diff --git a/README.md b/README.md
index 071a92f05..eb6146b72 100755
--- a/README.md
+++ b/README.md
@@ -117,7 +117,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h
You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).
And [follow us on Twitter](https://twitter.com/comma_ai).
diff --git a/RELEASES.md b/RELEASES.md
index a4b2a7687..b2e7be396 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,6 @@
+Version 0.9.3 (2023-06-XX)
+========================
+
Version 0.9.2 (2023-05-22)
========================
* New driving model
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 377afbea9..2730888f7 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -43,6 +43,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
overheat @19;
calibrationIncomplete @20;
calibrationInvalid @21;
+ calibrationRecalibrating @117;
controlsMismatch @22;
pcmEnable @23;
pcmDisable @24;
@@ -580,7 +581,7 @@ struct CarParams {
noOutput @19; # like silent but without silent CAN TXs
hondaBosch @20;
volkswagenPq @21;
- subaruLegacy @22; # pre-Global platform
+ subaruPreglobal @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
volkswagenMlb @25;
diff --git a/cereal/dp.capnp b/cereal/dp.capnp
index 42a50398f..c367f641e 100644
--- a/cereal/dp.capnp
+++ b/cereal/dp.capnp
@@ -5,10 +5,7 @@ $Cxx.namespace("cereal");
# mapd
struct LiveMapData {
- speedLimitValid @0 :Bool;
- speedLimit @1 :Float32;
- speedLimitAheadValid @2 :Bool;
- speedLimitAhead @3 :Float32;
- speedLimitAheadDistance @4 :Float32;
- currentRoadName @5 :Text;
+ speedLimit @0 :Float32;
+ speedLimitValid @1 :Bool;
+ currentRoadName @2 :Text;
}
diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so
index 1ded92a7f..07eea5ff0 100755
Binary files a/cereal/libcereal_shared.so and b/cereal/libcereal_shared.so differ
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 0b37f9711..03dc212b3 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -591,7 +591,7 @@ struct RadarState @0x9a185389d6fdd05f {
}
struct LiveCalibrationData {
- calStatus @1 :Int8;
+ calStatus @11 :Status;
calCycle @2 :Int32;
calPerc @3 :Int8;
validBlocks @9 :Int32;
@@ -605,8 +605,16 @@ struct LiveCalibrationData {
wideFromDeviceEuler @10 :List(Float32);
warpMatrixDEPRECATED @0 :List(Float32);
+ calStatusDEPRECATED @1 :Int8;
warpMatrix2DEPRECATED @5 :List(Float32);
warpMatrixBigDEPRECATED @6 :List(Float32);
+
+ enum Status {
+ uncalibrated @0;
+ calibrated @1;
+ invalid @2;
+ recalibrating @3;
+ }
}
struct LiveTracks {
@@ -988,7 +996,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
aTargetMinDEPRECATED @4 :Float32;
aTargetMaxDEPRECATED @5 :Float32;
lateralValidDEPRECATED @0 :Bool;
- longitudinalValidDEPRECATED @2 :Bool;
+ longitudinalValid @2 :Bool;
dPolyDEPRECATED @1 :List(Float32);
laneWidthDEPRECATED @11 :Float32;
vCurvatureDEPRECATED @21 :Float32;
diff --git a/selfdrive/mapd/__init__.py b/cereal/messaging/impl_msgq-008e0027.os.tmp
similarity index 100%
rename from selfdrive/mapd/__init__.py
rename to cereal/messaging/impl_msgq-008e0027.os.tmp
diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so
index 7444f11c4..2ea6fc9ec 100755
Binary files a/cereal/visionipc/visionipc_pyx.so and b/cereal/visionipc/visionipc_pyx.so differ
diff --git a/common/logging_extra.py b/common/logging_extra.py
index 5baaac1f9..899ad7a39 100644
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -153,9 +153,9 @@ class SwagLogger(logging.Logger):
def bind_global(self, **kwargs):
self.global_ctx.update(kwargs)
- def event(self, event_name, *args, **kwargs):
+ def event(self, event, *args, **kwargs):
evt = NiceOrderedDict()
- evt['event'] = event_name
+ evt['event'] = event
if args:
evt['args'] = args
evt.update(kwargs)
diff --git a/common/params_pyx.so b/common/params_pyx.so
index f424e0844..a522165f6 100755
Binary files a/common/params_pyx.so and b/common/params_pyx.so differ
diff --git a/common/version.h b/common/version.h
index 8360a2ba5..c41423539 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "2023.05.19"
+#define COMMA_VERSION "2023.05.25"
diff --git a/docs/CARS.md b/docs/CARS.md
