Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en

This reverts commit d5242c5b82.

.gitignore

@@ -1,3 +1,4 @@
+venv/
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -31,6 +32,9 @@ selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 selfdrive/test/tests/plant/out
 selfdrive/visiond/visiond
+selfdrive/loggerd/loggerd
+selfdrive/sensord/gpsd
+selfdrive/sensord/sensord
 /src/
 
 one

.travis.yml

@@ -3,21 +3,5 @@ sudo: required
 services:
   - docker
 
-install:
-  - docker build -t tmppilot -f Dockerfile.openpilot .
-
 script:
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
-  - docker run
-      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
+  - ./run_docker_tests.sh

Dockerfile.openpilot

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

Pipfile

@@ -0,0 +1,145 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+ipython = "<6.0"
+aenum = "*"
+azure-batch = "==4.1.3"
+azure-common = "==1.1.16"
+azure-nspkg = "==3.0.1"
+azure-storage-blob = "==1.3.1"
+azure-storage-common = "==1.3.0"
+azure-storage-nspkg = "==3.0.0"
+bincopy = "*"
+bleach = "==1.5.0"
+boto = "*"
+"boto3" = "*"
+celery = "*"
+control = "*"
+datadog = "*"
+decorator = "*"
+dlib = "*"
+dominate = "*"
+elasticsearch = "*"
+entium = "==0.1.4"
+fasteners = "*"
+future = "*"
+futures = "*"
+gevent = "*"
+pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
+gunicorn = "*"
+"h5py" = "*"
+hexdump = "*"
+"html5lib" = "==0.9999999"
+imageio = "*"
+intervaltree = "*"
+ipykernel = "<5.0"
+joblib = "*"
+json-logging-py = "*"
+jupyter = "*"
+libarchive = "*"
+lru-dict = "*"
+lxml = "*"
+matplotlib = "==2.2.3"
+"mpld3" = "*"
+msgpack-python = "*"
+nbstripout = "*"
+nose-parameterized = "*"
+numpy = "==1.14.5"
+osmium = "==2.15.0"
+pbr = "==5.1.3"
+percache = "*"
+pprofile = "*"
+psutil = "*"
+pycurl = "*"
+git-pylint-commit-hook = "==2.5.1"
+pymongo = "*"
+"pynmea2" = "*"
+pypolyline = "==0.1.17"
+pysendfile = "*"
+python-logstash = "*"
+pyvcd = "*"
+redis = "*"
+redlock = "*"
+"s2sphere" = "*"
+scikit-image = "*"
+"subprocess32" = "*"
+supervisor = "*"
+tenacity = "*"
+tensorflow-gpu = "==1.13.0rc0"
+"transforms3d" = "*"
+utm = "*"
+"v4l2" = "*"
+visdom = "*"
+PyJWT = "==1.4.1"
+PyMySQL = "==0.9.2"
+Theano = "*"
+Werkzeug = "*"
+"backports.lzma" = "*"
+Flask-Cors = "*"
+Flask-SocketIO = "*"
+"GeoAlchemy2" = "*"
+Keras = ">=2.1.6"
+keras-maskrcnn = "*"
+keras-retinanet = "*"
+Pygments = "*"
+PyNaCl = "*"
+"PySDL2" = "*"
+reverse_geocoder = "*"
+Shapely = "*"
+SQLAlchemy = "==1.2.7"
+uWSGI = "*"
+scipy = "*"
+fastcluster = "==1.1.25"
+backports-abc = "*"
+pygame = "*"
+simplejson = "*"
+python-logstash-async = "*"
+pandas = "*"
+seaborn = "*"
+tensorflow-estimator = "==1.10.12"
+pyproj = "*"
+
+[packages]
+overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
+atomicwrites = "*"
+cffi = "*"
+crcmod = "*"
+hexdump = "*"
+libusb1 = "*"
+numpy = "*"
+psutil = "*"
+pycapnp = "*"
+cryptography = "*"
+pyserial = "*"
+python-dateutil = "*"
+pyzmq = "*"
+raven = "*"
+requests = "*"
+setproctitle = "*"
+six = "*"
+smbus2 = "*"
+sympy = "*"
+tqdm = "*"
+Cython = "*"
+PyYAML = "*"
+websocket_client = "*"
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
+urllib3 = "*"
+chardet = "*"
+idna = "*"
+gunicorn = "*"
+utm = "*"
+json-rpc = "*"
+Flask = "*"
+PyJWT = "*"
+"Jinja2" = "*"
+nose = "*"
+pyflakes = "*"
+pylint = "*"
+pycryptodome = "*"
+
+[requires]
+python_version = "2.7"

README.md

@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/xY2gdHv.png)](#)
+[![](https://i.imgur.com/UetIFyH.jpg)](#)
 
 Welcome to openpilot
 ======
@@ -60,44 +60,49 @@ Supported Cars
 
 | Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
 | ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Acura                | ILX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chrysler             | Pacifica 2018            | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica 2017-18         | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Chrysler             | Pacifica Hybrid 2019     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
 | GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Accord 2018-19           | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
 | Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
 | Honda                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
 | Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | CR-V 2017-19             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V Hybrid 2019         | All                  | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | CR-V Hybrid 2017-2019    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2018-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
 | Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Hyundai              | Elantra 2017             | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Elantra 2017-19          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
 | Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Jeep                 | Grand Cherokee 2017-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Jeep                 | Grand Cherokee 2016-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Jeep                 | Grand Cherokee 2019      | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
 | Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Lexus                | ES Hybrid 2019           | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
 | Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Avalon 2017-18           | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Camry 2018-19            | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-19             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander 2017-19       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
@@ -106,14 +111,15 @@ Supported Cars
 | Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Sienna 2018              | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 
-<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
-<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
-<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).
-<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). <br />
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
+<sup>4</sup>Subaru Giraffe is DIY. <br />
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
+<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
 
 Community Maintained Cars
 ------

RELEASES.md

@@ -1,3 +1,35 @@
+Version 0.6.2 (2019-07-29)
+========================
+ * New driving model!
+ * Improve lane tracking with double lines
+ * Strongly improve stationary vehicle detection
+ * Strongly reduce cases of braking due to false leads
+ * Better lead tracking around turns
+ * Improve cut-in prediction by using neural network
+ * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
+ * Fix unintended openpilot disengagements on Jeep thanks to adhintz!
+ * Fix delayed transition to offroad when car is turned off
+
+Version 0.6.1 (2019-07-21)
+========================
+ * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
+ * Panda code Misra-c2012 compliance, tested against cppcheck coverage
+ * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
+ * Toyota Sienna support thanks to wocsor!
+
+Version 0.6 (2019-07-01)
+========================
+ * New model, with double the pixels and ten times the temporal context!
+ * Car should not take exits when in the right lane
+ * openpilot uses only ~65% of the CPU (down from 75%)
+ * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
+ * loggerd and sensord are open source, every line of openpilot is now open
+ * Panda safety code is MISRA compliant and ships with a signed version on release2
+ * New NEOS is 500MB smaller and has a reproducible usr/pipenv
+ * Lexus ES Hybrid support thanks to wocsor!
+ * Improve tuning for supported Toyota with TSS2
+ * Various other stability improvements
+
 Version 0.5.13 (2019-05-31)
 ==========================
  * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)

cereal/.gitignore

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

cereal/car.capnp

@@ -22,7 +22,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 
   enum EventName @0xbaa8c5d505f727de {
     # TODO: copy from error list
-    commIssue @0;
+    canError @0;
     steerUnavailable @1;
     brakeUnavailable @2;
     gasUnavailable @3;
@@ -37,7 +37,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     buttonEnable @12;
     pedalPressed @13;
     cruiseDisabled @14;
-    radarCommIssue @15;
+    radarCanError @15;
     dataNeeded @16;
     speedTooLow @17;
     outOfSpace @18;
@@ -49,7 +49,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     pcmDisable @24;
     noTarget @25;
     radarFault @26;
-    modelCommIssue @27;
+    modelCommIssueDEPRECATED @27;
     brakeHold @28;
     parkBrake @29;
     manualRestart @30;
@@ -75,6 +75,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     vehicleModelInvalid @50;
     controlsFailed @51;
     sensorDataInvalid @52;
+    commIssue @53;
+    tooDistracted @54;
+    posenetInvalid @55;
+    manualSteeringRequired @56;
+    manualSteeringRequiredBlinkersOn @57;
   }
 }
 
@@ -123,6 +128,7 @@ struct CarState {
   # lock info
   doorOpen @24 :Bool;
   seatbeltUnlatched @25 :Bool;
+  canValid @26 :Bool;
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
@@ -184,7 +190,7 @@ struct RadarData @0x888ad6581cf0aacb {
   canMonoTimes @2 :List(UInt64);
 
   enum Error {
-    commIssue @0;
+    canError @0;
     fault @1;
     wrongConfig @2;
   }
@@ -293,7 +299,7 @@ struct CarParams {
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
-  safetyModel @9 :Int16;
+  safetyModel @9 :SafetyModel;
   safetyParam @10 :Int16;
 
   steerMaxBP @11 :List(Float32);
@@ -320,6 +326,7 @@ struct CarParams {
   lateralTuning :union {
     pid @26 :LateralPIDTuning;
     indi @27 :LateralINDITuning;
+    lqr @40 :LateralLQRTuning;
   }
 
   steerLimitAlert @28 :Bool;
@@ -335,6 +342,7 @@ 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
+  isPandaBlack @39: Bool;
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -361,8 +369,22 @@ struct CarParams {
     actuatorEffectiveness @3 :Float32;
   }
 
+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
 
-  enum SafetyModels {
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
+
+  enum SafetyModel {
     # does NOT match board setting
     noOutput @0;
     honda @1;

cereal/generate_javascript.sh

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

cereal/install_capnp.sh

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

cereal/log.capnp

@@ -150,6 +150,12 @@ struct FrameData {
   }
 }
 
+struct Thumbnail {
+  frameId @0 :UInt32;
+  timestampEof @1 :UInt64;
+  thumbnail @2 :Data;
+}
+
 struct GPSNMEAData {
   timestamp @0 :Int64;
   localWallTime @1 :UInt64;
@@ -294,8 +300,20 @@ struct HealthData {
   started @2 :Bool;
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
-  startedSignalDetected @5 :Bool;
-  isGreyPanda @6 :Bool;
+  startedSignalDetectedDeprecated @5 :Bool;
+  hasGps @6 :Bool;
+  canSendErrs @7 :UInt32;
+  canFwdErrs @8 :UInt32;
+  gmlanSendErrs @9 :UInt32;
+  hwType @10: HwType;
+
+  enum HwType {
+    unknown @0;
+    whitePanda @1;
+    greyPanda @2;
+    blackPanda @3;
+    pedal @4;
+  }
 }
 
 struct LiveUI {
@@ -337,6 +355,8 @@ struct RadarState @0x9a185389d6fdd05f {
     fcw @10 :Bool;
     status @11 :Bool;
     aLeadTau @12 :Float32;
+    modelProb @13 :Float32;
+    radar @14 :Bool;
   }
 }
 
@@ -353,6 +373,8 @@ struct LiveCalibrationData {
   # view_frame_from_road_frame
   # ui's is inversed needs new
   extrinsicMatrix @4 :List(Float32);
+  # the direction of travel vector in device frame
+  rpyCalib @7 :List(Float32);
 }
 
 struct LiveTracks {
@@ -428,9 +450,12 @@ struct ControlsState @0x97ff69c53601abf1 {
   vCurvature @46 :Float32;
   decelForTurn @47 :Bool;
 
+  decelForModel @54 :Bool;
+
   lateralControlState :union {
     indiState @52 :LateralINDIState;
     pidState @53 :LateralPIDState;
+    lqrState @55 :LateralLQRState;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -485,6 +510,13 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @8 :Bool;
    }
 
+  struct LateralLQRState {
+    active @0 :Bool;
+    steerAngle @1 :Float32;
+    i @2 :Float32;
+    output @3 :Float32;
+   }
+
 }
 
 struct LiveEventData {
@@ -502,18 +534,27 @@ struct ModelData {
   freePath @6 :List(Float32);
 
   settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
 
   struct PathData {
     points @0 :List(Float32);
     prob @1 :Float32;
     std @2 :Float32;
     stds @3 :List(Float32);
+    poly @4 :List(Float32);
   }
 
   struct LeadData {
     dist @0 :Float32;
     prob @1 :Float32;
     std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
   }
 
   struct ModelSettings {
@@ -576,6 +617,8 @@ struct LogRotate {
 struct Plan {
   mdMonoTime @9 :UInt64;
   radarStateMonoTime @10 :UInt64;
+  commIssue @31 :Bool;
+
   eventsDEPRECATED @13 :List(Car.CarEvent);
 
   # lateral, 3rd order polynomial
@@ -614,7 +657,7 @@ struct Plan {
   decelForTurn @22 :Bool;
   mapValid @25 :Bool;
   radarValid @28 :Bool;
-  radarCommIssue @30 :Bool;
+  radarCanError @30 :Bool;
 
   processingDelay @29 :Float32;
 
@@ -629,6 +672,7 @@ struct Plan {
     mpc1 @1;
     mpc2 @2;
     mpc3 @3;
+    model @4;
   }
 }
 
@@ -645,11 +689,13 @@ struct PathPlan {
 
   angleSteers @8 :Float32; # deg
   rateSteers @13 :Float32; # deg/s
-  valid @9 :Bool;
+  mpcSolutionValid @9 :Bool;
   paramsValid @10 :Bool;
-  modelValid @12 :Bool;
+  modelValidDEPRECATED @12 :Bool;
   angleOffset @11 :Float32;
   sensorValid @14 :Bool;
+  commIssue @15 :Bool;
+  posenetValid @16 :Bool;
 }
 
 struct LiveLocationData {
@@ -1628,8 +1674,13 @@ struct OrbKeyFrame {
 
 struct DriverMonitoring {
   frameId @0 :UInt32;
-  descriptor @1 :List(Float32);
-  std @2 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
 }
 
 struct Boot {
@@ -1646,6 +1697,9 @@ struct LiveParametersData {
   stiffnessFactor @4 :Float32;
   steerRatio @5 :Float32;
   sensorValid @6 :Bool;
+  yawRate @7 :Float32;
+  posenetSpeed @8 :Float32;
+  posenetValid @9 :Bool;
 }
 
 struct LiveMapData {
@@ -1685,6 +1739,7 @@ struct KalmanOdometry {
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
+  valid @67 :Bool = true;
 
   union {
     initData @1 :InitData;
@@ -1752,5 +1807,8 @@ struct Event {
     cameraOdometry @63 :CameraOdometry;
     pathPlan @64 :PathPlan;
     kalmanOdometry @65 :KalmanOdometry;
+    thumbnail @66: Thumbnail;
+    carEvents @68: List(Car.CarEvent);
+    carParams @69: Car.CarParams;
   }
 }

cereal/maptile.capnp

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

common/file_helpers.py

@@ -28,7 +28,7 @@ def get_tmpdir_on_same_filesystem(path):
   normpath = os.path.normpath(path)
   parts = normpath.split("/")
   if len(parts) > 1:
-    if parts[1].startswith("raid"):
+    if parts[1].startswith("raid") or parts[1].startswith("datasets"):
       if len(parts) > 2 and parts[2] == "runner":
         return "/{}/runner/tmp".format(parts[1])
       elif len(parts) > 2 and parts[2] == "aws":
@@ -101,3 +101,18 @@ def atomic_write_in_dir(path, **kwargs):
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
 
+def atomic_write_in_dir_neos(path, contents, mode=None):
+  """
+  Atomically writes contents to path using a temporary file in the same directory
+  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
+  """
+
+  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
+  f.write(contents)
+  f.flush()
+  if mode is not None:
+    os.fchmod(f.fileno(), mode)
+  os.fsync(f.fileno())
+  f.close()
+
+  os.rename(f.name, path)

common/fingerprints.py

@@ -4,7 +4,7 @@ from common.basedir import BASEDIR
 def get_fingerprint_list():
   # read all the folders in selfdrive/car and return a dict where:
   # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique 
+  # - values are lists dicts of messages that constitute the unique
   #   CAN fingerprint of each car model and all its variants
   fingerprints = {}
   for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
@@ -28,10 +28,8 @@ _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 
 def is_valid_for_fingerprint(msg, car_fingerprint):
   adr = msg.address
-  bus = msg.src
   # ignore addresses that are more than 11 bits
-  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or \
-         bus != 0 or adr >= 0x800
+  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
 
 
 def eliminate_incompatible_cars(msg, candidate_cars):

common/kalman/Makefile

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

common/kalman/ekf.py

@@ -1,253 +0,0 @@
-# pylint: skip-file
-from __future__ import print_function
-import abc
-import numpy as np
-# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
-# A subclass must implement:
-#   1) calc_transfer_fun(); see bottom of file for more info.
-#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
-
-# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
-
-# Sensor classes are optionally used to pass measurement information into the EKF, to keep
-#   sensor parameters and processing methods for a each sensor together.
-# Sensor classes have a read() method which takes raw sensor data and returns
-#   a SensorReading object, which can be passed to the EKF update() method.
-
-# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
-# ekf.predict(dt) should be called between update cycles with the time since it was last called.
-# Ideally, predict(dt) should be called at a relatively constant rate.
-# update() should be called once per sensor, and can be called multiple times between predict steps.
-# Access and set the state of the filter directly with ekf.state and ekf.covar.
-
-
-class SensorReading:
-  # Given a perfect model and no noise, data = obs_model * state
-  def __init__(self, data, covar, obs_model):
-    self.data = data
-    self.obs_model = obs_model
-    self.covar = covar
-
-  def __repr__(self):
-    return "SensorReading(data={}, covar={}, obs_model={})".format(
-      repr(self.data), repr(self.covar), repr(self.obs_model))
-
-
-# A generic sensor class that does no pre-processing of data
-class SimpleSensor:
-  # obs_model can be
-  #   a full observation model matrix, or
-  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
-  # covar can be
-  #   a full covariance matrix
-  #   a float or tuple of individual covars for each component of the sensor reading
-  # dims is the number of states in the EKF
-  def __init__(self, obs_model, covar, dims):
-    # Allow for integer covar/obs_model
-    if not hasattr(obs_model, "__len__"):
-      obs_model = (obs_model, )
-    if not hasattr(covar, "__len__"):
-      covar = (covar, )
-
-    # Full observation model passed
-    if dims in np.array(obs_model).shape:
-      self.obs_model = np.asmatrix(obs_model)
-      self.covar = np.asmatrix(covar)
-    # Indices of unit observations passed
-    else:
-      self.obs_model = np.matlib.zeros((len(obs_model), dims))
-      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
-      if np.asarray(covar).ndim == 2:
-        self.covar = np.asmatrix(covar)
-      elif len(covar) == len(obs_model):
-        self.covar = np.matlib.diag(covar)
-      else:
-        self.covar = np.matlib.identity(len(obs_model)) * covar
-
-  def read(self, data, covar=None):
-    if covar:
-      self.covar = covar
-    return SensorReading(data, self.covar, self.obs_model)
-
-
-class EKF:
-  __metaclass__ = abc.ABCMeta
-
-  def __init__(self, debug=False):
-    self.DEBUG = debug
-
-
-  def __str__(self):
-    return "EKF(state={}, covar={})".format(self.state, self.covar)
-
-  # Measurement update
-  # Reading should be a SensorReading object with data, covar, and obs_model attributes
-  def update(self, reading):
-    # Potential improvements:
-    # deal with negative covars
-    # add noise to really low covars to ensure stability
-    # use mahalanobis distance to reject outliers
-    # wrap angles after state updates and innovation
-
-    # y = z - H*x
-    innovation = reading.data - reading.obs_model * self.state
-
-    if self.DEBUG:
-      print("reading:\n",reading.data)
-      print("innovation:\n",innovation)
-
-    # S = H*P*H' + R
-    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
-
-    # K = P*H'*S^-1
-    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
-      innovation_covar)
-
-    if self.DEBUG:
-      print("gain:\n", kalman_gain)
-      print("innovation_covar:\n", innovation_covar)
-      print("innovation: ", innovation)
-      print("test: ", self.covar * reading.obs_model.T * (
-        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
-        0).I)
-
-    # x = x + K*y
-    self.state += kalman_gain*innovation
-
-    # print "covar", np.diag(self.covar)
-    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
-
-    # Standard form: P = (I - K*H)*P
-    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
-
-    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
-    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
-    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
-
-    if self.DEBUG:
-      print("After update")
-      print("state\n", self.state)
-      print("covar:\n",self.covar)
-
-  def update_scalar(self, reading):
-    # like update but knowing that measurement is a scalar
-    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
-
-    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
-    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
-    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
-    # self.state += np.matmul(kalman_gain, innovation)
-    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
-    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
-
-    # written without np.matmul
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB_T = "ij,kj->ik"
-    AB = "ij,jk->ik"
-    innovation = reading.data - es(AB, reading.obs_model, self.state)
-    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
-                          reading.obs_model) + reading.covar
-    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
-
-    self.state += es(AB, kalman_gain, innovation)
-    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
-    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
-                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
-
-  # Prediction update
-  def predict(self, dt):
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB = "ij,jk->ik"
-
-    # State update
-    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
-
-    # self.state = np.matmul(transfer_fun, self.state)
-    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
-
-    # x = f(x, u), written in the form x = A(x, u)*x
-    self.state = es(AB, transfer_fun, self.state)
-
-    # P = J*P*J' + Q
-    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
-                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
-
-    #! Clip covariance to avoid explosions
-    self.covar = np.clip(self.covar,-1e10,1e10)
-
-  @abc.abstractmethod
-  def calc_transfer_fun(self, dt):
-    """Return a tuple with the transfer function and transfer function jacobian
-    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
-
-    The transfer function matrix A should satisfy the state-update equation
-      x_(k+1) = A * x_k
-
-    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
-
-    Current implementations calculate A and J as functions of state. Control input
-      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calculation of A and J
-    """
-
-
-class FastEKF1D(EKF):
-  """Fast version of EKF for 1D problems with scalar readings."""
-
-  def __init__(self, dt, var_init, Q):
-    super(FastEKF1D, self).__init__(False)
-    self.state = [0, 0]
-    self.covar = [var_init, var_init, 0]
-
-    # Process Noise
-    self.dtQ0 = dt * Q[0]
-    self.dtQ1 = dt * Q[1]
-
-  def update(self, reading):
-    raise NotImplementedError
-
-  def update_scalar(self, reading):
-    # TODO(mgraczyk): Delete this for speed.
-    # assert np.all(reading.obs_model == [1, 0])
-
-    rcov = reading.covar[0, 0]
-
-    x = self.state
-    S = self.covar
-
-    innovation = reading.data - x[0]
-    innovation_covar = S[0] + rcov
-
-    k0 = S[0] / innovation_covar
-    k1 = S[2] / innovation_covar
-
-    x[0] += k0 * innovation
-    x[1] += k1 * innovation
-
-    mk = 1 - k0
-    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
-    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
-    S[0] = mk * mk * S[0] + rcov * k0 * k0
-
-  def predict(self, dt):
-    # State update
-    x = self.state
-
-    x[0] += dt * x[1]
-
-    # P = J*P*J' + Q
-    S = self.covar
-    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
-    S[2] += dt * S[1]
-    S[1] += self.dtQ1
-
-    # Clip covariance to avoid explosions
-    S = max(-1e10, min(S, 1e10))
-
-  def calc_transfer_fun(self, dt):
-    tf = np.identity(2)
-    tf[0, 1] = dt
-    tfj = tf
-    return tf, tfj

common/kalman/tests/test_ekf.py

@@ -1,116 +0,0 @@
-import numpy as np
-import numpy.matlib
-import unittest
-import timeit
-
-from common.kalman.ekf import EKF, SimpleSensor, FastEKF1D
-
-class TestEKF(EKF):
-  def __init__(self, var_init, Q):
-    super(TestEKF, self).__init__(False)
-    self.identity = numpy.matlib.identity(2)
-    self.state = numpy.matlib.zeros((2, 1))
-    self.covar = self.identity * var_init
-
-    self.process_noise = numpy.matlib.diag(Q)
-
-  def calc_transfer_fun(self, dt):
-    tf = numpy.matlib.identity(2)
-    tf[0, 1] = dt
-    return tf, tf
-
-
-class EKFTest(unittest.TestCase):
-  def test_update_scalar(self):
-    ekf = TestEKF(1e3, [0.1, 1])
-    dt = 1. / 100
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(100, 300))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[300], [100]], 1e-4)
-    np.testing.assert_allclose(
-      ekf.covar,
-      np.asarray([[0.0563, 0.10278], [0.10278, 0.55779]]),
-      atol=1e-4)
-
-  def test_unbiased(self):
-    ekf = TestEKF(1e3, [0., 0.])
-    dt = np.float64(1. / 100)
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(1000))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[1000.], [100.]], 1e-4)
-
-
-class FastEKF1DTest(unittest.TestCase):
-  def test_correctness(self):
-    dt = 1. / 100
-    reading = SimpleSensor(0, 1, 2).read(100)
-
-    ekf = TestEKF(1e3, [0.1, 1])
-    fast_ekf = FastEKF1D(dt, 1e3, [0.1, 1])
-
-    ekf.update_scalar(reading)
-    fast_ekf.update_scalar(reading)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-    ekf.predict(dt)
-    fast_ekf.predict(dt)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-  def test_speed(self):
-    setup = """
-import numpy as np
-from common.kalman.tests.test_ekf import TestEKF
-from common.kalman.ekf import SimpleSensor, FastEKF1D
-
-dt = 1. / 100
-reading = SimpleSensor(0, 1, 2).read(100)
-
-var_init, Q = 1e3, [0.1, 1]
-ekf = TestEKF(var_init, Q)
-fast_ekf = FastEKF1D(dt, var_init, Q)
-    """
-
-    timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    ekf_speed = timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    fast_ekf_speed = timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    assert fast_ekf_speed < ekf_speed / 4
-
-if __name__ == "__main__":
-  unittest.main()

common/params.py

@@ -50,12 +50,15 @@ class UnknownKeyName(Exception):
 
 keys = {
   "AccessToken": [TxType.PERSISTENT],
+  "AthenadPid": [TxType.PERSISTENT],
   "CalibrationParams": [TxType.PERSISTENT],
   "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CarVin": [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],
+  "GithubSshKeys": [TxType.PERSISTENT],
   "GitBranch": [TxType.PERSISTENT],
   "GitCommit": [TxType.PERSISTENT],
   "GitRemote": [TxType.PERSISTENT],
@@ -65,8 +68,10 @@ keys = {
   "IsGeofenceEnabled": [TxType.PERSISTENT],
   "IsMetric": [TxType.PERSISTENT],
   "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUploadRawEnabled": [TxType.PERSISTENT],
   "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
   "LimitSetSpeed": [TxType.PERSISTENT],
+  "LimitSetSpeedNeural": [TxType.PERSISTENT],
   "LiveParameters": [TxType.PERSISTENT],
   "LongitudinalControl": [TxType.PERSISTENT],
   "Passive": [TxType.PERSISTENT],
@@ -74,8 +79,34 @@ keys = {
   "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
   "SpeedLimitOffset": [TxType.PERSISTENT],
   "SubscriberInfo": [TxType.PERSISTENT],
+  "TermsVersion": [TxType.PERSISTENT],
   "TrainingVersion": [TxType.PERSISTENT],
   "Version": [TxType.PERSISTENT],
+  #dragonpilot config
+  "DragonEnableDashcam": [TxType.PERSISTENT],
+  "DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
+  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
+  "DragonAutoShutdownAt": [TxType.PERSISTENT],
+  "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
+  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
+  "DragonDisableLogger": [TxType.PERSISTENT], # deprecated
+  "DragonEnableLogger": [TxType.PERSISTENT],
+  "DragonDisableUploader": [TxType.PERSISTENT], # deprecated
+  "DragonEnableUploader": [TxType.PERSISTENT],
+  "DragonNoctuaMode": [TxType.PERSISTENT],
+  "DragonCacheCar": [TxType.PERSISTENT],
+  "DragonCachedModel": [TxType.PERSISTENT],
+  "DragonCachedFP": [TxType.PERSISTENT],
+  "DragonCachedVIN": [TxType.PERSISTENT],
+  "DragonAllowGas": [TxType.PERSISTENT],
+  "DragonBBUI": [TxType.PERSISTENT], # deprecated
+  "DragonToyotaStockDSU": [TxType.PERSISTENT],
+  "DragonLatCtrl": [TxType.PERSISTENT],
+  "DragonUIEvent": [TxType.PERSISTENT],
+  "DragonUIMaxSpeed": [TxType.PERSISTENT],
+  "DragonUIFace": [TxType.PERSISTENT],
+  "DragonUIDev": [TxType.PERSISTENT],
+  "DragonUIDevMini": [TxType.PERSISTENT],
 }
 
 

common/realtime.py

@@ -15,6 +15,14 @@ assert monotonic_time
 assert sec_since_boot
 
 
+# time step for each process
+DT_CTRL = 0.01  # controlsd
+DT_PLAN = 0.05  # mpc
+DT_MDL = 0.05  # model
+DT_DMON = 0.1  # driver monitoring
+DT_TRML = 0.5  # thermald and manager
+
+
 ffi = FFI()
 ffi.cdef("long syscall(long number, ...);")
 libc = ffi.dlopen(None)

common/transformations/camera.py

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

common/vin.py

@@ -1,61 +1,8 @@
 #!/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
-"""
-
+VIN_UNKNOWN = "0" * 17
 
 # sanity checks on response messages from vin query
 def is_vin_response_valid(can_dat, step, cnt):
@@ -84,12 +31,71 @@ def is_vin_response_valid(can_dat, step, cnt):
   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
+class VinQuery():
+  def __init__(self, bus):
+    self.bus = bus
+    # 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
+    self.query_ext_msgs = [[0x18DB33F1, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x18DA10f1, 0, '\x30'.ljust(8, "\x00"), bus]]
+    self.query_nor_msgs = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x7e0, 0, '\x30'.ljust(8, "\x00"), bus]]
 
-  print get_vin(logcan, sendcan)
+    self.cnts = [1, 2]  # number of messages to wait for at each iteration
+    self.step = 0
+    self.cnt = 0
+    self.responded = False
+    self.never_responded = True
+    self.dat = []
+    self.vin = VIN_UNKNOWN
+
+  def check_response(self, msg):
+    # have we got a VIN query response?
+    if msg.src == self.bus and msg.address in [0x18daf110, 0x7e8]:
+      self.never_responded = False
+      # basic sanity checks on ISO-TP response
+      if is_vin_response_valid(msg.dat, self.step, self.cnt):
+        self.dat += msg.dat[2:] if self.step == 0 else msg.dat[1:]
+        self.cnt += 1
+        if self.cnt == self.cnts[self.step]:
+          self.responded = True
+          self.step += 1
+
+  def send_query(self, sendcan):
+    # keep sending VIN qury if ECU isn't responsing.
+    # sendcan is probably not ready due to the zmq slow joiner syndrome
+    if self.never_responded or (self.responded and self.step < len(self.cnts)):
+      sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
+      sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
+      self.responded = False
+      self.cnt = 0
+
+  def get_vin(self):
+    # only report vin if procedure is finished
+    if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
+      self.vin = "".join(self.dat[3:])
+    return self.vin
+
+
+def get_vin(logcan, sendcan, bus, query_time=1.):
+  vin_query = VinQuery(bus)
+  frame = 0
+
+  # 1s max of VIN query time
+  while frame < query_time * 100:
+    a = messaging.recv_one(logcan)
+
+    for can in a.can:
+      vin_query.check_response(can)
+
+    vin_query.send_query(sendcan)
+    frame += 1
+
+  return vin_query.get_vin()
+
+
+if __name__ == "__main__":
+  from selfdrive.services import service_list
+  logcan = messaging.sub_sock(service_list['can'].port)
+  sendcan = messaging.pub_sock(service_list['sendcan'].port)
+  print get_vin(logcan, sendcan, 0)

dragonpilot/chinese-fonts/fonts.xml

@@ -0,0 +1,371 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+    NOTE: this is the newer (L) version of the system font configuration,
+    supporting richer weight selection. Some apps will expect the older
+    version, so please keep system_fonts.xml and fallback_fonts.xml in sync
+    with any changes, even though framework will only read this file.
+
+    All fonts withohut names are added to the default list. Fonts are chosen
+    based on a match: full BCP-47 language tag including script, then just
+    language, and finally order (the first font containing the glyph).
+
+    Order of appearance is also the tiebreaker for weight matching. This is
+    the reason why the 900 weights of Roboto precede the 700 weights - we
+    prefer the former when an 800 weight is requested. Since bold spans
+    effectively add 300 to the weight, this ensures that 900 is the bold
+    paired with the 500 weight, ensuring adequate contrast.
+-->
+<familyset version="22">
+    <!-- first font is default -->
+    <family name="sans-serif">
+        <font weight="100" style="normal">Roboto-Thin.ttf</font>
+        <font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
+        <font weight="300" style="normal">Roboto-Light.ttf</font>
+        <font weight="300" style="italic">Roboto-LightItalic.ttf</font>
+        <font weight="400" style="normal">Roboto-Regular.ttf</font>
+        <font weight="400" style="italic">Roboto-Italic.ttf</font>
+        <font weight="500" style="normal">Roboto-Medium.ttf</font>
+        <font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
+        <font weight="900" style="normal">Roboto-Black.ttf</font>
+        <font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
+        <font weight="700" style="normal">Roboto-Bold.ttf</font>
+        <font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
+    </family>
+
+    <!-- Note that aliases must come after the fonts they reference. -->
+    <alias name="sans-serif-thin" to="sans-serif" weight="100" />
+    <alias name="sans-serif-light" to="sans-serif" weight="300" />
+    <alias name="sans-serif-medium" to="sans-serif" weight="500" />
+    <alias name="sans-serif-black" to="sans-serif" weight="900" />
+    <alias name="arial" to="sans-serif" />
+    <alias name="helvetica" to="sans-serif" />
+    <alias name="tahoma" to="sans-serif" />
+    <alias name="verdana" to="sans-serif" />
+
+    <family name="sans-serif-condensed">
+        <font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
+        <font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
+        <font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
+        <font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
+        <font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
+        <font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
+    </family>
+    <alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
+
+    <family name="serif">
+        <font weight="400" style="normal">NotoSerif-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSerif-Bold.ttf</font>
+        <font weight="400" style="italic">NotoSerif-Italic.ttf</font>
+        <font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
+    </family>
+    <alias name="times" to="serif" />
+    <alias name="times new roman" to="serif" />
+    <alias name="palatino" to="serif" />
+    <alias name="georgia" to="serif" />
+    <alias name="baskerville" to="serif" />
+    <alias name="goudy" to="serif" />
+    <alias name="fantasy" to="serif" />
+    <alias name="ITC Stone Serif" to="serif" />
+
+    <family name="monospace">
+        <font weight="400" style="normal">DroidSansMono.ttf</font>
+    </family>
+    <alias name="sans-serif-monospace" to="monospace" />
+    <alias name="monaco" to="monospace" />
+
+    <family name="serif-monospace">
+        <font weight="400" style="normal">CutiveMono.ttf</font>
+    </family>
+    <alias name="courier" to="serif-monospace" />
+    <alias name="courier new" to="serif-monospace" />
+
+    <family name="casual">
+        <font weight="400" style="normal">ComingSoon.ttf</font>
+    </family>
+
+    <family name="cursive">
+        <font weight="400" style="normal">DancingScript-Regular.ttf</font>
+        <font weight="700" style="normal">DancingScript-Bold.ttf</font>
+    </family>
+
+    <family name="sans-serif-smallcaps">
+        <font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
+    </family>
+
+    <!-- fallback fonts -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
+    </family>
+    <!-- Gujarati should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
+    </family>
+    <!-- Gurmukhi should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
+    </family>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansSC-Regular.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansTC-Regular.otf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
+    </family>
+    <family lang="ko">
+        <font weight="400" style="normal">NotoSansKR-Regular.otf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NanumGothic.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">Miui-Regular.ttf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">MTLmr3m.ttf</font>
+    </family>
+    <!--
+        Tai Le and Mongolian are intentionally kept last, to make sure they don't override
+        the East Asian punctuation for Chinese.
+    -->
+    <family>
+        <font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
+    </family>
+</familyset>

dragonpilot/chinese-fonts/installer.sh

@@ -0,0 +1,50 @@
+#!/usr/bin/bash
+
+# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+lang=en
+
+update_font_reg=0
+update_font_bold=0
+remove_old_font=0
+
+# check regular font
+if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
+    update_font_reg=1
+fi
+
+# check bold font
+if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
+    update_font_bold=1
+fi
+
+# check droidsans font
+if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
+    remove_old_font=1
+fi
+
+if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 5 secs in case, make sure the /system is remountable
+    sleep 5
+    mount -o remount,rw /system
+    if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
+        # download regular font
+        if [ $update_font_reg -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
+        fi
+        # download bold font
+        if [ $update_font_bold -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
+        fi
+        # dont new font mapping
+        yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+        chmod 644 /system/etc/fonts.xml
+        chmod 644 /system/fonts/Miui-*
+    fi
+    # remove driodsans font
+    if [ $remove_old_font -eq "1" ]; then
+        rm -fr /system/fonts/DroidSansFallback*.ttf
+    fi
+    mount -o remount,r /system
+    # change system locale
+    setprop persist.sys.locale $lang
+fi

installer/updater/Makefile

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

installer/updater/update.json

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

installer/updater/updater.cc

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

launch_chffrplus.sh

@@ -1,16 +1,29 @@
 #!/usr/bin/bash
 
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
 if [ -z "$PASSIVE" ]; then
   export PASSIVE="1"
 fi
 
 function launch {
   # apply update
-  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-     git reset --hard @{u} &&
-     git clean -xdf &&
-     exec "${BASH_SOURCE[0]}"
-  fi
+#  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+#    git reset --hard @{u} &&
+#    git clean -xdf &&
+#
+#    # Touch all files on release2 after checkout to prevent rebuild
+#    BRANCH=$(git rev-parse --abbrev-ref HEAD)
+#    if [[ "$BRANCH" == "release2" ]]; then
+#        touch **
+#    fi
+#
+#    exec "${BASH_SOURCE[0]}"
+#  fi
 
