sunnypilot v0.9.3.1

.codespellignore

@@ -1,6 +0,0 @@
-Wen
-REGIST
-PullRequest
-cancelled
-FOF
-NoO

.dockerignore

@@ -1,18 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/

.editorconfig

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

.gitattributes

@@ -1,23 +0,0 @@
-* text=auto
-
-# to move existing files into LFS:
-# git add --renormalize .
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.svg filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.ttf filter=lfs diff=lfs merge=lfs -text
-*.otf filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text

.github/CODEOWNERS

@@ -1,11 +0,0 @@
-*       @sunnypilot/dev-internal
-/.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
-/tinygrad_repo @devtekve @Discountchubbs
-/tinygrad/ @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
-/selfdrive/modeld/ @devtekve @Discountchubbs
-/sunnypilot/model* @devtekve @Discountchubbs
-/sunnypilot/sunnylink/ @devtekve
-/system/athena/ @devtekve

.github/FUNDING.yml

@@ -0,0 +1,12 @@
+# These are supported funding model platforms
+
+github: [sunnyhaibin] # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
+patreon: sunnyhaibin # Replace with a single Patreon username
+open_collective: # Replace with a single Open Collective username
+ko_fi: # Replace with a single Ko-fi username
+tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
+community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
+liberapay: # Replace with a single Liberapay username
+issuehunt: # Replace with a single IssueHunt username
+otechie: # Replace with a single Otechie username
+custom: ['https://paypal.me/sunnyhaibin0850'] # Replace with up to 4 custom sponsorship URLs e.g., ['link1', 'link2']

.github/ISSUE_TEMPLATE/bug_report.yml

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

.github/ISSUE_TEMPLATE/config.yml

@@ -1,14 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Car bug report
-    url: https://github.com/commaai/opendbc/issues/new
-    about: For issues with a particular car make or model
-  - name: Join the Discord
-    url: https://discord.comma.ai
-    about: The community Discord is for both openpilot development and experience discussion
-  - name: Report driving behavior feedback
-    url: https://discord.com/channels/469524606043160576/1254834193066623017
-    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
-  - name: Community Wiki
-    url: https://github.com/commaai/openpilot/wiki
-    about: Check out our community wiki

.github/ISSUE_TEMPLATE/enhancement.md

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

.github/ISSUE_TEMPLATE/pc_bug_report.yml

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

.github/labeler.yaml

@@ -1,31 +0,0 @@
-ci:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
-
-chore:
-  - changed-files:
-      - any-glob-to-all-files: "{.github/**}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
-
-autonomy:
-  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"

.github/pull_request_template.md

@@ -1,68 +0,0 @@
-<!-- Please copy and paste the relevant template -->
-
-<!--- ***** Template: Fingerprint *****
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
-
--->
-
-<!--- ***** Template: Car Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-**Route**
-
-Route: [a route with the bug fix]
-
-
--->
-
-<!--- ***** Template: Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-
--->
-
-<!--- ***** Template: Car Port *****
-
-**Checklist**
-
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
-- [ ] route with openpilot:
-- [ ] route with stock system:
-- [ ] car harness used (if comma doesn't sell it, put N/A):
-
-
--->
-
-<!--- ***** Template: Refactor *****
-
-**Description**
-
-A description of the refactor, including the goals it accomplishes. 
-
-**Verification**
-
-Explain how you tested the refactor for regressions. 
-
-
--->
-

.github/release-drafter.yml

@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES

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

@@ -1,58 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      id: gha-cache-ro
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}

.github/workflows/auto_pr_review.yaml

@@ -1,91 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [ opened, reopened, synchronize, edited ]
-
-jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
-      issues: write
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-
-    # Label PRs
-    - uses: actions/labeler@v5.0.0
-      with:
-        dot: true
-        configuration-path: .github/labeler.yaml
-
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'sunnypilot/sunnypilot'
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      with:
-        target: /^(?!master$).*/
-        exclude: /sunnypilot:.*/
-        change-to: ${{ github.base_ref }}
-        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
-
-  update-pr-labels:
-    name: Update fork's PR Labels
-    runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env:
-      PR_LABEL: 'dev'
-      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
-    steps:
-      - name: Check if PR has dev label
-        id: check-labels
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-            
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-            
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            
-            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-            
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });

.github/workflows/badges.yaml

@@ -1,37 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: sunnypilot-base
-  DOCKER_REGISTRY: ghcr.io/sunnypilot
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Push badges
-      run: |
-        ${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py"
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

.github/workflows/build-all-tinygrad-models.yaml

@@ -1,303 +0,0 @@
-name: Build and push all tinygrad models
-
-on:
-  workflow_dispatch:
-    inputs:
-      set_min_version:
-        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
-        required: true
-        type: string
-
-jobs:
-  setup:
-    runs-on: ubuntu-latest
-    outputs:
-      json_version: ${{ steps.get-json.outputs.json_version }}
-      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-      json_file: ${{ steps.get-json.outputs.json_file }}
-      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
-      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
-    steps:
-      - name: Checkout sunnypilot repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          path: sunnypilot
-          submodules: recursive
-
-      - name: Get tinygrad_repo ref
-        id: get-tinygrad-ref
-        run: |
-          cd sunnypilot
-          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
-          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
-          echo "tinygrad_ref is $ref"
-
-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Get next JSON version to use (from GitHub docs repo)
-        id: get-json
-        run: |
-          cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
-          next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
-          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
-
-      - name: Extract tinygrad models
-        id: set-matrix
-        working-directory: docs/docs
-        run: |
-          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
-          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
-        id: create-recompiled-dir
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
-          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
-
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
-      - name: Push new JSON to GitHub docs repo
-        run: |
-          cd docs
-          git pull origin gh-pages
-          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
-          git push origin gh-pages
-
-  get_and_build:
-    needs: [setup]
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-    secrets: inherit
-
-  retry_failed_models:
-    needs: [setup, get_and_build]
-    runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
-    outputs:
-      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          pattern: model-*
-          path: output
-
-      - id: set-retry-matrix
-        run: |
-          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
-          )
-          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
-            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
-          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
-
-  retry_get_and_build:
-    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-      artifact_suffix: -retry
-    secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
-          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: update json
-        run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
-
-      - name: Push updated json to GitHub
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/build-single-tinygrad-model.yaml

@@ -1,228 +0,0 @@
-name: Build Single Tinygrad Model and Push
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
-        required: false
-        default: true
-        type: boolean
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      model_folder:
-        description: 'Model folder'
-        type: choice
-        default: 'None'
-        options:
-          - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
-          - Custom Merge Models
-          - FOF series models
-          - Other
-      custom_model_folder:
-        description: 'Custom model folder name (if "Other" selected)'
-        required: false
-        type: string
-      generation:
-        description: 'Model generation'
-        required: false
-        type: string
-      version:
-        description: 'Minimum selector version'
-        required: false
-        type: string
-env:
-  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
-
-jobs:
-  build_model:
-    uses: ./.github/workflows/sunnypilot-build-model.yaml
-    with:
-      upstream_branch: ${{ inputs.upstream_branch }}
-      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: true
-      artifact_suffix: ${{ inputs.artifact_suffix }}
-    secrets: inherit
-
-  publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
-    concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
-      cancel-in-progress: false
-    needs: build_model
-    runs-on: ubuntu-latest
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download and extract model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove unwanted files
-        run: |
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-          find output -type f -name 'dmonitoring_model.onnx' -delete
-
-      - name: Copy model artifact(s) to GitLab recompiled dir
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
-
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: Run json_parser.py to update JSON
-        run: |
-          FOLDER="${{ inputs.model_folder }}"
-          if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ inputs.custom_model_folder }}"
-          fi
-          ARGS=""
-          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
-            ARGS="$ARGS --model-folder \"$FOLDER\""
-          fi
-          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
-          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            --sort-by-date \
-            $ARGS
-
-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/cereal_validation.yaml

@@ -1,76 +0,0 @@
-name: cereal validation
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    paths:
-      - 'cereal/**'
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Generate the log file
-        run: |
-          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
-          ls -la
-          ls -la cereal/messaging/tests
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
-  validate_cereal_with_upstream:
-    name: Validate cereal with Upstream
-    runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          submodules: true
-          ref: "refs/heads/master"
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-      - name: 'Run the validation'
-        run: |
-          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"

.github/workflows/ci_weekly_report.yaml

@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always() && github.repository == 'commaai/openpilot'
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v7
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY

.github/workflows/ci_weekly_run.yaml

@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}

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

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

.github/workflows/docs.yaml

@@ -1,65 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: commaai/timeout@v1
-
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-
-    # Build
-    - name: Build docs
-      run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
-
-    # Push to docs.comma.ai
-    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
-      with:
-        path: openpilot-docs
-        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: sunnypilot/sunnypilot-docs
-    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
-      run: |
-        set -x
-
-        source release/identity.sh
-
-        cd openpilot-docs
-        git checkout --orphan tmp
-        git rm -rf .
-
-        # copy over docs
-        cp -r ../docs_site/ docs/
-
-        # GitHub pages config
-        touch docs/.nojekyll
-        echo -n docs.comma.ai > docs/CNAME
-
-        git add -f .
-        git commit -m "build docs"
-
-        # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages

.github/workflows/jenkins-pr-trigger.yaml

@@ -1,59 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  # TODO: gc old branches in a separate job in this workflow
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v7
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
-      with:
-        ref: refs/pull/${{ github.event.issue.number }}/head
-
-    - name: Push to tmp-jenkins branch
-      if: steps.check_comment.outputs.result == 'true'
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
-
-    - name: Delete trigger comment
-      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v7
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });

.github/workflows/lfs-maintenance.yaml

@@ -1,72 +0,0 @@
-name: Sync comma's LFS
-
-env:
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  schedule:
-    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
-  push:
-    branches:
-      - 'master'
-  pull_request:
-    branches:
-      - 'master'
-  workflow_dispatch: # enables manual triggering
-    inputs:
-      upstream_branch:
-        default: 'master'
-        type: string
-
-jobs:
-  sync:
-    runs-on: ubuntu-latest
-    # Skip if PR is in draft mode
-    if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          ref: ${{ inputs.upstream_branch }}
-
-      - name: LFS Fetch
-        run: |
-          git lfs fetch
-
-      - name: Set up Git
-        run: |
-          git config --global user.name 'GitHub Action'
-          git config --global user.email 'action@github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Ensure branch
-        run: |
-          if git symbolic-ref -q HEAD >/dev/null; then
-              echo "Already on a branch, proceeding with push"
-            else
-              echo "Detached HEAD state detected, creating temporary branch"
-            git checkout -b temp_branch
-          fi
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push LFS
-        id: sync-and-commit
-        run: |
-          git lfs ls-files -l
-          git lfs push --all origin

.github/workflows/mici_raylib_ui_preview.yaml

@@ -1,151 +0,0 @@
-name: "mici raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create mici raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
-  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
-  # All report files are pushed here
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: ${{ env.MASTER_BRANCH_NAME }}
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_mici_raylib
-          git rm -rf *
-          git branch -D ${{ env.MASTER_BRANCH_NAME }}
-          git branch -m ${{ env.MASTER_BRANCH_NAME }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for commit ${{ env.SHA }}"
-          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          # Find the video file from PR
-          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
-          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
-
-          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
-          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
-
-          # Run report
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-          diff_exit_code=0
-          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-          # Copy diff report files
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
-
-          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
-          if [ $diff_exit_code -eq 0 ]; then
-            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
-          else
-            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
-          fi
-          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff report to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
-          git add diff_pr_${{ github.event.number }}.html
-          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment Video on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
-            ## mici raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_video_mici_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/model_review.yaml

@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Checkout master
-        uses: actions/checkout@v4
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - run: pip install onnx
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}

.github/workflows/post-to-discourse/action.yml

@@ -1,105 +0,0 @@
-name: 'Post to Discourse'
-description: 'Posts a message to a Discourse topic (existing or new)'
-
-inputs:
-  discourse-url:
-    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
-    required: true
-  api-key:
-    description: 'Discourse API key'
-    required: true
-  api-username:
-    description: 'Discourse API username'
-    required: true
-  topic-id:
-    description: 'Discourse topic ID to post to (use this OR category-id + title)'
-    required: false
-  category-id:
-    description: 'Category ID for new topic (required if topic-id not provided)'
-    required: false
-  title:
-    description: 'Title for new topic (required if topic-id not provided)'
-    required: false
-  message:
-    description: 'Message content (markdown supported)'
-    required: true
-
-outputs:
-  post-number:
-    description: 'The post number in the topic'
-    value: ${{ steps.post.outputs.post_number }}
-  post-url:
-    description: 'Direct URL to the post'
-    value: ${{ steps.post.outputs.post_url }}
-  topic-id:
-    description: 'The topic ID (useful when creating a new topic)'
-    value: ${{ steps.post.outputs.topic_id }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: Post to Discourse
-      id: post
-      shell: bash
-      run: |
-        # Validate inputs
-        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
-          echo "❌ Error: Must provide either topic-id OR both category-id and title"
-          exit 1
-        fi
-        
-        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
-          echo "⚠️  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
-        fi
-        
-        # Determine if creating new topic or posting to existing
-        if [ -n "${{ inputs.topic-id }}" ]; then
-          echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
-        
-          # Create JSON payload for posting to existing topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg topic_id "${{ inputs.topic-id }}" \
-            '{topic_id: $topic_id, raw: $content}')
-        else
-          echo "✨ Creating new topic: ${{ inputs.title }}"
-        
-          # Create JSON payload for new topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg title "${{ inputs.title }}" \
-            --arg category "${{ inputs.category-id }}" \
-            '{title: $title, category: ($category | tonumber), raw: $content}')
-        fi
-        
-        # Post to Discourse
-        RESPONSE=$(curl -s -w "\n%{http_code}" \
-          -X POST "${{ inputs.discourse-url }}/posts.json" \
-          -H "Content-Type: application/json" \
-          -H "Api-Key: ${{ inputs.api-key }}" \
-          -H "Api-Username: ${{ inputs.api-username }}" \
-          -d "$PAYLOAD")
-        
-        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
-        BODY=$(echo "$RESPONSE" | sed '$d')
-        
-        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
-          echo "✅ Successfully posted to Discourse!"
-        
-          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
-          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
-          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
-        
-          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
-          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
-          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
-        
-          echo "Topic ID: ${TOPIC_ID}"
-          echo "Post number: ${POST_NUMBER}"
-          echo "URL: ${POST_URL}"
-        else
-          echo "❌ Failed to post to Discourse"
-          echo "HTTP Code: ${HTTP_CODE}"
-          echo "Response: ${BODY}"
-          exit 1
-        fi

.github/workflows/prebuilt.yaml

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

.github/workflows/raylib_ui_preview.yaml

@@ -1,175 +0,0 @@
-name: "raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui generation to start
-        run: sleep 30
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: openpilot_master_ui_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_raylib
-          git rm -rf *
-          git branch -D openpilot_master_ui_raylib
-          git branch -m openpilot_master_ui_raylib
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "raylib screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui_raylib --force
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
-
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
-
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
-
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
-            fi
-          done
-
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "raylib screenshots for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-      - name: Comment Screenshots on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
-            ## raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release-drafter.yml

@@ -1,28 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yaml

@@ -1,42 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 9 * * *'
-  workflow_dispatch:
-
-jobs:
-  build___nightly:
-    name: build __nightly
-    env:
-      ImageOS: ubuntu24
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
-    - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build __nightly'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-        fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
-    - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -1,74 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: sunnypilot-base
-  BUILD: release/ci/docker_build_sp.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-        with:
-          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: uv lock
-      if: github.repository == 'commaai/openpilot'
-      run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git config submodule.tinygrad.update none
-        git submodule update --remote
-        git add .
-    - name: update car docs
-      run: |
-        export PYTHONPATH="$PWD"
-        scons -j$(nproc) --minimal opendbc_repo
-        python selfdrive/car/docs.py
-        git add docs/CARS.md
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
-        commit-message: Update Python packages
-        title: '[bot] Update Python packages'
-        branch: auto-package-updates
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
-        labels: bot

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

@@ -1,52 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-outputs:
-  duration:
-    description: 'Duration of the setup process in seconds'
-    value: ${{ steps.get_duration.outputs.duration }}
-
-runs:
-  using: "composite"
-  steps:
-    - id: start_time
-      shell: bash
-      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
-    - id: get_duration
-      shell: bash
-      run: |
-        END_TIME=$(date +%s)
-        DURATION=$((END_TIME - START_TIME))
-        echo "Total duration: $DURATION seconds"
-        echo "duration=$DURATION" >> $GITHUB_OUTPUT

.github/workflows/setup/action.yaml

@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}

.github/workflows/stale.yaml

@@ -1,52 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 24
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: false
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
-
-  # same as above, but give draft PRs more time
-  stale_drafts:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now

.github/workflows/sunnypilot-build-model.yaml

@@ -1,221 +0,0 @@
-name: Build Model from Upstream
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  UPSTREAM_REPO: "commaai/openpilot"
-  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
-
-jobs:
-  get_model:
-    runs-on: ubuntu-latest
-    env:
-      REF: ${{ inputs.upstream_branch }}
-    outputs:
-      model_date: ${{ steps.commit-date.outputs.model_date }}
-    steps:
-      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
-      # and fallback to sunnypilot if the ref checkout fails.
-      - name: Checkout commaai/openpilot
-        id: checkout_upstream
-        continue-on-error: true
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/openpilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-
-      - name: Fallback to sunnypilot/sunnypilot
-        if: steps.checkout_upstream.outcome == 'failure'
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-      - name: Get commit date
-        id: commit-date
-        run: |
-          cd ${{ github.workspace }}/openpilot
-          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
-          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-      - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
-
-  build_model:
-    runs-on: [self-hosted, tici]
-    needs: get_model
-    env:
-      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-      REF: ${{ inputs.upstream_branch }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-
-      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
-
-      - name: Download model artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
-
-      - name: Build Model
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
-
-          # Loop through all .onnx files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
-
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${{ env.OUTPUT_DIR }}
-          mkdir -p ${{ env.OUTPUT_DIR }}
-
-          # Copy the model files
-          rsync -avm \
-            --include='*.dlc' \
-            --include='*.thneed' \
-            --include='*.pkl' \
-            --include='*.onnx' \
-            --exclude='*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
-
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --model-dir "${{ env.MODELS_DIR }}" \
-            --output-dir "${{ env.OUTPUT_DIR }}" \
-            --custom-name "${{ env.MODEL_NAME }}" \
-            --upstream-branch "${{ inputs.upstream_branch }}" \
-            ${{ inputs.is_20hz && '--is-20hz' || '' }}
-
-      - name: Write artifact name to file
-        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Upload Build Artifacts
-        id: upload-artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
-          path: ${{ env.OUTPUT_DIR }}
-
-      - name: Upload artifact name file
-        uses: actions/upload-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -1,372 +0,0 @@
-name: sunnypilot prebuilt action
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-
-  # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
-
-  # Runtime configuration
-  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
-
-on:
-  push:
-    branches: [ master, master-dev ]
-    tags: [ 'release/*' ]
-  pull_request_target:
-    types: [ labeled ]
-  workflow_dispatch:
-    inputs:
-      wait_for_tests:
-        description: 'Wait for tests to finish'
-        required: false
-        type: boolean
-        default: false
-
-jobs:
-  prepare_strategy:
-    runs-on: ubuntu-24.04
-    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    outputs:
-      environment: ${{ steps.strategy.outputs.environment }}
-      new_branch: ${{ steps.strategy.outputs.new_branch }}
-      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
-      version: ${{ steps.strategy.outputs.version }}
-      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
-      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
-      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
-      build: ${{ steps.strategy.outputs.build }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Extract deploy strategy
-        id: strategy
-        run: |
-          echo '::group::Strategy Extraction'
-          BRANCH="${{ github.head_ref || github.ref_name }}"
-          echo "Current branch: $BRANCH"
-
-          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
-          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
-            .configs[] | select(.branch == $branch)
-          ')
-
-          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
-          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
-            echo "No exact strategy match found. Falling back to feature/fork logic."
-            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
-            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
-            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
-
-            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-            echo "version=$BUILD" >> $GITHUB_OUTPUT
-            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
-            echo "environment=feature-branch" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
-          else
-          echo "Matched config: $CONFIG"
-            environment=$(echo "$CONFIG" | jq -r '.environment')
-            echo "environment=$environment" >> $GITHUB_OUTPUT
-            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
-            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
-            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-
-            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
-            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
-
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
-            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
-          fi
-          echo "build=$BUILD" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-
-  validate_tests:
-    runs-on: ubuntu-24.04
-    needs: [ prepare_strategy ]
-    if: ${{
-      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
-      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
-      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        with:
-          workflow: tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
-
-  build:
-    needs: [ validate_tests, prepare_strategy ]
-    concurrency:
-      group: build-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: false
-    runs-on: [self-hosted, tici]
-    outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
-    if: ${{
-      (always() && !cancelled() && !failure()) &&
-      needs.prepare_strategy.result == 'success' &&
-      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
-      (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-          ref: ${{ env.SOURCE_BRANCH }}
-          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
-      - run: git lfs pull
-
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
-          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-
-      - name: Build Main Project
-        run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
-          cd $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
-          echo "Building rest of sunnypilot"
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
-          touch ${BUILD_DIR}/prebuilt
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            ls -la ${BUILD_DIR}
-          fi
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='__pycache__' \
-            --exclude='Jenkinsfile' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
-            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
-            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
-
-      - name: 'Tar.gz files'
-        run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
-          ls -la prebuilt.tar.gz
-
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: prebuilt
-          path: prebuilt.tar.gz
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
-
-  publish:
-    concurrency:
-      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
-      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
-      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
-      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
-      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
-    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build, prepare_strategy ]
-    runs-on: ubuntu-24.04
-    environment: ${{ needs.prepare_strategy.outputs.environment }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: prebuilt
-
-      - name: Untar prebuilt
-        run: |
-          mkdir -p ${{ env.OUTPUT_DIR }}
-          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.email "github-actions[bot]@users.noreply.github.com"
-          git config --global user.name "github-actions[bot]"
-
-      - name: Publish to Public Repository
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
-          ls -la ${{ env.OUTPUT_DIR }}
-
-          ${{ env.CI_DIR }}/publish.sh \
-            "${{ github.workspace }}" \
-            "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
-            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
-
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-
-      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
-        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
-        run: |
-            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
-            git push -f origin ${TAG}
-
-  notify:
-    needs:
-    - prepare_strategy
-    - build
-    - publish
-    runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure())
-      && needs.publish.result == 'success'
-      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Prepare notification message
-        id: message
-        run: |
-          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
-          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
-          export branch_name="${{ env.SOURCE_BRANCH }}"
-          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
-          export commit_sha="${{ github.sha }}"
-          export commit_short_sha="${{ github.sha }}"
-          export commit_short_sha="${commit_short_sha:0:7}"
-          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
-          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
-
-          MESSAGE=$(cat << 'EOF' | envsubst
-          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
-          EOF
-          )
-
-          {
-            echo 'content<<EOFMARKER'
-            echo "$MESSAGE"
-            echo 'EOFMARKER'
-          } >> $GITHUB_OUTPUT
-        shell: bash
-
-      - name: Post to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: "system"
-          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
-          message: ${{ steps.message.outputs.content }}
-
-  manage-pr-labels:
-    name: Remove prebuilt label
-    runs-on: ubuntu-latest
-    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    env:
-      LABEL: prebuilt
-    steps:
-      - name: Remove trust-fork-pr label if present
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.LABEL
-            });
-
-            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

.github/workflows/sunnypilot-master-dev-prep.yaml

@@ -1,222 +0,0 @@
-name: Build dev
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev"
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [ labeled ]
-    branches:
-      - 'master'
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev'
-        type: string
-      cancel_in_progress:
-        description: 'Cancel any in-progress runs of this workflow'
-        required: false
-        default: true
-        type: boolean
-
-concurrency:
-  group: ${{ github.workflow }}
-  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-      )
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        if: (
-          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-          )
-        with:
-          workflow: tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($search_query:String!) {
-              search(query: $search_query, type:ISSUE, first:40) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    labels(last:10) {
-                      nodes {
-                        name
-                      }
-                    }
-                    headRepository {
-                      name
-                      nameWithOwner
-                      url
-                      isFork
-                    }
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
-
-          PR_LIST=${PR_LIST//\'/}
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
-          chmod +x /tmp/squash_and_merge.py && \
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '/tmp/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # If we get here, there are diffs, so push
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/test-discourse.yaml.yml

@@ -1,78 +0,0 @@
-name: Debug Discourse Posting
-
-on:
-  push:
-
-jobs:
-  test-discourse-post:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Post test message to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      
-      
-      - name: Create topic on Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          category-id: 4
-          title: "This is a test of a new topic instead of a reply"
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      - name: Display results
-        if: always()
-        run: |
-          echo "::notice::Discourse post test completed"
-          echo "Check your Discourse topic to verify the post appeared correctly"

.github/workflows/tests.yaml

@@ -1,325 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh base
-
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
-    - name: Run tests
-      timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
-
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
-            if git ls-files --stage "$path" | grep -q "^160000"; then
-              echo "$path"
-            fi
-          done | tr '\n' ' ')
-
-          if [ -n "$SUBMODULE_PATHS" ]; then
-            echo "Changed submodule paths: $SUBMODULE_PATHS"
-            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
-            export CHECK_PR_REFS=true
-          fi
-        fi
-        release/check-submodules.sh
-
-  build:
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      if: false # disabling the cache for now because it is breaking macos builds...
-      with:
-        save: false # No need save here if we manually save it later conditionally
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        PYTHONWARNINGS: default  # package install has DeprecationWarnings
-        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
-    - name: Save Homebrew cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        save: false # No need save here if we manually save it later conditionally
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
-    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      PYTHONWARNINGS: default
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  process_replay:
-    name: process replay
-    if: false  # disable process_replay for forks
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
-      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v4
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: false # TODO: move this to github instead of azure
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  simulator_driving:
-    name: simulator driving
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: Started to timeout recently
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Driving test
-      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
-  create_raylib_ui_report:
-    name: Create raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
-
-  create_mici_raylib_ui_report:
-    name: Create mici raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create mici raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report

.github/workflows/wait-for-action/action.yaml

@@ -1,52 +0,0 @@
-name: 'Wait for Tests'
-description: 'Action to wait for workflow tests to start and complete'
-inputs:
-  workflow:
-    description: 'The workflow file name to monitor'
-    required: true
-    default: 'tests.yaml'
-  branch:
-    description: 'The branch to monitor (defaults to current branch)'
-    required: false
-    default: ''
-  github-token:
-    description: 'GitHub token for API access'
-    required: true
-  wait-time:
-    description: 'Initial sleep time in seconds before monitoring starts'
-    required: false
-    default: '30'
-  should-wait-for-start:
-    description: 'Whether to wait for tests to start'
-    required: false
-    default: false
-
-runs:
-  using: 'composite'
-  steps:
-    - name: Wait for tests to start
-      if: inputs.should-wait-for-start == 'true'
-      shell: bash
-      run: |
-        echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
-        sleep ${{ inputs.wait-time }}
-
-    - name: Wait for tests to finish
-      shell: bash
-      run: |
-        BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
-        
-        echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
-        RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
-        echo "Watching run ID: $RUN_ID"
-        gh run watch "$RUN_ID"
-
-        CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
-        echo "Run concluded with: $CONCLUSION"
-
-        if [[ "$CONCLUSION" != "success" ]]; then
-          echo "❌ Workflow run failed with conclusion: $CONCLUSION"
-          exit 1
-        fi
-      env:
-        GITHUB_TOKEN: ${{ inputs.github-token }}

.gitignore

@@ -1,6 +1,4 @@
 venv/
-.venv/
-.ci_cache
 .env
 .clang-format
 .DS_Store
@@ -10,13 +8,11 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+.vscode*
+model2.png
 a.out
 .hypothesis
-.cache/
 
-/docs_site/
-
-*.mp4
 *.dylib
 *.DSYM
 *.d
@@ -36,22 +32,35 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-*.mo
-*_pyx.cpp
-*.stats
+*.qm
 config.json
 clcache
 compile_commands.json
 compare_runtime*.html
 
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
+persist
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/mapd/default_speeds_by_region.json
+system/proclogd/proclogd
+selfdrive/ui/_ui
+selfdrive/test/longitudinal_maneuvers/out
 system/camerad/camerad
 system/camerad/test/ae_gray_test
+selfdrive/modeld/_modeld
+selfdrive/modeld/_navmodeld
+selfdrive/modeld/_dmonitoringmodeld
+/src/
+
+one
+openpilot
+notebooks
+xx
+yy
+hyperthneed
+panda_jungle
+provisioning
 
 .coverage*
 coverage.xml
@@ -64,42 +73,13 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh
 
-selfdrive/modeld/models/*.pkl
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
-sunnypilot/modeld*/models/*.pkl
+selfdrive/modeld/thneed/compile
+selfdrive/modeld/models/*.thneed
 
-# openpilot log files
 *.bz2
-*.zst
 
 build/
 
 !**/.gitkeep
 
 poetry.toml
-Pipfile
-
-### VisualStudioCode ###
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
-
-### JetBrains ###
-!.idea/customTargets.xml
-!.idea/tools/*
-!.run/*

.gitmodules

@@ -1,21 +0,0 @@
-[submodule "panda"]
-  path = panda
-  url = https://github.com/sunnyhaibin/panda.git
-[submodule "opendbc"]
-  path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
-[submodule "msgq"]
-  path = msgq_repo
-  url = https://github.com/commaai/msgq.git
-[submodule "rednose_repo"]
-  path = rednose_repo
-  url = https://github.com/commaai/rednose.git
-[submodule "teleoprtc_repo"]
-  path = teleoprtc_repo
-  url = https://github.com/commaai/teleoprtc
-[submodule "tinygrad"]
-  path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
-[submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
-  url = https://github.com/sunnypilot/neural-network-data.git

.idea/customTargets.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CLionExternalBuildManager">
-    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
-      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
-      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Release" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-  </component>
-</project>

.idea/tools/External Tools.xml

@@ -1,23 +0,0 @@
-<toolSet name="External Tools">
-  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-</toolSet>

.lfsconfig

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
-	locksverify = false

.lfsconfig-comma

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false

.run/Build Debug.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build Release.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build_BIG_UI.run.xml

@@ -1,26 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_BIG_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="BIG" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>

.run/Build_SMALL_UI.run.xml

@@ -1,23 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_SMALL_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>

.vscode/extensions.json

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

.vscode/launch.json

@@ -1,85 +0,0 @@
-{
-  "version": "0.2.0",
-  "inputs": [
-    {
-      "id": "python_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
-      ]
-    },
-    {
-      "id": "cpp_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/ui/ui"
-      ]
-    },
-    {
-      "id": "args",
-      "description": "Arguments to pass to the process",
-      "type": "promptString"
-    },
-    {
-      "id": "replayArg",
-      "type": "promptString",
-      "description": "Enter route or segment to replay."
-    }
-  ],
-  "configurations": [
-    {
-      "name": "Python: openpilot Process",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${input:python_process}",
-      "console": "integratedTerminal",
-      "justMyCode": true,
-      "args": "${input:args}"
-    },
-    {
-      "name": "C++: openpilot Process",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}"
-    },
-    {
-      "name": "Attach LLDB to Replay drive",
-      "type": "lldb",
-      "request": "attach",
-      "pid": "${command:pickMyProcess}",
-      "initCommands": [
-        "script import time; time.sleep(3)"
-      ]
-    },
-    {
-      "name": "Replay drive",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-      "args": [
-        "${input:replayArg}"
-      ],
-      "console": "integratedTerminal",
-      "justMyCode": false,
-      "env": {
-        "PYTHONPATH": "${workspaceFolder}"
-      },
-      "subProcess": true,
-      "stopOnEntry": false
-    }
-  ],
-  "compounds": [
-    {
-      "name": "Replay drive + Safety LLDB",
-      "configurations": [
-        "Replay drive",
-        "Attach LLDB to Replay drive"
-      ]
-    }
-  ]
-}

.vscode/settings.json

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

CHANGELOGS.md

@@ -0,0 +1,630 @@
+sunnypilot - 0.9.3.1 (2023-07-09)
+========================
+* UPDATED: Synced with commaai's 0.9.3 release
+* NEW❗: Display Temperature on Sidebar toggle
+  * Display Ambient temperature, memory temperature, CPU core with the highest temperature, GPU temperature, or max of Memory/CPU/GPU on the sidebar
+  * Replace "Display CPU Temperature on Sidebar" toggle
+* NEW❗: Hot Coffee driving model
+* NEW❗: HKG CAN: Smoother Stopping Performance (Beta) toggle
+  * Smoother stopping behind a stopped car or desired stopping event.
+  * This is only applicable to HKG CAN platforms using openpilot longitudinal control
+* NEW❗: Toyota: TSS2 longitudinal: Custom Tuning
+  * Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
+* NEW❗: Enable Screen Recorder toggle
+  * Enable this will display a button on the onroad screen to toggle on or off real-time screen recording with UI elements.
+* IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 10 MPH or 16 km/h
+* REMOVED: Display CPU Temperature on Sidebar
+
+sunnypilot - 0.9.2.3 (2023-06-18)
+========================
+* NEW❗: Auto Lane Change: Delay with Blind Spot
+  * Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects an obstructing vehicle, ensuring safe maneuvering
+* NEW❗: Driving Screen Off: Wake with Non-Critical Events
+  * When Driving Screen Off Timer is not set to "Always On":
+    * Enabled: Wake the brightness of the screen to display all events
+    * Disabled: Wake the brightness of the screen to display critical events
+  * Currently, all non-nudge modes are default to continue lane change after 1 seconds of blind spot detection
+* NEW❗: Fleet Manager PIN Requirement toggle
+  * User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager
+* NEW❗: Reset all sunnypilot settings toggle
+* NEW❗: Turn signals display on screen when blinker is used
+  * Green: Blinker is on
+  * Red: Blinker is on, car detected in the adjacent blind spot or road edge detected
+* IMPROVED: mapd: better exceptions handling when loading dependencies
+* UPDATED: Green Traffic Light Chime no longer displays an orange border when executed
+* FIXED: mapd: Road name flashing caused by desync with last GPS timestamp
+* FIXED: Ram HD (2500/3500): Ignore paramsd sanity check
+  * Live parameters have trouble with self-tuning on this platform with upstream openpilot 0.9.2
+* Hyundai: Longitudinal support for CAN-based Camera SCC cars thanks to Zack1010OP's Patreon sponsor!
+
+sunnypilot - 0.9.2.2 (2023-06-13)
+========================
+* NEW❗: Toyota: Allow M.A.D.S. toggling with LKAS Button (Beta)
+* IMPROVED: Ram: cruise button handling
+
+sunnypilot - 0.9.2.1 (2023-06-10)
+========================
+* UPDATED: Synced with commaai's 0.9.2 release
+* UPDATED: feature revamp with better stability
+* UPDATED:
+  * M.A.D.S.
+    * Path color becomes LIGHT ORANGE during Driver Steering Override
+  * Gap Adjust Cruise (now known as Driving Personality in upstream openpilot 0.9.3):
+    * Updated profiles and jerk changes
+    * Experimental Mode support
+    * Three settings: Stock, Aggressive, and Maniac
+    * Stock is recommended and the default
+    * In Aggressive/Maniac mode, lead follow distance is shorter and quicker gas/brake response
+  * Dynamic Lane Profile
+    * Display blue borders on both sides of the driving path when Laneline mode is being used in the planner
+    * Auto Mode optimization
+      * Permanent: Laneless during Auto Lane Change execution
+  * Mapd
+    * OpenStreetMap Database: new regions added
+  * Developer UI (Dev UI)
+    * REMOVED: 2-column design
+    * NEW❗: 1-column + 1-row design
+  * Custom Stock Longitudinal Control
+    * NEW❗: Chrysler/Jeep/Ram support
+    * NEW❗: Mazda support
+    * NEW❗: Volkswagen PQ support
+    * DISABLED: Hyundai/Kia/Genesis CAN-FD platforms
+* NEW❗: Switch between Chill (openpilot ACC) and Experimental (E2E longitudinal) with DISTANCE button on the steering wheel
+  * To switch between Chill and Experimental Mode: press and hold the DISTANCE button on the steering wheel for over 0.5 second
+  * All openpilot longitudinal capable cars support
+* NEW❗: Nicki Minaj driving model
+* NEW❗: Nissan and Mazda upstream models support
+* NEW❗: Pre-Global Subaru upstream models support
+* NEW❗: Display End-to-end Longitudinal Status (Beta)
+  * Display an icon that appears when the End-to-end model decides to start or stop
+* NEW❗: Green Traffic Light Chime (Beta)
+  * A chime will play when the traffic light you are waiting for turns green, and you have no vehicle in front of you.
+* NEW❗: Lead Vehicle Departure Alert
+  * Notify when the leading vehicle drives away
+* NEW❗: Speedometer: Display True Speed
+  * Display the true vehicle current speed from wheel speed sensors.
+* NEW❗: Speedometer: Hide from Onroad Screen
+* NEW❗: Auto-Hide UI Buttons
+  * Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons
+  * Applicable to Dynamic Lane Profile (DLP) and Gap Adjust Cruise (GAC)
+* NEW❗: Display DM Camera in Reverse Gear
+  * Show Driver Monitoring camera while the car is in reverse gear
+* NEW❗: Block Lane Change: Road Edge Detection (Beta)
+  * Block lane change when road edge is detected on the stalk actuated side
+* NEW❗: Display CPU Temperature on Sidebar
+  * Display the CPU core with the highest temperature on the sidebar
+* NEW❗: Display current driving model in Software settings
+* NEW❗: HKG: smartMDPS automatic detection (installed with applicable firmware)
+* FIXED: Unintended siren/alarm from the comma device if the vehicle is turned off too quickly in PARK gear
+* FIXED: mapd: Exception handling for loading dependencies
+* Fleet Manager via Browser support thanks to actuallylemoncurd, AlexandreSato, ntegan1, and royjr!
+  * Access your dashcam footage, screen recordings, and error logs when the car is turned off
+  * Connect to the device via Wi-Fi, mobile hotspot, or tethering on the comma device, then navigate to http://ipAddress:5050 to access.
+* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
+* Ram: Steer to 0/7 MPH support thanks to vincentw56!
+* Retain hotspot/tethering state across reboots thanks to rogerioaguas!
+
+sunnypilot - Version Latest (2023-02-22)
+========================
+* UPDATED: Synced with commaai's master branch - 2023.02.19-04:52:00:GMT - 0.9.2
+* Refactor sunnypilot features to be more stable
+
+sunnypilot - Version Latest (2022-12-16)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.12.16-06:31:00:GMT - 0.9.1
+* NEW❗: GM:
+    * NEW❗: Gap Adjust Cruise support - Chill, Normal, Aggressive
+    * NEW❗: Experimental Mode: Hold DISTANCE button on the steering wheel for 0.5 second to switch between Experimental Mode and Chill Mode
+* REMOVED❌: Toytoa: SnG Hack
+    * This method is not recommended and may cause some cars to not behave as expected
+    * SDSU is strongly recommended to enable SnG for Toyota vehicles without SnG from factory
+* commaai: radard: add missing accel data for vision-only leads (commaai/openpilot#26619) - pending PR
+    * VOACC performance is drastically improved when using Chill Mode
+* IMPROVED: M.A.D.S. events handling
+* IMPROVED: UI: screen recorder button change
+* IMPROVED: OpenStreetMap Offline Database optimization
+* FIXED: Toyota: vehicles' LKAS button no longer has a delay with toggling M.A.D.S.
+* FIXED: Toyota: brake pedal press at standstill causing Cruise Fault
+* FIXED: Volkswagen MQB: reduce Camera Malfunction occurrences (requires testing)
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-10)
+========================
+* IMPROVED: NEW❗ Developer UI design
+    * Second column metrics is now moved to the bottom of the screen
+        * ACC. = Acceleration
+        * L.S. = Lead Speed
+        * E.T. = EPS Torque
+        * B.D. = Bearing Degree
+        * FRI. = Friction
+        * L.A. = Lateral Acceleration
+        * ALT. = Altitude
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-07)
+========================
+* NEW❗: Screen Recorder support thanks to neokii and Kumar!
+* NEW❗: End-to-end longitudinal start/stop status icon
+    * Only appears when Experimental Mode is enabled
+* NEW❗: End-to-end longitudinal car chime when starting
+    * Hyundai/Kia/Genesis CAN platform, Honda/Acura Bosch/Nidec, Toyota/Lexus
+    * i.e. Traffic light turns green, stop sign ready to go, etc.
+    * Only appears when Experimental Mode is enabled AND longitudinal control is disengaged
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-05)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.12.04-22:46:00:GMT - 0.9.1
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-12)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.12-10:02:00:GMT - 0.8.17
+* FIXED: CAN Error for CAN HKG cars that do not have navigation from the factory
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-11)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.11-21:22:00:GMT - 0.8.17
+* commaai: AGNOS 6.2 (commaai/openpilot#26441)
+* NEW❗: Speed Limit Control - HKG - add speed limit from car's navigation head unit
+    * Compatible with certain models, trims, and model years
+* DISABLED: FCA: RAM HD - steer down to 0
+* FIXED: UI: End-to-end longitudinal button on driving screen synchronization
+* FIXED: Honda: Longitudinal status with set cruise speed now displays properly in the car's dashboard
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-08)
+========================
+* ADDED: New Zealand offline OpenStreetMap database
+
+sunnypilot - Version Latest (2022-11-04)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.05-01:44:00:GMT - 0.8.17
+* RE-ENABLED: Dynamic Lane Profile - preserves lanelines
+    * Can be found in "SP - Controls" menu
+* NEW❗: DLP: switch to laneless for current/future curves thanks to @twilsonco!
+    * Can be found in "SP - Controls" menu
+* NEW❗: UI: Road Camera Selector
+    * Enable this will display a button on the driving screen to select the driving camera
+    * Can be found in "SP - Visuals" menu
+* NEW❗: Controls: Camera & Path Custom Offsets
+    * Only applicable to laneline mode when using Dynamic Lane Profile
+* NEW❗: Buttons on driving screen are now sorted based on priority and availability
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-28)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.28-03:53:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-26)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.26-06:20:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-25)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.25-23:53:00:GMT - 0.8.17
+* Pre-Global Subaru support thanks to @martinl!
+* NEW❗: Speed Limit values turn red when current speed is higher than posted speed limit
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-23)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.22-23:15:00:GMT - 0.8.17
+* IMPROVED: Custom Stock Longitudinal Control - HKG - only allow engagement on user button press
+* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more consistent set speed change
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-21)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.21-17:33:00:GMT - 0.8.17
+* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more predictable button send logic
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-20)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.20-20:25:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-19)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.19-08:31:00:GMT - 0.8.17
+* IMPROVED: Controls: Speed Limit Control - accelerator press only disengage if "Disengage on Accelerator Pedal" is enabled
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-18)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.18-04:44:00:GMT - 0.8.17
+* RE-ENABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
+* NEW❗: Steering Rate Cost Live Tune
+    * Enables live tune for Steering Rate Cost. Lower value allows steering wheel to move more freely at low speed
+    * Can be found in "SP - Controls" menu
+* FIXED: MADS: GM - include Regen Paddle logic thanks to @twilsonco!
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-17)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.17-23:54:00:GMT+1 - 0.8.17
+* ENABLED: "Custom Stock Longitudinal Control" toggle for CAN-FD cars
+* FIXED: HKG CAN-FD: Could not engage when openpilot longitudinal is enabled
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-13)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.13-19:43:00:GMT+1 - 0.8.17
+* ADDED: Live Tmux toggle
+    * Can be found in "SP - General" menu
+* IMPROVED: OpenStreetMap Database Update - only check for database update with explicit user decision
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-11)
+========================
+* ADDED: Hyundai openpilot longitudinal improvements - huge thanks to @aragon7777!
+* ADDED: Check for OpenStreetMap Database Update button
+* UPDATED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bbcd448) - pending PR
+* FIXED: MUTCD speed limit spacing adjusts dynamically when no subtext is shown (i.e., speed limit offset, distance to next speed limit)
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-09)
+========================
+* ADDED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bca288bb) - pending PR
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* IMPROVED: mapd: stop signs and other supported traffic_calming tags are now slowing/stopping as expected
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-08)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.08-12:07:00:GMT+1 - 0.8.17
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* IMPROVED: mapd: Speed Humps are now set at 20 MPH or 32 km/h
+* IMPROVED: OpenStreetMap Offline Database download experience
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-07)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.07-08:16:00:GMT - 0.8.17
+* NEW❗: OpenStreetMap database can now be downloaded locally for offline use
+    * Now offering US South, US West, US Northeast, US Florida, Taiwan, and South Africa
+    * Databases updated - 2022.10.05-03:30:00:GMT
+* NEW❗: mapd: Stop Sign, Yield, Speed Bump, Speed Hump, Sharp Curve support - huge thanks to @move-fast and @dragonpilot-community!
+    * Go to https://openstreetmap.org and start mapping out your area!
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-30)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.30-22:43:00:GMT - 0.8.17
+* RE-ADDED: Torque Lateral Controller Live Tune Menu
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-23)
+========================
+* ADDED: Developer UI: latAccelFactorFiltered & frictionCoefficientFiltered values displays in green if Torque is using live params
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-22)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* NEW❗: Toggle to explicitly enable Custom Stock Longitudinal Control
+    * Applicable cars only: Honda, Hyundai/Kia/Genesis
+    * Settings -> Toggles menu
+
+sunnypilot - Version Latest (2022-09-21)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
+    * To enable, first enable "Enforce Torque Lateral Controller" toggle
+* UPDATED: New metrics in Developer UI (when Live Torque is enabled)
+    * REMOVED: latAccelFactorRaw & frictionCoefficientRaw from torqued
+    * ADDED: latAccelFactorFiltered & frictionCoefficientFiltered from torqued
+* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
+
+sunnypilot - Version Latest (2022-09-20)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
+    * To enable, first enable "Enforce Torque Lateral Controller" toggle
+* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
+
+sunnypilot - Version Latest (2022-09-18)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
+* ADDED: Kia Forte Non-SCC 2019 support for @askalice
+* FIXED: Torque Lateral Control Live Tune now syncs with commaai:openpilot#25822
+* FIXED: mapd dependencies no longer need to be re-downloaded after unknown reboots
+
+sunnypilot - Version Latest (2022-09-17)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
+* NEW❗: Non SCC HKG support
+    * Custom Stock Longitudinal Control
+    * ❗No❗ openpilot longitudinal control
+* FIXED: Honda Bosch random low-value set speed changes
+
+sunnypilot - Version Latest (2022-09-16)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.16-20:23:00:GMT - 0.8.17
+
+sunnypilot - Version Latest (2022-09-15)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.16-02:00:00:GMT - 0.8.17
+* FIXED: Block additional auto lane change actions if blinker stays on after the first lane change
+* REVERTED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
+
+sunnypilot - Version Latest (2022-09-14)u
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: GM models supported in Force Car Recognition (FCR)
+    * Under "SP - Vehicles"
+* NEW❗: Prompt to select car in "SP - Vehicles" if car unrecognized on startup
+* FIXED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
+* UPDATED: ESCC: Use radar tracks from radar if available
+
+sunnypilot - Version Latest (2022-09-13)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: New metric in Developer UI
+    * Actual Lateral Acceleration (Roll Compensated)
+
+sunnypilot - Version Latest (2022-09-12)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* FIXED: Honda Nidec models not gaining speed when longitudinal engaged
+
+sunnypilot - Version Latest (2022-09-11)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: Hyundai Enhanced SCC now forwards FCW and AEB signals and commands from radar to car
+* RE-ENABLED: MADS Status Icon toggle
+
+sunnypilot - Version Latest (2022-09-10)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: RAM improvement implementation thanks to realfast!
+* DISABLED: Chrysler/Jeep/Ram with Custom Stock Longitudinal Control
+* DISABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
+
+sunnypilot - Version Latest (2022-09-09)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.09-07:35:00:GMT - 0.8.17
+* NEW❗: MADS now supporting General Motors (GM)
+* ADDED: Custom Stock Longitudinal Control - Volkswagen
+    * MQB & PQ
+* ADDED: Reverse ACC Change
+    * ACC +/-: Short=5, Long=1
+* ADDED: Custom Stock Longitudinal Control
+    * Hyundai/Kia/Genesis
+    * Honda Bosch
+* ADDED: Hyundai: 2015-16 Genesis resume from standstill fix (commaai:openpilot#25579) - pending PR
+* Vision Turn Speed Control re-enabled
+* Disable Onroad Uploads toggle re-enabled
+
+sunnypilot - Version Latest (2022-09-08)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
+* NEW❗: Block lane change initiation while brake is pressed
+
+sunnypilot - Version Latest (2022-09-07)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
+* NEW❗: Display End-to-end longitudinal 🌮 on screen
+    * NEW❗: Hold DISTANCE button on the steering wheel for 1 second to switch between E2E Long and ACC mode
+    * Enable toggle on the driving screen to switch between modes with End-to-end longitudinal
+    * Only applicable to cars with openpilot longitudinal control
+* NEW❗: Block lane change initiation while brake is pressed
+* REMOVED: Dynamic Lane Profile - upstream laneless model is now on by default
+* REMOVED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
+
+sunnypilot - Version Latest (2022-09-06)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.06 - 0.8.17
+* NEW❗: Display useful metrics above the chevron that tracks the lead car
+    * Under "SP - Visuals" menu
+    * Only applicable to cars with openpilot longitudinal control
+* ADDED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
+* FIXED: Vienna speed limit interface now scales properly with the outer box
+* REMOVED: Hyundai long improvements (commaai:openpilot#25604) - closed PR
+
+sunnypilot - Version Latest (2022-09-05)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* NEW❗: Speed Limit Control (SLC) interface integrated with upstream
+* NEW❗: Speed limit from active navigation is now prioritized for Speed Limit Control
+* NEW❗: MUTCD (U.S.) or Vienna (E.U.) speed limit interfaces can now be selected under "SP - Controls"
+
+sunnypilot - Version Latest (2022-09-04)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* FIXED: Gap Adjust Cruise status now displays properly on screen
+* FIXED: mapd - missing index in list caused mapd to crash
+* REMOVED: Temporary removed Vision Turn Speed Control
+
+sunnypilot - Version Latest (2022-09-03)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* ADDED: New border colors for different operation engagements
+* ADDED: UI: Show barrier when car detected in blind spot
+    * Only applicable to cars that have BSM detection with openpilot
+* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
+* TWEAKED: Update changelogs on startup in Settings -> Software -> Version
+* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
+
+sunnypilot - Version Latest (2022-08-31)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.08.31 - 0.8.17
+* ADDED: New border colors for different operation engagements
+* ADDED: UI: Show barrier when car detected in blind spot
+    * Only applicable to cars that have BSM detection with openpilot
+* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
+* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
+
+sunnypilot - Version 0.8.16 (2022-07-16)
+========================
+* Sync with commaai's master branches
+* NEW❗: Add toggle to pause lateral actuation below 30 MPH / 50 KM/H
+* IMPROVED: Better controls mismatch handling
+* IMPROVED: Less frequent Low Memory alert
+* IMPROVED: Only allow lateral control when in forward gears
+* IMPROVED: Better alerts handling on gear changes
+
+sunnypilot - Version 0.8.14-1.3 (2022-06-29)
+========================
+* Hyundai/Kia/Genesis
+    * NEW❗: MADS: Add GAP/Distance button on the steering wheel to engage/disengage
+        * To engage/disengage MADS: Hold the button for 0.5 second
+* NEW❗: Dynamic Lane Profile: Add toggle to enable "Laneless for Curves in Auto Lane"
+* HOTFIX🛠: Improve Torque lateral control and reduce ping pong for some Toyota cars
+    * Torque control: higher low speed gains and better steering angle deadzone logic
+* Developer UI: Remove Distance Traveled, replace with Memory Usage %
+    * This may have a potential to fix the Low Memory alert that may appear
+
+sunnypilot - Version 0.8.14-1 (2022-06-27)
+========================
+* HOTFIX🛠: Honda, Toyota, Volkswagen now initialized correctly with Torque Lateral Live Tune
+
+sunnypilot - Version 0.8.14-1 (2022-06-27)
+========================
+* NEW❗: Added toggle to enable updates for sunnypilot
+* HOTFIX🛠: Volkswagen car list now displays properly in Force Car Recognition menu
+* REVERTED: Honda - temporary removes CRUISE (MAIN) for MADS engagement
+    * LKAS button continues to be used for MADS engagement/disengagement
+
+sunnypilot - Version 0.8.14-1 (2022-06-26)
+========================
+Visit https://bit.ly/sunnyreadme for more details
+* sunnypilot 0.8.14 release - based on openpilot 0.8.14 devel
+* "0.8.14-prod-c3" branch only supports comma three
+    * If you have a comma two, EON, or other devices than a comma three, visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Mono-branch support
+    * Honda/Acura
+    * Hyundai/Kia/Genesis
+    * Toyota/Lexus
+    * Volkswagen MQB
+* Modified Assistive Driving Safety (MADS) Mode
+    * NEW❗: CRUISE (MAIN) now engages MADS for all supported car makes
+    * NEW❗: Added toggle to disable disengaging Automatic Lane Centering (ALC) on the brake pedal
+* Dynamic Lane Profile (DLP)
+* NEW❗: Gap Adjust Cruise (GAC)
+    * openpilot longitudinal cars can now adjust between the lead car's following distance gap via 3 modes:
+        * Steering Wheel (SW) | User Interface (UI) | Steering Wheel + User Interface (SW+UI)
+* NEW❗: Custom Camera & Path Offsets
+* NEW❗: Torque Lateral Control from openpilot 0.8.15 master (as of 2022-06-15)
+* NEW❗: Torque Lateral Control Live Tune Menu
+* NEW❗: Speed Limit Sign from openpilot 0.8.15 master (as of 2022-06-22)
+* NEW❗: Mapbox Speed Limit data will now be utilized in Speed Limit Control (SLC)
+    * Speed limit data will be utilized in the following availability:
+        * Mapbox (active navigation) -> OpenStreetMap -> Car Interface (Toyota's TSR)
+* Custom Stock Longitudinal Control
+    * NEW❗: Volkswagen MQB
+    * Honda
+    * Hyundai/Kia/Genesis
+* NEW❗: Mapbox navigation support for non-Prime users
+    * Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Hyundai/Kia/Genesis
+    * NEW❗: Enhanced SCC (ESCC) Support
+        * Requires hardware modification. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+    * NEW❗: Smart MDPS (SMDPS) Support - Auto-detection
+        * Requires hardware modification and custom firmware for the SMDPS. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Toyota/Lexus
+    * NEW❗: Added toggle to enforce stock longitudinal control
+
+sunnypilot - Version 0.8.12-4
+========================
+* NEW❗: Custom Stock Longitudinal Control by setting the target speed via openpilot's "MAX" speed thanks to multikyd!
+    * Speed Limit Control
+    * Vision-based Turn Control
+    * Map-based Turn Control
+* NEW❗: HDA status integration with Custom Stock Longitudinal Control on applicable HKG cars only
+* NEW❗: Roll Compensation and SteerRatio fix from comma's 0.8.13
+* NEW❗: Dev UI to display different metrics on screen
+    * Click on the "MAX" box on the top left of the openpilot display to toggle different metrics display
+    * Lead car relative distance; Lead car relative speed; Actual steering degree; Desired steering degree; Engine RPM; Longitudinal acceleration; Lead car actual speed; EPS torque; Current altitude; Compass direction
+* NEW❗: Stand Still Timer to display time spent at a stop with M.A.D.S engaged (i.e., stop lights, stop signs, traffic congestions)
+* NEW❗: Current car speed text turns red when the car is braking
+* NEW❗: Export GPS tracks into GPX files and upload to OSM thanks to eFini!
+* NEW❗: Enable ACC and M.A.D.S with a single press of the RES+/SET- button
+* NEW❗: ACC +/-: Short=5, Long=1
+    * Change the ACC +/- buttons behavior with cruise speed change in openpilot
+    * Disabled (Stock):  Short=1, Long=5
+    * Enabled:  Short=5, Long=1
+* NEW❗: Speed Limit Value Offset (not %)*
+    * Set speed limit higher or lower than actual speed limit for a more personalized drive.
+    * *To use this feature, turn off "Enable Speed Limit % Offset"*
+* NEW❗: Dedicated icon to show the status of M.A.D.S.
+* NEW❗: No Offroad Fix for non-official devices that cannot shut down after the car is turned off
+* NEW❗: Stop N' Go Resume Alternative
+    * Offer alternative behavior to auto resume when stopped behind a lead car using stock SCC/ACC. This feature removes the repeating prompt chime when stopped and/or allows some cars to use auto resume (i.e., Genesis)
+* IMPROVED: Show the lead car icon in the car's dashboard when a lead car is detected by openpilot's camera vision
+* FIXED: MADS button unintentionally set MAX when using stock longitudinal control thanks to Spektor56!
+
+sunnypilot - Version 0.8.12-3
+========================
+* NEW❗: Bypass "System Malfunction" alert toggle
+    * Prevent openpilot from returning the "System Malfunction" alert that hinders the ability use openpilot
+* FIXED: Hyundai/Kia/Genesis Brake Hold Active now outputs the correct events on screen with M.A.D.S. engaged
+
+sunnypilot - Version 0.8.12-2
+========================
+* NEW❗: Disable M.A.D.S. toggle to disable the beloved M.A.D.S. feature
+    * Enable Stock openpilot engagement/disengagement
+* ADJUST: Initialize Driving Screen Off Brightness at 50%
+
+sunnypilot - Version 0.8.12-1
+========================
+* sunnypilot 0.8.12 release - based on openpilot 0.8.12 devel
+* Dedicated Hyundai/Kia/Genesis branch support
+* NEW❗: OpenStreetMap integration thanks to the Move Fast team!
+    * NEW❗: Vision-based Turn Control
+    * NEW❗: Map-Data-based Turn Control
+    * NEW❗: Speed Limit Control w/ optional Speed Limit Offset
+    * NEW❗: OpenStreetMap integration debug UI
+    * Only available to openpilot longitudinal enabled cars
+* NEW❗: Hands on Wheel Monitoring according to EU r079r4e regulation
+* NEW❗: Disable Onroad Uploads for data-limited Wi-Fi hotspots when using OpenStreetMap related features
+* NEW❗: Fast Boot (Prebuilt)
+* NEW❗: Auto Lane Change Timer
+* NEW❗: Screen Brightness Control (Global)
+* NEW❗: Driving Screen Off Timer
+* NEW❗: Driving Screen Off Brightness (%)
+* NEW❗: Max Time Offroad
+* Improved user feedback with M.A.D.S. operations thanks to Spektor56!
+    * Lane Path
+        * Green🟢 (Laneful), Red🔴 (Laneless): M.A.D.S. engaged
+        * White⚪: M.A.D.S. suspended or disengaged
+        * Black⚫: M.A.D.S. engaged, steering is being manually override by user
+    * Screen border now only illuminates Green when SCC/ACC is engaged
+
+sunnypilot - Version 0.8.10-1 (Unreleased)
+========================
+* sunnypilot 0.8.10 release - based on openpilot 0.8.10 `devel`
+* Add Toyota cars to Force Car Recognition
+
+sunnypilot - Version 0.8.9-4
+========================
+* Hyundai: Fix Ioniq Hybrid signals
+
+sunnypilot - Version 0.8.9-3
+========================
+* Update home screen brand and version structure
+
+sunnypilot - Version 0.8.9-2
+========================
+* Added additional Sonata Hybrid Firmware Versions
+* Features
+    * Modified Assistive Driving Safety (MADS) Mode
+    * Dynamic Lane Profile (DLP)
+    * Quiet Drive 🤫
+    * Force Car Recognition (FCR)
+    * PID Controller: add kd into the stock PID controller
+
+sunnypilot - Version 0.8.9-1
+========================
+* First changelog!
+* Features
+    * Modified Assistive Driving Safety (MADS) Mode
+    * Dynamic Lane Profile (DLP)
+    * Quiet Drive 🤫
+    * Force Car Recognition (FCR)
+    * PID Controller: add kd into the stock PID controller