index d101c7dee..551bf42ae 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -6,260 +6,260 @@ A supported vehicle is one that just works when you install a comma three. All s
# 252 Supported Cars
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|![]()
Harness Kit
|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
-|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
-|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|OBD-II||
-|Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|OBD-II||
-|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|OBD-II||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM||
-|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM||
-|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|OBD-II||
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA||
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA||
-|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|View
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cableView
- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cableView
- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cableView
- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cableView
- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cableView
- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 Ram connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Subaru B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Subaru B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Subaru A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 Toyota connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness boxView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cableView
- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 33aab9324..4c2e9aeef 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -193,10 +193,15 @@ function two_init {
mount -o remount,r /system
# osm server
- MODULE="osm-3s_v0.7.56"
- if [ ! -d /data/media/0/osm/ ]; then
- tar -vxf "/data/openpilot/selfdrive/mapd/assets/$MODULE.tar.xz" -C /data/media/0/
- mv "/data/media/0/$MODULE" /data/media/0/osm
+ if [ -f /data/params/d/dp_mapd ]; then
+ dp_mapd=`cat /data/params/d/dp_mapd`
+ if [ $dp_mapd == "1" ]; then
+ MODULE="osm-3s_v0.7.56"
+ if [ ! -d /data/media/0/osm/ ]; then
+ tar -vxf "/data/openpilot/system/hardware/eon/libs/$MODULE.tar.xz" -C /data/media/0/
+ mv "/data/media/0/$MODULE" /data/media/0/osm
+ fi
+ fi
fi
# Check for NEOS update
diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so
index 71468dece..b07356b8f 100755
Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ
diff --git a/opendbc/can/parser_pyx.so b/opendbc/can/parser_pyx.so
index ed574ec4b..b144a295a 100755
Binary files a/opendbc/can/parser_pyx.so and b/opendbc/can/parser_pyx.so differ
diff --git a/panda/__init__.py b/panda/__init__.py
index 8b43e9938..d3a558f43 100644
--- a/panda/__init__.py
+++ b/panda/__init__.py
@@ -1,4 +1,4 @@
-from .python.constants import McuType, BASEDIR # noqa: F401
+from .python.constants import McuType, BASEDIR, FW_PATH # noqa: F401
from .python.serial import PandaSerial # noqa: F401
from .python import (Panda, PandaDFU, # noqa: F401
pack_can_buffer, unpack_can_buffer, calculate_checksum,
diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index e0f97495f..0e2240f45 100755
Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 23ba5ec03..ea7bb2d62 100644
Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index bb8e6c901..227f76932 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -14,7 +14,7 @@ from typing import Optional
from itertools import accumulate
from .base import BaseHandle
-from .constants import McuType
+from .constants import FW_PATH, McuType
from .dfu import PandaDFU
from .isotp import isotp_send, isotp_recv
from .spi import PandaSpiHandle, PandaSpiException
@@ -151,7 +151,7 @@ class Panda:
SAFETY_NOOUTPUT = 19
SAFETY_HONDA_BOSCH = 20
SAFETY_VOLKSWAGEN_PQ = 21
- SAFETY_SUBARU_LEGACY = 22
+ SAFETY_SUBARU_PREGLOBAL = 22
SAFETY_HYUNDAI_LEGACY = 23
SAFETY_HYUNDAI_COMMUNITY = 24
SAFETY_STELLANTIS = 25
