openpilot v0.5.13 release

4348db7 add PyJWT we use in backend

git-subtree-dir: pyextra
git-subtree-split: 4348db7e867dafbbcb7ec0302b5528688d1102c6

.gitignore

@@ -34,3 +34,6 @@ selfdrive/visiond/visiond
 /src/
 
 one
+openpilot
+xx
+

README.md

@@ -92,8 +92,6 @@ Supported Cars
 | Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
-| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
 | Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
 | Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
@@ -109,13 +107,13 @@ Supported Cars
 | Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 
-<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
-<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
-<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).  
-<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).  
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.  
-<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.  
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).  
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).
+<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.
+<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).
 
 Community Maintained Cars
 ------
@@ -173,7 +171,6 @@ Directory structure
         ├── locationd       # Soon to be home of precise location
         ├── logcatd         # Android logcat as a service
         ├── loggerd         # Logger and uploader of car data
-        ├── mapd            # Fetches map data and computes next global path
         ├── proclogd        # Logs information from proc
         ├── sensord         # IMU / GPS interface code
         ├── test            # Car simulator running code through virtual maneuvers

RELEASES.md

@@ -1,3 +1,13 @@
+Version 0.5.13 (2019-05-31)
+==========================
+ * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
+ * Reduce EON power consumption by 40%, down to 1100mW, when car is off
+ * Reduce CPU utilization by 20% and improve stability
+ * Temporarily remove mapd functionalities to improve stability
+ * Add openpilot record-only mode for unsupported cars
+ * Synchronize controlsd to boardd to reduce latency
+ * Remove panda support for Subaru giraffe
+
 Version 0.5.12 (2019-05-16)
 ==========================
  * Improve lateral control for the Prius and Prius Prime
@@ -9,8 +19,8 @@ Version 0.5.12 (2019-05-16)
  * Add default speed limits for Estonia thanks to martinl!
  * Subaru Crosstrek support thanks to martinl!
  * Toyota Avalon support thanks to njbrown09!
- * Toyota Rav4 with TSS 2.0 support thansk to wocsor!
- * Toyota Corolla with TSS 2.0 support thansk to wocsor!
+ * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
+ * Toyota Corolla with TSS 2.0 support thanks to wocsor!
 
 Version 0.5.11 (2019-04-17)
 ========================

cereal/car.capnp

@@ -74,6 +74,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     invalidGiraffeHonda @49;
     vehicleModelInvalid @50;
     controlsFailed @51;
+    sensorDataInvalid @52;
   }
 }
 
@@ -175,7 +176,7 @@ struct CarState {
 
 # ******* radar state @ 20hz *******
 
-struct RadarState {
+struct RadarData @0x888ad6581cf0aacb {
   errors @0 :List(Error);
   points @1 :List(RadarPoint);
 
@@ -333,6 +334,7 @@ struct CarParams {
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);

cereal/log.capnp

@@ -305,12 +305,12 @@ struct LiveUI {
   awarenessStatus @3 :Float32;
 }
 
-struct Live20Data {
+struct RadarState @0x9a185389d6fdd05f {
   canMonoTimes @10 :List(UInt64);
   mdMonoTime @6 :UInt64;
   ftMonoTimeDEPRECATED @7 :UInt64;
-  l100MonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarState.Error);
+  controlsStateMonoTime @11 :UInt64;
+  radarErrors @12 :List(Car.RadarData.Error);
 
   # all deprecated
   warpMatrixDEPRECATED @0 :List(Float32);
@@ -368,15 +368,15 @@ struct LiveTracks {
   oncoming @9 :Bool;
 }
 
-struct Live100Data {
+struct ControlsState @0x97ff69c53601abf1 {
   canMonoTimeDEPRECATED @16 :UInt64;
   canMonoTimes @21 :List(UInt64);
-  l20MonoTimeDEPRECATED @17 :UInt64;
+  radarStateMonoTimeDEPRECATED @17 :UInt64;
   mdMonoTimeDEPRECATED @18 :UInt64;
   planMonoTime @28 :UInt64;
   pathPlanMonoTime @50 :UInt64;
 
-  state @31 :ControlState;
+  state @31 :OpenpilotState;
   vEgo @0 :Float32;
   vEgoRaw @32 :Float32;
   aEgoDEPRECATED @1 :Float32;
@@ -433,7 +433,7 @@ struct Live100Data {
     pidState @53 :LateralPIDState;
   }
 
-  enum ControlState {
+  enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
     enabled @2;
@@ -507,6 +507,7 @@ struct ModelData {
     points @0 :List(Float32);
     prob @1 :Float32;
     std @2 :Float32;
+    stds @3 :List(Float32);
   }
 
   struct LeadData {
@@ -574,7 +575,7 @@ struct LogRotate {
 
 struct Plan {
   mdMonoTime @9 :UInt64;
-  l20MonoTime @10 :UInt64;
+  radarStateMonoTime @10 :UInt64;
   eventsDEPRECATED @13 :List(Car.CarEvent);
 
   # lateral, 3rd order polynomial
@@ -648,6 +649,7 @@ struct PathPlan {
   paramsValid @10 :Bool;
   modelValid @12 :Bool;
   angleOffset @11 :Float32;
+  sensorValid @14 :Bool;
 }
 
 struct LiveLocationData {
@@ -1643,6 +1645,7 @@ struct LiveParametersData {
   angleOffsetAverage @3 :Float32;
   stiffnessFactor @4 :Float32;
   steerRatio @5 :Float32;
+  sensorValid @6 :Bool;
 }
 
 struct LiveMapData {
@@ -1690,13 +1693,13 @@ struct Event {
     sensorEventDEPRECATED @4 :SensorEventData;
     can @5 :List(CanData);
     thermal @6 :ThermalData;
-    live100 @7 :Live100Data;
+    controlsState @7 :ControlsState;
     liveEventDEPRECATED @8 :List(LiveEventData);
     model @9 :ModelData;
     features @10 :CalibrationFeatures;
     sensorEvents @11 :List(SensorEventData);
     health @12 :HealthData;
-    live20 @13 :Live20Data;
+    radarState @13 :RadarState;
     liveUIDEPRECATED @14 :LiveUI;
     encodeIdx @15 :EncodeIndex;
     liveTracks @16 :List(LiveTracks);

common/clock.pyx

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

common/file_helpers.py

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

common/params.py

@@ -41,7 +41,7 @@ def mkdirs_exists_ok(path):
 class TxType(Enum):
   PERSISTENT = 1
   CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_CAR_START = 3
+  CLEAR_ON_PANDA_DISCONNECT = 3
 
 
 class UnknownKeyName(Exception):
@@ -49,32 +49,33 @@ class UnknownKeyName(Exception):
 
 
 keys = {
-  "AccessToken": TxType.PERSISTENT,
-  "CalibrationParams": TxType.PERSISTENT,
-  "CarParams": TxType.CLEAR_ON_CAR_START,
-  "CompletedTrainingVersion": TxType.PERSISTENT,
-  "ControlsParams": TxType.PERSISTENT,
-  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
-  "DongleId": TxType.PERSISTENT,
-  "GitBranch": TxType.PERSISTENT,
-  "GitCommit": TxType.PERSISTENT,
-  "GitRemote": TxType.PERSISTENT,
-  "HasAcceptedTerms": TxType.PERSISTENT,
-  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
-  "IsFcwEnabled": TxType.PERSISTENT,
-  "IsGeofenceEnabled": TxType.PERSISTENT,
-  "IsMetric": TxType.PERSISTENT,
-  "IsUpdateAvailable": TxType.PERSISTENT,
-  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
-  "LimitSetSpeed": TxType.PERSISTENT,
-  "LiveParameters": TxType.PERSISTENT,
-  "LongitudinalControl": TxType.PERSISTENT,
-  "Passive": TxType.PERSISTENT,
-  "RecordFront": TxType.PERSISTENT,
-  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
-  "SpeedLimitOffset": TxType.PERSISTENT,
-  "TrainingVersion": TxType.PERSISTENT,
-  "Version": TxType.PERSISTENT,
+  "AccessToken": [TxType.PERSISTENT],
+  "CalibrationParams": [TxType.PERSISTENT],
+  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CompletedTrainingVersion": [TxType.PERSISTENT],
+  "ControlsParams": [TxType.PERSISTENT],
+  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
+  "DongleId": [TxType.PERSISTENT],
+  "GitBranch": [TxType.PERSISTENT],
+  "GitCommit": [TxType.PERSISTENT],
+  "GitRemote": [TxType.PERSISTENT],
+  "HasAcceptedTerms": [TxType.PERSISTENT],
+  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
+  "IsFcwEnabled": [TxType.PERSISTENT],
+  "IsGeofenceEnabled": [TxType.PERSISTENT],
+  "IsMetric": [TxType.PERSISTENT],
+  "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
+  "LimitSetSpeed": [TxType.PERSISTENT],
+  "LiveParameters": [TxType.PERSISTENT],
+  "LongitudinalControl": [TxType.PERSISTENT],
+  "Passive": [TxType.PERSISTENT],
+  "RecordFront": [TxType.PERSISTENT],
+  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  "SpeedLimitOffset": [TxType.PERSISTENT],
+  "SubscriberInfo": [TxType.PERSISTENT],
+  "TrainingVersion": [TxType.PERSISTENT],
+  "Version": [TxType.PERSISTENT],
 }
 
 
@@ -308,14 +309,14 @@ class Params(object):
   def _clear_keys_with_type(self, tx_type):
     with self.transaction(write=True) as txn:
       for key in keys:
-        if keys[key] == tx_type:
+        if tx_type in keys[key]:
           txn.delete(key)
 
   def manager_start(self):
     self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
 
-  def car_start(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
+  def panda_disconnect(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
 
   def delete(self, key):
     with self.transaction(write=True) as txn:

common/realtime.py

@@ -2,58 +2,24 @@
 import os
 import time
 import platform
-import threading
 import subprocess
 import multiprocessing
-
 from cffi import FFI
+
+# Build and load cython module
+import pyximport
+installer = pyximport.install(inplace=True, build_dir='/tmp')
+from common.clock import monotonic_time, sec_since_boot  # pylint: disable=no-name-in-module, import-error
+pyximport.uninstall(*installer)
+assert monotonic_time
+assert sec_since_boot
+
+
 ffi = FFI()
-ffi.cdef("""
-
-typedef int clockid_t;
-struct timespec {
-    long tv_sec;   /* Seconds.  */
-    long tv_nsec;  /* Nanoseconds.  */
-};
-int clock_gettime (clockid_t clk_id, struct timespec *tp);
-
-long syscall(long number, ...);
-
-"""
-)
+ffi.cdef("long syscall(long number, ...);")
 libc = ffi.dlopen(None)
 
 
-# see <linux/time.h>
-CLOCK_MONOTONIC_RAW = 4
-CLOCK_BOOTTIME = 7
-
-if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
-  c_clock_gettime = libc.clock_gettime
-
-  tlocal = threading.local()
-  def clock_gettime(clk_id):
-    if not hasattr(tlocal, 'ts'):
-      tlocal.ts = ffi.new('struct timespec *')
-
-    ts = tlocal.ts
-
-    r = c_clock_gettime(clk_id, ts)
-    if r != 0:
-      raise OSError("clock_gettime")
-    return ts.tv_sec + ts.tv_nsec * 1e-9
-else:
-  # hack. only for OS X < 10.12
-  def clock_gettime(clk_id):
-    return time.time()
-
-def monotonic_time():
-  return clock_gettime(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return clock_gettime(CLOCK_BOOTTIME)
-
-
 def set_realtime_priority(level):
   if os.getuid() != 0:
     print("not setting priority, not root")
@@ -99,10 +65,9 @@ class Ratekeeper(object):
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
-    if remaining < -self._print_delay_threshold:
+    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
       print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
       lagged = True
     self._frame += 1
     self._remaining = remaining
     return lagged
-

common/vin.py

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

opendbc/acura_ilx_2016_can_generated.dbc

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

opendbc/acura_rdx_2018_can_generated.dbc

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

opendbc/generator/honda/_bosch_2018.dbc

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

opendbc/generator/honda/_honda_2017.dbc

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

opendbc/generator/honda/honda_civic_touring_2016_can.dbc

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

opendbc/generator/toyota/_toyota_2017.dbc

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

opendbc/honda_accord_lx15t_2018_can_generated.dbc

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

opendbc/honda_accord_s2t_2018_can_generated.dbc

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

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

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

opendbc/honda_civic_touring_2016_can_generated.dbc

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

opendbc/honda_crv_ex_2017_can_generated.dbc

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

opendbc/honda_crv_hybrid_2019_can_generated.dbc

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

opendbc/honda_crv_touring_2016_can_generated.dbc

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

opendbc/honda_fit_ex_2018_can_generated.dbc

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

opendbc/honda_insight_ex_2019_can_generated.dbc

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

opendbc/honda_odyssey_exl_2018_generated.dbc

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

opendbc/honda_pilot_touring_2017_can_generated.dbc

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

opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc

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

opendbc/lexus_gs300h_2017_pt_generated.dbc

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

opendbc/lexus_is_2018_pt_generated.dbc

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

opendbc/lexus_is_hybrid_2017_pt_generated.dbc

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

opendbc/lexus_rx_hybrid_2017_pt_generated.dbc

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

opendbc/toyota_avalon_2017_pt_generated.dbc

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

opendbc/toyota_camry_hybrid_2018_pt_generated.dbc

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

opendbc/toyota_chr_2018_pt_generated.dbc

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

opendbc/toyota_chr_hybrid_2018_pt_generated.dbc

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

opendbc/toyota_corolla_2017_pt_generated.dbc

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

opendbc/toyota_highlander_2017_pt_generated.dbc

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

opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc

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

opendbc/toyota_prius_2017_pt_generated.dbc

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

opendbc/toyota_rav4_2017_pt_generated.dbc

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

opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc

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

opendbc/toyota_sienna_xle_2018_pt_generated.dbc

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

panda/.circleci/config.yml

@@ -12,6 +12,37 @@ jobs:
           name: Run safety test
           command: |
             docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+
+  misra-c2012:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_misra -f tests/misra/Dockerfile ."
+      - run:
+          name: Run Misra C 2012 test
+          command: |
+            mkdir /tmp/misra
+            docker run -v /tmp/misra:/tmp/misra panda_misra /bin/bash -c "cd /panda/tests/misra; ./test_misra.sh"
+      - store_artifacts:
+          name: Store misra test output
+          path: /tmp/misra/output.txt
+
+  strict-compiler:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_strict_compiler -f tests/build_strict/Dockerfile ."
+      - run:
+          name: Build Panda with strict compiler rules
+          command: |
+            docker run panda_strict_compiler /bin/bash -c "cd /panda/board; make -f Makefile.strict clean; make -f Makefile.strict bin"
+
   build:
     machine:
       docker_layer_caching: true
@@ -40,10 +71,6 @@ jobs:
           name: Build Pedal STM bootstub image
           command: |
             docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/bootstub.bin"
-      - run:
-          name: Build NEO STM image
-          command: |
-            docker run panda_build /bin/bash -c "cd /panda/board; make clean; make -f Makefile.legacy obj/comma.bin"
       - run:
           name: Build ESP image
           command: |
@@ -54,4 +81,6 @@ workflows:
   main:
     jobs:
       - safety
+      - misra-c2012
+      - strict-compiler
       - build

panda/.gitignore

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

panda/Dockerfile

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

panda/Jenkinsfile

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

panda/VERSION

@@ -1 +1 @@
-v1.2.1
+v1.3.1

panda/board/Makefile.legacy

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

panda/board/Makefile.strict

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

panda/board/README.md

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

panda/board/bootstub.c

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

panda/board/drivers/can.h

@@ -1,10 +1,38 @@
-// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE, CAN2_TX, CAN2_RX0, CAN2_SCE, CAN3_TX, CAN3_RX0, CAN3_SCE
+// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
+//       CAN2_TX, CAN2_RX0, CAN2_SCE
+//       CAN3_TX, CAN3_RX0, CAN3_SCE
+
+typedef struct {
+  uint32_t w_ptr;
+  uint32_t r_ptr;
+  uint32_t fifo_size;
+  CAN_FIFOMailBox_TypeDef *elems;
+} can_ring;
+
+#define CAN_BUS_RET_FLAG 0x80
+#define CAN_BUS_NUM_MASK 0x7F
+
+#define BUS_MAX 4
+
+extern int can_live, pending_can_live;
+
+// must reinit after changing these
+extern int can_loopback, can_silent;
+extern uint32_t can_speed[];
+
+void can_set_forwarding(int from, int to);
+
+void can_init(uint8_t can_number);
+void can_init_all();
+void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
+int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
+
+// end API
+
 #define ALL_CAN_SILENT 0xFF
 #define ALL_CAN_BUT_MAIN_SILENT 0xFE
 #define ALL_CAN_LIVE 0
 