   # no cpu rationing for now
   echo 0-3 > /dev/cpuset/background/cpus

launch_openpilot.sh

@@ -1,5 +1,6 @@
 #!/usr/bin/bash
 
+/usr/bin/sh /data/openpilot/dragonpilot/chinese-fonts/installer.sh &
 export PASSIVE="0"
 exec ./launch_chffrplus.sh
 

opendbc/chrysler_pacifica_2017_hybrid.dbc

@@ -262,7 +262,7 @@ BO_ 300 NEW_MSG_12C: 8 XXX
 
 BO_ 308 ACCEL_GAS_134: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ ACCEL_134 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX
 
 BO_ 532 ENERGY_RELATED_214: 8 XXX
  SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
@@ -413,6 +413,7 @@ CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 415
 CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
 CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
 CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
+CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal";
 CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
 CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
 CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense";

opendbc/generator/toyota/lexus_rx_350_2016_pt.dbc

@@ -0,0 +1,37 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled" ;
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby" ;
+VAL_ 956 SPORT_ON 0 "off" 1 "on" ;
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P" ;
+VAL_ 956 ECON_ON 0 "off" 1 "on" ;

opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc

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

opendbc/generator/toyota/toyota_nodsu_hybrid_pt.dbc

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

opendbc/generator/toyota/toyota_nodsu_pt.dbc

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

opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc

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

opendbc/hyundai_kia_generic.dbc

@@ -961,7 +961,7 @@ BO_ 64 DATC14: 8 DATC
  SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 
 BO_ 832 LKAS11: 8 LDWS_LKAS
- SG_ CF_Lkas_Icon : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
+ SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
  SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX,PSB
  SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
  SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB

opendbc/lexus_rx_350_2016_pt_generated.dbc

@@ -0,0 +1,335 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ 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_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_rx_350_2016_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled" ;
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby" ;
+VAL_ 956 SPORT_ON 0 "off" 1 "on" ;
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P" ;
+VAL_ 956 ECON_ON 0 "off" 1 "on" ;

opendbc/nissan_2017.dbc

@@ -0,0 +1,184 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 644 Speed_1: 8 XXX
+ SG_ Speed_FR : 7|16@0+ (0.0118,0) [0|65535] "" XXX
+ SG_ Speed_FL : 23|16@0+ (0.0118,0) [0|65535] "" XXX
+ SG_ Speed_Vehicle : 39|16@0+ (0.0245,0) [0|65535] "" XXX
+
+BO_ 645 WheelspeedRear: 8 XXX
+ SG_ RR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
+ SG_ RL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
+
+BO_ 768 STEER_TORQUE: 8 XXX
+ SG_ STEERING_TOURQUE : 0|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 459 Maybe_RegenBraking: 8 XXX
+
+BO_ 372 Maybe_Gear_Selector: 8 XXX
+ SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
+ SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 460 Maybe_Brake_Related: 8 XXX
+
+BO_ 2 SteeringWheel: 8 XXX
+ SG_ Steering_RateChange : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ Always_07 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
+
+BO_ 384 Maybe_PowerInfo: 8 XXX
+ SG_ Unknown_Timer_PowerInfo : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ EnginePower : 27|12@0- (1,0) [0|1] "" XXX
+ SG_ RequestedAccel : 23|12@0- (1,0) [0|4294967295] "" XXX
+
+BO_ 1107 Lights: 8 XXX
+ SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ _HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 666 WheelspeedFront: 8 XXX
+ SG_ _FL_WHEELSPEED : 39|16@0+ (0.01014,0) [0|65535] "" XXX
+ SG_ FR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
+ SG_ FL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
+
+BO_ 398 NEW_MSG_2: 8 XXX
+
+BO_ 389 NEW_MSG_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 22|6@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|127] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 30|8@0- (1,0) [0|255] "" XXX
+
+BO_ 397 NEW_MSG_4: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|31] "" XXX
+
+BO_ 658 NEW_MSG_5: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 855 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 773 NEW_MSG_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 851 SPEED_RELATED: 8 XXX
+ SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
+
+BO_ 386 Accelerator: 8 XXX
+ SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
+
+BO_ 347 ACCELSOMETHING: 8 XXX
+ SG_ PowerMaybe : 9|10@0+ (1,0) [0|1023] "" XXX
+ SG_ ACCELERATOR2 : 6|11@0+ (1,-800) [0|65535] "" XXX
+
+BO_ 346 ANOTHER_ACCEL: 8 XXX
+ SG_ ANOTHERACCEL : 23|10@0+ (1,0) [0|1023] "" XXX
+ SG_ Reverse_ACCEL : 25|10@0+ (1,0) [0|1023] "" XXX
+
+BO_ 348 FULLRANGEACCEL: 8 XXX
+ SG_ AccelFullRange : 47|10@0+ (1,0) [0|1023] "" XXX
+ SG_ Accel : 26|11@0+ (1,0) [0|2047] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 566 ANOTHERFULLRANGEACCEL: 8 XXX
+ SG_ ANOTHERFULLRANGEACCEL : 43|8@0+ (1,0) [0|1023] "" XXX
+ SG_ RPMORTORQUE : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 523 Yetyetanotheraccel: 8 XXX
+ SG_ ANOTHERREVERSEACCEL : 37|10@0+ (1,0) [0|1023] "" XXX
+ SG_ yetyetanotheraccel : 31|10@0+ (1,0) [0|255] "" XXX
+
+BO_ 779 ANOTHERRRFULLRANGEACCEL: 8 XXX
+ SG_ ANOTHERRRFULLRANGEACCEL : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1108 Doors: 8 XXX
+ SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
+ SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 403 LKAS_OLD: 8 XXX
+ SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ Angle_2 : 32|13@0+ (1,-4000) [0|63] "" XXX
+ SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Angle_1 : 10|13@0+ (0.12,-480) [0|65535] "" XXX
+ SG_ Steering_Torque : 7|13@0+ (-1,4000) [0|65535] "" XXX
+ SG_ Torque_Command : 29|13@0+ (1,-4000) [0|255] "" XXX
+
+BO_ 412 NEW_MSG_9: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 361 LKAS: 8 XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_X80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_Active : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ CRC : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ Des_Angle : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+
+BO_ 438 ProPilot: 8 XXX
+ SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|7] "" XXX
+ SG_ Counter : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_3 : 32|2@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|12@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|12@0- (-1,0) [0|255] "" XXX
+ SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_STATUS : 51|1@1+ (1,0) [0|3] "" XXX
+ 

opendbc/toyota_camry_hybrid_2018_pt_generated.dbc

@@ -314,7 +314,7 @@ BO_ 581 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

opendbc/toyota_nodsu_hybrid_pt_generated.dbc

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

opendbc/toyota_nodsu_pt_generated.dbc

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

panda/.circleci/config.yml

@@ -26,22 +26,12 @@ jobs:
           command: |
             mkdir /tmp/misra
             docker run -v /tmp/misra:/tmp/misra panda_misra /bin/bash -c "cd /panda/tests/misra; ./test_misra.sh"
+      - store_artifacts:
+          name: Store cppcheck test output
+          path: /tmp/misra/cppcheck_output.txt
       - store_artifacts:
           name: Store misra test output
-          path: /tmp/misra/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"
+          path: /tmp/misra/misra_output.txt
 
   build:
     machine:
@@ -76,11 +66,38 @@ jobs:
           command: |
             docker run panda_build /bin/bash -c "cd /panda/boardesp; make user1.bin"
 
+  safety_replay:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_safety_replay -f tests/safety_replay/Dockerfile ."
+      - run:
+          name: Replay drives
+          command: |
+            docker run panda_safety_replay /bin/bash -c "cd /openpilot/panda/tests/safety_replay; PYTHONPATH=/openpilot ./test_safety_replay.py"
+
+  language_check:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t language_check -f tests/language/Dockerfile ."
+      - run:
+          name: Check code for bad language
+          command: |
+            docker run language_check /bin/bash -c "cd /panda/tests/language; ./test_language.py"
+
 workflows:
   version: 2
   main:
     jobs:
       - safety
       - misra-c2012
-      - strict-compiler
       - build
+      - safety_replay
+      - language_check

panda/Jenkinsfile

@@ -20,34 +20,54 @@ pipeline {
         }
       }
     }
-    stage('Test Dev Build') {
+    stage('Test Dev Build (no WIFI)') {
       steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
+        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
           timeout(time: 60, unit: 'MINUTES') {
-            sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh '"
+            script {
+              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; SKIPWIFI=1 ./run_automated_tests.sh'"
+              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev_nowifi.xml"
+              sh "docker rm ${env.DOCKER_NAME}"
+            }
           }
         }
       }
     }
     stage('Test EON Build') {
       steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
+        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
           timeout(time: 60, unit: 'MINUTES') {
-            sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
-            sh "touch EON && docker cp EON ${env.DOCKER_NAME}:/EON"
-            sh "docker start -a ${env.DOCKER_NAME}"
+            script {
+              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'touch /EON; cd /tmp/panda; ./run_automated_tests.sh'"
+              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_eon.xml"
+              sh "docker rm ${env.DOCKER_NAME}"
+            }
+          }
+        }
+      }
+    }
+    stage('Test Dev Build (WIFI)') {
+      steps {
+        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
+          timeout(time: 60, unit: 'MINUTES') {
+            script {
+              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh'"
+              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
+              sh "docker rm ${env.DOCKER_NAME}"
+            }
           }
         }
       }
     }
   }
   post {
-    always {
+    failure {
       script {
-        sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_EON.xml"
-        sh "docker rm ${env.DOCKER_NAME}"
+        sh "docker rm ${env.DOCKER_NAME} || true"
       }
+    }
+    always {
       junit "test_results*.xml"
     }
   }
-}
+}

panda/VERSION

@@ -1 +1 @@
-v1.3.1
+v1.4.2

panda/board/Makefile

@@ -1,5 +1,5 @@
 PROJ_NAME = panda
-CFLAGS = -g -Wall
+CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
 
 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
 CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant

panda/board/Makefile.strict

@@ -1,8 +0,0 @@
-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/board.h

@@ -0,0 +1,61 @@
+// ///////////////////////////////////////////////////////////// //
+// Hardware abstraction layer for all different supported boards //
+// ///////////////////////////////////////////////////////////// //
+#include "board_declarations.h"
+#include "boards/common.h"
+
+// ///// Board definition and detection ///// //
+#include "drivers/harness.h"
+#ifdef PANDA
+  #include "boards/white.h"
+  #include "boards/grey.h"
+  #include "boards/black.h"
+#else
+  #include "boards/pedal.h"
+#endif
+
+void detect_board_type(void) {
+  #ifdef PANDA
+    // SPI lines floating: white (TODO: is this reliable?)
+    if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
+      hw_type = HW_TYPE_WHITE_PANDA;
+      current_board = &board_white;
+    } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
+      hw_type = HW_TYPE_GREY_PANDA;
+      current_board = &board_grey;
+    } else {
+      hw_type = HW_TYPE_BLACK_PANDA;
+      current_board = &board_black;
+    }
+  #else
+    #ifdef PEDAL
+      hw_type = HW_TYPE_PEDAL;
+      current_board = &board_pedal;
+    #else 
+      hw_type = HW_TYPE_UNKNOWN;
+      puts("Hardware type is UNKNOWN!\n");
+    #endif
+  #endif
+}
+
+
+// ///// Configuration detection ///// //
+bool has_external_debug_serial = 0;
+bool is_entering_bootmode = 0;
+
+void detect_configuration(void) {
+  // detect if external serial debugging is present
+  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
+
+  #ifdef PANDA
+    // check if the ESP is trying to put me in boot mode
+    is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
+  #else
+    is_entering_bootmode = 0;
+  #endif
+}
+
+// ///// Board functions ///// //
+bool board_has_gps(void) {
+  return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA));
+}

panda/board/board_declarations.h

@@ -0,0 +1,57 @@
+// ******************** Prototypes ********************
+typedef void (*board_init)(void);
+typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
+typedef void (*board_enable_can_transcievers)(bool enabled);
+typedef void (*board_set_led)(uint8_t color, bool enabled);
+typedef void (*board_set_usb_power_mode)(uint8_t mode);
+typedef void (*board_set_esp_gps_mode)(uint8_t mode);
+typedef void (*board_set_can_mode)(uint8_t mode);
+typedef void (*board_usb_power_mode_tick)(uint64_t tcnt);
+typedef bool (*board_check_ignition)(void);
+
+struct board {
+  const char *board_type;
+  const harness_configuration *harness_config;
+  board_init init;
+  board_enable_can_transciever enable_can_transciever;
+  board_enable_can_transcievers enable_can_transcievers;
+  board_set_led set_led;
+  board_set_usb_power_mode set_usb_power_mode;
+  board_set_esp_gps_mode set_esp_gps_mode;
+  board_set_can_mode set_can_mode;
+  board_usb_power_mode_tick usb_power_mode_tick;
+  board_check_ignition check_ignition;
+};
+
+// ******************* Definitions ********************
+// These should match the enum in cereal/log.capnp
+#define HW_TYPE_UNKNOWN 0U
+#define HW_TYPE_WHITE_PANDA 1U
+#define HW_TYPE_GREY_PANDA 2U
+#define HW_TYPE_BLACK_PANDA 3U
+#define HW_TYPE_PEDAL 4U
+
+// LED colors
+#define LED_RED 0U
+#define LED_GREEN 1U
+#define LED_BLUE 2U
+
+// USB power modes
+#define USB_POWER_NONE 0U
+#define USB_POWER_CLIENT 1U
+#define USB_POWER_CDP 2U
+#define USB_POWER_DCP 3U
+
+// ESP modes
+#define ESP_GPS_DISABLED 0U
+#define ESP_GPS_ENABLED 1U
+#define ESP_GPS_BOOTMODE 2U
+
+// CAN modes
+#define CAN_MODE_NORMAL 0U
+#define CAN_MODE_GMLAN_CAN2 1U
+#define CAN_MODE_GMLAN_CAN3 2U
+#define CAN_MODE_OBD_CAN2 3U
+
+// ********************* Globals **********************
+uint8_t usb_power_mode = USB_POWER_NONE;

panda/board/boards/black.h

@@ -0,0 +1,188 @@
+// ///////////////////// //
+// Black Panda + Harness //
+// ///////////////////// //
+
+void black_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    case 1U:
+      set_gpio_output(GPIOC, 1, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOC, 13, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOA, 0, !enabled);
+      break;
+    case 4U:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void black_enable_can_transcievers(bool enabled) {
+  for(uint8_t i=1; i<=4U; i++)
+    black_enable_can_transciever(i, enabled);
+}
+
+void black_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOC, 9, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOC, 7, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOC, 6, !enabled);
+      break;  
+    default:
+      break;
+  }
+}
+
+void black_set_usb_power_mode(uint8_t mode){
+  usb_power_mode = mode;
+  puts("Trying to set USB power mode on black panda. This is not supported.\n");
+}
+
+void black_set_esp_gps_mode(uint8_t mode) {
+  switch (mode) {
+    case ESP_GPS_DISABLED:
+      // ESP OFF
+      set_gpio_output(GPIOC, 14, 0);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    case ESP_GPS_ENABLED:
+      // ESP ON
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 1);
+      break;
+    case ESP_GPS_BOOTMODE:
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    default:
+      puts("Invalid ESP/GPS mode\n");
+      break;
+  }
+}
+
+void black_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+    case CAN_MODE_OBD_CAN2:
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
+        // B12,B13: disable OBD mode
+        set_gpio_mode(GPIOB, 12, MODE_INPUT);
+        set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+        // B5,B6: normal CAN2 mode
+        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+      } else {
+        // B5,B6: disable normal CAN2 mode
+        set_gpio_mode(GPIOB, 5, MODE_INPUT);
+        set_gpio_mode(GPIOB, 6, MODE_INPUT);
+
+        // B12,B13: OBD mode
+        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+      }      
+      break;
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+void black_usb_power_mode_tick(uint64_t tcnt){
+  UNUSED(tcnt);
+  // Not applicable
+}
+
+bool black_check_ignition(void){
+  // ignition is checked through harness
+  return harness_check_ignition();
+}
+
+void black_init(void) {
+  common_init_gpio();
+
+  // A8,A15: normal CAN3 mode
+  set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+  set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
+
+  // C0: OBD_SBU1 (orientation detection)
+  // C3: OBD_SBU2 (orientation detection)
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
+
+  // C10: OBD_SBU1_RELAY (harness relay driving output)
+  // C11: OBD_SBU2_RELAY (harness relay driving output)
+  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
+  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
+  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output(GPIOC, 10, 1);
+  set_gpio_output(GPIOC, 11, 1);
+
+  // C8: FAN aka TIM3_CH3
+  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
+
+  // C12: GPS load switch. Turn on permanently for now
+  set_gpio_output(GPIOC, 12, true);
+  //set_gpio_output(GPIOC, 12, false); //TODO: stupid inverted switch on prototype
+
+  // Initialize harness
+  harness_init();
+
+  // Enable CAN transcievers
+  black_enable_can_transcievers(true);
+
+  // Disable LEDs
+  black_set_led(LED_RED, false);
+  black_set_led(LED_GREEN, false);
+  black_set_led(LED_BLUE, false);
+
+  // Set normal CAN mode
+  black_set_can_mode(CAN_MODE_NORMAL);
+
+  // flip CAN0 and CAN2 if we are flipped
+  if (car_harness_status == HARNESS_STATUS_NORMAL) {
+    can_flip_buses(0, 2);
+  }
+
+  // init multiplexer
+  can_set_obd(car_harness_status, false);
+}
+
+const harness_configuration black_harness_config = {
+  .has_harness = true,
+  .GPIO_SBU1 = GPIOC,
+  .GPIO_SBU2 = GPIOC,
+  .GPIO_relay_normal = GPIOC,
+  .GPIO_relay_flipped = GPIOC,
+  .pin_SBU1 = 0,
+  .pin_SBU2 = 3,
+  .pin_relay_normal = 10,
+  .pin_relay_flipped = 11,
+  .adc_channel_SBU1 = 10,
+  .adc_channel_SBU2 = 13
+};
+
+const board board_black = {
+  .board_type = "Black",
+  .harness_config = &black_harness_config,
+  .init = black_init,
+  .enable_can_transciever = black_enable_can_transciever,
+  .enable_can_transcievers = black_enable_can_transcievers,
+  .set_led = black_set_led,
+  .set_usb_power_mode = black_set_usb_power_mode,
+  .set_esp_gps_mode = black_set_esp_gps_mode,
+  .set_can_mode = black_set_can_mode,
+  .usb_power_mode_tick = black_usb_power_mode_tick,
+  .check_ignition = black_check_ignition
+};

panda/board/boards/common.h

@@ -0,0 +1,82 @@
+#ifdef STM32F4
+  #include "stm32f4xx_hal_gpio_ex.h"
+#else
+  #include "stm32f2xx_hal_gpio_ex.h"
+#endif
+
+// Common GPIO initialization
+void common_init_gpio(void){
+  // TODO: Is this block actually doing something???
+  // pull low to hold ESP in reset??
+  // enable OTG out tied to ground
+  GPIOA->ODR = 0;
+  GPIOB->ODR = 0;
+  GPIOA->PUPDR = 0;
+  GPIOB->AFR[0] = 0;
+  GPIOB->AFR[1] = 0;
+
+  // C2: Voltage sense line
+  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
+
+  // A11,A12: USB
+  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
+  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
+  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
+
+  // A9,A10: USART 1 for talking to the ESP / GPS
+  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
+  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
+
+   // B8,B9: CAN 1
+  #ifdef STM32F4
+    set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
+    set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
+  #else
+    set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
+    set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
+  #endif
+}
+
+// Peripheral initialization
+void peripherals_init(void){
+  // enable GPIOB, UART2, CAN, USB clock
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
+
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
+  #ifdef PANDA
+    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
+  #ifdef CAN3
+    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
+  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
+  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
+  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
+  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
+  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
+}
+
+// Detection with internal pullup
+#define PULL_EFFECTIVE_DELAY 10
+bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
+  set_gpio_mode(GPIO, pin, MODE_INPUT);
+  set_gpio_pullup(GPIO, pin, mode);
+  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
+  bool ret = get_gpio_input(GPIO, pin);
+  set_gpio_pullup(GPIO, pin, PULL_NONE);
+  return ret;
+}

panda/board/boards/grey.h

@@ -0,0 +1,18 @@
+// ////////// //
+// Grey Panda //
+// ////////// //
+
+// Most hardware functionality is similar to white panda
+const board board_grey = {
+  .board_type = "Grey",
+  .harness_config = &white_harness_config,
+  .init = white_init,
+  .enable_can_transciever = white_enable_can_transciever,
+  .enable_can_transcievers = white_enable_can_transcievers,
+  .set_led = white_set_led,
+  .set_usb_power_mode = white_set_usb_power_mode,
+  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_can_mode = white_set_can_mode,
+  .usb_power_mode_tick = white_usb_power_mode_tick,
+  .check_ignition = white_check_ignition
+};

panda/board/boards/pedal.h

@@ -0,0 +1,96 @@
+// ///// //
+// Pedal //
+// ///// //
+
+void pedal_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    case 1:
+      set_gpio_output(GPIOB, 3, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void pedal_enable_can_transcievers(bool enabled) {
+  pedal_enable_can_transciever(1U, enabled);
+}
+
+void pedal_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOB, 11, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void pedal_set_usb_power_mode(uint8_t mode){
+  usb_power_mode = mode;
+  puts("Trying to set USB power mode on pedal. This is not supported.\n");
+}
+
+void pedal_set_esp_gps_mode(uint8_t mode) {
+  UNUSED(mode);
+  puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
+}
+
+void pedal_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+      break;
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+void pedal_usb_power_mode_tick(uint64_t tcnt){
+  UNUSED(tcnt);
+  // Not applicable
+}
+
+bool pedal_check_ignition(void){
+  // not supported on pedal
+  return false;
+}
+
+void pedal_init(void) {
+  common_init_gpio();
+
+  // C0, C1: Throttle inputs
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 1, MODE_ANALOG);
+  // DAC outputs on A4 and A5
+  //   apparently they don't need GPIO setup
+
+  // Enable transciever
+  pedal_enable_can_transcievers(true);
+
+  // Disable LEDs
+  pedal_set_led(LED_RED, false);
+  pedal_set_led(LED_GREEN, false);
+}
+
+const harness_configuration pedal_harness_config = {
+  .has_harness = false
+};
+
+const board board_pedal = {
+  .board_type = "Pedal",
+  .harness_config = &pedal_harness_config,
+  .init = pedal_init,
+  .enable_can_transciever = pedal_enable_can_transciever,
+  .enable_can_transcievers = pedal_enable_can_transcievers,
+  .set_led = pedal_set_led,
+  .set_usb_power_mode = pedal_set_usb_power_mode,
+  .set_esp_gps_mode = pedal_set_esp_gps_mode,
+  .set_can_mode = pedal_set_can_mode,
+  .usb_power_mode_tick = pedal_usb_power_mode_tick,
+  .check_ignition = pedal_check_ignition,
+};

panda/board/boards/white.h

@@ -0,0 +1,306 @@
+// /////////// //
+// White Panda //
+// /////////// //
+
+void white_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    case 1U:
+      set_gpio_output(GPIOC, 1, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOC, 13, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOA, 0, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void white_enable_can_transcievers(bool enabled) {
+  for(uint8_t i=1; i<=3U; i++)
+    white_enable_can_transciever(i, enabled);
+}
+
+void white_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOC, 9, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOC, 7, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOC, 6, !enabled);
+      break;  
+    default:
+      break;
+  }
+}
+
+void white_set_usb_power_mode(uint8_t mode){
+  bool valid_mode = true;
+  switch (mode) {
+    case USB_POWER_CLIENT:
+      // B2,A13: set client mode
+      set_gpio_output(GPIOB, 2, 0);
+      set_gpio_output(GPIOA, 13, 1);
+      break;
+    case USB_POWER_CDP:
+      // B2,A13: set CDP mode
+      set_gpio_output(GPIOB, 2, 1);
+      set_gpio_output(GPIOA, 13, 1);
+      break;
+    case USB_POWER_DCP:
+      // B2,A13: set DCP mode on the charger (breaks USB!)
+      set_gpio_output(GPIOB, 2, 0);
+      set_gpio_output(GPIOA, 13, 0);
+      break;
+    default:
+      valid_mode = false;
+      puts("Invalid usb power mode\n");
+      break;
+  }
+
+  if (valid_mode) {
+    usb_power_mode = mode;
+  }
+}
+
+void white_set_esp_gps_mode(uint8_t mode) {
+  switch (mode) {
+    case ESP_GPS_DISABLED:
+      // ESP OFF
+      set_gpio_output(GPIOC, 14, 0);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    case ESP_GPS_ENABLED:
+      // ESP ON
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 1);
+      break;
+    case ESP_GPS_BOOTMODE:
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    default:
+      puts("Invalid ESP/GPS mode\n");
+      break;
+  }
+}
+
+void white_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+      // B12,B13: disable GMLAN mode
+      set_gpio_mode(GPIOB, 12, MODE_INPUT);
+      set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+      // B3,B4: disable GMLAN mode
+      set_gpio_mode(GPIOB, 3, MODE_INPUT);
+      set_gpio_mode(GPIOB, 4, MODE_INPUT);
+
+      // B5,B6: normal CAN2 mode
+      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+
+      // A8,A15: normal CAN3 mode
+      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
+      break;
+    case CAN_MODE_GMLAN_CAN2:
+      // B5,B6: disable CAN2 mode
+      set_gpio_mode(GPIOB, 5, MODE_INPUT);
+      set_gpio_mode(GPIOB, 6, MODE_INPUT);
+
+      // B3,B4: disable GMLAN mode
+      set_gpio_mode(GPIOB, 3, MODE_INPUT);
+      set_gpio_mode(GPIOB, 4, MODE_INPUT);
+
+      // B12,B13: GMLAN mode
+      set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+
+      // A8,A15: normal CAN3 mode
+      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);   
+      break;
+    case CAN_MODE_GMLAN_CAN3:
+      // A8,A15: disable CAN3 mode
+      set_gpio_mode(GPIOA, 8, MODE_INPUT);
+      set_gpio_mode(GPIOA, 15, MODE_INPUT);
+
+      // B12,B13: disable GMLAN mode
+      set_gpio_mode(GPIOB, 12, MODE_INPUT);
+      set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+      // B3,B4: GMLAN mode
+      set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
+
+      // B5,B6: normal CAN2 mode
+      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+      break;  
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+uint64_t marker = 0;
+void white_usb_power_mode_tick(uint64_t tcnt){
+  #ifndef BOOTSTUB
+  #define CURRENT_THRESHOLD 0xF00U
+  #define CLICKS 5U // 5 seconds to switch modes
+
+  uint32_t current = adc_get(ADCCHAN_CURRENT);
+
+  // ~0x9a = 500 ma
+  // puth(current); puts("\n");
+
+  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
+          white_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");
+            white_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");
+          white_set_usb_power_mode(USB_POWER_CDP);
+          marker = tcnt;
+        }
+      }
+      // keep resetting the timer if there's current draw in DCP
+      if (current < CURRENT_THRESHOLD) {
+        marker = tcnt;
+      }
+      break;
+    default:
+      puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
+      break;
+  }
+  #else
+  UNUSED(tcnt);
+  #endif
+}
+
+bool white_check_ignition(void){
+  // ignition is on PA1
+  return !get_gpio_input(GPIOA, 1);
+}
+
+void white_init(void) {
+  common_init_gpio();
+
+  // C3: current sense
+  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
+
+  // A1: started_alt
+  set_gpio_pullup(GPIOA, 1, PULL_UP);
+
+  // A2, A3: USART 2 for debugging
+  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
+  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
+
+  // A4, A5, A6, A7: SPI
+  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
+
+  // Set USB power mode
+  white_set_usb_power_mode(USB_POWER_CLIENT);
+
+  // B12: GMLAN, ignition sense, pull up
+  set_gpio_pullup(GPIOB, 12, PULL_UP);
+
+  /* GMLAN mode pins:
+      M0(B15)  M1(B14)  mode
+      =======================
+      0        0        sleep
+      1        0        100kbit
+      0        1        high voltage wakeup
+      1        1        33kbit (normal)
+  */
+  set_gpio_output(GPIOB, 14, 1);
+  set_gpio_output(GPIOB, 15, 1);
+
+  // B7: K-line enable
+  set_gpio_output(GPIOB, 7, 1);
+
+  // C12, D2: Setup K-line (UART5)
+  set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
+  set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
+  set_gpio_pullup(GPIOD, 2, PULL_UP);
+
+  // L-line enable
+  set_gpio_output(GPIOA, 14, 1);
+
+  // C10, C11: L-Line setup (USART3)
+  set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+  set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
+  set_gpio_pullup(GPIOC, 11, PULL_UP);
+
+  // Enable CAN transcievers
+  white_enable_can_transcievers(true);
+
+  // Disable LEDs
+  white_set_led(LED_RED, false);
+  white_set_led(LED_GREEN, false);
+  white_set_led(LED_BLUE, false);
+
+  // Set normal CAN mode
+  white_set_can_mode(CAN_MODE_NORMAL);
+}
+
+const harness_configuration white_harness_config = {
+  .has_harness = false
+};
+
+const board board_white = {
+  .board_type = "White",
+  .harness_config = &white_harness_config,
+  .init = white_init,
+  .enable_can_transciever = white_enable_can_transciever,
+  .enable_can_transcievers = white_enable_can_transcievers,
+  .set_led = white_set_led,
+  .set_usb_power_mode = white_set_usb_power_mode,
+  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_can_mode = white_set_can_mode,
+  .usb_power_mode_tick = white_usb_power_mode_tick,
+  .check_ignition = white_check_ignition
+};

panda/board/bootstub.c

@@ -12,15 +12,29 @@
   #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) {}
+// ******************** Prototypes ********************
+void puts(const char *a){ UNUSED(a); }
+void puth(unsigned int i){ UNUSED(i); }
+void puth2(unsigned int i){ UNUSED(i); }
+typedef struct board board;
+typedef struct harness_configuration harness_configuration;
+// No CAN support on bootloader
+void can_flip_buses(uint8_t bus1, uint8_t bus2){UNUSED(bus1); UNUSED(bus2);}
+void can_set_obd(int harness_orientation, bool obd){UNUSED(harness_orientation); UNUSED(obd);}
 
+// ********************* Globals **********************
+int hw_type = 0;
+const board *current_board;
+
+// ********************* Includes *********************
 #include "libc.h"
 #include "provision.h"
 
 #include "drivers/clock.h"
 #include "drivers/llgpio.h"
+
+#include "board.h"
+
 #include "gpio.h"
 
 #include "drivers/spi.h"
@@ -34,11 +48,11 @@ void puth(unsigned int i) {}
 
 #include "spi_flasher.h"
 
-void __initialize_hardware_early() {
+void __initialize_hardware_early(void) {
   early();
 }
 
-void fail() {
+void fail(void) {
   soft_flasher_start();
 }
 
@@ -48,14 +62,13 @@ extern void *_app_start[];
 // FIXME: sometimes your panda will fail flashing and will quickly blink a single Green LED
 // BOUNTY: $200 coupon on shop.comma.ai or $100 check.
 
