Deprecate ESP (#592)

* remove unused wifi tests * remove that one too * no bootmode from ESP * clean that up * remove two more wifi tests * remove boardesp and esptool * esp_gps -> gps * missed those * remove esptool refs * remove esp certs * no more wifi * that was old * cleanup jenkins dockerfile * fix linter * remove more wifi refs * clone panda jungle from github * no copy * always default esp to off
2020-08-26 15:37:50 -07:00 · 2020-08-26 15:37:50 -07:00 · 8b41ed3b81
parent 6ae6221cf2
commit 8b41ed3b81
54 changed files with 76 additions and 5256 deletions
--- a/.dockerignore
+++ b/.dockerignore
@ -1,3 +1,2 @@
 .git
 .DS_Store
-boardesp/esp-open-sdk
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@ -45,26 +45,6 @@ jobs:
      - name: Build pedal STM bootstub image
        run: $RUN "cd /tmp/openpilot/panda/board/pedal && make obj/bootstub.bin"

-  build_esp:
-    name: build esp
-    runs-on: ubuntu-16.04
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v2
-    - name: Build docker image
-      run: |
-        docker pull $(grep -ioP '(?<=^from)\s+\S+' tests/build/Dockerfile.panda_esp) || true
-        docker pull docker.io/commaai/panda_esp:latest || true
-        docker build --cache-from docker.io/commaai/panda_esp:latest -t panda_esp -f tests/build/Dockerfile.panda_esp .
-    - name: Build ESP image
-      run: docker run --rm panda_esp /bin/sh -c "cd /panda/boardesp && make user1.bin"
-    - name: Push image
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/panda'
-      run:  |
-        docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN }}
-        docker tag panda_esp docker.io/commaai/panda_esp:latest
-        docker push docker.io/commaai/panda_esp:latest
-
  safety:
    name: safety
    runs-on: ubuntu-16.04
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -18,7 +18,7 @@ repos:
        exclude: '^(tests/automated)/'
        args:
        - --select=F,E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6
-        - --exclude=python/esptool.py,tests/gmbitbang/*
+        - --exclude=tests/gmbitbang/*
        - --max-line-length=160
        - --statistics
 -   repo: local
--- a/13
+++ b/13
@ -54,7 +54,6 @@ RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-instal

 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

@ -68,16 +67,6 @@ 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/
-
-COPY ./panda_jungle /tmp/panda_jungle
-
-RUN useradd --system -s /sbin/nologin pandauser
-RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk
-RUN chown pandauser /tmp/panda/boardesp/esp-open-sdk
-USER pandauser
-RUN cd /tmp/panda/boardesp && ./get_sdk_ci.sh
-USER root
+RUN cd /tmp && git clone https://github.com/commaai/panda_jungle.git

 ADD ./panda.tar.gz /tmp/panda
--- a/26
+++ b/26
@ -14,24 +14,19 @@ pipeline {
      steps {
        timeout(time: 60, unit: 'MINUTES') {
          script {
-            try {
-              sh 'cp -R /home/batman/panda_jungle .'
-            } catch (err) {
-              echo "Folder already exists"
-            }
            sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
            dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
          }
        }
      }
    }
-    stage('Test Dev Build (no WIFI)') {
+    stage('Test Dev Build') {
      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; SKIPWIFI=1 ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev_nowifi.xml"
+              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}"
            }
          }
@ -51,21 +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
@ -6,9 +6,9 @@

 <img src="https://github.com/commaai/panda/blob/master/buy.png"></a>

-It supports 3x CAN, 2x LIN, and 1x GMLAN. It also charges a phone. On the computer side, it has both USB and Wi-Fi.
+It supports 3x CAN, 2x LIN, and 1x GMLAN. It also charges a phone. On the computer side, it has USB.

-It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004) for low level stuff and an [ESP8266](https://en.wikipedia.org/wiki/ESP8266) for Wi-Fi. They are connected over high speed SPI, so the panda is actually capable of dumping the full contents of the busses over Wi-Fi, unlike every other dongle on amazon. ELM327 is weak, panda is strong.
+It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004).

 It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.

