Squashed 'panda/' changes from 9881e6118..30c7ca8a5

30c7ca8a5 bump version to 1.5.3 9403dbebe Need to fix wifi test before re-enabling. 0812362b5 GPS UART fix until boardd is refactored (#294) ffbdb87a8 python2 -> 3 fixes to pedal flasher (#292) 78b75ef59 Added build type to release version strings 736c2cbf7 Fixed sending of bytes over PandaSerial 0894b28f1 Fixed USB power mode on black (#291) 4b3358c92 patch to be able to switch from EON to PC with a Panda that has EON b… (#290) a95c44a71 Made setting of NOOUTPUT on no heartbeat more efficient (#287) 948683688 UART instability fix with high interrupt load (#283) 9a9e9d47b Fix usb_power_mode missing initialization (#289) af0960ad3 DFU fix (#288) 70219d7bb match safety enum in cereal (#285) a338d3932 Fix build for jenkins test 78ef4a6eb Stop charge (#284) 5266a4028 Fix typo (#286) f4787ec5a Revert "turn on CDP when ignition switches on (#281)" d37daee97 Revert "NONE and CLIENT should be the same thing in white/grey pandas" e97b283e7 NONE and CLIENT should be the same thing in white/grey pandas 8c1df559f turn on CDP when ignition switches on (#281) 847a35d42 Fix bullet points fac027716 Misra update (#280) 5a04df6b1 Added description of regression tests to README c4aabae59 Fixed some python3 bugs in the test scripts and PandaSerial 9af0cb353 Bump version c4ac3d63b Disable GPS load switching on black pandas 078ee588c This is the correct table, actually 578b95ee3 Misra table of coverage added d383a2625 bump panda b98ca010d fix sdk build in python3 env (#279) 63d3dc7d3 Set python3 env before runnign get_sdk, so we know if it fails e951d79c0 legacy code we don't control can remain python2 11b715118 Merge pull request #276 from commaai/python3 9893a842a Merge pull request #277 from zorrobyte/patch-1 d3268690c Revert "revert back esptool to python2 and force to build esptools with python2" 875e76012 revert back esptool to python2 and force to build esptools with python2 9c40e6240 needed to install python3 ed2ac87cf Also moved safety tests to python3 6842b2d2c move esptool sdk installation before python3 env is set. Kind of a cheat b5a2cabcd this hopefully fixes build test 628050955 Fixes safety replay 2c220b623 this fixes language regr test fdbe789b8 use python 3 in Docker container ee1ae4f86 Better hash print 0de9ef73c Revert "Final 2to3 on the whole repo" c92fd3bc9 Final 2to3 on the whole repo 5f2bc4460 better b2a30fdbd make works! b74005d10 fix sign.py fe727706b read file as byte and no tab before sleep 32a344ef6 Update README.md 2dc34096a 2to3 applied ffa68ef71 undo unnecessary brackets for print dbc248027 Fix all the prints with 2to3, some need to be undo 5a7aeba0f xrange is gone 982c4c928 one more python3 env 1e2412a29 env python -> env python3 git-subtree-dir: panda git-subtree-split: 30c7ca8a53a3adb05d23d7cfe64fb716a656ef1a
2026-02-26 11:33:55 +08:00 · 2019-10-09 18:31:56 +00:00
parent 876256a268
commit 38faf7f8a4
98 changed files with 1314 additions and 796 deletions
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -11,7 +11,7 @@ jobs:
      - run:
          name: Run safety test
          command: |
-            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"

  misra-c2012:
    machine:
--- a/21
+++ b/21
@@ -17,11 +17,15 @@ RUN apt-get update && apt-get install -y \
    gperf \
    help2man \
    iputils-ping \
+    libbz2-dev \
    libexpat-dev \
+    libffi-dev \
+    libssl-dev \
    libstdc++-arm-none-eabi-newlib \
    libtool \
    libtool-bin \
    libusb-1.0-0 \
+    locales  \
    make \
    ncurses-dev \
    network-manager \
@@ -38,7 +42,21 @@ RUN apt-get update && apt-get install -y \
    screen \
    vim \
    wget \
-    wireless-tools
+    wireless-tools \
+    zlib1g-dev
+
+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
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv install 2.7.12
+RUN pyenv global 3.7.3
+RUN pyenv rehash

 RUN pip install --upgrade pip==18.0

@@ -51,6 +69,7 @@ ENV HOME /home/batman
 ENV PYTHONPATH /tmp:$PYTHONPATH

 COPY ./boardesp/get_sdk_ci.sh /tmp/panda/boardesp/
+COPY ./boardesp/python2_make.py /tmp/panda/boardesp/

 RUN useradd --system -s /sbin/nologin pandauser
 RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk
--- a/13
+++ b/13
@@ -46,19 +46,6 @@ pipeline {
        }
      }
    }
-    stage('Test Dev Build (WIFI)') {
-      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
-            }
-          }
-        }
-      }
-    }
  }
  post {
    failure {
--- a/README.md
+++ b/README.md
@@ -37,6 +37,13 @@ And to send one on bus 0:
 ```
 Find user made scripts on the [wiki](https://community.comma.ai/wiki/index.php/Panda_scripts)

+Note that you may have to setup [udev rules](https://community.comma.ai/wiki/index.php/Panda#Linux_udev_rules) for Linux, such as
+```
+sudo -i
+echo 'SUBSYSTEMS=="usb", ATTR{idVendor}=="bbaa", ATTR{idProduct}=="ddcc", MODE:="0666"' > /etc/udev/rules.d/11-panda.rules
+exit
+```
+
 Usage (JavaScript)
 -------

@@ -80,9 +87,26 @@ To print out the serial console from the ESP8266, run PORT=1 tests/debug_console
 Safety Model
 ------

-When a panda powers up, by default it's in "SAFETY_NOOUTPUT" mode. While in no output mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB.
+When a panda powers up, by default it's in `SAFETY_NOOUTPUT` mode. While in no output mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB.

-Safety modes can also optionally support "controls_allowed", which allows or blocks a subset of messages based on a piece of state in the board.
+Safety modes optionally supports `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
+
+Code Rigor
+------
+When compiled from an [EON Dev Kit](https://comma.ai/shop/products/eon-gold-dashcam-devkit), the panda FW is configured and optimized (at compile time) for its use in
+conjuction with [openpilot](https://github.com/commaai/openpilot). The panda FW, through its safety model, provides and enforces the
+[openpilot Safety](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
+
+These are the [CI regression tests](https://circleci.com/gh/commaai/panda) we have in place:
+* A generic static code analysis is performed by [Cppcheck](https://github.com/danmar/cppcheck/).
+* In addition, [Cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
+* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced on board and pedal makefiles.
+* The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant.
+* A recorded drive for each supported car variant is [replayed through the safety logic](https://github.com/commaai/panda/tree/master/tests/safety_replay)
+to ensure that the behavior remains unchanged.
+* An internal Hardware-in-the-loop test, which currently only runs on pull requests opened by comma.ai's organization members, verifies the following functionalities:
+    * compiling the code in various configuration and flashing it both through USB and WiFi.
+    * Receiving, sending and forwarding CAN messages on all buses, over USB and WiFi.

 Hardware
 ------
--- a/2
+++ b/2
@@ -1 +1 @@
-v1.4.7
+v1.5.3
--- a/board/board_declarations.h
+++ b/board/board_declarations.h
@@ -36,7 +36,7 @@ struct board {
 #define LED_GREEN 1U
 #define LED_BLUE 2U

-// USB power modes
+// USB power modes (from cereal.log.health)
 #define USB_POWER_NONE 0U
 #define USB_POWER_CLIENT 1U
 #define USB_POWER_CDP 2U
--- a/board/boards/black.h
+++ b/board/boards/black.h
@@ -38,7 +38,7 @@ void black_set_led(uint8_t color, bool enabled) {
      break;
    case LED_BLUE:
      set_gpio_output(GPIOC, 6, !enabled);
-      break;  
+      break;
    default:
      break;
  }
@@ -53,11 +53,22 @@ void black_set_usb_load_switch(bool enabled) {
 }

 void black_set_usb_power_mode(uint8_t mode) {
-  usb_power_mode = mode;
-  if (mode == USB_POWER_NONE) {
-    black_set_usb_load_switch(false);
-  } else {
-    black_set_usb_load_switch(true);
+  bool valid = false;
+  switch (mode) {
+    case USB_POWER_CLIENT:
+      black_set_usb_load_switch(false);
+      valid = true;
+      break;
+    case USB_POWER_CDP:
+      black_set_usb_load_switch(true);
+      valid = true;
+      break;
+    default:
+      puts("Invalid USB power mode\n");
+      break;
+  }
+  if (valid) {
+    usb_power_mode = mode;
  }
 }

@@ -67,18 +78,15 @@ void black_set_esp_gps_mode(uint8_t mode) {
      // GPS OFF
      set_gpio_output(GPIOC, 14, 0);
      set_gpio_output(GPIOC, 5, 0);
-      black_set_gps_load_switch(false);
      break;
    case ESP_GPS_ENABLED:
      // GPS ON
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 1);
-      black_set_gps_load_switch(true);
      break;
    case ESP_GPS_BOOTMODE:
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 0);
-      black_set_gps_load_switch(true);
      break;
    default:
      puts("Invalid ESP/GPS mode\n");
@@ -106,7 +114,7 @@ void black_set_can_mode(uint8_t mode){
        // B12,B13: OBD mode
        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-      }      
+      }
      break;
    default:
      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
@@ -154,6 +162,9 @@ void black_init(void) {
  // Turn on USB load switch.
  black_set_usb_load_switch(true);

+  // Set right power mode
+  black_set_usb_power_mode(USB_POWER_CDP);
+
  // Initialize harness
  harness_init();

@@ -203,4 +214,4 @@ const board board_black = {
  .set_can_mode = black_set_can_mode,
  .usb_power_mode_tick = black_usb_power_mode_tick,
  .check_ignition = black_check_ignition
-};
+};
--- a/board/boards/white.h
+++ b/board/boards/white.h
@@ -34,7 +34,7 @@ void white_set_led(uint8_t color, bool enabled) {
      break;
    case LED_BLUE:
      set_gpio_output(GPIOC, 6, !enabled);
-      break;  
+      break;
    default:
      break;
  }
@@ -125,7 +125,7 @@ void white_set_can_mode(uint8_t mode){

      // A8,A15: normal CAN3 mode
      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);   
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
      break;
    case CAN_MODE_GMLAN_CAN3:
      // A8,A15: disable CAN3 mode
@@ -143,7 +143,7 @@ void white_set_can_mode(uint8_t mode){
      // B5,B6: normal CAN2 mode
      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-      break;  
+      break;
    default:
      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
      break;
@@ -152,7 +152,9 @@ void white_set_can_mode(uint8_t mode){

 uint64_t marker = 0;
 void white_usb_power_mode_tick(uint64_t tcnt){
-  #ifndef BOOTSTUB
+
+  // on EON or BOOTSTUB, no state machine
+#if !defined(BOOTSTUB) && !defined(EON)
  #define CURRENT_THRESHOLD 0xF00U
  #define CLICKS 5U // 5 seconds to switch modes

@@ -177,22 +179,19 @@ void white_usb_power_mode_tick(uint64_t tcnt){
      }
      break;
    case USB_POWER_CDP:
-      // On the EON, if we get into CDP mode we stay here. No need to go to DCP.
-      #ifndef EON
-        // been CLICKS clicks since we switched to CDP
-        if ((tcnt-marker) >= CLICKS) {
-          // measure current draw, if positive and no enumeration, switch to DCP
-          if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
-            puts("USBP: no enumeration with current draw, switching to DCP mode\n");
-            white_set_usb_power_mode(USB_POWER_DCP);
-            marker = tcnt;
-          }
-        }
-        // keep resetting the timer if there's no current draw in CDP
-        if (current >= CURRENT_THRESHOLD) {
+      // been CLICKS clicks since we switched to CDP
+      if ((tcnt-marker) >= CLICKS) {
+        // measure current draw, if positive and no enumeration, switch to DCP
+        if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
+          puts("USBP: no enumeration with current draw, switching to DCP mode\n");
+          white_set_usb_power_mode(USB_POWER_DCP);
          marker = tcnt;
        }
-      #endif
+      }
+      // keep resetting the timer if there's no current draw in CDP
+      if (current >= CURRENT_THRESHOLD) {
+        marker = tcnt;
+      }
      break;
    case USB_POWER_DCP:
      // been at least CLICKS clicks since we switched to DCP
@@ -213,9 +212,9 @@ void white_usb_power_mode_tick(uint64_t tcnt){
      puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
      break;
  }
-  #else
+#else
  UNUSED(tcnt);
-  #endif
+#endif
 }

 bool white_check_ignition(void){
@@ -242,9 +241,6 @@ void white_init(void) {
  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);

-  // Set USB power mode
-  white_set_usb_power_mode(USB_POWER_CLIENT);
-
  // B12: GMLAN, ignition sense, pull up
  set_gpio_pullup(GPIOB, 12, PULL_UP);

@@ -292,6 +288,16 @@ void white_init(void) {
  EXTI->RTSR |= (1U << 1);
  EXTI->FTSR |= (1U << 1);
  NVIC_EnableIRQ(EXTI1_IRQn);
+
+  // Init usb power mode
+  uint32_t voltage = adc_get_voltage();
+  // Init in CDP mode only if panda is powered by 12V.
+  // Otherwise a PC would not be able to flash a standalone panda with EON build
+  if (voltage > 8000U) {  // 8V threshold
+    white_set_usb_power_mode(USB_POWER_CDP);
+  } else {
+    white_set_usb_power_mode(USB_POWER_CLIENT);
+  }
 }

 const harness_configuration white_harness_config = {
@@ -310,4 +316,4 @@ const board board_white = {
  .set_can_mode = white_set_can_mode,
  .usb_power_mode_tick = white_usb_power_mode_tick,
  .check_ignition = white_check_ignition
-};
+};
--- a/board/bootstub.c
+++ b/board/bootstub.c
@@ -32,6 +32,7 @@ const board *current_board;

 #include "drivers/clock.h"
 #include "drivers/llgpio.h"
+#include "drivers/adc.h"

 #include "board.h"

@@ -68,8 +69,6 @@ int main(void) {
  detect_configuration();
  detect_board_type();

-  current_board->set_usb_power_mode(USB_POWER_CLIENT);
-
  if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
    enter_bootloader_mode = 0;
    soft_flasher_start();
--- a/board/config.h
+++ b/board/config.h
@@ -2,6 +2,7 @@
 #define PANDA_CONFIG_H

 //#define DEBUG
+//#define DEBUG_UART
 //#define DEBUG_USB
 //#define DEBUG_SPI

@@ -22,7 +23,7 @@

 #include <stdbool.h>
 #define NULL ((void*)0)
-#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred)))]))
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))

 #define MIN(a,b) \
 ({ __typeof__ (a) _a = (a); \
--- a/board/drivers/adc.h
+++ b/board/drivers/adc.h
@@ -36,3 +36,13 @@ uint32_t adc_get(unsigned int channel) {
  return ADC1->JDR1;
 }

+uint32_t adc_get_voltage(void) {
+  // REVC has a 10, 1 (1/11) voltage divider
+  // Here is the calculation for the scale (s)
+  // ADCV = VIN_S * (1/11) * (4095/3.3)
+  // RETVAL = ADCV * s = VIN_S*1000
+  // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
+
+  // Avoid needing floating point math, so output in mV
+  return (adc_get(ADCCHAN_VOLTAGE) * 8862U) / 1000U;
+}
--- a/board/drivers/can.h
+++ b/board/drivers/can.h
@@ -298,7 +298,7 @@ void process_can(uint8_t can_number) {
          to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
          to_push.RDLR = CAN->sTxMailBox[0].TDLR;
          to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-          can_send_errs += !can_push(&can_rx_q, &to_push);
+          can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
        }

        if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
@@ -367,7 +367,7 @@ void can_rx(uint8_t can_number) {
    safety_rx_hook(&to_push);

    current_board->set_led(LED_BLUE, true);
-    can_send_errs += !can_push(&can_rx_q, &to_push);
+    can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;

    // next
    CAN->RF0R |= CAN_RF0R_RFOM0;
@@ -393,10 +393,9 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
      // bus number isn't passed through
      to_push->RDTR &= 0xF;
      if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
-        // TODO: why uint8 bro? only int8?
