openpilot v0.3.3 release

Bounty: 2016 Honda CR-V Touring

.gitignore

@@ -0,0 +1,28 @@
+.DS_Store
+.tags
+.ipynb_checkpoints
+model2.png
+
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.o
+*.so
+*.a
+*.clb
+*.class
+*.pyxbldc
+*.vcd
+config.json
+clcache
+
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/proclogd/proclogd
+selfdrive/ui/ui
+/src/
+

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "panda"]
+	path = panda
+	url = https://github.com/commaai/panda.git
+[submodule "opendbc"]
+	path = opendbc
+	url = https://github.com/commaai/opendbc.git

.travis.yml

@@ -0,0 +1,12 @@
+sudo: required
+
+services:
+  - docker
+
+install:
+  - docker build -t tmppilot -f Dockerfile.openpilot .
+
+script:
+  - docker run --rm
+      -v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'

Makefile

@@ -0,0 +1,6 @@
+.PHONY: all
+
+# TODO: Add a global build system to openpilot
+all:
+	cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
+

README.md

@@ -7,53 +7,52 @@ Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Ke
 
 The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
+Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
+
 Hardware
 ------
 
-Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support [Open Source Car Control](https://github.com/PolySync/OSCC) as well.
+Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
 
-To install it on the NEO:
-
-```bash
-# Requires working adb in PATH
-cd installation
-./install.sh
-```
+Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
 Supported Cars
 ------
 
 - Acura ILX 2016 with AcuraWatch Plus
-  - Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
+  - Due to use of the cruise control for gas, it can only be enabled above 25 mph
 
-- Honda Civic 2016 Touring Edition
-  - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
+- Honda Civic 2016 with Honda Sensing
+  - Due to limitations in steering firmware, steering is disabled below 12 mph
+
+- Honda CR-V Touring 2015-2016 (very alpha!)
+  - Can only be enabled above 25 mph
 
 Directory structure
 ------
 
-- board         -- Code that runs on the USB interface board
 - cereal        -- The messaging spec used for all logs on the phone
 - common        -- Library like functionality we've developed here
-- dbcs          -- Files showing how to interpret data from cars
-- installation  -- Installation on the neo platform
+- opendbc       -- Files showing how to interpret data from cars
+- panda         -- Code used to communicate on CAN and LIN
 - phonelibs     -- Libraries used on the phone
 - selfdrive     -- Code needed to drive the car
   - assets        -- Fonts for ui
   - boardd        -- Daemon to talk to the board
-  - calibrationd  -- Camera calibration server
   - car           -- Code that talks to the car and implements CarInterface
   - common        -- Shared C/C++ code for the daemons
   - controls      -- Python controls (PID loops etc) for the car
+  - debug         -- Tools to help you debug and do car ports
   - logcatd       -- Android logcat as a service
   - loggerd       -- Logger and uploader of car data
+  - proclogd      -- Logs information from proc
   - radar         -- Code that talks to the radar and implements RadarInterface
   - sensord       -- IMU / GPS interface code
   - test/plant    -- Car simulator running code through virtual maneuvers
   - ui            -- The UI
   - visiond       -- embedded vision pipeline
 
-To understand how the services interact, see `common/services.py`
+To understand how the services interact, see `selfdrive/service_list.yaml`
 
 Testing on PC
 ------
@@ -72,11 +71,9 @@ More extensive testing infrastructure and simulation environments are coming soo
 Adding Car Support
 ------
 
-It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
+comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.
 
-The Honda Accord uses different signaling for the steering and probably requires new hardware.
-
-Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
+CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.
 
 User Data / chffr Account / Crash Reporting
 ------
@@ -97,7 +94,7 @@ We welcome both pull requests and issues on
 [github](http://github.com/commaai/openpilot). See the TODO file for a list of
 good places to start.
 
-Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/hiring.html)
+Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)
 
 Licensing
 ------

RELEASES.md

@@ -1,3 +1,74 @@
+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
+
+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
+
+Version 0.3.1  (2017-05-17)
+===========================
+  * 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
+
+Version 0.2.9  (2017-03-01)
+===========================
+  * Retain compatibility with NEOS v1
+
+Version 0.2.8  (2017-02-27)
+===========================
+  * 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
+
+Version 0.2.6  (2017-01-31)
+===========================
+  * Fix bug in visiond model execution
+
+Version 0.2.5  (2017-01-30)
+===========================
+  * Fix race condition in manager
+
+Version 0.2.4  (2017-01-27)
+===========================
+  * 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
+
+Version 0.2.2  (2017-01-10)
+===========================
+  * 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

board/Makefile

@@ -1,43 +0,0 @@
-# :set noet
-PROJ_NAME = comma
-
-CFLAGS  = -g -O0 -Wall
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
-CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I inc -nostdlib
-CFLAGS += -Tstm32_flash.ld
-
-CC = arm-none-eabi-gcc
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-
-MACHINE = $(shell uname -m)
-
-all: obj/$(PROJ_NAME).bin
-	#$(OBJDUMP) -d obj/$(PROJ_NAME).elf
-	./tools/enter_download_mode.py
-	./tools/dfu-util-$(MACHINE) -a 0 -s 0x08000000 -D $<
-	./tools/dfu-util-$(MACHINE) --reset-stm32 -a 0 -s 0x08000000
-
-ifneq ($(wildcard ../.git/HEAD),) 
-obj/gitversion.h: ../.git/HEAD ../.git/index
-	echo "const uint8_t gitversion[] = \"$(shell git rev-parse HEAD)\";" > $@
-else
-obj/gitversion.h: 
-	echo "const uint8_t gitversion[] = \"RELEASE\";" > $@
-endif
-
-obj/main.o: main.c *.h obj/gitversion.h
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/startup_stm32f205xx.o: startup_stm32f205xx.s
-	mkdir -p obj
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(PROJ_NAME).bin: obj/startup_stm32f205xx.o obj/main.o
-	$(CC) $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
-	
-clean:
-	rm -f obj/*
-

board/adc.h

@@ -1,38 +0,0 @@
-// ACCEL1 = ADC10
-// ACCEL2 = ADC11
-// VOLT_S = ADC12
-// CURR_S = ADC13
-
-#define ADCCHAN_ACCEL0 10
-#define ADCCHAN_ACCEL1 11
-#define ADCCHAN_VOLTAGE 12
-#define ADCCHAN_CURRENT 13
-
-void adc_init() {
-  // global setup
-  ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
-  //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
-  ADC1->CR2 = ADC_CR2_ADON;
-
-  // long
-  ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
-}
-
-uint32_t adc_get(int channel) {
-
-  // includes length
-  //ADC1->SQR1 = 0;
-
-  // select channel
-  ADC1->JSQR = channel << 15;
-
-  //ADC1->CR1 = ADC_CR1_DISCNUM_0;
-  //ADC1->CR1 = ADC_CR1_EOCIE;
-
-  ADC1->SR &= ~(ADC_SR_JEOC);
-  ADC1->CR2 |= ADC_CR2_JSWSTART;
-  while (!(ADC1->SR & ADC_SR_JEOC));
-
-  return ADC1->JDR1;
-}
-

board/can.h

@@ -1,75 +0,0 @@
-void can_init(CAN_TypeDef *CAN) {
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
-  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-  puts("CAN initting\n");
-
-  // PCLK = 24000000, 500000 is 48 clocks
-  // from http://www.bittiming.can-wiki.ino/
-  CAN->BTR = 0x001c0002;
-
-  // loopback mode for debugging
-  #ifdef CAN_LOOPBACK_MODE
-    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
-  #endif
-
-  // reset
-  CAN->MCR = CAN_MCR_TTCM;
-  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK);
-  puts("CAN init done\n");
-
-  // accept all filter
-  CAN->FMR |= CAN_FMR_FINIT;
-
-  // no mask
-  CAN->sFilterRegister[0].FR1 = 0;
-  CAN->sFilterRegister[0].FR2 = 0;
-  CAN->sFilterRegister[14].FR1 = 0;
-  CAN->sFilterRegister[14].FR2 = 0;
-  CAN->FA1R |= 1 | (1 << 14);
-
-  CAN->FMR &= ~(CAN_FMR_FINIT);
-
-  // enable all CAN interrupts
-  CAN->IER = 0xFFFFFFFF;
-  //CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
-}
-
-// CAN error
-void can_sce(CAN_TypeDef *CAN) {
-  #ifdef DEBUG
-    puts("MSR:");
-    puth(CAN->MSR);
-    puts(" TSR:");
-    puth(CAN->TSR);
-    puts(" RF0R:");
-    puth(CAN->RF0R);
-    puts(" RF1R:");
-    puth(CAN->RF1R);
-    puts(" ESR:");
-    puth(CAN->ESR);
-    puts("\n");
-  #endif
-
-  // clear
-  //CAN->sTxMailBox[0].TIR &= ~(CAN_TI0R_TXRQ);
-  CAN->TSR |= CAN_TSR_ABRQ0;
-  //CAN->ESR |= CAN_ESR_LEC;
-  //CAN->MSR &= ~(CAN_MSR_ERRI);
-  CAN->MSR = CAN->MSR;
-}
-
-int can_cksum(uint8_t *dat, int len, int addr, int idx) {
-  int i;
-  int s = 0;
-  for (i = 0; i < len; i++) {
-    s += (dat[i] >> 4);
-    s += dat[i] & 0xF;
-  }
-  s += (addr>>0)&0xF;
-  s += (addr>>4)&0xF;
-  s += (addr>>8)&0xF;
-  s += idx;
-  s = 8-s;
-  return s&0xF;
-}
-

board/dac.h

@@ -1,16 +0,0 @@
-void dac_init() {
-  // no buffers required since we have an opamp
-  //DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
-  DAC->DHR12R1 = 0;
-  DAC->DHR12R2 = 0;
-  DAC->CR = DAC_CR_EN1 | DAC_CR_EN2;
-}
-
-void dac_set(int channel, uint32_t value) {
-  if (channel == 0) {
-    DAC->DHR12R1 = value;
-  } else if (channel == 1) {
-    DAC->DHR12R2 = value;
-  }
-}
-

board/inc/core_cmFunc.h

@@ -1,609 +0,0 @@
-/**************************************************************************//**
- * @file     core_cmFunc.h
- * @brief    CMSIS Cortex-M Core Function Access Header File
- * @version  V2.10
- * @date     26. July 2011
- *
- * @note
- * Copyright (C) 2009-2011 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M 
- * processor based microcontrollers.  This file can be freely distributed 
- * within development tools that are supporting such ARM based processors. 
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef __CORE_CMFUNC_H
-#define __CORE_CMFUNC_H
-
-
-/* ###########################  Core Function Access  ########################### */
-/** \ingroup  CMSIS_Core_FunctionInterface   
-    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
-  @{
- */
-
-#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-#if (__ARMCC_VERSION < 400677)
-  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
-#endif
-
-/* intrinsic void __enable_irq();     */
-/* intrinsic void __disable_irq();    */
-
-/** \brief  Get Control Register
-
-    This function returns the content of the Control Register.
-
-    \return               Control Register value
- */
-static __INLINE uint32_t __get_CONTROL(void)
-{
-  register uint32_t __regControl         __ASM("control");
-  return(__regControl);
-}
-
-
-/** \brief  Set Control Register
-
-    This function writes the given value to the Control Register.
-
-    \param [in]    control  Control Register value to set
- */
-static __INLINE void __set_CONTROL(uint32_t control)
-{
-  register uint32_t __regControl         __ASM("control");
-  __regControl = control;
-}
-
-
-/** \brief  Get ISPR Register
-
-    This function returns the content of the ISPR Register.
-
-    \return               ISPR Register value
- */
-static __INLINE uint32_t __get_IPSR(void)
-{
-  register uint32_t __regIPSR          __ASM("ipsr");
-  return(__regIPSR);
-}
-
-
-/** \brief  Get APSR Register
-
-    This function returns the content of the APSR Register.
-
-    \return               APSR Register value
- */
-static __INLINE uint32_t __get_APSR(void)
-{
-  register uint32_t __regAPSR          __ASM("apsr");
-  return(__regAPSR);
-}
-
-
-/** \brief  Get xPSR Register
-
-    This function returns the content of the xPSR Register.
-
-    \return               xPSR Register value
- */
-static __INLINE uint32_t __get_xPSR(void)
-{
-  register uint32_t __regXPSR          __ASM("xpsr");
-  return(__regXPSR);
-}
-
-
-/** \brief  Get Process Stack Pointer
-
-    This function returns the current value of the Process Stack Pointer (PSP).
-
-    \return               PSP Register value
- */
-static __INLINE uint32_t __get_PSP(void)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  return(__regProcessStackPointer);
-}
-
-
-/** \brief  Set Process Stack Pointer
-
-    This function assigns the given value to the Process Stack Pointer (PSP).
-
-    \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-static __INLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  __regProcessStackPointer = topOfProcStack;
-}
-
-
-/** \brief  Get Main Stack Pointer
-
-    This function returns the current value of the Main Stack Pointer (MSP).
-
-    \return               MSP Register value
- */
-static __INLINE uint32_t __get_MSP(void)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  return(__regMainStackPointer);
-}
-
-
-/** \brief  Set Main Stack Pointer
-
-    This function assigns the given value to the Main Stack Pointer (MSP).
-
-    \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-static __INLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  __regMainStackPointer = topOfMainStack;
-}
-
-
-/** \brief  Get Priority Mask
-
-    This function returns the current state of the priority mask bit from the Priority Mask Register.
-
-    \return               Priority Mask value
- */
-static __INLINE uint32_t __get_PRIMASK(void)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  return(__regPriMask);
-}
-
-
-/** \brief  Set Priority Mask
-
-    This function assigns the given value to the Priority Mask Register.
-
-    \param [in]    priMask  Priority Mask
- */
-static __INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  __regPriMask = (priMask);
-}
- 
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Enable FIQ
-
-    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-#define __enable_fault_irq                __enable_fiq
-
-
-/** \brief  Disable FIQ
-
-    This function disables FIQ interrupts by setting the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-#define __disable_fault_irq               __disable_fiq
-
-
-/** \brief  Get Base Priority
-
-    This function returns the current value of the Base Priority register.
-
-    \return               Base Priority register value
- */
-static __INLINE uint32_t  __get_BASEPRI(void)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  return(__regBasePri);
-}
-
-
-/** \brief  Set Base Priority
-
-    This function assigns the given value to the Base Priority register.
-
-    \param [in]    basePri  Base Priority value to set
- */
-static __INLINE void __set_BASEPRI(uint32_t basePri)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  __regBasePri = (basePri & 0xff);
-}
- 
-
-/** \brief  Get Fault Mask
-
-    This function returns the current value of the Fault Mask register.
-
-    \return               Fault Mask register value
- */
-static __INLINE uint32_t __get_FAULTMASK(void)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  return(__regFaultMask);
-}
-
-
-/** \brief  Set Fault Mask
-
-    This function assigns the given value to the Fault Mask register.
-
-    \param [in]    faultMask  Fault Mask value to set
- */
-static __INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  __regFaultMask = (faultMask & (uint32_t)1);
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-#if       (__CORTEX_M == 0x04)
-
-/** \brief  Get FPSCR
-
-    This function returns the current value of the Floating Point Status/Control register.
-
-    \return               Floating Point Status/Control register value
- */
-static __INLINE uint32_t __get_FPSCR(void)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  register uint32_t __regfpscr         __ASM("fpscr");
-  return(__regfpscr);
-#else
-   return(0);
-#endif
-}
-
-
-/** \brief  Set FPSCR
-
-    This function assigns the given value to the Floating Point Status/Control register.
-
-    \param [in]    fpscr  Floating Point Status/Control value to set
- */
-static __INLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  register uint32_t __regfpscr         __ASM("fpscr");
-  __regfpscr = (fpscr);
-#endif
-}
-
-#endif /* (__CORTEX_M == 0x04) */
-
-
-#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-#include <cmsis_iar.h>
-
-#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-/** \brief  Enable IRQ Interrupts
-
-  This function enables IRQ interrupts by clearing the I-bit in the CPSR.
-  Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __enable_irq(void)
-{
-  __ASM volatile ("cpsie i");
-}
-
-
-/** \brief  Disable IRQ Interrupts
-
-  This function disables IRQ interrupts by setting the I-bit in the CPSR.
-  Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __disable_irq(void)
-{
-  __ASM volatile ("cpsid i");
-}
-
-
-/** \brief  Get Control Register
-
-    This function returns the content of the Control Register.
-
-    \return               Control Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_CONTROL(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, control" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Control Register
-
-    This function writes the given value to the Control Register.
-
-    \param [in]    control  Control Register value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_CONTROL(uint32_t control)
-{
-  __ASM volatile ("MSR control, %0" : : "r" (control) );
-}
-
-
-/** \brief  Get ISPR Register
-
-    This function returns the content of the ISPR Register.
-
-    \return               ISPR Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_IPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get APSR Register
-
-    This function returns the content of the APSR Register.
-
-    \return               APSR Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_APSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, apsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get xPSR Register
-
-    This function returns the content of the xPSR Register.
-
-    \return               xPSR Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_xPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get Process Stack Pointer
-
-    This function returns the current value of the Process Stack Pointer (PSP).
-
-    \return               PSP Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PSP(void)
-{
-  register uint32_t result;
-
-  __ASM volatile ("MRS %0, psp\n"  : "=r" (result) );
-  return(result);
-}
- 
-
-/** \brief  Set Process Stack Pointer
-
-    This function assigns the given value to the Process Stack Pointer (PSP).
-
-    \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );
-}
-
-
-/** \brief  Get Main Stack Pointer
-
-    This function returns the current value of the Main Stack Pointer (MSP).
-
-    \return               MSP Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_MSP(void)
-{
-  register uint32_t result;
-
-  __ASM volatile ("MRS %0, msp\n" : "=r" (result) );
-  return(result);
-}
- 
-
-/** \brief  Set Main Stack Pointer
-
-    This function assigns the given value to the Main Stack Pointer (MSP).
-
-    \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );
-}
-
-
-/** \brief  Get Priority Mask
-
-    This function returns the current state of the priority mask bit from the Priority Mask Register.
-
-    \return               Priority Mask value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PRIMASK(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, primask" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Priority Mask
-
-    This function assigns the given value to the Priority Mask Register.
-
-    \param [in]    priMask  Priority Mask
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  __ASM volatile ("MSR primask, %0" : : "r" (priMask) );
-}
- 
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Enable FIQ
-
-    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __enable_fault_irq(void)
-{
-  __ASM volatile ("cpsie f");
-}
-
-
-/** \brief  Disable FIQ
-
-    This function disables FIQ interrupts by setting the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __disable_fault_irq(void)
-{
-  __ASM volatile ("cpsid f");
-}
-
-
-/** \brief  Get Base Priority
-
-    This function returns the current value of the Base Priority register.
-
-    \return               Base Priority register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_BASEPRI(void)
-{
-  uint32_t result;
-  
-  __ASM volatile ("MRS %0, basepri_max" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Base Priority
-
-    This function assigns the given value to the Base Priority register.
-
-    \param [in]    basePri  Base Priority value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_BASEPRI(uint32_t value)
-{
-  __ASM volatile ("MSR basepri, %0" : : "r" (value) );
-}
-
-
-/** \brief  Get Fault Mask
-
-    This function returns the current value of the Fault Mask register.
-
-    \return               Fault Mask register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FAULTMASK(void)
-{
-  uint32_t result;
-  
-  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Fault Mask
-
-    This function assigns the given value to the Fault Mask register.
-
-    \param [in]    faultMask  Fault Mask value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-#if       (__CORTEX_M == 0x04)
-
-/** \brief  Get FPSCR
-
-    This function returns the current value of the Floating Point Status/Control register.
-
-    \return               Floating Point Status/Control register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FPSCR(void)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  uint32_t result;
-
-  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
-  return(result);
-#else
-   return(0);
-#endif
-}
-
-
-/** \brief  Set FPSCR
-
-    This function assigns the given value to the Floating Point Status/Control register.
-
-    \param [in]    fpscr  Floating Point Status/Control value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );
-#endif
-}
-
-#endif /* (__CORTEX_M == 0x04) */
-
-
-#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
-/* TASKING carm specific functions */
-
-/*
- * The CMSIS functions have been implemented as intrinsics in the compiler.
- * Please use "carm -?i" to get an up to date list of all instrinsics,
- * Including the CMSIS ones.
- */
-
-#endif
-
-/*@} end of CMSIS_Core_RegAccFunctions */
-
-
-#endif /* __CORE_CMFUNC_H */

board/inc/core_cmInstr.h

@@ -1,585 +0,0 @@
-/**************************************************************************//**
- * @file     core_cmInstr.h
- * @brief    CMSIS Cortex-M Core Instruction Access Header File
- * @version  V2.10
- * @date     19. July 2011
- *
- * @note
- * Copyright (C) 2009-2011 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M 
- * processor based microcontrollers.  This file can be freely distributed 
- * within development tools that are supporting such ARM based processors. 
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef __CORE_CMINSTR_H
-#define __CORE_CMINSTR_H
-
-
-/* ##########################  Core Instruction Access  ######################### */
-/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
-  Access to dedicated instructions
-  @{
-*/
-
-#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-#if (__ARMCC_VERSION < 400677)
-  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
-#endif
-
-
-/** \brief  No Operation
-
-    No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-#define __NOP                             __nop
-
-
-/** \brief  Wait For Interrupt
-
-    Wait For Interrupt is a hint instruction that suspends execution
-    until one of a number of events occurs.
- */
-#define __WFI                             __wfi
-
-
-/** \brief  Wait For Event
-
-    Wait For Event is a hint instruction that permits the processor to enter
-    a low-power state until one of a number of events occurs.
- */
-#define __WFE                             __wfe
-
-
-/** \brief  Send Event
-
-    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-#define __SEV                             __sev
-
-
-/** \brief  Instruction Synchronization Barrier
-
-    Instruction Synchronization Barrier flushes the pipeline in the processor, 
-    so that all instructions following the ISB are fetched from cache or 
-    memory, after the instruction has been completed.
- */
-#define __ISB()                           __isb(0xF)
-
-
-/** \brief  Data Synchronization Barrier
-
-    This function acts as a special kind of Data Memory Barrier. 
-    It completes when all explicit memory accesses before this instruction complete.
- */
-#define __DSB()                           __dsb(0xF)
-
-
-/** \brief  Data Memory Barrier
-
-    This function ensures the apparent order of the explicit memory operations before 
-    and after the instruction, without ensuring their completion.
- */
-#define __DMB()                           __dmb(0xF)
-
-
-/** \brief  Reverse byte order (32 bit)
-
-    This function reverses the byte order in integer value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-#define __REV                             __rev
-
-
-/** \brief  Reverse byte order (16 bit)
-
-    This function reverses the byte order in two unsigned short values.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-static __INLINE __ASM uint32_t __REV16(uint32_t value)
-{
-  rev16 r0, r0
-  bx lr
-}
-
-
-/** \brief  Reverse byte order in signed short value
-
-    This function reverses the byte order in a signed short value with sign extension to integer.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-static __INLINE __ASM int32_t __REVSH(int32_t value)
-{
-  revsh r0, r0
-  bx lr
-}
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Reverse bit order of value
-
-    This function reverses the bit order of the given value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-#define __RBIT                            __rbit
-
-
-/** \brief  LDR Exclusive (8 bit)
-
-    This function performs a exclusive LDR command for 8 bit value.
-
-    \param [in]    ptr  Pointer to data
-    \return             value of type uint8_t at (*ptr)
- */
-#define __LDREXB(ptr)                     ((uint8_t ) __ldrex(ptr))
-
-
-/** \brief  LDR Exclusive (16 bit)
-
-    This function performs a exclusive LDR command for 16 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint16_t at (*ptr)
- */
-#define __LDREXH(ptr)                     ((uint16_t) __ldrex(ptr))
-
-
-/** \brief  LDR Exclusive (32 bit)
-
-    This function performs a exclusive LDR command for 32 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint32_t at (*ptr)
- */
-#define __LDREXW(ptr)                     ((uint32_t ) __ldrex(ptr))
-
-
-/** \brief  STR Exclusive (8 bit)
-
-    This function performs a exclusive STR command for 8 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXB(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  STR Exclusive (16 bit)
-
-    This function performs a exclusive STR command for 16 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXH(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  STR Exclusive (32 bit)
-
-    This function performs a exclusive STR command for 32 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXW(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  Remove the exclusive lock
-
-    This function removes the exclusive lock which is created by LDREX.
-
- */
-#define __CLREX                           __clrex
-
-
-/** \brief  Signed Saturate
-
-    This function saturates a signed value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (1..32)
-    \return             Saturated value
- */
-#define __SSAT                            __ssat
-
-
-/** \brief  Unsigned Saturate
-
-    This function saturates an unsigned value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (0..31)
-    \return             Saturated value
- */
-#define __USAT                            __usat
-
-
-/** \brief  Count leading zeros
-
-    This function counts the number of leading zeros of a data value.
-
-    \param [in]  value  Value to count the leading zeros
-    \return             number of leading zeros in value
- */
-#define __CLZ                             __clz 
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-
-#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-#include <cmsis_iar.h>
-
-
-#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-/** \brief  No Operation
-
-    No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __NOP(void)
-{
-  __ASM volatile ("nop");
-}
-
-
-/** \brief  Wait For Interrupt
-
-    Wait For Interrupt is a hint instruction that suspends execution
-    until one of a number of events occurs.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __WFI(void)
-{
-  __ASM volatile ("wfi");
-}
-
-
-/** \brief  Wait For Event
-
-    Wait For Event is a hint instruction that permits the processor to enter
-    a low-power state until one of a number of events occurs.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __WFE(void)
-{
-  __ASM volatile ("wfe");
-}
-
-
-/** \brief  Send Event
-
-    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __SEV(void)
-{
-  __ASM volatile ("sev");
-}
-
-
-/** \brief  Instruction Synchronization Barrier
-
-    Instruction Synchronization Barrier flushes the pipeline in the processor, 
-    so that all instructions following the ISB are fetched from cache or 
-    memory, after the instruction has been completed.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __ISB(void)
-{
-  __ASM volatile ("isb");
-}
-
-
-/** \brief  Data Synchronization Barrier
-
-    This function acts as a special kind of Data Memory Barrier. 
-    It completes when all explicit memory accesses before this instruction complete.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __DSB(void)
-{
-  __ASM volatile ("dsb");
-}
-
-
-/** \brief  Data Memory Barrier
-
-    This function ensures the apparent order of the explicit memory operations before 
-    and after the instruction, without ensuring their completion.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __DMB(void)
-{
-  __ASM volatile ("dmb");
-}
-
-
-/** \brief  Reverse byte order (32 bit)
-
-    This function reverses the byte order in integer value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV(uint32_t value)
-{
-  uint32_t result;
-  
-  __ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-
-/** \brief  Reverse byte order (16 bit)
-
-    This function reverses the byte order in two unsigned short values.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV16(uint32_t value)
-{
-  uint32_t result;
-  
-  __ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-
-/** \brief  Reverse byte order in signed short value
-
-    This function reverses the byte order in a signed short value with sign extension to integer.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE int32_t __REVSH(int32_t value)
-{
-  uint32_t result;
-  
-  __ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );
-  return((int32_t)result);
-}
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Reverse bit order of value
-
-    This function reverses the bit order of the given value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __RBIT(uint32_t value)
-{
-  uint32_t result;
-  
-   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (8 bit)
-
-    This function performs a exclusive LDR command for 8 bit value.
-
-    \param [in]    ptr  Pointer to data
-    \return             value of type uint8_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) static __INLINE uint8_t __LDREXB(volatile uint8_t *addr)
-{
-    uint8_t result;
-  
-   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (16 bit)
-
-    This function performs a exclusive LDR command for 16 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint16_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) static __INLINE uint16_t __LDREXH(volatile uint16_t *addr)
-{
-    uint16_t result;
-  
-   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (32 bit)
-
-    This function performs a exclusive LDR command for 32 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint32_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __LDREXW(volatile uint32_t *addr)
-{
-    uint32_t result;
-  
-   __ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (8 bit)
-
-    This function performs a exclusive STR command for 8 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
-{
-   uint32_t result;
-  
-   __ASM volatile ("strexb %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (16 bit)
-
-    This function performs a exclusive STR command for 16 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
-{
-   uint32_t result;
-  
-   __ASM volatile ("strexh %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (32 bit)
-
-    This function performs a exclusive STR command for 32 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
-{
-   uint32_t result;
-  
-   __ASM volatile ("strex %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  Remove the exclusive lock
-
-    This function removes the exclusive lock which is created by LDREX.
-
- */
-__attribute__( ( always_inline ) ) static __INLINE void __CLREX(void)
-{
-  __ASM volatile ("clrex");
-}
-
-
-/** \brief  Signed Saturate
-
-    This function saturates a signed value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (1..32)
-    \return             Saturated value
- */
-#define __SSAT(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/** \brief  Unsigned Saturate
-
-    This function saturates an unsigned value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (0..31)
-    \return             Saturated value
- */
-#define __USAT(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/** \brief  Count leading zeros
-
-    This function counts the number of leading zeros of a data value.
-
-    \param [in]  value  Value to count the leading zeros
-    \return             number of leading zeros in value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint8_t __CLZ(uint32_t value)
-{
-  uint8_t result;
-  
-  __ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-
-
-#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
-/* TASKING carm specific functions */
-
-/*
- * The CMSIS functions have been implemented as intrinsics in the compiler.
- * Please use "carm -?i" to get an up to date list of all intrinsics,
- * Including the CMSIS ones.
- */
-
-#endif
-
-/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
-
-#endif /* __CORE_CMINSTR_H */

board/inc/stm32f2xx.h

@@ -1,197 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    stm32f2xx.h
-  * @author  MCD Application Team
-  * @version V2.0.1
-  * @date    25-March-2014
-  * @brief   CMSIS STM32F2xx Device Peripheral Access Layer Header File.
-  *
-  *          The file is the unique include file that the application programmer
-  *          is using in the C source code, usually in main.c. This file contains:
-  *           - Configuration section that allows to select:
-  *              - The STM32F2xx device used in the target application
-  *              - To use or not the peripheral's drivers in application code(i.e.
-  *                code will be based on direct access to peripheral's registers
-  *                rather than drivers API), this option is controlled by
-  *                "#define USE_HAL_DRIVER"
-  *
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-
-/** @addtogroup CMSIS
-  * @{
-  */
-
-/** @addtogroup stm32f2xx
-  * @{
-  */
-
-#ifndef __STM32F2xx_H
-#define __STM32F2xx_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif /* __cplusplus */
-
-/** @addtogroup Library_configuration_section
-  * @{
-  */
-
-/* Uncomment the line below according to the target STM32 device used in your
-   application
-  */
-
-#if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx)
-
-  /* #define STM32F205xx */   /*!< STM32Fxx    Devices */
-  /* #define STM32F215xx */   /*!< STM32Fxx    Devices */
-  /* #define STM32F207xx */   /*!< STM32Fxx    Devices */
-  /* #define STM32F217xx */   /*!< STM32Fxx    Devices */
-
-#endif
-
-/*  Tip: To avoid modifying this file each time you need to switch between these
-        devices, you can define the device in your toolchain compiler preprocessor.
-  */
-#if !defined  (USE_HAL_DRIVER)
-/**
- * @brief Comment the line below if you will not use the peripherals drivers.
-   In this case, these drivers will not be included and the application code will
-   be based on direct access to peripherals registers
-   */
-  /*#define USE_HAL_DRIVER */
-#endif /* USE_HAL_DRIVER */
-
-/**
-  * @brief CMSIS Device version number V2.0.1
-  */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION_MAIN   (0x02) /*!< [31:24] main version */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB1   (0x00) /*!< [23:16] sub1 version */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB2   (0x00) /*!< [15:8]  sub2 version */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION_RC     (0x00) /*!< [7:0]  release candidate */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION        ((__CMSIS_DEVICE_VERSION_MAIN     << 24)\
-                                      |(__CMSIS_DEVICE_HAL_VERSION_SUB1 << 16)\
-                                      |(__CMSIS_DEVICE_HAL_VERSION_SUB2 << 8 )\
-                                      |(__CMSIS_DEVICE_HAL_VERSION_RC))
-
-/**
-  * @}
-  */
-
-/** @addtogroup Device_Included
-  * @{
-  */
-
-#if defined(STM32F205xx)
-  #include "stm32f205xx.h"
-#elif defined(STM32F215xx)
-  #include "stm32f215xx.h"
-#elif defined(STM32F207xx)
-  #include "stm32f207xx.h"
-#elif defined(STM32F217xx)
-  #include "stm32f217xx.h"
-#else
- #error "Please select first the target STM32F2xx device used in your application (in stm32f2xx.h file)"
-#endif
-
-/**
-  * @}
-  */
-
-/** @addtogroup Exported_types
-  * @{
-  */
-typedef enum
-{
-  RESET = 0,
-  SET = !RESET
-} FlagStatus, ITStatus;
-
-typedef enum
-{
-  DISABLE = 0,
-  ENABLE = !DISABLE
-} FunctionalState;
-#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
-
-typedef enum
-{
-  ERROR = 0,
-  SUCCESS = !ERROR
-} ErrorStatus;
-
-/**
-  * @}
-  */
-
-
-/** @addtogroup Exported_macro
-  * @{
-  */
-#define SET_BIT(REG, BIT)     ((REG) |= (BIT))
-
-#define CLEAR_BIT(REG, BIT)   ((REG) &= ~(BIT))
-
-#define READ_BIT(REG, BIT)    ((REG) & (BIT))
-
-#define CLEAR_REG(REG)        ((REG) = (0x0))
-
-#define WRITE_REG(REG, VAL)   ((REG) = (VAL))
-
-#define READ_REG(REG)         ((REG))
-
-#define MODIFY_REG(REG, CLEARMASK, SETMASK)  WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
-
-#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL)))
-
-
-/**
-  * @}
-  */
-
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif /* __STM32F2xx_H */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-
-
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/inc/system_stm32f2xx.h

@@ -1,99 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    system_stm32f2xx.h
-  * @author  MCD Application Team
-  * @version V1.0.0
-  * @date    18-April-2011
-  * @brief   CMSIS Cortex-M3 Device Peripheral Access Layer System Header File.
-  ******************************************************************************  
-  * @attention
-  *
-  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
-  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
-  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
-  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-  *
-  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
-  ******************************************************************************  
-  */ 
-
-/** @addtogroup CMSIS
-  * @{
-  */
-
-/** @addtogroup stm32f2xx_system
-  * @{
-  */  
-  
-/**
-  * @brief Define to prevent recursive inclusion
-  */
-#ifndef __SYSTEM_STM32F2XX_H
-#define __SYSTEM_STM32F2XX_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
-
-/** @addtogroup STM32F2xx_System_Includes
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-
-/** @addtogroup STM32F2xx_System_Exported_types
-  * @{
-  */
-
-extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Clock) */
-
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F2xx_System_Exported_Constants
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F2xx_System_Exported_Macros
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F2xx_System_Exported_Functions
-  * @{
-  */
-  
-extern void SystemInit(void);
-extern void SystemCoreClockUpdate(void);
-/**
-  * @}
-  */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /*__SYSTEM_STM32F2XX_H */
-
-/**
-  * @}
-  */
-  
-/**
-  * @}
-  */  
-/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

board/libc.h

@@ -1,226 +0,0 @@
-#define min(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a < _b ? _a : _b; })
-
-#define max(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a > _b ? _a : _b; })
-
-#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_)*25)/(4*(_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_))/100)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
-
-#define GPIO_AF2_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
-#define GPIO_AF7_USART2        ((uint8_t)0x07)  /* USART2 Alternate Function mapping     */
-#define GPIO_AF7_USART3        ((uint8_t)0x07)  /* USART3 Alternate Function mapping     */
-#define GPIO_AF9_CAN1          ((uint8_t)0x09)  /* CAN1 Alternate Function mapping  */
-#define GPIO_AF10_OTG_FS        ((uint8_t)0xA)  /* OTG_FS Alternate Function mapping */
-#define GPIO_AF12_OTG_HS_FS       ((uint8_t)0xC)  /* OTG HS configured in FS */
-
-#ifdef OLD_BOARD
-  #define USART USART2
-#else
-  #define USART USART3
-#endif
-
-
-// **** shitty libc ****
-
-void clock_init() {
-  #ifdef USE_INTERNAL_OSC
-    // enable internal oscillator
-    RCC->CR |= RCC_CR_HSION;
-    while ((RCC->CR & RCC_CR_HSIRDY) == 0);
-  #else
-    // enable external oscillator
-    RCC->CR |= RCC_CR_HSEON;
-    while ((RCC->CR & RCC_CR_HSERDY) == 0);
-  #endif
-
-  // divide shit
-  RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
-  #ifdef USE_INTERNAL_OSC
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSI;
-  #else
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
-  #endif
-
-  // start PLL
-  RCC->CR |= RCC_CR_PLLON;
-  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
-
-  // Configure Flash prefetch, Instruction cache, Data cache and wait state
-  // *** without this, it breaks ***
-  FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
-
-  // switch to PLL
-  RCC->CFGR |= RCC_CFGR_SW_PLL;
-  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
-
-  // *** running on PLL ***
-
-  // enable GPIOB, UART2, CAN, USB clock
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
-  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
-
-  // turn on alt USB
-  RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
-
-  // fix interrupt vectors
-}
-
-// board specific
-void gpio_init() {
-  // analog mode
-  GPIOC->MODER = GPIO_MODER_MODER3 | GPIO_MODER_MODER2 |
-                 GPIO_MODER_MODER1 | GPIO_MODER_MODER0;
-
-  // FAN on C9, aka TIM3_CH4
-  #ifdef OLD_BOARD
-    GPIOC->MODER |= GPIO_MODER_MODER9_1;
-    GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((9-8)*4);
-  #else
-    GPIOC->MODER |= GPIO_MODER_MODER8_1;
-    GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((8-8)*4);
-  #endif
-  // IGNITION on C13
-
-  // set mode for LEDs and CAN
-  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0;
-  // CAN 2
-  GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
-  // CAN 1
-  GPIOB->MODER |= GPIO_MODER_MODER8_1 | GPIO_MODER_MODER9_1;
-  // CAN enables
-  GPIOB->MODER |= GPIO_MODER_MODER3_0 | GPIO_MODER_MODER4_0;
-
-  // set mode for SERIAL and USB (DAC should be configured to in)
-  GPIOA->MODER = GPIO_MODER_MODER2_1 | GPIO_MODER_MODER3_1;
-  GPIOA->AFR[0] = GPIO_AF7_USART2 << (2*4) | GPIO_AF7_USART2 << (3*4);
-
-  // GPIOC USART3
-  GPIOC->MODER |= GPIO_MODER_MODER10_1 | GPIO_MODER_MODER11_1;
-  GPIOC->AFR[1] |= GPIO_AF7_USART3 << ((10-8)*4) | GPIO_AF7_USART3 << ((11-8)*4);
-
-  if (USBx == USB_OTG_FS) {
-    GPIOA->MODER |= GPIO_MODER_MODER11_1 | GPIO_MODER_MODER12_1;
-    GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
-    GPIOA->AFR[1] = GPIO_AF10_OTG_FS << ((11-8)*4) | GPIO_AF10_OTG_FS << ((12-8)*4);
-  }
-
-  GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
-
-  // set mode for CAN / USB_HS pins
-  GPIOB->AFR[0] = GPIO_AF9_CAN1 << (5*4) | GPIO_AF9_CAN1 << (6*4);
-  GPIOB->AFR[1] = GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
-
-  if (USBx == USB_OTG_HS) {
-    GPIOB->AFR[1] |= GPIO_AF12_OTG_HS_FS << ((15-8)*4) | GPIO_AF12_OTG_HS_FS << ((14-8)*4);
-    GPIOB->MODER |= GPIO_MODER_MODER14_1 | GPIO_MODER_MODER15_1;
-  }
-
-  GPIOB->OSPEEDR = GPIO_OSPEEDER_OSPEEDR14 | GPIO_OSPEEDER_OSPEEDR15;
-
-  // enable CAN busses
-  GPIOB->ODR |= (1 << 3) | (1 << 4);
-
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOA->MODER |= GPIO_MODER_MODER1_0;
-
-  // enable USB power tied to +
-  GPIOA->ODR |= 1;
-  GPIOA->MODER |= GPIO_MODER_MODER0_0;
-}
-
-void uart_init() {
-  // enable uart and tx+rx mode
-  USART->CR1 = USART_CR1_UE;
-  USART->BRR = __USART_BRR(24000000, 115200);
-  USART->CR1 |= USART_CR1_TE | USART_CR1_RE;
-  USART->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
-  // ** UART is ready to work **
-
-  // enable interrupts
-  USART->CR1 |= USART_CR1_RXNEIE;
-}
-
-void delay(int a) {
-  volatile int i;
-  for (i=0;i<a;i++);
-}
-
-void putch(const char a) {
-  while (!(USART->SR & USART_SR_TXE));
-  USART->DR = a;
-}
-
-int puts(const char *a) {
-  for (;*a;a++) {
-    if (*a == '\n') putch('\r');
-    putch(*a);
-  }
-  return 0;
-}
-
-void puth(unsigned int i) {
-  int pos;
-  char c[] = "0123456789abcdef";
-  for (pos = 28; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
-  }
-}
-
-void puth2(unsigned int i) {
-  int pos;
-  char c[] = "0123456789abcdef";
-  for (pos = 4; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
-  }
-}
-
-void hexdump(void *a, int l) {
-  int i;
-  for (i=0;i<l;i++) {
-    if (i != 0 && (i&0xf) == 0) puts("\n");
-    puth2(((unsigned char*)a)[i]);
-    puts(" ");
-  }
-  puts("\n");
-}
-
-void *memset(void *str, int c, unsigned int n) {
-  int i;
-  for (i = 0; i < n; i++) {
-    *((uint8_t*)str) = c;
-    ++str;
-  }
-  return str;
-}
-
-void *memcpy(void *dest, const void *src, unsigned int n) {
-  int i;
-  // TODO: make not slow
-  for (i = 0; i < n; i++) {
-    ((uint8_t*)dest)[i] = *(uint8_t*)src;
-    ++src;
-  }
-  return dest;
-}
-
-

