+        run: |
+          git fetch origin "${{ env.TARGET_BRANCH }}"
+          git checkout "${{ env.TARGET_BRANCH }}"
+
+      - name: Clean ${{ env.TARGET_BRANCH }} and Apply Updates from ${{ env.SOURCE_BRANCH }}
+        run: |
+          git rm -r --ignore-unmatch .
+          git clean -fdx
+          git checkout "${{ steps.find_parent.outputs.parent_commit }}" -- .
+
+          COMPILE_COMMIT="${{ steps.find_parent.outputs.compile_commit }}"
+          SOURCE_HEAD=$(git rev-parse "origin/${{ env.SOURCE_BRANCH }}")
+
+          [ "$COMPILE_COMMIT" != "$SOURCE_HEAD" ] && git cherry-pick --no-commit "${COMPILE_COMMIT}".."$SOURCE_HEAD"
+
+          rm -f .github/update_date
+
+          git add --all
+
+      - name: Commit and Push to ${{ env.TARGET_BRANCH }}
+        run: |
+          TZ_VALUE="America/Phoenix"
+          day=$(TZ="$TZ_VALUE" date +"%-d")
+          month=$(TZ="$TZ_VALUE" date +"%B")
+          year=$(TZ="$TZ_VALUE" date +"%Y")
+
+          case $day in
+            11|12|13) s=th ;;
+            *) case $((day % 10)) in 1) s=st ;; 2) s=nd ;; 3) s=rd ;; *) s=th ;; esac ;;
+          esac
+
+          commit_message="${month} ${day}${s}, ${year} Update"
+
+          if git log -1 --pretty=%s | grep -q "$commit_message"; then
+            git commit --amend --no-edit
+          else
+            git commit -m "$commit_message"
+          fi
+
+          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
+          git push origin "${{ env.TARGET_BRANCH }}" --force

.github/workflows/update_release_branch.yaml

@@ -0,0 +1,131 @@
+name: Update FrogPilot Branch
+
+on:
+  schedule:
+    - cron: "0 18 * * 6"
+
+env:
+  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
+  BRANCH_FROGPILOT: FrogPilot
+  BRANCH_PREVIOUS: FrogPilot-Previous
+  BRANCH_STAGING: FrogPilot-Staging
+
+  TZ: America/Phoenix
+
+  UPDATE_FILE: .github/update_date
+
+jobs:
+  check_update:
+    runs-on: ubuntu-latest
+    outputs:
+      update_due: ${{ steps.check_update.outputs.update_due }}
+      scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
+    steps:
+      - name: Download the "update_date" File
+        id: download_update
+        run: |
+          curl -fLsS "https://raw.githubusercontent.com/FrogAi/FrogPilot/${{ env.BRANCH_STAGING }}/${{ env.UPDATE_FILE }}" -o update_date || touch update_date_missing
+
+      - name: Check If Update Is Due
+        id: check_update
+        run: |
+          if [ -f update_date_missing ]; then
+            echo "update_due=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+
+          SCHEDULED_DATE=$(cat update_date)
+          CURRENT_DATE=$(TZ="${{ env.TZ }}" date +%F)
+
+          if [ "$SCHEDULED_DATE" != "$CURRENT_DATE" ]; then
+            echo "update_due=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+
+          echo "update_due=true" >> "$GITHUB_OUTPUT"
+          echo "scheduled_date=$SCHEDULED_DATE" >> "$GITHUB_OUTPUT"
+
+  update_branch:
+    needs: check_update
+    if: ${{ needs.check_update.outputs.update_due == 'true' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "James"
+          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
+
+      - name: Checkout ${{ env.BRANCH_STAGING }}
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          ref: ${{ env.BRANCH_STAGING }}
+
+      - name: Authenticate with GITHUB_TOKEN
+        run: |
+          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
+
+      - name: Update README Date and Remove update file
+        run: |
+          DAY=$(TZ="${{ env.TZ }}" date +'%d' | sed 's/^0//')
+
+          case "$DAY" in
+            1|21|31) SUFFIX="st" ;;
+            2|22)    SUFFIX="nd" ;;
+            3|23)    SUFFIX="rd" ;;
+            *)       SUFFIX="th" ;;
+          esac
+
+          MONTH=$(TZ="${{ env.TZ }}" date +'%B')
+          YEAR=$(TZ="${{ env.TZ }}" date +'%Y')
+
+          DATE="${MONTH} ${DAY}${SUFFIX}, ${YEAR}"
+          DATE_ESCAPED=$(printf '%s' "$DATE" | sed -E 's/ /%20/g; s/,/%2C/g')
+
+          sed -i -E "s|(Last%20Updated-)[^-)]*|\1${DATE_ESCAPED}|g" README.md
+
+          git add README.md
+          git rm -f "${{ env.UPDATE_FILE }}"
+          git commit -m "Updated README date to ${DATE}"
+
+      - name: Squash Commits
+        run: |
+          COMMIT_MSG=$(git log -1 --pretty=%B HEAD~1)
+
+          git reset --soft HEAD~2
+          git commit -m "$COMMIT_MSG"
+
+      - name: Rewrite Commit Dates to Noon ${{ env.TZ }}
+        run: |
+          COMMIT_DATETIME="${{ needs.check_update.outputs.scheduled_date }} 12:00"
+          COMMIT_PHX=$(TZ="${{ env.TZ }}" date -d "$COMMIT_DATETIME" +"%Y-%m-%dT%H:%M:%S %z")
+
+          git filter-branch --env-filter "export GIT_AUTHOR_DATE='$COMMIT_PHX'; export GIT_COMMITTER_DATE='$COMMIT_PHX'" "${{ env.BRANCH_STAGING }}"
+
+      - name: Fetch ${{ env.BRANCH_PREVIOUS }} and ${{ env.BRANCH_FROGPILOT }}
+        run: |
+          git fetch origin ${{ env.BRANCH_PREVIOUS }} ${{ env.BRANCH_FROGPILOT }}
+
+      - name: Wait Until Noon ${{ env.TZ }}
+        run: |
+          NOW=$(TZ="${{ env.TZ }}" date +%s)
+          TARGET=$(TZ="${{ env.TZ }}" date -d "12:00" +%s)
+
+          [ "$NOW" -lt "$TARGET" ] && sleep $((TARGET - NOW))
+
+      - name: Push ${{ env.BRANCH_STAGING }}
+        run: |
+          git push origin "${{ env.BRANCH_STAGING }}" --force
+
+      - name: Reset ${{ env.BRANCH_PREVIOUS }} to Match ${{ env.BRANCH_FROGPILOT }}
+        run: |
+          git switch "${{ env.BRANCH_PREVIOUS }}"
+          git reset --hard "origin/${{ env.BRANCH_FROGPILOT }}"
+          git push origin "${{ env.BRANCH_PREVIOUS }}" --force
+
+      - name: Reset ${{ env.BRANCH_FROGPILOT }} to Match ${{ env.BRANCH_STAGING }}
+        run: |
+          git switch "${{ env.BRANCH_FROGPILOT }}"
+          git reset --hard "origin/${{ env.BRANCH_STAGING }}"
+          git push origin "${{ env.BRANCH_FROGPILOT }}" --force

.github/workflows/update_tinygrad.yaml

@@ -0,0 +1,79 @@
+name: Update Tinygrad
+
+on:
+  workflow_dispatch:
+    inputs:
+      runner:
+        description: "Select the runner"
+        required: true
+        default: "c3"
+        type: choice
+        options:
+          - c3
+          - c3x
+
+jobs:
+  update_tinygrad:
+    name: Update Tinygrad
+    runs-on:
+      - self-hosted
+      - ${{ github.event.inputs.runner }}
+
+    steps:
+      - name: Get version
+        id: get_version
+        run: |
+          VERSION=$(grep -oP '^VERSION\s*=\s*"\K[^"]+' /data/openpilot/frogpilot/assets/model_manager.py)
+          echo "VERSION=$VERSION"
+          echo "version=$VERSION" >> "$GITHUB_OUTPUT"
+
+      - name: Clone GitLab repo
+        env:
+          GITLAB_TOKEN: ${{ secrets.GITLAB_TOKEN }}
+        run: |
+          rm -rf /data/tmp/frogpilot_tinygrad
+          mkdir -p /data/tmp/frogpilot_tinygrad
+          cd /data/tmp/frogpilot_tinygrad
+
+          git clone --depth 1 --branch Tinygrad "https://oauth2:${GITLAB_TOKEN}@gitlab.com/FrogAi/FrogPilot-Resources.git"
+
+      - name: Create Tinygrad Archive
+        run: |
+          set -euo pipefail
+          cd /data/openpilot
+
+          ARCHIVE_DIR="/data/tmp/frogpilot_tinygrad/FrogPilot-Resources"
+          ARCHIVE_NAME="Tinygrad_${{ steps.get_version.outputs.version }}.tar.gz"
+
+          TMPDIR="$(mktemp -d)"
+          touch "$TMPDIR/SConscript"
+
+          tar -czf "$ARCHIVE_NAME" \
+            --exclude="*.a" \
+            --exclude="*.o" \
+            --exclude="*.onnx" \
+            --exclude="*__pycache__*" \
+            --exclude="*tests*" \
+            --exclude="frogpilot/tinygrad_modeld/SConscript" \
+            frogpilot/tinygrad_modeld tinygrad_repo \
+            -C "$TMPDIR" \
+            --transform 's|^SConscript$|frogpilot/tinygrad_modeld/SConscript|' \
+            SConscript
+
+          mv "$ARCHIVE_NAME" "$ARCHIVE_DIR/"
+          rm -rf "$TMPDIR"
+
+      - name: Push updated Tinygrad
+        run: |
+          cd /data/tmp/frogpilot_tinygrad/FrogPilot-Resources
+
+          git config user.name "James"
+          git config user.email "91348155+FrogAi@users.noreply.github.com"
+
+          git add Tinygrad_*.tar.gz
+          git commit -m "Updated Tinygrad: ${{ steps.get_version.outputs.version }}" || echo "No changes to commit"
+          git push origin Tinygrad
+
+      - name: Cleanup temporary files
+        run: |
+          rm -rf /data/tmp/frogpilot_tinygrad

.gitignore

@@ -1,4 +1,8 @@
 venv/
+.venv/
+.ci_cache
+.env
+.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -6,9 +10,9 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode
 model2.png
 a.out
+.hypothesis
 
 *.dylib
 *.DSYM
@@ -20,40 +24,62 @@ a.out
 .*.un~
 *.tmp
 *.o
+*.o-*
 *.os
+*.os-*
 *.so
 *.a
 *.clb
 *.class
 *.pyxbldc
 *.vcd
+*.qm
 config.json
 clcache
+compile_commands.json
+compare_runtime*.html
 
 persist
-board/obj/
-selfdrive/boardd/boardd
+selfdrive/pandad/pandad
+cereal/services.h
+cereal/gen
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
-selfdrive/proclogd/proclogd
-selfdrive/ui/_ui
+system/proclogd/proclogd
+selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
+selfdrive/car/tests/cars_dump
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
-selfdrive/modeld/_monitoringd
+selfdrive/modeld/_dmonitoringmodeld
 /src/
 
-one
-openpilot
 notebooks
-xx
-panda_jungle
+hyperthneed
+provisioning
 
 .coverage*
+coverage.xml
 htmlcov
 pandaextra
 
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+selfdrive/modeld/models/*.thneed
+selfdrive/modeld/models/*.pkl
+
+*.bz2
+
+build/
+
+!**/.gitkeep
+
+poetry.toml
+Pipfile

.gitmodules

@@ -0,0 +1,21 @@
+[submodule "panda"]
+  path = panda
+  url = ../../commaai/panda.git
+[submodule "opendbc"]
+  path = opendbc
+  url = ../../commaai/opendbc.git
+[submodule "msgq"]
+  path = msgq_repo
+  url = ../../commaai/msgq.git
+[submodule "rednose_repo"]
+  path = rednose_repo
+  url = ../../commaai/rednose.git
+[submodule "body"]
+  path = body
+  url = ../../commaai/body.git
+[submodule "teleoprtc_repo"]
+  path = teleoprtc_repo
+  url = ../../commaai/teleoprtc
+[submodule "tinygrad"]
+  path = tinygrad_repo
+  url = https://github.com/geohot/tinygrad.git

.pre-commit-config.yaml

@@ -0,0 +1,103 @@
+exclude: '^(tinygrad_repo)'
+repos:
+-   repo: meta
+    hooks:
+    -   id: check-hooks-apply
+    -   id: check-useless-excludes
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+    -   id: check-ast
+        exclude: '^(third_party)/'
+    -   id: check-json
+        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
+    -   id: check-toml
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
+    -   id: check-added-large-files
+        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        args:
+        - --maxkb=120
+        - --enforce-all
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+    -   id: codespell
+        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        args:
+        # if you've got a short variable name that's getting flagged, add it here
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
+        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.4.8
+    hooks:
+    -   id: ruff
+        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
+-   repo: local
+    hooks:
+    -   id: mypy
+        name: mypy
+        entry: mypy
+        language: system
+        types: [python]
+        args:
+        - --local-partial-types
+        - --explicit-package-bases
+        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
+        args:
+        - --error-exitcode=1
+        - --language=c++
+        - --quiet
+        - --force
+        - -j8
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --quiet
+        - --counting=total
+        - --linelength=240
+        # https://google.github.io/styleguide/cppguide.html
+        # relevant rules are whitelisted, see all options with: cpplint --filter=
+        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
+-   repo: https://github.com/MarcoGorelli/cython-lint
+    rev: v0.16.2
+    hooks:
+    -   id: cython-lint
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --max-line-length=240
+        - --ignore=E111, E302, E305
+-   repo: local
+    hooks:
+    -   id: test_translations
+        name: test translations
+        entry: pytest selfdrive/ui/tests/test_translations.py
+        language: system
+        pass_filenames: false
+        files: '^selfdrive/ui/translations/'
+-   repo: https://github.com/python-poetry/poetry
+    rev: '1.8.0'
+    hooks:
+    -   id: poetry-check
+        name: validate poetry lock
+        args:
+        - --lock
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.4
+    hooks:
+    -   id: check-github-workflows

.pylintrc

@@ -1,585 +0,0 @@
-[MASTER]
-
-# A comma-separated list of package or module names from where C extensions may
-# be loaded. Extensions are loading into the active Python interpreter and may
-# run arbitrary code
-extension-pkg-whitelist=scipy
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=print-statement,
-        parameter-unpacking,
-        unpacking-in-except,
-        old-raise-syntax,
-        backtick,
-        long-suffix,
-        old-ne-operator,
-        old-octal-literal,
-        import-star-module-level,
-        non-ascii-bytes-literal,
-        raw-checker-failed,
-        bad-inline-option,
-        locally-disabled,
-        locally-enabled,
-        file-ignored,
-        suppressed-message,
-        useless-suppression,
-        deprecated-pragma,
-        apply-builtin,
-        basestring-builtin,
-        buffer-builtin,
-        cmp-builtin,
-        coerce-builtin,
-        execfile-builtin,
-        file-builtin,
-        long-builtin,
-        raw_input-builtin,
-        reduce-builtin,
-        standarderror-builtin,
-        unicode-builtin,
-        xrange-builtin,
-        coerce-method,
-        delslice-method,
-        getslice-method,
-        setslice-method,
-        no-absolute-import,
-        old-division,
-        dict-iter-method,
-        dict-view-method,
-        next-method-called,
-        metaclass-assignment,
-        indexing-exception,
-        raising-string,
-        reload-builtin,
-        oct-method,
-        hex-method,
-        nonzero-method,
-        cmp-method,
-        input-builtin,
-        round-builtin,
-        intern-builtin,
-        unichr-builtin,
-        map-builtin-not-iterating,
-        zip-builtin-not-iterating,
-        range-builtin-not-iterating,
-        filter-builtin-not-iterating,
-        using-cmp-argument,
-        eq-without-hash,
-        div-method,
-        idiv-method,
-        rdiv-method,
-        exception-message-attribute,
-        invalid-str-codec,
-        sys-max-int,
-        bad-python3-import,
-        deprecated-string-function,
-        deprecated-str-translate-call,
-        deprecated-itertools-function,
-        deprecated-types-field,
-        next-method-defined,
-        dict-items-not-iterating,
-        dict-keys-not-iterating,
-        dict-values-not-iterating,
-        bad-indentation,
-        line-too-long,
-        missing-docstring,
-        multiple-statements,
-        bad-continuation,
-        invalid-name,
-        too-many-arguments,
-        too-many-locals,
-        superfluous-parens,
-        bad-whitespace,
-        too-many-instance-attributes,
-        wrong-import-position,
-        ungrouped-imports,
-        wrong-import-order,
-        protected-access,
-        trailing-whitespace,
-        too-many-branches,
-        too-few-public-methods,
-        too-many-statements,
-        trailing-newlines,
-        attribute-defined-outside-init,
-        too-many-return-statements,
-        too-many-public-methods,
-        unused-argument,
-        old-style-class,
-        no-init,
-        len-as-condition,
-        unneeded-not,
-        no-self-use,
-        multiple-imports,
-        no-else-return,
-        logging-not-lazy,
-        fixme,
-        redefined-outer-name,
-        unused-variable,
-        unsubscriptable-object,
-        expression-not-assigned,
-        too-many-boolean-expressions,
-        consider-using-ternary,
-        invalid-unary-operand-type,
-        relative-import,
-        deprecated-lambda
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
-      XXX,
-      TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
-
-# Number of spaces of indent required inside a hanging  or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
-# tab).
-indent-string='  '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
-               dict-separator
-
-# Allow the body of a class to be on the same line as the declaration if body
-# contains single statement.
-single-line-class-stmt=no
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
-          bar,
-          baz,
-          toto,
-          tutu,
-          tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
-           j,
-           k,
-           ex,
-           Run,
-           _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
-                      __new__,
-                      setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
-                  _fields,
-                  _replace,
-                  _source,
-                  _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
-                   TERMIOS,
-                   Bastion,
-                   rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception

.python-version

@@ -0,0 +1 @@
+3.11.4

.travis.yml

@@ -1,7 +0,0 @@
-sudo: required
-
-services:
-  - docker
-
-script:
-  - ./run_docker_tests.sh

.vscode/extensions.json

@@ -0,0 +1,8 @@
+{
+  "recommendations": [
+    "ms-python.python",
+    "ms-vscode.cpptools",
+    "elagil.pre-commit-helper",
+    "charliermarsh.ruff",
+  ]
+}

.vscode/launch.json

@@ -0,0 +1,47 @@
+{
+  "version": "0.2.0",
+  "inputs": [
+    {
+      "id": "python_process",
+      "type": "pickString",
+      "description": "Select the process to debug",
+      "options": [
+        "selfdrive/controls/controlsd.py",
+        "selfdrive/navd/navd.py",
+        "system/timed/timed.py",
+        "tools/sim/run_bridge.py"
+      ]
+    },
+    {
+      "id": "cpp_process",
+      "type": "pickString",
+      "description": "Select the process to debug",
+      "options": [
+        "selfdrive/ui/ui"
+      ]
+    },
+    {
+      "id": "args",
+      "description": "Arguments to pass to the process",
+      "type": "promptString"
+    }
+  ],
+  "configurations": [
+    {
+      "name": "Python: openpilot Process",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${input:python_process}",
+      "console": "integratedTerminal",
+      "justMyCode": true,
+      "args": "${input:args}"
+    },
+    {
+      "name": "C++: openpilot Process",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/${input:cpp_process}",
+      "cwd": "${workspaceFolder}",
+    }
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,27 @@
+{
+  "editor.tabSize": 2,
+  "editor.insertSpaces": true,
+  "editor.renderWhitespace": "trailing",
+  "files.trimTrailingWhitespace": true,
+  "search.exclude": {
+    "**/.git": true,
+    "**/.venv": true,
+    "**/__pycache__": true
+  },
+  "files.exclude": {
+    "**/.git": true,
+    "**/.venv": true,
+    "**/__pycache__": true
+  },
+  "python.analysis.exclude": [
+    "**/.git",
+    "**/.venv",
+    "**/__pycache__",
+    // exclude directories that should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "third_party/**",
+    "tools/**",
+  ]
+}

CONTRIBUTING.md

@@ -1,31 +0,0 @@
-# How to contribute
-
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
-
-Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
-
-## Getting Started
-
- * Join our [Discord](https://discord.comma.ai)
- * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
-
-## Testing
-
-### Local Testing
-
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
-
-### Automated Testing
-
-All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
-
-### Code Style and Linting
-
-Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
-
-## Car Ports (openpilot)
-
-We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
-
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)

Dockerfile.openpilot

@@ -1,84 +1,30 @@
-FROM ubuntu:16.04
+FROM ghcr.io/commaai/openpilot-base:latest
+
 ENV PYTHONUNBUFFERED 1
 
-RUN apt-get update && apt-get install -y \
-    autoconf \
-    build-essential \
-    bzip2 \
-    clang \
-    cmake \
-    curl \
-    ffmpeg \
-    git \
-    libarchive-dev \
-    libbz2-dev \
-    libcurl4-openssl-dev \
-    libeigen3-dev \
-    libffi-dev \
-    libglew-dev \
-    libgles2-mesa-dev \
-    libglfw3-dev \
-    libglib2.0-0 \
-    liblzma-dev \
-    libmysqlclient-dev \
-    libomp-dev \
-    libopencv-dev \
-    libssl-dev \
-    libsqlite3-dev \
-    libtool \
-    libusb-1.0-0-dev \
-    libzmq5-dev \
-    locales \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    opencl-headers \
-    python-dev \
-    python-pip \
-    screen \
-    sudo \
-    vim \
-    wget
+ENV OPENPILOT_PATH /home/batman/openpilot
+ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
 
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
+COPY SConstruct ${OPENPILOT_PATH}
 
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
+COPY ./third_party ${OPENPILOT_PATH}/third_party
+COPY ./site_scons ${OPENPILOT_PATH}/site_scons
+COPY ./rednose ${OPENPILOT_PATH}/rednose
+COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
+COPY ./tools ${OPENPILOT_PATH}/tools
+COPY ./release ${OPENPILOT_PATH}/release
+COPY ./common ${OPENPILOT_PATH}/common
+COPY ./opendbc ${OPENPILOT_PATH}/opendbc
+COPY ./cereal ${OPENPILOT_PATH}/cereal
+COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
+COPY ./msgq ${OPENPILOT_PATH}/msgq
+COPY ./panda ${OPENPILOT_PATH}/panda
+COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
+COPY ./body ${OPENPILOT_PATH}/body
 