@@ -239,6 +239,8 @@ class Panda:
FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
+ FLAG_FORD_LONG_CONTROL = 1
+
def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
self._connect_serial = serial
self._disable_checks = disable_checks
@@ -403,14 +405,16 @@ class Panda:
return []
def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
+ # no response is expected since it resets right away
+ timeout = 5000 if isinstance(self._handle, PandaSpiHandle) else 15000
try:
if enter_bootloader:
- self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'')
+ self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'', timeout=timeout)
else:
if enter_bootstub:
- self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'')
+ self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=timeout)
else:
- self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
+ self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout)
except Exception:
pass
if not enter_bootloader and reconnect:
@@ -485,7 +489,7 @@ class Panda:
def flash(self, fn=None, code=None, reconnect=True):
if not fn:
- fn = self._mcu_type.config.app_path
+ fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn)
assert os.path.isfile(fn)
logging.debug("flash: main version is %s", self.get_version())
if not self.bootstub:
@@ -536,7 +540,8 @@ class Panda:
def up_to_date(self) -> bool:
current = self.get_signature()
- expected = Panda.get_signature_from_firmware(self.get_mcu_type().config.app_path)
+ fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
+ expected = Panda.get_signature_from_firmware(fn)
return (current == expected)
def call_control_api(self, msg):
diff --git a/panda/python/constants.py b/panda/python/constants.py
index c55fd2c9b..4c3e778ad 100644
--- a/panda/python/constants.py
+++ b/panda/python/constants.py
@@ -3,7 +3,7 @@ import enum
from typing import List, NamedTuple
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
-
+FW_PATH = os.path.join(BASEDIR, "board/obj/")
class McuConfig(NamedTuple):
mcu: str
@@ -13,9 +13,9 @@ class McuConfig(NamedTuple):
sector_sizes: List[int]
serial_number_address: int
app_address: int
- app_path: str
+ app_fn: str
bootstub_address: int
- bootstub_path: str
+ bootstub_fn: str
Fx = (
0x1FFF7A10,
@@ -23,9 +23,9 @@ Fx = (
[0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
0x1FFF79C0,
0x8004000,
- os.path.join(BASEDIR, "board", "obj", "panda.bin.signed"),
+ "panda.bin.signed",
0x8000000,
- os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin"),
+ "bootstub.panda.bin",
)
F2Config = McuConfig("STM32F2", 0x411, *Fx)
F4Config = McuConfig("STM32F4", 0x463, *Fx)
@@ -39,9 +39,9 @@ H7Config = McuConfig(
[0x20000 for _ in range(7)],
0x080FFFC0,
0x8020000,
- os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed"),
+ "panda_h7.bin.signed",
0x8000000,
- os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin"),
+ "bootstub.panda_h7.bin",
)
@enum.unique
diff --git a/panda/python/dfu.py b/panda/python/dfu.py
index f724bf15d..bebc243ce 100644
--- a/panda/python/dfu.py
+++ b/panda/python/dfu.py
@@ -1,3 +1,4 @@
+import os
import usb1
import struct
import binascii
@@ -6,7 +7,7 @@ from typing import List, Optional
from .base import BaseSTBootloaderHandle
from .spi import STBootloaderSPIHandle, PandaSpiException
from .usb import STBootloaderUSBHandle
-from .constants import McuType
+from .constants import FW_PATH, McuType
class PandaDFU:
@@ -110,10 +111,10 @@ class PandaDFU:
self._handle.erase_bootstub()
self._handle.erase_app()
self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub)
- self.reset()
def recover(self):
- with open(self._mcu_type.config.bootstub_path, "rb") as f:
+ fn = os.path.join(FW_PATH, self._mcu_type.config.bootstub_fn)
+ with open(fn, "rb") as f:
code = f.read()
self.program_bootstub(code)
-
+ self.reset()
diff --git a/panda/python/spi.py b/panda/python/spi.py
index c753bf4dd..8a0fe5cc9 100644
--- a/panda/python/spi.py
+++ b/panda/python/spi.py
@@ -58,7 +58,14 @@ class SpiDevice:
"""
Provides locked, thread-safe access to a panda's SPI interface.