-#include "lline_relay.h"
-
 int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
 
 // ********************* instantiate queues *********************
@@ -16,19 +44,9 @@ int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_S
 can_buffer(rx_q, 0x1000)
 can_buffer(tx1_q, 0x100)
 can_buffer(tx2_q, 0x100)
-
-#ifdef PANDA
-  can_buffer(tx3_q, 0x100)
-  can_buffer(txgmlan_q, 0x100)
-  can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
-#else
-  can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
-#endif
-
-#ifdef PANDA
-// Forward declare
-void power_save_reset_timer();
-#endif
+can_buffer(tx3_q, 0x100)
+can_buffer(txgmlan_q, 0x100)
+can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
 
 // ********************* interrupt safe queue *********************
 
@@ -85,76 +103,20 @@ int can_tx_cnt = 0;
 int can_txd_cnt = 0;
 int can_err_cnt = 0;
 
-// NEO:         Bus 1=CAN1   Bus 2=CAN2
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
-#ifdef PANDA
-  CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
-  uint8_t bus_lookup[] = {0,1,2};
-  uint8_t can_num_lookup[] = {0,1,2,-1};
-  int8_t can_forwarding[] = {-1,-1,-1,-1};
-  uint32_t can_speed[] = {5000, 5000, 5000, 333};
-  bool can_autobaud_enabled[] = {false, false, false, false};
-  #define CAN_MAX 3
-#else
-  CAN_TypeDef *cans[] = {CAN1, CAN2};
-  uint8_t bus_lookup[] = {1,0};
-  uint8_t can_num_lookup[] = {1,0};
-  int8_t can_forwarding[] = {-1,-1};
-  uint32_t can_speed[] = {5000, 5000};
-  bool can_autobaud_enabled[] = {false, false};
-  #define CAN_MAX 2
-#endif
-
-uint32_t can_autobaud_speeds[] = {5000, 2500, 1250, 1000, 10000};
-#define AUTOBAUD_SPEEDS_LEN (sizeof(can_autobaud_speeds) / sizeof(can_autobaud_speeds[0]))
+CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
+uint8_t bus_lookup[] = {0,1,2};
+uint8_t can_num_lookup[] = {0,1,2,-1};
+int8_t can_forwarding[] = {-1,-1,-1,-1};
+uint32_t can_speed[] = {5000, 5000, 5000, 333};
+#define CAN_MAX 3
 
 #define CANIF_FROM_CAN_NUM(num) (cans[num])
-#ifdef PANDA
 #define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : (CAN==CAN2 ? 1 : 2))
 #define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : (CAN==CAN2 ? "CAN2" : "CAN3"))
-#else
-#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : 1)
-#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : "CAN2")
-#endif
 #define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
 #define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
 
-// other option
-/*#define CAN_QUANTA 16
-#define CAN_SEQ1 13
-#define CAN_SEQ2 2*/
-
-// this is needed for 1 mbps support
-#define CAN_QUANTA 8
-#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
-#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
-
-#define CAN_PCLK 24000
-// 333 = 33.3 kbps
-// 5000 = 500 kbps
-#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
-
-void can_autobaud_speed_increment(uint8_t can_number) {
-  uint32_t autobaud_speed = can_autobaud_speeds[0];
-  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  for (int i = 0; i < AUTOBAUD_SPEEDS_LEN; i++) {
-    if (can_speed[bus_number] == can_autobaud_speeds[i]) {
-      if (i+1 < AUTOBAUD_SPEEDS_LEN) {
-        autobaud_speed = can_autobaud_speeds[i+1];
-      }
-      break;
-    }
-  }
-  can_speed[bus_number] = autobaud_speed;
-#ifdef DEBUG
-  CAN_TypeDef* CAN = CANIF_FROM_CAN_NUM(can_number);
-  puts(CAN_NAME_FROM_CANIF(CAN));
-  puts(" auto-baud test ");
-  putui(can_speed[bus_number]);
-  puts(" cbps\n");
-#endif
-}
-
 void process_can(uint8_t can_number);
 
 void can_set_speed(uint8_t can_number) {
@@ -162,41 +124,14 @@ void can_set_speed(uint8_t can_number) {
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
   while (true) {
-    // initialization mode
-    CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
-    while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-
-    // set time quanta from defines
-    CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
-              (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
-              (can_speed_to_prescaler(can_speed[bus_number]) - 1);
-
-    // silent loopback mode for debugging
-    if (can_loopback) {
-      CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
-    }
-    if (can_silent & (1 << can_number)) {
-      CAN->BTR |= CAN_BTR_SILM;
-    }
-
-    // reset
-    CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
-
-    #define CAN_TIMEOUT 1000000
-    int tmp = 0;
-    while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
-    if (tmp < CAN_TIMEOUT) {
+    if (llcan_set_speed(CAN, can_speed[bus_number], can_loopback, can_silent & (1 << can_number))) {
       return;
     }
 
-    if (can_autobaud_enabled[bus_number]) {
-      can_autobaud_speed_increment(can_number);
-    } else {
-      puts("CAN init FAILED!!!!!\n");
-      puth(can_number); puts(" ");
-      puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
-      return;
-    }
+    puts("CAN init FAILED!!!!!\n");
+    puth(can_number); puts(" ");
+    puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
+    return;
   }
 }
 
@@ -207,40 +142,7 @@ void can_init(uint8_t can_number) {
   set_can_enable(CAN, 1);
   can_set_speed(can_number);
 
-  // accept all filter
-  CAN->FMR |= CAN_FMR_FINIT;
-
-  // no mask
-  CAN->sFilterRegister[0].FR1 = 0;
-  CAN->sFilterRegister[0].FR2 = 0;
-  CAN->sFilterRegister[14].FR1 = 0;
-  CAN->sFilterRegister[14].FR2 = 0;
-  CAN->FA1R |= 1 | (1 << 14);
-
-  CAN->FMR &= ~(CAN_FMR_FINIT);
-
-  // enable certain CAN interrupts
-  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
-
-  switch (can_number) {
-    case 0:
-      NVIC_EnableIRQ(CAN1_TX_IRQn);
-      NVIC_EnableIRQ(CAN1_RX0_IRQn);
-      NVIC_EnableIRQ(CAN1_SCE_IRQn);
-      break;
-    case 1:
-      NVIC_EnableIRQ(CAN2_TX_IRQn);
-      NVIC_EnableIRQ(CAN2_RX0_IRQn);
-      NVIC_EnableIRQ(CAN2_SCE_IRQn);
-      break;
-#ifdef CAN3
-    case 2:
-      NVIC_EnableIRQ(CAN3_TX_IRQn);
-      NVIC_EnableIRQ(CAN3_RX0_IRQn);
-      NVIC_EnableIRQ(CAN3_SCE_IRQn);
-      break;
-#endif
-  }
+  llcan_init(CAN);
 
   // in case there are queued up messages
   process_can(can_number);
@@ -253,7 +155,6 @@ void can_init_all() {
 }
 
 void can_set_gmlan(int bus) {
-  #ifdef PANDA
   if (bus == -1 || bus != can_num_lookup[3]) {
     // GMLAN OFF
     switch (can_num_lookup[3]) {
@@ -284,7 +185,7 @@ void can_set_gmlan(int bus) {
     can_num_lookup[1] = -1;
     can_num_lookup[3] = 1;
     can_init(1);
-  } else if (bus == 2 && revision == PANDA_REV_C) {
+  } else if (bus == 2) {
     puts("GMLAN on CAN3\n");
     // GMLAN on CAN3
     set_can_mode(2, 1);
@@ -293,7 +194,6 @@ void can_set_gmlan(int bus) {
     can_num_lookup[3] = 2;
     can_init(2);
   }
-  #endif
 }
 
 // CAN error
@@ -319,34 +219,8 @@ void can_sce(CAN_TypeDef *CAN) {
     puts("\n");
   #endif
 
-  uint8_t can_number = CAN_NUM_FROM_CANIF(CAN);
-  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-
-  if (CAN->MSR & CAN_MSR_WKUI) {
-    //Waking from sleep
-    #ifdef DEBUG
-      puts("WAKE\n");
-    #endif
-    set_can_enable(CAN, 1);
-    CAN->MSR &= ~(CAN_MSR_WKUI);
-    CAN->MSR = CAN->MSR;
-#ifdef PANDA
-    power_save_reset_timer();
-#endif
-  } else {
-    can_err_cnt += 1;
-
-
-    if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
-      can_autobaud_speed_increment(can_number);
-      can_set_speed(can_number);
-    }
-
-    // clear current send
-    CAN->TSR |= CAN_TSR_ABRQ0;
-    CAN->MSR &= ~(CAN_MSR_ERRI);
-    CAN->MSR = CAN->MSR;
-  }
+  can_err_cnt += 1;
+  llcan_clear_send(CAN);
   exit_critical_section();
 }
 
@@ -354,9 +228,6 @@ void can_sce(CAN_TypeDef *CAN) {
 
 void process_can(uint8_t can_number) {
   if (can_number == 0xff) return;
-#ifdef PANDA
-  power_save_reset_timer();
-#endif
 
   enter_critical_section();
 
@@ -422,22 +293,9 @@ void process_can(uint8_t can_number) {
 // CAN receive handlers
 // blink blue when we are receiving CAN messages
 void can_rx(uint8_t can_number) {
-  #ifdef PANDA
-    power_save_reset_timer();
-  #endif
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
   while (CAN->RF0R & CAN_RF0R_FMP0) {
-    if (can_autobaud_enabled[bus_number]) {
-      can_autobaud_enabled[bus_number] = false;
-      puts(CAN_NAME_FROM_CANIF(CAN));
-    #ifdef DEBUG
-      puts(" auto-baud ");
-      putui(can_speed[bus_number]);
-      puts(" cbps\n");
-    #endif
-    }
-
     can_rx_cnt += 1;
 
     // can is live
@@ -454,25 +312,19 @@ void can_rx(uint8_t can_number) {
     to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
 
     // forwarding (panda only)
-    #ifdef PANDA
-      if ((get_lline_status() != 0) || !relay_control) { //Relay engaged or relay isn't controlled, allow fwd
-        int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
-        if (bus_fwd_num != -1) {
-          CAN_FIFOMailBox_TypeDef to_send;
-          to_send.RIR = to_push.RIR | 1; // TXRQ
-          to_send.RDTR = to_push.RDTR;
-          to_send.RDLR = to_push.RDLR;
-          to_send.RDHR = to_push.RDHR;
-          can_send(&to_send, bus_fwd_num);
-        }
-      }
-    #endif
+    int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+    if (bus_fwd_num != -1) {
+      CAN_FIFOMailBox_TypeDef to_send;
+      to_send.RIR = to_push.RIR | 1; // TXRQ
+      to_send.RDTR = to_push.RDTR;
+      to_send.RDLR = to_push.RDLR;
+      to_send.RDHR = to_push.RDHR;
+      can_send(&to_send, bus_fwd_num);
+    }
 
     safety_rx_hook(&to_push);
 
-    #ifdef PANDA
-      set_led(LED_BLUE, 1);
-    #endif
+    set_led(LED_BLUE, 1);
     can_push(&can_rx_q, &to_push);
 
     // next
@@ -480,8 +332,6 @@ void can_rx(uint8_t can_number) {
   }
 }
 
-#ifndef CUSTOM_CAN_INTERRUPTS
-
 void CAN1_TX_IRQHandler() { process_can(0); }
 void CAN1_RX0_IRQHandler() { can_rx(0); }
 void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
@@ -490,25 +340,19 @@ void CAN2_TX_IRQHandler() { process_can(1); }
 void CAN2_RX0_IRQHandler() { can_rx(1); }
 void CAN2_SCE_IRQHandler() { can_sce(CAN2); }
 
-#ifdef CAN3
 void CAN3_TX_IRQHandler() { process_can(2); }
 void CAN3_RX0_IRQHandler() { can_rx(2); }
 void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
-#endif
-
-#endif
 
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
-  if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
+  if (safety_tx_hook(to_push)) {
     if (bus_number < BUS_MAX) {
       // add CAN packet to send queue
       // bus number isn't passed through
       to_push->RDTR &= 0xF;
       if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
-        #ifdef PANDA
         // TODO: why uint8 bro? only int8?
         bitbang_gmlan(to_push);
-        #endif
       } else {
         can_push(can_queues[bus_number], to_push);
         process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
@@ -520,3 +364,4 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
 void can_set_forwarding(int from, int to) {
   can_forwarding[from] = to;
 }
+

panda/board/drivers/clock.h

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

panda/board/drivers/drivers.h

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

panda/board/drivers/gmlan_alt.h

@@ -114,8 +114,6 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   return len;
 }
 
-#ifdef PANDA
-
 void setup_timer4() {
   // setup
   TIM4->PSC = 48-1;          // tick on 1 us
@@ -273,4 +271,3 @@ void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
   setup_timer4();
 }
 