board/main.c

@@ -1,504 +0,0 @@
-//#define DEBUG
-//#define CAN_LOOPBACK_MODE
-//#define USE_INTERNAL_OSC
-//#define OLD_BOARD
-//#define ENABLE_CURRENT_SENSOR
-
-#define USB_VID 0xbbaa
-#define USB_PID 0xddcc
-
-// *** end config ***
-
-#include "stm32f2xx.h"
-#include "obj/gitversion.h"
-
-#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
-uint32_t enter_bootloader_mode;
-
-USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
-
-#include "libc.h"
-#include "adc.h"
-#include "timer.h"
-#include "usb.h"
-#include "can.h"
-
-// debug safety check: is controls allowed?
-int controls_allowed = 0;
-int gas_interceptor_detected = 0;
-
-// ********************* instantiate queues *********************
-
-#define FIFO_SIZE 0x100
-typedef struct {
-  uint8_t w_ptr;
-  uint8_t r_ptr;
-  CAN_FIFOMailBox_TypeDef elems[FIFO_SIZE];
-} can_ring;
-
-can_ring can_rx_q = { .w_ptr = 0, .r_ptr = 0 };
-can_ring can_tx1_q = { .w_ptr = 0, .r_ptr = 0 };
-can_ring can_tx2_q = { .w_ptr = 0, .r_ptr = 0 };
-
-// ********************* interrupt safe queue *********************
-
-inline int pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  if (q->w_ptr != q->r_ptr) {
-    *elem = q->elems[q->r_ptr];
-    q->r_ptr += 1;
-    return 1;
-  }
-  return 0;
-}
-
-inline int push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  uint8_t next_w_ptr = q->w_ptr + 1;
-  if (next_w_ptr != q->r_ptr) {
-    q->elems[q->w_ptr] = *elem;
-    q->w_ptr = next_w_ptr;
-    return 1;
-  }
-  return 0;
-}
-
-// ***************************** CAN *****************************
-
-void process_can(CAN_TypeDef *CAN, can_ring *can_q, int can_number) {
-  #ifdef DEBUG
-    puts("process CAN TX\n");
-  #endif
-
-  // add successfully transmitted message to my fifo
-  if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RIR = CAN->sTxMailBox[0].TIR;
-    to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((can_number+2) << 4);
-    to_push.RDLR = CAN->sTxMailBox[0].TDLR;
-    to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-    push(&can_rx_q, &to_push);
-  }
-
-  // check for empty mailbox
-  CAN_FIFOMailBox_TypeDef to_send;
-  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
-    if (pop(can_q, &to_send)) {
-
-      // BRAKE: safety check
-      if ((to_send.RIR>>21) == 0x1FA) {
-        if (controls_allowed) {
-          to_send.RDLR &= 0xFFFFFF3F;
-        } else {
-          to_send.RDLR &= 0xFFFF0000;
-        }
-      }
-
-      // STEER: safety check
-      if ((to_send.RIR>>21) == 0xE4) {
-        if (controls_allowed) {
-          to_send.RDLR &= 0xFFFFFFFF;
-        } else {
-          to_send.RDLR &= 0xFFFF0000;
-        }
-      } 
-
-      // GAS: safety check
-      if ((to_send.RIR>>21) == 0x200) {
-        if (controls_allowed) {
-          to_send.RDLR &= 0xFFFFFFFF;
-        } else {
-          to_send.RDLR &= 0xFFFF0000;
-        }
-      } 
-
-      // only send if we have received a packet
-      CAN->sTxMailBox[0].TDLR = to_send.RDLR;
-      CAN->sTxMailBox[0].TDHR = to_send.RDHR;
-      CAN->sTxMailBox[0].TDTR = to_send.RDTR;
-      CAN->sTxMailBox[0].TIR = to_send.RIR;
-    }
-  }
-
-  // clear interrupt
-  CAN->TSR |= CAN_TSR_RQCP0;
-}
-
-// send more, possible for these to not trigger?
-void CAN1_TX_IRQHandler() {
-  process_can(CAN1, &can_tx1_q, 1);
-}
-
-void CAN2_TX_IRQHandler() {
-  process_can(CAN2, &can_tx2_q, 0);
-}
-
-// board enforces
-//   in-state
-//      accel set/resume
-//   out-state
-//      cancel button
-
-
-// all commands: brake and steering
-// if controls_allowed
-//     allow all commands up to limit
-// else
-//     block all commands that produce actuation
-
-// CAN receive handlers
-void can_rx(CAN_TypeDef *CAN, int can_number) {
-  while (CAN->RF0R & CAN_RF0R_FMP0) {
-    // add to my fifo
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RIR = CAN->sFIFOMailBox[0].RIR;
-    // top 16-bits is the timestamp
-    to_push.RDTR = (CAN->sFIFOMailBox[0].RDTR & 0xFFFF000F) | (can_number << 4);
-    to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
-    to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
-
-    // state machine to enter and exit controls
-    // 0x1A6 for the ILX, 0x296 for the Civic Touring
-    if ((to_push.RIR>>21) == 0x1A6 || (to_push.RIR>>21) == 0x296) {
-      int buttons = (to_push.RDLR & 0xE0) >> 5;
-      if (buttons == 4 || buttons == 3) {
-        controls_allowed = 1;
-      } else if (buttons == 2) {
-        controls_allowed = 0;
-      }
-    }
-
-    // exit controls on brake press
-    if ((to_push.RIR>>21) == 0x17C) {
-      // bit 50
-      if (to_push.RDHR & 0x200000) {
-        controls_allowed = 0;
-      }
-    }
-
-    // exit controls on gas press if interceptor
-    if ((to_push.RIR>>21) == 0x201) {
-      gas_interceptor_detected = 1;
-      int gas = ((to_push.RDLR & 0xFF) << 8) | ((to_push.RDLR & 0xFF00) >> 8);
-      if (gas > 328) {
-        controls_allowed = 0;
-      }
-    }
-
-    // exit controls on gas press if no interceptor
-    if (!gas_interceptor_detected) {
-      if ((to_push.RIR>>21) == 0x17C) {
-        if (to_push.RDLR & 0xFF) {
-          controls_allowed = 0;
-        }
-      }
-    }
-
-    push(&can_rx_q, &to_push);
-
-    // next
-    CAN->RF0R |= CAN_RF0R_RFOM0;
-  }
-}
-
-void CAN1_RX0_IRQHandler() {
-  //puts("CANRX1");
-  //delay(10000);
-  can_rx(CAN1, 1);
-}
-
-void CAN2_RX0_IRQHandler() {
-  //puts("CANRX0");
-  //delay(10000);
-  can_rx(CAN2, 0);
-}
-
-void CAN1_SCE_IRQHandler() {
-  //puts("CAN1_SCE\n");
-  can_sce(CAN1);
-}
-
-void CAN2_SCE_IRQHandler() {
-  //puts("CAN2_SCE\n");
-  can_sce(CAN2);
-}
-
-// ***************************** serial port *****************************
-
-void USART_IRQHandler(void) {
-  puts("S");
-
-  // echo characters
-  if (USART->SR & USART_SR_RXNE) {
-    char rcv = USART->DR;
-    putch(rcv);
-
-    // jump to DFU flash
-    if (rcv == 'z') {
-      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-      NVIC_SystemReset();
-    }
-  }
-}
-
-void USART2_IRQHandler(void) {
-  USART_IRQHandler();
-}
-
-void USART3_IRQHandler(void) {
-  USART_IRQHandler();
-}
-
-// ***************************** USB port *****************************
-
-int get_health_pkt(void *dat) {
-  struct {
-    uint32_t voltage;
-    uint32_t current;
-    uint8_t started;
-    uint8_t controls_allowed;
-    uint8_t gas_interceptor_detected;
-  } *health = dat;
-  health->voltage = adc_get(ADCCHAN_VOLTAGE);
-#ifdef ENABLE_CURRENT_SENSOR
-  health->current = adc_get(ADCCHAN_CURRENT);
-#else
-  health->current = 0;
-#endif
-  health->started = (GPIOC->IDR & (1 << 13)) != 0;
-  health->controls_allowed = controls_allowed;
-  health->gas_interceptor_detected = gas_interceptor_detected;
-  return sizeof(*health);
-}
-
-void set_fan_speed(int fan_speed) {
-  #ifdef OLD_BOARD
-    TIM3->CCR4 = fan_speed;
-  #else
-    TIM3->CCR3 = fan_speed;
-  #endif
-}
-
-void usb_cb_ep1_in(int len) {
-  CAN_FIFOMailBox_TypeDef reply[4];
-
-  int ilen = 0;
-  while (ilen < min(len/0x10, 4) && pop(&can_rx_q, &reply[ilen])) ilen++;
-
-  #ifdef DEBUG
-    puts("FIFO SENDING ");
-    puth(ilen);
-    puts("\n");
-  #endif
-
-  USB_WritePacket((void *)reply, ilen*0x10, 1);
-}
-
-void usb_cb_ep2_out(uint8_t *usbdata, int len) {
-}
-
-// send on CAN
-void usb_cb_ep3_out(uint8_t *usbdata, int len) {
-  int dpkt = 0;
-  for (dpkt = 0; dpkt < len; dpkt += 0x10) {
-    uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
-    
-    int flags = tf[1] >> 4;
-    CAN_TypeDef *CAN;
-    can_ring *can_q;
-    int can_number = 0;
-    if (flags & 1)  {
-      CAN=CAN1;
-      can_q = &can_tx1_q;
-      can_number = 1;
-    } else {
-      CAN=CAN2;
-      can_q = &can_tx2_q;
-    }
-
-    // add CAN packet to send queue
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RDHR = tf[3];
-    to_push.RDLR = tf[2];
-    to_push.RDTR = tf[1] & 0xF;
-    to_push.RIR = tf[0];
-    push(can_q, &to_push);
-
-    process_can(CAN, can_q, can_number);
-  }
-}
-
-
-void usb_cb_control_msg() {
-  uint8_t resp[0x20];
-  int resp_len;
-  switch (setup.b.bRequest) {
-    case 0xd1:
-      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-      NVIC_SystemReset();
-      break;
-    case 0xd2:
-      resp_len = get_health_pkt(resp);
-      USB_WritePacket(resp, resp_len, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case 0xd3:
-      set_fan_speed(setup.b.wValue.w);
-      USB_WritePacket(0, 0, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case 0xd6: // GET_VERSION
-      USB_WritePacket(gitversion, min(sizeof(gitversion), setup.b.wLength.w), 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case 0xd8: // RESET
-      NVIC_SystemReset();
-      break;
-    default:
-      puts("NO HANDLER ");
-      puth(setup.b.bRequest);
-      puts("\n");
-      break;
-  }
-}
-
-
-void OTG_FS_IRQHandler(void) {
-  NVIC_DisableIRQ(OTG_FS_IRQn);
-  //__disable_irq();
-  usb_irqhandler();
-  //__enable_irq();
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-}
-
-void OTG_HS_IRQHandler(void) {
-  //puts("HS_IRQ\n");
-  NVIC_DisableIRQ(OTG_FS_IRQn);
-  //__disable_irq();
-  usb_irqhandler();
-  //__enable_irq();
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-}
-
-void ADC_IRQHandler(void) {
-  puts("ADC_IRQ\n");
-}
-
-// ***************************** main code *****************************
-
-void __initialize_hardware_early() {
-  // set USB power + and OTG mode
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOA->MODER |= GPIO_MODER_MODER1_0;
-
-  // enable USB power tied to +
-  GPIOA->ODR |= 1;
-  GPIOA->MODER |= GPIO_MODER_MODER0_0;
-
-  // enable pull DOWN on OTG_FS_DP
-  // must be done a while before reading it
-  GPIOA->PUPDR = GPIO_PUPDR_PUPDR12_1;
-
-  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
-    enter_bootloader_mode = 0;
-    void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
-
-    // jump to bootloader
-    bootloader();
-
-    // LOOP
-    while(1);
-  }
-}
-
-int main() {
-  // init devices
-  clock_init();
-
-  // test the USB choice before GPIO init
-  if (GPIOA->IDR & (1 << 12)) {
-    USBx = USB_OTG_HS;
-  }
-
-  gpio_init();
-  uart_init();
-  usb_init();
-  can_init(CAN1);
-  can_init(CAN2);
-  adc_init();
-
-  // timer for fan PWM
-  #ifdef OLD_BOARD
-    TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
-    TIM3->CCER = TIM_CCER_CC4E;
-  #else
-    TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
-    TIM3->CCER = TIM_CCER_CC3E;
-  #endif
-
-  // max value of the timer
-  // 64 makes it above the audible range
-  //TIM3->ARR = 64;
-
-  // 10 prescale makes it below the audible range
-  timer_init(TIM3, 10);
-
-  // set PWM
-  set_fan_speed(65535);
-
-  puts("**** INTERRUPTS ON ****\n");
-  __disable_irq();
-  NVIC_EnableIRQ(USART2_IRQn);
-  NVIC_EnableIRQ(USART3_IRQn);
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-  NVIC_EnableIRQ(OTG_HS_IRQn);
-  NVIC_EnableIRQ(ADC_IRQn);
-  // CAN has so many interrupts!
-
-  NVIC_EnableIRQ(CAN1_TX_IRQn);
-  NVIC_EnableIRQ(CAN1_RX0_IRQn);
-  NVIC_EnableIRQ(CAN1_SCE_IRQn);
-
-  NVIC_EnableIRQ(CAN2_TX_IRQn);
-  NVIC_EnableIRQ(CAN2_RX0_IRQn);
-  NVIC_EnableIRQ(CAN2_SCE_IRQn);
-  __enable_irq();
-
-
-  // LED should keep on blinking all the time
-  while (1) {
-    #ifdef DEBUG
-      puts("** blink ");
-      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
-      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
-      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
-    #endif
-
-    /*puts("voltage: "); puth(adc_get(ADCCHAN_VOLTAGE)); puts("  ");
-    puts("current: "); puth(adc_get(ADCCHAN_CURRENT)); puts("\n");*/
-
-    // set LED to be controls allowed
-    GPIOB->ODR = (GPIOB->ODR | (1 << 11)) & ~(controls_allowed << 11);
-
-    // blink the other LED if in FS mode
-    if (USBx == USB_OTG_FS) {
-      GPIOB->ODR |= (1 << 10);
-    }
-    delay(1000000);
-    GPIOB->ODR &= ~(1 << 10);
-    delay(1000000);
-
-    if (GPIOC->IDR & (1 << 13)) {
-      // turn on fan at half speed
-      set_fan_speed(32768);
-    } else {
-      // turn off fan
-      set_fan_speed(0);
-    }
-
-  }
-
-  return 0;
-}
-

board/startup_stm32f205xx.s

@@ -1,511 +0,0 @@
-/**
-  ******************************************************************************
-  * @file      startup_stm32f205xx.s
-  * @author    MCD Application Team
-  * @version   V2.0.1
-  * @date      25-March-2014
-  * @brief     STM32F205xx Devices vector table for Atollic TrueSTUDIO toolchain.
-  *            This module performs:
-  *                - Set the initial SP
-  *                - Set the initial PC == Reset_Handler,
-  *                - Set the vector table entries with the exceptions ISR address
-  *                - Branches to main in the C library (which eventually
-  *                  calls main()).
-  *            After Reset the Cortex-M3 processor is in Thread mode,
-  *            priority is Privileged, and the Stack is set to Main.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT 2014 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-
-  .syntax unified
-  .cpu cortex-m3
-  .thumb
-
-.global  g_pfnVectors
-.global  Default_Handler
-
-/* start address for the initialization values of the .data section.
-defined in linker script */
-.word  _sidata
-/* start address for the .data section. defined in linker script */
-.word  _sdata
-/* end address for the .data section. defined in linker script */
-.word  _edata
-/* start address for the .bss section. defined in linker script */
-.word  _sbss
-/* end address for the .bss section. defined in linker script */
-.word  _ebss
-/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
-
-/**
- * @brief  This is the code that gets called when the processor first
- *          starts execution following a reset event. Only the absolutely
- *          necessary set is performed, after which the application
- *          supplied main() routine is called.
- * @param  None
- * @retval : None
-*/
-
-    .section  .text.Reset_Handler
-  .weak  Reset_Handler
-  .type  Reset_Handler, %function
-Reset_Handler:
-  bl __initialize_hardware_early
-  ldr   sp, =_estack     /* set stack pointer */
-
-/* Copy the data segment initializers from flash to SRAM */
-  movs  r1, #0
-  b  LoopCopyDataInit
-
-CopyDataInit:
-  ldr  r3, =_sidata
-  ldr  r3, [r3, r1]
-  str  r3, [r0, r1]
-  adds  r1, r1, #4
-
-LoopCopyDataInit:
-  ldr  r0, =_sdata
-  ldr  r3, =_edata
-  adds  r2, r0, r1
-  cmp  r2, r3
-  bcc  CopyDataInit
-  ldr  r2, =_sbss
-  b  LoopFillZerobss
-/* Zero fill the bss segment. */
-FillZerobss:
-  movs  r3, #0
-  str  r3, [r2], #4
-
-LoopFillZerobss:
-  ldr  r3, = _ebss
-  cmp  r2, r3
-  bcc  FillZerobss
-
-/* Call the clock system intitialization function.*/
-  /* bl  SystemInit */
-/* Call static constructors */
-  /* bl __libc_init_array */
-/* Call the application's entry point.*/
-  bl  main
-  bx  lr
-.size  Reset_Handler, .-Reset_Handler
-
-/**
- * @brief  This is the code that gets called when the processor receives an
- *         unexpected interrupt.  This simply enters an infinite loop, preserving
- *         the system state for examination by a debugger.
- * @param  None
- * @retval None
-*/
-    .section  .text.Default_Handler,"ax",%progbits
-Default_Handler:
-Infinite_Loop:
-  b  Infinite_Loop
-  .size  Default_Handler, .-Default_Handler
-/******************************************************************************
-*
-* The minimal vector table for a Cortex M3. Note that the proper constructs
-* must be placed on this to ensure that it ends up at physical address
-* 0x0000.0000.
-*
-*******************************************************************************/
-   .section  .isr_vector,"a",%progbits
-  .type  g_pfnVectors, %object
-  .size  g_pfnVectors, .-g_pfnVectors
-
-
-
-g_pfnVectors:
-  .word  _estack
-  .word  Reset_Handler
-
-  .word  NMI_Handler
-  .word  HardFault_Handler
-  .word  MemManage_Handler
-  .word  BusFault_Handler
-  .word  UsageFault_Handler
-  .word  0
-  .word  0
-  .word  0
-  .word  0
-  .word  SVC_Handler
-  .word  DebugMon_Handler
-  .word  0
-  .word  PendSV_Handler
-  .word  SysTick_Handler
-
-  /* External Interrupts */
-  .word     WWDG_IRQHandler                   /* Window WatchDog              */
-  .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */
-  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */
-  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */
-  .word     FLASH_IRQHandler                  /* FLASH                        */
-  .word     RCC_IRQHandler                    /* RCC                          */
-  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */
-  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */
-  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */
-  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */
-  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */
-  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */
-  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */
-  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */
-  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */
-  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */
-  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */
-  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */
-  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */
-  .word     CAN1_TX_IRQHandler                /* CAN1 TX                      */
-  .word     CAN1_RX0_IRQHandler               /* CAN1 RX0                     */
-  .word     CAN1_RX1_IRQHandler               /* CAN1 RX1                     */
-  .word     CAN1_SCE_IRQHandler               /* CAN1 SCE                     */
-  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */
-  .word     TIM1_BRK_TIM9_IRQHandler          /* TIM1 Break and TIM9          */
-  .word     TIM1_UP_TIM10_IRQHandler          /* TIM1 Update and TIM10        */
-  .word     TIM1_TRG_COM_TIM11_IRQHandler     /* TIM1 Trigger and Commutation and TIM11 */
-  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */
-  .word     TIM2_IRQHandler                   /* TIM2                         */
-  .word     TIM3_IRQHandler                   /* TIM3                         */
-  .word     TIM4_IRQHandler                   /* TIM4                         */
-  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */
-  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */
-  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */
-  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */
-  .word     SPI1_IRQHandler                   /* SPI1                         */
-  .word     SPI2_IRQHandler                   /* SPI2                         */
-  .word     USART1_IRQHandler                 /* USART1                       */
-  .word     USART2_IRQHandler                 /* USART2                       */
-  .word     USART3_IRQHandler                 /* USART3                       */
-  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */
-  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */
-  .word     OTG_FS_WKUP_IRQHandler            /* USB OTG FS Wakeup through EXTI line */
-  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */
-  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */
-  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
-  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */
-  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */
-  .word     FSMC_IRQHandler                   /* FSMC                         */
-  .word     SDIO_IRQHandler                   /* SDIO                         */
-  .word     TIM5_IRQHandler                   /* TIM5                         */
-  .word     SPI3_IRQHandler                   /* SPI3                         */
-  .word     UART4_IRQHandler                  /* UART4                        */
-  .word     UART5_IRQHandler                  /* UART5                        */
-  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */
-  .word     TIM7_IRQHandler                   /* TIM7                         */
-  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */
-  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */
-  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */
-  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */
-  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */
-  .word     0                                 /* Reserved                     */
-  .word     0                                 /* Reserved                     */
-  .word     CAN2_TX_IRQHandler                /* CAN2 TX                      */
-  .word     CAN2_RX0_IRQHandler               /* CAN2 RX0                     */
-  .word     CAN2_RX1_IRQHandler               /* CAN2 RX1                     */
-  .word     CAN2_SCE_IRQHandler               /* CAN2 SCE                     */
-  .word     OTG_FS_IRQHandler                 /* USB OTG FS                   */
-  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */
-  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */
-  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */
-  .word     USART6_IRQHandler                 /* USART6                       */
-  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */
-  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */
-  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */
-  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */
-  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */
-  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */
-  .word     0                                 /* Reserved                         */
-  .word     0                                 /* Reserved                  */
-  .word     HASH_RNG_IRQHandler               /* Hash and Rng                 */
-
-/*******************************************************************************
-*
-* Provide weak aliases for each Exception handler to the Default_Handler.
-* As they are weak aliases, any function with the same name will override
-* this definition.
-*
-*******************************************************************************/
-   .weak      NMI_Handler
-   .thumb_set NMI_Handler,Default_Handler
-
-   .weak      HardFault_Handler
-   .thumb_set HardFault_Handler,Default_Handler
-
-   .weak      MemManage_Handler
-   .thumb_set MemManage_Handler,Default_Handler
-
-   .weak      BusFault_Handler
-   .thumb_set BusFault_Handler,Default_Handler
-
-   .weak      UsageFault_Handler
-   .thumb_set UsageFault_Handler,Default_Handler
-
-   .weak      SVC_Handler
-   .thumb_set SVC_Handler,Default_Handler
-
-   .weak      DebugMon_Handler
-   .thumb_set DebugMon_Handler,Default_Handler
-
-   .weak      PendSV_Handler
-   .thumb_set PendSV_Handler,Default_Handler
-
-   .weak      SysTick_Handler
-   .thumb_set SysTick_Handler,Default_Handler
-
-   .weak      WWDG_IRQHandler
-   .thumb_set WWDG_IRQHandler,Default_Handler
-
-   .weak      PVD_IRQHandler
-   .thumb_set PVD_IRQHandler,Default_Handler
-
-   .weak      TAMP_STAMP_IRQHandler
-   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
-
-   .weak      RTC_WKUP_IRQHandler
-   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
-
-   .weak      FLASH_IRQHandler
-   .thumb_set FLASH_IRQHandler,Default_Handler
-
-   .weak      RCC_IRQHandler
-   .thumb_set RCC_IRQHandler,Default_Handler
-
-   .weak      EXTI0_IRQHandler
-   .thumb_set EXTI0_IRQHandler,Default_Handler
-
-   .weak      EXTI1_IRQHandler
-   .thumb_set EXTI1_IRQHandler,Default_Handler
-
-   .weak      EXTI2_IRQHandler
-   .thumb_set EXTI2_IRQHandler,Default_Handler
-
-   .weak      EXTI3_IRQHandler
-   .thumb_set EXTI3_IRQHandler,Default_Handler
-
-   .weak      EXTI4_IRQHandler
-   .thumb_set EXTI4_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream0_IRQHandler
-   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream1_IRQHandler
-   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream2_IRQHandler
-   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream3_IRQHandler
-   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream4_IRQHandler
-   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream5_IRQHandler
-   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream6_IRQHandler
-   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
-
-   .weak      ADC_IRQHandler
-   .thumb_set ADC_IRQHandler,Default_Handler
-
-   .weak      CAN1_TX_IRQHandler
-   .thumb_set CAN1_TX_IRQHandler,Default_Handler
-
-   .weak      CAN1_RX0_IRQHandler
-   .thumb_set CAN1_RX0_IRQHandler,Default_Handler
-
-   .weak      CAN1_RX1_IRQHandler
-   .thumb_set CAN1_RX1_IRQHandler,Default_Handler
-
-   .weak      CAN1_SCE_IRQHandler
-   .thumb_set CAN1_SCE_IRQHandler,Default_Handler
-
-   .weak      EXTI9_5_IRQHandler
-   .thumb_set EXTI9_5_IRQHandler,Default_Handler
-
-   .weak      TIM1_BRK_TIM9_IRQHandler
-   .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
-
-   .weak      TIM1_UP_TIM10_IRQHandler
-   .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
-
-   .weak      TIM1_TRG_COM_TIM11_IRQHandler
-   .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
-
-   .weak      TIM1_CC_IRQHandler
-   .thumb_set TIM1_CC_IRQHandler,Default_Handler
-
-   .weak      TIM2_IRQHandler
-   .thumb_set TIM2_IRQHandler,Default_Handler
-
-   .weak      TIM3_IRQHandler
-   .thumb_set TIM3_IRQHandler,Default_Handler
-
-   .weak      TIM4_IRQHandler
-   .thumb_set TIM4_IRQHandler,Default_Handler
-
-   .weak      I2C1_EV_IRQHandler
-   .thumb_set I2C1_EV_IRQHandler,Default_Handler
-
-   .weak      I2C1_ER_IRQHandler
-   .thumb_set I2C1_ER_IRQHandler,Default_Handler
-
-   .weak      I2C2_EV_IRQHandler
-   .thumb_set I2C2_EV_IRQHandler,Default_Handler
-
-   .weak      I2C2_ER_IRQHandler
-   .thumb_set I2C2_ER_IRQHandler,Default_Handler
-
-   .weak      SPI1_IRQHandler
-   .thumb_set SPI1_IRQHandler,Default_Handler
-
-   .weak      SPI2_IRQHandler
-   .thumb_set SPI2_IRQHandler,Default_Handler
-
-   .weak      USART1_IRQHandler
-   .thumb_set USART1_IRQHandler,Default_Handler
-
-   .weak      USART2_IRQHandler
-   .thumb_set USART2_IRQHandler,Default_Handler
-
-   .weak      USART3_IRQHandler
-   .thumb_set USART3_IRQHandler,Default_Handler
-
-   .weak      EXTI15_10_IRQHandler
-   .thumb_set EXTI15_10_IRQHandler,Default_Handler
-
-   .weak      RTC_Alarm_IRQHandler
-   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
-
-   .weak      OTG_FS_WKUP_IRQHandler
-   .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
-
-   .weak      TIM8_BRK_TIM12_IRQHandler
-   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
-
-   .weak      TIM8_UP_TIM13_IRQHandler
-   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
-
-   .weak      TIM8_TRG_COM_TIM14_IRQHandler
-   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
-
-   .weak      TIM8_CC_IRQHandler
-   .thumb_set TIM8_CC_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream7_IRQHandler
-   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
-
-   .weak      FSMC_IRQHandler
-   .thumb_set FSMC_IRQHandler,Default_Handler
-
-   .weak      SDIO_IRQHandler
-   .thumb_set SDIO_IRQHandler,Default_Handler
-
-   .weak      TIM5_IRQHandler
-   .thumb_set TIM5_IRQHandler,Default_Handler
-
-   .weak      SPI3_IRQHandler
-   .thumb_set SPI3_IRQHandler,Default_Handler
-
-   .weak      UART4_IRQHandler
-   .thumb_set UART4_IRQHandler,Default_Handler
-
-   .weak      UART5_IRQHandler
-   .thumb_set UART5_IRQHandler,Default_Handler
-
-   .weak      TIM6_DAC_IRQHandler
-   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
-
-   .weak      TIM7_IRQHandler
-   .thumb_set TIM7_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream0_IRQHandler
-   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream1_IRQHandler
-   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream2_IRQHandler
-   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream3_IRQHandler
-   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream4_IRQHandler
-   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
-
-   .weak      CAN2_TX_IRQHandler
-   .thumb_set CAN2_TX_IRQHandler,Default_Handler
-
-   .weak      CAN2_RX0_IRQHandler
-   .thumb_set CAN2_RX0_IRQHandler,Default_Handler
-
-   .weak      CAN2_RX1_IRQHandler
-   .thumb_set CAN2_RX1_IRQHandler,Default_Handler
-
-   .weak      CAN2_SCE_IRQHandler
-   .thumb_set CAN2_SCE_IRQHandler,Default_Handler
-
-   .weak      OTG_FS_IRQHandler
-   .thumb_set OTG_FS_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream5_IRQHandler
-   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream6_IRQHandler
-   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream7_IRQHandler
-   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
-
-   .weak      USART6_IRQHandler
-   .thumb_set USART6_IRQHandler,Default_Handler
-
-   .weak      I2C3_EV_IRQHandler
-   .thumb_set I2C3_EV_IRQHandler,Default_Handler
-
-   .weak      I2C3_ER_IRQHandler
-   .thumb_set I2C3_ER_IRQHandler,Default_Handler
-
-   .weak      OTG_HS_EP1_OUT_IRQHandler
-   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
-
-   .weak      OTG_HS_EP1_IN_IRQHandler
-   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
-
-   .weak      OTG_HS_WKUP_IRQHandler
-   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
-
-   .weak      OTG_HS_IRQHandler
-   .thumb_set OTG_HS_IRQHandler,Default_Handler
-
-   .weak      HASH_RNG_IRQHandler
-   .thumb_set HASH_RNG_IRQHandler,Default_Handler
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/stm32_flash.ld

@@ -1,163 +0,0 @@
-/*
-*****************************************************************************
-**
-**  File        : stm32_flash.ld
-**
-**  Abstract    : Linker script for STM32F407VG Device with
-**                1024KByte FLASH, 192KByte RAM
-**
-**                Set heap size, stack size and stack location according
-**                to application requirements.
-**
-**                Set memory bank area and size if external memory is used.
-**
-**  Target      : STMicroelectronics STM32
-**
-**  Environment : Atollic TrueSTUDIO(R)
-**
-**  Distribution: The file is distributed “as is,” without any warranty
-**                of any kind.
-**
-**  (c)Copyright Atollic AB.
-**  You may use this file as-is or modify it according to the needs of your
-**  project. Distribution of this file (unmodified or modified) is not
-**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
-**  rights to distribute the assembled, compiled & linked contents of this
-**  file as part of an application binary file, provided that it is built
-**  using the Atollic TrueSTUDIO(R) toolchain.
-**
-*****************************************************************************
-*/
-
-/* Entry Point */
-ENTRY(Reset_Handler)
-
-/* Highest address of the user mode stack */
-_estack = 0x20020000;    /* end of 128K RAM on AHB bus*/
-
-/* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0;      /* required amount of heap  */
-_Min_Stack_Size = 0x400; /* required amount of stack */
-
-/* Specify the memory areas */
-MEMORY
-{
-  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 128K
-  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 128K
-  MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
-}
-
-/* Define output sections */
-SECTIONS
-{
-  /* The startup code goes first into FLASH */
-  .isr_vector :
-  {
-    . = ALIGN(4);
-    KEEP(*(.isr_vector)) /* Startup code */
-    . = ALIGN(4);
-  } >FLASH
-
-  /* The program code and other data goes into FLASH */
-  .text :
-  {
-    . = ALIGN(4);
-    *(.text)           /* .text sections (code) */
-    *(.text*)          /* .text* sections (code) */
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    *(.glue_7)         /* glue arm to thumb code */
-    *(.glue_7t)        /* glue thumb to arm code */
-	*(.eh_frame)
-
-    KEEP (*(.init))
-    KEEP (*(.fini))
-
-    . = ALIGN(4);
-    _etext = .;        /* define a global symbols at end of code */
-    _exit = .;
-  } >FLASH
-
-
-   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
-    .ARM : {
-    __exidx_start = .;
-      *(.ARM.exidx*)
-      __exidx_end = .;
-    } >FLASH
-
-  .preinit_array     :
-  {
-    PROVIDE_HIDDEN (__preinit_array_start = .);
-    KEEP (*(.preinit_array*))
-    PROVIDE_HIDDEN (__preinit_array_end = .);
-  } >FLASH
-  .init_array :
-  {
-    PROVIDE_HIDDEN (__init_array_start = .);
-    KEEP (*(SORT(.init_array.*)))
-    KEEP (*(.init_array*))
-    PROVIDE_HIDDEN (__init_array_end = .);
-  } >FLASH
-  .fini_array :
-  {
-    PROVIDE_HIDDEN (__fini_array_start = .);
-    KEEP (*(.fini_array*))
-    KEEP (*(SORT(.fini_array.*)))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-  } >FLASH
-
-  /* used by the startup to initialize data */
-  _sidata = .;
-
-  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : AT ( _sidata )
-  {
-    . = ALIGN(4);
-    _sdata = .;        /* create a global symbol at data start */
-    *(.data)           /* .data sections */
-    *(.data*)          /* .data* sections */
-
-    . = ALIGN(4);
-    _edata = .;        /* define a global symbol at data end */
-  } >RAM
-
-  /* Uninitialized data section */
-  . = ALIGN(4);
-  .bss :
-  {
-    /* This is used by the startup in order to initialize the .bss secion */
-    _sbss = .;         /* define a global symbol at bss start */
-    __bss_start__ = _sbss;
-    *(.bss)
-    *(.bss*)
-    *(COMMON)
-
-    . = ALIGN(4);
-    _ebss = .;         /* define a global symbol at bss end */
-    __bss_end__ = _ebss;
-  } >RAM
-
-  /* User_heap_stack section, used to check that there is enough RAM left */
-  ._user_heap_stack :
-  {
-    . = ALIGN(4);
-    PROVIDE ( end = . );
-    PROVIDE ( _end = . );
-    . = . + _Min_Heap_Size;
-    . = . + _Min_Stack_Size;
-    . = ALIGN(4);
-  } >RAM
-
-  /* MEMORY_bank1 section, code must be located here explicitly            */
-  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
-  .memory_b1_text :
-  {
-    *(.mb1text)        /* .mb1text sections (code) */
-    *(.mb1text*)       /* .mb1text* sections (code)  */
-    *(.mb1rodata)      /* read-only data (constants) */
-    *(.mb1rodata*)
-  } >MEMORY_B1
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}

board/timer.h

@@ -1,7 +0,0 @@
-void timer_init(TIM_TypeDef *TIM, int psc) {
-  TIM->PSC = psc-1;
-  TIM->DIER = TIM_DIER_UIE;
-  TIM->CR1 = TIM_CR1_CEN;
-  TIM->SR = 0;
-}
-

board/tools/enter_download_mode.py

@@ -1,20 +0,0 @@
-#!/usr/bin/env python
-import usb1
-import time
-import traceback
-
-if __name__ == "__main__":
-  context = usb1.USBContext()
-
-  for device in context.getDeviceList(skip_on_error=True):
-    if device.getVendorID() == 0xbbaa and device.getProductID()&0xFF00 == 0xdd00:
-      print "found device"
-      handle = device.open()
-      handle.claimInterface(0)
-
-  try:
-    handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, '')
-  except Exception:
-    traceback.print_exc()
-    print "expected error, exiting cleanly"
-  time.sleep(1)