-int main() {
+int main(void) {
   __disable_irq();
   clock_init();
-  detect();
+  detect_configuration();
+  detect_board_type();
 
-  if (revision == PANDA_REV_C) {
-    set_usb_power_mode(USB_POWER_CLIENT);
-  }
+  current_board->set_usb_power_mode(USB_POWER_CLIENT);
 
   if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
     enter_bootloader_mode = 0;
@@ -88,7 +101,7 @@ fail:
   return 0;
 good:
   // jump to flash
-  ((void(*)()) _app_start[1])();
+  ((void(*)(void)) _app_start[1])();
   return 0;
 }
 

panda/board/build.mk

@@ -2,12 +2,15 @@ CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os
 
 CFLAGS += -Tstm32_flash.ld
 
+DFU_UTIL = "dfu-util"
+
 # Compile fast charge (DCP) only not on EON
 ifeq (,$(wildcard /EON))
   BUILDER = DEV
 else
   CFLAGS += "-DEON"
   BUILDER = EON
+  DFU_UTIL = "tools/dfu-util-aarch64"
 endif
 
 CC = arm-none-eabi-gcc
@@ -22,7 +25,6 @@ else
   CFLAGS += "-DALLOW_DEBUG"
 endif
 
-DFU_UTIL = "dfu-util"
 
 DEPDIR = generated_dependencies
 $(shell mkdir -p -m 777 $(DEPDIR) >/dev/null)
@@ -66,7 +68,7 @@ obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
 	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
 	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
 	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; \
-	if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
+	if [ $$BINSIZE -ge 49152 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
 
 obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
 	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^

panda/board/config.h

@@ -12,29 +12,29 @@
   #include "stm32f2xx.h"
 #endif
 
-#define USB_VID 0xbbaa
+#define USB_VID 0xbbaaU
 
 #ifdef BOOTSTUB
-#define USB_PID 0xddee
+#define USB_PID 0xddeeU
 #else
-#define USB_PID 0xddcc
+#define USB_PID 0xddccU
 #endif
 
 #include <stdbool.h>
 #define NULL ((void*)0)
-#define COMPILE_TIME_ASSERT(pred) switch(0){case 0:case pred:;}
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred)))]))
 
-#define min(a,b) \
+#define MIN(a,b) \
  ({ __typeof__ (a) _a = (a); \
      __typeof__ (b) _b = (b); \
-   _a < _b ? _a : _b; })
+   (_a < _b) ? _a : _b; })
 
-#define max(a,b) \
+#define MAX(a,b) \
  ({ __typeof__ (a) _a = (a); \
      __typeof__ (b) _b = (b); \
-   _a > _b ? _a : _b; })
+   (_a > _b) ? _a : _b; })
 
-#define MAX_RESP_LEN 0x40
+#define MAX_RESP_LEN 0x40U
 
 #endif
 

panda/board/drivers/adc.h

@@ -8,7 +8,7 @@
 #define ADCCHAN_VOLTAGE 12
 #define ADCCHAN_CURRENT 13
 
-void adc_init() {
+void adc_init(void) {
   // global setup
   ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
   //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
@@ -19,7 +19,7 @@ void adc_init() {
   ADC1->SMPR1 = ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
 }
 
-uint32_t adc_get(int channel) {
+uint32_t adc_get(unsigned int channel) {
   // includes length
   //ADC1->SQR1 = 0;
 

panda/board/drivers/can.h

@@ -3,34 +3,36 @@
 //       CAN3_TX, CAN3_RX0, CAN3_SCE
 
 typedef struct {
-  uint32_t w_ptr;
-  uint32_t r_ptr;
+  volatile uint32_t w_ptr;
+  volatile uint32_t r_ptr;
   uint32_t fifo_size;
   CAN_FIFOMailBox_TypeDef *elems;
 } can_ring;
 
-#define CAN_BUS_RET_FLAG 0x80
-#define CAN_BUS_NUM_MASK 0x7F
+#define CAN_BUS_RET_FLAG 0x80U
+#define CAN_BUS_NUM_MASK 0x7FU
 
-#define BUS_MAX 4
+#define BUS_MAX 4U
 
+uint32_t can_send_errs = 0;
+uint32_t can_fwd_errs = 0;
+uint32_t gmlan_send_errs = 0;
 extern int can_live, pending_can_live;
 
 // must reinit after changing these
 extern int can_loopback, can_silent;
-extern uint32_t can_speed[];
+extern uint32_t can_speed[4];
 
 void can_set_forwarding(int from, int to);
 
 void can_init(uint8_t can_number);
-void can_init_all();
+void can_init_all(void);
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
-int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
+bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 
 // end API
 
 #define ALL_CAN_SILENT 0xFF
-#define ALL_CAN_BUT_MAIN_SILENT 0xFE
 #define ALL_CAN_LIVE 0
 
 int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
@@ -48,16 +50,26 @@ can_buffer(tx3_q, 0x100)
 can_buffer(txgmlan_q, 0x100)
 can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
 
+// global CAN stats
+int can_rx_cnt = 0;
+int can_tx_cnt = 0;
+int can_txd_cnt = 0;
+int can_err_cnt = 0;
+int can_overflow_cnt = 0;
+
 // ********************* interrupt safe queue *********************
 
-int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  int ret = 0;
+bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = 0;
 
   enter_critical_section();
   if (q->w_ptr != q->r_ptr) {
     *elem = q->elems[q->r_ptr];
-    if ((q->r_ptr + 1) == q->fifo_size) q->r_ptr = 0;
-    else q->r_ptr += 1;
+    if ((q->r_ptr + 1U) == q->fifo_size) {
+      q->r_ptr = 0;
+    } else {
+      q->r_ptr += 1U;
+    }
     ret = 1;
   }
   exit_critical_section();
@@ -65,20 +77,28 @@ int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
   return ret;
 }
 
-int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  int ret = 0;
+bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = false;
   uint32_t next_w_ptr;
 
   enter_critical_section();
-  if ((q->w_ptr + 1) == q->fifo_size) next_w_ptr = 0;
-  else next_w_ptr = q->w_ptr + 1;
+  if ((q->w_ptr + 1U) == q->fifo_size) {
+    next_w_ptr = 0;
+  } else {
+    next_w_ptr = q->w_ptr + 1U;
+  }
   if (next_w_ptr != q->r_ptr) {
     q->elems[q->w_ptr] = *elem;
     q->w_ptr = next_w_ptr;
-    ret = 1;
+    ret = true;
   }
   exit_critical_section();
-  if (ret == 0) puts("can_push failed!\n");
+  if (!ret) {
+    can_overflow_cnt++;
+    #ifdef DEBUG
+      puts("can_push failed!\n");
+    #endif
+  }
   return ret;
 }
 
@@ -98,11 +118,6 @@ void can_clear(can_ring *q) {
 // can_num_lookup: Translates from 'bus number' to 'can number'.
 // can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
 
-int can_rx_cnt = 0;
-int can_tx_cnt = 0;
-int can_txd_cnt = 0;
-int can_err_cnt = 0;
-
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
 CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
 uint8_t bus_lookup[] = {0,1,2};
@@ -112,8 +127,8 @@ uint32_t can_speed[] = {5000, 5000, 5000, 333};
 #define CAN_MAX 3
 
 #define CANIF_FROM_CAN_NUM(num) (cans[num])
-#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : (CAN==CAN2 ? 1 : 2))
-#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : (CAN==CAN2 ? "CAN2" : "CAN3"))
+#define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
+#define CAN_NAME_FROM_CANIF(CAN) ((CAN)==CAN1 ? "CAN1" : ((CAN) == CAN2 ? "CAN2" : "CAN3"))
 #define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
 #define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
 
@@ -123,76 +138,111 @@ void can_set_speed(uint8_t can_number) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  while (true) {
-    if (llcan_set_speed(CAN, can_speed[bus_number], can_loopback, can_silent & (1 << can_number))) {
-      return;
-    }
-
+  if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number))) {
     puts("CAN init FAILED!!!!!\n");
     puth(can_number); puts(" ");
     puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
-    return;
   }
 }
 
 void can_init(uint8_t can_number) {
-  if (can_number == 0xff) return;
+  if (can_number != 0xffU) {
+    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    can_set_speed(can_number);
 
-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  set_can_enable(CAN, 1);
-  can_set_speed(can_number);
+    llcan_init(CAN);
 
-  llcan_init(CAN);
-
-  // in case there are queued up messages
-  process_can(can_number);
+    // in case there are queued up messages
+    process_can(can_number);
+  }
 }
 
-void can_init_all() {
+void can_init_all(void) {
   for (int i=0; i < CAN_MAX; i++) {
     can_init(i);
   }
 }
 
-void can_set_gmlan(int bus) {
-  if (bus == -1 || bus != can_num_lookup[3]) {
-    // GMLAN OFF
-    switch (can_num_lookup[3]) {
+void can_flip_buses(uint8_t bus1, uint8_t bus2){
+  bus_lookup[bus1] = bus2;
+  bus_lookup[bus2] = bus1;
+  can_num_lookup[bus1] = bus2;
+  can_num_lookup[bus2] = bus1;
+}
+
+// TODO: Cleanup with new abstraction
+void can_set_gmlan(uint8_t bus) {
+  if(hw_type != HW_TYPE_BLACK_PANDA){
+    // first, disable GMLAN on prev bus
+    uint8_t prev_bus = can_num_lookup[3];
+    if (bus != prev_bus) {
+      switch (prev_bus) {
+        case 1:
+        case 2:
+          puts("Disable GMLAN on CAN");
+          puth(prev_bus + 1U);
+          puts("\n");
+          current_board->set_can_mode(CAN_MODE_NORMAL);
+          bus_lookup[prev_bus] = prev_bus;
+          can_num_lookup[prev_bus] = prev_bus;
+          can_num_lookup[3] = -1;
+          can_init(prev_bus);
+          break;
+        default:
+          // GMLAN was not set on either BUS 1 or 2
+          break;
+      }
+    }
+
+    // now enable GMLAN on the new bus
+    switch (bus) {
       case 1:
-        puts("disable GMLAN on CAN2\n");
-        set_can_mode(1, 0);
-        bus_lookup[1] = 1;
-        can_num_lookup[1] = 1;
-        can_num_lookup[3] = -1;
-        can_init(1);
-        break;
       case 2:
-        puts("disable GMLAN on CAN3\n");
-        set_can_mode(2, 0);
-        bus_lookup[2] = 2;
-        can_num_lookup[2] = 2;
-        can_num_lookup[3] = -1;
-        can_init(2);
+        puts("Enable GMLAN on CAN");
+        puth(bus + 1U);
+        puts("\n");
+        current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
+        bus_lookup[bus] = 3;
+        can_num_lookup[bus] = -1;
+        can_num_lookup[3] = bus;
+        can_init(bus);
+        break;
+      case 0xFF:  //-1 unsigned
+        break;
+      default:
+        puts("GMLAN can only be set on CAN2 or CAN3\n");
         break;
     }
+  } else {
+    puts("GMLAN not available on black panda\n");
   }
+}
 
-  if (bus == 1) {
-    puts("GMLAN on CAN2\n");
-    // GMLAN on CAN2
-    set_can_mode(1, 1);
-    bus_lookup[1] = 3;
-    can_num_lookup[1] = -1;
-    can_num_lookup[3] = 1;
-    can_init(1);
-  } else if (bus == 2) {
-    puts("GMLAN on CAN3\n");
-    // GMLAN on CAN3
-    set_can_mode(2, 1);
-    bus_lookup[2] = 3;
-    can_num_lookup[2] = -1;
-    can_num_lookup[3] = 2;
-    can_init(2);
+// TODO: remove
+void can_set_obd(uint8_t harness_orientation, bool obd){
+  if(obd){
+    puts("setting CAN2 to be OBD\n");
+  } else {
+    puts("setting CAN2 to be normal\n");
+  }
+  if(hw_type == HW_TYPE_BLACK_PANDA){
+    if(obd != (bool)(harness_orientation == HARNESS_STATUS_NORMAL)){
+        // B5,B6: disable normal mode
+        set_gpio_mode(GPIOB, 5, MODE_INPUT);
+        set_gpio_mode(GPIOB, 6, MODE_INPUT);
+        // B12,B13: CAN2 mode
+        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+    } else {
+        // B5,B6: CAN2 mode
+        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+        // B12,B13: disable normal mode
+        set_gpio_mode(GPIOB, 12, MODE_INPUT);
+        set_gpio_mode(GPIOB, 13, MODE_INPUT);
+    }
+  } else {
+    puts("OBD CAN not available on non-black panda\n");
   }
 }
 
@@ -227,67 +277,58 @@ void can_sce(CAN_TypeDef *CAN) {
 // ***************************** CAN *****************************
 
 void process_can(uint8_t can_number) {
-  if (can_number == 0xff) return;
+  if (can_number != 0xffU) {
 
-  enter_critical_section();
+    enter_critical_section();
 
-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  #ifdef DEBUG
-    puts("process CAN TX\n");
-  #endif
+    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  // check for empty mailbox
-  CAN_FIFOMailBox_TypeDef to_send;
-  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
-    // add successfully transmitted message to my fifo
-    if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
-      can_txd_cnt += 1;
+    // check for empty mailbox
+    CAN_FIFOMailBox_TypeDef to_send;
+    if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+      // add successfully transmitted message to my fifo
+      if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
+        can_txd_cnt += 1;
 
-      if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
-        CAN_FIFOMailBox_TypeDef to_push;
-        to_push.RIR = CAN->sTxMailBox[0].TIR;
-        to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
-        to_push.RDLR = CAN->sTxMailBox[0].TDLR;
-        to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-        can_push(&can_rx_q, &to_push);
+        if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
+          CAN_FIFOMailBox_TypeDef to_push;
+          to_push.RIR = CAN->sTxMailBox[0].TIR;
+          to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
+          to_push.RDLR = CAN->sTxMailBox[0].TDLR;
+          to_push.RDHR = CAN->sTxMailBox[0].TDHR;
+          can_send_errs += !can_push(&can_rx_q, &to_push);
+        }
+
+        if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
+          #ifdef DEBUG
+            puts("CAN TX ERROR!\n");
+          #endif
+        }
+
+        if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
+          #ifdef DEBUG
+            puts("CAN TX ARBITRATION LOST!\n");
+          #endif
+        }
+
+        // clear interrupt
+        // careful, this can also be cleared by requesting a transmission
+        CAN->TSR |= CAN_TSR_RQCP0;
       }
 
-      if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
-        #ifdef DEBUG
-          puts("CAN TX ERROR!\n");
-        #endif
+      if (can_pop(can_queues[bus_number], &to_send)) {
+        can_tx_cnt += 1;
+        // only send if we have received a packet
+        CAN->sTxMailBox[0].TDLR = to_send.RDLR;
+        CAN->sTxMailBox[0].TDHR = to_send.RDHR;
+        CAN->sTxMailBox[0].TDTR = to_send.RDTR;
+        CAN->sTxMailBox[0].TIR = to_send.RIR;
       }
-
-      if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
-        #ifdef DEBUG
-          puts("CAN TX ARBITRATION LOST!\n");
-        #endif
-      }
-
-      // clear interrupt
-      // careful, this can also be cleared by requesting a transmission
-      CAN->TSR |= CAN_TSR_RQCP0;
     }
 
-    if (can_pop(can_queues[bus_number], &to_send)) {
-      if (CAN->MCR & CAN_MCR_SLEEP) {
-        set_can_enable(CAN, 1);
-        CAN->MCR &= ~(CAN_MCR_SLEEP);
-        CAN->MCR |= CAN_MCR_INRQ;
-        while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-        CAN->MCR &= ~(CAN_MCR_INRQ);
-      }
-      can_tx_cnt += 1;
-      // only send if we have received a packet
-      CAN->sTxMailBox[0].TDLR = to_send.RDLR;
-      CAN->sTxMailBox[0].TDHR = to_send.RDHR;
-      CAN->sTxMailBox[0].TDTR = to_send.RDTR;
-      CAN->sTxMailBox[0].TIR = to_send.RIR;
-    }
+    exit_critical_section();
   }
-
-  exit_critical_section();
 }
 
 // CAN receive handlers
@@ -295,7 +336,7 @@ void process_can(uint8_t can_number) {
 void can_rx(uint8_t can_number) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  while (CAN->RF0R & CAN_RF0R_FMP0) {
+  while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
     can_rx_cnt += 1;
 
     // can is live
@@ -312,7 +353,7 @@ void can_rx(uint8_t can_number) {
     to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
 
     // forwarding (panda only)
-    int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+    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
@@ -324,37 +365,37 @@ void can_rx(uint8_t can_number) {
 
     safety_rx_hook(&to_push);
 
-    set_led(LED_BLUE, 1);
-    can_push(&can_rx_q, &to_push);
+    current_board->set_led(LED_BLUE, true);
+    can_send_errs += !can_push(&can_rx_q, &to_push);
 
     // next
     CAN->RF0R |= CAN_RF0R_RFOM0;
   }
 }
 
-void CAN1_TX_IRQHandler() { process_can(0); }
-void CAN1_RX0_IRQHandler() { can_rx(0); }
-void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
+void CAN1_TX_IRQHandler(void) { process_can(0); }
+void CAN1_RX0_IRQHandler(void) { can_rx(0); }
+void CAN1_SCE_IRQHandler(void) { can_sce(CAN1); }
 
-void CAN2_TX_IRQHandler() { process_can(1); }
-void CAN2_RX0_IRQHandler() { can_rx(1); }
-void CAN2_SCE_IRQHandler() { can_sce(CAN2); }
+void CAN2_TX_IRQHandler(void) { process_can(1); }
+void CAN2_RX0_IRQHandler(void) { can_rx(1); }
+void CAN2_SCE_IRQHandler(void) { can_sce(CAN2); }
 
-void CAN3_TX_IRQHandler() { process_can(2); }
-void CAN3_RX0_IRQHandler() { can_rx(2); }
-void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
+void CAN3_TX_IRQHandler(void) { process_can(2); }
+void CAN3_RX0_IRQHandler(void) { can_rx(2); }
+void CAN3_SCE_IRQHandler(void) { can_sce(CAN3); }
 
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
-  if (safety_tx_hook(to_push)) {
+  if (safety_tx_hook(to_push) != 0) {
     if (bus_number < BUS_MAX) {
       // add CAN packet to send queue
       // bus number isn't passed through
       to_push->RDTR &= 0xF;
-      if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
+      if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
         // TODO: why uint8 bro? only int8?
-        bitbang_gmlan(to_push);
+        gmlan_send_errs += !bitbang_gmlan(to_push);
       } else {
-        can_push(can_queues[bus_number], to_push);
+        can_fwd_errs += !can_push(can_queues[bus_number], to_push);
         process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
       }
     }

panda/board/drivers/clock.h

@@ -1,9 +1,9 @@
-void clock_init() {
+void clock_init(void) {
   // enable external oscillator
   RCC->CR |= RCC_CR_HSEON;
   while ((RCC->CR & RCC_CR_HSERDY) == 0);
 
-  // divide shit
+  // divide things
   RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
 
   // 16mhz crystal
@@ -25,7 +25,7 @@ void clock_init() {
   // *** running on PLL ***
 }
 
-void watchdog_init() {
+void watchdog_init(void) {
   // setup watchdog
   IWDG->KR = 0x5555;
   IWDG->PR = 0;          // divider /4
@@ -34,7 +34,7 @@ void watchdog_init() {
   IWDG->KR = 0xCCCC;
 }
 
-void watchdog_feed() {
+void watchdog_feed(void) {
   IWDG->KR = 0xAAAA;
 }
 

panda/board/drivers/dac.h

@@ -1,4 +1,7 @@
-void dac_init() {
+void puth(unsigned int i);
+void puts(const char *a);
+
+void dac_init(void) {
   // no buffers required since we have an opamp
   //DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
   DAC->DHR12R1 = 0;
@@ -11,6 +14,10 @@ void dac_set(int channel, uint32_t value) {
     DAC->DHR12R1 = value;
   } else if (channel == 1) {
     DAC->DHR12R2 = value;
+  } else {
+    puts("Failed to set DAC: invalid channel value: ");
+    puth(value);
+    puts("\n");
   }
 }
 

panda/board/drivers/gmlan_alt.h

@@ -9,7 +9,7 @@
 
 #define MAX_BITS_CAN_PACKET (200)
 
-int gmlan_alt_mode = DISABLED; 
+int gmlan_alt_mode = DISABLED;
 
 // returns out_len
 int do_bitstuff(char *out, char *in, int in_len) {
@@ -18,7 +18,8 @@ int do_bitstuff(char *out, char *in, int in_len) {
   int j = 0;
   for (int i = 0; i < in_len; i++) {
     char bit = in[i];
-    out[j++] = bit;
+    out[j] = bit;
+    j++;
 
     // do the stuffing
     if (bit == last_bit) {
@@ -26,7 +27,8 @@ int do_bitstuff(char *out, char *in, int in_len) {
       if (bit_cnt == 5) {
         // 5 in a row the same, do stuff
         last_bit = !bit;
-        out[j++] = last_bit;
+        out[j] = last_bit;
+        j++;
         bit_cnt = 1;
       }
     } else {
@@ -39,32 +41,38 @@ int do_bitstuff(char *out, char *in, int in_len) {
 }
 
 int append_crc(char *in, int in_len) {
-  int crc = 0;
+  unsigned int crc = 0;
   for (int i = 0; i < in_len; i++) {
     crc <<= 1;
-    if (in[i] ^ ((crc>>15)&1)) {
-      crc = crc ^ 0x4599;
+    if (((unsigned int)(in[i]) ^ ((crc >> 15) & 1U)) != 0U) {
+      crc = crc ^ 0x4599U;
     }
-    crc &= 0x7fff;
+    crc &= 0x7fffU;
   }
+  int in_len_copy = in_len;
   for (int i = 14; i >= 0; i--) {
-    in[in_len++] = (crc>>i)&1;
+    in[in_len_copy] = (crc >> (unsigned int)(i)) & 1U;
+    in_len_copy++;
   }
-  return in_len;
+  return in_len_copy;
 }
 
 int append_bits(char *in, int in_len, char *app, int app_len) {
+  int in_len_copy = in_len;
   for (int i = 0; i < app_len; i++) {
-    in[in_len++] = app[i];
+    in[in_len_copy] = app[i];
+    in_len_copy++;
   }
-  return in_len;
+  return in_len_copy;
 }
 
 int append_int(char *in, int in_len, int val, int val_len) {
-  for (int i = val_len-1; i >= 0; i--) {
-    in[in_len++] = (val&(1<<i)) != 0;
+  int in_len_copy = in_len;
+  for (int i = val_len - 1; i >= 0; i--) {
+    in[in_len_copy] = ((unsigned int)(val) & (1U << (unsigned int)(i))) != 0U;
+    in_len_copy++;
   }
-  return in_len;
+  return in_len_copy;
 }
 
 int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
@@ -82,12 +90,12 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   // test packet
   int dlc_len = to_bang->RDTR & 0xF;
   len = append_int(pkt, len, 0, 1);    // Start-of-frame
-  
-  if (to_bang->RIR & 4) {
+
+  if ((to_bang->RIR & 4) != 0) {
     // extended identifier
     len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
     len = append_int(pkt, len, 3, 2);    // SRR+IDE
-    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
+    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1U << 18) - 1U), 18);  // Identifier
     len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
   } else {
     // standard identifier
@@ -114,7 +122,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   return len;
 }
 
-void setup_timer4() {
+void setup_timer4(void) {
   // setup
   TIM4->PSC = 48-1;          // tick on 1 us
   TIM4->CR1 = TIM_CR1_CEN;   // enable
@@ -131,7 +139,7 @@ void setup_timer4() {
 int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
 int can_timeout_counter = GMLAN_TICKS_PER_SECOND; //1 second
 
-int inverted_bit_to_send = GMLAN_HIGH; 
+int inverted_bit_to_send = GMLAN_HIGH;
 int gmlan_switch_below_timeout = -1;
 int gmlan_switch_timeout_enable = 0;
 
@@ -140,9 +148,9 @@ void gmlan_switch_init(int timeout_enable) {
   gmlan_alt_mode = GPIO_SWITCH;
   gmlan_switch_below_timeout = 1;
   set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-  
+
   setup_timer4();
-  
+
   inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
 }
 
@@ -162,16 +170,17 @@ void reset_gmlan_switch_timeout(void) {
 }
 
 void set_bitbanged_gmlan(int val) {
-  if (val) {
-    GPIOB->ODR |= (1 << 13);
+  if (val != 0) {
+    GPIOB->ODR |= (1U << 13);
   } else {
-    GPIOB->ODR &= ~(1 << 13);
+    GPIOB->ODR &= ~(1U << 13);
   }
 }
 
 char pkt_stuffed[MAX_BITS_CAN_PACKET];
 int gmlan_sending = -1;
 int gmlan_sendmax = -1;
+bool gmlan_send_ok = true;
 
 int gmlan_silent_count = 0;
 int gmlan_fail_count = 0;
@@ -180,7 +189,7 @@ int gmlan_fail_count = 0;
 
 void TIM4_IRQHandler(void) {
   if (gmlan_alt_mode == BITBANG) {
-    if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
+    if ((TIM4->SR & TIM_SR_UIF) && (gmlan_sendmax != -1)) {
       int read = get_gpio_input(GPIOB, 12);
       if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
         if (read == 0) {
@@ -188,19 +197,21 @@ void TIM4_IRQHandler(void) {
         } else {
           gmlan_silent_count++;
         }
-      } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
-        int retry = 0;
+      } else {
+        bool retry = 0;
         // in send loop
-        if (gmlan_sending > 0 &&  // not first bit
-           (read == 0 && pkt_stuffed[gmlan_sending-1] == 1) &&  // bus wrongly dominant
-           gmlan_sending != (gmlan_sendmax-11)) {    //not ack bit
+        if ((gmlan_sending > 0) &&  // not first bit
+           ((read == 0) && (pkt_stuffed[gmlan_sending-1] == 1)) &&  // bus wrongly dominant
+           (gmlan_sending != (gmlan_sendmax - 11))) {    //not ack bit
           puts("GMLAN ERR: bus driven at ");
           puth(gmlan_sending);
           puts("\n");
           retry = 1;
-        } else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) {    // recessive during ACK
+        } else if ((read == 1) && (gmlan_sending == (gmlan_sendmax - 11))) {    // recessive during ACK
           puts("GMLAN ERR: didn't recv ACK\n");
           retry = 1;
+        } else {
+          // do not retry
         }
         if (retry) {
           // reset sender (retry after 7 silent)
@@ -210,13 +221,14 @@ void TIM4_IRQHandler(void) {
           gmlan_fail_count++;
           if (gmlan_fail_count == MAX_FAIL_COUNT) {
             puts("GMLAN ERR: giving up send\n");
+            gmlan_send_ok = false;
           }
         } else {
           set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
           gmlan_sending++;
         }
       }
-      if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
+      if ((gmlan_sending == gmlan_sendmax) || (gmlan_fail_count == MAX_FAIL_COUNT)) {
         set_bitbanged_gmlan(1); // recessive
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
         TIM4->DIER = 0;  // no update interrupt
@@ -225,11 +237,9 @@ void TIM4_IRQHandler(void) {
       }
     }
     TIM4->SR = 0;
-  } //bit bang mode
-
-  else if (gmlan_alt_mode == GPIO_SWITCH) {
-    if (TIM4->SR & TIM_SR_UIF && gmlan_switch_below_timeout != -1) {
-      if (can_timeout_counter == 0 && gmlan_switch_timeout_enable) {
+  } else if (gmlan_alt_mode == GPIO_SWITCH) {
+    if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
+      if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
         //it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
         set_gpio_output(GPIOB, 13, GMLAN_LOW);
         gmlan_switch_below_timeout = -1;
@@ -250,24 +260,27 @@ void TIM4_IRQHandler(void) {
       }
     }
     TIM4->SR = 0;
-  } //gmlan switch mode
+  } else {
+    puts("invalid gmlan_alt_mode\n");
+  }
 }
 
-void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+  gmlan_send_ok = true;
   gmlan_alt_mode = BITBANG;
-  // TODO: make failure less silent
-  if (gmlan_sendmax != -1) return;
 
-  int len = get_bit_message(pkt_stuffed, to_bang);
-  gmlan_fail_count = 0;
-  gmlan_silent_count = 0;
-  gmlan_sending = 0;
-  gmlan_sendmax = len;
+  if (gmlan_sendmax == -1) {
+    int len = get_bit_message(pkt_stuffed, to_bang);
+    gmlan_fail_count = 0;
+    gmlan_silent_count = 0;
+    gmlan_sending = 0;
+    gmlan_sendmax = len;
+    // setup for bitbang loop
+    set_bitbanged_gmlan(1); // recessive
+    set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
 
-  // setup for bitbang loop
-  set_bitbanged_gmlan(1); // recessive
-  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-
-  setup_timer4();
+    setup_timer4();
+  }
+  return gmlan_send_ok;
 }
 

panda/board/drivers/harness.h

@@ -0,0 +1,130 @@
+uint8_t car_harness_status = 0U;
+#define HARNESS_STATUS_NC 0U
+#define HARNESS_STATUS_NORMAL 1U
+#define HARNESS_STATUS_FLIPPED 2U
+
+// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
+#define HARNESS_CONNECTED_THRESHOLD 2500U
+
+struct harness_configuration {
+  const bool has_harness;
+  GPIO_TypeDef *GPIO_SBU1;  
+  GPIO_TypeDef *GPIO_SBU2;
+  GPIO_TypeDef *GPIO_relay_normal;
+  GPIO_TypeDef *GPIO_relay_flipped;
+  uint8_t pin_SBU1;
+  uint8_t pin_SBU2;
+  uint8_t pin_relay_normal;
+  uint8_t pin_relay_flipped;
+  uint8_t adc_channel_SBU1;
+  uint8_t adc_channel_SBU2;
+};
+
+// this function will be the API for tici
+void set_intercept_relay(bool intercept) {
+  if (car_harness_status != HARNESS_STATUS_NC) {
+    if (intercept) {
+      puts("switching harness to intercept (relay on)\n");
+    } else {
+      puts("switching harness to passthrough (relay off)\n");
+    }
+
+    if(car_harness_status == HARNESS_STATUS_NORMAL){
+      set_gpio_output(current_board->harness_config->GPIO_relay_normal, current_board->harness_config->pin_relay_normal, !intercept);
+    } else {
+      set_gpio_output(current_board->harness_config->GPIO_relay_flipped, current_board->harness_config->pin_relay_flipped, !intercept);
+    }
+  }
+}
+
+bool harness_check_ignition(void) {
+  bool ret = false;
+  switch(car_harness_status){
+    case HARNESS_STATUS_NORMAL:
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
+      break;
+    case HARNESS_STATUS_FLIPPED:
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
+      break;
+    default:
+      break;
+  }
+  return ret;
+}
+
+// TODO: refactor to use harness config
+void harness_setup_ignition_interrupts(void){
+  if(car_harness_status == HARNESS_STATUS_NORMAL){
+    SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI3_PC;
+    EXTI->IMR |= (1U << 3);
+    EXTI->RTSR |= (1U << 3);
+    EXTI->FTSR |= (1U << 3);
+    puts("setup interrupts: normal\n");
+  } else if(car_harness_status == HARNESS_STATUS_FLIPPED) {
+    SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI0_PC;
+    EXTI->IMR |= (1U << 0);
+    EXTI->RTSR |= (1U << 0);
+    EXTI->FTSR |= (1U << 0);
+    NVIC_EnableIRQ(EXTI1_IRQn);
+    puts("setup interrupts: flipped\n");
+  } else {
+    puts("tried to setup ignition interrupts without harness connected\n");
+  }
+  NVIC_EnableIRQ(EXTI0_IRQn);
+  NVIC_EnableIRQ(EXTI3_IRQn);
+}
+
+uint8_t harness_detect_orientation(void) {
+  uint8_t ret = HARNESS_STATUS_NC;
+
+  #ifndef BOOTSTUB
+  uint32_t sbu1_voltage = adc_get(current_board->harness_config->adc_channel_SBU1);
+  uint32_t sbu2_voltage = adc_get(current_board->harness_config->adc_channel_SBU2);
+
+  // Detect connection and orientation
+  if((sbu1_voltage < HARNESS_CONNECTED_THRESHOLD) || (sbu2_voltage < HARNESS_CONNECTED_THRESHOLD)){
+    if (sbu1_voltage < sbu2_voltage) {
+      // orientation normal
+      ret = HARNESS_STATUS_NORMAL;
+    } else {
+      // orientation flipped
+      ret = HARNESS_STATUS_FLIPPED;
+    }
+  }
+  #endif
+
+  return ret;
+}
+
+void harness_init(void) {
+  // delay such that the connection is fully made before trying orientation detection
+  current_board->set_led(LED_BLUE, true);
+  delay(10000000);
+  current_board->set_led(LED_BLUE, false);
+
+  // try to detect orientation
+  uint8_t ret = harness_detect_orientation();
+  if (ret != HARNESS_STATUS_NC) {
+    puts("detected car harness with orientation "); puth2(ret); puts("\n");
+    car_harness_status = ret;
+
+    // set the SBU lines to be inputs before using the relay. The lines are not 5V tolerant in ADC mode!
+    set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
+    set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
+
+    // now we have orientation, set pin ignition detection
+    if(car_harness_status == HARNESS_STATUS_NORMAL){
+      set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
+    } else {
+      set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
+    }      
+
+    // keep busses connected by default
+    set_intercept_relay(false);
+
+    // setup ignition interrupts
+    harness_setup_ignition_interrupts();
+  } else {
+    puts("failed to detect car harness!\n");
+  }
+}

panda/board/drivers/llcan.h

@@ -1,80 +1,94 @@
 // this is needed for 1 mbps support
-#define CAN_QUANTA 8
+#define CAN_QUANTA 8U
 #define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
 #define CAN_SEQ2 1 // roundf(quanta * 0.125f);
 
-#define CAN_PCLK 24000
+#define CAN_PCLK 24000U
 // 333 = 33.3 kbps
 // 5000 = 500 kbps
-#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
 
-bool llcan_set_speed(CAN_TypeDef *CAN, uint32_t speed, bool loopback, bool silent) {
+#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
+#define GET_LEN(msg) ((msg)->RDTR & 0xF)
+#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
+#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_BYTES_04(msg) ((msg)->RDLR)
+#define GET_BYTES_48(msg) ((msg)->RDHR)
+
+void puts(const char *a);
+
+bool llcan_set_speed(CAN_TypeDef *CAN_obj, 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);
+  CAN_obj->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+  while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
 
   // set time quanta from defines
-  CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+  CAN_obj->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
             (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
-            (can_speed_to_prescaler(speed) - 1);
+            (can_speed_to_prescaler(speed) - 1U);
 
   // silent loopback mode for debugging
   if (loopback) {
-    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+    CAN_obj->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
   }
   if (silent) {
-    CAN->BTR |= CAN_BTR_SILM;
+    CAN_obj->BTR |= CAN_BTR_SILM;
   }
 
   // reset
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
+  // cppcheck-suppress redundantAssignment ; it's a register
+  CAN_obj->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++;
+  bool ret = false;
+  while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
   if (tmp < CAN_TIMEOUT) {
-    return true;
+    ret = true;
   }
 
-  return false;
+  return ret;
 }
 
-void llcan_init(CAN_TypeDef *CAN) {
+void llcan_init(CAN_TypeDef *CAN_obj) {
   // accept all filter
-  CAN->FMR |= CAN_FMR_FINIT;
+  CAN_obj->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_obj->sFilterRegister[0].FR1 = 0;
+  CAN_obj->sFilterRegister[0].FR2 = 0;
+  CAN_obj->sFilterRegister[14].FR1 = 0;
+  CAN_obj->sFilterRegister[14].FR2 = 0;
+  CAN_obj->FA1R |= 1U | (1U << 14);
 
-  CAN->FMR &= ~(CAN_FMR_FINIT);
+  CAN_obj->FMR &= ~(CAN_FMR_FINIT);
 
   // enable certain CAN interrupts
-  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
+  CAN_obj->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
 
-  if (CAN == CAN1) {
+  if (CAN_obj == CAN1) {
     NVIC_EnableIRQ(CAN1_TX_IRQn);
     NVIC_EnableIRQ(CAN1_RX0_IRQn);
     NVIC_EnableIRQ(CAN1_SCE_IRQn);
-  } else if (CAN == CAN2) {
+  } else if (CAN_obj == CAN2) {
     NVIC_EnableIRQ(CAN2_TX_IRQn);
     NVIC_EnableIRQ(CAN2_RX0_IRQn);
     NVIC_EnableIRQ(CAN2_SCE_IRQn);
 #ifdef CAN3
-  } else if (CAN == CAN3) {
+  } else if (CAN_obj == CAN3) {
     NVIC_EnableIRQ(CAN3_TX_IRQn);
     NVIC_EnableIRQ(CAN3_RX0_IRQn);
     NVIC_EnableIRQ(CAN3_SCE_IRQn);
 #endif
+  } else {
+    puts("Invalid CAN: initialization failed\n");
   }
 }
 
-void llcan_clear_send(CAN_TypeDef *CAN) {
-  CAN->TSR |= CAN_TSR_ABRQ0;
-  CAN->MSR &= ~(CAN_MSR_ERRI);
-  CAN->MSR = CAN->MSR;
+void llcan_clear_send(CAN_TypeDef *CAN_obj) {
+  CAN_obj->TSR |= CAN_TSR_ABRQ0;
+  CAN_obj->MSR &= ~(CAN_MSR_ERRI);
+  // cppcheck-suppress selfAssignment ; needed to clear the register
+  CAN_obj->MSR = CAN_obj->MSR;
 }
 

panda/board/drivers/llgpio.h

@@ -7,38 +7,49 @@
 #define PULL_UP 1
 #define PULL_DOWN 2
 
-void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
+#define OUTPUT_TYPE_PUSH_PULL 0U
+#define OUTPUT_TYPE_OPEN_DRAIN 1U
+
+void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
   uint32_t tmp = GPIO->MODER;
-  tmp &= ~(3 << (pin*2));
-  tmp |= (mode << (pin*2));
+  tmp &= ~(3U << (pin * 2U));
+  tmp |= (mode << (pin * 2U));
   GPIO->MODER = tmp;
 }
 
-void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val) {
-  if (val) {
-    GPIO->ODR |= (1 << pin);
+void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
+  if (enabled) {
+    GPIO->ODR |= (1U << pin);
   } else {
-    GPIO->ODR &= ~(1 << pin);
+    GPIO->ODR &= ~(1U << pin);
   }
   set_gpio_mode(GPIO, pin, MODE_OUTPUT);
 }
 
-void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode) {
-  uint32_t tmp = GPIO->AFR[pin>>3];
-  tmp &= ~(0xF << ((pin&7)*4));
-  tmp |= mode << ((pin&7)*4);
-  GPIO->AFR[pin>>3] = tmp;
+void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
+  if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
+    GPIO->OTYPER |= (1U << pin);
+  } else {
+    GPIO->OTYPER &= ~(1U << pin);
+  }
+}
+
+void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  uint32_t tmp = GPIO->AFR[pin >> 3U];
+  tmp &= ~(0xFU << ((pin & 7U) * 4U));
+  tmp |= mode << ((pin & 7U) * 4U);
+  GPIO->AFR[pin >> 3] = tmp;
   set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
 }
 
-void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
+void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
   uint32_t tmp = GPIO->PUPDR;
-  tmp &= ~(3 << (pin*2));
-  tmp |= (mode << (pin*2));
+  tmp &= ~(3U << (pin * 2U));
+  tmp |= (mode << (pin * 2U));
   GPIO->PUPDR = tmp;
 }
 
-int get_gpio_input(GPIO_TypeDef *GPIO, int pin) {
-  return (GPIO->IDR & (1 << pin)) == (1 << pin);
+int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
+  return (GPIO->IDR & (1U << pin)) == (1U << pin);
 }
 

panda/board/drivers/spi.h

@@ -1,6 +1,6 @@
 // IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
 
-void spi_init();
+void spi_init(void);
 int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
 
 // end API
@@ -10,7 +10,7 @@ uint8_t spi_buf[SPI_BUF_SIZE];
 int spi_buf_count = 0;
 int spi_total_count = 0;
 
-void spi_init() {
+void spi_init(void) {
   //puts("SPI init\n");
   SPI1->CR1 = SPI_CR1_SPE;
 
@@ -28,8 +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 |= (1U << 4);
+  EXTI->FTSR |= (1U << 4);
   NVIC_EnableIRQ(EXTI4_IRQn);
 }
 