-#endif

panda/board/drivers/llcan.h

@@ -0,0 +1,80 @@
+// this is needed for 1 mbps support
+#define CAN_QUANTA 8
+#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
+#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
+
+#define CAN_PCLK 24000
+// 333 = 33.3 kbps
+// 5000 = 500 kbps
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
+
+bool llcan_set_speed(CAN_TypeDef *CAN, uint32_t speed, bool loopback, bool silent) {
+  // initialization mode
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+
+  // set time quanta from defines
+  CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+            (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+            (can_speed_to_prescaler(speed) - 1);
+
+  // silent loopback mode for debugging
+  if (loopback) {
+    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+  }
+  if (silent) {
+    CAN->BTR |= CAN_BTR_SILM;
+  }
+
+  // reset
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
+
+  #define CAN_TIMEOUT 1000000
+  int tmp = 0;
+  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
+  if (tmp < CAN_TIMEOUT) {
+    return true;
+  }
+
+  return false;
+}
+
+void llcan_init(CAN_TypeDef *CAN) {
+  // accept all filter
+  CAN->FMR |= CAN_FMR_FINIT;
+
+  // no mask
+  CAN->sFilterRegister[0].FR1 = 0;
+  CAN->sFilterRegister[0].FR2 = 0;
+  CAN->sFilterRegister[14].FR1 = 0;
+  CAN->sFilterRegister[14].FR2 = 0;
+  CAN->FA1R |= 1 | (1 << 14);
+
+  CAN->FMR &= ~(CAN_FMR_FINIT);
+
+  // enable certain CAN interrupts
+  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
+
+  if (CAN == CAN1) {
+    NVIC_EnableIRQ(CAN1_TX_IRQn);
+    NVIC_EnableIRQ(CAN1_RX0_IRQn);
+    NVIC_EnableIRQ(CAN1_SCE_IRQn);
+  } else if (CAN == CAN2) {
+    NVIC_EnableIRQ(CAN2_TX_IRQn);
+    NVIC_EnableIRQ(CAN2_RX0_IRQn);
+    NVIC_EnableIRQ(CAN2_SCE_IRQn);
+#ifdef CAN3
+  } else if (CAN == CAN3) {
+    NVIC_EnableIRQ(CAN3_TX_IRQn);
+    NVIC_EnableIRQ(CAN3_RX0_IRQn);
+    NVIC_EnableIRQ(CAN3_SCE_IRQn);
+#endif
+  }
+}
+
+void llcan_clear_send(CAN_TypeDef *CAN) {
+  CAN->TSR |= CAN_TSR_ABRQ0;
+  CAN->MSR &= ~(CAN_MSR_ERRI);
+  CAN->MSR = CAN->MSR;
+}
+

panda/board/drivers/llgpio.h

@@ -1,3 +1,12 @@
+#define MODE_INPUT 0
+#define MODE_OUTPUT 1
+#define MODE_ALTERNATE 2
+#define MODE_ANALOG 3
+
+#define PULL_NONE 0
+#define PULL_UP 1
+#define PULL_DOWN 2
+
 void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
   uint32_t tmp = GPIO->MODER;
   tmp &= ~(3 << (pin*2));

panda/board/drivers/lline_relay.h

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

panda/board/drivers/spi.h

@@ -1,5 +1,10 @@
 // IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
 
+void spi_init();
+int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
+
+// end API
+
 #define SPI_BUF_SIZE 256
 uint8_t spi_buf[SPI_BUF_SIZE];
 int spi_buf_count = 0;
@@ -23,8 +28,8 @@ void spi_init() {
 
   // setup interrupt on falling edge of SPI enable (on PA4)
   SYSCFG->EXTICR[2] = SYSCFG_EXTICR2_EXTI4_PA;
-  EXTI->IMR = (1 << 4);
-  EXTI->FTSR = (1 << 4);
+  EXTI->IMR |= (1 << 4);
+  EXTI->FTSR |= (1 << 4);
   NVIC_EnableIRQ(EXTI4_IRQn);
 }
 
@@ -108,7 +113,7 @@ void DMA2_Stream3_IRQHandler(void) {
 }
 
 void EXTI4_IRQHandler(void) {
-  volatile int pr = EXTI->PR;
+  volatile int pr = EXTI->PR & (1 << 4);
   #ifdef DEBUG_SPI
     puts("exti4\n");
   #endif

panda/board/drivers/uart.h

@@ -1,5 +1,27 @@
 // IRQs: USART1, USART2, USART3, UART5
 
+#define FIFO_SIZE 0x400
+typedef struct uart_ring {
+  uint16_t w_ptr_tx;
+  uint16_t r_ptr_tx;
+  uint8_t elems_tx[FIFO_SIZE];
+  uint16_t w_ptr_rx;
+  uint16_t r_ptr_rx;
+  uint8_t elems_rx[FIFO_SIZE];
+  USART_TypeDef *uart;
+  void (*callback)(struct uart_ring*);
+} uart_ring;
+
+void uart_init(USART_TypeDef *u, int baud);
+
+int getc(uart_ring *q, char *elem);
+int putc(uart_ring *q, char elem);
+
+int puts(const char *a);
+void puth(unsigned int i);
+void hexdump(const void *a, int l);
+
+
 // ***************************** serial port queues *****************************
 
 // esp = USART1

panda/board/drivers/usb.h

@@ -1,5 +1,35 @@
 // IRQs: OTG_FS
 
+typedef union {
+  uint16_t w;
+  struct BW {
+    uint8_t msb;
+    uint8_t lsb;
+  }
+  bw;
+}
+uint16_t_uint8_t;
+
+typedef union _USB_Setup {
+  uint32_t d8[2];
+  struct _SetupPkt_Struc
+  {
+    uint8_t           bmRequestType;
+    uint8_t           bRequest;
+    uint16_t_uint8_t  wValue;
+    uint16_t_uint8_t  wIndex;
+    uint16_t_uint8_t  wLength;
+  } b;
+}
+USB_Setup_TypeDef;
+
+void usb_init();
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired);
+int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
+void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
+void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
+void usb_cb_enumeration_complete();
+
 // **** supporting defines ****
 
 typedef struct
@@ -186,17 +216,10 @@ uint16_t string_manufacturer_desc[] = {
   'c', 'o', 'm', 'm', 'a', '.', 'a', 'i'
 };
 
-#ifdef PANDA
 uint16_t string_product_desc[] = {
   STRING_DESCRIPTOR_HEADER(5),
   'p', 'a', 'n', 'd', 'a'
 };
-#else
-uint16_t string_product_desc[] = {
-  STRING_DESCRIPTOR_HEADER(5),
-  'N', 'E', 'O', 'v', '1'
-};
-#endif
 
 // default serial number when we're not a panda
 uint16_t string_serial_desc[] = {
@@ -210,7 +233,6 @@ uint16_t string_configuration_desc[] = {
   '0', '1' // "01"
 };
 
-#ifdef PANDA
 // WCID (auto install WinUSB driver)
 // https://github.com/pbatard/libwdi/wiki/WCID-Devices
 // https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/winusb-installation#automatic-installation-of--winusb-without-an-inf-file
@@ -360,8 +382,6 @@ uint8_t winusb_20_desc[WINUSB_PLATFORM_DESCRIPTOR_LENGTH] = {
     '1', 0x00, 'a', 0x00, 'd', 0x00, 'e', 0x00, '9', 0x00, '}', 0x00, 0x00, 0x00 // 78 bytes
 };
 
-#endif
-
 // current packet
 USB_Setup_TypeDef setup;
 uint8_t usbdata[0x100];
@@ -550,7 +570,7 @@ void usb_setup() {
               USB_WritePacket((uint8_t*)string_product_desc, min(sizeof(string_product_desc), setup.b.wLength.w), 0);
               break;
             case STRING_OFFSET_ISERIAL:
-              #ifdef PANDA
+              #ifdef UID_BASE
                 resp[0] = 0x02 + 12*4;
                 resp[1] = 0x03;
 
@@ -568,14 +588,12 @@ void usb_setup() {
                 USB_WritePacket((const uint8_t *)string_serial_desc, min(sizeof(string_serial_desc), setup.b.wLength.w), 0);
               #endif
               break;
-            #ifdef PANDA
             case STRING_OFFSET_ICONFIGURATION:
               USB_WritePacket((uint8_t*)string_configuration_desc, min(sizeof(string_configuration_desc), setup.b.wLength.w), 0);
               break;
             case 238:
               USB_WritePacket((uint8_t*)string_238_desc, min(sizeof(string_238_desc), setup.b.wLength.w), 0);
               break;
-            #endif
             default:
               // nothing
               USB_WritePacket(0, 0, 0);
@@ -583,12 +601,10 @@ void usb_setup() {
           }
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
-        #ifdef PANDA
         case USB_DESC_TYPE_BINARY_OBJECT_STORE:
           USB_WritePacket(binary_object_store_desc, min(sizeof(binary_object_store_desc), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
-        #endif
         default:
           // nothing here?
           USB_WritePacket(0, 0, 0);
@@ -609,7 +625,6 @@ void usb_setup() {
       USB_WritePacket(0, 0, 0);
       USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
       break;
-    #ifdef PANDA
     case WEBUSB_VENDOR_CODE:
       switch (setup.b.wIndex.w) {
         case WEBUSB_REQ_GET_URL:
@@ -641,7 +656,6 @@ void usb_setup() {
           USB_WritePacket_EP0(0, 0);
       }
       break;
-    #endif
     default:
       resp_len = usb_cb_control_msg(&setup, resp, 1);
       USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);

panda/board/gpio.h

@@ -1,3 +1,5 @@
+// this is last place with ifdef PANDA
+
 #ifdef STM32F4
   #include "stm32f4xx_hal_gpio_ex.h"
 #else
@@ -61,43 +63,6 @@ void detect() {
 
 // ********************* bringup *********************
 
-void clock_init() {
-  // enable external oscillator
-  RCC->CR |= RCC_CR_HSEON;
-  while ((RCC->CR & RCC_CR_HSERDY) == 0);
-
-  // divide shit
-  RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
-  #ifdef PANDA
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
-  #else
-    #ifdef PEDAL
-      // comma pedal has a 16mhz crystal
-      RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                     RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
-    #else
-      // NEO board has a 8mhz crystal
-      RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                     RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
-    #endif
-  #endif
-
-  // start PLL
-  RCC->CR |= RCC_CR_PLLON;
-  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
-
-  // Configure Flash prefetch, Instruction cache, Data cache and wait state
-  // *** without this, it breaks ***
-  FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
-
-  // switch to PLL
-  RCC->CFGR |= RCC_CFGR_SW_PLL;
-  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
-
-  // *** running on PLL ***
-}
-
 void periph_init() {
   // enable GPIOB, UART2, CAN, USB clock
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
@@ -117,18 +82,16 @@ void periph_init() {
     RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
   #endif
   RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
+  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
+  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
   RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
   RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
   RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
-
-  // needed?
   RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
 }
 
@@ -197,7 +160,7 @@ void set_can_mode(int can, int use_gmlan) {
       set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
       set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
 #ifdef CAN3
-    } else if (revision == PANDA_REV_C && can == 2) {
+    } else if (can == 2) {
       // A8,A15: disable normal mode
       set_gpio_mode(GPIOA, 8, MODE_INPUT);
       set_gpio_mode(GPIOA, 15, MODE_INPUT);
@@ -218,11 +181,9 @@ void set_can_mode(int can, int use_gmlan) {
       set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
 #ifdef CAN3
     } else if (can == 2) {
-      if(revision == PANDA_REV_C){
-        // B3,B4: disable gmlan mode
-        set_gpio_mode(GPIOB, 3, MODE_INPUT);
-        set_gpio_mode(GPIOB, 4, MODE_INPUT);
-      }
+      // B3,B4: disable gmlan mode
+      set_gpio_mode(GPIOB, 3, MODE_INPUT);
+      set_gpio_mode(GPIOB, 4, MODE_INPUT);
       // A8,A15: normal mode
       set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
       set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
@@ -377,11 +338,7 @@ void gpio_init() {
 
   #ifdef PANDA
     // K-line enable moved from B4->B7 to make room for GMLAN on CAN3
-    if (revision == PANDA_REV_C) {
-      set_gpio_output(GPIOB, 7, 1); // REV C
-    } else {
-      set_gpio_output(GPIOB, 4, 1); // REV AB
-    }
+    set_gpio_output(GPIOB, 7, 1); // REV C
 
     // C12,D2: K-Line setup on UART 5
     set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
@@ -392,16 +349,12 @@ void gpio_init() {
     set_gpio_output(GPIOA, 14, 1);
 
     // C10,C11: L-Line setup on USART 3
-    // LLine now used for relay output
-    set_gpio_output(GPIOC, 10, 1);
-    //set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
     set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
     set_gpio_pullup(GPIOC, 11, PULL_UP);
   #endif
 
-  if (revision == PANDA_REV_C) {
-    set_usb_power_mode(USB_POWER_CLIENT);
-  }
+  set_usb_power_mode(USB_POWER_CLIENT);
 }
 
 // ********************* early bringup *********************

panda/board/main.c

@@ -1,14 +1,15 @@
+//#define EON
+
 #include "config.h"
 #include "obj/gitversion.h"
 
 // ********************* includes *********************
 
+
 #include "libc.h"
-#include "safety.h"
 #include "provision.h"
 
-#include "drivers/drivers.h"
-
+#include "drivers/llcan.h"
 #include "drivers/llgpio.h"
 #include "gpio.h"
 
@@ -16,25 +17,13 @@
 #include "drivers/adc.h"
 #include "drivers/usb.h"
 #include "drivers/gmlan_alt.h"
-#include "drivers/can.h"
 #include "drivers/spi.h"
 #include "drivers/timer.h"
+#include "drivers/clock.h"
 
 #include "power_saving.h"
-
-
-// ***************************** fan *****************************
-
-void fan_init() {
-  // timer for fan PWM
-  TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
-  TIM3->CCER = TIM_CCER_CC3E;
-  timer_init(TIM3, 10);
-}
-
-void fan_set_speed(int fan_speed) {
-  TIM3->CCR3 = fan_speed;
-}
+#include "safety.h"
+#include "drivers/can.h"
 
 // ********************* serial debugging *********************
 
@@ -70,6 +59,41 @@ void debug_ring_callback(uart_ring *ring) {
   }
 }
 
+// ***************************** started logic *****************************
+
+int is_gpio_started() {
+  // ignition is on PA1
+  return (GPIOA->IDR & (1 << 1)) == 0;
+}
+
+void EXTI1_IRQHandler() {
+  volatile int pr = EXTI->PR & (1 << 1);
+  if (pr & (1 << 1)) {
+    #ifdef DEBUG
+      puts("got started interrupt\n");
+    #endif
+
+    // jenky debounce
+    delay(100000);
+
+    // set power savings mode here
+    if (is_gpio_started() == 1) {
+      power_save_disable();
+    } else {
+      power_save_enable();
+    }
+    EXTI->PR = (1 << 1);
+  }
+}
+
+void started_interrupt_init() {
+  SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
+  EXTI->IMR |= (1 << 1);
+  EXTI->RTSR |= (1 << 1);
+  EXTI->FTSR |= (1 << 1);
+  NVIC_EnableIRQ(EXTI1_IRQn);
+}
+
 // ***************************** USB port *****************************
 
 int get_health_pkt(void *dat) {
@@ -85,40 +109,25 @@ int get_health_pkt(void *dat) {
 
   //Voltage will be measured in mv. 5000 = 5V
   uint32_t voltage = adc_get(ADCCHAN_VOLTAGE);
-  if (revision == PANDA_REV_AB) {
-    //REVB has a 100, 27 (27/127) voltage divider
-    //Here is the calculation for the scale
-    //ADCV = VIN_S * (27/127) * (4095/3.3)
-    //RETVAL = ADCV * s = VIN_S*1000
-    //s = 1000/((4095/3.3)*(27/127)) = 3.79053046
 
-    //Avoid needing floating point math
-    health->voltage = (voltage * 3791) / 1000;
-  } else {
-    //REVC has a 10, 1 (1/11) voltage divider
-    //Here is the calculation for the scale (s)
-    //ADCV = VIN_S * (1/11) * (4095/3.3)
-    //RETVAL = ADCV * s = VIN_S*1000
-    //s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
+  // REVC has a 10, 1 (1/11) voltage divider
+  // Here is the calculation for the scale (s)
+  // ADCV = VIN_S * (1/11) * (4095/3.3)
+  // RETVAL = ADCV * s = VIN_S*1000
+  // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
 