-        gmlan_send_errs += !bitbang_gmlan(to_push);
+        gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
      } else {
-        can_fwd_errs += !can_push(can_queues[bus_number], to_push);
+        can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
        process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
      }
    }
--- a/board/drivers/uart.h
+++ b/board/drivers/uart.h
@@ -1,18 +1,43 @@
 // IRQs: USART1, USART2, USART3, UART5

-#define FIFO_SIZE 0x400U
+// ***************************** Definitions *****************************
+#define FIFO_SIZE_INT 0x400U
+#define FIFO_SIZE_DMA 0x1000U
+
 typedef struct uart_ring {
  volatile uint16_t w_ptr_tx;
  volatile uint16_t r_ptr_tx;
-  uint8_t elems_tx[FIFO_SIZE];
+  uint8_t *elems_tx;
+  uint32_t tx_fifo_size;
  volatile uint16_t w_ptr_rx;
  volatile uint16_t r_ptr_rx;
-  uint8_t elems_rx[FIFO_SIZE];
+  uint8_t *elems_rx;
+  uint32_t rx_fifo_size;
  USART_TypeDef *uart;
  void (*callback)(struct uart_ring*);
+  bool dma_rx;
 } uart_ring;

-void uart_init(USART_TypeDef *u, int baud);
+#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, rx_dma) \
+  uint8_t elems_rx_##x[size_rx]; \
+  uint8_t elems_tx_##x[size_tx]; \
+  uart_ring uart_ring_##x = {  \
+    .w_ptr_tx = 0, \
+    .r_ptr_tx = 0, \
+    .elems_tx = ((uint8_t *)&elems_tx_##x), \
+    .tx_fifo_size = size_tx, \
+    .w_ptr_rx = 0, \
+    .r_ptr_rx = 0, \
+    .elems_rx = ((uint8_t *)&elems_rx_##x), \
+    .rx_fifo_size = size_rx, \
+    .uart = uart_ptr, \
+    .callback = callback_ptr, \
+    .dma_rx = rx_dma \
+  };
+
+
+// ***************************** Function prototypes *****************************
+void uart_init(uart_ring *q, int baud);

 bool getc(uart_ring *q, char *elem);
 bool putc(uart_ring *q, char elem);
@@ -21,48 +46,35 @@ void puts(const char *a);
 void puth(unsigned int i);
 void hexdump(const void *a, int l);

+void debug_ring_callback(uart_ring *ring);

-// ***************************** serial port queues *****************************
+// ******************************** UART buffers ********************************

-// esp = USART1
-uart_ring esp_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
-                       .w_ptr_rx = 0, .r_ptr_rx = 0,
-                       .uart = USART1,
-                       .callback = NULL};
+// esp_gps = USART1
+UART_BUFFER(esp_gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)

 // lin1, K-LINE = UART5
 // lin2, L-LINE = USART3
-uart_ring lin1_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
-                        .w_ptr_rx = 0, .r_ptr_rx = 0,
-                        .uart = UART5,
-                        .callback = NULL};
-uart_ring lin2_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
-                        .w_ptr_rx = 0, .r_ptr_rx = 0,
-                        .uart = USART3,
-                        .callback = NULL};
+UART_BUFFER(lin1, FIFO_SIZE_INT, FIFO_SIZE_INT, UART5, NULL, false)
+UART_BUFFER(lin2, FIFO_SIZE_INT, FIFO_SIZE_INT, USART3, NULL, false)

 // debug = USART2
-void debug_ring_callback(uart_ring *ring);
-uart_ring debug_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
-                         .w_ptr_rx = 0, .r_ptr_rx = 0,
-                         .uart = USART2,
-                         .callback = debug_ring_callback};
-
+UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, false)

 uart_ring *get_ring_by_number(int a) {
  uart_ring *ring = NULL;
  switch(a) {
    case 0:
-      ring = &debug_ring;
+      ring = &uart_ring_debug;
      break;
    case 1:
-      ring = &esp_ring;
+      ring = &uart_ring_esp_gps;
      break;
    case 2:
-      ring = &lin1_ring;
+      ring = &uart_ring_lin1;
      break;
    case 3:
-      ring = &lin2_ring;
+      ring = &uart_ring_lin2;
      break;
    default:
      ring = NULL;
@@ -71,52 +83,219 @@ uart_ring *get_ring_by_number(int a) {
  return ring;
 }

-// ***************************** serial port *****************************
+// ***************************** Interrupt handlers *****************************

-void uart_ring_process(uart_ring *q) {
+void uart_tx_ring(uart_ring *q){
  ENTER_CRITICAL();
-  // TODO: check if external serial is connected
-  int sr = q->uart->SR;
-
+  // Send out next byte of TX buffer
  if (q->w_ptr_tx != q->r_ptr_tx) {
-    if ((sr & USART_SR_TXE) != 0) {
-      q->uart->DR = q->elems_tx[q->r_ptr_tx];
-      q->r_ptr_tx = (q->r_ptr_tx + 1U) % FIFO_SIZE;
+    // Only send if transmit register is empty (aka last byte has been sent)
+    if ((q->uart->SR & USART_SR_TXE) != 0) {
+      q->uart->DR = q->elems_tx[q->r_ptr_tx];   // This clears TXE
+      q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size;
    }
-    // there could be more to send
-    q->uart->CR1 |= USART_CR1_TXEIE;
-  } else {
-    // nothing to send
-    q->uart->CR1 &= ~USART_CR1_TXEIE;
-  }

-  if ((sr & USART_SR_RXNE) || (sr & USART_SR_ORE)) {
-    uint8_t c = q->uart->DR;  // TODO: can drop packets
-    if (q != &esp_ring) {
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
-      if (next_w_ptr != q->r_ptr_rx) {
-        q->elems_rx[q->w_ptr_rx] = c;
-        q->w_ptr_rx = next_w_ptr;
-        if (q->callback != NULL) {
-          q->callback(q);
-        }
+    // Enable TXE interrupt if there is still data to be sent
+    if(q->r_ptr_tx != q->w_ptr_tx){
+      q->uart->CR1 |= USART_CR1_TXEIE;
+    } else {
+      q->uart->CR1 &= ~USART_CR1_TXEIE;
+    }
+  }
+  EXIT_CRITICAL();
+}
+
+void uart_rx_ring(uart_ring *q){
+  // Do not read out directly if DMA enabled
+  if (q->dma_rx == false) {
+    ENTER_CRITICAL();
+
+    // Read out RX buffer
+    uint8_t c = q->uart->DR;  // This read after reading SR clears a bunch of interrupts
+
+    uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
+    // Do not overwrite buffer data
+    if (next_w_ptr != q->r_ptr_rx) {
+      q->elems_rx[q->w_ptr_rx] = c;
+      q->w_ptr_rx = next_w_ptr;
+      if (q->callback != NULL) {
+        q->callback(q);
      }
    }
+
+    EXIT_CRITICAL();
+  }
+}
+
+// This function should be called on:
+// * Half-transfer DMA interrupt
+// * Full-transfer DMA interrupt
+// * UART IDLE detection
+uint32_t prev_w_index = 0;
+void dma_pointer_handler(uart_ring *q, uint32_t dma_ndtr) {
+  ENTER_CRITICAL();
+  uint32_t w_index = (q->rx_fifo_size - dma_ndtr);
+  
+  // Check for new data
+  if (w_index != prev_w_index){
+    // Check for overflow
+    if (
+      ((prev_w_index < q->r_ptr_rx) && (q->r_ptr_rx <= w_index)) ||                               // No rollover
+      ((w_index < prev_w_index) && ((q->r_ptr_rx <= w_index) || (prev_w_index < q->r_ptr_rx)))    // Rollover
+    ){   
+      // We lost data. Set the new read pointer to the oldest byte still available
+      q->r_ptr_rx = (w_index + 1U) % q->rx_fifo_size;
+    }
+
+    // Set write pointer
+    q->w_ptr_rx = w_index;
  }

-  if ((sr & USART_SR_ORE) != 0) {
-    // set dropped packet flag?
+  prev_w_index = w_index;
+  EXIT_CRITICAL();
+}
+
+// This read after reading SR clears all error interrupts. We don't want compiler warnings, nor optimizations
+#define UART_READ_DR(uart) volatile uint8_t t = (uart)->DR; UNUSED(t);
+
+void uart_interrupt_handler(uart_ring *q) {
+  ENTER_CRITICAL();
+
+  // Read UART status. This is also the first step necessary in clearing most interrupts
+  uint32_t status = q->uart->SR;
+
+  // If RXNE is set, perform a read. This clears RXNE, ORE, IDLE, NF and FE
+  if((status & USART_SR_RXNE) != 0U){
+    uart_rx_ring(q);
+  }
+
+  // Detect errors and clear them
+  uint32_t err = (status & USART_SR_ORE) | (status & USART_SR_NE) | (status & USART_SR_FE) | (status & USART_SR_PE);
+  if(err != 0U){
+    #ifdef DEBUG_UART
+      puts("Encountered UART error: "); puth(err); puts("\n");
+    #endif
+    UART_READ_DR(q->uart)
+  }
+  // Send if necessary
+  uart_tx_ring(q);
+
+  // Run DMA pointer handler if the line is idle
+  if(q->dma_rx && (status & USART_SR_IDLE)){
+    // Reset IDLE flag
+    UART_READ_DR(q->uart)
+
+    if(q == &uart_ring_esp_gps){
+      dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
+    } else {
+      #ifdef DEBUG_UART
+        puts("No IDLE dma_pointer_handler implemented for this UART.");
+      #endif
+    }
  }

  EXIT_CRITICAL();
 }

-// interrupt boilerplate
+void USART1_IRQHandler(void) { uart_interrupt_handler(&uart_ring_esp_gps); }
+void USART2_IRQHandler(void) { uart_interrupt_handler(&uart_ring_debug); }
+void USART3_IRQHandler(void) { uart_interrupt_handler(&uart_ring_lin2); }
+void UART5_IRQHandler(void) { uart_interrupt_handler(&uart_ring_lin1); }

-void USART1_IRQHandler(void) { uart_ring_process(&esp_ring); }
-void USART2_IRQHandler(void) { uart_ring_process(&debug_ring); }
-void USART3_IRQHandler(void) { uart_ring_process(&lin2_ring); }
-void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }
+void DMA2_Stream5_IRQHandler(void) {
+  ENTER_CRITICAL();
+
+  // Handle errors
+  if((DMA2->HISR & DMA_HISR_TEIF5) || (DMA2->HISR & DMA_HISR_DMEIF5) || (DMA2->HISR & DMA_HISR_FEIF5)){
+    #ifdef DEBUG_UART
+      puts("Encountered UART DMA error. Clearing and restarting DMA...\n");
+    #endif
+
+    // Clear flags
+    DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;
+
+    // Re-enable the DMA if necessary
+    DMA2_Stream5->CR |= DMA_SxCR_EN;
+  }
+
+  // Re-calculate write pointer and reset flags
+  dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
+  DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
+
+  EXIT_CRITICAL();
+}
+
+// ***************************** Hardware setup *****************************
+
+void dma_rx_init(uart_ring *q) {
+  // Initialization is UART-dependent
+  if(q == &uart_ring_esp_gps){
+    // DMA2, stream 5, channel 4
+
+    // Disable FIFO mode (enable direct)
+    DMA2_Stream5->FCR &= ~DMA_SxFCR_DMDIS;
+
+    // Setup addresses
+    DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);    // Source
+    DMA2_Stream5->M0AR = (uint32_t)q->elems_rx;     // Destination
+    DMA2_Stream5->NDTR = q->rx_fifo_size;           // Number of bytes to copy
+
+    // Circular, Increment memory, byte size, periph -> memory, enable
+    // Transfer complete, half transfer, transfer error and direct mode error interrupt enable
+    DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_CIRC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_TEIE | DMA_SxCR_DMEIE | DMA_SxCR_EN;
+    
+    // Enable DMA receiver in UART
+    q->uart->CR3 |= USART_CR3_DMAR;
+
+    // Enable UART IDLE interrupt
+    q->uart->CR1 |= USART_CR1_IDLEIE;
+
+    // Enable interrupt
+    NVIC_EnableIRQ(DMA2_Stream5_IRQn);
+  } else {
+    puts("Tried to initialize RX DMA for an unsupported UART\n");
+  }
+}
+
+#define __DIV(_PCLK_, _BAUD_)                    (((_PCLK_) * 25U) / (4U * (_BAUD_)))
+#define __DIVMANT(_PCLK_, _BAUD_)                (__DIV((_PCLK_), (_BAUD_)) / 100U)
+#define __DIVFRAQ(_PCLK_, _BAUD_)                ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
+#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
+
+void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
+  if (u == USART1) {
+    // USART1 is on APB2
+    u->BRR = __USART_BRR(48000000U, baud);
+  } else {
+    u->BRR = __USART_BRR(24000000U, baud);
+  }
+}
+
+void uart_init(uart_ring *q, int baud) {
+  // Set baud and enable peripheral with TX and RX mode
+  uart_set_baud(q->uart, baud);
+  q->uart->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
+
+  // Enable UART interrupts
+  if(q->uart == USART1){
+    NVIC_EnableIRQ(USART1_IRQn);
+  } else if (q->uart == USART2){
+    NVIC_EnableIRQ(USART2_IRQn);
+  } else if (q->uart == USART3){
+    NVIC_EnableIRQ(USART3_IRQn);
+  } else if (q->uart == UART5){
+    NVIC_EnableIRQ(UART5_IRQn);
+  } else {
+    // UART not used. Skip enabling interrupts
+  }
+
+  // Initialise RX DMA if used
+  if(q->dma_rx){
+    dma_rx_init(q);
+  }
+}
+
+// ************************* Low-level buffer functions *************************

 bool getc(uart_ring *q, char *elem) {
  bool ret = false;
@@ -124,7 +303,7 @@ bool getc(uart_ring *q, char *elem) {
  ENTER_CRITICAL();
  if (q->w_ptr_rx != q->r_ptr_rx) {
    if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
-    q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
    ret = true;
  }
  EXIT_CRITICAL();
@@ -137,7 +316,7 @@ bool injectc(uart_ring *q, char elem) {
  uint16_t next_w_ptr;

  ENTER_CRITICAL();
-  next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_rx + 1U) % q->tx_fifo_size;
  if (next_w_ptr != q->r_ptr_rx) {
    q->elems_rx[q->w_ptr_rx] = elem;
    q->w_ptr_rx = next_w_ptr;
@@ -153,7 +332,7 @@ bool putc(uart_ring *q, char elem) {
  uint16_t next_w_ptr;

  ENTER_CRITICAL();
-  next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_tx + 1U) % q->tx_fifo_size;
  if (next_w_ptr != q->r_ptr_tx) {
    q->elems_tx[q->w_ptr_tx] = elem;
    q->w_ptr_tx = next_w_ptr;
@@ -161,11 +340,13 @@ bool putc(uart_ring *q, char elem) {
  }
  EXIT_CRITICAL();

-  uart_ring_process(q);
+  uart_tx_ring(q);

  return ret;
 }

+// Seems dangerous to use (might lock CPU if called with interrupts disabled f.e.)
+// TODO: Remove? Not used anyways
 void uart_flush(uart_ring *q) {
  while (q->w_ptr_tx != q->r_ptr_tx) {
    __WFI();
@@ -175,7 +356,7 @@ void uart_flush(uart_ring *q) {
 void uart_flush_sync(uart_ring *q) {
  // empty the TX buffer
  while (q->w_ptr_tx != q->r_ptr_tx) {
-    uart_ring_process(q);
+    uart_tx_ring(q);
  }
 }

@@ -193,119 +374,15 @@ void clear_uart_buff(uart_ring *q) {
  EXIT_CRITICAL();
 }

-// ***************************** start UART code *****************************
-
-#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_) * 25U) / (4U * (_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_)) / 100U)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                    ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
-
-void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
-  if (u == USART1) {
-    // USART1 is on APB2
-    u->BRR = __USART_BRR(48000000U, baud);
-  } else {
-    u->BRR = __USART_BRR(24000000U, baud);
-  }
-}
-
-#define USART1_DMA_LEN 0x20
-char usart1_dma[USART1_DMA_LEN];
-
-void uart_dma_drain(void) {
-  uart_ring *q = &esp_ring;
-
-  ENTER_CRITICAL();
-
-  if ((DMA2->HISR & DMA_HISR_TCIF5) || (DMA2->HISR & DMA_HISR_HTIF5) || (DMA2_Stream5->NDTR != USART1_DMA_LEN)) {
-    // disable DMA
-    q->uart->CR3 &= ~USART_CR3_DMAR;
-    DMA2_Stream5->CR &= ~DMA_SxCR_EN;
-    while ((DMA2_Stream5->CR & DMA_SxCR_EN) != 0);
-
-    unsigned int i;
-    for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
-      char c = usart1_dma[i];
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
-      if (next_w_ptr != q->r_ptr_rx) {
-        q->elems_rx[q->w_ptr_rx] = c;
-        q->w_ptr_rx = next_w_ptr;
-      }
-    }
-
-    // reset DMA len
-    DMA2_Stream5->NDTR = USART1_DMA_LEN;
-
-    // clear interrupts
-    DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
-    //DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;
-
-    // enable DMA
-    DMA2_Stream5->CR |= DMA_SxCR_EN;
-    q->uart->CR3 |= USART_CR3_DMAR;
-  }
-
-  EXIT_CRITICAL();
-}
-
-void DMA2_Stream5_IRQHandler(void) {
-  //set_led(LED_BLUE, 1);
-  uart_dma_drain();
-  //set_led(LED_BLUE, 0);
-}
-
-void uart_init(USART_TypeDef *u, int baud) {
-  // enable uart and tx+rx mode
-  u->CR1 = USART_CR1_UE;
-  uart_set_baud(u, baud);
-
-  u->CR1 |= USART_CR1_TE | USART_CR1_RE;
-  //u->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
-  //u->CR2 = USART_CR2_STOP_0;
-  // ** UART is ready to work **
-
-  // enable interrupts
-  if (u != USART1) {
-    u->CR1 |= USART_CR1_RXNEIE;
-  }
-
-  if (u == USART1) {
-    // DMA2, stream 2, channel 3
-    DMA2_Stream5->M0AR = (uint32_t)usart1_dma;
-    DMA2_Stream5->NDTR = USART1_DMA_LEN;
-    DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);
-
-    // channel4, increment memory, periph -> memory, enable
-    DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_EN;
-
-    // this one uses DMA receiver
-    u->CR3 = USART_CR3_DMAR;
-
-    NVIC_EnableIRQ(DMA2_Stream5_IRQn);
-    NVIC_EnableIRQ(USART1_IRQn);
-  } else if (u == USART2) {
-    NVIC_EnableIRQ(USART2_IRQn);
-  } else if (u == USART3) {
-    NVIC_EnableIRQ(USART3_IRQn);
-  } else if (u == UART5) {
-    NVIC_EnableIRQ(UART5_IRQn);
-  } else {
-    // USART type undefined, skip
-  }
-}
-
+// ************************ High-level debug functions **********************
 void putch(const char a) {
  if (has_external_debug_serial) {
-    /*while ((debug_ring.uart->SR & USART_SR_TXE) == 0);
-    debug_ring.uart->DR = a;*/
-
    // assuming debugging is important if there's external serial connected
-    while (!putc(&debug_ring, a));
+    while (!putc(&uart_ring_debug, a));

-    //putc(&debug_ring, a);
  } else {
    // misra-c2012-17.7: serial debug function, ok to ignore output
-    (void)injectc(&debug_ring, a);
+    (void)injectc(&uart_ring_debug, a);
  }
 }

@@ -327,7 +404,7 @@ void putui(uint32_t i) {
    idx--;
    i_copy /= 10;
  } while (i_copy != 0U);
-  puts(str + idx + 1U);
+  puts(&str[idx + 1U]);
 }

 void puth(unsigned int i) {
@@ -345,10 +422,12 @@ void puth2(unsigned int i) {
 }

 void hexdump(const void *a, int l) {
-  for (int i=0; i < l; i++) {
-    if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
-    puth2(((const unsigned char*)a)[i]);
-    puts(" ");
+  if (a != NULL) {
+    for (int i=0; i < l; i++) {
+      if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
+      puth2(((const unsigned char*)a)[i]);
+      puts(" ");
+    }
  }
  puts("\n");
 }
--- a/board/drivers/usb.h
+++ b/board/drivers/usb.h
@@ -439,7 +439,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
  USB_WritePacket(src, wplen, 0);

  if (wplen < len) {
-    ep0_txdata = src + wplen;
+    ep0_txdata = &src[wplen];
    ep0_txlen = len - wplen;
    USBx_DEVICE->DIEPEMPMSK |= 1;
  } else {
@@ -985,7 +985,7 @@ void usb_irqhandler(void) {
      if ((ep0_txlen != 0U) && ((USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40U)) {
        uint16_t len = MIN(ep0_txlen, 0x40);
        USB_WritePacket(ep0_txdata, len, 0);
-        ep0_txdata += len;
+        ep0_txdata = &ep0_txdata[len];
        ep0_txlen -= len;
        if (ep0_txlen == 0U) {
          ep0_txdata = NULL;
--- a/board/main.c
+++ b/board/main.c
@@ -1,4 +1,4 @@
-//#define EON 
+//#define EON
 //#define PANDA

 // ********************* Includes *********************
@@ -78,10 +78,14 @@ void started_interrupt_handler(uint8_t interrupt_line) {
    // jenky debounce
    delay(100000);

-    // set power savings mode here if on EON build
    #ifdef EON
+      // set power savings mode here if on EON build
      int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
      set_power_save_state(power_save_state);
+      // set CDP usb power mode everytime that the car starts to make sure EON is charging
+      if (current_board->check_ignition()) {
+        current_board->set_usb_power_mode(USB_POWER_CDP);
+      }
    #endif
  }
  EXTI->PR = (1U << interrupt_line);
@@ -134,7 +138,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
          }
          can_silent = ALL_CAN_LIVE;
          break;
-      }          
+      }
    if (safety_ignition_hook() != -1) {
      // if the ignition hook depends on something other than the started GPIO
      // we have to disable power savings (fix for GM and Tesla)
@@ -159,19 +163,10 @@ int get_health_pkt(void *dat) {
    uint8_t controls_allowed_pkt;
    uint8_t gas_interceptor_detected_pkt;
    uint8_t car_harness_status_pkt;
+    uint8_t usb_power_mode_pkt;
  } *health = dat;

-  //Voltage will be measured in mv. 5000 = 5V
-  uint32_t voltage = adc_get(ADCCHAN_VOLTAGE);
-
-  // REVC has a 10, 1 (1/11) voltage divider
-  // Here is the calculation for the scale (s)
-  // ADCV = VIN_S * (1/11) * (4095/3.3)
-  // RETVAL = ADCV * s = VIN_S*1000
-  // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
-
-  // Avoid needing floating point math
-  health->voltage_pkt = (voltage * 8862U) / 1000U;
+  health->voltage_pkt = adc_get_voltage();

  // No current sense on panda black
  if(hw_type != HW_TYPE_BLACK_PANDA){
@@ -195,7 +190,8 @@ int get_health_pkt(void *dat) {
  health->can_fwd_errs_pkt = can_fwd_errs;
  health->gmlan_send_errs_pkt = gmlan_send_errs;
  health->car_harness_status_pkt = car_harness_status;
-  
+  health->usb_power_mode_pkt = usb_power_mode;
+
  return sizeof(*health);
 }

@@ -215,7 +211,7 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
  uint8_t *usbdata8 = (uint8_t *)usbdata;
  uart_ring *ur = get_ring_by_number(usbdata8[0]);
  if ((len != 0) && (ur != NULL)) {
-    if ((usbdata8[0] < 2U) || safety_tx_lin_hook(usbdata8[0] - 2U, usbdata8 + 1, len - 1)) {
+    if ((usbdata8[0] < 2U) || safety_tx_lin_hook(usbdata8[0] - 2U, &usbdata8[1], len - 1)) {
      for (int i = 1; i < len; i++) {
        while (!putc(ur, usbdata8[i])) {
          // wait
@@ -346,7 +342,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
        } else {
          // Disable OBD CAN
          current_board->set_can_mode(CAN_MODE_NORMAL);
-        }        
+        }
      } else {
        if (setup->b.wValue.w == 1U) {
          // GMLAN ON
@@ -362,7 +358,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
        }
      }
      break;
-      
+
    // **** 0xdc: set safety mode
    case 0xdc:
      // Blocked over WiFi.