@@ -85,7 +85,7 @@ uint8_t spi_tx_buf[0x44];
 // SPI RX
 void DMA2_Stream2_IRQHandler(void) {
   int *resp_len = (int*)spi_tx_buf;
-  memset(spi_tx_buf, 0xaa, 0x44);
+  (void)memset(spi_tx_buf, 0xaa, 0x44);
   *resp_len = spi_cb_rx(spi_buf, 0x14, spi_tx_buf+4);
   #ifdef DEBUG_SPI
     puts("SPI write: ");
@@ -113,12 +113,12 @@ void DMA2_Stream3_IRQHandler(void) {
 }
 
 void EXTI4_IRQHandler(void) {
-  volatile int pr = EXTI->PR & (1 << 4);
+  volatile unsigned int pr = EXTI->PR & (1U << 4);
   #ifdef DEBUG_SPI
     puts("exti4\n");
   #endif
   // SPI CS falling
-  if (pr & (1 << 4)) {
+  if ((pr & (1U << 4)) != 0U) {
     spi_total_count = 0;
     spi_rx_dma(spi_buf, 0x14);
   }

panda/board/drivers/uart.h

@@ -1,12 +1,12 @@
 // IRQs: USART1, USART2, USART3, UART5
 
-#define FIFO_SIZE 0x400
+#define FIFO_SIZE 0x400U
 typedef struct uart_ring {
-  uint16_t w_ptr_tx;
-  uint16_t r_ptr_tx;
+  volatile uint16_t w_ptr_tx;
+  volatile uint16_t r_ptr_tx;
   uint8_t elems_tx[FIFO_SIZE];
-  uint16_t w_ptr_rx;
-  uint16_t r_ptr_rx;
+  volatile uint16_t w_ptr_rx;
+  volatile uint16_t r_ptr_rx;
   uint8_t elems_rx[FIFO_SIZE];
   USART_TypeDef *uart;
   void (*callback)(struct uart_ring*);
@@ -14,10 +14,10 @@ typedef struct uart_ring {
 
 void uart_init(USART_TypeDef *u, int baud);
 
-int getc(uart_ring *q, char *elem);
-int putc(uart_ring *q, char elem);
+bool getc(uart_ring *q, char *elem);
+bool putc(uart_ring *q, char elem);
 
-int puts(const char *a);
+void puts(const char *a);
 void puth(unsigned int i);
 void hexdump(const void *a, int l);
 
@@ -50,18 +50,25 @@ uart_ring debug_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
 
 
 uart_ring *get_ring_by_number(int a) {
+  uart_ring *ring = NULL;
   switch(a) {
     case 0:
-      return &debug_ring;
+      ring = &debug_ring;
+      break;
     case 1:
-      return &esp_ring;
+      ring = &esp_ring;
+      break;
     case 2:
-      return &lin1_ring;
+      ring = &lin1_ring;
+      break;
     case 3:
-      return &lin2_ring;
+      ring = &lin2_ring;
+      break;
     default:
-      return NULL;
+      ring = NULL;
+      break;
   }
+  return ring;
 }
 
 // ***************************** serial port *****************************
@@ -72,31 +79,32 @@ void uart_ring_process(uart_ring *q) {
   int sr = q->uart->SR;
 
   if (q->w_ptr_tx != q->r_ptr_tx) {
-    if (sr & USART_SR_TXE) {
+    if ((sr & USART_SR_TXE) != 0) {
       q->uart->DR = q->elems_tx[q->r_ptr_tx];
-      q->r_ptr_tx = (q->r_ptr_tx + 1) % FIFO_SIZE;
-    } else {
-      // push on interrupt later
-      q->uart->CR1 |= USART_CR1_TXEIE;
+      q->r_ptr_tx = (q->r_ptr_tx + 1U) % FIFO_SIZE;
     }
+    // there could be more to send
+    q->uart->CR1 |= USART_CR1_TXEIE;
   } else {
     // nothing to send
     q->uart->CR1 &= ~USART_CR1_TXEIE;
   }
 
-  if (sr & USART_SR_RXNE || sr & USART_SR_ORE) {
+  if ((sr & USART_SR_RXNE) || (sr & USART_SR_ORE)) {
     uint8_t c = q->uart->DR;  // TODO: can drop packets
     if (q != &esp_ring) {
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
       if (next_w_ptr != q->r_ptr_rx) {
         q->elems_rx[q->w_ptr_rx] = c;
         q->w_ptr_rx = next_w_ptr;
-        if (q->callback) q->callback(q);
+        if (q->callback != NULL) {
+          q->callback(q);
+        }
       }
     }
   }
 
-  if (sr & USART_SR_ORE) {
+  if ((sr & USART_SR_ORE) != 0) {
     // set dropped packet flag?
   }
 
@@ -110,46 +118,46 @@ void USART2_IRQHandler(void) { uart_ring_process(&debug_ring); }
 void USART3_IRQHandler(void) { uart_ring_process(&lin2_ring); }
 void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }
 
-int getc(uart_ring *q, char *elem) {
-  int ret = 0;
+bool getc(uart_ring *q, char *elem) {
+  bool ret = false;
 
   enter_critical_section();
   if (q->w_ptr_rx != q->r_ptr_rx) {
-    *elem = q->elems_rx[q->r_ptr_rx];
-    q->r_ptr_rx = (q->r_ptr_rx + 1) % FIFO_SIZE;
-    ret = 1;
+    if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
+    ret = true;
   }
   exit_critical_section();
 
   return ret;
 }
 
-int injectc(uart_ring *q, char elem) {
-  int ret = 0;
+bool injectc(uart_ring *q, char elem) {
+  int ret = false;
   uint16_t next_w_ptr;
 
   enter_critical_section();
-  next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
   if (next_w_ptr != q->r_ptr_rx) {
     q->elems_rx[q->w_ptr_rx] = elem;
     q->w_ptr_rx = next_w_ptr;
-    ret = 1;
+    ret = true;
   }
   exit_critical_section();
 
   return ret;
 }
 
-int putc(uart_ring *q, char elem) {
-  int ret = 0;
+bool putc(uart_ring *q, char elem) {
+  bool ret = false;
   uint16_t next_w_ptr;
 
   enter_critical_section();
-  next_w_ptr = (q->w_ptr_tx + 1) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
   if (next_w_ptr != q->r_ptr_tx) {
     q->elems_tx[q->w_ptr_tx] = elem;
     q->w_ptr_tx = next_w_ptr;
-    ret = 1;
+    ret = true;
   }
   exit_critical_section();
 
@@ -158,6 +166,24 @@ int putc(uart_ring *q, char elem) {
   return ret;
 }
 
+void uart_flush(uart_ring *q) {
+  while (q->w_ptr_tx != q->r_ptr_tx) {
+    __WFI();
+  }
+}
+
+void uart_flush_sync(uart_ring *q) {
+  // empty the TX buffer
+  while (q->w_ptr_tx != q->r_ptr_tx) {
+    uart_ring_process(q);
+  }
+}
+
+void uart_send_break(uart_ring *u) {
+  while ((u->uart->CR1 & USART_CR1_SBK) != 0);
+  u->uart->CR1 |= USART_CR1_SBK;
+}
+
 void clear_uart_buff(uart_ring *q) {
   enter_critical_section();
   q->w_ptr_tx = 0;
@@ -169,38 +195,38 @@ void clear_uart_buff(uart_ring *q) {
 
 // ***************************** start UART code *****************************
 
-#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_)*25)/(4*(_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_))/100)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
+#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_) * 25U) / (4U * (_BAUD_)))
+#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_)) / 100U)
+#define __DIVFRAQ(_PCLK_, _BAUD_)                    ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
+#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
 
-void uart_set_baud(USART_TypeDef *u, int baud) {
+void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
   if (u == USART1) {
     // USART1 is on APB2
-    u->BRR = __USART_BRR(48000000, baud);
+    u->BRR = __USART_BRR(48000000U, baud);
   } else {
-    u->BRR = __USART_BRR(24000000, baud);
+    u->BRR = __USART_BRR(24000000U, baud);
   }
 }
 
 #define USART1_DMA_LEN 0x20
 char usart1_dma[USART1_DMA_LEN];
 
-void uart_dma_drain() {
+void uart_dma_drain(void) {
   uart_ring *q = &esp_ring;
 
   enter_critical_section();
 
-  if (DMA2->HISR & DMA_HISR_TCIF5 || DMA2->HISR & DMA_HISR_HTIF5 || DMA2_Stream5->NDTR != USART1_DMA_LEN) {
+  if ((DMA2->HISR & DMA_HISR_TCIF5) || (DMA2->HISR & DMA_HISR_HTIF5) || (DMA2_Stream5->NDTR != USART1_DMA_LEN)) {
     // disable DMA
     q->uart->CR3 &= ~USART_CR3_DMAR;
     DMA2_Stream5->CR &= ~DMA_SxCR_EN;
-    while (DMA2_Stream5->CR & DMA_SxCR_EN);
+    while ((DMA2_Stream5->CR & DMA_SxCR_EN) != 0);
 
-    int i;
-    for (i = 0; i < USART1_DMA_LEN - DMA2_Stream5->NDTR; i++) {
+    unsigned int i;
+    for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
       char c = usart1_dma[i];
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
       if (next_w_ptr != q->r_ptr_rx) {
         q->elems_rx[q->w_ptr_rx] = c;
         q->w_ptr_rx = next_w_ptr;
@@ -263,6 +289,8 @@ void uart_init(USART_TypeDef *u, int baud) {
     NVIC_EnableIRQ(USART3_IRQn);
   } else if (u == UART5) {
     NVIC_EnableIRQ(UART5_IRQn);
+  } else {
+    // USART type undefined, skip
   }
 }
 
@@ -276,49 +304,49 @@ void putch(const char a) {
 
     //putc(&debug_ring, a);
   } else {
-    injectc(&debug_ring, a);
+    // misra-c2012-17.7: serial debug function, ok to ignore output
+    (void)injectc(&debug_ring, a);
   }
 }
 
-int puts(const char *a) {
-  for (;*a;a++) {
-    if (*a == '\n') putch('\r');
-    putch(*a);
+void puts(const char *a) {
+  for (const char *in = a; *in; in++) {
+    if (*in == '\n') putch('\r');
+    putch(*in);
   }
-  return 0;
 }
 
 void putui(uint32_t i) {
+  uint32_t i_copy = i;
   char str[11];
   uint8_t idx = 10;
-  str[idx--] = '\0';
+  str[idx] = '\0';
+  idx--;
   do {
-    str[idx--] = (i % 10) + 0x30;
-    i /= 10;
-  } while (i);
-  puts(str + idx + 1);
+    str[idx] = (i_copy % 10U) + 0x30U;
+    idx--;
+    i_copy /= 10;
+  } while (i_copy != 0U);
+  puts(str + idx + 1U);
 }
 
 void puth(unsigned int i) {
-  int pos;
   char c[] = "0123456789abcdef";
-  for (pos = 28; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
+  for (int pos = 28; pos != -4; pos -= 4) {
+    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
   }
 }
 
 void puth2(unsigned int i) {
-  int pos;
   char c[] = "0123456789abcdef";
-  for (pos = 4; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
+  for (int pos = 4; pos != -4; pos -= 4) {
+    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
   }
 }
 
 void hexdump(const void *a, int l) {
-  int i;
-  for (i=0;i<l;i++) {
-    if (i != 0 && (i&0xf) == 0) puts("\n");
+  for (int i=0; i < l; i++) {
+    if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
     puth2(((const unsigned char*)a)[i]);
     puts(" ");
   }

panda/board/drivers/usb.h

@@ -23,12 +23,12 @@ typedef union _USB_Setup {
 }
 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();
+void usb_init(void);
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
+void usb_cb_enumeration_complete(void);
 
 // **** supporting defines ****
 
@@ -43,9 +43,9 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
 #define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
 #define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
-#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
-#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
-#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
+#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE))
 #define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
 
 #define  USB_REQ_GET_STATUS                             0x00
@@ -96,7 +96,7 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #define STS_SETUP_COMP                         4
 #define STS_SETUP_UPDT                         6
 
-#define USBD_FS_TRDT_VALUE           5
+#define USBD_FS_TRDT_VALUE           5U
 
 #define USB_OTG_SPEED_FULL 3
 
@@ -125,11 +125,11 @@ uint8_t resp[MAX_RESP_LEN];
 
 // Convert machine byte order to USB byte order
 #define TOUSBORDER(num)\
-  (num&0xFF), ((num>>8)&0xFF)
+  ((num) & 0xFFU), (((num) >> 8) & 0xFFU)
 
 // take in string length and return the first 2 bytes of a string descriptor
 #define STRING_DESCRIPTOR_HEADER(size)\
-  (((size * 2 + 2)&0xFF) | 0x0300)
+  (((((size) * 2) + 2) & 0xFF) | 0x0300)
 
 uint8_t device_desc[] = {
   DSCR_DEVICE_LEN, USB_DESC_TYPE_DEVICE, //Length, Type
@@ -158,7 +158,7 @@ uint8_t device_qualifier[] = {
 
 uint8_t configuration_desc[] = {
   DSCR_CONFIG_LEN, USB_DESC_TYPE_CONFIGURATION, // Length, Type,
-  TOUSBORDER(0x0045), // Total Len (uint16)
+  TOUSBORDER(0x0045U), // Total Len (uint16)
   0x01, 0x01, STRING_OFFSET_ICONFIGURATION, // Num Interface, Config Value, Configuration
   0xc0, 0x32, // Attributes, Max Power
   // interface 0 ALT 0
@@ -169,17 +169,17 @@ uint8_t configuration_desc[] = {
     // endpoint 1, read CAN
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval (NA)
     // endpoint 2, send serial
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval
     // endpoint 3, send CAN
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval
   // interface 0 ALT 1
   DSCR_INTERFACE_LEN, USB_DESC_TYPE_INTERFACE, // Length, Type
@@ -189,17 +189,17 @@ uint8_t configuration_desc[] = {
     // endpoint 1, read CAN
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x05, // Polling Interval (5 frames)
     // endpoint 2, send serial
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval
     // endpoint 3, send CAN
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval
 };
 
@@ -394,34 +394,36 @@ int current_int0_alt_setting = 0;
 // packet read and write
 
 void *USB_ReadPacket(void *dest, uint16_t len) {
-  uint32_t i=0;
-  uint32_t count32b = (len + 3) / 4;
+  uint32_t *dest_copy = (uint32_t *)dest;
+  uint32_t count32b = (len + 3U) / 4U;
 
-  for ( i = 0; i < count32b; i++, dest += 4 ) {
-    // packed?
-    *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
+  for (uint32_t i = 0; i < count32b; i++) {
+    *dest_copy = USBx_DFIFO(0);
+    dest_copy++;
   }
-  return ((void *)dest);
+  return ((void *)dest_copy);
 }
 
-void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
+void USB_WritePacket(const void *src, uint16_t len, uint32_t ep) {
   #ifdef DEBUG_USB
   puts("writing ");
   hexdump(src, len);
   #endif
 
-  uint8_t numpacket = (len+(MAX_RESP_LEN-1))/MAX_RESP_LEN;
-  uint32_t count32b = 0, i = 0;
-  count32b = (len + 3) / 4;
+  uint8_t numpacket = (len + (MAX_RESP_LEN - 1U)) / MAX_RESP_LEN;
+  uint32_t count32b = 0;
+  count32b = (len + 3U) / 4U;
 
-  // bullshit
+  // TODO: revisit this
   USBx_INEP(ep)->DIEPTSIZ = ((numpacket << 19) & USB_OTG_DIEPTSIZ_PKTCNT) |
                             (len               & USB_OTG_DIEPTSIZ_XFRSIZ);
   USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
 
   // load the FIFO
-  for (i = 0; i < count32b; i++, src += 4) {
-    USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
+  const uint32_t *src_copy = (const uint32_t *)src;
+  for (uint32_t i = 0; i < count32b; i++) {
+    USBx_DFIFO(ep) = *src_copy;
+    src_copy++;
   }
 }
 
@@ -433,7 +435,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
   hexdump(src, len);
   #endif
 
-  uint16_t wplen = min(len, 0x40);
+  uint16_t wplen = MIN(len, 0x40);
   USB_WritePacket(src, wplen, 0);
 
   if (wplen < len) {
@@ -445,7 +447,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
   }
 }
 
-void usb_reset() {
+void usb_reset(void) {
   // unmask endpoint interrupts, so many sets
   USBx_DEVICE->DAINT = 0xFFFFFFFF;
   USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
@@ -469,10 +471,10 @@ void usb_reset() {
   USBx->GRXFSIZ = 0x40;
 
   // 0x100 to offset past GRXFSIZ
-  USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
+  USBx->DIEPTXF0_HNPTXFSIZ = (0x40U << 16) | 0x40U;
 
   // EP1, massive
-  USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
+  USBx->DIEPTXF[0] = (0x40U << 16) | 0x80U;
 
   // flush TX fifo
   USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
@@ -485,34 +487,36 @@ void usb_reset() {
   USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;
 
   // ready to receive setup packets
-  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
+  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)) | (3U << 3);
 }
 
 char to_hex_char(int a) {
+  char ret;
   if (a < 10) {
-    return '0' + a;
+    ret = '0' + a;
   } else {
-    return 'a' + (a-10);
+    ret = 'a' + (a - 10);
   }
+  return ret;
 }
 
-void usb_setup() {
+void usb_setup(void) {
   int resp_len;
   // setup packet is ready
   switch (setup.b.bRequest) {
     case USB_REQ_SET_CONFIGURATION:
       // enable other endpoints, has to be here?
-      USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
+      USBx_INEP(1)->DIEPCTL = (0x40U & USB_OTG_DIEPCTL_MPSIZ) | (2U << 18) | (1U << 22) |
                               USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
       USBx_INEP(1)->DIEPINT = 0xFF;
 
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(2)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+      USBx_OUTEP(2)->DOEPTSIZ = (1U << 19) | 0x40U;
+      USBx_OUTEP(2)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
                                USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
       USBx_OUTEP(2)->DOEPINT = 0xFF;
 
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+      USBx_OUTEP(3)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
                                USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
       USBx_OUTEP(3)->DOEPINT = 0xFF;
 
@@ -525,7 +529,7 @@ void usb_setup() {
       break;
     case USB_REQ_SET_ADDRESS:
       // set now?
-      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
+      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7fU) << 4);
 
       #ifdef DEBUG_USB
         puts(" set address\n");
@@ -545,54 +549,54 @@ void usb_setup() {
           //puts("    writing device descriptor\n");
 
           // setup transfer
-          USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
+          USB_WritePacket(device_desc, MIN(sizeof(device_desc), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
 
           //puts("D");
           break;
         case USB_DESC_TYPE_CONFIGURATION:
-          USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
+          USB_WritePacket(configuration_desc, MIN(sizeof(configuration_desc), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
         case USB_DESC_TYPE_DEVICE_QUALIFIER:
-          USB_WritePacket(device_qualifier, min(sizeof(device_qualifier), setup.b.wLength.w), 0);
+          USB_WritePacket(device_qualifier, MIN(sizeof(device_qualifier), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
         case USB_DESC_TYPE_STRING:
           switch (setup.b.wValue.bw.msb) {
             case STRING_OFFSET_LANGID:
-              USB_WritePacket((uint8_t*)string_language_desc, min(sizeof(string_language_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_language_desc, MIN(sizeof(string_language_desc), setup.b.wLength.w), 0);
               break;
             case STRING_OFFSET_IMANUFACTURER:
-              USB_WritePacket((uint8_t*)string_manufacturer_desc, min(sizeof(string_manufacturer_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_manufacturer_desc, MIN(sizeof(string_manufacturer_desc), setup.b.wLength.w), 0);
               break;
             case STRING_OFFSET_IPRODUCT:
-              USB_WritePacket((uint8_t*)string_product_desc, min(sizeof(string_product_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_product_desc, MIN(sizeof(string_product_desc), setup.b.wLength.w), 0);
               break;
             case STRING_OFFSET_ISERIAL:
               #ifdef UID_BASE
-                resp[0] = 0x02 + 12*4;
+                resp[0] = 0x02 + (12 * 4);
                 resp[1] = 0x03;
 
                 // 96 bits = 12 bytes
                 for (int i = 0; i < 12; i++){
                   uint8_t cc = ((uint8_t *)UID_BASE)[i];
-                  resp[2 + i*4 + 0] = to_hex_char((cc>>4)&0xF);
-                  resp[2 + i*4 + 1] = '\0';
-                  resp[2 + i*4 + 2] = to_hex_char((cc>>0)&0xF);
-                  resp[2 + i*4 + 3] = '\0';
+                  resp[2 + (i * 4) + 0] = to_hex_char((cc >> 4) & 0xFU);
+                  resp[2 + (i * 4) + 1] = '\0';
+                  resp[2 + (i * 4) + 2] = to_hex_char((cc >> 0) & 0xFU);
+                  resp[2 + (i * 4) + 3] = '\0';
                 }
 
-                USB_WritePacket(resp, min(resp[0], setup.b.wLength.w), 0);
+                USB_WritePacket(resp, MIN(resp[0], setup.b.wLength.w), 0);
               #else
-                USB_WritePacket((const uint8_t *)string_serial_desc, min(sizeof(string_serial_desc), setup.b.wLength.w), 0);
+                USB_WritePacket((const uint8_t *)string_serial_desc, MIN(sizeof(string_serial_desc), setup.b.wLength.w), 0);
               #endif
               break;
             case STRING_OFFSET_ICONFIGURATION:
-              USB_WritePacket((uint8_t*)string_configuration_desc, min(sizeof(string_configuration_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_configuration_desc, MIN(sizeof(string_configuration_desc), setup.b.wLength.w), 0);
               break;
             case 238:
-              USB_WritePacket((uint8_t*)string_238_desc, min(sizeof(string_238_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_238_desc, MIN(sizeof(string_238_desc), setup.b.wLength.w), 0);
               break;
             default:
               // nothing
@@ -602,7 +606,7 @@ void usb_setup() {
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
         case USB_DESC_TYPE_BINARY_OBJECT_STORE:
-          USB_WritePacket(binary_object_store_desc, min(sizeof(binary_object_store_desc), setup.b.wLength.w), 0);
+          USB_WritePacket(binary_object_store_desc, MIN(sizeof(binary_object_store_desc), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
         default:
@@ -628,7 +632,7 @@ void usb_setup() {
     case WEBUSB_VENDOR_CODE:
       switch (setup.b.wIndex.w) {
         case WEBUSB_REQ_GET_URL:
-          USB_WritePacket(webusb_url_descriptor, min(sizeof(webusb_url_descriptor), setup.b.wLength.w), 0);
+          USB_WritePacket(webusb_url_descriptor, MIN(sizeof(webusb_url_descriptor), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
           break;
         default:
@@ -642,15 +646,15 @@ void usb_setup() {
       switch (setup.b.wIndex.w) {
         // winusb 2.0 descriptor from BOS
         case WINUSB_REQ_GET_DESCRIPTOR:
-          USB_WritePacket_EP0((uint8_t*)winusb_20_desc, min(sizeof(winusb_20_desc), setup.b.wLength.w));
+          USB_WritePacket_EP0((uint8_t*)winusb_20_desc, MIN(sizeof(winusb_20_desc), setup.b.wLength.w));
           break;
         // Extended Compat ID OS Descriptor
         case WINUSB_REQ_GET_COMPATID_DESCRIPTOR:
-          USB_WritePacket_EP0((uint8_t*)winusb_ext_compatid_os_desc, min(sizeof(winusb_ext_compatid_os_desc), setup.b.wLength.w));
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_compatid_os_desc, MIN(sizeof(winusb_ext_compatid_os_desc), setup.b.wLength.w));
           break;
         // Extended Properties OS Descriptor
         case WINUSB_REQ_GET_EXT_PROPS_OS:
-          USB_WritePacket_EP0((uint8_t*)winusb_ext_prop_os_desc, min(sizeof(winusb_ext_prop_os_desc), setup.b.wLength.w));
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_prop_os_desc, MIN(sizeof(winusb_ext_prop_os_desc), setup.b.wLength.w));
           break;
         default:
           USB_WritePacket_EP0(0, 0);
@@ -658,12 +662,12 @@ void usb_setup() {
       break;
     default:
       resp_len = usb_cb_control_msg(&setup, resp, 1);
-      USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
+      USB_WritePacket(resp, MIN(resp_len, setup.b.wLength.w), 0);
       USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
   }
 }
 
-void usb_init() {
+void usb_init(void) {
   // full speed PHY, do reset and remove power down
   /*puth(USBx->GRSTCTL);
   puts(" resetting PHY\n");*/
@@ -679,7 +683,7 @@ void usb_init() {
   USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_FDMOD;
 
   // slowest timings
-  USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
+  USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
 
   // power up the PHY
 #ifdef STM32F4
@@ -728,7 +732,6 @@ void usb_init() {
   USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
 
   // DCTL startup value is 2 on new chip, 0 on old chip
-  // THIS IS FUCKING BULLSHIT
   USBx_DEVICE->DCTL = 0;
 
   // enable the IRQ
@@ -756,27 +759,27 @@ void usb_irqhandler(void) {
     puts(" USB interrupt!\n");
   #endif
 
-  if (gintsts & USB_OTG_GINTSTS_CIDSCHG) {
+  if ((gintsts & USB_OTG_GINTSTS_CIDSCHG) != 0) {
     puts("connector ID status change\n");
   }
 
-  if (gintsts & USB_OTG_GINTSTS_ESUSP) {
+  if ((gintsts & USB_OTG_GINTSTS_ESUSP) != 0) {
     puts("ESUSP detected\n");
   }
 
-  if (gintsts & USB_OTG_GINTSTS_USBRST) {
+  if ((gintsts & USB_OTG_GINTSTS_USBRST) != 0) {
     puts("USB reset\n");
     usb_reset();
   }
 
-  if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
+  if ((gintsts & USB_OTG_GINTSTS_ENUMDNE) != 0) {
     puts("enumeration done");
     // Full speed, ENUMSPD
     //puth(USBx_DEVICE->DSTS);
     puts("\n");
   }
 
-  if (gintsts & USB_OTG_GINTSTS_OTGINT) {
+  if ((gintsts & USB_OTG_GINTSTS_OTGINT) != 0) {
     puts("OTG int:");
     puth(USBx->GOTGINT);
     puts("\n");
@@ -786,24 +789,25 @@ void usb_irqhandler(void) {
   }
 
   // RX FIFO first
-  if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
+  if ((gintsts & USB_OTG_GINTSTS_RXFLVL) != 0) {
     // 1. Read the Receive status pop register
     volatile unsigned int rxst = USBx->GRXSTSP;
+    int status = (rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17;
 
     #ifdef DEBUG_USB
       puts(" RX FIFO:");
       puth(rxst);
       puts(" status: ");
-      puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
+      puth(status);
       puts(" len: ");
       puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
       puts("\n");
     #endif
 
-    if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
+    if (status == STS_DATA_UPDT) {
       int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
       int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
-      USB_ReadPacket(&usbdata, len);
+      (void)USB_ReadPacket(&usbdata, len);
       #ifdef DEBUG_USB
         puts("  data ");
         puth(len);
@@ -818,13 +822,15 @@ void usb_irqhandler(void) {
       if (endpoint == 3) {
         usb_cb_ep3_out(usbdata, len, 1);
       }
-    } else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
-      USB_ReadPacket(&setup, 8);
+    } else if (status == STS_SETUP_UPDT) {
+      (void)USB_ReadPacket(&setup, 8);
       #ifdef DEBUG_USB
         puts("  setup ");
         hexdump(&setup, 8);
         puts("\n");
       #endif
+    } else {
+      // status is neither STS_DATA_UPDT or STS_SETUP_UPDT, skip
     }
   }
 
@@ -848,7 +854,7 @@ void usb_irqhandler(void) {
     USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
   }
 
-  if (gintsts & USB_OTG_GINTSTS_SRQINT) {
+  if ((gintsts & USB_OTG_GINTSTS_SRQINT) != 0) {
     // we want to do "A-device host negotiation protocol" since we are the A-device
     /*puts("start request\n");
     puth(USBx->GOTGCTL);
@@ -859,7 +865,7 @@ void usb_irqhandler(void) {
   }
 
   // out endpoint hit
-  if (gintsts & USB_OTG_GINTSTS_OEPINT) {
+  if ((gintsts & USB_OTG_GINTSTS_OEPINT) != 0) {
     #ifdef DEBUG_USB
       puts("  0:");
       puth(USBx_OUTEP(0)->DOEPINT);
@@ -874,40 +880,42 @@ void usb_irqhandler(void) {
       puts(" OUT ENDPOINT\n");
     #endif
 
-    if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+    if ((USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT2 PACKET XFRC\n");
       #endif
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(2)->DOEPTSIZ = (1U << 19) | 0x40U;
       USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
     }
 
-    if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+    if ((USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET XFRC\n");
       #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
       USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
+    } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET WTF\n");
       #endif
       // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
       USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT) {
+    } else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
       puts("OUTEP3 error ");
       puth(USBx_OUTEP(3)->DOEPINT);
       puts("\n");
+    } else {
+      // USBx_OUTEP(3)->DOEPINT is 0, ok to skip
     }
 
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
+    if ((USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) != 0) {
       // ready for next packet
-      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
+      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)) | (1U << 3);
     }
 
     // respond to setup packets
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
+    if ((USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) != 0) {
       usb_setup();
     }
 
@@ -917,7 +925,7 @@ void usb_irqhandler(void) {
   }
 
   // interrupt endpoint hit (Page 1221)
-  if (gintsts & USB_OTG_GINTSTS_IEPINT) {
+  if ((gintsts & USB_OTG_GINTSTS_IEPINT) != 0) {
     #ifdef DEBUG_USB
       puts("  ");
       puth(USBx_INEP(0)->DIEPINT);
@@ -932,8 +940,8 @@ void usb_irqhandler(void) {
     // No need to set NAK in OTG_DIEPCTL0 when nothing to send,
     // Appears USB core automatically sets NAK. WritePacket clears it.
 
-    // Handle the two interface alternate settings. Setting 0 is has
-    // EP1 as bulk. Setting 1 has EP1 as interrupt. The code to handle
+    // Handle the two interface alternate settings. Setting 0 has EP1
+    // as bulk. Setting 1 has EP1 as interrupt. The code to handle
     // these two EP variations are very similar and can be
     // restructured for smaller code footprint. Keeping split out for
     // now for clarity.
@@ -942,7 +950,7 @@ void usb_irqhandler(void) {
     switch (current_int0_alt_setting) {
       case 0: ////// Bulk config
         // *** IN token received when TxFIFO is empty
-        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+        if ((USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
           #ifdef DEBUG_USB
           puts("  IN PACKET QUEUE\n");
           #endif
@@ -953,7 +961,7 @@ void usb_irqhandler(void) {
 
       case 1: ////// Interrupt config
         // *** IN token received when TxFIFO is empty
-        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+        if ((USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
           #ifdef DEBUG_USB
           puts("  IN PACKET QUEUE\n");
           #endif
@@ -964,19 +972,22 @@ void usb_irqhandler(void) {
           }
         }
         break;
+      default:
+        puts("current_int0_alt_setting value invalid\n");
+        break;
     }
 
-    if (USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+    if ((USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
       #ifdef DEBUG_USB
       puts("  IN PACKET QUEUE\n");
       #endif
 
-      if (ep0_txlen != 0 && (USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40) {
-        uint16_t len = min(ep0_txlen, 0x40);
+      if ((ep0_txlen != 0U) && ((USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40U)) {
+        uint16_t len = MIN(ep0_txlen, 0x40);
         USB_WritePacket(ep0_txdata, len, 0);
         ep0_txdata += len;
         ep0_txlen -= len;
-        if (ep0_txlen == 0) {
+        if (ep0_txlen == 0U) {
           ep0_txdata = NULL;
           USBx_DEVICE->DIEPEMPMSK &= ~1;
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;

panda/board/gpio.h

@@ -1,364 +1,4 @@
-// this is last place with ifdef PANDA
-
-#ifdef STM32F4
-  #include "stm32f4xx_hal_gpio_ex.h"
-#else
-  #include "stm32f2xx_hal_gpio_ex.h"
-#endif
-
-// ********************* dynamic configuration detection *********************
-
-#define PANDA_REV_AB 0
-#define PANDA_REV_C 1
-
-#define PULL_EFFECTIVE_DELAY 10
-
-int has_external_debug_serial = 0;
-int is_giant_panda = 0;
-int is_entering_bootmode = 0;
-int revision = PANDA_REV_AB;
-int is_grey_panda = 0;
-
-int detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
-  set_gpio_mode(GPIO, pin, MODE_INPUT);
-  set_gpio_pullup(GPIO, pin, mode);
-  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
-  int ret = get_gpio_input(GPIO, pin);
-  set_gpio_pullup(GPIO, pin, PULL_NONE);
-  return ret;
-}
-
-// must call again from main because BSS is zeroed
-void detect() {
-  // detect has_external_debug_serial
-  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
-
-#ifdef PANDA
-  // detect is_giant_panda
-  is_giant_panda = detect_with_pull(GPIOB, 1, PULL_DOWN);
-
-  // detect panda REV C.
-  // A13 floats in REV AB. In REV C, A13 is pulled up to 5V with a 10K
-  // resistor and attached to the USB power control chip CTRL
-  // line. Pulling A13 down with an internal 50k resistor in REV C
-  // will produce a voltage divider that results in a high logic
-  // level. Checking if this pin reads high with a pull down should
-  // differentiate REV AB from C.
-  revision = detect_with_pull(GPIOA, 13, PULL_DOWN) ? PANDA_REV_C : PANDA_REV_AB;
-
-  // check if the ESP is trying to put me in boot mode
-  is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
-
-  // check if it's a grey panda by seeing if the SPI lines are floating
-  // TODO: is this reliable?
-  is_grey_panda = !(detect_with_pull(GPIOA, 4, PULL_DOWN) | detect_with_pull(GPIOA, 5, PULL_DOWN) | detect_with_pull(GPIOA, 6, PULL_DOWN) | detect_with_pull(GPIOA, 7, PULL_DOWN));
-#else
-  // need to do this for early detect
-  is_giant_panda = 0;
-  is_grey_panda = 0;
-  revision = PANDA_REV_AB;
-  is_entering_bootmode = 0;
-#endif
-}
-
-// ********************* bringup *********************
-
-void periph_init() {
-  // enable GPIOB, UART2, CAN, USB clock
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
-
-  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
-  #ifdef PANDA
-    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
-  #ifdef CAN3
-    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
-  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
-  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
-  //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
-  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
-  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
-}
-
-// ********************* setters *********************
-
-void set_can_enable(CAN_TypeDef *CAN, int enabled) {
-  // enable CAN busses
-  if (CAN == CAN1) {
-    #ifdef PANDA
-      // CAN1_EN
-      set_gpio_output(GPIOC, 1, !enabled);
-    #else
-      #ifdef PEDAL
-        // CAN1_EN (not flipped)
-        set_gpio_output(GPIOB, 3, !enabled);
-      #else
-        // CAN1_EN
-        set_gpio_output(GPIOB, 3, enabled);
-      #endif
-    #endif
-  } else if (CAN == CAN2) {
-    #ifdef PANDA
-      // CAN2_EN
-      set_gpio_output(GPIOC, 13, !enabled);
-    #else
-      // CAN2_EN
-      set_gpio_output(GPIOB, 4, enabled);
-    #endif
-  #ifdef CAN3
-  } else if (CAN == CAN3) {
-    // CAN3_EN
-    set_gpio_output(GPIOA, 0, !enabled);
-  #endif
-  }
-}
-
-#ifdef PANDA
-  #define LED_RED 9
-  #define LED_GREEN 7
-  #define LED_BLUE 6
-#else
-  #define LED_RED 10
-  #define LED_GREEN 11
-  #define LED_BLUE -1
-#endif
-
-void set_led(int led_num, int on) {
-  if (led_num == -1) return;
-
-  #ifdef PANDA
-    set_gpio_output(GPIOC, led_num, !on);
-  #else
-    set_gpio_output(GPIOB, led_num, !on);
-  #endif
-}
-
-void set_can_mode(int can, int use_gmlan) {
-  // connects to CAN2 xcvr or GMLAN xcvr
-  if (use_gmlan) {
-    if (can == 1) {
-      // B5,B6: disable normal mode
-      set_gpio_mode(GPIOB, 5, MODE_INPUT);
-      set_gpio_mode(GPIOB, 6, MODE_INPUT);
-
-      // B12,B13: gmlan mode
-      set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-#ifdef CAN3
-    } else if (can == 2) {
-      // A8,A15: disable normal mode
-      set_gpio_mode(GPIOA, 8, MODE_INPUT);
-      set_gpio_mode(GPIOA, 15, MODE_INPUT);
-
-      // B3,B4: enable gmlan mode
-      set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
-#endif
-    }
-  } else {
-    if (can == 1) {
-      // B12,B13: disable gmlan mode
-      set_gpio_mode(GPIOB, 12, MODE_INPUT);
-      set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-      // B5,B6: normal mode
-      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-#ifdef CAN3
-    } else if (can == 2) {
-      // B3,B4: disable gmlan mode
-      set_gpio_mode(GPIOB, 3, MODE_INPUT);
-      set_gpio_mode(GPIOB, 4, MODE_INPUT);
-      // A8,A15: normal mode
-      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
-#endif
-    }
-  }
-}
-
-#define USB_POWER_NONE 0
-#define USB_POWER_CLIENT 1
-#define USB_POWER_CDP 2
-#define USB_POWER_DCP 3
-
-int usb_power_mode = USB_POWER_NONE;
-
-void set_usb_power_mode(int mode) {
-  switch (mode) {
-    case USB_POWER_CLIENT:
-      // B2,A13: set client mode
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_CDP:
-      // B2,A13: set CDP mode
-      set_gpio_output(GPIOB, 2, 1);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_DCP:
-      // B2,A13: set DCP mode on the charger (breaks USB!)
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 0);
-      break;
-  }
-  usb_power_mode = mode;
-}
-
-#define ESP_DISABLED 0
-#define ESP_ENABLED 1
-#define ESP_BOOTMODE 2
-
-void set_esp_mode(int mode) {
-  switch (mode) {
-    case ESP_DISABLED:
-      // ESP OFF
-      set_gpio_output(GPIOC, 14, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case ESP_ENABLED:
-      // ESP ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-    case ESP_BOOTMODE:
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-  }
-}
-
-// ********************* big init function *********************
-
-// board specific
-void gpio_init() {
-  // pull low to hold ESP in reset??
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOB->ODR = 0;
-  GPIOA->PUPDR = 0;
-  //GPIOC->ODR = 0;
-  GPIOB->AFR[0] = 0;
-  GPIOB->AFR[1] = 0;
-
-  // C2,C3: analog mode, voltage and current sense
-  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
-
-#ifdef PEDAL
-  // comma pedal has inputs on C0 and C1
-  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 1, MODE_ANALOG);
-  // DAC outputs on A4 and A5
-  //   apparently they don't need GPIO setup
-#endif
-
-  // C8: FAN aka TIM3_CH4
-  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
-
-  // turn off LEDs and set mode
-  set_led(LED_RED, 0);
-  set_led(LED_GREEN, 0);
-  set_led(LED_BLUE, 0);
-
-  // A11,A12: USB
-  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
-  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
-  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
-
-#ifdef PANDA
-  // enable started_alt on the panda
-  set_gpio_pullup(GPIOA, 1, PULL_UP);
-
-  // A2,A3: USART 2 for debugging
-  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
-  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
-
-  // A9,A10: USART 1 for talking to the ESP
-  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
-  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
-
-  // B12: GMLAN, ignition sense, pull up
-  set_gpio_pullup(GPIOB, 12, PULL_UP);
-
-  // A4,A5,A6,A7: setup SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-#endif
-
-  // B8,B9: CAN 1
-#ifdef STM32F4
-  set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
-  set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
-#else
-  set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
-  set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
-#endif
-  set_can_enable(CAN1, 1);
-
-  // B5,B6: CAN 2
-  set_can_mode(1, 0);
-  set_can_enable(CAN2, 1);
-
-  // A8,A15: CAN 3
-  #ifdef CAN3
-    set_can_mode(2, 0);
-    set_can_enable(CAN3, 1);
-  #endif
-
-  /* GMLAN mode pins:
-  M0(B15)  M1(B14)  mode
-  =======================
-  0        0        sleep
-  1        0        100kbit
-  0        1        high voltage wakeup
-  1        1        33kbit (normal)
-  */
-
-  // put gmlan transceiver in normal mode
-  set_gpio_output(GPIOB, 14, 1);
-  set_gpio_output(GPIOB, 15, 1);
-
-  #ifdef PANDA
-    // K-line enable moved from B4->B7 to make room for GMLAN on CAN3
-    set_gpio_output(GPIOB, 7, 1); // REV C
-
-    // C12,D2: K-Line setup on UART 5
-    set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
-    set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
-    set_gpio_pullup(GPIOD, 2, PULL_UP);
-
-    // L-line enable
-    set_gpio_output(GPIOA, 14, 1);
-
-    // C10,C11: L-Line setup on USART 3
-    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
-    set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
-    set_gpio_pullup(GPIOC, 11, PULL_UP);
-  #endif
-
-  set_usb_power_mode(USB_POWER_CLIENT);
-}
-
-// ********************* early bringup *********************
-
+// Early bringup
 #define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
 #define ENTER_SOFTLOADER_MAGIC 0xdeadc0de
 #define BOOT_NORMAL 0xdeadb111
@@ -366,7 +6,7 @@ void gpio_init() {
 extern void *g_pfnVectors;
 extern uint32_t enter_bootloader_mode;
 