-    //Avoid needing floating point math
-    health->voltage = (voltage * 8862) / 1000;
-  }
+  // Avoid needing floating point math
+  health->voltage = (voltage * 8862) / 1000;
 
-#ifdef PANDA
   health->current = adc_get(ADCCHAN_CURRENT);
   int safety_ignition = safety_ignition_hook();
   if (safety_ignition < 0) {
     //Use the GPIO pin to determine ignition
-    health->started = (GPIOA->IDR & (1 << 1)) == 0;
+    health->started = is_gpio_started();
   } else {
     //Current safety hooks want to determine ignition (ex: GM)
     health->started = safety_ignition;
   }
-#else
-  health->current = 0;
-  health->started = (GPIOC->IDR & (1 << 13)) != 0;
-#endif
 
   health->controls_allowed = controls_allowed;
   health->gas_interceptor_detected = gas_interceptor_detected;
@@ -143,7 +152,6 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
   uart_ring *ur = get_ring_by_number(usbdata[0]);
   if (!ur) return;
   if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
-    if (ur == &esp_ring) power_save_reset_timer();
     for (int i = 1; i < len; i++) while (!putc(ur, usbdata[i]));
   }
 }
@@ -163,14 +171,6 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
 
     uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
     can_send(&to_push, bus_number);
-
-    #ifdef PANDA
-      // Enable relay on can message if allowed.
-      // Temporary until OP has support for relay
-      if (safety_relay_hook()) {
-        set_lline_output(1);
-      }
-    #endif
   }
 }
 
@@ -201,16 +201,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xd0: fetch serial number
     case 0xd0:
-      #ifdef PANDA
-        // addresses are OTP
-        if (setup->b.wValue.w == 1) {
-          memcpy(resp, (void *)0x1fff79c0, 0x10);
-          resp_len = 0x10;
-        } else {
-          get_provision_chunk(resp);
-          resp_len = PROVISION_CHUNK_LEN;
-        }
-      #endif
+      // addresses are OTP
+      if (setup->b.wValue.w == 1) {
+        memcpy(resp, (void *)0x1fff79c0, 0x10);
+        resp_len = 0x10;
+      } else {
+        get_provision_chunk(resp);
+        resp_len = PROVISION_CHUNK_LEN;
+      }
       break;
     // **** 0xd1: enter bootloader mode
     case 0xd1:
@@ -235,10 +233,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     case 0xd2:
       resp_len = get_health_pkt(resp);
       break;
-    // **** 0xd3: set fan speed
-    case 0xd3:
-      fan_set_speed(setup->b.wValue.w);
-      break;
     // **** 0xd6: get version
     case 0xd6:
       COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN)
@@ -273,44 +267,43 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xdb: set GMLAN multiplexing mode
     case 0xdb:
-      #ifdef PANDA
-        if (setup->b.wValue.w == 1) {
-          // GMLAN ON
-          if (setup->b.wIndex.w == 1) {
-            can_set_gmlan(1);
-          } else if (setup->b.wIndex.w == 2) {
-            // might be ignored on rev b panda
-            can_set_gmlan(2);
-          }
-        } else {
-          can_set_gmlan(-1);
+      if (setup->b.wValue.w == 1) {
+        // GMLAN ON
+        if (setup->b.wIndex.w == 1) {
+          can_set_gmlan(1);
+        } else if (setup->b.wIndex.w == 2) {
+          can_set_gmlan(2);
         }
-      #endif
+      } else {
+        can_set_gmlan(-1);
+      }
       break;
     // **** 0xdc: set safety mode
     case 0xdc:
       // this is the only way to leave silent mode
       // and it's blocked over WiFi
       // Allow ELM security mode to be set over wifi.
-      if (hardwired || setup->b.wValue.w == SAFETY_NOOUTPUT || setup->b.wValue.w == SAFETY_ELM327) {
+      if (hardwired || (setup->b.wValue.w == SAFETY_NOOUTPUT) || (setup->b.wValue.w == SAFETY_ELM327)) {
         safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
-        switch (setup->b.wValue.w) {
-          case SAFETY_NOOUTPUT:
-            can_silent = ALL_CAN_SILENT;
-            break;
-          case SAFETY_ELM327:
-            can_silent = ALL_CAN_BUT_MAIN_SILENT;
-            can_autobaud_enabled[0] = false;
-            break;
-          default:
-            can_silent = ALL_CAN_LIVE;
-            can_autobaud_enabled[0] = false;
-            can_autobaud_enabled[1] = false;
-            #ifdef PANDA
-              can_autobaud_enabled[2] = false;
-            #endif
-            break;
+        if (safety_ignition_hook() != -1) {
+          // if the ignition hook depends on something other than the started GPIO
+          // we have to disable power savings (fix for GM and Tesla)
+          power_save_disable();
         }
+        #ifndef EON
+          // always LIVE on EON
+          switch (setup->b.wValue.w) {
+            case SAFETY_NOOUTPUT:
+              can_silent = ALL_CAN_SILENT;
+              break;
+            case SAFETY_ELM327:
+              can_silent = ALL_CAN_BUT_MAIN_SILENT;
+              break;
+            default:
+              can_silent = ALL_CAN_LIVE;
+              break;
+          }
+        #endif
         can_init_all();
       }
       break;
@@ -318,21 +311,26 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     case 0xdd:
       // wValue = Can Bus Num to forward from
       // wIndex = Can Bus Num to forward to
-      if (setup->b.wValue.w < BUS_MAX && setup->b.wIndex.w < BUS_MAX &&
-          setup->b.wValue.w != setup->b.wIndex.w) { // set forwarding
+      if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
+          (setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
         can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
-      } else if(setup->b.wValue.w < BUS_MAX && setup->b.wIndex.w == 0xFF){ //Clear Forwarding
+      } else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFF)){ //Clear Forwarding
         can_set_forwarding(setup->b.wValue.w, -1);
       }
       break;
     // **** 0xde: set can bitrate
     case 0xde:
       if (setup->b.wValue.w < BUS_MAX) {
-        can_autobaud_enabled[setup->b.wValue.w] = false;
         can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
         can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
       }
       break;
+    // **** 0xdf: set long controls allowed
+    case 0xdf:
+      if (hardwired) {
+        long_controls_allowed = setup->b.wValue.w & 1;
+      }
+      break;
     // **** 0xe0: uart read
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);
@@ -386,17 +384,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xe6: set USB power
     case 0xe6:
-      if (revision == PANDA_REV_C) {
-        if (setup->b.wValue.w == 1) {
-          puts("user setting CDP mode\n");
-          set_usb_power_mode(USB_POWER_CDP);
-        } else if (setup->b.wValue.w == 2) {
-          puts("user setting DCP mode\n");
-          set_usb_power_mode(USB_POWER_DCP);
-        } else {
-          puts("user setting CLIENT mode\n");
-          set_usb_power_mode(USB_POWER_CLIENT);
-        }
+      if (setup->b.wValue.w == 1) {
+        puts("user setting CDP mode\n");
+        set_usb_power_mode(USB_POWER_CDP);
+      } else if (setup->b.wValue.w == 2) {
+        puts("user setting DCP mode\n");
+        set_usb_power_mode(USB_POWER_DCP);
+      } else {
+        puts("user setting CLIENT mode\n");
+        set_usb_power_mode(USB_POWER_CLIENT);
       }
       break;
     // **** 0xf0: do k-line wValue pulse on uart2 for Acura
@@ -452,16 +448,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
         }
         break;
       }
-    // **** 0xf3: set l-line relay
-    case 0xf3:
-      {
-        #ifdef PANDA
-          if (safety_relay_hook()) {
-            set_lline_output(setup->b.wValue.w == 1);
-          }
-        #endif
-        break;
-      }
     default:
       puts("NO HANDLER ");
       puth(setup->b.bRequest);
@@ -471,7 +457,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
   return resp_len;
 }
 
-#ifdef PANDA
 int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   // data[0]  = endpoint
   // data[2]  = length
@@ -499,12 +484,6 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   return resp_len;
 }
 
-#else
-
-int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) { return 0; };
-
-#endif
-
 
 // ***************************** main code *****************************
 
@@ -514,7 +493,99 @@ void __initialize_hardware_early() {
 
 void __attribute__ ((noinline)) enable_fpu() {
   // enable the FPU
-  SCB->CPACR |= ((3UL << 10*2) | (3UL << 11*2));
+  SCB->CPACR |= ((3UL << (10 * 2)) | (3UL << (11 * 2)));
+}
+
+uint64_t tcnt = 0;
+uint64_t marker = 0;
+
+// called once per second
+void TIM3_IRQHandler() {
+  #define CURRENT_THRESHOLD 0xF00
+  #define CLICKS 5 // 5 seconds to switch modes
+
+  if (TIM3->SR != 0) {
+    can_live = pending_can_live;
+
+    //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
+
+    uint32_t current = adc_get(ADCCHAN_CURRENT);
+
+    switch (usb_power_mode) {
+      case USB_POWER_CLIENT:
+        if ((tcnt-marker) >= CLICKS) {
+          if (!is_enumerated) {
+            puts("USBP: didn't enumerate, switching to CDP mode\n");
+            // switch to CDP
+            set_usb_power_mode(USB_POWER_CDP);
+            marker = tcnt;
+          }
+        }
+        // keep resetting the timer if it's enumerated
+        if (is_enumerated) {
+          marker = tcnt;
+        }
+        break;
+      case USB_POWER_CDP:
+        // On the EON, if we get into CDP mode we stay here. No need to go to DCP.
+        #ifndef EON
+          // been CLICKS clicks since we switched to CDP
+          if ((tcnt-marker) >= CLICKS) {
+            // measure current draw, if positive and no enumeration, switch to DCP
+            if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
+              puts("USBP: no enumeration with current draw, switching to DCP mode\n");
+              set_usb_power_mode(USB_POWER_DCP);
+              marker = tcnt;
+            }
+          }
+          // keep resetting the timer if there's no current draw in CDP
+          if (current >= CURRENT_THRESHOLD) {
+            marker = tcnt;
+          }
+        #endif
+        break;
+      case USB_POWER_DCP:
+        // been at least CLICKS clicks since we switched to DCP
+        if ((tcnt-marker) >= CLICKS) {
+          // if no current draw, switch back to CDP
+          if (current >= CURRENT_THRESHOLD) {
+            puts("USBP: no current draw, switching back to CDP mode\n");
+            set_usb_power_mode(USB_POWER_CDP);
+            marker = tcnt;
+          }
+        }
+        // keep resetting the timer if there's current draw in DCP
+        if (current < CURRENT_THRESHOLD) {
+          marker = tcnt;
+        }
+        break;
+    }
+
+    // ~0x9a = 500 ma
+    /*puth(current);
+    puts("\n");*/
+
+    // reset this every 16th pass
+    if ((tcnt&0xF) == 0) pending_can_live = 0;
+
+    #ifdef DEBUG
+      puts("** blink ");
+      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
+      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
+      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
+    #endif
+
+    // set green LED to be controls allowed
+    set_led(LED_GREEN, controls_allowed);
+
+    // turn off the blue LED, turned on by CAN
+    // unless we are in power saving mode
+    set_led(LED_BLUE, (tcnt&1) && power_save_status == POWER_SAVE_STATUS_ENABLED);
+
+    // on to the next one
+    tcnt += 1;
+  }
+  TIM3->SR = 0;
 }
 
 int main() {
@@ -531,21 +602,19 @@ int main() {
 
   // detect the revision and init the GPIOs
   puts("config:\n");
-  #ifdef PANDA
-    puts(revision == PANDA_REV_C ? "  panda rev c\n" : "  panda rev a or b\n");
-  #else
-    puts("  legacy\n");
-  #endif
+  puts((revision == PANDA_REV_C) ? "  panda rev c\n" : "  panda rev a or b\n");
   puts(has_external_debug_serial ? "  real serial\n" : "  USB serial\n");
   puts(is_giant_panda ? "  GIANTpanda detected\n" : "  not GIANTpanda\n");
   puts(is_grey_panda ? "  gray panda detected!\n" : "  white panda\n");
   puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  no bootmode\n");
+
+  // non rev c panda are no longer supported
+  while (revision != PANDA_REV_C);
+
   gpio_init();
 
-#ifdef PANDA
   // panda has an FPU, let's use it!
   enable_fpu();
-#endif
 
   // enable main uart if it's connected
   if (has_external_debug_serial) {
@@ -554,22 +623,18 @@ int main() {
     uart_init(USART2, 115200);
   }
 
-#ifdef PANDA
   if (is_grey_panda) {
     uart_init(USART1, 9600);
   } else {
     // enable ESP uart
     uart_init(USART1, 115200);
-    #ifdef EON
-      set_esp_mode(ESP_DISABLED);
-    #endif
   }
+
   // enable LIN
   uart_init(UART5, 10400);
   UART5->CR2 |= USART_CR2_LINEN;
   uart_init(USART3, 10400);
   USART3->CR2 |= USART_CR2_LINEN;
-#endif
 
   // init microsecond system timer
   // increments 1000000 times per second
@@ -585,136 +650,65 @@ int main() {
   // default to silent mode to prevent issues with Ford
   // hardcode a specific safety mode if you want to force the panda to be in a specific mode
   safety_set_mode(SAFETY_NOOUTPUT, 0);
+#ifdef EON
+  // if we're on an EON, it's fine for CAN to be live for fingerprinting
+  can_silent = ALL_CAN_LIVE;
+#else
   can_silent = ALL_CAN_SILENT;
+#endif
   can_init_all();
 
   adc_init();
-
-#ifdef PANDA
   spi_init();
+
+#ifdef EON
+  // have to save power
+  if (!is_grey_panda) {
+    set_esp_mode(ESP_DISABLED);
+  }
+  // only enter power save after the first cycle
+  /*if (is_gpio_started() == 0) {
+    power_save_enable();
+  }*/
+  // interrupt on started line
+  started_interrupt_init();
 #endif
+
+  // 48mhz / 65536 ~= 732 / 732 = 1
+  timer_init(TIM3, 732);
+  NVIC_EnableIRQ(TIM3_IRQn);
+
 #ifdef DEBUG
   puts("DEBUG ENABLED\n");
 #endif
 
-  // set PWM
-  fan_init();
-  fan_set_speed(0);
-
   puts("**** INTERRUPTS ON ****\n");
 
   __enable_irq();
 
-  power_save_init();
-
-  // if the error interrupt is enabled to quickly when the CAN bus is active
-  // something bad happens and you can't connect to the device over USB
-  delay(10000000);
-  CAN1->IER |= CAN_IER_ERRIE | CAN_IER_LECIE;
-
   // LED should keep on blinking all the time
   uint64_t cnt = 0;
 
-  #ifdef PANDA
-    uint64_t marker = 0;
-    #define CURRENT_THRESHOLD 0xF00
-    #define CLICKS 8
-  #endif
-
   for (cnt=0;;cnt++) {
-    can_live = pending_can_live;
+    if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
+      int div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4 : 1);
 