board/usb.h

@@ -1,510 +0,0 @@
-// **** supporting defines ****
-
-typedef struct
-{
-  __IO uint32_t HPRT;
-}
-USB_OTG_HostPortTypeDef;
-
-#define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
-#define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
-#define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
-#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))        
-#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))        
-#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
-#define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
-
-#define  USB_REQ_GET_STATUS                             0x00
-#define  USB_REQ_CLEAR_FEATURE                          0x01
-#define  USB_REQ_SET_FEATURE                            0x03
-#define  USB_REQ_SET_ADDRESS                            0x05
-#define  USB_REQ_GET_DESCRIPTOR                         0x06
-#define  USB_REQ_SET_DESCRIPTOR                         0x07
-#define  USB_REQ_GET_CONFIGURATION                      0x08
-#define  USB_REQ_SET_CONFIGURATION                      0x09
-#define  USB_REQ_GET_INTERFACE                          0x0A
-#define  USB_REQ_SET_INTERFACE                          0x0B
-#define  USB_REQ_SYNCH_FRAME                            0x0C
-
-#define  USB_DESC_TYPE_DEVICE                              1
-#define  USB_DESC_TYPE_CONFIGURATION                       2
-#define  USB_DESC_TYPE_STRING                              3
-#define  USB_DESC_TYPE_INTERFACE                           4
-#define  USB_DESC_TYPE_ENDPOINT                            5
-#define  USB_DESC_TYPE_DEVICE_QUALIFIER                    6
-#define  USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION           7
-
-#define STS_GOUT_NAK                           1
-#define STS_DATA_UPDT                          2
-#define STS_XFER_COMP                          3
-#define STS_SETUP_COMP                         4
-#define STS_SETUP_UPDT                         6
-
-#define USBD_FS_TRDT_VALUE           5
-
-// interfaces
-void usb_cb_control_msg();
-void usb_cb_ep1_in(int len);
-void usb_cb_ep2_out(uint8_t *usbdata, int len);
-void usb_cb_ep3_out(uint8_t *usbdata, int len);
-
-uint8_t device_desc[] = {
-  0x12,0x01,0x00,0x01,
-  0xFF,0xFF,0xFF,0x40,
-  (USB_VID>>0)&0xFF,(USB_VID>>8)&0xFF,
-  (USB_PID>>0)&0xFF,(USB_PID>>8)&0xFF,
-  0x00,0x22,0x00,0x00,
-  0x00,0x01};
-
-uint8_t configuration_desc[] = {
-  0x09, 0x02, 0x27, 0x00,
-  0x01, 0x01, 0x00, 0xc0,
-  0x32,
-  // interface 0
-  0x09, 0x04, 0x00, 0x00,
-  0x03, 0xff, 0xFF, 0xFF,
-  0x00,
-  // endpoint 1, read CAN
-  0x07, 0x05, 0x81, 0x02, 0x40, 0x00, 0x00,
-  // endpoint 2, AES load
-  0x07, 0x05, 0x02, 0x02, 0x10, 0x00, 0x00,
-  // endpoint 3, send CAN
-  0x07, 0x05, 0x03, 0x02, 0x40, 0x00, 0x00,
-};
-
-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; 
-
-// current packet
-USB_Setup_TypeDef setup;
-uint8_t usbdata[0x100];
-
-// packet read and write
-
-void *USB_ReadPacket(void *dest, uint16_t len) {
-  uint32_t i=0; 
-  uint32_t count32b = (len + 3) / 4; 
-  
-  for ( i = 0; i < count32b; i++, dest += 4 ) {
-    // packed?
-    *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
-  }
-  return ((void *)dest);
-}
-
-void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
-  #ifdef DEBUG
-    puts("writing ");
-    hexdump(src, len);
-  #endif
-  uint32_t count32b = 0, i = 0;
-  count32b = (len + 3) / 4; 
-
-  // bullshit
-  USBx_INEP(ep)->DIEPTSIZ = (USB_OTG_DIEPTSIZ_PKTCNT & (1 << 19)) | (len & USB_OTG_DIEPTSIZ_XFRSIZ);
-  USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
-
-  // load the FIFO
-  for (i = 0; i < count32b; i++, src += 4) {
-    USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
-  }
-}
-
-void usb_reset() {
-  // unmask endpoint interrupts, so many sets
-  USBx_DEVICE->DAINT = 0xFFFFFFFF;
-  USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
-  //USBx_DEVICE->DOEPMSK = (USB_OTG_DOEPMSK_STUPM | USB_OTG_DOEPMSK_XFRCM | USB_OTG_DOEPMSK_EPDM);
-  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM | USB_OTG_DIEPMSK_ITTXFEMSK);
-  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM);
-
-  // all interrupts for debugging
-  USBx_DEVICE->DIEPMSK = 0xFFFFFFFF;
-  USBx_DEVICE->DOEPMSK = 0xFFFFFFFF;
-
-  // clear interrupts
-  USBx_INEP(0)->DIEPINT = 0xFF;
-  USBx_OUTEP(0)->DOEPINT = 0xFF;
-
-  // unset the address
-  USBx_DEVICE->DCFG &= ~USB_OTG_DCFG_DAD;
-
-  // set up USB FIFOs
-  // RX start address is fixed to 0
-  USBx->GRXFSIZ = 0x40;
-
-  // 0x100 to offset past GRXFSIZ
-  USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
-
-  // EP1, massive
-  USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
-
-  // flush TX fifo
-  USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
-  // flush RX FIFO
-  USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
-
-  // no global NAK
-  USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;
-
-  // ready to receive setup packets
-  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
-}
-
-void usb_setup() {
-  uint8_t resp[0x20];
-  // setup packet is ready
-  switch (setup.b.bRequest) {
-    case USB_REQ_SET_CONFIGURATION:
-      // enable other endpoints, has to be here?
-      USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
-                              USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
-      USBx_INEP(1)->DIEPINT = 0xFF;
-
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
-      USBx_OUTEP(2)->DOEPCTL = (0x10 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
-                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
-      USBx_OUTEP(2)->DOEPINT = 0xFF;
-
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
-                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
-      USBx_OUTEP(3)->DOEPINT = 0xFF;
-
-      // mark ready to receive
-      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-
-      USB_WritePacket(0, 0, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case USB_REQ_SET_ADDRESS:
-      // set now?
-      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
-
-      #ifdef DEBUG
-        puts(" set address\n");
-      #endif
-
-
-      USB_WritePacket(0, 0, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-
-      break;
-    case USB_REQ_GET_DESCRIPTOR:
-      switch (setup.b.wValue.bw.lsb) {
-        case USB_DESC_TYPE_DEVICE:
-          //puts("    writing device descriptor\n");
-
-          // setup transfer
-          USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
-          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-
-          //puts("D");
-          break;
-        case USB_DESC_TYPE_CONFIGURATION:
-          USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
-          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-          break;
-        default:
-          // nothing here?
-          USB_WritePacket(0, 0, 0);
-          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-          break;
-      }
-      break;
-    case USB_REQ_GET_STATUS:
-      // empty resp?
-      resp[0] = 0;
-      resp[1] = 0;
-      USB_WritePacket((void*)&resp, 2, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    default:
-      usb_cb_control_msg();
-  }
-}
-
-void usb_init() {
-  // internal PHY set before reset
-  USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL;
-
-  // full speed PHY, do reset and remove power down
-  puth(USBx->GRSTCTL);
-  puts(" resetting PHY\n");
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
-  puts("AHB idle\n");
-
-  // reset PHY here?
-  USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
-  puts("reset done\n");
-
-  // power up the PHY
-  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN | USB_OTG_GCCFG_NOVBUSSENS;
-
-  // be a device, slowest timings
-  //USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
-  USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL;
-  USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
-  //USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
-
-  // **** for debugging, doesn't seem to work ****
-  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT;
-
-  // reset PHY clock
-  USBx_PCGCCTL = 0;
-
-  // enable the fancy OTG things
-  USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP;
-
-  USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD;
-  //USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD;
-
-  // setup USB interrupts
-  // all interrupts except TXFIFO EMPTY
-  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
-  USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM);
-
-  USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
-  USBx->GINTSTS = 0;
-}
-
-// ***************************** USB port *****************************
-
-void usb_irqhandler(void) {
-  USBx->GINTMSK = 0;
-
-  unsigned int gintsts = USBx->GINTSTS;
-
-  // gintsts SUSPEND? 04008428
-  #ifdef DEBUG
-    unsigned int daint = USBx_DEVICE->DAINT;
-    puth(gintsts);
-    puts(" ep ");
-    puth(daint);
-    puts(" USB interrupt!\n");
-  #endif
-
-  if (gintsts & USB_OTG_GINTSTS_ESUSP) {
-    puts("ESUSP detected\n");
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_USBRST) {
-    puts("USB reset\n");
-    usb_reset();
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
-    puts("enumeration done ");
-    // Full speed, ENUMSPD
-    puth(USBx_DEVICE->DSTS);
-    puts("\n");
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_OTGINT) {
-    puts("OTG int:");
-    puth(USBx->GOTGINT);
-    puts("\n");
-
-    // getting ADTOCHG
-    USBx->GOTGINT = USBx->GOTGINT;
-  }
-
-  // RX FIFO first
-  if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
-    // 1. Read the Receive status pop register
-    volatile unsigned int rxst = USBx->GRXSTSP;
-
-    #ifdef DEBUG
-      puts(" RX FIFO:");
-      puth(rxst);
-      puts(" status: ");
-      puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
-      puts(" len: ");
-      puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
-      puts("\n");
-    #endif
-
-
-    if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
-      int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
-      int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
-      USB_ReadPacket(&usbdata, len);
-      #ifdef DEBUG
-        puts("  data ");
-        puth(len);
-        puts("\n");
-        hexdump(&usbdata, len);
-      #endif
-
-      if (endpoint == 2) {
-        usb_cb_ep2_out(usbdata, len);
-      }
-
-      if (endpoint == 3) {
-        usb_cb_ep3_out(usbdata, len);
-      }
-    } else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
-      USB_ReadPacket(&setup, 8);
-      #ifdef DEBUG
-        puts("  setup ");
-        hexdump(&setup, 8);
-        puts("\n");
-      #endif
-    }
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_HPRTINT) {
-    // host
-    puts("HPRT:");
-    puth(USBx_HOST_PORT->HPRT);
-    puts("\n");
-    if (USBx_HOST_PORT->HPRT & USB_OTG_HPRT_PCDET) {
-      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PRST;
-      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PCDET;
-    }
-
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_BOUTNAKEFF) {
-    // no global NAK, why is this getting set?
-    #ifdef DEBUG
-      puts("GLOBAL NAK\n");
-    #endif
-    USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_SRQINT) {
-    // we want to do "A-device host negotiation protocol" since we are the A-device
-    puts("start request\n");
-    //USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
-    //USBx_HOST_PORT->HPRT = USB_OTG_HPRT_PPWR | USB_OTG_HPRT_PENA;
-  }
-
-  // out endpoint hit
-  if (gintsts & USB_OTG_GINTSTS_OEPINT) {
-    #ifdef DEBUG
-      puts("  0:");
-      puth(USBx_OUTEP(0)->DOEPINT);
-      puts(" 2:");
-      puth(USBx_OUTEP(2)->DOEPINT);
-      puts(" 3:");
-      puth(USBx_OUTEP(3)->DOEPINT);
-      puts(" ");
-      puth(USBx_OUTEP(3)->DOEPCTL);
-      puts(" 4:");
-      puth(USBx_OUTEP(4)->DOEPINT);
-      puts(" OUT ENDPOINT\n");
-    #endif
-
-    if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
-      #ifdef DEBUG
-        puts("  OUT2 PACKET XFRC\n"); 
-      #endif
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
-      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-    }
-
-    if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
-      #ifdef DEBUG
-        puts("  OUT3 PACKET XFRC\n"); 
-      #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
-      #ifdef DEBUG
-        puts("  OUT3 PACKET WTF\n"); 
-      #endif
-      // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT) {
-      puts("OUTEP3 error ");
-      puth(USBx_OUTEP(3)->DOEPINT);
-      puts("\n");
-    }
-
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
-      // ready for next packet
-      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
-    }
-
-    // respond to setup packets
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
-      usb_setup();
-    }
-
-    USBx_OUTEP(0)->DOEPINT = USBx_OUTEP(0)->DOEPINT;
-    USBx_OUTEP(2)->DOEPINT = USBx_OUTEP(2)->DOEPINT;
-    USBx_OUTEP(3)->DOEPINT = USBx_OUTEP(3)->DOEPINT;
-  }
-
-
-  // in endpoint hit
-  if (gintsts & USB_OTG_GINTSTS_IEPINT) {
-    #ifdef DEBUG
-      puts("  ");
-      puth(USBx_INEP(0)->DIEPINT);
-      puts(" ");
-      puth(USBx_INEP(1)->DIEPINT);
-      puts(" IN ENDPOINT\n");
-    #endif
-
-    // this happens first
-    if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPINT_XFRC) {
-      #ifdef DEBUG
-        puts("  IN PACKET SEND\n"); 
-      #endif
-      //USBx_DEVICE->DIEPEMPMSK = ~(1 << 1);
-    }
-    
-    // *** IN token received when TxFIFO is empty
-    if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
-      #ifdef DEBUG
-        puts("  IN PACKET QUEUE\n"); 
-      #endif
-      // TODO: always assuming max len, can we get the length?
-      usb_cb_ep1_in(0x40);
-    }
-
-    // clear interrupts
-    USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT;
-    USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;
-  }
-
-
-  // clear all interrupts
-  USBx_DEVICE->DAINT = USBx_DEVICE->DAINT;
-  USBx->GINTSTS = USBx->GINTSTS;
-
-  USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
-}
-

cereal/.gitignore

@@ -0,0 +1 @@
+gen

cereal/Makefile

@@ -0,0 +1,4 @@
+-include build_from_src.mk
+
+release:
+	@echo "cereal: this is a release"

cereal/build_from_src.mk

@@ -0,0 +1,38 @@
+SRCS := log.capnp car.capnp
+
+GENS := gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h \
+	      gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+
+# Dont build java on the phone...
+UNAME_M := $(shell uname -m)
+ifeq ($(UNAME_M),x86_64)
+	GENS += gen/java/Car.java gen/java/Log.java
+endif
+
+.PHONY: all
+all: $(GENS)
+
+.PHONY: clean
+clean:
+	rm -rf gen
+
+gen/c/%.capnp.c: %.capnp
+	@echo "[ CAPNPC C ] $@"
+	mkdir -p gen/c/
+	capnpc '$<' -o c:gen/c/
+
+gen/cpp/%.capnp.c++: %.capnp
+	@echo "[ CAPNPC C++ ] $@"
+	mkdir -p gen/cpp/
+	capnpc '$<' -o c++:gen/cpp/
+
+gen/java/Car.java gen/java/Log.java: $(SRCS)
+	@echo "[ CAPNPC java ] $@"
+	mkdir -p gen/java/
+	capnpc $^ -o java:gen/java
+
+# c-capnproto needs some empty headers
+gen/c/c++.capnp.h gen/c/java.capnp.h:
+	mkdir -p gen/c/
+	touch '$@'
+

cereal/car.capnp

@@ -1,6 +1,10 @@
 using Cxx = import "c++.capnp";
 $Cxx.namespace("cereal");
 
+using Java = import "java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Car");
+
 @0x8e2af1e708af8b8d;
 
 # ******* main car state @ 100hz *******
@@ -170,3 +174,29 @@ struct CarControl {
   }
 }
 
+# ****** car param ******
+
+struct CarParams {
+  carName @0: Text;
+  radarName @1: Text;
+  carFingerprint @11: Text;
+
+  enableSteer @2: Bool;
+  enableGas @3: Bool;
+  enableBrake @4: Bool;
+  enableCruise @5: Bool;
+
+  # things about the car in the manual
+  wheelBase @6: Float32;     # in meters
+  steerRatio @7: Float32;
+
+  # things we can derive
+  slipFactor @8: Float32;
+
+  # Kp and Ki for the lateral control
+  steerKp @9: Float32;
+  steerKi @10: Float32;
+
+  # TODO: Kp and Ki for long control, perhaps not needed?
+}
+

cereal/gen/c/log.capnp.h

@@ -1,667 +0,0 @@
-#ifndef CAPN_F3B1F17E25A4285B
-#define CAPN_F3B1F17E25A4285B
-/* AUTO GENERATED - DO NOT EDIT */
-#include <capnp_c.h>
-
-#if CAPN_VERSION != 1
-#error "version mismatch between capnp_c.h and generated code"
-#endif
-
-#include "c++.capnp.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct cereal_InitData;
-struct cereal_FrameData;
-struct cereal_GPSNMEAData;
-struct cereal_SensorEventData;
-struct cereal_SensorEventData_SensorVec;
-struct cereal_CanData;
-struct cereal_ThermalData;
-struct cereal_HealthData;
-struct cereal_LiveUI;
-struct cereal_Live20Data;
-struct cereal_Live20Data_LeadData;
-struct cereal_LiveCalibrationData;
-struct cereal_LiveTracks;
-struct cereal_Live100Data;
-struct cereal_LiveEventData;
-struct cereal_ModelData;
-struct cereal_ModelData_PathData;
-struct cereal_ModelData_LeadData;
-struct cereal_ModelData_ModelSettings;
-struct cereal_CalibrationFeatures;
-struct cereal_EncodeIndex;
-struct cereal_AndroidLogEntry;
-struct cereal_LogRotate;
-struct cereal_Event;
-
-typedef struct {capn_ptr p;} cereal_InitData_ptr;
-typedef struct {capn_ptr p;} cereal_FrameData_ptr;
-typedef struct {capn_ptr p;} cereal_GPSNMEAData_ptr;
-typedef struct {capn_ptr p;} cereal_SensorEventData_ptr;
-typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_ptr;
-typedef struct {capn_ptr p;} cereal_CanData_ptr;
-typedef struct {capn_ptr p;} cereal_ThermalData_ptr;
-typedef struct {capn_ptr p;} cereal_HealthData_ptr;
-typedef struct {capn_ptr p;} cereal_LiveUI_ptr;
-typedef struct {capn_ptr p;} cereal_Live20Data_ptr;
-typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_ptr;
-typedef struct {capn_ptr p;} cereal_LiveCalibrationData_ptr;
-typedef struct {capn_ptr p;} cereal_LiveTracks_ptr;
-typedef struct {capn_ptr p;} cereal_Live100Data_ptr;
-typedef struct {capn_ptr p;} cereal_LiveEventData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_PathData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_LeadData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_ptr;
-typedef struct {capn_ptr p;} cereal_CalibrationFeatures_ptr;
-typedef struct {capn_ptr p;} cereal_EncodeIndex_ptr;
-typedef struct {capn_ptr p;} cereal_AndroidLogEntry_ptr;
-typedef struct {capn_ptr p;} cereal_LogRotate_ptr;
-typedef struct {capn_ptr p;} cereal_Event_ptr;
-
-typedef struct {capn_ptr p;} cereal_InitData_list;
-typedef struct {capn_ptr p;} cereal_FrameData_list;
-typedef struct {capn_ptr p;} cereal_GPSNMEAData_list;
-typedef struct {capn_ptr p;} cereal_SensorEventData_list;
-typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_list;
-typedef struct {capn_ptr p;} cereal_CanData_list;
-typedef struct {capn_ptr p;} cereal_ThermalData_list;
-typedef struct {capn_ptr p;} cereal_HealthData_list;
-typedef struct {capn_ptr p;} cereal_LiveUI_list;
-typedef struct {capn_ptr p;} cereal_Live20Data_list;
-typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_list;
-typedef struct {capn_ptr p;} cereal_LiveCalibrationData_list;
-typedef struct {capn_ptr p;} cereal_LiveTracks_list;
-typedef struct {capn_ptr p;} cereal_Live100Data_list;
-typedef struct {capn_ptr p;} cereal_LiveEventData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_PathData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_LeadData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_list;
-typedef struct {capn_ptr p;} cereal_CalibrationFeatures_list;
-typedef struct {capn_ptr p;} cereal_EncodeIndex_list;
-typedef struct {capn_ptr p;} cereal_AndroidLogEntry_list;
-typedef struct {capn_ptr p;} cereal_LogRotate_list;
-typedef struct {capn_ptr p;} cereal_Event_list;
-
-enum cereal_EncodeIndex_Type {
-	cereal_EncodeIndex_Type_bigBoxLossless = 0,
-	cereal_EncodeIndex_Type_fullHEVC = 1,
-	cereal_EncodeIndex_Type_bigBoxHEVC = 2
-};
-extern int32_t cereal_logVersion;
-
-struct cereal_InitData {
-	capn_ptr kernelArgs;
-	capn_text gctx;
-	capn_text dongleId;
-};
-
-static const size_t cereal_InitData_word_count = 0;
-
-static const size_t cereal_InitData_pointer_count = 3;
-
-static const size_t cereal_InitData_struct_bytes_count = 24;
-
-struct cereal_FrameData {
-	uint32_t frameId;
-	uint32_t encodeId;
-	uint64_t timestampEof;
-	int32_t frameLength;
-	int32_t integLines;
-	int32_t globalGain;
-	capn_data image;
-};
-
-static const size_t cereal_FrameData_word_count = 4;
-
-static const size_t cereal_FrameData_pointer_count = 1;
-
-static const size_t cereal_FrameData_struct_bytes_count = 40;
-
-struct cereal_GPSNMEAData {
-	int64_t timestamp;
-	uint64_t localWallTime;
-	capn_text nmea;
-};
-
-static const size_t cereal_GPSNMEAData_word_count = 2;
-
-static const size_t cereal_GPSNMEAData_pointer_count = 1;
-
-static const size_t cereal_GPSNMEAData_struct_bytes_count = 24;
-enum cereal_SensorEventData_which {
-	cereal_SensorEventData_acceleration = 0,
-	cereal_SensorEventData_magnetic = 1,
-	cereal_SensorEventData_orientation = 2,
-	cereal_SensorEventData_gyro = 3
-};
-
-struct cereal_SensorEventData {
-	int32_t version;
-	int32_t sensor;
-	int32_t type;
-	int64_t timestamp;
-	enum cereal_SensorEventData_which which;
-	union {
-		cereal_SensorEventData_SensorVec_ptr acceleration;
-		cereal_SensorEventData_SensorVec_ptr magnetic;
-		cereal_SensorEventData_SensorVec_ptr orientation;
-		cereal_SensorEventData_SensorVec_ptr gyro;
-	};
-};
-
-static const size_t cereal_SensorEventData_word_count = 3;
-
-static const size_t cereal_SensorEventData_pointer_count = 1;
-
-static const size_t cereal_SensorEventData_struct_bytes_count = 32;
-
-struct cereal_SensorEventData_SensorVec {
-	capn_list32 v;
-	int8_t status;
-};
-
-static const size_t cereal_SensorEventData_SensorVec_word_count = 1;
-
-static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
-
-static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
-
-struct cereal_CanData {
-	uint32_t address;
-	uint16_t busTime;
-	capn_data dat;
-	int8_t src;
-};
-
-static const size_t cereal_CanData_word_count = 1;
-
-static const size_t cereal_CanData_pointer_count = 1;
-
-static const size_t cereal_CanData_struct_bytes_count = 16;
-
-struct cereal_ThermalData {
-	uint16_t cpu0;
-	uint16_t cpu1;
-	uint16_t cpu2;
-	uint16_t cpu3;
-	uint16_t mem;
-	uint16_t gpu;
-	uint32_t bat;
-};
-
-static const size_t cereal_ThermalData_word_count = 2;
-
-static const size_t cereal_ThermalData_pointer_count = 0;
-
-static const size_t cereal_ThermalData_struct_bytes_count = 16;
-
-struct cereal_HealthData {
-	uint32_t voltage;
-	uint32_t current;
-	unsigned started : 1;
-	unsigned controlsAllowed : 1;
-	unsigned gasInterceptorDetected : 1;
-};
-
-static const size_t cereal_HealthData_word_count = 2;
-
-static const size_t cereal_HealthData_pointer_count = 0;
-
-static const size_t cereal_HealthData_struct_bytes_count = 16;
-
-struct cereal_LiveUI {
-	unsigned rearViewCam : 1;
-	capn_text alertText1;
-	capn_text alertText2;
-	float awarenessStatus;
-};
-
-static const size_t cereal_LiveUI_word_count = 1;
-
-static const size_t cereal_LiveUI_pointer_count = 2;
-
-static const size_t cereal_LiveUI_struct_bytes_count = 24;
-
-struct cereal_Live20Data {
-	capn_list64 canMonoTimes;
-	uint64_t mdMonoTime;
-	uint64_t ftMonoTime;
-	capn_list32 warpMatrix;
-	float angleOffset;
-	int8_t calStatus;
-	int32_t calCycle;
-	int8_t calPerc;
-	cereal_Live20Data_LeadData_ptr leadOne;
-	cereal_Live20Data_LeadData_ptr leadTwo;
-	float cumLagMs;
-};
-
-static const size_t cereal_Live20Data_word_count = 4;
-
-static const size_t cereal_Live20Data_pointer_count = 4;
-
-static const size_t cereal_Live20Data_struct_bytes_count = 64;
-
-struct cereal_Live20Data_LeadData {
-	float dRel;
-	float yRel;
-	float vRel;
-	float aRel;
-	float vLead;
-	float aLead;
-	float dPath;
-	float vLat;
-	float vLeadK;
-	float aLeadK;
-	unsigned fcw : 1;
-	unsigned status : 1;
-};
-
-static const size_t cereal_Live20Data_LeadData_word_count = 6;
-
-static const size_t cereal_Live20Data_LeadData_pointer_count = 0;
-
-static const size_t cereal_Live20Data_LeadData_struct_bytes_count = 48;
-
-struct cereal_LiveCalibrationData {
-	capn_list32 warpMatrix;
-	int8_t calStatus;
-	int32_t calCycle;
-	int8_t calPerc;
-};
-
-static const size_t cereal_LiveCalibrationData_word_count = 1;
-
-static const size_t cereal_LiveCalibrationData_pointer_count = 1;
-
-static const size_t cereal_LiveCalibrationData_struct_bytes_count = 16;
-
-struct cereal_LiveTracks {
-	int32_t trackId;
-	float dRel;
-	float yRel;
-	float vRel;
-	float aRel;
-	float timeStamp;
-	float status;
-	float currentTime;
-	unsigned stationary : 1;
-	unsigned oncoming : 1;
-};
-
-static const size_t cereal_LiveTracks_word_count = 5;
-
-static const size_t cereal_LiveTracks_pointer_count = 0;
-
-static const size_t cereal_LiveTracks_struct_bytes_count = 40;
-
-struct cereal_Live100Data {
-	uint64_t canMonoTime;
-	capn_list64 canMonoTimes;
-	uint64_t l20MonoTime;
-	uint64_t mdMonoTime;
-	float vEgo;
-	float aEgo;
-	float vPid;
-	float vTargetLead;
-	float upAccelCmd;
-	float uiAccelCmd;
-	float yActual;
-	float yDes;
-	float upSteer;
-	float uiSteer;
-	float aTargetMin;
-	float aTargetMax;
-	float jerkFactor;
-	float angleSteers;
-	int32_t hudLead;
-	float cumLagMs;
-	unsigned enabled : 1;
-	unsigned steerOverride : 1;
-	float vCruise;
-	unsigned rearViewCam : 1;
-	capn_text alertText1;
-	capn_text alertText2;
-	float awarenessStatus;
-};
-
-static const size_t cereal_Live100Data_word_count = 13;
-
-static const size_t cereal_Live100Data_pointer_count = 3;
-
-static const size_t cereal_Live100Data_struct_bytes_count = 128;
-
-struct cereal_LiveEventData {
-	capn_text name;
-	int32_t value;
-};
-
-static const size_t cereal_LiveEventData_word_count = 1;
-
-static const size_t cereal_LiveEventData_pointer_count = 1;
-
-static const size_t cereal_LiveEventData_struct_bytes_count = 16;
-
-struct cereal_ModelData {
-	uint32_t frameId;
-	cereal_ModelData_PathData_ptr path;
-	cereal_ModelData_PathData_ptr leftLane;
-	cereal_ModelData_PathData_ptr rightLane;
-	cereal_ModelData_LeadData_ptr lead;
-	cereal_ModelData_ModelSettings_ptr settings;
-};
-
-static const size_t cereal_ModelData_word_count = 1;
-
-static const size_t cereal_ModelData_pointer_count = 5;
-
-static const size_t cereal_ModelData_struct_bytes_count = 48;
-
-struct cereal_ModelData_PathData {
-	capn_list32 points;
-	float prob;
-	float std;
-};
-
-static const size_t cereal_ModelData_PathData_word_count = 1;
-
-static const size_t cereal_ModelData_PathData_pointer_count = 1;
-
-static const size_t cereal_ModelData_PathData_struct_bytes_count = 16;
-
-struct cereal_ModelData_LeadData {
-	float dist;
-	float prob;
-	float std;
-};
-
-static const size_t cereal_ModelData_LeadData_word_count = 2;
-
-static const size_t cereal_ModelData_LeadData_pointer_count = 0;
-
-static const size_t cereal_ModelData_LeadData_struct_bytes_count = 16;
-
-struct cereal_ModelData_ModelSettings {
-	uint16_t bigBoxX;
-	uint16_t bigBoxY;
-	uint16_t bigBoxWidth;
-	uint16_t bigBoxHeight;
-	capn_list32 boxProjection;
-	capn_list32 yuvCorrection;
-};
-
-static const size_t cereal_ModelData_ModelSettings_word_count = 1;
-
-static const size_t cereal_ModelData_ModelSettings_pointer_count = 2;
-
-static const size_t cereal_ModelData_ModelSettings_struct_bytes_count = 24;
-
-struct cereal_CalibrationFeatures {
-	uint32_t frameId;
-	capn_list32 p0;
-	capn_list32 p1;
-	capn_list8 status;
-};
-
-static const size_t cereal_CalibrationFeatures_word_count = 1;
-
-static const size_t cereal_CalibrationFeatures_pointer_count = 3;
-
-static const size_t cereal_CalibrationFeatures_struct_bytes_count = 32;
-
-struct cereal_EncodeIndex {
-	uint32_t frameId;
-	enum cereal_EncodeIndex_Type type;
-	uint32_t encodeId;
-	int32_t segmentNum;
-	uint32_t segmentId;
-};
-
-static const size_t cereal_EncodeIndex_word_count = 3;
-
-static const size_t cereal_EncodeIndex_pointer_count = 0;
-
-static const size_t cereal_EncodeIndex_struct_bytes_count = 24;
-
-struct cereal_AndroidLogEntry {
-	uint8_t id;
-	uint64_t ts;
-	uint8_t priority;
-	int32_t pid;
-	int32_t tid;
-	capn_text tag;
-	capn_text message;
-};
-
-static const size_t cereal_AndroidLogEntry_word_count = 3;
-
-static const size_t cereal_AndroidLogEntry_pointer_count = 2;
-
-static const size_t cereal_AndroidLogEntry_struct_bytes_count = 40;
-
-struct cereal_LogRotate {
-	int32_t segmentNum;
-	capn_text path;
-};
-
-static const size_t cereal_LogRotate_word_count = 1;
-
-static const size_t cereal_LogRotate_pointer_count = 1;
-
-static const size_t cereal_LogRotate_struct_bytes_count = 16;
-enum cereal_Event_which {
-	cereal_Event_initData = 0,
-	cereal_Event_frame = 1,
-	cereal_Event_gpsNMEA = 2,
-	cereal_Event_sensorEventDEPRECATED = 3,
-	cereal_Event_can = 4,
-	cereal_Event_thermal = 5,
-	cereal_Event_live100 = 6,
-	cereal_Event_liveEventDEPRECATED = 7,
-	cereal_Event_model = 8,
-	cereal_Event_features = 9,
-	cereal_Event_sensorEvents = 10,
-	cereal_Event_health = 11,
-	cereal_Event_live20 = 12,
-	cereal_Event_liveUIDEPRECATED = 13,
-	cereal_Event_encodeIdx = 14,
-	cereal_Event_liveTracks = 15,
-	cereal_Event_sendcan = 16,
-	cereal_Event_logMessage = 17,
-	cereal_Event_liveCalibration = 18,
-	cereal_Event_androidLogEntry = 19
-};
-
-struct cereal_Event {
-	uint64_t logMonoTime;
-	enum cereal_Event_which which;
-	union {
-		cereal_InitData_ptr initData;
-		cereal_FrameData_ptr frame;
-		cereal_GPSNMEAData_ptr gpsNMEA;
-		cereal_SensorEventData_ptr sensorEventDEPRECATED;
-		cereal_CanData_list can;
-		cereal_ThermalData_ptr thermal;
-		cereal_Live100Data_ptr live100;
-		cereal_LiveEventData_list liveEventDEPRECATED;
-		cereal_ModelData_ptr model;
-		cereal_CalibrationFeatures_ptr features;
-		cereal_SensorEventData_list sensorEvents;
-		cereal_HealthData_ptr health;
-		cereal_Live20Data_ptr live20;
-		cereal_LiveUI_ptr liveUIDEPRECATED;
-		cereal_EncodeIndex_ptr encodeIdx;
-		cereal_LiveTracks_list liveTracks;
-		cereal_CanData_list sendcan;
-		capn_text logMessage;
-		cereal_LiveCalibrationData_ptr liveCalibration;
-		cereal_AndroidLogEntry_ptr androidLogEntry;
-	};
-};
-
-static const size_t cereal_Event_word_count = 2;
-
-static const size_t cereal_Event_pointer_count = 1;
-
-static const size_t cereal_Event_struct_bytes_count = 24;
-
-cereal_InitData_ptr cereal_new_InitData(struct capn_segment*);
-cereal_FrameData_ptr cereal_new_FrameData(struct capn_segment*);
-cereal_GPSNMEAData_ptr cereal_new_GPSNMEAData(struct capn_segment*);
-cereal_SensorEventData_ptr cereal_new_SensorEventData(struct capn_segment*);
-cereal_SensorEventData_SensorVec_ptr cereal_new_SensorEventData_SensorVec(struct capn_segment*);
-cereal_CanData_ptr cereal_new_CanData(struct capn_segment*);
-cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment*);
-cereal_HealthData_ptr cereal_new_HealthData(struct capn_segment*);
-cereal_LiveUI_ptr cereal_new_LiveUI(struct capn_segment*);
-cereal_Live20Data_ptr cereal_new_Live20Data(struct capn_segment*);
-cereal_Live20Data_LeadData_ptr cereal_new_Live20Data_LeadData(struct capn_segment*);
-cereal_LiveCalibrationData_ptr cereal_new_LiveCalibrationData(struct capn_segment*);
-cereal_LiveTracks_ptr cereal_new_LiveTracks(struct capn_segment*);
-cereal_Live100Data_ptr cereal_new_Live100Data(struct capn_segment*);
-cereal_LiveEventData_ptr cereal_new_LiveEventData(struct capn_segment*);
-cereal_ModelData_ptr cereal_new_ModelData(struct capn_segment*);
-cereal_ModelData_PathData_ptr cereal_new_ModelData_PathData(struct capn_segment*);
-cereal_ModelData_LeadData_ptr cereal_new_ModelData_LeadData(struct capn_segment*);
-cereal_ModelData_ModelSettings_ptr cereal_new_ModelData_ModelSettings(struct capn_segment*);
-cereal_CalibrationFeatures_ptr cereal_new_CalibrationFeatures(struct capn_segment*);
-cereal_EncodeIndex_ptr cereal_new_EncodeIndex(struct capn_segment*);
-cereal_AndroidLogEntry_ptr cereal_new_AndroidLogEntry(struct capn_segment*);
-cereal_LogRotate_ptr cereal_new_LogRotate(struct capn_segment*);
-cereal_Event_ptr cereal_new_Event(struct capn_segment*);
-
-cereal_InitData_list cereal_new_InitData_list(struct capn_segment*, int len);
-cereal_FrameData_list cereal_new_FrameData_list(struct capn_segment*, int len);
-cereal_GPSNMEAData_list cereal_new_GPSNMEAData_list(struct capn_segment*, int len);
-cereal_SensorEventData_list cereal_new_SensorEventData_list(struct capn_segment*, int len);
-cereal_SensorEventData_SensorVec_list cereal_new_SensorEventData_SensorVec_list(struct capn_segment*, int len);
-cereal_CanData_list cereal_new_CanData_list(struct capn_segment*, int len);
-cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment*, int len);
-cereal_HealthData_list cereal_new_HealthData_list(struct capn_segment*, int len);
-cereal_LiveUI_list cereal_new_LiveUI_list(struct capn_segment*, int len);
-cereal_Live20Data_list cereal_new_Live20Data_list(struct capn_segment*, int len);
-cereal_Live20Data_LeadData_list cereal_new_Live20Data_LeadData_list(struct capn_segment*, int len);
-cereal_LiveCalibrationData_list cereal_new_LiveCalibrationData_list(struct capn_segment*, int len);
-cereal_LiveTracks_list cereal_new_LiveTracks_list(struct capn_segment*, int len);
-cereal_Live100Data_list cereal_new_Live100Data_list(struct capn_segment*, int len);
-cereal_LiveEventData_list cereal_new_LiveEventData_list(struct capn_segment*, int len);
-cereal_ModelData_list cereal_new_ModelData_list(struct capn_segment*, int len);
-cereal_ModelData_PathData_list cereal_new_ModelData_PathData_list(struct capn_segment*, int len);
-cereal_ModelData_LeadData_list cereal_new_ModelData_LeadData_list(struct capn_segment*, int len);
-cereal_ModelData_ModelSettings_list cereal_new_ModelData_ModelSettings_list(struct capn_segment*, int len);
-cereal_CalibrationFeatures_list cereal_new_CalibrationFeatures_list(struct capn_segment*, int len);
-cereal_EncodeIndex_list cereal_new_EncodeIndex_list(struct capn_segment*, int len);
-cereal_AndroidLogEntry_list cereal_new_AndroidLogEntry_list(struct capn_segment*, int len);
-cereal_LogRotate_list cereal_new_LogRotate_list(struct capn_segment*, int len);
-cereal_Event_list cereal_new_Event_list(struct capn_segment*, int len);
-
-void cereal_read_InitData(struct cereal_InitData*, cereal_InitData_ptr);
-void cereal_read_FrameData(struct cereal_FrameData*, cereal_FrameData_ptr);
-void cereal_read_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
-void cereal_read_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
-void cereal_read_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
-void cereal_read_CanData(struct cereal_CanData*, cereal_CanData_ptr);
-void cereal_read_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_ptr);
-void cereal_read_HealthData(struct cereal_HealthData*, cereal_HealthData_ptr);
-void cereal_read_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_ptr);
-void cereal_read_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_ptr);
-void cereal_read_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
-void cereal_read_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
-void cereal_read_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
-void cereal_read_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_ptr);
-void cereal_read_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
-void cereal_read_ModelData(struct cereal_ModelData*, cereal_ModelData_ptr);
-void cereal_read_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
-void cereal_read_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
-void cereal_read_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
-void cereal_read_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
-void cereal_read_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
-void cereal_read_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
-void cereal_read_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_ptr);
-void cereal_read_Event(struct cereal_Event*, cereal_Event_ptr);
-
-void cereal_write_InitData(const struct cereal_InitData*, cereal_InitData_ptr);
-void cereal_write_FrameData(const struct cereal_FrameData*, cereal_FrameData_ptr);
-void cereal_write_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
-void cereal_write_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
-void cereal_write_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
-void cereal_write_CanData(const struct cereal_CanData*, cereal_CanData_ptr);
-void cereal_write_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_ptr);
-void cereal_write_HealthData(const struct cereal_HealthData*, cereal_HealthData_ptr);
-void cereal_write_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_ptr);
-void cereal_write_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_ptr);
-void cereal_write_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
-void cereal_write_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
-void cereal_write_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
-void cereal_write_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_ptr);
-void cereal_write_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
-void cereal_write_ModelData(const struct cereal_ModelData*, cereal_ModelData_ptr);
-void cereal_write_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
-void cereal_write_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
-void cereal_write_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
-void cereal_write_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
-void cereal_write_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
-void cereal_write_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
-void cereal_write_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_ptr);
-void cereal_write_Event(const struct cereal_Event*, cereal_Event_ptr);
-
-void cereal_get_InitData(struct cereal_InitData*, cereal_InitData_list, int i);
-void cereal_get_FrameData(struct cereal_FrameData*, cereal_FrameData_list, int i);
-void cereal_get_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
-void cereal_get_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
-void cereal_get_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
-void cereal_get_CanData(struct cereal_CanData*, cereal_CanData_list, int i);
-void cereal_get_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_list, int i);
-void cereal_get_HealthData(struct cereal_HealthData*, cereal_HealthData_list, int i);
-void cereal_get_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_list, int i);
-void cereal_get_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_list, int i);
-void cereal_get_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
-void cereal_get_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
-void cereal_get_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
-void cereal_get_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_list, int i);
-void cereal_get_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
-void cereal_get_ModelData(struct cereal_ModelData*, cereal_ModelData_list, int i);
-void cereal_get_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
-void cereal_get_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
-void cereal_get_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
-void cereal_get_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
-void cereal_get_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
-void cereal_get_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
-void cereal_get_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_list, int i);
-void cereal_get_Event(struct cereal_Event*, cereal_Event_list, int i);
-
-void cereal_set_InitData(const struct cereal_InitData*, cereal_InitData_list, int i);
-void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list, int i);
-void cereal_set_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
-void cereal_set_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
-void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
-void cereal_set_CanData(const struct cereal_CanData*, cereal_CanData_list, int i);
-void cereal_set_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_list, int i);
-void cereal_set_HealthData(const struct cereal_HealthData*, cereal_HealthData_list, int i);
-void cereal_set_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_list, int i);
-void cereal_set_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_list, int i);
-void cereal_set_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
-void cereal_set_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
-void cereal_set_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
-void cereal_set_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_list, int i);
-void cereal_set_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
-void cereal_set_ModelData(const struct cereal_ModelData*, cereal_ModelData_list, int i);
-void cereal_set_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
-void cereal_set_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
-void cereal_set_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
-void cereal_set_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
-void cereal_set_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
-void cereal_set_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
-void cereal_set_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_list, int i);
-void cereal_set_Event(const struct cereal_Event*, cereal_Event_list, int i);
-
-#ifdef __cplusplus
-}
-#endif
-#endif

cereal/java.capnp

@@ -0,0 +1,28 @@
+# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
+# Licensed under the MIT License:
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+@0xc5f1af96651f70ea;
+
+annotation package @0x9ee4c8f803b3b596 (file) : Text;
+# Name of the package, such as "org.example.foo", in which the generated code will reside.
+
+annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
+# Name of the outer class that will wrap the generated code.

cereal/log.capnp

@@ -1,14 +1,100 @@
 using Cxx = import "c++.capnp";
 $Cxx.namespace("cereal");
 
+using Java = import "java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Log");
+
+using Car = import "car.capnp";
+
 @0xf3b1f17e25a4285b;
 
 const logVersion :Int32 = 1;
 