@@ -403,9 +399,12 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      if (!ur) {
        break;
      }
-      if (ur == &esp_ring) {
-        uart_dma_drain();
+
+      // TODO: Remove this again and fix boardd code to hande the message bursts instead of single chars
+      if (ur == &uart_ring_esp_gps) {
+        dma_pointer_handler(ur, DMA2_Stream5->NDTR);
      }
+
      // read
      while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
                         getc(ur, (char*)&resp[resp_len])) {
@@ -460,19 +459,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      break;
    // **** 0xe6: set USB power
    case 0xe6:
-      if (setup->b.wValue.w == 0U) {
-        puts("user setting NONE mode\n");
-        current_board->set_usb_power_mode(USB_POWER_NONE);
-      } else if (setup->b.wValue.w == 1U) {
-        puts("user setting CDP mode\n");
-        current_board->set_usb_power_mode(USB_POWER_CDP);
-      } else if (setup->b.wValue.w == 2U) {
-        puts("user setting DCP mode\n");
-        current_board->set_usb_power_mode(USB_POWER_DCP);
-      } else {
-        puts("user setting CLIENT mode\n");
-        current_board->set_usb_power_mode(USB_POWER_CLIENT);
-      }
+      current_board->set_usb_power_mode(setup->b.wValue.w);
      break;
    // **** 0xf0: do k-line wValue pulse on uart2 for Acura
    case 0xf0:
@@ -591,8 +578,8 @@ void __attribute__ ((noinline)) enable_fpu(void) {
 uint64_t tcnt = 0;

 // go into NOOUTPUT when the EON does not send a heartbeat for this amount of seconds.
-#define EON_HEARTBEAT_THRESHOLD_IGNITION_ON 5U
-#define EON_HEARTBEAT_THRESHOLD_IGNITION_OFF 2U
+#define EON_HEARTBEAT_IGNITION_CNT_ON 5U
+#define EON_HEARTBEAT_IGNITION_CNT_OFF 2U

 // called once per second
 // cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
@@ -629,9 +616,11 @@ void TIM3_IRQHandler(void) {

    // check heartbeat counter if we are running EON code. If the heartbeat has been gone for a while, go to NOOUTPUT safety mode.
    #ifdef EON
-    if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_THRESHOLD_IGNITION_ON : EON_HEARTBEAT_THRESHOLD_IGNITION_OFF)) {
+    if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
      puts("EON hasn't sent a heartbeat for 0x"); puth(heartbeat_counter); puts(" seconds. Safety is set to NOOUTPUT mode.\n");
-      set_safety_mode(SAFETY_NOOUTPUT, 0U);
+      if(current_safety_mode != SAFETY_NOOUTPUT){
+        set_safety_mode(SAFETY_NOOUTPUT, 0U);
+      }
    }
    #endif

@@ -651,7 +640,7 @@ int main(void) {
  detect_configuration();
  detect_board_type();
  adc_init();
-  
+
  // print hello
  puts("\n\n\n************************ MAIN START ************************\n");

@@ -676,22 +665,22 @@ int main(void) {
  if (has_external_debug_serial) {
    // WEIRDNESS: without this gate around the UART, it would "crash", but only if the ESP is enabled
    // assuming it's because the lines were left floating and spurious noise was on them
-    uart_init(USART2, 115200);
+    uart_init(&uart_ring_debug, 115200);
  }

  if (board_has_gps()) {
-    uart_init(USART1, 9600);
+    uart_init(&uart_ring_esp_gps, 9600);
  } else {
    // enable ESP uart
-    uart_init(USART1, 115200);
+    uart_init(&uart_ring_esp_gps, 115200);
  }

  // there is no LIN on panda black
  if(hw_type != HW_TYPE_BLACK_PANDA){
    // enable LIN
-    uart_init(UART5, 10400);
+    uart_init(&uart_ring_lin1, 10400);
    UART5->CR2 |= USART_CR2_LINEN;
-    uart_init(USART3, 10400);
+    uart_init(&uart_ring_lin2, 10400);
    USART3->CR2 |= USART_CR2_LINEN;
  }

--- a/board/pedal/main.c
+++ b/board/pedal/main.c
@@ -84,9 +84,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      if (!ur) {
        break;
      }
-      if (ur == &esp_ring) {
-        uart_dma_drain();
-      }
      // read
      while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
                         getc(ur, (char*)&resp[resp_len])) {
--- a/board/safety.h
+++ b/board/safety.h
@@ -16,6 +16,26 @@
 #include "safety/safety_mazda.h"
 #include "safety/safety_elm327.h"

+// from cereal.car.CarParams.SafetyModel
+#define SAFETY_NOOUTPUT 0U
+#define SAFETY_HONDA 1U
+#define SAFETY_TOYOTA 2U
+#define SAFETY_ELM327 3U
+#define SAFETY_GM 4U
+#define SAFETY_HONDA_BOSCH 5U
+#define SAFETY_FORD 6U
+#define SAFETY_CADILLAC 7U
+#define SAFETY_HYUNDAI 8U
+#define SAFETY_CHRYSLER 9U
+#define SAFETY_TESLA 10U
+#define SAFETY_SUBARU 11U
+#define SAFETY_GM_PASSIVE 12U
+#define SAFETY_MAZDA 13U
+#define SAFETY_TOYOTA_IPAS 16U
+#define SAFETY_ALLOUTPUT 17U
+#define SAFETY_GM_ASCM 18U
+
+uint16_t current_safety_mode = SAFETY_NOOUTPUT;
 const safety_hooks *current_hooks = &nooutput_hooks;

 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
@@ -45,42 +65,24 @@ typedef struct {
  const safety_hooks *hooks;
 } safety_hook_config;

-#define SAFETY_NOOUTPUT 0U
-#define SAFETY_HONDA 1U
-#define SAFETY_TOYOTA 2U
-#define SAFETY_GM 3U
-#define SAFETY_HONDA_BOSCH 4U
-#define SAFETY_FORD 5U
-#define SAFETY_CADILLAC 6U
-#define SAFETY_HYUNDAI 7U
-#define SAFETY_TESLA 8U
-#define SAFETY_CHRYSLER 9U
-#define SAFETY_SUBARU 10U
-#define SAFETY_GM_PASSIVE 11U
-#define SAFETY_MAZDA 12U
-#define SAFETY_GM_ASCM 0x1334U
-#define SAFETY_TOYOTA_IPAS 0x1335U
-#define SAFETY_ALLOUTPUT 0x1337U
-#define SAFETY_ELM327 0xE327U
-
 const safety_hook_config safety_hook_registry[] = {
  {SAFETY_NOOUTPUT, &nooutput_hooks},
  {SAFETY_HONDA, &honda_hooks},
-  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
  {SAFETY_TOYOTA, &toyota_hooks},
+  {SAFETY_ELM327, &elm327_hooks},
  {SAFETY_GM, &gm_hooks},
+  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
  {SAFETY_FORD, &ford_hooks},
  {SAFETY_CADILLAC, &cadillac_hooks},
  {SAFETY_HYUNDAI, &hyundai_hooks},
  {SAFETY_CHRYSLER, &chrysler_hooks},
+  {SAFETY_TESLA, &tesla_hooks},
  {SAFETY_SUBARU, &subaru_hooks},
+  {SAFETY_GM_PASSIVE, &gm_passive_hooks},
  {SAFETY_MAZDA, &mazda_hooks},
  {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
-  {SAFETY_GM_PASSIVE, &gm_passive_hooks},
-  {SAFETY_GM_ASCM, &gm_ascm_hooks},
-  {SAFETY_TESLA, &tesla_hooks},
  {SAFETY_ALLOUTPUT, &alloutput_hooks},
-  {SAFETY_ELM327, &elm327_hooks},
+  {SAFETY_GM_ASCM, &gm_ascm_hooks},
 };

 int safety_set_mode(uint16_t mode, int16_t param) {
@@ -89,6 +91,7 @@ int safety_set_mode(uint16_t mode, int16_t param) {
  for (int i = 0; i < hook_config_count; i++) {
    if (safety_hook_registry[i].id == mode) {
      current_hooks = safety_hook_registry[i].hooks;
+      current_safety_mode = safety_hook_registry[i].id;
      set_status = 0;    // set
      break;
    }
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -204,7 +204,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  // GAS/REGEN: safety check
  if (addr == 715) {
    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
-    // Disabled message is !engaed with gas
+    // Disabled message is !engaged with gas
    // value that corresponds to max regen.
    if (!current_controls_allowed || !long_controls_allowed) {
      bool apply = GET_BYTE(to_send, 0) & 1U;
--- a/board/tools/enter_download_mode.py
+++ b/board/tools/enter_download_mode.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python
-from __future__ import print_function
+#!/usr/bin/env python3
+

 import sys
 import time
--- a/boardesp/Makefile
+++ b/boardesp/Makefile
@@ -50,7 +50,7 @@ user1.bin: obj/proxy.o obj/elm327.o obj/webserver.o obj/sha.o obj/rsa.o
 	$(OBJCP) --only-section .data -O binary a.out eagle.app.v6.data.bin
 	$(OBJCP) --only-section .rodata -O binary a.out eagle.app.v6.rodata.bin
 	$(OBJCP) --only-section .irom0.text -O binary a.out eagle.app.v6.irom0text.bin
-	COMPILE=gcc python ./esp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20/tools/gen_appbin.py a.out 2 0 32 4 0
+	COMPILE=gcc python2 ./esp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20/tools/gen_appbin.py a.out 2 0 32 4 0
 	rm -f eagle.app.v6.*.bin
 	mv eagle.app.flash.bin $@
 	../crypto/sign.py $@ $@ $(CERT)
@@ -61,7 +61,7 @@ user2.bin: obj/proxy.o obj/elm327.o obj/webserver.o obj/sha.o obj/rsa.o
 	$(OBJCP) --only-section .data -O binary a.out eagle.app.v6.data.bin
 	$(OBJCP) --only-section .rodata -O binary a.out eagle.app.v6.rodata.bin
 	$(OBJCP) --only-section .irom0.text -O binary a.out eagle.app.v6.irom0text.bin
-	COMPILE=gcc python ./esp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20/tools/gen_appbin.py a.out 2 0 32 4 0
+	COMPILE=gcc python2 ./esp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20/tools/gen_appbin.py a.out 2 0 32 4 0
 	rm -f eagle.app.v6.*.bin
 	mv eagle.app.flash.bin $@
 	../crypto/sign.py $@ $@ $(CERT)
--- a/boardesp/elm327.c
+++ b/boardesp/elm327.c
@@ -52,6 +52,8 @@ typedef struct __attribute__((packed)) {
 #define PANDA_USB_CAN_WRITE_BUS_NUM 3
 #define PANDA_USB_LIN_WRITE_BUS_NUM 2

+#define SAFETY_ELM327 3U
+
 typedef struct _elm_tcp_conn {
  struct espconn *conn;
  struct _elm_tcp_conn *next;
@@ -1420,7 +1422,7 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {

    elm_append_rsp_const("\r\r");
    elm_append_rsp_const(IDENT_MSG);
-    panda_set_safety_mode(0xE327);
+    panda_set_safety_mode(SAFETY_ELM327);

    elm_proto_reinit(elm_current_proto());
    return;
--- a/boardesp/get_sdk.sh
+++ b/boardesp/get_sdk.sh
@@ -8,5 +8,5 @@ sudo apt-get install libtool-bin
 git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
 cd esp-open-sdk
 git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
-LD_LIBRARY_PATH="" make STANDALONE=y
-
+cp ../python2_make.py .
+python2 python2_make.py 'LD_LIBRARY_PATH="" make STANDALONE=y'
--- a/boardesp/get_sdk_ci.sh
+++ b/boardesp/get_sdk_ci.sh
@@ -2,4 +2,5 @@
 git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
 cd esp-open-sdk
 git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
-LD_LIBRARY_PATH="" make STANDALONE=y
+cp ../python2_make.py .
+python2 python2_make.py 'LD_LIBRARY_PATH="" make STANDALONE=y'
--- a/boardesp/get_sdk_mac.sh
+++ b/boardesp/get_sdk_mac.sh
@@ -28,5 +28,5 @@ git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
 git submodule init
 git submodule update --recursive

-make STANDALONE=y
-
+cp ../python2_make.py .
+python2 python2_make.py 'make STANDALONE=y'
--- a/boardesp/python2_make.py
+++ b/boardesp/python2_make.py
@@ -0,0 +1,4 @@
+#!/usr/bin/env python2
+import os
+import sys
+os.system(sys.argv[1])
--- a/crypto/getcertheader.py
+++ b/crypto/getcertheader.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sys
 import struct
 from Crypto.PublicKey import RSA
@@ -26,7 +26,7 @@ def to_c_uint32(x):
  nums = []
  for i in range(0x20):
    nums.append(x%(2**32))
-    x /= (2**32)
+    x //= (2**32)
  return "{"+'U,'.join(map(str, nums))+"U}"

 for fn in sys.argv[1:]:
@@ -36,11 +36,11 @@ for fn in sys.argv[1:]:

  cname = fn.split("/")[-1].split(".")[0] + "_rsa_key"

-  print 'RSAPublicKey '+cname+' = {.len = 0x20,'
-  print '  .n0inv = %dU,' % n0inv
-  print '  .n = %s,' % to_c_uint32(rsa.n)
-  print '  .rr = %s,' % to_c_uint32(rr)
-  print '  .exponent = %d,' % rsa.e
-  print '};'
+  print('RSAPublicKey '+cname+' = {.len = 0x20,')
+  print('  .n0inv = %dU,' % n0inv)
+  print('  .n = %s,' % to_c_uint32(rsa.n))
+  print('  .rr = %s,' % to_c_uint32(rr))
+  print('  .exponent = %d,' % rsa.e)
+  print('};')


--- a/crypto/sign.py
+++ b/crypto/sign.py
@@ -1,16 +1,17 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import os
 import sys
 import struct
 import hashlib
 from Crypto.PublicKey import RSA
+import binascii

 rsa = RSA.importKey(open(sys.argv[3]).read())

-with open(sys.argv[1]) as f:
+with open(sys.argv[1], "rb") as f:
  dat = f.read()

-print "signing", len(dat), "bytes"
+print("signing", len(dat), "bytes")

 with open(sys.argv[2], "wb") as f:
  if os.getenv("SETLEN") is not None:
@@ -20,10 +21,11 @@ with open(sys.argv[2], "wb") as f:
  else:
    x = dat
    dd = hashlib.sha1(dat).digest()
-  print "hash:",dd.encode("hex")
-  dd = "\x00\x01" + "\xff"*0x69 + "\x00" + dd
-  rsa_out = pow(int(dd.encode("hex"), 16), rsa.d, rsa.n)
-  sig = (hex(rsa_out)[2:-1].rjust(0x100, '0')).decode("hex")
-  x += sig
+
+  print("hash:", str(binascii.hexlify(dd), "utf-8"))
+  dd = b"\x00\x01" + b"\xff"*0x69 + b"\x00" + dd
+  rsa_out = pow(int.from_bytes(dd, byteorder='big', signed=False), rsa.d, rsa.n)
+  sig = (hex(rsa_out)[2:].rjust(0x100, '0'))
+  x += binascii.unhexlify(sig)
  f.write(x)

--- a/drivers/linux/panda.c
+++ b/drivers/linux/panda.c
@@ -38,6 +38,9 @@

 #define PANDA_DLC_MASK  0x0F

+#define SAFETY_ALLOUTPUT 17
+#define SAFETY_NOOUTPUT 0
+
 struct panda_usb_ctx {
  struct panda_inf_priv *priv;
  u32 ndx;
@@ -156,7 +159,7 @@ static int panda_set_output_enable(struct panda_inf_priv* priv, bool enable){
  return usb_control_msg(priv->priv_dev->udev,
 			 usb_sndctrlpipe(priv->priv_dev->udev, 0),
 			 0xDC, USB_TYPE_VENDOR | USB_RECIP_DEVICE,
-			 enable ? 0x1337 : 0, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
+			 enable ? SAFETY_ALLOUTPUT : SAFETY_NOOUTPUT, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
 }

 static void panda_usb_write_bulk_callback(struct urb *urb)
--- a/drivers/windows/panda_shared/panda.h
+++ b/drivers/windows/panda_shared/panda.h
@@ -40,7 +40,7 @@ namespace panda {
 	typedef enum _PANDA_SAFETY_MODE : uint16_t {
 		SAFETY_NOOUTPUT = 0,
 		SAFETY_HONDA = 1,
-		SAFETY_ALLOUTPUT = 0x1337,
+		SAFETY_ALLOUTPUT = 17,
 	} PANDA_SAFETY_MODE;

 	typedef enum _PANDA_SERIAL_PORT : uint8_t {
--- a/examples/can_bit_transition.py
+++ b/examples/can_bit_transition.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 import binascii
 import csv
@@ -13,13 +13,13 @@ class Message():

  def printBitDiff(self, other):
    """Prints bits that transition from always zero to always 1 and vice versa."""
-    for i in xrange(len(self.ones)):
+    for i in range(len(self.ones)):
      zero_to_one = other.zeros[i] & self.ones[i]
      if zero_to_one:
-        print 'id %s 0 -> 1 at byte %d bitmask %d' % (self.message_id, i, zero_to_one)
+        print('id %s 0 -> 1 at byte %d bitmask %d' % (self.message_id, i, zero_to_one))
      one_to_zero = other.ones[i] & self.zeros[i]
      if one_to_zero:
-        print 'id %s 1 -> 0 at byte %d bitmask %d' % (self.message_id, i, one_to_zero)
+        print('id %s 1 -> 0 at byte %d bitmask %d' % (self.message_id, i, one_to_zero))


 class Info():
@@ -56,7 +56,7 @@ class Info():
          new_message = True
        message = self.messages[message_id]
        bytes = bytearray.fromhex(data)
-        for i in xrange(len(bytes)):
+        for i in range(len(bytes)):
          ones = int(bytes[i])
          message.ones[i] = ones if new_message else message.ones[i] & ones
          # Inverts the data and masks it to a byte to get the zeros as ones.
@@ -65,11 +65,11 @@ class Info():

 def PrintUnique(log_file, low_range, high_range):
  # find messages with bits that are always low
-  start, end = map(float, low_range.split('-'))
+  start, end = list(map(float, low_range.split('-')))
  low = Info()
  low.load(log_file, start, end)
  # find messages with bits that are always high
-  start, end = map(float, high_range.split('-'))
+  start, end = list(map(float, high_range.split('-')))
  high = Info()
  high.load(log_file, start, end)
  # print messages that go from low to high
@@ -78,10 +78,10 @@ def PrintUnique(log_file, low_range, high_range):
    if message_id in low.messages:
      high.messages[message_id].printBitDiff(low.messages[message_id])
      found = True
-  if not found: print 'No messages that transition from always low to always high found!'
+  if not found: print('No messages that transition from always low to always high found!')

 if __name__ == "__main__":
  if len(sys.argv) < 4:
-    print 'Usage:\n%s log.csv <low-start>-<low-end> <high-start>-<high-end>' % sys.argv[0]
+    print('Usage:\n%s log.csv <low-start>-<low-end> <high-start>-<high-end>' % sys.argv[0])
    sys.exit(0)
  PrintUnique(sys.argv[1], sys.argv[2], sys.argv[3])
--- a/examples/can_logger.py
+++ b/examples/can_logger.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python
-from __future__ import print_function
+#!/usr/bin/env python3
+
 import binascii
 import csv
 import sys
--- a/examples/can_unique.py
+++ b/examples/can_unique.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 # Given an interesting CSV file of CAN messages and a list of background CAN
 # messages, print which bits in the interesting file have never appeared
@@ -28,15 +28,15 @@ class Message():

  def printBitDiff(self, other):
    """Prints bits that are set or cleared compared to other background."""