-    //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
-
-    #ifdef PANDA
-      uint32_t current = adc_get(ADCCHAN_CURRENT);
-
-      switch (usb_power_mode) {
-        case USB_POWER_CLIENT:
-          if ((cnt-marker) >= CLICKS) {
-            if (!is_enumerated) {
-              puts("USBP: didn't enumerate, switching to CDP mode\n");
-              // switch to CDP
-              set_usb_power_mode(USB_POWER_CDP);
-              marker = cnt;
-            }
+      // useful for debugging, fade breaks = panda is overloaded
+      for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) {
+        for (int fade = 0; fade < 1024; fade += 8) {
+          for (int i = 0; i < (128/div_mode); i++) {
+            set_led(LED_RED, 1);
+            if (fade < 512) { delay(fade); } else { delay(1024-fade); }
+            set_led(LED_RED, 0);
+            if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
           }
-          // keep resetting the timer if it's enumerated
-          if (is_enumerated) {
-            marker = cnt;
-          }
-          break;
-        case USB_POWER_CDP:
-#ifndef EON
-          // been CLICKS clicks since we switched to CDP
-          if ((cnt-marker) >= CLICKS) {
-            // measure current draw, if positive and no enumeration, switch to DCP
-            if (!is_enumerated && current < CURRENT_THRESHOLD) {
-              puts("USBP: no enumeration with current draw, switching to DCP mode\n");
-              set_usb_power_mode(USB_POWER_DCP);
-              marker = cnt;
-            }
-          }
-          // keep resetting the timer if there's no current draw in CDP
-          if (current >= CURRENT_THRESHOLD) {
-            marker = cnt;
-          }
-#endif
-          break;
-        case USB_POWER_DCP:
-          // been at least CLICKS clicks since we switched to DCP
-          if ((cnt-marker) >= CLICKS) {
-            // if no current draw, switch back to CDP
-            if (current >= CURRENT_THRESHOLD) {
-              puts("USBP: no current draw, switching back to CDP mode\n");
-              set_usb_power_mode(USB_POWER_CDP);
-              marker = cnt;
-            }
-          }
-          // keep resetting the timer if there's current draw in DCP
-          if (current < CURRENT_THRESHOLD) {
-            marker = cnt;
-          }
-          break;
-      }
-
-      // ~0x9a = 500 ma
-      /*puth(current);
-      puts("\n");*/
-    #endif
-
-    // reset this every 16th pass
-    if ((cnt&0xF) == 0) pending_can_live = 0;
-
-    #ifdef DEBUG
-      puts("** blink ");
-      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
-      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
-      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
-    #endif
-
-    // set green LED to be controls allowed
-    set_led(LED_GREEN, controls_allowed);
-
-    // blink the red LED
-    int div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4 : 1);
-
-    for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) {
-      for (int fade = 0; fade < 1024; fade += 8) {
-        for (int i = 0; i < 128/div_mode; i++) {
-          set_led(LED_RED, 0);
-          if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
-          set_led(LED_RED, 1);
-          if (fade < 512) { delay(fade); } else { delay(1024-fade); }
         }
       }
+    } else {
+      __WFI();
     }
-
-    // turn off the blue LED, turned on by CAN
-    #ifdef PANDA
-      set_led(LED_BLUE, 0);
-    #endif
   }
 
   return 0;
 }
+

panda/board/pedal/main.c

@@ -1,29 +1,26 @@
-//#define DEBUG
-//#define CAN_LOOPBACK_MODE
-//#define USE_INTERNAL_OSC
-
 #include "../config.h"
 
-#include "drivers/drivers.h"
+#include "drivers/llcan.h"
 #include "drivers/llgpio.h"
-#include "gpio.h"
-
-#define CUSTOM_CAN_INTERRUPTS
-
-#include "libc.h"
-#include "safety.h"
+#include "drivers/clock.h"
 #include "drivers/adc.h"
-#include "drivers/uart.h"
 #include "drivers/dac.h"
-#include "drivers/can.h"
 #include "drivers/timer.h"
 
+#include "gpio.h"
+#include "libc.h"
+
 #define CAN CAN1
 
 //#define PEDAL_USB
 
 #ifdef PEDAL_USB
+  #include "drivers/uart.h"
   #include "drivers/usb.h"
+#else
+  // no serial either
+  int puts(const char *a) { return 0; }
+  void puth(unsigned int i) {}
 #endif
 
 #define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
@@ -35,6 +32,8 @@ void __initialize_hardware_early() {
 
 // ********************* serial debugging *********************
 
+#ifdef PEDAL_USB
+
 void debug_ring_callback(uart_ring *ring) {
   char rcv;
   while (getc(ring, &rcv)) {
@@ -42,8 +41,6 @@ void debug_ring_callback(uart_ring *ring) {
   }
 }
 
-#ifdef PEDAL_USB
-
 int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
 void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
 void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
@@ -185,7 +182,7 @@ void CAN1_RX0_IRQHandler() {
 
 void CAN1_SCE_IRQHandler() {
   state = FAULT_SCE;
-  can_sce(CAN);
+  llcan_clear_send(CAN);
 }
 
 int pdl0 = 0, pdl1 = 0;
@@ -256,8 +253,7 @@ void pedal() {
     dac_set(1, pdl1);
   }
 
-  // feed the watchdog
-  IWDG->KR = 0xAAAA;
+  watchdog_feed();
 }
 
 int main() {
@@ -278,24 +274,18 @@ int main() {
   adc_init();
 
   // init can
-  can_silent = ALL_CAN_LIVE;
-  can_init(0);
+  llcan_set_speed(CAN1, 5000, false, false);
+  llcan_init(CAN1);
 
   // 48mhz / 65536 ~= 732
   timer_init(TIM3, 15);
   NVIC_EnableIRQ(TIM3_IRQn);
 
-  // setup watchdog
-  IWDG->KR = 0x5555;
-  IWDG->PR = 0;          // divider /4
-  // 0 = 0.125 ms, let's have a 50ms watchdog
-  IWDG->RLR = 400 - 1;
-  IWDG->KR = 0xCCCC;
+  watchdog_init();
 
   puts("**** INTERRUPTS ON ****\n");
   __enable_irq();
 
-
   // main pedal loop
   while (1) {
     pedal();

panda/board/power_saving.h

@@ -1,157 +1,57 @@
 #define POWER_SAVE_STATUS_DISABLED 0
-//Moving to enabled, but can wakeup not yet enabled
-#define POWER_SAVE_STATUS_SWITCHING 1
-#define POWER_SAVE_STATUS_ENABLED 2
+#define POWER_SAVE_STATUS_ENABLED 1
 
-volatile int power_save_status = POWER_SAVE_STATUS_DISABLED;
+int power_save_status = POWER_SAVE_STATUS_DISABLED;
 
 void power_save_enable(void) {
-  power_save_status = POWER_SAVE_STATUS_SWITCHING;
-  puts("Saving power\n");
-  //Turn off can transciever
+  if (power_save_status == POWER_SAVE_STATUS_ENABLED) return;
+  puts("enable power savings\n");
+
+  // turn off can
   set_can_enable(CAN1, 0);
   set_can_enable(CAN2, 0);
-#ifdef PANDA
   set_can_enable(CAN3, 0);
-#endif
 
-  //Turn off GMLAN
+  // turn off GMLAN
   set_gpio_output(GPIOB, 14, 0);
   set_gpio_output(GPIOB, 15, 0);
 
-#ifdef PANDA
-  //Turn off LIN K
-  if (revision == PANDA_REV_C) {
-    set_gpio_output(GPIOB, 7, 0); // REV C
-  } else {
-    set_gpio_output(GPIOB, 4, 0); // REV AB
-  }
-  // LIN L
+  // turn off LIN
+  set_gpio_output(GPIOB, 7, 0);
   set_gpio_output(GPIOA, 14, 0);
-#endif
 
   if (is_grey_panda) {
-    char* UBLOX_SLEEP_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
-    int len = 12;
+    char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
     uart_ring *ur = get_ring_by_number(1);
-    for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
+    for (int i = 0; i < sizeof(UBLOX_SLEEP_MSG)-1; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
   }
 
-  //Setup timer for can enable
-  TIM6->PSC = 48-1; // tick on 1 us
-
-  TIM6->ARR = 12; // 12us
-  // Enable, One-Pulse Mode, Only overflow interrupt
-  TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
-  TIM6->EGR = TIM_EGR_UG;
-  TIM6->CR1 |= TIM_CR1_CEN;
-}
-
-void power_save_enable_can_wake(void) {
-  // CAN Automatic Wake must be done a little while after the sleep
-  // On some cars turning off the can transciver can trigger the wakeup
   power_save_status = POWER_SAVE_STATUS_ENABLED;
-  puts("Turning can off\n");
-  CAN1->MCR |= CAN_MCR_SLEEP;
-  CAN1->MCR |= CAN_MCR_AWUM;
-
-  CAN2->MCR |= CAN_MCR_SLEEP;
-  CAN2->MCR |= CAN_MCR_AWUM;
-#ifdef PANDA
-  CAN3->MCR |= CAN_MCR_SLEEP;
-  CAN3->MCR |= CAN_MCR_AWUM;
-#endif
-
-  //set timer back
-  TIM6->PSC = 48000-1; // tick on 1 ms
-  TIM6->ARR = 10000; // 10s
-  // Enable, One-Pulse Mode, Only overflow interrupt
-  TIM6->CR1 = TIM_CR1_OPM | TIM_CR1_URS;
-  TIM6->EGR = TIM_EGR_UG;
 }
 
 void power_save_disable(void) {
-  power_save_status = POWER_SAVE_STATUS_DISABLED;
-  puts("not Saving power\n");
-  TIM6->CR1 |= TIM_CR1_CEN; //Restart timer
-  TIM6->CNT = 0;
+  if (power_save_status == POWER_SAVE_STATUS_DISABLED) return;
+  puts("disable power savings\n");
 
-  //Turn on can
+  // turn on can
   set_can_enable(CAN1, 1);
   set_can_enable(CAN2, 1);
-
-#ifdef PANDA
   set_can_enable(CAN3, 1);
-#endif
 
-  //Turn on GMLAN
+  // turn on GMLAN
   set_gpio_output(GPIOB, 14, 1);
   set_gpio_output(GPIOB, 15, 1);
 
-#ifdef PANDA
-  //Turn on LIN K
-  if (revision == PANDA_REV_C) {
-    set_gpio_output(GPIOB, 7, 1); // REV C
-  } else {
-    set_gpio_output(GPIOB, 4, 1); // REV AB
-  }
-  // LIN L
+  // turn on LIN
+  set_gpio_output(GPIOB, 7, 1);
   set_gpio_output(GPIOA, 14, 1);
-#endif
 
   if (is_grey_panda) {
-    char* UBLOX_WAKE_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
-    int len = 12;
+    char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
     uart_ring *ur = get_ring_by_number(1);
-    for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
+    for (int i = 0; i < sizeof(UBLOX_WAKE_MSG)-1; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
   }
 
-  //set timer back
-  TIM6->PSC = 48000-1; // tick on 1 ms
-  TIM6->ARR = 10000; // 10s
-  // Enable, One-Pulse Mode, Only overflow interrupt
-  TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
-  TIM6->EGR = TIM_EGR_UG;
-  TIM6->CR1 |= TIM_CR1_CEN;
+  power_save_status = POWER_SAVE_STATUS_DISABLED;
 }
 
-
-
-// Reset timer when activity
-void power_save_reset_timer() {
-  TIM6->CNT = 0;
-  if (power_save_status != POWER_SAVE_STATUS_DISABLED){
-    power_save_disable();
-  }
-}
-
-void power_save_init(void) {
-  puts("Saving power init\n");
-  TIM6->PSC = 48000-1; // tick on 1 ms
-
-
-  TIM6->ARR = 10000; // 10s
-  // Enable, One-Pulse Mode, Only overflow interrupt
-  TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
-  TIM6->EGR = TIM_EGR_UG;
-  NVIC_EnableIRQ(TIM6_DAC_IRQn);
-  puts("Saving power init done\n");
-  TIM6->DIER = TIM_DIER_UIE;
-  TIM6->CR1 |= TIM_CR1_CEN;
-}
-
-void TIM6_DAC_IRQHandler(void) {
-  //Timeout switch to power saving mode.
-  if (TIM6->SR & TIM_SR_UIF) {
-    TIM6->SR = 0;
-#ifdef EON
-    if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
-      power_save_enable();
-    } else if (power_save_status == POWER_SAVE_STATUS_SWITCHING) {
-      power_save_enable_can_wake();
-    }
-#endif
-  } else {
-    TIM6->CR1 |= TIM_CR1_CEN;
-  }
-}

panda/board/safety.h

@@ -5,13 +5,11 @@ struct sample_t {
   int max;
 } sample_t_default = {{0}, 0, 0};
 
-// no float support in STM32F2 micros (cortex-m3)
-#ifdef PANDA
+// safety code requires floats
 struct lookup_t {
   float x[3];
   float y[3];
 };
-#endif
 
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
@@ -27,21 +25,14 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
   const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
   const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
-#ifdef PANDA
 float interpolate(struct lookup_t xy, float x);
 
-void lline_relay_init (void);
-void lline_relay_release (void);
-void set_lline_output(int to_set);
-#endif
-
 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
 typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
 typedef int (*ign_hook)();
 typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
-typedef int (*relay_hook)();
 
 typedef struct {
   safety_hook_init init;
@@ -50,21 +41,23 @@ typedef struct {
   tx_hook tx;
   tx_lin_hook tx_lin;
   fwd_hook fwd;
-  relay_hook relay;
 } safety_hooks;
 
 // This can be set by the safety hooks.
 int controls_allowed = 0;
+int gas_interceptor_detected = 0;
+int gas_interceptor_prev = 0;
+
+// This is set by USB command 0xdf
+int long_controls_allowed = 1;
 
 // Include the actual safety policies.
 #include "safety/safety_defaults.h"
 #include "safety/safety_honda.h"
 #include "safety/safety_toyota.h"
-#ifdef PANDA
 #include "safety/safety_toyota_ipas.h"
 #include "safety/safety_tesla.h"
 #include "safety/safety_gm_ascm.h"
-#endif
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
@@ -97,10 +90,6 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }
 
-int safety_relay_hook(void) {
-  return current_hooks->relay();
-}
-
 typedef struct {
   uint16_t id;
   const safety_hooks *hooks;
@@ -119,7 +108,6 @@ typedef struct {
 #define SAFETY_SUBARU 10
 #define SAFETY_GM_ASCM 0x1334
 #define SAFETY_TOYOTA_IPAS 0x1335
-#define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
 #define SAFETY_ELM327 0xE327
 
@@ -134,12 +122,9 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
-  {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
-#ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
   {SAFETY_GM_ASCM, &gm_ascm_hooks},
   {SAFETY_TESLA, &tesla_hooks},
-#endif
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
   {SAFETY_ELM327, &elm327_hooks},
 };
@@ -239,7 +224,6 @@ int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
 }
 