+struct Map(Key, Value) {
+  entries @0 :List(Entry);
+  struct Entry {
+    key @0 :Key;
+    value @1 :Value;
+  }
+}
+
 struct InitData {
   kernelArgs @0 :List(Text);
   gctx @1 :Text;
   dongleId @2 :Text;
+
+  deviceType @3 :DeviceType;
+  version @4 :Text;
+
+  androidBuildInfo @5 :AndroidBuildInfo;
+  androidSensors @6 :List(AndroidSensor);
+  chffrAndroidExtra @7 :ChffrAndroidExtra;
+
+  pandaInfo @8 :PandaInfo;
+
+  dirty @9 :Bool;
+
+  enum DeviceType {
+    unknown @0;
+    neo @1;
+    chffrAndroid @2;
+  }
+
+  struct AndroidBuildInfo {
+    board @0 :Text;
+    bootloader @1 :Text;
+    brand @2 :Text;
+    device @3 :Text;
+    display @4 :Text;
+    fingerprint @5 :Text;
+    hardware @6 :Text;
+    host @7 :Text;
+    id @8 :Text;
+    manufacturer @9 :Text;
+    model @10 :Text;
+    product @11 :Text;
+    radioVersion @12 :Text;
+    serial @13 :Text;
+    supportedAbis @14 :List(Text);
+    tags @15 :Text;
+    time @16 :Int64;
+    type @17 :Text;
+    user @18 :Text;
+
+    versionCodename @19 :Text;
+    versionRelease @20 :Text;
+    versionSdk @21 :Int32;
+    versionSecurityPatch @22 :Text;
+  }
+
+  struct AndroidSensor {
+    id @0 :Int32;
+    name @1 :Text;
+    vendor @2 :Text;
+    version @3 :Int32;
+    handle @4 :Int32;
+    type @5 :Int32;
+    maxRange @6 :Float32;
+    resolution @7 :Float32;
+    power @8 :Float32;
+    minDelay @9 :Int32;
+    fifoReservedEventCount @10 :UInt32;
+    fifoMaxEventCount @11 :UInt32;
+    stringType @12 :Text;
+    maxDelay @13 :Int32;
+  }
+
+  struct ChffrAndroidExtra {
+    allCameraCharacteristics @0 :Map(Text, Text);
+  }
+
+  struct PandaInfo {
+    hasPanda @0: Bool;
+    dongleId @1: Text;
+    stVersion @2: Text;
+    espVersion @3: Text;
+  }
 }
 
 struct FrameData {
@@ -19,6 +105,27 @@ struct FrameData {
   integLines @4 :Int32;
   globalGain @5 :Int32;
   image @6 :Data;
+
+  frameType @7 :FrameType;
+  timestampSof @8 :UInt64;
+
+  androidCaptureResult @9 :AndroidCaptureResult;
+  
+  enum FrameType {
+    unknown @0;
+    neo @1;
+    chffrAndroid @2;
+  }
+
+  struct AndroidCaptureResult {
+    sensitivity @0 :Int32;
+    frameDuration @1 :Int64;
+    exposureTime @2 :Int64;
+    rollingShutterSkew @3 :UInt64;
+    colorCorrectionTransform @4 :List(Int32);
+    colorCorrectionGains @5 :List(Float32);
+    displayRotation @6 :Int8;
+  }
 }
 
 struct GPSNMEAData {
@@ -38,12 +145,60 @@ struct SensorEventData {
     magnetic @5 :SensorVec;
     orientation @6 :SensorVec;
     gyro @7 :SensorVec;
+    pressure @9 :SensorVec;
   }
+  source @8 :SensorSource;
 
   struct SensorVec {
     v @0 :List(Float32);
     status @1 :Int8;
   }
+
+  enum SensorSource {
+    android @0;
+    iOS @1;
+    fiber @2;
+    velodyne @3;  # Velodyne IMU
+  }
+}
+
+# android struct GpsLocation
+struct GpsLocationData {
+  # Contains GpsLocationFlags bits.
+  flags @0 :UInt16;
+
+  # Represents latitude in degrees.
+  latitude @1 :Float64;
+
+  # Represents longitude in degrees.
+  longitude @2 :Float64;
+
+  # Represents altitude in meters above the WGS 84 reference ellipsoid.
+  altitude @3 :Float64;
+
+  # Represents speed in meters per second.
+  speed @4 :Float32;
+
+  # Represents heading in degrees.
+  bearing @5 :Float32;
+
+  # Represents expected accuracy in meters.
+  accuracy @6 :Float32;
+
+  # Timestamp for the location fix.
+  # Milliseconds since January 1, 1970.
+  timestamp @7 :Int64;
+
+  source @8 :SensorSource;
+
+  enum SensorSource {
+    android @0;
+    iOS @1;
+    car @2;
+    velodyne @3;  # Velodyne IMU
+    fusion @4;
+    external @5;
+  }
 }
 
 struct CanData {
@@ -61,6 +216,11 @@ struct ThermalData {
   mem @4 :UInt16;
   gpu @5 :UInt16;
   bat @6 :UInt32;
+
+  # not thermal
+  freeSpace @7 :Float32;
+  batteryPercent @8 :Int16;
+  batteryStatus @9: Text;
 }
 
 struct HealthData {
@@ -70,6 +230,7 @@ struct HealthData {
   started @2 :Bool;
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
+  startedSignalDetected @5 :Bool;
 }
 
 struct LiveUI {
@@ -116,6 +277,9 @@ struct LiveCalibrationData {
   calStatus @1 :Int8;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
+
+  # Maps car space to normalized image space.
+  extrinsicMatrix @4 :List(Float32);
 }
 
 struct LiveTracks {
@@ -134,8 +298,8 @@ struct LiveTracks {
 struct Live100Data {
   canMonoTime @16 :UInt64;
   canMonoTimes @21 :List(UInt64);
-  l20MonoTime @17 :UInt64;
-  mdMonoTime @18 :UInt64;
+  l20MonoTimeDEPRECATED @17 :UInt64;
+  mdMonoTimeDEPRECATED @18 :UInt64;
 
   vEgo @0 :Float32;
   aEgoDEPRECATED @1 :Float32;
@@ -150,7 +314,7 @@ struct Live100Data {
   aTargetMin @10 :Float32;
   aTargetMax @11 :Float32;
   jerkFactor @12 :Float32;
-  angleSteers @13 :Float32;
+  angleSteers @13 :Float32;  # Steering angle in degrees.
   hudLeadDEPRECATED @14 :Int32;
   cumLagMs @15 :Float32;
 
@@ -163,6 +327,8 @@ struct Live100Data {
   alertText1 @24 :Text; 
   alertText2 @25 :Text; 
   awarenessStatus @26 :Float32;
+
+  angleOffset @27 :Float32;
 }
 
 struct LiveEventData {
@@ -218,13 +384,16 @@ struct EncodeIndex {
   encodeId @2 :UInt32;
   # minute long segment this frame is in
   segmentNum @3 :Int32;
-  # index into camera file in segment from 0
+  # index into camera file in segment in presentation order
   segmentId @4 :UInt32;
+  # index into camera file in segment in encode order
+  segmentIdEncode @5 :UInt32;
 
   enum Type {
     bigBoxLossless @0;   # rcamera.mkv
     fullHEVC @1;         # fcamera.hevc
     bigBoxHEVC @2;       # bcamera.hevc
+    chffrAndroidH264 @3; # camera
   }
 }
 
@@ -243,8 +412,505 @@ struct LogRotate {
   path @1 :Text;
 }
 
+struct Plan {
+  # lateral, 3rd order polynomial
+  lateralValid @0: Bool;
+  dPoly @1 :List(Float32);
+
+  # longitudinal
+  longitudinalValid @2: Bool;
+  vTarget @3 :Float32;
+  aTargetMin @4 :Float32;
+  aTargetMax @5 :Float32;
+  jerkFactor @6 :Float32;
+  hasLead @7 :Bool;
+}
+
+struct LiveLocationData {
+  status @0: UInt8;
+
+  # 3D fix 
+  lat @1: Float64;
+  lon @2: Float64;
+  alt @3: Float32;     # m
+
+  # speed
+  speed @4: Float32;   # m/s
+
+  # NED velocity components
+  vNED @5: List(Float32);
+
+  # roll, pitch, heading (x,y,z)
+  roll @6: Float32;     # WRT to center of earth?
+  pitch @7: Float32;    # WRT to center of earth?
+  heading @8: Float32;  # WRT to north?
+
+  # what are these?
+  wanderAngle @9: Float32;
+  trackAngle @10: Float32;
+
+  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
+
+  # gyro, in car frame, deg/s
+  gyro @11: List(Float32);
+
+  # accel, in car frame, m/s^2
+  accel @12: List(Float32);
+
+  accuracy @13: Accuracy;
+
+  struct Accuracy {
+    pNEDError @0: List(Float32);
+    vNEDError @1: List(Float32);
+    rollError @2: Float32;
+    pitchError @3: Float32;
+    headingError @4: Float32;
+    ellipsoidSemiMajorError @5: Float32;
+    ellipsoidSemiMinorError @6: Float32;
+    ellipsoidOrientationError @7: Float32;
+  }
+}
+
+struct EthernetPacket {
+  pkt @0 :Data;
+  ts @1: Float32;
+}
+
+struct NavUpdate {
+  isNavigating @0 :Bool;
+  curSegment @1 :Int32;
+  segments @2 :List(Segment);
+
+  struct LatLng {
+    lat @0 :Float64;
+    lng @1 :Float64;
+  }
+
+  struct Segment {
+    from @0 :LatLng;
+    to @1 :LatLng;
+    updateTime @2 :Int32;
+    distance @3 :Int32;
+    crossTime @4 :Int32;
+    exitNo @5 :Int32;
+    instruction @6 :Instruction;
+
+    parts @7 :List(LatLng);
+
+    enum Instruction {
+      turnLeft @0;
+      turnRight @1;
+      keepLeft @2;
+      keepRight @3;
+      straight @4;
+      roundaboutExitNumber @5;
+      roundaboutExit @6;
+      roundaboutTurnLeft @7;
+      unkn8 @8;
+      roundaboutStraight @9;
+      unkn10 @10;
+      roundaboutTurnRight @11;
+      unkn12 @12;
+      roundaboutUturn @13;
+      unkn14 @14;
+      arrive @15;
+      exitLeft @16;
+      exitRight @17;
+      unkn18 @18;
+      uturn @19;
+      # ...
+    }
+  }
+}
+
+struct CellInfo {
+  timestamp @0 :UInt64;
+  repr @1 :Text; # android toString() for now
+}
+
+struct WifiScan {
+  bssid @0 :Text;
+  ssid @1 :Text;
+  capabilities @2 :Text;
+  frequency @3 :Int32;
+  level @4 :Int32;
+  timestamp @5 :Int64;
+
+  centerFreq0 @6 :Int32;
+  centerFreq1 @7 :Int32;
+  channelWidth @8 :ChannelWidth;
+  operatorFriendlyName @9 :Text;
+  venueName @10 :Text;
+  is80211mcResponder @11 :Bool;
+  passpoint @12 :Bool;
+
+  distanceCm @13 :Int32;
+  distanceSdCm @14 :Int32;
+
+  enum ChannelWidth {
+    w20Mhz @0;
+    w40Mhz @1;
+    w80Mhz @2;
+    w160Mhz @3;
+    w80Plus80Mhz @4;
+  }
+}
+
+struct AndroidGnss {
+  union {
+    measurements @0 :Measurements;
+    navigationMessage @1 :NavigationMessage;
+  }
+
+  struct Measurements {
+    clock @0 :Clock;
+    measurements @1 :List(Measurement);
+
+    struct Clock {
+      timeNanos @0 :Int64;
+      hardwareClockDiscontinuityCount @1 :Int32;
+
+      hasTimeUncertaintyNanos @2 :Bool;
+      timeUncertaintyNanos @3 :Float64;
+
+      hasLeapSecond @4 :Bool;
+      leapSecond @5 :Int32;
+      
+      hasFullBiasNanos @6 :Bool;
+      fullBiasNanos @7 :Int64;
+
+      hasBiasNanos @8 :Bool;
+      biasNanos @9 :Float64;
+
+      hasBiasUncertaintyNanos @10 :Bool;
+      biasUncertaintyNanos @11 :Float64;
+      
+      hasDriftNanosPerSecond @12 :Bool;
+      driftNanosPerSecond @13 :Float64;
+      
+      hasDriftUncertaintyNanosPerSecond @14 :Bool;
+      driftUncertaintyNanosPerSecond @15 :Float64;
+    }
+
+    struct Measurement {
+      svId @0 :Int32;
+      constellation @1 :Constellation;
+
+      timeOffsetNanos @2 :Float64;
+      state @3 :Int32;
+      receivedSvTimeNanos @4 :Int64;
+      receivedSvTimeUncertaintyNanos @5 :Int64;
+      cn0DbHz @6 :Float64;
+      pseudorangeRateMetersPerSecond @7 :Float64;
+      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
+      accumulatedDeltaRangeState @9 :Int32;
+      accumulatedDeltaRangeMeters @10 :Float64;
+      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
+      
+      hasCarrierFrequencyHz @12 :Bool;
+      carrierFrequencyHz @13 :Float32;
+      hasCarrierCycles @14 :Bool;
+      carrierCycles @15 :Int64;
+      hasCarrierPhase @16 :Bool;
+      carrierPhase @17 :Float64;
+      hasCarrierPhaseUncertainty @18 :Bool;
+      carrierPhaseUncertainty @19 :Float64;
+      hasSnrInDb @20 :Bool;
+      snrInDb @21 :Float64;
+
+      multipathIndicator @22 :MultipathIndicator;
+
+      enum Constellation {
+        unknown @0;
+        gps @1;
+        sbas @2;
+        glonass @3;
+        qzss @4;
+        beidou @5;
+        galileo @6;
+      }
+
+      enum State {
+        unknown @0;
+        codeLock @1;
+        bitSync @2;
+        subframeSync @3;
+        towDecoded @4;
+        msecAmbiguous @5;
+        symbolSync @6;
+        gloStringSync @7;
+        gloTodDecoded @8;
+        bdsD2BitSync @9;
+        bdsD2SubframeSync @10;
+        galE1bcCodeLock @11;
+        galE1c2ndCodeLock @12;
+        galE1bPageSync @13;
+        sbasSync @14;
+      }
+
+      enum MultipathIndicator {
+        unknown @0;
+        detected @1;
+        notDetected @2;
+      }
+    }
+  }
+
+  struct NavigationMessage {
+    type @0 :Int32;
+    svId @1 :Int32;
+    messageId @2 :Int32;
+    submessageId @3 :Int32;
+    data @4 :Data;
+    status @5 :Status;
+
+    enum Status {
+      unknown @0;
+      parityPassed @1;
+      parityRebuilt @2;
+    }
+  }
+}
+
+struct QcomGnss {
+  logTs @0 :UInt64;
+  union {
+    measurementReport @1 :MeasurementReport;
+    clockReport @2 :ClockReport;
+  }
+
+  struct MeasurementReport {
+    source @0 :Source;
+
+    fCount @1 :UInt32;
+
+    gpsWeek @2 :UInt16;
+    glonassCycleNumber @3 :UInt8;
+    glonassNumberOfDays @4 :UInt16;
+
+    milliseconds @5 :UInt32;
+    timeBias @6 :Float32;
+    clockTimeUncertainty @7 :Float32;
+    clockFrequencyBias @8 :Float32;
+    clockFrequencyUncertainty @9 :Float32;
+
+    sv @10 :List(SV);
+
+    enum Source {
+      gps @0;
+      glonass @1;
+    }
+
+    struct SV {
+      svId @0 :UInt8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      gpsParityErrorCount @5 :UInt16;
+      glonassFrequencyIndex @1 :Int8;
+      glonassHemmingErrorCount @6 :UInt8;
+      filterStages @7 :UInt8;
+      carrierNoise @8 :UInt16;
+      latency @9 :Int16;
+      predetectIntegration @10 :UInt8;
+      postdetections @11 :UInt16;
+
+      unfilteredMeasurementIntegral @12 :UInt32;
+      unfilteredMeasurementFraction @13 :Float32;
+      unfilteredTimeUncertainty @14 :Float32;
+      unfilteredSpeed @15 :Float32;
+      unfilteredSpeedUncertainty @16 :Float32;
+      measurementStatus @17 :MeasurementStatus;
+      multipathEstimate @18 :UInt32;
+      azimuth @19 :Float32;
+      elevation @20 :Float32;
+      carrierPhaseCyclesIntegral @21 :Int32;
+      carrierPhaseCyclesFraction @22 :UInt16;
+      fineSpeed @23 :Float32;
+      fineSpeedUncertainty @24 :Float32;
+      cycleSlipCount @25 :UInt8;
+
+      struct MeasurementStatus {
+        subMillisecondIsValid @0 :Bool;
+        subBitTimeIsKnown @1 :Bool;
+        satelliteTimeIsKnown @2 :Bool;
+        bitEdgeConfirmedFromSignal @3 :Bool;
+        measuredVelocity @4 :Bool;
+        fineOrCoarseVelocity @5 :Bool;
+        lockPointValid @6 :Bool;
+        lockPointPositive @7 :Bool;
+        lastUpdateFromDifference @8 :Bool;
+        lastUpdateFromVelocityDifference @9 :Bool;
+        strongIndicationOfCrossCorelation @10 :Bool;
+        tentativeMeasurement @11 :Bool;
+        measurementNotUsable @12 :Bool;
+        sirCheckIsNeeded @13 :Bool;
+        probationMode @14 :Bool;
+        
+        glonassMeanderBitEdgeValid @15 :Bool;
+        glonassTimeMarkValid @16 :Bool;
+        
+        gpsRoundRobinRxDiversity @17 :Bool;
+        gpsRxDiversity @18 :Bool;
+        gpsLowBandwidthRxDiversityCombined @19 :Bool;
+        gpsHighBandwidthNu4 @20 :Bool;
+        gpsHighBandwidthNu8 @21 :Bool;
+        gpsHighBandwidthUniform @22 :Bool;
+        gpsMultipathIndicator @23 :Bool;
+        
+        imdJammingIndicator @24 :Bool;
+        lteB13TxJammingIndicator @25 :Bool;
+        freshMeasurementIndicator @26 :Bool;
+
+        multipathEstimateIsValid @27 :Bool;
+        directionIsValid @28 :Bool;
+      }
+
+      enum SVObservationState {
+        idle @0;
+        search @1;
+        searchVerify @2;
+        bitEdge @3;
+        trackVerify @4;
+        track @5;
+        restart @6;
+        dpo @7;
+        glo10msBe @8;
+        glo10msAt @9;
+      }
+    }
+
+  }
+
+  struct ClockReport {
+    hasFCount @0 :Bool;
+    fCount @1 :UInt32;
+
+    hasGpsWeekNumber @2 :Bool;
+    gpsWeekNumber @3 :UInt16;
+    hasGpsMilliseconds @4 :Bool;
+    gpsMilliseconds @5 :UInt32;
+    gpsTimeBias @6 :Float32;
+    gpsClockTimeUncertainty @7 :Float32;
+    gpsClockSource @8 :UInt8;
+
+    hasGlonassYear @9 :Bool;
+    glonassYear @10 :UInt8;
+    hasGlonassDay @11 :Bool;
+    glonassDay @12 :UInt16;
+    hasGlonassMilliseconds @13 :Bool;
+    glonassMilliseconds @14 :UInt32;
+    glonassTimeBias @15 :Float32;
+    glonassClockTimeUncertainty @16 :Float32;
+    glonassClockSource @17 :UInt8;
+
+    bdsWeek @18 :UInt16;
+    bdsMilliseconds @19 :UInt32;
+    bdsTimeBias @20 :Float32;
+    bdsClockTimeUncertainty @21 :Float32;
+    bdsClockSource @22 :UInt8;
+
+    galWeek @23 :UInt16;
+    galMilliseconds @24 :UInt32;
+    galTimeBias @25 :Float32;
+    galClockTimeUncertainty @26 :Float32;
+    galClockSource @27 :UInt8;
+
+    clockFrequencyBias @28 :Float32;
+    clockFrequencyUncertainty @29 :Float32;
+    frequencySource @30 :UInt8;
+    gpsLeapSeconds @31 :UInt8;
+    gpsLeapSecondsUncertainty @32 :UInt8;
+    gpsLeapSecondsSource @33 :UInt8;
+
+    gpsToGlonassTimeBiasMilliseconds @34 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
+    gpsToBdsTimeBiasMilliseconds @36 :Float32;
+    gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
+    bdsToGloTimeBiasMilliseconds @38 :Float32;
+    bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
+    gpsToGalTimeBiasMilliseconds @40 :Float32;
+    gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
+    galToGloTimeBiasMilliseconds @42 :Float32;
+    galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
+    galToBdsTimeBiasMilliseconds @44 :Float32;
+    galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
+
+    hasRtcTime @46 :Bool;
+    systemRtcTime @47 :UInt32;
+    fCountOffset @48 :UInt32;
+    lpmRtcCount @49 :UInt32;
+    clockResets @50 :UInt32;
+  }
+}
+
+struct LidarPts {
+  r @0 :List(UInt16);        # uint16   m*500.0
+  theta @1 :List(UInt16);    # uint16 deg*100.0
+  reflect @2 :List(UInt8);   # uint8      0-255
+
+  # For storing out of file.
+  idx @3 :UInt64;
+
+  # For storing in file
+  pkt @4 :Data;
+}
+
+struct ProcLog {
+  cpuTimes @0 :List(CPUTimes);
+  mem @1 :Mem;
+  procs @2 :List(Process);
+
+  struct Process {
+    pid @0 :Int32;
+    name @1 :Text;
+    state @2 :UInt8;
+    ppid @3 :Int32;
+
+    cpuUser @4 :Float32;
+    cpuSystem @5 :Float32;
+    cpuChildrenUser @6 :Float32;
+    cpuChildrenSystem @7 :Float32;
+    priority @8 :Int64;
+    nice @9 :Int32;
+    numThreads @10 :Int32;
+    startTime @11 :Float64;
+
+    memVms @12 :UInt64;
+    memRss @13 :UInt64;
+
+    processor @14 :Int32;
+
+    cmdline @15 :List(Text);
+    exe @16 :Text;
+  }
+
+  struct CPUTimes {
+    cpuNum @0 :Int64;
+    user @1 :Float32;
+    nice @2 :Float32;
+    system @3 :Float32;
+    idle @4 :Float32;
+    iowait @5 :Float32;
+    irq @6 :Float32;
+    softirq @7 :Float32;
+  }
+
+  struct Mem {
+    total @0 :UInt64;
+    free @1 :UInt64;
+    available @2 :UInt64;
+    buffers @3 :UInt64;
+    cached @4 :UInt64;
+    active @5 :UInt64;
+    inactive @6 :UInt64;
+    shared @7 :UInt64;
+  }
+
+}
 
 struct Event {
+  # in nanoseconds?
   logMonoTime @0 :UInt64;
 
   union {
@@ -268,5 +934,18 @@ struct Event {
     logMessage @18 :Text;
     liveCalibration @19 :LiveCalibrationData;
     androidLogEntry @20 :AndroidLogEntry;
+    gpsLocation @21 :GpsLocationData;
+    carState @22 :Car.CarState;
+    carControl @23 :Car.CarControl;
+    plan @24 :Plan;
+    liveLocation @25 :LiveLocationData;
+    ethernetData @26 :List(EthernetPacket);
+    navUpdate @27 :NavUpdate;
+    cellInfo @28 :List(CellInfo);
+    wifiScan @29 :List(WifiScan);
+    androidGnss @30 :AndroidGnss;
+    qcomGnss @31 :QcomGnss;
+    lidarPts @32 :LidarPts;
+    procLog @33 :ProcLog;
   }
 }

common/api/__init__.py

@@ -1,8 +1,15 @@
 import requests
 
-def api_get(endpoint, method='GET', timeout=None, **params):
+from selfdrive.version import version
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   backend = "https://api.commadotai.com/"
 
-  params['_version'] = "OPENPILOTv0.2"
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT "+access_token
+
+  headers['User-Agent'] = "openpilot-" + version
+
+  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
 
-  return requests.request(method, backend+endpoint, timeout=timeout, params=params)

common/crash.py

@@ -7,6 +7,8 @@ if os.getenv("NOLOG"):
     pass
   def bind_user(**kwargs):
     pass
+  def bind_extra(**kwargs):
+    pass
   def install():
     pass
 else:
@@ -21,6 +23,9 @@ else:
   def bind_user(**kwargs):
     client.user_context(kwargs)
 
+  def bind_extra(**kwargs):
+    client.extra_context(kwargs)
+
   def install():
     # installs a sys.excepthook
     __excepthook__ = sys.excepthook

common/dbc.py

@@ -1,6 +1,6 @@
 import re
 import bitstring
-from binascii import hexlify
+import struct
 from collections import namedtuple
 
 def int_or_float(s):
@@ -16,7 +16,8 @@ DBCSignal = namedtuple(
 
 class dbc(object):
   def __init__(self, fn):
-    self.txt = open(fn).read().split("\n")
+    with open(fn) as f:
+      self.txt = f.read().split("\n")
     self._warned_addresses = set()
 
     # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
@@ -35,6 +36,7 @@ class dbc(object):
     for i in range(0, 64, 8):
       for j in range(7, -1, -1):
         self.bits.append(i+j)
+    self.bits_index = dict(zip(self.bits, range(64)))
 
     for l in self.txt:
       l = l.strip()
@@ -101,7 +103,7 @@ class dbc(object):
         if s.is_little_endian:
           ss = s.start_bit
         else:
-          ss = self.bits.index(s.start_bit)
+          ss = self.bits_index[s.start_bit]
 
 
         if s.is_signed:
@@ -133,6 +135,7 @@ class dbc(object):
 
         Returns (None, None) if the message could not be decoded.
     """
+    
     if arr is None:
       out = {}
     else:
@@ -150,7 +153,9 @@ class dbc(object):
       print name
 
     blen = 8*len(x[2])
-    x2_int = int(hexlify(x[2]), 16)
+
+    st = x[2].rjust(8, '\x00')
+    le, be = None, None
 
     for s in msg[1]:
       if arr is not None and s[0] not in arr:
@@ -159,11 +164,18 @@ class dbc(object):
       # big or little endian?
       #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
       if s[3] is False:
-        ss = self.bits.index(s[1])
+        ss = self.bits_index[s[1]]
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        x2_int = be
+        data_bit_pos = (blen - (ss + s[2]))
       else:
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        x2_int = le
         ss = s[1]
+        data_bit_pos = ss
 
-      data_bit_pos = (blen - (ss + s[2]))
       if data_bit_pos < 0:
         continue
       ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
@@ -172,12 +184,13 @@ class dbc(object):
         ival -= (1<<s[2])
 
       # control the offset
-      ival = (ival + s[6])*s[5]
-      if debug:
-        print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
+      ival = (ival * s[5]) + s[6]
+      #if debug:
+      #  print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
 
       if arr is None:
         out[s[0]] = ival
       else:
         out[arr.index(s[0])] = ival
     return name, out
+    

common/filters.py

@@ -1,17 +0,0 @@
-"""Classes for filtering discrete time signals."""
-import numpy as np
-
-
-class FirstOrderLowpassFilter(object):
-  def __init__(self, fc, dt, x1=0):
-    self.kf = 2 * np.pi * fc * dt / (1 + 2 * np.pi * fc * dt)
-    self.x1 = x1
-
-  def __call__(self, x):
-    self.x1 = (1 - self.kf) * self.x1 + self.kf * x
-
-    # If previous or current is NaN, reset filter.
-    if np.isnan(self.x1):
-      self.x1 = x
-
-    return self.x1

common/fingerprints.py

@@ -0,0 +1,134 @@
+
+_FINGERPRINTS = {
+  "ACURA ILX 2016 ACURAWATCH PLUS": {
+    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
+    # sent messages
+    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
+  },
+  "HONDA CIVIC 2016 TOURING": {
+    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
+    # sent messages
+    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
+  },
+  "HONDA ACCORD 2016 TOURING": {
+    1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
+  },
+  "HONDA CR-V 2016 TOURING": {
+    57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
+    # sent messages
+    0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
+  }
+}
+
+def eliminate_incompatible_cars(msg, candidate_cars):
+  """Removes cars that could not have sent msg.
+
+     Inputs:
+      msg: A cereal/log CanData message from the car.
+      candidate_cars: A list of cars to consider.
+
+     Returns:
+      A list containing the subset of candidate_cars that could have sent msg.
+  """
+  compatible_cars = []
+  for car_name in candidate_cars:
+    adr = msg.address
+    if msg.src != 0 or (adr in _FINGERPRINTS[car_name] and
+                        _FINGERPRINTS[car_name][adr] == len(msg.dat)):
+      compatible_cars.append(car_name)
+    else:
+      pass
+      #isin = adr in _FINGERPRINTS[car_name]
+      #print "eliminate", car_name, hex(adr), isin, len(msg.dat), msg.dat.encode("hex")
+  return compatible_cars
+
+def all_known_cars():
+  """Returns a list of all known car strings."""
+  return _FINGERPRINTS.keys()
+
+# **** for use live only ****
+def fingerprint(logcan):
+  import selfdrive.messaging as messaging
+  from cereal import car
+  from common.realtime import sec_since_boot
+  import os
+  if os.getenv("SIMULATOR") is not None or logcan is None:
+    # send message
+    ret = car.CarParams.new_message()
+
+    ret.carName = "simulator"
+    ret.radarName = "nidec"
+    ret.carFingerprint = "THE LOW QUALITY SIMULATOR"
+
+    ret.enableSteer = True
+    ret.enableBrake = True
+    ret.enableGas = True
+    ret.enableCruise = False
+
+    ret.wheelBase = 2.67
+    ret.steerRatio = 15.3
+    ret.slipFactor = 0.0014
+
+    ret.steerKp, ret.steerKi = 12.0, 1.0
+    return ret
+
+  print "waiting for fingerprint..."
+  brake_only = True
+
+  candidate_cars = all_known_cars()
+  finger = {}
+  st = None
+  while 1:
+    for a in messaging.drain_sock(logcan, wait_for_one=True):
+      if st is None:
+        st = sec_since_boot()
+      for can in a.can:
+        # pedal
+        if can.address == 0x201 and can.src == 0:
+          brake_only = False
+        if can.src == 0:
+          finger[can.address] = len(can.dat)
+        candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
+
+    # if we only have one car choice and it's been 100ms since we got our first message, exit
+    if len(candidate_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
+      break
+    elif len(candidate_cars) == 0:
+      print map(hex, finger.keys())
+      raise Exception("car doesn't match any fingerprints")
+
+  print "fingerprinted", candidate_cars[0]
+
+  # send message
+  ret = car.CarParams.new_message()
+
+  ret.carName = "honda"
+  ret.radarName = "nidec"
+  ret.carFingerprint = candidate_cars[0]
+
+  ret.enableSteer = True
+  ret.enableBrake = True
+  ret.enableGas = not brake_only
+  ret.enableCruise = brake_only
+  #ret.enableCruise = False
+
+  ret.wheelBase = 2.67
+  ret.steerRatio = 15.3
+  ret.slipFactor = 0.0014
+
+  if candidate_cars[0] == "HONDA CIVIC 2016 TOURING":
+    ret.steerKp, ret.steerKi = 12.0, 1.0
+  elif candidate_cars[0] == "ACURA ILX 2016 ACURAWATCH PLUS":
+    if not brake_only:
+      # assuming if we have an interceptor we also have a torque mod
+      ret.steerKp, ret.steerKi = 6.0, 0.5
+    else:
+      ret.steerKp, ret.steerKi = 12.0, 1.0
+  elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
+    ret.steerKp, ret.steerKi = 12.0, 1.0
+  elif candidate_cars[0] == "HONDA CR-V 2016 TOURING":
+    ret.steerKp, ret.steerKi = 6.0, 0.5
+  else:
+    raise ValueError("unsupported car %s" % candidate_cars[0])
+
+  return ret

common/logging_extra.py

@@ -8,6 +8,14 @@ from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
 
+def json_handler(obj):
+  # if isinstance(obj, (datetime.date, datetime.time)):
+  #   return obj.isoformat()
+  return repr(obj)
+
+def json_robust_dumps(obj):
+  return json.dumps(obj, default=json_handler)
+
 class SwagFormatter(logging.Formatter):
   def __init__(self, swaglogger):
     logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
@@ -15,12 +23,7 @@ class SwagFormatter(logging.Formatter):
     self.swaglogger = swaglogger
     self.host = socket.gethostname()
 
-  def json_handler(self, obj):
-    # if isinstance(obj, (datetime.date, datetime.time)):
-    #   return obj.isoformat()
-    return repr(obj)
-
-  def format(self, record):
+  def format_dict(self, record):
     record_dict = OrderedDict()
 
     if isinstance(record.msg, dict):
@@ -50,9 +53,10 @@ class SwagFormatter(logging.Formatter):
     record_dict['threadName'] = record.threadName
     record_dict['created'] = record.created
 
-    # asctime = self.formatTime(record, self.datefmt)
+    return record_dict
 
-    return json.dumps(record_dict, default=self.json_handler)
+  def format(self, record):
+    return json_robust_dumps(self.format_dict(record))
 
 _tmpfunc = lambda: 0
 _srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)

common/params.py

@@ -0,0 +1,289 @@
+#!/usr/bin/env python
+"""ROS has a parameter server, we have files.
+
+The parameter store is a persistent key value store, implemented as a directory with a writer lock.
+On Android, we store params under params_dir = /data/params. The writer lock is a file
+"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
+"<params_dir>/d".
+
+Each key, value pair is stored as a file with named <key> with contents <value>, located in
+  <params_dir>/d/<key>
+
+Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
+Readers who want a consistent snapshot of multiple keys should take the lock.
+
+Writers should take the lock before modifying anything. Writers should also leave the DB in a
+consistent state after a crash. The implementation below does this by copying all params to a temp
+directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
+before deleting the old <params_dir>/<d> directory.
+
+Writers that only modify a single key can simply take the lock, then swap the corresponding value
+file in place without messing with <params_dir>/d.
+"""
+import time
+import os
+import errno
+import sys
+import shutil
+import fcntl
+import tempfile
+from enum import Enum
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+class TxType(Enum):
+  PERSISTANT = 1
+  CLEAR_ON_MANAGER_START = 2
+  CLEAR_ON_CAR_START = 3
+
+class UnknownKeyName(Exception):
+  pass
+
+keys = {
+# written: manager
+# read:    loggerd, uploaderd, baseui
+  "DongleId": TxType.PERSISTANT,
+  "AccessToken": TxType.PERSISTANT,
+  "Version": TxType.PERSISTANT,
+  "GitCommit": TxType.PERSISTANT,
+  "GitBranch": TxType.PERSISTANT,
+# written: baseui
+# read:    ui, controls
+  "IsMetric": TxType.PERSISTANT,
+  "IsRearViewMirror": TxType.PERSISTANT,
+# written: visiond
+# read:    visiond
+  "CalibrationParams": TxType.PERSISTANT,
+# written: visiond
+# read:    visiond, ui
+  "CloudCalibration": TxType.PERSISTANT,
+# written: controlsd
+# read:    radard
+  "CarParams": TxType.CLEAR_ON_CAR_START}
+
+
+class FileLock(object):
+  def __init__(self, path, create):
+    self._path = path
+    self._create = create
+    self._fd = None
+
+  def acquire(self):
+    self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
+    fcntl.flock(self._fd, fcntl.LOCK_EX)
+
+  def release(self):
+    if self._fd is not None:
+      os.close(self._fd)
+      self._fd = None
+
+
+class DBAccessor(object):
+  def __init__(self, path):
+    self._path = path
+    self._vals = None
+
+  def keys(self):
+    self._check_entered()
+    return self._vals.keys()
+
+  def get(self, key):
+    self._check_entered()
+    try:
+      return self._vals[key]
+    except KeyError:
+      return None
+
+  def _get_lock(self, create):
+    lock = FileLock(os.path.join(self._path, ".lock"), create)
+    lock.acquire()
+    return lock
+
+  def _read_values_locked(self):
+    """Callers should hold a lock while calling this method."""
+    vals = {}
+    try:
+      data_path = self._data_path()
+      keys = os.listdir(data_path)
+      for key in keys:
+        with open(os.path.join(data_path, key), "rb") as f:
+          vals[key] = f.read()
+    except (OSError, IOError) as e:
+      # Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
+      # inconsistent state. Either way, return empty.
+      if e.errno == errno.ENOENT:
+        return {}
+
+    return vals
+
+  def _data_path(self):
+    return os.path.join(self._path, "d")
+
+  def _check_entered(self):
+    if self._vals is None:
+      raise Exception("Must call __enter__ before using DB")
+
+
+class DBReader(DBAccessor):
+  def __enter__(self):
+    try:
+      lock = self._get_lock(False)
+    except OSError as e:
+      # Do not create lock if it does not exist.
+      if e.errno == errno.ENOENT:
+        self._vals = {}
+        return self
+
+    try:
+      # Read everything.
+      self._vals = self._read_values_locked()
+      return self
+    finally:
+      lock.release()
+
+  def __exit__(self, type, value, traceback): pass
+
+
+class DBWriter(DBAccessor):
+  def __init__(self, path):
+    super(DBWriter, self).__init__(path)
+    self._lock = None
+    self._prev_umask = None
+
+  def put(self, key, value):
+    self._vals[key] = value
+
+  def delete(self, key):
+    self._vals.pop(key, None)
+
+  def __enter__(self):
+    mkdirs_exists_ok(self._path)
+
+    # Make sure we can write and that permissions are correct.
+    self._prev_umask = os.umask(0)
+
+    try:
+      os.chmod(self._path, 0o777)
+      self._lock = self._get_lock(True)
+      self._vals = self._read_values_locked()
+    except:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+      raise
+
+    return self
+
+  def __exit__(self, type, value, traceback):
+    self._check_entered()
+
+    try:
+      old_data_path = None
+      new_data_path = None
+      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
+      try:
+        # Write back all keys.
+        os.chmod(tempdir_path, 0o777)
+        for k, v in self._vals.items():
+          with open(os.path.join(tempdir_path, k), "wb") as f:
+            f.write(v)
+
+        data_path = self._data_path()
+        try:
+          old_data_path = os.path.join(self._path, os.readlink(data_path))
+        except (OSError, IOError) as e:
+          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
+          #                 copies to be left behind, but we still want to overwrite.
+          pass
+
+        new_data_path = "{}.link".format(tempdir_path)
+        os.symlink(os.path.basename(tempdir_path), new_data_path)
+        os.rename(new_data_path, data_path)
+      # TODO(mgraczyk): raise useful error when values are bad.
+      except:
+        shutil.rmtree(tempdir_path)
+        if new_data_path is not None:
+          os.remove(new_data_path)
+        raise
+
+      # Keep holding the lock while we clean up the old data.
+      if old_data_path is not None:
+        shutil.rmtree(old_data_path)
+    finally:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+
+      # Always release the lock.
+      self._lock.release()
+      self._lock = None
+
+
+
+class JSDB(object):
+  def __init__(self, fn):
+    self._fn = fn
+
+  def begin(self, write=False):
+    if write:
+      return DBWriter(self._fn)
+    else:
+      return DBReader(self._fn)
+
+class Params(object):
+  def __init__(self, db='/data/params'):
+    self.env = JSDB(db)
+
+  def _clear_keys_with_type(self, tx_type):
+    with self.env.begin(write=True) as txn:
+      for key in keys:
+        if keys[key] == tx_type:
+          txn.delete(key)
+
+  def manager_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
+
+  def car_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
+
+  def get(self, key, block=False):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    while 1:
+      with self.env.begin() as txn:
+        ret = txn.get(key)
+      if not block or ret is not None:
+        break
+      # is polling really the best we can do?
+      time.sleep(0.05)
+    return ret
+
+  def put(self, key, dat):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    with self.env.begin(write=True) as txn:
+      txn.put(key, dat)
+    print "set", key
+
+if __name__ == "__main__":
+  params = Params()
+  if len(sys.argv) > 2:
+    params.put(sys.argv[1], sys.argv[2])
+  else:
+    for k in keys:
+      pp = params.get(k)
+      if pp is None:
+        print k, "is None"
+      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
+        print k, pp
+      else:
+        print k, pp.encode("hex")
+
+  # Test multiprocess:
+  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
+  # while python common/params.py DongleId; do sleep 0.05; done

common/profiler.py

@@ -0,0 +1,26 @@
+from common.realtime import sec_since_boot
+
+class Profiler(object):
+  def __init__(self, enabled=False):
+    self.enabled = enabled
+    self.cp = []
+    self.start_time = sec_since_boot()
+    self.last_time = self.start_time
+
+  def checkpoint(self, name):
+    if not self.enabled:
+      return
+    tt = sec_since_boot()
+    self.cp.append((name, tt - self.last_time))
+    self.last_time = tt
+
+  def display(self):
+    if not self.enabled:
+      return
+    print "******* Profiling *******"
+    tot = 0.0
+    for n, ms in self.cp:
+      print "%30s: %7.2f" % (n, ms*1000.0)
+      tot += ms
+    print "    TOTAL: %7.2f" % (tot*1000.0)
+

common/realtime.py

@@ -1,42 +1,52 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
+import os
 import time
 import ctypes
 import platform
+import threading
 import subprocess
 import multiprocessing
-import os
 
-CLOCK_MONOTONIC_RAW = 4 # see <linux/time.h>
+from cffi import FFI
+ffi = FFI()
+ffi.cdef("""
+
+typedef int clockid_t;
+struct timespec {
+    long tv_sec;   /* Seconds.  */
+    long tv_nsec;  /* Nanoseconds.  */
+};
+int clock_gettime (clockid_t clk_id, struct timespec *tp);
+
+long syscall(long number, ...);
+
+"""
+)
+libc = ffi.dlopen(None)
+
+
+# see <linux/time.h>
+CLOCK_MONOTONIC_RAW = 4
 CLOCK_BOOTTIME = 7
 
-class timespec(ctypes.Structure):
-  _fields_ = [
-    ('tv_sec', ctypes.c_long),
-    ('tv_nsec', ctypes.c_long),
-  ]
+if hasattr(libc, 'clock_gettime'):
+  c_clock_gettime = libc.clock_gettime
 
+  tlocal = threading.local()
+  def clock_gettime(clk_id):
+    if not hasattr(tlocal, 'ts'):
+      tlocal.ts = ffi.new('struct timespec *')
 
-try:
-  libc = ctypes.CDLL('libc.so', use_errno=True)
-except OSError:
-  try:
-    libc = ctypes.CDLL('libc.so.6', use_errno=True)
-  except OSError:
-    libc = None
+    ts = tlocal.ts
 
-if libc is not None:
-  libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
-
-def clock_gettime(clk_id):
-  if platform.system() == "darwin":
-    # TODO: fix this
+    r = c_clock_gettime(clk_id, ts)
+    if r != 0:
+      raise OSError("clock_gettime")
+    return ts.tv_sec + ts.tv_nsec * 1e-9
+else:
+  # hack. only for OS X < 10.12
+  def clock_gettime(clk_id):
     return time.time()
-  else:
-    t = timespec()
-    if libc.clock_gettime(clk_id, ctypes.pointer(t)) != 0:
-      errno_ = ctypes.get_errno()
-      raise OSError(errno_, os.strerror(errno_))
-    return t.tv_sec + t.tv_nsec * 1e-9
 
 def monotonic_time():
   return clock_gettime(CLOCK_MONOTONIC_RAW)
@@ -47,7 +57,7 @@ def sec_since_boot():
 
 def set_realtime_priority(level):
   if os.getuid() != 0:
-    print "not setting priority, not root"
+    print("not setting priority, not root")
     return
   if platform.machine() == "x86_64":
     NR_gettid = 186
@@ -80,15 +90,22 @@ class Ratekeeper(object):
 