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-RUN pip install pipenv==2018.11.26
-
-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-
-RUN python --version
-RUN cd /tmp && pipenv install --system --deploy
-
-# Install subset of dev dependencies needed for CI
-RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3
-
-COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
-RUN /tmp/install_capnp.sh
-
-RUN git clone --branch v0.7 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
-
-ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
-COPY ./.pylintrc /tmp/openpilot/.pylintrc
-COPY ./common /tmp/openpilot/common
-COPY ./cereal /tmp/openpilot/cereal
-COPY ./opendbc /tmp/openpilot/opendbc
-COPY ./selfdrive /tmp/openpilot/selfdrive
-COPY ./phonelibs /tmp/openpilot/phonelibs
-COPY ./pyextra /tmp/openpilot/pyextra
-COPY ./panda /tmp/openpilot/panda
-
-COPY SConstruct /tmp/openpilot/SConstruct
-
-RUN mkdir -p /tmp/openpilot/selfdrive/test/out
-RUN cd /tmp/openpilot && scons -j$(nproc)
+RUN scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -0,0 +1,82 @@
+FROM ubuntu:20.04
+
+ENV PYTHONUNBUFFERED 1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    lsb-core \
+    libx11-6 \
+  && rm -rf /var/lib/apt/lists/*
+
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+RUN mkdir -p /tmp/opencl-driver-intel
+
+RUN cd /tmp/opencl-driver-intel && \
+    echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1
+
+RUN dbus-uuidgen > /etc/machine-id
+
+ARG USER=batman
+ARG USER_UID=1000
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+ENV POETRY_VIRTUALENVS_CREATE=false
+ENV PYENV_VERSION=3.11.4
+ENV PYENV_ROOT="/home/$USER/pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
+
+COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
+
+RUN cd /tmp && \
+    tools/install_python_dependencies.sh && \
+    rm -rf /tmp/* && \
+    rm -rf /home/$USER/.cache && \
+    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
+    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -0,0 +1,254 @@
+def retryWithDelay(int maxRetries, int delay, Closure body) {
+  for (int i = 0; i < maxRetries; i++) {
+    try {
+      return body()
+    } catch (Exception e) {
+      sleep(delay)
+    }
+  }
+  throw Exception("Failed after ${maxRetries} retries")
+}
+
+def device(String ip, String step_label, String cmd) {
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+
+set -e
+
+shopt -s huponexit # kill all child processes when the shell exits
+
+export CI=1
+export PYTHONWARNINGS=error
+export LOGPRINT=debug
+export TEST_DIR=${env.TEST_DIR}
+export SOURCE_DIR=${env.SOURCE_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
+export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
+# only use 1 thread for tici tests since most require HIL
+export PYTEST_ADDOPTS="-n 0"
+
+
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
+
+source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+
+  rm -rf /tmp/tmp*
+  rm -rf ~/.commacache
+  rm -rf /dev/shm/*
+  rm -rf /dev/tmp/tmp*
+
+  if ! systemctl is-active --quiet systemd-resolved; then
+    echo "restarting resolved"
+    sudo systemctl start systemd-resolved
+    sleep 3
+  fi
+
+  # restart aux USB
+  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
+    echo "restarting aux usb"
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
+    sleep 0.5
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
+  fi
+fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
+fi
+
+ln -snf ${env.TEST_DIR} /data/pythonpath
+
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+
+END"""
+
+    sh script: ssh_cmd, label: step_label
+  }
+}
+
+def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    def extra = extra_env.collect { "export ${it}" }.join('\n');
+    def branch = env.BRANCH_NAME ?: 'master';
+
+    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
+      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+        timeout(time: 20, unit: 'MINUTES') {
+          retry (3) {
+            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          }
+          steps.each { item ->
+            device(device_ip, item[0], item[1])
+          }
+        }
+      }
+    }
+  }
+}
+
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    checkout scm
+
+    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
+
+    def openpilot_base = retryWithDelay (3, 15) {
+      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
+    }
+
+    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
+      openpilot_base.inside(dockerArgs) {
+        timeout(time: 20, unit: 'MINUTES') {
+          try {
+            retryWithDelay (3, 15) {
+              sh "git config --global --add safe.directory '*'"
+              sh "git submodule update --init --recursive"
+              sh "git lfs pull"
+            }
+            body()
+          } finally {
+              sh "rm -rf ${env.WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
+          }
+        }
+      }
+    }
+  }
+}
+
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
+  }
+}
+
+
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
+
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
+
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
+
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
+
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (env.BRANCH_NAME == 'master-ci') {
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (!env.BRANCH_NAME.matches(excludeRegex)) {
+    parallel (
+      // tici tests
+      'onroad tests': {
+        deviceStage("onroad", "tici-needs-can", [], [
+          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
+          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
+          ["build openpilot", "cd system/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd system/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
+          ["test manager", "pytest system/manager/test/test_manager.py"],
+        ])
+      },
+      'loopback': {
+        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+          ["build openpilot", "cd system/manager && ./build.py"],
+          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+        ])
+      },
+      'camerad': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          ["build", "cd system/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          ["build", "cd system/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          ["build", "cd system/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd system/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd system/manager && ./build.py"],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          ["build openpilot", "cd system/manager && ./build.py"],
+          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
+        ])
+      },
+
+    )
+    }
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
+  }
+}

Makefile

@@ -1,9 +0,0 @@
-
-code_dir := $(shell pwd)
-
-# TODO: Add a global build system
-
-.PHONY: all
-all:
-	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
-

Pipfile

@@ -1,128 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-opencv-python= "==3.4.2.17"
-PyQt5 = "*"
-ipython = "*"
-networkx = "==2.3"
-azure-core = "==1.1.1"
-azure-common = "==1.1.24"
-azure-nspkg = "==3.0.2"
-azure-storage-blob = "==2.1.0"
-azure-storage-common = "==2.1.0"
-azure-storage-nspkg = "==3.1.0"
-boto = "*"
-"boto3" = "*"
-control = "*"
-datadog = "*"
-dlib = "*"
-elasticsearch = "*"
-future = "*"
-futures = "*"
-pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
-gunicorn = "*"
-"h5py" = "*"
-hexdump = "*"
-"html5lib" = "*"
-imageio = "*"
-ipykernel = "*"
-joblib = "*"
-json-logging-py = "*"
-jupyter = "*"
-libarchive = "*"
-lru-dict = "*"
-"mpld3" = "*"
-msgpack-python = "*"
-nbstripout = "*"
-numpy = "*"
-osmium = "*"
-pbr = "*"
-percache = "*"
-pprofile = "*"
-pycurl = "*"
-git-pylint-commit-hook = "*"
-pymongo = "*"
-"pynmea2" = "*"
-pypolyline = "*"
-python-logstash = "*"
-redis = "*"
-"s2sphere" = "*"
-scikit-image = "*"
-"subprocess32" = "*"
-tenacity = "*"
-tensorflow-gpu = ""
-PyJWT = "==1.4.1"
-PyMySQL = "==0.9.2"
-Werkzeug = "*"
-"backports.lzma" = "*"
-Flask-Cors = "*"
-Flask-SocketIO = "*"
-"GeoAlchemy2" = "*"
-Pygments = "*"
-PyNaCl = "*"
-"PySDL2" = "*"
-reverse_geocoder = "*"
-Shapely = "*"
-SQLAlchemy = "*"
-scipy = "*"
-fastcluster = "*"
-backports-abc = "*"
-pygame = "*"
-simplejson = "*"
-python-logstash-async = "*"
-seaborn = "*"
-pyproj = "*"
-mock = "*"
-matplotlib = "*"
-dictdiffer = "*"
-aenum = "*"
-coverage = "*"
-azure-cli-core = "*"
-
-[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 = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
-urllib3 = "*"
-chardet = "*"
-idna = "*"
-gunicorn = "*"
-utm = "*"
-json-rpc = "*"
-Flask = "*"
-PyJWT = "*"
-"Jinja2" = "*"
-nose = "*"
-flake8 = "*"
-pylint = "*"
-pycryptodome = "*"
-pillow = "*"
-scons = "*"
-cysignals = "*"
-
-[requires]
-python_version = "3.7.3"

README.md

@@ -1,302 +1,252 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
+<div align="center" style="text-align: center;">
 
-Table of Contents
-=======================
+<h1>openpilot</h1>
 
-* [What is openpilot?](#what-is-openpilot)
-* [Integration with Stock Features](#integration-with-stock-features)
-* [Supported Hardware](#supported-hardware)
-* [Supported Cars](#supported-cars)
-* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
-* [Installation Instructions](#installation-instructions)
-* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
-* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
-* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
-* [User Data and comma Account](#user-data-and-comma-account)
-* [Safety and Testing](#safety-and-testing)
-* [Testing on PC](#testing-on-pc)
-* [Community and Contributing](#community-and-contributing)
-* [Directory Structure](#directory-structure)
-* [Licensing](#licensing)
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 300+ supported cars.
+</p>
 
----
+<h3>
+  <a href="https://docs.comma.ai">Docs</a>
+  <span> · </span>
+  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
+  <span> · </span>
+  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
+  <span> · </span>
+  <a href="https://discord.comma.ai">Community</a>
+  <span> · </span>
+  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+</h3>
 
-What is openpilot?
-------
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
+[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
+[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
+[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
+
+</div>
 
 <table>
   <tr>
-    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
-  </tr>
-  <tr>
-    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
+    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
   </tr>
 </table>
 
-Integration with Stock Features
+
+Using openpilot in a car
 ------
 
-In all supported cars:
-* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
-* Stock LDW is replaced by openpilot LDW.
+To use openpilot in a car, you need four things:
+1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
 
-Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
-* Stock ACC is replaced by openpilot ACC.
-* openpilot FCW operates in addition to stock FCW.
+We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 
-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
-
-Supported Hardware
 ------
 
-At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. In the future, we'd like to support other platforms as well, like gaming PCs.
+<div align="center" style="text-align: center;">
+
+<h1>FrogPilot 🐸</h1>
+
+[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/FrogAi/FrogPilot)
+[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://discord.frogpilot.download)
+[![Last Updated](https://img.shields.io/badge/Last%20Updated-August%209th%2C%202025-brightgreen)](https://github.com/FrogAi/FrogPilot/releases/latest)
+[![Wiki](https://img.shields.io/badge/Wiki-FrogPilot-blue?logo=wiki)](https://frogpilot.wiki.gg/)
+
+</div>
 
-Supported Cars
 ------
 
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019          | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hatchback 2019        | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+**FrogPilot** is a custom frog-themed fork of openpilot that embraces a collaborative, community-driven approach to push the project forward. It delivers bleeding-edge features and experimental improvements far ahead of official releases. As an unofficial and highly experimental version of openpilot, **FrogPilot** should always be used with caution!
 
-<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
-<sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
-
-Community Maintained Cars and Features
+openpilot vs **FrogPilot**
 ------
 
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+#### Community
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| A Welcoming Community | ❌ | ✅ |
+| Erich / Primary Moderators / 🦇 | ✅ | ❌ |
 
-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
-<sup>5</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](https://comma.ai).*** <br />
-<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+#### Core Features
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| Always On Lateral (Steering) | ❌ | ✅ |
+| Blind Spot Integration | ✅ | ✅ |
+| Conditional Experimental Mode | ❌ | ✅ |
+| Custom Themes | ❌ | ✅ |
+| Driver Monitoring | ✅ | ✅ |
+| Driving Model Selector | ❌ | ✅ |
+| Holiday Themes | ❌ | ✅ |
+| Speed Limit Support | ❌ | ✅ |
+| Weather Detection | ❌ | ✅ |
 
-Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
+#### Device & Hardware
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| Advanced Volume Controller | ❌ | ✅ |
+| Automatic Version Backups | ❌ | ✅ |
+| C3 Support | ❌ | ✅ |
+| comma Pedal Support | ❌ | ✅ |
+| High Quality Recordings | ❌ | ✅ |
+| SDSU Support | ❌ | ✅ |
+| ZSS Support | ❌ | ✅ |
 
-Installation Instructions
+#### Gas/Brake
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| Adaptive Cruise Control (ACC) | ✅ | ✅ |
+| Advanced Live Tuning | ❌ | ✅ |
+| Custom Following Distances | ❌ | ✅ |
+| Faster Human-Like Acceleration | ❌ | ✅ |
+| Human-Like Speed Control in Curves | ❌ | ✅ |
+| Smoother Human-Like Braking | ❌ | ✅ |
+
+#### Steering
+| Feature | openpilot | **FrogPilot** |
+|---------|:---------:|:---------:|
+| Advanced Live Tuning | ❌ | ✅ |
+| Automatic Lane Changes | ❌ | ✅ |
+| Increased Steering Torque* | ❌ | ✅ |
+| Lane Centering (LKAS) | ✅ | ✅ |
+| Lane Change Assist | ✅ | ✅ |
+
+*Select vehicles only
+
+And much much more!
+
+🌟 Highlight Features
 ------
 
-Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
+### 🚗 Always On Lateral (AOL)
 
-Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
-
-Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
-
-You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
-
-Limitations of openpilot ALC and LDW
-------
-
-openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
-
-While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
-
-Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
-* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
-* In the presence of restricted lanes or construction zones.
-* When driving on highly banked roads or in presence of strong cross-wind.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Driving on hills, narrow, or winding roads.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot ACC and FCW
-------
-
-openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
-
-Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
-* Approaching a toll booth, a bridge or a large metal plate.
-* When driving on roads with pedestrians, cyclists, etc...
-* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
-* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
-* In presence of vehicles in the same lane that are not moving.
-* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
-* When surrounding vehicles perform close cut-ins from neighbor lanes.
-* Driving on hills, narrow, or winding roads.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Interference from other equipment that generates radar waves.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot DM
-------
-
-openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
-
-Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
-
-* Low light conditions, such as driving at night or in dark tunnels.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver face is partially or completely outside field of view of the driver facing camera.
-* Right hand driving vehicles.
-* The driver facing camera is obstructed, covered, or damaged.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
-
-User Data and comma Account
-------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
-
-By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
-Safety and Testing
-----
-
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
-* openpilot has software in the loop [tests](run_docker_tests.sh) that run on every commit.
-* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
-
-Testing on PC
-------
-
-Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
-
-Community and Contributing
-------
-
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
-
-You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
-
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). We also have a [bounty program](https://comma.ai/bounties.html).
-
-And [follow us on Twitter](https://twitter.com/comma_ai).
-
-Directory Structure
-------
-    .
-    ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec and libs used for all logs on EON
-    ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages auto-updates of openpilot
-    ├── opendbc             # Files showing how to interpret data from cars
-    ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # Libraries used on EON
-    ├── pyextra             # Libraries used on EON
-    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts and images for UI
-        ├── athena          # Allows communication with the app
-        ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
-        ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
-        ├── controls        # Perception, planning and controls
-        ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Soon to be home of precise location
-        ├── logcatd         # Android logcat as a service
-        ├── loggerd         # Logger and uploader of car data
-        ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU / GPS interface code
-        ├── tests           # Unit tests, system tests and a car simulator
-        └── ui              # The UI
-
-To understand how the services interact, see `cereal/service_list.yaml`.
-
-Licensing
-------
-
-openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
-
-Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
-
-**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
-YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-NO WARRANTY EXPRESSED OR IMPLIED.**
+With **"Always On Lateral"**, lane-centering stays active whenever cruise control is on, even when you press the accelerator or brake. This means steering assist won't cut out during manual speed adjustments giving you continuous support through curves, traffic, or mountain roads!
 
 ---
 
-<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+### 🧠 Conditional Experimental Mode (CEM)
+
+**["Experimental Mode"](https://blog.comma.ai/090release/#experimental-mode)** lets openpilot drive at the speed it thinks a human would to allow slowing for curves, stopping at stoplights/stop signs, and adapting to traffic. This makes it powerful in complex scenarios, but it's still, well, "experimental" and less predictable than **"Chill Mode"**. But **"Conditional Experimental Mode"** gives you the best of both worlds by automatically switching between **"Chill Mode"** for steady cruising and **"Experimental Mode"** for more advanced situations to help fully automate your driving experience!
+
+**"Conditional Experimental Mode"** switches into **"Experimental Mode"** when conditions like these are met:
+- Approaching curves and turns
+- Detecting slower or stopped lead vehicles
+- Driving below a set speed
+- Predicting an upcoming stop (e.g. stoplight or stop sign)
+
+Once conditions clear it returns to **"Chill Mode"** for stability and predictability.
+
+**Note: Stay attentive as "Experimental Mode" is an alpha feature and mistakes are expected!**
+
+---
+
+### 🎭 Driving Personalities
+
+With **"Driving Personalities"**, you choose how the vehicle behaves with four adjustable profiles:
+
+- **Traffic:** Catered towards stop-and-go traffic by minimizing gaps and delays  
+- **Aggressive:** Aimed to provide tighter following distances and quicker reactions  
+- **Standard:** Useful for a balanced, all-purpose driving  
+- **Relaxed:** A smoother driving experience with larger following distance gaps  
+
+Each profile can be fine-tuned to change the desired following distance, acceleration, and braking style letting you shape **FrogPilot**'s behavior to match your own driving preferences! Profiles can be switched instantly using the following distance button on the steering wheel, while **"Traffic Mode"** can be enabled by simply holding down the following distance button.
+
+---
+
+### 📏 Speed Limit Controller (SLC)
+
+With **"Speed Limit Controller"**, **FrogPilot** automatically adapts to the road's posted speed using information from downloaded **["OpenStreetMap"](https://www.openstreetmap.org)** maps, online **["Mapbox"](https://www.mapbox.com)** data, and the vehicle's dashboard (if supported).
+
+Offsets let you fine-tune how closely **FrogPilot** follows posted limits across different speed ranges allowing you to cruise slightly above or below for a more natural driving experience. If no speed limit is available, you can choose whether **FrogPilot** drives at the set speed, falls back to the last known speed limit, or uses **"Experimental Mode"** to estimate one with the driving model.
+
+Maps can be downloaded directly in settings and updated automatically on a schedule ensuring your device always has the latest speed limits!
+
+**Note: Speed limits are only as accurate as the available speed limit data. Always stay attentive and adjust your speed when necessary!**
+
+---
+
+### 🎨 Themes
+
+With **"Themes"**, you can personalize **FrogPilot**'s driving screen to make it uniquely yours! Choose from:
+
+- **Color Schemes**
+- **Icon Packs**
+- **Sound Packs**
+- **Turn Signal Animations**
+- **Steering Wheel Icons**
+
+Enjoy pre-existing **FrogPilot** and seasonal holiday themes, or you can create your own with the **"Theme Maker"** and even share them with the community! For extra fun, enable features like the Mario Kart–style **"Rainbow Path"** or **"Random Events"** that add playful visual effects while you drive!
+
+---
+
+And lots more! From safety enhancements to personalization options, **FrogPilot** continues to evolve with features that put you in control. Check it out today for yourself!
+
+---
+
+🔧 Branches
+------
+| Branch                     | Install&nbsp;URL          | Description                                            | Recommended&nbsp;For     |
+|----------------------------|---------------------------|--------------------------------------------------------|--------------------------|
+| FrogPilot                  | frogpilot.download        | The main release branch.                               | Everyone                 |
+| FrogPilot&#8209;Staging    | staging.frogpilot.download| Beta branch with upcoming features. Expect bugs!       | Early&nbsp;Adopters      |
+| FrogPilot&#8209;Testing    | testing.frogpilot.download| Alpha branch with bleeding-edge features. Breaks often!| Advanced&nbsp;Testers    |
+| FrogPilot&#8209;Development| No :)                     | Active development branch. Don't use!                  | **FrogPilot**&nbsp;Developers|
+| MAKE&#8209;PRS&#8209;HERE  | No :)                     | Workspace for pull requests. Don't use!                | Contributors             |
+
+🧰 How to Install
+------
+
+The easiest way to install **FrogPilot** is by entering this URL on the installation screen:
+
+```
+frogpilot.download
+```
+
+**DO NOT** install the **FrogPilot-Development** branch. I'm constantly breaking things on there, so unless you don't want to use **FrogPilot**, **NEVER** install it!
+
+![](https://i.imgur.com/LTCqRqB.png)
+
+🐞 Bug Reports / Feature Requests
+------
+
+If you run into bugs, issues, or have ideas for new features, please post about it on the **[FrogPilot Discord](https://discord.gg/frogpilot)**! Feedback helps improve **FrogPilot** and create a better experience for everyone!
+
+To report a bug, please post it in [**#bug-reports**](https://discord.com/channels/1137853399715549214/1162100167110053888).  
+To request a feature, please post it in [**#feature-requests**](https://discord.com/channels/1137853399715549214/1160318669839147259).  
+
+Please include as much detail as possible! Photos, videos, log files, or anything that can help explain the issue or idea are very helpful!
+
+I'll do my best to respond promptly, but not every request can be addressed right away. Your feedback is always appreciated and helps make **FrogPilot** the best it can be!
+
+📋 Credits
+------
+
+* [Aidenir](https://github.com/Aidenir)
+* [AlexandreSato](https://github.com/AlexandreSato)
+* [cfranyota](https://github.com/cfranyota)
+* [cydia2020](https://github.com/cydia2020)
+* [dragonpilot-community](https://github.com/dragonpilot-community)
+* [ErichMoraga](https://github.com/ErichMoraga)
+* [garrettpall](https://github.com/garrettpall)
+* [jakethesnake420](https://github.com/jakethesnake420)
+* [jyoung8607](https://github.com/jyoung8607)
+* [mike8643](https://github.com/mike8643)
+* [neokii](https://github.com/neokii)
+* [OPGM](https://github.com/opgm)
+* [OPKR](https://github.com/openpilotkr)
+* [pfeiferj](https://github.com/pfeiferj)
+* [realfast](https://github.com/realfast)
+* [syncword](https://github.com/syncword)
+* [twilsonco](https://github.com/twilsonco)
+
+Star History
+------
+
+[![Star History Chart](https://api.star-history.com/svg?repos=FrogAi/FrogPilot&type=Date)](https://www.star-history.com/#FrogAi/FrogPilot&Date)