 
-#ifdef PANDA
 // interp function that holds extreme values
 float interpolate(struct lookup_t xy, float x) {
   int size = sizeof(xy.x) / sizeof(xy.x[0]);
@@ -264,4 +248,3 @@ float interpolate(struct lookup_t xy, float x) {
     return xy.y[size - 1];
   }
 }
-#endif

panda/board/safety/safety_cadillac.h

@@ -115,9 +115,6 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void cadillac_init(int16_t param) {
   controls_allowed = 0;
   cadillac_ign = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int cadillac_ign_hook() {
@@ -131,5 +128,4 @@ const safety_hooks cadillac_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = cadillac_ign_hook,
   .fwd = alloutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };

panda/board/safety/safety_chrysler.h

@@ -127,9 +127,6 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 static void chrysler_init(int16_t param) {
   chrysler_camera_detected = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -153,5 +150,4 @@ const safety_hooks chrysler_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = chrysler_fwd_hook,
-  .relay = nooutput_relay_hook,
 };

panda/board/safety/safety_defaults.h

@@ -8,9 +8,6 @@ int default_ign_hook() {
 
 static void nooutput_init(int16_t param) {
   controls_allowed = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -25,10 +22,6 @@ static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
-static int nooutput_relay_hook(int to_set) {
-  return false;
-}
-
 const safety_hooks nooutput_hooks = {
   .init = nooutput_init,
   .rx = default_rx_hook,
@@ -36,16 +29,12 @@ const safety_hooks nooutput_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 
 // *** all output safety mode ***
 
 static void alloutput_init(int16_t param) {
   controls_allowed = 1;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -60,10 +49,6 @@ static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
-static int alloutput_relay_hook(int to_set) {
-  return true;
-}
-
 const safety_hooks alloutput_hooks = {
   .init = alloutput_init,
   .rx = default_rx_hook,
@@ -71,5 +56,4 @@ const safety_hooks alloutput_hooks = {
   .tx_lin = alloutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = alloutput_fwd_hook,
-  .relay = alloutput_relay_hook,
 };

panda/board/safety/safety_elm327.h

@@ -1,5 +1,3 @@
-static void elm327_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
-
 static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   //All ELM traffic must appear on CAN0
   if(((to_send->RDTR >> 4) & 0xf) != 0) return 0;
@@ -27,20 +25,11 @@ static int elm327_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return true;
 }
 
-static void elm327_init(int16_t param) {
-  controls_allowed = 1;
-}
-
-static int elm327_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks elm327_hooks = {
-  .init = elm327_init,
-  .rx = elm327_rx_hook,
+  .init = nooutput_init,
+  .rx = default_rx_hook,
   .tx = elm327_tx_hook,
   .tx_lin = elm327_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = elm327_fwd_hook,
-  .relay = nooutput_relay_hook,
+  .fwd = nooutput_fwd_hook,
 };

panda/board/safety/safety_ford.h

@@ -90,5 +90,4 @@ const safety_hooks ford_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };

panda/board/safety/safety_gm.h

@@ -101,7 +101,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of gas press
   if (addr == 417) {
     int gas = to_push->RDHR & 0xFF0000;
-    if (gas && !gm_gas_prev) {
+    if (gas && !gm_gas_prev && long_controls_allowed) {
       controls_allowed = 0;
     }
     gm_gas_prev = gas;
@@ -148,7 +148,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     int rdlr = to_send->RDLR;
     int brake = ((rdlr & 0xF) << 8) + ((rdlr & 0xFF00) >> 8);
     brake = (0x1000 - brake) & 0xFFF;
-    if (current_controls_allowed) {
+    if (current_controls_allowed && long_controls_allowed) {
       if (brake > GM_MAX_BRAKE) return 0;
     } else {
       if (brake != 0) return 0;
@@ -212,7 +212,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     int rdlr = to_send->RDLR;
     int gas_regen = ((rdlr & 0x7F0000) >> 11) + ((rdlr & 0xF8000000) >> 27);
     int apply = rdlr & 1;
-    if (current_controls_allowed) {
+    if (current_controls_allowed && long_controls_allowed) {
       if (gas_regen > GM_MAX_GAS) return 0;
     } else {
       // Disabled message is !engaed with gas
@@ -228,9 +228,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void gm_init(int16_t param) {
   controls_allowed = 0;
   gm_ignition_started = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int gm_ign_hook() {
@@ -244,5 +241,4 @@ const safety_hooks gm_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = gm_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };

panda/board/safety/safety_gm_ascm.h

@@ -48,6 +48,5 @@ const safety_hooks gm_ascm_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = gm_ascm_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 

panda/board/safety/safety_honda.h

@@ -7,15 +7,11 @@
 //      brake rising edge
 //      brake > 0mph
 
-// these are set in the Honda safety hooks...this is the wrong place
-const int gas_interceptor_threshold = 328;
-int gas_interceptor_detected = 0;
-int brake_prev = 0;
-int gas_prev = 0;
-int gas_interceptor_prev = 0;
-int ego_speed = 0;
-// TODO: auto-detect bosch hardware based on CAN messages?
-bool bosch_hardware = false;
+const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;  // ratio between offset and gain from dbc file
+int honda_brake_prev = 0;
+int honda_gas_prev = 0;
+int honda_ego_speed = 0;
+bool honda_bosch_hardware = false;
 bool honda_alt_brake_msg = false;
 
 static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -23,7 +19,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // sample speed
   if ((to_push->RIR>>21) == 0x158) {
     // first 2 bytes
-    ego_speed = to_push->RDLR & 0xFFFF;
+    honda_ego_speed = to_push->RDLR & 0xFFFF;
   }
 
   // state machine to enter and exit controls
@@ -49,10 +45,10 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // speed > 0
   if (IS_USER_BRAKE_MSG(to_push)) {
     int brake = USER_BRAKE_VALUE(to_push);
-    if (brake && (!(brake_prev) || ego_speed)) {
+    if (brake && (!(honda_brake_prev) || honda_ego_speed)) {
       controls_allowed = 0;
     }
-    brake_prev = brake;
+    honda_brake_prev = brake;
   }
 
   // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
@@ -60,8 +56,9 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
     gas_interceptor_detected = 1;
     int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
-    if ((gas_interceptor > gas_interceptor_threshold) &&
-        (gas_interceptor_prev <= gas_interceptor_threshold)) {
+    if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
+        (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
+        long_controls_allowed) {
       controls_allowed = 0;
     }
     gas_interceptor_prev = gas_interceptor;
@@ -71,10 +68,10 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   if (!gas_interceptor_detected) {
     if ((to_push->RIR>>21) == 0x17C) {
       int gas = to_push->RDLR & 0xFF;
-      if (gas && !(gas_prev)) {
+      if (gas && !(honda_gas_prev) && long_controls_allowed) {
         controls_allowed = 0;
       }
-      gas_prev = gas;
+      honda_gas_prev = gas;
     }
   }
 }
@@ -89,13 +86,13 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gas_prev || (gas_interceptor_prev > gas_interceptor_threshold) ||
-                      (brake_prev && ego_speed);
+  int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
+                      (honda_brake_prev && honda_ego_speed);
   int current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check
   if ((to_send->RIR>>21) == 0x1FA) {
-    if (current_controls_allowed) {
+    if (current_controls_allowed && long_controls_allowed) {
       if ((to_send->RDLR & 0xFFFFFF3F) != to_send->RDLR) return 0;
     } else {
       if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
@@ -113,7 +110,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // GAS: safety check
   if ((to_send->RIR>>21) == 0x200) {
-    if (current_controls_allowed) {
+    if (current_controls_allowed && long_controls_allowed) {
       // all messages are fine here
     } else {
       if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
@@ -123,7 +120,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
   // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
   // This avoids unintended engagements while still allowing resume spam
-  if (((to_send->RIR>>21) == 0x296) && bosch_hardware &&
+  if (((to_send->RIR>>21) == 0x296) && honda_bosch_hardware &&
       !current_controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
     if (((to_send->RDLR >> 5) & 0x7) != 2) return 0;
   }
@@ -134,21 +131,15 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 static void honda_init(int16_t param) {
   controls_allowed = 0;
-  bosch_hardware = false;
+  honda_bosch_hardware = false;
   honda_alt_brake_msg = false;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static void honda_bosch_init(int16_t param) {
   controls_allowed = 0;
-  bosch_hardware = true;
+  honda_bosch_hardware = true;
   // Checking for alternate brake override from safety parameter
   honda_alt_brake_msg = param == 1 ? true : false;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -159,11 +150,15 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   int addr = to_fwd->RIR>>21;
   if (bus_num == 0) {
     return 2;
-  } else if (bus_num == 2 && addr != 0xE4 && addr != 0x194 && addr != 0x1FA &&
-             addr != 0x30C && addr != 0x33D && addr != 0x39F) {
+  } else if (bus_num == 2) {
+    // block stock lkas messages and stock acc messages (if OP is doing ACC)
+    int is_lkas_msg = (addr == 0xE4 || addr == 0x194 || addr == 0x33D);
+    int is_acc_msg = (addr == 0x1FA || addr == 0x30C || addr == 0x39F);
+    if (is_lkas_msg || (is_acc_msg && long_controls_allowed)) {
+      return -1;
+    }
     return 0;
   }
-
   return -1;
 }
 
@@ -182,7 +177,6 @@ const safety_hooks honda_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = honda_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 
 const safety_hooks honda_bosch_hooks = {
@@ -192,5 +186,4 @@ const safety_hooks honda_bosch_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = honda_bosch_fwd_hook,
-  .relay = nooutput_relay_hook,
 };

panda/board/safety/safety_hyundai.h

@@ -152,9 +152,6 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 static void hyundai_init(int16_t param) {
   controls_allowed = 0;
   hyundai_giraffe_switch_2 = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 const safety_hooks hyundai_hooks = {
@@ -164,5 +161,4 @@ const safety_hooks hyundai_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = hyundai_fwd_hook,
-  .relay = nooutput_relay_hook,
 };

panda/board/safety/safety_subaru.h

@@ -15,9 +15,6 @@ uint32_t subaru_ts_last = 0;
 struct sample_t subaru_torque_driver;         // last few driver torques measured
 
 static void subaru_init(int16_t param) {
-  #ifdef PANDA
-    lline_relay_init();
-  #endif
 }
 
 static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -142,5 +139,4 @@ const safety_hooks subaru_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = subaru_fwd_hook,
-  .relay = alloutput_relay_hook,
 };

panda/board/safety/safety_tesla.h

@@ -219,20 +219,11 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send)
   return true;
 }
 
-static int tesla_tx_lin_hook(int lin_num, uint8_t *data, int len)
-{
-  // LIN is not used on the Tesla
-  return false;
-}
-
 static void tesla_init(int16_t param)
 {
   controls_allowed = 0;
   tesla_ignition_started = 0;
   gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int tesla_ign_hook()
@@ -281,11 +272,10 @@ static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd)
 }
 
 const safety_hooks tesla_hooks = {
-    .init = tesla_init,
-    .rx = tesla_rx_hook,
-    .tx = tesla_tx_hook,
-    .tx_lin = tesla_tx_lin_hook,
-    .ignition = tesla_ign_hook,
-    .fwd = tesla_fwd_hook,
-    .relay = nooutput_relay_hook,
+  .init = tesla_init,
+  .rx = tesla_rx_hook,
+  .tx = tesla_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = tesla_ign_hook,
+  .fwd = tesla_fwd_hook,
 };

panda/board/safety/safety_toyota.h

@@ -1,6 +1,3 @@
-int toyota_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
-int toyota_camera_forwarded = 0;          // should we forward the camera bus?
-
 // global torque limit
 const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 
@@ -19,15 +16,19 @@ const int TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
 const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2
 
-// global actuation limit state
-int toyota_actuation_limits = 1;          // by default steer limits are imposed
+const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and gain from dbc file
+
+// global actuation limit states
 int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
 
-// state of torque limits
+// states
+int toyota_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
+int toyota_camera_forwarded = 0;          // should we forward the camera bus?
 int toyota_desired_torque_last = 0;       // last desired steer torque
 int toyota_rt_torque_last = 0;            // last desired torque for real time check
 uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
+int toyota_gas_prev = 0;
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
 
@@ -40,23 +41,40 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // scale by dbc_factor
     torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
 
-    // increase torque_meas by 1 to be conservative on rounding
-    torque_meas_new += (torque_meas_new > 0 ? 1 : -1);
-
     // update array of sample
     update_sample(&toyota_torque_meas, torque_meas_new);
+
+    // increase torque_meas by 1 to be conservative on rounding
+    toyota_torque_meas.min--;
+    toyota_torque_meas.max++;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == 0x1D2) {
     // 5th bit is CRUISE_ACTIVE
     int cruise_engaged = to_push->RDLR & 0x20;
-    if (cruise_engaged && !toyota_cruise_engaged_last) {
-      controls_allowed = 1;
-    } else if (!cruise_engaged) {
+    // 4th bit is GAS_RELEASED
+    int gas = !(to_push->RDLR & 0x10);
+    if (!cruise_engaged ||
+        (gas && !toyota_gas_prev && !gas_interceptor_detected && long_controls_allowed)) {
       controls_allowed = 0;
+    } else if (cruise_engaged && !toyota_cruise_engaged_last) {
+      controls_allowed = 1;
     }
     toyota_cruise_engaged_last = cruise_engaged;
+    toyota_gas_prev = gas;
+  }
+
+  // exit controls on rising edge of gas press if interceptor (0x201)
+  if ((to_push->RIR>>21) == 0x201) {
+    gas_interceptor_detected = 1;
+    int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
+    if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
+        (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
+        long_controls_allowed) {
+      controls_allowed = 0;
+    }
+    gas_interceptor_prev = gas_interceptor;
   }
 
   int bus = (to_push->RDTR >> 4) & 0xF;
@@ -81,7 +99,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
     // GAS PEDAL: safety check
     if ((to_send->RIR>>21) == 0x200) {
-      if (controls_allowed && toyota_actuation_limits) {
+      if (controls_allowed && long_controls_allowed) {
         // all messages are fine here
       } else {
         if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
@@ -92,10 +110,10 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if ((to_send->RIR>>21) == 0x343) {
       int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
       desired_accel = to_signed(desired_accel, 16);
-      if (controls_allowed && toyota_actuation_limits) {
+      if (controls_allowed && long_controls_allowed) {
         int violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
         if (violation) return 0;
-      } else if (!controls_allowed && (desired_accel != 0)) {
+      } else if (desired_accel != 0) {
         return 0;
       }
     }
@@ -108,8 +126,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
       uint32_t ts = TIM2->CNT;
 
-      // only check if controls are allowed and actuation_limits are imposed
-      if (controls_allowed && toyota_actuation_limits) {
+      if (controls_allowed) {
 