@ -56,30 +56,23 @@ As a universal car interface, it should support every reasonable software interf

 - [User space](https://github.com/commaai/panda/tree/master/python)
 - [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
- [ELM327](https://github.com/commaai/panda/blob/master/boardesp/elm327.c)
 - [Windows J2534](https://github.com/commaai/panda/tree/master/drivers/windows)

 ## Directory structure

 - board      -- Code that runs on the STM32
- boardesp   -- Code that runs on the ESP8266
 - drivers    -- Drivers (not needed for use with python)
 - python     -- Python userspace library for interfacing with the panda
 - tests      -- Tests and helper programs for panda

-## Programming over USB
-
-[Programming the Board (STM32)](board/README.md)
-
-[Programming the ESP](boardesp/README.md)
+## Programming

+See `board/README.md`

 ## Debugging

 To print out the serial console from the STM32, run `tests/debug_console.py`

-To print out the serial console from the ESP8266, run `PORT=1 tests/debug_console.py`
-
 ## Safety Model

 When a panda powers up, by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` 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. Some of safety modes (for example `SAFETY_ALLOUTPUT`) are disabled in release firmwares. In order to use them, compile and flash your own build.
@ -100,8 +93,8 @@ These are the [CI regression tests](https://github.com/commaai/panda/actions) we
 * 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.
+    * compiling the code in various configuration and flashing it both through USB.
+    * Receiving, sending and forwarding CAN messages on all buses, over USB.

 In addition, we run the [pylint](https://www.pylint.org/) and [flake8](https://github.com/PyCQA/flake8) linters on all python files within the panda repo.

--- a/31
+++ b/31
@ -1,31 +0,0 @@
-** Projects **
-
-== ELM327 Emulator ==
-
-Write an elm327 emulator in boardesp/elm327.c and make it work with Torque
-
-You'll find a start at this in the "elm327" branch.
-
-== socketcan Kernel Driver ==
-
-Write a kernel driver version of lib/panda.py that exposes the Panda on socketcan and makes it work with those tools.
-
-You may want to switch to interrupt endpoint first. Should LIN be exposed as a serial interface?
-
-== Windows J2534 DLL ==
-
-Write a Windows DLL that exposes the J2534 API.
-
-Will make the Panda work with car diagnostic software.
-
-
-** Refactors **
-
-== USB Interrupt Endpoint ==
-
-Switch USB to use an interrupt endpoint instead of a bulk endpoint for can recv
-
-== WebSocket Support ==
-
-Add CAN streaming over WebSocket to the ELM code in addition to the UDP pipe.
-
--- a/init.py
+++ b/init.py
@ -1,3 +1,3 @@
 # flake8: noqa
 # pylint: skip-file
-from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
+from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
--- a/board/board.h
+++ b/board/board.h
@ -54,22 +54,10 @@ void detect_board_type(void) {

 // ///// Configuration detection ///// //
 bool has_external_debug_serial = 0;
-bool is_entering_bootmode = 0;

 void detect_configuration(void) {
  // detect if external serial debugging is present
  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
-
-  #ifdef PANDA
-    if(hw_type == HW_TYPE_WHITE_PANDA) {
-      // check if the ESP is trying to put me in boot mode
-      is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
-    } else {
-      is_entering_bootmode = 0;
-    }
-  #else
-    is_entering_bootmode = 0;
-  #endif
 }

 // ///// Board functions ///// //
--- a/board/board_declarations.h
+++ b/board/board_declarations.h
@ -4,7 +4,7 @@ typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
 typedef void (*board_enable_can_transcievers)(bool enabled);
 typedef void (*board_set_led)(uint8_t color, bool enabled);
 typedef void (*board_set_usb_power_mode)(uint8_t mode);
-typedef void (*board_set_esp_gps_mode)(uint8_t mode);
+typedef void (*board_set_gps_mode)(uint8_t mode);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef void (*board_usb_power_mode_tick)(uint32_t uptime);
 typedef bool (*board_check_ignition)(void);
@ -23,7 +23,7 @@ struct board {
  board_enable_can_transcievers enable_can_transcievers;
  board_set_led set_led;
  board_set_usb_power_mode set_usb_power_mode;
-  board_set_esp_gps_mode set_esp_gps_mode;
+  board_set_gps_mode set_gps_mode;
  board_set_can_mode set_can_mode;
  board_usb_power_mode_tick usb_power_mode_tick;
  board_check_ignition check_ignition;
@ -56,10 +56,10 @@ struct board {
 #define USB_POWER_CDP 2U
 #define USB_POWER_DCP 3U