"""
- def __init__(self, speed):
+
+ # 50MHz is the max of the 845. older rev comma three
+ # may not support the full 50MHz
+ MAX_SPEED = 50000000
+
+ def __init__(self, speed=MAX_SPEED):
+ assert speed <= self.MAX_SPEED
+
if not os.path.exists(DEV_PATH):
raise PandaSpiUnavailable(f"SPI device not found: {DEV_PATH}")
if spidev is None:
@@ -87,9 +94,7 @@ class PandaSpiHandle(BaseHandle):
A class that mimics a libusb1 handle for panda SPI communications.
"""
def __init__(self):
- # 50MHz is the max of the 845. older rev comma three
- # may not support the full 50MHz
- self.dev = SpiDevice(50000000)
+ self.dev = SpiDevice()
# helpers
def _calc_checksum(self, data: List[int]) -> int:
@@ -115,8 +120,11 @@ class PandaSpiHandle(BaseHandle):
logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
logging.debug("==============================================")
+ n = 0
+ start_time = time.monotonic()
exc = PandaSpiException()
- for n in range(MAX_XFER_RETRY_COUNT):
+ while (time.monotonic() - start_time) < timeout*1e-3:
+ n += 1
logging.debug("\ntry #%d", n+1)
try:
logging.debug("- send header")
@@ -124,16 +132,18 @@ class PandaSpiHandle(BaseHandle):
packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
spi.xfer2(packet)
+ to = timeout - (time.monotonic() - start_time)*1e3
logging.debug("- waiting for header ACK")
- self._wait_for_ack(spi, HACK, timeout, 0x11)
+ self._wait_for_ack(spi, HACK, int(to), 0x11)
# send data
logging.debug("- sending data")
packet = bytes([*data, self._calc_checksum(data)])
spi.xfer2(packet)
+ to = timeout - (time.monotonic() - start_time)*1e3
logging.debug("- waiting for data ACK")
- self._wait_for_ack(spi, DACK, timeout, 0x13)
+ self._wait_for_ack(spi, DACK, int(to), 0x13)
# get response length, then response
response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
@@ -149,7 +159,7 @@ class PandaSpiHandle(BaseHandle):
return dat[:-1]
except PandaSpiException as e:
exc = e
- logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True)
+ logging.debug("SPI transfer failed, retrying", exc_info=True)
raise exc
# libusb1 functions
diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so
index be18b8c1f..3b4ab2d52 100755
Binary files a/rednose/helpers/ekf_sym_pyx.so and b/rednose/helpers/ekf_sym_pyx.so differ
diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd
index 62d2b53cf..929eba081 100755
Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ
diff --git a/selfdrive/boardd/boardd_api_impl.so b/selfdrive/boardd/boardd_api_impl.so
index d9766f707..1616fa33c 100755
Binary files a/selfdrive/boardd/boardd_api_impl.so and b/selfdrive/boardd/boardd_api_impl.so differ
diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h
index f93d29217..b07aec509 100644
--- a/selfdrive/boardd/panda_comms.h
+++ b/selfdrive/boardd/panda_comms.h
@@ -74,9 +74,9 @@ private:
uint8_t rx_buf[SPI_BUF_SIZE];
inline static std::recursive_mutex hw_lock;
- int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack);
- int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len);
- int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
- int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
+ int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout);
+ int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
+ int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
+ int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
};
#endif
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index aa47617ff..44b84577c 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -7,7 +7,7 @@ import subprocess
from typing import List, NoReturn
from functools import cmp_to_key
-from panda import Panda, PandaDFU
+from panda import Panda, PandaDFU, FW_PATH
from common.basedir import BASEDIR