-void jump_to_bootloader() {
+void jump_to_bootloader(void) {
   // do enter bootloader
   enter_bootloader_mode = 0;
   void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
@@ -379,11 +19,11 @@ void jump_to_bootloader() {
   NVIC_SystemReset();
 }
 
-void early() {
+void early(void) {
   // after it's been in the bootloader, things are initted differently, so we reset
-  if (enter_bootloader_mode != BOOT_NORMAL &&
-      enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC &&
-      enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC) {
+  if ((enter_bootloader_mode != BOOT_NORMAL) &&
+      (enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
+      (enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) {
     enter_bootloader_mode = BOOT_NORMAL;
     NVIC_SystemReset();
   }
@@ -391,9 +31,13 @@ void early() {
   // if wrong chip, reboot
   volatile unsigned int id = DBGMCU->IDCODE;
   #ifdef STM32F4
-    if ((id&0xFFF) != 0x463) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    if ((id & 0xFFFU) != 0x463U) {
+      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    }
   #else
-    if ((id&0xFFF) != 0x411) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    if ((id & 0xFFFU) != 0x411U) {
+      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    }
   #endif
 
   // setup interrupt table
@@ -406,29 +50,25 @@ void early() {
   GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
   GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;
 
-  detect();
+  detect_configuration();
+  detect_board_type();
 
   #ifdef PANDA
     // enable the ESP, disable ESP boot mode
-    // unless we are on a giant panda, then there's no ESP
     // dont disable on grey panda
-    if (is_giant_panda) {
-      set_esp_mode(ESP_DISABLED);
-    } else {
-      set_esp_mode(ESP_ENABLED);
-    }
+    current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
   #endif
 
 
   if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
   #ifdef PANDA
-    set_esp_mode(ESP_DISABLED);
+    current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
   #endif
-    set_led(LED_GREEN, 1);
+    current_board->set_led(LED_GREEN, 1);
     jump_to_bootloader();
   }
 
   if (is_entering_bootmode) {
     enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
   }
-}
+}

panda/board/inc/stm32f205xx.h

@@ -4,8 +4,8 @@
   * @author  MCD Application Team
   * @version V2.1.2
   * @date    29-June-2016
-  * @brief   CMSIS STM32F205xx Device Peripheral Access Layer Header File. 
-  *          This file contains :  
+  * @brief   CMSIS STM32F205xx Device Peripheral Access Layer Header File.
+  *          This file contains :
   *           - Data structures and the address mapping for all peripherals
   *           - Peripherals registers declarations and bits definition
   *           - Macros to access peripheral’s registers hardware
@@ -47,21 +47,21 @@
 /** @addtogroup stm32f205xx
   * @{
   */
-    
+
 #ifndef __STM32F205xx_H
 #define __STM32F205xx_H
 
 #ifdef __cplusplus
  extern "C" {
 #endif /* __cplusplus */
-  
+
 
 /** @addtogroup Configuration_section_for_CMSIS
   * @{
   */
 
 /**
-  * @brief Configuration of the Cortex-M3 Processor and Core Peripherals 
+  * @brief Configuration of the Cortex-M3 Processor and Core Peripherals
   */
 #define __CM3_REV                 0x0200U  /*!< Core revision r0p1                            */
 #define __MPU_PRESENT             1U       /*!< STM32F2XX provides an MPU                     */
@@ -71,14 +71,14 @@
 /**
   * @}
   */
-   
+
 /** @addtogroup Peripheral_interrupt_number_definition
   * @{
   */
 
 /**
- * @brief STM32F2XX Interrupt Number Definition, according to the selected device 
- *        in @ref Library_configuration_section 
+ * @brief STM32F2XX Interrupt Number Definition, according to the selected device
+ *        in @ref Library_configuration_section
  */
 typedef enum
 {
@@ -126,7 +126,7 @@ typedef enum
   I2C1_EV_IRQn                = 31,     /*!< I2C1 Event Interrupt                                              */
   I2C1_ER_IRQn                = 32,     /*!< I2C1 Error Interrupt                                              */
   I2C2_EV_IRQn                = 33,     /*!< I2C2 Event Interrupt                                              */
-  I2C2_ER_IRQn                = 34,     /*!< I2C2 Error Interrupt                                              */  
+  I2C2_ER_IRQn                = 34,     /*!< I2C2 Error Interrupt                                              */
   SPI1_IRQn                   = 35,     /*!< SPI1 global Interrupt                                             */
   SPI2_IRQn                   = 36,     /*!< SPI2 global Interrupt                                             */
   USART1_IRQn                 = 37,     /*!< USART1 global Interrupt                                           */
@@ -134,7 +134,7 @@ typedef enum
   USART3_IRQn                 = 39,     /*!< USART3 global Interrupt                                           */
   EXTI15_10_IRQn              = 40,     /*!< External Line[15:10] Interrupts                                   */
   RTC_Alarm_IRQn              = 41,     /*!< RTC Alarm (A and B) through EXTI Line Interrupt                   */
-  OTG_FS_WKUP_IRQn            = 42,     /*!< USB OTG FS Wakeup through EXTI line interrupt                     */    
+  OTG_FS_WKUP_IRQn            = 42,     /*!< USB OTG FS Wakeup through EXTI line interrupt                     */
   TIM8_BRK_TIM12_IRQn         = 43,     /*!< TIM8 Break Interrupt and TIM12 global interrupt                   */
   TIM8_UP_TIM13_IRQn          = 44,     /*!< TIM8 Update Interrupt and TIM13 global interrupt                  */
   TIM8_TRG_COM_TIM14_IRQn     = 45,     /*!< TIM8 Trigger and Commutation Interrupt and TIM14 global interrupt */
@@ -181,16 +181,16 @@ typedef enum
 
 /** @addtogroup Peripheral_registers_structures
   * @{
-  */   
+  */
 
-/** 
-  * @brief Analog to Digital Converter  
+/**
+  * @brief Analog to Digital Converter
   */
 
 typedef struct
 {
   __IO uint32_t SR;     /*!< ADC status register,                         Address offset: 0x00 */
-  __IO uint32_t CR1;    /*!< ADC control register 1,                      Address offset: 0x04 */      
+  __IO uint32_t CR1;    /*!< ADC control register 1,                      Address offset: 0x04 */
   __IO uint32_t CR2;    /*!< ADC control register 2,                      Address offset: 0x08 */
   __IO uint32_t SMPR1;  /*!< ADC sample time register 1,                  Address offset: 0x0C */
   __IO uint32_t SMPR2;  /*!< ADC sample time register 2,                  Address offset: 0x10 */
@@ -220,8 +220,8 @@ typedef struct
 } ADC_Common_TypeDef;
 
 
-/** 
-  * @brief Controller Area Network TxMailBox 
+/**
+  * @brief Controller Area Network TxMailBox
   */
 
 typedef struct
@@ -232,10 +232,10 @@ typedef struct
   __IO uint32_t TDHR; /*!< CAN mailbox data high register */
 } CAN_TxMailBox_TypeDef;
 
-/** 
-  * @brief Controller Area Network FIFOMailBox 
+/**
+  * @brief Controller Area Network FIFOMailBox
   */
-  
+
 typedef struct
 {
   __IO uint32_t RIR;  /*!< CAN receive FIFO mailbox identifier register */
@@ -244,20 +244,20 @@ typedef struct
   __IO uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
 } CAN_FIFOMailBox_TypeDef;
 
-/** 
-  * @brief Controller Area Network FilterRegister 
+/**
+  * @brief Controller Area Network FilterRegister
   */
-  
+
 typedef struct
 {
   __IO uint32_t FR1; /*!< CAN Filter bank register 1 */
   __IO uint32_t FR2; /*!< CAN Filter bank register 1 */
 } CAN_FilterRegister_TypeDef;
 
-/** 
-  * @brief Controller Area Network 
+/**
+  * @brief Controller Area Network
   */
-  
+
 typedef struct
 {
   __IO uint32_t              MCR;                 /*!< CAN master control register,         Address offset: 0x00          */
@@ -280,12 +280,12 @@ typedef struct
   __IO uint32_t              FFA1R;               /*!< CAN filter FIFO assignment register, Address offset: 0x214         */
   uint32_t                   RESERVED4;           /*!< Reserved, 0x218                                                    */
   __IO uint32_t              FA1R;                /*!< CAN filter activation register,      Address offset: 0x21C         */
-  uint32_t                   RESERVED5[8];        /*!< Reserved, 0x220-0x23F                                              */ 
+  uint32_t                   RESERVED5[8];        /*!< Reserved, 0x220-0x23F                                              */
   CAN_FilterRegister_TypeDef sFilterRegister[28]; /*!< CAN Filter Register,                 Address offset: 0x240-0x31C   */
 } CAN_TypeDef;
 
-/** 
-  * @brief CRC calculation unit 
+/**
+  * @brief CRC calculation unit
   */
 
 typedef struct
@@ -297,7 +297,7 @@ typedef struct
   __IO uint32_t CR;         /*!< CRC Control register,          Address offset: 0x08 */
 } CRC_TypeDef;
 
-/** 
+/**
   * @brief Digital to Analog Converter
   */
 
@@ -319,7 +319,7 @@ typedef struct
   __IO uint32_t SR;       /*!< DAC status register,                                     Address offset: 0x34 */
 } DAC_TypeDef;
 
-/** 
+/**
   * @brief Debug MCU
   */
 
@@ -332,7 +332,7 @@ typedef struct
 }DBGMCU_TypeDef;
 
 
-/** 
+/**
   * @brief DMA Controller
   */
 
@@ -355,7 +355,7 @@ typedef struct
 } DMA_TypeDef;
 
 
-/** 
+/**
   * @brief External Interrupt/Event Controller
   */
 
@@ -369,7 +369,7 @@ typedef struct
   __IO uint32_t PR;     /*!< EXTI Pending register,                   Address offset: 0x14 */
 } EXTI_TypeDef;
 
-/** 
+/**
   * @brief FLASH Registers
   */
 
@@ -384,28 +384,28 @@ typedef struct
 } FLASH_TypeDef;
 
 
-/** 
+/**
   * @brief Flexible Static Memory Controller
   */
 
 typedef struct
 {
-  __IO uint32_t BTCR[8];    /*!< NOR/PSRAM chip-select control register(BCR) and chip-select timing register(BTR), Address offset: 0x00-1C */   
-} FSMC_Bank1_TypeDef; 
+  __IO uint32_t BTCR[8];    /*!< NOR/PSRAM chip-select control register(BCR) and chip-select timing register(BTR), Address offset: 0x00-1C */
+} FSMC_Bank1_TypeDef;
 
-/** 
+/**
   * @brief Flexible Static Memory Controller Bank1E
   */
-  
+
 typedef struct
 {
   __IO uint32_t BWTR[7];    /*!< NOR/PSRAM write timing registers, Address offset: 0x104-0x11C */
 } FSMC_Bank1E_TypeDef;
 
-/** 
+/**
   * @brief Flexible Static Memory Controller Bank2
   */
-  
+
 typedef struct
 {
   __IO uint32_t PCR2;       /*!< NAND Flash control register 2,                       Address offset: 0x60 */
@@ -424,10 +424,10 @@ typedef struct
   __IO uint32_t ECCR3;      /*!< NAND Flash ECC result registers 3,                   Address offset: 0x94 */
 } FSMC_Bank2_3_TypeDef;
 
-/** 
+/**
   * @brief Flexible Static Memory Controller Bank4
   */
-  
+
 typedef struct
 {
   __IO uint32_t PCR4;       /*!< PC Card  control register 4,                       Address offset: 0xA0 */
@@ -435,10 +435,10 @@ typedef struct
   __IO uint32_t PMEM4;      /*!< PC Card  Common memory space timing register 4,    Address offset: 0xA8 */
   __IO uint32_t PATT4;      /*!< PC Card  Attribute memory space timing register 4, Address offset: 0xAC */
   __IO uint32_t PIO4;       /*!< PC Card  I/O space timing register 4,              Address offset: 0xB0 */
-} FSMC_Bank4_TypeDef; 
+} FSMC_Bank4_TypeDef;
 
 
-/** 
+/**
   * @brief General Purpose I/O
   */
 
@@ -455,20 +455,20 @@ typedef struct
   __IO uint32_t AFR[2];   /*!< GPIO alternate function registers,     Address offset: 0x20-0x24 */
 } GPIO_TypeDef;
 
-/** 
+/**
   * @brief System configuration controller
   */
-  
+
 typedef struct
 {
   __IO uint32_t MEMRMP;       /*!< SYSCFG memory remap register,                      Address offset: 0x00      */
   __IO uint32_t PMC;          /*!< SYSCFG peripheral mode configuration register,     Address offset: 0x04      */
   __IO uint32_t EXTICR[4];    /*!< SYSCFG external interrupt configuration registers, Address offset: 0x08-0x14 */
-  uint32_t      RESERVED[2];  /*!< Reserved, 0x18-0x1C                                                          */ 
+  uint32_t      RESERVED[2];  /*!< Reserved, 0x18-0x1C                                                          */
   __IO uint32_t CMPCR;        /*!< SYSCFG Compensation cell control register,         Address offset: 0x20      */
 } SYSCFG_TypeDef;
 
-/** 
+/**
   * @brief Inter-integrated Circuit Interface
   */
 
@@ -485,7 +485,7 @@ typedef struct
   __IO uint32_t TRISE;      /*!< I2C TRISE register,         Address offset: 0x20 */
 } I2C_TypeDef;
 
-/** 
+/**
   * @brief Independent WATCHDOG
   */
 
@@ -497,7 +497,7 @@ typedef struct
   __IO uint32_t SR;   /*!< IWDG Status register,    Address offset: 0x0C */
 } IWDG_TypeDef;
 
-/** 
+/**
   * @brief Power Control
   */
 
@@ -507,7 +507,7 @@ typedef struct
   __IO uint32_t CSR;  /*!< PWR power control/status register, Address offset: 0x04 */
 } PWR_TypeDef;
 
-/** 
+/**
   * @brief Reset and Clock Control
   */
 
@@ -546,7 +546,7 @@ typedef struct
 
 } RCC_TypeDef;
 
-/** 
+/**
   * @brief Real-Time Clock
   */
 
@@ -595,7 +595,7 @@ typedef struct
 } RTC_TypeDef;
 
 
-/** 
+/**
   * @brief SD host Interface
   */
 
@@ -623,7 +623,7 @@ typedef struct
   __IO uint32_t FIFO;           /*!< SDIO data FIFO register,        Address offset: 0x80 */
 } SDIO_TypeDef;
 
-/** 
+/**
   * @brief Serial Peripheral Interface
   */
 
@@ -640,7 +640,7 @@ typedef struct
   __IO uint32_t I2SPR;      /*!< SPI_I2S prescaler register,                         Address offset: 0x20 */
 } SPI_TypeDef;
 
-/** 
+/**
   * @brief TIM
   */
 
@@ -669,10 +669,10 @@ typedef struct
   __IO uint32_t OR;          /*!< TIM option register,                 Address offset: 0x50 */
 } TIM_TypeDef;
 
-/** 
+/**
   * @brief Universal Synchronous Asynchronous Receiver Transmitter
   */
- 
+
 typedef struct
 {
   __IO uint32_t SR;         /*!< USART Status register,                   Address offset: 0x00 */
@@ -684,7 +684,7 @@ typedef struct
   __IO uint32_t GTPR;       /*!< USART Guard time and prescaler register, Address offset: 0x18 */
 } USART_TypeDef;
 
-/** 
+/**
   * @brief Window WATCHDOG
   */
 
@@ -696,11 +696,11 @@ typedef struct
 } WWDG_TypeDef;
 
 
-/** 
+/**
   * @brief RNG
   */
-  
-typedef struct 
+
+typedef struct
 {
   __IO uint32_t CR;  /*!< RNG control register, Address offset: 0x00 */
   __IO uint32_t SR;  /*!< RNG status register,  Address offset: 0x04 */
@@ -708,8 +708,8 @@ typedef struct
 } RNG_TypeDef;
 
 
- 
-/** 
+
+/**
   * @brief __USB_OTG_Core_register
   */
 typedef struct
@@ -737,10 +737,10 @@ USB_OTG_GlobalTypeDef;
 
 
 
-/** 
+/**
   * @brief __device_Registers
   */
-typedef struct 
+typedef struct
 {
   __IO uint32_t DCFG;         /*!< dev Configuration Register   Address offset : 0x800 */
   __IO uint32_t DCTL;         /*!< dev Control Register         Address offset : 0x804 */
@@ -757,19 +757,19 @@ typedef struct
   __IO uint32_t DTHRCTL;      /*!< dev thr                      Address offset : 0x830 */
   __IO uint32_t DIEPEMPMSK;   /*!< dev empty msk                Address offset : 0x834 */
   __IO uint32_t DEACHINT;     /*!< dedicated EP interrupt       Address offset : 0x838 */
-  __IO uint32_t DEACHMSK;     /*!< dedicated EP msk             Address offset : 0x83C */  
+  __IO uint32_t DEACHMSK;     /*!< dedicated EP msk             Address offset : 0x83C */
   uint32_t Reserved40;        /*!< dedicated EP mask            Address offset : 0x840 */
   __IO uint32_t DINEP1MSK;    /*!< dedicated EP mask            Address offset : 0x844 */
   uint32_t  Reserved44[15];   /*!< Reserved                     Address offset : 0x844-0x87C */
-  __IO uint32_t DOUTEP1MSK;   /*!< dedicated EP msk             Address offset : 0x884 */   
+  __IO uint32_t DOUTEP1MSK;   /*!< dedicated EP msk             Address offset : 0x884 */
 }
 USB_OTG_DeviceTypeDef;
 
 
-/** 
+/**
   * @brief __IN_Endpoint-Specific_Register
   */
-typedef struct 
+typedef struct
 {
   __IO uint32_t DIEPCTL;        /* dev IN Endpoint Control Reg 900h + (ep_num * 20h) + 00h     */
   uint32_t Reserved04;          /* Reserved                       900h + (ep_num * 20h) + 04h  */
@@ -783,10 +783,10 @@ typedef struct
 USB_OTG_INEndpointTypeDef;
 
 
-/** 
+/**
   * @brief __OUT_Endpoint-Specific_Registers
   */
-typedef struct 
+typedef struct
 {
   __IO uint32_t DOEPCTL;       /* dev OUT Endpoint Control Reg  B00h + (ep_num * 20h) + 00h*/
   uint32_t Reserved04;         /* Reserved                      B00h + (ep_num * 20h) + 04h*/
@@ -799,10 +799,10 @@ typedef struct
 USB_OTG_OUTEndpointTypeDef;
 
 
-/** 
+/**
   * @brief __Host_Mode_Register_Structures
   */
-typedef struct 
+typedef struct
 {
   __IO uint32_t HCFG;             /* Host Configuration Register    400h*/
   __IO uint32_t HFIR;             /* Host Frame Interval Register   404h*/
@@ -815,7 +815,7 @@ typedef struct
 USB_OTG_HostTypeDef;
 
 
-/** 
+/**
   * @brief __Host_Channel_Specific_Registers
   */
 typedef struct
@@ -830,8 +830,8 @@ typedef struct
 }
 USB_OTG_HostChannelTypeDef;
 
-    
-/** 
+
+/**
   * @brief Peripheral_memory_map
   */
 #define FLASH_BASE            0x08000000U /*!< FLASH(up to 1 MB) base address in the alias region                         */
@@ -965,10 +965,10 @@ USB_OTG_HostChannelTypeDef;
 /**
   * @}
   */
-  
+
 /** @addtogroup Peripheral_declaration
   * @{
-  */  
+  */
 #define TIM2                ((TIM_TypeDef *) TIM2_BASE)
 #define TIM3                ((TIM_TypeDef *) TIM3_BASE)
 #define TIM4                ((TIM_TypeDef *) TIM4_BASE)
@@ -1003,7 +1003,7 @@ USB_OTG_HostChannelTypeDef;
 #define ADC2                ((ADC_TypeDef *) ADC2_BASE)
 #define ADC3                ((ADC_TypeDef *) ADC3_BASE)
 #define SDIO                ((SDIO_TypeDef *) SDIO_BASE)
-#define SPI1                ((SPI_TypeDef *) SPI1_BASE) 
+#define SPI1                ((SPI_TypeDef *) SPI1_BASE)
 #define SYSCFG              ((SYSCFG_TypeDef *) SYSCFG_BASE)
 #define EXTI                ((EXTI_TypeDef *) EXTI_BASE)
 #define TIM9                ((TIM_TypeDef *) TIM9_BASE)
@@ -1038,7 +1038,7 @@ USB_OTG_HostChannelTypeDef;
 #define DMA2_Stream4        ((DMA_Stream_TypeDef *) DMA2_Stream4_BASE)
 #define DMA2_Stream5        ((DMA_Stream_TypeDef *) DMA2_Stream5_BASE)
 #define DMA2_Stream6        ((DMA_Stream_TypeDef *) DMA2_Stream6_BASE)
-#define DMA2_Stream7        ((DMA_Stream_TypeDef *) DMA2_Stream7_BASE)  
+#define DMA2_Stream7        ((DMA_Stream_TypeDef *) DMA2_Stream7_BASE)
 #define RNG                 ((RNG_TypeDef *) RNG_BASE)
 #define FSMC_Bank1          ((FSMC_Bank1_TypeDef *) FSMC_Bank1_R_BASE)
 #define FSMC_Bank1E         ((FSMC_Bank1E_TypeDef *) FSMC_Bank1E_R_BASE)
@@ -1057,11 +1057,11 @@ USB_OTG_HostChannelTypeDef;
 /** @addtogroup Exported_constants
   * @{
   */
-  
+
   /** @addtogroup Peripheral_Registers_Bits_Definition
   * @{
   */
-    
+
 /******************************************************************************/
 /*                         Peripheral Registers_Bits_Definition               */
 /******************************************************************************/
@@ -1104,7 +1104,7 @@ USB_OTG_HostChannelTypeDef;
 #define  ADC_CR1_RES_0                       0x01000000U        /*!<Bit 0 */
 #define  ADC_CR1_RES_1                       0x02000000U        /*!<Bit 1 */
 #define  ADC_CR1_OVRIE                       0x04000000U         /*!<overrun interrupt enable */
-  
+
 /*******************  Bit definition for ADC_CR2 register  ********************/
 #define  ADC_CR2_ADON                        0x00000001U        /*!<A/D Converter ON / OFF */
 #define  ADC_CR2_CONT                        0x00000002U        /*!<Continuous Conversion */
@@ -1337,7 +1337,7 @@ USB_OTG_HostChannelTypeDef;
 #define  ADC_SQR3_SQ6_4                      0x20000000U        /*!<Bit 4 */
 
 /*******************  Bit definition for ADC_JSQR register  *******************/
-#define  ADC_JSQR_JSQ1                       0x0000001FU        /*!<JSQ1[4:0] bits (1st conversion in injected sequence) */  
+#define  ADC_JSQR_JSQ1                       0x0000001FU        /*!<JSQ1[4:0] bits (1st conversion in injected sequence) */
 #define  ADC_JSQR_JSQ1_0                     0x00000001U        /*!<Bit 0 */
 #define  ADC_JSQR_JSQ1_1                     0x00000002U        /*!<Bit 1 */
 #define  ADC_JSQR_JSQ1_2                     0x00000004U        /*!<Bit 2 */
@@ -1407,22 +1407,22 @@ USB_OTG_HostChannelTypeDef;
 #define  ADC_CSR_DOVR3                        ADC_CSR_OVR3
 
 /*******************  Bit definition for ADC_CCR register  ********************/
-#define  ADC_CCR_MULTI                       0x0000001FU        /*!<MULTI[4:0] bits (Multi-ADC mode selection) */  
+#define  ADC_CCR_MULTI                       0x0000001FU        /*!<MULTI[4:0] bits (Multi-ADC mode selection) */
 #define  ADC_CCR_MULTI_0                     0x00000001U        /*!<Bit 0 */
 #define  ADC_CCR_MULTI_1                     0x00000002U        /*!<Bit 1 */
 #define  ADC_CCR_MULTI_2                     0x00000004U        /*!<Bit 2 */
 #define  ADC_CCR_MULTI_3                     0x00000008U        /*!<Bit 3 */
 #define  ADC_CCR_MULTI_4                     0x00000010U        /*!<Bit 4 */
-#define  ADC_CCR_DELAY                       0x00000F00U        /*!<DELAY[3:0] bits (Delay between 2 sampling phases) */  
+#define  ADC_CCR_DELAY                       0x00000F00U        /*!<DELAY[3:0] bits (Delay between 2 sampling phases) */
 #define  ADC_CCR_DELAY_0                     0x00000100U        /*!<Bit 0 */
 #define  ADC_CCR_DELAY_1                     0x00000200U        /*!<Bit 1 */
 #define  ADC_CCR_DELAY_2                     0x00000400U        /*!<Bit 2 */
 #define  ADC_CCR_DELAY_3                     0x00000800U        /*!<Bit 3 */
 #define  ADC_CCR_DDS                         0x00002000U        /*!<DMA disable selection (Multi-ADC mode) */
-#define  ADC_CCR_DMA                         0x0000C000U        /*!<DMA[1:0] bits (Direct Memory Access mode for multimode) */  
+#define  ADC_CCR_DMA                         0x0000C000U        /*!<DMA[1:0] bits (Direct Memory Access mode for multimode) */
 #define  ADC_CCR_DMA_0                       0x00004000U        /*!<Bit 0 */
 #define  ADC_CCR_DMA_1                       0x00008000U        /*!<Bit 1 */
-#define  ADC_CCR_ADCPRE                      0x00030000U        /*!<ADCPRE[1:0] bits (ADC prescaler) */  
+#define  ADC_CCR_ADCPRE                      0x00030000U        /*!<ADCPRE[1:0] bits (ADC prescaler) */
 #define  ADC_CCR_ADCPRE_0                    0x00010000U        /*!<Bit 0 */
 #define  ADC_CCR_ADCPRE_1                    0x00020000U        /*!<Bit 1 */
 #define  ADC_CCR_VBATE                       0x00400000U        /*!<VBAT Enable */
@@ -1603,7 +1603,7 @@ USB_OTG_HostChannelTypeDef;
 #define  CAN_TI2R_EXID                       0x001FFFF8U        /*!<Extended identifier */
 #define  CAN_TI2R_STID                       0xFFE00000U        /*!<Standard Identifier or Extended Identifier */
 
-/*******************  Bit definition for CAN_TDT2R register  ******************/  
+/*******************  Bit definition for CAN_TDT2R register  ******************/
 #define  CAN_TDT2R_DLC                       0x0000000FU        /*!<Data Length Code */
 #define  CAN_TDT2R_TGT                       0x00000100U        /*!<Transmit Global Time */
 #define  CAN_TDT2R_TIME                      0xFFFF0000U        /*!<Message Time Stamp */
@@ -2925,7 +2925,7 @@ USB_OTG_HostChannelTypeDef;
 #define DMA_SxNDT_14                         0x00004000U
 #define DMA_SxNDT_15                         0x00008000U
 
-/********************  Bits definition for DMA_SxFCR register  ****************/ 
+/********************  Bits definition for DMA_SxFCR register  ****************/
 #define DMA_SxFCR_FEIE                       0x00000080U
 #define DMA_SxFCR_FS                         0x00000038U
 #define DMA_SxFCR_FS_0                       0x00000008U
@@ -2936,7 +2936,7 @@ USB_OTG_HostChannelTypeDef;
 #define DMA_SxFCR_FTH_0                      0x00000001U
 #define DMA_SxFCR_FTH_1                      0x00000002U
 
-/********************  Bits definition for DMA_LISR register  *****************/ 
+/********************  Bits definition for DMA_LISR register  *****************/
 #define DMA_LISR_TCIF3                       0x08000000U
 #define DMA_LISR_HTIF3                       0x04000000U
 #define DMA_LISR_TEIF3                       0x02000000U
@@ -2958,7 +2958,7 @@ USB_OTG_HostChannelTypeDef;
 #define DMA_LISR_DMEIF0                      0x00000004U
 #define DMA_LISR_FEIF0                       0x00000001U
 
-/********************  Bits definition for DMA_HISR register  *****************/ 
+/********************  Bits definition for DMA_HISR register  *****************/
 #define DMA_HISR_TCIF7                       0x08000000U
 #define DMA_HISR_HTIF7                       0x04000000U
 #define DMA_HISR_TEIF7                       0x02000000U
@@ -2980,7 +2980,7 @@ USB_OTG_HostChannelTypeDef;
 #define DMA_HISR_DMEIF4                      0x00000004U
 #define DMA_HISR_FEIF4                       0x00000001U
 
-/********************  Bits definition for DMA_LIFCR register  ****************/ 
+/********************  Bits definition for DMA_LIFCR register  ****************/
 #define DMA_LIFCR_CTCIF3                     0x08000000U
 #define DMA_LIFCR_CHTIF3                     0x04000000U
 #define DMA_LIFCR_CTEIF3                     0x02000000U
@@ -3002,7 +3002,7 @@ USB_OTG_HostChannelTypeDef;
 #define DMA_LIFCR_CDMEIF0                    0x00000004U
 #define DMA_LIFCR_CFEIF0                     0x00000001U
 