Dockerfile.openpilot

@@ -1,14 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-ENV PYTHONUNBUFFERED=1
-
-ENV OPENPILOT_PATH=/home/batman/openpilot
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/batman/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -1,82 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot

Dockerfile.sunnypilot

@@ -1,12 +0,0 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
-
-ENV PYTHONUNBUFFERED=1
-
-ENV OPENPILOT_PATH=/home/batman/openpilot
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY . ${OPENPILOT_PATH}/
-
-RUN scons --cache-readonly -j$(nproc)

Dockerfile.sunnypilot_base

@@ -1,83 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-    rsync \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -1,269 +0,0 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-shopt -s huponexit # kill all child processes when the shell exits
-
-export CI=1
-export PYTHONWARNINGS=error
-export LOGPRINT=debug
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_DIR}
-export GIT_BRANCH=${env.GIT_BRANCH}
-export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /TICI ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
-fi
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ${cmd}
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}

LICENSE.md

@@ -1,21 +0,0 @@
-# Custom MIT License
-
-Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
-
-1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
-
-2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
-   "This software is licensed under a custom license requiring permission for use."
-
-3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
-   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
-
-4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
-
----
-
-Haibin Wen, SUNNYPILOT LLC

README.md

@@ -1,115 +1,435 @@
 ![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
 
-## 🌞 What is sunnypilot?
-[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
+Table of Contents
+=======================
 
-## 💭 Join our Community Forum
-Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://community.sunnypilot.ai/
+* [Join our Discord](#-join-our-discord)
+* [What is sunnypilot?](#-what-is-sunnypilot)
+* [Running in a car](#-running-on-a-dedicated-device-in-a-car)
+* [Read Before Installing](#-read-before-installing)
+* [Prohibited Safety Modifications](#-prohibited-safety-modifications)
+* [Installation](#-installation)
+* [Highlight Features](#-highlight-features)
+* [Driving Enhancements](#-driving-enhancements)
+* [Branch Definitions](#-branch-definitions)
+* [Recommended Branches](#-recommended-branches)
+* [How-To's](#-How-Tos)
+* [Pull Requests](#-Pull-Requests)
+* [Special Thanks](#-special-thanks)
+* [User Data](#-user-data)
+* [Licensing](#licensing)
+* [Donate](#-support-sunnypilot)
 
-## Documentation
-https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
+---
 
-## 🚘 Running on a dedicated device in a car
+<details><summary><h3>💭 Join our Discord</h3></summary>
+
+---
+
+Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://discord.sunnypilot.com
+
+  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+
+</details>
+
+<details><summary><h3>🌞 What is sunnypilot?</h3></summary>
+
+---
+
+[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 250+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
+
+</details>
+
+<details><summary><h3>🚘 Running on a dedicated device in a car</h3></summary>
+
+---
+
+To use sunnypilot in a car, you need the following:
 * A supported device to run this software
-    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
+    * a [comma three](https://comma.ai/shop/products/three), or
+    * a comma two (only with older versions below 0.8.13)
 * This software
-* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* One of [the 250+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
-## Installation
-Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
+</details>
 
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+<details><summary><h3>🚨 Read Before Installing</h3></summary>
 
-* sunnypilot not installed or you installed a version before 0.8.17?
-  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
-  4. Complete the rest of the installation following the onscreen instructions.
+---
 
-* sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
-  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
-  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
+It is recommended to read this **entire page** before proceeding. This will ensure that you fully understand each added feature on sunnypilot, and you are selecting the right branch for your car to have the best driving experience.
 
-### Recommended Branches
-|      Branch     |                 Installation URL              |
-|:---------------:|:---------------------------------------------:|
-| `release`       | `https://release.sunnypilot.ai`               |
-| `staging`       | `https://staging.sunnypilot.ai`               |
-|   `dev`         | `https://dev.sunnypilot.ai`                   |
-| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+This is a fork of [comma.ai's openpilot](https://github.com/commaai/openpilot). By installing this software, you accept all responsibility for anything that might occur while you use it. All contributors to sunnypilot are not liable. ❗<ins>**Use at your own risk.**</ins>❗
 
-> [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
+</details>
 
-> [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
+<details><summary><h3>⛔ Prohibited Safety Modifications</h3></summary>
 
+---
 
-<details>
+All [official sunnypilot branches](https://github.com/sunnyhaibin/sunnypilot/branches) strictly adhere to [comma.ai's safety policy](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Any changes that go against this policy will result in your fork and your device being banned from both comma.ai and sunnypilot channels.
 
-<summary>Older legacy branches</summary>
-
-### If you want to use our older legacy branches (*not recommended*)
-
-> [**IMPORTANT**]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
-
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+The following changes are a **VIOLATION** of this policy and **ARE NOT** included in any sunnypilot branches:
+* Driver Monitoring:
+    * ❌ "Nerfing" or reducing monitoring parameters.
+* Panda safety:
+    * ❌ No preventing disengaging of <ins>**LONGITUDINAL CONTROL**</ins> (acceleration/brake) on brake pedal press.
+    * ❌ No auto re-engaging of <ins>**LONGITUDINAL CONTROL**</ins> (acceleration/brake) on brake pedal release.
+    * ❌ No disengaging on ACC MAIN in OFF state.
 
 </details>
 
 
-## 🎆 Pull Requests
+<details><summary><h3>⚒ Installation</h3></summary>
+
+---
+
+  <details><summary>URL (Easy)</summary>
+
+comma three
+------
+
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
+
+* sunnypilot not installed or you installed a version before 0.8.17?
+  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```bit.ly/sp-release-c3``` [^4] (note: `https://` is not requirement on the comma three)
+  4. Complete the rest of the installation following the onscreen instructions.
+
+* sunnypilot already installed and you installed a version after 0.8.17?
+  1. On the comma three, go to `Settings` ▶️ `Software`.
+  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
+  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
+  4. Scroll to select the desired branch per [Recommended Branches](#-recommended-branches). Example: `release-c3`
+
+Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+
+comma two
+------
+
+1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
+3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://smiskol.com/fork/sunnyhaibin/0.8.12-4-prod```
+4. Complete the rest of the installation following the onscreen instructions.
+
+Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+
+  </details>
+
+  <details>
+  <summary>SSH (More Versatile)</summary>
+  <br>
+
+Prerequisites: [How to SSH](https://github.com/commaai/openpilot/wiki/SSH)
+
+If you are looking to install sunnypilot via SSH, run the following command in an SSH terminal after connecting to your device:
+
+comma three:
+------
+* [`release-c3`](https://github.com/sunnyhaibin/openpilot/tree/release-c3):
+
+  ```
+  cd /data; rm -rf ./openpilot; git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
+  ```
+
+comma two:
+------
+* [`0.8.12-prod-personal-hkg`](https://github.com/sunnyhaibin/openpilot/tree/0.8.12-prod-personal-hkg):
+
+  ```
+  cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-personal-hkg --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
+  ```
+
+After running the command to install the desired branch, your comma device should reboot.
+  </details>
+
+</details>
+
+
+<details><summary><h3>🚗 Highlight Features</h3></summary>
+
+---
+
+### Quality of Life Enhancements
+- [**Modified Assistive Driving Safety (MADS)**](#modified-assistive-driving-safety-mads) - Automatic Lane Centering (ALC) / Lane Keep Assist System (LKAS) and Adaptive Cruise Control (ACC) / Smart Cruise Control (SCC) can be engaged independently of each other
+- [**Dynamic Lane Profile (DLP)**](#dynamic-lane-profile-dlp) - Dynamically switch lane profile (between Laneful and Laneless) based on lane recognition confidence
+- [**Enhanced Speed Control**](#enhanced-speed-control) - Automatically adjust cruise control speed using vision model, OpenStreetMap (OSM) data, and/or Speed Limit control (SLC) without user interaction
+    * Vision-based Turn Speed Control (V-TSC) - lower speed when going around corners using vision model
+    * Map-Data-based Turn Speed Control (M-TSC) - lower speed when going around corners using OSM data[^1]
+    * Speed Limit Control (SLC) - Set speed limit based on map data or car interface (if applicable)
+    * HKG only: Highway Driving Assist (HDA) status integration - Use cars native speed sign detection to set desired speed (on applicable HKG cars only)
+- [**Gap Adjust Cruise (GAC)**](#gap-adjust-cruise) - Allow `GAP`/`INTERVAL`/`DISTANCE` button on the steering wheel or on-screen button to adjust the follow distance from the lead car. See table below for options
+    - [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings)
+    - [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set
+    - [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot
+    - [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power
+    - [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button
+    - [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand
+    - [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly:
+        * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles.
+        * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle.
+        * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller.
+
+### Visual Enhancements
+* **M.A.D.S Status Icon** - Dedicated icon to display M.A.D.S. engagement status
+    * Green🟢: M.A.D.S. engaged
+    * White⚪: M.A.D.S. suspended or disengaged
+* **Lane Path Color** - Various lane path colors to display real-time Lane Model and M.A.D.S. engagement status
+    * 0.8.14 and later:
+        * Blue🔵: Laneful mode & M.A.D.S. engaged
+        * Green🟢: Laneless mode & M.A.D.S. engaged
+        * Yellow🟡: Experimental e2e & M.A.D.S. engaged
+    * Pre 0.8.14:
+        * Green🟢: Laneful mode & M.A.D.S. engaged
+        * Red🔴: Laneless mode & M.A.D.S. engaged
+    * White⚪: M.A.D.S. suspended or disengaged
+    * Black⚫: M.A.D.S. engaged, steering is being manually overridden by user
+* **Developer (Dev) UI** - Display various real-time metrics on screen while driving
+* **Stand Still Timer** - Display time spent at a stop with M.A.D.S engaged (i.e., at traffic lights, stop signs, traffic congestions)
+* **Braking Status** - Current car speed text turns red when the car is braking by the driver or ACC/SCC
+
+### Operational Enhancements
+* **Fast Boot** - sunnypilot will fast boot by creating a Prebuilt file
+* **Disable Onroad Uploads** - Disable uploads completely when onroad. Necessary to avoid high data usage when connected to Wi-Fi hotspot
+* **Brightness Control (Global)** - Manually adjusts the global brightness of the screen
+* **Driving Screen Off Timer** - Turns off the device screen or reduces brightness to protect the screen after car starts
+* **Driving Screen Off Brightness (%)** - When using the Driving Screen Off feature, the brightness is reduced according to the automatic brightness ratio
+* **Max Time Offroad** - Device is automatically turned off after a set time when the engine is turned off (off-road) after driving (on-road)
+
+</details>
+
+<details><summary><h3>🚗 Driving Enhancements</h3></summary>
+
+---
+
+### Modified Assistive Driving Safety (MADS)
+The goal of Modified Assistive Driving Safety (MADS) is to enhance the user driving experience with modified behaviors of driving assist engagements. This feature complies with comma.ai's safety rules as accurately as possible with the following changes:
+* sunnypilot Automatic Lane Centering (ALC) and ACC/SCC can be engaged independently of each other
+* Dedicated button to toggle sunnypilot ALC:
+    * `CRUISE (MAIN)` button: All supported cars on sunnypilot
+        * `LFA` button: Newer HKG cars with `LFA` button
+        * `LKAS` button: Honda, Toyota, Global Subaru
+* `SET-` button enables ACC/SCC
+* `CANCEL` button only disables ACC/SCC
+* `CRUISE (MAIN)` must be `ON` to use ACC/SCC
+* `CRUISE (MAIN)` button disables sunnypilot completely when `OFF` **(strictly enforced in panda safety code)**
+
+### Disengage Lateral ALC on Brake Press Mode toggle
+Dedicated toggle to handle Lateral state on brake pedal press and release:
+1. `ON`: `BRAKE pedal` press will pause Automatic Lane Centering; `BRAKE pedal` release will resume Automatic Lane Centering. Note: `BRAKE pedal` release will NOT resume ACC/SCC/Long control without explicit user engagement **(strictly enforced in panda safety code)**
+2. `OFF`: `BRAKE pedal` press will NOT pause Automatic Lane Centering; `BRAKE pedal` release will NOT resume ACC/SCC/Long control without explicit user engagement **(strictly enforced in panda safety code)**
+
+### Miscellaneous
+* `TURN SIGNALS` (`Left` or `Right`) will pause Automatic Lane Centering if the vehicle speed is below the [threshold](https://github.com/commaai/openpilot/blob/master/selfdrive/controls/lib/desire_helper.py#L8) for Automatic Lane Change
+* Event audible alerts are more relaxed to match manufacturer's stock behavior
+* Critical events trigger disengagement of Automatic Lane Centering completely. The disengagement is enforced in sunnypilot and panda safety
+
+### Dynamic Lane Profile (DLP)
+
+Dynamic Lane Profile (DLP) aims to provide the best driving experience at staying within a lane confidently. Dynamic Lane Profile allows sunnypilot to dynamically switch between lane profiles based on lane recognition confidence level on road.
+
+There are 3 modes to select on the onroad camera screen:
+* **Auto Lane**: sunnypilot dynamically chooses between `Laneline` or `Laneless` model
+* **Laneline**: sunnypilot uses Laneline model only.
+* **Laneless**: sunnypilot uses Laneless model only.
+
+To use Dynamic Lane Profile, do the following:
+```
+1. sunnypilot Settings -> `SP - Controls` -> Enable Dynamic Lane Profile -> ON toggle
+2. Reboot.
+3. Before driving, on the onroad camera screen, toggle between the 3 modes by pressing on the button.
+4. Drive.
+```
+
+### Enhanced Speed Control
+This fork now allows supported cars to dynamically adjust the longitudinal plan based on the fetched map data. Big thanks to the Move Fast team for the amazing implementation!
+
+**Supported cars:**
+* sunnypilot Longitudinal Control capable
+* Stock Longitudinal Control
+    * Hyundai/Kia/Genesis (non CAN-FD)
+    * Honda Bosch
+    * Volkswagen MQB
+
+Certain features are only available with an active data connection, via:
+* [comma Prime](https://comma.ai/prime) - Intuitive service provided directly by comma, or
+* Personal Hotspot - From your mobile device, or a dedicated hotspot from a cellular carrier.
+
+**Features:**
+* Vision-based Turn Speed Control (VTSC) - Use vision path predictions to estimate the appropriate speed to drive through turns ahead - i.e. slowing down for curves
+* Map-Data-based Turn Speed Control (MTSC) - Use curvature information from map data to define speed limits to take turns ahead - i.e. slowing down for curves[^1]
+* Speed Limit Control (SLC) - Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits
+    * HKG only: Highway Driving Assist (HDA) status integration - on applicable HKG cars only[^1]
+    * Speed Limit Offset - When Speed Limit Control is enabled, set speed limit slightly higher than the actual speed limit for a more natural drive[^1]
+* Toggle Hands on Wheel Monitoring - Monitors and alerts the driver when their hands have not been on the steering wheel for an extended time
+
+### Custom Stock Longitudinal Control
+While using stock Adaptive/Smart Cruise Control, Custom Stock Longitudinal Control in sunnypilot allows sunnypilot to manipulate and take over the set speed on the car's dashboard.
+
+**Supported Cars:**
+* Hyundai/Kia/Genesis
+    * CAN platform
+    * CAN-FD platform with 0x1CF broadcasted in CAN traffic
+* Honda Bosch
+* Volkswagen MQB
+
+**Instruction**
+
+**📗 How to use Custom Longitudinal Control on sunnypilot **
+
+When using Speed Limit, Vision, or Map based Turn control, you will be setting the "MAX" ACC speed on the sunnypilot display instead of the one in the dashboard. The car will then set the ACC setting in the dashboard to the targeted speed, but will never exceed the max speed set on the sunnypilot display. A quick press of the RES+ or SET- buttons will change this speed by 5 MPH or KM/H on the sunnypilot display, while a long deliberate press (about a 1/2 second press) changes it by 1 MPH or KM/H. DO NOT hold the RES+ or SET- buttons for longer that a 1 second. Either make quick or long deliberate presses only.
+
+**‼ Where to look when setting ACC speed ‼**
+
+Do not look at the dashboard when setting your ACC max speed. Instead, only look at the one on the sunnypilot display, "MAX". The reason you need to look at the sunnypilot display is because sunnypilot will be changing the one in the dashboard. It will be adjusting it as needed, never raising it above the one set on the sunnypilot display. ONLY look at the MAX speed on the sunnypilot display when setting the ACC speed instead of the dashboard!
+
+(Courtesy instructions from John, author of jvePilot)
+
+### Gap Adjust Cruise
+This fork now allows supported openpilot longitudinal cars to adjust the cruise gap between the car and the lead car.
+
+**Supported cars:**
+* sunnypilot Longitudinal Control capable
+
+🚨**PROCEED WITH EXTREME CAUTION AND BE READY TO MANUALLY TAKE OVER AT ALL TIMES**
+
+There are 4 modes to select on the steering wheel and/or the onroad camera screen:
+* **Stock Gap**: Stock sunnypilot distance - 1.45 second profile
+* **Mild Gap**: Semi-aggressive distance - 1.25 second profile
+* 🚨**Aggro Gap**🚨: Aggressive distance - 1.0 second profile
+
+**Availability**
+
+|      Car Make       | Stock Gap | Mild Gap | Aggro Gap |
+|:-------------------:|:---------:|:--------:|:---------:|
+|     Honda/Acura     |     ✅     |    ✅     |     ✅     |
+| Hyundai/Kia/Genesis |     ✅     |    ✅     |     ✅     |
+|    Toyota/Lexus     |     ✅     |    ✅     |     ✅     |
+|  Volkswagen MQB/PQ  |     ✅     |    ✅     |     ✅     |
+
+</details>
+
+
+<details><summary><h3>⚒ Branch Definitions</h3></summary>
+
+---
+
+|    Tag    | Definition           | Description                                                                                                                                                                                 |
+|:---------:|----------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| `release` | Release branches     | Include features that are **verified** by trusted testers and the community. Ready to use. ✅                                                                                                |
+| `staging` | Staging branches     | Include new features that are **tested** by trusted testers and the community. Stability may vary. ⚠                                                                                        |
+|   `dev`   | Development branches | All features are gathered in respective versions. Reviewed and merged features will be committed to `dev`. Stability may vary. ⚠                                                            |
+| `master`  | Main branch          | Syncs with [commaai's openpilot `master`](https://github.com/commaai/openpilot) upstream branch. Accepts all pull requests. Does not include all sunnypilot features. Stability may vary. ⚠ |
+
+Example:
+* [`release-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/release-c3): Latest release branch for comma three that are verified by trusted testers and the community. Ready to use.
+* [`staging-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/staging-c3): Latest staging branch for comma three that are tested by trusted testers and the community. Verification required.
+* [`dev-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/dev-c3): Latest development branch for comma three that include all sunnypilot features. Testing required.
+
+</details>
+
+<details><summary><h3>✅ Recommended Branches</h3></summary>
+
+---
+
+| Branch                                                                              | Definition                                              | Compatible Device | Changelogs                                                                                 |
+|:------------------------------------------------------------------------------------|---------------------------------------------------------|-------------------|--------------------------------------------------------------------------------------------|
+| [`release-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/release-c3)           | • Latest release/stable branch                          | comma three       | [`CHANGELOGS.md`](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
+| [`staging-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/staging-c3)           | • Latest staging branch                                 | comma three       | [`CHANGELOGS.md`](https://github.com/sunnyhaibin/sunnypilot/blob/staging-c3/CHANGELOGS.md) |
+| [`dev-c3`](https://github.com/sunnyhaibin/sunnypilot/tree/dev-c3)                   | • Latest development branch with experimental features  | comma three       | [`CHANGELOGS.md`](https://github.com/sunnyhaibin/sunnypilot/blob/dev-c3/CHANGELOGS.md)     |
+
+</details>
+
+<details><summary><h3>📗 How To's</h3></summary>
+
+---
+
+How-To instructions can be found in [HOW-TOS.md](https://github.com/sunnyhaibin/openpilot/blob/(!)README/HOW-TOS.md).
+
+</details>
+
+
+<details><summary><h3>🎆 Pull Requests</h3></summary>
+
+---
+
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 
 Pull requests should be against the most current `master` branch.
 
-## 📊 User Data
+</details>
+
+<details><summary><h3>🏆 Special Thanks</h3></summary>
+
+---
+
+* [spektor56](https://github.com/spektor56/openpilot)
+* [rav4kumar](https://github.com/rav4kumar/openpilot)
+* [mob9221](https://github.com/mob9221/opendbc)
+* [briantran33](https://github.com/briantran33/openpilot)
+* [Aragon7777](https://github.com/aragon7777/openpilot)
+* [sshane](https://github.com/sshane/openpilot-installer-generator)
+* [jung](https://github.com/chanhojung/openpilot)
+* [dri94](https://github.com/dri94/openpilot)
+* [FrogAi](https://github.com/frogAi/FrogPilot/)
+* [twilsonco](https://github.com/twilsonco/openpilot)
+* [martinl](https://github.com/martinl/openpilot)
+* [multikyd](https://github.com/openpilotkr)
+* [Move Fast GmbH](https://github.com/move-fast/openpilot)
+* [dragonpilot](https://github.com/dragonpilot-community/dragonpilot)
+* [neokii](https://github.com/neokii/openpilot)
+* [AlexandreSato](https://github.com/AlexandreSato/openpilot)
+* [Moodkiller](https://github.com/moodkiller)
+
+</details>
+
+<details><summary><h3>📊 User Data</h3></summary>
+
+---
 
 By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
 
 sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
 
 sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
 By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 
-## Licensing
+</details>
 
-sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
+<details><summary><h3>Licensing</h3></summary>
 
-The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 
-> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
->
-> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
->
-> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
-> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-> NO WARRANTY EXPRESSED OR IMPLIED.**
+Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
-For full license terms, please see the [`LICENSE`](LICENSE) file.
+**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+NO WARRANTY EXPRESSED OR IMPLIED.**
 
-## 💰 Support sunnypilot
-If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
+</details>
+
+<h3>💰 Support sunnypilot</h3>
+
+---
+
+If you find any of the features useful, consider becoming a [patron on Patreon](https://www.patreon.com/sunnyhaibin) or a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
 
 
-By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
+By becoming a patron/sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
 
+<h3>Patreon</h3>
+
+<a href="https://www.patreon.com/sunnyhaibin">
+  <img src="https://user-images.githubusercontent.com/47793918/244128051-bc7e913e-a196-4455-926e-23aec9a4bd3b.png" alt="Become a Patron" width="300" style="max-width: 100%; height: auto;">
+</a>
+<br>
 
 <h3>GitHub Sponsor</h3>
 
@@ -128,3 +448,7 @@ By becoming a sponsor, you will gain access to exclusive content, early access t
 Your continuous love and support are greatly appreciated! Enjoy 🥰
 
 <span>-</span> Jason, Founder of sunnypilot
+
+[^1]:Requires data connection if not using Offline Maps data
+[^2]:At least 50 GB of storage space is required. If you have the 32 GB version of comma three, upgrading with a compatible 250 GB or 1 TB SSD is strongly recommended
+[^4]:Shortened URL for convenience. Full URL is ```smiskol.com/fork/sunnyhaibin/release-c3```

RELEASES.md

@@ -1,139 +1,4 @@
-Version 0.10.3 (2025-12-10)
-========================
-
-Version 0.10.2 (2025-11-19)
-========================
-* comma four support
-
-Version 0.10.1 (2025-09-08)
-========================
-* New driving model #36276
-  * World Model: removed global localization inputs
-  * World Model: 2x the number of parameters
-  * World Model: trained on 4x the number of segments
-  * VAE Compression Model: new architecture and training objective
-  * Driving Vision Model: trained on 4x the number of segments
-* New Driver Monitoring model #36198
-* Acura TLX 2021 support thanks to MVL!
-* Honda City 2023 support thanks to vanillagorillaa and drFritz!
-* Honda N-Box 2018 support thanks to miettal!
-* Honda Odyssey 2021-25 support thanks to csouers and MVL!
-* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
-
-Version 0.10.0 (2025-08-05)
-========================
-* New driving model
-  * New training architecture
-     * Described in our CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
-     * Action from lateral MPC as training objective replaced by E2E planning from World Model
-  * Low-speed lead car ground-truth fixes
-* Enable live-learned steering actuation delay
-* Opt-in audio recording for dashcam video
-* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
-* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
-
-Version 0.9.9 (2025-05-23)
-========================
-* New driving model
-  * New training architecture using parts from MLSIM
-* Steering actuation delay is now learned online
-* Ford Escape 2023-24 support thanks to incognitojam!
-* Ford Kuga 2024 support thanks to incognitojam!
-* Hyundai Nexo 2021 support thanks to sunnyhaibin!
-* Tesla Model 3 and Y support thanks to lukasloetkolben!
-* Lexus RC 2023 support thanks to nelsonjchen!
-
-Version 0.9.8 (2025-02-28)
-========================
-* New driving model
-  * Model now gates applying positive acceleration in Chill mode
-* New driver monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for bigger driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
-* Added toggle to enable driver monitoring even when openpilot is not engaged
-* Localizer rewritten to remove GPS dependency at runtime
-* Firehose Mode for maximizing your training data uploads
-* Enable openpilot longitudinal control for Ford Q3 vehicles
-* New Toyota TSS2 longitudinal tune
-* Rivian R1S and R1T support thanks to lukasloetkolben!
-* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
-
-Version 0.9.7 (2024-06-13)
-========================
-* New driving model
-  * Inputs the past curvature for smoother and more accurate lateral control
-  * Simplified neural network architecture in the model's last layers
-  * Minor fixes to desire augmentation and weight decay
-* New driver monitoring model
-  * Improved end-to-end bit for phone detection
-* Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
-* Fingerprinting without the OBD-II port on all cars
-* Improved fuzzy fingerprinting for Ford and Volkswagen
-
-Version 0.9.6 (2024-02-27)
-========================
-* New driving model
-  * Vision model trained on more data
-  * Improved driving performance
-  * Directly outputs curvature for lateral control
-* New driver monitoring model
-  * Trained on larger dataset
-* Model path UI
-  * Shows where driving model wants to be
-  * Shows what model is seeing more clearly, but more jittery
-* AGNOS 9
-* comma body streaming and controls over WebRTC
-* Improved fuzzy fingerprinting for many makes and models
-* Alpha longitudinal support for new Toyota models
-* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
-* Dodge Durango 2020-21 support
-* Hyundai Staria 2023 support thanks to sunnyhaibin!
-* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Lexus LC 2024 support thanks to nelsonjchen!
-* Toyota RAV4 2023-24 support
-* Toyota RAV4 Hybrid 2023-24 support
-
-Version 0.9.5 (2023-11-17)
-========================
-* New driving model
-  * Improved navigate on openpilot performance using navigation instructions as an additional model input
-  * Do lateral planning inside the model
-  * New vision transformer architecture
-* Cadillac Escalade ESV 2019 support thanks to twilsonco!
-* Hyundai Azera 2022 support thanks to sunnyhaibin!
-* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
-* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
-* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
-* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
-* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
-* Kia Optima Hybrid 2019 support
-* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
-* Lexus GS F 2016 support thanks to snyperifle!
-* Lexus IS 2023 support thanks to L3R5!
-
-Version 0.9.4 (2023-07-27)
-========================
-* comma 3X support
-* Navigate on openpilot in Experimental mode
-  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
-  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
-  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
-  * When navigate on openpilot is active, the path on the map is green
-* UI updates
-  * Navigation settings moved to home screen and map
-  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
-  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
-* Bookmarked segments are preserved on the device's storage
-* Ford Focus 2018 support
-* Kia Carnival 2023 support thanks to sunnyhaibin!
-
-Version 0.9.3 (2023-06-29)
+Version 0.9.3 (2023-06-20)
 ========================
 * New driving model
   * Improved height estimation and added height tracking in liveCalibration
@@ -704,7 +569,7 @@ Version 0.5.13 (2019-05-31)
  * Reduce CPU utilization by 20% and improve stability
  * Temporarily remove mapd functionalities to improve stability
  * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to pandad to reduce latency
+ * Synchronize controlsd to boardd to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -1040,7 +905,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
  * Better performance and pictures at night
- * Fix ptr alignment issue in pandad
+ * Fix ptr alignment issue in boardd
  * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
@@ -1072,7 +937,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
  * Performance improvements, removal of more numpy
- * Fix pandad process priority
+ * Fix boardd process priority
  * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)

SConstruct

@@ -3,52 +3,179 @@ import subprocess
 import sys
 import sysconfig
 import platform
-import shlex
 import numpy as np
 
 import SCons.Errors
 
 SCons.Warnings.warningAsException(True)
 
+TICI = os.path.isfile('/TICI')
+AGNOS = TICI
+
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+AddOption('--extras',
+          action='store_true',
+          help='build misc extras, like setup and installer files')
 
-AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers')
-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--minimal',
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--no-thneed',
+          action='store_true',
+          dest='no_thneed',
+          help='avoid using thneed')
+
+AddOption('--pc-thneed',
+          action='store_true',
+          dest='pc_thneed',
+          help='use thneed on pc')
+
+AddOption('--no-test',
           action='store_false',
-          dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
-          help='the minimum build to run openpilot. no tests, tools, etc.')
+          dest='test',
+          default=os.path.islink(Dir('#laika/').abspath),
+          help='skip building test files')
 
-# Detect platform
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and os.path.isfile('/TICI'):
+
+if arch == "aarch64" and AGNOS:
   arch = "larch64"
-assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
-]
+
+
+lenv = {
+  "PATH": os.environ['PATH'],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "PYTHONPATH": Dir("#").abspath,
+
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+}
+
+rpath = lenv["LD_LIBRARY_PATH"].copy()
+
+if arch == "larch64":
+  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
+
+  cpppath = [
+    "#third_party/opencl/include",
+  ]
+
+  libpath = [
+    "/usr/local/lib",
+    "/usr/lib",
+    "/system/vendor/lib64",
+    f"#third_party/acados/{arch}/lib",
+  ]
+
+  libpath += [
+    "#third_party/snpe/larch64",
+    "#third_party/libyuv/larch64/lib",
+    "/usr/lib/aarch64-linux-gnu"
+  ]
+  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  rpath += ["/usr/local/lib"]
+else:
+  cflags = []
+  cxxflags = []
+  cpppath = []
+
+  # MacOS
+  if arch == "Darwin":
+    if real_arch == "x86_64":
+      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
+
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
+    libpath = [
+      f"#third_party/libyuv/{yuv_dir}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/Library",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
+      f"{brew_prefix}/Cellar",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+    if real_arch == "x86_64":
+      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
+    else:
+      libpath.append(f"#third_party/acados/{arch}/lib")
+
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
+    ]
+  # Linux 86_64
+  else:
+    libpath = [
+      "#third_party/acados/x86_64/lib",
+      "#third_party/snpe/x86_64-linux-clang",
+      "#third_party/libyuv/x64/lib",
+      "#third_party/mapbox-gl-native-qt/x86_64",
+      "#cereal",
+      "#common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+  rpath += [
+    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
+    Dir("#cereal").abspath,
+    Dir("#common").abspath
+  ]
+
+if GetOption('asan'):
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
+else:
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
+
+# Enable swaglog include in submodules
+cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
+cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 
 env = Environment(
-  ENV={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-  },
-  CC='clang',
-  CXX='clang++',
+  ENV=lenv,
   CCFLAGS=[
     "-g",
     "-fPIC",
@@ -57,170 +184,266 @@ env = Environment(
     "-Werror",
     "-Wshadow",
     "-Wno-unknown-warning-option",
+    "-Wno-deprecated-register",
+    "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ],
-  CFLAGS=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
+    "-Wno-error=unused-but-set-variable",
+  ] + cflags + ccflags,
+
+  CPPPATH=cpppath + [
     "#",
-    "#msgq",
-    "#third_party",
-    "#third_party/json11",
-    "#third_party/linux/include",
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
     "#third_party/libyuv/include",
-  ],
-  LIBPATH=[
-    "#common",
-    "#msgq_repo",
+    "#third_party/json11",
+    "#third_party/curl/include",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party/mapbox-gl-native-qt/include",
+    "#third_party/qrcode",
     "#third_party",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    f"#third_party/libyuv/{arch}/lib",
-    f"#third_party/acados/{arch}/lib",
+    "#cereal",
+    "#opendbc/can",
+  ],
+
+  CC='clang',
+  CXX='clang++',
+  LINKFLAGS=ldflags,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
+    "#cereal",
+    "#third_party",
+    "#opendbc/can",
+    "#selfdrive/boardd",
+    "#common",
   ],
-  RPATH=[],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  tools=["default", "cython", "compilation_db"],
 )
 
-# Arch-specific flags and paths
-if arch == "larch64":
-  env.Append(CPPPATH=["#third_party/opencl/include"])
-  env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
-    "/usr/lib/aarch64-linux-gnu",
-  ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    f"{brew_prefix}/lib",
-    f"{brew_prefix}/opt/openssl@3.0/lib",
-    f"{brew_prefix}/opt/llvm/lib/c++",
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CPPPATH=[
-    f"{brew_prefix}/include",
-    f"{brew_prefix}/opt/openssl@3.0/include",
-  ])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
+if arch == "Darwin":
+  env['RPATHPREFIX'] = "-rpath "
 
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')
 
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
+# Setup cache dir
+cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
 
-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
-
-# progress output
 node_interval = 5
 node_count = 0
 def progress_function(node):
   global node_count
   node_count += node_interval
   sys.stderr.write("progress: %d\n" % node_count)
+
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-# ********** Cython build environment **********
+SHARED = False
+
+# TODO: this can probably be removed
+def abspath(x):
+  if arch == 'aarch64':
+    pth = os.path.join("/data/pythonpath", x[0].path)
+    env.Depends(pth, x)
+    return File(pth)
+  else:
+    # rpath works elsewhere
+    return x[0].path.rsplit("/", 1)[1][:-3]
+
+# Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(py_include)]
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
+Export('envCython')
 
-Export('env', 'arch')
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
 
-# Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
+qt_libs = []
+if arch == "Darwin":
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
+  else:
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+else:
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
 
-# ********** start building stuff **********
+  qt_env['QTDIR'] = qt_install_prefix
+  qt_dirs = [
+    f"{qt_install_headers}",
+    f"{qt_install_headers}/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
+
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
 
-# Build common module
 SConscript(['common/SConscript'])
-Import('_common')
-common = [_common, 'json11', 'zmq']
-Export('common')
+Import('_common', '_gpucommon')
 
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
+if SHARED:
+  common, gpucommon = abspath(common), abspath(gpucommon)
+else:
+  common = [_common, 'json11']
+  gpucommon = [_gpucommon]
 
+Export('common', 'gpucommon')
+
+# cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
+if SHARED:
+  cereal = abspath([File('cereal/libcereal_shared.so')])
+  messaging = abspath([File('cereal/libmessaging_shared.so')])
+else:
+  cereal = [File('#cereal/libcereal.a')]
+  messaging = [File('#cereal/libmessaging.a')]
+  visionipc = [File('#cereal/libvisionipc.a')]
 
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
+Export('cereal', 'messaging', 'visionipc')
 
+# Build rednose library and ekf models
 
-# Build other submodules
-SConscript(['panda/SConscript'])
+rednose_deps = [
+  "#selfdrive/locationd/models/constants.py",
+  "#selfdrive/locationd/models/gnss_helpers.py",
+]
 
-# Build rednose library
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
+  },
+}
+
+if arch != "larch64":
+  rednose_config['to_build'].update({
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
+  })
+
+Export('rednose_config')
 SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/clocksd/SConscript',
+  'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
+if arch != "Darwin":
+  SConscript([
+    'system/camerad/SConscript',
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
+  ])
 
 # Build openpilot
+
+# build submodules
+SConscript([
+  'body/board/SConscript',
+  'cereal/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
+
 SConscript(['third_party/SConscript'])
 
-SConscript(['selfdrive/SConscript'])
+SConscript(['common/kalman/SConscript'])
+SConscript(['common/transformations/SConscript'])
 
-SConscript(['sunnypilot/SConscript'])
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/navd/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
 
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
+if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+  SConscript(['tools/cabana/SConscript'])
 
-
-env.CompilationDatabase('compile_commands.json')
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])