         // *** global torque limit check ***
         violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);
@@ -156,25 +173,27 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 static void toyota_init(int16_t param) {
   controls_allowed = 0;
-  toyota_actuation_limits = 1;
   toyota_giraffe_switch_1 = 0;
   toyota_camera_forwarded = 0;
   toyota_dbc_eps_torque_factor = param;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 
-  // forward cam to radar and viceversa if car, except lkas cmd and hud
-  // don't forward when switch 1 is high
-  if ((bus_num == 0 || bus_num == 2) && toyota_camera_forwarded && !toyota_giraffe_switch_1) {
+  if (toyota_camera_forwarded && !toyota_giraffe_switch_1) {
     int addr = to_fwd->RIR>>21;
-    bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412) && bus_num == 2;
-    // in TSSP 2.0 the camera does ACC as well, so filter 0x343
-    bool is_acc_msg = (addr == 0x343 && bus_num  == 2);
-    return (is_lkas_msg || is_acc_msg)? -1 : (uint8_t)(~bus_num & 0x2);
+    if (bus_num == 0) {
+      return 2;
+    } else if (bus_num == 2) {
+      // block stock lkas messages and stock acc messages (if OP is doing ACC)
+      int is_lkas_msg = (addr == 0x2E4 || addr == 0x412);
+      // in TSSP 2.0 the camera does ACC as well, so filter 0x343
+      int is_acc_msg = (addr == 0x343);
+      if (is_lkas_msg || (is_acc_msg && long_controls_allowed)) {
+        return -1;
+      }
+      return 0;
+    }
   }
   return -1;
 }
@@ -186,26 +205,4 @@ const safety_hooks toyota_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
-  .relay = nooutput_relay_hook,
-};
-
-static void toyota_nolimits_init(int16_t param) {
-  controls_allowed = 0;
-  toyota_actuation_limits = 0;
-  toyota_giraffe_switch_1 = 0;
-  toyota_camera_forwarded = 0;
-  toyota_dbc_eps_torque_factor = param;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
-}
-
-const safety_hooks toyota_nolimits_hooks = {
-  .init = toyota_nolimits_init,
-  .rx = toyota_rx_hook,
-  .tx = toyota_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
-  .fwd = toyota_fwd_hook,
-  .relay = nooutput_relay_hook,
 };

panda/board/safety/safety_toyota_ipas.h

@@ -152,5 +152,4 @@ const safety_hooks toyota_ipas_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
-  .relay = nooutput_relay_hook,
 };

panda/board/spi_flasher.h

@@ -2,7 +2,9 @@
 uint32_t *prog_ptr = NULL;
 int unlocked = 0;
 
+#ifdef uart_ring
 void debug_ring_callback(uart_ring *ring) {}
+#endif
 
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
   int resp_len = 0;
@@ -46,7 +48,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xd0: fetch serial number
     case 0xd0:
-      #ifdef PANDA
+      #ifdef STM32F4
         // addresses are OTP
         if (setup->b.wValue.w == 1) {
           memcpy(resp, (void *)0x1fff79c0, 0x10);
@@ -132,6 +134,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
 
 #ifdef PEDAL
 
+#include "drivers/llcan.h"
 #define CAN CAN1
 
 #define CAN_BL_INPUT 0x1
@@ -239,7 +242,7 @@ void CAN1_RX0_IRQHandler() {
 }
 
 void CAN1_SCE_IRQHandler() {
-  can_sce(CAN);
+  llcan_clear_send(CAN);
 }
 
 #endif
@@ -264,8 +267,8 @@ void soft_flasher_start() {
   set_can_enable(CAN1, 1);
 
   // init can
-  can_silent = ALL_CAN_LIVE;
-  can_init(0);
+  llcan_set_speed(CAN1, 5000, false, false);
+  llcan_init(CAN1);
 #endif
 
   // A4,A5,A6,A7: setup SPI

panda/examples/query_vin_and_stats.py

@@ -3,7 +3,7 @@ import time
 import struct
 from panda import Panda
 from hexdump import hexdump
-from panda.isotp import isotp_send, isotp_recv
+from panda.python.isotp import isotp_send, isotp_recv
 
 # 0x7e0 = Toyota
 # 0x18DB33F1 for Honda?
@@ -33,7 +33,7 @@ if __name__ == "__main__":
   panda.can_clear(0)
 
   # 09 02 = Get VIN
-  isotp_send(panda, "\x09\x02", 0x7e0)
+  isotp_send(panda, "\x09\x02", 0x7df)
   ret = isotp_recv(panda, 0x7e8)
   hexdump(ret)
   print "VIN: %s" % ret[2:]

panda/python/__init__.py

@@ -392,9 +392,6 @@ class Panda(object):
     elif bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
       self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
 
-  def set_lline_relay(self, enable):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, int(enable), 0, b'')
-
   def set_can_loopback(self, enable):
     # set can loopback mode for all buses
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')

panda/run_automated_tests.sh

@@ -6,4 +6,9 @@ else
   TESTSUITE_NAME="Panda_Test-DEV"
 fi
 
-PYTHONPATH="." nosetests -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s tests/automated/$1*.py
+cd boardesp
+make flashall
+cd ..
+
+
+PYTHONPATH="." python $(which nosetests) -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s tests/automated/$1*.py

panda/tests/automated/0_builds.py

@@ -1,12 +1,6 @@
 import os
 from panda import build_st
 
-def test_build_legacy():
-  build_st("obj/comma.bin", "Makefile.legacy")
-
-def test_build_bootstub_legacy():
-  build_st("obj/bootstub.comma.bin", "Makefile.legacy")
-
 def test_build_panda():
   build_st("obj/panda.bin")
 

panda/tests/automated/3_wifi.py

@@ -29,7 +29,7 @@ def test_connect_wifi(serial=None):
 @panda_color_to_serial
 def test_flash_wifi(serial=None):
   connect_wifi(serial)
-  assert Panda.flash_ota_wifi(release=True), "OTA Wifi Flash Failed"
+  assert Panda.flash_ota_wifi(release=False), "OTA Wifi Flash Failed"
   connect_wifi(serial)
 
 @test_white

panda/tests/build_strict/Dockerfile

@@ -0,0 +1,9 @@
+FROM ubuntu:16.04
+
+RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++
+
+RUN pip install pycrypto==2.6.1
+
+COPY . /panda
+
+WORKDIR /panda

panda/tests/misra/Dockerfile

@@ -0,0 +1,6 @@
+FROM ubuntu:16.04
+
+RUN apt-get update && apt-get install -y make python python-pip git
+COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
+RUN pip install -r /panda/tests/safety/requirements.txt
+COPY . /panda

panda/tests/misra/test_misra.sh

@@ -0,0 +1,8 @@
+#!/bin/bash -e
+git clone https://github.com/danmar/cppcheck.git || true
+cd cppcheck
+git checkout 29e5992e51ecf1ddba469c73a0eed0b28b131de5
+make -j4
+cd ../../../
+tests/misra/cppcheck/cppcheck --dump board/main.c
+python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2>/tmp/misra/output.txt || true

panda/tests/safety/libpandasafety_py.py

@@ -32,6 +32,11 @@ typedef struct
 
 void set_controls_allowed(int c);
 int get_controls_allowed(void);
+void set_long_controls_allowed(int c);
+int get_long_controls_allowed(void);
+void set_gas_interceptor_detected(int c);
+int get_gas_interceptor_detetcted(void);
+int get_gas_interceptor_prev(void);
 void set_timer(int t);
 void reset_angle_control(void);
 
@@ -41,19 +46,20 @@ int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void toyota_init(int16_t param);
 int get_toyota_torque_meas_min(void);
 int get_toyota_torque_meas_max(void);
+int get_toyota_gas_prev(void);
 void set_toyota_torque_meas(int min, int max);
 void set_toyota_desired_torque_last(int t);
 void set_toyota_rt_torque_last(int t);
 
 void init_tests_honda(void);
-int get_ego_speed(void);
+int get_honda_ego_speed(void);
 void honda_init(int16_t param);
 void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
-int get_brake_prev(void);
-int get_gas_prev(void);
+int get_honda_brake_prev(void);
+int get_honda_gas_prev(void);
 void set_honda_alt_brake_msg(bool);
-void set_bosch_hardware(bool);
+void set_honda_bosch_hardware(bool);
 
 void init_tests_cadillac(void);
 void cadillac_init(int16_t param);

panda/tests/safety/test.c

@@ -51,6 +51,14 @@ void set_controls_allowed(int c){
   controls_allowed = c;
 }
 
+void set_long_controls_allowed(int c){
+  long_controls_allowed = c;
+}
+
+void set_gas_interceptor_detected(int c){
+  gas_interceptor_detected = c;
+}
+
 void reset_angle_control(void){
   angle_control = 0;
 }
@@ -59,6 +67,18 @@ int get_controls_allowed(void){
   return controls_allowed;
 }
 
+int get_long_controls_allowed(void){
+  return long_controls_allowed;
+}
+
+int get_gas_interceptor_detected(void){
+  return gas_interceptor_detected;
+}
+
+int get_gas_interceptor_prev(void){
+  return gas_interceptor_prev;
+}
+
 void set_timer(int t){
   timer.CNT = t;
 }
@@ -101,6 +121,10 @@ int get_chrysler_torque_meas_max(void){
   return chrysler_torque_meas.max;
 }
 
+int get_toyota_gas_prev(void){
+  return toyota_gas_prev;
+}
+
 int get_toyota_torque_meas_min(void){
   return toyota_torque_meas.min;
 }
@@ -157,24 +181,24 @@ void set_subaru_desired_torque_last(int t){
   subaru_desired_torque_last = t;
 }
 
-int get_ego_speed(void){
-  return ego_speed;
+int get_honda_ego_speed(void){
+  return honda_ego_speed;
 }
 
-int get_brake_prev(void){
-  return brake_prev;
+int get_honda_brake_prev(void){
+  return honda_brake_prev;
 }
 
-int get_gas_prev(void){
-  return gas_prev;
+int get_honda_gas_prev(void){
+  return honda_gas_prev;
 }
 
 void set_honda_alt_brake_msg(bool c){
   honda_alt_brake_msg = c;
 }
 
-void set_bosch_hardware(bool c){
-  bosch_hardware = c;
+void set_honda_bosch_hardware(bool c){
+  honda_bosch_hardware = c;
 }
 
 void init_tests_toyota(void){
@@ -232,10 +256,9 @@ void init_tests_subaru(void){
 }
 
 void init_tests_honda(void){
-  ego_speed = 0;
-  gas_interceptor_detected = 0;
-  brake_prev = 0;
-  gas_prev = 0;
+  honda_ego_speed = 0;
+  honda_brake_prev = 0;
+  honda_gas_prev = 0;
 }
 
 void set_gmlan_digital_output(int to_set){
@@ -247,11 +270,3 @@ void reset_gmlan_switch_timeout(void){
 void gmlan_switch_init(int timeout_enable){
 }
 
-void lline_relay_init (void) {
-}
-
-void lline_relay_release (void) {
-}
-
-void set_lline_output(int to_set) {
-}

panda/tests/safety/test_gm.py

@@ -138,10 +138,15 @@ class TestGmSafety(unittest.TestCase):
     self.safety.gm_rx_hook(self._brake_msg(False))
 
   def test_disengage_on_gas(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.gm_rx_hook(self._gas_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.gm_rx_hook(self._gas_msg(False))
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      self.safety.set_controls_allowed(1)
+      self.safety.gm_rx_hook(self._gas_msg(True))
+      if long_controls_allowed:
+        self.assertFalse(self.safety.get_controls_allowed())
+      else:
+        self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.gm_rx_hook(self._gas_msg(False))
 
   def test_allow_engage_with_gas_pressed(self):
     self.safety.gm_rx_hook(self._gas_msg(True))
@@ -151,22 +156,28 @@ class TestGmSafety(unittest.TestCase):
     self.safety.gm_rx_hook(self._gas_msg(False))
 
   def test_brake_safety_check(self):
-    for enabled in [0, 1]:
-      for b in range(0, 500):
-        self.safety.set_controls_allowed(enabled)
-        if abs(b) > MAX_BRAKE or (not enabled and b != 0):
-          self.assertFalse(self.safety.gm_tx_hook(self._send_brake_msg(b)))
-        else:
-          self.assertTrue(self.safety.gm_tx_hook(self._send_brake_msg(b)))
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      for enabled in [0, 1]:
+        for b in range(0, 500):
+          self.safety.set_controls_allowed(enabled)
+          if abs(b) > MAX_BRAKE or ((not enabled or not long_controls_allowed) and b != 0):
+            self.assertFalse(self.safety.gm_tx_hook(self._send_brake_msg(b)))
+          else:
+            self.assertTrue(self.safety.gm_tx_hook(self._send_brake_msg(b)))
+    self.safety.set_long_controls_allowed(True)
 
   def test_gas_safety_check(self):
-    for enabled in [0, 1]:
-      for g in range(0, 2**12-1):
-        self.safety.set_controls_allowed(enabled)
-        if abs(g) > MAX_GAS or (not enabled and g != MAX_REGEN):
-          self.assertFalse(self.safety.gm_tx_hook(self._send_gas_msg(g)))
-        else:
-          self.assertTrue(self.safety.gm_tx_hook(self._send_gas_msg(g)))
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      for enabled in [0, 1]:
+        for g in range(0, 2**12-1):
+          self.safety.set_controls_allowed(enabled)
+          if abs(g) > MAX_GAS or ((not enabled or not long_controls_allowed) and g != MAX_REGEN):
+            self.assertFalse(self.safety.gm_tx_hook(self._send_gas_msg(g)))
+          else:
+            self.assertTrue(self.safety.gm_tx_hook(self._send_gas_msg(g)))
+    self.safety.set_long_controls_allowed(True)
 
   def test_steer_safety_check(self):
     for enabled in [0, 1]:

panda/tests/safety/test_honda.py

@@ -3,6 +3,7 @@ import unittest
 import numpy as np
 import libpandasafety_py
 
+MAX_BRAKE = 255
 
 class TestHondaSafety(unittest.TestCase):
   @classmethod
@@ -49,14 +50,15 @@ class TestHondaSafety(unittest.TestCase):
   def _send_brake_msg(self, brake):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 0x1FA << 21
-    to_send[0].RDLR = brake
+    to_send[0].RDLR = ((brake & 0x3) << 8) | ((brake & 0x3FF) >> 2)
 
     return to_send
 
-  def _send_gas_msg(self, gas):
+  def _send_interceptor_msg(self, gas, addr):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = 0x200 << 21
-    to_send[0].RDLR = gas
+    to_send[0].RIR = addr << 21
+    to_send[0].RDTR = 6
+    to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
 
     return to_send
 
@@ -89,14 +91,14 @@ class TestHondaSafety(unittest.TestCase):
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_sample_speed(self):
-    self.assertEqual(0, self.safety.get_ego_speed())
+    self.assertEqual(0, self.safety.get_honda_ego_speed())
     self.safety.honda_rx_hook(self._speed_msg(100))
-    self.assertEqual(100, self.safety.get_ego_speed())
+    self.assertEqual(100, self.safety.get_honda_ego_speed())
 
   def test_prev_brake(self):
-    self.assertFalse(self.safety.get_brake_prev())
+    self.assertFalse(self.safety.get_honda_brake_prev())
     self.safety.honda_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_brake_prev())
+    self.assertTrue(self.safety.get_honda_brake_prev())
 
   def test_disengage_on_brake(self):
     self.safety.set_controls_allowed(1)
@@ -133,14 +135,30 @@ class TestHondaSafety(unittest.TestCase):
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_prev_gas(self):
-    self.assertFalse(self.safety.get_gas_prev())
+    self.safety.honda_rx_hook(self._gas_msg(False))
+    self.assertFalse(self.safety.get_honda_gas_prev())
     self.safety.honda_rx_hook(self._gas_msg(True))
-    self.assertTrue(self.safety.get_gas_prev())
+    self.assertTrue(self.safety.get_honda_gas_prev())
+
+  def test_prev_gas_interceptor(self):
+    self.safety.honda_rx_hook(self._send_interceptor_msg(0x0, 0x201))
+    self.assertFalse(self.safety.get_gas_interceptor_prev())
+    self.safety.honda_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
+    self.assertTrue(self.safety.get_gas_interceptor_prev())
+    self.safety.honda_rx_hook(self._send_interceptor_msg(0x0, 0x201))
+    self.safety.set_gas_interceptor_detected(False)
 
   def test_disengage_on_gas(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.honda_rx_hook(self._gas_msg(1))
-    self.assertFalse(self.safety.get_controls_allowed())
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      self.safety.honda_rx_hook(self._gas_msg(0))
+      self.safety.set_controls_allowed(1)
+      self.safety.honda_rx_hook(self._gas_msg(1))
+      if long_controls_allowed:
+        self.assertFalse(self.safety.get_controls_allowed())
+      else:
+        self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_long_controls_allowed(True)
 
   def test_allow_engage_with_gas_pressed(self):
     self.safety.honda_rx_hook(self._gas_msg(1))
@@ -148,18 +166,53 @@ class TestHondaSafety(unittest.TestCase):
     self.safety.honda_rx_hook(self._gas_msg(1))
     self.assertTrue(self.safety.get_controls_allowed())
 