-/********************  Bits definition for DMA_HIFCR  register  ****************/ 
+/********************  Bits definition for DMA_HIFCR  register  ****************/
 #define DMA_HIFCR_CTCIF7                     0x08000000U
 #define DMA_HIFCR_CHTIF7                     0x04000000U
 #define DMA_HIFCR_CTEIF7                     0x02000000U
@@ -5921,80 +5921,80 @@ USB_OTG_HostChannelTypeDef;
 /******************  Bit definition for SPI_I2SPR register  *******************/
 #define  SPI_I2SPR_I2SDIV                    0x000000FFU            /*!<I2S Linear prescaler         */
 #define  SPI_I2SPR_ODD                       0x00000100U            /*!<Odd factor for the prescaler */
-#define  SPI_I2SPR_MCKOE                     0x00000200U            /*!<Master Clock Output Enable   */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                
-                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-/******************************************************************************/                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-/*                                                                            */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-/*                                 SYSCFG                                     */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-/*                                                                            */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-/******************************************************************************/                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-/******************  Bit definition for SYSCFG_MEMRMP register  ***************/                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-#define SYSCFG_MEMRMP_MEM_MODE          0x00000003U /*!<SYSCFG_Memory Remap Config */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-#define SYSCFG_MEMRMP_MEM_MODE_0        0x00000001U                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    
-#define SYSCFG_MEMRMP_MEM_MODE_1        0x00000002U                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                
-                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-/*****************  Bit definition for SYSCFG_EXTICR1 register  ***************/                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-#define SYSCFG_EXTICR1_EXTI0            0x0000000FU /*!<EXTI 0 configuration */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            
-#define SYSCFG_EXTICR1_EXTI1            0x000000F0U /*!<EXTI 1 configuration */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            
-#define SYSCFG_EXTICR1_EXTI2            0x00000F00U /*!<EXTI 2 configuration */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            
-#define SYSCFG_EXTICR1_EXTI3            0x0000F000U /*!<EXTI 3 configuration */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            
-/**                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               
-  * @brief   EXTI0 configuration                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-  */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              
-#define SYSCFG_EXTICR1_EXTI0_PA         0x00000000U /*!<PA[0] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI0_PB         0x00000001U /*!<PB[0] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI0_PC         0x00000002U /*!<PC[0] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI0_PD         0x00000003U /*!<PD[0] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI0_PE         0x00000004U /*!<PE[0] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI0_PF         0x00000005U /*!<PF[0] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI0_PG         0x00000006U /*!<PG[0] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI0_PH         0x00000007U /*!<PH[0] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI0_PI         0x00000008U /*!<PI[0] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-/**                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               
-  * @brief   EXTI1 configuration                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-  */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              
-#define SYSCFG_EXTICR1_EXTI1_PA         0x00000000U /*!<PA[1] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI1_PB         0x00000010U /*!<PB[1] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI1_PC         0x00000020U /*!<PC[1] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI1_PD         0x00000030U /*!<PD[1] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI1_PE         0x00000040U /*!<PE[1] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI1_PF         0x00000050) /*!<PF[1] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI1_PG         0x00000060U /*!<PG[1] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI1_PH         0x00000070U /*!<PH[1] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI1_PI         0x00000080U /*!<PI[1] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-/**                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               
-  * @brief   EXTI2 configuration                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-  */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              
-#define SYSCFG_EXTICR1_EXTI2_PA         0x00000000U /*!<PA[2] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI2_PB         0x00000100U /*!<PB[2] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI2_PC         0x00000200U /*!<PC[2] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI2_PD         0x00000300U /*!<PD[2] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI2_PE         0x00000400U /*!<PE[2] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI2_PF         0x00000500) /*!<PF[2] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI2_PG         0x00000600) /*!<PG[2] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI2_PH         0x00000700U /*!<PH[2] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI2_PI         0x00000800U /*!<PI[2] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-/**                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               
-  * @brief   EXTI3 configuration                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
-  */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              
-#define SYSCFG_EXTICR1_EXTI3_PA         0x00000000U /*!<PA[3] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI3_PB         0x00001000U /*!<PB[3] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI3_PC         0x00002000U /*!<PC[3] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI3_PD         0x00003000U /*!<PD[3] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI3_PE         0x00004000U /*!<PE[3] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI3_PF         0x00005000) /*!<PF[3] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI3_PG         0x00006000U /*!<PG[3] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI3_PH         0x00007000U /*!<PH[3] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-#define SYSCFG_EXTICR1_EXTI3_PI         0x00008000U /*!<PI[3] pin */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
-                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
+#define  SPI_I2SPR_MCKOE                     0x00000200U            /*!<Master Clock Output Enable   */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                 SYSCFG                                     */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for SYSCFG_MEMRMP register  ***************/
+#define SYSCFG_MEMRMP_MEM_MODE          0x00000003U /*!<SYSCFG_Memory Remap Config */
+#define SYSCFG_MEMRMP_MEM_MODE_0        0x00000001U
+#define SYSCFG_MEMRMP_MEM_MODE_1        0x00000002U
+
+/*****************  Bit definition for SYSCFG_EXTICR1 register  ***************/
+#define SYSCFG_EXTICR1_EXTI0            0x0000000FU /*!<EXTI 0 configuration */
+#define SYSCFG_EXTICR1_EXTI1            0x000000F0U /*!<EXTI 1 configuration */
+#define SYSCFG_EXTICR1_EXTI2            0x00000F00U /*!<EXTI 2 configuration */
+#define SYSCFG_EXTICR1_EXTI3            0x0000F000U /*!<EXTI 3 configuration */
+/**
+  * @brief   EXTI0 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI0_PA         0x00000000U /*!<PA[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PB         0x00000001U /*!<PB[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PC         0x00000002U /*!<PC[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PD         0x00000003U /*!<PD[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PE         0x00000004U /*!<PE[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PF         0x00000005U /*!<PF[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PG         0x00000006U /*!<PG[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PH         0x00000007U /*!<PH[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PI         0x00000008U /*!<PI[0] pin */
+/**
+  * @brief   EXTI1 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI1_PA         0x00000000U /*!<PA[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PB         0x00000010U /*!<PB[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PC         0x00000020U /*!<PC[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PD         0x00000030U /*!<PD[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PE         0x00000040U /*!<PE[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PF         0x00000050) /*!<PF[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PG         0x00000060U /*!<PG[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PH         0x00000070U /*!<PH[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PI         0x00000080U /*!<PI[1] pin */
+/**
+  * @brief   EXTI2 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI2_PA         0x00000000U /*!<PA[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PB         0x00000100U /*!<PB[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PC         0x00000200U /*!<PC[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PD         0x00000300U /*!<PD[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PE         0x00000400U /*!<PE[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PF         0x00000500) /*!<PF[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PG         0x00000600) /*!<PG[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PH         0x00000700U /*!<PH[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PI         0x00000800U /*!<PI[2] pin */
+/**
+  * @brief   EXTI3 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI3_PA         0x00000000U /*!<PA[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PB         0x00001000U /*!<PB[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PC         0x00002000U /*!<PC[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PD         0x00003000U /*!<PD[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PE         0x00004000U /*!<PE[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PF         0x00005000) /*!<PF[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PG         0x00006000U /*!<PG[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PH         0x00007000U /*!<PH[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PI         0x00008000U /*!<PI[3] pin */
+
 /*****************  Bit definition for SYSCFG_EXTICR2 register  ***************/
 #define SYSCFG_EXTICR2_EXTI4            0x0000000FU /*!<EXTI 4 configuration */
 #define SYSCFG_EXTICR2_EXTI5            0x000000F0U /*!<EXTI 5 configuration */
 #define SYSCFG_EXTICR2_EXTI6            0x00000F00U /*!<EXTI 6 configuration */
 #define SYSCFG_EXTICR2_EXTI7            0x0000F000U /*!<EXTI 7 configuration */
-/** 
-  * @brief   EXTI4 configuration  
-  */ 
+/**
+  * @brief   EXTI4 configuration
+  */
 #define SYSCFG_EXTICR2_EXTI4_PA         0x00000000U /*!<PA[4] pin */
 #define SYSCFG_EXTICR2_EXTI4_PB         0x00000001U /*!<PB[4] pin */
 #define SYSCFG_EXTICR2_EXTI4_PC         0x00000002U /*!<PC[4] pin */
@@ -6004,9 +6004,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR2_EXTI4_PG         0x00000006U /*!<PG[4] pin */
 #define SYSCFG_EXTICR2_EXTI4_PH         0x00000007U /*!<PH[4] pin */
 #define SYSCFG_EXTICR2_EXTI4_PI         0x00000008U /*!<PI[4] pin */
-/** 
-  * @brief   EXTI5 configuration  
-  */ 
+/**
+  * @brief   EXTI5 configuration
+  */
 #define SYSCFG_EXTICR2_EXTI5_PA         0x00000000U /*!<PA[5] pin */
 #define SYSCFG_EXTICR2_EXTI5_PB         0x00000010U /*!<PB[5] pin */
 #define SYSCFG_EXTICR2_EXTI5_PC         0x00000020U /*!<PC[5] pin */
@@ -6016,9 +6016,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR2_EXTI5_PG         0x00000060U /*!<PG[5] pin */
 #define SYSCFG_EXTICR2_EXTI5_PH         0x00000070U /*!<PH[5] pin */
 #define SYSCFG_EXTICR2_EXTI5_PI         0x00000080U /*!<PI[5] pin */
-/** 
-  * @brief   EXTI6 configuration  
-  */ 
+/**
+  * @brief   EXTI6 configuration
+  */
 #define SYSCFG_EXTICR2_EXTI6_PA         0x00000000U /*!<PA[6] pin */
 #define SYSCFG_EXTICR2_EXTI6_PB         0x00000100U /*!<PB[6] pin */
 #define SYSCFG_EXTICR2_EXTI6_PC         0x00000200U /*!<PC[6] pin */
@@ -6028,9 +6028,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR2_EXTI6_PG         0x00000600) /*!<PG[6] pin */
 #define SYSCFG_EXTICR2_EXTI6_PH         0x00000700U /*!<PH[6] pin */
 #define SYSCFG_EXTICR2_EXTI6_PI         0x00000800U /*!<PI[6] pin */
-/** 
-  * @brief   EXTI7 configuration  
-  */ 
+/**
+  * @brief   EXTI7 configuration
+  */
 #define SYSCFG_EXTICR2_EXTI7_PA         0x00000000U /*!<PA[7] pin */
 #define SYSCFG_EXTICR2_EXTI7_PB         0x00001000U /*!<PB[7] pin */
 #define SYSCFG_EXTICR2_EXTI7_PC         0x00002000U /*!<PC[7] pin */
@@ -6046,10 +6046,10 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR3_EXTI9            0x000000F0U /*!<EXTI 9 configuration */
 #define SYSCFG_EXTICR3_EXTI10           0x00000F00U /*!<EXTI 10 configuration */
 #define SYSCFG_EXTICR3_EXTI11           0x0000F000U /*!<EXTI 11 configuration */
-           
-/** 
-  * @brief   EXTI8 configuration  
-  */ 
+
+/**
+  * @brief   EXTI8 configuration
+  */
 #define SYSCFG_EXTICR3_EXTI8_PA         0x00000000U /*!<PA[8] pin */
 #define SYSCFG_EXTICR3_EXTI8_PB         0x00000001U /*!<PB[8] pin */
 #define SYSCFG_EXTICR3_EXTI8_PC         0x00000002U /*!<PC[8] pin */
@@ -6059,9 +6059,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR3_EXTI8_PG         0x00000006U /*!<PG[8] pin */
 #define SYSCFG_EXTICR3_EXTI8_PH         0x00000007U /*!<PH[8] pin */
 #define SYSCFG_EXTICR3_EXTI8_PI         0x00000008U /*!<PI[8] pin */
-/** 
-  * @brief   EXTI9 configuration  
-  */ 
+/**
+  * @brief   EXTI9 configuration
+  */
 #define SYSCFG_EXTICR3_EXTI9_PA         0x00000000U /*!<PA[9] pin */
 #define SYSCFG_EXTICR3_EXTI9_PB         0x00000010U /*!<PB[9] pin */
 #define SYSCFG_EXTICR3_EXTI9_PC         0x00000020U /*!<PC[9] pin */
@@ -6071,9 +6071,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR3_EXTI9_PG         0x00000060U /*!<PG[9] pin */
 #define SYSCFG_EXTICR3_EXTI9_PH         0x00000070U /*!<PH[9] pin */
 #define SYSCFG_EXTICR3_EXTI9_PI         0x00000080U /*!<PI[9] pin */
-/** 
-  * @brief   EXTI10 configuration  
-  */ 
+/**
+  * @brief   EXTI10 configuration
+  */
 #define SYSCFG_EXTICR3_EXTI10_PA        0x00000000U /*!<PA[10] pin */
 #define SYSCFG_EXTICR3_EXTI10_PB        0x00000100U /*!<PB[10] pin */
 #define SYSCFG_EXTICR3_EXTI10_PC        0x00000200U /*!<PC[10] pin */
@@ -6083,9 +6083,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR3_EXTI10_PG        0x00000600) /*!<PG[10] pin */
 #define SYSCFG_EXTICR3_EXTI10_PH        0x00000700U /*!<PH[10] pin */
 #define SYSCFG_EXTICR3_EXTI10_PI        0x00000800U /*!<PI[10] pin */
-/** 
-  * @brief   EXTI11 configuration  
-  */ 
+/**
+  * @brief   EXTI11 configuration
+  */
 #define SYSCFG_EXTICR3_EXTI11_PA        0x00000000U /*!<PA[11] pin */
 #define SYSCFG_EXTICR3_EXTI11_PB        0x00001000U /*!<PB[11] pin */
 #define SYSCFG_EXTICR3_EXTI11_PC        0x00002000U /*!<PC[11] pin */
@@ -6101,9 +6101,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR4_EXTI13           0x000000F0U /*!<EXTI 13 configuration */
 #define SYSCFG_EXTICR4_EXTI14           0x00000F00U /*!<EXTI 14 configuration */
 #define SYSCFG_EXTICR4_EXTI15           0x0000F000U /*!<EXTI 15 configuration */
-/** 
-  * @brief   EXTI12 configuration  
-  */ 
+/**
+  * @brief   EXTI12 configuration
+  */
 #define SYSCFG_EXTICR4_EXTI12_PA        0x00000000U /*!<PA[12] pin */
 #define SYSCFG_EXTICR4_EXTI12_PB        0x00000001U /*!<PB[12] pin */
 #define SYSCFG_EXTICR4_EXTI12_PC        0x00000002U /*!<PC[12] pin */
@@ -6112,9 +6112,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR4_EXTI12_PF        0x00000005U /*!<PF[12] pin */
 #define SYSCFG_EXTICR4_EXTI12_PG        0x00000006U /*!<PG[12] pin */
 #define SYSCFG_EXTICR3_EXTI12_PH        0x00000007U /*!<PH[12] pin */
-/** 
-  * @brief   EXTI13 configuration  
-  */ 
+/**
+  * @brief   EXTI13 configuration
+  */
 #define SYSCFG_EXTICR4_EXTI13_PA        0x00000000U /*!<PA[13] pin */
 #define SYSCFG_EXTICR4_EXTI13_PB        0x00000010U /*!<PB[13] pin */
 #define SYSCFG_EXTICR4_EXTI13_PC        0x00000020U /*!<PC[13] pin */
@@ -6123,9 +6123,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR4_EXTI13_PF        0x00000050) /*!<PF[13] pin */
 #define SYSCFG_EXTICR4_EXTI13_PG        0x00000060U /*!<PG[13] pin */
 #define SYSCFG_EXTICR3_EXTI13_PH        0x00000070U /*!<PH[13] pin */
-/** 
-  * @brief   EXTI14 configuration  
-  */ 
+/**
+  * @brief   EXTI14 configuration
+  */
 #define SYSCFG_EXTICR4_EXTI14_PA        0x00000000U /*!<PA[14] pin */
 #define SYSCFG_EXTICR4_EXTI14_PB        0x00000100U /*!<PB[14] pin */
 #define SYSCFG_EXTICR4_EXTI14_PC        0x00000200U /*!<PC[14] pin */
@@ -6134,9 +6134,9 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR4_EXTI14_PF        0x00000500) /*!<PF[14] pin */
 #define SYSCFG_EXTICR4_EXTI14_PG        0x00000600) /*!<PG[14] pin */
 #define SYSCFG_EXTICR3_EXTI14_PH        0x00000700U /*!<PH[14] pin */
-/** 
-  * @brief   EXTI15 configuration  
-  */ 
+/**
+  * @brief   EXTI15 configuration
+  */
 #define SYSCFG_EXTICR4_EXTI15_PA        0x00000000U /*!<PA[15] pin */
 #define SYSCFG_EXTICR4_EXTI15_PB        0x00001000U /*!<PB[15] pin */
 #define SYSCFG_EXTICR4_EXTI15_PC        0x00002000U /*!<PC[15] pin */
@@ -6146,7 +6146,7 @@ USB_OTG_HostChannelTypeDef;
 #define SYSCFG_EXTICR4_EXTI15_PG        0x00006000U /*!<PG[15] pin */
 #define SYSCFG_EXTICR3_EXTI15_PH        0x00007000U /*!<PH[15] pin */
 
-/******************  Bit definition for SYSCFG_CMPCR register  ****************/  
+/******************  Bit definition for SYSCFG_CMPCR register  ****************/
 #define SYSCFG_CMPCR_CMP_PD             0x00000001U /*!<Compensation cell ready flag */
 #define SYSCFG_CMPCR_READY              0x00000100U /*!<Compensation cell power-down */
 
@@ -7294,7 +7294,7 @@ USB_OTG_HostChannelTypeDef;
 
 /**
   * @}
-  */ 
+  */
 
 /**
   * @}
@@ -7303,7 +7303,7 @@ USB_OTG_HostChannelTypeDef;
 /** @addtogroup Exported_macros
   * @{
   */
- 
+
 /******************************* ADC Instances ********************************/
 #define IS_ADC_ALL_INSTANCE(INSTANCE) (((INSTANCE) == ADC1) || \
                                        ((INSTANCE) == ADC2) || \
@@ -7312,7 +7312,7 @@ USB_OTG_HostChannelTypeDef;
 /******************************* CAN Instances ********************************/
 #define IS_CAN_ALL_INSTANCE(INSTANCE) (((INSTANCE) == CAN1) || \
                                        ((INSTANCE) == CAN2))
- 
+
 /******************************* CRC Instances ********************************/
 #define IS_CRC_ALL_INSTANCE(INSTANCE) ((INSTANCE) == CRC)
 
@@ -7463,7 +7463,7 @@ USB_OTG_HostChannelTypeDef;
                                           ((INSTANCE) == TIM3) || \
                                           ((INSTANCE) == TIM4) || \
                                           ((INSTANCE) == TIM5) || \
-                                          ((INSTANCE) == TIM8)) 
+                                          ((INSTANCE) == TIM8))
 
 /******************** TIM Instances : DMA burst feature ***********************/
 #define IS_TIM_DMABURST_INSTANCE(INSTANCE)  (((INSTANCE) == TIM1) || \
@@ -7614,7 +7614,7 @@ USB_OTG_HostChannelTypeDef;
                                     ((INSTANCE) == USART3) || \
                                     ((INSTANCE) == UART4)  || \
                                     ((INSTANCE) == UART5)  || \
-                                    ((INSTANCE) == USART6))     
+                                    ((INSTANCE) == USART6))
 
 /*********************** PCD Instances ****************************************/
 #define IS_PCD_ALL_INSTANCE(INSTANCE) (((INSTANCE) == USB_OTG_FS) || \
@@ -7646,7 +7646,7 @@ USB_OTG_HostChannelTypeDef;
 
 /**
   * @}
-  */ 
+  */
 
 /**
   * @}

panda/board/inc/stm32f2xx.h

@@ -4,17 +4,17 @@
   * @author  MCD Application Team
   * @version V2.1.2
   * @date    29-June-2016
-  * @brief   CMSIS STM32F2xx Device Peripheral Access Layer Header File. 
+  * @brief   CMSIS STM32F2xx Device Peripheral Access Layer Header File.
   *
   *          The file is the unique include file that the application programmer
   *          is using in the C source code, usually in main.c. This file contains:
   *           - Configuration section that allows to select:
   *              - The STM32F2xx device used in the target application
-  *              - To use or not the peripheral’s drivers in application code(i.e. 
-  *                code will be based on direct access to peripheral’s registers 
-  *                rather than drivers API), this option is controlled by 
+  *              - To use or not the peripheral’s drivers in application code(i.e.
+  *                code will be based on direct access to peripheral’s registers
+  *                rather than drivers API), this option is controlled by
   *                "#define USE_HAL_DRIVER"
-  *  
+  *
   ******************************************************************************
   * @attention
   *
@@ -52,14 +52,14 @@
 /** @addtogroup stm32f2xx
   * @{
   */
-    
+
 #ifndef __STM32F2xx_H
 #define __STM32F2xx_H
 
 #ifdef __cplusplus
  extern "C" {
 #endif /* __cplusplus */
-   
+
 /** @addtogroup Library_configuration_section
   * @{
   */
@@ -70,9 +70,9 @@
 #if !defined (STM32F2)
 #define STM32F2
 #endif /* STM32F2 */
-   
+
 /* Uncomment the line below according to the target STM32 device used in your
-   application 
+   application
   */
 #if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx)
 
@@ -83,17 +83,17 @@
   /* #define STM32F207xx */   /*!< STM32F207VG, STM32F207ZG, STM32F207IG, STM32F207VF, STM32F207ZF, STM32F207IF,
                                    STM32F207VE, STM32F207ZE, STM32F207IE, STM32F207VC, STM32F207ZC and STM32F207IC Devices */
   /* #define STM32F217xx */   /*!< STM32F217VG, STM32F217ZG, STM32F217IG, STM32F217VE, STM32F217ZE and STM32F217IE Devices */
-    
+
 #endif
-   
+
 /*  Tip: To avoid modifying this file each time you need to switch between these
         devices, you can define the device in your toolchain compiler preprocessor.
   */
 #if !defined  (USE_HAL_DRIVER)
 /**
  * @brief Comment the line below if you will not use the peripherals drivers.
-   In this case, these drivers will not be included and the application code will 
-   be based on direct access to peripherals registers 
+   In this case, these drivers will not be included and the application code will
+   be based on direct access to peripherals registers
    */
   /*#define USE_HAL_DRIVER */
 #endif /* USE_HAL_DRIVER */
@@ -136,23 +136,23 @@
 
 /** @addtogroup Exported_types
   * @{
-  */ 
-typedef enum 
+  */
+typedef enum
 {
-  RESET = 0, 
+  RESET = 0,
   SET = !RESET
 } FlagStatus, ITStatus;
 
-typedef enum 
+typedef enum
 {
-  DISABLE = 0, 
+  DISABLE = 0,
   ENABLE = !DISABLE
 } FunctionalState;
 #define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
 
-typedef enum 
+typedef enum
 {
-  ERROR = 0, 
+  ERROR = 0,
   SUCCESS = !ERROR
 } ErrorStatus;
 
@@ -178,13 +178,13 @@ typedef enum
 
 #define MODIFY_REG(REG, CLEARMASK, SETMASK)  WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
 
-#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL))) 
+#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL)))
 
 
 /**
   * @}
   */
-  
+
 #if defined (USE_HAL_DRIVER)
  #include "stm32f2xx_hal.h"
 #endif /* USE_HAL_DRIVER */
@@ -202,7 +202,7 @@ typedef enum
 /**
   * @}
   */
-  
+
 
 
 

panda/board/inc/stm32f2xx_hal_def.h

@@ -4,8 +4,8 @@
   * @author  MCD Application Team
   * @version V1.1.3
   * @date    29-June-2016
-  * @brief   This file contains HAL common defines, enumeration, macros and 
-  *          structures definitions. 
+  * @brief   This file contains HAL common defines, enumeration, macros and
+  *          structures definitions.
   ******************************************************************************
   * @attention
   *
@@ -51,10 +51,10 @@
 
 /* Exported types ------------------------------------------------------------*/
 
-/** 
-  * @brief  HAL Status structures definition  
-  */  
-typedef enum 
+/**
+  * @brief  HAL Status structures definition
+  */
+typedef enum
 {
   HAL_OK       = 0x00U,
   HAL_ERROR    = 0x01U,
@@ -62,13 +62,13 @@ typedef enum
   HAL_TIMEOUT  = 0x03U
 } HAL_StatusTypeDef;
 
-/** 
-  * @brief  HAL Lock structures definition  
+/**
+  * @brief  HAL Lock structures definition
   */
-typedef enum 
+typedef enum
 {
   HAL_UNLOCKED = 0x00U,
-  HAL_LOCKED   = 0x01U  
+  HAL_LOCKED   = 0x01U
 } HAL_LockTypeDef;
 
 /* Exported macro ------------------------------------------------------------*/
@@ -84,14 +84,14 @@ typedef enum
                           } while(0)
 
 #define UNUSED(x) ((void)(x))
-							  
+
 /** @brief Reset the Handle's State field.
   * @param __HANDLE__: specifies the Peripheral Handle.
-  * @note  This macro can be used for the following purpose: 
+  * @note  This macro can be used for the following purpose:
   *          - When the Handle is declared as local variable; before passing it as parameter
-  *            to HAL_PPP_Init() for the first time, it is mandatory to use this macro 
+  *            to HAL_PPP_Init() for the first time, it is mandatory to use this macro
   *            to set to 0 the Handle's "State" field.
-  *            Otherwise, "State" field may have any random value and the first time the function 
+  *            Otherwise, "State" field may have any random value and the first time the function
   *            HAL_PPP_Init() is called, the low level hardware initialization will be missed
   *            (i.e. HAL_PPP_MspInit() will not be executed).
   *          - When there is a need to reconfigure the low level hardware: instead of calling
@@ -133,34 +133,34 @@ typedef enum
   #endif /* __packed */
 #endif /* __GNUC__ */
 
-  
+
 /* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
 #if defined   (__GNUC__)        /* GNU Compiler */
   #ifndef __ALIGN_END
     #define __ALIGN_END    __attribute__ ((aligned (4)))
   #endif /* __ALIGN_END */
-  #ifndef __ALIGN_BEGIN  
+  #ifndef __ALIGN_BEGIN
     #define __ALIGN_BEGIN
   #endif /* __ALIGN_BEGIN */
 #else
   #ifndef __ALIGN_END
     #define __ALIGN_END
   #endif /* __ALIGN_END */
-  #ifndef __ALIGN_BEGIN      
+  #ifndef __ALIGN_BEGIN
     #if defined   (__CC_ARM)      /* ARM Compiler */
-      #define __ALIGN_BEGIN    __align(4)  
+      #define __ALIGN_BEGIN    __align(4)
     #elif defined (__ICCARM__)    /* IAR Compiler */
-      #define __ALIGN_BEGIN 
+      #define __ALIGN_BEGIN
     #endif /* __CC_ARM */
   #endif /* __ALIGN_BEGIN */
 #endif /* __GNUC__ */
 
-/** 
+/**
   * @brief  __NOINLINE definition
-  */ 
+  */
 #if defined ( __CC_ARM   ) || defined   (  __GNUC__  )
-/* ARM & GNUCompiler 
-   ---------------- 
+/* ARM & GNUCompiler
+   ----------------
 */
 #define __NOINLINE __attribute__ ( (noinline) )
 

panda/board/inc/stm32f2xx_hal_gpio_ex.h

@@ -33,7 +33,7 @@
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
   ******************************************************************************
-  */ 
+  */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __STM32F2xx_HAL_GPIO_EX_H
@@ -52,7 +52,7 @@
 
 /** @defgroup GPIOEx GPIOEx
   * @{
-  */ 
+  */
 
 /* Exported types ------------------------------------------------------------*/
 /* Exported constants --------------------------------------------------------*/
@@ -60,117 +60,117 @@
 
 /** @defgroup GPIOEx_Exported_Constants GPIO Exported Constants
   * @{
-  */ 
-  
-/** @defgroup GPIO_Alternate_function_selection GPIO Alternate function selection 
+  */
+
+/** @defgroup GPIO_Alternate_function_selection GPIO Alternate function selection
   * @{
   */
 
-/** 
-  * @brief   AF 0 selection  
-  */ 
+/**
+  * @brief   AF 0 selection
+  */
 #define GPIO_AF0_RTC_50Hz      ((uint8_t)0x00U)  /* RTC_50Hz Alternate Function mapping                       */
 #define GPIO_AF0_MCO           ((uint8_t)0x00U)  /* MCO (MCO1 and MCO2) Alternate Function mapping            */
 #define GPIO_AF0_TAMPER        ((uint8_t)0x00U)  /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */
 #define GPIO_AF0_SWJ           ((uint8_t)0x00U)  /* SWJ (SWD and JTAG) Alternate Function mapping             */
 #define GPIO_AF0_TRACE         ((uint8_t)0x00U)  /* TRACE Alternate Function mapping                          */
 
-/** 
-  * @brief   AF 1 selection  
-  */ 
+/**
+  * @brief   AF 1 selection
+  */
 #define GPIO_AF1_TIM1          ((uint8_t)0x01U)  /* TIM1 Alternate Function mapping */
 #define GPIO_AF1_TIM2          ((uint8_t)0x01U)  /* TIM2 Alternate Function mapping */
 
-/** 
-  * @brief   AF 2 selection  
-  */ 
+/**
+  * @brief   AF 2 selection
+  */
 #define GPIO_AF2_TIM3          ((uint8_t)0x02U)  /* TIM3 Alternate Function mapping */
 #define GPIO_AF2_TIM4          ((uint8_t)0x02U)  /* TIM4 Alternate Function mapping */
 #define GPIO_AF2_TIM5          ((uint8_t)0x02U)  /* TIM5 Alternate Function mapping */
 
-/** 
-  * @brief   AF 3 selection  
-  */ 
+/**
+  * @brief   AF 3 selection
+  */
 #define GPIO_AF3_TIM8          ((uint8_t)0x03U)  /* TIM8 Alternate Function mapping  */
 #define GPIO_AF3_TIM9          ((uint8_t)0x03U)  /* TIM9 Alternate Function mapping  */
 #define GPIO_AF3_TIM10         ((uint8_t)0x03U)  /* TIM10 Alternate Function mapping */
 #define GPIO_AF3_TIM11         ((uint8_t)0x03U)  /* TIM11 Alternate Function mapping */
 
-/** 
-  * @brief   AF 4 selection  
-  */ 
+/**
+  * @brief   AF 4 selection
+  */
 #define GPIO_AF4_I2C1          ((uint8_t)0x04U)  /* I2C1 Alternate Function mapping */
 #define GPIO_AF4_I2C2          ((uint8_t)0x04U)  /* I2C2 Alternate Function mapping */
 #define GPIO_AF4_I2C3          ((uint8_t)0x04U)  /* I2C3 Alternate Function mapping */
 
-/** 
-  * @brief   AF 5 selection  
-  */ 
+/**
+  * @brief   AF 5 selection
+  */
 #define GPIO_AF5_SPI1          ((uint8_t)0x05U)  /* SPI1 Alternate Function mapping        */
 #define GPIO_AF5_SPI2          ((uint8_t)0x05U)  /* SPI2/I2S2 Alternate Function mapping   */
-/** 
-  * @brief   AF 6 selection  
-  */ 
+/**
+  * @brief   AF 6 selection
+  */
 #define GPIO_AF6_SPI3          ((uint8_t)0x06U)  /* SPI3/I2S3 Alternate Function mapping  */
 
-/** 
-  * @brief   AF 7 selection  
-  */ 
+/**
+  * @brief   AF 7 selection
+  */
 #define GPIO_AF7_USART1        ((uint8_t)0x07U)  /* USART1 Alternate Function mapping     */
 #define GPIO_AF7_USART2        ((uint8_t)0x07U)  /* USART2 Alternate Function mapping     */
 #define GPIO_AF7_USART3        ((uint8_t)0x07U)  /* USART3 Alternate Function mapping     */
 
-/** 
-  * @brief   AF 8 selection  
-  */ 
+/**
+  * @brief   AF 8 selection
+  */
 #define GPIO_AF8_UART4         ((uint8_t)0x08U)  /* UART4 Alternate Function mapping  */
 #define GPIO_AF8_UART5         ((uint8_t)0x08U)  /* UART5 Alternate Function mapping  */
 #define GPIO_AF8_USART6        ((uint8_t)0x08U)  /* USART6 Alternate Function mapping */
 
-/** 
-  * @brief   AF 9 selection 
-  */ 
+/**
+  * @brief   AF 9 selection
+  */
 #define GPIO_AF9_CAN1          ((uint8_t)0x09U)  /* CAN1 Alternate Function mapping  */
 #define GPIO_AF9_CAN2          ((uint8_t)0x09U)  /* CAN2 Alternate Function mapping  */
 #define GPIO_AF9_TIM12         ((uint8_t)0x09U)  /* TIM12 Alternate Function mapping */
 #define GPIO_AF9_TIM13         ((uint8_t)0x09U)  /* TIM13 Alternate Function mapping */
 #define GPIO_AF9_TIM14         ((uint8_t)0x09U)  /* TIM14 Alternate Function mapping */
 
-/** 
-  * @brief   AF 10 selection  
-  */ 
+/**
+  * @brief   AF 10 selection
+  */
 #define GPIO_AF10_OTG_FS        ((uint8_t)0xAU)  /* OTG_FS Alternate Function mapping */
 #define GPIO_AF10_OTG_HS        ((uint8_t)0xAU)  /* OTG_HS Alternate Function mapping */
 
-/** 
-  * @brief   AF 11 selection  
-  */ 
+/**
+  * @brief   AF 11 selection
+  */
 #if defined(STM32F207xx) || defined(STM32F217xx)
 #define GPIO_AF11_ETH             ((uint8_t)0x0BU)  /* ETHERNET Alternate Function mapping */
 #endif /* STM32F207xx || STM32F217xx */
 
-/** 
-  * @brief   AF 12 selection  
-  */ 
+/**
+  * @brief   AF 12 selection
+  */
 #define GPIO_AF12_FSMC          ((uint8_t)0xCU)  /* FSMC Alternate Function mapping                     */
 #define GPIO_AF12_OTG_HS_FS     ((uint8_t)0xCU)  /* OTG HS configured in FS, Alternate Function mapping */
 #define GPIO_AF12_SDIO          ((uint8_t)0xCU)  /* SDIO Alternate Function mapping                     */
 
-/** 
-  * @brief   AF 13 selection  
-  */ 
+/**
+  * @brief   AF 13 selection
+  */
 #if defined(STM32F207xx) || defined(STM32F217xx)
 #define GPIO_AF13_DCMI          ((uint8_t)0x0DU)  /* DCMI Alternate Function mapping */
 #endif /* STM32F207xx || STM32F217xx */
 
-/** 
-  * @brief   AF 15 selection  
-  */ 
+/**
+  * @brief   AF 15 selection
+  */
 #define GPIO_AF15_EVENTOUT      ((uint8_t)0x0FU)  /* EVENTOUT Alternate Function mapping */
 
 /**
   * @}
-  */ 
+  */
 
 /**
   * @}
@@ -184,7 +184,7 @@
   * @}
   */
 
-/* Exported functions --------------------------------------------------------*/ 
+/* Exported functions --------------------------------------------------------*/
 /** @defgroup GPIOEx_Exported_Functions GPIO Exported Functions
   * @{
   */
@@ -224,9 +224,9 @@
 
 /** @defgroup GPIOEx_IS_Alternat_function_selection GPIO Check Alternate Function
   * @{
-  */  
+  */
 #if defined(STM32F207xx) || defined(STM32F217xx)
- 
+
 #define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF9_TIM14)      || \
                           ((AF) == GPIO_AF0_MCO)        || ((AF) == GPIO_AF0_TAMPER)     || \
                           ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
@@ -264,10 +264,10 @@
                           ((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDIO)      || \
                           ((AF) == GPIO_AF12_FSMC)      || ((AF) == GPIO_AF15_EVENTOUT))
 #endif /* STM32F207xx || STM32F217xx */
-                          
+
 /**
   * @}
-  */ 
+  */
 
 /**
   * @}
@@ -284,12 +284,12 @@
 
 /**
   * @}
-  */ 
+  */
 
 /**
   * @}
-  */ 
-  
+  */
+
 #ifdef __cplusplus
 }
 #endif

panda/board/inc/stm32f4xx.h

@@ -5,16 +5,16 @@
   * @version V2.6.0
   * @date    04-November-2016
   * @brief   CMSIS STM32F4xx Device Peripheral Access Layer Header File.
-  *            
+  *
   *          The file is the unique include file that the application programmer
   *          is using in the C source code, usually in main.c. This file contains:
   *           - Configuration section that allows to select:
   *              - The STM32F4xx device used in the target application
-  *              - To use or not the peripheral’s drivers in application code(i.e. 
-  *                code will be based on direct access to peripheral’s registers 
-  *                rather than drivers API), this option is controlled by 
+  *              - To use or not the peripheral’s drivers in application code(i.e.
+  *                code will be based on direct access to peripheral’s registers
+  *                rather than drivers API), this option is controlled by
   *                "#define USE_HAL_DRIVER"
-  *  
+  *
   ******************************************************************************
   * @attention
   *
@@ -52,18 +52,18 @@
 /** @addtogroup stm32f4xx
   * @{
   */
-    
+
 #ifndef __STM32F4xx_H
 #define __STM32F4xx_H
 
 #ifdef __cplusplus
  extern "C" {
 #endif /* __cplusplus */
-   
+
 /** @addtogroup Library_configuration_section
   * @{
   */
-  
+
 /**
   * @brief STM32 Family
   */
@@ -72,7 +72,7 @@
 #endif /* STM32F4 */
 
 /* Uncomment the line below according to the target STM32 device used in your
-   application 
+   application
   */
 #if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \
     !defined (STM32F427xx) && !defined (STM32F437xx) && !defined (STM32F429xx) && !defined (STM32F439xx) && \
@@ -86,9 +86,9 @@
   /* #define STM32F417xx */   /*!< STM32F417VG, STM32F417VE, STM32F417ZG, STM32F417ZE, STM32F417IG and STM32F417IE Devices */
   /* #define STM32F427xx */   /*!< STM32F427VG, STM32F427VI, STM32F427ZG, STM32F427ZI, STM32F427IG and STM32F427II Devices */
   /* #define STM32F437xx */   /*!< STM32F437VG, STM32F437VI, STM32F437ZG, STM32F437ZI, STM32F437IG and STM32F437II Devices */
-  /* #define STM32F429xx */   /*!< STM32F429VG, STM32F429VI, STM32F429ZG, STM32F429ZI, STM32F429BG, STM32F429BI, STM32F429NG, 
+  /* #define STM32F429xx */   /*!< STM32F429VG, STM32F429VI, STM32F429ZG, STM32F429ZI, STM32F429BG, STM32F429BI, STM32F429NG,
                                    STM32F439NI, STM32F429IG  and STM32F429II Devices */
-  /* #define STM32F439xx */   /*!< STM32F439VG, STM32F439VI, STM32F439ZG, STM32F439ZI, STM32F439BG, STM32F439BI, STM32F439NG, 
+  /* #define STM32F439xx */   /*!< STM32F439VG, STM32F439VI, STM32F439ZG, STM32F439ZI, STM32F439BG, STM32F439BI, STM32F439NG,
                                    STM32F439NI, STM32F439IG and STM32F439II Devices */
   /* #define STM32F401xC */   /*!< STM32F401CB, STM32F401CC, STM32F401RB, STM32F401RC, STM32F401VB and STM32F401VC Devices */
   /* #define STM32F401xE */   /*!< STM32F401CD, STM32F401RD, STM32F401VD, STM32F401CE, STM32F401RE and STM32F401VE Devices */
@@ -96,11 +96,11 @@
   /* #define STM32F410Cx */   /*!< STM32F410C8 and STM32F410CB Devices */
   /* #define STM32F410Rx */   /*!< STM32F410R8 and STM32F410RB Devices */
   /* #define STM32F411xE */   /*!< STM32F411CC, STM32F411RC, STM32F411VC, STM32F411CE, STM32F411RE and STM32F411VE Devices */
-  /* #define STM32F446xx */   /*!< STM32F446MC, STM32F446ME, STM32F446RC, STM32F446RE, STM32F446VC, STM32F446VE, STM32F446ZC, 
+  /* #define STM32F446xx */   /*!< STM32F446MC, STM32F446ME, STM32F446RC, STM32F446RE, STM32F446VC, STM32F446VE, STM32F446ZC,
                                    and STM32F446ZE Devices */
-  /* #define STM32F469xx */   /*!< STM32F469AI, STM32F469II, STM32F469BI, STM32F469NI, STM32F469AG, STM32F469IG, STM32F469BG, 
+  /* #define STM32F469xx */   /*!< STM32F469AI, STM32F469II, STM32F469BI, STM32F469NI, STM32F469AG, STM32F469IG, STM32F469BG,
                                    STM32F469NG, STM32F469AE, STM32F469IE, STM32F469BE and STM32F469NE Devices */
-  /* #define STM32F479xx */   /*!< STM32F479AI, STM32F479II, STM32F479BI, STM32F479NI, STM32F479AG, STM32F479IG, STM32F479BG 
+  /* #define STM32F479xx */   /*!< STM32F479AI, STM32F479II, STM32F479BI, STM32F479NI, STM32F479AG, STM32F479IG, STM32F479BG
                                    and STM32F479NG Devices */
   /* #define STM32F412Cx */   /*!< STM32F412CEU and STM32F412CGU Devices */
   /* #define STM32F412Zx */   /*!< STM32F412ZET, STM32F412ZGT, STM32F412ZEJ and STM32F412ZGJ Devices */
@@ -110,15 +110,15 @@
                                    STM32F413RG, STM32F413VG and STM32F413ZG Devices */
   /* #define STM32F423xx */   /*!< STM32F423CH, STM32F423RH, STM32F423VH and STM32F423ZH Devices */
 #endif
-   
+
 /*  Tip: To avoid modifying this file each time you need to switch between these
         devices, you can define the device in your toolchain compiler preprocessor.
   */
 #if !defined  (USE_HAL_DRIVER)
 /**
  * @brief Comment the line below if you will not use the peripherals drivers.
-   In this case, these drivers will not be included and the application code will 
-   be based on direct access to peripherals registers 
+   In this case, these drivers will not be included and the application code will
+   be based on direct access to peripherals registers
    */
   /*#define USE_HAL_DRIVER */
 #endif /* USE_HAL_DRIVER */
@@ -199,23 +199,23 @@
 