SECURITY.md

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

body/.gitignore

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

body/board/SConscript

@@ -0,0 +1,198 @@
+import os
+import subprocess
+
+PREFIX = "arm-none-eabi-"
+BUILDER = "DEV"
+
+common_flags = []
+build_projects = {}
+
+build_projects["body"] = {
+  "MAIN": "main.c",
+  "STARTUP_FILE": "startup_stm32f413xx.s",
+  "LINKER_SCRIPT": "stm32fx_flash.ld",
+  "APP_START_ADDRESS": "0x08004000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ],
+}
+
+if os.getenv("RELEASE"):
+  BUILD_TYPE = "RELEASE"
+  cert_fn = os.getenv("CERT")
+  assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
+  assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
+else:
+  BUILD_TYPE = "DEBUG"
+  cert_fn = File("../certs/debug").srcnode().abspath
+  common_flags += ["-DALLOW_DEBUG"]
+
+if os.getenv("DEBUG"):
+  common_flags += ["-DDEBUG"]
+
+includes = [
+  "inc/STM32F4xx_HAL_Driver/Inc",
+  "inc",
+  "..",
+  ".",
+]
+
+c_sources = [
+  ["hal_flash", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c"],
+  ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
+  ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
+  ["hal_i2c", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c"],
+  ["hal_i2c_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c"],
+  ["hal_tim", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c"],
+  ["hal_tim_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c"],
+  ["hal_adc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c"],
+  ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
+  ["hal_flash_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c"],
+  ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
+  ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
+  ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
+  ["hal_adc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c"],
+  ["hal_dma", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c"],
+  ["system", "inc/system_stm32f4xx.c"],
+  ["it", "inc/stm32f4xx_it.c"],
+  ["bldc", "bldc/bldc.c"],
+  ["bldc_data", "bldc/BLDC_controller_data.c"],
+  ["bldc_con", "bldc/BLDC_controller.c"],
+  ["util", "util.c"],
+]
+
+c_bstub_sources = [
+  ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
+  ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
+  ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
+  ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
+  ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
+  ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
+  ["system", "inc/system_stm32f4xx.c"],
+  ["it", "inc/stm32f4xx_it.c"],
+  ["util", "util.c"],
+]
+
+def get_version(builder, build_type):
+  try:
+    git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
+  except subprocess.CalledProcessError:
+    git = "00000000"
+  return f"{git}"
+
+
+def to_c_uint32(x):
+  nums = []
+  for _ in range(0x20):
+    nums.append(x % (2**32))
+    x //= (2**32)
+  return "{" + 'U,'.join(map(str, nums)) + "U}"
+
+
+def get_key_header(name):
+  from Crypto.PublicKey import RSA
+
+  public_fn = File(f'../certs/{name}.pub').srcnode().abspath
+  rsa = RSA.importKey(open(public_fn).read())
+  assert(rsa.size_in_bits() == 1024)
+
+  rr = pow(2**1024, 2, rsa.n)
+  n0inv = 2**32 - pow(rsa.n, -1, 2**32)
+
+  r = [
+    f"RSAPublicKey {name}_rsa_key = {{",
+    f"  .len = 0x20,",
+    f"  .n0inv = {n0inv}U,",
+    f"  .n = {to_c_uint32(rsa.n)},",
+    f"  .rr = {to_c_uint32(rr)},",
+    f"  .exponent = {rsa.e},",
+    f"}};",
+  ]
+  return r
+
+def objcopy(source, target, env, for_signature):
+    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
+
+# Common autogenerated includes
+git_ver = get_version(BUILDER, BUILD_TYPE)
+with open("obj/gitversion.h", "w") as f:
+  f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
+print(f"Git commit hash for gitversion.h: {git_ver}")
+
+certs = [get_key_header(n) for n in ["debug", "release"]]
+with open("obj/cert.h", "w") as f:
+  for cert in certs:
+    f.write("\n".join(cert) + "\n")
+
+for project_name in build_projects:
+  project = build_projects[project_name]
+  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().abspath
+
+  flags = [
+    "-Wall",
+    "-Wextra",
+    "-Wstrict-prototypes",
+    "-Werror",
+    "-mlittle-endian",
+    "-mthumb",
+    "-nostdlib",
+    "-fno-builtin",
+    f"-T{linkerscript_fn}",
+    "-std=gnu11",
+    "-fdata-sections",
+    "-ffunction-sections",
+    "-Wl,--gc-sections",
+  ] + project["PROJECT_FLAGS"] + common_flags
+
+  project_env = Environment(
+    ENV=os.environ,
+    CC=PREFIX + 'gcc',
+    AS=PREFIX + 'gcc',
+    OBJCOPY=PREFIX + 'objcopy',
+    OBJDUMP=PREFIX + 'objdump',
+    ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
+    CFLAGS=flags,
+    ASFLAGS=flags,
+    LINKFLAGS=flags,
+    LIBS = ['gcc',],
+    CPPPATH=includes,
+    BUILDERS={
+      'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
+    }
+  )
+  startup = project_env.Object(project["STARTUP_FILE"])
+
+  c_bstub_obj_list = []
+  for c in c_bstub_sources:
+    c_bstub_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
+
+  # Bootstub
+  crypto_obj = [
+    project_env.Object(f"rsa-{project_name}", "../crypto/rsa.c"),
+    project_env.Object(f"sha-{project_name}", "../crypto/sha.c")
+  ]
+  bootstub_obj = project_env.Object(f"bootstub-{project_name}", "bootstub.c")
+  bootstub_elf = project_env.Program(f"obj/bootstub.{project_name}.elf", [startup] + crypto_obj + c_bstub_obj_list + [bootstub_obj])
+  bootstub_bin = project_env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
+
+  c_obj_list = []
+  for c in c_sources:
+    c_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
+
+  # Build main
+  main_obj = project_env.Object(f"main-{project_name}", project["MAIN"])
+  obj_list = [startup, main_obj] + c_obj_list
+  main_elf = project_env.Program(f"obj/{project_name}.elf", obj_list,
+    LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+  main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf)
+
+  # Sign main
+  sign_py = File("../crypto/sign.py").srcnode().abspath
+  panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")

body/board/bldc/BLDC_controller.h

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

body/board/bldc/BLDC_controller_data.c

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

body/board/bldc/bldc.c

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

body/board/bldc/rtwtypes.h

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

body/board/boards.h

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

body/board/bootstub.c

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

body/board/comms.h

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

body/board/config.h

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

body/board/defines.h

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

body/board/drivers/angle_sensor.h

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

body/board/drivers/clock.h

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

body/board/drivers/i2c_soft.h

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

body/board/drivers/llbxcan.h

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

body/board/drivers/llflash.h

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

body/board/early_init.h

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

body/board/flasher.h

@@ -0,0 +1,288 @@
+typedef union {
+  uint16_t w;
+  struct BW {
+    uint8_t msb;
+    uint8_t lsb;
+  }
+  bw;
+}
+uint16_t_uint8_t;
+
+typedef union _USB_Setup {
+  uint32_t d8[2];
+  struct _SetupPkt_Struc
+  {
+    uint8_t           bmRequestType;
+    uint8_t           bRequest;
+    uint16_t_uint8_t  wValue;
+    uint16_t_uint8_t  wIndex;
+    uint16_t_uint8_t  wLength;
+  } b;
+}
+USB_Setup_TypeDef;
+
+uint32_t *prog_ptr = NULL;
+bool unlocked = false;
+extern uint8_t hw_type;
+
+#define CAN_BL_INPUT 0x1
+#define CAN_BL_OUTPUT 0x2
+
+int can_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) {
+  int resp_len = 0;
+
+  // flasher machine
+  memset(resp, 0, 4);
+  memcpy(resp+4, "\xde\xad\xd0\x0d", 4);
+  resp[0] = 0xff;
+  resp[2] = setup->b.bRequest;
+  resp[3] = ~setup->b.bRequest;
+  *((uint32_t **)&resp[8]) = prog_ptr;
+  resp_len = 0xc;
+
+  int sec;
+  switch (setup->b.bRequest) {
+    // **** 0xb0: flasher echo
+    case 0xb0:
+      resp[1] = 0xff;
+      break;
+    // **** 0xb1: unlock flash
+    case 0xb1:
+      if (flash_is_locked()) {
+        flash_unlock();
+        resp[1] = 0xff;
+      }
+      out_enable(LED_BLUE, true);
+      unlocked = true;
+      prog_ptr = (uint32_t *)APP_START_ADDRESS;
+      break;
+    // **** 0xb2: erase sector
+    case 0xb2:
+      sec = setup->b.wValue.w;
+      if (flash_erase_sector(sec, unlocked)) {
+        resp[1] = 0xff;
+      }
+      break;
+    // **** 0xd0: fetch serial number
+    case 0xd0:
+        // addresses are OTP
+        if (setup->b.wValue.w == 1) {
+          memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
+          resp_len = 0x10;
+        } else {
+          get_provision_chunk(resp);
+          resp_len = PROVISION_CHUNK_LEN;
+        }
+      break;
+    // **** 0xd1: enter bootloader mode
+    case 0xd1:
+      switch (setup->b.wValue.w) {
+        case 1:
+          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+          NVIC_SystemReset();
+          break;
+      }
+      break;
+    // **** 0xd6: get version
+    case 0xd6:
+      COMPILE_TIME_ASSERT(sizeof(gitversion) <= 0x40U);
+      memcpy(resp, gitversion, sizeof(gitversion));
+      resp_len = sizeof(gitversion);
+      break;
+    // **** 0xd8: reset ST
+    case 0xd8:
+      NVIC_SystemReset();
+      break;
+  }
+  return resp_len;
+}
+
+void flash_data(void *data, int len) {
+  out_enable(LED_RED, false);
+  for (int i = 0; i < len/4; i++) {
+    flash_write_word(prog_ptr, *(uint32_t*)(data+(i*4)));
+    prog_ptr++;
+  }
+  out_enable(LED_RED, true);
+}
+
+int prep_data(uint8_t *data, uint8_t *data_out) {
+  int resp_len = 0;
+  switch (data[0]) {
+    case 0:
+      // control transfer
+      resp_len = can_control_msg((USB_Setup_TypeDef *)(data+4), data_out);
+      break;
+    case 2:
+      // ep 2, flash!
+      flash_data(data+4, data[2]);
+      break;
+  }
+  return resp_len;
+}
+
+void CAN2_TX_IRQHandler(void) {
+  // clear interrupt
+  board.CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+#define ISOTP_BUF_SIZE 0x110
+
+uint8_t isotp_buf[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_ptr = NULL;
+int isotp_buf_remain = 0;
+
+uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_out_ptr = NULL;
+int isotp_buf_out_remain = 0;
+int isotp_buf_out_idx = 0;
+
+void bl_can_send(uint8_t *odat) {
+  // wait for send
+  while (!(board.CAN->TSR & CAN_TSR_TME0));
+
+  // send continue
+  board.CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
+  board.CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
+  board.CAN->sTxMailBox[0].TDTR = 8;
+  board.CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
+}
+
+void CAN2_RX0_IRQHandler(void) {
+  while (board.CAN->RF0R & CAN_RF0R_FMP0) {
+    if ((board.CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
+      uint8_t dat[8];
+      for (int i = 0; i < 8; i++) {
+        dat[i] = GET_MAILBOX_BYTE(&board.CAN->sFIFOMailBox[0], i);
+      }
+      uint8_t odat[8];
+      uint8_t type = dat[0] & 0xF0;
+      if (type == 0x30) {
+        // continue
+        while (isotp_buf_out_remain > 0) {
+          // wait for send
+          while (!(board.CAN->TSR & CAN_TSR_TME0));
+
+          odat[0] = 0x20 | isotp_buf_out_idx;
+          memcpy(odat+1, isotp_buf_out_ptr, 7);
+          isotp_buf_out_remain -= 7;
+          isotp_buf_out_ptr += 7;
+          isotp_buf_out_idx++;
+
+          bl_can_send(odat);
+        }
+      } else if (type == 0x20) {
+        if (isotp_buf_remain > 0) {
+          memcpy(isotp_buf_ptr, dat+1, 7);
+          isotp_buf_ptr += 7;
+          isotp_buf_remain -= 7;
+        }
+        if (isotp_buf_remain <= 0) {
+          // call the function
+          memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
+          isotp_buf_out_remain = prep_data(isotp_buf, isotp_buf_out);
+          isotp_buf_out_ptr = isotp_buf_out;
+          isotp_buf_out_idx = 0;
+
+          // send initial
+          if (isotp_buf_out_remain <= 7) {
+            odat[0] = isotp_buf_out_remain;
+            memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
+          } else {
+            odat[0] = 0x10 | (isotp_buf_out_remain>>8);
+            odat[1] = isotp_buf_out_remain & 0xFF;
+            memcpy(odat+2, isotp_buf_out_ptr, 6);
+            isotp_buf_out_remain -= 6;
+            isotp_buf_out_ptr += 6;
+            isotp_buf_out_idx++;
+          }
+
+          bl_can_send(odat);
+        }
+      } else if (type == 0x10) {
+        int len = ((dat[0]&0xF)<<8) | dat[1];
+
+        // setup buffer
+        isotp_buf_ptr = isotp_buf;
+        memcpy(isotp_buf_ptr, dat+2, 6);
+
+        if (len < (ISOTP_BUF_SIZE-0x10)) {
+          isotp_buf_ptr += 6;
+          isotp_buf_remain = len-6;
+        }
+
+        memset(odat, 0, 8);
+        odat[0] = 0x30;
+        bl_can_send(odat);
+      }
+    }
+    // next
+    board.CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN2_SCE_IRQHandler(void) {
+  llcan_clear_send(board.CAN);
+}
+
+void CAN1_TX_IRQHandler(void) {
+  CAN2_TX_IRQHandler();
+}
+
+void CAN1_RX0_IRQHandler(void) {
+  CAN2_RX0_IRQHandler();
+}
+
+void CAN1_SCE_IRQHandler(void) {
+  CAN2_SCE_IRQHandler();
+}
+
+void check_powerdown(void) {
+  if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && (hw_type == HW_TYPE_BASE)) {
+    uint16_t cnt_press = 0;
+    while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+      HAL_Delay(10);
+      cnt_press++;
+      if (cnt_press == (2 * 100)) {
+        out_enable(POWERSWITCH, false);
+        while(1) {
+          // Temporarily, to see that we went to power off but can't switch the latch
+          HAL_GPIO_TogglePin(board.led_portR, board.led_pinR);
+          HAL_Delay(100);
+        }
+      }
+    }
+  }
+}
+
+
+void soft_flasher_start(void) {
+  enter_bootloader_mode = 0;
+
+  out_enable(TRANSCEIVER, true);
+
+  __HAL_RCC_CAN1_CLK_ENABLE(); // Also needed for CAN2, dumb...
+  __HAL_RCC_CAN2_CLK_ENABLE();
+
+  // init can
+  llcan_set_speed(board.CAN, 5000, false, false);
+  llcan_init(board.CAN);
+
+  out_enable(LED_BLUE, true);
+  // Wait for power button release, only for the base
+  if (hw_type == HW_TYPE_BASE) {
+    while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
+  }
+  out_enable(LED_GREEN, false);
+
+  uint64_t cnt = 0;
+
+  for (cnt=0;;cnt++) {
+    // blink the green LED fast
+    out_enable(LED_BLUE, false);
+    delay(500000);
+    out_enable(LED_BLUE, true);
+    delay(500000);
+    check_powerdown();
+  }
+}

body/board/inc/STM32F4xx_HAL_Driver/Inc/Legacy/stm32f4xx_hal_can_legacy.h

@@ -0,0 +1,785 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_can_legacy.h
+  * @author  MCD Application Team
+  * @brief   Header file of CAN HAL module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_HAL_CAN_LEGACY_H
+#define __STM32F4xx_HAL_CAN_LEGACY_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\
+    defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\
+    defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\
+    defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\
+    defined(STM32F423xx)
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup CAN
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup CAN_Exported_Types CAN Exported Types
+  * @{
+  */
+
+/**
+  * @brief  HAL State structures definition
+  */
+typedef enum
+{
+  HAL_CAN_STATE_RESET             = 0x00U,  /*!< CAN not yet initialized or disabled */
+  HAL_CAN_STATE_READY             = 0x01U,  /*!< CAN initialized and ready for use   */
+  HAL_CAN_STATE_BUSY              = 0x02U,  /*!< CAN process is ongoing              */
+  HAL_CAN_STATE_BUSY_TX           = 0x12U,  /*!< CAN process is ongoing              */
+  HAL_CAN_STATE_BUSY_RX0          = 0x22U,  /*!< CAN process is ongoing              */
+  HAL_CAN_STATE_BUSY_RX1          = 0x32U,  /*!< CAN process is ongoing              */
+  HAL_CAN_STATE_BUSY_TX_RX0       = 0x42U,  /*!< CAN process is ongoing              */
+  HAL_CAN_STATE_BUSY_TX_RX1       = 0x52U,  /*!< CAN process is ongoing              */
+  HAL_CAN_STATE_BUSY_RX0_RX1      = 0x62U,  /*!< CAN process is ongoing              */
+  HAL_CAN_STATE_BUSY_TX_RX0_RX1   = 0x72U,  /*!< CAN process is ongoing              */
+  HAL_CAN_STATE_TIMEOUT           = 0x03U,  /*!< CAN in Timeout state                */
+  HAL_CAN_STATE_ERROR             = 0x04U   /*!< CAN error state                     */
+
+}HAL_CAN_StateTypeDef;
+
+/**
+  * @brief  CAN init structure definition
+  */
+typedef struct
+{
+  uint32_t Prescaler;  /*!< Specifies the length of a time quantum.
+                            This parameter must be a number between Min_Data = 1 and Max_Data = 1024 */
+
+  uint32_t Mode;       /*!< Specifies the CAN operating mode.
+                            This parameter can be a value of @ref CAN_operating_mode */
+
+  uint32_t SJW;        /*!< Specifies the maximum number of time quanta
+                            the CAN hardware is allowed to lengthen or
+                            shorten a bit to perform resynchronization.
+                            This parameter can be a value of @ref CAN_synchronisation_jump_width */
+
+  uint32_t BS1;        /*!< Specifies the number of time quanta in Bit Segment 1.
+                            This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */
+
+  uint32_t BS2;        /*!< Specifies the number of time quanta in Bit Segment 2.
+                            This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
+
+  uint32_t TTCM;       /*!< Enable or disable the time triggered communication mode.
+                            This parameter can be set to ENABLE or DISABLE. */
+
+  uint32_t ABOM;       /*!< Enable or disable the automatic bus-off management.
+                            This parameter can be set to ENABLE or DISABLE */
+
+  uint32_t AWUM;       /*!< Enable or disable the automatic wake-up mode.
+                            This parameter can be set to ENABLE or DISABLE */
+
+  uint32_t NART;       /*!< Enable or disable the non-automatic retransmission mode.
+                            This parameter can be set to ENABLE or DISABLE */
+
+  uint32_t RFLM;       /*!< Enable or disable the receive FIFO Locked mode.
+                            This parameter can be set to ENABLE or DISABLE */
+
+  uint32_t TXFP;       /*!< Enable or disable the transmit FIFO priority.
+                            This parameter can be set to ENABLE or DISABLE */
+}CAN_InitTypeDef;
+
+/**
+  * @brief  CAN filter configuration structure definition
+  */
+typedef struct
+{
+  uint32_t FilterIdHigh;          /*!< Specifies the filter identification number (MSBs for a 32-bit
+                                       configuration, first one for a 16-bit configuration).
+                                       This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
+
+  uint32_t FilterIdLow;           /*!< Specifies the filter identification number (LSBs for a 32-bit
+                                       configuration, second one for a 16-bit configuration).
+                                       This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
+
+  uint32_t FilterMaskIdHigh;      /*!< Specifies the filter mask number or identification number,
+                                       according to the mode (MSBs for a 32-bit configuration,
+                                       first one for a 16-bit configuration).
+                                       This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
+
+  uint32_t FilterMaskIdLow;       /*!< Specifies the filter mask number or identification number,
+                                       according to the mode (LSBs for a 32-bit configuration,
+                                       second one for a 16-bit configuration).
+                                       This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
+
+  uint32_t FilterFIFOAssignment;  /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
+                                       This parameter can be a value of @ref CAN_filter_FIFO */
+
+  uint32_t FilterNumber;          /*!< Specifies the filter which will be initialized.
+                                       This parameter must be a number between Min_Data = 0 and Max_Data = 27 */
+
+  uint32_t FilterMode;            /*!< Specifies the filter mode to be initialized.
+                                       This parameter can be a value of @ref CAN_filter_mode */
+
+  uint32_t FilterScale;           /*!< Specifies the filter scale.
+                                       This parameter can be a value of @ref CAN_filter_scale */
+
+  uint32_t FilterActivation;      /*!< Enable or disable the filter.
+                                       This parameter can be set to ENABLE or DISABLE. */
+
+  uint32_t BankNumber;            /*!< Select the start slave bank filter.
+                                       This parameter must be a number between Min_Data = 0 and Max_Data = 28 */
+
+}CAN_FilterConfTypeDef;
+
+/**
+  * @brief  CAN Tx message structure definition
+  */
+typedef struct
+{
+  uint32_t StdId;    /*!< Specifies the standard identifier.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */
+
+  uint32_t ExtId;    /*!< Specifies the extended identifier.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */
+
+  uint32_t IDE;      /*!< Specifies the type of identifier for the message that will be transmitted.
+                          This parameter can be a value of @ref CAN_Identifier_Type */
+
+  uint32_t RTR;      /*!< Specifies the type of frame for the message that will be transmitted.
+                          This parameter can be a value of @ref CAN_remote_transmission_request */
+
+  uint32_t DLC;      /*!< Specifies the length of the frame that will be transmitted.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 8 */
+
+  uint8_t Data[8];   /*!< Contains the data to be transmitted.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
+
+}CanTxMsgTypeDef;
+
+/**
+  * @brief  CAN Rx message structure definition
+  */
+typedef struct
+{
+  uint32_t StdId;       /*!< Specifies the standard identifier.
+                             This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */
+
+  uint32_t ExtId;       /*!< Specifies the extended identifier.
+                             This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */
+
+  uint32_t IDE;         /*!< Specifies the type of identifier for the message that will be received.
+                             This parameter can be a value of @ref CAN_Identifier_Type */
+
+  uint32_t RTR;         /*!< Specifies the type of frame for the received message.
+                             This parameter can be a value of @ref CAN_remote_transmission_request */
+
+  uint32_t DLC;         /*!< Specifies the length of the frame that will be received.
+                             This parameter must be a number between Min_Data = 0 and Max_Data = 8 */
+
+  uint8_t Data[8];      /*!< Contains the data to be received.
+                             This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
+
+  uint32_t FMI;         /*!< Specifies the index of the filter the message stored in the mailbox passes through.
+                             This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
+
+  uint32_t FIFONumber;  /*!< Specifies the receive FIFO number.
+                             This parameter can be CAN_FIFO0 or CAN_FIFO1 */
+
+}CanRxMsgTypeDef;
+
+/**
+  * @brief  CAN handle Structure definition
+  */
+typedef struct
+{
+  CAN_TypeDef                 *Instance;  /*!< Register base address          */
+
+  CAN_InitTypeDef             Init;       /*!< CAN required parameters        */
+
+  CanTxMsgTypeDef*            pTxMsg;     /*!< Pointer to transmit structure  */
+
+  CanRxMsgTypeDef*            pRxMsg;     /*!< Pointer to reception structure for RX FIFO0 msg */
+
+  CanRxMsgTypeDef*            pRx1Msg;    /*!< Pointer to reception structure for RX FIFO1 msg */
+
+  __IO HAL_CAN_StateTypeDef   State;      /*!< CAN communication state        */
+
+  HAL_LockTypeDef             Lock;       /*!< CAN locking object             */
+
+  __IO uint32_t               ErrorCode;  /*!< CAN Error code                 */
+
+}CAN_HandleTypeDef;
+
+/**
+  * @}
+  */
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup CAN_Exported_Constants CAN Exported Constants
+  * @{
+  */
+
+/** @defgroup CAN_Error_Code CAN Error Code
+  * @{
+  */
+#define   HAL_CAN_ERROR_NONE      0x00000000U    /*!< No error             */
+#define   HAL_CAN_ERROR_EWG       0x00000001U    /*!< EWG error            */
+#define   HAL_CAN_ERROR_EPV       0x00000002U    /*!< EPV error            */
+#define   HAL_CAN_ERROR_BOF       0x00000004U    /*!< BOF error            */
+#define   HAL_CAN_ERROR_STF       0x00000008U    /*!< Stuff error          */
+#define   HAL_CAN_ERROR_FOR       0x00000010U    /*!< Form error           */
+#define   HAL_CAN_ERROR_ACK       0x00000020U    /*!< Acknowledgment error */
+#define   HAL_CAN_ERROR_BR        0x00000040U    /*!< Bit recessive        */
+#define   HAL_CAN_ERROR_BD        0x00000080U    /*!< LEC dominant         */
+#define   HAL_CAN_ERROR_CRC       0x00000100U    /*!< LEC transfer error   */
+#define   HAL_CAN_ERROR_FOV0      0x00000200U    /*!< FIFO0 overrun error  */
+#define   HAL_CAN_ERROR_FOV1      0x00000400U    /*!< FIFO1 overrun error  */
+#define   HAL_CAN_ERROR_TXFAIL    0x00000800U    /*!< Transmit failure     */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_InitStatus CAN InitStatus
+  * @{
+  */
+#define CAN_INITSTATUS_FAILED       ((uint8_t)0x00)  /*!< CAN initialization failed */
+#define CAN_INITSTATUS_SUCCESS      ((uint8_t)0x01)  /*!< CAN initialization OK */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_operating_mode CAN Operating Mode
+  * @{
+  */
+#define CAN_MODE_NORMAL             0x00000000U                                /*!< Normal mode   */
+#define CAN_MODE_LOOPBACK           ((uint32_t)CAN_BTR_LBKM)                   /*!< Loopback mode */
+#define CAN_MODE_SILENT             ((uint32_t)CAN_BTR_SILM)                   /*!< Silent mode   */
+#define CAN_MODE_SILENT_LOOPBACK    ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM))  /*!< Loopback combined with silent mode */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_synchronisation_jump_width CAN Synchronisation Jump Width
+  * @{
+  */
+#define CAN_SJW_1TQ                 0x00000000U                /*!< 1 time quantum */
+#define CAN_SJW_2TQ                 ((uint32_t)CAN_BTR_SJW_0)  /*!< 2 time quantum */
+#define CAN_SJW_3TQ                 ((uint32_t)CAN_BTR_SJW_1)  /*!< 3 time quantum */
+#define CAN_SJW_4TQ                 ((uint32_t)CAN_BTR_SJW)    /*!< 4 time quantum */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_time_quantum_in_bit_segment_1 CAN Time Quantum in bit segment 1
+  * @{
+  */
+#define CAN_BS1_1TQ                 0x00000000U                                                  /*!< 1 time quantum  */
+#define CAN_BS1_2TQ                 ((uint32_t)CAN_BTR_TS1_0)                                    /*!< 2 time quantum  */
+#define CAN_BS1_3TQ                 ((uint32_t)CAN_BTR_TS1_1)                                    /*!< 3 time quantum  */
+#define CAN_BS1_4TQ                 ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0))                  /*!< 4 time quantum  */
+#define CAN_BS1_5TQ                 ((uint32_t)CAN_BTR_TS1_2)                                    /*!< 5 time quantum  */
+#define CAN_BS1_6TQ                 ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0))                  /*!< 6 time quantum  */
+#define CAN_BS1_7TQ                 ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1))                  /*!< 7 time quantum  */
+#define CAN_BS1_8TQ                 ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0))  /*!< 8 time quantum  */
+#define CAN_BS1_9TQ                 ((uint32_t)CAN_BTR_TS1_3)                                    /*!< 9 time quantum  */
+#define CAN_BS1_10TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0))                  /*!< 10 time quantum */
+#define CAN_BS1_11TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1))                  /*!< 11 time quantum */
+#define CAN_BS1_12TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0))  /*!< 12 time quantum */
+#define CAN_BS1_13TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2))                  /*!< 13 time quantum */
+#define CAN_BS1_14TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0))  /*!< 14 time quantum */
+#define CAN_BS1_15TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1))  /*!< 15 time quantum */
+#define CAN_BS1_16TQ                ((uint32_t)CAN_BTR_TS1) /*!< 16 time quantum */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_time_quantum_in_bit_segment_2 CAN Time Quantum in bit segment 2
+  * @{
+  */
+#define CAN_BS2_1TQ                 0x00000000U                                  /*!< 1 time quantum */
+#define CAN_BS2_2TQ                 ((uint32_t)CAN_BTR_TS2_0)                    /*!< 2 time quantum */
+#define CAN_BS2_3TQ                 ((uint32_t)CAN_BTR_TS2_1)                    /*!< 3 time quantum */
+#define CAN_BS2_4TQ                 ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0))  /*!< 4 time quantum */
+#define CAN_BS2_5TQ                 ((uint32_t)CAN_BTR_TS2_2)                    /*!< 5 time quantum */
+#define CAN_BS2_6TQ                 ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0))  /*!< 6 time quantum */
+#define CAN_BS2_7TQ                 ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1))  /*!< 7 time quantum */
+#define CAN_BS2_8TQ                 ((uint32_t)CAN_BTR_TS2)                      /*!< 8 time quantum */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_mode  CAN Filter Mode
+  * @{
+  */
+#define CAN_FILTERMODE_IDMASK       ((uint8_t)0x00)  /*!< Identifier mask mode */
+#define CAN_FILTERMODE_IDLIST       ((uint8_t)0x01)  /*!< Identifier list mode */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_scale CAN Filter Scale
+  * @{
+  */
+#define CAN_FILTERSCALE_16BIT       ((uint8_t)0x00)  /*!< Two 16-bit filters */
+#define CAN_FILTERSCALE_32BIT       ((uint8_t)0x01)  /*!< One 32-bit filter  */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_FIFO CAN Filter FIFO
+  * @{
+  */
+#define CAN_FILTER_FIFO0             ((uint8_t)0x00)  /*!< Filter FIFO 0 assignment for filter x */
+#define CAN_FILTER_FIFO1             ((uint8_t)0x01)  /*!< Filter FIFO 1 assignment for filter x */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_Identifier_Type CAN Identifier Type
+  * @{
+  */
+#define CAN_ID_STD                  0x00000000U  /*!< Standard Id */
+#define CAN_ID_EXT                  0x00000004U  /*!< Extended Id */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_remote_transmission_request CAN Remote Transmission Request
+  * @{
+  */
+#define CAN_RTR_DATA                0x00000000U  /*!< Data frame */
+#define CAN_RTR_REMOTE              0x00000002U  /*!< Remote frame */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_receive_FIFO_number_constants CAN Receive FIFO Number Constants
+  * @{
+  */
+#define CAN_FIFO0                   ((uint8_t)0x00)  /*!< CAN FIFO 0 used to receive */
+#define CAN_FIFO1                   ((uint8_t)0x01)  /*!< CAN FIFO 1 used to receive */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_flags CAN Flags
+  * @{
+  */
+/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus()
+   and CAN_ClearFlag() functions. */
+/* If the flag is 0x1XXXXXXX, it means that it can only be used with
+   CAN_GetFlagStatus() function.  */
+
+/* Transmit Flags */
+#define CAN_FLAG_RQCP0             0x00000500U  /*!< Request MailBox0 flag         */
+#define CAN_FLAG_RQCP1             0x00000508U  /*!< Request MailBox1 flag         */
+#define CAN_FLAG_RQCP2             0x00000510U  /*!< Request MailBox2 flag         */
+#define CAN_FLAG_TXOK0             0x00000501U  /*!< Transmission OK MailBox0 flag */
+#define CAN_FLAG_TXOK1             0x00000509U  /*!< Transmission OK MailBox1 flag */
+#define CAN_FLAG_TXOK2             0x00000511U  /*!< Transmission OK MailBox2 flag */
+#define CAN_FLAG_TME0              0x0000051AU  /*!< Transmit mailbox 0 empty flag */
+#define CAN_FLAG_TME1              0x0000051BU  /*!< Transmit mailbox 0 empty flag */
+#define CAN_FLAG_TME2              0x0000051CU  /*!< Transmit mailbox 0 empty flag */
+
+/* Receive Flags */
+#define CAN_FLAG_FF0               0x00000203U  /*!< FIFO 0 Full flag    */
+#define CAN_FLAG_FOV0              0x00000204U  /*!< FIFO 0 Overrun flag */
+
+#define CAN_FLAG_FF1               0x00000403U  /*!< FIFO 1 Full flag    */
+#define CAN_FLAG_FOV1              0x00000404U  /*!< FIFO 1 Overrun flag */
+
+/* Operating Mode Flags */
+#define CAN_FLAG_INAK              0x00000100U  /*!<  Initialization acknowledge flag */
+#define CAN_FLAG_SLAK              0x00000101U  /*!< Sleep acknowledge flag */
+#define CAN_FLAG_ERRI              0x00000102U  /*!<  Error flag */
+#define CAN_FLAG_WKU               0x00000103U  /*!< Wake up flag           */
+#define CAN_FLAG_SLAKI             0x00000104U  /*!< Sleep acknowledge flag */
+
+/* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible.
+         In this case the SLAK bit can be polled.*/
+
+/* Error Flags */
+#define CAN_FLAG_EWG               0x00000300U  /*!< Error warning flag   */
+#define CAN_FLAG_EPV               0x00000301U  /*!< Error passive flag   */
+#define CAN_FLAG_BOF               0x00000302U  /*!< Bus-Off flag         */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_Interrupts CAN Interrupts
+  * @{
+  */
+#define CAN_IT_TME                  ((uint32_t)CAN_IER_TMEIE)   /*!< Transmit mailbox empty interrupt */
+
+/* Receive Interrupts */
+#define CAN_IT_FMP0                 ((uint32_t)CAN_IER_FMPIE0)  /*!< FIFO 0 message pending interrupt */
+#define CAN_IT_FF0                  ((uint32_t)CAN_IER_FFIE0)   /*!< FIFO 0 full interrupt            */
+#define CAN_IT_FOV0                 ((uint32_t)CAN_IER_FOVIE0)  /*!< FIFO 0 overrun interrupt         */
+#define CAN_IT_FMP1                 ((uint32_t)CAN_IER_FMPIE1)  /*!< FIFO 1 message pending interrupt */
+#define CAN_IT_FF1                  ((uint32_t)CAN_IER_FFIE1)   /*!< FIFO 1 full interrupt            */
+#define CAN_IT_FOV1                 ((uint32_t)CAN_IER_FOVIE1)  /*!< FIFO 1 overrun interrupt         */
+
+/* Operating Mode Interrupts */
+#define CAN_IT_WKU                  ((uint32_t)CAN_IER_WKUIE)  /*!< Wake-up interrupt           */
+#define CAN_IT_SLK                  ((uint32_t)CAN_IER_SLKIE)  /*!< Sleep acknowledge interrupt */
+
+/* Error Interrupts */
+#define CAN_IT_EWG                  ((uint32_t)CAN_IER_EWGIE) /*!< Error warning interrupt   */
+#define CAN_IT_EPV                  ((uint32_t)CAN_IER_EPVIE) /*!< Error passive interrupt   */
+#define CAN_IT_BOF                  ((uint32_t)CAN_IER_BOFIE) /*!< Bus-off interrupt         */
+#define CAN_IT_LEC                  ((uint32_t)CAN_IER_LECIE) /*!< Last error code interrupt */
+#define CAN_IT_ERR                  ((uint32_t)CAN_IER_ERRIE) /*!< Error Interrupt           */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_Mailboxes_Definition CAN Mailboxes Definition
+  * @{
+  */
+#define CAN_TXMAILBOX_0   ((uint8_t)0x00)
+#define CAN_TXMAILBOX_1   ((uint8_t)0x01)
+#define CAN_TXMAILBOX_2   ((uint8_t)0x02)
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/** @defgroup CAN_Exported_Macros CAN Exported Macros
+  * @{
+  */
+
+/** @brief Reset CAN handle state
+  * @param  __HANDLE__ specifies the CAN Handle.
+  * @retval None
+  */
+#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET)
+
+/**
+  * @brief  Enable the specified CAN interrupts.
+  * @param  __HANDLE__ CAN handle
+  * @param  __INTERRUPT__ CAN Interrupt
+  * @retval None
+  */
+#define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__))
+
+/**
+  * @brief  Disable the specified CAN interrupts.
+  * @param  __HANDLE__ CAN handle
+  * @param  __INTERRUPT__ CAN Interrupt
+  * @retval None
+  */
+#define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__))
+
+/**
+  * @brief  Return the number of pending received messages.
+  * @param  __HANDLE__ CAN handle
+  * @param  __FIFONUMBER__ Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
+  * @retval The number of pending message.
+  */
+#define __HAL_CAN_MSG_PENDING(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
+((uint8_t)((__HANDLE__)->Instance->RF0R&0x03U)) : ((uint8_t)((__HANDLE__)->Instance->RF1R & 0x03U)))
+
+/** @brief  Check whether the specified CAN flag is set or not.
+  * @param  __HANDLE__ CAN Handle
+  * @param  __FLAG__ specifies the flag to check.
+  *         This parameter can be one of the following values:
+  *            @arg CAN_TSR_RQCP0: Request MailBox0 Flag
+  *            @arg CAN_TSR_RQCP1: Request MailBox1 Flag
+  *            @arg CAN_TSR_RQCP2: Request MailBox2 Flag
+  *            @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag
+  *            @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag
+  *            @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag
+  *            @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag
+  *            @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag
+  *            @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag
+  *            @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
+  *            @arg CAN_FLAG_FF0: FIFO 0 Full Flag
+  *            @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
+  *            @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
+  *            @arg CAN_FLAG_FF1: FIFO 1 Full Flag
+  *            @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
+  *            @arg CAN_FLAG_WKU: Wake up Flag
+  *            @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
+  *            @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag
+  *            @arg CAN_FLAG_EWG: Error Warning Flag
+  *            @arg CAN_FLAG_EPV: Error Passive Flag
+  *            @arg CAN_FLAG_BOF: Bus-Off Flag
+  * @retval The new state of __FLAG__ (TRUE or FALSE).
+  */
+#define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \
+((((__FLAG__) >> 8U) == 5U)? ((((__HANDLE__)->Instance->TSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+ (((__FLAG__) >> 8U) == 2U)? ((((__HANDLE__)->Instance->RF0R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+ (((__FLAG__) >> 8U) == 4U)? ((((__HANDLE__)->Instance->RF1R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+ (((__FLAG__) >> 8U) == 1U)? ((((__HANDLE__)->Instance->MSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+ ((((__HANDLE__)->Instance->ESR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))))
+
+/** @brief  Clear the specified CAN pending flag.
+  * @param  __HANDLE__ CAN Handle.
+  * @param  __FLAG__ specifies the flag to check.
+  *         This parameter can be one of the following values:
+  *            @arg CAN_TSR_RQCP0: Request MailBox0 Flag
+  *            @arg CAN_TSR_RQCP1: Request MailBox1 Flag
+  *            @arg CAN_TSR_RQCP2: Request MailBox2 Flag
+  *            @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag
+  *            @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag
+  *            @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag
+  *            @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag
+  *            @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag
+  *            @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag
+  *            @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
+  *            @arg CAN_FLAG_FF0: FIFO 0 Full Flag
+  *            @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
+  *            @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
+  *            @arg CAN_FLAG_FF1: FIFO 1 Full Flag
+  *            @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
+  *            @arg CAN_FLAG_WKU: Wake up Flag
+  *            @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
+  *            @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag
+  * @retval The new state of __FLAG__ (TRUE or FALSE).
+  */
+#define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \
+((((__FLAG__) >> 8U) == 5U)? (((__HANDLE__)->Instance->TSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+ (((__FLAG__) >> 8U) == 2U)? (((__HANDLE__)->Instance->RF0R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+ (((__FLAG__) >> 8U) == 4U)? (((__HANDLE__)->Instance->RF1R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+ (((__HANDLE__)->Instance->MSR) = ((uint32_t)1U << ((__FLAG__) & CAN_FLAG_MASK))))
+
+/** @brief  Check if the specified CAN interrupt source is enabled or disabled.
+  * @param  __HANDLE__ CAN Handle
+  * @param  __INTERRUPT__ specifies the CAN interrupt source to check.
+  *          This parameter can be one of the following values:
+  *             @arg CAN_IT_TME: Transmit mailbox empty interrupt enable
+  *             @arg CAN_IT_FMP0: FIFO0 message pending interrupt enable
+  *             @arg CAN_IT_FMP1: FIFO1 message pending interrupt enable
+  * @retval The new state of __IT__ (TRUE or FALSE).
+  */
+#define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)
+
+/**
+  * @brief  Check the transmission status of a CAN Frame.
+  * @param  __HANDLE__ CAN Handle
+  * @param  __TRANSMITMAILBOX__ the number of the mailbox that is used for transmission.
+  * @retval The new status of transmission  (TRUE or FALSE).
+  */
+#define __HAL_CAN_TRANSMIT_STATUS(__HANDLE__, __TRANSMITMAILBOX__)\
+(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) :\
+ ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) :\
+ ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)))
+
+/**
+  * @brief  Release the specified receive FIFO.
+  * @param  __HANDLE__ CAN handle
+  * @param  __FIFONUMBER__ Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
+  * @retval None
+  */
+#define __HAL_CAN_FIFO_RELEASE(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
+((__HANDLE__)->Instance->RF0R = CAN_RF0R_RFOM0) : ((__HANDLE__)->Instance->RF1R = CAN_RF1R_RFOM1))
+
+/**
+  * @brief  Cancel a transmit request.
+  * @param  __HANDLE__ CAN Handle
+  * @param  __TRANSMITMAILBOX__ the number of the mailbox that is used for transmission.
+  * @retval None
+  */
+#define __HAL_CAN_CANCEL_TRANSMIT(__HANDLE__, __TRANSMITMAILBOX__)\
+(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ0) :\
+ ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ1) :\
+ ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ2))
+
+/**
+  * @brief  Enable or disable the DBG Freeze for CAN.
+  * @param  __HANDLE__ CAN Handle
+  * @param  __NEWSTATE__ new state of the CAN peripheral.
+  *          This parameter can be: ENABLE (CAN reception/transmission is frozen
+  *          during debug. Reception FIFOs can still be accessed/controlled normally)
+  *          or DISABLE (CAN is working during debug).
+  * @retval None
+  */
+#define __HAL_CAN_DBG_FREEZE(__HANDLE__, __NEWSTATE__) (((__NEWSTATE__) == ENABLE)? \
+((__HANDLE__)->Instance->MCR |= CAN_MCR_DBF) : ((__HANDLE__)->Instance->MCR &= ~CAN_MCR_DBF))
+
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup CAN_Exported_Functions
+  * @{
+  */
+
+/** @addtogroup CAN_Exported_Functions_Group1
+  * @{
+  */
+/* Initialization/de-initialization functions ***********************************/
+HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan);
+HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig);
+HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan);
+void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan);
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan);
+/**
+  * @}
+  */
+
+/** @addtogroup CAN_Exported_Functions_Group2
+  * @{
+  */
+/* I/O operation functions ******************************************************/
+HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
+HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, uint8_t FIFONumber, uint32_t Timeout);
+HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, uint8_t FIFONumber);
+HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
+void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan);
+void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan);
+void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan);
+void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
+/**
+  * @}
+  */
+
+/** @addtogroup CAN_Exported_Functions_Group3
+  * @{
+  */
+/* Peripheral State functions ***************************************************/
+uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan);
+HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan);
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Private types -------------------------------------------------------------*/
+/** @defgroup CAN_Private_Types CAN Private Types
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private variables ---------------------------------------------------------*/
+/** @defgroup CAN_Private_Variables CAN Private Variables
+  * @{
+  */
+
+/**
+  * @}
+  */ 
+
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup CAN_Private_Constants CAN Private Constants
+  * @{
+  */
+#define CAN_TXSTATUS_NOMAILBOX      ((uint8_t)0x04)  /*!< CAN cell did not provide CAN_TxStatus_NoMailBox */
+#define CAN_FLAG_MASK               0x000000FFU
+/**
+  * @}
+  */
+
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup CAN_Private_Macros CAN Private Macros
+  * @{
+  */
+#define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \
+                           ((MODE) == CAN_MODE_LOOPBACK)|| \
+                           ((MODE) == CAN_MODE_SILENT) || \
+                           ((MODE) == CAN_MODE_SILENT_LOOPBACK))
+#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ)|| \
+                         ((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ))
+#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16TQ)
+#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8TQ)
+#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1U) && ((PRESCALER) <= 1024U))
+#define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27U)
+#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \
+                                  ((MODE) == CAN_FILTERMODE_IDLIST))
+#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \
+                                    ((SCALE) == CAN_FILTERSCALE_32BIT))
+#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \
+                                  ((FIFO) == CAN_FILTER_FIFO1))
+#define IS_CAN_BANKNUMBER(BANKNUMBER) ((BANKNUMBER) <= 28U)
+
+#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
+#define IS_CAN_STDID(STDID)   ((STDID) <= ((uint32_t)0x7FFU))
+#define IS_CAN_EXTID(EXTID)   ((EXTID) <= 0x1FFFFFFFU)
+#define IS_CAN_DLC(DLC)       ((DLC) <= ((uint8_t)0x08))
+
+#define IS_CAN_IDTYPE(IDTYPE)  (((IDTYPE) == CAN_ID_STD) || \
+                                ((IDTYPE) == CAN_ID_EXT))
+#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))
+#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
+
+/**
+  * @}
+  */
+
+/* Private functions ---------------------------------------------------------*/
+/** @defgroup CAN_Private_Functions CAN Private Functions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\
+          STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\
+          STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_HAL_CAN_LEGACY_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32_assert_template.h

@@ -0,0 +1,57 @@
+/**
+  ******************************************************************************
+  * @file    stm32_assert.h
+  * @author  MCD Application Team
+  * @brief   STM32 assert template file.
+  *          This file should be copied to the application folder and renamed
+  *          to stm32_assert.h.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32_ASSERT_H
+#define __STM32_ASSERT_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+/* Includes ------------------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed.
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+  #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+  void assert_failed(uint8_t* file, uint32_t line);
+#else
+  #define assert_param(expr) ((void)0U)
+#endif /* USE_FULL_ASSERT */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32_ASSERT_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h

@@ -0,0 +1,298 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal.h
+  * @author  MCD Application Team
+  * @brief   This file contains all the functions prototypes for the HAL 
+  *          module driver.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_HAL_H
+#define __STM32F4xx_HAL_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_conf.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup HAL
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup HAL_Exported_Constants HAL Exported Constants
+  * @{
+  */
+
+/** @defgroup HAL_TICK_FREQ Tick Frequency
+  * @{
+  */
+typedef enum
+{
+  HAL_TICK_FREQ_10HZ         = 100U,
+  HAL_TICK_FREQ_100HZ        = 10U,
+  HAL_TICK_FREQ_1KHZ         = 1U,
+  HAL_TICK_FREQ_DEFAULT      = HAL_TICK_FREQ_1KHZ
+} HAL_TickFreqTypeDef;
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+   
+/* Exported macro ------------------------------------------------------------*/
+/** @defgroup HAL_Exported_Macros HAL Exported Macros
+  * @{
+  */
+
+/** @brief  Freeze/Unfreeze Peripherals in Debug mode 
+  */
+#define __HAL_DBGMCU_FREEZE_TIM2()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM2_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM3()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM3_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM4()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM4_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM5()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM5_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM6()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM6_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM7()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM7_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM12()          (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM12_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM13()          (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM13_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM14()          (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM14_STOP))
+#define __HAL_DBGMCU_FREEZE_RTC()            (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_RTC_STOP))
+#define __HAL_DBGMCU_FREEZE_WWDG()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_WWDG_STOP))
+#define __HAL_DBGMCU_FREEZE_IWDG()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_IWDG_STOP))
+#define __HAL_DBGMCU_FREEZE_I2C1_TIMEOUT()   (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_I2C1_SMBUS_TIMEOUT))
+#define __HAL_DBGMCU_FREEZE_I2C2_TIMEOUT()   (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_I2C2_SMBUS_TIMEOUT))
+#define __HAL_DBGMCU_FREEZE_I2C3_TIMEOUT()   (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_I2C3_SMBUS_TIMEOUT))
+#define __HAL_DBGMCU_FREEZE_CAN1()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_CAN1_STOP))
+#define __HAL_DBGMCU_FREEZE_CAN2()           (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_CAN2_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM1()           (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM1_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM8()           (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM8_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM9()           (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM9_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM10()          (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM10_STOP))
+#define __HAL_DBGMCU_FREEZE_TIM11()          (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM11_STOP))
+
+#define __HAL_DBGMCU_UNFREEZE_TIM2()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM2_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM3()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM3_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM4()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM4_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM5()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM5_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM6()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM6_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM7()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM7_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM12()          (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM12_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM13()          (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM13_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM14()          (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM14_STOP))
+#define __HAL_DBGMCU_UNFREEZE_RTC()            (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_RTC_STOP))
+#define __HAL_DBGMCU_UNFREEZE_WWDG()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_WWDG_STOP))
+#define __HAL_DBGMCU_UNFREEZE_IWDG()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_IWDG_STOP))
+#define __HAL_DBGMCU_UNFREEZE_I2C1_TIMEOUT()   (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_I2C1_SMBUS_TIMEOUT))
+#define __HAL_DBGMCU_UNFREEZE_I2C2_TIMEOUT()   (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_I2C2_SMBUS_TIMEOUT))
+#define __HAL_DBGMCU_UNFREEZE_I2C3_TIMEOUT()   (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_I2C3_SMBUS_TIMEOUT))
+#define __HAL_DBGMCU_UNFREEZE_CAN1()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_CAN1_STOP))
+#define __HAL_DBGMCU_UNFREEZE_CAN2()           (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_CAN2_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM1()           (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM1_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM8()           (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM8_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM9()           (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM9_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM10()          (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM10_STOP))
+#define __HAL_DBGMCU_UNFREEZE_TIM11()          (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM11_STOP))
+
+/** @brief  Main Flash memory mapped at 0x00000000
+  */
+#define __HAL_SYSCFG_REMAPMEMORY_FLASH()             (SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE))
+
+/** @brief  System Flash memory mapped at 0x00000000
+  */
+#define __HAL_SYSCFG_REMAPMEMORY_SYSTEMFLASH()       do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
+                                                         SYSCFG->MEMRMP |= SYSCFG_MEMRMP_MEM_MODE_0;\
+                                                        }while(0);
+
+/** @brief  Embedded SRAM mapped at 0x00000000
+  */
+#define __HAL_SYSCFG_REMAPMEMORY_SRAM()       do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
+                                                  SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_0 | SYSCFG_MEMRMP_MEM_MODE_1);\
+                                                 }while(0);
+
+#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx)
+/** @brief  FSMC Bank1 (NOR/PSRAM 1 and 2) mapped at 0x00000000
+  */
+#define __HAL_SYSCFG_REMAPMEMORY_FSMC()       do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
+                                                  SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_1);\
+                                                 }while(0);
+#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */
+
+#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) ||\
+    defined(STM32F469xx) || defined(STM32F479xx)
+/** @brief  FMC Bank1 (NOR/PSRAM 1 and 2) mapped at 0x00000000
+  */
+#define __HAL_SYSCFG_REMAPMEMORY_FMC()       do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
+                                                 SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_1);\
+                                                }while(0);
+
+/** @brief  FMC/SDRAM Bank 1 and 2 mapped at 0x00000000
+  */
+#define __HAL_SYSCFG_REMAPMEMORY_FMC_SDRAM()       do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
+                                                       SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_2);\
+                                                      }while(0);
+#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ 
+
+#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F413xx) || defined(STM32F423xx)
+/** @defgroup Cortex_Lockup_Enable Cortex Lockup Enable
+  * @{
+  */
+/** @brief  SYSCFG Break Lockup lock
+  *         Enables and locks the connection of Cortex-M4 LOCKUP (Hardfault) output to TIM1/8 input
+  * @note   The selected configuration is locked and can be unlocked by system reset
+  */
+#define __HAL_SYSCFG_BREAK_PVD_LOCK()      do {SYSCFG->CFGR2 &= ~(SYSCFG_CFGR2_PVD_LOCK); \
+                                               SYSCFG->CFGR2 |= SYSCFG_CFGR2_PVD_LOCK;    \
+                                              }while(0)
+/**
+ * @}
+ */
+
+/** @defgroup PVD_Lock_Enable PVD Lock
+  * @{
+  */
+/** @brief  SYSCFG Break PVD lock
+  *         Enables and locks the PVD connection with Timer1/8 Break Input, , as well as the PVDE and PLS[2:0] in the PWR_CR register
+  * @note   The selected configuration is locked and can be unlocked by system reset
+  */
+#define __HAL_SYSCFG_BREAK_LOCKUP_LOCK()     do {SYSCFG->CFGR2 &= ~(SYSCFG_CFGR2_LOCKUP_LOCK); \
+                                                 SYSCFG->CFGR2 |= SYSCFG_CFGR2_LOCKUP_LOCK;    \
+                                                }while(0)
+/**
+ * @}
+ */
+#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx || STM32F413xx || STM32F423xx */
+/**
+  * @}
+  */
+
+/** @defgroup HAL_Private_Macros HAL Private Macros
+  * @{
+  */
+#define IS_TICKFREQ(FREQ) (((FREQ) == HAL_TICK_FREQ_10HZ)  || \
+                           ((FREQ) == HAL_TICK_FREQ_100HZ) || \
+                           ((FREQ) == HAL_TICK_FREQ_1KHZ))
+/**
+  * @}
+  */
+
+/* Exported variables --------------------------------------------------------*/
+
+/** @addtogroup HAL_Exported_Variables
+  * @{
+  */
+extern __IO uint32_t uwTick;
+extern uint32_t uwTickPrio;
+extern HAL_TickFreqTypeDef uwTickFreq;
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup HAL_Exported_Functions
+  * @{
+  */
+/** @addtogroup HAL_Exported_Functions_Group1
+  * @{
+  */
+/* Initialization and Configuration functions  ******************************/
+HAL_StatusTypeDef HAL_Init(void);
+HAL_StatusTypeDef HAL_DeInit(void);
+void HAL_MspInit(void);
+void HAL_MspDeInit(void);
+HAL_StatusTypeDef HAL_InitTick (uint32_t TickPriority);
+/**
+  * @}
+  */
+
+/** @addtogroup HAL_Exported_Functions_Group2
+  * @{
+  */
+/* Peripheral Control functions  ************************************************/
+void HAL_IncTick(void);
+void HAL_Delay(uint32_t Delay);
+uint32_t HAL_GetTick(void);
+uint32_t HAL_GetTickPrio(void);
+HAL_StatusTypeDef HAL_SetTickFreq(HAL_TickFreqTypeDef Freq);
+HAL_TickFreqTypeDef HAL_GetTickFreq(void);
+void HAL_SuspendTick(void);
+void HAL_ResumeTick(void);
+uint32_t HAL_GetHalVersion(void);
+uint32_t HAL_GetREVID(void);
+uint32_t HAL_GetDEVID(void);
+void HAL_DBGMCU_EnableDBGSleepMode(void);
+void HAL_DBGMCU_DisableDBGSleepMode(void);
+void HAL_DBGMCU_EnableDBGStopMode(void);
+void HAL_DBGMCU_DisableDBGStopMode(void);
+void HAL_DBGMCU_EnableDBGStandbyMode(void);
+void HAL_DBGMCU_DisableDBGStandbyMode(void);
+void HAL_EnableCompensationCell(void);
+void HAL_DisableCompensationCell(void);
+uint32_t HAL_GetUIDw0(void);
+uint32_t HAL_GetUIDw1(void);
+uint32_t HAL_GetUIDw2(void);
+#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) ||\
+    defined(STM32F469xx) || defined(STM32F479xx)
+void HAL_EnableMemorySwappingBank(void);
+void HAL_DisableMemorySwappingBank(void);
+#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ 
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+/* Private types -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/** @defgroup HAL_Private_Variables HAL Private Variables
+  * @{
+  */
+/**
+  * @}
+  */
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup HAL_Private_Constants HAL Private Constants
+  * @{
+  */
+/**
+  * @}
+  */
+/* Private macros ------------------------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */ 
+  
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_HAL_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h

