移植 IQ.Pilot panda 子系统

- 用 IQ.Pilot 的 panda/ 完整替换原版（含 board 固件、python 库、certs、构建脚本）
- 同步 selfdrive/pandad/ 为 IQ.Pilot 版（多 panda 管理，新增 panda_comms.cc）
- 修复 IQ.Pilot board 固件编译问题：
  - health.h 补充 CAN_PACKET_VERSION 宏定义
  - IQ.Pilot 特有变量/函数名改回 sunnypilot 原版
    (current_safety_param_iq→current_safety_param_sp 等)
- 固件编译通过：panda(F4)/panda_h7/panda_jungle_h7/body_h7

panda/SConscript

@@ -1,5 +1,4 @@
 import os
-import hashlib
 import opendbc
 import subprocess
 
@@ -15,7 +14,7 @@ if os.getenv("RELEASE"):
   assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
 else:
   BUILD_TYPE = "DEBUG"
-  cert_fn = File("./board/certs/debug").srcnode().relpath
+  cert_fn = File("./certs/debug").srcnode().relpath
   common_flags += ["-DALLOW_DEBUG"]
 
   if os.getenv("DEBUG"):
@@ -27,14 +26,14 @@ def objcopy(source, target, env, for_signature):
 def get_version(builder, build_type):
   try:
     git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
-  except subprocess.CalledProcessError:
+  except (subprocess.CalledProcessError, FileNotFoundError):
     git = "unknown"
   return f"{builder}-{git}-{build_type}"
 
 def get_key_header(name):
   from Crypto.PublicKey import RSA
 
-  public_fn = File(f'./board/certs/{name}.pub').srcnode().get_path()
+  public_fn = File(f'./certs/{name}.pub').srcnode().get_path()
   with open(public_fn) as f:
     rsa = RSA.importKey(f.read())
   assert(rsa.size_in_bits() == 1024)
@@ -91,7 +90,7 @@ def build_project(project_name, project, main, extra_flags):
     CFLAGS=flags,
     ASFLAGS=flags,
     LINKFLAGS=flags,
-    CPPPATH=[Dir("./"), "./board/stm32h7/inc", opendbc.INCLUDE_PATH],
+    CPPPATH=[Dir("./"), "./board/stm32f4/inc", "./board/stm32h7/inc", opendbc.INCLUDE_PATH],
     ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
     BUILDERS={
       'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
@@ -106,8 +105,8 @@ def build_project(project_name, project, main, extra_flags):
   bs_env.Append(CFLAGS="-DBOOTSTUB", ASFLAGS="-DBOOTSTUB", LINKFLAGS="-DBOOTSTUB")
   bs_elf = bs_env.Program(f"{project_dir}/bootstub.elf", [
     startup,
-    "./board/crypto/rsa.c",
-    "./board/crypto/sha.c",
+    "./crypto/rsa.c",
+    "./crypto/sha.c",
     "./board/bootstub.c",
   ])
   bs_env.Objcopy(f"./board/obj/bootstub.{project_name}.bin", bs_elf)
@@ -118,11 +117,25 @@ def build_project(project_name, project, main, extra_flags):
     main
   ], LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
   main_bin = env.Objcopy(f"{project_dir}/main.bin", main_elf)
-  sign_py = File(f"./board/crypto/sign.py").srcnode().relpath
+  sign_py = File(f"./crypto/sign.py").srcnode().relpath
   env.Command(f"./board/obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
 
 
 
+base_project_f4 = {
+  "STARTUP_FILE": "./board/stm32f4/startup_stm32f413xx.s",
+  "LINKER_SCRIPT": "./board/stm32f4/stm32f4_flash.ld",
+  "APP_START_ADDRESS": "0x8004000",
+  "FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-Iboard/stm32f4/inc",
+    "-mfpu=fpv4-sp-d16",
+  ],
+}
+
 base_project_h7 = {
   "STARTUP_FILE": "./board/stm32h7/startup_stm32h7x5xx.s",
   "LINKER_SCRIPT": "./board/stm32h7/stm32h7x5_flash.ld",
@@ -138,6 +151,8 @@ base_project_h7 = {
 }
 
 # Common autogenerated includes
+os.makedirs("board/obj", exist_ok=True)
+
 with open("board/obj/gitversion.h", "w") as f:
   version = get_version(BUILDER, BUILD_TYPE)
   f.write(f'extern const uint8_t gitversion[{len(version)+1}];\n')
@@ -151,26 +166,21 @@ with open("board/obj/cert.h", "w") as f:
   for cert in certs:
     f.write("\n".join(cert) + "\n")
 
-# Packet version defines: SHA hash of the struct header files
-def version_hash(path):
-  with open(path, "rb") as f:
-    # Normalize line endings on Windows
-    return int.from_bytes(hashlib.sha256(f.read().replace(b'\r', b'')).digest()[:4], 'little')
-hh, ch, jh = version_hash("board/health.h"), version_hash(os.path.join(opendbc.INCLUDE_PATH, "opendbc/safety/can.h")), version_hash("board/jungle/jungle_health.h")
-common_flags += [f"-DHEALTH_PACKET_VERSION=0x{hh:08X}U", f"-DCAN_PACKET_VERSION_HASH=0x{ch:08X}U",
-                 f"-DJUNGLE_HEALTH_PACKET_VERSION=0x{jh:08X}U"]
-
 # panda fw
+build_project("panda", base_project_f4, "./board/main.c", [])
 build_project("panda_h7", base_project_h7, "./board/main.c", [])
 
 # panda jungle fw
 flags = [
   "-DPANDA_JUNGLE",
 ]
+if os.getenv("FINAL_PROVISIONING"):
+  flags += ["-DFINAL_PROVISIONING"]
 build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", flags)
 
 # body fw
 build_project("body_h7", base_project_h7, "./board/body/main.c", ["-DPANDA_BODY"])
 
 # test files
-SConscript('tests/libpanda/SConscript')
+if GetOption('extras'):
+  SConscript('tests/libpanda/SConscript')