 /** @addtogroup Exported_types
   * @{
-  */ 
-typedef enum 
+  */
+typedef enum
 {
-  RESET = 0U, 
+  RESET = 0U,
   SET = !RESET
 } FlagStatus, ITStatus;
 
-typedef enum 
+typedef enum
 {
-  DISABLE = 0U, 
+  DISABLE = 0U,
   ENABLE = !DISABLE
 } FunctionalState;
 #define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
 
-typedef enum 
+typedef enum
 {
-  ERROR = 0U, 
+  ERROR = 0U,
   SUCCESS = !ERROR
 } ErrorStatus;
 
@@ -241,7 +241,7 @@ typedef enum
 
 #define MODIFY_REG(REG, CLEARMASK, SETMASK)  WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
 
-#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL))) 
+#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL)))
 
 
 /**
@@ -264,7 +264,7 @@ typedef enum
 /**
   * @}
   */
-  
+
 
 
 

panda/board/inc/stm32f4xx_hal_def.h

@@ -4,8 +4,8 @@
   * @author  MCD Application Team
   * @version V1.6.0
   * @date    04-November-2016
-  * @brief   This file contains HAL common defines, enumeration, macros and 
-  *          structures definitions. 
+  * @brief   This file contains HAL common defines, enumeration, macros and
+  *          structures definitions.
   ******************************************************************************
   * @attention
   *
@@ -51,10 +51,10 @@
 
 /* Exported types ------------------------------------------------------------*/
 
-/** 
-  * @brief  HAL Status structures definition  
-  */  
-typedef enum 
+/**
+  * @brief  HAL Status structures definition
+  */
+typedef enum
 {
   HAL_OK       = 0x00U,
   HAL_ERROR    = 0x01U,
@@ -62,13 +62,13 @@ typedef enum
   HAL_TIMEOUT  = 0x03U
 } HAL_StatusTypeDef;
 
-/** 
-  * @brief  HAL Lock structures definition  
+/**
+  * @brief  HAL Lock structures definition
   */
-typedef enum 
+typedef enum
 {
   HAL_UNLOCKED = 0x00U,
-  HAL_LOCKED   = 0x01U  
+  HAL_LOCKED   = 0x01U
 } HAL_LockTypeDef;
 
 /* Exported macro ------------------------------------------------------------*/
@@ -87,11 +87,11 @@ typedef enum
 
 /** @brief Reset the Handle's State field.
   * @param __HANDLE__: specifies the Peripheral Handle.
-  * @note  This macro can be used for the following purpose: 
+  * @note  This macro can be used for the following purpose:
   *          - When the Handle is declared as local variable; before passing it as parameter
-  *            to HAL_PPP_Init() for the first time, it is mandatory to use this macro 
+  *            to HAL_PPP_Init() for the first time, it is mandatory to use this macro
   *            to set to 0 the Handle's "State" field.
-  *            Otherwise, "State" field may have any random value and the first time the function 
+  *            Otherwise, "State" field may have any random value and the first time the function
   *            HAL_PPP_Init() is called, the low level hardware initialization will be missed
   *            (i.e. HAL_PPP_MspInit() will not be executed).
   *          - When there is a need to reconfigure the low level hardware: instead of calling
@@ -139,61 +139,61 @@ typedef enum
   #ifndef __ALIGN_END
     #define __ALIGN_END    __attribute__ ((aligned (4)))
   #endif /* __ALIGN_END */
-  #ifndef __ALIGN_BEGIN  
+  #ifndef __ALIGN_BEGIN
     #define __ALIGN_BEGIN
   #endif /* __ALIGN_BEGIN */
 #else
   #ifndef __ALIGN_END
     #define __ALIGN_END
   #endif /* __ALIGN_END */
-  #ifndef __ALIGN_BEGIN      
+  #ifndef __ALIGN_BEGIN
     #if defined   (__CC_ARM)      /* ARM Compiler */
-      #define __ALIGN_BEGIN    __align(4)  
+      #define __ALIGN_BEGIN    __align(4)
     #elif defined (__ICCARM__)    /* IAR Compiler */
-      #define __ALIGN_BEGIN 
+      #define __ALIGN_BEGIN
     #endif /* __CC_ARM */
   #endif /* __ALIGN_BEGIN */
 #endif /* __GNUC__ */
 
 
-/** 
+/**
   * @brief  __RAM_FUNC definition
-  */ 
+  */
 #if defined ( __CC_ARM   )
 /* ARM Compiler
    ------------
-   RAM functions are defined using the toolchain options. 
+   RAM functions are defined using the toolchain options.
    Functions that are executed in RAM should reside in a separate source module.
-   Using the 'Options for File' dialog you can simply change the 'Code / Const' 
+   Using the 'Options for File' dialog you can simply change the 'Code / Const'
    area of a module to a memory space in physical RAM.
    Available memory areas are declared in the 'Target' tab of the 'Options for Target'
-   dialog. 
+   dialog.
 */
-#define __RAM_FUNC HAL_StatusTypeDef 
+#define __RAM_FUNC HAL_StatusTypeDef
 
 #elif defined ( __ICCARM__ )
 /* ICCARM Compiler
    ---------------
-   RAM functions are defined using a specific toolchain keyword "__ramfunc". 
+   RAM functions are defined using a specific toolchain keyword "__ramfunc".
 */
 #define __RAM_FUNC __ramfunc HAL_StatusTypeDef
 
 #elif defined   (  __GNUC__  )
 /* GNU Compiler
    ------------
-  RAM functions are defined using a specific toolchain attribute 
+  RAM functions are defined using a specific toolchain attribute
    "__attribute__((section(".RamFunc")))".
 */
 #define __RAM_FUNC HAL_StatusTypeDef  __attribute__((section(".RamFunc")))
 
 #endif
 
-/** 
+/**
   * @brief  __NOINLINE definition
-  */ 
+  */
 #if defined ( __CC_ARM   ) || defined   (  __GNUC__  )
-/* ARM & GNUCompiler 
-   ---------------- 
+/* ARM & GNUCompiler
+   ----------------
 */
 #define __NOINLINE __attribute__ ( (noinline) )
 

panda/board/inc/system_stm32f2xx.h

@@ -4,7 +4,7 @@
   * @author  MCD Application Team
   * @version V2.1.2
   * @date    29-June-2016
-  * @brief   CMSIS Cortex-M3 Device System Source File for STM32F2xx devices.       
+  * @brief   CMSIS Cortex-M3 Device System Source File for STM32F2xx devices.
 ******************************************************************************
   * @attention
   *
@@ -32,8 +32,8 @@
   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
-  ******************************************************************************  
-  */ 
+  ******************************************************************************
+  */
 
 /** @addtogroup CMSIS
   * @{
@@ -41,8 +41,8 @@
 
 /** @addtogroup stm32f2xx_system
   * @{
-  */  
-  
+  */
+
 /**
   * @brief Define to prevent recursive inclusion
   */
@@ -51,7 +51,7 @@
 
 #ifdef __cplusplus
  extern "C" {
-#endif 
+#endif
 
 /** @addtogroup STM32F2xx_System_Includes
   * @{
@@ -68,7 +68,7 @@
   /* This variable is updated in three ways:
       1) by calling CMSIS function SystemCoreClockUpdate()
       2) by calling HAL API function HAL_RCC_GetSysClockFreq()
-      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency 
+      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
          Note: If you use this function to configure the system clock; then there
                is no need to call the 2 first functions listed above, since SystemCoreClock
                variable is updated automatically.
@@ -99,7 +99,7 @@ extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Cloc
 /** @addtogroup STM32F2xx_System_Exported_Functions
   * @{
   */
-  
+
 extern void SystemInit(void);
 extern void SystemCoreClockUpdate(void);
 /**
@@ -115,8 +115,8 @@ extern void SystemCoreClockUpdate(void);
 /**
   * @}
   */
-  
+
 /**
   * @}
-  */  
+  */
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

panda/board/inc/system_stm32f4xx.h

@@ -4,8 +4,8 @@
   * @author  MCD Application Team
   * @version V2.6.0
   * @date    04-November-2016
-  * @brief   CMSIS Cortex-M4 Device System Source File for STM32F4xx devices.       
-  ******************************************************************************  
+  * @brief   CMSIS Cortex-M4 Device System Source File for STM32F4xx devices.
+  ******************************************************************************
   * @attention
   *
   * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
@@ -32,8 +32,8 @@
   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
-  ******************************************************************************  
-  */ 
+  ******************************************************************************
+  */
 
 /** @addtogroup CMSIS
   * @{
@@ -41,8 +41,8 @@
 
 /** @addtogroup stm32f4xx_system
   * @{
-  */  
-  
+  */
+
 /**
   * @brief Define to prevent recursive inclusion
   */
@@ -51,7 +51,7 @@
 
 #ifdef __cplusplus
  extern "C" {
-#endif 
+#endif
 
 /** @addtogroup STM32F4xx_System_Includes
   * @{
@@ -68,7 +68,7 @@
   /* This variable is updated in three ways:
       1) by calling CMSIS function SystemCoreClockUpdate()
       2) by calling HAL API function HAL_RCC_GetSysClockFreq()
-      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency 
+      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
          Note: If you use this function to configure the system clock; then there
                is no need to call the 2 first functions listed above, since SystemCoreClock
                variable is updated automatically.
@@ -101,7 +101,7 @@ extern const uint8_t  APBPrescTable[8];     /*!< APB prescalers table values */
 /** @addtogroup STM32F4xx_System_Exported_Functions
   * @{
   */
-  
+
 extern void SystemInit(void);
 extern void SystemCoreClockUpdate(void);
 /**
@@ -117,8 +117,8 @@ extern void SystemCoreClockUpdate(void);
 /**
   * @}
   */
-  
+
 /**
   * @}
-  */  
+  */
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

panda/board/libc.h

@@ -1,50 +1,64 @@
-// **** shitty libc ****
+// **** libc ****
 
 void delay(int a) {
   volatile int i;
-  for (i=0;i<a;i++);
+  for (i = 0; i < a; i++);
 }
 
 void *memset(void *str, int c, unsigned int n) {
-  int i;
-  for (i = 0; i < n; i++) {
-    *((uint8_t*)str) = c;
-    ++str;
+  uint8_t *s = str;
+  for (unsigned int i = 0; i < n; i++) {
+    *s = c;
+    s++;
   }
   return str;
 }
 
 void *memcpy(void *dest, const void *src, unsigned int n) {
-  int i;
-  // TODO: make not slow
-  for (i = 0; i < n; i++) {
-    ((uint8_t*)dest)[i] = *(uint8_t*)src;
-    ++src;
+  uint8_t *d = dest;
+  const uint8_t *s = src;
+  for (unsigned int i = 0; i < n; i++) {
+    *d = *s;
+    d++;
+    s++;
   }
   return dest;
 }
 
 int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
-  int i;
-  for (i = 0; i < num; i++) {
-    if ( ((uint8_t*)ptr1)[i] != ((uint8_t*)ptr2)[i] ) return -1;
+  int ret = 0;
+  const uint8_t *p1 = ptr1;
+  const uint8_t *p2 = ptr2;
+  for (unsigned int i = 0; i < num; i++) {
+    if (*p1 != *p2) {
+      ret = -1;
+      break;
+    }
+    p1++;
+    p2++;
   }
-  return 0;
+  return ret;
 }
 
 // ********************* IRQ helpers *********************
 
+int interrupts_enabled = 0;
+void enable_interrupts(void) {
+  interrupts_enabled = 1;
+  __enable_irq();
+}
+
 int critical_depth = 0;
-void enter_critical_section() {
+void enter_critical_section(void) {
   __disable_irq();
   // this is safe because interrupts are disabled
   critical_depth += 1;
 }
 
-void exit_critical_section() {
+void exit_critical_section(void) {
   // this is safe because interrupts are disabled
   critical_depth -= 1;
-  if (critical_depth == 0) {
+  if ((critical_depth == 0) && interrupts_enabled) {
     __enable_irq();
   }
 }

panda/board/main.c

@@ -1,36 +1,44 @@
-//#define EON
+//#define EON 
+//#define PANDA
 
+// ********************* Includes *********************
 #include "config.h"
 #include "obj/gitversion.h"
 
-// ********************* includes *********************
-
-
 #include "libc.h"
 #include "provision.h"
 
+#include "main_declarations.h"
+
 #include "drivers/llcan.h"
 #include "drivers/llgpio.h"
-#include "gpio.h"
+#include "drivers/adc.h"
+
+#include "board.h"
 
 #include "drivers/uart.h"
-#include "drivers/adc.h"
 #include "drivers/usb.h"
 #include "drivers/gmlan_alt.h"
-#include "drivers/spi.h"
 #include "drivers/timer.h"
 #include "drivers/clock.h"
 
+#include "gpio.h"
+
+#ifndef EON
+#include "drivers/spi.h"
+#endif
+
 #include "power_saving.h"
 #include "safety.h"
+
 #include "drivers/can.h"
 
-// ********************* serial debugging *********************
+// ********************* Serial debugging *********************
 
 void debug_ring_callback(uart_ring *ring) {
   char rcv;
   while (getc(ring, &rcv)) {
-    putc(ring, rcv);
+    (void)putc(ring, rcv);  // misra-c2012-17.7: cast to void is ok: debug function
 
     // jump to DFU flash
     if (rcv == 'z') {
@@ -46,29 +54,23 @@ void debug_ring_callback(uart_ring *ring) {
     // enable CDP mode
     if (rcv == 'C') {
       puts("switching USB to CDP mode\n");
-      set_usb_power_mode(USB_POWER_CDP);
+      current_board->set_usb_power_mode(USB_POWER_CDP);
     }
     if (rcv == 'c') {
       puts("switching USB to client mode\n");
-      set_usb_power_mode(USB_POWER_CLIENT);
+      current_board->set_usb_power_mode(USB_POWER_CLIENT);
     }
     if (rcv == 'D') {
       puts("switching USB to DCP mode\n");
-      set_usb_power_mode(USB_POWER_DCP);
+      current_board->set_usb_power_mode(USB_POWER_DCP);
     }
   }
 }
 
 // ***************************** 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)) {
+void started_interrupt_handler(uint8_t interrupt_line) {
+  volatile unsigned int pr = EXTI->PR & (1U << interrupt_line);
+  if ((pr & (1U << interrupt_line)) != 0U) {
     #ifdef DEBUG
       puts("got started interrupt\n");
     #endif
@@ -77,34 +79,93 @@ void EXTI1_IRQHandler() {
     delay(100000);
 
     // set power savings mode here
-    if (is_gpio_started() == 1) {
-      power_save_disable();
-    } else {
-      power_save_enable();
-    }
-    EXTI->PR = (1 << 1);
+    int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
+    set_power_save_state(power_save_state);
   }
+  EXTI->PR = (1U << interrupt_line);
 }
 
-void started_interrupt_init() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void EXTI0_IRQHandler(void) {
+  started_interrupt_handler(0);
+}
+
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void EXTI1_IRQHandler(void) {
+  started_interrupt_handler(1);
+}
+
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void EXTI3_IRQHandler(void) {
+  started_interrupt_handler(3);
+}
+
+void started_interrupt_init(void) {
   SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
-  EXTI->IMR |= (1 << 1);
-  EXTI->RTSR |= (1 << 1);
-  EXTI->FTSR |= (1 << 1);
+  EXTI->IMR |= (1U << 1);
+  EXTI->RTSR |= (1U << 1);
+  EXTI->FTSR |= (1U << 1);
   NVIC_EnableIRQ(EXTI1_IRQn);
 }
 
+// ****************************** safety mode ******************************
+
+// this is the only way to leave silent mode
+void set_safety_mode(uint16_t mode, int16_t param) {
+  int err = safety_set_mode(mode, param);
+  if (err == -1) {
+    puts("Error: safety set mode failed\n");
+  } else {
+    if (mode == SAFETY_NOOUTPUT) {
+      can_silent = ALL_CAN_SILENT;
+    } else {
+      can_silent = ALL_CAN_LIVE;
+    }
+
+    switch (mode) {
+        case SAFETY_NOOUTPUT:
+          set_intercept_relay(false);
+          if(hw_type == HW_TYPE_BLACK_PANDA){
+            current_board->set_can_mode(CAN_MODE_NORMAL);
+          }
+          break;
+        case SAFETY_ELM327:
+          set_intercept_relay(false);
+          if(hw_type == HW_TYPE_BLACK_PANDA){
+            current_board->set_can_mode(CAN_MODE_OBD_CAN2);
+          }
+          break;
+        default:
+          set_intercept_relay(true);
+          if(hw_type == HW_TYPE_BLACK_PANDA){
+            current_board->set_can_mode(CAN_MODE_NORMAL);
+          }
+          break;
+      }          
+    if (safety_ignition_hook() != -1) {
+      // if the ignition hook depends on something other than the started GPIO
+      // we have to disable power savings (fix for GM and Tesla)
+      set_power_save_state(POWER_SAVE_STATUS_DISABLED);
+    } else {
+      // power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
+    }
+    can_init_all();
+  }
+}
+
 // ***************************** USB port *****************************
 
 int get_health_pkt(void *dat) {
   struct __attribute__((packed)) {
-    uint32_t voltage;
-    uint32_t current;
-    uint8_t started;
-    uint8_t controls_allowed;
-    uint8_t gas_interceptor_detected;
-    uint8_t started_signal_detected;
-    uint8_t started_alt;
+    uint32_t voltage_pkt;
+    uint32_t current_pkt;
+    uint32_t can_send_errs_pkt;
+    uint32_t can_fwd_errs_pkt;
+    uint32_t gmlan_send_errs_pkt;
+    uint8_t started_pkt;
+    uint8_t controls_allowed_pkt;
+    uint8_t gas_interceptor_detected_pkt;
+    uint8_t car_harness_status_pkt;
   } *health = dat;
 
   //Voltage will be measured in mv. 5000 = 5V
@@ -117,72 +178,84 @@ int get_health_pkt(void *dat) {
   // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
 
   // Avoid needing floating point math
-  health->voltage = (voltage * 8862) / 1000;
+  health->voltage_pkt = (voltage * 8862U) / 1000U;
+
+  // No current sense on panda black
+  if(hw_type != HW_TYPE_BLACK_PANDA){
+    health->current_pkt = adc_get(ADCCHAN_CURRENT);
+  } else {
+    health->current_pkt = 0;
+  }
 
-  health->current = adc_get(ADCCHAN_CURRENT);
   int safety_ignition = safety_ignition_hook();
   if (safety_ignition < 0) {
     //Use the GPIO pin to determine ignition
-    health->started = is_gpio_started();
+    health->started_pkt = (uint8_t)(current_board->check_ignition());
   } else {
     //Current safety hooks want to determine ignition (ex: GM)
-    health->started = safety_ignition;
+    health->started_pkt = safety_ignition;
   }
 
-  health->controls_allowed = controls_allowed;
-  health->gas_interceptor_detected = gas_interceptor_detected;
-
-  // DEPRECATED
-  health->started_alt = 0;
-  health->started_signal_detected = 0;
-
+  health->controls_allowed_pkt = controls_allowed;
+  health->gas_interceptor_detected_pkt = gas_interceptor_detected;
+  health->can_send_errs_pkt = can_send_errs;
+  health->can_fwd_errs_pkt = can_fwd_errs;
+  health->gmlan_send_errs_pkt = gmlan_send_errs;
+  health->car_harness_status_pkt = car_harness_status;
+  
   return sizeof(*health);
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) {
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
   CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
   int ilen = 0;
-  while (ilen < min(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) ilen++;
+  while (ilen < MIN(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) {
+    ilen++;
+  }
   return ilen*0x10;
 }
 
 // send on serial, first byte to select the ring
-void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
-  if (len == 0) return;
-  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)) {
-    for (int i = 1; i < len; i++) while (!putc(ur, usbdata[i]));
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
+  uint8_t *usbdata8 = (uint8_t *)usbdata;
+  uart_ring *ur = get_ring_by_number(usbdata8[0]);
+  if ((len != 0) && (ur != NULL)) {
+    if ((usbdata8[0] < 2U) || safety_tx_lin_hook(usbdata8[0] - 2U, usbdata8 + 1, len - 1)) {
+      for (int i = 1; i < len; i++) {
+        while (!putc(ur, usbdata8[i])) {
+          // wait
+        }
+      }
+    }
   }
 }
 
 // send on CAN
-void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
   int dpkt = 0;
-  for (dpkt = 0; dpkt < len; dpkt += 0x10) {
-    uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
-
-    // make a copy
+  uint32_t *d32 = (uint32_t *)usbdata;
+  for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
     CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RDHR = tf[3];
-    to_push.RDLR = tf[2];
-    to_push.RDTR = tf[1];
-    to_push.RIR = tf[0];
+    to_push.RDHR = d32[dpkt + 3];
+    to_push.RDLR = d32[dpkt + 2];
+    to_push.RDTR = d32[dpkt + 1];
+    to_push.RIR = d32[dpkt];
 
     uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
     can_send(&to_push, bus_number);
   }
 }
 
-int is_enumerated = 0;
-
 void usb_cb_enumeration_complete() {
   puts("USB enumeration complete\n");
   is_enumerated = 1;
 }
 
-int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
-  int resp_len = 0;
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
+  unsigned int resp_len = 0;
   uart_ring *ur = NULL;
   int i;
   switch (setup->b.bRequest) {
@@ -194,16 +267,16 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       puts(" err: "); puth(can_err_cnt);
       puts("\n");
       break;
-    // **** 0xc1: is grey panda
+    // **** 0xc1: get hardware type
     case 0xc1:
-      resp[0] = is_grey_panda;
+      resp[0] = hw_type;
       resp_len = 1;
       break;
     // **** 0xd0: fetch serial number
     case 0xd0:
       // addresses are OTP
-      if (setup->b.wValue.w == 1) {
-        memcpy(resp, (void *)0x1fff79c0, 0x10);
+      if (setup->b.wValue.w == 1U) {
+        (void)memcpy(resp, (uint8_t *)0x1fff79c0, 0x10);
         resp_len = 0x10;
       } else {
         get_provision_chunk(resp);
@@ -227,6 +300,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
           enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
           NVIC_SystemReset();
           break;
+        default:
+          puts("Bootloader mode invalid\n");
+          break;
       }
       break;
     // **** 0xd2: get health packet
@@ -235,9 +311,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xd6: get version
     case 0xd6:
-      COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN)
-      memcpy(resp, gitversion, sizeof(gitversion));
-      resp_len = sizeof(gitversion)-1;
+      COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN);
+      (void)memcpy(resp, gitversion, sizeof(gitversion));
+      resp_len = sizeof(gitversion) - 1U;
       break;
     // **** 0xd8: reset ST
     case 0xd8:
@@ -245,66 +321,58 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xd9: set ESP power
     case 0xd9:
-      if (setup->b.wValue.w == 1) {
-        set_esp_mode(ESP_ENABLED);
-      } else if (setup->b.wValue.w == 2) {
-        set_esp_mode(ESP_BOOTMODE);
+      if (setup->b.wValue.w == 1U) {
+        current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+      } else if (setup->b.wValue.w == 2U) {
+        current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
       } else {
-        set_esp_mode(ESP_DISABLED);
+        current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
       }
       break;
     // **** 0xda: reset ESP, with optional boot mode
     case 0xda:
-      set_esp_mode(ESP_DISABLED);
+      current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
       delay(1000000);
-      if (setup->b.wValue.w == 1) {
-        set_esp_mode(ESP_BOOTMODE);
+      if (setup->b.wValue.w == 1U) {
+        current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
       } else {
-        set_esp_mode(ESP_ENABLED);
+        current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
       }
       delay(1000000);
-      set_esp_mode(ESP_ENABLED);
+      current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
       break;
-    // **** 0xdb: set GMLAN multiplexing mode
+    // **** 0xdb: set GMLAN (white/grey) or OBD CAN (black) multiplexing mode
     case 0xdb:
-      if (setup->b.wValue.w == 1) {
-        // GMLAN ON
-        if (setup->b.wIndex.w == 1) {
-          can_set_gmlan(1);
-        } else if (setup->b.wIndex.w == 2) {
-          can_set_gmlan(2);
-        }
+      if(hw_type == HW_TYPE_BLACK_PANDA){
+        if (setup->b.wValue.w == 1U) {
+          // Enable OBD CAN
+          current_board->set_can_mode(CAN_MODE_OBD_CAN2);
+        } else {
+          // Disable OBD CAN
+          current_board->set_can_mode(CAN_MODE_NORMAL);
+        }        
       } else {
-        can_set_gmlan(-1);
+        if (setup->b.wValue.w == 1U) {
+          // GMLAN ON
+          if (setup->b.wIndex.w == 1U) {
+            can_set_gmlan(1);
+          } else if (setup->b.wIndex.w == 2U) {
+            can_set_gmlan(2);
+          } else {
+            puts("Invalid bus num for GMLAN CAN set\n");
+          }
+        } 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.
+      // Blocked over WiFi.
+      // Allow NOOUTPUT and ELM security mode to be set over wifi.
       if (hardwired || (setup->b.wValue.w == SAFETY_NOOUTPUT) || (setup->b.wValue.w == SAFETY_ELM327)) {
-        safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
-        if (safety_ignition_hook() != -1) {
-          // if the ignition hook depends on something other than the started GPIO
-          // we have to disable power savings (fix for GM and Tesla)
-          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();
+        set_safety_mode(setup->b.wValue.w, (uint16_t) setup->b.wIndex.w);
       }
       break;
     // **** 0xdd: enable can forwarding
@@ -314,8 +382,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       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 == 0xFFU)){ //Clear Forwarding
         can_set_forwarding(setup->b.wValue.w, -1);
+      } else {
+        puts("Invalid CAN bus forwarding\n");
       }
       break;
     // **** 0xde: set can bitrate
@@ -328,16 +398,20 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     // **** 0xdf: set long controls allowed
     case 0xdf:
       if (hardwired) {
-        long_controls_allowed = setup->b.wValue.w & 1;
+        long_controls_allowed = setup->b.wValue.w & 1U;
       }
       break;
     // **** 0xe0: uart read
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
-      if (ur == &esp_ring) uart_dma_drain();
+      if (!ur) {
+        break;
+      }
+      if (ur == &esp_ring) {
+        uart_dma_drain();
+      }
       // read
-      while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
+      while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
                          getc(ur, (char*)&resp[resp_len])) {
         ++resp_len;
       }
@@ -345,13 +419,17 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     // **** 0xe1: uart set baud rate
     case 0xe1:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
+      if (!ur) {
+        break;
+      }
       uart_set_baud(ur->uart, setup->b.wIndex.w);
       break;
     // **** 0xe2: uart set parity
     case 0xe2:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
+      if (!ur) {
+        break;
+      }
       switch (setup->b.wIndex.w) {
         case 0:
           // disable parity, 8-bit
@@ -374,51 +452,53 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     // **** 0xe4: uart set baud rate extended
     case 0xe4:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
+      if (!ur) {
+        break;
+      }
       uart_set_baud(ur->uart, (int)setup->b.wIndex.w*300);
       break;
     // **** 0xe5: set CAN loopback (for testing)
     case 0xe5:
-      can_loopback = (setup->b.wValue.w > 0);
+      can_loopback = (setup->b.wValue.w > 0U);
       can_init_all();
       break;
     // **** 0xe6: set USB power
     case 0xe6:
-      if (setup->b.wValue.w == 1) {
+      if (setup->b.wValue.w == 1U) {
         puts("user setting CDP mode\n");
-        set_usb_power_mode(USB_POWER_CDP);
-      } else if (setup->b.wValue.w == 2) {
+        current_board->set_usb_power_mode(USB_POWER_CDP);
+      } else if (setup->b.wValue.w == 2U) {
         puts("user setting DCP mode\n");
-        set_usb_power_mode(USB_POWER_DCP);
+        current_board->set_usb_power_mode(USB_POWER_DCP);
       } else {
         puts("user setting CLIENT mode\n");
-        set_usb_power_mode(USB_POWER_CLIENT);
+        current_board->set_usb_power_mode(USB_POWER_CLIENT);
       }
       break;
     // **** 0xf0: do k-line wValue pulse on uart2 for Acura
     case 0xf0:
-      if (setup->b.wValue.w == 1) {
-        GPIOC->ODR &= ~(1 << 10);
+      if (setup->b.wValue.w == 1U) {
+        GPIOC->ODR &= ~(1U << 10);
         GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
         GPIOC->MODER |= GPIO_MODER_MODER10_0;
       } else {
-        GPIOC->ODR &= ~(1 << 12);
+        GPIOC->ODR &= ~(1U << 12);
         GPIOC->MODER &= ~GPIO_MODER_MODER12_1;
         GPIOC->MODER |= GPIO_MODER_MODER12_0;
       }
 
       for (i = 0; i < 80; i++) {
         delay(8000);
-        if (setup->b.wValue.w == 1) {
-          GPIOC->ODR |= (1 << 10);
-          GPIOC->ODR &= ~(1 << 10);
+        if (setup->b.wValue.w == 1U) {
+          GPIOC->ODR |= (1U << 10);
+          GPIOC->ODR &= ~(1U << 10);
         } else {
-          GPIOC->ODR |= (1 << 12);
-          GPIOC->ODR &= ~(1 << 12);
+          GPIOC->ODR |= (1U << 12);
+          GPIOC->ODR &= ~(1U << 12);
         }
       }
 
-      if (setup->b.wValue.w == 1) {
+      if (setup->b.wValue.w == 1U) {
         GPIOC->MODER &= ~GPIO_MODER_MODER10_0;
         GPIOC->MODER |= GPIO_MODER_MODER10_1;
       } else {
@@ -430,24 +510,32 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xf1: Clear CAN ring buffer.
     case 0xf1:
-      if (setup->b.wValue.w == 0xFFFF) {
+      if (setup->b.wValue.w == 0xFFFFU) {
         puts("Clearing CAN Rx queue\n");
         can_clear(&can_rx_q);
       } else if (setup->b.wValue.w < BUS_MAX) {
         puts("Clearing CAN Tx queue\n");
         can_clear(can_queues[setup->b.wValue.w]);
+      } else {
+        puts("Clearing CAN CAN ring buffer failed: wrong bus number\n");
       }
       break;
     // **** 0xf2: Clear UART ring buffer.
     case 0xf2:
       {
         uart_ring * rb = get_ring_by_number(setup->b.wValue.w);
-        if (rb) {
+        if (rb != NULL) {
           puts("Clearing UART queue.\n");
           clear_uart_buff(rb);
         }
         break;
       }
+    // **** 0xf3: Heartbeat. Resets heartbeat counter.
+    case 0xf3:
+      {
+        heartbeat_counter = 0U;
+        break;
+      }
     default:
       puts("NO HANDLER ");
       puth(setup->b.bRequest);
@@ -457,11 +545,12 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
   return resp_len;
 }
 
+#ifndef EON
 int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   // data[0]  = endpoint
   // data[2]  = length
   // data[4:] = data
-
+  UNUSED(len);
   int resp_len = 0;
   switch (data[0]) {
     case 0:
@@ -480,138 +569,107 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
       // ep 3, send CAN
       usb_cb_ep3_out(data+4, data[2], 0);
       break;
+    default:
+      puts("SPI data invalid");
+      break;
   }
   return resp_len;
 }
-
+#endif
 
 // ***************************** main code *****************************
 
-void __initialize_hardware_early() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void __initialize_hardware_early(void) {
   early();
 }
 
-void __attribute__ ((noinline)) enable_fpu() {
+void __attribute__ ((noinline)) enable_fpu(void) {
   // enable the FPU
-  SCB->CPACR |= ((3UL << (10 * 2)) | (3UL << (11 * 2)));
+  SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
 }
 
 uint64_t tcnt = 0;
-uint64_t marker = 0;
+
+// go into NOOUTPUT when the EON does not send a heartbeat for this amount of seconds.
+#define EON_HEARTBEAT_THRESHOLD_IGNITION_ON 5U
+#define EON_HEARTBEAT_THRESHOLD_IGNITION_OFF 2U
 
 // called once per second
-void TIM3_IRQHandler() {
-  #define CURRENT_THRESHOLD 0xF00
-  #define CLICKS 5 // 5 seconds to switch modes
-
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void TIM3_IRQHandler(void) {
   if (TIM3->SR != 0) {
     can_live = pending_can_live;
 
+    current_board->usb_power_mode_tick(tcnt);
+
     //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;
-
+    if ((tcnt & 0xFU) == 0U) {
+      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");
+      //TODO: re-enable
+      //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);
+    current_board->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);
+    current_board->set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
+
+    // increase heartbeat counter and cap it at the uint32 limit
+    if (heartbeat_counter < __UINT32_MAX__) {
+      heartbeat_counter += 1U;
+    }
+
+    // check heartbeat counter if we are running EON code. If the heartbeat has been gone for a while, go to NOOUTPUT safety mode.
+    #ifdef EON
+    if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_THRESHOLD_IGNITION_ON : EON_HEARTBEAT_THRESHOLD_IGNITION_OFF)) {
+      puts("EON hasn't sent a heartbeat for 0x"); puth(heartbeat_counter); puts(" seconds. Safety is set to NOOUTPUT mode.\n");
+      set_safety_mode(SAFETY_NOOUTPUT, 0U);
+    }
+    #endif
 
     // on to the next one
-    tcnt += 1;
+    tcnt += 1U;
   }
   TIM3->SR = 0;
 }
 
-int main() {
+int main(void) {
   // shouldn't have interrupts here, but just in case
   __disable_irq();
 
   // init early devices
   clock_init();
-  periph_init();
-  detect();
-
+  peripherals_init();
+  detect_configuration();
+  detect_board_type();
+  adc_init();
+  
   // print hello
   puts("\n\n\n************************ MAIN START ************************\n");
 
-  // detect the revision and init the GPIOs
-  puts("config:\n");
-  puts((revision == PANDA_REV_C) ? "  panda rev c\n" : "  panda rev a or b\n");
-  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");
+  // check for non-supported board types
+  if(hw_type == HW_TYPE_UNKNOWN){
+    puts("Unsupported board type\n");
+    while (1) { /* hang */ }
+  }
 
-  // non rev c panda are no longer supported
-  while (revision != PANDA_REV_C);
+  puts("Config:\n");
+  puts("  Board type: "); puts(current_board->board_type); puts("\n");
+  puts(has_external_debug_serial ? "  Real serial\n" : "  USB serial\n");
+  puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  No bootmode\n");
 
-  gpio_init();
+  // init board
+  current_board->init();
 
   // panda has an FPU, let's use it!
   enable_fpu();
@@ -623,18 +681,21 @@ int main() {
     uart_init(USART2, 115200);
   }
 
-  if (is_grey_panda) {
+  if (board_has_gps()) {
     uart_init(USART1, 9600);
   } else {
     // enable ESP uart
     uart_init(USART1, 115200);
   }
 
-  // enable LIN
-  uart_init(UART5, 10400);
-  UART5->CR2 |= USART_CR2_LINEN;
-  uart_init(USART3, 10400);
-  USART3->CR2 |= USART_CR2_LINEN;
+  // there is no LIN on panda black
+  if(hw_type != HW_TYPE_BLACK_PANDA){
+    // enable LIN
+    uart_init(UART5, 10400);
+    UART5->CR2 |= USART_CR2_LINEN;
+    uart_init(USART3, 10400);
+    USART3->CR2 |= USART_CR2_LINEN;
+  }
 