@@ -0,0 +1,900 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_adc.h
+  * @author  MCD Application Team
+  * @brief   Header file containing functions prototypes of ADC HAL library.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_ADC_H
+#define __STM32F4xx_ADC_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/* Include low level driver */
+#include "stm32f4xx_ll_adc.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup ADC
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup ADC_Exported_Types ADC Exported Types
+  * @{
+  */
+
+/** 
+  * @brief  Structure definition of ADC and regular group initialization 
+  * @note   Parameters of this structure are shared within 2 scopes:
+  *          - Scope entire ADC (affects regular and injected groups): ClockPrescaler, Resolution, ScanConvMode, DataAlign, ScanConvMode, EOCSelection, LowPowerAutoWait, LowPowerAutoPowerOff, ChannelsBank.
+  *          - Scope regular group: ContinuousConvMode, NbrOfConversion, DiscontinuousConvMode, NbrOfDiscConversion, ExternalTrigConvEdge, ExternalTrigConv.
+  * @note   The setting of these parameters with function HAL_ADC_Init() is conditioned to ADC state.
+  *         ADC state can be either:
+  *          - For all parameters: ADC disabled
+  *          - For all parameters except 'Resolution', 'ScanConvMode', 'DiscontinuousConvMode', 'NbrOfDiscConversion' : ADC enabled without conversion on going on regular group.
+  *          - For parameters 'ExternalTrigConv' and 'ExternalTrigConvEdge': ADC enabled, even with conversion on going.
+  *         If ADC is not in the appropriate state to modify some parameters, these parameters setting is bypassed
+  *         without error reporting (as it can be the expected behaviour in case of intended action to update another parameter (which fulfills the ADC state condition) on the fly).
+  */
+typedef struct
+{
+  uint32_t ClockPrescaler;               /*!< Select ADC clock prescaler. The clock is common for 
+                                              all the ADCs.
+                                              This parameter can be a value of @ref ADC_ClockPrescaler */
+  uint32_t Resolution;                   /*!< Configures the ADC resolution.
+                                              This parameter can be a value of @ref ADC_Resolution */
+  uint32_t DataAlign;                    /*!< Specifies ADC data alignment to right (MSB on register bit 11 and LSB on register bit 0) (default setting)
+                                              or to left (if regular group: MSB on register bit 15 and LSB on register bit 4, if injected group (MSB kept as signed value due to potential negative value after offset application): MSB on register bit 14 and LSB on register bit 3).
+                                              This parameter can be a value of @ref ADC_Data_align */
+  uint32_t ScanConvMode;                 /*!< Configures the sequencer of regular and injected groups.
+                                              This parameter can be associated to parameter 'DiscontinuousConvMode' to have main sequence subdivided in successive parts.
+                                              If disabled: Conversion is performed in single mode (one channel converted, the one defined in rank 1).
+                                                           Parameters 'NbrOfConversion' and 'InjectedNbrOfConversion' are discarded (equivalent to set to 1).
+                                              If enabled:  Conversions are performed in sequence mode (multiple ranks defined by 'NbrOfConversion'/'InjectedNbrOfConversion' and each channel rank).
+                                                           Scan direction is upward: from rank1 to rank 'n'.
+                                              This parameter can be set to ENABLE or DISABLE */
+  uint32_t EOCSelection;                 /*!< Specifies what EOC (End Of Conversion) flag is used for conversion by polling and interruption: end of conversion of each rank or complete sequence.
+                                              This parameter can be a value of @ref ADC_EOCSelection.
+                                              Note: For injected group, end of conversion (flag&IT) is raised only at the end of the sequence.
+                                                    Therefore, if end of conversion is set to end of each conversion, injected group should not be used with interruption (HAL_ADCEx_InjectedStart_IT)
+                                                    or polling (HAL_ADCEx_InjectedStart and HAL_ADCEx_InjectedPollForConversion). By the way, polling is still possible since driver will use an estimated timing for end of injected conversion.
+                                              Note: If overrun feature is intended to be used, use ADC in mode 'interruption' (function HAL_ADC_Start_IT() ) with parameter EOCSelection set to end of each conversion or in mode 'transfer by DMA' (function HAL_ADC_Start_DMA()).
+                                                    If overrun feature is intended to be bypassed, use ADC in mode 'polling' or 'interruption' with parameter EOCSelection must be set to end of sequence */
+  FunctionalState ContinuousConvMode;    /*!< Specifies whether the conversion is performed in single mode (one conversion) or continuous mode for regular group,
+                                              after the selected trigger occurred (software start or external trigger).
+                                              This parameter can be set to ENABLE or DISABLE. */
+  uint32_t NbrOfConversion;              /*!< Specifies the number of ranks that will be converted within the regular group sequencer.
+                                              To use regular group sequencer and convert several ranks, parameter 'ScanConvMode' must be enabled.
+                                              This parameter must be a number between Min_Data = 1 and Max_Data = 16. */
+  FunctionalState DiscontinuousConvMode; /*!< Specifies whether the conversions sequence of regular group is performed in Complete-sequence/Discontinuous-sequence (main sequence subdivided in successive parts).
+                                              Discontinuous mode is used only if sequencer is enabled (parameter 'ScanConvMode'). If sequencer is disabled, this parameter is discarded.
+                                              Discontinuous mode can be enabled only if continuous mode is disabled. If continuous mode is enabled, this parameter setting is discarded.
+                                              This parameter can be set to ENABLE or DISABLE. */
+  uint32_t NbrOfDiscConversion;          /*!< Specifies the number of discontinuous conversions in which the  main sequence of regular group (parameter NbrOfConversion) will be subdivided.
+                                              If parameter 'DiscontinuousConvMode' is disabled, this parameter is discarded.
+                                              This parameter must be a number between Min_Data = 1 and Max_Data = 8. */
+  uint32_t ExternalTrigConv;             /*!< Selects the external event used to trigger the conversion start of regular group.
+                                              If set to ADC_SOFTWARE_START, external triggers are disabled.
+                                              If set to external trigger source, triggering is on event rising edge by default.
+                                              This parameter can be a value of @ref ADC_External_trigger_Source_Regular */
+  uint32_t ExternalTrigConvEdge;         /*!< Selects the external trigger edge of regular group.
+                                              If trigger is set to ADC_SOFTWARE_START, this parameter is discarded.
+                                              This parameter can be a value of @ref ADC_External_trigger_edge_Regular */
+  FunctionalState DMAContinuousRequests; /*!< Specifies whether the DMA requests are performed in one shot mode (DMA transfer stop when number of conversions is reached)
+											  or in Continuous mode (DMA transfer unlimited, whatever number of conversions).
+											  Note: In continuous mode, DMA must be configured in circular mode. Otherwise an overrun will be triggered when DMA buffer maximum pointer is reached.
+											  Note: This parameter must be modified when no conversion is on going on both regular and injected groups (ADC disabled, or ADC enabled without continuous mode or external trigger that could launch a conversion).
+											  This parameter can be set to ENABLE or DISABLE. */
+}ADC_InitTypeDef;
+
+
+
+/** 
+  * @brief  Structure definition of ADC channel for regular group   
+  * @note   The setting of these parameters with function HAL_ADC_ConfigChannel() is conditioned to ADC state.
+  *         ADC can be either disabled or enabled without conversion on going on regular group.
+  */ 
+typedef struct 
+{
+  uint32_t Channel;                /*!< Specifies the channel to configure into ADC regular group.
+                                        This parameter can be a value of @ref ADC_channels */
+  uint32_t Rank;                   /*!< Specifies the rank in the regular group sequencer.
+                                        This parameter must be a number between Min_Data = 1 and Max_Data = 16 */
+  uint32_t SamplingTime;           /*!< Sampling time value to be set for the selected channel.
+                                        Unit: ADC clock cycles
+                                        Conversion time is the addition of sampling time and processing time (12 ADC clock cycles at ADC resolution 12 bits, 11 cycles at 10 bits, 9 cycles at 8 bits, 7 cycles at 6 bits).
+                                        This parameter can be a value of @ref ADC_sampling_times
+                                        Caution: This parameter updates the parameter property of the channel, that can be used into regular and/or injected groups.
+                                                 If this same channel has been previously configured in the other group (regular/injected), it will be updated to last setting.
+                                        Note: In case of usage of internal measurement channels (VrefInt/Vbat/TempSensor),
+                                              sampling time constraints must be respected (sampling time can be adjusted in function of ADC clock frequency and sampling time setting)
+                                              Refer to device datasheet for timings values, parameters TS_vrefint, TS_temp (values rough order: 4us min). */
+  uint32_t Offset;                 /*!< Reserved for future use, can be set to 0 */
+}ADC_ChannelConfTypeDef;
+
+/** 
+  * @brief ADC Configuration multi-mode structure definition  
+  */ 
+typedef struct
+{
+  uint32_t WatchdogMode;      /*!< Configures the ADC analog watchdog mode.
+                                   This parameter can be a value of @ref ADC_analog_watchdog_selection */
+  uint32_t HighThreshold;     /*!< Configures the ADC analog watchdog High threshold value.
+                                   This parameter must be a 12-bit value. */     
+  uint32_t LowThreshold;      /*!< Configures the ADC analog watchdog High threshold value.
+                                   This parameter must be a 12-bit value. */
+  uint32_t Channel;           /*!< Configures ADC channel for the analog watchdog. 
+                                   This parameter has an effect only if watchdog mode is configured on single channel 
+                                   This parameter can be a value of @ref ADC_channels */      
+  FunctionalState ITMode;     /*!< Specifies whether the analog watchdog is configured
+                                   is interrupt mode or in polling mode.
+                                   This parameter can be set to ENABLE or DISABLE */
+  uint32_t WatchdogNumber;    /*!< Reserved for future use, can be set to 0 */
+}ADC_AnalogWDGConfTypeDef;
+
+/** 
+  * @brief  HAL ADC state machine: ADC states definition (bitfields)
+  */ 
+/* States of ADC global scope */
+#define HAL_ADC_STATE_RESET             0x00000000U    /*!< ADC not yet initialized or disabled */
+#define HAL_ADC_STATE_READY             0x00000001U    /*!< ADC peripheral ready for use */
+#define HAL_ADC_STATE_BUSY_INTERNAL     0x00000002U    /*!< ADC is busy to internal process (initialization, calibration) */
+#define HAL_ADC_STATE_TIMEOUT           0x00000004U    /*!< TimeOut occurrence */
+
+/* States of ADC errors */
+#define HAL_ADC_STATE_ERROR_INTERNAL    0x00000010U    /*!< Internal error occurrence */
+#define HAL_ADC_STATE_ERROR_CONFIG      0x00000020U    /*!< Configuration error occurrence */
+#define HAL_ADC_STATE_ERROR_DMA         0x00000040U    /*!< DMA error occurrence */
+
+/* States of ADC group regular */
+#define HAL_ADC_STATE_REG_BUSY          0x00000100U    /*!< A conversion on group regular is ongoing or can occur (either by continuous mode,
+                                                            external trigger, low power auto power-on (if feature available), multimode ADC master control (if feature available)) */
+#define HAL_ADC_STATE_REG_EOC           0x00000200U    /*!< Conversion data available on group regular */
+#define HAL_ADC_STATE_REG_OVR           0x00000400U    /*!< Overrun occurrence */
+
+/* States of ADC group injected */
+#define HAL_ADC_STATE_INJ_BUSY          0x00001000U    /*!< A conversion on group injected is ongoing or can occur (either by auto-injection mode,
+                                                            external trigger, low power auto power-on (if feature available), multimode ADC master control (if feature available)) */
+#define HAL_ADC_STATE_INJ_EOC           0x00002000U    /*!< Conversion data available on group injected */
+
+/* States of ADC analog watchdogs */
+#define HAL_ADC_STATE_AWD1              0x00010000U    /*!< Out-of-window occurrence of analog watchdog 1 */
+#define HAL_ADC_STATE_AWD2              0x00020000U    /*!< Not available on STM32F4 device: Out-of-window occurrence of analog watchdog 2 */
+#define HAL_ADC_STATE_AWD3              0x00040000U    /*!< Not available on STM32F4 device: Out-of-window occurrence of analog watchdog 3 */
+
+/* States of ADC multi-mode */
+#define HAL_ADC_STATE_MULTIMODE_SLAVE   0x00100000U    /*!< Not available on STM32F4 device: ADC in multimode slave state, controlled by another ADC master ( */
+
+
+/** 
+  * @brief  ADC handle Structure definition
+  */ 
+#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1)
+typedef struct __ADC_HandleTypeDef
+#else
+typedef struct
+#endif
+{
+  ADC_TypeDef                   *Instance;                   /*!< Register base address */
+
+  ADC_InitTypeDef               Init;                        /*!< ADC required parameters */
+
+  __IO uint32_t                 NbrOfCurrentConversionRank;  /*!< ADC number of current conversion rank */
+
+  DMA_HandleTypeDef             *DMA_Handle;                 /*!< Pointer DMA Handler */
+
+  HAL_LockTypeDef               Lock;                        /*!< ADC locking object */
+
+  __IO uint32_t                 State;                       /*!< ADC communication state */
+
+  __IO uint32_t                 ErrorCode;                   /*!< ADC Error code */
+#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1)
+  void (* ConvCpltCallback)(struct __ADC_HandleTypeDef *hadc);              /*!< ADC conversion complete callback */
+  void (* ConvHalfCpltCallback)(struct __ADC_HandleTypeDef *hadc);          /*!< ADC conversion DMA half-transfer callback */
+  void (* LevelOutOfWindowCallback)(struct __ADC_HandleTypeDef *hadc);      /*!< ADC analog watchdog 1 callback */
+  void (* ErrorCallback)(struct __ADC_HandleTypeDef *hadc);                 /*!< ADC error callback */
+  void (* InjectedConvCpltCallback)(struct __ADC_HandleTypeDef *hadc);      /*!< ADC group injected conversion complete callback */
+  void (* MspInitCallback)(struct __ADC_HandleTypeDef *hadc);               /*!< ADC Msp Init callback */
+  void (* MspDeInitCallback)(struct __ADC_HandleTypeDef *hadc);             /*!< ADC Msp DeInit callback */
+#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */
+}ADC_HandleTypeDef;
+
+#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1)
+/**
+  * @brief  HAL ADC Callback ID enumeration definition
+  */
+typedef enum
+{
+  HAL_ADC_CONVERSION_COMPLETE_CB_ID     = 0x00U,  /*!< ADC conversion complete callback ID */
+  HAL_ADC_CONVERSION_HALF_CB_ID         = 0x01U,  /*!< ADC conversion DMA half-transfer callback ID */
+  HAL_ADC_LEVEL_OUT_OF_WINDOW_1_CB_ID   = 0x02U,  /*!< ADC analog watchdog 1 callback ID */
+  HAL_ADC_ERROR_CB_ID                   = 0x03U,  /*!< ADC error callback ID */
+  HAL_ADC_INJ_CONVERSION_COMPLETE_CB_ID = 0x04U,  /*!< ADC group injected conversion complete callback ID */
+  HAL_ADC_MSPINIT_CB_ID                 = 0x05U,  /*!< ADC Msp Init callback ID          */
+  HAL_ADC_MSPDEINIT_CB_ID               = 0x06U   /*!< ADC Msp DeInit callback ID        */
+} HAL_ADC_CallbackIDTypeDef;
+
+/**
+  * @brief  HAL ADC Callback pointer definition
+  */
+typedef  void (*pADC_CallbackTypeDef)(ADC_HandleTypeDef *hadc); /*!< pointer to a ADC callback function */
+
+#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */
+
+/**
+  * @}
+  */
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup ADC_Exported_Constants ADC Exported Constants
+  * @{
+  */
+
+/** @defgroup ADC_Error_Code ADC Error Code
+  * @{
+  */
+#define HAL_ADC_ERROR_NONE        0x00U   /*!< No error                                              */
+#define HAL_ADC_ERROR_INTERNAL    0x01U   /*!< ADC IP internal error: if problem of clocking, 
+                                               enable/disable, erroneous state                       */
+#define HAL_ADC_ERROR_OVR         0x02U   /*!< Overrun error                                         */
+#define HAL_ADC_ERROR_DMA         0x04U   /*!< DMA transfer error                                    */
+#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1)
+#define HAL_ADC_ERROR_INVALID_CALLBACK  (0x10U)   /*!< Invalid Callback error */
+#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */
+/**
+  * @}
+  */
+
+
+/** @defgroup ADC_ClockPrescaler  ADC Clock Prescaler
+  * @{
+  */ 
+#define ADC_CLOCK_SYNC_PCLK_DIV2    0x00000000U
+#define ADC_CLOCK_SYNC_PCLK_DIV4    ((uint32_t)ADC_CCR_ADCPRE_0)
+#define ADC_CLOCK_SYNC_PCLK_DIV6    ((uint32_t)ADC_CCR_ADCPRE_1)
+#define ADC_CLOCK_SYNC_PCLK_DIV8    ((uint32_t)ADC_CCR_ADCPRE)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADC_delay_between_2_sampling_phases ADC Delay Between 2 Sampling Phases
+  * @{
+  */ 
+#define ADC_TWOSAMPLINGDELAY_5CYCLES    0x00000000U
+#define ADC_TWOSAMPLINGDELAY_6CYCLES    ((uint32_t)ADC_CCR_DELAY_0)
+#define ADC_TWOSAMPLINGDELAY_7CYCLES    ((uint32_t)ADC_CCR_DELAY_1)
+#define ADC_TWOSAMPLINGDELAY_8CYCLES    ((uint32_t)(ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0))
+#define ADC_TWOSAMPLINGDELAY_9CYCLES    ((uint32_t)ADC_CCR_DELAY_2)
+#define ADC_TWOSAMPLINGDELAY_10CYCLES   ((uint32_t)(ADC_CCR_DELAY_2 | ADC_CCR_DELAY_0))
+#define ADC_TWOSAMPLINGDELAY_11CYCLES   ((uint32_t)(ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1))
+#define ADC_TWOSAMPLINGDELAY_12CYCLES   ((uint32_t)(ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0))
+#define ADC_TWOSAMPLINGDELAY_13CYCLES   ((uint32_t)ADC_CCR_DELAY_3)
+#define ADC_TWOSAMPLINGDELAY_14CYCLES   ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_0))
+#define ADC_TWOSAMPLINGDELAY_15CYCLES   ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_1))
+#define ADC_TWOSAMPLINGDELAY_16CYCLES   ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0))
+#define ADC_TWOSAMPLINGDELAY_17CYCLES   ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2))
+#define ADC_TWOSAMPLINGDELAY_18CYCLES   ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2 | ADC_CCR_DELAY_0))
+#define ADC_TWOSAMPLINGDELAY_19CYCLES   ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1))
+#define ADC_TWOSAMPLINGDELAY_20CYCLES   ((uint32_t)ADC_CCR_DELAY)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADC_Resolution ADC Resolution
+  * @{
+  */ 
+#define ADC_RESOLUTION_12B  0x00000000U
+#define ADC_RESOLUTION_10B  ((uint32_t)ADC_CR1_RES_0)
+#define ADC_RESOLUTION_8B   ((uint32_t)ADC_CR1_RES_1)
+#define ADC_RESOLUTION_6B   ((uint32_t)ADC_CR1_RES)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADC_External_trigger_edge_Regular ADC External Trigger Edge Regular
+  * @{
+  */ 
+#define ADC_EXTERNALTRIGCONVEDGE_NONE           0x00000000U
+#define ADC_EXTERNALTRIGCONVEDGE_RISING         ((uint32_t)ADC_CR2_EXTEN_0)
+#define ADC_EXTERNALTRIGCONVEDGE_FALLING        ((uint32_t)ADC_CR2_EXTEN_1)
+#define ADC_EXTERNALTRIGCONVEDGE_RISINGFALLING  ((uint32_t)ADC_CR2_EXTEN)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADC_External_trigger_Source_Regular ADC External Trigger Source Regular
+  * @{
+  */
+/* Note: Parameter ADC_SOFTWARE_START is a software parameter used for        */
+/*       compatibility with other STM32 devices.                              */
+#define ADC_EXTERNALTRIGCONV_T1_CC1    0x00000000U
+#define ADC_EXTERNALTRIGCONV_T1_CC2    ((uint32_t)ADC_CR2_EXTSEL_0)
+#define ADC_EXTERNALTRIGCONV_T1_CC3    ((uint32_t)ADC_CR2_EXTSEL_1)
+#define ADC_EXTERNALTRIGCONV_T2_CC2    ((uint32_t)(ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0))
+#define ADC_EXTERNALTRIGCONV_T2_CC3    ((uint32_t)ADC_CR2_EXTSEL_2)
+#define ADC_EXTERNALTRIGCONV_T2_CC4    ((uint32_t)(ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_0))
+#define ADC_EXTERNALTRIGCONV_T2_TRGO   ((uint32_t)(ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1))
+#define ADC_EXTERNALTRIGCONV_T3_CC1    ((uint32_t)(ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0))
+#define ADC_EXTERNALTRIGCONV_T3_TRGO   ((uint32_t)ADC_CR2_EXTSEL_3)
+#define ADC_EXTERNALTRIGCONV_T4_CC4    ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_0))
+#define ADC_EXTERNALTRIGCONV_T5_CC1    ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_1))
+#define ADC_EXTERNALTRIGCONV_T5_CC2    ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0))
+#define ADC_EXTERNALTRIGCONV_T5_CC3    ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2))
+#define ADC_EXTERNALTRIGCONV_T8_CC1    ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_0))
+#define ADC_EXTERNALTRIGCONV_T8_TRGO   ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1))
+#define ADC_EXTERNALTRIGCONV_Ext_IT11  ((uint32_t)ADC_CR2_EXTSEL)
+#define ADC_SOFTWARE_START             ((uint32_t)ADC_CR2_EXTSEL + 1U)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADC_Data_align ADC Data Align
+  * @{
+  */ 
+#define ADC_DATAALIGN_RIGHT      0x00000000U
+#define ADC_DATAALIGN_LEFT       ((uint32_t)ADC_CR2_ALIGN)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADC_channels  ADC Common Channels
+  * @{
+  */ 
+#define ADC_CHANNEL_0           0x00000000U
+#define ADC_CHANNEL_1           ((uint32_t)ADC_CR1_AWDCH_0)
+#define ADC_CHANNEL_2           ((uint32_t)ADC_CR1_AWDCH_1)
+#define ADC_CHANNEL_3           ((uint32_t)(ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0))
+#define ADC_CHANNEL_4           ((uint32_t)ADC_CR1_AWDCH_2)
+#define ADC_CHANNEL_5           ((uint32_t)(ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_0))
+#define ADC_CHANNEL_6           ((uint32_t)(ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1))
+#define ADC_CHANNEL_7           ((uint32_t)(ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0))
+#define ADC_CHANNEL_8           ((uint32_t)ADC_CR1_AWDCH_3)
+#define ADC_CHANNEL_9           ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_0))
+#define ADC_CHANNEL_10          ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_1))
+#define ADC_CHANNEL_11          ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0))
+#define ADC_CHANNEL_12          ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2))
+#define ADC_CHANNEL_13          ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_0))
+#define ADC_CHANNEL_14          ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1))
+#define ADC_CHANNEL_15          ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0))
+#define ADC_CHANNEL_16          ((uint32_t)ADC_CR1_AWDCH_4)
+#define ADC_CHANNEL_17          ((uint32_t)(ADC_CR1_AWDCH_4 | ADC_CR1_AWDCH_0))
+#define ADC_CHANNEL_18          ((uint32_t)(ADC_CR1_AWDCH_4 | ADC_CR1_AWDCH_1))
+
+#define ADC_CHANNEL_VREFINT     ((uint32_t)ADC_CHANNEL_17)
+#define ADC_CHANNEL_VBAT        ((uint32_t)ADC_CHANNEL_18)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADC_sampling_times  ADC Sampling Times
+  * @{
+  */ 
+#define ADC_SAMPLETIME_3CYCLES    0x00000000U
+#define ADC_SAMPLETIME_15CYCLES   ((uint32_t)ADC_SMPR1_SMP10_0)
+#define ADC_SAMPLETIME_28CYCLES   ((uint32_t)ADC_SMPR1_SMP10_1)
+#define ADC_SAMPLETIME_56CYCLES   ((uint32_t)(ADC_SMPR1_SMP10_1 | ADC_SMPR1_SMP10_0))
+#define ADC_SAMPLETIME_84CYCLES   ((uint32_t)ADC_SMPR1_SMP10_2)
+#define ADC_SAMPLETIME_112CYCLES  ((uint32_t)(ADC_SMPR1_SMP10_2 | ADC_SMPR1_SMP10_0))
+#define ADC_SAMPLETIME_144CYCLES  ((uint32_t)(ADC_SMPR1_SMP10_2 | ADC_SMPR1_SMP10_1))
+#define ADC_SAMPLETIME_480CYCLES  ((uint32_t)ADC_SMPR1_SMP10)
+/**
+  * @}
+  */ 
+
+  /** @defgroup ADC_EOCSelection ADC EOC Selection
+  * @{
+  */ 
+#define ADC_EOC_SEQ_CONV              0x00000000U
+#define ADC_EOC_SINGLE_CONV           0x00000001U
+#define ADC_EOC_SINGLE_SEQ_CONV       0x00000002U  /*!< reserved for future use */
+/**
+  * @}
+  */ 
+
+/** @defgroup ADC_Event_type ADC Event Type
+  * @{
+  */ 
+#define ADC_AWD_EVENT             ((uint32_t)ADC_FLAG_AWD)
+#define ADC_OVR_EVENT             ((uint32_t)ADC_FLAG_OVR)
+/**
+  * @}
+  */
+
+/** @defgroup ADC_analog_watchdog_selection ADC Analog Watchdog Selection
+  * @{
+  */ 
+#define ADC_ANALOGWATCHDOG_SINGLE_REG         ((uint32_t)(ADC_CR1_AWDSGL | ADC_CR1_AWDEN))
+#define ADC_ANALOGWATCHDOG_SINGLE_INJEC       ((uint32_t)(ADC_CR1_AWDSGL | ADC_CR1_JAWDEN))
+#define ADC_ANALOGWATCHDOG_SINGLE_REGINJEC    ((uint32_t)(ADC_CR1_AWDSGL | ADC_CR1_AWDEN | ADC_CR1_JAWDEN))
+#define ADC_ANALOGWATCHDOG_ALL_REG            ((uint32_t)ADC_CR1_AWDEN)
+#define ADC_ANALOGWATCHDOG_ALL_INJEC          ((uint32_t)ADC_CR1_JAWDEN)
+#define ADC_ANALOGWATCHDOG_ALL_REGINJEC       ((uint32_t)(ADC_CR1_AWDEN | ADC_CR1_JAWDEN))
+#define ADC_ANALOGWATCHDOG_NONE               0x00000000U
+/**
+  * @}
+  */ 
+    
+/** @defgroup ADC_interrupts_definition ADC Interrupts Definition
+  * @{
+  */ 
+#define ADC_IT_EOC      ((uint32_t)ADC_CR1_EOCIE)
+#define ADC_IT_AWD      ((uint32_t)ADC_CR1_AWDIE)
+#define ADC_IT_JEOC     ((uint32_t)ADC_CR1_JEOCIE)
+#define ADC_IT_OVR      ((uint32_t)ADC_CR1_OVRIE)
+/**
+  * @}
+  */ 
+    
+/** @defgroup ADC_flags_definition ADC Flags Definition
+  * @{
+  */ 
+#define ADC_FLAG_AWD    ((uint32_t)ADC_SR_AWD)
+#define ADC_FLAG_EOC    ((uint32_t)ADC_SR_EOC)
+#define ADC_FLAG_JEOC   ((uint32_t)ADC_SR_JEOC)
+#define ADC_FLAG_JSTRT  ((uint32_t)ADC_SR_JSTRT)
+#define ADC_FLAG_STRT   ((uint32_t)ADC_SR_STRT)
+#define ADC_FLAG_OVR    ((uint32_t)ADC_SR_OVR)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADC_channels_type ADC Channels Type
+  * @{
+  */ 
+#define ADC_ALL_CHANNELS      0x00000001U
+#define ADC_REGULAR_CHANNELS  0x00000002U /*!< reserved for future use */
+#define ADC_INJECTED_CHANNELS 0x00000003U /*!< reserved for future use */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */ 
+
+/* Exported macro ------------------------------------------------------------*/
+/** @defgroup ADC_Exported_Macros ADC Exported Macros
+  * @{
+  */
+
+/** @brief Reset ADC handle state
+  * @param  __HANDLE__ ADC handle
+  * @retval None
+  */
+#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1)
+#define __HAL_ADC_RESET_HANDLE_STATE(__HANDLE__)                               \
+  do{                                                                          \
+     (__HANDLE__)->State = HAL_ADC_STATE_RESET;                               \
+     (__HANDLE__)->MspInitCallback = NULL;                                     \
+     (__HANDLE__)->MspDeInitCallback = NULL;                                   \
+    } while(0)
+#else
+#define __HAL_ADC_RESET_HANDLE_STATE(__HANDLE__)                               \
+  ((__HANDLE__)->State = HAL_ADC_STATE_RESET)
+#endif
+
+/**
+  * @brief  Enable the ADC peripheral.
+  * @param  __HANDLE__ ADC handle
+  * @retval None
+  */
+#define __HAL_ADC_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR2 |=  ADC_CR2_ADON)
+
+/**
+  * @brief  Disable the ADC peripheral.
+  * @param  __HANDLE__ ADC handle
+  * @retval None
+  */
+#define __HAL_ADC_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR2 &=  ~ADC_CR2_ADON)
+
+/**
+  * @brief  Enable the ADC end of conversion interrupt.
+  * @param  __HANDLE__ specifies the ADC Handle.
+  * @param  __INTERRUPT__ ADC Interrupt.
+  * @retval None
+  */
+#define __HAL_ADC_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR1) |= (__INTERRUPT__))
+
+/**
+  * @brief  Disable the ADC end of conversion interrupt.
+  * @param  __HANDLE__ specifies the ADC Handle.
+  * @param  __INTERRUPT__ ADC interrupt.
+  * @retval None
+  */
+#define __HAL_ADC_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR1) &= ~(__INTERRUPT__))
+
+/** @brief  Check if the specified ADC interrupt source is enabled or disabled.
+  * @param  __HANDLE__ specifies the ADC Handle.
+  * @param  __INTERRUPT__ specifies the ADC interrupt source to check.
+  * @retval The new state of __IT__ (TRUE or FALSE).
+  */
+#define __HAL_ADC_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__)  (((__HANDLE__)->Instance->CR1 & (__INTERRUPT__)) == (__INTERRUPT__))
+
+/**
+  * @brief  Clear the ADC's pending flags.
+  * @param  __HANDLE__ specifies the ADC Handle.
+  * @param  __FLAG__ ADC flag.
+  * @retval None
+  */
+#define __HAL_ADC_CLEAR_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR) = ~(__FLAG__))
+
+/**
+  * @brief  Get the selected ADC's flag status.
+  * @param  __HANDLE__ specifies the ADC Handle.
+  * @param  __FLAG__ ADC flag.
+  * @retval None
+  */
+#define __HAL_ADC_GET_FLAG(__HANDLE__, __FLAG__) ((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__))
+
+/**
+  * @}
+  */
+
+/* Include ADC HAL Extension module */
+#include "stm32f4xx_hal_adc_ex.h"
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup ADC_Exported_Functions
+  * @{
+  */
+
+/** @addtogroup ADC_Exported_Functions_Group1
+  * @{
+  */
+/* Initialization/de-initialization functions ***********************************/
+HAL_StatusTypeDef HAL_ADC_Init(ADC_HandleTypeDef* hadc);
+HAL_StatusTypeDef HAL_ADC_DeInit(ADC_HandleTypeDef *hadc);
+void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc);
+void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc);
+
+#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1)
+/* Callbacks Register/UnRegister functions  ***********************************/
+HAL_StatusTypeDef HAL_ADC_RegisterCallback(ADC_HandleTypeDef *hadc, HAL_ADC_CallbackIDTypeDef CallbackID, pADC_CallbackTypeDef pCallback);
+HAL_StatusTypeDef HAL_ADC_UnRegisterCallback(ADC_HandleTypeDef *hadc, HAL_ADC_CallbackIDTypeDef CallbackID);
+#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */
+/**
+  * @}
+  */
+
+/** @addtogroup ADC_Exported_Functions_Group2
+  * @{
+  */
+/* I/O operation functions ******************************************************/
+HAL_StatusTypeDef HAL_ADC_Start(ADC_HandleTypeDef* hadc);
+HAL_StatusTypeDef HAL_ADC_Stop(ADC_HandleTypeDef* hadc);
+HAL_StatusTypeDef HAL_ADC_PollForConversion(ADC_HandleTypeDef* hadc, uint32_t Timeout);
+
+HAL_StatusTypeDef HAL_ADC_PollForEvent(ADC_HandleTypeDef* hadc, uint32_t EventType, uint32_t Timeout);
+
+HAL_StatusTypeDef HAL_ADC_Start_IT(ADC_HandleTypeDef* hadc);
+HAL_StatusTypeDef HAL_ADC_Stop_IT(ADC_HandleTypeDef* hadc);
+
+void HAL_ADC_IRQHandler(ADC_HandleTypeDef* hadc);
+
+HAL_StatusTypeDef HAL_ADC_Start_DMA(ADC_HandleTypeDef* hadc, uint32_t* pData, uint32_t Length);
+HAL_StatusTypeDef HAL_ADC_Stop_DMA(ADC_HandleTypeDef* hadc);
+
+uint32_t HAL_ADC_GetValue(ADC_HandleTypeDef* hadc);
+
+void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc);
+void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef* hadc);
+void HAL_ADC_LevelOutOfWindowCallback(ADC_HandleTypeDef* hadc);
+void HAL_ADC_ErrorCallback(ADC_HandleTypeDef *hadc);
+/**
+  * @}
+  */
+
+/** @addtogroup ADC_Exported_Functions_Group3
+  * @{
+  */
+/* Peripheral Control functions *************************************************/
+HAL_StatusTypeDef HAL_ADC_ConfigChannel(ADC_HandleTypeDef* hadc, ADC_ChannelConfTypeDef* sConfig);
+HAL_StatusTypeDef HAL_ADC_AnalogWDGConfig(ADC_HandleTypeDef* hadc, ADC_AnalogWDGConfTypeDef* AnalogWDGConfig);
+/**
+  * @}
+  */
+
+/** @addtogroup ADC_Exported_Functions_Group4
+  * @{
+  */
+/* Peripheral State functions ***************************************************/
+uint32_t HAL_ADC_GetState(ADC_HandleTypeDef* hadc);
+uint32_t HAL_ADC_GetError(ADC_HandleTypeDef *hadc);
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+/* Private types -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup ADC_Private_Constants ADC Private Constants
+  * @{
+  */
+/* Delay for ADC stabilization time.                                        */
+/* Maximum delay is 1us (refer to device datasheet, parameter tSTAB).       */
+/* Unit: us                                                                 */
+#define ADC_STAB_DELAY_US               3U
+/* Delay for temperature sensor stabilization time.                         */
+/* Maximum delay is 10us (refer to device datasheet, parameter tSTART).     */
+/* Unit: us                                                                 */
+#define ADC_TEMPSENSOR_DELAY_US         10U
+/**
+  * @}
+  */
+
+/* Private macro ------------------------------------------------------------*/
+
+/** @defgroup ADC_Private_Macros ADC Private Macros
+  * @{
+  */
+/* Macro reserved for internal HAL driver usage, not intended to be used in
+   code of final user */
+
+/**
+  * @brief Verification of ADC state: enabled or disabled
+  * @param __HANDLE__ ADC handle
+  * @retval SET (ADC enabled) or RESET (ADC disabled)
+  */
+#define ADC_IS_ENABLE(__HANDLE__)                                              \
+  ((( ((__HANDLE__)->Instance->SR & ADC_SR_ADONS) == ADC_SR_ADONS )            \
+  ) ? SET : RESET)
+
+/**
+  * @brief Test if conversion trigger of regular group is software start
+  *        or external trigger.
+  * @param __HANDLE__ ADC handle
+  * @retval SET (software start) or RESET (external trigger)
+  */
+#define ADC_IS_SOFTWARE_START_REGULAR(__HANDLE__)                              \
+  (((__HANDLE__)->Instance->CR2 & ADC_CR2_EXTEN) == RESET)
+
+/**
+  * @brief Test if conversion trigger of injected group is software start
+  *        or external trigger.
+  * @param __HANDLE__ ADC handle
+  * @retval SET (software start) or RESET (external trigger)
+  */
+#define ADC_IS_SOFTWARE_START_INJECTED(__HANDLE__)                             \
+  (((__HANDLE__)->Instance->CR2 & ADC_CR2_JEXTEN) == RESET)
+
+/**
+  * @brief Simultaneously clears and sets specific bits of the handle State
+  * @note: ADC_STATE_CLR_SET() macro is merely aliased to generic macro MODIFY_REG(),
+  *        the first parameter is the ADC handle State, the second parameter is the
+  *        bit field to clear, the third and last parameter is the bit field to set.
+  * @retval None
+  */
+#define ADC_STATE_CLR_SET MODIFY_REG
+
+/**
+  * @brief Clear ADC error code (set it to error code: "no error")
+  * @param __HANDLE__ ADC handle
+  * @retval None
+  */
+#define ADC_CLEAR_ERRORCODE(__HANDLE__)                                        \
+  ((__HANDLE__)->ErrorCode = HAL_ADC_ERROR_NONE)
+
+    
+#define IS_ADC_CLOCKPRESCALER(ADC_CLOCK)     (((ADC_CLOCK) == ADC_CLOCK_SYNC_PCLK_DIV2) || \
+                                              ((ADC_CLOCK) == ADC_CLOCK_SYNC_PCLK_DIV4) || \
+                                              ((ADC_CLOCK) == ADC_CLOCK_SYNC_PCLK_DIV6) || \
+                                              ((ADC_CLOCK) == ADC_CLOCK_SYNC_PCLK_DIV8))
+#define IS_ADC_SAMPLING_DELAY(DELAY) (((DELAY) == ADC_TWOSAMPLINGDELAY_5CYCLES)  || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_6CYCLES)  || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_7CYCLES)  || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_8CYCLES)  || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_9CYCLES)  || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_10CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_11CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_12CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_13CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_14CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_15CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_16CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_17CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_18CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_19CYCLES) || \
+                                      ((DELAY) == ADC_TWOSAMPLINGDELAY_20CYCLES))
+#define IS_ADC_RESOLUTION(RESOLUTION) (((RESOLUTION) == ADC_RESOLUTION_12B) || \
+                                       ((RESOLUTION) == ADC_RESOLUTION_10B) || \
+                                       ((RESOLUTION) == ADC_RESOLUTION_8B)  || \
+                                       ((RESOLUTION) == ADC_RESOLUTION_6B))
+#define IS_ADC_EXT_TRIG_EDGE(EDGE) (((EDGE) == ADC_EXTERNALTRIGCONVEDGE_NONE)    || \
+                                    ((EDGE) == ADC_EXTERNALTRIGCONVEDGE_RISING)  || \
+                                    ((EDGE) == ADC_EXTERNALTRIGCONVEDGE_FALLING) || \
+                                    ((EDGE) == ADC_EXTERNALTRIGCONVEDGE_RISINGFALLING))
+#define IS_ADC_EXT_TRIG(REGTRIG) (((REGTRIG) == ADC_EXTERNALTRIGCONV_T1_CC1)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T1_CC2)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T1_CC3)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T2_CC2)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T2_CC3)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T2_CC4)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T2_TRGO) || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T3_CC1)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T3_TRGO) || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T4_CC4)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T5_CC1)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T5_CC2)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T5_CC3)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T8_CC1)  || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_T8_TRGO) || \
+                                  ((REGTRIG) == ADC_EXTERNALTRIGCONV_Ext_IT11)|| \
+                                  ((REGTRIG) == ADC_SOFTWARE_START))
+#define IS_ADC_DATA_ALIGN(ALIGN) (((ALIGN) == ADC_DATAALIGN_RIGHT) || \
+                                  ((ALIGN) == ADC_DATAALIGN_LEFT))
+#define IS_ADC_SAMPLE_TIME(TIME) (((TIME) == ADC_SAMPLETIME_3CYCLES)   || \
+                                  ((TIME) == ADC_SAMPLETIME_15CYCLES)  || \
+                                  ((TIME) == ADC_SAMPLETIME_28CYCLES)  || \
+                                  ((TIME) == ADC_SAMPLETIME_56CYCLES)  || \
+                                  ((TIME) == ADC_SAMPLETIME_84CYCLES)  || \
+                                  ((TIME) == ADC_SAMPLETIME_112CYCLES) || \
+                                  ((TIME) == ADC_SAMPLETIME_144CYCLES) || \
+                                  ((TIME) == ADC_SAMPLETIME_480CYCLES))
+#define IS_ADC_EOCSelection(EOCSelection) (((EOCSelection) == ADC_EOC_SINGLE_CONV)   || \
+                                           ((EOCSelection) == ADC_EOC_SEQ_CONV)  || \
+                                           ((EOCSelection) == ADC_EOC_SINGLE_SEQ_CONV))
+#define IS_ADC_EVENT_TYPE(EVENT) (((EVENT) == ADC_AWD_EVENT) || \
+                                  ((EVENT) == ADC_OVR_EVENT))
+#define IS_ADC_ANALOG_WATCHDOG(WATCHDOG) (((WATCHDOG) == ADC_ANALOGWATCHDOG_SINGLE_REG)        || \
+                                          ((WATCHDOG) == ADC_ANALOGWATCHDOG_SINGLE_INJEC)      || \
+                                          ((WATCHDOG) == ADC_ANALOGWATCHDOG_SINGLE_REGINJEC)   || \
+                                          ((WATCHDOG) == ADC_ANALOGWATCHDOG_ALL_REG)           || \
+                                          ((WATCHDOG) == ADC_ANALOGWATCHDOG_ALL_INJEC)         || \
+                                          ((WATCHDOG) == ADC_ANALOGWATCHDOG_ALL_REGINJEC)      || \
+                                          ((WATCHDOG) == ADC_ANALOGWATCHDOG_NONE))
+#define IS_ADC_CHANNELS_TYPE(CHANNEL_TYPE) (((CHANNEL_TYPE) == ADC_ALL_CHANNELS) || \
+                                            ((CHANNEL_TYPE) == ADC_REGULAR_CHANNELS) || \
+                                            ((CHANNEL_TYPE) == ADC_INJECTED_CHANNELS))
+#define IS_ADC_THRESHOLD(THRESHOLD) ((THRESHOLD) <= 0xFFFU)
+
+#define IS_ADC_REGULAR_LENGTH(LENGTH) (((LENGTH) >= 1U) && ((LENGTH) <= 16U))
+#define IS_ADC_REGULAR_RANK(RANK) (((RANK) >= 1U) && ((RANK) <= (16U)))
+#define IS_ADC_REGULAR_DISC_NUMBER(NUMBER) (((NUMBER) >= 1U) && ((NUMBER) <= 8U))
+#define IS_ADC_RANGE(RESOLUTION, ADC_VALUE)                                     \
+   ((((RESOLUTION) == ADC_RESOLUTION_12B) && ((ADC_VALUE) <= 0x0FFFU)) || \
+    (((RESOLUTION) == ADC_RESOLUTION_10B) && ((ADC_VALUE) <= 0x03FFU)) || \
+    (((RESOLUTION) == ADC_RESOLUTION_8B)  && ((ADC_VALUE) <= 0x00FFU)) || \
+    (((RESOLUTION) == ADC_RESOLUTION_6B)  && ((ADC_VALUE) <= 0x003FU)))
+
+/**
+  * @brief  Set ADC Regular channel sequence length.
+  * @param  _NbrOfConversion_ Regular channel sequence length. 
+  * @retval None
+  */
+#define ADC_SQR1(_NbrOfConversion_) (((_NbrOfConversion_) - (uint8_t)1U) << 20U)
+
+/**
+  * @brief  Set the ADC's sample time for channel numbers between 10 and 18.
+  * @param  _SAMPLETIME_ Sample time parameter.
+  * @param  _CHANNELNB_ Channel number.  
+  * @retval None
+  */
+#define ADC_SMPR1(_SAMPLETIME_, _CHANNELNB_) ((_SAMPLETIME_) << (3U * (((uint32_t)((uint16_t)(_CHANNELNB_))) - 10U)))
+
+/**
+  * @brief  Set the ADC's sample time for channel numbers between 0 and 9.
+  * @param  _SAMPLETIME_ Sample time parameter.
+  * @param  _CHANNELNB_ Channel number.  
+  * @retval None
+  */
+#define ADC_SMPR2(_SAMPLETIME_, _CHANNELNB_) ((_SAMPLETIME_) << (3U * ((uint32_t)((uint16_t)(_CHANNELNB_)))))
+
+/**
+  * @brief  Set the selected regular channel rank for rank between 1 and 6.
+  * @param  _CHANNELNB_ Channel number.
+  * @param  _RANKNB_ Rank number.    
+  * @retval None
+  */
+#define ADC_SQR3_RK(_CHANNELNB_, _RANKNB_) (((uint32_t)((uint16_t)(_CHANNELNB_))) << (5U * ((_RANKNB_) - 1U)))
+
+/**
+  * @brief  Set the selected regular channel rank for rank between 7 and 12.
+  * @param  _CHANNELNB_ Channel number.
+  * @param  _RANKNB_ Rank number.    
+  * @retval None
+  */
+#define ADC_SQR2_RK(_CHANNELNB_, _RANKNB_) (((uint32_t)((uint16_t)(_CHANNELNB_))) << (5U * ((_RANKNB_) - 7U)))
+
+/**
+  * @brief  Set the selected regular channel rank for rank between 13 and 16.
+  * @param  _CHANNELNB_ Channel number.
+  * @param  _RANKNB_ Rank number.    
+  * @retval None
+  */
+#define ADC_SQR1_RK(_CHANNELNB_, _RANKNB_) (((uint32_t)((uint16_t)(_CHANNELNB_))) << (5U * ((_RANKNB_) - 13U)))
+
+/**
+  * @brief  Enable ADC continuous conversion mode.
+  * @param  _CONTINUOUS_MODE_ Continuous mode.
+  * @retval None
+  */
+#define ADC_CR2_CONTINUOUS(_CONTINUOUS_MODE_) ((_CONTINUOUS_MODE_) << 1U)
+
+/**
+  * @brief  Configures the number of discontinuous conversions for the regular group channels.
+  * @param  _NBR_DISCONTINUOUSCONV_ Number of discontinuous conversions.
+  * @retval None
+  */
+#define ADC_CR1_DISCONTINUOUS(_NBR_DISCONTINUOUSCONV_) (((_NBR_DISCONTINUOUSCONV_) - 1U) << ADC_CR1_DISCNUM_Pos)
+
+/**
+  * @brief  Enable ADC scan mode.
+  * @param  _SCANCONV_MODE_ Scan conversion mode.
+  * @retval None
+  */
+#define ADC_CR1_SCANCONV(_SCANCONV_MODE_) ((_SCANCONV_MODE_) << 8U)
+
+/**
+  * @brief  Enable the ADC end of conversion selection.
+  * @param  _EOCSelection_MODE_ End of conversion selection mode.
+  * @retval None
+  */
+#define ADC_CR2_EOCSelection(_EOCSelection_MODE_) ((_EOCSelection_MODE_) << 10U)
+
+/**
+  * @brief  Enable the ADC DMA continuous request.
+  * @param  _DMAContReq_MODE_ DMA continuous request mode.
+  * @retval None
+  */
+#define ADC_CR2_DMAContReq(_DMAContReq_MODE_) ((_DMAContReq_MODE_) << 9U)
+
+/**
+  * @brief Return resolution bits in CR1 register.
+  * @param __HANDLE__ ADC handle
+  * @retval None
+  */
+#define ADC_GET_RESOLUTION(__HANDLE__) (((__HANDLE__)->Instance->CR1) & ADC_CR1_RES)
+
+/**
+  * @}
+  */
+
+/* Private functions ---------------------------------------------------------*/
+/** @defgroup ADC_Private_Functions ADC Private Functions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_ADC_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h