-  def test_brake_safety_check(self):
-    self.assertTrue(self.safety.honda_tx_hook(self._send_brake_msg(0x0000)))
-    self.assertFalse(self.safety.honda_tx_hook(self._send_brake_msg(0x1000)))
+  def test_disengage_on_gas_interceptor(self):
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      self.safety.honda_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_controls_allowed(1)
+      self.safety.honda_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
+      if long_controls_allowed:
+        self.assertFalse(self.safety.get_controls_allowed())
+      else:
+        self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.honda_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_gas_interceptor_detected(False)
+    self.safety.set_long_controls_allowed(True)
 
+  def test_allow_engage_with_gas_interceptor_pressed(self):
+    self.safety.honda_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
     self.safety.set_controls_allowed(1)
-    self.assertTrue(self.safety.honda_tx_hook(self._send_brake_msg(0x1000)))
-    self.assertFalse(self.safety.honda_tx_hook(self._send_brake_msg(0x00F0)))
+    self.safety.honda_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.honda_rx_hook(self._send_interceptor_msg(0, 0x201))
+    self.safety.set_gas_interceptor_detected(False)
 
-  def test_gas_safety_check(self):
-    self.safety.set_controls_allowed(0)
-    self.assertTrue(self.safety.honda_tx_hook(self._send_gas_msg(0x0000)))
-    self.assertFalse(self.safety.honda_tx_hook(self._send_gas_msg(0x1000)))
+  def test_brake_safety_check(self):
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      for brake in np.arange(0, MAX_BRAKE + 10, 1):
+        for controls_allowed in [True, False]:
+          self.safety.set_controls_allowed(controls_allowed)
+          if controls_allowed and long_controls_allowed:
+            send = MAX_BRAKE >= brake >= 0
+          else:
+            send = brake == 0
+          self.assertEqual(send, self.safety.honda_tx_hook(self._send_brake_msg(brake)))
+    self.safety.set_long_controls_allowed(True)
+
+  def test_gas_interceptor_safety_check(self):
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      for gas in np.arange(0, 4000, 100):
+        for controls_allowed in [True, False]:
+          self.safety.set_controls_allowed(controls_allowed)
+          if controls_allowed and long_controls_allowed:
+            send = True
+          else:
+            send = gas == 0
+          self.assertEqual(send, self.safety.honda_tx_hook(self._send_interceptor_msg(gas, 0x200)))
+    self.safety.set_long_controls_allowed(True)
 
   def test_steer_safety_check(self):
     self.safety.set_controls_allowed(0)
@@ -171,7 +224,7 @@ class TestHondaSafety(unittest.TestCase):
     SET_BTN = 3
     CANCEL_BTN = 2
     BUTTON_MSG = 0x296
-    self.safety.set_bosch_hardware(1)
+    self.safety.set_honda_bosch_hardware(1)
     self.safety.set_controls_allowed(0)
     self.assertTrue(self.safety.honda_tx_hook(self._button_msg(CANCEL_BTN, BUTTON_MSG)))
     self.assertFalse(self.safety.honda_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))

panda/tests/safety/test_toyota.py

@@ -119,13 +119,28 @@ class TestToyotaSafety(unittest.TestCase):
     to_send[0].RDLR = (a & 0xFF) << 8 | (a >> 8)
     return to_send
 
-  def _gas_msg(self, gas):
+  def _send_gas_msg(self, gas):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 0x200 << 21
     to_send[0].RDLR = gas
 
     return to_send
 
+  def _send_interceptor_msg(self, gas, addr):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = addr << 21
+    to_send[0].RDTR = 6
+    to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
+
+    return to_send
+
+  def _pcm_cruise_msg(self, cruise_on, gas_pressed):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x1D2 << 21
+    to_send[0].RDLR = (cruise_on << 5) | ((not gas_pressed) << 4 )
+
+    return to_send
+
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
@@ -134,32 +149,84 @@ class TestToyotaSafety(unittest.TestCase):
     self.assertTrue(self.safety.get_controls_allowed())
 
   def test_enable_control_allowed_from_cruise(self):
-    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_push[0].RIR = 0x1D2 << 21
-    to_push[0].RDLR = 0x20
-
-    self.safety.toyota_rx_hook(to_push)
+    self.safety.toyota_rx_hook(self._pcm_cruise_msg(False, False))
+    self.assertFalse(self.safety.get_controls_allowed())
+    self.safety.toyota_rx_hook(self._pcm_cruise_msg(True, False))
     self.assertTrue(self.safety.get_controls_allowed())
 
   def test_disable_control_allowed_from_cruise(self):
-    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_push[0].RIR = 0x1D2 << 21
-    to_push[0].RDLR = 0
-
     self.safety.set_controls_allowed(1)
-    self.safety.toyota_rx_hook(to_push)
+    self.safety.toyota_rx_hook(self._pcm_cruise_msg(False, False))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_accel_actuation_limits(self):
-    for accel in np.arange(MIN_ACCEL - 1000, MAX_ACCEL + 1000, 100):
-      for controls_allowed in [True, False]:
-        self.safety.set_controls_allowed(controls_allowed)
+  def test_prev_gas(self):
+    self.safety.toyota_rx_hook(self._pcm_cruise_msg(False, False))
+    self.assertFalse(self.safety.get_toyota_gas_prev())
+    self.safety.toyota_rx_hook(self._pcm_cruise_msg(False, True))
+    self.assertTrue(self.safety.get_toyota_gas_prev())
 
-        if controls_allowed:
-          send = MIN_ACCEL <= accel <= MAX_ACCEL
-        else:
-          send = accel == 0
-        self.assertEqual(send, self.safety.toyota_tx_hook(self._accel_msg(accel)))
+  def test_prev_gas_interceptor(self):
+    self.safety.toyota_rx_hook(self._send_interceptor_msg(0x0, 0x201))
+    self.assertFalse(self.safety.get_gas_interceptor_prev())
+    self.safety.toyota_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
+    self.assertTrue(self.safety.get_gas_interceptor_prev())
+    self.safety.toyota_rx_hook(self._send_interceptor_msg(0x0, 0x201))
+    self.safety.set_gas_interceptor_detected(False)
+
+  def test_disengage_on_gas(self):
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      self.safety.toyota_rx_hook(self._pcm_cruise_msg(False, False))
+      self.safety.toyota_rx_hook(self._pcm_cruise_msg(True, False))
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.toyota_rx_hook(self._pcm_cruise_msg(True, True))
+      if long_controls_allowed:
+        self.assertFalse(self.safety.get_controls_allowed())
+      else:
+        self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_long_controls_allowed(True)
+
+  def test_allow_engage_with_gas_pressed(self):
+    self.safety.toyota_rx_hook(self._pcm_cruise_msg(False, True))
+    self.safety.toyota_rx_hook(self._pcm_cruise_msg(True, True))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.toyota_rx_hook(self._pcm_cruise_msg(True, True))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_disengage_on_gas_interceptor(self):
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      self.safety.toyota_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_controls_allowed(1)
+      self.safety.toyota_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
+      if long_controls_allowed:
+        self.assertFalse(self.safety.get_controls_allowed())
+      else:
+        self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.toyota_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_gas_interceptor_detected(False)
+    self.safety.set_long_controls_allowed(True)
+
+  def test_allow_engage_with_gas_interceptor_pressed(self):
+    self.safety.toyota_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
+    self.safety.set_controls_allowed(1)
+    self.safety.toyota_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.toyota_rx_hook(self._send_interceptor_msg(0, 0x201))
+    self.safety.set_gas_interceptor_detected(False)
+
+  def test_accel_actuation_limits(self):
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      for accel in np.arange(MIN_ACCEL - 1000, MAX_ACCEL + 1000, 100):
+        for controls_allowed in [True, False]:
+          self.safety.set_controls_allowed(controls_allowed)
+          if controls_allowed and long_controls_allowed:
+            send = MIN_ACCEL <= accel <= MAX_ACCEL
+          else:
+            send = accel == 0
+          self.assertEqual(send, self.safety.toyota_tx_hook(self._accel_msg(accel)))
+    self.safety.set_long_controls_allowed(True)
 
   def test_torque_absolute_limits(self):
     for controls_allowed in [True, False]:
@@ -244,11 +311,11 @@ class TestToyotaSafety(unittest.TestCase):
     self.assertEqual(51, self.safety.get_toyota_torque_meas_max())
 
     self.safety.toyota_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
+    self.assertEqual(1, self.safety.get_toyota_torque_meas_max())
     self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
 
     self.safety.toyota_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
+    self.assertEqual(1, self.safety.get_toyota_torque_meas_max())
     self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())
 
   def test_ipas_override(self):
@@ -416,12 +483,13 @@ class TestToyotaSafety(unittest.TestCase):
     # reset no angle control at the end of the test
     self.safety.reset_angle_control()
 
-  def test_gas_safety_check(self):
+  def test_gas_interceptor_safety_check(self):
+
     self.safety.set_controls_allowed(0)
-    self.assertTrue(self.safety.honda_tx_hook(self._gas_msg(0x0000)))
-    self.assertFalse(self.safety.honda_tx_hook(self._gas_msg(0x1000)))
+    self.assertTrue(self.safety.toyota_tx_hook(self._send_interceptor_msg(0, 0x200)))
+    self.assertFalse(self.safety.toyota_tx_hook(self._send_interceptor_msg(0x1000, 0x200)))
     self.safety.set_controls_allowed(1)
-    self.assertTrue(self.safety.honda_tx_hook(self._gas_msg(0x1000)))
+    self.assertTrue(self.safety.toyota_tx_hook(self._send_interceptor_msg(0x1000, 0x200)))
 
 
 if __name__ == "__main__":

pyextra/PyJWT-1.4.1-py2.7.egg-info/PKG-INFO

@@ -0,0 +1,70 @@
+Metadata-Version: 1.1
+Name: PyJWT
+Version: 1.4.1
+Summary: JSON Web Token implementation in Python
+Home-page: http://github.com/jpadilla/pyjwt
+Author: José Padilla
+Author-email: hello@jpadilla.com
+License: MIT
+Description: # PyJWT
+        
+        [![travis-status-image]][travis]
+        [![appveyor-status-image]][appveyor]
+        [![pypi-version-image]][pypi]
+        [![coveralls-status-image]][coveralls]
+        [![docs-status-image]][docs]
+        
+        A Python implementation of [RFC 7519][jwt-spec].
+        Original implementation was written by [@progrium][progrium].
+        
+        ## Installing
+        
+        ```
+        $ pip install PyJWT
+        ```
+        
+        ## Usage
+        
+        ```python
+        >>> import jwt
+        >>> encoded = jwt.encode({'some': 'payload'}, 'secret', algorithm='HS256')
+        'eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJzb21lIjoicGF5bG9hZCJ9.4twFt5NiznN84AWoo1d7KO1T_yoc0Z6XOpOVswacPZg'
+        
+        >>> jwt.decode(encoded, 'secret', algorithms=['HS256'])
+        {'some': 'payload'}
+        ```
+        
+        ## Tests
+        
+        You can run tests from the project root after cloning with:
+        
+        ```
+        $ python setup.py test
+        ```
+        
+        [travis-status-image]: https://secure.travis-ci.org/jpadilla/pyjwt.svg?branch=master
+        [travis]: http://travis-ci.org/jpadilla/pyjwt?branch=master
+        [appveyor-status-image]: https://ci.appveyor.com/api/projects/status/h8nt70aqtwhht39t?svg=true
+        [appveyor]: https://ci.appveyor.com/project/jpadilla/pyjwt
+        [pypi-version-image]: https://img.shields.io/pypi/v/pyjwt.svg
+        [pypi]: https://pypi.python.org/pypi/pyjwt
+        [coveralls-status-image]: https://coveralls.io/repos/jpadilla/pyjwt/badge.svg?branch=master
+        [coveralls]: https://coveralls.io/r/jpadilla/pyjwt?branch=master
+        [docs-status-image]: https://readthedocs.org/projects/pyjwt/badge/?version=latest
+        [docs]: http://pyjwt.readthedocs.org
+        [jwt-spec]: https://tools.ietf.org/html/rfc7519
+        [progrium]: https://github.com/progrium
+        
+Keywords: jwt json web token security signing
+Platform: UNKNOWN
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Intended Audience :: Developers
+Classifier: Natural Language :: English
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 2.6
+Classifier: Programming Language :: Python :: 2.7
+Classifier: Programming Language :: Python :: 3.3
+Classifier: Programming Language :: Python :: 3.4
+Classifier: Programming Language :: Python :: 3.5
+Classifier: Topic :: Utilities

pyextra/PyJWT-1.4.1-py2.7.egg-info/SOURCES.txt

@@ -0,0 +1,49 @@
+AUTHORS
+CHANGELOG.md
+LICENSE
+MANIFEST.in
+README.md
+setup.cfg
+setup.py
+tox.ini
+PyJWT.egg-info/PKG-INFO
+PyJWT.egg-info/SOURCES.txt
+PyJWT.egg-info/dependency_links.txt
+PyJWT.egg-info/entry_points.txt
+PyJWT.egg-info/requires.txt
+PyJWT.egg-info/top_level.txt
+jwt/__init__.py
+jwt/__main__.py
+jwt/algorithms.py
+jwt/api_jws.py
+jwt/api_jwt.py
+jwt/compat.py
+jwt/exceptions.py
+jwt/utils.py
+jwt/contrib/__init__.py
+jwt/contrib/algorithms/__init__.py
+jwt/contrib/algorithms/py_ecdsa.py
+jwt/contrib/algorithms/pycrypto.py
+tests/__init__.py
+tests/compat.py
+tests/test_algorithms.py
+tests/test_api_jws.py
+tests/test_api_jwt.py
+tests/test_compat.py
+tests/test_exceptions.py
+tests/test_jwt.py
+tests/utils.py
+tests/contrib/__init__.py
+tests/contrib/test_algorithms.py
+tests/keys/__init__.py
+tests/keys/jwk_ec_key.json
+tests/keys/jwk_ec_pub.json
+tests/keys/jwk_hmac.json
+tests/keys/jwk_rsa_key.json
+tests/keys/jwk_rsa_pub.json
+tests/keys/testkey2_rsa.pub.pem
+tests/keys/testkey_ec
+tests/keys/testkey_ec.pub
+tests/keys/testkey_rsa
+tests/keys/testkey_rsa.cer
+tests/keys/testkey_rsa.pub