RELEASES.md

@@ -1,3 +1,533 @@
+Version 0.9.7 (2024-06-13)
+========================
+* New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+* Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
+
+Version 0.9.6 (2024-02-27)
+========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
+* Model path UI
+  * Shows where driving model wants to be
+  * Shows what model is seeing more clearly, but more jittery
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
+* Hyundai Staria 2023 support thanks to sunnyhaibin!
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
+
+Version 0.9.5 (2023-11-17)
+========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+  * Do lateral planning inside the model
+  * New vision transformer architecture
+* Cadillac Escalade ESV 2019 support thanks to twilsonco!
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
+* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
+* Kia Optima Hybrid 2019 support
+* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Lexus GS F 2016 support thanks to snyperifle!
+* Lexus IS 2023 support thanks to L3R5!
+
+Version 0.9.4 (2023-07-27)
+========================
+* comma 3X support
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
+* UI updates
+  * Navigation settings moved to home screen and map
+  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
+* Bookmarked segments are preserved on the device's storage
+* Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!
+
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
+
+Version 0.9.2 (2023-05-22)
+========================
+* New driving model
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
+* Genesis GV80 2023 support thanks to JWingate80!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
+* Lincoln Aviator 2021 support
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
+
+
+Version 0.9.1 (2023-02-28)
+========================
+* New driving model
+  * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+  * Adjust alert volume using ambient noise level
+  * Driver monitoring icon shows driver's head pose
+  * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
+* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Genesis GV60 2023 support thanks to sunnyhaibin!
+* Hyundai Tucson 2022-23 support
+* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
+
+Version 0.9.0 (2022-11-21)
+========================
+* New driving model
+  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
+  * Less reliance on previous frames makes model more reactive and snappy
+  * Trained in new reprojective simulator
+  * Trained in 36 hours from scratch, compared to one week for previous releases
+  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
+* Experimental driving mode
+  * End-to-end longitudinal control
+  * Stops for traffic lights and stop signs
+  * Slows down for turns
+  * openpilot defaults to chill mode, enable experimental mode in settings
+* Driver monitoring updates
+  * New bigger model with added end-to-end distracted trigger
+  * Reduced false positives during driver calibration
+* Self-tuning torque controller: learns parameters live for each car
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
+* UI updates
+  * Matched speeds shown on car's dash
+  * Multi-language in navigation
+  * Improved update experience
+  * Border turns grey while overriding steering
+  * Bookmark events while driving; view them in comma connect
+  * New onroad visualization for experimental mode
+* tools: new and improved cabana thanks to deanlee!
+* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
+* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
+* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
+* Kia Sportage 2023 support thanks to sunnyhaibin!
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Stinger 2022 support thanks to sunnyhaibin!
+
+Version 0.8.16 (2022-08-26)
+========================
+* New driving model
+  * Reduced turn cutting
+* Auto-detect right hand drive setting with driver monitoring model
+* Improved fan controller for comma three
+* New translations
+  * Japanese thanks to cydia2020!
+  * Brazilian Portuguese thanks to AlexandreSato!
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
+* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
+* Subaru Legacy 2020-22 support thanks to martinl!
+* Subaru Outback 2020-22 support
+
+Version 0.8.15 (2022-07-20)
+========================
+* New driving model
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
+* New lateral controller based on physical wheel torque model
+  * Much smoother control that's consistent across the speed range
+  * Effective feedforward that uses road roll
+  * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
+  * Significantly improved control on TSS-P Prius
+* New driver monitoring model
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
+  * Multilanguage support for settings and home screen
+  * New font
+  * Refreshed max speed design
+  * More consistent camera view perspective across cars
+* Reduced power usage: device runs cooler and fan spins less
+* AGNOS 5
+  * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
+* Honda Civic 2022 support
+* Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
+* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
+
+Version 0.8.14 (2022-06-01)
+========================
+ * New driving model
+   * Bigger model, using both of comma three's road-facing cameras
+   * Better at cut-in detection and tight turns
+ * New driver monitoring model
+   * Tweaked network structure to improve output resolution for DSP
+   * Fixed bug in quantization aware training to reduce quantizing errors
+   * Resulted in 7x less MSE and no more random biases at runtime
+ * Added toggle to disable disengaging on the accelerator pedal
+ * comma body support
+ * Audi RS3 support thanks to jyoung8607!
+ * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
+ * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
+ * Toyota Alphard Hybrid 2021 support
+ * Toyota Avalon Hybrid 2022 support
+ * Toyota RAV4 2022 support
+ * Toyota RAV4 Hybrid 2022 support
+
+Version 0.8.13 (2022-02-18)
+========================
+ * Improved driver monitoring
+   * Re-tuned driver pose learner for relaxed driving positions
+   * Added reliance on driving model to be more scene adaptive
+   * Matched strictness between comma two and comma three
+ * Improved performance in turns by compensating for the road bank angle
+ * Improved camera focus on the comma two
+ * AGNOS 4
+   * ADB support
+   * improved cell auto configuration
+ * NEOS 19
+   * package updates
+   * stability improvements
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-5 2022 support thanks to Jafaral!
+ * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
+ * Toyota Prius v 2017 support thanks to CT921!
+ * Volkswagen Caravelle 2020 support thanks to jyoung8607!
+
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
+ * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
+ * Audi Q3 2020-21 support thanks to jyoung8607!
+ * Lexus RC 2020 support thanks to ErichMoraga!
+
+Version 0.8.11 (2021-11-29)
+========================
+ * Support for CAN FD on the red panda
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
+
+Version 0.8.10 (2021-11-01)
+========================
+ * New driving model
+   * Trained on one million minutes!!!
+   * Fixed lead training making lead predictions significantly more accurate
+   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
+ * New driver monitoring model
+   * Trained on latest data from both comma two and comma three
+   * Increased model field of view by 40% on comma three
+   * Improved model stability on masked users
+   * Improved pose prediction with reworked ground-truth stack
+ * Lateral and longitudinal planning MPCs now in ACADOS
+ * Combined longitudinal MPCs
+   * All longitudinal planning now happens in a single MPC system
+   * Fixed instability in MPC problem to prevent sporadic CPU usage
+ * AGNOS 2: minor stability improvements and builder repo open sourced
+ * tools: new and improved replay thanks to deanlee!
+ * Moved community-supported cars outside of the Community Features toggle
+ * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
+ * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
+ * Audi S3 2015 support thanks to jyoung8607!
+ * Honda Freed 2020 support thanks to belm0!
+ * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
+ * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
+ * Kia K5 2021 support thanks to sunnyhaibin!
+ * Škoda Kamiq 2021 support thanks to jyoung8607!
+ * Škoda Karoq 2019 support thanks to jyoung8607!
+ * Volkswagen Arteon 2021 support thanks to jyoung8607!
+ * Volkswagen California 2021 support thanks to jyoung8607!
+ * Volkswagen Taos 2022 support thanks to jyoung8607!
+
+Version 0.8.9 (2021-09-14)
+========================
+ * Improved fan control on comma three
+ * AGNOS 1.5: improved stability
+ * Honda e 2020 support
+
+Version 0.8.8 (2021-08-27)
+========================
+ * New driving model with improved laneless performance
+   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
+   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
+   * All new desire ground-truthing stack makes the model better at lane changes
+ * New driver monitoring model: improved performance on comma three
+ * NEOS 18 for comma two: update packages
+ * AGNOS 1.3 for comma three: fix display init at high temperatures
+ * Improved auto-exposure on comma three
+ * Improved longitudinal control on Honda Nidec cars
+ * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
+ * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
+ * Kia Niro Hybrid 2021 support thanks to tetious!
+
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
+Version 0.8.6 (2021-07-21)
+========================
+ * Revamp lateral and longitudinal planners
+   * Refactor planner output API to be more readable and verbose
+   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
+   * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
+ * Remove "CHECK DRIVER FACE VISIBILITY" warning
+ * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
+ * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
+ * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
+ * Kia Niro Hybrid 2019 support thanks to jyoung8607!
+ * Škoda Octavia RS 2016 support thanks to jyoung8607!
+ * Toyota Alphard 2020 support thanks to belm0!
+ * Volkswagen Golf SportWagen 2015 support thanks to jona96!
+ * Volkswagen Touran 2017 support thanks to jyoung8607!
+
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Re-tuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
+Version 0.8.2 (2021-02-26)
+========================
+ * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
+ * Use model heading prediction for smoother lateral control
+ * Smarter actuator delay compensation
+ * Improve qcamera resolution for improved video in explorer and connect
+ * Adjust maximum engagement speed to better fit the model's training distribution
+ * New driver monitoring model trained with 3x more diverse data
+ * Improved face detection with masks
+ * More predictable DM alerts when visibility is bad
+ * Rewritten video streaming between openpilot processes
+ * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
+ * Audi A3 2015 and 2017 support thanks to keeleysam!
+ * Nissan Altima 2020 support thanks to avolmensky!
+ * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
+ * Toyota Camry Hybrid 2021 support thanks to alancyau!
+
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
+Version 0.8.0 (2020-11-30)
+========================
+ * New driving model: fully 3D and improved cut-in detection
+ * UI draws 2 road edges, 4 lanelines and paths in 3D
+ * Major fixes to cut-in detection for openpilot longitudinal
+ * Grey panda is no longer supported, upgrade to comma two or black panda
+ * Lexus NX 2018 support thanks to matt12eagles!
+ * Kia Niro EV 2020 support thanks to nickn17!
+ * Toyota Prius 2021 support thanks to rav4kumar!
+ * Improved lane positioning with uncertain lanelines, wide lanes and exits
+ * Improved lateral control for Prius and Subaru
+
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
+Version 0.7.9 (2020-10-09)
+========================
+ * Improved car battery power management
+ * Improved updater robustness
+ * Improved realtime performance
+ * Reduced UI and modeld lags
+ * Increased torque on 2020 Hyundai Sonata and Palisade
+
+Version 0.7.8 (2020-08-19)
+========================
+ * New driver monitoring model: improved face detection and better compatibility with sunglasses
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
+Version 0.7.7 (2020-07-20)
+========================
+ * White panda is no longer supported, upgrade to comma two or black panda
+ * Improved vehicle model estimation using high precision localizer
+ * Improved thermal management on comma two
+ * Improved autofocus for road-facing camera
+ * Improved noise performance for driver-facing camera
+ * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
+ * Fix GM ignition detection
+ * Code cleanup and smaller release sizes
+ * Hyundai Sonata 2020 promoted to officially supported car
+ * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
+ * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
+
+Version 0.7.6.1 (2020-06-16)
+========================
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
+
+Version 0.7.5 (2020-05-13)
+========================
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
+Version 0.7.3 (2020-02-21)
+========================
+ * Support for 2020 Highlander thanks to che220!
+ * Support for 2018 Lexus NX 300h thanks to kengggg!
+ * Speed up ECU firmware query
+ * Fix bug where manager would sometimes hang after shutting down the car
+
+Version 0.7.2 (2020-02-07)
+========================
+ * ECU firmware version based fingerprinting for Honda & Toyota
+ * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
+ * Improve driver monitoring under extreme lighting and add low accuracy alert
+ * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
+ * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
+ * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
+
 Version 0.7.1 (2020-01-20)
 ========================
  * comma two support!
@@ -18,7 +548,7 @@ Version 0.7 (2019-12-13)
  * Improve GM longitudinal control: proper computations for 15Hz radar
  * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
  * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Refactor Panda code towards ISO26262 and SIL2 compliance
  * Forward stock FCW for Honda Nidec
  * Volkswagen port now standard: comma Harness intercepts stock camera
 
@@ -109,7 +639,7 @@ Version 0.5.13 (2019-05-31)
  * 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
+ * Synchronize controlsd to pandad to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -405,96 +935,96 @@ Version 0.3.4 (2017-07-28)
 
 Version 0.3.3  (2017-06-28)
 ===========================
-  * Improved model trained on more data
-  * Alpha CR-V support thanks to energee and johnnwvs!
-  * Using the opendbc project for DBC files
-  * Minor performance improvements
-  * UI update thanks to pjlao307
-  * Power off button
-  * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic
 
 Version 0.3.2  (2017-05-22)
 ===========================
-  * Minor stability bugfixes
-  * Added metrics and rear view mirror disable to settings
-  * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data
 
 Version 0.3.1  (2017-05-17)
 ===========================
-  * visiond stability bugfix
-  * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing
 
 Version 0.3.0  (2017-05-12)
 ===========================
-  * Add CarParams struct to improve the abstraction layer
-  * Refactor visiond IPC to support multiple clients
-  * Add raw GPS and beginning support for navigation
-  * Improve model in visiond using crowdsourced data
-  * Add improved system logging to diagnose instability
-  * Rewrite baseui in React Native
-  * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud
 
 Version 0.2.9  (2017-03-01)
 ===========================
-  * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1
 
 Version 0.2.8  (2017-02-27)
 ===========================
-  * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71
 
 Version 0.2.7  (2017-02-08)
 ===========================
-  * Better performance and pictures at night
-  * Fix ptr alignment issue in boardd
-  * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in pandad
+ * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
 ===========================
-  * Fix bug in visiond model execution
+ * Fix bug in visiond model execution
 
 Version 0.2.5  (2017-01-30)
 ===========================
-  * Fix race condition in manager
+ * Fix race condition in manager
 
 Version 0.2.4  (2017-01-27)
 ===========================
-  * OnePlus 3T support
-  * Enable installation as NEOS app
-  * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes
 
 Version 0.2.3  (2017-01-11)
 ===========================
-  * Reduce space usage by 80%
-  * Add better logging
-  * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI
 
 Version 0.2.2  (2017-01-10)
 ===========================
-  * Board triggers started signal on CAN messages
-  * Improved autoexposure
-  * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status
 
 Version 0.2.1  (2016-12-14)
 ===========================
-  * Performance improvements, removal of more numpy
-  * Fix boardd process priority
-  * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix pandad process priority
+ * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)
 =========================
-  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
-  * controlsd has been refactored
-  * Shipped plant model and testing maneuvers
-  * visiond exits more gracefully now
-  * Hardware encoder in visiond should always init
-  * ui now turns off the screen after 30 seconds
-  * Switch to openpilot release branch for future releases
-  * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC
 
 Version 0.1  (2016-11-29)
 =========================
-  * Initial release of openpilot
-  * Adaptive cruise control is working
-  * Lane keep assist is working
-  * Support for Acura ILX 2016 with AcuraWatch Plus
-  * Support for Honda Civic 2016 Touring Edition
+ * Initial release of openpilot
+ * Adaptive cruise control is working
+ * Lane keep assist is working
+ * Support for Acura ILX 2016 with AcuraWatch Plus
+ * Support for Honda Civic 2016 Touring Edition

SAFETY.md

@@ -1,34 +0,0 @@
-openpilot Safety
-======
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle, 
-   by stepping on either pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
-
-For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.

SConstruct

@@ -1,84 +1,181 @@
 import os
 import subprocess
 import sys
+import sysconfig
+import platform
+import numpy as np
 
-AddOption('--test',
+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
+
+# pending upstream fix - https://github.com/SCons/scons/issues/4461
+#SetOption('warn', 'all')
+
+TICI = os.path.isfile('/TICI')
+AGNOS = TICI
+
+Decider('MD5-timestamp')
+
+SetOption('num_jobs', int(os.cpu_count()/2))
+
+AddOption('--kaitai',
           action='store_true',
-          help='build test files')
+          help='Regenerate kaitai struct parsers')
 
 AddOption('--asan',
           action='store_true',
           help='turn on ASAN')
 
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
 
-if arch == "aarch64":
-  lenv = {
-    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
-    "PATH": os.environ['PATH'],
-    "ANDROID_DATA": os.environ['ANDROID_DATA'],
-    "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
-  }
+AddOption('--coverage',
+          action='store_true',
+          help='build with test coverage options')
 
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--ccflags',
+          action='store',
+          type='string',
+          default='',
+          help='pass arbitrary flags over the command line')
+
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--pc-thneed',
+          action='store_true',
+          dest='pc_thneed',
+          help='use thneed on pc')
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
+          help='the minimum build to run openpilot. no tests, tools, etc.')
+
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and AGNOS:
+  arch = "larch64"
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
+
+lenv = {
+  "PATH": os.environ['PATH'],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+}
+
+rpath = lenv["LD_LIBRARY_PATH"].copy()
+
+if arch == "larch64":
   cpppath = [
-    "#phonelibs/opencl/include",
-  ]
-  libpath = [
-    "#phonelibs/snpe/aarch64-android-clang3.8",
-    "/usr/lib",
-    "/data/data/com.termux/files/usr/lib",
-    "/system/vendor/lib64",
-    "/system/comma/usr/lib",
-    "#phonelibs/yaml-cpp/lib",
-    "#phonelibs/nanovg",
-    "#phonelibs/libyuv/lib",
+    "#third_party/opencl/include",
   ]
 
-  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
-
-  rpath = ["/system/vendor/lib64"]
-else:
-  lenv = {
-    "PATH": "#external/bin:" + os.environ['PATH'],
-  }
-  cpppath = [
-    "#phonelibs/capnp-cpp/include",
-    "#phonelibs/capnp-c/include",
-    "#phonelibs/zmq/x64/include",
-    "#external/tensorflow/include",
-  ]
   libpath = [
-    "#phonelibs/capnp-cpp/x64/lib",
-    "#phonelibs/capnp-c/x64/lib",
-    "#phonelibs/yaml-cpp/x64/lib",
-    "#phonelibs/snpe/x86_64-linux-clang",
-    "#phonelibs/zmq/x64/lib",
-    "#phonelibs/libyuv/x64/lib",
-    "#external/zmq/lib",
-    "#external/tensorflow/lib",
-    "#cereal",
-    "#selfdrive/common",
-    "/usr/lib",
     "/usr/local/lib",
+    "/usr/lib",
+    "/system/vendor/lib64",
+    f"#third_party/acados/{arch}/lib",
   ]
 
-  rpath = ["phonelibs/capnp-cpp/x64/lib",
-           "external/tensorflow/lib",
-           "cereal",
-           "selfdrive/common"]
-
-  # allows shared libraries to work globally
-  rpath = [os.path.join(os.getcwd(), x) for x in rpath]
-
+  libpath += [
+    "#third_party/snpe/larch64",
+    "#third_party/libyuv/larch64/lib",
+    "/usr/lib/aarch64-linux-gnu"
+  ]
+  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  rpath += ["/usr/local/lib"]
+else:
   cflags = []
   cxxflags = []
+  cpppath = []
+  rpath += []
 
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+  # MacOS
+  if arch == "Darwin":
+    libpath = [
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/acados/{arch}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
 
-# change pythonpath to this
-lenv["PYTHONPATH"] = Dir("#").path
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
+    ]
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
+  # Linux
+  else:
+    libpath = [
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+    if arch == "x86_64":
+      libpath += [
+        f"#third_party/snpe/{arch}"
+      ]
+      rpath += [
+        Dir(f"#third_party/snpe/{arch}").abspath,
+      ]
+
+if GetOption('asan'):
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
+else:
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
+
+# Enable swaglog include in submodules
+cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
+cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
+
+ccflags_option = GetOption('ccflags')
+if ccflags_option:
+  ccflags += ccflags_option.split(' ')
 
 env = Environment(
   ENV=lenv,
@@ -86,60 +183,72 @@ env = Environment(
     "-g",
     "-fPIC",
     "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + cflags + ccflags_asan,
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-unknown-warning-option",
+    "-Wno-deprecated-register",
+    "-Wno-register",
+    "-Wno-inconsistent-missing-override",
+    "-Wno-c99-designator",
+    "-Wno-reorder-init-list",
+    "-Wno-error=unused-but-set-variable",
+    "-Wno-vla-cxx-extension",
+  ] + cflags + ccflags,
 
   CPPPATH=cpppath + [
     "#",
-    "#selfdrive",
-    "#phonelibs/bzip2",
-    "#phonelibs/libyuv/include",
-    "#phonelibs/yaml-cpp/include",
-    "#phonelibs/openmax/include",
-    "#phonelibs/json/src",
-    "#phonelibs/json11",
-    "#phonelibs/eigen",
-    "#phonelibs/curl/include",
-    "#phonelibs/opencv/include",
-    "#phonelibs/libgralloc/include",
-    "#phonelibs/android_frameworks_native/include",
-    "#phonelibs/android_hardware_libhardware/include",
-    "#phonelibs/android_system_core/include",
-    "#phonelibs/linux/include",
-    "#phonelibs/snpe/include",
-    "#phonelibs/nanovg",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#cereal/messaging",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/libyuv/include",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party/qrcode",
+    "#third_party",
     "#cereal",
+    "#msgq",
     "#opendbc/can",
+    "#third_party/maplibre-native-qt/include",
+    f"#third_party/maplibre-native-qt/{arch}/include"
   ],
 
   CC='clang',
   CXX='clang++',
-  LINKFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags,
 
   RPATH=rpath,
 
   CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++14"] + cxxflags,
-  LIBPATH=libpath +
-  [
-    "#cereal",
-    "#selfdrive/common",
-    "#phonelibs",
-  ]
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
+    "#msgq_repo",
+    "#third_party",
+    "#selfdrive/pandad",
+    "#common",
+    "#rednose/helpers",
+  ],
+  CYTHONCFILESUFFIX=".cpp",
+  COMPILATIONDB_USE_ABSPATH=True,
+  REDNOSE_ROOT="#",
+  tools=["default", "cython", "compilation_db", "rednose_filter"],
+  toolpath=["#rednose_repo/site_scons/site_tools"],
 )
 
-if os.environ.get('SCONS_CACHE'):
-  CacheDir('/tmp/scons_cache')
+if arch == "Darwin":
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags
+
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')
+
+# Setup cache dir
+cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
 
 node_interval = 5
 node_count = 0
@@ -151,67 +260,145 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-SHARED = False
+# Cython build environment
+py_include = sysconfig.get_paths()['include']
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
 
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
-#zmq = 'zmq'
-# still needed for apks
-zmq = FindFile("libzmq.a", libpath)
-Export('env', 'arch', 'zmq', 'SHARED')
-
-# cereal and messaging are shared with the system
-SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
+envCython["LIBS"] = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
 else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-Export('cereal', 'messaging')
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
+Export('envCython')
 
-if SHARED:
-  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
+
+qt_libs = []
+if arch == "Darwin":
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
 else:
-  common = [_common, 'json']
-  visionipc = _visionipc
-  gpucommon = [_gpucommon] + _gpu_libs
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
 
-Export('common', 'visionipc', 'gpucommon')
+  qt_env['QTDIR'] = qt_install_prefix
+  qt_dirs = [
+    f"{qt_install_headers}",
+  ]
 
-SConscript(['opendbc/can/SConscript'])
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
 
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
+
+qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"]
+qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath]
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch')
+
+# Build common module
 SConscript(['common/SConscript'])
-SConscript(['common/kalman/SConscript'])
-SConscript(['phonelibs/SConscript'])
+Import('_common', '_gpucommon')
 
-SConscript(['selfdrive/modeld/SConscript'])
-SConscript(['selfdrive/camerad/SConscript'])
-SConscript(['selfdrive/controls/lib/cluster/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+common = [_common, 'json11']
+gpucommon = [_gpucommon]
 
-SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/proclogd/SConscript'])
+Export('common', 'gpucommon')
 
-SConscript(['selfdrive/ui/SConscript'])
-SConscript(['selfdrive/loggerd/SConscript'])
+# Build messaging (cereal + msgq + socketmaster + their dependencies)
+SConscript(['msgq_repo/SConscript'])
+SConscript(['cereal/SConscript'])
+Import('socketmaster', 'msgq')
+messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
+Export('messaging')
 
-if arch == "aarch64":
-  SConscript(['selfdrive/logcatd/SConscript'])
-  SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/clocksd/SConscript'])
 
-SConscript(['selfdrive/locationd/SConscript'])
+# Build other submodules
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
 
-# TODO: finish cereal, dbcbuilder, MPC
+# Build rednose library
+SConscript(['rednose/SConscript'])
+
+# Build system services
+SConscript([
+  'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
+])
+if arch != "Darwin":
+  SConscript([
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
+  ])
+
+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
+
+# Build openpilot
+SConscript(['third_party/SConscript'])
+
+SConscript(['selfdrive/SConscript'])
+
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
+
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])