@@ -0,0 +1,409 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_adc_ex.h
+  * @author  MCD Application Team
+  * @brief   Header file of ADC HAL module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_ADC_EX_H
+#define __STM32F4xx_ADC_EX_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup ADCEx
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup ADCEx_Exported_Types ADC Exported Types
+  * @{
+  */
+   
+/** 
+  * @brief  ADC Configuration injected Channel structure definition
+  * @note   Parameters of this structure are shared within 2 scopes:
+  *          - Scope channel: InjectedChannel, InjectedRank, InjectedSamplingTime, InjectedOffset
+  *          - Scope injected group (affects all channels of injected group): InjectedNbrOfConversion, InjectedDiscontinuousConvMode,
+  *            AutoInjectedConv, ExternalTrigInjecConvEdge, ExternalTrigInjecConv.
+  * @note   The setting of these parameters with function HAL_ADCEx_InjectedConfigChannel() is conditioned to ADC state.
+  *         ADC state can be either:
+  *          - For all parameters: ADC disabled
+  *          - For all except parameters 'InjectedDiscontinuousConvMode' and 'AutoInjectedConv': ADC enabled without conversion on going on injected group.
+  *          - For parameters 'ExternalTrigInjecConv' and 'ExternalTrigInjecConvEdge': ADC enabled, even with conversion on going on injected group.
+  */
+typedef struct 
+{
+  uint32_t InjectedChannel;                      /*!< Selection of ADC channel to configure
+                                                      This parameter can be a value of @ref ADC_channels
+                                                      Note: Depending on devices, some channels may not be available on package pins. Refer to device datasheet for channels availability. */
+  uint32_t InjectedRank;                         /*!< Rank in the injected group sequencer
+                                                      This parameter must be a value of @ref ADCEx_injected_rank
+                                                      Note: In case of need to disable a channel or change order of conversion sequencer, rank containing a previous channel setting can be overwritten by the new channel setting (or parameter number of conversions can be adjusted) */
+  uint32_t InjectedSamplingTime;                 /*!< Sampling time value to be set for the selected channel.
+                                                      Unit: ADC clock cycles
+                                                      Conversion time is the addition of sampling time and processing time (12 ADC clock cycles at ADC resolution 12 bits, 11 cycles at 10 bits, 9 cycles at 8 bits, 7 cycles at 6 bits).
+                                                      This parameter can be a value of @ref ADC_sampling_times
+                                                      Caution: This parameter updates the parameter property of the channel, that can be used into regular and/or injected groups.
+                                                               If this same channel has been previously configured in the other group (regular/injected), it will be updated to last setting.
+                                                      Note: In case of usage of internal measurement channels (VrefInt/Vbat/TempSensor),
+                                                            sampling time constraints must be respected (sampling time can be adjusted in function of ADC clock frequency and sampling time setting)
+                                                            Refer to device datasheet for timings values, parameters TS_vrefint, TS_temp (values rough order: 4us min). */
+  uint32_t InjectedOffset;                       /*!< Defines the offset to be subtracted from the raw converted data (for channels set on injected group only).
+                                                      Offset value must be a positive number.
+                                                      Depending of ADC resolution selected (12, 10, 8 or 6 bits),
+                                                      this parameter must be a number between Min_Data = 0x000 and Max_Data = 0xFFF, 0x3FF, 0xFF or 0x3F respectively. */
+  uint32_t InjectedNbrOfConversion;              /*!< Specifies the number of ranks that will be converted within the injected group sequencer.
+                                                      To use the injected group sequencer and convert several ranks, parameter 'ScanConvMode' must be enabled.
+                                                      This parameter must be a number between Min_Data = 1 and Max_Data = 4.
+                                                      Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to 
+                                                               configure a channel on injected group can impact the configuration of other channels previously set. */
+  FunctionalState InjectedDiscontinuousConvMode; /*!< Specifies whether the conversions sequence of injected group is performed in Complete-sequence/Discontinuous-sequence (main sequence subdivided in successive parts).
+                                                      Discontinuous mode is used only if sequencer is enabled (parameter 'ScanConvMode'). If sequencer is disabled, this parameter is discarded.
+                                                      Discontinuous mode can be enabled only if continuous mode is disabled. If continuous mode is enabled, this parameter setting is discarded.
+                                                      This parameter can be set to ENABLE or DISABLE.
+                                                      Note: For injected group, number of discontinuous ranks increment is fixed to one-by-one.
+                                                      Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to 
+                                                               configure a channel on injected group can impact the configuration of other channels previously set. */
+  FunctionalState AutoInjectedConv;              /*!< Enables or disables the selected ADC automatic injected group conversion after regular one
+                                                      This parameter can be set to ENABLE or DISABLE.      
+                                                      Note: To use Automatic injected conversion, discontinuous mode must be disabled ('DiscontinuousConvMode' and 'InjectedDiscontinuousConvMode' set to DISABLE)
+                                                      Note: To use Automatic injected conversion, injected group external triggers must be disabled ('ExternalTrigInjecConv' set to ADC_SOFTWARE_START)
+                                                      Note: In case of DMA used with regular group: if DMA configured in normal mode (single shot) JAUTO will be stopped upon DMA transfer complete.
+                                                            To maintain JAUTO always enabled, DMA must be configured in circular mode.
+                                                      Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to
+                                                               configure a channel on injected group can impact the configuration of other channels previously set. */
+  uint32_t ExternalTrigInjecConv;                /*!< Selects the external event used to trigger the conversion start of injected group.
+                                                      If set to ADC_INJECTED_SOFTWARE_START, external triggers are disabled.
+                                                      If set to external trigger source, triggering is on event rising edge.
+                                                      This parameter can be a value of @ref ADCEx_External_trigger_Source_Injected
+                                                      Note: This parameter must be modified when ADC is disabled (before ADC start conversion or after ADC stop conversion).
+                                                            If ADC is enabled, this parameter setting is bypassed without error reporting (as it can be the expected behaviour in case of another parameter update on the fly)
+                                                      Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to
+                                                               configure a channel on injected group can impact the configuration of other channels previously set. */
+  uint32_t ExternalTrigInjecConvEdge;            /*!< Selects the external trigger edge of injected group.
+                                                      This parameter can be a value of @ref ADCEx_External_trigger_edge_Injected.
+                                                      If trigger is set to ADC_INJECTED_SOFTWARE_START, this parameter is discarded.
+                                                      Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to 
+                                                               configure a channel on injected group can impact the configuration of other channels previously set. */
+}ADC_InjectionConfTypeDef; 
+
+/** 
+  * @brief ADC Configuration multi-mode structure definition  
+  */ 
+typedef struct
+{
+  uint32_t Mode;              /*!< Configures the ADC to operate in independent or multi mode. 
+                                   This parameter can be a value of @ref ADCEx_Common_mode */
+  uint32_t DMAAccessMode;     /*!< Configures the Direct memory access mode for multi ADC mode.
+                                   This parameter can be a value of @ref ADCEx_Direct_memory_access_mode_for_multi_mode */
+  uint32_t TwoSamplingDelay;  /*!< Configures the Delay between 2 sampling phases.
+                                   This parameter can be a value of @ref ADC_delay_between_2_sampling_phases */
+}ADC_MultiModeTypeDef;
+
+/**
+  * @}
+  */
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup ADCEx_Exported_Constants ADC Exported Constants
+  * @{
+  */
+
+/** @defgroup ADCEx_Common_mode ADC Common Mode
+  * @{
+  */ 
+#define ADC_MODE_INDEPENDENT                  0x00000000U
+#define ADC_DUALMODE_REGSIMULT_INJECSIMULT    ((uint32_t)ADC_CCR_MULTI_0)
+#define ADC_DUALMODE_REGSIMULT_ALTERTRIG      ((uint32_t)ADC_CCR_MULTI_1)
+#define ADC_DUALMODE_INJECSIMULT              ((uint32_t)(ADC_CCR_MULTI_2 | ADC_CCR_MULTI_0))
+#define ADC_DUALMODE_REGSIMULT                ((uint32_t)(ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1))
+#define ADC_DUALMODE_INTERL                   ((uint32_t)(ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1 | ADC_CCR_MULTI_0))
+#define ADC_DUALMODE_ALTERTRIG                ((uint32_t)(ADC_CCR_MULTI_3 | ADC_CCR_MULTI_0))
+#define ADC_TRIPLEMODE_REGSIMULT_INJECSIMULT  ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_0))
+#define ADC_TRIPLEMODE_REGSIMULT_AlterTrig    ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_1))
+#define ADC_TRIPLEMODE_INJECSIMULT            ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_2 | ADC_CCR_MULTI_0))
+#define ADC_TRIPLEMODE_REGSIMULT              ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1))
+#define ADC_TRIPLEMODE_INTERL                 ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1 | ADC_CCR_MULTI_0))
+#define ADC_TRIPLEMODE_ALTERTRIG              ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_3 | ADC_CCR_MULTI_0))
+/**
+  * @}
+  */ 
+
+/** @defgroup ADCEx_Direct_memory_access_mode_for_multi_mode ADC Direct Memory Access Mode For Multi Mode
+  * @{
+  */ 
+#define ADC_DMAACCESSMODE_DISABLED  0x00000000U                /*!< DMA mode disabled */
+#define ADC_DMAACCESSMODE_1         ((uint32_t)ADC_CCR_DMA_0)  /*!< DMA mode 1 enabled (2 / 3 half-words one by one - 1 then 2 then 3)*/
+#define ADC_DMAACCESSMODE_2         ((uint32_t)ADC_CCR_DMA_1)  /*!< DMA mode 2 enabled (2 / 3 half-words by pairs - 2&1 then 1&3 then 3&2)*/
+#define ADC_DMAACCESSMODE_3         ((uint32_t)ADC_CCR_DMA)    /*!< DMA mode 3 enabled (2 / 3 bytes by pairs - 2&1 then 1&3 then 3&2) */
+/**
+  * @}
+  */ 
+
+/** @defgroup ADCEx_External_trigger_edge_Injected ADC External Trigger Edge Injected
+  * @{
+  */ 
+#define ADC_EXTERNALTRIGINJECCONVEDGE_NONE           0x00000000U
+#define ADC_EXTERNALTRIGINJECCONVEDGE_RISING         ((uint32_t)ADC_CR2_JEXTEN_0)
+#define ADC_EXTERNALTRIGINJECCONVEDGE_FALLING        ((uint32_t)ADC_CR2_JEXTEN_1)
+#define ADC_EXTERNALTRIGINJECCONVEDGE_RISINGFALLING  ((uint32_t)ADC_CR2_JEXTEN)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADCEx_External_trigger_Source_Injected ADC External Trigger Source Injected
+  * @{
+  */ 
+#define ADC_EXTERNALTRIGINJECCONV_T1_CC4           0x00000000U
+#define ADC_EXTERNALTRIGINJECCONV_T1_TRGO          ((uint32_t)ADC_CR2_JEXTSEL_0)
+#define ADC_EXTERNALTRIGINJECCONV_T2_CC1           ((uint32_t)ADC_CR2_JEXTSEL_1)
+#define ADC_EXTERNALTRIGINJECCONV_T2_TRGO          ((uint32_t)(ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0))
+#define ADC_EXTERNALTRIGINJECCONV_T3_CC2           ((uint32_t)ADC_CR2_JEXTSEL_2)
+#define ADC_EXTERNALTRIGINJECCONV_T3_CC4           ((uint32_t)(ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_0))
+#define ADC_EXTERNALTRIGINJECCONV_T4_CC1           ((uint32_t)(ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1))
+#define ADC_EXTERNALTRIGINJECCONV_T4_CC2           ((uint32_t)(ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0))
+#define ADC_EXTERNALTRIGINJECCONV_T4_CC3           ((uint32_t)ADC_CR2_JEXTSEL_3)
+#define ADC_EXTERNALTRIGINJECCONV_T4_TRGO          ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_0))
+#define ADC_EXTERNALTRIGINJECCONV_T5_CC4           ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_1))
+#define ADC_EXTERNALTRIGINJECCONV_T5_TRGO          ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0))
+#define ADC_EXTERNALTRIGINJECCONV_T8_CC2           ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2))
+#define ADC_EXTERNALTRIGINJECCONV_T8_CC3           ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_0))
+#define ADC_EXTERNALTRIGINJECCONV_T8_CC4           ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1))
+#define ADC_EXTERNALTRIGINJECCONV_EXT_IT15         ((uint32_t)ADC_CR2_JEXTSEL)
+#define ADC_INJECTED_SOFTWARE_START                ((uint32_t)ADC_CR2_JEXTSEL + 1U)
+/**
+  * @}
+  */ 
+
+/** @defgroup ADCEx_injected_rank ADC Injected Rank
+  * @{
+  */ 
+#define ADC_INJECTED_RANK_1    0x00000001U
+#define ADC_INJECTED_RANK_2    0x00000002U
+#define ADC_INJECTED_RANK_3    0x00000003U
+#define ADC_INJECTED_RANK_4    0x00000004U
+/**
+  * @}
+  */
+
+/** @defgroup ADCEx_channels  ADC Specific Channels
+  * @{
+  */
+#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \
+    defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || \
+    defined(STM32F410Rx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || \
+    defined(STM32F412Cx)
+#define ADC_CHANNEL_TEMPSENSOR  ((uint32_t)ADC_CHANNEL_16)
+#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F401xC || STM32F401xE || STM32F410xx || STM32F412Zx ||
+          STM32F412Vx || STM32F412Rx || STM32F412Cx */
+
+#if defined(STM32F411xE) || defined(STM32F413xx) || defined(STM32F423xx) || defined(STM32F427xx) || defined(STM32F437xx) ||\
+    defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) 
+#define ADC_CHANNEL_DIFFERENCIATION_TEMPSENSOR_VBAT 0x10000000U /* Dummy bit for driver internal usage, not used in ADC channel setting registers CR1 or SQRx */
+#define ADC_CHANNEL_TEMPSENSOR  ((uint32_t)ADC_CHANNEL_18 | ADC_CHANNEL_DIFFERENCIATION_TEMPSENSOR_VBAT)
+#endif /* STM32F411xE || STM32F413xx || STM32F423xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
+/**
+  * @}
+  */ 
+
+
+/**
+  * @}
+  */ 
+
+/* Exported macro ------------------------------------------------------------*/
+/** @defgroup ADC_Exported_Macros ADC Exported Macros
+  * @{
+  */
+#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx)
+/**
+  * @brief Disable internal path of ADC channel Vbat
+  * @note  Use case of this macro:
+  *        On devices STM32F42x and STM32F43x, ADC internal channels
+  *        Vbat and VrefInt share the same internal path, only
+  *        one of them can be enabled.This macro is to be used when ADC 
+  *        channels Vbat and VrefInt are selected, and must be called 
+  *        before starting conversion of ADC channel VrefInt in order 
+  *        to disable ADC channel Vbat.
+  * @retval None
+  */
+#define __HAL_ADC_PATH_INTERNAL_VBAT_DISABLE() (ADC->CCR &= ~(ADC_CCR_VBATE))
+#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */
+/**
+  * @}
+  */ 
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup ADCEx_Exported_Functions
+  * @{
+  */
+
+/** @addtogroup ADCEx_Exported_Functions_Group1
+  * @{
+  */
+
+/* I/O operation functions ******************************************************/
+HAL_StatusTypeDef HAL_ADCEx_InjectedStart(ADC_HandleTypeDef* hadc);
+HAL_StatusTypeDef HAL_ADCEx_InjectedStop(ADC_HandleTypeDef* hadc);
+HAL_StatusTypeDef HAL_ADCEx_InjectedPollForConversion(ADC_HandleTypeDef* hadc, uint32_t Timeout);
+HAL_StatusTypeDef HAL_ADCEx_InjectedStart_IT(ADC_HandleTypeDef* hadc);
+HAL_StatusTypeDef HAL_ADCEx_InjectedStop_IT(ADC_HandleTypeDef* hadc);
+uint32_t HAL_ADCEx_InjectedGetValue(ADC_HandleTypeDef* hadc, uint32_t InjectedRank);
+HAL_StatusTypeDef HAL_ADCEx_MultiModeStart_DMA(ADC_HandleTypeDef* hadc, uint32_t* pData, uint32_t Length);
+HAL_StatusTypeDef HAL_ADCEx_MultiModeStop_DMA(ADC_HandleTypeDef* hadc);
+uint32_t HAL_ADCEx_MultiModeGetValue(ADC_HandleTypeDef* hadc);
+void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc);
+
+/* Peripheral Control functions *************************************************/
+HAL_StatusTypeDef HAL_ADCEx_InjectedConfigChannel(ADC_HandleTypeDef* hadc,ADC_InjectionConfTypeDef* sConfigInjected);
+HAL_StatusTypeDef HAL_ADCEx_MultiModeConfigChannel(ADC_HandleTypeDef* hadc, ADC_MultiModeTypeDef* multimode);
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+/* Private types -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup ADCEx_Private_Constants ADC Private Constants
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup ADCEx_Private_Macros ADC Private Macros
+  * @{
+  */
+#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \
+    defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || \
+    defined(STM32F410Rx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || \
+    defined(STM32F412Cx)
+#define IS_ADC_CHANNEL(CHANNEL) ((CHANNEL) <= ADC_CHANNEL_18)
+#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F401xC || STM32F401xE ||
+          STM32F410xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */
+      
+#if defined(STM32F411xE) || defined(STM32F413xx) || defined(STM32F423xx) || defined(STM32F427xx) || \
+    defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || \
+    defined(STM32F469xx) || defined(STM32F479xx)
+#define IS_ADC_CHANNEL(CHANNEL) (((CHANNEL) <= ADC_CHANNEL_18)  || \
+                                 ((CHANNEL) == ADC_CHANNEL_TEMPSENSOR))
+#endif /* STM32F411xE || STM32F413xx || STM32F423xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
+
+#define IS_ADC_MODE(MODE) (((MODE) == ADC_MODE_INDEPENDENT)                 || \
+                           ((MODE) == ADC_DUALMODE_REGSIMULT_INJECSIMULT)   || \
+                           ((MODE) == ADC_DUALMODE_REGSIMULT_ALTERTRIG)     || \
+                           ((MODE) == ADC_DUALMODE_INJECSIMULT)             || \
+                           ((MODE) == ADC_DUALMODE_REGSIMULT)               || \
+                           ((MODE) == ADC_DUALMODE_INTERL)                  || \
+                           ((MODE) == ADC_DUALMODE_ALTERTRIG)               || \
+                           ((MODE) == ADC_TRIPLEMODE_REGSIMULT_INJECSIMULT) || \
+                           ((MODE) == ADC_TRIPLEMODE_REGSIMULT_AlterTrig)   || \
+                           ((MODE) == ADC_TRIPLEMODE_INJECSIMULT)           || \
+                           ((MODE) == ADC_TRIPLEMODE_REGSIMULT)             || \
+                           ((MODE) == ADC_TRIPLEMODE_INTERL)                || \
+                           ((MODE) == ADC_TRIPLEMODE_ALTERTRIG))
+#define IS_ADC_DMA_ACCESS_MODE(MODE) (((MODE) == ADC_DMAACCESSMODE_DISABLED) || \
+                                      ((MODE) == ADC_DMAACCESSMODE_1)        || \
+                                      ((MODE) == ADC_DMAACCESSMODE_2)        || \
+                                      ((MODE) == ADC_DMAACCESSMODE_3))
+#define IS_ADC_EXT_INJEC_TRIG_EDGE(EDGE) (((EDGE) == ADC_EXTERNALTRIGINJECCONVEDGE_NONE)    || \
+                                          ((EDGE) == ADC_EXTERNALTRIGINJECCONVEDGE_RISING)  || \
+                                          ((EDGE) == ADC_EXTERNALTRIGINJECCONVEDGE_FALLING) || \
+                                          ((EDGE) == ADC_EXTERNALTRIGINJECCONVEDGE_RISINGFALLING))
+#define IS_ADC_EXT_INJEC_TRIG(INJTRIG) (((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T1_CC4)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T1_TRGO) || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T2_CC1)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T2_TRGO) || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T3_CC2)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T3_CC4)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T4_CC1)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T4_CC2)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T4_CC3)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T4_TRGO) || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T5_CC4)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T5_TRGO) || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T8_CC2)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T8_CC3)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T8_CC4)  || \
+                                        ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_EXT_IT15)|| \
+                                        ((INJTRIG) == ADC_INJECTED_SOFTWARE_START))
+#define IS_ADC_INJECTED_LENGTH(LENGTH) (((LENGTH) >= 1U) && ((LENGTH) <= 4U))
+#define IS_ADC_INJECTED_RANK(RANK) (((RANK) >= 1U) && ((RANK) <= 4U))
+
+/**
+  * @brief  Set the selected injected Channel rank.
+  * @param  _CHANNELNB_ Channel number.
+  * @param  _RANKNB_ Rank number. 
+  * @param  _JSQR_JL_ Sequence length.
+  * @retval None
+  */
+#define   ADC_JSQR(_CHANNELNB_, _RANKNB_, _JSQR_JL_)  (((uint32_t)((uint16_t)(_CHANNELNB_))) << (5U * (uint8_t)(((_RANKNB_) + 3U) - (_JSQR_JL_))))
+
+/**
+  * @brief Defines if the selected ADC is within ADC common register ADC123 or ADC1
+  * if available (ADC2, ADC3 availability depends on STM32 product)
+  * @param __HANDLE__ ADC handle
+  * @retval Common control register ADC123 or ADC1
+  */
+#if defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F415xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F429xx) || defined(STM32F437xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
+#define ADC_COMMON_REGISTER(__HANDLE__)                ADC123_COMMON
+#else
+#define ADC_COMMON_REGISTER(__HANDLE__)                ADC1_COMMON
+#endif /* STM32F405xx || STM32F407xx || STM32F415xx || STM32F417xx || STM32F427xx || STM32F429xx || STM32F437xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
+/**
+  * @}
+  */
+
+/* Private functions ---------------------------------------------------------*/
+/** @defgroup ADCEx_Private_Functions ADC Private Functions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32F4xx_ADC_EX_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h

@@ -0,0 +1,848 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_can.h
+  * @author  MCD Application Team
+  * @brief   Header file of CAN HAL module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32F4xx_HAL_CAN_H
+#define STM32F4xx_HAL_CAN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+#if defined (CAN1)
+/** @addtogroup CAN
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup CAN_Exported_Types CAN Exported Types
+  * @{
+  */
+/**
+  * @brief  HAL State structures definition
+  */
+typedef enum
+{
+  HAL_CAN_STATE_RESET             = 0x00U,  /*!< CAN not yet initialized or disabled */
+  HAL_CAN_STATE_READY             = 0x01U,  /*!< CAN initialized and ready for use   */
+  HAL_CAN_STATE_LISTENING         = 0x02U,  /*!< CAN receive process is ongoing      */
+  HAL_CAN_STATE_SLEEP_PENDING     = 0x03U,  /*!< CAN sleep request is pending        */
+  HAL_CAN_STATE_SLEEP_ACTIVE      = 0x04U,  /*!< CAN sleep mode is active            */
+  HAL_CAN_STATE_ERROR             = 0x05U   /*!< CAN error state                     */
+
+} HAL_CAN_StateTypeDef;
+
+/**
+  * @brief  CAN init structure definition
+  */
+typedef struct
+{
+  uint32_t Prescaler;                  /*!< Specifies the length of a time quantum.
+                                            This parameter must be a number between Min_Data = 1 and Max_Data = 1024. */
+
+  uint32_t Mode;                       /*!< Specifies the CAN operating mode.
+                                            This parameter can be a value of @ref CAN_operating_mode */
+
+  uint32_t SyncJumpWidth;              /*!< Specifies the maximum number of time quanta the CAN hardware
+                                            is allowed to lengthen or shorten a bit to perform resynchronization.
+                                            This parameter can be a value of @ref CAN_synchronisation_jump_width */
+
+  uint32_t TimeSeg1;                   /*!< Specifies the number of time quanta in Bit Segment 1.
+                                            This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */
+
+  uint32_t TimeSeg2;                   /*!< Specifies the number of time quanta in Bit Segment 2.
+                                            This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
+
+  FunctionalState TimeTriggeredMode;   /*!< Enable or disable the time triggered communication mode.
+                                            This parameter can be set to ENABLE or DISABLE. */
+
+  FunctionalState AutoBusOff;          /*!< Enable or disable the automatic bus-off management.
+                                            This parameter can be set to ENABLE or DISABLE. */
+
+  FunctionalState AutoWakeUp;          /*!< Enable or disable the automatic wake-up mode.
+                                            This parameter can be set to ENABLE or DISABLE. */
+
+  FunctionalState AutoRetransmission;  /*!< Enable or disable the non-automatic retransmission mode.
+                                            This parameter can be set to ENABLE or DISABLE. */
+
+  FunctionalState ReceiveFifoLocked;   /*!< Enable or disable the Receive FIFO Locked mode.
+                                            This parameter can be set to ENABLE or DISABLE. */
+
+  FunctionalState TransmitFifoPriority;/*!< Enable or disable the transmit FIFO priority.
+                                            This parameter can be set to ENABLE or DISABLE. */
+
+} CAN_InitTypeDef;
+
+/**
+  * @brief  CAN filter configuration structure definition
+  */
+typedef struct
+{
+  uint32_t FilterIdHigh;          /*!< Specifies the filter identification number (MSBs for a 32-bit
+                                       configuration, first one for a 16-bit configuration).
+                                       This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. */
+
+  uint32_t FilterIdLow;           /*!< Specifies the filter identification number (LSBs for a 32-bit
+                                       configuration, second one for a 16-bit configuration).
+                                       This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. */
+
+  uint32_t FilterMaskIdHigh;      /*!< Specifies the filter mask number or identification number,
+                                       according to the mode (MSBs for a 32-bit configuration,
+                                       first one for a 16-bit configuration).
+                                       This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. */
+
+  uint32_t FilterMaskIdLow;       /*!< Specifies the filter mask number or identification number,
+                                       according to the mode (LSBs for a 32-bit configuration,
+                                       second one for a 16-bit configuration).
+                                       This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. */
+
+  uint32_t FilterFIFOAssignment;  /*!< Specifies the FIFO (0 or 1U) which will be assigned to the filter.
+                                       This parameter can be a value of @ref CAN_filter_FIFO */
+
+  uint32_t FilterBank;            /*!< Specifies the filter bank which will be initialized.
+                                       For single CAN instance(14 dedicated filter banks),
+                                       this parameter must be a number between Min_Data = 0 and Max_Data = 13.
+                                       For dual CAN instances(28 filter banks shared),
+                                       this parameter must be a number between Min_Data = 0 and Max_Data = 27. */
+
+  uint32_t FilterMode;            /*!< Specifies the filter mode to be initialized.
+                                       This parameter can be a value of @ref CAN_filter_mode */
+
+  uint32_t FilterScale;           /*!< Specifies the filter scale.
+                                       This parameter can be a value of @ref CAN_filter_scale */
+
+  uint32_t FilterActivation;      /*!< Enable or disable the filter.
+                                       This parameter can be a value of @ref CAN_filter_activation */
+
+  uint32_t SlaveStartFilterBank;  /*!< Select the start filter bank for the slave CAN instance.
+                                       For single CAN instances, this parameter is meaningless.
+                                       For dual CAN instances, all filter banks with lower index are assigned to master
+                                       CAN instance, whereas all filter banks with greater index are assigned to slave
+                                       CAN instance.
+                                       This parameter must be a number between Min_Data = 0 and Max_Data = 27. */
+
+} CAN_FilterTypeDef;
+
+/**
+  * @brief  CAN Tx message header structure definition
+  */
+typedef struct
+{
+  uint32_t StdId;    /*!< Specifies the standard identifier.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF. */
+
+  uint32_t ExtId;    /*!< Specifies the extended identifier.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF. */
+
+  uint32_t IDE;      /*!< Specifies the type of identifier for the message that will be transmitted.
+                          This parameter can be a value of @ref CAN_identifier_type */
+
+  uint32_t RTR;      /*!< Specifies the type of frame for the message that will be transmitted.
+                          This parameter can be a value of @ref CAN_remote_transmission_request */
+
+  uint32_t DLC;      /*!< Specifies the length of the frame that will be transmitted.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 8. */
+
+  FunctionalState TransmitGlobalTime; /*!< Specifies whether the timestamp counter value captured on start
+                          of frame transmission, is sent in DATA6 and DATA7 replacing pData[6] and pData[7].
+                          @note: Time Triggered Communication Mode must be enabled.
+                          @note: DLC must be programmed as 8 bytes, in order these 2 bytes are sent.
+                          This parameter can be set to ENABLE or DISABLE. */
+
+} CAN_TxHeaderTypeDef;
+
+/**
+  * @brief  CAN Rx message header structure definition
+  */
+typedef struct
+{
+  uint32_t StdId;    /*!< Specifies the standard identifier.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF. */
+
+  uint32_t ExtId;    /*!< Specifies the extended identifier.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF. */
+
+  uint32_t IDE;      /*!< Specifies the type of identifier for the message that will be transmitted.
+                          This parameter can be a value of @ref CAN_identifier_type */
+
+  uint32_t RTR;      /*!< Specifies the type of frame for the message that will be transmitted.
+                          This parameter can be a value of @ref CAN_remote_transmission_request */
+
+  uint32_t DLC;      /*!< Specifies the length of the frame that will be transmitted.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 8. */
+
+  uint32_t Timestamp; /*!< Specifies the timestamp counter value captured on start of frame reception.
+                          @note: Time Triggered Communication Mode must be enabled.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 0xFFFF. */
+
+  uint32_t FilterMatchIndex; /*!< Specifies the index of matching acceptance filter element.
+                          This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF. */
+
+} CAN_RxHeaderTypeDef;
+
+/**
+  * @brief  CAN handle Structure definition
+  */
+typedef struct __CAN_HandleTypeDef
+{
+  CAN_TypeDef                 *Instance;                 /*!< Register base address */
+
+  CAN_InitTypeDef             Init;                      /*!< CAN required parameters */
+
+  __IO HAL_CAN_StateTypeDef   State;                     /*!< CAN communication state */
+
+  __IO uint32_t               ErrorCode;                 /*!< CAN Error code.
+                                                              This parameter can be a value of @ref CAN_Error_Code */
+
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+  void (* TxMailbox0CompleteCallback)(struct __CAN_HandleTypeDef *hcan);/*!< CAN Tx Mailbox 0 complete callback    */
+  void (* TxMailbox1CompleteCallback)(struct __CAN_HandleTypeDef *hcan);/*!< CAN Tx Mailbox 1 complete callback    */
+  void (* TxMailbox2CompleteCallback)(struct __CAN_HandleTypeDef *hcan);/*!< CAN Tx Mailbox 2 complete callback    */
+  void (* TxMailbox0AbortCallback)(struct __CAN_HandleTypeDef *hcan);   /*!< CAN Tx Mailbox 0 abort callback       */
+  void (* TxMailbox1AbortCallback)(struct __CAN_HandleTypeDef *hcan);   /*!< CAN Tx Mailbox 1 abort callback       */
+  void (* TxMailbox2AbortCallback)(struct __CAN_HandleTypeDef *hcan);   /*!< CAN Tx Mailbox 2 abort callback       */
+  void (* RxFifo0MsgPendingCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 0 msg pending callback    */
+  void (* RxFifo0FullCallback)(struct __CAN_HandleTypeDef *hcan);       /*!< CAN Rx FIFO 0 full callback           */
+  void (* RxFifo1MsgPendingCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 1 msg pending callback    */
+  void (* RxFifo1FullCallback)(struct __CAN_HandleTypeDef *hcan);       /*!< CAN Rx FIFO 1 full callback           */
+  void (* SleepCallback)(struct __CAN_HandleTypeDef *hcan);             /*!< CAN Sleep callback                    */
+  void (* WakeUpFromRxMsgCallback)(struct __CAN_HandleTypeDef *hcan);   /*!< CAN Wake Up from Rx msg callback      */
+  void (* ErrorCallback)(struct __CAN_HandleTypeDef *hcan);             /*!< CAN Error callback                    */
+
+  void (* MspInitCallback)(struct __CAN_HandleTypeDef *hcan);           /*!< CAN Msp Init callback                 */
+  void (* MspDeInitCallback)(struct __CAN_HandleTypeDef *hcan);         /*!< CAN Msp DeInit callback               */
+
+#endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */
+} CAN_HandleTypeDef;
+
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+/**
+  * @brief  HAL CAN common Callback ID enumeration definition
+  */
+typedef enum
+{
+  HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID       = 0x00U,    /*!< CAN Tx Mailbox 0 complete callback ID         */
+  HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID       = 0x01U,    /*!< CAN Tx Mailbox 1 complete callback ID         */
+  HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID       = 0x02U,    /*!< CAN Tx Mailbox 2 complete callback ID         */
+  HAL_CAN_TX_MAILBOX0_ABORT_CB_ID          = 0x03U,    /*!< CAN Tx Mailbox 0 abort callback ID            */
+  HAL_CAN_TX_MAILBOX1_ABORT_CB_ID          = 0x04U,    /*!< CAN Tx Mailbox 1 abort callback ID            */
+  HAL_CAN_TX_MAILBOX2_ABORT_CB_ID          = 0x05U,    /*!< CAN Tx Mailbox 2 abort callback ID            */
+  HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID       = 0x06U,    /*!< CAN Rx FIFO 0 message pending callback ID     */
+  HAL_CAN_RX_FIFO0_FULL_CB_ID              = 0x07U,    /*!< CAN Rx FIFO 0 full callback ID                */
+  HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID       = 0x08U,    /*!< CAN Rx FIFO 1 message pending callback ID     */
+  HAL_CAN_RX_FIFO1_FULL_CB_ID              = 0x09U,    /*!< CAN Rx FIFO 1 full callback ID                */
+  HAL_CAN_SLEEP_CB_ID                      = 0x0AU,    /*!< CAN Sleep callback ID                         */
+  HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID         = 0x0BU,    /*!< CAN Wake Up from Rx msg callback ID          */
+  HAL_CAN_ERROR_CB_ID                      = 0x0CU,    /*!< CAN Error callback ID                         */
+
+  HAL_CAN_MSPINIT_CB_ID                    = 0x0DU,    /*!< CAN MspInit callback ID                       */
+  HAL_CAN_MSPDEINIT_CB_ID                  = 0x0EU,    /*!< CAN MspDeInit callback ID                     */
+
+} HAL_CAN_CallbackIDTypeDef;
+
+/**
+  * @brief  HAL CAN Callback pointer definition
+  */
+typedef  void (*pCAN_CallbackTypeDef)(CAN_HandleTypeDef *hcan); /*!< pointer to a CAN callback function   */
+
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+/**
+  * @}
+  */
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup CAN_Exported_Constants CAN Exported Constants
+  * @{
+  */
+
+/** @defgroup CAN_Error_Code CAN Error Code
+  * @{
+  */
+#define HAL_CAN_ERROR_NONE            (0x00000000U)  /*!< No error                                             */
+#define HAL_CAN_ERROR_EWG             (0x00000001U)  /*!< Protocol Error Warning                               */
+#define HAL_CAN_ERROR_EPV             (0x00000002U)  /*!< Error Passive                                        */
+#define HAL_CAN_ERROR_BOF             (0x00000004U)  /*!< Bus-off error                                        */
+#define HAL_CAN_ERROR_STF             (0x00000008U)  /*!< Stuff error                                          */
+#define HAL_CAN_ERROR_FOR             (0x00000010U)  /*!< Form error                                           */
+#define HAL_CAN_ERROR_ACK             (0x00000020U)  /*!< Acknowledgment error                                 */
+#define HAL_CAN_ERROR_BR              (0x00000040U)  /*!< Bit recessive error                                  */
+#define HAL_CAN_ERROR_BD              (0x00000080U)  /*!< Bit dominant error                                   */
+#define HAL_CAN_ERROR_CRC             (0x00000100U)  /*!< CRC error                                            */
+#define HAL_CAN_ERROR_RX_FOV0         (0x00000200U)  /*!< Rx FIFO0 overrun error                               */
+#define HAL_CAN_ERROR_RX_FOV1         (0x00000400U)  /*!< Rx FIFO1 overrun error                               */
+#define HAL_CAN_ERROR_TX_ALST0        (0x00000800U)  /*!< TxMailbox 0 transmit failure due to arbitration lost */
+#define HAL_CAN_ERROR_TX_TERR0        (0x00001000U)  /*!< TxMailbox 0 transmit failure due to transmit error    */
+#define HAL_CAN_ERROR_TX_ALST1        (0x00002000U)  /*!< TxMailbox 1 transmit failure due to arbitration lost */
+#define HAL_CAN_ERROR_TX_TERR1        (0x00004000U)  /*!< TxMailbox 1 transmit failure due to transmit error    */
+#define HAL_CAN_ERROR_TX_ALST2        (0x00008000U)  /*!< TxMailbox 2 transmit failure due to arbitration lost */
+#define HAL_CAN_ERROR_TX_TERR2        (0x00010000U)  /*!< TxMailbox 2 transmit failure due to transmit error    */
+#define HAL_CAN_ERROR_TIMEOUT         (0x00020000U)  /*!< Timeout error                                        */
+#define HAL_CAN_ERROR_NOT_INITIALIZED (0x00040000U)  /*!< Peripheral not initialized                           */
+#define HAL_CAN_ERROR_NOT_READY       (0x00080000U)  /*!< Peripheral not ready                                 */
+#define HAL_CAN_ERROR_NOT_STARTED     (0x00100000U)  /*!< Peripheral not started                               */
+#define HAL_CAN_ERROR_PARAM           (0x00200000U)  /*!< Parameter error                                      */
+
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+#define HAL_CAN_ERROR_INVALID_CALLBACK (0x00400000U) /*!< Invalid Callback error                               */
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#define HAL_CAN_ERROR_INTERNAL        (0x00800000U)  /*!< Internal error                                       */
+
+/**
+  * @}
+  */
+
+/** @defgroup CAN_InitStatus CAN InitStatus
+  * @{
+  */
+#define CAN_INITSTATUS_FAILED       (0x00000000U)  /*!< CAN initialization failed */
+#define CAN_INITSTATUS_SUCCESS      (0x00000001U)  /*!< CAN initialization OK     */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_operating_mode CAN Operating Mode
+  * @{
+  */
+#define CAN_MODE_NORMAL             (0x00000000U)                              /*!< Normal mode   */
+#define CAN_MODE_LOOPBACK           ((uint32_t)CAN_BTR_LBKM)                   /*!< Loopback mode */
+#define CAN_MODE_SILENT             ((uint32_t)CAN_BTR_SILM)                   /*!< Silent mode   */
+#define CAN_MODE_SILENT_LOOPBACK    ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM))  /*!< Loopback combined with silent mode */
+/**
+  * @}
+  */
+
+
+/** @defgroup CAN_synchronisation_jump_width CAN Synchronization Jump Width
+  * @{
+  */
+#define CAN_SJW_1TQ                 (0x00000000U)              /*!< 1 time quantum */
+#define CAN_SJW_2TQ                 ((uint32_t)CAN_BTR_SJW_0)  /*!< 2 time quantum */
+#define CAN_SJW_3TQ                 ((uint32_t)CAN_BTR_SJW_1)  /*!< 3 time quantum */
+#define CAN_SJW_4TQ                 ((uint32_t)CAN_BTR_SJW)    /*!< 4 time quantum */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_time_quantum_in_bit_segment_1 CAN Time Quantum in Bit Segment 1
+  * @{
+  */
+#define CAN_BS1_1TQ                 (0x00000000U)                                                /*!< 1 time quantum  */
+#define CAN_BS1_2TQ                 ((uint32_t)CAN_BTR_TS1_0)                                    /*!< 2 time quantum  */
+#define CAN_BS1_3TQ                 ((uint32_t)CAN_BTR_TS1_1)                                    /*!< 3 time quantum  */
+#define CAN_BS1_4TQ                 ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0))                  /*!< 4 time quantum  */
+#define CAN_BS1_5TQ                 ((uint32_t)CAN_BTR_TS1_2)                                    /*!< 5 time quantum  */
+#define CAN_BS1_6TQ                 ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0))                  /*!< 6 time quantum  */
+#define CAN_BS1_7TQ                 ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1))                  /*!< 7 time quantum  */
+#define CAN_BS1_8TQ                 ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0))  /*!< 8 time quantum  */
+#define CAN_BS1_9TQ                 ((uint32_t)CAN_BTR_TS1_3)                                    /*!< 9 time quantum  */
+#define CAN_BS1_10TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0))                  /*!< 10 time quantum */
+#define CAN_BS1_11TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1))                  /*!< 11 time quantum */
+#define CAN_BS1_12TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0))  /*!< 12 time quantum */
+#define CAN_BS1_13TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2))                  /*!< 13 time quantum */
+#define CAN_BS1_14TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0))  /*!< 14 time quantum */
+#define CAN_BS1_15TQ                ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1))  /*!< 15 time quantum */
+#define CAN_BS1_16TQ                ((uint32_t)CAN_BTR_TS1) /*!< 16 time quantum */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_time_quantum_in_bit_segment_2 CAN Time Quantum in Bit Segment 2
+  * @{
+  */
+#define CAN_BS2_1TQ                 (0x00000000U)                                /*!< 1 time quantum */
+#define CAN_BS2_2TQ                 ((uint32_t)CAN_BTR_TS2_0)                    /*!< 2 time quantum */
+#define CAN_BS2_3TQ                 ((uint32_t)CAN_BTR_TS2_1)                    /*!< 3 time quantum */
+#define CAN_BS2_4TQ                 ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0))  /*!< 4 time quantum */
+#define CAN_BS2_5TQ                 ((uint32_t)CAN_BTR_TS2_2)                    /*!< 5 time quantum */
+#define CAN_BS2_6TQ                 ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0))  /*!< 6 time quantum */
+#define CAN_BS2_7TQ                 ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1))  /*!< 7 time quantum */
+#define CAN_BS2_8TQ                 ((uint32_t)CAN_BTR_TS2)                      /*!< 8 time quantum */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_mode CAN Filter Mode
+  * @{
+  */
+#define CAN_FILTERMODE_IDMASK       (0x00000000U)  /*!< Identifier mask mode */
+#define CAN_FILTERMODE_IDLIST       (0x00000001U)  /*!< Identifier list mode */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_scale CAN Filter Scale
+  * @{
+  */
+#define CAN_FILTERSCALE_16BIT       (0x00000000U)  /*!< Two 16-bit filters */
+#define CAN_FILTERSCALE_32BIT       (0x00000001U)  /*!< One 32-bit filter  */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_activation CAN Filter Activation
+  * @{
+  */
+#define CAN_FILTER_DISABLE          (0x00000000U)  /*!< Disable filter */
+#define CAN_FILTER_ENABLE           (0x00000001U)  /*!< Enable filter  */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_filter_FIFO CAN Filter FIFO
+  * @{
+  */
+#define CAN_FILTER_FIFO0            (0x00000000U)  /*!< Filter FIFO 0 assignment for filter x */
+#define CAN_FILTER_FIFO1            (0x00000001U)  /*!< Filter FIFO 1 assignment for filter x */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_identifier_type CAN Identifier Type
+  * @{
+  */
+#define CAN_ID_STD                  (0x00000000U)  /*!< Standard Id */
+#define CAN_ID_EXT                  (0x00000004U)  /*!< Extended Id */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_remote_transmission_request CAN Remote Transmission Request
+  * @{
+  */
+#define CAN_RTR_DATA                (0x00000000U)  /*!< Data frame   */
+#define CAN_RTR_REMOTE              (0x00000002U)  /*!< Remote frame */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_receive_FIFO_number CAN Receive FIFO Number
+  * @{
+  */
+#define CAN_RX_FIFO0                (0x00000000U)  /*!< CAN receive FIFO 0 */
+#define CAN_RX_FIFO1                (0x00000001U)  /*!< CAN receive FIFO 1 */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_Tx_Mailboxes CAN Tx Mailboxes
+  * @{
+  */
+#define CAN_TX_MAILBOX0             (0x00000001U)  /*!< Tx Mailbox 0  */
+#define CAN_TX_MAILBOX1             (0x00000002U)  /*!< Tx Mailbox 1  */
+#define CAN_TX_MAILBOX2             (0x00000004U)  /*!< Tx Mailbox 2  */
+/**
+  * @}
+  */
+
+/** @defgroup CAN_flags CAN Flags
+  * @{
+  */
+/* Transmit Flags */
+#define CAN_FLAG_RQCP0              (0x00000500U)  /*!< Request complete MailBox 0 flag   */
+#define CAN_FLAG_TXOK0              (0x00000501U)  /*!< Transmission OK MailBox 0 flag    */
+#define CAN_FLAG_ALST0              (0x00000502U)  /*!< Arbitration Lost MailBox 0 flag   */
+#define CAN_FLAG_TERR0              (0x00000503U)  /*!< Transmission error MailBox 0 flag */
+#define CAN_FLAG_RQCP1              (0x00000508U)  /*!< Request complete MailBox1 flag    */
+#define CAN_FLAG_TXOK1              (0x00000509U)  /*!< Transmission OK MailBox 1 flag    */
+#define CAN_FLAG_ALST1              (0x0000050AU)  /*!< Arbitration Lost MailBox 1 flag   */
+#define CAN_FLAG_TERR1              (0x0000050BU)  /*!< Transmission error MailBox 1 flag */
+#define CAN_FLAG_RQCP2              (0x00000510U)  /*!< Request complete MailBox2 flag    */
+#define CAN_FLAG_TXOK2              (0x00000511U)  /*!< Transmission OK MailBox 2 flag    */
+#define CAN_FLAG_ALST2              (0x00000512U)  /*!< Arbitration Lost MailBox 2 flag   */
+#define CAN_FLAG_TERR2              (0x00000513U)  /*!< Transmission error MailBox 2 flag */
+#define CAN_FLAG_TME0               (0x0000051AU)  /*!< Transmit mailbox 0 empty flag     */
+#define CAN_FLAG_TME1               (0x0000051BU)  /*!< Transmit mailbox 1 empty flag     */
+#define CAN_FLAG_TME2               (0x0000051CU)  /*!< Transmit mailbox 2 empty flag     */
+#define CAN_FLAG_LOW0               (0x0000051DU)  /*!< Lowest priority mailbox 0 flag    */
+#define CAN_FLAG_LOW1               (0x0000051EU)  /*!< Lowest priority mailbox 1 flag    */
+#define CAN_FLAG_LOW2               (0x0000051FU)  /*!< Lowest priority mailbox 2 flag    */
+
+/* Receive Flags */
+#define CAN_FLAG_FF0                (0x00000203U)  /*!< RX FIFO 0 Full flag               */
+#define CAN_FLAG_FOV0               (0x00000204U)  /*!< RX FIFO 0 Overrun flag            */
+#define CAN_FLAG_FF1                (0x00000403U)  /*!< RX FIFO 1 Full flag               */
+#define CAN_FLAG_FOV1               (0x00000404U)  /*!< RX FIFO 1 Overrun flag            */
+
+/* Operating Mode Flags */
+#define CAN_FLAG_INAK               (0x00000100U)  /*!< Initialization acknowledge flag   */
+#define CAN_FLAG_SLAK               (0x00000101U)  /*!< Sleep acknowledge flag            */
+#define CAN_FLAG_ERRI               (0x00000102U)  /*!< Error flag                        */
+#define CAN_FLAG_WKU                (0x00000103U)  /*!< Wake up interrupt flag            */
+#define CAN_FLAG_SLAKI              (0x00000104U)  /*!< Sleep acknowledge interrupt flag  */
+
+/* Error Flags */
+#define CAN_FLAG_EWG                (0x00000300U)  /*!< Error warning flag                */
+#define CAN_FLAG_EPV                (0x00000301U)  /*!< Error passive flag                */
+#define CAN_FLAG_BOF                (0x00000302U)  /*!< Bus-Off flag                      */
+/**
+  * @}
+  */
+
+
+/** @defgroup CAN_Interrupts CAN Interrupts
+  * @{
+  */
+/* Transmit Interrupt */
+#define CAN_IT_TX_MAILBOX_EMPTY     ((uint32_t)CAN_IER_TMEIE)   /*!< Transmit mailbox empty interrupt */
+
+/* Receive Interrupts */
+#define CAN_IT_RX_FIFO0_MSG_PENDING ((uint32_t)CAN_IER_FMPIE0)  /*!< FIFO 0 message pending interrupt */
+#define CAN_IT_RX_FIFO0_FULL        ((uint32_t)CAN_IER_FFIE0)   /*!< FIFO 0 full interrupt            */
+#define CAN_IT_RX_FIFO0_OVERRUN     ((uint32_t)CAN_IER_FOVIE0)  /*!< FIFO 0 overrun interrupt         */
+#define CAN_IT_RX_FIFO1_MSG_PENDING ((uint32_t)CAN_IER_FMPIE1)  /*!< FIFO 1 message pending interrupt */
+#define CAN_IT_RX_FIFO1_FULL        ((uint32_t)CAN_IER_FFIE1)   /*!< FIFO 1 full interrupt            */
+#define CAN_IT_RX_FIFO1_OVERRUN     ((uint32_t)CAN_IER_FOVIE1)  /*!< FIFO 1 overrun interrupt         */
+
+/* Operating Mode Interrupts */
+#define CAN_IT_WAKEUP               ((uint32_t)CAN_IER_WKUIE)   /*!< Wake-up interrupt                */
+#define CAN_IT_SLEEP_ACK            ((uint32_t)CAN_IER_SLKIE)   /*!< Sleep acknowledge interrupt      */
+
+/* Error Interrupts */
+#define CAN_IT_ERROR_WARNING        ((uint32_t)CAN_IER_EWGIE)   /*!< Error warning interrupt          */
+#define CAN_IT_ERROR_PASSIVE        ((uint32_t)CAN_IER_EPVIE)   /*!< Error passive interrupt          */
+#define CAN_IT_BUSOFF               ((uint32_t)CAN_IER_BOFIE)   /*!< Bus-off interrupt                */
+#define CAN_IT_LAST_ERROR_CODE      ((uint32_t)CAN_IER_LECIE)   /*!< Last error code interrupt        */
+#define CAN_IT_ERROR                ((uint32_t)CAN_IER_ERRIE)   /*!< Error Interrupt                  */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macros -----------------------------------------------------------*/
+/** @defgroup CAN_Exported_Macros CAN Exported Macros
+  * @{
+  */
+
+/** @brief  Reset CAN handle state
+  * @param  __HANDLE__ CAN handle.
+  * @retval None
+  */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) do{                                              \
+                                                     (__HANDLE__)->State = HAL_CAN_STATE_RESET;   \
+                                                     (__HANDLE__)->MspInitCallback = NULL;        \
+                                                     (__HANDLE__)->MspDeInitCallback = NULL;      \
+                                                   } while(0)
+#else
+#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET)
+#endif /*USE_HAL_CAN_REGISTER_CALLBACKS */
+
+/**
+  * @brief  Enable the specified CAN interrupts.
+  * @param  __HANDLE__ CAN handle.
+  * @param  __INTERRUPT__ CAN Interrupt sources to enable.
+  *           This parameter can be any combination of @arg CAN_Interrupts
+  * @retval None
+  */
+#define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__))
+
+/**
+  * @brief  Disable the specified CAN interrupts.
+  * @param  __HANDLE__ CAN handle.
+  * @param  __INTERRUPT__ CAN Interrupt sources to disable.
+  *           This parameter can be any combination of @arg CAN_Interrupts
+  * @retval None
+  */
+#define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__))
+
+/** @brief  Check if the specified CAN interrupt source is enabled or disabled.
+  * @param  __HANDLE__ specifies the CAN Handle.
+  * @param  __INTERRUPT__ specifies the CAN interrupt source to check.
+  *           This parameter can be a value of @arg CAN_Interrupts
+  * @retval The state of __IT__ (TRUE or FALSE).
+  */
+#define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) & (__INTERRUPT__))
+
+/** @brief  Check whether the specified CAN flag is set or not.
+  * @param  __HANDLE__ specifies the CAN Handle.
+  * @param  __FLAG__ specifies the flag to check.
+  *         This parameter can be one of @arg CAN_flags
+  * @retval The state of __FLAG__ (TRUE or FALSE).
+  */
+#define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \
+  ((((__FLAG__) >> 8U) == 5U)? ((((__HANDLE__)->Instance->TSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+   (((__FLAG__) >> 8U) == 2U)? ((((__HANDLE__)->Instance->RF0R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+   (((__FLAG__) >> 8U) == 4U)? ((((__HANDLE__)->Instance->RF1R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+   (((__FLAG__) >> 8U) == 1U)? ((((__HANDLE__)->Instance->MSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+   (((__FLAG__) >> 8U) == 3U)? ((((__HANDLE__)->Instance->ESR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): 0U)
+
+/** @brief  Clear the specified CAN pending flag.
+  * @param  __HANDLE__ specifies the CAN Handle.
+  * @param  __FLAG__ specifies the flag to check.
+  *         This parameter can be one of the following values:
+  *            @arg CAN_FLAG_RQCP0: Request complete MailBox 0 Flag
+  *            @arg CAN_FLAG_TXOK0: Transmission OK MailBox 0 Flag
+  *            @arg CAN_FLAG_ALST0: Arbitration Lost MailBox 0 Flag
+  *            @arg CAN_FLAG_TERR0: Transmission error MailBox 0 Flag
+  *            @arg CAN_FLAG_RQCP1: Request complete MailBox 1 Flag
+  *            @arg CAN_FLAG_TXOK1: Transmission OK MailBox 1 Flag
+  *            @arg CAN_FLAG_ALST1: Arbitration Lost MailBox 1 Flag
+  *            @arg CAN_FLAG_TERR1: Transmission error MailBox 1 Flag
+  *            @arg CAN_FLAG_RQCP2: Request complete MailBox 2 Flag
+  *            @arg CAN_FLAG_TXOK2: Transmission OK MailBox 2 Flag
+  *            @arg CAN_FLAG_ALST2: Arbitration Lost MailBox 2 Flag
+  *            @arg CAN_FLAG_TERR2: Transmission error MailBox 2 Flag
+  *            @arg CAN_FLAG_FF0:   RX FIFO 0 Full Flag
+  *            @arg CAN_FLAG_FOV0:  RX FIFO 0 Overrun Flag
+  *            @arg CAN_FLAG_FF1:   RX FIFO 1 Full Flag
+  *            @arg CAN_FLAG_FOV1:  RX FIFO 1 Overrun Flag
+  *            @arg CAN_FLAG_WKUI:  Wake up Interrupt Flag
+  *            @arg CAN_FLAG_SLAKI: Sleep acknowledge Interrupt Flag
+  * @retval None
+  */
+#define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \
+  ((((__FLAG__) >> 8U) == 5U)? (((__HANDLE__)->Instance->TSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+   (((__FLAG__) >> 8U) == 2U)? (((__HANDLE__)->Instance->RF0R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+   (((__FLAG__) >> 8U) == 4U)? (((__HANDLE__)->Instance->RF1R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
+   (((__FLAG__) >> 8U) == 1U)? (((__HANDLE__)->Instance->MSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): 0U)
+
+/**
+ * @}
+ */
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup CAN_Exported_Functions CAN Exported Functions
+  * @{
+  */
+
+/** @addtogroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
+ *  @brief    Initialization and Configuration functions
+ * @{
+ */
+
+/* Initialization and de-initialization functions *****************************/
+HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan);
+void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan);
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan);
+
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+/* Callbacks Register/UnRegister functions  ***********************************/
+HAL_StatusTypeDef HAL_CAN_RegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID, void (* pCallback)(CAN_HandleTypeDef *_hcan));
+HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID);
+
+#endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group2 Configuration functions
+ *  @brief    Configuration functions
+ * @{
+ */
+
+/* Configuration functions ****************************************************/
+HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig);
+
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group3 Control functions
+ *  @brief    Control functions
+ * @{
+ */
+
+/* Control functions **********************************************************/
+HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
+uint32_t HAL_CAN_IsSleepActive(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef *pHeader, uint8_t aData[], uint32_t *pTxMailbox);
+HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes);
+uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan);
+uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes);
+uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox);
+HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[]);
+uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo);
+
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group4 Interrupts management
+ *  @brief    Interrupts management
+ * @{
+ */
+/* Interrupts management ******************************************************/
+HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs);
+HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs);
+void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan);
+
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group5 Callback functions
+ *  @brief    Callback functions
+ * @{
+ */
+/* Callbacks functions ********************************************************/
+
+void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
+
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
+ *  @brief   CAN Peripheral State functions
+ * @{
+ */
+/* Peripheral State and Error functions ***************************************/
+HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan);
+uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan);
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/* Private types -------------------------------------------------------------*/
+/** @defgroup CAN_Private_Types CAN Private Types
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private variables ---------------------------------------------------------*/
+/** @defgroup CAN_Private_Variables CAN Private Variables
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup CAN_Private_Constants CAN Private Constants
+  * @{
+  */
+#define CAN_FLAG_MASK  (0x000000FFU)
+/**
+  * @}
+  */
+
+/* Private Macros -----------------------------------------------------------*/
+/** @defgroup CAN_Private_Macros CAN Private Macros
+  * @{
+  */
+
+#define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \
+                           ((MODE) == CAN_MODE_LOOPBACK)|| \
+                           ((MODE) == CAN_MODE_SILENT) || \
+                           ((MODE) == CAN_MODE_SILENT_LOOPBACK))
+#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ) || \
+                         ((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ))
+#define IS_CAN_BS1(BS1) (((BS1) == CAN_BS1_1TQ) || ((BS1) == CAN_BS1_2TQ) || \
+                         ((BS1) == CAN_BS1_3TQ) || ((BS1) == CAN_BS1_4TQ) || \
+                         ((BS1) == CAN_BS1_5TQ) || ((BS1) == CAN_BS1_6TQ) || \
+                         ((BS1) == CAN_BS1_7TQ) || ((BS1) == CAN_BS1_8TQ) || \
+                         ((BS1) == CAN_BS1_9TQ) || ((BS1) == CAN_BS1_10TQ)|| \
+                         ((BS1) == CAN_BS1_11TQ)|| ((BS1) == CAN_BS1_12TQ)|| \
+                         ((BS1) == CAN_BS1_13TQ)|| ((BS1) == CAN_BS1_14TQ)|| \
+                         ((BS1) == CAN_BS1_15TQ)|| ((BS1) == CAN_BS1_16TQ))
+#define IS_CAN_BS2(BS2) (((BS2) == CAN_BS2_1TQ) || ((BS2) == CAN_BS2_2TQ) || \
+                         ((BS2) == CAN_BS2_3TQ) || ((BS2) == CAN_BS2_4TQ) || \
+                         ((BS2) == CAN_BS2_5TQ) || ((BS2) == CAN_BS2_6TQ) || \
+                         ((BS2) == CAN_BS2_7TQ) || ((BS2) == CAN_BS2_8TQ))
+#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1U) && ((PRESCALER) <= 1024U))
+#define IS_CAN_FILTER_ID_HALFWORD(HALFWORD) ((HALFWORD) <= 0xFFFFU)
+#define IS_CAN_FILTER_BANK_DUAL(BANK) ((BANK) <= 27U)
+#define IS_CAN_FILTER_BANK_SINGLE(BANK) ((BANK) <= 13U)
+#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \
+                                  ((MODE) == CAN_FILTERMODE_IDLIST))
+#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \
+                                    ((SCALE) == CAN_FILTERSCALE_32BIT))
+#define IS_CAN_FILTER_ACTIVATION(ACTIVATION) (((ACTIVATION) == CAN_FILTER_DISABLE) || \
+                                              ((ACTIVATION) == CAN_FILTER_ENABLE))
+#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \
+                                  ((FIFO) == CAN_FILTER_FIFO1))
+#define IS_CAN_TX_MAILBOX(TRANSMITMAILBOX) (((TRANSMITMAILBOX) == CAN_TX_MAILBOX0 ) || \
+                                            ((TRANSMITMAILBOX) == CAN_TX_MAILBOX1 ) || \
+                                            ((TRANSMITMAILBOX) == CAN_TX_MAILBOX2 ))
+#define IS_CAN_TX_MAILBOX_LIST(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= (CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2))
+#define IS_CAN_STDID(STDID)   ((STDID) <= 0x7FFU)
+#define IS_CAN_EXTID(EXTID)   ((EXTID) <= 0x1FFFFFFFU)
+#define IS_CAN_DLC(DLC)       ((DLC) <= 8U)
+#define IS_CAN_IDTYPE(IDTYPE)  (((IDTYPE) == CAN_ID_STD) || \
+                                ((IDTYPE) == CAN_ID_EXT))
+#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))
+#define IS_CAN_RX_FIFO(FIFO) (((FIFO) == CAN_RX_FIFO0) || ((FIFO) == CAN_RX_FIFO1))
+#define IS_CAN_IT(IT) ((IT) <= (CAN_IT_TX_MAILBOX_EMPTY     | CAN_IT_RX_FIFO0_MSG_PENDING      | \
+                                CAN_IT_RX_FIFO0_FULL        | CAN_IT_RX_FIFO0_OVERRUN          | \
+                                CAN_IT_RX_FIFO1_MSG_PENDING | CAN_IT_RX_FIFO1_FULL             | \
+                                CAN_IT_RX_FIFO1_OVERRUN     | CAN_IT_WAKEUP                    | \
+                                CAN_IT_SLEEP_ACK            | CAN_IT_ERROR_WARNING             | \
+                                CAN_IT_ERROR_PASSIVE        | CAN_IT_BUSOFF                    | \
+                                CAN_IT_LAST_ERROR_CODE      | CAN_IT_ERROR))
+
+/**
+  * @}
+  */
+/* End of private macros -----------------------------------------------------*/
+
+/**
+  * @}
+  */
+
+
+#endif /* CAN1 */
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STM32F4xx_HAL_CAN_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cec.h