-    for i in xrange(len(self.ones)):
+    for i in range(len(self.ones)):
      new_ones = ((~other.ones[i]) & 0xff) & self.ones[i]
      if new_ones:
-        print 'id %s new one  at byte %d bitmask %d' % (
-            self.message_id, i, new_ones)
+        print('id %s new one  at byte %d bitmask %d' % (
+            self.message_id, i, new_ones))
      new_zeros = ((~other.zeros[i]) & 0xff) & self.zeros[i]
      if new_zeros:
-        print 'id %s new zero at byte %d bitmask %d' % (
-            self.message_id, i, new_zeros)
+        print('id %s new zero at byte %d bitmask %d' % (
+            self.message_id, i, new_zeros))


 class Info():
@@ -67,7 +67,7 @@ class Info():
        if data not in self.messages[message_id].data:
          message.data[data] = True
        bytes = bytearray.fromhex(data)
-        for i in xrange(len(bytes)):
+        for i in range(len(bytes)):
          message.ones[i] = message.ones[i] | int(bytes[i])
          # Inverts the data and masks it to a byte to get the zeros as ones.
          message.zeros[i] = message.zeros[i] | ( (~int(bytes[i])) & 0xff)
@@ -80,7 +80,7 @@ def PrintUnique(interesting_file, background_files):
  interesting.load(interesting_file)
  for message_id in sorted(interesting.messages):
    if message_id not in background.messages:
-      print 'New message_id: %s' % message_id
+      print('New message_id: %s' % message_id)
    else:
      interesting.messages[message_id].printBitDiff(
          background.messages[message_id])
@@ -88,6 +88,6 @@ def PrintUnique(interesting_file, background_files):

 if __name__ == "__main__":
  if len(sys.argv) < 3:
-    print 'Usage:\n%s interesting.csv background*.csv' % sys.argv[0]
+    print('Usage:\n%s interesting.csv background*.csv' % sys.argv[0])
    sys.exit(0)
  PrintUnique(sys.argv[1], sys.argv[2:])
--- a/examples/get_panda_password.py
+++ b/examples/get_panda_password.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from panda import Panda

 def get_panda_password():
@@ -17,4 +17,4 @@ def get_panda_password():
  print("Password: " + wifi[1])

 if __name__ == "__main__":
-  get_panda_password()
+  get_panda_password()
--- a/examples/query_vin_and_stats.py
+++ b/examples/query_vin_and_stats.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import time
 import struct
 from panda import Panda
@@ -36,15 +36,15 @@ if __name__ == "__main__":
  isotp_send(panda, "\x09\x02", 0x7df)
  ret = isotp_recv(panda, 0x7e8)
  hexdump(ret)
-  print "VIN: %s" % ret[2:]
+  print("VIN: %s" % ret[2:])

  # 03 = get DTCS
  isotp_send(panda, "\x03", 0x7e0)
  dtcs = isotp_recv(panda, 0x7e8)
-  print "DTCs:", dtcs[2:].encode("hex")
+  print("DTCs:", dtcs[2:].encode("hex"))

  supported_pids = get_supported_pids()
-  print "Supported PIDs:",supported_pids
+  print("Supported PIDs:",supported_pids)

  while 1:
    speed = struct.unpack(">B", get_current_data_for_pid(13)[2:])[0]                  # kph
@@ -52,7 +52,7 @@ if __name__ == "__main__":
    throttle = struct.unpack(">B", get_current_data_for_pid(17)[2:])[0]/255.0 * 100   # percent
    temp = struct.unpack(">B", get_current_data_for_pid(5)[2:])[0] - 40               # degrees C
    load = struct.unpack(">B", get_current_data_for_pid(4)[2:])[0]/255.0 * 100        # percent
-    print "%d KPH, %d RPM, %.1f%% Throttle, %d deg C, %.1f%% load" % (speed, rpm, throttle, temp, load)
+    print("%d KPH, %d RPM, %.1f%% Throttle, %d deg C, %.1f%% load" % (speed, rpm, throttle, temp, load))
    time.sleep(0.2)


--- a/examples/tesla_tester.py
+++ b/examples/tesla_tester.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sys
 import binascii
 from panda import Panda
--- a/python/init.py
+++ b/python/init.py
@@ -1,5 +1,5 @@
 # python library to interface with panda
-from __future__ import print_function
+
 import binascii
 import struct
 import hashlib
@@ -9,12 +9,12 @@ import os
 import time
 import traceback
 import subprocess
-from dfu import PandaDFU
-from esptool import ESPROM, CesantaFlasher
-from flash_release import flash_release
-from update import ensure_st_up_to_date
-from serial import PandaSerial
-from isotp import isotp_send, isotp_recv
+from .dfu import PandaDFU
+from .esptool import ESPROM, CesantaFlasher
+from .flash_release import flash_release
+from .update import ensure_st_up_to_date
+from .serial import PandaSerial
+from .isotp import isotp_send, isotp_recv

 __version__ = '0.0.9'

@@ -23,7 +23,6 @@ BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
 DEBUG = os.getenv("PANDADEBUG") is not None

 # *** wifi mode ***
-
 def build_st(target, mkfile="Makefile"):
  from panda import BASEDIR
  cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
@@ -46,7 +45,7 @@ def parse_can_buffer(dat):
      address = f1 >> 21
    dddat = ddat[8:8+(f2&0xF)]
    if DEBUG:
-      print("  R %x: %s" % (address, str(dddat).encode("hex")))
+      print("  R %x: %s" % (address, binascii.hexlify(dddat)))
    ret.append((address, f2>>16, dddat, (f2>>4)&0xFF))
  return ret

@@ -109,20 +108,25 @@ class WifiHandle(object):
 # *** normal mode ***

 class Panda(object):
+
+  # matches cereal.car.CarParams.SafetyModel
  SAFETY_NOOUTPUT = 0
  SAFETY_HONDA = 1
  SAFETY_TOYOTA = 2
-  SAFETY_GM = 3
-  SAFETY_HONDA_BOSCH = 4
-  SAFETY_FORD = 5
-  SAFETY_CADILLAC = 6
-  SAFETY_HYUNDAI = 7
-  SAFETY_TESLA = 8
+  SAFETY_ELM327 = 3
+  SAFETY_GM = 4
+  SAFETY_HONDA_BOSCH = 5
+  SAFETY_FORD = 6
+  SAFETY_CADILLAC = 7
+  SAFETY_HYUNDAI = 8
  SAFETY_CHRYSLER = 9
-  SAFETY_TOYOTA_IPAS = 0x1335
-  SAFETY_TOYOTA_NOLIMITS = 0x1336
-  SAFETY_ALLOUTPUT = 0x1337
-  SAFETY_ELM327 = 0xE327
+  SAFETY_TESLA = 10
+  SAFETY_SUBARU = 11
+  SAFETY_GM_PASSIVE = 12
+  SAFETY_MAZDA = 13
+  SAFETY_TOYOTA_IPAS = 16
+  SAFETY_ALLOUTPUT = 17
+  SAFETY_GM_ASCM = 18

  SERIAL_DEBUG = 0
  SERIAL_ESP = 1
@@ -135,11 +139,11 @@ class Panda(object):
  REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
  REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE

-  HW_TYPE_UNKNOWN = '\x00'
-  HW_TYPE_WHITE_PANDA = '\x01'
-  HW_TYPE_GREY_PANDA = '\x02'
-  HW_TYPE_BLACK_PANDA = '\x03'
-  HW_TYPE_PEDAL = '\x04'
+  HW_TYPE_UNKNOWN = b'\x00'
+  HW_TYPE_WHITE_PANDA = b'\x01'
+  HW_TYPE_GREY_PANDA = b'\x02'
+  HW_TYPE_BLACK_PANDA = b'\x03'
+  HW_TYPE_PEDAL = b'\x04'

  def __init__(self, serial=None, claim=True):
    self._serial = serial
@@ -232,7 +236,7 @@ class Panda(object):
  def flash_static(handle, code):
    # confirm flasher is present
    fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
-    assert fr[4:8] == "\xde\xad\xd0\x0d"
+    assert fr[4:8] == b"\xde\xad\xd0\x0d"

    # unlock flash
    print("flash: unlocking")
@@ -274,7 +278,7 @@ class Panda(object):
      fn = os.path.join(BASEDIR, "board", fn)

    if code is None:
-      with open(fn) as f:
+      with open(fn, "rb") as f:
        code = f.read()

    # get version
@@ -364,7 +368,7 @@ class Panda(object):
      pass

  def get_version(self):
-    return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40)
+    return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')

  def get_type(self):
    return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
@@ -429,7 +433,7 @@ class Panda(object):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')

  def set_uart_baud(self, uart, rate):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, rate/300, b'')
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate/300), b'')

  def set_uart_parity(self, uart, parity):
    # parity, 0=off, 1=even, 2=odd
@@ -447,7 +451,7 @@ class Panda(object):
    for addr, _, dat, bus in arr:
      assert len(dat) <= 8
      if DEBUG:
-        print("  W %x: %s" % (addr, dat.encode("hex")))
+        print("  W %x: %s" % (addr, binascii.hexlify(dat)))
      if addr >= 0x800:
        rir = (addr << 3) | transmit | extended
      else:
@@ -479,7 +483,7 @@ class Panda(object):
        break
      except (usb1.USBErrorIO, usb1.USBErrorOverflow):
        print("CAN: BAD RECV, RETRYING")
-	time.sleep(0.1)
+        time.sleep(0.1)
    return parse_can_buffer(dat)

  def can_clear(self, bus):
@@ -546,7 +550,7 @@ class Panda(object):
      if len(ret) == 0:
        break
      elif DEBUG:
-        print("kline drain: "+str(ret).encode("hex"))
+        print("kline drain: " + binascii.hexlify(ret))
      bret += ret
    return bytes(bret)

@@ -555,7 +559,7 @@ class Panda(object):
    while len(echo) != cnt:
      ret = str(self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo)))
      if DEBUG and len(ret) > 0:
-        print("kline recv: "+ret.encode("hex"))
+        print("kline recv: " + binascii.hexlify(ret))
      echo += ret
    return str(echo)

@@ -572,7 +576,7 @@ class Panda(object):
    for i in range(0, len(x), 0xf):
      ts = x[i:i+0xf]
      if DEBUG:
-        print("kline send: "+ts.encode("hex"))
+        print("kline send: " + binascii.hexlify(ts))
      self._handle.bulkWrite(2, chr(bus).encode()+ts)
      echo = self.kline_ll_recv(len(ts), bus=bus)
      if echo != ts:
--- a/python/dfu.py
+++ b/python/dfu.py
@@ -1,8 +1,9 @@
-from __future__ import print_function
+
 import os
 import usb1
 import struct
 import time
+import binascii

 # *** DFU mode ***

@@ -46,28 +47,27 @@ class PandaDFU(object):
  def st_serial_to_dfu_serial(st):
    if st == None or st == "none":
      return None
-    uid_base = struct.unpack("H"*6, st.decode("hex"))
-    return struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3]).encode("hex").upper()
-
+    uid_base = struct.unpack("H"*6, bytes.fromhex(st))
+    return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")

  def status(self):
    while 1:
-      dat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
-      if dat[1] == "\x00":
+      dat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
+      if dat[1] == 0:
        break

  def clear_status(self):
    # Clear status
-    stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
-    if stat[4] == "\x0a":
+    stat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
+    if stat[4] == 0xa:
      self._handle.controlRead(0x21, DFU_CLRSTATUS, 0, 0, 0)
-    elif stat[4] == "\x09":
-      self._handle.controlWrite(0x21, DFU_ABORT, 0, 0, "")
+    elif stat[4] == 0x9:
+      self._handle.controlWrite(0x21, DFU_ABORT, 0, 0, b"")
      self.status()
    stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))

  def erase(self, address):
-    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x41" + struct.pack("I", address))
+    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
    self.status()

  def program(self, address, dat, block_size=None):
@@ -75,12 +75,12 @@ class PandaDFU(object):
      block_size = len(dat)

    # Set Address Pointer
-    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x21" + struct.pack("I", address))
+    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
    self.status()

    # Program
-    dat += "\xFF"*((block_size-len(dat)) % block_size)
-    for i in range(0, len(dat)/block_size):
+    dat += b"\xFF"*((block_size-len(dat)) % block_size)
+    for i in range(0, len(dat)//block_size):
      ldat = dat[i*block_size:(i+1)*block_size]
      print("programming %d with length %d" % (i, len(ldat)))
      self._handle.controlWrite(0x21, DFU_DNLOAD, 2+i, 0, ldat)
@@ -105,17 +105,17 @@ class PandaDFU(object):
      build_st(fn)
    fn = os.path.join(BASEDIR, "board", fn)

-    with open(fn) as f:
+    with open(fn, "rb") as f:
      code = f.read()

    self.program_bootstub(code)

  def reset(self):
    # **** Reset ****
-    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, "\x21" + struct.pack("I", 0x8000000))
+    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", 0x8000000))
    self.status()
    try:
-      self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, "")
+      self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")
      stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
    except Exception:
      pass
--- a/python/esptool.py
+++ b/python/esptool.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-# NB: Before sending a PR to change the above line to '#!/usr/bin/env python2', please read https://github.com/themadinventor/esptool/issues/21
+# NB: Before sending a PR to change the above line to '#!/usr/bin/env python3', please read https://github.com/themadinventor/esptool/issues/21
 #
 # ESP8266 ROM Bootloader Utility
 # https://github.com/themadinventor/esptool
@@ -48,7 +48,7 @@ class FakePort(object):

  @baudrate.setter
  def baudrate(self, x):
-    print "set baud to", x
+    print("set baud to", x)
    self.panda.set_uart_baud(1, x)

  def write(self, buf):
@@ -114,7 +114,7 @@ class ESPROM(object):

    """ Read a SLIP packet from the serial port """
    def read(self):
-        return self._slip_reader.next()
+        return next(self._slip_reader)

    """ Write bytes to the serial port while performing SLIP escaping """
    def write(self, packet):
@@ -140,7 +140,7 @@ class ESPROM(object):
        # same operation as the request or a retries limit has
        # exceeded. This is needed for some esp8266s that
        # reply with more sync responses than expected.
-        for retry in xrange(100):
+        for retry in range(100):
            p = self.read()
            if len(p) < 8:
                continue
@@ -156,14 +156,14 @@ class ESPROM(object):
    """ Perform a connection test """
    def sync(self):
        self.command(ESPROM.ESP_SYNC, '\x07\x07\x12\x20' + 32 * '\x55')
-        for i in xrange(7):
+        for i in range(7):
            self.command()

    """ Try connecting repeatedly until successful, or giving up """
    def connect(self):
-        print 'Connecting...'
+        print('Connecting...')

-        for _ in xrange(4):
+        for _ in range(4):
            # issue reset-to-bootloader:
            # RTS = either CH_PD or nRESET (both active low = chip in reset)
            # DTR = GPIO0 (active low = boot to flasher)
@@ -180,7 +180,7 @@ class ESPROM(object):

            # worst-case latency timer should be 255ms (probably <20ms)
            self._port.timeout = 0.3
-            for _ in xrange(4):
+            for _ in range(4):
                try:
                    self._port.flushInput()
                    self._slip_reader = slip_reader(self._port)
@@ -250,7 +250,7 @@ class ESPROM(object):
        result = self.command(ESPROM.ESP_FLASH_BEGIN,
                              struct.pack('<IIII', erase_size, num_blocks, ESPROM.ESP_FLASH_BLOCK, offset))[1]
        if size != 0:
-            print "Took %.2fs to erase flash block" % (time.time() - t)
+            print("Took %.2fs to erase flash block" % (time.time() - t))
        if result != "\0\0":
            raise FatalError.WithResult('Failed to enter Flash download mode (result "%s")', result)
        self._port.timeout = old_tmo
@@ -349,10 +349,10 @@ class ESPROM(object):
        self.mem_finish(stub['entry'])

        if read_output:
-            print 'Stub executed, reading response:'
+            print('Stub executed, reading response:')
            while True:
                p = self.read()
-                print hexify(p)
+                print(hexify(p))
                if p == '':
                    return

@@ -452,7 +452,7 @@ class ESPFirmwareImage(BaseFirmwareImage):
            if magic != ESPROM.ESP_IMAGE_MAGIC or segments > 16:
                raise FatalError('Invalid firmware image magic=%d segments=%d' % (magic, segments))

-            for i in xrange(segments):
+            for i in range(segments):
                self.load_segment(load_file)
            self.checksum = self.read_checksum(load_file)

@@ -480,7 +480,7 @@ class OTAFirmwareImage(BaseFirmwareImage):
                raise FatalError('Invalid V2 image magic=%d' % (magic))
            if segments != 4:
                # segment count is not really segment count here, but we expect to see '4'
-                print 'Warning: V2 header has unexpected "segment" count %d (usually 4)' % segments
+                print('Warning: V2 header has unexpected "segment" count %d (usually 4)' % segments)

            # irom segment comes before the second header
            self.load_segment(load_file, True)
@@ -501,7 +501,7 @@ class OTAFirmwareImage(BaseFirmwareImage):
                raise FatalError('Invalid V2 second header magic=%d segments=%d' % (magic, segments))

            # load all the usual segments
-            for _ in xrange(segments):
+            for _ in range(segments):
                self.load_segment(load_file)
            self.checksum = self.read_checksum(load_file)

@@ -543,13 +543,13 @@ class ELFFile(object):
                tool_nm = "xt-nm"
            proc = subprocess.Popen([tool_nm, self.name], stdout=subprocess.PIPE)
        except OSError:
-            print "Error calling %s, do you have Xtensa toolchain in PATH?" % tool_nm
+            print("Error calling %s, do you have Xtensa toolchain in PATH?" % tool_nm)
            sys.exit(1)
        for l in proc.stdout:
            fields = l.strip().split()
            try:
                if fields[0] == "U":
-                    print "Warning: ELF binary has undefined symbol %s" % fields[1]
+                    print("Warning: ELF binary has undefined symbol %s" % fields[1])
                    continue
                if fields[0] == "w":
                    continue  # can skip weak symbols
@@ -568,7 +568,7 @@ class ELFFile(object):
        try:
            proc = subprocess.Popen([tool_readelf, "-h", self.name], stdout=subprocess.PIPE)
        except OSError:
-            print "Error calling %s, do you have Xtensa toolchain in PATH?" % tool_readelf
+            print("Error calling %s, do you have Xtensa toolchain in PATH?" % tool_readelf)
            sys.exit(1)
        for l in proc.stdout:
            fields = l.strip().split()
@@ -599,7 +599,7 @@ class CesantaFlasher(object):
    CMD_BOOT_FW = 6

    def __init__(self, esp, baud_rate=0):
-        print 'Running Cesanta flasher stub...'
+        print('Running Cesanta flasher stub...')
        if baud_rate <= ESPROM.ESP_ROM_BAUD:  # don't change baud rates if we already synced at that rate
            baud_rate = 0
        self._esp = esp
@@ -640,7 +640,7 @@ class CesantaFlasher(object):
            raise FatalError('Expected digest, got: %s' % hexify(p))
        digest = hexify(p).upper()
        expected_digest = hashlib.md5(data).hexdigest().upper()
-        print
+        print()
        if digest != expected_digest:
            raise FatalError('Digest mismatch: expected %s, got %s' % (expected_digest, digest))
        p = self._esp.read()
@@ -679,7 +679,7 @@ class CesantaFlasher(object):
            raise FatalError('Expected digest, got: %s' % hexify(p))
        expected_digest = hexify(p).upper()
        digest = hashlib.md5(data).hexdigest().upper()
-        print
+        print()
        if digest != expected_digest:
            raise FatalError('Digest mismatch: expected %s, got %s' % (expected_digest, digest))
        p = self._esp.read()
@@ -791,7 +791,7 @@ def binutils_safe_path(p):
        try:
            return subprocess.check_output(["cygpath", "-w", p]).rstrip('\n')
        except subprocess.CalledProcessError:
-            print "WARNING: Failed to call cygpath to sanitise Cygwin path."