SECURITY.md

@@ -0,0 +1,5 @@
+# Security Policy
+
+## Reporting a Vulnerability
+
+Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

body/.github/workflows/test.yaml

@@ -0,0 +1,50 @@
+name: tests
+on: [push, pull_request]
+
+env:
+  RUN: docker run --rm body /bin/bash -c
+  PERSIST: docker run --name body body /bin/sh -c
+  BUILD: |
+      docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile) || true
+      docker pull ghcr.io/commaai/body:latest || true
+      docker build --cache-from ghcr.io/commaai/body:latest -t body -f Dockerfile .
+
+jobs:
+  docker_push:
+    name: docker push
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/body'
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Login to dockerhub
+        run: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+      - name: Tag image
+        run: docker tag body ghcr.io/commaai/body:latest
+      - name: Push image
+        run: docker push ghcr.io/commaai/body:latest
+
+  build:
+    name: build
+    runs-on: ubuntu-latest
+    timeout-minutes: 45
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Build firmware
+        run: $RUN "cd /tmp/openpilot/body && scons"
+
+  python_linter:
+    name: python linter
+    runs-on: ubuntu-latest
+    timeout-minutes: 45
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Run static analysis
+        run: |
+          $RUN "cd /tmp/openpilot/body && git init && git add -A && pre-commit run --all"

body/.gitignore

@@ -0,0 +1,15 @@
+*.pyc
+.*.swp
+.*.swo
+*.o
+*.so
+*.os
+*.d
+*.dump
+a.out
+*~
+.#*
+.vscode*
+.DS_Store
+board/obj/
+.sconsign.dblite

body/.pre-commit-config.yaml

@@ -0,0 +1,20 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+    -   id: check-ast
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v1.4.0
+    hooks:
+    -   id: mypy
+        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
+                                  'types-pycurl']
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.0.282
+    hooks:
+    - id: ruff

body/Dockerfile

@@ -0,0 +1,36 @@
+FROM ubuntu:24.04
+ENV PYTHONUNBUFFERED 1
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    autoconf \
+    automake \
+    ca-certificates \
+    clang \
+    curl \
+    g++ \
+    gcc-arm-none-eabi libnewlib-arm-none-eabi \
+    git \
+    libtool \
+    libssl-dev \
+    libsqlite3-dev \
+    libffi-dev \
+    locales \
+    make \
+    patch \
+    pkg-config \
+    python3-pip \
+    zlib1g-dev \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+COPY requirements.txt /tmp/
+RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
+
+COPY . /tmp/openpilot/body
+RUN rm -rf /tmp/openpilot/body/.git

body/README.md

@@ -0,0 +1,18 @@
+# comma body
+
+This the firmware for the comma body robotics dev kit.
+
+
+Learn more at [commabody.com](https://commabody.com/).
+
+## building
+
+Compile: `scons`
+
+Flash bootstub and app: `board/recover.sh`  # STM flasher should be connected to debug port, needs openocd
+
+Flash app through CAN bus with panda:
+
+`board/flash_base.sh`  # base motherboard
+
+`board/flash_knee.sh`  # knee motherboard

body/SConstruct

@@ -0,0 +1 @@
+SConscript('board/SConscript')

body/board/SConscript

@@ -0,0 +1,197 @@
+import os
+import subprocess
+
+PREFIX = "arm-none-eabi-"
+BUILDER = "DEV"
+
+common_flags = []
+build_projects = {}
+
+build_projects["body"] = {
+  "MAIN": "main.c",
+  "STARTUP_FILE": "startup_stm32f413xx.s",
+  "LINKER_SCRIPT": "stm32fx_flash.ld",
+  "APP_START_ADDRESS": "0x08004000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ],
+}
+
+if os.getenv("RELEASE"):
+  BUILD_TYPE = "RELEASE"
+  cert_fn = os.getenv("CERT")
+  assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
+  assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
+else:
+  BUILD_TYPE = "DEBUG"
+  cert_fn = File("../certs/debug").srcnode().relpath
+  common_flags += ["-DALLOW_DEBUG"]
+
+if os.getenv("DEBUG"):
+  common_flags += ["-DDEBUG"]
+
+includes = [
+  "inc/STM32F4xx_HAL_Driver/Inc",
+  "inc",
+  "..",
+  ".",
+]
+
+c_sources = [
+  ["hal_flash", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c"],
+  ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
+  ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
+  ["hal_i2c", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c"],
+  ["hal_i2c_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c"],
+  ["hal_tim", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c"],
+  ["hal_tim_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c"],
+  ["hal_adc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c"],
+  ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
+  ["hal_flash_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c"],
+  ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
+  ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
+  ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
+  ["hal_adc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c"],
+  ["hal_dma", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c"],
+  ["system", "inc/system_stm32f4xx.c"],
+  ["it", "inc/stm32f4xx_it.c"],
+  ["bldc", "bldc/bldc.c"],
+  ["bldc_data", "bldc/BLDC_controller_data.c"],
+  ["bldc_con", "bldc/BLDC_controller.c"],
+  ["util", "util.c"],
+]
+
+c_bstub_sources = [
+  ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
+  ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
+  ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
+  ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
+  ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
+  ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
+  ["system", "inc/system_stm32f4xx.c"],
+  ["it", "inc/stm32f4xx_it.c"],
+  ["util", "util.c"],
+]
+
+def get_version(builder, build_type):
+  try:
+    git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
+  except subprocess.CalledProcessError:
+    git = "00000000"
+  return f"{git}"
+
+
+def to_c_uint32(x):
+  nums = []
+  for _ in range(0x20):
+    nums.append(x % (2**32))
+    x //= (2**32)
+  return "{" + 'U,'.join(map(str, nums)) + "U}"
+
+
+def get_key_header(name):
+  from Crypto.PublicKey import RSA
+
+  public_fn = f'../certs/{name}.pub'
+  rsa = RSA.importKey(open(public_fn).read())
+  assert(rsa.size_in_bits() == 1024)
+
+  rr = pow(2**1024, 2, rsa.n)
+  n0inv = 2**32 - pow(rsa.n, -1, 2**32)
+
+  r = [
+    f"RSAPublicKey {name}_rsa_key = {{",
+    f"  .len = 0x20,",
+    f"  .n0inv = {n0inv}U,",
+    f"  .n = {to_c_uint32(rsa.n)},",
+    f"  .rr = {to_c_uint32(rr)},",
+    f"  .exponent = {rsa.e},",
+    f"}};",
+  ]
+  return r
+
+def objcopy(source, target, env, for_signature):
+    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
+
+# Common autogenerated includes
+git_ver = get_version(BUILDER, BUILD_TYPE)
+with open("obj/gitversion.h", "w") as f:
+  f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
+
+certs = [get_key_header(n) for n in ["debug", "release"]]
+with open("obj/cert.h", "w") as f:
+  for cert in certs:
+    f.write("\n".join(cert) + "\n")
+
+for project_name in build_projects:
+  project = build_projects[project_name]
+  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
+
+  flags = [
+    "-Wall",
+    "-Wextra",
+    "-Wstrict-prototypes",
+    "-Werror",
+    "-mlittle-endian",
+    "-mthumb",
+    "-nostdlib",
+    "-fno-builtin",
+    f"-T{linkerscript_fn}",
+    "-std=gnu11",
+    "-fdata-sections",
+    "-ffunction-sections",
+    "-Wl,--gc-sections",
+  ] + project["PROJECT_FLAGS"] + common_flags
+
+  project_env = Environment(
+    ENV=os.environ,
+    CC=PREFIX + 'gcc',
+    AS=PREFIX + 'gcc',
+    OBJCOPY=PREFIX + 'objcopy',
+    OBJDUMP=PREFIX + 'objdump',
+    ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
+    CFLAGS=flags,
+    ASFLAGS=flags,
+    LINKFLAGS=flags,
+    LIBS = ['gcc',],
+    CPPPATH=includes,
+    BUILDERS={
+      'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
+    }
+  )
+  startup = project_env.Object(project["STARTUP_FILE"])
+
+  c_bstub_obj_list = []
+  for c in c_bstub_sources:
+    c_bstub_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
+
+  # Bootstub
+  crypto_obj = [
+    project_env.Object(f"rsa-{project_name}", "../crypto/rsa.c"),
+    project_env.Object(f"sha-{project_name}", "../crypto/sha.c")
+  ]
+  bootstub_obj = project_env.Object(f"bootstub-{project_name}", "bootstub.c")
+  bootstub_elf = project_env.Program(f"obj/bootstub.{project_name}.elf", [startup] + crypto_obj + c_bstub_obj_list + [bootstub_obj])
+  bootstub_bin = project_env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
+
+  c_obj_list = []
+  for c in c_sources:
+    c_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
+
+  # Build main
+  main_obj = project_env.Object(f"main-{project_name}", project["MAIN"])
+  obj_list = [startup, main_obj] + c_obj_list
+  main_elf = project_env.Program(f"obj/{project_name}.elf", obj_list,
+    LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+  main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf)
+
+  # Sign main
+  sign_py = File("../crypto/sign.py").srcnode().relpath
+  panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")

body/board/bldc/BLDC_controller.h

@@ -0,0 +1,550 @@
+/*
+ * File: BLDC_controller.h
+ *
+ * Code generated for Simulink model 'BLDC_controller'.
+ *
+ * Model version                  : 1.1297
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
+ * Emulation hardware selection:
+ *    Differs from embedded hardware (MATLAB Host)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. RAM efficiency
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_BLDC_controller_h_
+#define RTW_HEADER_BLDC_controller_h_
+#include "rtwtypes.h"
+#ifndef BLDC_controller_COMMON_INCLUDES_
+# define BLDC_controller_COMMON_INCLUDES_
+#include "rtwtypes.h"
+#endif                                 /* BLDC_controller_COMMON_INCLUDES_ */
+
+/* Macros for accessing real-time model data structure */
+
+/* Forward declaration for rtModel */
+typedef struct tag_RTM RT_MODEL;
+
+/* Block signals and states (auto storage) for system '<S13>/Counter' */
+typedef struct {
+  int16_T UnitDelay_DSTATE;            /* '<S18>/UnitDelay' */
+} DW_Counter;
+
+/* Block signals and states (auto storage) for system '<S50>/Low_Pass_Filter' */
+typedef struct {
+  int32_T UnitDelay1_DSTATE[2];        /* '<S56>/UnitDelay1' */
+} DW_Low_Pass_Filter;
+
+/* Block signals and states (auto storage) for system '<S25>/Counter' */
+typedef struct {
+  uint16_T UnitDelay_DSTATE;           /* '<S30>/UnitDelay' */
+} DW_Counter_b;
+
+/* Block signals and states (auto storage) for system '<S21>/either_edge' */
+typedef struct {
+  boolean_T UnitDelay_DSTATE;          /* '<S26>/UnitDelay' */
+} DW_either_edge;
+
+/* Block signals and states (auto storage) for system '<S20>/Debounce_Filter' */
+typedef struct {
+  DW_either_edge either_edge_p;        /* '<S21>/either_edge' */
+  DW_Counter_b Counter_e;              /* '<S24>/Counter' */
+  DW_Counter_b Counter_n1;             /* '<S25>/Counter' */
+  boolean_T UnitDelay_DSTATE;          /* '<S21>/UnitDelay' */
+} DW_Debounce_Filter;
+
+/* Block signals and states (auto storage) for system '<S83>/I_backCalc_fixdt' */
+typedef struct {
+  int32_T UnitDelay_DSTATE;            /* '<S88>/UnitDelay' */
+  int32_T UnitDelay_DSTATE_m;          /* '<S90>/UnitDelay' */
+} DW_I_backCalc_fixdt;
+
+/* Block signals and states (auto storage) for system '<S63>/PI_clamp_fixdt' */
+typedef struct {
+  int32_T ResettableDelay_DSTATE;      /* '<S77>/Resettable Delay' */
+  uint8_T icLoad;                      /* '<S77>/Resettable Delay' */
+  boolean_T UnitDelay1_DSTATE;         /* '<S74>/UnitDelay1' */
+} DW_PI_clamp_fixdt;
+
+/* Block signals and states (auto storage) for system '<S61>/PI_clamp_fixdt' */
+typedef struct {
+  int32_T ResettableDelay_DSTATE;      /* '<S67>/Resettable Delay' */
+  uint8_T icLoad;                      /* '<S67>/Resettable Delay' */
+  boolean_T UnitDelay1_DSTATE;         /* '<S65>/UnitDelay1' */
+} DW_PI_clamp_fixdt_m;
+
+/* Block signals and states (auto storage) for system '<S62>/PI_clamp_fixdt' */
+typedef struct {
+  int16_T ResettableDelay_DSTATE;      /* '<S72>/Resettable Delay' */
+  uint8_T icLoad;                      /* '<S72>/Resettable Delay' */
+  boolean_T UnitDelay1_DSTATE;         /* '<S69>/UnitDelay1' */
+} DW_PI_clamp_fixdt_g;
+
+/* Block signals and states (auto storage) for system '<Root>' */
+typedef struct {
+  DW_PI_clamp_fixdt_g PI_clamp_fixdt_kh;/* '<S62>/PI_clamp_fixdt' */
+  DW_PI_clamp_fixdt_m PI_clamp_fixdt_l4;/* '<S61>/PI_clamp_fixdt' */
+  DW_PI_clamp_fixdt PI_clamp_fixdt_i;  /* '<S63>/PI_clamp_fixdt' */
+  DW_I_backCalc_fixdt I_backCalc_fixdt_j;/* '<S82>/I_backCalc_fixdt' */
+  DW_I_backCalc_fixdt I_backCalc_fixdt1;/* '<S83>/I_backCalc_fixdt1' */
+  DW_I_backCalc_fixdt I_backCalc_fixdt_i;/* '<S83>/I_backCalc_fixdt' */
+  DW_either_edge either_edge_i;        /* '<S20>/either_edge' */
+  DW_Debounce_Filter Debounce_Filter_k;/* '<S20>/Debounce_Filter' */
+  DW_Low_Pass_Filter Low_Pass_Filter_m;/* '<S50>/Low_Pass_Filter' */
+  DW_Counter Counter_e;                /* '<S13>/Counter' */
+  int32_T Divide1;                     /* '<S81>/Divide1' */
+  int32_T UnitDelay_DSTATE;            /* '<S40>/UnitDelay' */
+  int16_T Gain4_e[3];                  /* '<S57>/Gain4' */
+  int16_T DataTypeConversion[2];       /* '<S56>/Data Type Conversion' */
+  int16_T z_counterRawPrev;            /* '<S17>/z_counterRawPrev' */
+  int16_T Merge;                       /* '<S59>/Merge' */
+  int16_T Switch1;                     /* '<S78>/Switch1' */
+  int16_T Vd_max1;                     /* '<S80>/Vd_max1' */
+  int16_T Gain3;                       /* '<S80>/Gain3' */
+  int16_T Vq_max_M1;                   /* '<S80>/Vq_max_M1' */
+  int16_T Gain5;                       /* '<S80>/Gain5' */
+  int16_T i_max;                       /* '<S80>/i_max' */
+  int16_T Divide1_n;                   /* '<S80>/Divide1' */
+  int16_T Gain1;                       /* '<S80>/Gain1' */
+  int16_T Gain4;                       /* '<S80>/Gain4' */
+  int16_T Switch2_i;                   /* '<S87>/Switch2' */
+  int16_T Switch2_o;                   /* '<S93>/Switch2' */
+  int16_T Switch2_a;                   /* '<S91>/Switch2' */
+  int16_T Divide3;                     /* '<S42>/Divide3' */
+  int16_T Merge1;                      /* '<S33>/Merge1' */
+  int16_T Abs1;                        /* '<S5>/Abs1' */
+  int16_T Abs5_h;                      /* '<S50>/Abs5' */
+  int16_T Divide11;                    /* '<S17>/Divide11' */
+  int16_T r_sin_M1;                    /* '<S52>/r_sin_M1' */
+  int16_T r_cos_M1;                    /* '<S52>/r_cos_M1' */
+  int16_T UnitDelay3_DSTATE;           /* '<S13>/UnitDelay3' */
+  int16_T UnitDelay4_DSTATE;           /* '<S17>/UnitDelay4' */
+  int16_T UnitDelay2_DSTATE;           /* '<S17>/UnitDelay2' */
+  int16_T UnitDelay3_DSTATE_o;         /* '<S17>/UnitDelay3' */
+  int16_T UnitDelay5_DSTATE;           /* '<S17>/UnitDelay5' */
+  int16_T UnitDelay4_DSTATE_e;         /* '<S13>/UnitDelay4' */
+  int16_T UnitDelay4_DSTATE_eu;        /* '<S8>/UnitDelay4' */
+  int8_T Switch2_e;                    /* '<S12>/Switch2' */
+  int8_T UnitDelay2_DSTATE_b;          /* '<S12>/UnitDelay2' */
+  int8_T If1_ActiveSubsystem;          /* '<S7>/If1' */
+  int8_T If2_ActiveSubsystem;          /* '<S7>/If2' */
+  int8_T If1_ActiveSubsystem_j;        /* '<S47>/If1' */
+  int8_T SwitchCase_ActiveSubsystem;   /* '<S59>/Switch Case' */
+  int8_T If1_ActiveSubsystem_a;        /* '<S59>/If1' */
+  int8_T If1_ActiveSubsystem_o;        /* '<S48>/If1' */
+  int8_T SwitchCase_ActiveSubsystem_d; /* '<S80>/Switch Case' */
+  int8_T If2_ActiveSubsystem_f;        /* '<S33>/If2' */
+  int8_T If2_ActiveSubsystem_a;        /* '<S45>/If2' */
+  uint8_T z_ctrlMod;                   /* '<S5>/F03_02_Control_Mode_Manager' */
+  uint8_T UnitDelay3_DSTATE_fy;        /* '<S10>/UnitDelay3' */
+  uint8_T UnitDelay1_DSTATE;           /* '<S10>/UnitDelay1' */
+  uint8_T UnitDelay2_DSTATE_f;         /* '<S10>/UnitDelay2' */
+  uint8_T UnitDelay_DSTATE_e;          /* '<S20>/UnitDelay' */
+  uint8_T is_active_c1_BLDC_controller;/* '<S5>/F03_02_Control_Mode_Manager' */
+  uint8_T is_c1_BLDC_controller;       /* '<S5>/F03_02_Control_Mode_Manager' */
+  uint8_T is_ACTIVE;                   /* '<S5>/F03_02_Control_Mode_Manager' */
+  boolean_T Merge_p;                   /* '<S21>/Merge' */
+  boolean_T dz_cntTrnsDet;             /* '<S17>/dz_cntTrnsDet' */
+  boolean_T UnitDelay2_DSTATE_c;       /* '<S2>/UnitDelay2' */
+  boolean_T UnitDelay5_DSTATE_m;       /* '<S2>/UnitDelay5' */
+  boolean_T UnitDelay6_DSTATE;         /* '<S2>/UnitDelay6' */
+  boolean_T UnitDelay_DSTATE_b;        /* '<S39>/UnitDelay' */
+  boolean_T UnitDelay1_DSTATE_n;       /* '<S17>/UnitDelay1' */
+  boolean_T n_commDeacv_Mode;          /* '<S13>/n_commDeacv' */
+  boolean_T dz_cntTrnsDet_Mode;        /* '<S17>/dz_cntTrnsDet' */
+} DW;
+
+/* Constant parameters (auto storage) */
+typedef struct {
+  /* Computed Parameter: r_sin_M1_Table
+   * Referenced by: '<S52>/r_sin_M1'
+   */
+  int16_T r_sin_M1_Table[181];
+
+  /* Computed Parameter: r_cos_M1_Table
+   * Referenced by: '<S52>/r_cos_M1'
+   */
+  int16_T r_cos_M1_Table[181];
+
+  /* Computed Parameter: r_sin3PhaA_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaA_M1'
+   */
+  int16_T r_sin3PhaA_M1_Table[181];
+
+  /* Computed Parameter: r_sin3PhaB_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaB_M1'
+   */
+  int16_T r_sin3PhaB_M1_Table[181];
+
+  /* Computed Parameter: r_sin3PhaC_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaC_M1'
+   */
+  int16_T r_sin3PhaC_M1_Table[181];
+
+  /* Computed Parameter: iq_maxSca_M1_Table
+   * Referenced by: '<S80>/iq_maxSca_M1'
+   */
+  uint16_T iq_maxSca_M1_Table[50];
+
+  /* Computed Parameter: z_commutMap_M1_table
+   * Referenced by: '<S94>/z_commutMap_M1'
+   */
+  int8_T z_commutMap_M1_table[18];
+
+  /* Computed Parameter: vec_hallToPos_Value
+   * Referenced by: '<S11>/vec_hallToPos'
+   */
+  int8_T vec_hallToPos_Value[8];
+} ConstP;
+
+/* External inputs (root inport signals with auto storage) */
+typedef struct {
+  boolean_T b_motEna;                  /* '<Root>/b_motEna' */
+  uint8_T z_ctrlModReq;                /* '<Root>/z_ctrlModReq' */
+  int16_T r_inpTgt;                    /* '<Root>/r_inpTgt' */
+  uint8_T b_hallA;                     /* '<Root>/b_hallA ' */
+  uint8_T b_hallB;                     /* '<Root>/b_hallB' */
+  uint8_T b_hallC;                     /* '<Root>/b_hallC' */
+  int16_T i_phaAB;                     /* '<Root>/i_phaAB' */
+  int16_T i_phaBC;                     /* '<Root>/i_phaBC' */
+  int16_T i_DCLink;                    /* '<Root>/i_DCLink' */
+  int16_T a_mechAngle;                 /* '<Root>/a_mechAngle' */
+} ExtU;
+
+/* External outputs (root outports fed by signals with auto storage) */
+typedef struct {
+  int16_T DC_phaA;                     /* '<Root>/DC_phaA' */
+  int16_T DC_phaB;                     /* '<Root>/DC_phaB' */
+  int16_T DC_phaC;                     /* '<Root>/DC_phaC' */
+  uint8_T z_errCode;                   /* '<Root>/z_errCode' */
+  int16_T n_mot;                       /* '<Root>/n_mot' */
+  int16_T a_elecAngle;                 /* '<Root>/a_elecAngle' */
+  int16_T iq;                          /* '<Root>/iq' */
+  int16_T id;                          /* '<Root>/id' */
+} ExtY;
+
+/* Parameters (auto storage) */
+struct P_ {
+  int32_T dV_openRate;                 /* Variable: dV_openRate
+                                        * Referenced by: '<S37>/dV_openRate'
+                                        */
+  int16_T dz_cntTrnsDetHi;             /* Variable: dz_cntTrnsDetHi
+                                        * Referenced by: '<S17>/dz_cntTrnsDet'
+                                        */
+  int16_T dz_cntTrnsDetLo;             /* Variable: dz_cntTrnsDetLo
+                                        * Referenced by: '<S17>/dz_cntTrnsDet'
+                                        */
+  int16_T n_cruiseMotTgt;              /* Variable: n_cruiseMotTgt
+                                        * Referenced by: '<S61>/n_cruiseMotTgt'
+                                        */
+  int16_T z_maxCntRst;                 /* Variable: z_maxCntRst
+                                        * Referenced by:
+                                        *   '<S13>/Counter'
+                                        *   '<S13>/z_maxCntRst'
+                                        *   '<S13>/z_maxCntRst2'
+                                        *   '<S13>/UnitDelay3'
+                                        *   '<S17>/z_counter'
+                                        */
+  uint16_T cf_speedCoef;               /* Variable: cf_speedCoef
+                                        * Referenced by: '<S17>/cf_speedCoef'
+                                        */
+  uint16_T t_errDequal;                /* Variable: t_errDequal
+                                        * Referenced by: '<S20>/t_errDequal'
+                                        */
+  uint16_T t_errQual;                  /* Variable: t_errQual
+                                        * Referenced by: '<S20>/t_errQual'
+                                        */
+  int16_T Vd_max;                      /* Variable: Vd_max
+                                        * Referenced by:
+                                        *   '<S36>/Vd_max'
+                                        *   '<S80>/Vd_max1'
+                                        */
+  int16_T Vq_max_M1[46];               /* Variable: Vq_max_M1
+                                        * Referenced by: '<S80>/Vq_max_M1'
+                                        */
+  int16_T Vq_max_XA[46];               /* Variable: Vq_max_XA
+                                        * Referenced by: '<S80>/Vq_max_XA'
+                                        */
+  int16_T a_phaAdvMax;                 /* Variable: a_phaAdvMax
+                                        * Referenced by: '<S42>/a_phaAdvMax'
+                                        */
+  int16_T i_max;                       /* Variable: i_max
+                                        * Referenced by:
+                                        *   '<S36>/i_max'
+                                        *   '<S80>/i_max'
+                                        */
+  int16_T id_fieldWeakMax;             /* Variable: id_fieldWeakMax
+                                        * Referenced by: '<S42>/id_fieldWeakMax'
+                                        */
+  int16_T n_commAcvLo;                 /* Variable: n_commAcvLo
+                                        * Referenced by: '<S13>/n_commDeacv'
+                                        */
+  int16_T n_commDeacvHi;               /* Variable: n_commDeacvHi
+                                        * Referenced by: '<S13>/n_commDeacv'
+                                        */
+  int16_T n_fieldWeakAuthHi;           /* Variable: n_fieldWeakAuthHi
+                                        * Referenced by: '<S42>/n_fieldWeakAuthHi'
+                                        */
+  int16_T n_fieldWeakAuthLo;           /* Variable: n_fieldWeakAuthLo
+                                        * Referenced by: '<S42>/n_fieldWeakAuthLo'
+                                        */
+  int16_T n_max;                       /* Variable: n_max
+                                        * Referenced by:
+                                        *   '<S36>/n_max'
+                                        *   '<S80>/n_max1'
+                                        */
+  int16_T n_stdStillDet;               /* Variable: n_stdStillDet
+                                        * Referenced by: '<S13>/n_stdStillDet'
+                                        */
+  int16_T r_errInpTgtThres;            /* Variable: r_errInpTgtThres
+                                        * Referenced by: '<S20>/r_errInpTgtThres'
+                                        */
+  int16_T r_fieldWeakHi;               /* Variable: r_fieldWeakHi
+                                        * Referenced by: '<S42>/r_fieldWeakHi'
+                                        */
+  int16_T r_fieldWeakLo;               /* Variable: r_fieldWeakLo
+                                        * Referenced by: '<S42>/r_fieldWeakLo'
+                                        */
+  uint16_T cf_KbLimProt;               /* Variable: cf_KbLimProt
+                                        * Referenced by:
+                                        *   '<S82>/cf_KbLimProt'
+                                        *   '<S83>/cf_KbLimProt'
+                                        */
+  uint16_T cf_idKp;                    /* Variable: cf_idKp
+                                        * Referenced by: '<S63>/cf_idKp1'
+                                        */
+  uint16_T cf_iqKp;                    /* Variable: cf_iqKp
+                                        * Referenced by: '<S62>/cf_iqKp'
+                                        */
+  uint16_T cf_nKp;                     /* Variable: cf_nKp
+                                        * Referenced by: '<S61>/cf_nKp'
+                                        */
+  uint16_T cf_currFilt;                /* Variable: cf_currFilt
+                                        * Referenced by: '<S50>/cf_currFilt'
+                                        */
+  uint16_T cf_idKi;                    /* Variable: cf_idKi
+                                        * Referenced by: '<S63>/cf_idKi1'
+                                        */
+  uint16_T cf_iqKi;                    /* Variable: cf_iqKi
+                                        * Referenced by: '<S62>/cf_iqKi'
+                                        */
+  uint16_T cf_iqKiLimProt;             /* Variable: cf_iqKiLimProt
+                                        * Referenced by:
+                                        *   '<S81>/cf_iqKiLimProt'
+                                        *   '<S83>/cf_iqKiLimProt'
+                                        */
+  uint16_T cf_nKi;                     /* Variable: cf_nKi
+                                        * Referenced by: '<S61>/cf_nKi'
+                                        */
+  uint16_T cf_nKiLimProt;              /* Variable: cf_nKiLimProt
+                                        * Referenced by:
+                                        *   '<S82>/cf_nKiLimProt'
+                                        *   '<S83>/cf_nKiLimProt'
+                                        */
+  uint8_T n_polePairs;                 /* Variable: n_polePairs
+                                        * Referenced by: '<S15>/n_polePairs'
+                                        */
+  uint8_T z_ctrlTypSel;                /* Variable: z_ctrlTypSel
+                                        * Referenced by: '<S1>/z_ctrlTypSel'
+                                        */
+  uint8_T z_selPhaCurMeasABC;          /* Variable: z_selPhaCurMeasABC
+                                        * Referenced by: '<S49>/z_selPhaCurMeasABC'
+                                        */
+  boolean_T b_angleMeasEna;            /* Variable: b_angleMeasEna
+                                        * Referenced by:
+                                        *   '<S3>/b_angleMeasEna'
+                                        *   '<S13>/b_angleMeasEna'
+                                        */
+  boolean_T b_cruiseCtrlEna;           /* Variable: b_cruiseCtrlEna
+                                        * Referenced by: '<S1>/b_cruiseCtrlEna'
+                                        */
+  boolean_T b_diagEna;                 /* Variable: b_diagEna
+                                        * Referenced by: '<S4>/b_diagEna'
+                                        */
+  boolean_T b_fieldWeakEna;            /* Variable: b_fieldWeakEna
+                                        * Referenced by:
+                                        *   '<S6>/b_fieldWeakEna'
+                                        *   '<S97>/b_fieldWeakEna'
+                                        */
+};
+
+/* Parameters (auto storage) */
+typedef struct P_ P;
+
+/* Real-time Model Data Structure */
+struct tag_RTM {
+  P *defaultParam;
+  ExtU *inputs;
+  ExtY *outputs;
+  DW *dwork;
+};
+
+/* Constant parameters (auto storage) */
+extern const ConstP rtConstP;
+
+/* Model entry point functions */
+extern void BLDC_controller_initialize(RT_MODEL *const rtM);
+extern void BLDC_controller_step(RT_MODEL *const rtM);
+
+/*-
+ * These blocks were eliminated from the model due to optimizations:
+ *
+ * Block '<S13>/Scope2' : Unused code path elimination
+ * Block '<S14>/Scope' : Unused code path elimination
+ * Block '<S41>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S41>/Data Type Propagation' : Unused code path elimination
+ * Block '<S43>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S43>/Data Type Propagation' : Unused code path elimination
+ * Block '<S44>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S44>/Data Type Propagation' : Unused code path elimination
+ * Block '<S70>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S70>/Data Type Propagation' : Unused code path elimination
+ * Block '<S75>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S75>/Data Type Propagation' : Unused code path elimination
+ * Block '<S79>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S79>/Data Type Propagation' : Unused code path elimination
+ * Block '<S84>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S84>/Data Type Propagation' : Unused code path elimination
+ * Block '<S87>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S87>/Data Type Propagation' : Unused code path elimination
+ * Block '<S91>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S91>/Data Type Propagation' : Unused code path elimination
+ * Block '<S93>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S93>/Data Type Propagation' : Unused code path elimination
+ * Block '<S7>/Scope12' : Unused code path elimination
+ * Block '<S7>/Scope8' : Unused code path elimination
+ * Block '<S7>/toNegative' : Unused code path elimination
+ * Block '<S97>/Scope' : Unused code path elimination
+ * Block '<S2>/Data Type Conversion' : Eliminate redundant data type conversion
+ * Block '<S72>/Data Type Conversion1' : Eliminate redundant data type conversion
+ */
+
+/*-
+ * The generated code includes comments that allow you to trace directly
+ * back to the appropriate location in the model.  The basic format
+ * is <system>/block_name, where system is the system number (uniquely
+ * assigned by Simulink) and block_name is the name of the block.
+ *
+ * Note that this particular code originates from a subsystem build,
+ * and has its own system numbers different from the parent model.
+ * Refer to the system hierarchy for this subsystem below, and use the
+ * MATLAB hilite_system command to trace the generated code back
+ * to the parent model.  For example,
+ *
+ * hilite_system('BLDCmotor_FOC_R2017b_fixdt/BLDC_controller')    - opens subsystem BLDCmotor_FOC_R2017b_fixdt/BLDC_controller
+ * hilite_system('BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Kp') - opens and selects block Kp
+ *
+ * Here is the system hierarchy for this model
+ *
+ * '<Root>' : 'BLDCmotor_FOC_R2017b_fixdt'
+ * '<S1>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller'
+ * '<S2>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Call_Scheduler'
+ * '<S3>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations'
+ * '<S4>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics'
+ * '<S5>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager'
+ * '<S6>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening'
+ * '<S7>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control'
+ * '<S8>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management'
+ * '<S9>'   : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Task_Scheduler'
+ * '<S10>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Edge_Detector'
+ * '<S11>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_02_Position_Calculation'
+ * '<S12>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_03_Direction_Detection'
+ * '<S13>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation'
+ * '<S14>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Electrical_Angle_Estimation'
+ * '<S15>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement'
+ * '<S16>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter'
+ * '<S17>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Raw_Motor_Speed_Estimation'
+ * '<S18>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter/rst_Delay'
+ * '<S19>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement/Modulo_fixdt'
+ * '<S20>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled'
+ * '<S21>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter'
+ * '<S22>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/either_edge'
+ * '<S23>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Default'
+ * '<S24>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification'
+ * '<S25>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification'
+ * '<S26>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/either_edge'
+ * '<S27>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter'
+ * '<S28>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter/rst_Delay'
+ * '<S29>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter'
+ * '<S30>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter/rst_Delay'
+ * '<S31>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_01_Mode_Transition_Calculation'
+ * '<S32>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_02_Control_Mode_Manager'
+ * '<S33>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis'
+ * '<S34>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Control_Type'
+ * '<S35>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Mode'
+ * '<S36>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/FOC_Control_Type'
+ * '<S37>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode'
+ * '<S38>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter'
+ * '<S39>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/rising_edge_init'
+ * '<S40>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Delay_Init1'
+ * '<S41>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Saturation Dynamic'
+ * '<S42>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled'
+ * '<S43>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled/Saturation Dynamic'
+ * '<S44>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled/Saturation Dynamic1'
+ * '<S45>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward'
+ * '<S46>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse'
+ * '<S47>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC'
+ * '<S48>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations'
+ * '<S49>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform'
+ * '<S50>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Current_Filtering'
+ * '<S51>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Park_Transform'
+ * '<S52>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Sine_Cosine_Approximation'
+ * '<S53>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesAB'
+ * '<S54>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesAC'
+ * '<S55>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesBC'
+ * '<S56>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Current_Filtering/Low_Pass_Filter'
+ * '<S57>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse/Inv_Clarke_Transform'
+ * '<S58>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse/Inv_Park_Transform'
+ * '<S59>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled'
+ * '<S60>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Open_Mode'
+ * '<S61>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode'
+ * '<S62>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode'
+ * '<S63>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation'
+ * '<S64>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Voltage_Mode'
+ * '<S65>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt'
+ * '<S66>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Clamping_circuit'
+ * '<S67>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Integrator'
+ * '<S68>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Saturation_hit'
+ * '<S69>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt'
+ * '<S70>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/Saturation Dynamic1'
+ * '<S71>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Clamping_circuit'
+ * '<S72>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Integrator'
+ * '<S73>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Saturation_hit'
+ * '<S74>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt'
+ * '<S75>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/Saturation Dynamic'
+ * '<S76>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Clamping_circuit'
+ * '<S77>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Integrator'
+ * '<S78>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Saturation_hit'
+ * '<S79>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Voltage_Mode/Saturation Dynamic1'
+ * '<S80>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled'
+ * '<S81>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Speed_Mode_Protection'
+ * '<S82>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection'
+ * '<S83>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection'
+ * '<S84>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Speed_Mode_Protection/Saturation Dynamic'
+ * '<S85>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt'
+ * '<S86>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt/Integrator'
+ * '<S87>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
+ * '<S88>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt'
+ * '<S89>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1'
+ * '<S90>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt/Integrator'
+ * '<S91>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
+ * '<S92>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1/Integrator'
+ * '<S93>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1/Saturation Dynamic1'
+ * '<S94>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/COM_Method'
+ * '<S95>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/FOC_Method'
+ * '<S96>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method'
+ * '<S97>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation'
+ * '<S98>'  : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation/Modulo_fixdt'
+ */
+#endif                                 /* RTW_HEADER_BLDC_controller_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */

body/board/bldc/BLDC_controller_data.c

@@ -0,0 +1,386 @@
+/*
+ * File: BLDC_controller_data.c
+ *
+ * Code generated for Simulink model 'BLDC_controller'.
+ *
+ * Model version                  : 1.1297
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
+ * Emulation hardware selection:
+ *    Differs from embedded hardware (MATLAB Host)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. RAM efficiency
+ * Validation result: Not run
+ */
+
+#include "BLDC_controller.h"
+
+/* Constant parameters (auto storage) */
+const ConstP rtConstP = {
+  /* Computed Parameter: r_sin_M1_Table
+   * Referenced by: '<S52>/r_sin_M1'
+   */
+  { 8192, 8682, 9162, 9630, 10087, 10531, 10963, 11381, 11786, 12176, 12551,
+    12911, 13255, 13583, 13894, 14189, 14466, 14726, 14968, 15191, 15396, 15582,
+    15749, 15897, 16026, 16135, 16225, 16294, 16344, 16374, 16384, 16374, 16344,
+    16294, 16225, 16135, 16026, 15897, 15749, 15582, 15396, 15191, 14968, 14726,
+    14466, 14189, 13894, 13583, 13255, 12911, 12551, 12176, 11786, 11381, 10963,
+    10531, 10087, 9630, 9162, 8682, 8192, 7692, 7182, 6664, 6138, 5604, 5063,
+    4516, 3964, 3406, 2845, 2280, 1713, 1143, 572, 0, -572, -1143, -1713, -2280,
+    -2845, -3406, -3964, -4516, -5063, -5604, -6138, -6664, -7182, -7692, -8192,
+    -8682, -9162, -9630, -10087, -10531, -10963, -11381, -11786, -12176, -12551,
+    -12911, -13255, -13583, -13894, -14189, -14466, -14726, -14968, -15191,
+    -15396, -15582, -15749, -15897, -16026, -16135, -16225, -16294, -16344,
+    -16374, -16384, -16374, -16344, -16294, -16225, -16135, -16026, -15897,
+    -15749, -15582, -15396, -15191, -14968, -14726, -14466, -14189, -13894,
+    -13583, -13255, -12911, -12551, -12176, -11786, -11381, -10963, -10531,
+    -10087, -9630, -9162, -8682, -8192, -7692, -7182, -6664, -6138, -5604, -5063,
+    -4516, -3964, -3406, -2845, -2280, -1713, -1143, -572, 0, 572, 1143, 1713,
+    2280, 2845, 3406, 3964, 4516, 5063, 5604, 6138, 6664, 7182, 7692, 8192 },
+
+  /* Computed Parameter: r_cos_M1_Table
+   * Referenced by: '<S52>/r_cos_M1'
+   */
+  { 14189, 13894, 13583, 13255, 12911, 12551, 12176, 11786, 11381, 10963, 10531,
+    10087, 9630, 9162, 8682, 8192, 7692, 7182, 6664, 6138, 5604, 5063, 4516,
+    3964, 3406, 2845, 2280, 1713, 1143, 572, 0, -572, -1143, -1713, -2280, -2845,
+    -3406, -3964, -4516, -5063, -5604, -6138, -6664, -7182, -7692, -8192, -8682,
+    -9162, -9630, -10087, -10531, -10963, -11381, -11786, -12176, -12551, -12911,
+    -13255, -13583, -13894, -14189, -14466, -14726, -14968, -15191, -15396,
+    -15582, -15749, -15897, -16026, -16135, -16225, -16294, -16344, -16374,
+    -16384, -16374, -16344, -16294, -16225, -16135, -16026, -15897, -15749,
+    -15582, -15396, -15191, -14968, -14726, -14466, -14189, -13894, -13583,
+    -13255, -12911, -12551, -12176, -11786, -11381, -10963, -10531, -10087,
+    -9630, -9162, -8682, -8192, -7692, -7182, -6664, -6138, -5604, -5063, -4516,
+    -3964, -3406, -2845, -2280, -1713, -1143, -572, 0, 572, 1143, 1713, 2280,
+    2845, 3406, 3964, 4516, 5063, 5604, 6138, 6664, 7182, 7692, 8192, 8682, 9162,
+    9630, 10087, 10531, 10963, 11381, 11786, 12176, 12551, 12911, 13255, 13583,
+    13894, 14189, 14466, 14726, 14968, 15191, 15396, 15582, 15749, 15897, 16026,
+    16135, 16225, 16294, 16344, 16374, 16384, 16374, 16344, 16294, 16225, 16135,
+    16026, 15897, 15749, 15582, 15396, 15191, 14968, 14726, 14466, 14189 },
+
+  /* Computed Parameter: r_sin3PhaA_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaA_M1'
+   */
+  { -13091, -13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009,
+    -16159, -16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172,
+    -16079, -15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306,
+    -15248, -15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377,
+    -15461, -15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253,
+    -16317, -16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816,
+    -15577, -15289, -14953, -14565, -14126, -13634, -13091, -12496, -11849,
+    -11154, -10411, -9623, -8791, -7921, -7014, -6075, -5107, -4115, -3104,
+    -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075, 7014, 7921, 8791, 9623,
+    10411, 11154, 11849, 12496, 13091, 13634, 14126, 14565, 14953, 15289, 15577,
+    15816, 16009, 16159, 16269, 16340, 16377, 16383, 16362, 16317, 16253, 16172,
+    16079, 15977, 15870, 15762, 15656, 15555, 15461, 15377, 15306, 15248, 15206,
+    15180, 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762,
+    15870, 15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269,
+    16159, 16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496,
+    11849, 11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077,
+    1041, 0, -1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791,
+    -9623, -10411, -11154, -11849, -12496, -13091 },
+
+  /* Computed Parameter: r_sin3PhaB_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaB_M1'
+   */
+  { 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762, 15870,
+    15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269, 16159,
+    16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496, 11849,
+    11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077, 1041, 0,
+    -1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791, -9623, -10411,
+    -11154, -11849, -12496, -13091, -13634, -14126, -14565, -14953, -15289,
+    -15577, -15816, -16009, -16159, -16269, -16340, -16377, -16383, -16362,
+    -16317, -16253, -16172, -16079, -15977, -15870, -15762, -15656, -15555,
+    -15461, -15377, -15306, -15248, -15206, -15180, -15172, -15180, -15206,
+    -15248, -15306, -15377, -15461, -15555, -15656, -15762, -15870, -15977,
+    -16079, -16172, -16253, -16317, -16362, -16383, -16377, -16340, -16269,
+    -16159, -16009, -15816, -15577, -15289, -14953, -14565, -14126, -13634,
+    -13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075,
+    -5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075,
+    7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126,
+    14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383,
+    16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461,
+    15377, 15306, 15248, 15206, 15180, 15172 },
+
+  /* Computed Parameter: r_sin3PhaC_M1_Table
+   * Referenced by: '<S96>/r_sin3PhaC_M1'
+   */
+  { -13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075,
+    -5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075,
+    7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126,
+    14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383,
+    16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461,
+    15377, 15306, 15248, 15206, 15180, 15172, 15180, 15206, 15248, 15306, 15377,
+    15461, 15555, 15656, 15762, 15870, 15977, 16079, 16172, 16253, 16317, 16362,
+    16383, 16377, 16340, 16269, 16159, 16009, 15816, 15577, 15289, 14953, 14565,
+    14126, 13634, 13091, 12496, 11849, 11154, 10411, 9623, 8791, 7921, 7014,
+    6075, 5107, 4115, 3104, 2077, 1041, 0, -1041, -2077, -3104, -4115, -5107,
+    -6075, -7014, -7921, -8791, -9623, -10411, -11154, -11849, -12496, -13091,
+    -13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009, -16159,
+    -16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172, -16079,
+    -15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306, -15248,
+    -15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377, -15461,
+    -15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253, -16317,
+    -16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816, -15577,
+    -15289, -14953, -14565, -14126, -13634, -13091 },
+
+  /* Computed Parameter: iq_maxSca_M1_Table
+   * Referenced by: '<S80>/iq_maxSca_M1'
+   */
+  { 65535U, 65523U, 65484U, 65418U, 65326U, 65207U, 65062U, 64890U, 64691U,
+    64465U, 64211U, 63930U, 63620U, 63281U, 62913U, 62516U, 62088U, 61630U,
+    61140U, 60618U, 60062U, 59473U, 58848U, 58187U, 57489U, 56752U, 55974U,
+    55155U, 54291U, 53381U, 52422U, 51413U, 50349U, 49227U, 48043U, 46792U,
+    45470U, 44069U, 42581U, 40997U, 39307U, 37494U, 35541U, 33422U, 31105U,
+    28540U, 25655U, 22323U, 18304U, 12974U },
+
+  /* Computed Parameter: z_commutMap_M1_table
+   * Referenced by: '<S94>/z_commutMap_M1'
+   */
+  { -1, 1, 0, -1, 0, 1, 0, -1, 1, 1, -1, 0, 1, 0, -1, 0, 1, -1 },
+
+  /* Computed Parameter: vec_hallToPos_Value
+   * Referenced by: '<S11>/vec_hallToPos'
+   */
+  { 0, 2, 0, 1, 4, 3, 5, 0 }
+};
+
+P rtP_Left = {
+  /* Variable: dV_openRate
+   * Referenced by: '<S37>/dV_openRate'
+   */
+  12288,
+
+  /* Variable: dz_cntTrnsDetHi
+   * Referenced by: '<S17>/dz_cntTrnsDet'
+   */
+  40,
+
+  /* Variable: dz_cntTrnsDetLo
+   * Referenced by: '<S17>/dz_cntTrnsDet'
+   */
+  20,
+
+  /* Variable: n_cruiseMotTgt
+   * Referenced by: '<S61>/n_cruiseMotTgt'
+   */
+  0,
+
+  /* Variable: z_maxCntRst
+   * Referenced by:
+   *   '<S13>/Counter'
+   *   '<S13>/z_maxCntRst'
+   *   '<S13>/z_maxCntRst2'
+   *   '<S13>/UnitDelay3'
+   *   '<S17>/z_counter'
+   */
+  2000,
+
+  /* Variable: cf_speedCoef
+   * Referenced by: '<S17>/cf_speedCoef'
+   */
+  10667U,
+
+  /* Variable: t_errDequal
+   * Referenced by: '<S20>/t_errDequal'
+   */
+  9600U,
+
+  /* Variable: t_errQual
+   * Referenced by: '<S20>/t_errQual'
+   */
+  1280U,
+
+  /* Variable: Vd_max
+   * Referenced by:
+   *   '<S36>/Vd_max'
+   *   '<S80>/Vd_max1'
+   */
+  14400,
+
+  /* Variable: Vq_max_M1
+   * Referenced by: '<S80>/Vq_max_M1'
+   */
+  { 14400, 14396, 14386, 14368, 14343, 14311, 14271, 14225, 14171, 14109, 14040,
+    13963, 13879, 13786, 13685, 13576, 13459, 13333, 13198, 13053, 12900, 12736,
+    12562, 12377, 12181, 11973, 11753, 11520, 11273, 11011, 10733, 10438, 10124,
+    9790, 9433, 9051, 8640, 8196, 7713, 7184, 6597, 5935, 5170, 4245, 3019, 0 },
+
+  /* Variable: Vq_max_XA
+   * Referenced by: '<S80>/Vq_max_XA'
+   */
+  { 0, 320, 640, 960, 1280, 1600, 1920, 2240, 2560, 2880, 3200, 3520, 3840, 4160,
+    4480, 4800, 5120, 5440, 5760, 6080, 6400, 6720, 7040, 7360, 7680, 8000, 8320,
+    8640, 8960, 9280, 9600, 9920, 10240, 10560, 10880, 11200, 11520, 11840,
+    12160, 12480, 12800, 13120, 13440, 13760, 14080, 14400 },
+
+  /* Variable: a_phaAdvMax
+   * Referenced by: '<S42>/a_phaAdvMax'
+   */
+  400,
+
+  /* Variable: i_max
+   * Referenced by:
+   *   '<S36>/i_max'
+   *   '<S80>/i_max'
+   */
+  12000,
+
+  /* Variable: id_fieldWeakMax
+   * Referenced by: '<S42>/id_fieldWeakMax'
+   */
+  4000,
+
+  /* Variable: n_commAcvLo
+   * Referenced by: '<S13>/n_commDeacv'
+   */
+  240,
+
+  /* Variable: n_commDeacvHi
+   * Referenced by: '<S13>/n_commDeacv'
+   */
+  480,
+
+  /* Variable: n_fieldWeakAuthHi
+   * Referenced by: '<S42>/n_fieldWeakAuthHi'
+   */
+  6400,
+
+  /* Variable: n_fieldWeakAuthLo
+   * Referenced by: '<S42>/n_fieldWeakAuthLo'
+   */
+  4800,
+
+  /* Variable: n_max
+   * Referenced by:
+   *   '<S36>/n_max'
+   *   '<S80>/n_max1'
+   */
+  16000,
+
+  /* Variable: n_stdStillDet
+   * Referenced by: '<S13>/n_stdStillDet'
+   */
+  48,
+
+  /* Variable: r_errInpTgtThres
+   * Referenced by: '<S20>/r_errInpTgtThres'
+   */
+  9600,
+
+  /* Variable: r_fieldWeakHi
+   * Referenced by: '<S42>/r_fieldWeakHi'
+   */
+  16000,
+
+  /* Variable: r_fieldWeakLo
+   * Referenced by: '<S42>/r_fieldWeakLo'
+   */
+  12000,
+
+  /* Variable: cf_KbLimProt
+   * Referenced by:
+   *   '<S82>/cf_KbLimProt'
+   *   '<S83>/cf_KbLimProt'
+   */
+  768U,
+
+  /* Variable: cf_idKp
+   * Referenced by: '<S63>/cf_idKp1'
+   */
+  819U,
+
+  /* Variable: cf_iqKp
+   * Referenced by: '<S62>/cf_iqKp'
+   */
+  1229U,
+
+  /* Variable: cf_nKp
+   * Referenced by: '<S61>/cf_nKp'
+   */
+  4833U,
+
+  /* Variable: cf_currFilt
+   * Referenced by: '<S50>/cf_currFilt'
+   */
+  7864U,
+
+  /* Variable: cf_idKi
+   * Referenced by: '<S63>/cf_idKi1'
+   */
+  737U,
+
+  /* Variable: cf_iqKi
+   * Referenced by: '<S62>/cf_iqKi'
+   */
+  1229U,
+
+  /* Variable: cf_iqKiLimProt
+   * Referenced by:
+   *   '<S81>/cf_iqKiLimProt'
+   *   '<S83>/cf_iqKiLimProt'
+   */
+  737U,
+
+  /* Variable: cf_nKi
+   * Referenced by: '<S61>/cf_nKi'
+   */
+  251U,
+
+  /* Variable: cf_nKiLimProt
+   * Referenced by:
+   *   '<S82>/cf_nKiLimProt'
+   *   '<S83>/cf_nKiLimProt'
+   */
+  246U,
+
+  /* Variable: n_polePairs
+   * Referenced by: '<S15>/n_polePairs'
+   */
+  15U,
+
+  /* Variable: z_ctrlTypSel
+   * Referenced by: '<S1>/z_ctrlTypSel'
+   */
+  2U,
+
+  /* Variable: z_selPhaCurMeasABC
+   * Referenced by: '<S49>/z_selPhaCurMeasABC'
+   */
+  0U,
+
+  /* Variable: b_angleMeasEna
+   * Referenced by:
+   *   '<S3>/b_angleMeasEna'
+   *   '<S13>/b_angleMeasEna'
+   */
+  0,
+
+  /* Variable: b_cruiseCtrlEna
+   * Referenced by: '<S1>/b_cruiseCtrlEna'
+   */
+  0,
+
+  /* Variable: b_diagEna
+   * Referenced by: '<S4>/b_diagEna'
+   */
+  1,
+
+  /* Variable: b_fieldWeakEna
+   * Referenced by:
+   *   '<S6>/b_fieldWeakEna'
+   *   '<S97>/b_fieldWeakEna'
+   */
+  0
+};                                     /* Modifiable parameters */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */

body/board/bldc/bldc.c

@@ -0,0 +1,270 @@
+/*
+* This file implements FOC motor control.
+* This control method offers superior performanace
+* compared to previous cummutation method. The new method features:
+* ► reduced noise and vibrations
+* ► smooth torque output
+* ► improved motor efficiency -> lower energy consumption
+*
+* Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "stm32f4xx_hal.h"
+#include "defines.h"
+#include "config.h"
+#include "util.h"
+
+// Matlab includes and defines - from auto-code generation
+// ###############################################################################
+#include "BLDC_controller.h"           /* Model's header file */
+#include "rtwtypes.h"
+
+extern board_t board;
+
+extern RT_MODEL *const rtM_Left;
+extern RT_MODEL *const rtM_Right;
+
+extern DW   rtDW_Left;                  /* Observable states */
+extern ExtU rtU_Left;                   /* External inputs */
+extern ExtY rtY_Left;                   /* External outputs */
+extern P    rtP_Left;
+
+extern DW   rtDW_Right;                 /* Observable states */
+extern ExtU rtU_Right;                  /* External inputs */
+extern ExtY rtY_Right;                  /* External outputs */
+// ###############################################################################
+
+static int16_t pwm_margin;              /* This margin allows to have a window in the PWM signal for proper FOC Phase currents measurement */
+
+extern uint8_t ctrlModReq;
+static int16_t curDC_max = (I_DC_MAX * A2BIT_CONV);
+int16_t curL_phaA = 0, curL_phaB = 0, curL_DC = 0;
+int16_t curR_phaB = 0, curR_phaC = 0, curR_DC = 0;
+
+volatile int pwml = 0;
+volatile int pwmr = 0;
+
+extern volatile adc_buf_t adc_buffer;
+
+uint8_t buzzerFreq          = 0;
+uint8_t buzzerPattern       = 0;
+uint8_t buzzerCount         = 0;
+volatile uint32_t buzzerTimer = 0;
+static uint8_t  buzzerPrev  = 0;
+static uint8_t  buzzerIdx   = 0;
+
+uint8_t        enable_motors = 0;        // initially motors are disabled for SAFETY
+static uint8_t enableFin    = 0;
+
+static const uint16_t pwm_res  = CORE_FREQ / 2 / PWM_FREQ;
+
+static uint16_t offsetcount = 0;
+static int16_t offsetrlA    = 2000;
+static int16_t offsetrlB    = 2000;
+static int16_t offsetrrB    = 2000;
+static int16_t offsetrrC    = 2000;
+static int16_t offsetdcl    = 2000;
+static int16_t offsetdcr    = 2000;
+
+int16_t        batVoltage       = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
+static int32_t batVoltageFixdt  = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 16;  // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
+
+int32_t motPosL = 0;
+int32_t motPosR = 0;
+
+// DMA interrupt frequency =~ 16 kHz
+void DMA2_Stream0_IRQHandler(void) {
+  DMA2->LIFCR = DMA_LIFCR_CTCIF0;
+
+  if(offsetcount < 2000) {  // calibrate ADC offsets
+    offsetcount++;
+    offsetrlA = (adc_buffer.rlA + offsetrlA) / 2;
+    offsetrlB = (adc_buffer.rlB + offsetrlB) / 2;
+    offsetrrB = (adc_buffer.rrB + offsetrrB) / 2;
+    offsetrrC = (adc_buffer.rrC + offsetrrC) / 2;
+    offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
+    offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
+    return;
+  }
+
+  if (buzzerTimer % 1000 == 0) {  // Filter battery voltage at a slower sampling rate
+    filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt);
+    batVoltage = (int16_t)(batVoltageFixdt >> 16);  // convert fixed-point to integer
+  }
+
+  // Get Left motor currents
+  curL_phaA = (int16_t)(offsetrlA - adc_buffer.rlA);
+  curL_phaB = (int16_t)(offsetrlB - adc_buffer.rlB);
+  curL_DC   = (int16_t)(offsetdcl - adc_buffer.dcl);
+
+  // Get Right motor currents
+  curR_phaB = (int16_t)(offsetrrB - adc_buffer.rrB);
+  curR_phaC = (int16_t)(offsetrrC - adc_buffer.rrC);
+  curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
+
+  // Disable PWM when current limit is reached (current chopping)
+  // This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
+  if(ABS(curL_DC) > curDC_max || enable_motors == 0) {
+    LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
+  } else {
+    LEFT_TIM->BDTR |= TIM_BDTR_MOE;
+  }
+
+  if(ABS(curR_DC)  > curDC_max || enable_motors == 0) {
+    RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
+  } else {
+    RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
+  }
+
+  // Create square wave for buzzer
+  buzzerTimer++;
+  if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0) {
+    if (buzzerPrev == 0) {
+      buzzerPrev = 1;
+      if (++buzzerIdx > (buzzerCount + 2)) {    // pause 2 periods
+        buzzerIdx = 1;
+      }
+    }
+    if (buzzerTimer % buzzerFreq == 0 && (buzzerIdx <= buzzerCount || buzzerCount == 0)) {
+      HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
+    }
+  } else if (buzzerPrev) {
+      HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, GPIO_PIN_RESET);
+      buzzerPrev = 0;
+  }
+
+  // Adjust pwm_margin depending on the selected Control Type
+  if (rtP_Left.z_ctrlTypSel == FOC_CTRL) {
+    pwm_margin = 110;
+  } else {
+    pwm_margin = 0;
+  }
+
+  // ############################### MOTOR CONTROL ###############################
+
+  int ul, vl, wl;
+  int ur, vr, wr;
+  static boolean_T OverrunFlag = false;
+
+  if (OverrunFlag) {
+    return;
+  }
+  OverrunFlag = true;
+
+  /* Make sure to stop BOTH motors in case of an error */
+  enableFin = enable_motors && !rtY_Left.z_errCode && !rtY_Right.z_errCode;
+
+  // ========================= LEFT MOTOR ============================
+    uint8_t hall_ul = !(board.hall_left.hall_portA->IDR & board.hall_left.hall_pinA);
+    uint8_t hall_vl = !(board.hall_left.hall_portB->IDR & board.hall_left.hall_pinB);
+    uint8_t hall_wl = !(board.hall_left.hall_portC->IDR & board.hall_left.hall_pinC);
+
+    rtU_Left.b_motEna     = enableFin;
+    rtU_Left.z_ctrlModReq = ctrlModReq;
+    rtU_Left.r_inpTgt     = pwml;
+    rtU_Left.b_hallA      = hall_wl;
+    rtU_Left.b_hallB      = hall_vl;
+    rtU_Left.b_hallC      = hall_ul;
+    rtU_Left.i_phaAB      = curL_phaA;
+    rtU_Left.i_phaBC      = curL_phaB;
+    rtU_Left.i_DCLink     = curL_DC;
+
+    #ifdef MOTOR_LEFT_ENA
+    BLDC_controller_step(rtM_Left);
+    #endif
+
+    ul            = rtY_Left.DC_phaA;
+    vl            = rtY_Left.DC_phaB;
+    wl            = rtY_Left.DC_phaC;
+
+    /* Apply commands */
+    LEFT_TIM->LEFT_TIM_U    = (uint16_t)CLAMP(ul + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+    LEFT_TIM->LEFT_TIM_V    = (uint16_t)CLAMP(vl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+    LEFT_TIM->LEFT_TIM_W    = (uint16_t)CLAMP(wl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+  // =================================================================
+
+
+  // ========================= RIGHT MOTOR ===========================
+    uint8_t hall_ur = !(board.hall_right.hall_portA->IDR & board.hall_right.hall_pinA);
+    uint8_t hall_vr = !(board.hall_right.hall_portB->IDR & board.hall_right.hall_pinB);
+    uint8_t hall_wr = !(board.hall_right.hall_portC->IDR & board.hall_right.hall_pinC);
+
+    rtU_Right.b_motEna      = enableFin;
+    rtU_Right.z_ctrlModReq  = ctrlModReq;
+    rtU_Right.r_inpTgt      = pwmr;
+    rtU_Right.b_hallA       = hall_ur;
+    rtU_Right.b_hallB       = hall_vr;
+    rtU_Right.b_hallC       = hall_wr;
+    rtU_Right.i_phaAB       = curR_phaB;
+    rtU_Right.i_phaBC       = curR_phaC;
+    rtU_Right.i_DCLink      = curR_DC;
+
+    #ifdef MOTOR_RIGHT_ENA
+    BLDC_controller_step(rtM_Right);
+    #endif
+
+    ur            = rtY_Right.DC_phaA;
+    vr            = rtY_Right.DC_phaB;
+    wr            = rtY_Right.DC_phaC;
+
+    /* Apply commands */
+    RIGHT_TIM->RIGHT_TIM_U  = (uint16_t)CLAMP(ur + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+    RIGHT_TIM->RIGHT_TIM_V  = (uint16_t)CLAMP(vr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+    RIGHT_TIM->RIGHT_TIM_W  = (uint16_t)CLAMP(wr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
+  // =================================================================
+
+  OverrunFlag = false;
+
+  static int16_t motAngleLeftLast = 0;
+  static int16_t motAngleRightLast = 0;
+  static int32_t cycleDegsL = 0;  // wheel encoder roll over count in deg
+  static int32_t cycleDegsR = 0;  // wheel encoder roll over count in deg
+  int16_t diffL = 0;
+  int16_t diffR = 0;
+  static int16_t cnt = 0;
+
+  if (enable_motors == 0) { // Reset everything if motors are disabled
+    cycleDegsL = 0;
+    cycleDegsR = 0;
+    diffL = 0;
+    diffR = 0;
+    cnt = 0;
+  }
+  if (cnt == 0) {
+    motAngleLeftLast = rtY_Left.a_elecAngle;
+    motAngleRightLast = rtY_Right.a_elecAngle;
+  }
+
+  diffL = rtY_Left.a_elecAngle - motAngleLeftLast;
+  if (diffL < -180) {
+    cycleDegsL = cycleDegsL - 360;
+  } else if (diffL > 180) {
+    cycleDegsL = cycleDegsL  + 360;
+  }
+  motPosL = cycleDegsL + (360 - rtY_Left.a_elecAngle);
+
+  diffR = rtY_Right.a_elecAngle - motAngleRightLast;
+  if (diffR < -180) {
+    cycleDegsR = cycleDegsR - 360;
+  } else if (diffR > 180) {
+    cycleDegsR = cycleDegsR  + 360;
+  }
+  motPosR = cycleDegsR + (360 - rtY_Right.a_elecAngle);
+
+  motAngleLeftLast = rtY_Left.a_elecAngle;
+  motAngleRightLast = rtY_Right.a_elecAngle;
+  cnt++;
+}

body/board/bldc/rtwtypes.h

@@ -0,0 +1,104 @@
+/*
+ * File: rtwtypes.h
+ *
+ * Code generated for Simulink model 'BLDC_controller'.
+ *
+ * Model version                  : 1.1297
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
+ * Emulation hardware selection:
+ *    Differs from embedded hardware (MATLAB Host)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. RAM efficiency
+ * Validation result: Not run
+ */
+
+#ifndef RTWTYPES_H
+#define RTWTYPES_H
+
+/* Logical type definitions */
+#if (!defined(__cplusplus))
+#  ifndef false
+#   define false                       (0U)
+#  endif
+
+#  ifndef true
+#   define true                        (1U)
+#  endif
+#endif
+
+/*=======================================================================*
+ * Target hardware information
+ *   Device type: MATLAB Host
+ *   Number of bits:     char:   8    short:   16    int:  32
+ *                       long:  32    long long:  64
+ *                       native word size:  64
+ *   Byte ordering: LittleEndian
+ *   Signed integer division rounds to: Zero
+ *   Shift right on a signed integer as arithmetic shift: on
+ *=======================================================================*/
+
+/*=======================================================================*
+ * Fixed width word size data types:                                     *
+ *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+ *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+ *   real32_T, real64_T           - 32 and 64 bit floating point numbers *
+ *=======================================================================*/
+typedef signed char int8_T;
+typedef unsigned char uint8_T;
+typedef short int16_T;
+typedef unsigned short uint16_T;
+typedef int int32_T;
+typedef unsigned int uint32_T;
+typedef long long int64_T;
+typedef unsigned long long uint64_T;
+typedef float real32_T;
+typedef double real64_T;
+
+/*===========================================================================*
+ * Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T,       *
+ *                           real_T, time_T, ulong_T, ulonglong_T.           *
+ *===========================================================================*/
+typedef double real_T;
+typedef double time_T;
+typedef unsigned char boolean_T;
+typedef int int_T;
+typedef unsigned int uint_T;
+typedef unsigned long ulong_T;
+typedef unsigned long long ulonglong_T;
+typedef char char_T;
+typedef unsigned char uchar_T;
+typedef char_T byte_T;
+
+/*=======================================================================*
+ * Min and Max:                                                          *
+ *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+ *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+ *=======================================================================*/
+#define MAX_int8_T                     ((int8_T)(127))
+#define MIN_int8_T                     ((int8_T)(-128))
+#define MAX_uint8_T                    ((uint8_T)(255U))
+#define MAX_int16_T                    ((int16_T)(32767))
+#define MIN_int16_T                    ((int16_T)(-32768))
+#define MAX_uint16_T                   ((uint16_T)(65535U))
+#define MAX_int32_T                    ((int32_T)(2147483647))
+#define MIN_int32_T                    ((int32_T)(-2147483647-1))
+#define MAX_uint32_T                   ((uint32_T)(0xFFFFFFFFU))
+#define MAX_int64_T                    ((int64_T)(9223372036854775807LL))
+#define MIN_int64_T                    ((int64_T)(-9223372036854775807LL-1LL))
+#define MAX_uint64_T                   ((uint64_T)(0xFFFFFFFFFFFFFFFFULL))
+
+/* Block D-Work pointer type */
+typedef void * pointer_T;
+
+#endif                                 /* RTWTYPES_H */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */

body/board/boards.h

@@ -0,0 +1,90 @@
+extern uint8_t hw_type;
+board_t board;
+
+void board_detect(void) {
+  hw_type = board_id();
+  // 0 = base, 3 = knee
+  if (hw_type == HW_TYPE_BASE) {
+    board.hall_left.hall_portA = GPIOC;
+    board.hall_left.hall_pinA = GPIO_PIN_13;
+    board.hall_left.hall_portB = GPIOC;
+    board.hall_left.hall_pinB = GPIO_PIN_14;
+    board.hall_left.hall_portC = GPIOC;
+    board.hall_left.hall_pinC = GPIO_PIN_15;
+
+    board.hall_right.hall_portA = GPIOC;
+    board.hall_right.hall_pinA = GPIO_PIN_10;
+    board.hall_right.hall_portB = GPIOC;
+    board.hall_right.hall_pinB = GPIO_PIN_11;
+    board.hall_right.hall_portC = GPIOC;
+    board.hall_right.hall_pinC = GPIO_PIN_12;
+
+    board.CAN = CAN2;
+    board.can_alt_tx = GPIO_AF9_CAN2;
+    board.can_alt_rx = GPIO_AF9_CAN2;
+    board.can_pinRX = GPIO_PIN_5;
+    board.can_portRX = GPIOB;
+    board.can_pinTX = GPIO_PIN_6;
+    board.can_portTX = GPIOB;
+    board.can_pinEN = GPIO_PIN_7;
+    board.can_portEN = GPIOB;
+
+    board.ignition_pin = GPIO_PIN_9;
+    board.ignition_port = GPIOB;
+
+    board.led_pinR = GPIO_PIN_2;
+    board.led_portR = GPIOD;
+    board.led_pinG = GPIO_PIN_15;
+    board.led_portG = GPIOA;
+    board.led_pinB = GPIO_PIN_1;
+    board.led_portB = GPIOC;
+
+    board.can_addr_offset = 0x0U;
+    board.uds_offset = 0x0U;
+
+  } else if (hw_type == HW_TYPE_KNEE) {
+    board.hall_left.hall_portA = GPIOC;
+    board.hall_left.hall_pinA = GPIO_PIN_14;
+    board.hall_left.hall_portB = GPIOC;
+    board.hall_left.hall_pinB = GPIO_PIN_15;
+    board.hall_left.hall_portC = GPIOC;
+    board.hall_left.hall_pinC = GPIO_PIN_13;
+
+    board.hall_right.hall_portA = GPIOD;
+    board.hall_right.hall_pinA = GPIO_PIN_2;
+    board.hall_right.hall_portB = GPIOC;
+    board.hall_right.hall_pinB = GPIO_PIN_0;
+    board.hall_right.hall_portC = GPIOC;
+    board.hall_right.hall_pinC = GPIO_PIN_1;
+
+    board.CAN = CAN1;
+    board.can_alt_tx = GPIO_AF8_CAN1;
+    board.can_alt_rx = GPIO_AF9_CAN1;
+    board.can_pinRX = GPIO_PIN_11;
+    board.can_portRX = GPIOA;
+    board.can_pinTX = GPIO_PIN_9;
+    board.can_portTX = GPIOB;
+    board.can_pinEN = 0; // No pin, pulled down with 10k resistor
+    board.can_portEN = GPIOB;
+
+    board.ignition_pin = 0; // No pin, always enabled
+    board.ignition_port = GPIOB;
+
+    board.led_pinR = GPIO_PIN_2;
+    board.led_portR = GPIOB;
+    board.led_pinG = GPIO_PIN_15;
+    board.led_portG = GPIOA;
+    board.led_pinB = GPIO_PIN_5;
+    board.led_portB = GPIOB;
+
+    board.can_addr_offset = KNEE_ADDR_OFFSET;
+    board.uds_offset = 0x10U;
+
+    #ifndef BOOTSTUB
+    MX_I2C_Init();
+    #endif
+  } else {
+    // Fail to detect, halt
+    while(1) {}
+  }
+}

body/board/bootstub.c

@@ -0,0 +1,119 @@
+#define BOOTSTUB
+
+#define VERS_TAG 0x53524556
+#define MIN_VERSION 2
+
+#define RECOVERY_MODE_DELAY 5
+
+// ********************* Includes *********************
+#include <stdbool.h>
+#include <stdint.h>
+#include "libc.h"
+#include "stm32f4xx_hal.h"
+#include "defines.h"
+#include "setup.h"
+#include "drivers/clock.h"
+#include "early_init.h"
+
+#include "crypto/rsa.h"
+#include "crypto/sha.h"
+
+#include "obj/cert.h"
+#include "obj/gitversion.h"
+
+#include "drivers/llbxcan.h"
+#include "drivers/llflash.h"
+#include "provision.h"
+#include "util.h"
+#include "boards.h"
+
+#include "flasher.h"
+
+uint8_t hw_type;                 // type of the board detected(0 - base, 3 - knee)
+
+void __initialize_hardware_early(void) {
+  early_initialization();
+}
+
+void fail(void) {
+  soft_flasher_start();
+}
+
+// know where to sig check
+extern void *_app_start[];
+
+int main(void) {
+  HAL_Init();
+  HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
+  HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+
+  SystemClock_Config();
+  MX_GPIO_Clocks_Init();
+
+  board_detect();
+  MX_GPIO_Common_Init();
+
+  out_enable(POWERSWITCH, true);
+  out_enable(LED_RED, false);
+  out_enable(LED_GREEN, false);
+  out_enable(LED_BLUE, false);
+
+  if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && (hw_type == HW_TYPE_BASE)) {
+    uint16_t cnt_press = 0;
+    while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+      HAL_Delay(10);
+      cnt_press++;
+      if (cnt_press == (RECOVERY_MODE_DELAY * 100)) {
+        out_enable(LED_GREEN, true);
+        soft_flasher_start();
+      }
+    }
+  }
+
+  if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
+    enter_bootloader_mode = 0;
+    soft_flasher_start();
+  }
+
+  // validate length
+  int len = (int)_app_start[0];
+  if ((len < 8) || (len > (0x1000000 - 0x4000 - 4 - RSANUMBYTES))) goto fail;
+
+  // compute SHA hash
+  uint8_t digest[SHA_DIGEST_SIZE];
+  SHA_hash(&_app_start[1], len-4, digest);
+
+  // verify version, last bytes in the signed area
+  uint32_t vers[2] = {0};
+  memcpy(&vers, ((void*)&_app_start[0]) + len - sizeof(vers), sizeof(vers));
+  if (vers[0] != VERS_TAG || vers[1] < MIN_VERSION) {
+    goto fail;
+  }
+
+  // verify RSA signature
+  if (RSA_verify(&release_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) {
+    goto good;
+  }
+
+  // allow debug if built from source
+#ifdef ALLOW_DEBUG
+  if (RSA_verify(&debug_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) {
+    goto good;
+  }
+#endif
+
+// here is a failure
+fail:
+  fail();
+  return 0;
+good:
+  // jump to flash
+  ((void(*)(void)) _app_start[1])();
+  return 0;
+}