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self):
-    self.monitor_time()
+    lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
+    return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate
   def monitor_time(self):
+    lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
     if remaining < -self._print_delay_threshold:
-      print self._process_name, "lagging by", round(-remaining * 1000, 2), "ms"
+      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
+      lagged = True
     self._frame += 1
     self._remaining = remaining
+    return lagged
+
+if __name__ == "__main__":
+  print sec_since_boot()

common/services.py

@@ -1,87 +0,0 @@
-# TODO: these port numbers are hardcoded in c, fix this
-
-# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
-
-class Service(object):
-  def __init__(self, port, should_log):
-    self.port = port
-    self.should_log = should_log
-
-# all ZMQ pub sub
-service_list = {
-  # frame syncing packet
-  "frame": Service(8002, True),
-  # accel, gyro, and compass
-  "sensorEvents": Service(8003, True),
-  # GPS data, also global timestamp
-  "gpsNMEA": Service(8004, True),
-  # CPU+MEM+GPU+BAT temps
-  "thermal": Service(8005, True),
-  # List(CanData), list of can messages
-  "can": Service(8006, True),
-  "live100": Service(8007, True),
-  # random events we want to log
-  #"liveEvent": Service(8008, True),
-  "model": Service(8009, True),
-  "features": Service(8010, True),
-  "health": Service(8011, True),
-  "live20": Service(8012, True),
-  #"liveUI": Service(8014, True),
-  "encodeIdx": Service(8015, True),
-  "liveTracks": Service(8016, True),
-  "sendcan": Service(8017, True),
-  "logMessage": Service(8018, True),
-  "liveCalibration": Service(8019, True),
-  "androidLog": Service(8020, True),
-}
-
-# manager -- base process to manage starting and stopping of all others
-#   subscribes: health
-#   publishes:  thermal
-
-# **** processes that communicate with the outside world ****
-
-# boardd -- communicates with the car
-#   subscribes: sendcan
-#   publishes:  can, health
-
-# sensord -- publishes the IMU and GPS
-#   publishes:  sensorEvents, gpsNMEA
-
-# visiond -- talks to the cameras, runs the model, saves the videos
-#   subscribes: liveCalibration, sensorEvents
-#   publishes:  frame, encodeIdx, model, features
-
-# **** stateful data transformers ****
-
-# controlsd -- actually drives the car
-#   subscribes: can, thermal, model, live20
-#   publishes:  sendcan, live100
-
-# radard -- processes the radar data
-#   subscribes: can, live100, model
-#   publishes:  live20, liveTracks
-
-# calibrationd -- places the camera box
-#   subscribes: features, live100
-#   publishes:  liveCalibration
-
-# **** LOGGING SERVICE ****
-
-# loggerd
-#   subscribes: EVERYTHING
-
-# **** NON VITAL SERVICES ****
-
-# ui
-#   subscribes: live100, live20, liveCalibration, model, (raw frames)
-
-# uploader
-#   communicates through file system with loggerd
-
-# logmessaged -- central logging service, can log to cloud
-#   publishes:  logMessage
-
-# logcatd -- fetches logcat info from android
-#   publishes:  androidLog
-

common/testing.py

@@ -0,0 +1,9 @@
+import os
+from nose.tools import nottest
+
+def phone_only(x):
+  if os.path.isfile("/init.qcom.rc"):
+    return x
+  else:
+    return nottest(x)
+

dbcs/__init__.py

@@ -1,2 +0,0 @@
-import os
-DBC_PATH = os.path.dirname(os.path.abspath(__file__))

dbcs/acura_ilx_2016_can.dbc

@@ -1,295 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BO_ 0x039 XXX: 3 XXX
-
-BO_ 0x091 XXX: 8 XXX
- SG_ LAT_ACCEL : 0|10@1+ (0.02,-512) [-20|20] "m/s2" Vector__XXX 
-
-BO_ 0x0E4 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 0|16@1- (1,0) [-3840|3840] "" Vector__XXX
- SG_ STEER_TORQUE_REQUEST : 16|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X00 : 17|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ SET_ME_X00 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x130 GAS_PEDAL2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 0|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
- SG_ ENGINE_TORQUE_REQUEST : 16|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
- SG_ CAR_GAS : 32|8@1+ (1,0) [0|255] "" Vector__XXX
-
-BO_ 0x13C GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- 
-BO_ 0x156 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX
- SG_ STEER_ANGLE_RATE : 16|16@1- (1,0) [-3000|3000] "deg/s" Vector__XXX
- SG_ COUNTER : 42|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 44|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x158 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_SPEED : 0|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX
- SG_ XMISSION_SPEED2 : 32|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x17C POWERTRAIN_DATA2: 8 PCM
- SG_ PEDAL_GAS : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX
- SG_ GAS_PRESSED : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_STATUS : 33|1@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BOH_17C : 34|5@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BRAKE_LIGHTS_ON : 39|1@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BOH2_17C : 40|10@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BRAKE_PRESSED : 50|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH3_17C : 51|5@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x18E XXX: 3 XXX
-
-BO_ 0x18F STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 0|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
- SG_ STEER_TORQUE_MOTOR : 16|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
- SG_ STEER_STATUS : 32|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ STEER_CONTROL_ACTIVE : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1A3 GEARBOX: 8 PCM
- SG_ GEAR : 0|8@1+ (1,0) [0|256] "" Vector__XXX
- SG_ GEAR_SHIFTER : 36|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1A4 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 0|16@1+ (0.015625,-103) [0|1000] "" Vector__XXX
- SG_ ESP_DISABLED : 27|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1A6 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 0|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ LIGHTS_SETTING : 6|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ MAIN_ON : 40|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_SETTING : 44|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1AC XXX: 8 XXX
-
-BO_ 0x1B0 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_1 : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_2 : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1D0 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 0|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_FR : 15|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_RL : 30|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_RR : 45|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1DC XXX: 4 XXX
-
-BO_ 0x1EA VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 16|16@1- (0.0015384,0) [-20|20] "m/s2" Vector__XXX
-
-BO_ 0x1FA BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 0|10@1+ (0.003906248,0) [0|1] "" Vector__XXX
- SG_ ZEROS_BOH : 10|5@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH2 : 16|3@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_OVERRIDE : 19|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH3 : 20|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_FAULT_CMD : 21|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_CANCEL_CMD : 22|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST_2 : 23|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH4 : 24|8@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_LIGHTS : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH5 : 33|7@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CHIME : 40|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ CRUISE_BOH6 : 43|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCW : 44|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CRUISE_BOH7 : 46|10@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x200 GAS_COMMAND: 3 ADAS
- SG_ GAS_COMMAND : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ COUNTER : 18|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 20|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x201 GAS_SENSOR: 5 ADAS
- SG_ INTERCEPTOR_GAS : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ INTERCEPTOR_GAS2 : 16|16@1+ (0.126992032,-656) [0|1] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x21E XXX: 7 XXX
-BO_ 0x221 XXX: 4 XXX
-
-BO_ 0x255 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 0|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_FR : 8|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_RL : 16|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_RR : 24|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ SET_TO_X55 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ SET_TO_X55 : 40|8@1+ (1,0) [0|255] "" Vector__XXX
-
-BO_ 0x294 SCM_COMMANDS: 8 SCM
- SG_ RIGHT_BLINKER : 1|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LEFT_BLINKER : 2|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ WIPERS_SPEED : 3|2@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x305 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 0|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SEATBELT_DRIVER_LATCHED : 10|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x309 XXX: 8 XXX
-
-BO_ 0x30C ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 0|16@1+ (0.002763889,0) [0|100] "m/s" Vector__XXX
- SG_ PCM_GAS : 16|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ ZEROS_BOH : 23|1@1+ (1,0) [0|255] "" Vector__XXX
- SG_ CRUISE_SPEED : 24|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ DTC_MODE : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_PROBLEM : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_OFF : 35|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH_2 : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_PROBLEM : 37|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ RADAR_OBSTRUCTED : 38|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ENABLE_MINI_CAR : 39|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X03 : 40|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ HUD_LEAD : 42|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_3 : 44|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_4 : 45|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_5 : 46|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CRUISE_CONTROL_LABEL : 47|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ HUD_DISTANCE_3 : 51|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x320 XXX: 8 XXX
-
-BO_ 0x324 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ BOH : 8|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ TRIP_FUEL_CONSUMED : 16|16@1+ (1,0) [0|255] "" Vector__XXX
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- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
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-
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-BO_ 0x333 XXX: 7 XXX
-BO_ 0x335 XXX: 5 XXX
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- SG_ LKAS_PROBLEM : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LKAS_OFF : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SOLID_LANES : 13|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_RIGHT : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ STEERING_REQUIRED : 15|1@1+ (1,0) [0|1] "" Vector__XXX
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- SG_ LDW_PROBLEM : 18|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BEEP : 22|2@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_ON : 27|1@1+ (1,0) [0|1] "" Vector__XXX
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- SG_ CLEAN_WINDSHIELD : 29|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X48 : 24|8@1+ (1,0) [0|255] "" Vector__XXX
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-BO_ 0x3D9 XXX: 3 XXX
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-BO_ 0x403 XXX: 5 XXX
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-BO_ 0x421 XXX: 5 EPS
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-BO_ 0x555 XXX: 5 XXX
-BO_ 0x640 XXX: 5 XXX
-BO_ 0x641 XXX: 8 XXX
-
-VAL_ 0x1A6 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none";
-VAL_ 0x1A6 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none";
-VAL_ 0x30C HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car";
-VAL_ 0x1A6 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights";
-VAL_ 0x18F STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal";
-VAL_ 0x1A3 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
-VAL_ 0x33D BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
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-CM_ SG_ 0x33D CRUISE_SPEED "255 = no speed";
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dbcs/acura_ilx_2016_nidec.dbc

@@ -1,175 +0,0 @@
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-	BU_SG_REL_
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-
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- SG_ SET_ME_XF9 : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ VEHICLE_SPEED : 8|8@1+ (1,0) [0|255] "kph" Vector__XXX
-
-BO_ 0x301 VEHICLE_STATE2: 8 ADAS
- SG_ SET_ME_0F18510 : 0|28@1+ (1,0) [0|268435455] "" Vector__XXX
- SG_ SET_ME_25A0000 : 28|28@1+ (1,0) [0|268435455] "" Vector__XXX
-
-BO_ 0x400 XXX: 8 RADAR
-
-BO_ 0x410 XXX: 8 RADAR
-
-BO_ 0x411 XXX: 8 RADAR
-
-BO_ 0x412 XXX: 8 RADAR
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-BO_ 0x413 XXX: 8 RADAR
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-BO_ 0x414 XXX: 8 RADAR
-
-BO_ 0x415 XXX: 8 RADAR
-
-BO_ 0x416 XXX: 8 RADAR
-
-BO_ 0x417 XXX: 8 RADAR
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-BO_ 0x420 XXX: 8 RADAR
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-BO_ 0x421 XXX: 8 RADAR
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-BO_ 0x423 XXX: 8 RADAR
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-BO_ 0x424 XXX: 8 RADAR
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- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
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- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
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- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
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- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
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- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x435 TRACK_5: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x436 TRACK_6: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x437 TRACK_7: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x438 TRACK_8: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x439 TRACK_9: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x440 TRACK_10: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x441 TRACK_11: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x442 TRACK_12: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x443 TRACK_13: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x444 TRACK_14: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x445 TRACK_15: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
-BO_ 0x4FF XXX: 8 RADAR
-
-BO_ 0x500 XXX: 8 RADAR
-
-BO_ 0x510 XXX: 8 RADAR
-
-BO_ 0x511 XXX: 8 RADAR

dbcs/honda_civic_touring_2016_can.dbc

@@ -1,319 +0,0 @@
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-BS_:
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-BO_ 0x039 XXX: 3 XXX
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-BO_ 0x94 XXX: 8 XXX
- SG_ LAT_ACCEL : 0|10@1+ (0.02,-512) [-20|20] "m/s2" Vector__XXX
- SG_ LONG_ACCEL : 31|9@1- (-0.02,0) [-20|20] "m/s2" Vector__XXX
-
-BO_ 0x0E4 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 0|16@1- (1,0) [-3840|3840] "" Vector__XXX
- SG_ STEER_TORQUE_REQUEST : 16|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X00 : 17|7@1+ (1,0) [0|127] "" Vector__XXX 
- SG_ SET_ME_X00_2 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
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- SG_ COUNTER : 38|2@1+ (1,0) [0|3] "" Vector__XXX
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-BO_ 0x130 GAS_PEDAL2: 8 PCM
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- SG_ CAR_GAS : 32|8@1+ (1,0) [0|255] "" Vector__XXX
-
-BO_ 0x14A STEERING_SENSORS: 8 EPS                                  
- SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX   
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- SG_ STEER_ANGLE_OFFSET : 32|8@1- (-0.1,0) [-128|127] "deg" Vector__XXX
- SG_ STEER_WHEEL_ANGLE : 40|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
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- SG_ XMISSION_SPEED : 0|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX      
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX            
- SG_ XMISSION_SPEED2 : 32|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
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- SG_ ACC_STATUS : 33|1@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BOH_17C : 34|5@1+ (1,0) [0|1] "rpm" Vector__XXX          
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- SG_ STEER_STATUS : 32|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ STEER_CONTROL_ACTIVE : 36|1@1+ (1,0) [0|1] "" Vector__XXX
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-
-BO_ 0x191 GEARBOX: 8 PCM                                     
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- SG_ ESP_DISABLED : 27|1@1+ (1,0) [0|1] "" Vector__XXX          
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1AB XXX: 3 VSA
-
-BO_ 0x1AC XXX: 8 XXX
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- SG_ WHEELS_MOVING : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_1 : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_2 : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1C2 XXX: 8 EPB
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- SG_ EPB_STATE : 26|2@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1D0 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 0|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_FR : 15|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_RL : 30|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_RR : 45|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1D6 XXX: 2 VSA
-
-BO_ 0x1DC XXX: 7 XXX
-
-BO_ 0x1E7 XXX: 4 VSA
- SG_ BRAKE_PRESSURE1 : 0|10@1+ (0.015625,-103) [0|1000] "" Vector__XXX
- SG_ BRAKE_PRESSURE2 : 14|10@1+ (0.015625,-103) [0|1000] "" Vector__XXX
-
-BO_ 0x1EA VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 16|16@1- (0.0015384,0) [-20|20] "m/s2" Vector__XXX
-
-BO_ 0x1ED XXX: 5 VSA
-
-BO_ 0x1FA BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 0|10@1+ (0.003906248,0) [0|1.0] "" Vector__XXX
- SG_ ZEROS_BOH : 10|5@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH2 : 16|3@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_OVERRIDE : 19|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH3 : 20|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_FAULT_CMD : 21|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_CANCEL_CMD : 22|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST_2 : 23|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_0X80 : 24|8@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_LIGHTS : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_STATES : 33|7@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CHIME : 40|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ ZEROS_BOH6 : 43|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCW : 44|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ ZEROS_BOH3 : 45|2@1+ (1,0) [0|0] "" Vector__XXX
- SG_ FCW2 : 47|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ZEROS_BOH4 : 48|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x200 GAS_COMMAND: 3 ADAS
- SG_ GAS_COMMAND : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ COUNTER : 18|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 20|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x201 GAS_SENSOR: 5 ADAS
- SG_ INTERCEPTOR_GAS : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ INTERCEPTOR_GAS2 : 16|16@1+ (0.126992032,-656) [0|1] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x221 XXX: 6 XXX
-
-BO_ 0x255 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 0|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_FR : 8|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_RL : 16|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_RR : 24|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ SET_TO_X55 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ SET_TO_X55 : 40|8@1+ (1,0) [0|255] "" Vector__XXX
-
-BO_ 0x296 CRUISE_BUTTONS: 4 SCM
- SG_ CRUISE_BUTTONS : 0|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ CRUISE_SETTING : 4|2@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x305 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 0|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SEATBELT_DRIVER_LATCHED : 10|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x309 XXX: 8 XXX
-
-BO_ 0x30C ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 0|16@1+ (0.002763889,0) [0|100] "m/s" Vector__XXX
- SG_ PCM_GAS : 16|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ ZEROS_BOH : 23|1@1+ (1,0) [0|255] "" Vector__XXX
- SG_ CRUISE_SPEED : 24|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ DTC_MODE : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_PROBLEM : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_OFF : 35|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH_2 : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_PROBLEM : 37|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ RADAR_OBSTRUCTED : 38|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ENABLE_MINI_CAR : 39|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ HUD_DISTANCE : 40|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ HUD_LEAD : 42|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_3 : 44|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_4 : 45|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_5 : 46|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CRUISE_CONTROL_LABEL : 47|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x31B XXX: 8 XXX
-
-BO_ 0x320 XXX: 8 XXX
-
-BO_ 0x324 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 0|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ BOH : 8|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ TRIP_FUEL_CONSUMED : 16|16@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ CRUISE_SPEED_PCM : 32|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ BOH2 : 40|8@1- (1,0) [0|255] "" Vector__XXX 
- SG_ BOH3 : 48|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x326 SCM_FEEDBACK: 8 SCM                  
- SG_ CMBS_BUTTON : 17|2@1+ (1,0) [0|3] "" Vector__XXX 
- SG_ MAIN_ON : 27|1@1+ (1,0) [0|1] "" Vector__XXX 
- SG_ RIGHT_BLINKER : 28|1@1+ (1,0) [0|1] "" Vector__XXX 
- SG_ LEFT_BLINKER : 29|1@1+ (1,0) [0|1] "" Vector__XXX 
- 
-
-BO_ 0x328 XXX: 8 XXX
-
-BO_ 0x33D LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 0|1@1+ (1,0) [0|255] "" Vector__XXX
- SG_ BOH : 1|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ DASHED_LANES : 9|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DTC : 10|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LKAS_PROBLEM : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LKAS_OFF : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SOLID_LANES : 13|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_RIGHT : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ STEERING_REQUIRED : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 16|2@1+ (1,0) [0|4] "" Vector__XXX
- SG_ LDW_PROBLEM : 18|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BEEP : 22|2@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_ON : 27|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_OFF : 28|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CLEAN_WINDSHIELD : 29|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X48 : 24|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x35E XXX: 8 ADAS
- SG_ UI_ALERTS : 0|56@1+ (1,0) [0|127] "" Vector__XXX
-
-BO_ 0x374 XXX: 8 XXX
-BO_ 0x37B XXX: 8 XXX
-BO_ 0x37C XXX: 8 XXX
-
-BO_ 0x39F XXX: 8 ADAS
- SG_ ZEROS_BOH : 0|17@1+ (1,0) [0|127] "" Vector__XXX
- SG_ APPLY_BRAKES_FOR_CANC : 16|1@1+ (1,0) [0|15] "" Vector__XXX
- SG_ ZEROS_BOH2 : 17|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ RESUME_INSTRUCTION : 18|1@1+ (1,0) [0|15] "" Vector__XXX
- SG_ ACC_ALERTS : 19|5@1+ (1,0) [0|15] "" Vector__XXX
- SG_ ZEROS_BOH2 : 24|8@1+ (1,0) [0|127] "" Vector__XXX
- SG_ LEAD_SPEED : 32|9@1+ (1,0) [0|127] "" Vector__XXX
- SG_ LEAD_STATE : 41|3@1+ (1,0) [0|127] "" Vector__XXX
- SG_ LEAD_DISTANCE : 44|5@1+ (1,0) [0|31] "" Vector__XXX
- SG_ ZEROS_BOH3 : 49|7@1+ (1,0) [0|127] "" Vector__XXX
-
-BO_ 0x3A1 XXX: 8 XXX
-BO_ 0x3D9 XXX: 3 XXX
-BO_ 0x400 XXX: 5 XXX
-BO_ 0x403 XXX: 5 XXX
-
-BO_ 0x405 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DOOR_OPEN_RL : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DOOR_OPEN_RR : 47|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x40C XXX: 8 XXX
-BO_ 0x40F XXX: 8 XXX
-BO_ 0x454 XXX: 8 XXX
-BO_ 0x516 XXX: 8 XXX
-BO_ 0x52A XXX: 5 XXX
-BO_ 0x551 XXX: 5 XXX
-BO_ 0x555 XXX: 5 XXX
-BO_ 0x590 XXX: 5 XXX
-BO_ 0x640 XXX: 5 XXX
-BO_ 0x641 XXX: 8 XXX
-BO_ 0x661 XXX: 8 XXX
-
-VAL_ 0x296 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none";
-VAL_ 0x296 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none";
-VAL_ 0x33D HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
-VAL_ 0x1A6 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights";
-VAL_ 0x18F STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal";
-VAL_ 0x191 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
-VAL_ 0x33D BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
-VAL_ 0x1FA CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
-VAL_ 0x1C2 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged";
-VAL_ 0x326 CMBS_BUTTON 3 "pressed" 0 "released";
-VAL_ 0x39F ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low"  8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead";
-VAL_ 0x30C CRUISE_SPEED 255 "no_speed" 252 "stopped";
-
-CM_ SG_ 0x1A3 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 0x324 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 0x30C CRUISE_SPEED "255 = no speed";
-CM_ SG_ 0x1EA LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 0x33D BEEP "beeps are pleasant, chimes are for warnngs etc...";

installation/files/continue.sh

@@ -1,29 +0,0 @@
-#!/usr/bin/bash
-
-# enable wifi access point for debugging only!
-#service call wifi 37 i32 0 i32 1 # WifiService.setWifiApEnabled(null, true)
-
-# use the openpilot ro key
-export GIT_SSH_COMMAND="ssh -i /data/data/com.termux/files/id_rsa_openpilot_ro"
-
-# check out the openpilot repo
-if [ ! -d /data/openpilot ]; then
-  cd /tmp
-  git clone git@github.com:commaai/openpilot.git -b release
-  mv /tmp/openpilot /data/openpilot
-fi
-
-# enter openpilot directory
-cd /data/openpilot
-
-# removed automatic update from openpilot
-#git pull
-
-# start manager
-cd selfdrive
-mkdir -p /sdcard/realdata
-PYTHONPATH=/data/openpilot ./manager.py
-
-# if broken, keep on screen error
-while true; do sleep 1; done
-

installation/files/id_rsa_openpilot_ro

@@ -1,27 +0,0 @@
------BEGIN RSA PRIVATE KEY-----
-MIIEpAIBAAKCAQEAy/ZlYE/iHHjhbSvCnBm5Zsq5GPpVugLXFHai/doqyfRxErop
-/g1TIRhzK3mkHRYRN7H0L9whogwoIVr5CldoxU49FDnNbVHNimScNrL4LprRWjq6
-dRmCVoxMpLHZTyX1jIkcHsMr7klcUnssyeQO2pWvZv0ZC67wM7G20r7+ZLdEa0Ck
-MBh8JYhDaZx2xvYtTnt6vKMmFVE5+zW/+wDVma3a4r9pG9s0+r0wCl8CUuJ+yDhR
-mzNkPJ5mJCMx99AI6k4Gq9Vsng8/35b6Azh3TucPaXOLK7yPnL3YBKUa0PpR7IRH
-+OKkVCH+LL7tcPFSqPPVy/pUTBdEUROjJdSHxwIDAQABAoIBAQCxBgUM56h3T89Q
-AoghFg6dkdu/Ox8GmAp231UuAJncuMUfHObvcj8xXVgwZp4zBIEjFte6ZlPmoqh9
-8sht2lm7zeEjWdvbQwGjWRlgPEs9n++OYaSNl/tRBOpMk3Ppxydst1/prznE0nVH
-vVKtU7w0qXAYchm30zj1lQv5s/12CTGmnpQatbo5X488RfCfv2zFX1h+lEWF8ycL
-eZRi8z6l8h2Y+JLyEwPCmR+gR6XtosZ/ECQcTknavqLqdr7NbYYfOo3JfHCUtpJa
-8s7m0VFhMuxFFCl1sV0eMzAynJYNVz45DyaKpr2b/2YAGY8fn96FxaWv1xw1xTkK
-c5+wStwJAoGBAOjQpLZ1qGa4GwXzeHoDsGFpGgY9ug6af0M23c8O42fJHAwYkk7r
-Qeo4SSBddoSfo3jdchFLo59+m3qyTKpjkph7NBBCEwaCvX3heStDIMZEWX0IOV5y
-iJD/D6EXSqFmXCUUaudX2OxlaHguA0yOEx9s/5uUJrvaIHbBAOpYyar1AoGBAOBG
-MJp+EA3e1Zx/VszD2Tdxn8V0DAwvy9WIEqZuG689S/Sk5GnA4m2L8Txv0xAHFvLv
-JpF7Zn9AoFXGpjf9P0FF53cpjEYn9f+uK84j1HOL/6R7Nj9rcS5yL2PCP1ZHymw6
-xOXl3oZa1YtYE6jfvXUaOb8Z7y8gaStP763sXmpLAoGBAM1WSBANUcvXES58gIPN
-ASHJGwTqKFF8/kV//L4EuZjuDWi1u0UTxX0Yy5ZaGI/8ZKfTWCnc9qFTfzoGTAvz
-6nXGJDM6s6EIaqy90qrPd/amje7y8/ZTOhP4ggZojpAvwZGKoocMOey1vCBTJOG+
-ZStQbVkAn/EK/5r9uxr12FiJAoGAH9UWlPcLpExamWnhkhLCRAJWoRoFk708+0Pj
-EchTGZ5jp4e3++KqwM26Ic/lb0LyWOzk1oVjWPB9UW9urEe/sK4RWnKFPHfzjKTW
-Bt5DC1t1n4z1eC7x05vVah1qC/8IljAJPnBQE1XVNX/82l1XcMWWKK+vqUq6YrFn
-3ZHNHN0CgYA3uUVWqW37vfJuk0MJBkQSqMo5Y5TPlCt4b1ebkdhlM4v/N+iuiPiC
-PBhjP1MLeudkJvzllt4YvNWLerCKpMWuw7Zvy5uzFEsqOrVlzfnyWqqqYbYjHe9f
-Ef0/yXKuGJajs54Ts6Xrm0+elVUu//pEuf6NI96Ehctqz8/BqGqAtw==
------END RSA PRIVATE KEY-----

installation/install.sh

@@ -1,11 +0,0 @@
-#!/bin/bash
-set -e
-
-# move files into place
-adb push files/id_rsa_openpilot_ro /tmp/id_rsa_openpilot_ro
-adb shell mv /tmp/id_rsa_openpilot_ro /data/data/com.termux/files/
-
-# moving continue into place runs the continue script
-adb push files/continue.sh /tmp/continue.sh
-adb shell mv /tmp/continue.sh /data/data/com.termux/files/
-

phonelibs/capnp-c/include/capnp_c.h

@@ -0,0 +1,426 @@
+/* vim: set sw=8 ts=8 sts=8 noet: */
+/* capnp_c.h
+ *
+ * Copyright (C) 2013 James McKaskill
+ * Copyright (C) 2014 Steve Dee
+ *
+ * This software may be modified and distributed under the terms
+ * of the MIT license.  See the LICENSE file for details.
+ */
+
+#ifndef CAPNP_C_H
+#define CAPNP_C_H
+
+#include <stdint.h>
+#include <stdio.h>
+#if defined(unix) && !defined(__APPLE__)
+#include <endian.h>
+#endif
+
+// ssize_t is not defined in stdint.h in MSVC.
+#ifdef _MSC_VER
+typedef intmax_t ssize_t;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(__cplusplus) || (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L)
+#define CAPN_INLINE static inline
+#else
+#define CAPN_INLINE static
+#endif
+
+#define CAPN_VERSION 1
+
+/* struct capn is a common structure shared between segments in the same
+ * session/context so that far pointers between segments will be created.
+ *
+ * lookup is used to lookup segments by id when derefencing a far pointer
+ *
+ * create is used to create or lookup an alternate segment that has at least
+ * sz available (ie returned seg->len + sz <= seg->cap)
+ *
+ * create_local is used to create a segment for the copy tree and should be
+ * allocated in the local memory space.
+ *
+ * Allocated segments must be zero initialized.
+ *
+ * create and lookup can be NULL if you don't need multiple segments and don't
+ * want to support copying
+ *
+ * seglist and copylist are linked lists which can be used to free up segments
+ * on cleanup, but should not be modified by the user.
+ *
+ * lookup, create, create_local, and user can be set by the user. Other values
+ * should be zero initialized.
+ */
+struct capn {
+	/* user settable */
+	struct capn_segment *(*lookup)(void* /*user*/, uint32_t /*id */);
+	struct capn_segment *(*create)(void* /*user*/, uint32_t /*id */, int /*sz*/);
+	struct capn_segment *(*create_local)(void* /*user*/, int /*sz*/);
+	void *user;
+	/* zero initialized, user should not modify */
+	uint32_t segnum;
+	struct capn_tree *copy;
+	struct capn_tree *segtree;
+	struct capn_segment *seglist, *lastseg;
+	struct capn_segment *copylist;
+};
+
+/* struct capn_tree is a rb tree header used internally for the segment id
+ * lookup and copy tree */
+struct capn_tree {
+	struct capn_tree *parent, *link[2];
+	unsigned int red : 1;
+};
+
+struct capn_tree *capn_tree_insert(struct capn_tree *root, struct capn_tree *n);
+
+/* struct capn_segment contains the information about a single segment.
+ *
+ * capn points to a struct capn that is shared between segments in the
+ * same session
+ *
+ * id specifies the segment id, used for far pointers
+ *
+ * data specifies the segment data. This should not move after creation.
+ *
+ * len specifies the current segment length. This is 0 for a blank
+ * segment.
+ *
+ * cap specifies the segment capacity.
+ *
+ * When creating new structures len will be incremented until it reaces cap,
+ * at which point a new segment will be requested via capn->create. The
+ * create callback can either create a new segment or expand an existing
+ * one by incrementing cap and returning the expanded segment.
+ *
+ * data, len, and cap must all by 8 byte aligned
+ *
+ * data, len, cap, and user should all set by the user. Other values
+ * should be zero initialized.
+ */
+#ifdef _MSC_VER
+__declspec(align(64))
+#endif
+struct capn_segment {
+	struct capn_tree hdr;
+	struct capn_segment *next;
+	struct capn *capn;
+	uint32_t id;
+	/* user settable */
+	char *data;
+	size_t len, cap;
+	void *user;
+};
+
+enum CAPN_TYPE {
+	CAPN_NULL = 0,
+	CAPN_STRUCT = 1,
+	CAPN_LIST = 2,
+	CAPN_PTR_LIST = 3,
+	CAPN_BIT_LIST = 4,
+	CAPN_FAR_POINTER = 5,
+};
+
+struct capn_ptr {
+	unsigned int type : 4;
+	unsigned int has_ptr_tag : 1;
+	unsigned int is_list_member : 1;
+	unsigned int is_composite_list : 1;
+	unsigned int datasz : 19;
+	unsigned int ptrs : 16;
+	int len;
+	char *data;
+	struct capn_segment *seg;
+};
+
+struct capn_text {
+	int len;
+	const char *str;
+	struct capn_segment *seg;
+};
+
+typedef struct capn_ptr capn_ptr;
+typedef struct capn_text capn_text;
+typedef struct {capn_ptr p;} capn_data;
+typedef struct {capn_ptr p;} capn_list1;
+typedef struct {capn_ptr p;} capn_list8;
+typedef struct {capn_ptr p;} capn_list16;
+typedef struct {capn_ptr p;} capn_list32;
+typedef struct {capn_ptr p;} capn_list64;
+
+struct capn_msg {
+	struct capn_segment *seg;
+	uint64_t iface;
+	uint16_t method;
+	capn_ptr args;
+};
+
+/* capn_append_segment appends a segment to a session */
+void capn_append_segment(struct capn*, struct capn_segment*);
+
+capn_ptr capn_root(struct capn *c);
+void capn_resolve(capn_ptr *p);
+
+#define capn_len(list) ((list).p.type == CAPN_FAR_POINTER ? (capn_resolve(&(list).p), (list).p.len) : (list).p.len)
+
+/* capn_getp|setp functions get/set ptrs in list/structs
+ * off is the list index or pointer index in a struct
+ * capn_setp will copy the data, create far pointers, etc if the target
+ * is in a different segment/context.
+ * Both of these will use/return inner pointers for composite lists.
+ */
+capn_ptr capn_getp(capn_ptr p, int off, int resolve);
+int capn_setp(capn_ptr p, int off, capn_ptr tgt);
+
+capn_text capn_get_text(capn_ptr p, int off, capn_text def);
+capn_data capn_get_data(capn_ptr p, int off);
+int capn_set_text(capn_ptr p, int off, capn_text tgt);
+
+/* capn_get* functions get data from a list
+ * The length of the list is given by p->size
+ * off specifies how far into the list to start
+ * sz indicates the number of elements to get
+ * The function returns the number of elements read or -1 on an error.
+ * off must be byte aligned for capn_getv1
+ */
+int capn_get1(capn_list1 p, int off);
+uint8_t capn_get8(capn_list8 p, int off);
+uint16_t capn_get16(capn_list16 p, int off);
+uint32_t capn_get32(capn_list32 p, int off);
+uint64_t capn_get64(capn_list64 p, int off);
+int capn_getv1(capn_list1 p, int off, uint8_t *data, int sz);
+int capn_getv8(capn_list8 p, int off, uint8_t *data, int sz);
+int capn_getv16(capn_list16 p, int off, uint16_t *data, int sz);
+int capn_getv32(capn_list32 p, int off, uint32_t *data, int sz);
+int capn_getv64(capn_list64 p, int off, uint64_t *data, int sz);
+
+/* capn_set* functions set data in a list
+ * off specifies how far into the list to start
+ * sz indicates the number of elements to write
+ * The function returns the number of elemnts written or -1 on an error.
+ * off must be byte aligned for capn_setv1
+ */
+int capn_set1(capn_list1 p, int off, int v);
+int capn_set8(capn_list8 p, int off, uint8_t v);
+int capn_set16(capn_list16 p, int off, uint16_t v);
+int capn_set32(capn_list32 p, int off, uint32_t v);
+int capn_set64(capn_list64 p, int off, uint64_t v);
+int capn_setv1(capn_list1 p, int off, const uint8_t *data, int sz);
+int capn_setv8(capn_list8 p, int off, const uint8_t *data, int sz);
+int capn_setv16(capn_list16 p, int off, const uint16_t *data, int sz);
+int capn_setv32(capn_list32 p, int off, const uint32_t *data, int sz);
+int capn_setv64(capn_list64 p, int off, const uint64_t *data, int sz);
+
+/* capn_new_* functions create a new object
+ * datasz is in bytes, ptrs is # of pointers, sz is # of elements in the list
+ * On an error a CAPN_NULL pointer is returned
+ */
+capn_ptr capn_new_string(struct capn_segment *seg, const char *str, ssize_t sz);
+capn_ptr capn_new_struct(struct capn_segment *seg, int datasz, int ptrs);
+capn_ptr capn_new_interface(struct capn_segment *seg, int datasz, int ptrs);
+capn_ptr capn_new_ptr_list(struct capn_segment *seg, int sz);
+capn_ptr capn_new_list(struct capn_segment *seg, int sz, int datasz, int ptrs);
+capn_list1 capn_new_list1(struct capn_segment *seg, int sz);
+capn_list8 capn_new_list8(struct capn_segment *seg, int sz);
+capn_list16 capn_new_list16(struct capn_segment *seg, int sz);
+capn_list32 capn_new_list32(struct capn_segment *seg, int sz);
+capn_list64 capn_new_list64(struct capn_segment *seg, int sz);
+
+/* capn_read|write* functions read/write struct values
+ * off is the offset into the structure in bytes
+ * Rarely should these be called directly, instead use the generated code.
+ * Data must be xored with the default value
+ * These are inlined
+ */
+CAPN_INLINE uint8_t capn_read8(capn_ptr p, int off);
+CAPN_INLINE uint16_t capn_read16(capn_ptr p, int off);
+CAPN_INLINE uint32_t capn_read32(capn_ptr p, int off);
+CAPN_INLINE uint64_t capn_read64(capn_ptr p, int off);
+CAPN_INLINE int capn_write1(capn_ptr p, int off, int val);
+CAPN_INLINE int capn_write8(capn_ptr p, int off, uint8_t val);
+CAPN_INLINE int capn_write16(capn_ptr p, int off, uint16_t val);
+CAPN_INLINE int capn_write32(capn_ptr p, int off, uint32_t val);
+CAPN_INLINE int capn_write64(capn_ptr p, int off, uint64_t val);
+
+/* capn_init_malloc inits the capn struct with a create function which
+ * allocates segments on the heap using malloc
+ *
+ * capn_init_(fp|mem) inits by reading segments in from the file/memory buffer
+ * in serialized form (optionally packed). It will then setup the create
+ * function ala capn_init_malloc so that further segments can be created.
+ *
+ * capn_free frees all the segment headers and data created by the create
+ * function setup by capn_init_*
+ */
+void capn_init_malloc(struct capn *c);
+int capn_init_fp(struct capn *c, FILE *f, int packed);
+int capn_init_mem(struct capn *c, const uint8_t *p, size_t sz, int packed);
+
+/* capn_write_(fp|mem) writes segments to the file/memory buffer in
+ * serialized form and returns the number of bytes written.
+ */
+/* TODO */
+/*int capn_write_fp(struct capn *c, FILE *f, int packed);*/
+int capn_write_fd(struct capn *c, ssize_t (*write_fd)(int fd, void *p, size_t count), int fd, int packed);
+int capn_write_mem(struct capn *c, uint8_t *p, size_t sz, int packed);
+
+void capn_free(struct capn *c);
+void capn_reset_copy(struct capn *c);
+
+/* Inline functions */
+
+
+CAPN_INLINE uint8_t capn_flip8(uint8_t v) {
+	return v;
+}
+CAPN_INLINE uint16_t capn_flip16(uint16_t v) {
+#if defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN)
+	return v;
+#elif defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) && \
+      defined(__GNUC__) && __GNUC__ >= 4 && __GNUC_MINOR__ >= 8
+	return __builtin_bswap16(v);
+#else
+	union { uint16_t u; uint8_t v[2]; } s;
+	s.v[0] = (uint8_t)v;
+	s.v[1] = (uint8_t)(v>>8);
+	return s.u;
+#endif
+}
+CAPN_INLINE uint32_t capn_flip32(uint32_t v) {
+#if defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN)
+	return v;
+#elif defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) && \
+      defined(__GNUC__) && __GNUC__ >= 4 && __GNUC_MINOR__ >= 8
+	return __builtin_bswap32(v);
+#else
+	union { uint32_t u; uint8_t v[4]; } s;
+	s.v[0] = (uint8_t)v;
+	s.v[1] = (uint8_t)(v>>8);
+	s.v[2] = (uint8_t)(v>>16);
+	s.v[3] = (uint8_t)(v>>24);
+	return s.u;
+#endif
+}
+CAPN_INLINE uint64_t capn_flip64(uint64_t v) {
+#if defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN)
+	return v;
+#elif defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) && \
+      defined(__GNUC__) && __GNUC__ >= 4 && __GNUC_MINOR__ >= 8
+	return __builtin_bswap64(v);
+#else
+	union { uint64_t u; uint8_t v[8]; } s;
+	s.v[0] = (uint8_t)v;
+	s.v[1] = (uint8_t)(v>>8);
+	s.v[2] = (uint8_t)(v>>16);
+	s.v[3] = (uint8_t)(v>>24);
+	s.v[4] = (uint8_t)(v>>32);
+	s.v[5] = (uint8_t)(v>>40);
+	s.v[6] = (uint8_t)(v>>48);
+	s.v[7] = (uint8_t)(v>>56);
+	return s.u;
+#endif
+}
+
+CAPN_INLINE int capn_write1(capn_ptr p, int off, int val) {
+	if (off >= p.datasz*8) {
+		return -1;
+	} else if (val) {
+		uint8_t tmp = (uint8_t)(1 << (off & 7));
+		((uint8_t*) p.data)[off >> 3] |= tmp;
+		return 0;
+	} else {
+		uint8_t tmp = (uint8_t)(~(1 << (off & 7)));
+		((uint8_t*) p.data)[off >> 3] &= tmp;
+		return 0;
+	}
+}
+
+CAPN_INLINE uint8_t capn_read8(capn_ptr p, int off) {
+	return off+1 <= p.datasz ? capn_flip8(*(uint8_t*) (p.data+off)) : 0;
+}
+CAPN_INLINE int capn_write8(capn_ptr p, int off, uint8_t val) {
+	if (off+1 <= p.datasz) {
+		*(uint8_t*) (p.data+off) = capn_flip8(val);
+		return 0;
+	} else {
+		return -1;
+	}
+}
+
+CAPN_INLINE uint16_t capn_read16(capn_ptr p, int off) {
+	return off+2 <= p.datasz ? capn_flip16(*(uint16_t*) (p.data+off)) : 0;
+}
+CAPN_INLINE int capn_write16(capn_ptr p, int off, uint16_t val) {
+	if (off+2 <= p.datasz) {
+		*(uint16_t*) (p.data+off) = capn_flip16(val);
+		return 0;
+	} else {
+		return -1;
+	}
+}
+
+CAPN_INLINE uint32_t capn_read32(capn_ptr p, int off) {
+	return off+4 <= p.datasz ? capn_flip32(*(uint32_t*) (p.data+off)) : 0;
+}
+CAPN_INLINE int capn_write32(capn_ptr p, int off, uint32_t val) {
+	if (off+4 <= p.datasz) {
+		*(uint32_t*) (p.data+off) = capn_flip32(val);
+		return 0;
+	} else {
+		return -1;
+	}
+}
+
+CAPN_INLINE uint64_t capn_read64(capn_ptr p, int off) {
+	return off+8 <= p.datasz ? capn_flip64(*(uint64_t*) (p.data+off)) : 0;
+}
+CAPN_INLINE int capn_write64(capn_ptr p, int off, uint64_t val) {
+	if (off+8 <= p.datasz) {
+		*(uint64_t*) (p.data+off) = capn_flip64(val);
+		return 0;
+	} else {
+		return -1;
+	}
+}
+
+union capn_conv_f32 {
+	uint32_t u;
+	float f;
+};
+
+union capn_conv_f64 {
+	uint64_t u;
+	double f;
+};
+
+CAPN_INLINE float capn_to_f32(uint32_t v) {
+	union capn_conv_f32 u;
+	u.u = v;
+	return u.f;
+}
+CAPN_INLINE double capn_to_f64(uint64_t v) {
+	union capn_conv_f64 u;
+	u.u = v;
+	return u.f;
+}
+CAPN_INLINE uint32_t capn_from_f32(float v) {
+	union capn_conv_f32 u;
+	u.f = v;
+	return u.u;
+}
+CAPN_INLINE uint64_t capn_from_f64(double v) {
+	union capn_conv_f64 u;
+	u.f = v;
+	return u.u;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

phonelibs/json/src/json.h

@@ -0,0 +1,117 @@
+/*
+  Copyright (C) 2011 Joseph A. Adams (joeyadams3.14159@gmail.com)
+  All rights reserved.
+
+  Permission is hereby granted, free of charge, to any person obtaining a copy
+  of this software and associated documentation files (the "Software"), to deal
+  in the Software without restriction, including without limitation the rights
+  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+  copies of the Software, and to permit persons to whom the Software is
+  furnished to do so, subject to the following conditions:
+
+  The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+
+  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+  THE SOFTWARE.
+*/
+
+#ifndef CCAN_JSON_H
+#define CCAN_JSON_H
+
+#include <stdbool.h>
+#include <stddef.h>
+
+typedef enum {
+	JSON_NULL,
+	JSON_BOOL,
+	JSON_STRING,
+	JSON_NUMBER,
+	JSON_ARRAY,
+	JSON_OBJECT,
+} JsonTag;
+
+typedef struct JsonNode JsonNode;
+
+struct JsonNode
+{
+	/* only if parent is an object or array (NULL otherwise) */
+	JsonNode *parent;
+	JsonNode *prev, *next;
+	
+	/* only if parent is an object (NULL otherwise) */
+	char *key; /* Must be valid UTF-8. */
+	
+	JsonTag tag;
+	union {
+		/* JSON_BOOL */
+		bool bool_;
+		
+		/* JSON_STRING */
+		char *string_; /* Must be valid UTF-8. */
+		
+		/* JSON_NUMBER */
+		double number_;
+		
+		/* JSON_ARRAY */
+		/* JSON_OBJECT */
+		struct {
+			JsonNode *head, *tail;
+		} children;
+	};
+};
+
+/*** Encoding, decoding, and validation ***/
+
+JsonNode   *json_decode         (const char *json);
+char       *json_encode         (const JsonNode *node);
+char       *json_encode_string  (const char *str);
+char       *json_stringify      (const JsonNode *node, const char *space);
+void        json_delete         (JsonNode *node);
+
+bool        json_validate       (const char *json);
+
+/*** Lookup and traversal ***/
+
+JsonNode   *json_find_element   (JsonNode *array, int index);
+JsonNode   *json_find_member    (JsonNode *object, const char *key);
+
+JsonNode   *json_first_child    (const JsonNode *node);
+
+#define json_foreach(i, object_or_array)            \
+	for ((i) = json_first_child(object_or_array);   \
+		 (i) != NULL;                               \
+		 (i) = (i)->next)
+
+/*** Construction and manipulation ***/
+
+JsonNode *json_mknull(void);
+JsonNode *json_mkbool(bool b);
+JsonNode *json_mkstring(const char *s);
+JsonNode *json_mknumber(double n);
+JsonNode *json_mkarray(void);
+JsonNode *json_mkobject(void);
+
+void json_append_element(JsonNode *array, JsonNode *element);
+void json_prepend_element(JsonNode *array, JsonNode *element);
+void json_append_member(JsonNode *object, const char *key, JsonNode *value);
+void json_prepend_member(JsonNode *object, const char *key, JsonNode *value);
+
+void json_remove_from_parent(JsonNode *node);
+
+/*** Debugging ***/
+
+/*
+ * Look for structure and encoding problems in a JsonNode or its descendents.
+ *
+ * If a problem is detected, return false, writing a description of the problem
+ * to errmsg (unless errmsg is NULL).
+ */
+bool json_check(const JsonNode *node, char errmsg[256]);
+
+#endif

requirements_openpilot.txt

@@ -1,7 +1,6 @@
 Cython==0.24.1
 bitstring==3.1.5
 fastcluster==1.1.21
-h5py==2.6.0
 libusb1==1.5.0
 pycapnp==0.5.9
 pyzmq==15.4.0
@@ -9,4 +8,5 @@ raven==5.23.0
 requests==2.10.0
 setproctitle==1.1.10
 simplejson==3.8.2
+pyyaml==3.12
 -e git+https://github.com/commaai/le_python.git#egg=Logentries

selfdrive/boardd/Makefile

@@ -2,6 +2,7 @@ CC = clang
 CXX = clang++
 
 ARCH := $(shell uname -m)
+OS := $(shell uname -o)
 