@@ -0,0 +1,794 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_cec.h
+  * @author  MCD Application Team
+  * @brief   Header file of CEC HAL module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32F4xx_HAL_CEC_H
+#define STM32F4xx_HAL_CEC_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+#if defined (CEC)
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup CEC
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup CEC_Exported_Types CEC Exported Types
+  * @{
+  */
+
+/**
+  * @brief CEC Init Structure definition
+  */
+typedef struct
+{
+  uint32_t SignalFreeTime;               /*!< Set SFT field, specifies the Signal Free Time.
+                                              It can be one of @ref CEC_Signal_Free_Time
+                                              and belongs to the set {0,...,7} where
+                                              0x0 is the default configuration
+                                              else means 0.5 + (SignalFreeTime - 1) nominal data bit periods */
+
+  uint32_t Tolerance;                    /*!< Set RXTOL bit, specifies the tolerance accepted on the received waveforms,
+                                              it can be a value of @ref CEC_Tolerance : it is either CEC_STANDARD_TOLERANCE
+                                              or CEC_EXTENDED_TOLERANCE */
+
+  uint32_t BRERxStop;                    /*!< Set BRESTP bit @ref CEC_BRERxStop : specifies whether or not a Bit Rising Error stops the reception.
+                                              CEC_NO_RX_STOP_ON_BRE: reception is not stopped.
+                                              CEC_RX_STOP_ON_BRE:    reception is stopped. */
+
+  uint32_t BREErrorBitGen;               /*!< Set BREGEN bit @ref CEC_BREErrorBitGen : specifies whether or not an Error-Bit is generated on the
+                                              CEC line upon Bit Rising Error detection.
+                                              CEC_BRE_ERRORBIT_NO_GENERATION: no error-bit generation.
+                                              CEC_BRE_ERRORBIT_GENERATION:    error-bit generation if BRESTP is set. */
+
+  uint32_t LBPEErrorBitGen;              /*!< Set LBPEGEN bit @ref CEC_LBPEErrorBitGen : specifies whether or not an Error-Bit is generated on the
+                                              CEC line upon Long Bit Period Error detection.
+                                              CEC_LBPE_ERRORBIT_NO_GENERATION:  no error-bit generation.
+                                              CEC_LBPE_ERRORBIT_GENERATION:     error-bit generation. */
+
+  uint32_t BroadcastMsgNoErrorBitGen;    /*!< Set BRDNOGEN bit @ref CEC_BroadCastMsgErrorBitGen : allows to avoid an Error-Bit generation on the CEC line
+                                              upon an error detected on a broadcast message.
+
+                                              It supersedes BREGEN and LBPEGEN bits for a broadcast message error handling. It can take two values:
+
+                                              1) CEC_BROADCASTERROR_ERRORBIT_GENERATION.
+                                                 a) BRE detection: error-bit generation on the CEC line if BRESTP=CEC_RX_STOP_ON_BRE
+                                                    and BREGEN=CEC_BRE_ERRORBIT_NO_GENERATION.
+                                                 b) LBPE detection: error-bit generation on the CEC line
+                                                    if LBPGEN=CEC_LBPE_ERRORBIT_NO_GENERATION.
+
+                                              2) CEC_BROADCASTERROR_NO_ERRORBIT_GENERATION.
+                                                 no error-bit generation in case neither a) nor b) are satisfied. Additionally,
+                                                 there is no error-bit generation in case of Short Bit Period Error detection in
+                                                 a broadcast message while LSTN bit is set. */
+
+  uint32_t SignalFreeTimeOption;         /*!< Set SFTOP bit @ref CEC_SFT_Option : specifies when SFT timer starts.
+                                              CEC_SFT_START_ON_TXSOM SFT:    timer starts when TXSOM is set by software.
+                                              CEC_SFT_START_ON_TX_RX_END:  SFT timer starts automatically at the end of message transmission/reception. */
+
+  uint32_t ListenMode;                   /*!< Set LSTN bit @ref CEC_Listening_Mode : specifies device listening mode. It can take two values:
+
+                                              CEC_REDUCED_LISTENING_MODE: CEC peripheral receives only message addressed to its
+                                                own address (OAR). Messages addressed to different destination are ignored.
+                                                Broadcast messages are always received.
+
+                                              CEC_FULL_LISTENING_MODE: CEC peripheral receives messages addressed to its own
+                                                address (OAR) with positive acknowledge. Messages addressed to different destination
+                                                are received, but without interfering with the CEC bus: no acknowledge sent.  */
+
+  uint16_t  OwnAddress;                 /*!< Own addresses configuration
+                                             This parameter can be a value of @ref CEC_OWN_ADDRESS */
+
+  uint8_t  *RxBuffer;                    /*!< CEC Rx buffer pointeur */
+
+
+} CEC_InitTypeDef;
+
+/**
+  * @brief HAL CEC State definition
+  * @note  HAL CEC State value is a combination of 2 different substates: gState and RxState (see @ref CEC_State_Definition).
+  *        - gState contains CEC state information related to global Handle management
+  *          and also information related to Tx operations.
+  *          gState value coding follow below described bitmap :
+  *          b7 (not used)
+  *             x  : Should be set to 0
+  *          b6  Error information
+  *             0  : No Error
+  *             1  : Error
+  *          b5     CEC peripheral initialization status
+  *             0  : Reset (peripheral not initialized)
+  *             1  : Init done (peripheral initialized. HAL CEC Init function already called)
+  *          b4-b3  (not used)
+  *             xx : Should be set to 00
+  *          b2     Intrinsic process state
+  *             0  : Ready
+  *             1  : Busy (peripheral busy with some configuration or internal operations)
+  *          b1     (not used)
+  *             x  : Should be set to 0
+  *          b0     Tx state
+  *             0  : Ready (no Tx operation ongoing)
+  *             1  : Busy (Tx operation ongoing)
+  *        - RxState contains information related to Rx operations.
+  *          RxState value coding follow below described bitmap :
+  *          b7-b6  (not used)
+  *             xx : Should be set to 00
+  *          b5     CEC peripheral initialization status
+  *             0  : Reset (peripheral not initialized)
+  *             1  : Init done (peripheral initialized)
+  *          b4-b2  (not used)
+  *            xxx : Should be set to 000
+  *          b1     Rx state
+  *             0  : Ready (no Rx operation ongoing)
+  *             1  : Busy (Rx operation ongoing)
+  *          b0     (not used)
+  *             x  : Should be set to 0.
+  */
+typedef uint32_t HAL_CEC_StateTypeDef;
+
+/**
+  * @brief  CEC handle Structure definition
+  */
+#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1)
+typedef struct __CEC_HandleTypeDef
+#else
+typedef struct
+#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */
+{
+  CEC_TypeDef             *Instance;      /*!< CEC registers base address */
+
+  CEC_InitTypeDef         Init;           /*!< CEC communication parameters */
+
+  uint8_t                 *pTxBuffPtr;    /*!< Pointer to CEC Tx transfer Buffer */
+
+  uint16_t                TxXferCount;    /*!< CEC Tx Transfer Counter */
+
+  uint16_t                RxXferSize;     /*!< CEC Rx Transfer size, 0: header received only */
+
+  HAL_LockTypeDef         Lock;           /*!< Locking object */
+
+  HAL_CEC_StateTypeDef    gState;         /*!< CEC state information related to global Handle management
+                                               and also related to Tx operations.
+                                               This parameter can be a value of @ref HAL_CEC_StateTypeDef */
+
+  HAL_CEC_StateTypeDef    RxState;        /*!< CEC state information related to Rx operations.
+                                               This parameter can be a value of @ref HAL_CEC_StateTypeDef */
+
+  uint32_t                ErrorCode;      /*!< For errors handling purposes, copy of ISR register
+                                               in case error is reported */
+
+#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1)
+  void (* TxCpltCallback)(struct __CEC_HandleTypeDef
+                          *hcec);                                /*!< CEC Tx Transfer completed callback */
+  void (* RxCpltCallback)(struct __CEC_HandleTypeDef *hcec,
+                          uint32_t RxFrameSize);          /*!< CEC Rx Transfer completed callback */
+  void (* ErrorCallback)(struct __CEC_HandleTypeDef *hcec);                                 /*!< CEC error callback */
+
+  void (* MspInitCallback)(struct __CEC_HandleTypeDef *hcec);               /*!< CEC Msp Init callback              */
+  void (* MspDeInitCallback)(struct __CEC_HandleTypeDef *hcec);             /*!< CEC Msp DeInit callback            */
+
+#endif /* (USE_HAL_CEC_REGISTER_CALLBACKS) */
+} CEC_HandleTypeDef;
+
+#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1)
+/**
+  * @brief  HAL CEC Callback ID enumeration definition
+  */
+typedef enum
+{
+  HAL_CEC_TX_CPLT_CB_ID      = 0x00U,    /*!< CEC Tx Transfer completed callback ID  */
+  HAL_CEC_RX_CPLT_CB_ID      = 0x01U,    /*!< CEC Rx Transfer completed callback ID  */
+  HAL_CEC_ERROR_CB_ID        = 0x02U,    /*!< CEC error callback ID                 */
+  HAL_CEC_MSPINIT_CB_ID      = 0x03U,    /*!< CEC Msp Init callback ID               */
+  HAL_CEC_MSPDEINIT_CB_ID    = 0x04U     /*!< CEC Msp DeInit callback ID             */
+} HAL_CEC_CallbackIDTypeDef;
+
+/**
+  * @brief  HAL CEC Callback pointer definition
+  */
+typedef  void (*pCEC_CallbackTypeDef)(CEC_HandleTypeDef *hcec);  /*!< pointer to an CEC callback function */
+typedef  void (*pCEC_RxCallbackTypeDef)(CEC_HandleTypeDef *hcec,
+                                        uint32_t RxFrameSize);  /*!< pointer to an Rx Transfer completed callback function */
+#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */
+/**
+  * @}
+  */
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup CEC_Exported_Constants CEC Exported Constants
+  * @{
+  */
+/** @defgroup CEC_State_Definition CEC State Code Definition
+  * @{
+  */
+#define   HAL_CEC_STATE_RESET      ((uint32_t)0x00000000)   /*!< Peripheral is not yet Initialized
+                                                                 Value is allowed for gState and RxState  */
+#define   HAL_CEC_STATE_READY      ((uint32_t)0x00000020)   /*!< Peripheral Initialized and ready for use
+                                                                 Value is allowed for gState and RxState  */
+#define   HAL_CEC_STATE_BUSY       ((uint32_t)0x00000024)   /*!< an internal process is ongoing
+                                                                 Value is allowed for gState only         */
+#define   HAL_CEC_STATE_BUSY_RX    ((uint32_t)0x00000022)   /*!< Data Reception process is ongoing
+                                                                 Value is allowed for RxState only        */
+#define   HAL_CEC_STATE_BUSY_TX    ((uint32_t)0x00000021)   /*!< Data Transmission process is ongoing
+                                                                 Value is allowed for gState only         */
+#define   HAL_CEC_STATE_BUSY_RX_TX ((uint32_t)0x00000023)   /*!< an internal process is ongoing
+                                                                 Value is allowed for gState only         */
+#define   HAL_CEC_STATE_ERROR      ((uint32_t)0x00000050)   /*!< Error Value is allowed for gState only   */
+/**
+  * @}
+  */
+/** @defgroup CEC_Error_Code CEC Error Code
+  * @{
+  */
+#define HAL_CEC_ERROR_NONE    (uint32_t) 0x0000U     /*!< no error                      */
+#define HAL_CEC_ERROR_RXOVR   CEC_ISR_RXOVR          /*!< CEC Rx-Overrun                */
+#define HAL_CEC_ERROR_BRE     CEC_ISR_BRE            /*!< CEC Rx Bit Rising Error       */
+#define HAL_CEC_ERROR_SBPE    CEC_ISR_SBPE           /*!< CEC Rx Short Bit period Error */
+#define HAL_CEC_ERROR_LBPE    CEC_ISR_LBPE           /*!< CEC Rx Long Bit period Error  */
+#define HAL_CEC_ERROR_RXACKE  CEC_ISR_RXACKE         /*!< CEC Rx Missing Acknowledge    */
+#define HAL_CEC_ERROR_ARBLST  CEC_ISR_ARBLST         /*!< CEC Arbitration Lost          */
+#define HAL_CEC_ERROR_TXUDR   CEC_ISR_TXUDR          /*!< CEC Tx-Buffer Underrun        */
+#define HAL_CEC_ERROR_TXERR   CEC_ISR_TXERR          /*!< CEC Tx-Error                  */
+#define HAL_CEC_ERROR_TXACKE  CEC_ISR_TXACKE         /*!< CEC Tx Missing Acknowledge    */
+#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1)
+#define  HAL_CEC_ERROR_INVALID_CALLBACK ((uint32_t)0x00002000U) /*!< Invalid Callback Error  */
+#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Signal_Free_Time  CEC Signal Free Time setting parameter
+  * @{
+  */
+#define CEC_DEFAULT_SFT                    ((uint32_t)0x00000000U)
+#define CEC_0_5_BITPERIOD_SFT              ((uint32_t)0x00000001U)
+#define CEC_1_5_BITPERIOD_SFT              ((uint32_t)0x00000002U)
+#define CEC_2_5_BITPERIOD_SFT              ((uint32_t)0x00000003U)
+#define CEC_3_5_BITPERIOD_SFT              ((uint32_t)0x00000004U)
+#define CEC_4_5_BITPERIOD_SFT              ((uint32_t)0x00000005U)
+#define CEC_5_5_BITPERIOD_SFT              ((uint32_t)0x00000006U)
+#define CEC_6_5_BITPERIOD_SFT              ((uint32_t)0x00000007U)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Tolerance CEC Receiver Tolerance
+  * @{
+  */
+#define CEC_STANDARD_TOLERANCE             ((uint32_t)0x00000000U)
+#define CEC_EXTENDED_TOLERANCE             ((uint32_t)CEC_CFGR_RXTOL)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_BRERxStop CEC Reception Stop on Error
+  * @{
+  */
+#define CEC_NO_RX_STOP_ON_BRE             ((uint32_t)0x00000000U)
+#define CEC_RX_STOP_ON_BRE                ((uint32_t)CEC_CFGR_BRESTP)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_BREErrorBitGen  CEC Error Bit Generation if Bit Rise Error reported
+  * @{
+  */
+#define CEC_BRE_ERRORBIT_NO_GENERATION     ((uint32_t)0x00000000U)
+#define CEC_BRE_ERRORBIT_GENERATION        ((uint32_t)CEC_CFGR_BREGEN)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_LBPEErrorBitGen  CEC Error Bit Generation if Long Bit Period Error reported
+  * @{
+  */
+#define CEC_LBPE_ERRORBIT_NO_GENERATION     ((uint32_t)0x00000000U)
+#define CEC_LBPE_ERRORBIT_GENERATION        ((uint32_t)CEC_CFGR_LBPEGEN)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_BroadCastMsgErrorBitGen  CEC Error Bit Generation on Broadcast message
+  * @{
+  */
+#define CEC_BROADCASTERROR_ERRORBIT_GENERATION     ((uint32_t)0x00000000U)
+#define CEC_BROADCASTERROR_NO_ERRORBIT_GENERATION  ((uint32_t)CEC_CFGR_BRDNOGEN)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_SFT_Option     CEC Signal Free Time start option
+  * @{
+  */
+#define CEC_SFT_START_ON_TXSOM           ((uint32_t)0x00000000U)
+#define CEC_SFT_START_ON_TX_RX_END       ((uint32_t)CEC_CFGR_SFTOPT)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Listening_Mode    CEC Listening mode option
+  * @{
+  */
+#define CEC_REDUCED_LISTENING_MODE          ((uint32_t)0x00000000U)
+#define CEC_FULL_LISTENING_MODE             ((uint32_t)CEC_CFGR_LSTN)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_OAR_Position   CEC Device Own Address position in CEC CFGR register
+  * @{
+  */
+#define CEC_CFGR_OAR_LSB_POS            ((uint32_t) 16U)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Initiator_Position   CEC Initiator logical address position in message header
+  * @{
+  */
+#define CEC_INITIATOR_LSB_POS           ((uint32_t) 4U)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_OWN_ADDRESS   CEC Own Address
+  * @{
+  */
+#define CEC_OWN_ADDRESS_NONE           ((uint16_t) 0x0000U)   /* Reset value */
+#define CEC_OWN_ADDRESS_0              ((uint16_t) 0x0001U)   /* Logical Address 0 */
+#define CEC_OWN_ADDRESS_1              ((uint16_t) 0x0002U)   /* Logical Address 1 */
+#define CEC_OWN_ADDRESS_2              ((uint16_t) 0x0004U)   /* Logical Address 2 */
+#define CEC_OWN_ADDRESS_3              ((uint16_t) 0x0008U)   /* Logical Address 3 */
+#define CEC_OWN_ADDRESS_4              ((uint16_t) 0x0010U)   /* Logical Address 4 */
+#define CEC_OWN_ADDRESS_5              ((uint16_t) 0x0020U)   /* Logical Address 5 */
+#define CEC_OWN_ADDRESS_6              ((uint16_t) 0x0040U)   /* Logical Address 6 */
+#define CEC_OWN_ADDRESS_7              ((uint16_t) 0x0080U)   /* Logical Address 7 */
+#define CEC_OWN_ADDRESS_8              ((uint16_t) 0x0100U)   /* Logical Address 9 */
+#define CEC_OWN_ADDRESS_9              ((uint16_t) 0x0200U)   /* Logical Address 10 */
+#define CEC_OWN_ADDRESS_10             ((uint16_t) 0x0400U)   /* Logical Address 11 */
+#define CEC_OWN_ADDRESS_11             ((uint16_t) 0x0800U)   /* Logical Address 12 */
+#define CEC_OWN_ADDRESS_12             ((uint16_t) 0x1000U)   /* Logical Address 13 */
+#define CEC_OWN_ADDRESS_13             ((uint16_t) 0x2000U)   /* Logical Address 14 */
+#define CEC_OWN_ADDRESS_14             ((uint16_t) 0x4000U)   /* Logical Address 15 */
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Interrupts_Definitions  CEC Interrupts definition
+  * @{
+  */
+#define CEC_IT_TXACKE                   CEC_IER_TXACKEIE
+#define CEC_IT_TXERR                    CEC_IER_TXERRIE
+#define CEC_IT_TXUDR                    CEC_IER_TXUDRIE
+#define CEC_IT_TXEND                    CEC_IER_TXENDIE
+#define CEC_IT_TXBR                     CEC_IER_TXBRIE
+#define CEC_IT_ARBLST                   CEC_IER_ARBLSTIE
+#define CEC_IT_RXACKE                   CEC_IER_RXACKEIE
+#define CEC_IT_LBPE                     CEC_IER_LBPEIE
+#define CEC_IT_SBPE                     CEC_IER_SBPEIE
+#define CEC_IT_BRE                      CEC_IER_BREIE
+#define CEC_IT_RXOVR                    CEC_IER_RXOVRIE
+#define CEC_IT_RXEND                    CEC_IER_RXENDIE
+#define CEC_IT_RXBR                     CEC_IER_RXBRIE
+/**
+  * @}
+  */
+
+/** @defgroup CEC_Flags_Definitions  CEC Flags definition
+  * @{
+  */
+#define CEC_FLAG_TXACKE                 CEC_ISR_TXACKE
+#define CEC_FLAG_TXERR                  CEC_ISR_TXERR
+#define CEC_FLAG_TXUDR                  CEC_ISR_TXUDR
+#define CEC_FLAG_TXEND                  CEC_ISR_TXEND
+#define CEC_FLAG_TXBR                   CEC_ISR_TXBR
+#define CEC_FLAG_ARBLST                 CEC_ISR_ARBLST
+#define CEC_FLAG_RXACKE                 CEC_ISR_RXACKE
+#define CEC_FLAG_LBPE                   CEC_ISR_LBPE
+#define CEC_FLAG_SBPE                   CEC_ISR_SBPE
+#define CEC_FLAG_BRE                    CEC_ISR_BRE
+#define CEC_FLAG_RXOVR                  CEC_ISR_RXOVR
+#define CEC_FLAG_RXEND                  CEC_ISR_RXEND
+#define CEC_FLAG_RXBR                   CEC_ISR_RXBR
+/**
+  * @}
+  */
+
+/** @defgroup CEC_ALL_ERROR CEC all RX or TX errors flags
+  * @{
+  */
+#define CEC_ISR_ALL_ERROR              ((uint32_t)CEC_ISR_RXOVR|CEC_ISR_BRE|CEC_ISR_SBPE|CEC_ISR_LBPE|CEC_ISR_RXACKE|\
+                                        CEC_ISR_ARBLST|CEC_ISR_TXUDR|CEC_ISR_TXERR|CEC_ISR_TXACKE)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_IER_ALL_RX CEC all RX errors interrupts enabling flag
+  * @{
+  */
+#define CEC_IER_RX_ALL_ERR              ((uint32_t)CEC_IER_RXACKEIE|CEC_IER_LBPEIE|CEC_IER_SBPEIE|CEC_IER_BREIE|CEC_IER_RXOVRIE)
+/**
+  * @}
+  */
+
+/** @defgroup CEC_IER_ALL_TX CEC all TX errors interrupts enabling flag
+  * @{
+  */
+#define CEC_IER_TX_ALL_ERR              ((uint32_t)CEC_IER_TXACKEIE|CEC_IER_TXERRIE|CEC_IER_TXUDRIE|CEC_IER_ARBLSTIE)
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macros -----------------------------------------------------------*/
+/** @defgroup CEC_Exported_Macros CEC Exported Macros
+  * @{
+  */
+
+/** @brief  Reset CEC handle gstate & RxState
+  * @param  __HANDLE__ CEC handle.
+  * @retval None
+  */
+#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1)
+#define __HAL_CEC_RESET_HANDLE_STATE(__HANDLE__) do{                                                   \
+                                                       (__HANDLE__)->gState = HAL_CEC_STATE_RESET;     \
+                                                       (__HANDLE__)->RxState = HAL_CEC_STATE_RESET;    \
+                                                       (__HANDLE__)->MspInitCallback = NULL;           \
+                                                       (__HANDLE__)->MspDeInitCallback = NULL;         \
+                                                     } while(0)
+#else
+#define __HAL_CEC_RESET_HANDLE_STATE(__HANDLE__) do{                                                   \
+                                                       (__HANDLE__)->gState = HAL_CEC_STATE_RESET;     \
+                                                       (__HANDLE__)->RxState = HAL_CEC_STATE_RESET;    \
+                                                     } while(0)
+#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */
+/** @brief  Checks whether or not the specified CEC interrupt flag is set.
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @param  __FLAG__ specifies the flag to check.
+  *            @arg CEC_FLAG_TXACKE: Tx Missing acknowledge Error
+  *            @arg CEC_FLAG_TXERR: Tx Error.
+  *            @arg CEC_FLAG_TXUDR: Tx-Buffer Underrun.
+  *            @arg CEC_FLAG_TXEND: End of transmission (successful transmission of the last byte).
+  *            @arg CEC_FLAG_TXBR: Tx-Byte Request.
+  *            @arg CEC_FLAG_ARBLST: Arbitration Lost
+  *            @arg CEC_FLAG_RXACKE: Rx-Missing Acknowledge
+  *            @arg CEC_FLAG_LBPE: Rx Long period Error
+  *            @arg CEC_FLAG_SBPE: Rx Short period Error
+  *            @arg CEC_FLAG_BRE: Rx Bit Rising Error
+  *            @arg CEC_FLAG_RXOVR: Rx Overrun.
+  *            @arg CEC_FLAG_RXEND: End Of Reception.
+  *            @arg CEC_FLAG_RXBR: Rx-Byte Received.
+  * @retval ITStatus
+  */
+#define __HAL_CEC_GET_FLAG(__HANDLE__, __FLAG__)        ((__HANDLE__)->Instance->ISR & (__FLAG__))
+
+/** @brief  Clears the interrupt or status flag when raised (write at 1)
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @param  __FLAG__ specifies the interrupt/status flag to clear.
+  *        This parameter can be one of the following values:
+  *            @arg CEC_FLAG_TXACKE: Tx Missing acknowledge Error
+  *            @arg CEC_FLAG_TXERR: Tx Error.
+  *            @arg CEC_FLAG_TXUDR: Tx-Buffer Underrun.
+  *            @arg CEC_FLAG_TXEND: End of transmission (successful transmission of the last byte).
+  *            @arg CEC_FLAG_TXBR: Tx-Byte Request.
+  *            @arg CEC_FLAG_ARBLST: Arbitration Lost
+  *            @arg CEC_FLAG_RXACKE: Rx-Missing Acknowledge
+  *            @arg CEC_FLAG_LBPE: Rx Long period Error
+  *            @arg CEC_FLAG_SBPE: Rx Short period Error
+  *            @arg CEC_FLAG_BRE: Rx Bit Rising Error
+  *            @arg CEC_FLAG_RXOVR: Rx Overrun.
+  *            @arg CEC_FLAG_RXEND: End Of Reception.
+  *            @arg CEC_FLAG_RXBR: Rx-Byte Received.
+  * @retval none
+  */
+#define __HAL_CEC_CLEAR_FLAG(__HANDLE__, __FLAG__)         ((__HANDLE__)->Instance->ISR |= (__FLAG__))
+
+/** @brief  Enables the specified CEC interrupt.
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @param  __INTERRUPT__ specifies the CEC interrupt to enable.
+  *          This parameter can be one of the following values:
+  *            @arg CEC_IT_TXACKE: Tx Missing acknowledge Error IT Enable
+  *            @arg CEC_IT_TXERR: Tx Error IT Enable
+  *            @arg CEC_IT_TXUDR: Tx-Buffer Underrun IT Enable
+  *            @arg CEC_IT_TXEND: End of transmission IT Enable
+  *            @arg CEC_IT_TXBR: Tx-Byte Request IT Enable
+  *            @arg CEC_IT_ARBLST: Arbitration Lost IT Enable
+  *            @arg CEC_IT_RXACKE: Rx-Missing Acknowledge IT Enable
+  *            @arg CEC_IT_LBPE: Rx Long period Error IT Enable
+  *            @arg CEC_IT_SBPE: Rx Short period Error IT Enable
+  *            @arg CEC_IT_BRE: Rx Bit Rising Error IT Enable
+  *            @arg CEC_IT_RXOVR: Rx Overrun IT Enable
+  *            @arg CEC_IT_RXEND: End Of Reception IT Enable
+  *            @arg CEC_IT_RXBR: Rx-Byte Received IT Enable
+  * @retval none
+  */
+#define __HAL_CEC_ENABLE_IT(__HANDLE__, __INTERRUPT__)     ((__HANDLE__)->Instance->IER |= (__INTERRUPT__))
+
+/** @brief  Disables the specified CEC interrupt.
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @param  __INTERRUPT__ specifies the CEC interrupt to disable.
+  *          This parameter can be one of the following values:
+  *            @arg CEC_IT_TXACKE: Tx Missing acknowledge Error IT Enable
+  *            @arg CEC_IT_TXERR: Tx Error IT Enable
+  *            @arg CEC_IT_TXUDR: Tx-Buffer Underrun IT Enable
+  *            @arg CEC_IT_TXEND: End of transmission IT Enable
+  *            @arg CEC_IT_TXBR: Tx-Byte Request IT Enable
+  *            @arg CEC_IT_ARBLST: Arbitration Lost IT Enable
+  *            @arg CEC_IT_RXACKE: Rx-Missing Acknowledge IT Enable
+  *            @arg CEC_IT_LBPE: Rx Long period Error IT Enable
+  *            @arg CEC_IT_SBPE: Rx Short period Error IT Enable
+  *            @arg CEC_IT_BRE: Rx Bit Rising Error IT Enable
+  *            @arg CEC_IT_RXOVR: Rx Overrun IT Enable
+  *            @arg CEC_IT_RXEND: End Of Reception IT Enable
+  *            @arg CEC_IT_RXBR: Rx-Byte Received IT Enable
+  * @retval none
+  */
+#define __HAL_CEC_DISABLE_IT(__HANDLE__, __INTERRUPT__)    ((__HANDLE__)->Instance->IER &= (~(__INTERRUPT__)))
+
+/** @brief  Checks whether or not the specified CEC interrupt is enabled.
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @param  __INTERRUPT__ specifies the CEC interrupt to check.
+  *          This parameter can be one of the following values:
+  *            @arg CEC_IT_TXACKE: Tx Missing acknowledge Error IT Enable
+  *            @arg CEC_IT_TXERR: Tx Error IT Enable
+  *            @arg CEC_IT_TXUDR: Tx-Buffer Underrun IT Enable
+  *            @arg CEC_IT_TXEND: End of transmission IT Enable
+  *            @arg CEC_IT_TXBR: Tx-Byte Request IT Enable
+  *            @arg CEC_IT_ARBLST: Arbitration Lost IT Enable
+  *            @arg CEC_IT_RXACKE: Rx-Missing Acknowledge IT Enable
+  *            @arg CEC_IT_LBPE: Rx Long period Error IT Enable
+  *            @arg CEC_IT_SBPE: Rx Short period Error IT Enable
+  *            @arg CEC_IT_BRE: Rx Bit Rising Error IT Enable
+  *            @arg CEC_IT_RXOVR: Rx Overrun IT Enable
+  *            @arg CEC_IT_RXEND: End Of Reception IT Enable
+  *            @arg CEC_IT_RXBR: Rx-Byte Received IT Enable
+  * @retval FlagStatus
+  */
+#define __HAL_CEC_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER & (__INTERRUPT__))
+
+/** @brief  Enables the CEC device
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @retval none
+  */
+#define __HAL_CEC_ENABLE(__HANDLE__)                   ((__HANDLE__)->Instance->CR |=  CEC_CR_CECEN)
+
+/** @brief  Disables the CEC device
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @retval none
+  */
+#define __HAL_CEC_DISABLE(__HANDLE__)                  ((__HANDLE__)->Instance->CR &=  ~CEC_CR_CECEN)
+
+/** @brief  Set Transmission Start flag
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @retval none
+  */
+#define __HAL_CEC_FIRST_BYTE_TX_SET(__HANDLE__)        ((__HANDLE__)->Instance->CR |=  CEC_CR_TXSOM)
+
+/** @brief  Set Transmission End flag
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @retval none
+  * If the CEC message consists of only one byte, TXEOM must be set before of TXSOM.
+  */
+#define __HAL_CEC_LAST_BYTE_TX_SET(__HANDLE__)         ((__HANDLE__)->Instance->CR |=  CEC_CR_TXEOM)
+
+/** @brief  Get Transmission Start flag
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @retval FlagStatus
+  */
+#define __HAL_CEC_GET_TRANSMISSION_START_FLAG(__HANDLE__) ((__HANDLE__)->Instance->CR & CEC_CR_TXSOM)
+
+/** @brief  Get Transmission End flag
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @retval FlagStatus
+  */
+#define __HAL_CEC_GET_TRANSMISSION_END_FLAG(__HANDLE__)   ((__HANDLE__)->Instance->CR & CEC_CR_TXEOM)
+
+/** @brief  Clear OAR register
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @retval none
+  */
+#define __HAL_CEC_CLEAR_OAR(__HANDLE__)   CLEAR_BIT((__HANDLE__)->Instance->CFGR, CEC_CFGR_OAR)
+
+/** @brief  Set OAR register (without resetting previously set address in case of multi-address mode)
+  *          To reset OAR, __HAL_CEC_CLEAR_OAR() needs to be called beforehand
+  * @param  __HANDLE__ specifies the CEC Handle.
+  * @param  __ADDRESS__ Own Address value (CEC logical address is identified by bit position)
+  * @retval none
+  */
+#define __HAL_CEC_SET_OAR(__HANDLE__,__ADDRESS__)   SET_BIT((__HANDLE__)->Instance->CFGR, (__ADDRESS__)<< CEC_CFGR_OAR_LSB_POS)
+
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup CEC_Exported_Functions
+  * @{
+  */
+
+/** @addtogroup CEC_Exported_Functions_Group1
+  * @{
+  */
+/* Initialization and de-initialization functions  ****************************/
+HAL_StatusTypeDef HAL_CEC_Init(CEC_HandleTypeDef *hcec);
+HAL_StatusTypeDef HAL_CEC_DeInit(CEC_HandleTypeDef *hcec);
+HAL_StatusTypeDef HAL_CEC_SetDeviceAddress(CEC_HandleTypeDef *hcec, uint16_t CEC_OwnAddress);
+void HAL_CEC_MspInit(CEC_HandleTypeDef *hcec);
+void HAL_CEC_MspDeInit(CEC_HandleTypeDef *hcec);
+
+#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1)
+HAL_StatusTypeDef HAL_CEC_RegisterCallback(CEC_HandleTypeDef *hcec, HAL_CEC_CallbackIDTypeDef CallbackID,
+                                           pCEC_CallbackTypeDef pCallback);
+HAL_StatusTypeDef HAL_CEC_UnRegisterCallback(CEC_HandleTypeDef *hcec, HAL_CEC_CallbackIDTypeDef CallbackID);
+
+HAL_StatusTypeDef HAL_CEC_RegisterRxCpltCallback(CEC_HandleTypeDef *hcec, pCEC_RxCallbackTypeDef pCallback);
+HAL_StatusTypeDef HAL_CEC_UnRegisterRxCpltCallback(CEC_HandleTypeDef *hcec);
+#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */
+/**
+  * @}
+  */
+
+/** @addtogroup CEC_Exported_Functions_Group2
+  * @{
+  */
+/* I/O operation functions  ***************************************************/
+HAL_StatusTypeDef HAL_CEC_Transmit_IT(CEC_HandleTypeDef *hcec, uint8_t InitiatorAddress, uint8_t DestinationAddress,
+                                      uint8_t *pData, uint32_t Size);
+uint32_t HAL_CEC_GetLastReceivedFrameSize(CEC_HandleTypeDef *hcec);
+void HAL_CEC_ChangeRxBuffer(CEC_HandleTypeDef *hcec, uint8_t *Rxbuffer);
+void HAL_CEC_IRQHandler(CEC_HandleTypeDef *hcec);
+void HAL_CEC_TxCpltCallback(CEC_HandleTypeDef *hcec);
+void HAL_CEC_RxCpltCallback(CEC_HandleTypeDef *hcec, uint32_t RxFrameSize);
+void HAL_CEC_ErrorCallback(CEC_HandleTypeDef *hcec);
+/**
+  * @}
+  */
+
+/** @addtogroup CEC_Exported_Functions_Group3
+  * @{
+  */
+/* Peripheral State functions  ************************************************/
+HAL_CEC_StateTypeDef HAL_CEC_GetState(CEC_HandleTypeDef *hcec);
+uint32_t HAL_CEC_GetError(CEC_HandleTypeDef *hcec);
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Private types -------------------------------------------------------------*/
+/** @defgroup CEC_Private_Types CEC Private Types
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private variables ---------------------------------------------------------*/
+/** @defgroup CEC_Private_Variables CEC Private Variables
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup CEC_Private_Constants CEC Private Constants
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup CEC_Private_Macros CEC Private Macros
+  * @{
+  */
+
+#define IS_CEC_SIGNALFREETIME(__SFT__)     ((__SFT__) <= CEC_CFGR_SFT)
+
+#define IS_CEC_TOLERANCE(__RXTOL__)        (((__RXTOL__) == CEC_STANDARD_TOLERANCE) || \
+                                            ((__RXTOL__) == CEC_EXTENDED_TOLERANCE))
+
+#define IS_CEC_BRERXSTOP(__BRERXSTOP__)   (((__BRERXSTOP__) == CEC_NO_RX_STOP_ON_BRE) || \
+                                           ((__BRERXSTOP__) == CEC_RX_STOP_ON_BRE))
+
+#define IS_CEC_BREERRORBITGEN(__ERRORBITGEN__) (((__ERRORBITGEN__) == CEC_BRE_ERRORBIT_NO_GENERATION) || \
+                                                ((__ERRORBITGEN__) == CEC_BRE_ERRORBIT_GENERATION))
+
+#define IS_CEC_LBPEERRORBITGEN(__ERRORBITGEN__) (((__ERRORBITGEN__) == CEC_LBPE_ERRORBIT_NO_GENERATION) || \
+                                                 ((__ERRORBITGEN__) == CEC_LBPE_ERRORBIT_GENERATION))
+
+#define IS_CEC_BROADCASTERROR_NO_ERRORBIT_GENERATION(__ERRORBITGEN__) (((__ERRORBITGEN__) == CEC_BROADCASTERROR_ERRORBIT_GENERATION) || \
+                                                                       ((__ERRORBITGEN__) == CEC_BROADCASTERROR_NO_ERRORBIT_GENERATION))
+
+#define IS_CEC_SFTOP(__SFTOP__)          (((__SFTOP__) == CEC_SFT_START_ON_TXSOM) || \
+                                          ((__SFTOP__) == CEC_SFT_START_ON_TX_RX_END))
+
+#define IS_CEC_LISTENING_MODE(__MODE__)     (((__MODE__) == CEC_REDUCED_LISTENING_MODE) || \
+                                             ((__MODE__) == CEC_FULL_LISTENING_MODE))
+
+/** @brief Check CEC message size.
+  *       The message size is the payload size: without counting the header,
+  *       it varies from 0 byte (ping operation, one header only, no payload) to
+  *       15 bytes (1 opcode and up to 14 operands following the header).
+  * @param  __SIZE__ CEC message size.
+  * @retval Test result (TRUE or FALSE).
+  */
+#define IS_CEC_MSGSIZE(__SIZE__) ((__SIZE__) <= 0x10U)
+
+/** @brief Check CEC device Own Address Register (OAR) setting.
+  *        OAR address is written in a 15-bit field within CEC_CFGR register.
+  * @param  __ADDRESS__ CEC own address.
+  * @retval Test result (TRUE or FALSE).
+  */
+#define IS_CEC_OWN_ADDRESS(__ADDRESS__) ((__ADDRESS__) <= 0x7FFFU)
+
+/** @brief Check CEC initiator or destination logical address setting.
+  *        Initiator and destination addresses are coded over 4 bits.
+  * @param  __ADDRESS__ CEC initiator or logical address.
+  * @retval Test result (TRUE or FALSE).
+  */
+#define IS_CEC_ADDRESS(__ADDRESS__) ((__ADDRESS__) <= 0xFU)
+/**
+  * @}
+  */
+/* Private functions ---------------------------------------------------------*/
+/** @defgroup CEC_Private_Functions CEC Private Functions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#endif /* CEC */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STM32F4xxHAL_CEC_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_conf_template.h