from common.params import Params
from system.hardware import HARDWARE
@@ -16,7 +16,8 @@ from system.swaglog import cloudlog
def get_expected_signature(panda: Panda) -> bytes:
try:
- return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path)
+ fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
+ return Panda.get_signature_from_firmware(fn)
except Exception:
cloudlog.exception("Error computing expected signature")
return b""
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index 4be5b3f7e..d0504d6bf 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -1,9 +1,11 @@
#!/usr/bin/env python3
import os
+import copy
import random
import time
import unittest
from collections import defaultdict
+from pprint import pprint
import cereal.messaging as messaging
from cereal import car, log
@@ -59,16 +61,18 @@ class TestBoardd(unittest.TestCase):
sendcan = messaging.pub_sock('sendcan')
can = messaging.sub_sock('can', conflate=False, timeout=100)
+ sm = messaging.SubMaster(['pandaStates'])
time.sleep(0.5)
n = 200
for i in range(n):
+ print(f"boardd loopback {i}/{n}")
self.spinner.update(f"boardd loopback {i}/{n}")
sent_msgs = defaultdict(set)
- for _ in range(random.randrange(10)):
+ for _ in range(random.randrange(20, 100)):
to_send = []
- for __ in range(random.randrange(100)):
+ for __ in range(random.randrange(20)):
bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
addr = random.randrange(1, 1<<29)
dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
@@ -76,21 +80,29 @@ class TestBoardd(unittest.TestCase):
to_send.append(make_can_msg(addr, dat, bus))
sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
- for _ in range(100 * 2):
+ sent_loopback = copy.deepcopy(sent_msgs)
+ sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
+ sent_total = {k: len(v) for k, v in sent_loopback.items()}
+ for _ in range(100 * 5):
+ sm.update(0)
recvd = messaging.drain_sock(can, wait_for_one=True)
for msg in recvd:
for m in msg.can:
- if m.src >= 128:
- key = (m.address, m.dat)
- assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
- sent_msgs[m.src-128].discard(key)
+ key = (m.address, m.dat)
+ assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
+ sent_loopback[m.src].discard(key)
- if all(len(v) == 0 for v in sent_msgs.values()):
+ if all(len(v) == 0 for v in sent_loopback.values()):
break
# if a set isn't empty, messages got dropped
- for bus in sent_msgs.keys():
- assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
+ pprint(sent_msgs)
+ pprint(sent_loopback)
+ print({k: len(x) for k, x in sent_loopback.items()})
+ print(sum([len(x) for x in sent_loopback.values()]))
+ pprint(sm['pandaStates']) # may drop messages due to RX buffer overflow
+ for bus in sent_loopback.keys():
+ assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
if __name__ == "__main__":
diff --git a/selfdrive/camerad/camerad b/selfdrive/camerad/camerad
index 60267655e..d9ad79da1 100755
Binary files a/selfdrive/camerad/camerad and b/selfdrive/camerad/camerad differ
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index a9d1a528c..17ba59f96 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,12 +1,11 @@
from enum import IntFlag
from dataclasses import dataclass
-from enum import Enum
from typing import Dict, List, Optional, Union
from cereal import car
from panda.python import uds
from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu
@@ -61,7 +60,7 @@ RAM_CARS = RAM_DT | RAM_HD
@dataclass
class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)"
- harness: Enum = Harness.fca
+ harness_kit: HarnessKit = HarnessKit(Harness.fca)
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
@@ -75,10 +74,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
],
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
- CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram),
+ CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness_kit=HarnessKit(Harness.ram)),
CAR.RAM_HD: [
- ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
- ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram),
+ ChryslerCarInfo("Ram 2500 2020-22", harness_kit=HarnessKit(Harness.ram)),
+ ChryslerCarInfo("Ram 3500 2019-22", harness_kit=HarnessKit(Harness.ram)),
],
}
@@ -227,6 +226,7 @@ FW_VERSIONS = {
b'68453514AD',
b'68510283AG',
b'68527375AD',
+ b'68527346AE',
],
(Ecu.srs, 0x744, None): [
b'68428609AB',
@@ -249,6 +249,7 @@ FW_VERSIONS = {
b'68535469AB',
b'68535470AC',
b'68586307AB',
+ b'68548900AB',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672892AB',
@@ -276,6 +277,7 @@ FW_VERSIONS = {
b'68552788AA',
b'68552790AA',
b'68585112AB',
+ b'68552789AA',
],
(Ecu.engine, 0x7e0, None): [
b'05036065AE ',
@@ -287,6 +289,7 @@ FW_VERSIONS = {
b'68500630AD',
b'68500630AE',
b'68539650AD',
+ b'05149846AA ',
],
(Ecu.transmission, 0x7e1, None): [
b'68360078AL',
@@ -299,6 +302,7 @@ FW_VERSIONS = {
b'68484467AC',
b'68502994AD',
b'68540431AB',
+ b'68520867AE',
],
},
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index cd3e93fa8..ed98e14dc 100755
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -31,8 +31,8 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01'
except Exception:
cloudlog.exception("ecu disable exception")
- print(f"ecu disable retry ({i+1}) ...")
- cloudlog.warning("ecu disable failed")
+ cloudlog.error(f"ecu disable retry ({i + 1}) ...")
+ cloudlog.error("ecu disable failed")
return False
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index fa95b03fd..bfb182c5e 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -1,5 +1,6 @@
import re
from collections import namedtuple
+import copy
from dataclasses import dataclass, field
from enum import Enum
from typing import Dict, List, Optional, Tuple, Union
@@ -20,7 +21,7 @@ class Column(Enum):
FSR_STEERING = "No ALC below"
STEERING_TORQUE = "Steering Torque"
AUTO_RESUME = "Resume from stop"
- HARNESS = "Harness"
+ HARNESS = "Harness Kit"
VIDEO = "Video"
@@ -69,6 +70,23 @@ class Harness(Enum):
none = "None"
+class HarnessPart(Enum):
+ harness_box = "harness box"
+ comma_power_v2 = "comma power v2"
+ rj45_cable = "RJ45 cable (7 ft)"
+ long_obdc_cable = "long OBD-C cable"
+ usbc_coupler = "USB-C coupler"
+
+
+DEFAULT_HARNESS_PARTS: List[HarnessPart] = [HarnessPart.harness_box, HarnessPart.comma_power_v2, HarnessPart.rj45_cable]
+
+
+@dataclass
+class HarnessKit:
+ connector: Harness = Harness.none
+ parts: List[HarnessPart] = field(default_factory=lambda: copy.copy(DEFAULT_HARNESS_PARTS))
+
+
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
@@ -135,7 +153,9 @@ class CarInfo:
footnotes: List[Enum] = field(default_factory=list)
min_steer_speed: Optional[float] = None
min_enable_speed: Optional[float] = None
- harness: Enum = Harness.none
+
+ # harness connectors + all the parts needed
+ harness_kit: HarnessKit = HarnessKit()
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
self.car_name = CP.carName
@@ -165,12 +185,14 @@ class CarInfo:
self.min_enable_speed = CP.minEnableSpeed
# harness column
- harness_col = self.harness.value
- if self.harness is not Harness.none:
+ harness_col = self.harness_kit.connector.value
+ if self.harness_kit.connector is not Harness.none:
model_years = self.model + (' ' + self.years if self.years else '')
- harness_col = f'{harness_col}'
+ harness_connector = f'- 1 {harness_col} connector'
+ harness_parts = '
'.join([f"- {self.harness_kit.parts.count(part)} {part.value}" for part in sorted(set(self.harness_kit.parts), key=lambda part: part.value)])
+ harness_col = f'View
{harness_connector}
{harness_parts}