-// ESP modes
-#define ESP_GPS_DISABLED 0U
-#define ESP_GPS_ENABLED 1U
-#define ESP_GPS_BOOTMODE 2U
+// GPS modes
+#define GPS_DISABLED 0U
+#define GPS_ENABLED 1U
+#define GPS_BOOTMODE 2U

 // CAN modes
 #define CAN_MODE_NORMAL 0U
--- a/board/boards/black.h
+++ b/board/boards/black.h
@ -77,24 +77,24 @@ void black_set_usb_power_mode(uint8_t mode) {
  }
 }

-void black_set_esp_gps_mode(uint8_t mode) {
+void black_set_gps_mode(uint8_t mode) {
  switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
      // GPS OFF
      set_gpio_output(GPIOC, 14, 0);
      set_gpio_output(GPIOC, 5, 0);
      break;
-    case ESP_GPS_ENABLED:
+    case GPS_ENABLED:
      // GPS ON
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 1);
      break;
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 0);
      break;
    default:
-      puts("Invalid ESP/GPS mode\n");
+      puts("Invalid GPS mode\n");
      break;
  }
 }
@ -175,7 +175,7 @@ void black_init(void) {
  set_gpio_mode(GPIOC, 3, MODE_ANALOG);

  // Set default state of GPS
-  current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+  current_board->set_gps_mode(GPS_ENABLED);

  // C10: OBD_SBU1_RELAY (harness relay driving output)
  // C11: OBD_SBU2_RELAY (harness relay driving output)
@ -240,7 +240,7 @@ const board board_black = {
  .enable_can_transcievers = black_enable_can_transcievers,
  .set_led = black_set_led,
  .set_usb_power_mode = black_set_usb_power_mode,
-  .set_esp_gps_mode = black_set_esp_gps_mode,
+  .set_gps_mode = black_set_gps_mode,
  .set_can_mode = black_set_can_mode,
  .usb_power_mode_tick = black_usb_power_mode_tick,
  .check_ignition = black_check_ignition,
--- a/board/boards/common.h
+++ b/board/boards/common.h
@ -23,7 +23,7 @@ void common_init_gpio(void){
  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;

-  // A9,A10: USART 1 for talking to the ESP / GPS
+  // A9,A10: USART 1 for talking to the GPS
  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);

--- a/board/boards/dos.h
+++ b/board/boards/dos.h
@ -65,7 +65,7 @@ void dos_set_usb_power_mode(uint8_t mode) {
  dos_set_bootkick(mode == USB_POWER_CDP);
 }

-void dos_set_esp_gps_mode(uint8_t mode) {
+void dos_set_gps_mode(uint8_t mode) {
  UNUSED(mode);
 }

@ -217,7 +217,7 @@ const board board_dos = {
  .enable_can_transcievers = dos_enable_can_transcievers,
  .set_led = dos_set_led,
  .set_usb_power_mode = dos_set_usb_power_mode,
-  .set_esp_gps_mode = dos_set_esp_gps_mode,
+  .set_gps_mode = dos_set_gps_mode,
  .set_can_mode = dos_set_can_mode,
  .usb_power_mode_tick = dos_usb_power_mode_tick,
  .check_ignition = dos_check_ignition,
--- a/board/boards/grey.h
+++ b/board/boards/grey.h
@ -8,22 +8,22 @@ void grey_init(void) {
  white_grey_common_init();

  // Set default state of GPS
-  current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+  current_board->set_gps_mode(GPS_ENABLED);
 }

-void grey_set_esp_gps_mode(uint8_t mode) {
+void grey_set_gps_mode(uint8_t mode) {
  switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
      // GPS OFF
      set_gpio_output(GPIOC, 14, 0);
      set_gpio_output(GPIOC, 5, 0);
      break;
-    case ESP_GPS_ENABLED:
+    case GPS_ENABLED:
      // GPS ON
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 1);
      break;
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 0);
      break;
@ -41,7 +41,7 @@ const board board_grey = {
  .enable_can_transcievers = white_enable_can_transcievers,
  .set_led = white_set_led,
  .set_usb_power_mode = white_set_usb_power_mode,
-  .set_esp_gps_mode = grey_set_esp_gps_mode,
+  .set_gps_mode = grey_set_gps_mode,
  .set_can_mode = white_set_can_mode,
  .usb_power_mode_tick = white_usb_power_mode_tick,
  .check_ignition = white_check_ignition,
--- a/board/boards/pedal.h
+++ b/board/boards/pedal.h
@ -35,7 +35,7 @@ void pedal_set_usb_power_mode(uint8_t mode){
  puts("Trying to set USB power mode on pedal. This is not supported.\n");
 }