body/board/canloader.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import os
+import time
+import argparse
+import _thread
+from panda import Panda, MCU_TYPE_F4  # pylint: disable=import-error
+from panda.tests.pedal.canhandle import CanHandle  # pylint: disable=import-error
+
+
+def heartbeat_thread(p):
+  while True:
+    try:
+      p.send_heartbeat()
+      time.sleep(0.5)
+    except Exception:
+      continue
+
+def flush_panda():
+  while(1):
+    if len(p.can_recv()) == 0:
+      break
+
+def flasher(p, addr, file):
+  p.can_send(addr, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
+  time.sleep(0.1)
+  print("flashing", file)
+  flush_panda()
+  code = open(file, "rb").read()
+  retries = 3 # How many times to retry on timeout error
+  while(retries+1>0):
+    try:
+      Panda.flash_static(CanHandle(p, 0), code, MCU_TYPE_F4)
+    except TimeoutError:
+      print("Timeout, trying again...")
+      retries -= 1
+    else:
+      print("Successfully flashed")
+      break
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Flash body over can')
+  parser.add_argument("board", type=str, nargs='?', help="choose base or knee")
+  parser.add_argument("fn", type=str, nargs='?', help="flash file")
+  args = parser.parse_args()
+
+  assert args.board in ["base", "knee"]
+  assert os.path.isfile(args.fn)
+
+  addr = 0x250 if args.board == "base" else 0x350
+
+  p = Panda()
+  _thread.start_new_thread(heartbeat_thread, (p,))
+  p.set_safety_mode(Panda.SAFETY_BODY)
+
+  print("Flashing motherboard")
+  flasher(p, addr, args.fn)
+
+  print("CAN flashing done")

body/board/comms.h

@@ -0,0 +1,190 @@
+// Define to prevent recursive inclusion
+#ifndef COMMS_H
+#define COMMS_H
+
+#define OFFSET            0x8U
+#define BROADCAST_ADDR    0x7DFU
+#define FALLBACK_ADDR     0x7E0U
+#define FALLBACK_R_ADDR   (FALLBACK_ADDR + OFFSET)
+#define ENGINE_ADDR       0x720U
+#define ENGINE_R_ADDR     (ENGINE_ADDR + OFFSET)
+#define DEBUG_ADDR        0x721U
+#define DEBUG_R_ADDR      (DEBUG_ADDR + OFFSET)
+
+#include "drivers/llbxcan.h"
+#include "uds.h"
+
+extern P rtP_Left;
+extern P rtP_Right;
+extern volatile int16_t cmdL;                    // global variable for Left Command
+extern volatile int16_t cmdR;                    // global variable for Right Command
+extern uint8_t hw_type;
+extern board_t board;
+
+extern uint32_t enter_bootloader_mode;
+extern volatile uint32_t torque_cmd_timeout;
+
+extern volatile uint32_t ignition_off_counter;
+
+const uint8_t crc_poly = 0xD5U;  // standard crc8
+uint32_t current_idx = 0;
+
+typedef struct {
+  volatile uint32_t w_ptr;
+  volatile uint32_t r_ptr;
+  uint32_t fifo_size;
+  CAN_FIFOMailBox_TypeDef *elems;
+} can_ring;
+
+#define can_buffer(x, size) \
+  CAN_FIFOMailBox_TypeDef elems_##x[size]; \
+  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) };
+
+can_buffer(tx_q, 0x1A0)
+
+bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = 0;
+
+  if (q->w_ptr != q->r_ptr) {
+    *elem = q->elems[q->r_ptr];
+    if ((q->r_ptr + 1U) == q->fifo_size) {
+      q->r_ptr = 0;
+    } else {
+      q->r_ptr += 1U;
+    }
+    ret = 1;
+  }
+  return ret;
+}
+
+bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = false;
+  uint32_t next_w_ptr;
+
+  if ((q->w_ptr + 1U) == q->fifo_size) {
+    next_w_ptr = 0;
+  } else {
+    next_w_ptr = q->w_ptr + 1U;
+  }
+  if (next_w_ptr != q->r_ptr) {
+    q->elems[q->w_ptr] = *elem;
+    q->w_ptr = next_w_ptr;
+    ret = true;
+  }
+  return ret;
+}
+
+void can_send_msg(uint32_t addr, uint32_t dhr, uint32_t dlr, uint8_t len) {
+  CAN_FIFOMailBox_TypeDef to_push;
+
+  to_push.RDHR = dhr;
+  to_push.RDLR = dlr;
+  to_push.RDTR = len;
+  to_push.RIR = ((addr >= 0x800U) ? ((addr << 3) | (1U << 2)) : (addr << 21)) | 1;
+
+  can_push(&can_tx_q, &to_push);
+}
+
+void process_can(void) {
+  __disable_irq();
+  CAN_FIFOMailBox_TypeDef to_send;
+  if ((board.CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+    if (can_pop(&can_tx_q, &to_send)) {
+      board.CAN->sTxMailBox[0].TDLR = to_send.RDLR;
+      board.CAN->sTxMailBox[0].TDHR = to_send.RDHR;
+      board.CAN->sTxMailBox[0].TDTR = to_send.RDTR;
+      board.CAN->sTxMailBox[0].TIR = to_send.RIR;
+    }
+  }
+  __enable_irq();
+}
+
+void can_rx(void) {
+  while ((board.CAN->RF0R & CAN_RF0R_FMP0) != 0) {
+    uint32_t address = board.CAN->sFIFOMailBox[0].RIR >> 21;
+    if (address == (0x250U + board.can_addr_offset)) {
+      if ((GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0]) == 0xdeadface) && (GET_MAILBOX_BYTES_48(&board.CAN->sFIFOMailBox[0]) == 0x0ab00b1e)) {
+        enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+        NVIC_SystemReset();
+      }
+      #define MSG_TRQ_LEN 6
+      uint8_t dat[MSG_TRQ_LEN];
+      for (int i=0; i<MSG_TRQ_LEN; i++) {
+        dat[i] = GET_MAILBOX_BYTE(&board.CAN->sFIFOMailBox[0], i);
+      }
+      uint16_t valueL = ((dat[0] << 8U) | dat[1]);
+      uint16_t valueR = ((dat[2] << 8U) | dat[3]);
+
+      uint8_t idx = dat[4] & 0xFU;
+      if (crc_checksum(dat, 5, crc_poly) == dat[5]) {
+        if (((current_idx + 1U) & 0xFU) == idx) {
+          cmdL = valueL;
+          cmdR = valueR;
+          torque_cmd_timeout = 0;
+        }
+        current_idx = idx;
+      }
+      out_enable(LED_BLUE, true);
+    } else if (address == (0x251U + board.can_addr_offset)) {
+      #define MSG_SPD_LEN 5
+      uint8_t dat[MSG_TRQ_LEN];
+      for (int i=0; i<MSG_TRQ_LEN; i++) {
+        dat[i] = GET_MAILBOX_BYTE(&board.CAN->sFIFOMailBox[0], i);
+      }
+      uint16_t valueL = ((dat[0] << 8U) | dat[1]);
+      uint16_t valueR = ((dat[2] << 8U) | dat[3]);
+
+      if (crc_checksum(dat, 4, crc_poly) == dat[4]) {
+        if ((valueL == 0) || (valueR == 0)) {
+          rtP_Left.n_max = rtP_Right.n_max = N_MOT_MAX << 4;
+        } else {
+          rtP_Left.n_max = valueL << 4;
+          rtP_Right.n_max = valueR << 4;
+        }
+      }
+      out_enable(LED_BLUE, true);
+    } else if ((address == BROADCAST_ADDR) || // Process UBS and OBD2 requests
+              (address == FALLBACK_ADDR) ||
+              (address == (ENGINE_ADDR + board.uds_offset)) ||
+              (address == (DEBUG_ADDR + board.uds_offset))) {
+      process_uds(address, GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0]));
+      out_enable(LED_BLUE, true);
+    } else if ((hw_type == HW_TYPE_BASE) && (address == 0x203U + KNEE_ADDR_OFFSET)) { // detect knee by body and set flag for use with UDS message
+      knee_detected = 1;
+    } else if ((hw_type == HW_TYPE_KNEE) && (address == 0x202U)) { // CAN based ignition for knee
+      ignition_off_counter = 0;
+    }
+    // next
+    board.CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_TX_IRQHandler(void) {
+  // clear interrupt
+  board.CAN->TSR |= CAN_TSR_RQCP0;
+  process_can();
+}
+
+void CAN1_SCE_IRQHandler(void) {
+  llcan_clear_send(board.CAN);
+}
+
+void CAN1_RX0_IRQHandler(void) {
+  can_rx();
+}
+
+void CAN2_TX_IRQHandler(void) {
+  // clear interrupt
+  board.CAN->TSR |= CAN_TSR_RQCP0;
+  process_can();
+}
+
+void CAN2_SCE_IRQHandler(void) {
+  llcan_clear_send(board.CAN);
+}
+
+void CAN2_RX0_IRQHandler(void) {
+  can_rx();
+}
+
+#endif

body/board/config.h

@@ -0,0 +1,79 @@
+// Define to prevent recursive inclusion
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#include "stm32f4xx_hal.h"
+
+#define CORE_FREQ               96000000U // MCU frequency in hertz
+#define I2C_CLOCKSPEED          100     // I2C clock in kHz
+#define PWM_FREQ                16000   // PWM frequency in Hz / is also used for buzzer
+#define DEAD_TIME               48      // PWM deadtime
+#define DELAY_IN_MAIN_LOOP      5       // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
+#define A2BIT_CONV              50      // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
+
+#define IGNITION_OFF_DELAY      5       // Stop sending CAN messages after 5 seconds
+
+#define ADC_CONV_CLOCK_CYCLES   (ADC_SAMPLETIME_15CYCLES)
+#define ADC_CLOCK_DIV           (4)
+#define ADC_TOTAL_CONV_TIME     (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV
+
+#define KNEE_ADDR_OFFSET        0x100U
+#define ANGLE_TO_DEGREES        0.021972656 // Convert 14 bit angle sensor output to degrees
+#define GEARBOX_RATIO_LEFT      19
+#define GEARBOX_RATIO_RIGHT     19
+#define TRQ_LIMIT_LEFT          400      // Torque limit for knee gearbox(left)
+#define TRQ_LIMIT_RIGHT         200      // Torque limit for hip gearbox(right)
+
+#define BAT_FILT_COEF           655       // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
+#define BAT_CALIB_REAL_VOLTAGE  3192      // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
+#define BAT_CALIB_ADC           1275      // adc-value measured by mainboard (value nr 5 on UART debug output)
+#define BAT_CELLS               7         // battery number of cells. Normal Hoverboard battery: 10s
+#define VOLTS_PER_PERCENT       0.00814    // Volts per percent, for conversion of volts to percentage
+#define BAT_LVL2                (358 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 24%
+#define BAT_LVL1                (351 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 15%
+#define BAT_DEAD                (339 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 0%
+
+#define TEMP_FILT_COEF          655       // temperature filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
+#define TEMP_CAL_LOW_ADC        945      // temperature 1: ADC value
+#define TEMP_CAL_LOW_DEG_C      250       // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
+#define TEMP_CAL_HIGH_ADC       949      // temperature 2: ADC value
+#define TEMP_CAL_HIGH_DEG_C     251       // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
+#define TEMP_WARNING_ENABLE     0         // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
+#define TEMP_WARNING            600       // annoying fast beeps [°C * 10].  Here 60.0 °C
+#define TEMP_POWEROFF_ENABLE    0         // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
+#define TEMP_POWEROFF           650       // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C
+
+#define COM_CTRL        0               // [-] Commutation Control Type
+#define SIN_CTRL        1               // [-] Sinusoidal Control Type
+#define FOC_CTRL        2               // [-] Field Oriented Control (FOC) Type
+
+#define OPEN_MODE       0               // [-] OPEN mode
+#define VLT_MODE        1               // [-] VOLTAGE mode
+#define SPD_MODE        2               // [-] SPEED mode
+#define TRQ_MODE        3               // [-] TORQUE mode
+
+// Enable/Disable Motor
+#define MOTOR_LEFT_ENA                  // [-] Enable LEFT motor.  Comment-out if this motor is not needed to be operational
+#define MOTOR_RIGHT_ENA                 // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
+
+// Control selections
+#define CTRL_TYP_SEL    FOC_CTRL        // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
+#define CTRL_MOD_REQ    TRQ_MODE        // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC!
+#define DIAG_ENA        1               // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
+
+// Limitation settings
+#define I_MOT_MAX       15              // [A] Maximum single motor current limit
+#define I_DC_MAX        17              // [A] Maximum stage2 DC Link current limit for Commutation and Sinusoidal types (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A)
+#define N_MOT_MAX       100            // [rpm] Maximum motor speed limit // 100 ~= 52m/m
+#define TORQUE_BASE_MAX 1000
+
+// Field Weakening / Phase Advance
+#define FIELD_WEAK_ENA  0               // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
+#define FIELD_WEAK_MAX  5               // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed. Up to 10A has been tested using 10" wheels.
+#define PHASE_ADV_MAX   25              // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
+#define FIELD_WEAK_HI   1000            // (1000, 1500] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500.
+#define FIELD_WEAK_LO   750             // ( 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.
+
+#define SPEED_COEFFICIENT   16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
+
+#endif

body/board/defines.h

@@ -0,0 +1,188 @@
+// Define to prevent recursive inclusion
+#ifndef DEFINES_H
+#define DEFINES_H
+
+#include "stm32f4xx_hal.h"
+#include "config.h"
+
+#define LEFT_TIM TIM8
+#define LEFT_TIM_U CCR1
+#define LEFT_TIM_UH_PIN GPIO_PIN_6
+#define LEFT_TIM_UH_PORT GPIOC
+#define LEFT_TIM_UL_PIN GPIO_PIN_7
+#define LEFT_TIM_UL_PORT GPIOA
+#define LEFT_TIM_V CCR2
+#define LEFT_TIM_VH_PIN GPIO_PIN_7
+#define LEFT_TIM_VH_PORT GPIOC
+#define LEFT_TIM_VL_PIN GPIO_PIN_0
+#define LEFT_TIM_VL_PORT GPIOB
+#define LEFT_TIM_W CCR3
+#define LEFT_TIM_WH_PIN GPIO_PIN_8
+#define LEFT_TIM_WH_PORT GPIOC
+#define LEFT_TIM_WL_PIN GPIO_PIN_1
+#define LEFT_TIM_WL_PORT GPIOB
+
+#define RIGHT_TIM TIM1
+#define RIGHT_TIM_U CCR1
+#define RIGHT_TIM_UH_PIN GPIO_PIN_8
+#define RIGHT_TIM_UH_PORT GPIOA
+#define RIGHT_TIM_UL_PIN GPIO_PIN_13
+#define RIGHT_TIM_UL_PORT GPIOB
+#define RIGHT_TIM_V CCR2
+#define RIGHT_TIM_VH_PIN GPIO_PIN_9
+#define RIGHT_TIM_VH_PORT GPIOA
+#define RIGHT_TIM_VL_PIN GPIO_PIN_14
+#define RIGHT_TIM_VL_PORT GPIOB
+#define RIGHT_TIM_W CCR3
+#define RIGHT_TIM_WH_PIN GPIO_PIN_10
+#define RIGHT_TIM_WH_PORT GPIOA
+#define RIGHT_TIM_WL_PIN GPIO_PIN_15
+#define RIGHT_TIM_WL_PORT GPIOB
+
+#define LEFT_DC_CUR_PIN GPIO_PIN_3
+#define LEFT_U_CUR_PIN GPIO_PIN_5
+#define LEFT_V_CUR_PIN GPIO_PIN_6
+
+#define LEFT_DC_CUR_PORT GPIOA
+#define LEFT_U_CUR_PORT GPIOA
+#define LEFT_V_CUR_PORT GPIOA
+
+#define RIGHT_DC_CUR_PIN GPIO_PIN_2
+#define RIGHT_U_CUR_PIN GPIO_PIN_0
+#define RIGHT_V_CUR_PIN GPIO_PIN_1
+
+#define RIGHT_DC_CUR_PORT GPIOA
+#define RIGHT_U_CUR_PORT GPIOA
+#define RIGHT_V_CUR_PORT GPIOA
+
+#define BATT_PIN GPIO_PIN_4
+#define BATT_PORT GPIOA
+
+#define BUZZER_PIN GPIO_PIN_2
+#define BUZZER_PORT GPIOC
+
+#define OFF_PIN GPIO_PIN_4
+#define OFF_PORT GPIOC
+
+#define BUTTON_PIN GPIO_PIN_8
+#define BUTTON_PORT GPIOB
+
+#define CHARGER_PIN GPIO_PIN_12
+#define CHARGER_PORT GPIOA
+
+#define SW_I2C1_SCL_GPIO  GPIOB
+#define SW_I2C1_SDA_GPIO  GPIOB
+#define SW_I2C1_SCL_PIN   GPIO_PIN_3
+#define SW_I2C1_SDA_PIN   GPIO_PIN_4
+
+// UID pins
+#define KEY1_PIN GPIO_PIN_10
+#define KEY1_PORT GPIOB
+#define KEY2_PIN GPIO_PIN_9
+#define KEY2_PORT GPIOC
+
+#define DELAY_TIM_FREQUENCY_US 1000000
+
+#define MILLI_R (R * 1000)
+#define MILLI_PSI (PSI * 1000)
+#define MILLI_V (V * 1000)
+
+#define NO 0
+#define YES 1
+#define ABS(a) (((a) < 0) ? -(a) : (a))
+#define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x)))
+#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0f) : (((x) < (-lowhigh)) ? (-1.0f) : (0.0f)))
+#define SAT2(x, low, high) (((x) > (high)) ? (1.0f) : (((x) < (low)) ? (-1.0f) : (0.0f)))
+#define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
+#define DEG(a) ((a)*M_PI / 180.0f)
+#define RAD(a) ((a)*180.0f / M_PI)
+#define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0)))
+#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
+#define IN_RANGE(x, low, high) (((x) >= (low)) && ((x) <= (high)))
+#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
+#define MIN(a, b) (((a) < (b)) ? (a) : (b))
+#define MAX(a, b) (((a) > (b)) ? (a) : (b))
+#define MIN3(a, b, c) MIN(a, MIN(b, c))
+#define MAX3(a, b, c) MAX(a, MAX(b, c))
+#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
+#define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min))
+
+#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
+#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
+
+#define BOOT_NORMAL 0xdeadb111U
+#define ENTER_SOFTLOADER_MAGIC 0xdeadc0deU
+
+#define APP_START_ADDRESS 0x8004000U
+#define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
+
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))
+
+#define LED_RED     0
+#define LED_GREEN   1
+#define LED_BLUE    2
+#define IGNITION    3
+#define POWERSWITCH 4
+#define TRANSCEIVER 5
+
+#define HW_TYPE_BASE 0
+#define HW_TYPE_KNEE 3
+
+typedef struct {
+  uint32_t rrB;
+  uint32_t rrC;
+  uint32_t rlA;
+  uint32_t rlB;
+  uint32_t dcr;
+  uint32_t dcl;
+  uint32_t batt1;
+  uint32_t temp;
+} adc_buf_t;
+
+typedef struct {
+  GPIO_TypeDef* hall_portA;
+  uint16_t hall_pinA;
+  GPIO_TypeDef* hall_portB;
+  uint16_t hall_pinB;
+  GPIO_TypeDef* hall_portC;
+  uint16_t hall_pinC;
+} hall_sensor;
+
+typedef struct {
+  hall_sensor hall_left;
+  hall_sensor hall_right;
+
+  CAN_TypeDef* CAN;
+  uint8_t can_alt_tx;
+  uint8_t can_alt_rx;
+  GPIO_TypeDef* can_portTX;
+  uint16_t can_pinTX;
+  GPIO_TypeDef* can_portRX;
+  uint16_t can_pinRX;
+  GPIO_TypeDef* can_portEN;
+  uint16_t can_pinEN;
+
+  GPIO_TypeDef* ignition_port;
+  uint16_t ignition_pin;
+
+  uint16_t can_addr_offset;
+  uint8_t uds_offset;
+
+  GPIO_TypeDef* led_portR;
+  uint16_t led_pinR;
+  GPIO_TypeDef* led_portG;
+  uint16_t led_pinG;
+  GPIO_TypeDef* led_portB;
+  uint16_t led_pinB;
+
+} board_t;
+
+typedef struct {
+    uint8_t left_i2c : 1;
+    uint8_t left_angle : 1;
+    uint8_t right_i2c : 1;
+    uint8_t right_angle : 1;
+} fault_status_t;
+
+#endif // DEFINES_H

body/board/drivers/angle_sensor.h

@@ -0,0 +1,69 @@
+// Default addresses for AS5048B
+#define AS5048_ADDRESS_LEFT 0x40
+#define AS5048_ADDRESS_RIGHT 0x41
+#define UNKNOWN_IMU 0x68
+
+#define AS5048B_PROG_REG 0x03
+#define AS5048B_ADDR_REG 0x15
+#define AS5048B_ZEROMSB_REG 0x16 //bits 0..7
+#define AS5048B_ZEROLSB_REG 0x17 //bits 0..5
+#define AS5048B_GAIN_REG 0xFA
+#define AS5048B_DIAG_REG 0xFB
+#define AS5048B_MAGNMSB_REG 0xFC //bits 0..7
+#define AS5048B_MAGNLSB_REG 0xFD //bits 0..5
+#define AS5048B_ANGLMSB_REG 0xFE //bits 0..7
+#define AS5048B_ANGLLSB_REG 0xFF //bits 0..5
+
+extern I2C_HandleTypeDef hi2c1;
+
+const uint8_t init_imu_regaddr[] = {0x76, 0x4c, 0x4e, 0x4f, 0x50, 0x51, 0x52, 0x53};
+const uint8_t init_imu_data[] =    {0x00, 0x12, 0x2f, 0x26, 0x67, 0x04, 0x00, 0x00};
+
+fault_status_t fault_status = {0};
+
+void angle_sensor_read(uint16_t *sensor_angle) {
+
+  if (fault_status.left_i2c && fault_status.right_i2c) { // Try to reinitialize halted I2C
+    if (HAL_I2C_Init(&hi2c1) == HAL_OK) {
+      fault_status.left_i2c = 0;
+      fault_status.right_i2c = 0;
+    }
+  }
+
+  uint8_t buf[2];
+  if (HAL_I2C_Mem_Read(&hi2c1, (AS5048_ADDRESS_LEFT<<1), AS5048B_ANGLMSB_REG, I2C_MEMADD_SIZE_8BIT, buf, 2, 10) == HAL_OK) {
+    sensor_angle[0] = (buf[0] << 6) | (buf[1] & 0x3F);
+    fault_status.left_i2c = 0;
+  } else {
+    fault_status.left_i2c = 1;
+  }
+  if (HAL_I2C_Mem_Read(&hi2c1, (AS5048_ADDRESS_RIGHT<<1), AS5048B_ANGLMSB_REG, I2C_MEMADD_SIZE_8BIT, buf, 2, 10) == HAL_OK) {
+    sensor_angle[1] = (buf[0] << 6) | (buf[1] & 0x3F);
+    fault_status.right_i2c = 0;
+  } else {
+    fault_status.right_i2c = 1;
+  }
+}
+
+void IMU_soft_init(void) {
+  i2c_port_init();
+
+  for (int8_t i = 3; i > 0; i--) {
+    SW_I2C_WriteControl_8Bit((UNKNOWN_IMU<<1), 0x75, 0x00);
+  }
+  for (int8_t i = sizeof(init_imu_regaddr)-1; i >= 0; i--) {
+    SW_I2C_WriteControl_8Bit((UNKNOWN_IMU<<1), init_imu_regaddr[i], init_imu_data[i]);
+  }
+}
+
+void IMU_soft_sensor_read(uint16_t *unknown_imu_data) {
+  static uint8_t buf[12];
+
+  SW_I2C_WriteControl_8Bit((UNKNOWN_IMU<<1), 0x76, 0x00);
+  SW_I2C_Multi_ReadnControl_8Bit((UNKNOWN_IMU<<1), 0x1F, 6, buf);
+  SW_I2C_Multi_ReadnControl_8Bit((UNKNOWN_IMU<<1), 0x25, 6, &buf[6]);
+
+  for (int8_t i = 5; i >= 0; i--) {
+    unknown_imu_data[i] = (buf[i*2] << 8) | (buf[(i*2)+1]);
+  }
+}