 PHONELIBS = ../../phonelibs
 
@@ -19,29 +20,37 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-              -l:libcapnp.a -l:libkj.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+JSON_FLAGS = -I$(PHONELIBS)/json/src
 
 EXTRA_LIBS = -lusb
 
-ifeq ($(ARCH),x86_64)
-ZMQ_LIBS = -L$(HOME)/drive/external/zmq/lib/ \
-           -l:libczmq.a -l:libzmq.a
-CEREAL_LIBS = -L$(HOME)/drive/external/capnp/lib/ \
-              -l:libcapnp.a -l:libkj.a
+ifeq ($(OS),GNU/Linux)
+# for Drive PX2
+ZMQ_LIBS = -lczmq -lzmq
+CEREAL_LIBS = -lcapnp -lkj -lcapnp_c
 EXTRA_LIBS = -lusb-1.0 -lpthread
 endif
 
+ifeq ($(ARCH),x86_64)
+ZMQ_LIBS = -L$(HOME)/one/external/zmq/lib/ \
+           -l:libczmq.a -l:libzmq.a
+CEREAL_LIBS = -L$(HOME)/one/external/capnp/lib/ \
+              -l:libcapnp.a -l:libcapnp_c.a -l:libkj.a
+EXTRA_LIBS = -lusb-1.0 -lpthread
+endif
+
+.PHONY: all
+all: boardd
+
+include ../common/cereal.mk
 
 OBJS = boardd.o \
-       log.capnp.o
+       ../common/swaglog.o \
+       $(PHONELIBS)/json/src/json.o \
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: boardd
-
 boardd: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -53,18 +62,21 @@ boardd.o: boardd.cc
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
+           $(CEREAL_CXXFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
-           -c -o '$@' '$<'
-  
+%.o: %.c
+	@echo "[ CC ] $@"
+	$(CC) $(CFLAGS) -MMD \
+          -Iinclude -I.. -I../.. \
+          $(CEREAL_CFLAGS) \
+          $(ZMQ_FLAGS) \
+          $(JSON_FLAGS) \
+          -c -o '$@' '$<'
 
 .PHONY: clean
 clean:

selfdrive/boardd/boardd.cc

@@ -20,6 +20,7 @@
 #include <capnp/serialize.h>
 #include "cereal/gen/cpp/log.capnp.h"
 
+#include "common/swaglog.h"
 #include "common/timing.h"
 
 int do_exit = 0;
@@ -29,18 +30,12 @@ libusb_device_handle *dev_handle;
 pthread_mutex_t usb_lock;
 
 bool spoofing_started = false;
+bool fake_send = false;
 
 // double the FIFO size
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
 
-#define DEBUG_BOARDD
-#ifdef DEBUG_BOARDD
-#define DPRINTF(fmt, ...) printf("boardd: " fmt, ## __VA_ARGS__)
-#else
-#define DPRINTF(fmt, ...)
-#endif
-
 bool usb_connect() {
   int err;
 
@@ -53,14 +48,36 @@ bool usb_connect() {
   err = libusb_claim_interface(dev_handle, 0);
   if (err != 0) { return false; }
 
+  // power off ESP
+  libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
+
+  // forward CAN1 to CAN3...soon
+  //libusb_control_transfer(dev_handle, 0xc0, 0xdd, 1, 2, NULL, 0, TIMEOUT);
+  
+  // set UART modes for Honda Accord
+  for (int uart = 2; uart <= 3; uart++) {
+    // 9600 baud
+    libusb_control_transfer(dev_handle, 0xc0, 0xe1, uart, 9600, NULL, 0, TIMEOUT);
+    // even parity
+    libusb_control_transfer(dev_handle, 0xc0, 0xe2, uart, 1, NULL, 0, TIMEOUT);
+    // callback 1
+    libusb_control_transfer(dev_handle, 0xc0, 0xe3, uart, 1, NULL, 0, TIMEOUT);
+  }
+
   return true;
 }
 
+void usb_retry_connect() {
+  LOG("attempting to connect");
+  while (!usb_connect()) { usleep(100*1000); }
+  LOGW("connected to board");
+}
 
 void handle_usb_issue(int err, const char func[]) {
-  DPRINTF("usb error %d \"%s\" in %s\n", err, libusb_strerror((enum libusb_error)err), func);
+  LOGE("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
   if (err == -4) {
-    while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
+    LOGE("lost connection");
+    usb_retry_connect();
   }
   // TODO: check other errors, is simply retrying okay?
 }
@@ -77,7 +94,7 @@ void can_recv(void *s) {
   do {
     err = libusb_bulk_transfer(dev_handle, 0x81, (uint8_t*)data, RECV_SIZE, &recv, TIMEOUT);
     if (err != 0) { handle_usb_issue(err, __func__); }
-    if (err == -8) { DPRINTF("overflow got 0x%x\n", recv); };
+    if (err == -8) { LOGE("overflow got 0x%x", recv); };
 
     // timeout is okay to exit, recv still happened
     if (err == -7) { break; }
@@ -110,7 +127,7 @@ void can_recv(void *s) {
     canData[i].setBusTime(data[i*4+1] >> 16);
     int len = data[i*4+1]&0xF;
     canData[i].setDat(kj::arrayPtr((uint8_t*)&data[i*4+2], len));
-    canData[i].setSrc((data[i*4+1] >> 4) & 3);
+    canData[i].setSrc((data[i*4+1] >> 4) & 0xf);
   }
 
   // send to can
@@ -123,12 +140,14 @@ void can_health(void *s) {
   int cnt;
 
   // copied from board/main.c
-  struct health {
+  struct __attribute__((packed)) health {
     uint32_t voltage;
     uint32_t current;
     uint8_t started;
     uint8_t controls_allowed;
     uint8_t gas_interceptor_detected;
+    uint8_t started_signal_detected;
+    uint8_t started_alt;
   } health;
 
   // recv from board
@@ -157,6 +176,7 @@ void can_health(void *s) {
   }
   healthData.setControlsAllowed(health.controls_allowed);
   healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
+  healthData.setStartedSignalDetected(health.started_signal_detected);
 
   // send to health
   auto words = capnp::messageToFlatArray(msg);
@@ -174,8 +194,10 @@ void can_send(void *s) {
   err = zmq_msg_recv(&msg, s, 0);
   assert(err >= 0);
 
-  // format for board
-  auto amsg = kj::arrayPtr((const capnp::word*)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  // format for board, make copy due to alignment issues, will be freed on out of scope
+  auto amsg = kj::heapArray<capnp::word>((zmq_msg_size(&msg) / sizeof(capnp::word)) + 1);
+  memcpy(amsg.begin(), zmq_msg_data(&msg), zmq_msg_size(&msg));
+
   capnp::FlatArrayMessageReader cmsg(amsg);
   cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
   int msg_count = event.getCan().size();
@@ -197,8 +219,6 @@ void can_send(void *s) {
     memcpy(&send[i*4+2], cmsg.getDat().begin(), cmsg.getDat().size());
   }
 
-  //DPRINTF("got send message: %d\n", msg_count);
-
   // release msg
   zmq_msg_close(&msg);
 
@@ -206,10 +226,12 @@ void can_send(void *s) {
   int sent;
   pthread_mutex_lock(&usb_lock);
 
-  do {
-    err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
-    if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
-  } while(err != 0);
+  if (!fake_send) {
+    do {
+      err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
+      if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
+    } while(err != 0);
+  }
 
   pthread_mutex_unlock(&usb_lock);
 
@@ -221,7 +243,7 @@ void can_send(void *s) {
 // **** threads ****
 
 void *can_send_thread(void *crap) {
-  DPRINTF("start send thread\n");
+  LOGD("start send thread");
 
   // sendcan = 8017
   void *context = zmq_ctx_new();
@@ -237,7 +259,7 @@ void *can_send_thread(void *crap) {
 }
 
 void *can_recv_thread(void *crap) {
-  DPRINTF("start recv thread\n");
+  LOGD("start recv thread");
 
   // can = 8006
   void *context = zmq_ctx_new();
@@ -254,7 +276,7 @@ void *can_recv_thread(void *crap) {
 }
 
 void *can_health_thread(void *crap) {
-  DPRINTF("start health thread\n");
+  LOGD("start health thread");
 
   // health = 8011
   void *context = zmq_ctx_new();
@@ -274,40 +296,36 @@ int set_realtime_priority(int level) {
   struct sched_param sa;
   memset(&sa, 0, sizeof(sa));
   sa.sched_priority = level;
-  return sched_setscheduler(gettid(), SCHED_FIFO, &sa);
+  return sched_setscheduler(getpid(), SCHED_FIFO, &sa);
 }
 
 int main() {
   int err;
-  printf("boardd: starting boardd\n");
+  LOGW("starting boardd");
 
   // set process priority
   err = set_realtime_priority(4);
-  printf("boardd: setpriority returns %d\n", err);
+  LOG("setpriority returns %d", err);
 
   // check the environment
   if (getenv("STARTED")) {
     spoofing_started = true;
   }
 
-  // connect to the board
+  if (getenv("FAKESEND")) {
+    fake_send = true;
+  }
+
+  // init libusb
   err = libusb_init(&ctx);
   assert(err == 0);
   libusb_set_debug(ctx, 3);
 
-  // TODO: duplicate code from error handling
-  while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
+  // connect to the board
+  usb_retry_connect();
 
-  /*int config;
-  err = libusb_get_configuration(dev_handle, &config);
-  assert(err == 0);
-  DPRINTF("configuration is %d\n", config);*/
-
-  /*err = libusb_set_interface_alt_setting(dev_handle, 0, 0);
-  assert(err == 0);*/
 
   // create threads
-
   pthread_t can_health_thread_handle;
   err = pthread_create(&can_health_thread_handle, NULL,
                        can_health_thread, NULL);

selfdrive/boardd/boardd.py

@@ -2,10 +2,11 @@
 import os
 import struct
 import zmq
+import time
 
 import selfdrive.messaging as messaging
 from common.realtime import Ratekeeper
-from common.services import service_list
+from selfdrive.services import service_list
 from selfdrive.swaglog import cloudlog
 
 # USB is optional
@@ -56,7 +57,7 @@ def __parse_can_buffer(dat):
   for j in range(0, len(dat), 0x10):
     ddat = dat[j:j+0x10]
     f1, f2 = struct.unpack("II", ddat[0:8])
-    ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&3))
+    ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xF))
   return ret
 
 def can_send_many(arr):
@@ -109,7 +110,7 @@ def boardd_mock_loop():
 
   while 1:
     tsc = messaging.drain_sock(logcan, wait_for_one=True)
-    snds = map(can_capnp_to_can_list, tsc)
+    snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
     snd = []
     for s in snds:
       snd += s
@@ -122,6 +123,19 @@ def boardd_mock_loop():
 
     #print can_msgs
 
+def boardd_test_loop():
+  can_init()
+  cnt = 0
+  while 1:
+    can_send_many([[0xbb,0,"\xaa\xaa\xaa\xaa",0], [0xaa,0,"\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt),1]])
+    #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]])
+    #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]])
+    # recv @ 100hz
+    can_msgs = can_recv()
+    print "got %d" % (len(can_msgs))
+    time.sleep(0.01)
+    cnt += 1
+
 # *** main loop ***
 def boardd_loop(rate=200):
   rk = Ratekeeper(rate)
@@ -162,13 +176,15 @@ def boardd_loop(rate=200):
     # send can if we have a packet
     tsc = messaging.recv_sock(sendcan)
     if tsc is not None:
-      can_send_many(can_capnp_to_can_list(tsc))
+      can_send_many(can_capnp_to_can_list(tsc.sendcan))
 
     rk.keep_time()
 
 def main(gctx=None):
   if os.getenv("MOCK") is not None:
     boardd_mock_loop()
+  elif os.getenv("BOARDTEST") is not None:
+    boardd_test_loop()
   else:
     boardd_loop()
 

selfdrive/calibrationd/calibration.py

@@ -1,208 +0,0 @@
-import numpy as np
-
-import common.filters as filters
-from selfdrive.controls.lib.latcontrol import calc_curvature
-
-
-# Calibration Status
-class CalibStatus(object):
-  INCOMPLETE = 0
-  VALID = 1
-  INVALID = 2
-
-
-def line_intersection(line1, line2, no_int_sub = [0,0]):
-  xdiff = (line1[0][0] - line1[1][0], line2[0][0] - line2[1][0])
-  ydiff = (line1[0][1] - line1[1][1], line2[0][1] - line2[1][1])
-
-  def det(a, b):
-    return a[0] * b[1] - a[1] * b[0]
-
-  div = det(xdiff, ydiff)
-  if div == 0:
-    # since we are in float domain, this should really never happen
-    return no_int_sub
-
-  d = (det(*line1), det(*line2))
-  x = det(d, xdiff) / div
-  y = det(d, ydiff) / div
-  return [x, y]
-
-def points_inside_hit_box(pts, box):
-  """Determine which points lie inside a box.
-
-     Inputs:
-      pts: An nx2 array of points to hit test.
-      box: An array [[x_left, y_top], [x_right, y_bottom]] describing a box to
-           use for hit testing.
-     Returns:
-      A logical array with true for every member of pts inside box.
-  """
-  hits = np.all(np.logical_and(pts > box[0, :], pts < box[1, :]), axis=1)
-  return hits
-
-def warp_points(pt_s, warp_matrix):
-  # pt_s are the source points, nx2 array.
-  pt_d = np.dot(warp_matrix[:, :2], pt_s.T) + warp_matrix[:, 2][:, np.newaxis]
-
-  # divide by third dimension for representation in image space.
-  return (pt_d[:2, :] / pt_d[2, :]).T
-
-class ViewCalibrator(object):
-  def __init__(self, box_size, big_box_size, vp_r, warp_matrix_start, vp_f=None, cal_cycle=0, cal_status=0):
-    self.calibration_threshold = 3000
-    self.box_size = box_size
-    self.big_box_size = big_box_size
-
-    self.warp_matrix_start = warp_matrix_start
-    self.vp_r = list(vp_r)
-
-    if vp_f is None:
-      self.vp_f = list(vp_r)
-    else:
-      self.vp_f = list(vp_f)
-
-    # slow filter fot the vanishing point 
-    vp_fr = 0.005    # Hz, slow filter 
-    self.dt = 0.05  # camera runs at 20Hz
-
-    self.update_warp_matrix()
-
-    self.vp_x_filter = filters.FirstOrderLowpassFilter(vp_fr, self.dt, self.vp_f[0])
-    self.vp_y_filter = filters.FirstOrderLowpassFilter(vp_fr, self.dt, self.vp_f[1])
-
-    self.cal_cycle = cal_cycle
-    self.cal_status = cal_status
-    self.cal_perc = int(np.minimum(self.cal_cycle*100./self.calibration_threshold, 100))
-
-  def vanishing_point_process(self, old_ps, new_ps, v_ego, steer_angle, VP):
-    # correct diffs by yaw rate 
-    cam_fov = 23.06*np.pi/180. # deg
-    curvature = calc_curvature(v_ego, steer_angle, VP)
-    yaw_rate = curvature * v_ego
-    hor_angle_shift = yaw_rate * self.dt * self.box_size[0] / cam_fov
-    old_ps += [hor_angle_shift, 0]  # old points have moved in the image due to yaw rate
-
-    pos_ps = [None]*len(new_ps)
-    for ii in range(len(old_ps)):
-      xo = old_ps[ii][0]
-      yo = old_ps[ii][1]
-      yn = new_ps[ii][1]
-
-      # don't consider points with low flow in y
-      if abs(yn - yo) > 1:
-        if xo > (self.vp_f[0] + 20):
-          pos_ps[ii] = 'r'   # right lane point
-        elif xo < (self.vp_f[0] - 20):
-          pos_ps[ii] = 'l'   # left lane point
-
-        # intersect all the right lines with the left lines
-    idxs_l = [i for i, x in enumerate(pos_ps) if x == 'l']
-    idxs_r = [i for i, x in enumerate(pos_ps) if x == 'r']
-
-    old_ps_l, new_ps_l = old_ps[idxs_l], new_ps[idxs_l]
-    old_ps_r, new_ps_r = old_ps[idxs_r], new_ps[idxs_r]
-    # return None if there is one side with no lines, the speed is low or the steer angle is high 
-    if len(old_ps_l) == 0 or len(old_ps_r) == 0 or v_ego < 20 or abs(steer_angle) > 5:
-      return None
-
-    int_ps = [[None] * len(old_ps_r)] * len(old_ps_l)
-    for ll in range(len(old_ps_l)):
-      for rr in range(len(old_ps_r)):
-        old_p_l, old_p_r, new_p_l, new_p_r = old_ps_l[ll], old_ps_r[
-          rr], new_ps_l[ll], new_ps_r[rr]
-        line_l = [[old_p_l[0], old_p_l[1]], [new_p_l[0], new_p_l[1]]]
-        line_r = [[old_p_r[0], old_p_r[1]], [new_p_r[0], new_p_r[1]]]
-        int_ps[ll][rr] = line_intersection(
-          line_l, line_r, no_int_sub=self.vp_f)
-        # saturate outliers that are too far from the estimated vp
-        int_ps[ll][rr][0] = np.clip(int_ps[ll][rr][0], self.vp_f[0] - 20, self.vp_f[0] + 20)
-        int_ps[ll][rr][1] = np.clip(int_ps[ll][rr][1], self.vp_f[1] - 30, self.vp_f[1] + 30)
-    vp = np.mean(np.mean(np.array(int_ps), axis=0), axis=0)
-
-    return vp
-
-  def calibration_validity(self):
-    # this function sanity checks that the small box is contained in the big box.
-    # otherwise the warp function will generate black spots on the small box
-    cp = np.asarray([[0, 0],
-                    [self.box_size[0], 0],
-                    [self.box_size[0], self.box_size[1]],
-                    [0, self.box_size[1]]])
-
-    cpw = warp_points(cp, self.warp_matrix)
-
-    # pixel margin for validity hysteresys: 
-    # - if calibration is good, keep it good until small box is inside the big box
-    # - if calibration isn't good, then make it good again if small box is in big box with margin
-    margin_px = 0 if self.cal_status == CalibStatus.VALID else 5
-    big_hit_box = np.asarray(
-      [[margin_px, margin_px],
-       [self.big_box_size[0], self.big_box_size[1] - margin_px]])
-
-    cpw_outside_big_box = np.logical_not(points_inside_hit_box(cpw, big_hit_box))
-    return not np.any(cpw_outside_big_box)
-
-
-  def get_calibration_hit_box(self):
-    """Returns an axis-aligned hit box in canonical image space.
-       Points which do not fall within this box should not be used for
-       calibration.
-
-       Returns:
-        An array [[x_left, y_top], [x_right, y_bottom]] describing a box inside
-        which all calibration points should lie.
-    """
-    # We mainly care about feature from lanes, so removed points from sky.
-    y_filter = 50.
-    return np.asarray([[0, y_filter], [self.box_size[0], self.box_size[1]]])
-
-
-  def update_warp_matrix(self):
-    translation_matrix = np.asarray(
-      [[1, 0, self.vp_f[0] - self.vp_r[0]],
-       [0, 1, self.vp_f[1] - self.vp_r[1]],
-       [0, 0, 1]])
-    self.warp_matrix = np.dot(translation_matrix, self.warp_matrix_start)
-    self.warp_matrix_inv = np.linalg.inv(self.warp_matrix)
-
-  def calibration(self, p0, p1, st, v_ego, steer_angle, VP):
-    # convert to np array first thing
-    p0 = np.asarray(p0)
-    p1 = np.asarray(p1)
-    st = np.asarray(st)
-
-    p0 = p0.reshape((-1,2))
-    p1 = p1.reshape((-1,2))
-
-    # filter out pts with bad status
-    p0 = p0[st==1]
-    p1 = p1[st==1]
-
-    calib_hit_box = self.get_calibration_hit_box()
-    # remove all the points outside the small box and above the horizon line
-    good_idxs = points_inside_hit_box(
-      warp_points(p0, self.warp_matrix_inv), calib_hit_box)
-    p0 = p0[good_idxs]
-    p1 = p1[good_idxs]
-
-    # print("unwarped points: {}".format(warp_points(p0, self.warp_matrix_inv)))
-    # print("good_idxs {}:".format(good_idxs))
-
-    # get instantaneous vp
-    vp = self.vanishing_point_process(p0, p1, v_ego, steer_angle, VP)
-
-    if vp is not None:
-      # filter the vanishing point
-      self.vp_f = [self.vp_x_filter(vp[0]), self.vp_y_filter(vp[1])]
-      self.cal_cycle += 1
-
-    if not self.calibration_validity():
-      self.cal_status = CalibStatus.INVALID
-    else:
-      # 10 minutes @5Hz TODO: make this threshold function of convergency speed
-      self.cal_status = CalibStatus.VALID
-      #self.cal_status = CalibStatus.VALID if self.cal_cycle > self.calibration_threshold else CalibStatus.INCOMPLETE
-    self.cal_perc = int(np.minimum(self.cal_cycle*100./self.calibration_threshold, 100))
-
-    self.update_warp_matrix()

selfdrive/calibrationd/calibrationd.py

@@ -1,116 +0,0 @@
-#!/usr/bin/env python
-import os
-import numpy as np
-import zmq
-
-from common.services import service_list
-import selfdrive.messaging as messaging
-from selfdrive.config import ImageParams, VehicleParams
-from selfdrive.calibrationd.calibration import ViewCalibrator, CalibStatus
-
-CALIBRATION_FILE = "/sdcard/calibration_param"
-
-def load_calibration(gctx):
-  # calibration initialization
-  I = ImageParams()
-  vp_guess = None
-
-  if gctx is not None:
-    warp_matrix_start = np.array(
-        gctx['calibration']["initial_homography"]).reshape(3, 3)
-    big_box_size = [560, 304]
-  else:
-    warp_matrix_start = np.array([[1., 0., I.SX_R],
-                                  [0., 1., I.SY_R],
-                                  [0., 0., 1.]])
-    big_box_size = [640, 480]
-
-  # translate the vanishing point into phone image space
-  vp_box = (I.VPX_R-I.SX_R, I.VPY_R-I.SY_R)
-  vp_trans = np.dot(warp_matrix_start, vp_box+(1.,))
-  vp_img = (vp_trans[0]/vp_trans[2], vp_trans[1]/vp_trans[2])
-
-  # load calibration data
-  if os.path.isfile(CALIBRATION_FILE):
-    # if the calibration file exist, start from the last cal values
-    with open(CALIBRATION_FILE, "r") as cal_file:
-      data = [float(l.strip()) for l in cal_file.readlines()]
-      calib = ViewCalibrator((I.X, I.Y),
-                             big_box_size,
-                             vp_img,
-                             warp_matrix_start,
-                             vp_f=[data[2], data[3]],
-                             cal_cycle=data[0],
-                             cal_status=data[1])
-
-      if calib.cal_status == CalibStatus.INCOMPLETE:
-        print "CALIBRATION IN PROGRESS", calib.cal_cycle
-  else:
-    print "NO CALIBRATION FILE"
-    calib = ViewCalibrator((I.X, I.Y),
-                           big_box_size,
-                           vp_img,
-                           warp_matrix_start,
-                           vp_f=vp_guess)
-
-  return calib
-
-def calibrationd_thread(gctx):
-  context = zmq.Context()
-
-  features = messaging.sub_sock(context, service_list['features'].port)
-  live100 = messaging.sub_sock(context, service_list['live100'].port)
-
-  livecalibration = messaging.pub_sock(context, service_list['liveCalibration'].port)
-
-  # subscribe to stats about the car
-  VP = VehicleParams(False)
-
-  v_ego = None
-
-  calib = load_calibration(gctx)
-  last_cal_cycle = calib.cal_cycle
-
-  while 1:
-    # calibration at the end so it does not delay radar processing above
-    ft = messaging.recv_sock(features, wait=True)
-
-    # get latest here
-    l100 = messaging.recv_sock(live100)
-    if l100 is not None:
-      v_ego = l100.live100.vEgo
-      steer_angle = l100.live100.angleSteers
-
-    if v_ego is None:
-      continue
-
-    p0 = ft.features.p0
-    p1 = ft.features.p1
-    st = ft.features.status
-
-    calib.calibration(p0, p1, st, v_ego, steer_angle, VP)
-
-    # write a new calibration every 100 cal cycle
-    if calib.cal_cycle - last_cal_cycle >= 100:
-      print "writing cal", calib.cal_cycle
-      with open(CALIBRATION_FILE, "w") as cal_file:
-        cal_file.write(str(calib.cal_cycle)+'\n')
-        cal_file.write(str(calib.cal_status)+'\n')
-        cal_file.write(str(calib.vp_f[0])+'\n')
-        cal_file.write(str(calib.vp_f[1])+'\n')
-      last_cal_cycle = calib.cal_cycle
-
-    warp_matrix = map(float, calib.warp_matrix.reshape(9).tolist())
-    dat = messaging.new_message()
-    dat.init('liveCalibration')
-    dat.liveCalibration.warpMatrix = warp_matrix
-    dat.liveCalibration.calStatus = calib.cal_status
-    dat.liveCalibration.calCycle = calib.cal_cycle
-    dat.liveCalibration.calPerc = calib.cal_perc
-    livecalibration.send(dat.to_bytes())
-
-def main(gctx=None):
-  calibrationd_thread(gctx)
-
-if __name__ == "__main__":
-  main()

selfdrive/car/fingerprints.py

@@ -1,12 +0,0 @@
-fingerprints = {
-  "ACURA ILX 2016 ACURAWATCH PLUS": {
-    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
-    # sent messages
-    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 4,
-  },
-  "HONDA CIVIC 2016 TOURING": {
-    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
-    # sent messages
-    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
-  }
-}

selfdrive/car/honda/can_parser.py

@@ -1,5 +1,5 @@
 import os
-import dbcs
+import opendbc
 from collections import defaultdict
 
 from selfdrive.car.honda.hondacan import fix
@@ -19,13 +19,12 @@ class CANParser(object):
     #               monitored.
     #             - frequency is the frequency at which health should be monitored.
 
-    self.msgs_ck = [check[0] for check in checks]
-    self.frqs = [check[1] for check in checks]
+    self.msgs_ck = set([check[0] for check in checks])
+    self.frqs = dict(checks)
     self.can_valid = False  # start with False CAN assumption
-    self.msgs_upd = []      # list of updated messages
     # list of received msg we want to monitor counter and checksum for
     # read dbc file
-    self.can_dbc = dbc(os.path.join(dbcs.DBC_PATH, dbc_f))
+    self.can_dbc = dbc(os.path.join(opendbc.DBC_PATH, dbc_f))
     # initialize variables to initial values
     self.vl = {}    # signal values
     self.ts = {}    # time stamp recorded in log
@@ -55,14 +54,16 @@ class CANParser(object):
       self._message_indices[x].append(i)
 
   def update_can(self, can_recv):
-    self.msgs_upd = []
+    msgs_upd = []
     cn_vl_max = 5   # no more than 5 wrong counter checks
 
+    self.sec_since_boot_cached = sec_since_boot()
+
     # we are subscribing to PID_XXX, else data from USB
     for msg, ts, cdat, _ in can_recv:
       idxs = self._message_indices[msg]
       if idxs:
-        self.msgs_upd.append(msg)
+        msgs_upd.append(msg)
         # read the entire message
         out = self.can_dbc.decode((msg, 0, cdat))[1]
         # checksum check
@@ -74,7 +75,7 @@ class CANParser(object):
           msg_vl = fix(ck_portion, msg)
           # compare recalculated vs received checksum
           if msg_vl != cdat:
-            print hex(msg), "CHECKSUM FAIL"
+            print "CHECKSUM FAIL: " + hex(msg)
             self.ck[msg] = False
             self.ok[msg] = False
         # counter check
@@ -89,11 +90,12 @@ class CANParser(object):
           self.cn_vl[msg] -= 1   # counter check passed
         # message status is invalid if we received too many wrong counter values
         if self.cn_vl[msg] >= cn_vl_max:
+          print "COUNTER WRONG: " + hex(msg)
           self.ok[msg] = False
 
         # update msg time stamps and counter value
         self.ts[msg] = ts
-        self.ct[msg] = sec_since_boot()
+        self.ct[msg] = self.sec_since_boot_cached
         self.cn[msg] = cn
         self.cn_vl[msg] = min(max(self.cn_vl[msg], 0), cn_vl_max)
 
@@ -106,7 +108,7 @@ class CANParser(object):
           sg = self._sgs[ii]
           self.vl[msg][sg] = out[sg]
 
-  # for each message, check if it's too long since last time we received it
+    # for each message, check if it's too long since last time we received it
     self._check_dead_msgs()
 
     # assess overall can validity: if there is one relevant message invalid, then set can validity flag to False
@@ -115,9 +117,11 @@ class CANParser(object):
       #print "CAN INVALID!"
       self.can_valid = False
 
+    return msgs_upd
+
   def _check_dead_msgs(self):
     ### input:
     ## simple stuff for now: msg is not valid if a message isn't received for 10 consecutive steps
     for msg in set(self._msgs):
-      if msg in self.msgs_ck and sec_since_boot() - self.ct[msg] > 10./self.frqs[self.msgs_ck.index(msg)]:
+      if msg in self.msgs_ck and self.sec_since_boot_cached - self.ct[msg] > 10./self.frqs[msg]:
         self.ok[msg] = False

selfdrive/car/honda/carcontroller.py

@@ -4,7 +4,39 @@ import common.numpy_fast as np
 from common.realtime import sec_since_boot
 from selfdrive.config import CruiseButtons
 from selfdrive.boardd.boardd import can_list_to_can_capnp
-from selfdrive.controls.lib.drive_helpers import actuator_hystereses, rate_limit
+from selfdrive.controls.lib.drive_helpers import rate_limit
+from common.numpy_fast import clip, interp
+
+def actuator_hystereses(final_brake, braking, brake_steady, v_ego, civic):
+  # hyst params... TODO: move these to VehicleParams
+  brake_hyst_on = 0.055 if civic else 0.1    # to activate brakes exceed this value
+  brake_hyst_off = 0.005                     # to deactivate brakes below this value
+  brake_hyst_gap = 0.01                      # don't change brake command for small ocilalitons within this value
+
+  #*** histeresys logic to avoid brake blinking. go above 0.1 to trigger
+  if (final_brake < brake_hyst_on and not braking) or final_brake < brake_hyst_off:
+    final_brake = 0.
+  braking = final_brake > 0.
+
+  # for small brake oscillations within brake_hyst_gap, don't change the brake command
+  if final_brake == 0.:
+    brake_steady = 0.
+  elif final_brake > brake_steady + brake_hyst_gap:
+    brake_steady = final_brake - brake_hyst_gap
+  elif final_brake < brake_steady - brake_hyst_gap:
+    brake_steady = final_brake + brake_hyst_gap
+  final_brake = brake_steady
+
+  if not civic:
+    brake_on_offset_v  = [.25, .15]   # min brake command on brake activation. below this no decel is perceived
+    brake_on_offset_bp = [15., 30.]     # offset changes VS speed to not have too abrupt decels at high speeds
+    # offset the brake command for threshold in the brake system. no brake torque perceived below it
+    brake_on_offset = interp(v_ego, brake_on_offset_bp, brake_on_offset_v)
+    brake_offset = brake_on_offset - brake_hyst_on
+    if final_brake > 0.0:
+      final_brake += brake_offset
+
+  return final_brake, braking, brake_steady
 
 class AH:
   #[alert_idx, value]
@@ -23,7 +55,7 @@ def process_hud_alert(hud_alert):
   fcw_display = 0
   steer_required = 0
   acc_alert = 0
-  if hud_alert == AH.NONE:          # no alert 
+  if hud_alert == AH.NONE:          # no alert
     pass
   elif hud_alert == AH.FCW:         # FCW
     fcw_display = hud_alert[1]
@@ -55,6 +87,10 @@ class CarController(object):
              snd_beep, snd_chime):
     """ Controls thread """
 
+    # TODO: Make the accord work.
+    if CS.accord:
+      return
+
     # *** apply brake hysteresis ***
     final_brake, self.braking, self.brake_steady = actuator_hystereses(final_brake, self.braking, self.brake_steady, CS.v_ego, CS.civic)
 
@@ -90,7 +126,7 @@ class CarController(object):
     #print chime, alert_id, hud_alert
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
 
-    hud = HUDData(int(pcm_accel), int(hud_v_cruise), 0x41, hud_car,
+    hud = HUDData(int(pcm_accel), int(hud_v_cruise), 0x01, hud_car,
                   0xc1, 0x41, hud_lanes + steer_required,
                   int(snd_beep), 0x48, (snd_chime << 5) + fcw_display, acc_alert)
 
@@ -104,13 +140,18 @@ class CarController(object):
     tt = sec_since_boot()
     GAS_MAX = 1004
     BRAKE_MAX = 1024/4
-    STEER_MAX = 0xF00
+    if CS.civic:
+      STEER_MAX = 0x1000
+    elif CS.crv:
+      STEER_MAX = 0x300  # CR-V only uses 12-bits and requires a lower value
+    else:
+      STEER_MAX = 0xF00
     GAS_OFFSET = 328
 
     # steer torque is converted back to CAN reference (positive when steering right)
-    apply_gas = int(np.clip(final_gas*GAS_MAX, 0, GAS_MAX-1))
-    apply_brake = int(np.clip(final_brake*BRAKE_MAX, 0, BRAKE_MAX-1))
-    apply_steer = int(np.clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
+    apply_gas = int(clip(final_gas*GAS_MAX, 0, GAS_MAX-1))
+    apply_brake = int(clip(final_brake*BRAKE_MAX, 0, BRAKE_MAX-1))
+    apply_steer = int(clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
 
     # no gas if you are hitting the brake or the user is
     if apply_gas > 0 and (apply_brake != 0 or CS.brake_pressed):
@@ -156,8 +197,12 @@ class CarController(object):
     can_sends = []
 
     # Send steering command.
-    idx = frame % 4
-    can_sends.append(hondacan.create_steering_control(apply_steer, idx))
+    if CS.accord:
+      idx = frame % 2
+      can_sends.append(hondacan.create_accord_steering_control(apply_steer, idx))
+    else:
+      idx = frame % 4
+      can_sends.extend(hondacan.create_steering_control(apply_steer, CS.crv, idx))
 
     # Send gas and brake commands.
     if (frame % 2) == 0:
@@ -166,7 +211,7 @@ class CarController(object):
         hondacan.create_brake_command(apply_brake, pcm_override,
                                       pcm_cancel_cmd, hud.chime, idx))
       if not CS.brake_only:
-        # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. 
+        # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
         # This prevents unexpected pedal range rescaling
         gas_amount = (apply_gas + GAS_OFFSET) * (apply_gas > 0)
         can_sends.append(hondacan.create_gas_command(gas_amount, idx))
@@ -174,17 +219,16 @@ class CarController(object):
     # Send dashboard UI commands.
     if (frame % 10) == 0:
       idx = (frame/10) % 4
-      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, idx))
+      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, CS.crv, idx))
 
     # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
-    if CS.civic:
+    if CS.civic or CS.accord or CS.crv:
       radar_send_step = 5
     else:
       radar_send_step = 2
 
     if (frame % radar_send_step) == 0:
       idx = (frame/radar_send_step) % 4
-      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, idx))
+      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, idx))
 
     sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
-

selfdrive/car/honda/carstate.py

@@ -1,16 +1,13 @@
-import numpy as np
+import common.numpy_fast as np
 
 import selfdrive.messaging as messaging
-from selfdrive.boardd.boardd import can_capnp_to_can_list
-from selfdrive.config import VehicleParams
 from common.realtime import sec_since_boot
 
-from selfdrive.car.fingerprints import fingerprints
 from selfdrive.car.honda.can_parser import CANParser
 
-def get_can_parser(civic, brake_only):
+def get_can_parser(CP):
   # this function generates lists for signal, messages and initial values
-  if civic:
+  if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
     dbc_f = 'honda_civic_touring_2016_can.dbc'
     signals = [
       ("XMISSION_SPEED", 0x158, 0),
@@ -62,7 +59,7 @@ def get_can_parser(civic, brake_only):
       (0x405, 3),
     ]
 