@@ -0,0 +1,501 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_conf_template.h
+  * @author  MCD Application Team
+  * @brief   HAL configuration template file. 
+  *          This file should be copied to the application folder and renamed
+  *          to stm32f4xx_hal_conf.h.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_HAL_CONF_H
+#define __STM32F4xx_HAL_CONF_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/* ########################## Module Selection ############################## */
+/**
+  * @brief This is the list of modules to be used in the HAL driver 
+  */
+#define HAL_MODULE_ENABLED  
+#define HAL_ADC_MODULE_ENABLED
+#define HAL_CAN_MODULE_ENABLED
+/* #define HAL_CAN_LEGACY_MODULE_ENABLED */
+#define HAL_CRC_MODULE_ENABLED
+#define HAL_CEC_MODULE_ENABLED
+#define HAL_CRYP_MODULE_ENABLED
+#define HAL_DAC_MODULE_ENABLED
+#define HAL_DCMI_MODULE_ENABLED
+#define HAL_DMA_MODULE_ENABLED
+#define HAL_DMA2D_MODULE_ENABLED
+#define HAL_ETH_MODULE_ENABLED
+#define HAL_FLASH_MODULE_ENABLED
+#define HAL_NAND_MODULE_ENABLED
+#define HAL_NOR_MODULE_ENABLED
+#define HAL_PCCARD_MODULE_ENABLED
+#define HAL_SRAM_MODULE_ENABLED
+#define HAL_SDRAM_MODULE_ENABLED
+#define HAL_HASH_MODULE_ENABLED
+#define HAL_GPIO_MODULE_ENABLED
+#define HAL_EXTI_MODULE_ENABLED
+#define HAL_I2C_MODULE_ENABLED
+#define HAL_SMBUS_MODULE_ENABLED
+#define HAL_I2S_MODULE_ENABLED
+#define HAL_IWDG_MODULE_ENABLED
+#define HAL_LTDC_MODULE_ENABLED
+#define HAL_DSI_MODULE_ENABLED
+#define HAL_PWR_MODULE_ENABLED
+#define HAL_QSPI_MODULE_ENABLED
+#define HAL_RCC_MODULE_ENABLED
+#define HAL_RNG_MODULE_ENABLED
+#define HAL_RTC_MODULE_ENABLED
+#define HAL_SAI_MODULE_ENABLED
+#define HAL_SD_MODULE_ENABLED
+#define HAL_SPI_MODULE_ENABLED
+#define HAL_TIM_MODULE_ENABLED
+#define HAL_UART_MODULE_ENABLED
+#define HAL_USART_MODULE_ENABLED
+#define HAL_IRDA_MODULE_ENABLED
+#define HAL_SMARTCARD_MODULE_ENABLED
+#define HAL_WWDG_MODULE_ENABLED
+#define HAL_CORTEX_MODULE_ENABLED
+#define HAL_PCD_MODULE_ENABLED
+#define HAL_HCD_MODULE_ENABLED
+#define HAL_FMPI2C_MODULE_ENABLED
+#define HAL_FMPSMBUS_MODULE_ENABLED
+#define HAL_SPDIFRX_MODULE_ENABLED
+#define HAL_DFSDM_MODULE_ENABLED
+#define HAL_LPTIM_MODULE_ENABLED
+#define HAL_MMC_MODULE_ENABLED
+
+/* ########################## HSE/HSI Values adaptation ##################### */
+/**
+  * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSE is used as system clock source, directly or through the PLL).  
+  */
+#if !defined  (HSE_VALUE) 
+  #define HSE_VALUE              25000000U /*!< Value of the External oscillator in Hz */
+#endif /* HSE_VALUE */
+
+#if !defined  (HSE_STARTUP_TIMEOUT)
+  #define HSE_STARTUP_TIMEOUT    100U      /*!< Time out for HSE start up, in ms */
+#endif /* HSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief Internal High Speed oscillator (HSI) value.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSI is used as system clock source, directly or through the PLL). 
+  */
+#if !defined  (HSI_VALUE)
+  #define HSI_VALUE              16000000U /*!< Value of the Internal oscillator in Hz */
+#endif /* HSI_VALUE */
+
+/**
+  * @brief Internal Low Speed oscillator (LSI) value.
+  */
+#if !defined  (LSI_VALUE) 
+ #define LSI_VALUE               32000U    /*!< LSI Typical Value in Hz */
+#endif /* LSI_VALUE */                     /*!< Value of the Internal Low Speed oscillator in Hz
+                                                The real value may vary depending on the variations
+                                                in voltage and temperature. */
+/**
+  * @brief External Low Speed oscillator (LSE) value.
+  */
+#if !defined  (LSE_VALUE)
+ #define LSE_VALUE               32768U    /*!< Value of the External Low Speed oscillator in Hz */
+#endif /* LSE_VALUE */
+
+#if !defined  (LSE_STARTUP_TIMEOUT)
+  #define LSE_STARTUP_TIMEOUT    5000U     /*!< Time out for LSE start up, in ms */
+#endif /* LSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief External clock source for I2S peripheral
+  *        This value is used by the I2S HAL module to compute the I2S clock source 
+  *        frequency, this source is inserted directly through I2S_CKIN pad. 
+  */
+#if !defined  (EXTERNAL_CLOCK_VALUE)
+  #define EXTERNAL_CLOCK_VALUE     12288000U /*!< Value of the External oscillator in Hz*/
+#endif /* EXTERNAL_CLOCK_VALUE */
+
+/* Tip: To avoid modifying this file each time you need to use different HSE,
+   ===  you can define the HSE value in your toolchain compiler preprocessor. */
+
+/* ########################### System Configuration ######################### */
+/**
+  * @brief This is the HAL system configuration section
+  */     
+#define  VDD_VALUE                    3300U /*!< Value of VDD in mv */
+#define  TICK_INT_PRIORITY            0x0FU /*!< tick interrupt priority */
+#define  USE_RTOS                     0U
+#define  PREFETCH_ENABLE              1U
+#define  INSTRUCTION_CACHE_ENABLE     1U
+#define  DATA_CACHE_ENABLE            1U
+
+#define  USE_HAL_ADC_REGISTER_CALLBACKS         0U /* ADC register callback disabled       */
+#define  USE_HAL_CAN_REGISTER_CALLBACKS         0U /* CAN register callback disabled       */
+#define  USE_HAL_CEC_REGISTER_CALLBACKS         0U /* CEC register callback disabled       */
+#define  USE_HAL_CRYP_REGISTER_CALLBACKS        0U /* CRYP register callback disabled      */
+#define  USE_HAL_DAC_REGISTER_CALLBACKS         0U /* DAC register callback disabled       */
+#define  USE_HAL_DCMI_REGISTER_CALLBACKS        0U /* DCMI register callback disabled      */
+#define  USE_HAL_DFSDM_REGISTER_CALLBACKS       0U /* DFSDM register callback disabled     */
+#define  USE_HAL_DMA2D_REGISTER_CALLBACKS       0U /* DMA2D register callback disabled     */
+#define  USE_HAL_DSI_REGISTER_CALLBACKS         0U /* DSI register callback disabled       */
+#define  USE_HAL_ETH_REGISTER_CALLBACKS         0U /* ETH register callback disabled       */
+#define  USE_HAL_HASH_REGISTER_CALLBACKS        0U /* HASH register callback disabled      */
+#define  USE_HAL_HCD_REGISTER_CALLBACKS         0U /* HCD register callback disabled       */
+#define  USE_HAL_I2C_REGISTER_CALLBACKS         0U /* I2C register callback disabled       */
+#define  USE_HAL_FMPI2C_REGISTER_CALLBACKS      0U /* FMPI2C register callback disabled    */
+#define  USE_HAL_FMPSMBUS_REGISTER_CALLBACKS    0U /* FMPSMBUS register callback disabled  */
+#define  USE_HAL_I2S_REGISTER_CALLBACKS         0U /* I2S register callback disabled       */
+#define  USE_HAL_IRDA_REGISTER_CALLBACKS        0U /* IRDA register callback disabled      */
+#define  USE_HAL_LPTIM_REGISTER_CALLBACKS       0U /* LPTIM register callback disabled     */
+#define  USE_HAL_LTDC_REGISTER_CALLBACKS        0U /* LTDC register callback disabled      */
+#define  USE_HAL_MMC_REGISTER_CALLBACKS         0U /* MMC register callback disabled       */
+#define  USE_HAL_NAND_REGISTER_CALLBACKS        0U /* NAND register callback disabled      */
+#define  USE_HAL_NOR_REGISTER_CALLBACKS         0U /* NOR register callback disabled       */
+#define  USE_HAL_PCCARD_REGISTER_CALLBACKS      0U /* PCCARD register callback disabled    */
+#define  USE_HAL_PCD_REGISTER_CALLBACKS         0U /* PCD register callback disabled       */
+#define  USE_HAL_QSPI_REGISTER_CALLBACKS        0U /* QSPI register callback disabled      */
+#define  USE_HAL_RNG_REGISTER_CALLBACKS         0U /* RNG register callback disabled       */
+#define  USE_HAL_RTC_REGISTER_CALLBACKS         0U /* RTC register callback disabled       */
+#define  USE_HAL_SAI_REGISTER_CALLBACKS         0U /* SAI register callback disabled       */
+#define  USE_HAL_SD_REGISTER_CALLBACKS          0U /* SD register callback disabled        */
+#define  USE_HAL_SMARTCARD_REGISTER_CALLBACKS   0U /* SMARTCARD register callback disabled */
+#define  USE_HAL_SDRAM_REGISTER_CALLBACKS       0U /* SDRAM register callback disabled     */
+#define  USE_HAL_SRAM_REGISTER_CALLBACKS        0U /* SRAM register callback disabled      */
+#define  USE_HAL_SPDIFRX_REGISTER_CALLBACKS     0U /* SPDIFRX register callback disabled   */
+#define  USE_HAL_SMBUS_REGISTER_CALLBACKS       0U /* SMBUS register callback disabled     */
+#define  USE_HAL_SPI_REGISTER_CALLBACKS         0U /* SPI register callback disabled       */
+#define  USE_HAL_TIM_REGISTER_CALLBACKS         0U /* TIM register callback disabled       */
+#define  USE_HAL_UART_REGISTER_CALLBACKS        0U /* UART register callback disabled      */
+#define  USE_HAL_USART_REGISTER_CALLBACKS       0U /* USART register callback disabled     */
+#define  USE_HAL_WWDG_REGISTER_CALLBACKS        0U /* WWDG register callback disabled      */
+
+/* ########################## Assert Selection ############################## */
+/**
+  * @brief Uncomment the line below to expanse the "assert_param" macro in the 
+  *        HAL drivers code
+  */
+/* #define USE_FULL_ASSERT    1U */
+
+/* ################## Ethernet peripheral configuration ##################### */
+
+/* Section 1 : Ethernet peripheral configuration */
+
+/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
+#define MAC_ADDR0   2U
+#define MAC_ADDR1   0U
+#define MAC_ADDR2   0U
+#define MAC_ADDR3   0U
+#define MAC_ADDR4   0U
+#define MAC_ADDR5   0U
+
+/* Definition of the Ethernet driver buffers size and count */   
+#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
+#define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
+#define ETH_RXBUFNB                    4U                  /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
+#define ETH_TXBUFNB                    4U                  /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
+
+/* Section 2: PHY configuration section */
+
+/* DP83848 PHY Address*/ 
+#define DP83848_PHY_ADDRESS             0x01U
+/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/ 
+#define PHY_RESET_DELAY                 0x000000FFU
+/* PHY Configuration delay */
+#define PHY_CONFIG_DELAY                0x00000FFFU
+
+#define PHY_READ_TO                     0x0000FFFFU
+#define PHY_WRITE_TO                    0x0000FFFFU
+
+/* Section 3: Common PHY Registers */
+
+#define PHY_BCR                         ((uint16_t)0x0000)  /*!< Transceiver Basic Control Register   */
+#define PHY_BSR                         ((uint16_t)0x0001)  /*!< Transceiver Basic Status Register    */
+ 
+#define PHY_RESET                       ((uint16_t)0x8000)  /*!< PHY Reset */
+#define PHY_LOOPBACK                    ((uint16_t)0x4000)  /*!< Select loop-back mode */
+#define PHY_FULLDUPLEX_100M             ((uint16_t)0x2100)  /*!< Set the full-duplex mode at 100 Mb/s */
+#define PHY_HALFDUPLEX_100M             ((uint16_t)0x2000)  /*!< Set the half-duplex mode at 100 Mb/s */
+#define PHY_FULLDUPLEX_10M              ((uint16_t)0x0100)  /*!< Set the full-duplex mode at 10 Mb/s  */
+#define PHY_HALFDUPLEX_10M              ((uint16_t)0x0000)  /*!< Set the half-duplex mode at 10 Mb/s  */
+#define PHY_AUTONEGOTIATION             ((uint16_t)0x1000)  /*!< Enable auto-negotiation function     */
+#define PHY_RESTART_AUTONEGOTIATION     ((uint16_t)0x0200)  /*!< Restart auto-negotiation function    */
+#define PHY_POWERDOWN                   ((uint16_t)0x0800)  /*!< Select the power down mode           */
+#define PHY_ISOLATE                     ((uint16_t)0x0400)  /*!< Isolate PHY from MII                 */
+
+#define PHY_AUTONEGO_COMPLETE           ((uint16_t)0x0020)  /*!< Auto-Negotiation process completed   */
+#define PHY_LINKED_STATUS               ((uint16_t)0x0004)  /*!< Valid link established               */
+#define PHY_JABBER_DETECTION            ((uint16_t)0x0002)  /*!< Jabber condition detected            */
+  
+/* Section 4: Extended PHY Registers */
+
+#define PHY_SR                          ((uint16_t)0x0010)  /*!< PHY status register Offset                      */
+#define PHY_MICR                        ((uint16_t)0x0011)  /*!< MII Interrupt Control Register                  */
+#define PHY_MISR                        ((uint16_t)0x0012)  /*!< MII Interrupt Status and Misc. Control Register */
+ 
+#define PHY_LINK_STATUS                 ((uint16_t)0x0001)  /*!< PHY Link mask                                   */
+#define PHY_SPEED_STATUS                ((uint16_t)0x0002)  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004)  /*!< PHY Duplex mask                                 */
+
+#define PHY_MICR_INT_EN                 ((uint16_t)0x0002)  /*!< PHY Enable interrupts                           */
+#define PHY_MICR_INT_OE                 ((uint16_t)0x0001)  /*!< PHY Enable output interrupt events              */
+
+#define PHY_MISR_LINK_INT_EN            ((uint16_t)0x0020)  /*!< Enable Interrupt on change of link status       */
+#define PHY_LINK_INTERRUPT              ((uint16_t)0x2000)  /*!< PHY link status interrupt mask                  */
+
+/* ################## SPI peripheral configuration ########################## */
+
+/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
+* Activated: CRC code is present inside driver
+* Deactivated: CRC code cleaned from driver
+*/
+
+#define USE_SPI_CRC                     1U
+
+/* Includes ------------------------------------------------------------------*/
+/**
+  * @brief Include module's header file 
+  */
+
+#ifdef HAL_RCC_MODULE_ENABLED
+  #include "stm32f4xx_hal_rcc.h"
+#endif /* HAL_RCC_MODULE_ENABLED */
+
+#ifdef HAL_GPIO_MODULE_ENABLED
+  #include "stm32f4xx_hal_gpio.h"
+#endif /* HAL_GPIO_MODULE_ENABLED */
+
+#ifdef HAL_EXTI_MODULE_ENABLED
+  #include "stm32f4xx_hal_exti.h"
+#endif /* HAL_EXTI_MODULE_ENABLED */
+
+#ifdef HAL_DMA_MODULE_ENABLED
+  #include "stm32f4xx_hal_dma.h"
+#endif /* HAL_DMA_MODULE_ENABLED */
+   
+#ifdef HAL_CORTEX_MODULE_ENABLED
+  #include "stm32f4xx_hal_cortex.h"
+#endif /* HAL_CORTEX_MODULE_ENABLED */
+
+#ifdef HAL_ADC_MODULE_ENABLED
+  #include "stm32f4xx_hal_adc.h"
+#endif /* HAL_ADC_MODULE_ENABLED */
+
+#ifdef HAL_CAN_MODULE_ENABLED
+  #include "stm32f4xx_hal_can.h"
+#endif /* HAL_CAN_MODULE_ENABLED */
+
+#ifdef HAL_CAN_LEGACY_MODULE_ENABLED
+  #include "stm32f4xx_hal_can_legacy.h"
+#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */
+
+#ifdef HAL_CRC_MODULE_ENABLED
+  #include "stm32f4xx_hal_crc.h"
+#endif /* HAL_CRC_MODULE_ENABLED */
+
+#ifdef HAL_CRYP_MODULE_ENABLED
+  #include "stm32f4xx_hal_cryp.h" 
+#endif /* HAL_CRYP_MODULE_ENABLED */
+
+#ifdef HAL_DMA2D_MODULE_ENABLED
+  #include "stm32f4xx_hal_dma2d.h"
+#endif /* HAL_DMA2D_MODULE_ENABLED */
+
+#ifdef HAL_DAC_MODULE_ENABLED
+  #include "stm32f4xx_hal_dac.h"
+#endif /* HAL_DAC_MODULE_ENABLED */
+
+#ifdef HAL_DCMI_MODULE_ENABLED
+  #include "stm32f4xx_hal_dcmi.h"
+#endif /* HAL_DCMI_MODULE_ENABLED */
+
+#ifdef HAL_ETH_MODULE_ENABLED
+  #include "stm32f4xx_hal_eth.h"
+#endif /* HAL_ETH_MODULE_ENABLED */
+
+#ifdef HAL_FLASH_MODULE_ENABLED
+  #include "stm32f4xx_hal_flash.h"
+#endif /* HAL_FLASH_MODULE_ENABLED */
+ 
+#ifdef HAL_SRAM_MODULE_ENABLED
+  #include "stm32f4xx_hal_sram.h"
+#endif /* HAL_SRAM_MODULE_ENABLED */
+
+#ifdef HAL_NOR_MODULE_ENABLED
+  #include "stm32f4xx_hal_nor.h"
+#endif /* HAL_NOR_MODULE_ENABLED */
+
+#ifdef HAL_NAND_MODULE_ENABLED
+  #include "stm32f4xx_hal_nand.h"
+#endif /* HAL_NAND_MODULE_ENABLED */
+
+#ifdef HAL_PCCARD_MODULE_ENABLED
+  #include "stm32f4xx_hal_pccard.h"
+#endif /* HAL_PCCARD_MODULE_ENABLED */ 
+  
+#ifdef HAL_SDRAM_MODULE_ENABLED
+  #include "stm32f4xx_hal_sdram.h"
+#endif /* HAL_SDRAM_MODULE_ENABLED */
+
+#ifdef HAL_HASH_MODULE_ENABLED
+ #include "stm32f4xx_hal_hash.h"
+#endif /* HAL_HASH_MODULE_ENABLED */
+
+#ifdef HAL_I2C_MODULE_ENABLED
+ #include "stm32f4xx_hal_i2c.h"
+#endif /* HAL_I2C_MODULE_ENABLED */
+
+#ifdef HAL_SMBUS_MODULE_ENABLED
+ #include "stm32f4xx_hal_smbus.h"
+#endif /* HAL_SMBUS_MODULE_ENABLED */
+
+#ifdef HAL_I2S_MODULE_ENABLED
+ #include "stm32f4xx_hal_i2s.h"
+#endif /* HAL_I2S_MODULE_ENABLED */
+
+#ifdef HAL_IWDG_MODULE_ENABLED
+ #include "stm32f4xx_hal_iwdg.h"
+#endif /* HAL_IWDG_MODULE_ENABLED */
+
+#ifdef HAL_LTDC_MODULE_ENABLED
+ #include "stm32f4xx_hal_ltdc.h"
+#endif /* HAL_LTDC_MODULE_ENABLED */
+
+#ifdef HAL_PWR_MODULE_ENABLED
+ #include "stm32f4xx_hal_pwr.h"
+#endif /* HAL_PWR_MODULE_ENABLED */
+
+#ifdef HAL_RNG_MODULE_ENABLED
+ #include "stm32f4xx_hal_rng.h"
+#endif /* HAL_RNG_MODULE_ENABLED */
+
+#ifdef HAL_RTC_MODULE_ENABLED
+ #include "stm32f4xx_hal_rtc.h"
+#endif /* HAL_RTC_MODULE_ENABLED */
+
+#ifdef HAL_SAI_MODULE_ENABLED
+ #include "stm32f4xx_hal_sai.h"
+#endif /* HAL_SAI_MODULE_ENABLED */
+
+#ifdef HAL_SD_MODULE_ENABLED
+ #include "stm32f4xx_hal_sd.h"
+#endif /* HAL_SD_MODULE_ENABLED */
+
+#ifdef HAL_SPI_MODULE_ENABLED
+ #include "stm32f4xx_hal_spi.h"
+#endif /* HAL_SPI_MODULE_ENABLED */
+
+#ifdef HAL_TIM_MODULE_ENABLED
+ #include "stm32f4xx_hal_tim.h"
+#endif /* HAL_TIM_MODULE_ENABLED */
+
+#ifdef HAL_UART_MODULE_ENABLED
+ #include "stm32f4xx_hal_uart.h"
+#endif /* HAL_UART_MODULE_ENABLED */
+
+#ifdef HAL_USART_MODULE_ENABLED
+ #include "stm32f4xx_hal_usart.h"
+#endif /* HAL_USART_MODULE_ENABLED */
+
+#ifdef HAL_IRDA_MODULE_ENABLED
+ #include "stm32f4xx_hal_irda.h"
+#endif /* HAL_IRDA_MODULE_ENABLED */
+
+#ifdef HAL_SMARTCARD_MODULE_ENABLED
+ #include "stm32f4xx_hal_smartcard.h"
+#endif /* HAL_SMARTCARD_MODULE_ENABLED */
+
+#ifdef HAL_WWDG_MODULE_ENABLED
+ #include "stm32f4xx_hal_wwdg.h"
+#endif /* HAL_WWDG_MODULE_ENABLED */
+
+#ifdef HAL_PCD_MODULE_ENABLED
+ #include "stm32f4xx_hal_pcd.h"
+#endif /* HAL_PCD_MODULE_ENABLED */
+
+#ifdef HAL_HCD_MODULE_ENABLED
+ #include "stm32f4xx_hal_hcd.h"
+#endif /* HAL_HCD_MODULE_ENABLED */
+   
+#ifdef HAL_DSI_MODULE_ENABLED
+ #include "stm32f4xx_hal_dsi.h"
+#endif /* HAL_DSI_MODULE_ENABLED */
+
+#ifdef HAL_QSPI_MODULE_ENABLED
+ #include "stm32f4xx_hal_qspi.h"
+#endif /* HAL_QSPI_MODULE_ENABLED */
+
+#ifdef HAL_CEC_MODULE_ENABLED
+ #include "stm32f4xx_hal_cec.h"
+#endif /* HAL_CEC_MODULE_ENABLED */
+
+#ifdef HAL_FMPI2C_MODULE_ENABLED
+ #include "stm32f4xx_hal_fmpi2c.h"
+#endif /* HAL_FMPI2C_MODULE_ENABLED */
+
+#ifdef HAL_FMPSMBUS_MODULE_ENABLED
+ #include "stm32f4xx_hal_fmpsmbus.h"
+#endif /* HAL_FMPSMBUS_MODULE_ENABLED */
+
+#ifdef HAL_SPDIFRX_MODULE_ENABLED
+ #include "stm32f4xx_hal_spdifrx.h"
+#endif /* HAL_SPDIFRX_MODULE_ENABLED */
+
+#ifdef HAL_DFSDM_MODULE_ENABLED
+ #include "stm32f4xx_hal_dfsdm.h"
+#endif /* HAL_DFSDM_MODULE_ENABLED */
+
+#ifdef HAL_LPTIM_MODULE_ENABLED
+ #include "stm32f4xx_hal_lptim.h"
+#endif /* HAL_LPTIM_MODULE_ENABLED */
+
+#ifdef HAL_MMC_MODULE_ENABLED
+ #include "stm32f4xx_hal_mmc.h"
+#endif /* HAL_MMC_MODULE_ENABLED */
+
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed. 
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+  #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+  void assert_failed(uint8_t* file, uint32_t line);
+#else
+  #define assert_param(expr) ((void)0U)
+#endif /* USE_FULL_ASSERT */
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_HAL_CONF_H */
+ 
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h

@@ -0,0 +1,410 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_cortex.h
+  * @author  MCD Application Team
+  * @brief   Header file of CORTEX HAL module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_HAL_CORTEX_H
+#define __STM32F4xx_HAL_CORTEX_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup CORTEX
+  * @{
+  */ 
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup CORTEX_Exported_Types Cortex Exported Types
+  * @{
+  */
+
+#if (__MPU_PRESENT == 1U)
+/** @defgroup CORTEX_MPU_Region_Initialization_Structure_definition MPU Region Initialization Structure Definition
+  * @brief  MPU Region initialization structure 
+  * @{
+  */
+typedef struct
+{
+  uint8_t                Enable;                /*!< Specifies the status of the region. 
+                                                     This parameter can be a value of @ref CORTEX_MPU_Region_Enable                 */
+  uint8_t                Number;                /*!< Specifies the number of the region to protect. 
+                                                     This parameter can be a value of @ref CORTEX_MPU_Region_Number                 */
+  uint32_t               BaseAddress;           /*!< Specifies the base address of the region to protect.                           */
+  uint8_t                Size;                  /*!< Specifies the size of the region to protect. 
+                                                     This parameter can be a value of @ref CORTEX_MPU_Region_Size                   */
+  uint8_t                SubRegionDisable;      /*!< Specifies the number of the subregion protection to disable. 
+                                                     This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF    */         
+  uint8_t                TypeExtField;          /*!< Specifies the TEX field level.
+                                                     This parameter can be a value of @ref CORTEX_MPU_TEX_Levels                    */                 
+  uint8_t                AccessPermission;      /*!< Specifies the region access permission type. 
+                                                     This parameter can be a value of @ref CORTEX_MPU_Region_Permission_Attributes  */
+  uint8_t                DisableExec;           /*!< Specifies the instruction access status. 
+                                                     This parameter can be a value of @ref CORTEX_MPU_Instruction_Access            */
+  uint8_t                IsShareable;           /*!< Specifies the shareability status of the protected region. 
+                                                     This parameter can be a value of @ref CORTEX_MPU_Access_Shareable              */
+  uint8_t                IsCacheable;           /*!< Specifies the cacheable status of the region protected. 
+                                                     This parameter can be a value of @ref CORTEX_MPU_Access_Cacheable              */
+  uint8_t                IsBufferable;          /*!< Specifies the bufferable status of the protected region. 
+                                                     This parameter can be a value of @ref CORTEX_MPU_Access_Bufferable             */
+}MPU_Region_InitTypeDef;
+/**
+  * @}
+  */
+#endif /* __MPU_PRESENT */
+
+/**
+  * @}
+  */
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup CORTEX_Exported_Constants CORTEX Exported Constants
+  * @{
+  */
+
+/** @defgroup CORTEX_Preemption_Priority_Group CORTEX Preemption Priority Group
+  * @{
+  */
+#define NVIC_PRIORITYGROUP_0         0x00000007U /*!< 0 bits for pre-emption priority
+                                                      4 bits for subpriority */
+#define NVIC_PRIORITYGROUP_1         0x00000006U /*!< 1 bits for pre-emption priority
+                                                      3 bits for subpriority */
+#define NVIC_PRIORITYGROUP_2         0x00000005U /*!< 2 bits for pre-emption priority
+                                                      2 bits for subpriority */
+#define NVIC_PRIORITYGROUP_3         0x00000004U /*!< 3 bits for pre-emption priority
+                                                      1 bits for subpriority */
+#define NVIC_PRIORITYGROUP_4         0x00000003U /*!< 4 bits for pre-emption priority
+                                                      0 bits for subpriority */
+/**
+  * @}
+  */
+
+/** @defgroup CORTEX_SysTick_clock_source CORTEX _SysTick clock source 
+  * @{
+  */
+#define SYSTICK_CLKSOURCE_HCLK_DIV8    0x00000000U
+#define SYSTICK_CLKSOURCE_HCLK         0x00000004U
+
+/**
+  * @}
+  */
+
+#if (__MPU_PRESENT == 1)
+/** @defgroup CORTEX_MPU_HFNMI_PRIVDEF_Control MPU HFNMI and PRIVILEGED Access control
+  * @{
+  */
+#define  MPU_HFNMI_PRIVDEF_NONE           0x00000000U
+#define  MPU_HARDFAULT_NMI                MPU_CTRL_HFNMIENA_Msk
+#define  MPU_PRIVILEGED_DEFAULT           MPU_CTRL_PRIVDEFENA_Msk
+#define  MPU_HFNMI_PRIVDEF               (MPU_CTRL_HFNMIENA_Msk | MPU_CTRL_PRIVDEFENA_Msk)
+
+/**
+  * @}
+  */
+
+/** @defgroup CORTEX_MPU_Region_Enable CORTEX MPU Region Enable
+  * @{
+  */
+#define  MPU_REGION_ENABLE     ((uint8_t)0x01)
+#define  MPU_REGION_DISABLE    ((uint8_t)0x00)
+/**
+  * @}
+  */
+
+/** @defgroup CORTEX_MPU_Instruction_Access CORTEX MPU Instruction Access
+  * @{
+  */
+#define  MPU_INSTRUCTION_ACCESS_ENABLE      ((uint8_t)0x00)
+#define  MPU_INSTRUCTION_ACCESS_DISABLE     ((uint8_t)0x01)
+/**
+  * @}
+  */
+
+/** @defgroup CORTEX_MPU_Access_Shareable CORTEX MPU Instruction Access Shareable
+  * @{
+  */
+#define  MPU_ACCESS_SHAREABLE        ((uint8_t)0x01)
+#define  MPU_ACCESS_NOT_SHAREABLE    ((uint8_t)0x00)
+/**
+  * @}
+  */
+
+/** @defgroup CORTEX_MPU_Access_Cacheable CORTEX MPU Instruction Access Cacheable
+  * @{
+  */
+#define  MPU_ACCESS_CACHEABLE         ((uint8_t)0x01)
+#define  MPU_ACCESS_NOT_CACHEABLE     ((uint8_t)0x00)
+/**
+  * @}
+  */
+
+/** @defgroup CORTEX_MPU_Access_Bufferable CORTEX MPU Instruction Access Bufferable
+  * @{
+  */
+#define  MPU_ACCESS_BUFFERABLE         ((uint8_t)0x01)
+#define  MPU_ACCESS_NOT_BUFFERABLE     ((uint8_t)0x00)
+/**
+  * @}
+  */
+
+/** @defgroup CORTEX_MPU_TEX_Levels MPU TEX Levels
+  * @{
+  */
+#define  MPU_TEX_LEVEL0    ((uint8_t)0x00)
+#define  MPU_TEX_LEVEL1    ((uint8_t)0x01)
+#define  MPU_TEX_LEVEL2    ((uint8_t)0x02)
+/**
+  * @}
+  */
+
+/** @defgroup CORTEX_MPU_Region_Size CORTEX MPU Region Size
+  * @{
+  */
+#define   MPU_REGION_SIZE_32B      ((uint8_t)0x04)
+#define   MPU_REGION_SIZE_64B      ((uint8_t)0x05)
+#define   MPU_REGION_SIZE_128B     ((uint8_t)0x06)
+#define   MPU_REGION_SIZE_256B     ((uint8_t)0x07)
+#define   MPU_REGION_SIZE_512B     ((uint8_t)0x08)
+#define   MPU_REGION_SIZE_1KB      ((uint8_t)0x09)
+#define   MPU_REGION_SIZE_2KB      ((uint8_t)0x0A)
+#define   MPU_REGION_SIZE_4KB      ((uint8_t)0x0B)
+#define   MPU_REGION_SIZE_8KB      ((uint8_t)0x0C)
+#define   MPU_REGION_SIZE_16KB     ((uint8_t)0x0D)
+#define   MPU_REGION_SIZE_32KB     ((uint8_t)0x0E)
+#define   MPU_REGION_SIZE_64KB     ((uint8_t)0x0F)
+#define   MPU_REGION_SIZE_128KB    ((uint8_t)0x10)
+#define   MPU_REGION_SIZE_256KB    ((uint8_t)0x11)
+#define   MPU_REGION_SIZE_512KB    ((uint8_t)0x12)
+#define   MPU_REGION_SIZE_1MB      ((uint8_t)0x13)
+#define   MPU_REGION_SIZE_2MB      ((uint8_t)0x14)
+#define   MPU_REGION_SIZE_4MB      ((uint8_t)0x15)
+#define   MPU_REGION_SIZE_8MB      ((uint8_t)0x16)
+#define   MPU_REGION_SIZE_16MB     ((uint8_t)0x17)
+#define   MPU_REGION_SIZE_32MB     ((uint8_t)0x18)
+#define   MPU_REGION_SIZE_64MB     ((uint8_t)0x19)
+#define   MPU_REGION_SIZE_128MB    ((uint8_t)0x1A)
+#define   MPU_REGION_SIZE_256MB    ((uint8_t)0x1B)
+#define   MPU_REGION_SIZE_512MB    ((uint8_t)0x1C)
+#define   MPU_REGION_SIZE_1GB      ((uint8_t)0x1D)
+#define   MPU_REGION_SIZE_2GB      ((uint8_t)0x1E)
+#define   MPU_REGION_SIZE_4GB      ((uint8_t)0x1F)
+/**
+  * @}
+  */
+   
+/** @defgroup CORTEX_MPU_Region_Permission_Attributes CORTEX MPU Region Permission Attributes 
+  * @{
+  */
+#define  MPU_REGION_NO_ACCESS      ((uint8_t)0x00)
+#define  MPU_REGION_PRIV_RW        ((uint8_t)0x01)
+#define  MPU_REGION_PRIV_RW_URO    ((uint8_t)0x02)
+#define  MPU_REGION_FULL_ACCESS    ((uint8_t)0x03)
+#define  MPU_REGION_PRIV_RO        ((uint8_t)0x05)
+#define  MPU_REGION_PRIV_RO_URO    ((uint8_t)0x06)
+/**
+  * @}
+  */
+
+/** @defgroup CORTEX_MPU_Region_Number CORTEX MPU Region Number
+  * @{
+  */
+#define  MPU_REGION_NUMBER0    ((uint8_t)0x00)
+#define  MPU_REGION_NUMBER1    ((uint8_t)0x01)
+#define  MPU_REGION_NUMBER2    ((uint8_t)0x02)
+#define  MPU_REGION_NUMBER3    ((uint8_t)0x03)
+#define  MPU_REGION_NUMBER4    ((uint8_t)0x04)
+#define  MPU_REGION_NUMBER5    ((uint8_t)0x05)
+#define  MPU_REGION_NUMBER6    ((uint8_t)0x06)
+#define  MPU_REGION_NUMBER7    ((uint8_t)0x07)
+/**
+  * @}
+  */
+#endif /* __MPU_PRESENT */
+
+/**
+  * @}
+  */
+
+
+/* Exported Macros -----------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup CORTEX_Exported_Functions
+  * @{
+  */
+  
+/** @addtogroup CORTEX_Exported_Functions_Group1
+  * @{
+  */
+/* Initialization and de-initialization functions *****************************/
+void HAL_NVIC_SetPriorityGrouping(uint32_t PriorityGroup);
+void HAL_NVIC_SetPriority(IRQn_Type IRQn, uint32_t PreemptPriority, uint32_t SubPriority);
+void HAL_NVIC_EnableIRQ(IRQn_Type IRQn);
+void HAL_NVIC_DisableIRQ(IRQn_Type IRQn);
+void HAL_NVIC_SystemReset(void);
+uint32_t HAL_SYSTICK_Config(uint32_t TicksNumb);
+/**
+  * @}
+  */
+
+/** @addtogroup CORTEX_Exported_Functions_Group2
+  * @{
+  */
+/* Peripheral Control functions ***********************************************/
+uint32_t HAL_NVIC_GetPriorityGrouping(void);
+void HAL_NVIC_GetPriority(IRQn_Type IRQn, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority);
+uint32_t HAL_NVIC_GetPendingIRQ(IRQn_Type IRQn);
+void HAL_NVIC_SetPendingIRQ(IRQn_Type IRQn);
+void HAL_NVIC_ClearPendingIRQ(IRQn_Type IRQn);
+uint32_t HAL_NVIC_GetActive(IRQn_Type IRQn);
+void HAL_SYSTICK_CLKSourceConfig(uint32_t CLKSource);
+void HAL_SYSTICK_IRQHandler(void);
+void HAL_SYSTICK_Callback(void);
+
+#if (__MPU_PRESENT == 1U)
+void HAL_MPU_Enable(uint32_t MPU_Control);
+void HAL_MPU_Disable(void);
+void HAL_MPU_ConfigRegion(MPU_Region_InitTypeDef *MPU_Init);
+#endif /* __MPU_PRESENT */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Private types -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private constants ---------------------------------------------------------*/
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup CORTEX_Private_Macros CORTEX Private Macros
+  * @{
+  */
+#define IS_NVIC_PRIORITY_GROUP(GROUP) (((GROUP) == NVIC_PRIORITYGROUP_0) || \
+                                       ((GROUP) == NVIC_PRIORITYGROUP_1) || \
+                                       ((GROUP) == NVIC_PRIORITYGROUP_2) || \
+                                       ((GROUP) == NVIC_PRIORITYGROUP_3) || \
+                                       ((GROUP) == NVIC_PRIORITYGROUP_4))
+
+#define IS_NVIC_PREEMPTION_PRIORITY(PRIORITY)  ((PRIORITY) < 0x10U)
+
+#define IS_NVIC_SUB_PRIORITY(PRIORITY)         ((PRIORITY) < 0x10U)
+
+#define IS_NVIC_DEVICE_IRQ(IRQ)                ((IRQ) >= (IRQn_Type)0x00U)
+
+#define IS_SYSTICK_CLK_SOURCE(SOURCE) (((SOURCE) == SYSTICK_CLKSOURCE_HCLK) || \
+                                       ((SOURCE) == SYSTICK_CLKSOURCE_HCLK_DIV8))
+
+#if (__MPU_PRESENT == 1U)
+#define IS_MPU_REGION_ENABLE(STATE) (((STATE) == MPU_REGION_ENABLE) || \
+                                     ((STATE) == MPU_REGION_DISABLE))
+
+#define IS_MPU_INSTRUCTION_ACCESS(STATE) (((STATE) == MPU_INSTRUCTION_ACCESS_ENABLE) || \
+                                          ((STATE) == MPU_INSTRUCTION_ACCESS_DISABLE))
+
+#define IS_MPU_ACCESS_SHAREABLE(STATE)   (((STATE) == MPU_ACCESS_SHAREABLE) || \
+                                          ((STATE) == MPU_ACCESS_NOT_SHAREABLE))
+
+#define IS_MPU_ACCESS_CACHEABLE(STATE)   (((STATE) == MPU_ACCESS_CACHEABLE) || \
+                                          ((STATE) == MPU_ACCESS_NOT_CACHEABLE))
+
+#define IS_MPU_ACCESS_BUFFERABLE(STATE)   (((STATE) == MPU_ACCESS_BUFFERABLE) || \
+                                          ((STATE) == MPU_ACCESS_NOT_BUFFERABLE))
+
+#define IS_MPU_TEX_LEVEL(TYPE) (((TYPE) == MPU_TEX_LEVEL0)  || \
+                                ((TYPE) == MPU_TEX_LEVEL1)  || \
+                                ((TYPE) == MPU_TEX_LEVEL2))
+
+#define IS_MPU_REGION_PERMISSION_ATTRIBUTE(TYPE) (((TYPE) == MPU_REGION_NO_ACCESS)   || \
+                                                  ((TYPE) == MPU_REGION_PRIV_RW)     || \
+                                                  ((TYPE) == MPU_REGION_PRIV_RW_URO) || \
+                                                  ((TYPE) == MPU_REGION_FULL_ACCESS) || \
+                                                  ((TYPE) == MPU_REGION_PRIV_RO)     || \
+                                                  ((TYPE) == MPU_REGION_PRIV_RO_URO))
+
+#define IS_MPU_REGION_NUMBER(NUMBER)    (((NUMBER) == MPU_REGION_NUMBER0) || \
+                                         ((NUMBER) == MPU_REGION_NUMBER1) || \
+                                         ((NUMBER) == MPU_REGION_NUMBER2) || \
+                                         ((NUMBER) == MPU_REGION_NUMBER3) || \
+                                         ((NUMBER) == MPU_REGION_NUMBER4) || \
+                                         ((NUMBER) == MPU_REGION_NUMBER5) || \
+                                         ((NUMBER) == MPU_REGION_NUMBER6) || \
+                                         ((NUMBER) == MPU_REGION_NUMBER7))
+
+#define IS_MPU_REGION_SIZE(SIZE)    (((SIZE) == MPU_REGION_SIZE_32B)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_64B)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_128B)  || \
+                                     ((SIZE) == MPU_REGION_SIZE_256B)  || \
+                                     ((SIZE) == MPU_REGION_SIZE_512B)  || \
+                                     ((SIZE) == MPU_REGION_SIZE_1KB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_2KB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_4KB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_8KB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_16KB)  || \
+                                     ((SIZE) == MPU_REGION_SIZE_32KB)  || \
+                                     ((SIZE) == MPU_REGION_SIZE_64KB)  || \
+                                     ((SIZE) == MPU_REGION_SIZE_128KB) || \
+                                     ((SIZE) == MPU_REGION_SIZE_256KB) || \
+                                     ((SIZE) == MPU_REGION_SIZE_512KB) || \
+                                     ((SIZE) == MPU_REGION_SIZE_1MB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_2MB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_4MB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_8MB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_16MB)  || \
+                                     ((SIZE) == MPU_REGION_SIZE_32MB)  || \
+                                     ((SIZE) == MPU_REGION_SIZE_64MB)  || \
+                                     ((SIZE) == MPU_REGION_SIZE_128MB) || \
+                                     ((SIZE) == MPU_REGION_SIZE_256MB) || \
+                                     ((SIZE) == MPU_REGION_SIZE_512MB) || \
+                                     ((SIZE) == MPU_REGION_SIZE_1GB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_2GB)   || \
+                                     ((SIZE) == MPU_REGION_SIZE_4GB))
+
+#define IS_MPU_SUB_REGION_DISABLE(SUBREGION)  ((SUBREGION) < (uint16_t)0x00FF)
+#endif /* __MPU_PRESENT */
+
+/**                                                                          
+  * @}                                                                  
+  */
+
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+  
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_HAL_CORTEX_H */
+ 
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_crc.h

@@ -0,0 +1,184 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_crc.h
+  * @author  MCD Application Team
+  * @brief   Header file of CRC HAL module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32F4xx_HAL_CRC_H
+#define STM32F4xx_HAL_CRC_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup CRC
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup CRC_Exported_Types CRC Exported Types
+  * @{
+  */
+
+/**
+  * @brief  CRC HAL State Structure definition
+  */
+typedef enum
+{
+  HAL_CRC_STATE_RESET     = 0x00U,  /*!< CRC not yet initialized or disabled */
+  HAL_CRC_STATE_READY     = 0x01U,  /*!< CRC initialized and ready for use   */
+  HAL_CRC_STATE_BUSY      = 0x02U,  /*!< CRC internal process is ongoing     */
+  HAL_CRC_STATE_TIMEOUT   = 0x03U,  /*!< CRC timeout state                   */
+  HAL_CRC_STATE_ERROR     = 0x04U   /*!< CRC error state                     */
+} HAL_CRC_StateTypeDef;
+
+
+/**
+  * @brief  CRC Handle Structure definition
+  */
+typedef struct
+{
+  CRC_TypeDef                 *Instance;   /*!< Register base address        */
+
+  HAL_LockTypeDef             Lock;        /*!< CRC Locking object           */
+
+  __IO HAL_CRC_StateTypeDef   State;       /*!< CRC communication state      */
+
+} CRC_HandleTypeDef;
+/**
+  * @}
+  */
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup CRC_Exported_Constants CRC Exported Constants
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macros -----------------------------------------------------------*/
+/** @defgroup CRC_Exported_Macros CRC Exported Macros
+  * @{
+  */
+
+/** @brief Reset CRC handle state.
+  * @param  __HANDLE__ CRC handle.
+  * @retval None
+  */
+#define __HAL_CRC_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CRC_STATE_RESET)
+
+/**
+  * @brief  Reset CRC Data Register.
+  * @param  __HANDLE__ CRC handle
+  * @retval None
+  */
+#define __HAL_CRC_DR_RESET(__HANDLE__) ((__HANDLE__)->Instance->CR |= CRC_CR_RESET)
+
+/**
+  * @brief Store data in the Independent Data (ID) register.
+  * @param __HANDLE__ CRC handle
+  * @param __VALUE__  Value to be stored in the ID register
+  * @note  Refer to the Reference Manual to get the authorized __VALUE__ length in bits
+  * @retval None
+  */
+#define __HAL_CRC_SET_IDR(__HANDLE__, __VALUE__) (WRITE_REG((__HANDLE__)->Instance->IDR, (__VALUE__)))
+
+/**
+  * @brief Return the data stored in the Independent Data (ID) register.
+  * @param __HANDLE__ CRC handle
+  * @note  Refer to the Reference Manual to get the authorized __VALUE__ length in bits
+  * @retval Value of the ID register
+  */
+#define __HAL_CRC_GET_IDR(__HANDLE__) (((__HANDLE__)->Instance->IDR) & CRC_IDR_IDR)
+/**
+  * @}
+  */
+
+
+/* Private macros --------------------------------------------------------*/
+/** @defgroup  CRC_Private_Macros CRC Private Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/
+/** @defgroup CRC_Exported_Functions CRC Exported Functions
+  * @{
+  */
+
+/* Initialization and de-initialization functions  ****************************/
+/** @defgroup CRC_Exported_Functions_Group1 Initialization and de-initialization functions
+  * @{
+  */
+HAL_StatusTypeDef HAL_CRC_Init(CRC_HandleTypeDef *hcrc);
+HAL_StatusTypeDef HAL_CRC_DeInit(CRC_HandleTypeDef *hcrc);
+void HAL_CRC_MspInit(CRC_HandleTypeDef *hcrc);
+void HAL_CRC_MspDeInit(CRC_HandleTypeDef *hcrc);
+/**
+  * @}
+  */
+
+/* Peripheral Control functions ***********************************************/
+/** @defgroup CRC_Exported_Functions_Group2 Peripheral Control functions
+  * @{
+  */
+uint32_t HAL_CRC_Accumulate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t BufferLength);
+uint32_t HAL_CRC_Calculate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t BufferLength);
+/**
+  * @}
+  */
+
+/* Peripheral State and Error functions ***************************************/
+/** @defgroup CRC_Exported_Functions_Group3 Peripheral State functions
+  * @{
+  */
+HAL_CRC_StateTypeDef HAL_CRC_GetState(CRC_HandleTypeDef *hcrc);
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STM32F4xx_HAL_CRC_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cryp.h