body/board/drivers/clock.h

@@ -0,0 +1,63 @@
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1)
+  {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+/** System Clock Configuration
+*/
+void SystemClock_Config(void) {
+  RCC_OscInitTypeDef RCC_OscInitStruct;
+  RCC_ClkInitTypeDef RCC_ClkInitStruct;
+
+  /** Configure the main internal regulator output voltage
+  */
+  __HAL_RCC_SYSCFG_CLK_ENABLE();
+  __HAL_RCC_PWR_CLK_ENABLE();
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
+  /**Initializes the CPU, AHB and APB busses clocks
+    */
+  RCC_OscInitStruct.OscillatorType      = RCC_OSCILLATORTYPE_HSI;
+  RCC_OscInitStruct.HSIState            = RCC_HSI_ON;
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+  RCC_OscInitStruct.PLL.PLLState        = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource       = RCC_PLLSOURCE_HSI;
+
+  RCC_OscInitStruct.PLL.PLLM            = 8;
+  RCC_OscInitStruct.PLL.PLLN            = 96; // Gives 96 Mhz core clock
+  RCC_OscInitStruct.PLL.PLLP            = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLQ            = 2;
+  RCC_OscInitStruct.PLL.PLLR            = 2;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+    Error_Handler();
+  }
+
+  /**Initializes the CPU, AHB and APB busses clocks
+    */
+  RCC_ClkInitStruct.ClockType           = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                                        |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource        = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider       = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider      = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider      = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
+    Error_Handler();
+  }
+
+  /**Configure the Systick interrupt time
+    */
+  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
+
+  /**Configure the Systick
+    */
+  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
+
+  /* SysTick_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+}

body/board/drivers/i2c_soft.h

@@ -0,0 +1,305 @@
+#define SW_I2C_WAIT_TIME  22
+
+#define I2C_READ       0x01
+#define READ_CMD       1
+#define WRITE_CMD      0
+
+
+void SW_I2C_init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure = { 0 };
+
+  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
+
+  GPIO_InitStructure.Pin = SW_I2C1_SCL_PIN;
+  HAL_GPIO_Init(SW_I2C1_SCL_GPIO, &GPIO_InitStructure);
+  GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN;
+  HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure);
+}
+
+uint8_t SW_I2C_ReadVal_SDA(void)
+{
+  uint8_t ret;
+  ret = (uint16_t)HAL_GPIO_ReadPin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN);
+  return ret;
+}
+
+void sda_high(void)
+{
+  HAL_GPIO_WritePin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN, GPIO_PIN_SET);
+}
+
+
+void sda_low(void)
+{
+  HAL_GPIO_WritePin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN, GPIO_PIN_RESET);
+}
+
+
+void scl_high(void)
+{
+  HAL_GPIO_WritePin(SW_I2C1_SCL_GPIO, SW_I2C1_SCL_PIN, GPIO_PIN_SET);
+}
+
+
+void scl_low(void)
+{
+  HAL_GPIO_WritePin(SW_I2C1_SCL_GPIO, SW_I2C1_SCL_PIN, GPIO_PIN_RESET);
+}
+
+void sda_out(uint8_t out)
+{
+  if (out) {
+    sda_high();
+  } else {
+    sda_low();
+  }
+}
+
+void sda_in_mode(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure = { 0 };
+
+  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStructure.Mode = GPIO_MODE_INPUT;
+
+  GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN;
+  HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure);
+}
+
+void sda_out_mode(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure = { 0 };
+
+  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD;
+
+  GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN;
+  HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure);
+}
+
+void i2c_clk_data_out(void)
+{
+  scl_high();
+  delay(SW_I2C_WAIT_TIME);
+  scl_low();
+}
+
+void i2c_port_init(void)
+{
+  sda_high();
+  scl_high();
+}
+
+void i2c_start_condition(void)
+{
+  sda_high();
+  scl_high();
+
+  delay(SW_I2C_WAIT_TIME);
+  sda_low();
+  delay(SW_I2C_WAIT_TIME);
+  scl_low();
+
+  delay(SW_I2C_WAIT_TIME << 1);
+}
+
+void i2c_stop_condition(void)
+{
+  sda_low();
+  scl_high();
+
+  delay(SW_I2C_WAIT_TIME);
+  sda_high();
+  delay(SW_I2C_WAIT_TIME);
+}
+
+uint8_t i2c_check_ack(void)
+{
+  uint8_t ack;
+  int i;
+  unsigned int temp;
+
+  sda_in_mode();
+
+  scl_high();
+
+  ack = 0;
+  delay(SW_I2C_WAIT_TIME);
+
+  for (i = 10; i > 0; i--) {
+    temp = !(SW_I2C_ReadVal_SDA());
+    if (temp)
+    {
+      ack = 1;
+      break;
+    }
+  }
+  scl_low();
+  sda_out_mode();
+
+  delay(SW_I2C_WAIT_TIME);
+  return ack;
+}
+
+void i2c_check_not_ack(void)
+{
+  sda_in_mode();
+  i2c_clk_data_out();
+  sda_out_mode();
+  delay(SW_I2C_WAIT_TIME);
+}
+
+void i2c_slave_address(uint8_t IICID, uint8_t readwrite)
+{
+  int x;
+
+  if (readwrite) {
+    IICID |= I2C_READ;
+  } else {
+    IICID &= ~I2C_READ;
+  }
+
+  scl_low();
+
+  for (x = 7; x >= 0; x--) {
+    sda_out(IICID & (1 << x));
+    delay(SW_I2C_WAIT_TIME);
+    i2c_clk_data_out();
+  }
+}
+
+void i2c_register_address(uint8_t addr)
+{
+  int x;
+
+  scl_low();
+
+  for (x = 7; x >= 0; x--) {
+    sda_out(addr & (1 << x));
+    delay(SW_I2C_WAIT_TIME);
+    i2c_clk_data_out();
+  }
+}
+
+void i2c_send_ack(void)
+{
+  sda_out_mode();
+  sda_low();
+
+  delay(SW_I2C_WAIT_TIME);
+  scl_high();
+
+  delay(SW_I2C_WAIT_TIME << 1);
+
+  sda_low();
+  delay(SW_I2C_WAIT_TIME << 1);
+
+  scl_low();
+
+  sda_out_mode();
+
+  delay(SW_I2C_WAIT_TIME);
+}
+
+void SW_I2C_Write_Data(uint8_t data)
+{
+  int x;
+
+  scl_low();
+
+  for (x = 7; x >= 0; x--) {
+    sda_out(data & (1 << x));
+    delay(SW_I2C_WAIT_TIME);
+    i2c_clk_data_out();
+  }
+}
+
+uint8_t SW_I2C_Read_Data(void)
+{
+  int x;
+  uint8_t readdata = 0;
+
+  sda_in_mode();
+
+  for (x = 8; x--;) {
+    scl_high();
+
+    readdata <<= 1;
+    if (SW_I2C_ReadVal_SDA()) { readdata |= 0x01; }
+
+    delay(SW_I2C_WAIT_TIME);
+    scl_low();
+
+    delay(SW_I2C_WAIT_TIME);
+  }
+
+  sda_out_mode();
+  return readdata;
+}
+
+uint8_t SW_I2C_WriteControl_8Bit(uint8_t IICID, uint8_t regaddr, uint8_t data)
+{
+  uint8_t returnack = true;
+
+  i2c_start_condition();
+
+  i2c_slave_address(IICID, WRITE_CMD);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  i2c_register_address(regaddr);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  SW_I2C_Write_Data(data);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  i2c_stop_condition();
+
+  return returnack;
+}
+
+uint8_t SW_I2C_Multi_ReadnControl_8Bit(uint8_t IICID, uint8_t regaddr, uint8_t rcnt, uint8_t (*pdata))
+{
+  uint8_t returnack = true;
+  uint8_t index;
+
+  i2c_port_init();
+
+  i2c_start_condition();
+
+  i2c_slave_address(IICID, WRITE_CMD);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  i2c_register_address(regaddr);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  delay(SW_I2C_WAIT_TIME);
+
+  i2c_start_condition();
+
+  i2c_slave_address(IICID, READ_CMD);
+  if (!i2c_check_ack()) { returnack = false; }
+
+  for ( index = 0 ; index < (rcnt-1) ; index++) {
+    delay(SW_I2C_WAIT_TIME);
+    pdata[index] = SW_I2C_Read_Data();
+    i2c_send_ack();
+  }
+
+  pdata[rcnt-1] = SW_I2C_Read_Data();
+
+  i2c_check_not_ack();
+
+  i2c_stop_condition();
+
+  return returnack;
+}

body/board/drivers/llbxcan.h

@@ -0,0 +1,125 @@
+// SAE 2284-3 : minimum 16 tq, SJW 3, sample point at 81.3%
+#define CAN_QUANTA 16U
+#define CAN_SEQ1 12U
+#define CAN_SEQ2 3U
+#define CAN_SJW  3U
+
+#define CAN_PCLK (CORE_FREQ / 2U / 1000U)
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
+#define CAN_INIT_TIMEOUT_MS 500
+
+bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
+  bool ret = true;
+
+  // initialization mode
+  CAN1->MCR = CAN_MCR_INRQ; // When we want to use only CAN2 - need to do that
+  CAN_obj->MCR = CAN_MCR_INRQ;
+  uint32_t timeout_counter = 0U;
+  while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK){
+    // Delay for about 1ms
+    delay(10000);
+    timeout_counter++;
+
+    if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+      ret = false;
+      break;
+    }
+  }
+
+  if(ret){
+    // set time quanta from defines
+    CAN_obj->BTR = ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+                    (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+                    (CAN_BTR_SJW_0 * (CAN_SJW-1)) |
+                    (can_speed_to_prescaler(speed) - 1U));
+
+    // silent loopback mode for debugging
+    if (loopback) {
+      CAN_obj->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+    }
+    if (silent) {
+      CAN_obj->BTR |= CAN_BTR_SILM;
+    }
+
+    CAN_obj->MCR |= CAN_MCR_AWUM; // Automatic wakeup mode
+    CAN_obj->MCR |= CAN_MCR_ABOM; // Automatic bus-off management
+    CAN_obj->MCR &= ~CAN_MCR_NART; // Automatic retransmission
+    CAN_obj->MCR |= CAN_MCR_TXFP; // Priority driven by the request order (chronologically)
+    CAN_obj->MCR &= ~CAN_MCR_INRQ;
+
+    timeout_counter = 0U;
+    while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
+      // Delay for about 1ms
+      delay(10000);
+      timeout_counter++;
+
+      if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+        ret = false;
+        break;
+      }
+    }
+  }
+
+  return ret;
+}
+
+bool llcan_init(CAN_TypeDef *CAN_obj) {
+  bool ret = true;
+
+  // Enter init mode
+  CAN_obj->FMR |= CAN_FMR_FINIT;
+
+  // Wait for INAK bit to be set
+  uint32_t timeout_counter = 0U;
+  while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
+    // Delay for about 1ms
+    delay(10000);
+    timeout_counter++;
+
+    if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+      ret = false;
+      break;
+    }
+  }
+
+  if(ret){
+    // no mask
+    // For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters.
+    // Filters MUST be set always through CAN1(Master) as CAN2/3 are Slave
+    CAN1->sFilterRegister[0].FR1 = 0U;
+    CAN1->sFilterRegister[0].FR2 = 0U;
+    CAN1->sFilterRegister[14].FR1 = 0U;
+    CAN1->sFilterRegister[14].FR2 = 0U;
+    CAN1->FA1R |= 1U | (1U << 14);
+
+    // Exit init mode, do not wait
+    CAN_obj->FMR &= ~CAN_FMR_FINIT;
+
+    // enable certain CAN interrupts
+    CAN1->IER = 0U; // When we want to use only CAN2 - need to do that
+    CAN_obj->IER = CAN_IER_FMPIE0 | CAN_IER_TMEIE | CAN_IER_WKUIE;
+
+    if (CAN_obj == CAN1) {
+      HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
+      HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+      HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
+    } else {
+      HAL_NVIC_SetPriority(CAN2_TX_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
+      HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
+      HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
+    }
+  }
+  return ret;
+}
+
+void llcan_clear_send(CAN_TypeDef *CAN_obj) {
+  CAN_obj->TSR |= CAN_TSR_ABRQ0;
+  CAN_obj->MSR &= ~CAN_MSR_ERRI;
+  // cppcheck-suppress selfAssignment ; needed to clear the register
+  CAN_obj->MSR = CAN_obj->MSR;
+}

body/board/drivers/llflash.h

@@ -0,0 +1,26 @@
+bool flash_is_locked(void) {
+  return (FLASH->CR & FLASH_CR_LOCK);
+}
+
+void flash_unlock(void) {
+  FLASH->KEYR = 0x45670123;
+  FLASH->KEYR = 0xCDEF89AB;
+}
+
+bool flash_erase_sector(uint8_t sector, bool unlocked) {
+  // don't erase the bootloader(sector 0)
+  if (sector != 0 && sector < 12 && unlocked) {
+    FLASH->CR = (sector << 3) | FLASH_CR_SER;
+    FLASH->CR |= FLASH_CR_STRT;
+    while (FLASH->SR & FLASH_SR_BSY);
+    return true;
+  }
+  return false;
+}
+
+void flash_write_word(void *prog_ptr, uint32_t data) {
+  uint32_t *pp = prog_ptr;
+  FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
+  *pp = data;
+  while (FLASH->SR & FLASH_SR_BSY);
+}

body/board/early_init.h

@@ -0,0 +1,15 @@
+// Early bringup
+extern void *g_pfnVectors;
+extern uint32_t enter_bootloader_mode;
+
+void early_initialization(void) {
+  SystemInit();
+  // after it's been in the bootloader, things are initted differently, so we reset
+  if ((enter_bootloader_mode != BOOT_NORMAL) &&
+      (enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) {
+    enter_bootloader_mode = BOOT_NORMAL;
+    NVIC_SystemReset();
+  }
+  // setup interrupt table
+  SCB->VTOR = (uint32_t)&g_pfnVectors; // TODO: check if SystemInit is enough!
+}

body/board/flash_base.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env sh
+set -e
+
+scons -u
+
+./canloader.py base obj/body.bin.signed

body/board/flash_knee.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env sh
+set -e
+
+scons -u
+
+./canloader.py knee obj/body.bin.signed

body/board/flasher.h

@@ -0,0 +1,288 @@
+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;
+
+uint32_t *prog_ptr = NULL;
+bool unlocked = false;
+extern uint8_t hw_type;
+
+#define CAN_BL_INPUT 0x1
+#define CAN_BL_OUTPUT 0x2
+
+int can_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) {
+  int resp_len = 0;
+
+  // flasher machine
+  memset(resp, 0, 4);
+  memcpy(resp+4, "\xde\xad\xd0\x0d", 4);
+  resp[0] = 0xff;
+  resp[2] = setup->b.bRequest;
+  resp[3] = ~setup->b.bRequest;
+  *((uint32_t **)&resp[8]) = prog_ptr;
+  resp_len = 0xc;
+
+  int sec;
+  switch (setup->b.bRequest) {
+    // **** 0xb0: flasher echo
+    case 0xb0:
+      resp[1] = 0xff;
+      break;
+    // **** 0xb1: unlock flash
+    case 0xb1:
+      if (flash_is_locked()) {
+        flash_unlock();
+        resp[1] = 0xff;
+      }
+      out_enable(LED_BLUE, true);
+      unlocked = true;
+      prog_ptr = (uint32_t *)APP_START_ADDRESS;
+      break;
+    // **** 0xb2: erase sector
+    case 0xb2:
+      sec = setup->b.wValue.w;
+      if (flash_erase_sector(sec, unlocked)) {
+        resp[1] = 0xff;
+      }
+      break;
+    // **** 0xd0: fetch serial number
+    case 0xd0:
+        // addresses are OTP
+        if (setup->b.wValue.w == 1) {
+          memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
+          resp_len = 0x10;
+        } else {
+          get_provision_chunk(resp);
+          resp_len = PROVISION_CHUNK_LEN;
+        }
+      break;
+    // **** 0xd1: enter bootloader mode
+    case 0xd1:
+      switch (setup->b.wValue.w) {
+        case 1:
+          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+          NVIC_SystemReset();
+          break;
+      }
+      break;
+    // **** 0xd6: get version
+    case 0xd6:
+      COMPILE_TIME_ASSERT(sizeof(gitversion) <= 0x40U);
+      memcpy(resp, gitversion, sizeof(gitversion));
+      resp_len = sizeof(gitversion);
+      break;
+    // **** 0xd8: reset ST
+    case 0xd8:
+      NVIC_SystemReset();
+      break;
+  }
+  return resp_len;
+}
+
+void flash_data(void *data, int len) {
+  out_enable(LED_RED, false);
+  for (int i = 0; i < len/4; i++) {
+    flash_write_word(prog_ptr, *(uint32_t*)(data+(i*4)));
+    prog_ptr++;
+  }
+  out_enable(LED_RED, true);
+}
+
+int prep_data(uint8_t *data, uint8_t *data_out) {
+  int resp_len = 0;
+  switch (data[0]) {
+    case 0:
+      // control transfer
+      resp_len = can_control_msg((USB_Setup_TypeDef *)(data+4), data_out);
+      break;
+    case 2:
+      // ep 2, flash!
+      flash_data(data+4, data[2]);
+      break;
+  }
+  return resp_len;
+}
+
+void CAN2_TX_IRQHandler(void) {
+  // clear interrupt
+  board.CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+#define ISOTP_BUF_SIZE 0x110
+
+uint8_t isotp_buf[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_ptr = NULL;
+int isotp_buf_remain = 0;
+
+uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_out_ptr = NULL;
+int isotp_buf_out_remain = 0;
+int isotp_buf_out_idx = 0;
+
+void bl_can_send(uint8_t *odat) {
+  // wait for send
+  while (!(board.CAN->TSR & CAN_TSR_TME0));
+
+  // send continue
+  board.CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
+  board.CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
+  board.CAN->sTxMailBox[0].TDTR = 8;
+  board.CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
+}
+
+void CAN2_RX0_IRQHandler(void) {
+  while (board.CAN->RF0R & CAN_RF0R_FMP0) {
+    if ((board.CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
+      uint8_t dat[8];
+      for (int i = 0; i < 8; i++) {
+        dat[i] = GET_MAILBOX_BYTE(&board.CAN->sFIFOMailBox[0], i);
+      }
+      uint8_t odat[8];
+      uint8_t type = dat[0] & 0xF0;
+      if (type == 0x30) {
+        // continue
+        while (isotp_buf_out_remain > 0) {
+          // wait for send
+          while (!(board.CAN->TSR & CAN_TSR_TME0));
+
+          odat[0] = 0x20 | isotp_buf_out_idx;
+          memcpy(odat+1, isotp_buf_out_ptr, 7);
+          isotp_buf_out_remain -= 7;
+          isotp_buf_out_ptr += 7;
+          isotp_buf_out_idx++;
+
+          bl_can_send(odat);
+        }
+      } else if (type == 0x20) {
+        if (isotp_buf_remain > 0) {
+          memcpy(isotp_buf_ptr, dat+1, 7);
+          isotp_buf_ptr += 7;
+          isotp_buf_remain -= 7;
+        }
+        if (isotp_buf_remain <= 0) {
+          // call the function
+          memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
+          isotp_buf_out_remain = prep_data(isotp_buf, isotp_buf_out);
+          isotp_buf_out_ptr = isotp_buf_out;
+          isotp_buf_out_idx = 0;
+
+          // send initial
+          if (isotp_buf_out_remain <= 7) {
+            odat[0] = isotp_buf_out_remain;
+            memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
+          } else {
+            odat[0] = 0x10 | (isotp_buf_out_remain>>8);
+            odat[1] = isotp_buf_out_remain & 0xFF;
+            memcpy(odat+2, isotp_buf_out_ptr, 6);
+            isotp_buf_out_remain -= 6;
+            isotp_buf_out_ptr += 6;
+            isotp_buf_out_idx++;
+          }
+
+          bl_can_send(odat);
+        }
+      } else if (type == 0x10) {
+        int len = ((dat[0]&0xF)<<8) | dat[1];
+
+        // setup buffer
+        isotp_buf_ptr = isotp_buf;
+        memcpy(isotp_buf_ptr, dat+2, 6);
+
+        if (len < (ISOTP_BUF_SIZE-0x10)) {
+          isotp_buf_ptr += 6;
+          isotp_buf_remain = len-6;
+        }
+
+        memset(odat, 0, 8);
+        odat[0] = 0x30;
+        bl_can_send(odat);
+      }
+    }
+    // next
+    board.CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN2_SCE_IRQHandler(void) {
+  llcan_clear_send(board.CAN);
+}
+
+void CAN1_TX_IRQHandler(void) {
+  CAN2_TX_IRQHandler();
+}
+
+void CAN1_RX0_IRQHandler(void) {
+  CAN2_RX0_IRQHandler();
+}
+
+void CAN1_SCE_IRQHandler(void) {
+  CAN2_SCE_IRQHandler();
+}
+
+void check_powerdown(void) {
+  if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && (hw_type == HW_TYPE_BASE)) {
+    uint16_t cnt_press = 0;
+    while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+      HAL_Delay(10);
+      cnt_press++;
+      if (cnt_press == (2 * 100)) {
+        out_enable(POWERSWITCH, false);
+        while(1) {
+          // Temporarily, to see that we went to power off but can't switch the latch
+          HAL_GPIO_TogglePin(board.led_portR, board.led_pinR);
+          HAL_Delay(100);
+        }
+      }
+    }
+  }
+}
+
+
+void soft_flasher_start(void) {
+  enter_bootloader_mode = 0;
+
+  out_enable(TRANSCEIVER, true);
+
+  __HAL_RCC_CAN1_CLK_ENABLE(); // Also needed for CAN2, dumb...
+  __HAL_RCC_CAN2_CLK_ENABLE();
+
+  // init can
+  llcan_set_speed(board.CAN, 5000, false, false);
+  llcan_init(board.CAN);
+
+  out_enable(LED_BLUE, true);
+  // Wait for power button release, only for the base
+  if (hw_type == HW_TYPE_BASE) {
+    while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
+  }
+  out_enable(LED_GREEN, false);
+
+  uint64_t cnt = 0;
+
+  for (cnt=0;;cnt++) {
+    // blink the green LED fast
+    out_enable(LED_BLUE, false);
+    delay(500000);
+    out_enable(LED_BLUE, true);
+    delay(500000);
+    check_powerdown();
+  }
+}