+            print("WARNING: Failed to call cygpath to sanitise Cygwin path.")
    return p


@@ -837,9 +837,9 @@ class FatalError(RuntimeError):
 def load_ram(esp, args):
    image = LoadFirmwareImage(args.filename)

-    print 'RAM boot...'
+    print('RAM boot...')
    for (offset, size, data) in image.segments:
-        print 'Downloading %d bytes at %08x...' % (size, offset),
+        print('Downloading %d bytes at %08x...' % (size, offset), end=' ')
        sys.stdout.flush()
        esp.mem_begin(size, div_roundup(size, esp.ESP_RAM_BLOCK), esp.ESP_RAM_BLOCK, offset)

@@ -848,31 +848,31 @@ def load_ram(esp, args):
            esp.mem_block(data[0:esp.ESP_RAM_BLOCK], seq)
            data = data[esp.ESP_RAM_BLOCK:]
            seq += 1
-        print 'done!'
+        print('done!')

-    print 'All segments done, executing at %08x' % image.entrypoint
+    print('All segments done, executing at %08x' % image.entrypoint)
    esp.mem_finish(image.entrypoint)


 def read_mem(esp, args):
-    print '0x%08x = 0x%08x' % (args.address, esp.read_reg(args.address))
+    print('0x%08x = 0x%08x' % (args.address, esp.read_reg(args.address)))


 def write_mem(esp, args):
    esp.write_reg(args.address, args.value, args.mask, 0)
-    print 'Wrote %08x, mask %08x to %08x' % (args.value, args.mask, args.address)
+    print('Wrote %08x, mask %08x to %08x' % (args.value, args.mask, args.address))


 def dump_mem(esp, args):
    f = file(args.filename, 'wb')
-    for i in xrange(args.size / 4):
+    for i in range(args.size / 4):
        d = esp.read_reg(args.address + (i * 4))
        f.write(struct.pack('<I', d))
        if f.tell() % 1024 == 0:
-            print '\r%d bytes read... (%d %%)' % (f.tell(),
-                                                  f.tell() * 100 / args.size),
+            print('\r%d bytes read... (%d %%)' % (f.tell(),
+                                                  f.tell() * 100 / args.size), end=' ')
        sys.stdout.flush()
-    print 'Done!'
+    print('Done!')


 def detect_flash_size(esp, args):
@@ -881,10 +881,10 @@ def detect_flash_size(esp, args):
        size_id = flash_id >> 16
        args.flash_size = {18: '2m', 19: '4m', 20: '8m', 21: '16m', 22: '32m'}.get(size_id)
        if args.flash_size is None:
-            print 'Warning: Could not auto-detect Flash size (FlashID=0x%x, SizeID=0x%x), defaulting to 4m' % (flash_id, size_id)
+            print('Warning: Could not auto-detect Flash size (FlashID=0x%x, SizeID=0x%x), defaulting to 4m' % (flash_id, size_id))
            args.flash_size = '4m'
        else:
-            print 'Auto-detected Flash size:', args.flash_size
+            print('Auto-detected Flash size:', args.flash_size)


 def write_flash(esp, args):
@@ -900,10 +900,10 @@ def write_flash(esp, args):
        image = argfile.read()
        argfile.seek(0)  # rewind in case we need it again
        if address + len(image) > int(args.flash_size.split('m')[0]) * (1 << 17):
-            print 'WARNING: Unlikely to work as data goes beyond end of flash. Hint: Use --flash_size'
+            print('WARNING: Unlikely to work as data goes beyond end of flash. Hint: Use --flash_size')
        # Fix sflash config data.
        if address == 0 and image[0] == '\xe9':
-            print 'Flash params set to 0x%02x%02x' % (flash_mode, flash_size_freq)
+            print('Flash params set to 0x%02x%02x' % (flash_mode, flash_size_freq))
            image = image[0:2] + flash_params + image[4:]
        # Pad to sector size, which is the minimum unit of writing (erasing really).
        if len(image) % esp.ESP_FLASH_SECTOR != 0:
@@ -911,11 +911,11 @@ def write_flash(esp, args):
        t = time.time()
        flasher.flash_write(address, image, not args.no_progress)
        t = time.time() - t
-        print ('\rWrote %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
+        print('\rWrote %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
               % (len(image), address, t, len(image) / t * 8 / 1000))
-    print 'Leaving...'
+    print('Leaving...')
    if args.verify:
-        print 'Verifying just-written flash...'
+        print('Verifying just-written flash...')
        _verify_flash(flasher, args, flash_params)
    flasher.boot_fw()

@@ -923,18 +923,18 @@ def write_flash(esp, args):
 def image_info(args):
    image = LoadFirmwareImage(args.filename)
    print('Image version: %d' % image.version)
-    print('Entry point: %08x' % image.entrypoint) if image.entrypoint != 0 else 'Entry point not set'
-    print '%d segments' % len(image.segments)
-    print
+    print(('Entry point: %08x' % image.entrypoint) if image.entrypoint != 0 else 'Entry point not set')
+    print('%d segments' % len(image.segments))
+    print()
    checksum = ESPROM.ESP_CHECKSUM_MAGIC
    for (idx, (offset, size, data)) in enumerate(image.segments):
        if image.version == 2 and idx == 0:
-            print 'Segment 1: %d bytes IROM0 (no load address)' % size
+            print('Segment 1: %d bytes IROM0 (no load address)' % size)
        else:
-            print 'Segment %d: %5d bytes at %08x' % (idx + 1, size, offset)
+            print('Segment %d: %5d bytes at %08x' % (idx + 1, size, offset))
            checksum = ESPROM.checksum(data, checksum)
-    print
-    print 'Checksum: %02x (%s)' % (image.checksum, 'valid' if image.checksum == checksum else 'invalid!')
+    print()
+    print('Checksum: %02x (%s)' % (image.checksum, 'valid' if image.checksum == checksum else 'invalid!'))


 def make_image(args):
@@ -979,7 +979,7 @@ def elf2image(args):
        if irom_offs < 0:
            raise FatalError('Address of symbol _irom0_text_start in ELF is located before flash mapping address. Bad linker script?')
        if (irom_offs & 0xFFF) != 0:  # irom0 isn't flash sector aligned
-            print "WARNING: irom0 section offset is 0x%08x. ELF is probably linked for 'elf2image --version=2'" % irom_offs
+            print("WARNING: irom0 section offset is 0x%08x. ELF is probably linked for 'elf2image --version=2'" % irom_offs)
        with open(args.output + "0x%05x.bin" % irom_offs, "wb") as f:
            f.write(data)
            f.close()
@@ -991,21 +991,21 @@ def elf2image(args):

 def read_mac(esp, args):
    mac = esp.read_mac()
-    print 'MAC: %s' % ':'.join(map(lambda x: '%02x' % x, mac))
+    print('MAC: %s' % ':'.join(['%02x' % x for x in mac]))


 def chip_id(esp, args):
    chipid = esp.chip_id()
-    print 'Chip ID: 0x%08x' % chipid
+    print('Chip ID: 0x%08x' % chipid)


 def erase_flash(esp, args):
    flasher = CesantaFlasher(esp, args.baud)
-    print 'Erasing flash (this may take a while)...'
+    print('Erasing flash (this may take a while)...')
    t = time.time()
    flasher.flash_erase_chip()
    t = time.time() - t
-    print 'Erase took %.1f seconds' % t
+    print('Erase took %.1f seconds' % t)


 def run(esp, args):
@@ -1015,8 +1015,8 @@ def run(esp, args):
 def flash_id(esp, args):
    flash_id = esp.flash_id()
    esp.flash_finish(False)
-    print 'Manufacturer: %02x' % (flash_id & 0xff)
-    print 'Device: %02x%02x' % ((flash_id >> 8) & 0xff, (flash_id >> 16) & 0xff)
+    print('Manufacturer: %02x' % (flash_id & 0xff))
+    print('Device: %02x%02x' % ((flash_id >> 8) & 0xff, (flash_id >> 16) & 0xff))


 def read_flash(esp, args):
@@ -1024,7 +1024,7 @@ def read_flash(esp, args):
    t = time.time()
    data = flasher.flash_read(args.address, args.size, not args.no_progress)
    t = time.time() - t
-    print ('\rRead %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
+    print('\rRead %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
           % (len(data), args.address, t, len(data) / t * 8 / 1000))
    file(args.filename, 'wb').write(data)

@@ -1037,26 +1037,26 @@ def _verify_flash(flasher, args, flash_params=None):
        if address == 0 and image[0] == '\xe9' and flash_params is not None:
            image = image[0:2] + flash_params + image[4:]
        image_size = len(image)
-        print 'Verifying 0x%x (%d) bytes @ 0x%08x in flash against %s...' % (image_size, image_size, address, argfile.name)
+        print('Verifying 0x%x (%d) bytes @ 0x%08x in flash against %s...' % (image_size, image_size, address, argfile.name))
        # Try digest first, only read if there are differences.
        digest, _ = flasher.flash_digest(address, image_size)
        digest = hexify(digest).upper()
        expected_digest = hashlib.md5(image).hexdigest().upper()
        if digest == expected_digest:
-            print '-- verify OK (digest matched)'
+            print('-- verify OK (digest matched)')
            continue
        else:
            differences = True
            if getattr(args, 'diff', 'no') != 'yes':
-                print '-- verify FAILED (digest mismatch)'
+                print('-- verify FAILED (digest mismatch)')
                continue

        flash = flasher.flash_read(address, image_size)
        assert flash != image
-        diff = [i for i in xrange(image_size) if flash[i] != image[i]]
-        print '-- verify FAILED: %d differences, first @ 0x%08x' % (len(diff), address + diff[0])
+        diff = [i for i in range(image_size) if flash[i] != image[i]]
+        print('-- verify FAILED: %d differences, first @ 0x%08x' % (len(diff), address + diff[0]))
        for d in diff:
-            print '   %08x %02x %02x' % (address + d, ord(flash[d]), ord(image[d]))
+            print('   %08x %02x %02x' % (address + d, ord(flash[d]), ord(image[d])))
    if differences:
        raise FatalError("Verify failed.")

@@ -1067,7 +1067,7 @@ def verify_flash(esp, args, flash_params=None):


 def version(args):
-    print __version__
+    print(__version__)

 #
 # End of operations functions
@@ -1203,12 +1203,12 @@ def main():
        'version', help='Print esptool version')

    # internal sanity check - every operation matches a module function of the same name
-    for operation in subparsers.choices.keys():
+    for operation in list(subparsers.choices.keys()):
        assert operation in globals(), "%s should be a module function" % operation

    args = parser.parse_args()

-    print 'esptool.py v%s' % __version__
+    print('esptool.py v%s' % __version__)

    # operation function can take 1 arg (args), 2 args (esp, arg)
    # or be a member function of the ESPROM class.
@@ -1310,5 +1310,5 @@ if __name__ == '__main__':
    try:
        main()
    except FatalError as e:
-        print '\nA fatal error occurred: %s' % e
+        print('\nA fatal error occurred: %s' % e)
        sys.exit(2)
--- a/python/flash_release.py
+++ b/python/flash_release.py
@@ -1,10 +1,10 @@
-#!/usr/bin/env python
-from __future__ import print_function
+#!/usr/bin/env python3
+
 import sys
 import time
 import requests
 import json
-import StringIO
+import io

 def flash_release(path=None, st_serial=None):
  from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
@@ -29,7 +29,7 @@ def flash_release(path=None, st_serial=None):
    url = json.loads(r.text)['url']
    r = requests.get(url)
    print("Fetching firmware from %s" % url)
-    path = StringIO.StringIO(r.content)
+    path = io.StringIO(r.content)

  zf = ZipFile(path)
  zf.printdir()
--- a/python/isotp.py
+++ b/python/isotp.py
@@ -1,13 +1,15 @@
+import binascii
+
 DEBUG = False

 def msg(x):
  if DEBUG:
-    print "S:",x.encode("hex")
+    print("S:", binascii.hexlify(x))
  if len(x) <= 7:
    ret = chr(len(x)) + x
  else:
    assert False
-  return ret.ljust(8, "\x00")
+  return ret.ljust(8, b"\x00")

 kmsgs = []
 def recv(panda, cnt, addr, nbus):
@@ -24,35 +26,35 @@ def recv(panda, cnt, addr, nbus):
        # leave around
        nmsgs.append((ids, ts, dat, bus))
    kmsgs = nmsgs[-256:]
-  return map(str, ret)
+  return ret

 def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
  msg = recv(panda, 1, addr, bus)[0]

  # TODO: handle other subaddr also communicating
-  assert ord(msg[0]) == subaddr
+  assert msg[0] == subaddr

-  if ord(msg[1])&0xf0 == 0x10:
+  if msg[1]&0xf0 == 0x10:
    # first
-    tlen = ((ord(msg[1]) & 0xf) << 8) | ord(msg[2])
+    tlen = ((msg[1] & 0xf) << 8) | msg[2]
    dat = msg[3:]

    # 0 block size?
-    CONTINUE = chr(subaddr) + "\x30" + "\x00"*6
+    CONTINUE = chr(subaddr).encode("utf8") + b"\x30" + b"\x00"*6
    panda.can_send(sendaddr, CONTINUE, bus)

    idx = 1
-    for mm in recv(panda, (tlen-len(dat) + 5)/6, addr, bus):
-      assert ord(mm[0]) == subaddr
-      assert ord(mm[1]) == (0x20 | (idx&0xF))
+    for mm in recv(panda, (tlen-len(dat) + 5)//6, addr, bus):
+      assert mm[0] == subaddr
+      assert mm[1] == (0x20 | (idx&0xF))
      dat += mm[2:]
      idx += 1
-  elif ord(msg[1])&0xf0 == 0x00:
+  elif msg[1]&0xf0 == 0x00:
    # single
-    tlen = ord(msg[1]) & 0xf
+    tlen = msg[1] & 0xf
    dat = msg[2:]
  else:
-    print msg.encode("hex")
+    print(binascii.hexlify(msg))
    assert False

  return dat[0:tlen]
@@ -69,26 +71,26 @@ def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None):
    panda.can_send(addr, chr(subaddr)+msg(x)[0:7], bus)
  else:
    if subaddr:
-      ss = chr(subaddr) + chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF) + x[0:5]
+      ss = (chr(subaddr) + chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF)).encode("utf8") + x[0:5]
      x = x[5:]
    else:
-      ss = chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF) + x[0:6]
+      ss = (chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF)).encode("utf8") + x[0:6]
      x = x[6:]
    idx = 1
    sends = []
    while len(x) > 0:
      if subaddr:
-        sends.append(((chr(subaddr) + chr(0x20 + (idx&0xF)) + x[0:6]).ljust(8, "\x00")))
+        sends.append((((chr(subaddr) + chr(0x20 + (idx&0xF))).encode('utf8') + x[0:6]).ljust(8, b"\x00")))
        x = x[6:]
      else:
-        sends.append(((chr(0x20 + (idx&0xF)) + x[0:7]).ljust(8, "\x00")))
+        sends.append(((chr(0x20 + (idx&0xF)).encode("utf8") + x[0:7]).ljust(8, b"\x00")))
        x = x[7:]
      idx += 1

    # actually send
    panda.can_send(addr, ss, bus)
    rr = recv(panda, 1, recvaddr, bus)[0]
-    if rr.find("\x30\x01") != -1:
+    if rr.find(b"\x30\x01") != -1:
      for s in sends[:-1]:
        panda.can_send(addr, s, 0)
        rr = recv(panda, 1, recvaddr, bus)[0]
@@ -105,31 +107,31 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
  else:
    msg = recv(panda, 1, addr, bus)[0]

-    if ord(msg[0])&0xf0 == 0x10:
+    if msg[0]&0xf0 == 0x10:
      # first
-      tlen = ((ord(msg[0]) & 0xf) << 8) | ord(msg[1])
+      tlen = ((msg[0] & 0xf) << 8) | msg[1]
      dat = msg[2:]

      # 0 block size?
-      CONTINUE = "\x30" + "\x00"*7
+      CONTINUE = b"\x30" + b"\x00"*7

      panda.can_send(sendaddr, CONTINUE, bus)

      idx = 1
-      for mm in recv(panda, (tlen-len(dat) + 6)/7, addr, bus):
-        assert ord(mm[0]) == (0x20 | (idx&0xF))
+      for mm in recv(panda, (tlen-len(dat) + 6)//7, addr, bus):
+        assert mm[0] == (0x20 | (idx&0xF))
        dat += mm[1:]
        idx += 1
-    elif ord(msg[0])&0xf0 == 0x00:
+    elif msg[0]&0xf0 == 0x00:
      # single
-      tlen = ord(msg[0]) & 0xf
+      tlen = msg[0] & 0xf
      dat = msg[1:]
    else:
      assert False
    dat = dat[0:tlen]

  if DEBUG:
-    print "R:",dat.encode("hex")
+    print("R:", binascii.hexlify(dat))

  return dat

--- a/python/serial.py
+++ b/python/serial.py
@@ -5,7 +5,7 @@ class PandaSerial(object):
    self.port = port
    self.panda.set_uart_parity(self.port, 0)
    self.panda.set_uart_baud(self.port, baud)
-    self.buf = ""
+    self.buf = b""

  def read(self, l=1):
    tt = self.panda.serial_read(self.port)
@@ -19,7 +19,10 @@ class PandaSerial(object):
  def write(self, dat):
    #print "W: ", dat.encode("hex")
    #print '  pigeon_send("' + ''.join(map(lambda x: "\\x%02X" % ord(x), dat)) + '");'
-    return self.panda.serial_write(self.port, dat)
+    if(isinstance(dat, bytes)):
+      return self.panda.serial_write(self.port, dat)
+    else:
+      return self.panda.serial_write(self.port, str.encode(dat))

  def close(self):
    pass
--- a/python/update.py
+++ b/python/update.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import os
 import time

@@ -27,7 +27,7 @@ def ensure_st_up_to_date():
      panda_dfu = PandaDFU(panda_dfu[0])
      panda_dfu.recover()

-    print "waiting for board..."
+    print("waiting for board...")
    time.sleep(1)

  if panda.bootstub or not panda.get_version().startswith(repo_version):
--- a/release/make_release.sh
+++ b/release/make_release.sh
@@ -7,6 +7,7 @@ if [ ! -d "../../pandaextra" ]; then
 fi

 export RELEASE=1
+export BUILDER=DEV

 # make ST + bootstub
 pushd .