-  else:
+  elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
     dbc_f = 'acura_ilx_2016_can.dbc'
     signals = [
       ("XMISSION_SPEED", 0x158, 0),
@@ -113,72 +110,139 @@ def get_can_parser(civic, brake_only):
       (0x324, 10),
       (0x405, 3),
     ]
-
+  elif CP.carFingerprint == "HONDA ACCORD 2016 TOURING":
+    dbc_f = 'honda_accord_touring_2016_can.dbc'
+    signals = [
+      ("XMISSION_SPEED", 0x158, 0),
+      ("WHEEL_SPEED_FL", 0x1d0, 0),
+      ("WHEEL_SPEED_FR", 0x1d0, 0),
+      ("WHEEL_SPEED_RL", 0x1d0, 0),
+      ("STEER_ANGLE", 0x156, 0),
+      #("STEER_TORQUE_SENSOR", 0x18f, 0),
+      ("GEAR", 0x191, 0),
+      ("WHEELS_MOVING", 0x1b0, 1),
+      ("DOOR_OPEN_FL", 0x405, 1),
+      ("DOOR_OPEN_FR", 0x405, 1),
+      ("DOOR_OPEN_RL", 0x405, 1),
+      ("DOOR_OPEN_RR", 0x405, 1),
+      ("CRUISE_SPEED_PCM", 0x324, 0),
+      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
+      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
+      ("BRAKE_PRESSED", 0x17c, 0),
+      #("CAR_GAS", 0x130, 0),
+      ("PEDAL_GAS", 0x17C, 0),
+      ("CRUISE_BUTTONS", 0x1a6, 0),
+      ("ESP_DISABLED", 0x1a4, 1),
+      ("HUD_LEAD", 0x30c, 0),
+      ("USER_BRAKE", 0x1a4, 0),
+      #("STEER_STATUS", 0x18f, 5),
+      ("WHEEL_SPEED_RR", 0x1d0, 0),
+      ("BRAKE_ERROR_1", 0x1b0, 1),
+      ("BRAKE_ERROR_2", 0x1b0, 1),
+      ("GEAR_SHIFTER", 0x191, 0),
+      ("MAIN_ON", 0x1a6, 0),
+      ("ACC_STATUS", 0x17c, 0),
+      ("PEDAL_GAS", 0x17c, 0),
+      ("CRUISE_SETTING", 0x1a6, 0),
+      ("LEFT_BLINKER", 0x294, 0),
+      ("RIGHT_BLINKER", 0x294, 0),
+      ("COUNTER", 0x324, 0),
+      ("ENGINE_RPM", 0x17C, 0)
+    ]
+    checks = [
+      (0x156, 100),
+      (0x158, 100),
+      (0x17c, 100),
+      #(0x1a3, 50),
+      (0x1a4, 50),
+      (0x1a6, 50),
+      (0x1b0, 50),
+      (0x1d0, 50),
+      (0x305, 10),
+      (0x324, 10),
+      (0x405, 3),
+    ]
+  elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
+    dbc_f = 'honda_crv_touring_2016_can.dbc'
+    signals = [
+      ("XMISSION_SPEED", 0x158, 0),
+      ("WHEEL_SPEED_FL", 0x1d0, 0),
+      ("WHEEL_SPEED_FR", 0x1d0, 0),
+      ("WHEEL_SPEED_RL", 0x1d0, 0),
+      ("STEER_ANGLE", 0x156, 0),
+      ("STEER_TORQUE_SENSOR", 0x18f, 0),
+      ("GEAR", 0x191, 0),
+      ("WHEELS_MOVING", 0x1b0, 1),
+      ("DOOR_OPEN_FL", 0x405, 1),
+      ("DOOR_OPEN_FR", 0x405, 1),
+      ("DOOR_OPEN_RL", 0x405, 1),
+      ("DOOR_OPEN_RR", 0x405, 1),
+      ("CRUISE_SPEED_PCM", 0x324, 0),
+      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
+      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
+      ("BRAKE_PRESSED", 0x17c, 0),
+      #("CAR_GAS", 0x130, 0),
+      ("CRUISE_BUTTONS", 0x1a6, 0),
+      ("ESP_DISABLED", 0x1a4, 1),
+      ("HUD_LEAD", 0x30c, 0),
+      ("USER_BRAKE", 0x1a4, 0),
+      ("STEER_STATUS", 0x18f, 5),
+      ("WHEEL_SPEED_RR", 0x1d0, 0),
+      ("BRAKE_ERROR_1", 0x1b0, 1),
+      ("BRAKE_ERROR_2", 0x1b0, 1),
+      ("GEAR_SHIFTER", 0x191, 0),
+      ("MAIN_ON", 0x1a6, 0),
+      ("ACC_STATUS", 0x17c, 0),
+      ("PEDAL_GAS", 0x17c, 0),
+      ("CRUISE_SETTING", 0x1a6, 0),
+      ("LEFT_BLINKER", 0x294, 0),
+      ("RIGHT_BLINKER", 0x294, 0),
+      ("COUNTER", 0x324, 0),
+      ("ENGINE_RPM", 0x17C, 0)
+    ]
+    checks = [
+      (0x156, 100),
+      (0x158, 100),
+      (0x17c, 100),
+      (0x191, 100),
+      (0x1a3, 50),
+      (0x1a4, 50),
+      (0x1a6, 50),
+      (0x1b0, 50),
+      (0x1d0, 50),
+      (0x305, 10),
+      (0x324, 10),
+      (0x405, 3),
+    ]
   # add gas interceptor reading if we are using it
-  if not brake_only:
+  if CP.enableGas:
     signals.append(("INTERCEPTOR_GAS", 0x201, 0))
     checks.append((0x201, 50))
 
   return CANParser(dbc_f, signals, checks)
 
-def fingerprint(logcan):
-  print "waiting for fingerprint..."
-  brake_only = True
-
-  finger = {}
-  st = None
-  while 1:
-    possible_cars = []
-    for a in messaging.drain_sock(logcan, wait_for_one=True):
-      if st is None:
-        st = sec_since_boot()
-      for adr, _, msg, idx in can_capnp_to_can_list(a.can):
-        # pedal
-        if adr == 0x201 and idx == 0:
-          brake_only = False
-        if idx == 0:
-          finger[adr] = len(msg)
-
-    # check for a single match
-    for f in fingerprints:
-      is_possible = True
-      for adr in finger:
-        # confirm all messages we have seen match
-        if adr not in fingerprints[f] or fingerprints[f][adr] != finger[adr]:
-          #print "mismatch", f, adr
-          is_possible = False
-          break
-      if is_possible:
-        possible_cars.append(f)
-
-    # if we only have one car choice and it's been 100ms since we got our first message, exit
-    if len(possible_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
-      break
-    elif len(possible_cars) == 0:
-      print finger
-      raise Exception("car doesn't match any fingerprints")
-
-  print "fingerprinted", possible_cars[0]
-  return brake_only, possible_cars[0]
-
 class CarState(object):
-  def __init__(self, logcan):
-    self.torque_mod = False
-    self.brake_only, self.car_type = fingerprint(logcan)
-
-    # assuming if you have a pedal interceptor you also have a torque mod
-    if not self.brake_only:
-      self.torque_mod = True
-
-    if self.car_type == "HONDA CIVIC 2016 TOURING":
+  def __init__(self, CP, logcan):
+    self.civic = False
+    self.accord = False
+    self.crv = False
+    if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
       self.civic = True
-    elif self.car_type == "ACURA ILX 2016 ACURAWATCH PLUS":
+    elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
       self.civic = False
+    elif CP.carFingerprint == "HONDA ACCORD 2016 TOURING":
+      # fake civic
+      self.accord = True
+    elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
+      self.crv = True
     else:
-      raise ValueError("unsupported car %s" % self.car_type)
+      raise ValueError("unsupported car %s" % CP.carFingerprint)
+
+    self.brake_only = CP.enableCruise
+    self.CP = CP
 
     # initialize can parser
-    self.cp = get_can_parser(self.civic, self.brake_only)
+    self.cp = get_can_parser(CP)
 
     self.user_gas, self.user_gas_pressed = 0., 0
 
@@ -192,12 +256,6 @@ class CarState(object):
     # TODO: actually make this work
     self.a_ego = 0.
 
-    # speed in UI is shown as few % higher
-    self.ui_speed_fudge = 1.01 if self.civic else 1.025
-
-    # load vehicle params
-    self.VP = VehicleParams(self.civic, self.brake_only, self.torque_mod)
-
   def update(self, can_pub_main):
     cp = self.cp
     cp.update_can(can_pub_main)
@@ -230,10 +288,14 @@ class CarState(object):
     # error 7 (permanent)
     #self.steer_error = cp.vl[0x18F]['STEER_STATUS'] in [5,7]
     # whitelist instead of blacklist, safer at the expense of disengages
-    self.steer_error = cp.vl[0x18F]['STEER_STATUS'] not in [0,2,4,6]
-    self.steer_not_allowed = cp.vl[0x18F]['STEER_STATUS'] != 0
-    if cp.vl[0x18F]['STEER_STATUS'] != 0:
-      print cp.vl[0x18F]['STEER_STATUS']
+    if self.accord:
+      self.steer_error = False
+      self.steer_not_allowed = False
+    else:
+      self.steer_error = cp.vl[0x18F]['STEER_STATUS'] not in [0,2,4,6]
+      self.steer_not_allowed = cp.vl[0x18F]['STEER_STATUS'] != 0
+      if cp.vl[0x18F]['STEER_STATUS'] != 0:
+        print cp.vl[0x18F]['STEER_STATUS']
     self.brake_error = cp.vl[0x1B0]['BRAKE_ERROR_1'] or cp.vl[0x1B0]['BRAKE_ERROR_2']
     self.esp_disabled = cp.vl[0x1A4]['ESP_DISABLED']
     # calc best v_ego estimate, by averaging two opposite corners
@@ -243,10 +305,11 @@ class CarState(object):
     # blend in transmission speed at low speed, since it has more low speed accuracy
     self.v_weight = np.interp(self.v_wheel, v_weight_bp, v_weight_v)
     self.v_ego = (1. - self.v_weight) * cp.vl[0x158]['XMISSION_SPEED'] + self.v_weight * self.v_wheel
-    if not self.brake_only:
+    if self.CP.enableGas:
+      # this is a hack
       self.user_gas = cp.vl[0x201]['INTERCEPTOR_GAS']
       self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
-      #print user_gas, user_gas_pressed
+      #print self.user_gas, self.user_gas_pressed
     if self.civic:
       self.gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
       self.angle_steers = cp.vl[0x14A]['STEER_ANGLE']
@@ -258,6 +321,28 @@ class CarState(object):
       self.blinker_on = cp.vl[0x326]['LEFT_BLINKER'] or cp.vl[0x326]['RIGHT_BLINKER']
       self.left_blinker_on = cp.vl[0x326]['LEFT_BLINKER']
       self.right_blinker_on = cp.vl[0x326]['RIGHT_BLINKER']
+    elif self.accord:
+      self.gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
+      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
+      self.gear = 0  # TODO: accord has CVT... needs rev engineering
+      self.cruise_setting = cp.vl[0x1A6]['CRUISE_SETTING']
+      self.cruise_buttons = cp.vl[0x1A6]['CRUISE_BUTTONS']
+      self.main_on = cp.vl[0x1A6]['MAIN_ON']
+      self.gear_shifter_valid = self.gear_shifter in [1,8]  # TODO: 1/P allowed for debug
+      self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
+      self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
+      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
+    elif self.crv:
+      self.gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
+      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
+      self.gear = cp.vl[0x191]['GEAR']
+      self.cruise_setting = cp.vl[0x1A6]['CRUISE_SETTING']
+      self.cruise_buttons = cp.vl[0x1A6]['CRUISE_BUTTONS']
+      self.main_on = cp.vl[0x1A6]['MAIN_ON']
+      self.gear_shifter_valid = self.gear_shifter in [1,8]  # TODO: 1/P allowed for debug
+      self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
+      self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
+      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
     else:
       self.gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
       self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
@@ -269,14 +354,22 @@ class CarState(object):
       self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
       self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
       self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
-    self.car_gas = cp.vl[0x130]['CAR_GAS']
+    if self.accord:
+      # on the accord, this doesn't seem to include cruise control
+      self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
+      self.steer_override = False
+    elif self.crv:
+      # like accord, crv doesn't include cruise control
+      self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
+      self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
+    else:
+      self.car_gas = cp.vl[0x130]['CAR_GAS']
+      self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
     self.brake_pressed = cp.vl[0x17C]['BRAKE_PRESSED']
     self.user_brake = cp.vl[0x1A4]['USER_BRAKE']
     self.standstill = not cp.vl[0x1B0]['WHEELS_MOVING']
-    self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
     self.v_cruise_pcm = cp.vl[0x324]['CRUISE_SPEED_PCM']
     self.pcm_acc_status = cp.vl[0x17C]['ACC_STATUS']
     self.pedal_gas = cp.vl[0x17C]['PEDAL_GAS']
     self.hud_lead = cp.vl[0x30C]['HUD_LEAD']
     self.counter_pcm = cp.vl[0x324]['COUNTER']
-

selfdrive/car/honda/hondacan.py

@@ -44,15 +44,45 @@ def create_gas_command(gas_amount, idx):
   msg = struct.pack("!H", gas_amount)
   return make_can_msg(0x200, msg, idx, 0)
 
-def create_steering_control(apply_steer, idx):
-  """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
-  msg = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
-  return make_can_msg(0xe4, msg, idx, 0)
+def create_accord_steering_control(apply_steer, idx):
+  # TODO: doesn't work for some reason
+  if apply_steer == 0:
+    dat = [0, 0, 0x40, 0]
+  else:
+    dat = [0,0,0,0]
+    rp = np.clip(apply_steer/0xF, -0xFF, 0xFF)
+    if rp < 0:
+      rp += 512
+    dat[0] |= (rp >> 5) & 0xf
+    dat[1] |= (rp) & 0x1f
+  if idx == 1:
+    dat[0] |= 0x20
+  dat[1] |= 0x20  # always
+  dat[3] = -(dat[0]+dat[1]+dat[2]) & 0x7f
 
-def create_ui_commands(pcm_speed, hud, civic, idx):
+  # not first byte
+  dat[1] |= 0x80
+  dat[2] |= 0x80
+  dat[3] |= 0x80
+  dat = ''.join(map(chr, dat))
+
+  return [0,0,dat,8]
+
+def create_steering_control(apply_steer, crv, idx):
+  """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
+  commands = []
+  if crv:
+    msg_0x194 = struct.pack("!h", apply_steer << 4) + ("\x80" if apply_steer != 0 else "\x00")
+    commands.append(make_can_msg(0x194, msg_0x194, idx, 0))
+  else:
+    msg_0xe4 = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
+    commands.append(make_can_msg(0xe4, msg_0xe4, idx, 0))
+  return commands
+
+def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):
   """Creates an iterable of CAN messages for the UIs."""
   commands = []
-  pcm_speed_real = np.clip(int(round(pcm_speed / 0.002763889)), 0,
+  pcm_speed_real = np.clip(int(round(pcm_speed / 0.002759506)), 0,
                            64000)  # conversion factor from dbc file
   msg_0x30c = struct.pack("!HBBBBB", pcm_speed_real, hud.pcm_accel,
                           hud.v_cruise, hud.X2, hud.car, hud.X4)
@@ -63,24 +93,35 @@ def create_ui_commands(pcm_speed, hud, civic, idx):
   if civic:  # 2 more msgs
     msg_0x35e = chr(0) * 7
     commands.append(make_can_msg(0x35e, msg_0x35e, idx, 0))
+  if civic or accord:
     msg_0x39f = (
       chr(0) * 2 + chr(hud.acc_alert) + chr(0) + chr(0xff) + chr(0x7f) + chr(0)
     )
     commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
   return commands
 
-def create_radar_commands(v_ego, civic, idx):
+def create_radar_commands(v_ego, civic, accord, crv, idx):
   """Creates an iterable of CAN messages for the radar system."""
   commands = []
   v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
   speed = struct.pack('!B', v_ego_kph)
+
   msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +\
-              ("\x20" if idx == 0 or idx == 3 else "\x00") +\
-                "\x00\x00")
+                  ("\x20" if idx == 0 or idx == 3 else "\x00") +\
+                    "\x00\x00")
   if civic:
     msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
     # add 8 on idx.
     commands.append(make_can_msg(0x300, msg_0x300, idx + 8, 1))
+  elif accord:
+    # 0300( 768)(    69) f9008ad0100000ef
+    # 0301( 769)(    69) 0ed8522256000029
+    msg_0x301 = "\x0e\xd8\x52\x22\x56\x00\x00"
+    # add 0xc on idx? WTF is this?
+    commands.append(make_can_msg(0x300, msg_0x300, idx + 0xc, 1))
+  elif crv:
+    msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
+    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
   else:
     msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
     commands.append(make_can_msg(0x300, msg_0x300, idx, 1))

selfdrive/car/honda/interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 import time
-import numpy as np
+import common.numpy_fast as np
 
 from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.carstate import CarState
@@ -10,7 +10,7 @@ from selfdrive.boardd.boardd import can_capnp_to_can_list
 from cereal import car
 
 import zmq
-from common.services import service_list
+from selfdrive.services import service_list
 import selfdrive.messaging as messaging
 
 # Car button codes
@@ -37,32 +37,36 @@ class BP:
 
 
 class CarInterface(object):
-  def __init__(self, read_only=False):
-    context = zmq.Context()
-    self.logcan = messaging.sub_sock(context, service_list['can'].port)
+  def __init__(self, CP, logcan, sendcan=None):
+    self.logcan = logcan
+    self.CP = CP
 
     self.frame = 0
     self.can_invalid_count = 0
 
     # *** init the major players ***
-    self.CS = CarState(self.logcan)
+    self.CS = CarState(CP, self.logcan)
 
     # sending if read only is False
-    if not read_only:
-      self.sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
+    if sendcan is not None:
+      self.sendcan = sendcan
       self.CC = CarController()
 
-  def getVehicleParams(self):
-    return self.CS.VP
+    if self.CS.accord:
+      self.accord_msg = []
 
   # returns a car.CarState
   def update(self):
     # ******************* do can recv *******************
     can_pub_main = []
     canMonoTimes = []
+
     for a in messaging.drain_sock(self.logcan):
       canMonoTimes.append(a.logMonoTime)
       can_pub_main.extend(can_capnp_to_can_list(a.can, [0,2]))
+      if self.CS.accord:
+        self.accord_msg.extend(can_capnp_to_can_list(a.can, [9]))
+        self.accord_msg = self.accord_msg[-1:]
     self.CS.update(can_pub_main)
 
     # create message
@@ -77,7 +81,7 @@ class CarInterface(object):
 
     # gas pedal
     ret.gas = self.CS.car_gas / 256.0
-    if self.CS.VP.brake_only:
+    if not self.CP.enableGas:
       ret.gasPressed = self.CS.pedal_gas > 0
     else:
       ret.gasPressed = self.CS.user_gas_pressed
@@ -89,8 +93,24 @@ class CarInterface(object):
     # steering wheel
     # TODO: units
     ret.steeringAngle = self.CS.angle_steers
-    ret.steeringTorque = self.CS.cp.vl[0x18F]['STEER_TORQUE_SENSOR']
-    ret.steeringPressed = self.CS.steer_override
+
+    if self.CS.accord:
+      # TODO: move this into the CAN parser
+      ret.steeringTorque = 0
+      if len(self.accord_msg) > 0:
+        aa = map(lambda x: ord(x)&0x7f, self.accord_msg[0][2])
+        if len(aa) != 5 or (-(aa[0]+aa[1]+aa[2]+aa[3]))&0x7f != aa[4]:
+          print "ACCORD MSG BAD LEN OR CHECKSUM!"
+          # TODO: throw an error here?
+        else:
+          st = ((aa[0]&0xF) << 5) + (aa[1]&0x1F)
+          if st >= 256:
+            st = -(512-st)
+          ret.steeringTorque = st
+      ret.steeringPressed = abs(ret.steeringTorque) > 20
+    else:
+      ret.steeringTorque = self.CS.cp.vl[0x18F]['STEER_TORQUE_SENSOR']
+      ret.steeringPressed = self.CS.steer_override
 
     # cruise state
     ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
@@ -192,7 +212,7 @@ class CarInterface(object):
       hud_v_cruise = 255
 
     hud_alert = {
-      "none": AH.NONE, 
+      "none": AH.NONE,
       "fcw": AH.FCW,
       "steerRequired": AH.STEER,
       "brakePressed": AH.BRAKE_PRESSED,
@@ -226,13 +246,3 @@ class CarInterface(object):
 
     self.frame += 1
     return not (c.enabled and not self.CC.controls_allowed)
-
-
-if __name__ == "__main__":
-  CI = CarInterface(read_only=True)
-  while 1:
-    cs = CI.update()
-    print(chr(27) + "[2J")
-    print cs
-    time.sleep(0.1)
-

selfdrive/common/cereal.mk

@@ -0,0 +1,19 @@
+CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
+CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/include
+ifeq ($(CEREAL_LIBS),)
+  CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
+                -L$(PHONELIBS)/capnp-c/aarch64/lib/ \
+                -l:libcapn.a -l:libcapnp.a -l:libkj.a
+endif
+CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
+
+log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CXXFLAGS) \
+           -c -o '$@' '$<'
+
+car.capnp.o: ../../cereal/gen/cpp/car.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CXXFLAGS) \
+           -c -o '$@' '$<'
+  

selfdrive/common/framebuffer.cc

@@ -33,8 +33,12 @@ struct FramebufferState {
     EGLContext context;
 };
 
+extern "C" void framebuffer_set_power(FramebufferState *s, int mode) {
+  SurfaceComposerClient::setDisplayPowerMode(s->dtoken, mode);
+}
+
 extern "C" FramebufferState* framebuffer_init(
-    const char* name, int32_t layer,
+    const char* name, int32_t layer, int alpha,
     EGLDisplay *out_display, EGLSurface *out_surface,
     int *out_w, int *out_h) {
   status_t status;
@@ -53,6 +57,7 @@ extern "C" FramebufferState* framebuffer_init(
   assert(status == 0);
 
   int orientation = 3; // rotate framebuffer 270 degrees
+  //int orientation = 1; // rotate framebuffer 90 degrees
   if(orientation == 1 || orientation == 3) {
       int temp = s->dinfo.h;
       s->dinfo.h = s->dinfo.w;
@@ -81,6 +86,7 @@ extern "C" FramebufferState* framebuffer_init(
     EGL_RED_SIZE,     8,
     EGL_GREEN_SIZE,   8,
     EGL_BLUE_SIZE,    8,
+    EGL_ALPHA_SIZE,   alpha ? 8 : 0,
     EGL_DEPTH_SIZE,   0,
     EGL_STENCIL_SIZE, 8,
     EGL_RENDERABLE_TYPE, EGL_OPENGL_ES3_BIT_KHR,

selfdrive/common/framebuffer.h

@@ -10,12 +10,41 @@ extern "C" {
 typedef struct FramebufferState FramebufferState;
 
 FramebufferState* framebuffer_init(
-    const char* name, int32_t layer,
+    const char* name, int32_t layer, int alpha,
     EGLDisplay *out_display, EGLSurface *out_surface,
     int *out_w, int *out_h);
 
+void framebuffer_set_power(FramebufferState *s, int mode);
+
+/* Display power modes */
+enum {
+    /* The display is turned off (blanked). */
+    HWC_POWER_MODE_OFF      = 0,
+    /* The display is turned on and configured in a low power state
+     * that is suitable for presenting ambient information to the user,
+     * possibly with lower fidelity than normal but greater efficiency. */
+    HWC_POWER_MODE_DOZE     = 1,
+    /* The display is turned on normally. */
+    HWC_POWER_MODE_NORMAL   = 2,
+    /* The display is configured as in HWC_POWER_MODE_DOZE but may
+     * stop applying frame buffer updates from the graphics subsystem.
+     * This power mode is effectively a hint from the doze dream to
+     * tell the hardware that it is done drawing to the display for the
+     * time being and that the display should remain on in a low power
+     * state and continue showing its current contents indefinitely
+     * until the mode changes.
+     *
+     * This mode may also be used as a signal to enable hardware-based doze
+     * functionality.  In this case, the doze dream is effectively
+     * indicating that the hardware is free to take over the display
+     * and manage it autonomously to implement low power always-on display
+     * functionality. */
+    HWC_POWER_MODE_DOZE_SUSPEND  = 3,
+};
+
+
 #ifdef __cplusplus
 }
 #endif
 
-#endif
+#endif

selfdrive/common/glutil.c

@@ -0,0 +1,71 @@
+#include <stdlib.h>
+#include <stdio.h>
+
+#include <GLES3/gl3.h>
+
+#include "glutil.h"
+
+GLuint load_shader(GLenum shaderType, const char *src) {
+  GLint status = 0, len = 0;
+  GLuint shader;
+
+  if (!(shader = glCreateShader(shaderType)))
+    return 0;
+
+  glShaderSource(shader, 1, &src, NULL);
+  glCompileShader(shader);
+  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
+
+  if (status)
+    return shader;
+
+  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *msg = (char*)malloc(len);
+    if (msg) {
+      glGetShaderInfoLog(shader, len, NULL, msg);
+      msg[len-1] = 0;
+      fprintf(stderr, "error compiling shader:\n%s\n", msg);
+      free(msg);
+    }
+  }
+  glDeleteShader(shader);
+  return 0;
+}
+
+GLuint load_program(const char *vert_src, const char *frag_src) {
+  GLuint vert, frag, prog;
+  GLint status = 0, len = 0;
+
+  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
+    return 0;
+  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
+    goto fail_frag;
+  if (!(prog = glCreateProgram()))
+    goto fail_prog;
+
+  glAttachShader(prog, vert);
+  glAttachShader(prog, frag);
+  glLinkProgram(prog);
+
+  glGetProgramiv(prog, GL_LINK_STATUS, &status);
+  if (status)
+    return prog;
+
+  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *buf = (char*) malloc(len);
+    if (buf) {
+      glGetProgramInfoLog(prog, len, NULL, buf);
+      buf[len-1] = 0;
+      fprintf(stderr, "error linking program:\n%s\n", buf);
+      free(buf);
+    }
+  }
+  glDeleteProgram(prog);
+fail_prog:
+  glDeleteShader(frag);
+fail_frag:
+  glDeleteShader(vert);
+  return 0;
+}

selfdrive/common/glutil.h

@@ -0,0 +1,8 @@
+#ifndef COMMON_GLUTIL_H
+#define COMMON_GLUTIL_H
+
+#include <GLES3/gl3.h>
+GLuint load_shader(GLenum shaderType, const char *src);
+GLuint load_program(const char *vert_src, const char *frag_src);
+
+#endif

selfdrive/common/mutex.h

@@ -1,13 +0,0 @@
-#ifndef COMMON_MUTEX_H
-#define COMMON_MUTEX_H
-
-#include <pthread.h>
-
-static inline void mutex_init_reentrant(pthread_mutex_t *mutex) {
-  pthread_mutexattr_t attr;
-  pthread_mutexattr_init(&attr);
-  pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
-  pthread_mutex_init(mutex, &attr);
-}
-
-#endif

selfdrive/common/params.c

@@ -0,0 +1,129 @@
+#include "selfdrive/common/params.h"
+
+#include "selfdrive/common/util.h"
+
+#define _GNU_SOURCE
+#include <sys/file.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+int write_db_value(const char* params_path, const char* key, const char* value,
+                   size_t value_size) {
+  int lock_fd = -1;
+  int tmp_fd = -1;
+  int result;
+  char tmp_path[1024];
+  char path[1024];
+
+  // Write value to temp.
+  result =
+      snprintf(tmp_path, sizeof(tmp_path), "%s/.tmp_value_XXXXXX", params_path);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  tmp_fd = mkstemp(tmp_path);
+  const ssize_t bytes_written = write(tmp_fd, value, value_size);
+  if (bytes_written != value_size) {
+    result = -20;
+    goto cleanup;
+  }
+
+  result = snprintf(path, sizeof(path), "%s/.lock", params_path);
+  if (result < 0) {
+    goto cleanup;
+  }
+  lock_fd = open(path, 0);
+
+  result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  // Take lock.
+  result = flock(lock_fd, LOCK_EX);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  // Move temp into place.
+  result = rename(tmp_path, path);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  // fsync to force persist the changes.
+  result = fsync(tmp_fd);
+cleanup:
+  // Release lock.
+  if (lock_fd >= 0) {
+    close(lock_fd);
+  }
+  if (tmp_fd >= 0) {
+    if (result < 0) {
+      remove(tmp_path);
+    }
+    close(tmp_fd);
+  }
+  return result;
+}
+
+int read_db_value(const char* params_path, const char* key, char** value,
+                  size_t* value_sz) {
+  int lock_fd = -1;
+  int result;
+  char path[1024];
+
+  result = snprintf(path, sizeof(path), "%s/.lock", params_path);
+  if (result < 0) {
+    goto cleanup;
+  }
+  lock_fd = open(path, 0);
+
+  result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  // Take lock.
+  result = flock(lock_fd, LOCK_EX);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  // Read value.
+  // TODO(mgraczyk): If there is a lot of contention, we can release the lock
+  //                 after opening the file, before reading.
+  *value = read_file(path, value_sz);
+  if (*value == NULL) {
+    result = -22;
+    goto cleanup;
+  }
+
+  // Remove one for null byte.
+  if (value_sz != NULL) {
+    *value_sz -= 1;
+  }
+  result = 0;
+
+cleanup:
+  // Release lock.
+  if (lock_fd >= 0) {
+    close(lock_fd);
+  }
+  return result;
+}
+
+void read_db_value_blocking(const char* params_path, const char* key,
+                            char** value, size_t* value_sz) {
+  while (1) {
+    const int result = read_db_value(params_path, key, value, value_sz);
+    if (result == 0) {
+      return;
+    } else {
+      // Sleep for 0.1 seconds.
+      usleep(100000);
+    }
+  }
+}

selfdrive/common/params.h

@@ -0,0 +1,35 @@
+#ifndef _SELFDRIVE_COMMON_PARAMS_H_
+#define _SELFDRIVE_COMMON_PARAMS_H_
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int write_db_value(const char* params_path, const char* key, const char* value,
+                   size_t value_size);
+
+// Reads a value from the params database.
+// Inputs:
+//  params_path: The path of the database, eg /sdcard/params.
+//  key: The key to read.
+//  value: A pointer where a newly allocated string containing the db value will
+//         be written.
+//  value_sz: A pointer where the size of value will be written. Does not
+//            include the NULL terminator.
+//
+// Returns: Negative on failure, otherwise 0.
+int read_db_value(const char* params_path, const char* key, char** value,
+                  size_t* value_sz);
+
+// Reads a value from the params database, blocking until successful.
+// Inputs are the same as read_db_value.
+void read_db_value_blocking(const char* params_path, const char* key,
+                            char** value, size_t* value_sz);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+
+#endif  // _SELFDRIVE_COMMON_PARAMS_H_

selfdrive/common/swaglog.c

@@ -1,3 +1,5 @@
+#define _GNU_SOURCE
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <stdarg.h>
@@ -10,6 +12,7 @@
 #include <json.h>
 
 #include "common/timing.h"
+#include "common/version.h"
 
 #include "swaglog.h"
 
@@ -19,22 +22,49 @@ typedef struct LogState {
   JsonNode *ctx_j;
   void *zctx;
   void *sock;
+  int print_level;
 } LogState;
 
 static LogState s = {
   .lock = PTHREAD_MUTEX_INITIALIZER,
 };
 
+static void cloudlog_bind_locked(const char* k, const char* v) {
+  json_append_member(s.ctx_j, k, json_mkstring(v));
+}
+
 static void cloudlog_init() {
   if (s.inited) return;
   s.ctx_j = json_mkobject();
   s.zctx = zmq_ctx_new();
   s.sock = zmq_socket(s.zctx, ZMQ_PUSH);
   zmq_connect(s.sock, "ipc:///tmp/logmessage");
+
+  s.print_level = CLOUDLOG_WARNING;
+  const char* print_level = getenv("LOGPRINT");
+  if (print_level) {
+    if (strcmp(print_level, "debug") == 0) {
+      s.print_level = CLOUDLOG_DEBUG;
+    } else if (strcmp(print_level, "info") == 0) {
+      s.print_level = CLOUDLOG_INFO;
+    } else if (strcmp(print_level, "warning") == 0) {
+      s.print_level = CLOUDLOG_WARNING;
+    }
+  }
+
+  // openpilot bindings
+  char* dongle_id = getenv("DONGLE_ID");
+  if (dongle_id) {
+    cloudlog_bind_locked("dongle_id", dongle_id);
+  }
+  cloudlog_bind_locked("version", OPENPILOT_VERSION);
+  bool dirty = !getenv("CLEAN");
+  json_append_member(s.ctx_j, "dirty", json_mkbool(dirty));
+
   s.inited = true;
 }
 
-void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, const char* srctime, 
+void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
                 const char* fmt, ...) {
   pthread_mutex_lock(&s.lock);
   cloudlog_init();
@@ -50,7 +80,7 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
     return;
   }
 
-  if (levelnum >= CLOUDLOG_PRINT_LEVEL) {
+  if (levelnum >= s.print_level) {
     printf("%s: %s\n", filename, msg_buf);
   }
 
@@ -63,7 +93,6 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
   json_append_member(log_j, "filename", json_mkstring(filename));
   json_append_member(log_j, "lineno", json_mknumber(lineno));
   json_append_member(log_j, "funcname", json_mkstring(func));
-  json_append_member(log_j, "srctime", json_mkstring(srctime));
   json_append_member(log_j, "created", json_mknumber(seconds_since_epoch()));
 
   char* log_s = json_encode(log_j);
@@ -85,6 +114,6 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
 void cloudlog_bind(const char* k, const char* v) {
   pthread_mutex_lock(&s.lock);
   cloudlog_init();
-  json_append_member(s.ctx_j, k, json_mkstring(v));
+  cloudlog_bind_locked(k, v);
   pthread_mutex_unlock(&s.lock);
 }

selfdrive/common/swaglog.h

@@ -7,15 +7,21 @@
 #define CLOUDLOG_ERROR 40
 #define CLOUDLOG_CRITICAL 50
 
-#define CLOUDLOG_PRINT_LEVEL CLOUDLOG_WARNING
+#ifdef __cplusplus
+extern "C" {
+#endif
 
-void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, const char* srctime, 
+void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
 
 void cloudlog_bind(const char* k, const char* v);
 
+#ifdef __cplusplus
+}
+#endif
+
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
-                                           __func__, __DATE__ " " __TIME__, \
+                                           __func__, \
                                            fmt, ## __VA_ARGS__)
 
 #define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)

selfdrive/common/timing.h

@@ -13,7 +13,13 @@ static inline uint64_t nanos_since_boot() {
 static inline double millis_since_boot() {
   struct timespec t;
   clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000.0 + t.tv_nsec / 1000000.0;
+  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
+}
+
+static inline double seconds_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return (double)t.tv_sec + t.tv_nsec * 1e-9;;
 }
 
 static inline uint64_t nanos_since_epoch() {
@@ -25,7 +31,7 @@ static inline uint64_t nanos_since_epoch() {
 static inline double seconds_since_epoch() {
   struct timespec t;
   clock_gettime(CLOCK_REALTIME, &t);
-  return (double)t.tv_sec + t.tv_nsec / 1000000000.0;
+  return (double)t.tv_sec + t.tv_nsec * 1e-9;
 }
 
 #endif

selfdrive/common/touch.c

@@ -1,15 +1,50 @@
+#include <stdio.h>
+#include <stdlib.h>
 #include <stdbool.h>
+#include <assert.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <assert.h>
+#include <dirent.h>
 #include <sys/poll.h>
 #include <linux/input.h>
 
 #include "touch.h"
 
+static int find_dev() {
+  int err;
+
+  int ret = -1;
+
+  DIR *dir = opendir("/dev/input");
+  assert(dir);
+  struct dirent* de = NULL;
+  while ((de = readdir(dir))) {
+    if (strncmp(de->d_name, "event", 5)) continue;
+
+    int fd = openat(dirfd(dir), de->d_name, O_RDONLY);
+    assert(fd >= 0);
+
+    char name[128] = {0};
+    err = ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name);
+    assert(err >= 0);
+
+    unsigned long ev_bits[8] = {0};
+    err = ioctl(fd, EVIOCGBIT(0, sizeof(ev_bits)), ev_bits);
+    assert(err >= 0);
+
+    if (strncmp(name, "synaptics", 9) == 0 && ev_bits[0] == 0xb) {
+      ret = fd;
+      break;
+    }
+    close(fd);
+  }
+  closedir(dir);
+
+  return ret;
+}
+
 void touch_init(TouchState *s) {
-  // synaptics touch screen on oneplus 3
-  s->fd = open("/dev/input/event4", O_RDONLY);
+  s->fd = find_dev();
   assert(s->fd >= 0);
 }
 

selfdrive/common/touch.h

@@ -1,6 +1,10 @@
 #ifndef TOUCH_H
 #define TOUCH_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct TouchState {
   int fd;
   int last_x, last_y;
@@ -9,4 +13,8 @@ typedef struct TouchState {
 void touch_init(TouchState *s);
 int touch_poll(TouchState *s, int *out_x, int *out_y);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

selfdrive/common/util.c

@@ -0,0 +1,27 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+void* read_file(const char* path, size_t* out_len) {
+  FILE* f = fopen(path, "r");
+  if (!f) {
+    return NULL;
+  }
+  fseek(f, 0, SEEK_END);
+  long f_len = ftell(f);
+  rewind(f);
+
+  char* buf = malloc(f_len + 1);
+  assert(buf);
+  memset(buf, 0, f_len + 1);
+  size_t num_read = fread(buf, f_len, 1, f);
+  assert(num_read == 1);
+  fclose(f);
+
+  if (out_len) {
+    *out_len = f_len + 1;
+  }
+
+  return buf;
+}

selfdrive/common/util.h

@@ -19,4 +19,8 @@
 
 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
 
+// Returns NULL on failure, otherwise the NULL-terminated file contents.
+void* read_file(const char* path, size_t* out_len);
+
+
 #endif

selfdrive/common/utilpp.h

@@ -0,0 +1,65 @@
+#ifndef UTILPP_H
+#define UTILPP_H
+
+#include <cstdio>
+#include <unistd.h>
+
+#include <string>
+#include <sstream>
+#include <fstream>
+
+namespace util {
+
+inline bool starts_with(std::string s, std::string prefix) {
+  return s.compare(0, prefix.size(), prefix) == 0;
+}
+
+template<typename ... Args>
+inline std::string string_format( const std::string& format, Args ... args ) {
+    size_t size = snprintf( nullptr, 0, format.c_str(), args ... ) + 1;
+    std::unique_ptr<char[]> buf( new char[ size ] ); 
+    snprintf( buf.get(), size, format.c_str(), args ... );
+    return std::string( buf.get(), buf.get() + size - 1 );
+}
+
+inline std::string read_file(std::string fn) {
+  std::ifstream t(fn);
+  std::stringstream buffer;
+  buffer << t.rdbuf();
+  return buffer.str();
+}
+
+inline std::string tohex(const uint8_t* buf, size_t buf_size) {
+  std::unique_ptr<char[]> hexbuf(new char[buf_size*2+1]);
+  for (int i=0; i<buf_size; i++) {
+    sprintf(&hexbuf[i*2], "%02x", buf[i]);
+  }
+  hexbuf[buf_size*2] = 0;
+  return std::string(hexbuf.get(), hexbuf.get() + buf_size*2);
+}
+
+inline std::string base_name(std::string const & path) {
+  size_t pos = path.find_last_of("/");
+  if (pos == std::string::npos) return path;
+  return path.substr(pos + 1);
+}
+
+inline std::string dir_name(std::string const & path) {
+  size_t pos = path.find_last_of("/");
+  if (pos == std::string::npos) return "";
+  return path.substr(0, pos);
+}
+
+inline std::string readlink(std::string path) {
+    char buff[PATH_MAX];
+    ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
+    if (len != -1) {
+      buff[len] = '\0';
+      return std::string(buff);
+    }
+    return "";
+}
+
+}
+
+#endif

selfdrive/common/version.h

@@ -0,0 +1 @@
+#define OPENPILOT_VERSION "0.3.3"

selfdrive/common/visionipc.c

@@ -5,6 +5,7 @@
 #include <assert.h>
 #include <errno.h>
 
+#include <sys/mman.h>
 #include <sys/socket.h>
 #include <sys/un.h>
 
@@ -115,13 +116,124 @@ int vipc_recv(int fd, VisionPacket *out_p) {
   return ret;
 }
 
-int vipc_send(int fd, const VisionPacket p2) {
-  assert(p2.num_fds <= VIPC_MAX_FDS);
+int vipc_send(int fd, const VisionPacket *p2) {
+  assert(p2->num_fds <= VIPC_MAX_FDS);
 
   VisionPacketWire p = {
-    .type = p2.type,
-    .d = p2.d,
+    .type = p2->type,
+    .d = p2->d,
   };
-  return sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2.fds, p2.num_fds, NULL);
+  return sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
 }
 