   // init microsecond system timer
   // increments 1000000 times per second
@@ -644,34 +705,36 @@ int main() {
   TIM2->EGR = TIM_EGR_UG;
   // use TIM2->CNT to read
 
-  // enable USB
-  usb_init();
-
   // 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
+  int err = safety_set_mode(SAFETY_NOOUTPUT, 0);
+  if (err == -1) {
+    puts("Failed to set safety mode\n");
+    while (true) {
+      // if SAFETY_NOOUTPUT isn't succesfully set, we can't continue
+    }
+  }
   can_silent = ALL_CAN_SILENT;
-#endif
   can_init_all();
 
-  adc_init();
+#ifndef EON
   spi_init();
+#endif
 
 #ifdef EON
   // have to save power
-  if (!is_grey_panda) {
-    set_esp_mode(ESP_DISABLED);
+  if (hw_type == HW_TYPE_WHITE_PANDA) {
+    current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
   }
   // only enter power save after the first cycle
-  /*if (is_gpio_started() == 0) {
-    power_save_enable();
+  /*if (current_board->check_ignition()) {
+    set_power_save_state(POWER_SAVE_STATUS_ENABLED);
   }*/
-  // interrupt on started line
-  started_interrupt_init();
+
+  if (hw_type != HW_TYPE_BLACK_PANDA) {
+    // interrupt on started line
+    started_interrupt_init();
+  }
 #endif
 
   // 48mhz / 65536 ~= 732 / 732 = 1
@@ -681,10 +744,11 @@ int main() {
 #ifdef DEBUG
   puts("DEBUG ENABLED\n");
 #endif
+  // enable USB (right before interrupts or enum can fail!)
+  usb_init();
 
   puts("**** INTERRUPTS ON ****\n");
-
-  __enable_irq();
+  enable_interrupts();
 
   // LED should keep on blinking all the time
   uint64_t cnt = 0;
@@ -697,9 +761,9 @@ int main() {
       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);
+            current_board->set_led(LED_RED, 1);
             if (fade < 512) { delay(fade); } else { delay(1024-fade); }
-            set_led(LED_RED, 0);
+            current_board->set_led(LED_RED, 0);
             if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
           }
         }
@@ -711,4 +775,3 @@ int main() {
 
   return 0;
 }
-

panda/board/main_declarations.h

@@ -0,0 +1,14 @@
+// ******************** Prototypes ********************
+void puts(const char *a);
+void puth(unsigned int i);
+void puth2(unsigned int i);
+typedef struct board board;
+typedef struct harness_configuration harness_configuration;
+void can_flip_buses(uint8_t bus1, uint8_t bus2);
+void can_set_obd(uint8_t harness_orientation, bool obd);
+
+// ********************* Globals **********************
+uint8_t hw_type = 0;
+const board *current_board;
+bool is_enumerated = 0;
+uint32_t heartbeat_counter = 0;

panda/board/pedal/Makefile

@@ -1,10 +1,10 @@
 # :set noet
 PROJ_NAME = comma
 
-CFLAGS  = -O2 -Wall -std=gnu11 -DPEDAL
+CFLAGS  = -O2 -Wall -Wextra -Wstrict-prototypes -Werror -std=gnu11 -DPEDAL
 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
 CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
+CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib -fno-builtin
 CFLAGS += -T../stm32_flash.ld
 
 STARTUP_FILE = startup_stm32f205xx

panda/board/pedal/main.c

@@ -1,14 +1,20 @@
+// ********************* Includes *********************
 #include "../config.h"
+#include "libc.h"
+
+#include "main_declarations.h"
 
 #include "drivers/llcan.h"
 #include "drivers/llgpio.h"
-#include "drivers/clock.h"
 #include "drivers/adc.h"
+
+#include "board.h"
+
+#include "drivers/clock.h"
 #include "drivers/dac.h"
 #include "drivers/timer.h"
 
 #include "gpio.h"
-#include "libc.h"
 
 #define CAN CAN1
 
@@ -19,14 +25,22 @@
   #include "drivers/usb.h"
 #else
   // no serial either
-  int puts(const char *a) { return 0; }
-  void puth(unsigned int i) {}
+  void puts(const char *a) {
+    UNUSED(a);
+  }
+  void puth(unsigned int i) {
+    UNUSED(i);
+  }
+  void puth2(unsigned int i) {
+    UNUSED(i);
+  }
 #endif
 
 #define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
 uint32_t enter_bootloader_mode;
 
-void __initialize_hardware_early() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void __initialize_hardware_early(void) {
   early();
 }
 
@@ -36,31 +50,54 @@ void __initialize_hardware_early() {
 
 void debug_ring_callback(uart_ring *ring) {
   char rcv;
-  while (getc(ring, &rcv)) {
-    putc(ring, rcv);
+  while (getc(ring, &rcv) != 0) {
+    (void)putc(ring, rcv);
   }
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
-void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
-void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
-void usb_cb_enumeration_complete() {}
+int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+  return 0;
+}
+void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+}
+void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+}
+void usb_cb_enumeration_complete(void) {}
 
-int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
-  int resp_len = 0;
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
+  UNUSED(hardwired);
+  unsigned int resp_len = 0;
   uart_ring *ur = NULL;
   switch (setup->b.bRequest) {
     // **** 0xe0: uart read
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
-      if (ur == &esp_ring) uart_dma_drain();
+      if (!ur) {
+        break;
+      }
+      if (ur == &esp_ring) {
+        uart_dma_drain();
+      }
       // read
-      while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
+      while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
                          getc(ur, (char*)&resp[resp_len])) {
         ++resp_len;
       }
       break;
+    default:
+      puts("NO HANDLER ");
+      puth(setup->b.bRequest);
+      puts("\n");
+      break;
   }
   return resp_len;
 }
@@ -76,7 +113,7 @@ uint8_t pedal_checksum(uint8_t *dat, int len) {
   for (i = len - 1; i >= 0; i--) {
     crc ^= dat[i];
     for (j = 0; j < 8; j++) {
-      if ((crc & 0x80) != 0) {
+      if ((crc & 0x80U) != 0U) {
         crc = (uint8_t)((crc << 1) ^ poly);
       }
       else {
@@ -91,11 +128,12 @@ uint8_t pedal_checksum(uint8_t *dat, int len) {
 
 // addresses to be used on CAN
 #define CAN_GAS_INPUT  0x200
-#define CAN_GAS_OUTPUT 0x201
+#define CAN_GAS_OUTPUT 0x201U
 #define CAN_GAS_SIZE 6
-#define COUNTER_CYCLE 0xF
+#define COUNTER_CYCLE 0xFU
 
-void CAN1_TX_IRQHandler() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void CAN1_TX_IRQHandler(void) {
   // clear interrupt
   CAN->TSR |= CAN_TSR_RQCP0;
 }
@@ -104,54 +142,54 @@ void CAN1_TX_IRQHandler() {
 uint16_t gas_set_0 = 0;
 uint16_t gas_set_1 = 0;
 
-#define MAX_TIMEOUT 10
+#define MAX_TIMEOUT 10U
 uint32_t timeout = 0;
 uint32_t current_index = 0;
 
-#define NO_FAULT 0
-#define FAULT_BAD_CHECKSUM 1
-#define FAULT_SEND 2
-#define FAULT_SCE 3
-#define FAULT_STARTUP 4
-#define FAULT_TIMEOUT 5
-#define FAULT_INVALID 6
+#define NO_FAULT 0U
+#define FAULT_BAD_CHECKSUM 1U
+#define FAULT_SEND 2U
+#define FAULT_SCE 3U
+#define FAULT_STARTUP 4U
+#define FAULT_TIMEOUT 5U
+#define FAULT_INVALID 6U
 uint8_t state = FAULT_STARTUP;
 
-void CAN1_RX0_IRQHandler() {
-  while (CAN->RF0R & CAN_RF0R_FMP0) {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void CAN1_RX0_IRQHandler(void) {
+  while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
     #ifdef DEBUG
       puts("CAN RX\n");
     #endif
-    uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
+    int address = CAN->sFIFOMailBox[0].RIR >> 21;
     if (address == CAN_GAS_INPUT) {
       // softloader entry
-      if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
-        if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
+      if (GET_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
+        if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
           enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
           NVIC_SystemReset();
-        } else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
+        } else if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
           enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
           NVIC_SystemReset();
+        } else {
+          puts("Failed entering Softloader or Bootloader\n");
         }
       }
 
       // normal packet
       uint8_t dat[8];
-      uint8_t *rdlr = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
-      uint8_t *rdhr = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
-      for (int i=0; i<4; i++) {
-        dat[i] = rdlr[i];
-        dat[i+4] = rdhr[i];
+      for (int i=0; i<8; i++) {
+        dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
       }
       uint16_t value_0 = (dat[0] << 8) | dat[1];
       uint16_t value_1 = (dat[2] << 8) | dat[3];
-      uint8_t enable = (dat[4] >> 7) & 1;
+      bool enable = ((dat[4] >> 7) & 1U) != 0U;
       uint8_t index = dat[4] & COUNTER_CYCLE;
       if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
-        if (((current_index + 1) & COUNTER_CYCLE) == index) {
+        if (((current_index + 1U) & COUNTER_CYCLE) == index) {
           #ifdef DEBUG
             puts("setting gas ");
-            puth(value);
+            puth(value_0);
             puts("\n");
           #endif
           if (enable) {
@@ -159,12 +197,13 @@ void CAN1_RX0_IRQHandler() {
             gas_set_1 = value_1;
           } else {
             // clear the fault state if values are 0
-            if (value_0 == 0 && value_1 == 0) {
+            if ((value_0 == 0U) && (value_1 == 0U)) {
               state = NO_FAULT;
             } else {
               state = FAULT_INVALID;
             }
-            gas_set_0 = gas_set_1 = 0;
+            gas_set_0 = 0;
+            gas_set_1 = 0;
           }
           // clear the timeout
           timeout = 0;
@@ -180,17 +219,20 @@ void CAN1_RX0_IRQHandler() {
   }
 }
 
-void CAN1_SCE_IRQHandler() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void CAN1_SCE_IRQHandler(void) {
   state = FAULT_SCE;
   llcan_clear_send(CAN);
 }
 
-int pdl0 = 0, pdl1 = 0;
-int pkt_idx = 0;
+uint32_t pdl0 = 0;
+uint32_t pdl1 = 0;
+unsigned int pkt_idx = 0;
 
 int led_value = 0;
 
-void TIM3_IRQHandler() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void TIM3_IRQHandler(void) {
   #ifdef DEBUG
     puth(TIM3->CNT);
     puts(" ");
@@ -203,16 +245,16 @@ void TIM3_IRQHandler() {
   // check timer for sending the user pedal and clearing the CAN
   if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
     uint8_t dat[8];
-    dat[0] = (pdl0>>8) & 0xFF;
-    dat[1] = (pdl0>>0) & 0xFF;
-    dat[2] = (pdl1>>8) & 0xFF;
-    dat[3] = (pdl1>>0) & 0xFF;
-    dat[4] = (state & 0xF) << 4 | pkt_idx;
+    dat[0] = (pdl0 >> 8) & 0xFFU;
+    dat[1] = (pdl0 >> 0) & 0xFFU;
+    dat[2] = (pdl1 >> 8) & 0xFFU;
+    dat[3] = (pdl1 >> 0) & 0xFFU;
+    dat[4] = ((state & 0xFU) << 4) | pkt_idx;
     dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
-    CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
-    CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
+    CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1] << 8) | (dat[2] << 16) | (dat[3] << 24);
+    CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5] << 8);
     CAN->sTxMailBox[0].TDTR = 6;  // len of packet is 5
-    CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
+    CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1U;
     ++pkt_idx;
     pkt_idx &= COUNTER_CYCLE;
   } else {
@@ -224,7 +266,7 @@ void TIM3_IRQHandler() {
   }
 
   // blink the LED
-  set_led(LED_GREEN, led_value);
+  current_board->set_led(LED_GREEN, led_value);
   led_value = !led_value;
 
   TIM3->SR = 0;
@@ -233,21 +275,21 @@ void TIM3_IRQHandler() {
   if (timeout == MAX_TIMEOUT) {
     state = FAULT_TIMEOUT;
   } else {
-    timeout += 1;
+    timeout += 1U;
   }
 }
 
 // ***************************** main code *****************************
 
-void pedal() {
+void pedal(void) {
   // read/write
   pdl0 = adc_get(ADCCHAN_ACCEL0);
   pdl1 = adc_get(ADCCHAN_ACCEL1);
 
   // write the pedal to the DAC
   if (state == NO_FAULT) {
-    dac_set(0, max(gas_set_0, pdl0));
-    dac_set(1, max(gas_set_1, pdl1));
+    dac_set(0, MAX(gas_set_0, pdl0));
+    dac_set(1, MAX(gas_set_1, pdl1));
   } else {
     dac_set(0, pdl0);
     dac_set(1, pdl1);
@@ -256,13 +298,14 @@ void pedal() {
   watchdog_feed();
 }
 
-int main() {
+int main(void) {
   __disable_irq();
 
   // init devices
   clock_init();
-  periph_init();
-  gpio_init();
+  peripherals_init();
+  detect_configuration();
+  detect_board_type();
 
 #ifdef PEDAL_USB
   // enable USB
@@ -274,7 +317,11 @@ int main() {
   adc_init();
 
   // init can
-  llcan_set_speed(CAN1, 5000, false, false);
+  bool llcan_speed_set = llcan_set_speed(CAN1, 5000, false, false);
+  if (!llcan_speed_set) {
+    puts("Failed to set llcan speed");
+  }
+
   llcan_init(CAN1);
 
   // 48mhz / 65536 ~= 732

panda/board/pedal/main_declarations.h

@@ -0,0 +1,11 @@
+// ******************** Prototypes ********************
+void puts(const char *a);
+void puth(unsigned int i);
+void puth2(unsigned int i);
+typedef struct board board;
+typedef struct harness_configuration harness_configuration;
+
+// ********************* Globals **********************
+uint8_t hw_type = 0;
+const board *current_board;
+bool is_enumerated = 0;

panda/board/power_saving.h

@@ -3,55 +3,41 @@
 
 int power_save_status = POWER_SAVE_STATUS_DISABLED;
 
-void power_save_enable(void) {
-  if (power_save_status == POWER_SAVE_STATUS_ENABLED) return;
-  puts("enable power savings\n");
+void set_power_save_state(int state) {
 
-  // turn off can
-  set_can_enable(CAN1, 0);
-  set_can_enable(CAN2, 0);
-  set_can_enable(CAN3, 0);
+  bool is_valid_state = (state == POWER_SAVE_STATUS_ENABLED) || (state == POWER_SAVE_STATUS_DISABLED);
+  if (is_valid_state && (state != power_save_status)) {
+    bool enable = false;
+    if (state == POWER_SAVE_STATUS_ENABLED) {
+      puts("enable power savings\n");
+      if (board_has_gps()) {
+        char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
+        uart_ring *ur = get_ring_by_number(1);
+        for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1U; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
+      }
+    } else {
+      puts("disable power savings\n");
+      if (board_has_gps()) {
+        char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
+        uart_ring *ur = get_ring_by_number(1);
+        for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1U; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
+      }
+      enable = true;
+    }
 
-  // turn off GMLAN
-  set_gpio_output(GPIOB, 14, 0);
-  set_gpio_output(GPIOB, 15, 0);
+    // Switch CAN transcievers
+    current_board->enable_can_transcievers(enable);
 
-  // turn off LIN
-  set_gpio_output(GPIOB, 7, 0);
-  set_gpio_output(GPIOA, 14, 0);
+    if(hw_type != HW_TYPE_BLACK_PANDA){
+      // turn on GMLAN
+      set_gpio_output(GPIOB, 14, enable);
+      set_gpio_output(GPIOB, 15, enable);
 
-  if (is_grey_panda) {
-    char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
-    uart_ring *ur = get_ring_by_number(1);
-    for (int i = 0; i < sizeof(UBLOX_SLEEP_MSG)-1; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
+      // turn on LIN    
+      set_gpio_output(GPIOB, 7, enable);
+      set_gpio_output(GPIOA, 14, enable);
+    }
+
+    power_save_status = state;
   }
-
-  power_save_status = POWER_SAVE_STATUS_ENABLED;
 }
-
-void power_save_disable(void) {
-  if (power_save_status == POWER_SAVE_STATUS_DISABLED) return;
-  puts("disable power savings\n");
-
-  // turn on can
-  set_can_enable(CAN1, 1);
-  set_can_enable(CAN2, 1);
-  set_can_enable(CAN3, 1);
-
-  // turn on GMLAN
-  set_gpio_output(GPIOB, 14, 1);
-  set_gpio_output(GPIOB, 15, 1);
-
-  // turn on LIN
-  set_gpio_output(GPIOB, 7, 1);
-  set_gpio_output(GPIOA, 14, 1);
-
-  if (is_grey_panda) {
-    char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
-    uart_ring *ur = get_ring_by_number(1);
-    for (int i = 0; i < sizeof(UBLOX_WAKE_MSG)-1; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
-  }
-
-  power_save_status = POWER_SAVE_STATUS_DISABLED;
-}
-

panda/board/provision.h

@@ -5,9 +5,9 @@
 // SHA1 checksum = 0x1C - 0x20
 
 void get_provision_chunk(uint8_t *resp) {
-  memcpy(resp, (void *)0x1fff79e0, PROVISION_CHUNK_LEN);
+  (void)memcpy(resp, (uint8_t *)0x1fff79e0, PROVISION_CHUNK_LEN);
   if (memcmp(resp, "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff", 0x20) == 0) {
-    memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20);
+    (void)memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20);
   }
 }
 

panda/board/safety.h

@@ -1,56 +1,5 @@
-// sample struct that keeps 3 samples in memory
-struct sample_t {
-  int values[6];
-  int min;
-  int max;
-} sample_t_default = {{0}, 0, 0};
-
-// safety code requires floats
-struct lookup_t {
-  float x[3];
-  float y[3];
-};
-
-void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
-int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
-int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
-int safety_ignition_hook();
-uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
-int to_signed(int d, int bits);
-void update_sample(struct sample_t *sample, int sample_new);
-int max_limit_check(int val, const int MAX, const int MIN);
-int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
-  const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
-int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
-  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
-  const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
-int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
-float interpolate(struct lookup_t xy, float x);
-
-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 struct {
-  safety_hook_init init;
-  ign_hook ignition;
-  rx_hook rx;
-  tx_hook tx;
-  tx_lin_hook tx_lin;
-  fwd_hook fwd;
-} 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 first, needed by safety policies
+#include "safety_declarations.h"
 // Include the actual safety policies.
 #include "safety/safety_defaults.h"
 #include "safety/safety_honda.h"
@@ -95,21 +44,21 @@ typedef struct {
   const safety_hooks *hooks;
 } safety_hook_config;
 
-#define SAFETY_NOOUTPUT 0
-#define SAFETY_HONDA 1
-#define SAFETY_TOYOTA 2
-#define SAFETY_GM 3
-#define SAFETY_HONDA_BOSCH 4
-#define SAFETY_FORD 5
-#define SAFETY_CADILLAC 6
-#define SAFETY_HYUNDAI 7
-#define SAFETY_TESLA 8
-#define SAFETY_CHRYSLER 9
-#define SAFETY_SUBARU 10
-#define SAFETY_GM_ASCM 0x1334
-#define SAFETY_TOYOTA_IPAS 0x1335
-#define SAFETY_ALLOUTPUT 0x1337
-#define SAFETY_ELM327 0xE327
+#define SAFETY_NOOUTPUT 0U
+#define SAFETY_HONDA 1U
+#define SAFETY_TOYOTA 2U
+#define SAFETY_GM 3U
+#define SAFETY_HONDA_BOSCH 4U
+#define SAFETY_FORD 5U
+#define SAFETY_CADILLAC 6U
+#define SAFETY_HYUNDAI 7U
+#define SAFETY_TESLA 8U
+#define SAFETY_CHRYSLER 9U
+#define SAFETY_SUBARU 10U
+#define SAFETY_GM_ASCM 0x1334U
+#define SAFETY_TOYOTA_IPAS 0x1335U
+#define SAFETY_ALLOUTPUT 0x1337U
+#define SAFETY_ELM327 0xE327U
 
 const safety_hook_config safety_hook_registry[] = {
   {SAFETY_NOOUTPUT, &nooutput_hooks},
@@ -129,83 +78,94 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_ELM327, &elm327_hooks},
 };
 
-#define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
-
 int safety_set_mode(uint16_t mode, int16_t param) {
-  for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
+  int set_status = -1;   // not set
+  int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
+  for (int i = 0; i < hook_config_count; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;
-      if (current_hooks->init) current_hooks->init(param);
-      return 0;
+      set_status = 0;    // set
+      break;
     }
   }
-  return -1;
+  if ((set_status == 0) && (current_hooks->init != NULL)) {
+    current_hooks->init(param);
+  }
+  return set_status;
 }
 
 // compute the time elapsed (in microseconds) from 2 counter samples
+// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
-  return ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
+  return ts - ts_last;
 }
 
 // convert a trimmed integer to signed 32 bit int
 int to_signed(int d, int bits) {
-  if (d >= (1 << (bits - 1))) {
-    d -= (1 << bits);
+  int d_signed = d;
+  if (d >= (1 << MAX((bits - 1), 0))) {
+    d_signed = d - (1 << MAX(bits, 0));
   }
-  return d;
+  return d_signed;
 }
 
 // given a new sample, update the smaple_t struct
 void update_sample(struct sample_t *sample, int sample_new) {
-  for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 1; i > 0; i--) {
+  int sample_size = sizeof(sample->values) / sizeof(sample->values[0]);
+  for (int i = sample_size - 1; i > 0; i--) {
     sample->values[i] = sample->values[i-1];
   }
   sample->values[0] = sample_new;
 
   // get the minimum and maximum measured samples
-  sample->min = sample->max = sample->values[0];
-  for (int i = 1; i < sizeof(sample->values)/sizeof(sample->values[0]); i++) {
-    if (sample->values[i] < sample->min) sample->min = sample->values[i];
-    if (sample->values[i] > sample->max) sample->max = sample->values[i];
+  sample->min = sample->values[0];
+  sample->max = sample->values[0];
+  for (int i = 1; i < sample_size; i++) {
+    if (sample->values[i] < sample->min) {
+      sample->min = sample->values[i];
+    }
+    if (sample->values[i] > sample->max) {
+      sample->max = sample->values[i];
+    }
   }
 }
 
-int max_limit_check(int val, const int MAX, const int MIN) {
-  return (val > MAX) || (val < MIN);
+bool max_limit_check(int val, const int MAX_VAL, const int MIN_VAL) {
+  return (val > MAX_VAL) || (val < MIN_VAL);
 }
 
 // check that commanded value isn't too far from measured
-int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
+bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
 
   // *** val rate limit check ***
-  int highest_allowed_val = max(val_last, 0) + MAX_RATE_UP;
-  int lowest_allowed_val = min(val_last, 0) - MAX_RATE_UP;
+  int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
+  int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
 
   // if we've exceeded the meas val, we must start moving toward 0
-  highest_allowed_val = min(highest_allowed_val, max(val_last - MAX_RATE_DOWN, max(val_meas->max, 0) + MAX_ERROR));
-  lowest_allowed_val = max(lowest_allowed_val, min(val_last + MAX_RATE_DOWN, min(val_meas->min, 0) - MAX_ERROR));
+  int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN, MAX(val_meas->max, 0) + MAX_ERROR));
+  int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN, MIN(val_meas->min, 0) - MAX_ERROR));
 
   // check for violation
-  return (val < lowest_allowed_val) || (val > highest_allowed_val);
+  return (val < lowest_allowed) || (val > highest_allowed);
 }
 
 // check that commanded value isn't fighting against driver
-int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
-  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
+bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
+  const int MAX_VAL, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
   const int MAX_ALLOWANCE, const int DRIVER_FACTOR) {
 
-  int highest_allowed = max(val_last, 0) + MAX_RATE_UP;
-  int lowest_allowed = min(val_last, 0) - MAX_RATE_UP;
+  int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
+  int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
 
-  int driver_max_limit = MAX + (MAX_ALLOWANCE + val_driver->max) * DRIVER_FACTOR;
-  int driver_min_limit = -MAX + (-MAX_ALLOWANCE + val_driver->min) * DRIVER_FACTOR;
+  int driver_max_limit = MAX_VAL + (MAX_ALLOWANCE + val_driver->max) * DRIVER_FACTOR;
+  int driver_min_limit = -MAX_VAL + (-MAX_ALLOWANCE + val_driver->min) * DRIVER_FACTOR;
 
   // if we've exceeded the applied torque, we must start moving toward 0
-  highest_allowed = min(highest_allowed, max(val_last - MAX_RATE_DOWN,
-                                             max(driver_max_limit, 0)));
-  lowest_allowed = max(lowest_allowed, min(val_last + MAX_RATE_DOWN,
-                                           min(driver_min_limit, 0)));
+  int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN,
+                                             MAX(driver_max_limit, 0)));
+  int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN,
+                                           MIN(driver_min_limit, 0)));
 
   // check for violation
   return (val < lowest_allowed) || (val > highest_allowed);
@@ -213,11 +173,11 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
 
 
 // real time check, mainly used for steer torque rate limiter
-int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
+bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
 
   // *** torque real time rate limit check ***
-  int highest_val = max(val_last, 0) + MAX_RT_DELTA;
-  int lowest_val = min(val_last, 0) - MAX_RT_DELTA;
+  int highest_val = MAX(val_last, 0) + MAX_RT_DELTA;
+  int lowest_val = MIN(val_last, 0) - MAX_RT_DELTA;
 
   // check for violation
   return (val < lowest_val) || (val > highest_val);
@@ -226,25 +186,30 @@ int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
 
 // interp function that holds extreme values
 float interpolate(struct lookup_t xy, float x) {
+
   int size = sizeof(xy.x) / sizeof(xy.x[0]);
+  float ret = xy.y[size - 1];  // default output is last point
+
   // x is lower than the first point in the x array. Return the first point
   if (x <= xy.x[0]) {
-    return xy.y[0];
+    ret = xy.y[0];
 
   } else {
     // find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
-    for (int i=0; i < size-1; i++) {
+    for (int i=0; i < (size - 1); i++) {
       if (x < xy.x[i+1]) {
         float x0 = xy.x[i];
         float y0 = xy.y[i];
         float dx = xy.x[i+1] - x0;
         float dy = xy.y[i+1] - y0;
         // dx should not be zero as xy.x is supposed ot be monotonic
-        if (dx <= 0.) dx = 0.0001;
-        return dy * (x - x0) / dx + y0;
+        if (dx <= 0.) {
+          dx = 0.0001;
+        }
+        ret = (dy * (x - x0) / dx) + y0;
+        break;
       }
     }
-    // if no such point is found, then x > xy.x[size-1]. Return last point
-    return xy.y[size - 1];
   }
+  return ret;
 }

panda/board/safety/safety_cadillac.h

@@ -1,50 +1,52 @@
+#define CADILLAC_TORQUE_MSG_N 4      // 4 torque messages: 0x151, 0x152, 0x153, 0x154
+
 const int CADILLAC_MAX_STEER = 150; // 1s
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
 const int CADILLAC_MAX_RT_DELTA = 75;       // max delta torque allowed for real time checks
-const int32_t CADILLAC_RT_INTERVAL = 250000;    // 250ms between real time checks
+const uint32_t CADILLAC_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int CADILLAC_MAX_RATE_UP = 2;
 const int CADILLAC_MAX_RATE_DOWN = 5;
 const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
 const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
 
-int cadillac_ign = 0;
+bool cadillac_ign = 0;
 int cadillac_cruise_engaged_last = 0;
 int cadillac_rt_torque_last = 0;
-int cadillac_desired_torque_last[4] = {0};      // 4 torque messages
+const int cadillac_torque_msgs_n = 4;
+int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0};
 uint32_t cadillac_ts_last = 0;
-int cadillac_supercruise_on = 0;
+bool cadillac_supercruise_on = 0;
 struct sample_t cadillac_torque_driver;         // last few driver torques measured
 
-int cadillac_get_torque_idx(uint32_t addr) {
-  if (addr==0x151) return 0;
-  else if (addr==0x152) return 1;
-  else if (addr==0x153) return 2;
-  else return 3;
+int cadillac_get_torque_idx(int addr, int array_size) {
+  return MIN(MAX(addr - 0x151, 0), array_size);  // 0x151 is id 0, 0x152 is id 1 and so on...
 }
 
 static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus_number = (to_push->RDTR >> 4) & 0xFF;
-  uint32_t addr = to_push->RIR >> 21;
+  int bus = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
 
   if (addr == 356) {
-    int torque_driver_new = ((to_push->RDLR & 0x7) << 8) | ((to_push->RDLR >> 8) & 0xFF);
+    int torque_driver_new = ((GET_BYTE(to_push, 0) & 0x7U) << 8) | (GET_BYTE(to_push, 1));
+
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
     update_sample(&cadillac_torque_driver, torque_driver_new);
   }
 
   // this message isn't all zeros when ignition is on
-  if (addr == 0x160 && bus_number == 0) {
-    cadillac_ign = to_push->RDLR > 0;
+  if ((addr == 0x160) && (bus == 0)) {
+    cadillac_ign = GET_BYTES_04(to_push) != 0;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((addr == 0x370) && (bus_number == 0)) {
-    int cruise_engaged = to_push->RDLR & 0x800000;  // bit 23
+  if ((addr == 0x370) && (bus == 0)) {
+    int cruise_engaged = GET_BYTE(to_push, 2) & 0x80;  // bit 23
     if (cruise_engaged && !cadillac_cruise_engaged_last) {
       controls_allowed = 1;
-    } else if (!cruise_engaged) {
+    }
+    if (!cruise_engaged) {
       controls_allowed = 0;
     }
     cadillac_cruise_engaged_last = cruise_engaged;
@@ -52,19 +54,20 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // know supercruise mode and block openpilot msgs if on
   if ((addr == 0x152) || (addr == 0x154)) {
-    cadillac_supercruise_on = (to_push->RDHR>>4) & 0x1;
+    cadillac_supercruise_on = (GET_BYTE(to_push, 4) & 0x10) != 0;
   }
 }
 
 static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-  uint32_t addr = to_send->RIR >> 21;
+  int tx = 1;
+  int addr = GET_ADDR(to_send);
 
   // steer cmd checks
-  if (addr == 0x151 || addr == 0x152 || addr == 0x153 || addr == 0x154) {
-    int desired_torque = ((to_send->RDLR & 0x3f) << 8) + ((to_send->RDLR & 0xff00) >> 8);
+  if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
+    int desired_torque = ((GET_BYTE(to_send, 0) & 0x3f) << 8) | GET_BYTE(to_send, 1);
     int violation = 0;
     uint32_t ts = TIM2->CNT;
-    int idx = cadillac_get_torque_idx(addr);
+    int idx = cadillac_get_torque_idx(addr, CADILLAC_TORQUE_MSG_N);
     desired_torque = to_signed(desired_torque, 14);
 
     if (controls_allowed) {
@@ -105,19 +108,20 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
 
     if (violation || cadillac_supercruise_on) {
-      return false;
+      tx = 0;
     }
 
   }
-  return true;
+  return tx;
 }
 
 static void cadillac_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
   cadillac_ign = 0;
 }
 
-static int cadillac_ign_hook() {
+static int cadillac_ign_hook(void) {
   return cadillac_ign;
 }
 
@@ -127,5 +131,5 @@ const safety_hooks cadillac_hooks = {
   .tx = cadillac_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = cadillac_ign_hook,
-  .fwd = alloutput_fwd_hook,
+  .fwd = default_fwd_hook,
 };

panda/board/safety/safety_chrysler.h

@@ -1,11 +1,11 @@
 const int CHRYSLER_MAX_STEER = 261;
 const int CHRYSLER_MAX_RT_DELTA = 112;        // max delta torque allowed for real time checks
-const int32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
+const uint32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
 const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
 
-int chrysler_camera_detected = 0;             // is giraffe switch 2 high?
+bool chrysler_camera_detected = 0;             // is giraffe switch 2 high?
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
@@ -13,40 +13,31 @@ uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured
 
 static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus = (to_push->RDTR >> 4) & 0xFF;
-  uint32_t addr;
-  if (to_push->RIR & 4) {
-    // Extended
-    // Not looked at, but have to be separated
-    // to avoid address collision
-    addr = to_push->RIR >> 3;
-  } else {
-    // Normal
-    addr = to_push->RIR >> 21;
-  }
+  int bus = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
 
   // Measured eps torque
   if (addr == 544) {
-    int rdhr = to_push->RDHR;
-    int torque_meas_new = ((rdhr & 0x7) << 8) + ((rdhr & 0xFF00) >> 8) - 1024;
+    int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
 
     // update array of samples
     update_sample(&chrysler_torque_meas, torque_meas_new);
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if (addr == 0x1f4) {
-    int cruise_engaged = ((to_push->RDLR & 0x380000) >> 19) == 7;
+  if (addr == 0x1F4) {
+    int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
     if (cruise_engaged && !chrysler_cruise_engaged_last) {
       controls_allowed = 1;
-    } else if (!cruise_engaged) {
+    }
+    if (!cruise_engaged) {
       controls_allowed = 0;
     }
     chrysler_cruise_engaged_last = cruise_engaged;
   }
 
   // check if stock camera ECU is still online
-  if (bus == 0 && addr == 0x292) {
+  if ((bus == 0) && (addr == 0x292)) {
     chrysler_camera_detected = 1;
     controls_allowed = 0;
   }
@@ -54,27 +45,20 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
 static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
-  // There can be only one! (camera)
+  int tx = 1;
+
+  // If camera is on bus 0, then nothing can be sent
   if (chrysler_camera_detected) {
-    return 0;
-  }
-
-  uint32_t addr;
-  if (to_send->RIR & 4) {
-    // Extended
-    addr = to_send->RIR >> 3;
-  } else {
-    // Normal
-    addr = to_send->RIR >> 21;
+    tx = 0;
   }
 
+  int addr = GET_ADDR(to_send);
 
   // LKA STEER
   if (addr == 0x292) {
-    int rdlr = to_send->RDLR;
-    int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - 1024;
+    int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1) - 1024U;
     uint32_t ts = TIM2->CNT;
-    int violation = 0;
+    bool violation = 0;
 
     if (controls_allowed) {
 
@@ -112,7 +96,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
 
     if (violation) {
-      return false;
+      tx = 0;
     }
   }
 
@@ -122,24 +106,28 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // TODO: fix bug preventing the button msg to be fwd'd on bus 2
 
   // 1 allows the message through
-  return true;
+  return tx;
 }
 
 static void chrysler_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = 0;
   chrysler_camera_detected = 0;
 }
 
 static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  int32_t addr = to_fwd->RIR >> 21;
+
+  int bus_fwd = -1;
+  int addr = GET_ADDR(to_fwd);
   // forward CAN 0 -> 2 so stock LKAS camera sees messages
-  if (bus_num == 0 && !chrysler_camera_detected) {
-    return 2;
+  if ((bus_num == 0) && !chrysler_camera_detected) {
+    bus_fwd = 2;
   }
   // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
-  if (bus_num == 2 && !chrysler_camera_detected && addr != 658 && addr != 678) {
-    return 0;
+  if ((bus_num == 2) && !chrysler_camera_detected && (addr != 658) && (addr != 678)) {
+    bus_fwd = 0;
   }
-  return -1;  // do not forward
+  return bus_fwd;
 }
 
 

panda/board/safety/safety_defaults.h

@@ -1,24 +1,33 @@
-void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
+void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  UNUSED(to_push);
+}
 
-int default_ign_hook() {
+int default_ign_hook(void) {
   return -1; // use GPIO to determine ignition
 }
 
 // *** no output safety mode ***
 
 static void nooutput_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
 }
 
 static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  UNUSED(to_send);
   return false;
 }
 
 static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+  UNUSED(lin_num);
+  UNUSED(data);
+  UNUSED(len);
   return false;
 }
 
-static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  UNUSED(bus_num);
+  UNUSED(to_fwd);
   return -1;
 }
 
@@ -28,32 +37,33 @@ const safety_hooks nooutput_hooks = {
   .tx = nooutput_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = nooutput_fwd_hook,
+  .fwd = default_fwd_hook,
 };
 
 // *** all output safety mode ***
 
 static void alloutput_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 1;
 }
 
 static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  UNUSED(to_send);
   return true;
 }
 
 static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+  UNUSED(lin_num);
+  UNUSED(data);
+  UNUSED(len);
   return true;
 }
 
-static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks alloutput_hooks = {
   .init = alloutput_init,
   .rx = default_rx_hook,
   .tx = alloutput_tx_hook,
   .tx_lin = alloutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = alloutput_fwd_hook,
+  .fwd = default_fwd_hook,
 };