--- a/run_automated_tests.sh
+++ b/run_automated_tests.sh
@@ -18,4 +18,4 @@ do
  nmcli connection delete "$NAME"
 done

-PYTHONPATH="." python $(which nosetests) -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s $TEST_SCRIPTS
+PYTHONPATH="." $(which nosetests) -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s $TEST_SCRIPTS
--- a/tests/all_wifi_test.py
+++ b/tests/all_wifi_test.py
@@ -1,7 +1,7 @@
-#!/usr/bin/python
+#!/usr/bin/env python3
 import requests
 import json
-from automated.helpers import _connect_wifi
+from .automated.helpers import _connect_wifi
 from panda import Panda
 from nose.tools import assert_equal

@@ -12,12 +12,12 @@ if __name__ == "__main__":

  for p in Panda.list():
    dongle_id, pw = Panda(p).get_serial()
-    print dongle_id, pw
+    print(dongle_id, pw)
    assert(dongle_id.isalnum())
    _connect_wifi(dongle_id, pw)

    r = requests.get("http://192.168.0.10/")
-    print r.text
+    print(r.text)
    wifi_dongle_id = r.text.split("ssid: panda-")[1].split("<br/>")[0]
    st_version = r.text.split("st version:")[1].strip().split("<br/>")[0]
    esp_version = r.text.split("esp version:")[1].strip().split("<br/>")[0]
--- a/tests/automated/1_program.py
+++ b/tests/automated/1_program.py
@@ -1,6 +1,6 @@
 import os
 from panda import Panda
-from helpers import panda_type_to_serial, test_white_and_grey, test_all_pandas, panda_connect_and_init
+from .helpers import panda_type_to_serial, test_white_and_grey, test_all_pandas, panda_connect_and_init

@test_all_pandas
@panda_connect_and_init
--- a/tests/automated/2_usb_to_can.py
+++ b/tests/automated/2_usb_to_can.py
@@ -1,10 +1,10 @@
-from __future__ import print_function
+
 import os
 import sys
 import time
 from panda import Panda
 from nose.tools import assert_equal, assert_less, assert_greater
-from helpers import SPEED_NORMAL, SPEED_GMLAN, time_many_sends, test_white_and_grey, panda_type_to_serial, test_all_pandas, panda_connect_and_init
+from .helpers import SPEED_NORMAL, SPEED_GMLAN, time_many_sends, test_white_and_grey, panda_type_to_serial, test_all_pandas, panda_connect_and_init

@test_all_pandas
@panda_connect_and_init
@@ -25,19 +25,19 @@ def test_can_loopback(p):
    p.set_can_speed_kbps(bus, 250)

    # send a message on bus 0
-    p.can_send(0x1aa, "message", bus)
+    p.can_send(0x1aa, b"message", bus)

    # confirm receive both on loopback and send receipt
    time.sleep(0.05)
    r = p.can_recv()
-    sr = filter(lambda x: x[3] == 0x80 | bus, r)
-    lb = filter(lambda x: x[3] == bus, r)
+    sr = [x for x in r if x[3] == 0x80 | bus]
+    lb = [x for x in r if x[3] == bus]
    assert len(sr) == 1
    assert len(lb) == 1

    # confirm data is correct
    assert 0x1aa == sr[0][0] == lb[0][0]
-    assert "message" == sr[0][2] == lb[0][2]
+    assert b"message" == sr[0][2] == lb[0][2]

@test_all_pandas
@panda_connect_and_init
@@ -49,7 +49,7 @@ def test_safety_nooutput(p):
  p.set_can_loopback(True)

  # send a message on bus 0
-  p.can_send(0x1aa, "message", 0)
+  p.can_send(0x1aa, b"message", 0)

  # confirm receive nothing
  time.sleep(0.05)
@@ -67,8 +67,8 @@ def test_reliability(p):
  p.set_can_loopback(True)
  p.set_can_speed_kbps(0, 1000)

-  addrs = range(100, 100+MSG_COUNT)
-  ts = [(j, 0, "\xaa"*8, 0) for j in addrs]
+  addrs = list(range(100, 100+MSG_COUNT))
+  ts = [(j, 0, b"\xaa"*8, 0) for j in addrs]

  # 100 loops
  for i in range(LOOP_COUNT):
@@ -80,11 +80,11 @@ def test_reliability(p):
    while len(r) < 200 and (time.time() - st) < 0.5:
      r.extend(p.can_recv())

-    sent_echo = filter(lambda x: x[3] == 0x80, r)
-    loopback_resp = filter(lambda x: x[3] == 0, r)
+    sent_echo = [x for x in r if x[3] == 0x80]
+    loopback_resp = [x for x in r if x[3] == 0]

-    assert_equal(sorted(map(lambda x: x[0], loopback_resp)), addrs)
-    assert_equal(sorted(map(lambda x: x[0], sent_echo)), addrs)
+    assert_equal(sorted([x[0] for x in loopback_resp]), addrs)
+    assert_equal(sorted([x[0] for x in sent_echo]), addrs)
    assert_equal(len(r), 200)

    # take sub 20ms
@@ -182,4 +182,4 @@ def test_gmlan_bad_toggle(p):
 def test_serial_debug(p):
  junk = p.serial_read(Panda.SERIAL_DEBUG)
  p.call_control_api(0xc0)
-  assert(p.serial_read(Panda.SERIAL_DEBUG).startswith("can "))
+  assert(p.serial_read(Panda.SERIAL_DEBUG).startswith(b"can "))
--- a/tests/automated/3_wifi.py
+++ b/tests/automated/3_wifi.py
@@ -1,8 +1,8 @@
-from __future__ import print_function
+
 import os
 import time
 from panda import Panda
-from helpers import connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
+from .helpers import connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
 import requests

@test_all_pandas
--- a/tests/automated/4_wifi_functionality.py
+++ b/tests/automated/4_wifi_functionality.py
@@ -1,7 +1,7 @@
-from __future__ import print_function
+
 import time
 from panda import Panda
-from helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
+from .helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
 from nose.tools import timed, assert_equal, assert_less, assert_greater

@test_white
--- a/tests/automated/5_wifi_udp.py
+++ b/tests/automated/5_wifi_udp.py
@@ -1,7 +1,7 @@
-from __future__ import print_function
+
 import sys
 import time
-from helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
+from .helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
 from panda import Panda, PandaWifiStreaming
 from nose.tools import timed, assert_equal, assert_less, assert_greater

@@ -54,7 +54,7 @@ def test_udp_doesnt_drop(serials=None):
    missing = True
    while len(r) > 0:
      r = p.can_recv()
-      r = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
+      r = [x for x in r if x[3] == bus and x[0] == msg_id]
      if len(r) > 0:
        missing = False
        usb_ok_cnt += len(r)
--- a/tests/automated/6_two_panda.py
+++ b/tests/automated/6_two_panda.py
@@ -1,10 +1,10 @@
-from __future__ import print_function
+
 import os
 import time
 import random
 from panda import Panda
 from nose.tools import assert_equal, assert_less, assert_greater
-from helpers import time_many_sends, test_two_panda, test_two_black_panda, panda_type_to_serial, clear_can_buffers, panda_connect_and_init
+from .helpers import time_many_sends, test_two_panda, test_two_black_panda, panda_type_to_serial, clear_can_buffers, panda_connect_and_init

@test_two_panda
@panda_type_to_serial
@@ -18,7 +18,7 @@ def test_send_recv(p_send, p_recv):
  assert not p_send.legacy
  assert not p_recv.legacy

-  p_send.can_send_many([(0x1ba, 0, "message", 0)]*2)
+  p_send.can_send_many([(0x1ba, 0, b"message", 0)]*2)
  time.sleep(0.05)
  p_recv.can_recv()
  p_send.can_recv()
@@ -55,7 +55,7 @@ def test_latency(p_send, p_recv):
  p_recv.set_can_speed_kbps(0, 100)
  time.sleep(0.05)

-  p_send.can_send_many([(0x1ba, 0, "testmsg", 0)]*10)
+  p_send.can_send_many([(0x1ba, 0, b"testmsg", 0)]*10)
  time.sleep(0.05)
  p_recv.can_recv()
  p_send.can_recv()
@@ -80,7 +80,7 @@ def test_latency(p_send, p_recv):

      for i in range(num_messages):
        st = time.time()
-        p_send.can_send(0x1ab, "message", bus)
+        p_send.can_send(0x1ab, b"message", bus)
        r = []
        while len(r) < 1 and (time.time() - st) < 5:
          r = p_recv.can_recv()
@@ -127,7 +127,7 @@ def test_black_loopback(panda0, panda1):
  panda1.set_can_loopback(False)

  # clear stuff
-  panda0.can_send_many([(0x1ba, 0, "testmsg", 0)]*10)
+  panda0.can_send_many([(0x1ba, 0, b"testmsg", 0)]*10)
  time.sleep(0.05)
  panda0.can_recv()
  panda1.can_recv()
@@ -155,7 +155,7 @@ def test_black_loopback(panda0, panda1):
  def _test_buses(send_panda, recv_panda, _test_array):
    for send_bus, send_obd, recv_obd, recv_buses in _test_array:
      print("\nSend bus:", send_bus, " Send OBD:", send_obd, " Recv OBD:", recv_obd)
-      
+
      # set OBD on pandas
      send_panda.set_gmlan(True if send_obd else None)
      recv_panda.set_gmlan(True if recv_obd else None)
@@ -180,7 +180,7 @@ def test_black_loopback(panda0, panda1):
        loop_buses.append(loop[3])
      if len(cans_loop) == 0:
        print("  No loop")
-      
+
      # test loop buses
      recv_buses.sort()
      loop_buses.sort()
@@ -192,4 +192,4 @@ def test_black_loopback(panda0, panda1):
  print("***************** TESTING (0 --> 1) *****************")
  _test_buses(panda0, panda1, test_array)
  print("***************** TESTING (1 --> 0) *****************")
-  _test_buses(panda1, panda0, test_array)
+  _test_buses(panda1, panda0, test_array)
--- a/tests/automated/helpers.py
+++ b/tests/automated/helpers.py
@@ -2,9 +2,10 @@ import os
 import sys
 import time
 import random
+import binascii
 import subprocess
 import requests
-import thread
+import _thread
 from functools import wraps
 from panda import Panda
 from nose.tools import timed, assert_equal, assert_less, assert_greater
@@ -49,7 +50,7 @@ def connect_wifi(serial=None):

 FNULL = open(os.devnull, 'w')
 def _connect_wifi(dongle_id, pw, insecure_okay=False):
-  ssid = str("panda-" + dongle_id)
+  ssid = "panda-" + dongle_id.decode("utf8")

  r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
  if not r:
@@ -75,7 +76,8 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
        print("WIFI: scanning %d" % cnt)
        os.system("iwlist %s scanning > /dev/null" % wlan_interface)
        os.system("nmcli device wifi rescan")
-        wifi_scan = filter(lambda x: ssid in x, subprocess.check_output(["nmcli","dev", "wifi", "list"]).split("\n"))
+        wifi_networks = [x.decode("utf8") for x in subprocess.check_output(["nmcli","dev", "wifi", "list"]).split(b"\n")]
+        wifi_scan = [x for x in wifi_networks if ssid in x]
        if len(wifi_scan) != 0:
          break
        time.sleep(0.1)
@@ -140,7 +142,7 @@ def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None, two_pandas=F
    raise ValueError("Cannot have two pandas that are the same panda")

  st = time.time()
-  p.can_send_many([(msg_id, 0, "\xaa"*8, bus)]*msg_count)
+  p.can_send_many([(msg_id, 0, b"\xaa"*8, bus)]*msg_count)
  r = []
  r_echo = []
  r_len_expected = msg_count if two_pandas else msg_count*2
@@ -153,11 +155,11 @@ def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None, two_pandas=F
    while len(r_echo) < r_echo_len_exected and (time.time() - st) < 10:
      r_echo.extend(p.can_recv())

-  sent_echo = filter(lambda x: x[3] == 0x80 | bus and x[0] == msg_id, r)
-  sent_echo.extend(filter(lambda x: x[3] == 0x80 | bus and x[0] == msg_id, r_echo))
-  resp = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
+  sent_echo = [x for x in r if x[3] == 0x80 | bus and x[0] == msg_id]
+  sent_echo.extend([x for x in r_echo if x[3] == 0x80 | bus and x[0] == msg_id])
+  resp = [x for x in r if x[3] == bus and x[0] == msg_id]

-  leftovers = filter(lambda x: (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id, r)
+  leftovers = [x for x in r if (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id]
  assert_equal(len(leftovers), 0)

  assert_equal(len(resp), msg_count)
@@ -176,7 +178,7 @@ def panda_type_to_serial(fn):
    if panda_type is not None:
      if not isinstance(panda_type, list):
        panda_type = [panda_type]
-    
+
    # If not done already, get panda serials and their type
    global _panda_serials
    if _panda_serials == None:
@@ -185,7 +187,7 @@ def panda_type_to_serial(fn):
        p = Panda(serial=serial)
        _panda_serials.append((serial, p.get_type()))
        p.close()
-    
+
    # Find a panda with the correct types and add the corresponding serial
    serials = []
    for p_type in panda_type:
@@ -216,7 +218,7 @@ def panda_connect_and_init(fn):
    if panda_serials is not None:
      if not isinstance(panda_serials, list):
        panda_serials = [panda_serials]
-    
+
    # Connect to pandas
    pandas = []
    for panda_serial in panda_serials:
@@ -230,7 +232,7 @@ def panda_connect_and_init(fn):
      for bus, speed in [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL), (3, SPEED_GMLAN)]:
        panda.set_can_speed_kbps(bus, speed)
      clear_can_buffers(panda)
-      thread.start_new_thread(heartbeat_thread, (panda,))
+      _thread.start_new_thread(heartbeat_thread, (panda,))

    # Run test function
    ret = fn(*pandas, **kwargs)
@@ -247,7 +249,7 @@ def clear_can_buffers(panda):
  # clear tx buffers
  for i in range(4):
    panda.can_clear(i)
-  
+
  # clear rx buffers
  panda.can_clear(0xFFFF)
  r = [1]
@@ -257,4 +259,4 @@ def clear_can_buffers(panda):
    time.sleep(0.05)
    if (time.time() - st) > 10:
      print("Unable to clear can buffers for panda ", panda.get_serial())
-      assert False
+      assert False
--- a/tests/black_loopback_test.py
+++ b/tests/black_loopback_test.py
@@ -1,10 +1,10 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 # Loopback test between two black pandas (+ harness and power)
 # Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
 # To be sure, the test should be run with both harness orientations

-from __future__ import print_function
+
 import os
 import sys
 import time
@@ -33,11 +33,8 @@ def run_test(sleep_duration):
  pandas[0] = Panda(pandas[0])
  pandas[1] = Panda(pandas[1])

-  # find out the hardware types
-  type0 = pandas[0].get_type()
-  type1 = pandas[1].get_type()
-  
-  if type0 != "\x03" or type1 != "\x03":
+  # find out the hardware types  
+  if not pandas[0].is_black() or not pandas[1].is_black():
    print("Connect two black pandas to run this test!")
    assert False

--- a/tests/black_white_loopback_test.py
+++ b/tests/black_white_loopback_test.py
@@ -1,10 +1,10 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 # Loopback test between black panda (+ harness and power) and white/grey panda
 # Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
 # To be sure, the test should be run with both harness orientations

-from __future__ import print_function
+
 import os
 import sys
 import time
@@ -40,17 +40,14 @@ def run_test(sleep_duration):
  pandas[0] = Panda(pandas[0])
  pandas[1] = Panda(pandas[1])

-  # find out which one is black
-  type0 = pandas[0].get_type()
-  type1 = pandas[1].get_type()
-
  black_panda = None
  other_panda = None
-  
-  if type0 == "\x03" and type1 != "\x03":
+
+  # find out which one is black
+  if pandas[0].is_black() and not pandas[1].is_black():
    black_panda = pandas[0]
    other_panda = pandas[1]
-  elif type0 != "\x03" and type1 == "\x03":
+  elif not pandas[0].is_black() and pandas[1].is_black():
    black_panda = pandas[1]
    other_panda = pandas[0]
  else:
@@ -71,13 +68,13 @@ def run_test(sleep_duration):
    test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
    counter += 1
    print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors)
-    
+
    # Toggle relay
    black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
    time.sleep(1)
    black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
    time.sleep(1)
-	
+

 def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
  global nonzero_bus_errors, zero_bus_errors, content_errors
@@ -91,7 +88,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
    black_panda.send_heartbeat()
    other_panda.send_heartbeat()
    print("\ntest can: ", send_bus, " OBD: ", obd)
-    
+
    # set OBD on black panda
    black_panda.set_gmlan(True if obd else None)

@@ -105,8 +102,8 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
      if direction:
        other_panda.can_clear(recv_bus)
      else:
-	black_panda.can_clear(recv_bus)
-    
+        black_panda.can_clear(recv_bus)
+
    black_panda.can_recv()
    other_panda.can_recv()

@@ -138,7 +135,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
      print("  No loop")
      if not os.getenv("NOASSERT"):
        assert False
-    
+
    # test loop buses
    recv_buses.sort()
    loop_buses.sort()
--- a/tests/black_white_relay_endurance.py
+++ b/tests/black_white_relay_endurance.py
@@ -1,10 +1,10 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 # Loopback test between black panda (+ harness and power) and white/grey panda
 # Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
 # To be sure, the test should be run with both harness orientations

-from __future__ import print_function
+
 import os
 import sys
 import time
@@ -40,17 +40,14 @@ def run_test(sleep_duration):
  pandas[0] = Panda(pandas[0])
  pandas[1] = Panda(pandas[1])

-  # find out which one is black
-  type0 = pandas[0].get_type()
-  type1 = pandas[1].get_type()
-
  black_panda = None
  other_panda = None
  
-  if type0 == "\x03" and type1 != "\x03":
+  # find out which one is black
+  if pandas[0].is_black() and not pandas[1].is_black():
    black_panda = pandas[0]
    other_panda = pandas[1]
-  elif type0 != "\x03" and type1 == "\x03":
+  elif not pandas[0].is_black() and pandas[1].is_black():
    black_panda = pandas[1]
    other_panda = pandas[0]
  else:
@@ -78,11 +75,11 @@ def run_test(sleep_duration):

    if (time.time() - temp_start_time) > 3600*6:
    	# Toggle relay
-    	black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
-    	time.sleep(1)
-	black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-    	time.sleep(1)
-	temp_start_time = time.time()
+      black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
+      time.sleep(1)
+      black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+      time.sleep(1)
+      temp_start_time = time.time()
 	

 def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
@@ -111,7 +108,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
      if direction:
        other_panda.can_clear(recv_bus)
      else:
-	black_panda.can_clear(recv_bus)
+	      black_panda.can_clear(recv_bus)
    
    black_panda.can_recv()
    other_panda.can_recv()
--- a/tests/black_white_relay_test.py
+++ b/tests/black_white_relay_test.py
@@ -1,9 +1,9 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 # Relay test with loopback between black panda (+ harness and power) and white/grey panda
 # Tests the relay switching multiple times / second by looking at the buses on which loop occurs.

-from __future__ import print_function
+
 import os
 import sys
 import time
--- a/tests/build/Dockerfile
+++ b/tests/build/Dockerfile
@@ -1,6 +1,19 @@
 FROM ubuntu:16.04

-RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++ git autoconf gperf bison flex automake texinfo wget help2man gawk libtool libtool-bin ncurses-dev unzip unrar-free libexpat-dev sed bzip2
+RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++ git autoconf gperf bison flex automake texinfo wget help2man gawk libtool libtool-bin ncurses-dev unzip unrar-free libexpat-dev sed bzip2 locales curl zlib1g-dev libffi-dev libssl-dev
+
+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
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 2.7.12
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash

 RUN pip install pycrypto==2.6.1

@@ -10,7 +23,8 @@ WORKDIR /panda/boardesp
 RUN git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
 WORKDIR /panda/boardesp/esp-open-sdk
 RUN git checkout 03f5e898a059451ec5f3de30e7feff30455f7ce
-RUN CT_ALLOW_BUILD_AS_ROOT_SURE=1 make STANDALONE=y
+COPY ./boardesp/python2_make.py /panda/boardesp/esp-open-sdk
+RUN python2 python2_make.py "CT_ALLOW_BUILD_AS_ROOT_SURE=1 make STANDALONE=y"

 COPY . /panda

--- a/tests/can_printer.py
+++ b/tests/can_printer.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python
-from __future__ import print_function
+#!/usr/bin/env python3
+
 import os
 import sys
 import time
@@ -15,7 +15,7 @@ def sec_since_boot():

 def can_printer():
  p = Panda()
-  p.set_safety_mode(0x1337)
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)

  start = sec_since_boot()
  lp = sec_since_boot()
@@ -30,7 +30,7 @@ def can_printer():
    if sec_since_boot() - lp > 0.1:
      dd = chr(27) + "[2J"
      dd += "%5.2f\n" % (sec_since_boot() - start)
-      for k,v in sorted(zip(msgs.keys(), map(lambda x: binascii.hexlify(x[-1]), msgs.values()))):
+      for k,v in sorted(zip(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())])):
        dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
      print(dd)
      lp = sec_since_boot()
--- a/tests/debug_console.py
+++ b/tests/debug_console.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python
-from __future__ import print_function
+#!/usr/bin/env python3
+
 import os
 import sys
 import time
@@ -19,9 +19,9 @@ if __name__ == "__main__":

      serials = Panda.list()
      if os.getenv("SERIAL"):
-        serials = filter(lambda x: x==os.getenv("SERIAL"), serials)
+        serials = [x for x in serials if x==os.getenv("SERIAL")]

-      pandas = list(map(lambda x: Panda(x, claim=claim), serials))
+      pandas = list([Panda(x, claim=claim) for x in serials])

      if not len(pandas):
        sys.exit("no pandas found")
@@ -33,16 +33,16 @@ if __name__ == "__main__":
      while True:
        for i, panda in enumerate(pandas):
          while True:
-      	    ret = panda.serial_read(port_number)
-  	    if len(ret) > 0:
-	      sys.stdout.write(setcolor[i] + str(ret) + unsetcolor)
-	      sys.stdout.flush()
-	    else:
-	      break
+            ret = panda.serial_read(port_number)
+            if len(ret) > 0:
+              sys.stdout.write(setcolor[i] + ret.decode('ascii') + unsetcolor)
+              sys.stdout.flush()
+            else:
+              break
          if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
-	    ln = sys.stdin.readline()
-	    if claim:
-	      panda.serial_write(port_number, ln)
+            ln = sys.stdin.readline()
+            if claim:
+              panda.serial_write(port_number, ln)
          time.sleep(0.01)
    except:
      print("panda disconnected!")