@@ -0,0 +1,685 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_cryp.h
+  * @author  MCD Application Team
+  * @brief   Header file of CRYP HAL module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_HAL_CRYP_H
+#define __STM32F4xx_HAL_CRYP_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+#if defined (AES)  || defined (CRYP)
+/** @addtogroup CRYP
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+
+/** @defgroup CRYP_Exported_Types CRYP Exported Types
+  * @{
+  */
+
+/**
+  * @brief CRYP Init Structure definition
+  */
+
+typedef struct
+{
+  uint32_t DataType;                   /*!< 32-bit data, 16-bit data, 8-bit data or 1-bit string.
+                                        This parameter can be a value of @ref CRYP_Data_Type */
+  uint32_t KeySize;                    /*!< Used only in AES mode : 128, 192 or 256 bit key length in CRYP1.
+                                        128 or 256 bit key length in TinyAES This parameter can be a value of @ref CRYP_Key_Size */
+  uint32_t *pKey;                      /*!< The key used for encryption/decryption */
+  uint32_t *pInitVect;                 /*!< The initialization vector used also as initialization
+                                         counter in CTR mode */
+  uint32_t Algorithm;                  /*!<  DES/ TDES Algorithm ECB/CBC
+                                        AES Algorithm ECB/CBC/CTR/GCM or CCM
+                                        This parameter can be a value of @ref CRYP_Algorithm_Mode */
+  uint32_t *Header;                    /*!< used only in AES GCM and CCM Algorithm for authentication,
+                                        GCM : also known as Additional Authentication Data
+                                        CCM : named B1 composed of the associated data length and Associated Data. */
+  uint32_t HeaderSize;                /*!< The size of header buffer in word  */
+  uint32_t *B0;                       /*!< B0 is first authentication block used only  in AES CCM mode */
+  uint32_t DataWidthUnit;              /*!< Data With Unit, this parameter can be value of @ref CRYP_Data_Width_Unit*/
+  uint32_t HeaderWidthUnit;            /*!< Header Width Unit, this parameter can be value of @ref CRYP_Header_Width_Unit*/
+  uint32_t KeyIVConfigSkip;            /*!< CRYP peripheral Key and IV configuration skip, to config Key and Initialization
+                                           Vector only once and to skip configuration for consecutive processings.
+                                           This parameter can be a value of @ref CRYP_Configuration_Skip */
+
+} CRYP_ConfigTypeDef;
+
+
+/**
+  * @brief  CRYP State Structure definition
+  */
+
+typedef enum
+{
+  HAL_CRYP_STATE_RESET             = 0x00U,  /*!< CRYP not yet initialized or disabled  */
+  HAL_CRYP_STATE_READY             = 0x01U,  /*!< CRYP initialized and ready for use    */
+  HAL_CRYP_STATE_BUSY              = 0x02U  /*!< CRYP BUSY, internal processing is ongoing  */
+} HAL_CRYP_STATETypeDef;
+
+
+/**
+  * @brief  CRYP handle Structure definition
+  */
+
+typedef struct __CRYP_HandleTypeDef
+{
+#if defined (CRYP)
+  CRYP_TypeDef                      *Instance;            /*!< CRYP registers base address */
+#else /* AES*/
+  AES_TypeDef                       *Instance;            /*!< AES Register base address */
+#endif /* End AES or CRYP */
+
+  CRYP_ConfigTypeDef                Init;             /*!< CRYP required parameters */
+
+  FunctionalState                   AutoKeyDerivation;   /*!< Used only in TinyAES to allows to bypass or not key write-up before decryption.
+                                                         This parameter can be a value of ENABLE/DISABLE */
+
+  uint32_t                          *pCrypInBuffPtr;  /*!< Pointer to CRYP processing (encryption, decryption,...) buffer */
+
+  uint32_t                          *pCrypOutBuffPtr; /*!< Pointer to CRYP processing (encryption, decryption,...) buffer */
+
+  __IO uint16_t                     CrypHeaderCount;   /*!< Counter of header data */
+
+  __IO uint16_t                     CrypInCount;      /*!< Counter of input data */
+
+  __IO uint16_t                     CrypOutCount;     /*!< Counter of output data */
+
+  uint16_t                          Size;           /*!< length of input data in word */
+
+  uint32_t                          Phase;            /*!< CRYP peripheral phase */
+
+  DMA_HandleTypeDef                 *hdmain;          /*!< CRYP In DMA handle parameters */
+
+  DMA_HandleTypeDef                 *hdmaout;         /*!< CRYP Out DMA handle parameters */
+
+  HAL_LockTypeDef                   Lock;             /*!< CRYP locking object */
+
+  __IO  HAL_CRYP_STATETypeDef       State;            /*!< CRYP peripheral state */
+
+  __IO uint32_t                     ErrorCode;        /*!< CRYP peripheral error code */
+
+  uint32_t                          KeyIVConfig;      /*!< CRYP peripheral Key and IV configuration flag, used when
+                                                           configuration can be skipped */
+
+  uint32_t                          SizesSum;         /*!< Sum of successive payloads lengths (in bytes), stored
+                                                           for a single signature computation after several
+                                                           messages processing */
+
+#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1)
+  void (*InCpltCallback)(struct __CRYP_HandleTypeDef *hcryp);      /*!< CRYP Input FIFO transfer completed callback  */
+  void (*OutCpltCallback)(struct __CRYP_HandleTypeDef *hcryp);     /*!< CRYP Output FIFO transfer completed callback */
+  void (*ErrorCallback)(struct __CRYP_HandleTypeDef *hcryp);       /*!< CRYP Error callback */
+
+  void (* MspInitCallback)(struct __CRYP_HandleTypeDef *hcryp);    /*!< CRYP Msp Init callback  */
+  void (* MspDeInitCallback)(struct __CRYP_HandleTypeDef *hcryp);  /*!< CRYP Msp DeInit callback  */
+
+#endif /* (USE_HAL_CRYP_REGISTER_CALLBACKS) */
+} CRYP_HandleTypeDef;
+
+
+/**
+  * @}
+  */
+
+#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1)
+/** @defgroup HAL_CRYP_Callback_ID_enumeration_definition HAL CRYP Callback ID enumeration definition
+  * @brief  HAL CRYP Callback ID enumeration definition
+  * @{
+  */
+typedef enum
+{
+  HAL_CRYP_INPUT_COMPLETE_CB_ID    = 0x01U,    /*!< CRYP Input FIFO transfer completed callback ID */
+  HAL_CRYP_OUTPUT_COMPLETE_CB_ID   = 0x02U,    /*!< CRYP Output FIFO transfer completed callback ID */
+  HAL_CRYP_ERROR_CB_ID             = 0x03U,    /*!< CRYP Error callback ID           */
+
+  HAL_CRYP_MSPINIT_CB_ID        = 0x04U,    /*!< CRYP MspInit callback ID         */
+  HAL_CRYP_MSPDEINIT_CB_ID      = 0x05U     /*!< CRYP MspDeInit callback ID       */
+
+} HAL_CRYP_CallbackIDTypeDef;
+/**
+  * @}
+  */
+
+/** @defgroup HAL_CRYP_Callback_pointer_definition HAL CRYP Callback pointer definition
+  * @brief  HAL CRYP Callback pointer definition
+  * @{
+  */
+
+typedef  void (*pCRYP_CallbackTypeDef)(CRYP_HandleTypeDef *hcryp);    /*!< pointer to a common CRYP callback function */
+
+/**
+  * @}
+  */
+
+#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup CRYP_Exported_Constants CRYP Exported Constants
+  * @{
+  */
+
+/** @defgroup CRYP_Error_Definition   CRYP Error Definition
+  * @{
+  */
+#define HAL_CRYP_ERROR_NONE              0x00000000U  /*!< No error        */
+#define HAL_CRYP_ERROR_WRITE             0x00000001U  /*!< Write error     */
+#define HAL_CRYP_ERROR_READ              0x00000002U  /*!< Read error      */
+#define HAL_CRYP_ERROR_DMA               0x00000004U  /*!< DMA error       */
+#define HAL_CRYP_ERROR_BUSY              0x00000008U  /*!< Busy flag error */
+#define HAL_CRYP_ERROR_TIMEOUT           0x00000010U  /*!< Timeout error */
+#define HAL_CRYP_ERROR_NOT_SUPPORTED     0x00000020U  /*!< Not supported mode */
+#define HAL_CRYP_ERROR_AUTH_TAG_SEQUENCE 0x00000040U  /*!< Sequence are not respected only for GCM or CCM */
+#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1)
+#define  HAL_CRYP_ERROR_INVALID_CALLBACK ((uint32_t)0x00000080U)    /*!< Invalid Callback error  */
+#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Data_Width_Unit CRYP Data Width Unit
+  * @{
+  */
+
+#define CRYP_DATAWIDTHUNIT_WORD   0x00000000U  /*!< By default, size unit is word */
+#define CRYP_DATAWIDTHUNIT_BYTE   0x00000001U  /*!< By default, size unit is word */
+
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Header_Width_Unit CRYP Header Width Unit
+  * @{
+  */
+
+#define CRYP_HEADERWIDTHUNIT_WORD   0x00000000U  /*!< By default, header size unit is word */
+#define CRYP_HEADERWIDTHUNIT_BYTE   0x00000001U  /*!< By default, header size unit is byte */
+
+/**
+  * @}
+  */
+  
+/** @defgroup CRYP_Algorithm_Mode CRYP Algorithm Mode
+  * @{
+  */
+#if defined(CRYP)
+
+#define CRYP_DES_ECB     CRYP_CR_ALGOMODE_DES_ECB
+#define CRYP_DES_CBC     CRYP_CR_ALGOMODE_DES_CBC
+#define CRYP_TDES_ECB    CRYP_CR_ALGOMODE_TDES_ECB
+#define CRYP_TDES_CBC    CRYP_CR_ALGOMODE_TDES_CBC
+#define CRYP_AES_ECB     CRYP_CR_ALGOMODE_AES_ECB
+#define CRYP_AES_CBC     CRYP_CR_ALGOMODE_AES_CBC
+#define CRYP_AES_CTR     CRYP_CR_ALGOMODE_AES_CTR
+#if defined (CRYP_CR_ALGOMODE_AES_GCM)
+#define CRYP_AES_GCM     CRYP_CR_ALGOMODE_AES_GCM
+#define CRYP_AES_CCM     CRYP_CR_ALGOMODE_AES_CCM
+#endif /* GCM CCM defined*/
+#else /* AES*/
+#define CRYP_AES_ECB            0x00000000U                       /*!< Electronic codebook chaining algorithm                   */
+#define CRYP_AES_CBC            AES_CR_CHMOD_0                    /*!< Cipher block chaining algorithm                          */
+#define CRYP_AES_CTR            AES_CR_CHMOD_1                    /*!< Counter mode chaining algorithm                          */
+#define CRYP_AES_GCM_GMAC       (AES_CR_CHMOD_0 | AES_CR_CHMOD_1) /*!< Galois counter mode - Galois message authentication code */
+#define CRYP_AES_CCM            AES_CR_CHMOD_2                    /*!< Counter with Cipher Mode                                 */
+#endif /* End AES or CRYP */
+
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Key_Size CRYP Key Size
+  * @{
+  */
+#if defined(CRYP)
+#define CRYP_KEYSIZE_128B         0x00000000U
+#define CRYP_KEYSIZE_192B         CRYP_CR_KEYSIZE_0
+#define CRYP_KEYSIZE_256B         CRYP_CR_KEYSIZE_1
+#else /* AES*/
+#define CRYP_KEYSIZE_128B         0x00000000U          /*!< 128-bit long key */
+#define CRYP_KEYSIZE_256B         AES_CR_KEYSIZE       /*!< 256-bit long key */
+#endif /* End AES or CRYP */
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Data_Type CRYP Data Type
+  * @{
+  */
+#if defined(CRYP)
+#define CRYP_DATATYPE_32B         0x00000000U
+#define CRYP_DATATYPE_16B         CRYP_CR_DATATYPE_0
+#define CRYP_DATATYPE_8B          CRYP_CR_DATATYPE_1
+#define CRYP_DATATYPE_1B          CRYP_CR_DATATYPE
+#else /* AES*/
+#define CRYP_DATATYPE_32B         0x00000000U  /*!< 32-bit data type (no swapping)        */
+#define CRYP_DATATYPE_16B         AES_CR_DATATYPE_0       /*!< 16-bit data type (half-word swapping) */
+#define CRYP_DATATYPE_8B          AES_CR_DATATYPE_1       /*!< 8-bit data type (byte swapping)       */
+#define CRYP_DATATYPE_1B          AES_CR_DATATYPE         /*!< 1-bit data type (bit swapping)        */
+#endif /* End AES or CRYP */
+
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Interrupt  CRYP Interrupt
+  * @{
+  */
+#if defined (CRYP)
+#define CRYP_IT_INI       CRYP_IMSCR_INIM   /*!< Input FIFO Interrupt */
+#define CRYP_IT_OUTI      CRYP_IMSCR_OUTIM  /*!< Output FIFO Interrupt */
+#else /* AES*/
+#define CRYP_IT_CCFIE     AES_CR_CCFIE /*!< Computation Complete interrupt enable */
+#define CRYP_IT_ERRIE     AES_CR_ERRIE /*!< Error interrupt enable                */
+#define CRYP_IT_WRERR     AES_SR_WRERR  /*!< Write Error           */
+#define CRYP_IT_RDERR     AES_SR_RDERR  /*!< Read Error            */
+#define CRYP_IT_CCF       AES_SR_CCF    /*!< Computation completed */
+#endif /* End AES or CRYP */
+
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Flags CRYP Flags
+  * @{
+  */
+#if defined (CRYP)
+/* Flags in the SR register */
+#define CRYP_FLAG_IFEM    CRYP_SR_IFEM  /*!< Input FIFO is empty */
+#define CRYP_FLAG_IFNF    CRYP_SR_IFNF  /*!< Input FIFO is not Full */
+#define CRYP_FLAG_OFNE    CRYP_SR_OFNE  /*!< Output FIFO is not empty */
+#define CRYP_FLAG_OFFU    CRYP_SR_OFFU  /*!< Output FIFO is Full */
+#define CRYP_FLAG_BUSY    CRYP_SR_BUSY  /*!< The CRYP core is currently processing a block of data 
+                                             or a key preparation (for AES decryption). */
+/* Flags in the RISR register */
+#define CRYP_FLAG_OUTRIS  0x01000002U  /*!< Output FIFO service raw interrupt status */
+#define CRYP_FLAG_INRIS   0x01000001U  /*!< Input FIFO service raw interrupt status*/
+#else /* AES*/
+/* status flags */
+#define CRYP_FLAG_BUSY    AES_SR_BUSY   /*!< GCM process suspension forbidden */
+#define CRYP_FLAG_WRERR   AES_SR_WRERR  /*!< Write Error                      */
+#define CRYP_FLAG_RDERR   AES_SR_RDERR  /*!< Read error                       */
+#define CRYP_FLAG_CCF     AES_SR_CCF    /*!< Computation completed            */
+/* clearing flags */
+#define CRYP_CCF_CLEAR    AES_CR_CCFC   /*!< Computation Complete Flag Clear */
+#define CRYP_ERR_CLEAR    AES_CR_ERRC   /*!< Error Flag Clear  */
+#endif /* End AES or CRYP  */
+
+/**
+  * @}
+  */
+
+/** @defgroup CRYP_Configuration_Skip CRYP Key and IV Configuration Skip Mode
+  * @{
+  */
+
+#define CRYP_KEYIVCONFIG_ALWAYS        0x00000000U            /*!< Peripheral Key and IV configuration to do systematically */
+#define CRYP_KEYIVCONFIG_ONCE          0x00000001U            /*!< Peripheral Key and IV configuration to do only once      */
+
+/**
+  * @}
+  */
+
+
+/**
+  * @}
+  */
+
+/* Exported macros -----------------------------------------------------------*/
+/** @defgroup CRYP_Exported_Macros CRYP Exported Macros
+  * @{
+  */
+
+/** @brief Reset CRYP handle state
+  * @param  __HANDLE__ specifies the CRYP handle.
+  * @retval None
+  */
+#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1)
+#define __HAL_CRYP_RESET_HANDLE_STATE(__HANDLE__) do{\
+                                                      (__HANDLE__)->State = HAL_CRYP_STATE_RESET;\
+                                                      (__HANDLE__)->MspInitCallback = NULL;\
+                                                      (__HANDLE__)->MspDeInitCallback = NULL;\
+                                                     }while(0)
+#else
+#define __HAL_CRYP_RESET_HANDLE_STATE(__HANDLE__) ( (__HANDLE__)->State = HAL_CRYP_STATE_RESET)
+#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */
+
+/**
+  * @brief  Enable/Disable the CRYP peripheral.
+  * @param  __HANDLE__: specifies the CRYP handle.
+  * @retval None
+  */
+#if defined(CRYP)
+#define __HAL_CRYP_ENABLE(__HANDLE__)  ((__HANDLE__)->Instance->CR |=  CRYP_CR_CRYPEN)
+#define __HAL_CRYP_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &=  ~CRYP_CR_CRYPEN)
+#else /* AES*/
+#define __HAL_CRYP_ENABLE(__HANDLE__)  ((__HANDLE__)->Instance->CR |=  AES_CR_EN)
+#define __HAL_CRYP_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &=  ~AES_CR_EN)
+#endif /* End AES or CRYP  */
+
+/** @brief  Check whether the specified CRYP status flag is set or not.
+  * @param  __FLAG__: specifies the flag to check.
+  *         This parameter can be one of the following values for TinyAES:
+  *            @arg @ref CRYP_FLAG_BUSY GCM process suspension forbidden
+  *            @arg @ref CRYP_IT_WRERR Write Error
+  *            @arg @ref CRYP_IT_RDERR Read Error
+  *            @arg @ref CRYP_IT_CCF Computation Complete
+  *         This parameter can be one of the following values for CRYP:
+  *            @arg CRYP_FLAG_BUSY: The CRYP core is currently processing a block of data
+  *                                 or a key preparation (for AES decryption).
+  *            @arg CRYP_FLAG_IFEM: Input FIFO is empty
+  *            @arg CRYP_FLAG_IFNF: Input FIFO is not full
+  *            @arg CRYP_FLAG_INRIS: Input FIFO service raw interrupt is pending
+  *            @arg CRYP_FLAG_OFNE: Output FIFO is not empty
+  *            @arg CRYP_FLAG_OFFU: Output FIFO is full
+  *            @arg CRYP_FLAG_OUTRIS: Input FIFO service raw interrupt is pending
+  * @retval The state of __FLAG__ (TRUE or FALSE).
+  */
+#define CRYP_FLAG_MASK  0x0000001FU
+#if defined(CRYP)
+#define __HAL_CRYP_GET_FLAG(__HANDLE__, __FLAG__) ((((uint8_t)((__FLAG__) >> 24)) == 0x01U)?((((__HANDLE__)->Instance->RISR) & ((__FLAG__) & CRYP_FLAG_MASK)) == ((__FLAG__) & CRYP_FLAG_MASK)): \
+                                                   ((((__HANDLE__)->Instance->RISR) & ((__FLAG__) & CRYP_FLAG_MASK)) == ((__FLAG__) & CRYP_FLAG_MASK)))
+#else /* AES*/
+#define __HAL_CRYP_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__))
+#endif /* End AES or CRYP */
+
+/** @brief  Clear the CRYP pending status flag.
+  * @param  __FLAG__: specifies the flag to clear.
+  *         This parameter can be one of the following values:
+  *            @arg @ref CRYP_ERR_CLEAR Read (RDERR) or Write Error (WRERR) Flag Clear
+  *            @arg @ref CRYP_CCF_CLEAR Computation Complete Flag (CCF) Clear
+  * @param  __HANDLE__: specifies the CRYP handle.
+  * @retval None
+  */
+
+#if defined(AES)
+#define __HAL_CRYP_CLEAR_FLAG(__HANDLE__, __FLAG__) SET_BIT((__HANDLE__)->Instance->CR, (__FLAG__))
+
+
+/** @brief  Check whether the specified CRYP interrupt source is enabled or not.
+  * @param __INTERRUPT__: CRYP interrupt source to check
+  *         This parameter can be one of the following values for TinyAES:
+  *            @arg @ref CRYP_IT_ERRIE Error interrupt (used for RDERR and WRERR)
+  *            @arg @ref CRYP_IT_CCFIE Computation Complete interrupt
+  * @param  __HANDLE__: specifies the CRYP handle.
+  * @retval State of interruption (TRUE or FALSE).
+  */
+
+#define __HAL_CRYP_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR\
+                                                              & (__INTERRUPT__)) == (__INTERRUPT__))
+
+#endif /* AES */
+
+/** @brief  Check whether the specified CRYP interrupt is set or not.
+  * @param  __INTERRUPT__: specifies the interrupt to check.
+  *         This parameter can be one of the following values for TinyAES:
+  *            @arg @ref CRYP_IT_WRERR Write Error
+  *            @arg @ref CRYP_IT_RDERR Read Error
+  *            @arg @ref CRYP_IT_CCF  Computation Complete
+  *         This parameter can be one of the following values for CRYP:
+  *            @arg CRYP_IT_INI: Input FIFO service masked interrupt status
+  *            @arg CRYP_IT_OUTI: Output FIFO service masked interrupt status
+  * @param  __HANDLE__: specifies the CRYP handle.
+  * @retval The state of __INTERRUPT__ (TRUE or FALSE).
+  */
+#if defined(CRYP)
+#define __HAL_CRYP_GET_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->MISR\
+                                                       & (__INTERRUPT__)) == (__INTERRUPT__))
+#else /* AES*/
+#define __HAL_CRYP_GET_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->SR & (__INTERRUPT__)) == (__INTERRUPT__))
+#endif /* End AES or CRYP */
+
+/**
+  * @brief  Enable the CRYP interrupt.
+  * @param  __INTERRUPT__: CRYP Interrupt.
+  *         This parameter can be one of the following values for TinyAES:
+  *            @arg @ref CRYP_IT_ERRIE Error interrupt (used for RDERR and WRERR)
+  *            @arg @ref CRYP_IT_CCFIE Computation Complete interrupt
+  *         This parameter can be one of the following values for CRYP:
+  *            @ CRYP_IT_INI : Input FIFO service interrupt mask.
+  *            @ CRYP_IT_OUTI : Output FIFO service interrupt mask.CRYP interrupt.
+  * @param  __HANDLE__: specifies the CRYP handle.
+  * @retval None
+  */
+#if defined(CRYP)
+#define __HAL_CRYP_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IMSCR) |= (__INTERRUPT__))
+#else /* AES*/
+#define __HAL_CRYP_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR) |= (__INTERRUPT__))
+#endif /* End AES or CRYP */
+
+/**
+  * @brief  Disable the CRYP interrupt.
+  * @param  __INTERRUPT__: CRYP Interrupt.
+  *         This parameter can be one of the following values for TinyAES:
+  *            @arg @ref CRYP_IT_ERRIE Error interrupt (used for RDERR and WRERR)
+  *            @arg @ref CRYP_IT_CCFIE Computation Complete interrupt
+  *         This parameter can be one of the following values for CRYP:
+  *            @ CRYP_IT_INI : Input FIFO service interrupt mask.
+  *            @ CRYP_IT_OUTI : Output FIFO service interrupt mask.CRYP interrupt.
+  * @param  __HANDLE__: specifies the CRYP handle.
+  * @retval None
+  */
+#if defined(CRYP)
+#define __HAL_CRYP_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IMSCR) &= ~(__INTERRUPT__))
+#else /* AES*/
+#define __HAL_CRYP_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR) &= ~(__INTERRUPT__))
+#endif /* End AES or CRYP */
+
+/**
+  * @}
+  */
+#if defined (CRYP_CR_ALGOMODE_AES_GCM)|| defined (AES)
+/* Include CRYP HAL Extended module */
+#include "stm32f4xx_hal_cryp_ex.h"
+#endif /* AES or GCM CCM defined*/
+/* Exported functions --------------------------------------------------------*/
+/** @defgroup CRYP_Exported_Functions CRYP Exported Functions
+  * @{
+  */
+
+/** @addtogroup CRYP_Exported_Functions_Group1
+  * @{
+  */
+HAL_StatusTypeDef HAL_CRYP_Init(CRYP_HandleTypeDef *hcryp);
+HAL_StatusTypeDef HAL_CRYP_DeInit(CRYP_HandleTypeDef *hcryp);
+void HAL_CRYP_MspInit(CRYP_HandleTypeDef *hcryp);
+void HAL_CRYP_MspDeInit(CRYP_HandleTypeDef *hcryp);
+HAL_StatusTypeDef HAL_CRYP_SetConfig(CRYP_HandleTypeDef *hcryp, CRYP_ConfigTypeDef *pConf);
+HAL_StatusTypeDef HAL_CRYP_GetConfig(CRYP_HandleTypeDef *hcryp, CRYP_ConfigTypeDef *pConf);
+#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1)
+HAL_StatusTypeDef HAL_CRYP_RegisterCallback(CRYP_HandleTypeDef *hcryp, HAL_CRYP_CallbackIDTypeDef CallbackID,
+                                            pCRYP_CallbackTypeDef pCallback);
+HAL_StatusTypeDef HAL_CRYP_UnRegisterCallback(CRYP_HandleTypeDef *hcryp, HAL_CRYP_CallbackIDTypeDef CallbackID);
+#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */
+/**
+  * @}
+  */
+
+/** @addtogroup CRYP_Exported_Functions_Group2
+  * @{
+  */
+
+/* encryption/decryption ***********************************/
+HAL_StatusTypeDef HAL_CRYP_Encrypt(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output,
+                                   uint32_t Timeout);
+HAL_StatusTypeDef HAL_CRYP_Decrypt(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output,
+                                   uint32_t Timeout);
+HAL_StatusTypeDef HAL_CRYP_Encrypt_IT(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output);
+HAL_StatusTypeDef HAL_CRYP_Decrypt_IT(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output);
+HAL_StatusTypeDef HAL_CRYP_Encrypt_DMA(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output);
+HAL_StatusTypeDef HAL_CRYP_Decrypt_DMA(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output);
+
+/**
+  * @}
+  */
+
+
+/** @addtogroup CRYP_Exported_Functions_Group3
+  * @{
+  */
+/* Interrupt Handler functions  **********************************************/
+void HAL_CRYP_IRQHandler(CRYP_HandleTypeDef *hcryp);
+HAL_CRYP_STATETypeDef HAL_CRYP_GetState(CRYP_HandleTypeDef *hcryp);
+void HAL_CRYP_InCpltCallback(CRYP_HandleTypeDef *hcryp);
+void HAL_CRYP_OutCpltCallback(CRYP_HandleTypeDef *hcryp);
+void HAL_CRYP_ErrorCallback(CRYP_HandleTypeDef *hcryp);
+uint32_t HAL_CRYP_GetError(CRYP_HandleTypeDef *hcryp);
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Private macros --------------------------------------------------------*/
+/** @defgroup CRYP_Private_Macros   CRYP Private Macros
+  * @{
+  */
+
+/** @defgroup CRYP_IS_CRYP_Definitions CRYP Private macros to check input parameters
+  * @{
+  */
+#if defined(CRYP)
+#if defined (CRYP_CR_ALGOMODE_AES_GCM)
+#define IS_CRYP_ALGORITHM(ALGORITHM) (((ALGORITHM) == CRYP_DES_ECB)   || \
+                                      ((ALGORITHM)  == CRYP_DES_CBC)   || \
+                                      ((ALGORITHM)  == CRYP_TDES_ECB)  || \
+                                      ((ALGORITHM)  == CRYP_TDES_CBC)  || \
+                                      ((ALGORITHM)  == CRYP_AES_ECB)   || \
+                                      ((ALGORITHM)  == CRYP_AES_CBC)   || \
+                                      ((ALGORITHM)  == CRYP_AES_CTR)   || \
+                                      ((ALGORITHM)  == CRYP_AES_GCM)   || \
+                                      ((ALGORITHM)  == CRYP_AES_CCM))
+#else /*NO GCM CCM */
+#define IS_CRYP_ALGORITHM(ALGORITHM) (((ALGORITHM) == CRYP_DES_ECB)   || \
+                                      ((ALGORITHM)  == CRYP_DES_CBC)   || \
+                                      ((ALGORITHM)  == CRYP_TDES_ECB)  || \
+                                      ((ALGORITHM)  == CRYP_TDES_CBC)  || \
+                                      ((ALGORITHM)  == CRYP_AES_ECB)   || \
+                                      ((ALGORITHM)  == CRYP_AES_CBC)   || \
+                                      ((ALGORITHM)  == CRYP_AES_CTR))
+#endif /* GCM CCM defined*/
+#define IS_CRYP_KEYSIZE(KEYSIZE)(((KEYSIZE) == CRYP_KEYSIZE_128B)   || \
+                                 ((KEYSIZE) == CRYP_KEYSIZE_192B)   || \
+                                 ((KEYSIZE) == CRYP_KEYSIZE_256B))
+#else /* AES*/
+#define IS_CRYP_ALGORITHM(ALGORITHM) (((ALGORITHM) == CRYP_AES_ECB)   || \
+                                      ((ALGORITHM)  == CRYP_AES_CBC)   || \
+                                      ((ALGORITHM)  == CRYP_AES_CTR)  || \
+                                      ((ALGORITHM)  == CRYP_AES_GCM_GMAC)|| \
+                                      ((ALGORITHM)  == CRYP_AES_CCM))
+
+
+#define IS_CRYP_KEYSIZE(KEYSIZE)(((KEYSIZE) == CRYP_KEYSIZE_128B)   || \
+                                 ((KEYSIZE) == CRYP_KEYSIZE_256B))
+#endif /* End AES or CRYP */
+
+#define IS_CRYP_DATATYPE(DATATYPE)(((DATATYPE) == CRYP_DATATYPE_32B)   || \
+                                   ((DATATYPE) == CRYP_DATATYPE_16B) || \
+                                   ((DATATYPE) == CRYP_DATATYPE_8B) || \
+                                   ((DATATYPE) == CRYP_DATATYPE_1B))
+
+#define IS_CRYP_INIT(CONFIG)(((CONFIG) == CRYP_KEYIVCONFIG_ALWAYS) || \
+                             ((CONFIG) == CRYP_KEYIVCONFIG_ONCE))
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup CRYP_Private_Constants CRYP Private Constants
+  * @{
+  */
+
+/**
+  * @}
+  */
+/* Private defines -----------------------------------------------------------*/
+/** @defgroup CRYP_Private_Defines CRYP Private Defines
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private variables ---------------------------------------------------------*/
+/** @defgroup CRYP_Private_Variables CRYP Private Variables
+  * @{
+  */
+
+/**
+  * @}
+  */
+/* Private functions prototypes ----------------------------------------------*/
+/** @defgroup CRYP_Private_Functions_Prototypes CRYP Private Functions Prototypes
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private functions ---------------------------------------------------------*/
+/** @defgroup CRYP_Private_Functions CRYP Private Functions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+
+/**
+  * @}
+  */
+
+
+/**
+  * @}
+  */
+#endif /* TinyAES or CRYP*/
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_HAL_CRYP_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cryp_ex.h

@@ -0,0 +1,144 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_cryp_ex.h
+  * @author  MCD Application Team
+  * @brief   Header file of CRYP HAL Extension module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_HAL_CRYP_EX_H
+#define __STM32F4xx_HAL_CRYP_EX_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup CRYPEx
+  * @{
+  */
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup CRYPEx_Exported_Types CRYPEx Exported types
+  * @{
+  */
+
+/**
+  * @}
+  */
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup CRYPEx_Exported_Constants CRYPEx Exported constants
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private types -------------------------------------------------------------*/
+/** @defgroup CRYPEx_Private_Types CRYPEx Private Types
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private variables ---------------------------------------------------------*/
+/** @defgroup CRYPEx_Private_Variables CRYPEx Private Variables
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup CRYPEx_Private_Constants CRYPEx Private Constants
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup CRYPEx_Private_Macros CRYPEx Private Macros
+  * @{
+  */
+
+/**
+  * @}
+ */
+
+/* Private functions ---------------------------------------------------------*/
+/** @defgroup CRYPEx_Private_Functions CRYPEx Private Functions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/
+/** @defgroup CRYPEx_Exported_Functions CRYPEx Exported Functions
+  * @{
+  */
+#if defined (CRYP) || defined (AES)
+/** @addtogroup CRYPEx_Exported_Functions_Group1
+  * @{
+  */
+HAL_StatusTypeDef HAL_CRYPEx_AESGCM_GenerateAuthTAG(CRYP_HandleTypeDef *hcryp, uint32_t *AuthTag, uint32_t Timeout);
+HAL_StatusTypeDef HAL_CRYPEx_AESCCM_GenerateAuthTAG(CRYP_HandleTypeDef *hcryp, uint32_t *AuthTag, uint32_t Timeout);
+/**
+  * @}
+  */
+#endif /* CRYP||AES */
+
+#if defined (AES)
+/** @addtogroup CRYPEx_Exported_Functions_Group2
+  * @{
+  */
+void  HAL_CRYPEx_EnableAutoKeyDerivation(CRYP_HandleTypeDef *hcryp);
+void  HAL_CRYPEx_DisableAutoKeyDerivation(CRYP_HandleTypeDef *hcryp);
+/**
+  * @}
+  */
+#endif /* AES */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_HAL_CRYP_EX_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dac.h

@@ -0,0 +1,482 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_dac.h
+  * @author  MCD Application Team
+  * @brief   Header file of DAC HAL module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32F4xx_HAL_DAC_H
+#define STM32F4xx_HAL_DAC_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+#if defined(DAC)
+
+/** @addtogroup DAC
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+
+/** @defgroup DAC_Exported_Types DAC Exported Types
+  * @{
+  */
+
+/**
+  * @brief  HAL State structures definition
+  */
+typedef enum
+{
+  HAL_DAC_STATE_RESET             = 0x00U,  /*!< DAC not yet initialized or disabled  */
+  HAL_DAC_STATE_READY             = 0x01U,  /*!< DAC initialized and ready for use    */
+  HAL_DAC_STATE_BUSY              = 0x02U,  /*!< DAC internal processing is ongoing   */
+  HAL_DAC_STATE_TIMEOUT           = 0x03U,  /*!< DAC timeout state                    */
+  HAL_DAC_STATE_ERROR             = 0x04U   /*!< DAC error state                      */
+
+} HAL_DAC_StateTypeDef;
+
+/**
+  * @brief  DAC handle Structure definition
+  */
+#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1)
+typedef struct __DAC_HandleTypeDef
+#else
+typedef struct
+#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */
+{
+  DAC_TypeDef                 *Instance;     /*!< Register base address             */
+
+  __IO HAL_DAC_StateTypeDef   State;         /*!< DAC communication state           */
+
+  HAL_LockTypeDef             Lock;          /*!< DAC locking object                */
+
+  DMA_HandleTypeDef           *DMA_Handle1;  /*!< Pointer DMA handler for channel 1 */
+
+  DMA_HandleTypeDef           *DMA_Handle2;  /*!< Pointer DMA handler for channel 2 */
+
+  __IO uint32_t               ErrorCode;     /*!< DAC Error code                    */
+
+#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1)
+  void (* ConvCpltCallbackCh1)            (struct __DAC_HandleTypeDef *hdac);
+  void (* ConvHalfCpltCallbackCh1)        (struct __DAC_HandleTypeDef *hdac);
+  void (* ErrorCallbackCh1)               (struct __DAC_HandleTypeDef *hdac);
+  void (* DMAUnderrunCallbackCh1)         (struct __DAC_HandleTypeDef *hdac);
+#if defined(DAC_CHANNEL2_SUPPORT)
+  void (* ConvCpltCallbackCh2)            (struct __DAC_HandleTypeDef *hdac);
+  void (* ConvHalfCpltCallbackCh2)        (struct __DAC_HandleTypeDef *hdac);
+  void (* ErrorCallbackCh2)               (struct __DAC_HandleTypeDef *hdac);
+  void (* DMAUnderrunCallbackCh2)         (struct __DAC_HandleTypeDef *hdac);
+#endif /* DAC_CHANNEL2_SUPPORT */
+
+  void (* MspInitCallback)                (struct __DAC_HandleTypeDef *hdac);
+  void (* MspDeInitCallback)              (struct __DAC_HandleTypeDef *hdac);
+#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */
+
+} DAC_HandleTypeDef;
+
+/**
+  * @brief   DAC Configuration regular Channel structure definition
+  */
+typedef struct
+{
+  uint32_t DAC_Trigger;                  /*!< Specifies the external trigger for the selected DAC channel.
+                                              This parameter can be a value of @ref DAC_trigger_selection */
+
+  uint32_t DAC_OutputBuffer;             /*!< Specifies whether the DAC channel output buffer is enabled or disabled.
+                                               This parameter can be a value of @ref DAC_output_buffer */
+
+} DAC_ChannelConfTypeDef;
+
+#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1)
+/**
+  * @brief  HAL DAC Callback ID enumeration definition
+  */
+typedef enum
+{
+  HAL_DAC_CH1_COMPLETE_CB_ID                 = 0x00U,  /*!< DAC CH1 Complete Callback ID      */
+  HAL_DAC_CH1_HALF_COMPLETE_CB_ID            = 0x01U,  /*!< DAC CH1 half Complete Callback ID */
+  HAL_DAC_CH1_ERROR_ID                       = 0x02U,  /*!< DAC CH1 error Callback ID         */
+  HAL_DAC_CH1_UNDERRUN_CB_ID                 = 0x03U,  /*!< DAC CH1 underrun Callback ID      */
+#if defined(DAC_CHANNEL2_SUPPORT)
+  HAL_DAC_CH2_COMPLETE_CB_ID                 = 0x04U,  /*!< DAC CH2 Complete Callback ID      */
+  HAL_DAC_CH2_HALF_COMPLETE_CB_ID            = 0x05U,  /*!< DAC CH2 half Complete Callback ID */
+  HAL_DAC_CH2_ERROR_ID                       = 0x06U,  /*!< DAC CH2 error Callback ID         */
+  HAL_DAC_CH2_UNDERRUN_CB_ID                 = 0x07U,  /*!< DAC CH2 underrun Callback ID      */
+#endif /* DAC_CHANNEL2_SUPPORT */
+  HAL_DAC_MSPINIT_CB_ID                      = 0x08U,  /*!< DAC MspInit Callback ID           */
+  HAL_DAC_MSPDEINIT_CB_ID                    = 0x09U,  /*!< DAC MspDeInit Callback ID         */
+  HAL_DAC_ALL_CB_ID                          = 0x0AU   /*!< DAC All ID                        */
+} HAL_DAC_CallbackIDTypeDef;
+
+/**
+  * @brief  HAL DAC Callback pointer definition
+  */
+typedef void (*pDAC_CallbackTypeDef)(DAC_HandleTypeDef *hdac);
+#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */
+
+/**
+  * @}
+  */
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup DAC_Exported_Constants DAC Exported Constants
+  * @{
+  */
+
+/** @defgroup DAC_Error_Code DAC Error Code
+  * @{
+  */
+#define  HAL_DAC_ERROR_NONE              0x00U    /*!< No error                          */
+#define  HAL_DAC_ERROR_DMAUNDERRUNCH1    0x01U    /*!< DAC channel1 DMA underrun error   */
+#if defined(DAC_CHANNEL2_SUPPORT)
+#define  HAL_DAC_ERROR_DMAUNDERRUNCH2    0x02U    /*!< DAC channel2 DMA underrun error   */
+#endif /* DAC_CHANNEL2_SUPPORT */
+#define  HAL_DAC_ERROR_DMA               0x04U    /*!< DMA error                         */
+#define  HAL_DAC_ERROR_TIMEOUT           0x08U    /*!< Timeout error                     */
+#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1)
+#define HAL_DAC_ERROR_INVALID_CALLBACK   0x10U    /*!< Invalid callback error            */
+#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */
+
+/**
+  * @}
+  */
+
+/** @defgroup DAC_trigger_selection DAC trigger selection
+  * @{
+  */
+#define DAC_TRIGGER_NONE                0x00000000UL                                                     /*!< Conversion is automatic once the DAC1_DHRxxxx register has been loaded, and not by external trigger */
+#define DAC_TRIGGER_T2_TRGO             (DAC_CR_TSEL1_2                                   | DAC_CR_TEN1) /*!< TIM2 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_TRIGGER_T4_TRGO             (DAC_CR_TSEL1_2                  | DAC_CR_TSEL1_0 | DAC_CR_TEN1) /*!< TIM4 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_TRIGGER_T5_TRGO             (                 DAC_CR_TSEL1_1 | DAC_CR_TSEL1_0 | DAC_CR_TEN1) /*!< TIM3 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_TRIGGER_T6_TRGO             (                                                   DAC_CR_TEN1) /*!< Conversion started by software trigger for DAC channel */
+#define DAC_TRIGGER_T7_TRGO             (                 DAC_CR_TSEL1_1                  | DAC_CR_TEN1) /*!< TIM7 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_TRIGGER_T8_TRGO             (                                  DAC_CR_TSEL1_0 | DAC_CR_TEN1) /*!< TIM8 TRGO selected as external conversion trigger for DAC channel */
+#define DAC_TRIGGER_EXT_IT9             (DAC_CR_TSEL1_2 | DAC_CR_TSEL1_1                  | DAC_CR_TEN1) /*!< EXTI Line9 event selected as external conversion trigger for DAC channel */
+#define DAC_TRIGGER_SOFTWARE            (DAC_CR_TSEL1                                     | DAC_CR_TEN1) /*!< Conversion started by software trigger for DAC channel */
+
+/**
+  * @}
+  */
+
+/** @defgroup DAC_output_buffer DAC output buffer
+  * @{
+  */
+#define DAC_OUTPUTBUFFER_ENABLE            0x00000000U
+#define DAC_OUTPUTBUFFER_DISABLE           (DAC_CR_BOFF1)
+
+/**
+  * @}
+  */
+
+/** @defgroup DAC_Channel_selection DAC Channel selection
+  * @{
+  */
+#define DAC_CHANNEL_1                      0x00000000U
+#if defined(DAC_CHANNEL2_SUPPORT)
+#define DAC_CHANNEL_2                      0x00000010U
+#endif /* DAC_CHANNEL2_SUPPORT */
+/**
+  * @}
+  */
+
+/** @defgroup DAC_data_alignment DAC data alignment
+  * @{
+  */
+#define DAC_ALIGN_12B_R                    0x00000000U
+#define DAC_ALIGN_12B_L                    0x00000004U
+#define DAC_ALIGN_8B_R                     0x00000008U
+
+/**
+  * @}
+  */
+
+/** @defgroup DAC_flags_definition DAC flags definition
+  * @{
+  */
+#define DAC_FLAG_DMAUDR1                   (DAC_SR_DMAUDR1)
+#if defined(DAC_CHANNEL2_SUPPORT)
+#define DAC_FLAG_DMAUDR2                   (DAC_SR_DMAUDR2)
+#endif /* DAC_CHANNEL2_SUPPORT */
+
+/**
+  * @}
+  */
+
+/** @defgroup DAC_IT_definition  DAC IT definition
+  * @{
+  */
+#define DAC_IT_DMAUDR1                   (DAC_SR_DMAUDR1)
+#if defined(DAC_CHANNEL2_SUPPORT)
+#define DAC_IT_DMAUDR2                   (DAC_SR_DMAUDR2)
+#endif /* DAC_CHANNEL2_SUPPORT */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+
+/** @defgroup DAC_Exported_Macros DAC Exported Macros
+  * @{
+  */
+
+/** @brief Reset DAC handle state.
+  * @param  __HANDLE__ specifies the DAC handle.
+  * @retval None
+  */
+#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1)
+#define __HAL_DAC_RESET_HANDLE_STATE(__HANDLE__) do {                                                        \
+                                                      (__HANDLE__)->State             = HAL_DAC_STATE_RESET; \
+                                                      (__HANDLE__)->MspInitCallback   = NULL;                \
+                                                      (__HANDLE__)->MspDeInitCallback = NULL;                \
+                                                     } while(0)
+#else
+#define __HAL_DAC_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_DAC_STATE_RESET)
+#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */
+
+/** @brief Enable the DAC channel.
+  * @param  __HANDLE__ specifies the DAC handle.
+  * @param  __DAC_Channel__ specifies the DAC channel
+  * @retval None
+  */
+#define __HAL_DAC_ENABLE(__HANDLE__, __DAC_Channel__) \
+  ((__HANDLE__)->Instance->CR |=  (DAC_CR_EN1 << ((__DAC_Channel__) & 0x10UL)))
+
+/** @brief Disable the DAC channel.
+  * @param  __HANDLE__ specifies the DAC handle
+  * @param  __DAC_Channel__ specifies the DAC channel.
+  * @retval None
+  */
+#define __HAL_DAC_DISABLE(__HANDLE__, __DAC_Channel__) \
+  ((__HANDLE__)->Instance->CR &=  ~(DAC_CR_EN1 << ((__DAC_Channel__) & 0x10UL)))
+
+/** @brief Set DHR12R1 alignment.
+  * @param  __ALIGNMENT__ specifies the DAC alignment
+  * @retval None
+  */
+#define DAC_DHR12R1_ALIGNMENT(__ALIGNMENT__) (0x00000008UL + (__ALIGNMENT__))
+
+#if defined(DAC_CHANNEL2_SUPPORT)
+/** @brief  Set DHR12R2 alignment.
+  * @param  __ALIGNMENT__ specifies the DAC alignment
+  * @retval None
+  */
+#define DAC_DHR12R2_ALIGNMENT(__ALIGNMENT__) (0x00000014UL + (__ALIGNMENT__))
+#endif /* DAC_CHANNEL2_SUPPORT */
+
+/** @brief  Set DHR12RD alignment.
+  * @param  __ALIGNMENT__ specifies the DAC alignment
+  * @retval None
+  */
+#define DAC_DHR12RD_ALIGNMENT(__ALIGNMENT__) (0x00000020UL + (__ALIGNMENT__))
+
+/** @brief Enable the DAC interrupt.
+  * @param  __HANDLE__ specifies the DAC handle
+  * @param  __INTERRUPT__ specifies the DAC interrupt.
+  *          This parameter can be any combination of the following values:
+  *            @arg DAC_IT_DMAUDR1 DAC channel 1 DMA underrun interrupt
+  *            @arg DAC_IT_DMAUDR2 DAC channel 2 DMA underrun interrupt
+  * @retval None
+  */
+#define __HAL_DAC_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR) |= (__INTERRUPT__))
+
+/** @brief Disable the DAC interrupt.
+  * @param  __HANDLE__ specifies the DAC handle
+  * @param  __INTERRUPT__ specifies the DAC interrupt.
+  *          This parameter can be any combination of the following values:
+  *            @arg DAC_IT_DMAUDR1 DAC channel 1 DMA underrun interrupt
+  *            @arg DAC_IT_DMAUDR2 DAC channel 2 DMA underrun interrupt
+  * @retval None
+  */
+#define __HAL_DAC_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR) &= ~(__INTERRUPT__))
+
+/** @brief  Check whether the specified DAC interrupt source is enabled or not.
+  * @param __HANDLE__ DAC handle
+  * @param __INTERRUPT__ DAC interrupt source to check
+  *          This parameter can be any combination of the following values:
+  *            @arg DAC_IT_DMAUDR1 DAC channel 1 DMA underrun interrupt
+  *            @arg DAC_IT_DMAUDR2 DAC channel 2 DMA underrun interrupt
+  * @retval State of interruption (SET or RESET)
+  */
+#define __HAL_DAC_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR\
+                                                             & (__INTERRUPT__)) == (__INTERRUPT__))
+
+/** @brief  Get the selected DAC's flag status.
+  * @param  __HANDLE__ specifies the DAC handle.
+  * @param  __FLAG__ specifies the DAC flag to get.
+  *          This parameter can be any combination of the following values:
+  *            @arg DAC_FLAG_DMAUDR1 DAC channel 1 DMA underrun flag
+  *            @arg DAC_FLAG_DMAUDR2 DAC channel 2 DMA underrun flag
+  * @retval None
+  */
+#define __HAL_DAC_GET_FLAG(__HANDLE__, __FLAG__) ((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__))
+
+/** @brief  Clear the DAC's flag.
+  * @param  __HANDLE__ specifies the DAC handle.
+  * @param  __FLAG__ specifies the DAC flag to clear.
+  *          This parameter can be any combination of the following values:
+  *            @arg DAC_FLAG_DMAUDR1 DAC channel 1 DMA underrun flag
+  *            @arg DAC_FLAG_DMAUDR2 DAC channel 2 DMA underrun flag
+  * @retval None
+  */
+#define __HAL_DAC_CLEAR_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR) = (__FLAG__))
+
+/**
+  * @}
+  */
+
+/* Private macro -------------------------------------------------------------*/
+
+/** @defgroup DAC_Private_Macros DAC Private Macros
+  * @{
+  */
+#define IS_DAC_OUTPUT_BUFFER_STATE(STATE) (((STATE) == DAC_OUTPUTBUFFER_ENABLE) || \
+                                           ((STATE) == DAC_OUTPUTBUFFER_DISABLE))
+
+#if defined(DAC_CHANNEL2_SUPPORT)
+#define IS_DAC_CHANNEL(CHANNEL) (((CHANNEL) == DAC_CHANNEL_1) || \
+                                 ((CHANNEL) == DAC_CHANNEL_2))
+#else
+#define IS_DAC_CHANNEL(CHANNEL)  ((CHANNEL) == DAC_CHANNEL_1)
+#endif /* DAC_CHANNEL2_SUPPORT */
+
+#define IS_DAC_ALIGN(ALIGN) (((ALIGN) == DAC_ALIGN_12B_R) || \
+                             ((ALIGN) == DAC_ALIGN_12B_L) || \
+                             ((ALIGN) == DAC_ALIGN_8B_R))
+
+#define IS_DAC_DATA(DATA) ((DATA) <= 0xFFF0UL)
+
+/**
+  * @}
+  */
+
+/* Include DAC HAL Extended module */
+#include "stm32f4xx_hal_dac_ex.h"
+
+/* Exported functions --------------------------------------------------------*/
+
+/** @addtogroup DAC_Exported_Functions
+  * @{
+  */
+
+/** @addtogroup DAC_Exported_Functions_Group1
+  * @{
+  */
+/* Initialization and de-initialization functions *****************************/
+HAL_StatusTypeDef HAL_DAC_Init(DAC_HandleTypeDef *hdac);
+HAL_StatusTypeDef HAL_DAC_DeInit(DAC_HandleTypeDef *hdac);
+void HAL_DAC_MspInit(DAC_HandleTypeDef *hdac);
+void HAL_DAC_MspDeInit(DAC_HandleTypeDef *hdac);
+
+/**
+  * @}
+  */
+
+/** @addtogroup DAC_Exported_Functions_Group2
+  * @{
+  */
+/* IO operation functions *****************************************************/
+HAL_StatusTypeDef HAL_DAC_Start(DAC_HandleTypeDef *hdac, uint32_t Channel);
+HAL_StatusTypeDef HAL_DAC_Stop(DAC_HandleTypeDef *hdac, uint32_t Channel);
+HAL_StatusTypeDef HAL_DAC_Start_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t *pData, uint32_t Length,
+                                    uint32_t Alignment);
+HAL_StatusTypeDef HAL_DAC_Stop_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel);
+void HAL_DAC_IRQHandler(DAC_HandleTypeDef *hdac);
+HAL_StatusTypeDef HAL_DAC_SetValue(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t Alignment, uint32_t Data);
+
+void HAL_DAC_ConvCpltCallbackCh1(DAC_HandleTypeDef *hdac);
+void HAL_DAC_ConvHalfCpltCallbackCh1(DAC_HandleTypeDef *hdac);
+void HAL_DAC_ErrorCallbackCh1(DAC_HandleTypeDef *hdac);
+void HAL_DAC_DMAUnderrunCallbackCh1(DAC_HandleTypeDef *hdac);
+
+#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1)
+/* DAC callback registering/unregistering */
+HAL_StatusTypeDef     HAL_DAC_RegisterCallback(DAC_HandleTypeDef *hdac, HAL_DAC_CallbackIDTypeDef CallbackID,
+                                               pDAC_CallbackTypeDef pCallback);
+HAL_StatusTypeDef     HAL_DAC_UnRegisterCallback(DAC_HandleTypeDef *hdac, HAL_DAC_CallbackIDTypeDef CallbackID);
+#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */
+
+/**
+  * @}
+  */
+
+/** @addtogroup DAC_Exported_Functions_Group3
+  * @{
+  */
+/* Peripheral Control functions ***********************************************/
+uint32_t HAL_DAC_GetValue(DAC_HandleTypeDef *hdac, uint32_t Channel);
+HAL_StatusTypeDef HAL_DAC_ConfigChannel(DAC_HandleTypeDef *hdac, DAC_ChannelConfTypeDef *sConfig, uint32_t Channel);
+/**
+  * @}
+  */
+
+/** @addtogroup DAC_Exported_Functions_Group4
+  * @{
+  */
+/* Peripheral State and Error functions ***************************************/
+HAL_DAC_StateTypeDef HAL_DAC_GetState(DAC_HandleTypeDef *hdac);
+uint32_t HAL_DAC_GetError(DAC_HandleTypeDef *hdac);
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup DAC_Private_Functions DAC Private Functions
+  * @{
+  */
+void DAC_DMAConvCpltCh1(DMA_HandleTypeDef *hdma);
+void DAC_DMAErrorCh1(DMA_HandleTypeDef *hdma);
+void DAC_DMAHalfConvCpltCh1(DMA_HandleTypeDef *hdma);
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#endif /* DAC */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* STM32F4xx_HAL_DAC_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/