+void visionbufs_load(VisionBuf *bufs, const VisionStreamBufs *stream_bufs,
+                     int num_fds, const int* fds) {
+  for (int i=0; i<num_fds; i++) {
+    if (bufs[i].addr) {
+      munmap(bufs[i].addr, bufs[i].len);
+      bufs[i].addr = NULL;
+      close(bufs[i].fd);
+    }
+    bufs[i].fd = fds[i];
+    bufs[i].len = stream_bufs->buf_len;
+    bufs[i].addr = mmap(NULL, bufs[i].len,
+                        PROT_READ | PROT_WRITE,
+                        MAP_SHARED, bufs[i].fd, 0);
+    // printf("b %d %zu -> %p\n", bufs[i].fd, bufs[i].len, bufs[i].addr);
+    assert(bufs[i].addr != MAP_FAILED);
+  }
+}
+
+
+int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info) {
+  int err;
+
+  memset(s, 0, sizeof(*s));
+
+  s->last_idx = -1;
+
+  s->ipc_fd = vipc_connect();
+  if (s->ipc_fd < 0) return -1;
+
+  VisionPacket p = {
+    .type = VIPC_STREAM_SUBSCRIBE,
+    .d = { .stream_sub = {
+      .type = type,
+      .tbuffer = tbuffer,
+    }, },
+  };
+  err = vipc_send(s->ipc_fd, &p);
+  if (err < 0) {
+    close(s->ipc_fd);
+    return -1;
+  }
+
+  VisionPacket rp;
+  err = vipc_recv(s->ipc_fd, &rp);
+  if (err <= 0) {
+    close(s->ipc_fd);
+    return -1;
+  }
+  assert(rp.type = VIPC_STREAM_BUFS);
+  assert(rp.d.stream_bufs.type == type);
+
+  s->bufs_info = rp.d.stream_bufs;
+
+  s->num_bufs = rp.num_fds;
+  s->bufs = calloc(s->num_bufs, sizeof(VisionBuf));
+  assert(s->bufs);
+
+  visionbufs_load(s->bufs, &rp.d.stream_bufs, s->num_bufs, rp.fds);
+
+  if (out_bufs_info) {
+    *out_bufs_info = s->bufs_info;
+  }
+
+  return 0;
+}
+
+VisionBuf* visionstream_get(VisionStream *s, VisionBufExtra *out_extra) {
+  int err;
+
+  VisionPacket rp;
+  err = vipc_recv(s->ipc_fd, &rp);
+  if (err <= 0) {
+    return NULL;
+  }
+  assert(rp.type == VIPC_STREAM_ACQUIRE);
+
+  if (s->last_idx >= 0) {
+    VisionPacket rep = {
+      .type = VIPC_STREAM_RELEASE,
+      .d = { .stream_rel = {
+        .type = rp.d.stream_acq.type,
+        .idx = s->last_idx,
+      }}
+    };
+    err = vipc_send(s->ipc_fd, &rep);
+    if (err <= 0) {
+      return NULL;
+    }
+  }
+
+  s->last_idx = rp.d.stream_acq.idx;
+  assert(s->last_idx < s->num_bufs);
+
+  if (out_extra) {
+    *out_extra = rp.d.stream_acq.extra;
+  }
+
+  return &s->bufs[s->last_idx];
+}
+
+void visionstream_destroy(VisionStream *s) {
+  for (int i=0; i<s->num_bufs; i++) {
+    if (s->bufs[i].addr) {
+      munmap(s->bufs[i].addr, s->bufs[i].len);
+      s->bufs[i].addr = NULL;
+      close(s->bufs[i].fd);
+    }
+  }
+  if (s->bufs) free(s->bufs);
+  close(s->ipc_fd);
+}

selfdrive/common/visionipc.h

@@ -1,39 +1,71 @@
 #ifndef VISIONIPC_H
 #define VISIONIPC_H
 
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
 #define VIPC_SOCKET_PATH "/tmp/vision_socket"
 #define VIPC_MAX_FDS 64
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 
-#define VISION_INVALID 0
-#define VISION_UI_SUBSCRIBE 1
-#define VISION_UI_BUFS 2
-#define VISION_UI_ACQUIRE 3
-#define VISION_UI_RELEASE 4
+typedef enum VisionIPCPacketType {
+  VIPC_INVALID = 0,
+  VIPC_STREAM_SUBSCRIBE,
+  VIPC_STREAM_BUFS,
+  VIPC_STREAM_ACQUIRE,
+  VIPC_STREAM_RELEASE,
+} VisionIPCPacketType;
 
-typedef struct VisionUIBufs {
-  int width, height, stride;
-  int front_width, front_height, front_stride;
+typedef enum VisionStreamType {
+  VISION_STREAM_UI_BACK,
+  VISION_STREAM_UI_FRONT,
+  VISION_STREAM_YUV,
+  VISION_STREAM_MAX,
+} VisionStreamType;
 
+typedef struct VisionUIInfo {
   int big_box_x, big_box_y;
   int big_box_width, big_box_height;
   int transformed_width, transformed_height;
 
   int front_box_x, front_box_y;
   int front_box_width, front_box_height;
+} VisionUIInfo;
 
+typedef struct VisionStreamBufs {
+  VisionStreamType type;
+
+  int width, height, stride;
   size_t buf_len;
-  int num_bufs;
-  size_t front_buf_len;
-  int num_front_bufs;
-} VisionUIBufs;
+
+  union {
+    VisionUIInfo ui_info;
+  } buf_info;
+} VisionStreamBufs;
+
+typedef struct VisionBufExtra {
+  uint32_t frame_id; // only for yuv
+} VisionBufExtra;
 
 typedef union VisionPacketData {
-  VisionUIBufs ui_bufs;
   struct {
-    bool front;
+    VisionStreamType type;
+    bool tbuffer;
+  } stream_sub;
+  VisionStreamBufs stream_bufs;
+  struct {
+    VisionStreamType type;
     int idx;
-  } ui_acq, ui_rel;
+    VisionBufExtra extra;
+  } stream_acq;
+  struct {
+    VisionStreamType type;
+    int idx;
+  } stream_rel;
 } VisionPacketData;
 
 typedef struct VisionPacket {
@@ -43,8 +75,34 @@ typedef struct VisionPacket {
   int fds[VIPC_MAX_FDS];
 } VisionPacket;
 
-int vipc_connect();
+int vipc_connect(void);
 int vipc_recv(int fd, VisionPacket *out_p);
-int vipc_send(int fd, const VisionPacket p);
+int vipc_send(int fd, const VisionPacket *p);
+
+typedef struct VisionBuf {
+  int fd;
+  size_t len;
+  void* addr;
+} VisionBuf;
+void visionbufs_load(VisionBuf *bufs, const VisionStreamBufs *stream_bufs,
+                     int num_fds, const int* fds);
+
+
+
+typedef struct VisionStream {
+  int ipc_fd;
+  int last_idx;
+  int num_bufs;
+  VisionStreamBufs bufs_info;
+  VisionBuf *bufs;
+} VisionStream;
+
+int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
+VisionBuf* visionstream_get(VisionStream *s, VisionBufExtra *out_extra);
+void visionstream_destroy(VisionStream *s);
+
+#ifdef __cplusplus
+}
+#endif
 
 #endif

selfdrive/config.py

@@ -10,7 +10,7 @@ class Conversions:
   KNOTS_TO_MS = 1/1.9438
   MS_TO_KNOTS = 1.9438
 
-  # Car tecode decimal minutes into decimal degrees, can work with numpy arrays as input
+  # Car decode decimal minutes into decimal degrees, can work with numpy arrays as input
   @staticmethod
   def dm2d(dm):
     degs = np.round(dm/100.)
@@ -56,19 +56,3 @@ class UIParams:
   car_back  = 1.8796 * lidar_zoom
   car_color = 110
 
-class VehicleParams:
-  def __init__(self, civic, brake_only=False, torque_mod=False):
-    if civic:
-      self.wheelbase = 2.67
-      self.steer_ratio = 15.3
-      self.slip_factor = 0.0014
-      self.civic = True
-    else:
-      self.wheelbase = 2.67      # from http://www.edmunds.com/acura/ilx/2016/sedan/features-specs/
-      self.steer_ratio = 15.3    # from http://www.edmunds.com/acura/ilx/2016/road-test-specs/
-      self.slip_factor = 0.0014
-      self.civic = False
-    self.brake_only = brake_only
-    self.torque_mod = torque_mod
-    self.ui_speed_fudge = 1.01 if self.civic else 1.025
-

selfdrive/controls/controlsd.py

@@ -1,33 +1,27 @@
 #!/usr/bin/env python
 import os
 import zmq
-import numpy as np
 import selfdrive.messaging as messaging
 
-from cereal import car
+from cereal import car, log
 
+from selfdrive.swaglog import cloudlog
 from common.numpy_fast import clip
+from common.fingerprints import fingerprint
 
 from selfdrive.config import Conversions as CV
-from common.services import service_list
+from selfdrive.services import service_list
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
+from common.profiler import Profiler
+from common.params import Params
 
 from selfdrive.controls.lib.drive_helpers import learn_angle_offset
 
 from selfdrive.controls.lib.longcontrol import LongControl
 from selfdrive.controls.lib.latcontrol import LatControl
 
-from selfdrive.controls.lib.pathplanner import PathPlanner
-from selfdrive.controls.lib.adaptivecruise import AdaptiveCruise
-
 from selfdrive.controls.lib.alertmanager import AlertManager
 
-car_type = os.getenv("CAR")
-if car_type is not None:
-  exec('from selfdrive.car.'+car_type+'.interface import CarInterface')
-else:
-  from selfdrive.car.honda.interface import CarInterface
-
 V_CRUISE_MAX = 144
 V_CRUISE_MIN = 8
 V_CRUISE_DELTA = 8
@@ -37,24 +31,40 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
   # *** log ***
   context = zmq.Context()
   live100 = messaging.pub_sock(context, service_list['live100'].port)
+  carstate = messaging.pub_sock(context, service_list['carState'].port)
+  carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
 
   thermal = messaging.sub_sock(context, service_list['thermal'].port)
-  live20 = messaging.sub_sock(context, service_list['live20'].port)
-  model = messaging.sub_sock(context, service_list['model'].port)
   health = messaging.sub_sock(context, service_list['health'].port)
+  plan_sock = messaging.sub_sock(context, service_list['plan'].port)
 
-  # connects to can and sendcan
-  CI = CarInterface()
-  VP = CI.getVehicleParams()
+  logcan = messaging.sub_sock(context, service_list['can'].port)
 
-  PP = PathPlanner(model)
-  AC = AdaptiveCruise(live20)
+  # connects to can
+  CP = fingerprint(logcan)
+
+  # import the car from the fingerprint
+  cloudlog.info("controlsd is importing %s", CP.carName)
+  exec('from selfdrive.car.'+CP.carName+'.interface import CarInterface')
+
+  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
+  CI = CarInterface(CP, logcan, sendcan)
+
+  # write CarParams
+  params = Params()
+  params.put("CarParams", CP.to_bytes())
 
   AM = AlertManager()
 
   LoC = LongControl()
   LaC = LatControl()
 
+  # fake plan
+  plan = log.Plan.new_message()
+  plan.lateralValid = False
+  plan.longitudinalValid = False
+  last_plan_time = 0
+
   # controls enabled state
   enabled = False
   last_enable_request = 0
@@ -64,6 +74,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
   # rear view camera state
   rear_view_toggle = False
+  rear_view_allowed = bool(params.get("IsRearViewMirror"))
 
   v_cruise_kph = 255
 
@@ -72,16 +83,31 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
   soft_disable_timer = None
 
+  # Is cpu temp too high to enable?
+  overtemp = False
+  free_space = 1.0
+
   # start the loop
   set_realtime_priority(2)
 
   rk = Ratekeeper(rate, print_delay_threshold=2./1000)
   while 1:
     cur_time = sec_since_boot()
+    prof = Profiler()
 
     # read CAN
     CS = CI.update()
 
+    prof.checkpoint("CarInterface")
+
+    # broadcast carState
+    cs_send = messaging.new_message()
+    cs_send.init('carState')
+    cs_send.carState = CS    # copy?
+    carstate.send(cs_send.to_bytes())
+
+    prof.checkpoint("CarState")
+
     # did it request to enable?
     enable_request, enable_condition = False, False
 
@@ -104,7 +130,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
       # button presses for rear view
       if b.type == "leftBlinker" or b.type == "rightBlinker":
-        if b.pressed:
+        if b.pressed and rear_view_allowed:
           rear_view_toggle = True
         else:
           rear_view_toggle = False
@@ -112,7 +138,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
       if b.type == "altButton1" and b.pressed:
         rear_view_toggle = not rear_view_toggle
 
-      if not VP.brake_only and enabled and not b.pressed:
+      if not CP.enableCruise and enabled and not b.pressed:
         if b.type == "accelCruise":
           v_cruise_kph = v_cruise_kph - (v_cruise_kph % V_CRUISE_DELTA) + V_CRUISE_DELTA
         elif b.type == "decelCruise":
@@ -120,12 +146,14 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
 
       if not enabled and b.type in ["accelCruise", "decelCruise"] and not b.pressed:
-        enable_request = True 
+        enable_request = True
 
       # do disable on button down
       if b.type == "cancel" and b.pressed:
         AM.add("disable", enabled)
 
+    prof.checkpoint("Buttons")
+
     # *** health checking logic ***
     hh = messaging.recv_sock(health)
     if hh is not None:
@@ -138,24 +166,25 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     # thermal data, checked every second
     td = messaging.recv_sock(thermal)
     if td is not None:
-      cpu_temps = [td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
-                   td.thermal.cpu3, td.thermal.mem, td.thermal.gpu]
-      # check overtemp
-      if any(t > 950 for t in cpu_temps):
-        AM.add("overheat", enabled)
+      # Check temperature.
+      overtemp = any(
+          t > 950
+          for t in (td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
+                    td.thermal.cpu3, td.thermal.mem, td.thermal.gpu))
+      # under 15% of space free
+      free_space = td.thermal.freeSpace
 
-    # *** getting model logic ***
-    PP.update(cur_time, CS.vEgo)
-
-    if rk.frame % 5 == 2:
-      # *** run this at 20hz again ***
-      angle_offset = learn_angle_offset(enabled, CS.vEgo, angle_offset, np.asarray(PP.d_poly), LaC.y_des, CS.steeringPressed)
+    prof.checkpoint("Health")
 
     # disable if the pedals are pressed while engaged, this is a user disable
     if enabled:
       if CS.gasPressed or CS.brakePressed:
         AM.add("disable", enabled)
 
+      # how did we get into this state?
+      if CP.enableCruise and not CS.cruiseState.enabled:
+        AM.add("cruiseDisabled", enabled)
+
     if enable_request:
       # check for pressed pedals
       if CS.gasPressed or CS.brakePressed:
@@ -165,53 +194,70 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         print "enabled pressed at", cur_time
         last_enable_request = cur_time
 
-    if VP.brake_only:
+      # don't engage with less than 15% free
+      if free_space < 0.15:
+        AM.add("outOfSpace", enabled)
+        enable_request = False
+
+    if CP.enableCruise:
       enable_condition = ((cur_time - last_enable_request) < 0.2) and CS.cruiseState.enabled
     else:
       enable_condition = enable_request
 
+    if CP.enableCruise and CS.cruiseState.enabled:
+      v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+
+    prof.checkpoint("AdaptiveCruise")
+
+    # *** what's the plan ***
+    new_plan = messaging.recv_sock(plan_sock)
+    if new_plan is not None:
+      plan = new_plan.plan
+      plan = plan.as_builder()  # plan can change in controls
+      last_plan_time = cur_time
+
+    # check plan for timeout
+    if cur_time - last_plan_time > 0.5:
+      plan.lateralValid = False
+      plan.longitudinalValid = False
+
+    # gives 18 seconds before decel begins (w 6 minute timeout)
+    if awareness_status < -0.05:
+      plan.aTargetMax = min(plan.aTargetMax, -0.2)
+      plan.aTargetMin = min(plan.aTargetMin, plan.aTargetMax)
+
     if enable_request or enable_condition or enabled:
       # add all alerts from car
       for alert in CS.errors:
         AM.add(alert, enabled)
 
-      if AC.dead:
+      if not plan.longitudinalValid:
         AM.add("radarCommIssue", enabled)
 
-      if PP.dead:
-        AM.add("modelCommIssue", enabled)
+      if not plan.lateralValid:
+        # If the model is not broadcasting, assume that it is because
+        # the user has uploaded insufficient data for calibration.
+        # Other cases that would trigger this are rare and unactionable by the user.
+        AM.add("dataNeeded", enabled)
 
-    if enable_condition and not enabled and not AM.alertPresent():
-      print "*** enabling controls"
+      if overtemp:
+        AM.add("overheat", enabled)
 
-      # beep for enabling
-      AM.add("enable", enabled)
-
-      # enable both lateral and longitudinal controls
-      enabled = True
-
-      # on activation, let's always set v_cruise from where we are, even if PCM ACC is active
-      v_cruise_kph = int(round(max(CS.vEgo * CV.MS_TO_KPH * VP.ui_speed_fudge, V_CRUISE_ENABLE_MIN)))
-
-      # 6 minutes driver you're on
-      awareness_status = 1.0
-
-      # reset the PID loops
-      LaC.reset()
-      # start long control at actual speed
-      LoC.reset(v_pid = CS.vEgo)
-
-    if VP.brake_only and CS.cruiseState.enabled:
-      v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
-
-    # *** put the adaptive in adaptive cruise control ***
-    AC.update(cur_time, CS.vEgo, CS.steeringAngle, LoC.v_pid, awareness_status, VP)
+    # *** angle offset learning ***
+    if rk.frame % 5 == 2 and plan.lateralValid:
+      # *** run this at 20hz again ***
+      angle_offset = learn_angle_offset(enabled, CS.vEgo, angle_offset, plan.dPoly, LaC.y_des, CS.steeringPressed)
 
     # *** gas/brake PID loop ***
-    final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph, AC.v_target_lead, AC.a_target, AC.jerk_factor, VP)
+    final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph,
+                                        plan.vTarget,
+                                        [plan.aTargetMin, plan.aTargetMax],
+                                        plan.jerkFactor, CP)
 
     # *** steering PID loop ***
-    final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, PP.d_poly, angle_offset, VP)
+    final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, plan.dPoly, angle_offset, CP)
+
+    prof.checkpoint("PID")
 
     # ***** handle alerts ****
     # send a "steering required alert" if saturation count has reached the limit
@@ -232,7 +278,26 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         soft_disable_timer -= 1
     else:
       soft_disable_timer = None
-      
+
+    if enable_condition and not enabled and not AM.alertPresent():
+      print "*** enabling controls"
+
+      # beep for enabling
+      AM.add("enable", enabled)
+
+      # enable both lateral and longitudinal controls
+      enabled = True
+
+      # on activation, let's always set v_cruise from where we are, even if PCM ACC is active
+      v_cruise_kph = int(round(max(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN)))
+
+      # 6 minutes driver you're on
+      awareness_status = 1.0
+
+      # reset the PID loops
+      LaC.reset()
+      # start long control at actual speed
+      LoC.reset(v_pid = CS.vEgo)
 
     # *** push the alerts to current ***
     alert_text_1, alert_text_2, visual_alert, audible_alert = AM.process_alerts(cur_time)
@@ -247,14 +312,20 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     CC.steeringTorque = float(final_steer)
 
     CC.cruiseControl.override = True
-    CC.cruiseControl.cancel = bool((not VP.brake_only) or (not enabled and CS.cruiseState.enabled))    # always cancel if we have an interceptor
-    CC.cruiseControl.speedOverride = float((LoC.v_pid - .3) if (VP.brake_only and final_brake == 0.) else 0.0)
-    CC.cruiseControl.accelOverride = float(AC.a_pcm)
+    CC.cruiseControl.cancel = bool((not CP.enableCruise) or (not enabled and CS.cruiseState.enabled))    # always cancel if we have an interceptor
+
+    # brake discount removes a sharp nonlinearity
+    brake_discount = (1.0 - clip(final_brake*3., 0.0, 1.0))
+    CC.cruiseControl.speedOverride = float(max(0.0, ((LoC.v_pid - .5) * brake_discount)) if CP.enableCruise else 0.0)
+
+    #CC.cruiseControl.accelOverride = float(AC.a_pcm)
+    # TODO: fix this
+    CC.cruiseControl.accelOverride = float(1.0)
 
     CC.hudControl.setSpeed = float(v_cruise_kph * CV.KPH_TO_MS)
     CC.hudControl.speedVisible = enabled
     CC.hudControl.lanesVisible = enabled
-    CC.hudControl.leadVisible = bool(AC.has_lead)
+    CC.hudControl.leadVisible = plan.hasLead
 
     CC.hudControl.visualAlert = visual_alert
     CC.hudControl.audibleAlert = audible_alert
@@ -263,6 +334,14 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     if not CI.apply(CC):
       AM.add("controlsFailed", enabled)
 
+    # broadcast carControl
+    cc_send = messaging.new_message()
+    cc_send.init('carControl')
+    cc_send.carControl = CC    # copy?
+    carcontrol.send(cc_send.to_bytes())
+
+    prof.checkpoint("CarControl")
+
     # ***** publish state to logger *****
 
     # publish controls state at 100Hz
@@ -270,15 +349,13 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     dat.init('live100')
 
     # show rear view camera on phone if in reverse gear or when button is pressed
-    dat.live100.rearViewCam = ('reverseGear' in CS.errors) or rear_view_toggle
+    dat.live100.rearViewCam = ('reverseGear' in CS.errors and rear_view_allowed) or rear_view_toggle
     dat.live100.alertText1 = alert_text_1
     dat.live100.alertText2 = alert_text_2
     dat.live100.awarenessStatus = max(awareness_status, 0.0) if enabled else 0.0
 
     # what packets were used to process
     dat.live100.canMonoTimes = list(CS.canMonoTimes)
-    dat.live100.mdMonoTime = PP.logMonoTime
-    dat.live100.l20MonoTime = AC.logMonoTime
 
     # if controls is enabled
     dat.live100.enabled = enabled
@@ -301,22 +378,27 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     dat.live100.uiSteer = float(LaC.Ui_steer)
 
     # processed radar state, should add a_pcm?
-    dat.live100.vTargetLead = float(AC.v_target_lead)
-    dat.live100.aTargetMin = float(AC.a_target[0])
-    dat.live100.aTargetMax = float(AC.a_target[1])
-    dat.live100.jerkFactor = float(AC.jerk_factor)
+    dat.live100.vTargetLead = float(plan.vTarget)
+    dat.live100.aTargetMin = float(plan.aTargetMin)
+    dat.live100.aTargetMax = float(plan.aTargetMax)
+    dat.live100.jerkFactor = float(plan.jerkFactor)
+
+    # log learned angle offset
+    dat.live100.angleOffset = float(angle_offset)
 
     # lag
     dat.live100.cumLagMs = -rk.remaining*1000.
 
     live100.send(dat.to_bytes())
 
+    prof.checkpoint("Live100")
+
     # *** run loop at fixed rate ***
-    rk.keep_time()
+    if rk.keep_time():
+      prof.display()
 
 def main(gctx=None):
   controlsd_thread(gctx, 100)
 
 if __name__ == "__main__":
   main()
-

selfdrive/controls/lib/adaptivecruise.py

@@ -19,13 +19,13 @@ def calc_cruise_accel_limits(v_ego):
 _A_TOTAL_MAX_V = [1.5, 1.9, 3.2]
 _A_TOTAL_MAX_BP = [0., 20., 40.]
 
-def limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, VP):
+def limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, CP):
   #*** this function returns a limited long acceleration allowed, depending on the existing lateral acceleration
   # this should avoid accelerating when losing the target in turns
   deg_to_rad = np.pi / 180.  # from can reading to rad
 
   a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
-  a_y = v_ego**2 * angle_steers * deg_to_rad / (VP.steer_ratio * VP.wheelbase)
+  a_y = v_ego**2 * angle_steers * deg_to_rad / (CP.steerRatio * CP.wheelBase)
   a_x_allowed = math.sqrt(max(a_total_max**2 - a_y**2, 0.))
 
   a_target[1] = min(a_target[1], a_x_allowed)
@@ -168,8 +168,9 @@ def calc_acc_accel_limits(d_lead, d_des, v_ego, v_pid, v_lead, v_rel, a_lead,
                                           a_lead_contr, a_target[1])
   # second call of calc_positive_accel_limit is used to limit the pcm throttle
   # control (only useful when we don't control throttle directly)
-  a_pcm = calc_positive_accel_limit(d_lead, d_des, v_ego, v_rel, v_ego, v_rel,
-                                    v_coast, v_target, a_lead_contr, a_pcm)
+  a_pcm = calc_positive_accel_limit(d_lead, d_des, v_ego, v_rel, v_ego,
+                                    v_rel, v_coast, v_target,
+                                    a_lead_contr, a_pcm)
 
   #*** compute max decel ***
   v_offset = 1.  # assume the car is 1m/s slower
@@ -236,20 +237,9 @@ def calc_ttc(d_rel, v_rel, a_rel, v_lead):
   return ttc
 
 
-def limit_accel_driver_awareness(v_ego, a_target, a_pcm, awareness_status):
-  decel_bp = [0.  ,  40.]
-  decel_v  = [-0.3, -0.2]
-  decel = interp(v_ego, decel_bp, decel_v)
-  # gives 18 seconds before decel begins (w 6 minute timeout)
-  if awareness_status < -0.05:
-    a_target[1] = min(a_target[1], decel)
-    a_target[0] = min(a_target[1], a_target[0])
-    a_pcm = 0.
-  return a_target, a_pcm
-
 MAX_SPEED_POSSIBLE = 55.
 
-def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, awareness_status, VP):
+def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, CP):
   # drive limits
   # TODO: Make lims function of speed (more aggressive at low speed).
   a_lim = [-3., 1.5]
@@ -263,7 +253,7 @@ def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, awareness_statu
   a_pcm = 1
 
   #*** limit max accel in sharp turns
-  a_target, a_pcm = limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, VP)
+  a_target, a_pcm = limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, CP)
   jerk_factor = 0.
 
   if l1 is not None and l1.status:
@@ -305,8 +295,6 @@ def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, awareness_statu
     jerk_factor = calc_jerk_factor(l1.dRel, l1.vRel)
 
   # force coasting decel if driver hasn't been controlling car in a while
-  a_target, a_pcm = limit_accel_driver_awareness(v_ego, a_target, a_pcm, awareness_status)
-
   return v_target_lead, a_target, a_pcm, jerk_factor
 
 
@@ -317,7 +305,7 @@ class AdaptiveCruise(object):
     self.l1, self.l2 = None, None
     self.logMonoTime = 0
     self.dead = True
-  def update(self, cur_time, v_ego, angle_steers, v_pid, awareness_status, VP):
+  def update(self, cur_time, v_ego, angle_steers, v_pid, CP):
     l20 = messaging.recv_sock(self.live20)
     if l20 is not None:
       self.l1 = l20.live20.leadOne
@@ -331,5 +319,5 @@ class AdaptiveCruise(object):
       self.dead = True
 
     self.v_target_lead, self.a_target, self.a_pcm, self.jerk_factor = \
-      compute_speed_with_leads(v_ego, angle_steers, v_pid, self.l1, self.l2, awareness_status, VP)
+      compute_speed_with_leads(v_ego, angle_steers, v_pid, self.l1, self.l2, CP)
     self.has_lead = self.v_target_lead != MAX_SPEED_POSSIBLE

selfdrive/controls/lib/alertmanager.py

@@ -1,4 +1,5 @@
 from cereal import car
+from selfdrive.swaglog import cloudlog
 
 class ET:
   ENABLE = 0
@@ -24,7 +25,7 @@ class alert(object):
     tst = car.CarControl.new_message()
     tst.hudControl.visualAlert = self.visual_alert
     tst.hudControl.audibleAlert = self.audible_alert
-  
+
   def __str__(self):
     return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_type) + "  " + str(self.visual_alert) + " " + str(self.audible_alert)
 
@@ -54,11 +55,17 @@ class AlertManager(object):
     "doorOpen":           alert("Take Control Immediately","Door Open",            ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
     "seatbeltNotLatched": alert("Take Control Immediately","Seatbelt Unlatched",   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
     "espDisabled":        alert("Take Control Immediately","ESP Off",              ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",      ET.NO_ENTRY,     None, None, .4, 0., 3.),
+    "cruiseDisabled":     alert("Take Control Immediately","Cruise Is Off",        ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",             ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "outOfSpace":         alert("Comma Unavailable","Out of Space",                ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "dataNeeded":         alert("Comma Unavailable","Data needed for calibration. Upload drive, try again", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
+    "ethicalDilemma":     alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "startup":            alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
   }
   def __init__(self):
     self.activealerts = []
     self.current_alert = None
+    self.add("startup", False)
 
   def alertPresent(self):
     return len(self.activealerts) > 0
@@ -70,7 +77,8 @@ class AlertManager(object):
     return len(self.activealerts) > 0 and self.activealerts[0].alert_type >= ET.IMMEDIATE_DISABLE
 
   def add(self, alert_type, enabled = True):
-    this_alert = self.alerts[str(alert_type)]
+    alert_type = str(alert_type)
+    this_alert = self.alerts[alert_type]
 
     # downgrade the alert if we aren't enabled
     if not enabled and this_alert.alert_type > ET.NO_ENTRY:
@@ -80,6 +88,12 @@ class AlertManager(object):
     if enabled and this_alert.alert_type < ET.WARNING:
       return
 
+    # if new alert is different, log it
+    if self.current_alert is None or self.current_alert.alert_text_2 != this_alert.alert_text_2:
+      cloudlog.event('alert_add',
+        alert_type=alert_type,
+        enabled=enabled)
+
     self.activealerts.append(this_alert)
     self.activealerts.sort()
 
@@ -106,6 +120,10 @@ class AlertManager(object):
         alert_text_1 = self.current_alert.alert_text_1
         alert_text_2 = self.current_alert.alert_text_2
 
+      # disable current alert
+      if self.alert_start_time + max(self.current_alert.duration_sound, self.current_alert.duration_hud_alert, self.current_alert.duration_text) < cur_time:
+        self.current_alert = None
+
     # reset
     self.activealerts = []
 

selfdrive/controls/lib/drive_helpers.py

@@ -1,5 +1,4 @@
-import numpy as np
-from common.numpy_fast import clip, interp
+from common.numpy_fast import clip
 
 def rate_limit(new_value, last_value, dw_step, up_step):
   return clip(new_value, last_value + dw_step, last_value + up_step)
@@ -21,33 +20,3 @@ def learn_angle_offset(lateral_control, v_ego, angle_offset, d_poly, y_des, stee
 
   return angle_offset
 
-def actuator_hystereses(final_brake, braking, brake_steady, v_ego, civic):
-  # hyst params... TODO: move these to VehicleParams
-  brake_hyst_on = 0.055 if civic else 0.1    # to activate brakes exceed this value
-  brake_hyst_off = 0.005                     # to deactivate brakes below this value
-  brake_hyst_gap = 0.01                      # don't change brake command for small ocilalitons within this value
-
-  #*** histeresys logic to avoid brake blinking. go above 0.1 to trigger
-  if (final_brake < brake_hyst_on and not braking) or final_brake < brake_hyst_off:
-    final_brake = 0.
-  braking = final_brake > 0.
-
-  # for small brake oscillations within brake_hyst_gap, don't change the brake command
-  if final_brake == 0.:
-    brake_steady = 0.
-  elif final_brake > brake_steady + brake_hyst_gap:
-    brake_steady = final_brake - brake_hyst_gap
-  elif final_brake < brake_steady - brake_hyst_gap:
-    brake_steady = final_brake + brake_hyst_gap
-  final_brake = brake_steady
-
-  if not civic:
-    brake_on_offset_v  = [.25, .15]   # min brake command on brake activation. below this no decel is perceived
-    brake_on_offset_bp = [15., 30.]     # offset changes VS speed to not have too abrupt decels at high speeds
-    # offset the brake command for threshold in the brake system. no brake torque perceived below it
-    brake_on_offset = interp(v_ego, brake_on_offset_bp, brake_on_offset_v)
-    brake_offset = brake_on_offset - brake_hyst_on
-    if final_brake > 0.0:
-      final_brake += brake_offset
-
-  return final_brake, braking, brake_steady

selfdrive/controls/lib/latcontrol.py

@@ -2,10 +2,10 @@ import math
 import numpy as np
 from common.numpy_fast import clip
 
-def calc_curvature(v_ego, angle_steers, VP, angle_offset=0):
+def calc_curvature(v_ego, angle_steers, CP, angle_offset=0):
   deg_to_rad = np.pi/180.
   angle_steers_rad = (angle_steers - angle_offset) * deg_to_rad
-  curvature = angle_steers_rad/(VP.steer_ratio * VP.wheelbase * (1. + VP.slip_factor * v_ego**2))
+  curvature = angle_steers_rad/(CP.steerRatio * CP.wheelBase * (1. + CP.slipFactor * v_ego**2))
   return curvature
 
 def calc_d_lookahead(v_ego):
@@ -13,32 +13,29 @@ def calc_d_lookahead(v_ego):
   # howfar we look ahead is function of speed
   offset_lookahead = 1.
   coeff_lookahead = 4.4
-  # sqrt on speed is needed to keep, for a given curvature, the y_offset 
+  # sqrt on speed is needed to keep, for a given curvature, the y_offset
   # proportional to speed. Indeed, y_offset is prop to d_lookahead^2
   # 26m at 25m/s
   d_lookahead = offset_lookahead + math.sqrt(max(v_ego, 0)) * coeff_lookahead
   return d_lookahead
 
-def calc_lookahead_offset(v_ego, angle_steers, d_lookahead, VP, angle_offset):
+def calc_lookahead_offset(v_ego, angle_steers, d_lookahead, CP, angle_offset):
   #*** this function return teh lateral offset given the steering angle, speed and the lookahead distance
-  curvature = calc_curvature(v_ego, angle_steers, VP, angle_offset)
+  curvature = calc_curvature(v_ego, angle_steers, CP, angle_offset)
 
   # clip is to avoid arcsin NaNs due to too sharp turns
   y_actual = d_lookahead * np.tan(np.arcsin(np.clip(d_lookahead * curvature, -0.999, 0.999))/2.)
   return y_actual, curvature
 
 def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
-                        steer_override, sat_count, enabled, half_pid, rate):
+                        steer_override, sat_count, enabled, Kp, Ki, rate):
 
   sat_count_rate = 1./rate
-  sat_count_limit = 0.8       # after 0.8s of continuous saturation, an alert will be sent
+  sat_count_limit = 0.8      # after 0.8s of continuous saturation, an alert will be sent
 
   error_steer = y_des - y_actual
   Ui_unwind_speed = 0.3/rate   #.3 per second
-  if not half_pid:
-    Kp, Ki = 12.0, 1.0
-  else:
-    Kp, Ki = 6.0, .5           # 2x limit in ILX
+
   Up_steer = error_steer*Kp
   Ui_steer_new = Ui_steer + error_steer*Ki * 1./rate
   output_steer_new = Ui_steer_new + Up_steer
@@ -99,7 +96,7 @@ class LatControl(object):
   def reset(self):
     self.Ui_steer = 0.
 
-  def update(self, enabled, v_ego, angle_steers, steer_override, d_poly, angle_offset, VP):
+  def update(self, enabled, v_ego, angle_steers, steer_override, d_poly, angle_offset, CP):
     rate = 100
 
     steer_max = 1.0
@@ -109,14 +106,14 @@ class LatControl(object):
 
     # calculate actual offset at the lookahead point
     self.y_actual, _ = calc_lookahead_offset(v_ego, angle_steers,
-                                             d_lookahead, VP, angle_offset)
+                                             d_lookahead, CP, angle_offset)
 
     # desired lookahead offset
     self.y_des = np.polyval(d_poly, d_lookahead)
 
     output_steer, self.Up_steer, self.Ui_steer, self.lateral_control_sat, self.sat_count, sat_flag = pid_lateral_control(
       v_ego, self.y_actual, self.y_des, self.Ui_steer, steer_max,
-      steer_override, self.sat_count, enabled, VP.torque_mod, rate)
+      steer_override, self.sat_count, enabled, CP.steerKp, CP.steerKi, rate)
 
     final_steer = clip(output_steer, -steer_max, steer_max)
     return final_steer, sat_flag

selfdrive/controls/lib/longcontrol.py

@@ -96,7 +96,7 @@ def pid_long_control(v_ego, v_pid, Ui_accel_cmd, gas_max, brake_max, jerk_factor
   Kp = interp(v_ego, _KP_BP, _KP_V)
   Ki = interp(v_ego, _kI_BP, _kI_V)
 
-  # scle Kp and Ki by jerk factor drom drive_thread
+  # scale Kp and Ki by jerk factor from drive_thread
   Kp = (1. + jerk_factor)*Kp
   Ki = (1. + jerk_factor)*Ki
 
@@ -155,7 +155,7 @@ class LongControl(object):
     self.Ui_accel_cmd = 0.
     self.v_pid = v_pid
 
-  def update(self, enabled, v_ego, v_cruise, v_target_lead, a_target, jerk_factor, VP):
+  def update(self, enabled, v_ego, v_cruise, v_target_lead, a_target, jerk_factor, CP):
     brake_max_bp = [0., 5., 20., 100.]  # speeds     
     brake_max_v = [1.0, 1.0, 0.8, 0.8]  # values
 
@@ -163,12 +163,12 @@ class LongControl(object):
     brake_max = interp(v_ego, brake_max_bp, brake_max_v)
 
     # TODO: not every time
-    if VP.brake_only:
-      gas_max = 0
-    else:
+    if CP.enableGas:
       gas_max_bp = [0., 100.]             # speeds
       gas_max_v = [0.6, 0.6]            # values
       gas_max = interp(v_ego, gas_max_bp, gas_max_v)
+    else:
+      gas_max = 0
 
     overshoot_allowance = 2.0    # overshoot allowed when changing accel sign
 
@@ -177,7 +177,7 @@ class LongControl(object):
 
     # limit max target speed based on cruise setting:
     v_cruise_mph = round(v_cruise * CV.KPH_TO_MPH)   # what's displayed in mph on the IC
-    v_target = min(v_target_lead, v_cruise_mph * CV.MPH_TO_MS / VP.ui_speed_fudge)
+    v_target = min(v_target_lead, v_cruise_mph * CV.MPH_TO_MS)
 
     max_speed_delta_up = a_target[1]*1.0/rate
     max_speed_delta_down = a_target[0]*1.0/rate
@@ -211,7 +211,7 @@ class LongControl(object):
         self.v_pid = v_target
 
       # to avoid too much wind up on acceleration, limit positive speed error
-      if not VP.brake_only:
+      if CP.enableGas:
         max_speed_error = interp(v_ego, _MAX_SPEED_ERROR_BP, _MAX_SPEED_ERROR_V)
         self.v_pid = min(self.v_pid, v_ego + max_speed_error)
 

selfdrive/controls/lib/pathplanner.py

@@ -3,10 +3,17 @@ import numpy as np
 
 from common.numpy_fast import interp
 import selfdrive.messaging as messaging
-X_PATH = np.arange(0.0, 50.0)
 
-def model_polyfit(points):
-  return np.polyfit(X_PATH, map(float, points), 3)
+
+def compute_path_pinv():
+  deg = 3
+  x = np.arange(50.0)
+  X = np.vstack(tuple(x**n for n in range(deg, -1, -1))).T
+  pinv = np.linalg.pinv(X)
+  return pinv
+
+def model_polyfit(points, path_pinv):
+  return np.dot(path_pinv, map(float, points))
 
 # lane width http://safety.fhwa.dot.gov/geometric/pubs/mitigationstrategies/chapter3/3_lanewidth.cfm
 _LANE_WIDTH_V = [3., 3.8]
@@ -40,24 +47,26 @@ class PathPlanner(object):
     self.last_model = 0.
     self.logMonoTime = 0
     self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
+    self._path_pinv = compute_path_pinv()
 
   def update(self, cur_time, v_ego):
     md = messaging.recv_sock(self.model)
 
     if md is not None:
       self.logMonoTime = md.logMonoTime
-      p_poly = model_polyfit(md.model.path.points)       # predicted path
-      p_prob = 1.                                        # model does not tell this probability yet, so set to 1 for now
-      l_poly = model_polyfit(md.model.leftLane.points)   # left line
-      l_prob = md.model.leftLane.prob                    # left line prob
-      r_poly = model_polyfit(md.model.rightLane.points)  # right line
-      r_prob = md.model.rightLane.prob                   # right line prob
+      p_poly = model_polyfit(md.model.path.points, self._path_pinv)       # predicted path
+      l_poly = model_polyfit(md.model.leftLane.points, self._path_pinv)   # left line
+      r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv)  # right line
+
+      p_prob = 1.                       # model does not tell this probability yet, so set to 1 for now
+      l_prob = md.model.leftLane.prob   # left line prob
+      r_prob = md.model.rightLane.prob  # right line prob
 
       self.lead_dist = md.model.lead.dist
       self.lead_prob = md.model.lead.prob
       self.lead_var = md.model.lead.std**2
 
-      #*** compute target path ***
+      # compute target path
       self.d_poly, _, _ = calc_desired_path(l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, v_ego)
 
       self.last_model = cur_time