--- a/tests/disable_esp.py
+++ b/tests/disable_esp.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from panda import Panda
 Panda().set_esp_power(False)

--- a/tests/elm_car_simulator.py
+++ b/tests/elm_car_simulator.py
@@ -1,6 +1,6 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 """Used to Reverse/Test ELM protocol auto detect and OBD message response without a car."""
-from __future__ import print_function
+
 import sys
 import os
 import struct
--- a/tests/elm_throughput.py
+++ b/tests/elm_throughput.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python
-from __future__ import print_function
+#!/usr/bin/env python3
+
 import socket
 import threading
 import select
--- a/tests/elm_wifi.py
+++ b/tests/elm_wifi.py
@@ -1,4 +1,4 @@
-from __future__ import print_function
+
 import os
 import sys
 import time
@@ -8,7 +8,7 @@ import pytest
 import struct

 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-import elm_car_simulator
+from . import elm_car_simulator
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", ".."))
 from panda import Panda

@@ -301,7 +301,7 @@ def test_elm_panda_safety_mode_KWPFast():
    p_car.kline_drain()

    p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(0xE327);
+    p_elm.set_safety_mode(Panda.SAFETY_ELM327);

    def get_checksum(dat):
        result = 0
@@ -625,7 +625,7 @@ def test_elm_panda_safety_mode_ISO15765():
    p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)

    p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(0xE327);
+    p_elm.set_safety_mode(Panda.SAFETY_ELM327);

    #sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
    #sim.start()
--- a/tests/get_version.py
+++ b/tests/get_version.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from panda import Panda

 if __name__ == "__main__":
--- a/tests/gmbitbang/recv.py
+++ b/tests/gmbitbang/recv.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import time
 from panda import Panda

@@ -12,6 +12,6 @@ while 1:
  if len(ret) > 0:
    add = ret[0][0]
    if last_add is not None and add != last_add+1:
-      print "MISS %d %d" % (last_add, add)
+      print("MISS %d %d" % (last_add, add))
    last_add = add
-    print ret
+    print(ret)
--- a/tests/gmbitbang/rigol.py
+++ b/tests/gmbitbang/rigol.py
@@ -1,10 +1,10 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import numpy as np
 import visa
 import matplotlib.pyplot as plt

 resources = visa.ResourceManager()
-print resources.list_resources()
+print(resources.list_resources())

 scope = resources.open_resource('USB0::0x1AB1::0x04CE::DS1ZA184652242::INSTR', timeout=2000, chunk_size=1024000)
 print(scope.query('*IDN?').strip())
@@ -17,7 +17,7 @@ scope.write(":WAV:POIN:MODE RAW")
 scope.write(":WAV:DATA? CHAN1")[10:]
 rawdata = scope.read_raw()
 data = np.frombuffer(rawdata, 'B')
-print data.shape
+print(data.shape)

 s1 = data[0:650]
 s2 = data[650:]
@@ -31,5 +31,5 @@ plt.plot(s2)
 plt.show()
 #data = (data - 130.0 - voltoffset/voltscale*25) / 25 * voltscale

-print data
+print(data)

--- a/tests/gmbitbang/test.py
+++ b/tests/gmbitbang/test.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import time
 from panda import Panda

@@ -28,6 +28,6 @@ while 1:
  #p1.set_gmlan(bus=2)
  #p1.can_send(iden, dat, bus=3)
  time.sleep(0.01)
-  print p2.can_recv()
+  print(p2.can_recv())
  #exit(0)

--- a/tests/gmbitbang/test_one.py
+++ b/tests/gmbitbang/test_one.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import time
 from panda import Panda

@@ -9,9 +9,9 @@ p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 p.set_gmlan(bus=2)
 time.sleep(0.1)
 while len(p.can_recv()) > 0:
-  print "clearing"
+  print("clearing")
  time.sleep(0.1)
-print "cleared"
+print("cleared")
 p.set_gmlan(bus=None)

 iden = 18000
--- a/tests/gps_stability_test.py
+++ b/tests/gps_stability_test.py
@@ -0,0 +1,169 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import time
+import random
+import threading
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda, PandaSerial
+
+INIT_GPS_BAUD = 9600
+GPS_BAUD = 460800
+
+def connect():
+  pandas = Panda.list()
+  print(pandas)
+
+  # make sure two pandas are connected
+  if len(pandas) != 2:
+    print("Connect white and grey/black panda to run this test!")
+    assert False
+
+  # connect
+  pandas[0] = Panda(pandas[0])
+  pandas[1] = Panda(pandas[1])
+
+  white_panda = None
+  gps_panda = None
+
+  # find out which one is white (for spamming the CAN buses)
+  if pandas[0].is_white() and not pandas[1].is_white():
+    white_panda = pandas[0]
+    gps_panda = pandas[1]
+  elif not pandas[0].is_white() and pandas[1].is_white():
+    white_panda = pandas[1]
+    gps_panda = pandas[0]
+  else:
+    print("Connect white and grey/black panda to run this test!")
+    assert False
+  return white_panda, gps_panda
+
+def spam_buses_thread(panda):
+  try:
+    panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+    while True:
+      at = random.randint(1, 2000)
+      st = (b"test"+os.urandom(10))[0:8]
+      bus = random.randint(0, 2)
+      panda.can_send(at, st, bus)
+  except Exception as e:
+    print(e)
+
+def read_can_thread(panda):
+  try:
+    while True:
+      panda.can_recv()
+  except Exception as e:
+    print(e)
+
+def init_gps(panda):
+  def add_nmea_checksum(msg):
+    d = msg[1:]
+    cs = 0
+    for i in d:
+      cs ^= ord(i)
+    return msg + "*%02X" % cs
+
+  ser = PandaSerial(panda, 1, INIT_GPS_BAUD)
+
+  # Power cycle the gps by toggling reset
+  print("Resetting GPS")
+  panda.set_esp_power(0)
+  time.sleep(0.5)
+  panda.set_esp_power(1)
+  time.sleep(0.5)
+
+  # Upping baud rate
+  print("Upping GPS baud rate")
+  msg = add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % GPS_BAUD)+"\r\n"
+  ser.write(msg)
+  time.sleep(1)   # needs a wait for it to actually send
+
+  # Reconnecting with the correct baud
+  ser = PandaSerial(panda, 1, GPS_BAUD)
+
+  # Sending all config messages boardd sends
+  print("Sending config")
+  ser.write("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F")
+  ser.write("\xB5\x62\x06\x3E\x00\x00\x44\xD2")
+  ser.write("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35")
+  ser.write("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80")
+  ser.write("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85")
+  ser.write("\xB5\x62\x06\x00\x00\x00\x06\x18")
+  ser.write("\xB5\x62\x06\x00\x01\x00\x01\x08\x22")
+  ser.write("\xB5\x62\x06\x00\x01\x00\x02\x09\x23")
+  ser.write("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24")
+  ser.write("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
+  ser.write("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
+  ser.write("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
+  ser.write("\xB5\x62\x06\x24\x00\x00\x2A\x84")
+  ser.write("\xB5\x62\x06\x23\x00\x00\x29\x81")
+  ser.write("\xB5\x62\x06\x1E\x00\x00\x24\x72")
+  ser.write("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51")
+  ser.write("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70")
+  ser.write("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
+
+  print("Initialized GPS")
+
+received_messages = 0
+received_bytes = 0
+send_something = False
+def gps_read_thread(panda):
+  global received_messages, received_bytes, send_something
+  ser = PandaSerial(panda, 1, GPS_BAUD)
+  while True:
+    ret = ser.read(1024)
+    time.sleep(0.001)
+    l = len(ret)
+    if l > 0:
+      received_messages+=1
+      received_bytes+=l
+    if send_something:
+      ser.write("test")
+      send_something = False
+
+
+CHECK_PERIOD = 5
+MIN_BYTES = 10000
+MAX_BYTES = 50000
+
+min_failures = 0
+max_failures = 0
+
+if __name__ == "__main__":
+  white_panda, gps_panda = connect()
+
+  # Start spamming the CAN buses with the white panda. Also read the messages to add load on the GPS panda
+  threading.Thread(target=spam_buses_thread, args=(white_panda,)).start()
+  threading.Thread(target=read_can_thread, args=(gps_panda,)).start()
+
+  # Start GPS checking
+  init_gps(gps_panda)
+
+  read_thread = threading.Thread(target=gps_read_thread, args=(gps_panda,))
+  read_thread.start()
+  while True:
+    time.sleep(CHECK_PERIOD)
+    if(received_bytes < MIN_BYTES):
+      print("Panda is not sending out enough data! Got " + str(received_messages) + " (" + str(received_bytes) + "B) in the last " + str(CHECK_PERIOD) + " seconds")
+      send_something = True
+      min_failures+=1
+    elif(received_bytes > MAX_BYTES):
+      print("Panda is not sending out too much data! Got " + str(received_messages) + " (" + str(received_bytes) + "B) in the last " + str(CHECK_PERIOD) + " seconds")
+      print("Probably not on the right baud rate, got reset somehow? Resetting...")
+      max_failures+=1
+      init_gps(gps_panda)
+    else:
+      print("Got " + str(received_messages) + " (" + str(received_bytes) + "B) messages in the last " + str(CHECK_PERIOD) + " seconds.")
+      if(min_failures > 0):
+        print("Total min failures: ", min_failures)
+      if(max_failures > 0):
+        print("Total max failures: ", max_failures)
+    received_messages = 0
+    received_bytes = 0
+
+
+
+  
--- a/tests/health_test.py
+++ b/tests/health_test.py
@@ -1,7 +1,7 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import time
 from panda import Panda
-	
+
 if __name__ == "__main__":
  panda_serials = Panda.list()
  pandas = []
--- a/tests/language/Dockerfile
+++ b/tests/language/Dockerfile
@@ -1,6 +1,18 @@
 FROM ubuntu:16.04

-RUN apt-get update && apt-get install -y make python python-pip
+RUN apt-get update && apt-get install -y make python python-pip locales curl git zlib1g-dev libffi-dev bzip2 libssl-dev
+
+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
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+
 COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
-RUN pip install -r /panda/tests/safety/requirements.txt
 COPY . /panda
--- a/tests/language/test_language.py
+++ b/tests/language/test_language.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 import subprocess
 import sys
@@ -18,11 +18,11 @@ if __name__ == "__main__":
      try:
        cmd = "cd ../../; grep -R -i -w " + suffix_cmd + " '" + line + "'"
        res = subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT)
-        print res
+        print(res)
        found_bad_language = True
      except subprocess.CalledProcessError as e:
        pass
  if found_bad_language:
    sys.exit("Failed: found bad language")
  else:
-    print "Success"
+    print("Success")
--- a/tests/location_listener.py
+++ b/tests/location_listener.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import os
 import time
 import sys
@@ -18,20 +18,20 @@ if __name__ == "__main__":
  ser = PandaSerial(panda, 1, 9600)

  # power cycle by toggling reset
-  print "resetting"
+  print("resetting")
  panda.set_esp_power(0)
  time.sleep(0.5)
  panda.set_esp_power(1)
  time.sleep(0.5)
-  print "done"
-  print ser.read(1024)
+  print("done")
+  print(ser.read(1024))

  # upping baud rate
  baudrate = 460800

-  print "upping baud rate"
+  print("upping baud rate")
  msg = add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % baudrate)+"\r\n"
-  print msg
+  print(msg)
  ser.write(msg)
  time.sleep(0.1)   # needs a wait for it to actually send

@@ -41,7 +41,7 @@ if __name__ == "__main__":
  while True:
    ret = ser.read(1024)
    if len(ret) > 0:
-      sys.stdout.write(ret)
+      sys.stdout.write(ret.decode('ascii', 'ignore'))
      sys.stdout.flush()
      #print str(ret).encode("hex")

--- a/tests/loopback_test.py
+++ b/tests/loopback_test.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python
-from __future__ import print_function
+#!/usr/bin/env python3
+
 import os
 import sys
 import time
@@ -29,14 +29,14 @@ def run_test(sleep_duration):
  run_test_w_pandas(pandas, sleep_duration)

 def run_test_w_pandas(pandas, sleep_duration):
-  h = list(map(lambda x: Panda(x), pandas))
+  h = list([Panda(x) for x in pandas])
  print("H", h)

  for hh in h:
    hh.set_safety_mode(Panda.SAFETY_ALLOUTPUT)

  # test both directions
-  for ho in permutations(range(len(h)), r=2):
+  for ho in permutations(list(range(len(h))), r=2):
    print("***************** TESTING", ho)

    panda0, panda1 = h[ho[0]], h[ho[1]]
--- a/tests/misra/coverage_table
+++ b/tests/misra/coverage_table
@@ -0,0 +1,143 @@
+1.1     
+1.2     
+1.3     X (Cppcheck)
+2.1     X (Cppcheck)
+2.2     X (Cppcheck)
+2.3     
+2.4     X (Cppcheck)
+2.5     
+2.6     X (Cppcheck)
+2.7     
+3.1     X (Addon)
+3.2     
+4.1     X (Addon)
+4.2     
+5.1     X (Addon)
+5.2     X (Addon)
+5.3     X (Addon)
+5.4     X (Addon)
+5.5     X (Addon)
+5.6     
+5.7     
+5.8     
+5.9     
+6.1     
+6.2     
+7.1     X (Addon)
+7.2     
+7.3     X (Addon)
+7.4     
+8.1     
+8.2     
+8.3     X (Cppcheck)
+8.4     
+8.5     
+8.6     
+8.7     
+8.8     
+8.9     
+8.10    
+8.11    X (Addon)
+8.12    X (Addon)
+8.13    
+8.14    X (Addon)
+9.1     
+9.2     
+9.3     
+9.4     
+9.5     X (Addon)
+10.1    X (Addon)
+10.2    
+10.3    
+10.4    X (Addon)
+10.5    
+10.6    X (Addon)
+10.7    
+10.8    X (Addon)
+11.1    
+11.2    
+11.3    X (Addon)
+11.4    X (Addon)
+11.5    X (Addon)
+11.6    X (Addon)
+11.7    X (Addon)
+11.8    X (Addon)
+11.9    X (Addon)
+12.1    X (Addon)
+12.2    X (Addon)
+12.3    X (Addon)
+12.4    X (Addon)
+13.1    X (Addon)
+13.2    X (Cppcheck)
+13.3    X (Addon)
+13.4    X (Addon)
+13.5    X (Addon)
+13.6    X (Addon)
+14.1    X (Addon)
+14.2    X (Addon)
+14.3    X (Cppcheck)
+14.4    X (Addon)
+15.1    X (Addon)
+15.2    X (Addon)
+15.3    X (Addon)
+15.4    
+15.5    X (Addon)
+15.6    X (Addon)
+15.7    X (Addon)
+16.1    
+16.2    X (Addon)
+16.3    X (Addon)
+16.4    X (Addon)
+16.5    X (Addon)
+16.6    X (Addon)
+16.7    X (Addon)
+17.1    X (Addon)
+17.2    X (Addon)
+17.3    
+17.4    
+17.5    X (Cppcheck)
+17.6    X (Addon)
+17.7    X (Addon)
+17.8    X (Addon)
+18.1    X (Cppcheck)
+18.2    X (Cppcheck)
+18.3    X (Cppcheck)
+18.4    X (Addon)
+18.5    X (Addon)
+18.6    X (Cppcheck)
+18.7    X (Addon)
+18.8    X (Addon)
+19.1    
+19.2    X (Addon)
+20.1    X (Addon)
+20.2    X (Addon)
+20.3    X (Addon)
+20.4    X (Addon)
+20.5    X (Addon)
+20.6    X (Cppcheck)
+20.7    X (Addon)
+20.8    
+20.9    
+20.10   X (Addon)
+20.11   
+20.12   
+20.13   X (Addon)
+20.14   X (Addon)
+21.1    
+21.2    
+21.3    X (Addon)
+21.4    X (Addon)
+21.5    X (Addon)
+21.6    X (Addon)
+21.7    X (Addon)
+21.8    X (Addon)
+21.9    X (Addon)
+21.10   X (Addon)
+21.11   X (Addon)
+21.12   
+22.1    X (Cppcheck)
+22.2    X (Cppcheck)
+22.3    
+22.4    X (Cppcheck)
+22.5    
+22.6    X (Cppcheck)
--- a/tests/misra/suppressions.txt
+++ b/tests/misra/suppressions.txt
@@ -1,7 +1,5 @@
 # Advisory: union types can be used
 misra.19.2
-# FIXME: add it back when fixed in cppcheck. Macro identifiers are unique but it false triggers on defines in #ifdef..#else conditions
-misra.5.4
 # Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
 misra.11.4
 # Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
--- a/tests/misra/test_misra.sh
+++ b/tests/misra/test_misra.sh
@@ -4,10 +4,12 @@ mkdir /tmp/misra || true
 git clone https://github.com/danmar/cppcheck.git || true
 cd cppcheck
 git fetch
-git checkout 862c4ef87b109ae86c2d5f12769b7c8d199f35c5
+git checkout ff7dba91e177dfb712477faddb9e91bece7e743c
 make -j4
 cd ../../../

+# generate coverage matrix
+python tests/misra/cppcheck/addons/misra.py -generate-table > tests/misra/coverage_table

 printf "\nPANDA CODE\n"
 tests/misra/cppcheck/cppcheck -DPANDA -UPEDAL -DCAN3 -DUID_BASE -DEON \
@@ -18,8 +20,8 @@ tests/misra/cppcheck/cppcheck -DPANDA -UPEDAL -DCAN3 -DUID_BASE -DEON \
 python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2> /tmp/misra/misra_output.txt || true

 # strip (information) lines
-cppcheck_output=$( cat /tmp/misra/cppcheck_output.txt | grep -v "(information) " ) || true
-misra_output=$( cat /tmp/misra/misra_output.txt | grep -v "(information) " ) || true
+cppcheck_output=$( cat /tmp/misra/cppcheck_output.txt | grep -v ": information: " ) || true
+misra_output=$( cat /tmp/misra/misra_output.txt | grep -v ": information: " ) || true


 printf "\nPEDAL CODE\n"
@@ -31,8 +33,8 @@ tests/misra/cppcheck/cppcheck -UPANDA -DPEDAL -UCAN3 \
 python tests/misra/cppcheck/addons/misra.py board/pedal/main.c.dump 2> /tmp/misra/misra_pedal_output.txt || true

 # strip (information) lines
-cppcheck_pedal_output=$( cat /tmp/misra/cppcheck_pedal_output.txt | grep -v "(information) " ) || true
-misra_pedal_output=$( cat /tmp/misra/misra_pedal_output.txt | grep -v "(information) " ) || true
+cppcheck_pedal_output=$( cat /tmp/misra/cppcheck_pedal_output.txt | grep -v ": information: " ) || true
+misra_pedal_output=$( cat /tmp/misra/misra_pedal_output.txt | grep -v ": information: " ) || true

 if [[ -n "$misra_output" ]] || [[ -n "$cppcheck_output" ]]
 then
--- a/tests/pedal/enter_canloader.py
+++ b/tests/pedal/enter_canloader.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sys
 import time
 import struct
@@ -53,24 +53,24 @@ if __name__ == "__main__":
  args = parser.parse_args()

  p = Panda()
-  p.set_safety_mode(0x1337)
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)

  while 1:
    if len(p.can_recv()) == 0:
      break

  if args.recover:
-    p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x02", 0)
+    p.can_send(0x200, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x02", 0)
    exit(0)
  else:
-    p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
+    p.can_send(0x200, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)

  if args.fn:
    time.sleep(0.1)
-    print "flashing", args.fn
-    code = open(args.fn).read()
+    print("flashing", args.fn)
+    code = open(args.fn, "rb").read()
    Panda.flash_static(CanHandle(p), code)

-  print "can flash done"
+  print("can flash done")


--- a/tests/read_winusb_descriptors.py
+++ b/tests/read_winusb_descriptors.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from panda import Panda
 from hexdump import hexdump

@@ -8,22 +8,22 @@ if __name__ == "__main__":
  p = Panda()

  len = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, 1)
-  print 'Microsoft OS String Descriptor'
+  print('Microsoft OS String Descriptor')
  dat = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, len[0])
-  if DEBUG: print 'LEN: {}'.format(hex(len[0]))
+  if DEBUG: print('LEN: {}'.format(hex(len[0])))
  hexdump("".join(map(chr, dat)))

  ms_vendor_code = dat[16]
-  if DEBUG: print 'MS_VENDOR_CODE: {}'.format(hex(len[0]))
+  if DEBUG: print('MS_VENDOR_CODE: {}'.format(hex(len[0])))

-  print '\nMicrosoft Compatible ID Feature Descriptor'
+  print('\nMicrosoft Compatible ID Feature Descriptor')
  len = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, 1)
-  if DEBUG: print 'LEN: {}'.format(hex(len[0]))
+  if DEBUG: print('LEN: {}'.format(hex(len[0])))
  dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, len[0])
  hexdump("".join(map(chr, dat)))

-  print '\nMicrosoft Extended Properties Feature Descriptor'
+  print('\nMicrosoft Extended Properties Feature Descriptor')
  len = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, 1)
-  if DEBUG: print 'LEN: {}'.format(hex(len[0]))
+  if DEBUG: print('LEN: {}'.format(hex(len[0])))
  dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, len[0])
  hexdump("".join(map(chr, dat)))
--- a/tests/safety/Dockerfile
+++ b/tests/safety/Dockerfile
@@ -1,6 +1,19 @@
 FROM ubuntu:16.04

-RUN apt-get update && apt-get install -y clang make python python-pip
-COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
-RUN pip install -r /panda/tests/safety/requirements.txt
+RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev libusb-1.0-0
+
+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
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+
+COPY tests/safety/requirements.txt requirements.txt
+RUN pip install -r requirements.txt
 COPY . /panda
--- a/tests/safety/requirements.txt
+++ b/tests/safety/requirements.txt
@@ -1,2 +1,4 @@
 cffi==1.11.4
-numpy==1.14.1
+numpy==1.14.5
+libusb1==1.6.6
+requests
--- a/tests/safety/test_cadillac.py
+++ b/tests/safety/test_cadillac.py
@@ -1,7 +1,8 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda

 MAX_RATE_UP = 2
 MAX_RATE_DOWN = 5
@@ -31,7 +32,7 @@ class TestCadillacSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(6, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_CADILLAC, 0)
    cls.safety.init_tests_cadillac()

  def _send_msg(self, bus, addr, length):
@@ -183,8 +184,8 @@ class TestCadillacSafety(unittest.TestCase):

  def test_fwd_hook(self):
    # nothing allowed
-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))

    for b in buss:
      for m in msgs:
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -1,9 +1,10 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import csv
 import glob
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda

 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 3
@@ -35,7 +36,7 @@ class TestChryslerSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(9, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_CHRYSLER, 0)
    cls.safety.init_tests_chrysler()

  def _send_msg(self, bus, addr, length):
@@ -181,8 +182,8 @@ class TestChryslerSafety(unittest.TestCase):
    self.assertEqual(0, self.safety.get_chrysler_torque_meas_min())

  def test_fwd_hook(self):
-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))
    chrysler_camera_detected = [0, 1]

    for ccd in chrysler_camera_detected:
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -1,7 +1,8 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda

 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
@@ -32,7 +33,7 @@ class TestGmSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(3, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_GM, 0)
    cls.safety.init_tests_gm()

  def _send_msg(self, bus, addr, length):
@@ -282,8 +283,8 @@ class TestGmSafety(unittest.TestCase):

  def test_fwd_hook(self):
    # nothing allowed
-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))

    for b in buss:
      for m in msgs:
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -1,7 +1,8 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda

 MAX_BRAKE = 255

@@ -11,7 +12,7 @@ class TestHondaSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(1, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_HONDA, 0)
    cls.safety.init_tests_honda()

  def _send_msg(self, bus, addr, length):
@@ -254,8 +255,8 @@ class TestHondaSafety(unittest.TestCase):
    self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))

  def test_fwd_hook(self):
-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))
    long_controls_allowed = [0, 1]
    fwd_brake = [False, True]

--- a/tests/safety/test_honda_bosch.py
+++ b/tests/safety/test_honda_bosch.py
@@ -1,7 +1,8 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda

 MAX_BRAKE = 255

@@ -9,7 +10,7 @@ class TestHondaSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(4, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_HONDA_BOSCH, 0)
    cls.safety.init_tests_honda()

  def _send_msg(self, bus, addr, length):
@@ -21,8 +22,8 @@ class TestHondaSafety(unittest.TestCase):
    return to_send

  def test_fwd_hook(self):
-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))
    is_panda_black = self.safety.get_hw_type() == 3  # black panda
    bus_rdr_cam = 2 if is_panda_black else 1
    bus_rdr_car = 0 if is_panda_black else 2
--- a/tests/safety/test_hyundai.py
+++ b/tests/safety/test_hyundai.py
@@ -1,7 +1,8 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda

 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
@@ -29,7 +30,7 @@ class TestHyundaiSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(7, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_HYUNDAI, 0)
    cls.safety.init_tests_hyundai()

  def _send_msg(self, bus, addr, length):
@@ -190,8 +191,8 @@ class TestHyundaiSafety(unittest.TestCase):

  def test_fwd_hook(self):

-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))
    hyundai_giraffe_switch_2 = [0, 1]

    self.safety.set_hyundai_camera_bus(2)
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -1,7 +1,8 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda

 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
@@ -29,7 +30,7 @@ class TestSubaruSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(10, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_SUBARU, 0)
    cls.safety.init_tests_subaru()

  def _send_msg(self, bus, addr, length):
@@ -174,8 +175,8 @@ class TestSubaruSafety(unittest.TestCase):


  def test_fwd_hook(self):
-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))
    blocked_msgs = [290, 356, 545, 802]
    for b in buss:
      for m in msgs:
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -1,7 +1,8 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda

 MAX_RATE_UP = 10
 MAX_RATE_DOWN = 25
@@ -33,7 +34,7 @@ class TestToyotaSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(2, 100)
+    cls.safety.safety_set_mode(Panda.SAFETY_TOYOTA, 100)
    cls.safety.init_tests_toyota()

  def _send_msg(self, bus, addr, length):
@@ -281,8 +282,8 @@ class TestToyotaSafety(unittest.TestCase):

  def test_fwd_hook(self):

-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))
    long_controls_allowed = [0, 1]
    toyota_camera_forwarded = [0, 1]

--- a/tests/safety/test_toyota_ipas.py
+++ b/tests/safety/test_toyota_ipas.py
@@ -1,7 +1,8 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda

 IPAS_OVERRIDE_THRESHOLD = 200

@@ -25,7 +26,7 @@ class TestToyotaSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(0x1335, 66)
+    cls.safety.safety_set_mode(Panda.SAFETY_TOYOTA_IPAS, 66)
    cls.safety.init_tests_toyota()

  def _torque_driver_msg(self, torque):
@@ -135,7 +136,7 @@ class TestToyotaSafety(unittest.TestCase):

    # test angle cmd too far from actual
    angle_refs = [-10, 10]
-    deltas = range(-2, 3)
+    deltas = list(range(-2, 3))
    expected_results = [False, True, True, True, False]

    for a in angle_refs:
--- a/tests/safety_replay/Dockerfile
+++ b/tests/safety_replay/Dockerfile
@@ -1,6 +1,18 @@
 FROM ubuntu:16.04

-RUN apt-get update && apt-get install -y make clang python python-pip git libarchive-dev libusb-1.0-0
+RUN apt-get update && apt-get install -y make clang python python-pip git libarchive-dev libusb-1.0-0 locales curl zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev
+
+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
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash

 COPY tests/safety_replay/requirements.txt requirements.txt
 RUN pip install -r requirements.txt
@@ -17,4 +29,4 @@ COPY . /openpilot/panda
 WORKDIR /openpilot/panda/tests/safety_replay
 RUN git clone https://github.com/commaai/openpilot-tools.git tools || true
 WORKDIR tools
-RUN git checkout feb724a14f0f5223c700c94317efaf46923fd48a
+RUN git checkout d69c6bc85f221766305ec53956e9a1d3bf283160
--- a/tests/safety_replay/helpers.py
+++ b/tests/safety_replay/helpers.py
@@ -1,23 +1,7 @@
+#!/usr/bin/env python3
 import struct
 import panda.tests.safety.libpandasafety_py as libpandasafety_py
-
-safety_modes = {
-  "NOOUTPUT": 0,
-  "HONDA": 1,
-  "TOYOTA": 2,
-  "GM": 3,
-  "HONDA_BOSCH": 4,
-  "FORD": 5,
-  "CADILLAC": 6,
-  "HYUNDAI": 7,
-  "TESLA": 8,
-  "CHRYSLER": 9,
-  "SUBARU": 10,
-  "GM_ASCM": 0x1334,
-  "TOYOTA_IPAS": 0x1335,
-  "ALLOUTPUT": 0x1337,
-  "ELM327": 0xE327
-}
+from panda import Panda

 def to_signed(d, bits):
  ret = d
@@ -27,51 +11,51 @@ def to_signed(d, bits):

 def is_steering_msg(mode, addr):
  ret = False
-  if mode == safety_modes["HONDA"] or mode == safety_modes["HONDA_BOSCH"]:
+  if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
    ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
-  elif mode == safety_modes["TOYOTA"]:
+  elif mode == Panda.SAFETY_TOYOTA:
    ret = addr == 0x2E4
-  elif mode == safety_modes["GM"]:
+  elif mode == Panda.SAFETY_GM:
    ret = addr == 384
-  elif mode == safety_modes["HYUNDAI"]:
+  elif mode == Panda.SAFETY_HYUNDAI:
    ret = addr == 832
-  elif mode == safety_modes["CHRYSLER"]:
+  elif mode == Panda.SAFETY_CHRYSLER:
    ret = addr == 0x292
-  elif mode == safety_modes["SUBARU"]:
+  elif mode == Panda.SAFETY_SUBARU:
    ret = addr == 0x122
  return ret

 def get_steer_torque(mode, to_send):
  ret = 0
-  if mode == safety_modes["HONDA"] or mode == safety_modes["HONDA_BOSCH"]:
+  if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
    ret = to_send.RDLR & 0xFFFF0000
-  elif mode == safety_modes["TOYOTA"]:
+  elif mode == Panda.SAFETY_TOYOTA:
    ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
    ret = to_signed(ret, 16)
-  elif mode == safety_modes["GM"]:
+  elif mode == Panda.SAFETY_GM:
    ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8)
    ret = to_signed(ret, 11)
-  elif mode == safety_modes["HYUNDAI"]:
+  elif mode == Panda.SAFETY_HYUNDAI:
    ret = ((to_send.RDLR >> 16) & 0x7ff) - 1024
-  elif mode == safety_modes["CHRYSLER"]:
+  elif mode == Panda.SAFETY_CHRYSLER:
    ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8) - 1024
-  elif mode == safety_modes["SUBARU"]:
+  elif mode == Panda.SAFETY_SUBARU:
    ret = ((to_send.RDLR >> 16) & 0x1FFF)
    ret = to_signed(ret, 13)
  return ret

 def set_desired_torque_last(safety, mode, torque):
-  if mode == safety_modes["HONDA"] or mode == safety_modes["HONDA_BOSCH"]:
+  if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
    pass # honda safety mode doesn't enforce a rate on steering msgs
-  elif mode == safety_modes["TOYOTA"]:
+  elif mode == Panda.SAFETY_TOYOTA:
    safety.set_toyota_desired_torque_last(torque)
-  elif mode == safety_modes["GM"]:
+  elif mode == Panda.SAFETY_GM:
    safety.set_gm_desired_torque_last(torque)
-  elif mode == safety_modes["HYUNDAI"]:
+  elif mode == Panda.SAFETY_HYUNDAI:
    safety.set_hyundai_desired_torque_last(torque)
-  elif mode == safety_modes["CHRYSLER"]:
+  elif mode == Panda.SAFETY_CHRYSLER:
    safety.set_chrysler_desired_torque_last(torque)
-  elif mode == safety_modes["SUBARU"]:
+  elif mode == Panda.SAFETY_SUBARU:
    safety.set_subaru_desired_torque_last(torque)

 def package_can_msg(msg):
--- a/tests/safety_replay/replay_drive.py
+++ b/tests/safety_replay/replay_drive.py
@@ -1,11 +1,12 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3

 import os
 import sys
+from panda import Panda
 import panda.tests.safety.libpandasafety_py as libpandasafety_py
 from panda.tests.safety_replay.helpers import is_steering_msg, get_steer_torque, \
                                              set_desired_torque_last, package_can_msg, \
-                                              init_segment, safety_modes
+                                              init_segment
 from tools.lib.logreader import LogReader

 # replay a drive to check for safety violations
@@ -25,7 +26,7 @@ def replay_drive(lr, safety_mode, param):
  for msg in lr:
    if start_t is None:
      start_t = msg.logMonoTime
-    safety.set_timer(((msg.logMonoTime / 1000))  % 0xFFFFFFFF)
+    safety.set_timer(((msg.logMonoTime // 1000))  % 0xFFFFFFFF)

    if msg.which() == 'sendcan':
     for canmsg in msg.sendcan:
@@ -37,7 +38,7 @@ def replay_drive(lr, safety_mode, param):
          blocked_addrs.add(canmsg.address)

          if "DEBUG" in os.environ:
-            print "blocked %d at %f" % (canmsg.address, (msg.logMonoTime - start_t)/(1e9))
+            print("blocked %d at %f" % (canmsg.address, (msg.logMonoTime - start_t)/(1e9)))
        tx_controls += safety.get_controls_allowed()
        tx_tot += 1
    elif msg.which() == 'can':
@@ -48,23 +49,20 @@ def replay_drive(lr, safety_mode, param):
        to_push = package_can_msg(canmsg)
        safety.safety_rx_hook(to_push)

-  print "total openpilot msgs:", tx_tot
-  print "total msgs with controls allowed:", tx_controls
-  print "blocked msgs:", tx_blocked
-  print "blocked with controls allowed:", tx_controls_blocked
-  print "blocked addrs:", blocked_addrs
+  print("total openpilot msgs:", tx_tot)
+  print("total msgs with controls allowed:", tx_controls)
+  print("blocked msgs:", tx_blocked)
+  print("blocked with controls allowed:", tx_controls_blocked)
+  print("blocked addrs:", blocked_addrs)

  return tx_controls_blocked == 0

 if __name__ == "__main__":
-  if sys.argv[2] in safety_modes:
-    mode = safety_modes[sys.argv[2]]
-  else:
-    mode = int(sys.argv[2])
+  mode = int(sys.argv[2])
  param = 0 if len(sys.argv) < 4 else int(sys.argv[3])
  lr = LogReader(sys.argv[1])

-  print "replaying drive %s with safety mode %d and param %d" % (sys.argv[1], mode, param)
+  print("replaying drive %s with safety mode %d and param %d" % (sys.argv[1], mode, param))

  replay_drive(lr, mode, param)

--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -1,9 +1,9 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3

 import os
 import requests

-from helpers import safety_modes
+from panda import Panda
 from replay_drive import replay_drive
 from tools.lib.logreader import LogReader

@@ -11,31 +11,30 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"

 # (route, safety mode, param)
 logs = [
-  ("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", "HONDA", 0), # HONDA.CIVIC
-  ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", "TOYOTA", 66), # TOYOTA.PRIUS
-  ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", "GM", 0), # GM.VOLT
-  ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", "HONDA_BOSCH", 1), # HONDA.ACCORD
-  ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", "HYUNDAI", 0), # HYUNDAI.SANTA_FE
-  ("03efb1fda29e30fe|2019-02-21--18-03-45.bz2", "CHRYSLER", 0), # CHRYSLER.PACIFICA_2018_HYBRID
-  ("791340bc01ed993d|2019-04-08--10-26-00.bz2", "SUBARU", 0), # SUBARU.IMPREZA
+  ("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA, 0), # HONDA.CIVIC
+  ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
+  ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
+  ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH, 1), # HONDA.ACCORD
+  ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
+  ("03efb1fda29e30fe|2019-02-21--18-03-45.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
+  ("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
 ]

 if __name__ == "__main__":
  for route, _, _ in logs:
    if not os.path.isfile(route):
-      with open(route, "w") as f:
+      with open(route, "wb") as f:
        f.write(requests.get(BASE_URL + route).content)

  failed = []
  for route, mode, param in logs:
    lr = LogReader(route)
-    m = safety_modes.get(mode, mode)

-    print "\nreplaying %s with safety mode %d and param %s" % (route, m, param)
-    if not replay_drive(lr, m, int(param)):
+    print("\nreplaying %s with safety mode %d and param %s" % (route, mode, param))
+    if not replay_drive(lr, mode, int(param)):
      failed.append(route)

    for f in failed:
-      print "\n**** failed on %s ****" % f
+      print("\n**** failed on %s ****" % f)
    assert len(failed) == 0, "\nfailed on %d logs" % len(failed)

--- a/tests/spam_can.py
+++ b/tests/spam_can.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import time
+import random
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda
+
+def get_test_string():
+  return b"test"+os.urandom(10)
+
+if __name__ == "__main__":
+  p = Panda()
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  print("Spamming all buses...")
+  while True:
+    at = random.randint(1, 2000)
+    st = get_test_string()[0:8]
+    bus = random.randint(0, 2)
+    p.can_send(at, st, bus)
+    #print("Sent message on bus: ", bus)
--- a/tests/standalone_test.py
+++ b/tests/standalone_test.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import os
 import sys
 import struct
--- a/tests/throughput_test.py
+++ b/tests/throughput_test.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python
-from __future__ import print_function
+#!/usr/bin/env python3
+
 import os
 import sys
 import struct
@@ -34,7 +34,7 @@ if __name__ == "__main__":
  p_in.can_recv()

  BATCH_SIZE = 16
-  for a in tqdm(range(0, 10000, BATCH_SIZE)):
+  for a in tqdm(list(range(0, 10000, BATCH_SIZE))):
    for b in range(0, BATCH_SIZE):
      msg = b"\xaa"*4 + struct.pack("I", a+b)
      if a%1 == 0:
@@ -61,4 +61,4 @@ if __name__ == "__main__":
  if len(set_out - set_in):
    print("MISSING %d" % len(set_out - set_in))
    if len(set_out - set_in) < 256:
-      print(map(hex, sorted(list(set_out - set_in))))
+      print(list(map(hex, sorted(list(set_out - set_in)))))
--- a/tests/tucan_loopback.py
+++ b/tests/tucan_loopback.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python
-from __future__ import print_function
+#!/usr/bin/env python3
+
 import os
 import sys
 import time
@@ -29,14 +29,14 @@ def run_test(sleep_duration):
  run_test_w_pandas(pandas, sleep_duration)

 def run_test_w_pandas(pandas, sleep_duration):
-  h = list(map(lambda x: Panda(x), pandas))
+  h = list([Panda(x) for x in pandas])
  print("H", h)

  for hh in h:
    hh.set_controls_allowed(True)

  # test both directions
-  for ho in permutations(range(len(h)), r=2):
+  for ho in permutations(list(range(len(h))), r=2):
    print("***************** TESTING", ho)

    panda0, panda1 = h[ho[0]], h[ho[1]]