-void pedal_set_esp_gps_mode(uint8_t mode) {
+void pedal_set_gps_mode(uint8_t mode) {
  UNUSED(mode);
  puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
 }
@ -114,7 +114,7 @@ const board board_pedal = {
  .enable_can_transcievers = pedal_enable_can_transcievers,
  .set_led = pedal_set_led,
  .set_usb_power_mode = pedal_set_usb_power_mode,
-  .set_esp_gps_mode = pedal_set_esp_gps_mode,
+  .set_gps_mode = pedal_set_gps_mode,
  .set_can_mode = pedal_set_can_mode,
  .usb_power_mode_tick = pedal_usb_power_mode_tick,
  .check_ignition = pedal_check_ignition,
--- a/board/boards/uno.h
+++ b/board/boards/uno.h
@ -89,21 +89,21 @@ void uno_set_usb_power_mode(uint8_t mode) {
  }
 }

-void uno_set_esp_gps_mode(uint8_t mode) {
+void uno_set_gps_mode(uint8_t mode) {
  switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
      // GPS OFF
      set_gpio_output(GPIOB, 1, 0);
      set_gpio_output(GPIOC, 5, 0);
      uno_set_gps_load_switch(false);
      break;
-    case ESP_GPS_ENABLED:
+    case GPS_ENABLED:
      // GPS ON
      set_gpio_output(GPIOB, 1, 1);
      set_gpio_output(GPIOC, 5, 1);
      uno_set_gps_load_switch(true);
      break;
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
      set_gpio_output(GPIOB, 1, 1);
      set_gpio_output(GPIOC, 5, 0);
      uno_set_gps_load_switch(true);
@ -196,7 +196,7 @@ void uno_init(void) {
  set_gpio_mode(GPIOC, 3, MODE_ANALOG);

  // Set default state of GPS
-  current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+  current_board->set_gps_mode(GPS_ENABLED);

  // C10: OBD_SBU1_RELAY (harness relay driving output)
  // C11: OBD_SBU2_RELAY (harness relay driving output)
@ -283,7 +283,7 @@ const board board_uno = {
  .enable_can_transcievers = uno_enable_can_transcievers,
  .set_led = uno_set_led,
  .set_usb_power_mode = uno_set_usb_power_mode,
-  .set_esp_gps_mode = uno_set_esp_gps_mode,
+  .set_gps_mode = uno_set_gps_mode,
  .set_can_mode = uno_set_can_mode,
  .usb_power_mode_tick = uno_usb_power_mode_tick,
  .check_ignition = uno_check_ignition,
--- a/board/boards/white.h
+++ b/board/boards/white.h
@ -71,21 +71,21 @@ void white_set_usb_power_mode(uint8_t mode){
  }
 }

-void white_set_esp_gps_mode(uint8_t mode) {
+void white_set_gps_mode(uint8_t mode) {
  switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
      // ESP OFF
      set_gpio_output(GPIOC, 14, 0);
      set_gpio_output(GPIOC, 5, 0);
      break;
 #ifndef EON
-    case ESP_GPS_ENABLED:
+    case GPS_ENABLED:
      // ESP ON
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 1);
      break;
 #endif
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 0);
      break;
@ -324,12 +324,8 @@ void white_grey_common_init(void) {
 void white_init(void) {
  white_grey_common_init();

-  // Set default state of ESP
-  #ifdef EON
-    current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
-  #else
-    current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
-  #endif
+  // Set ESP off by default
+  current_board->set_gps_mode(GPS_DISABLED);
 }

 const harness_configuration white_harness_config = {
@ -344,7 +340,7 @@ const board board_white = {
  .enable_can_transcievers = white_enable_can_transcievers,
  .set_led = white_set_led,
  .set_usb_power_mode = white_set_usb_power_mode,
-  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_gps_mode = white_set_gps_mode,
  .set_can_mode = white_set_can_mode,
  .usb_power_mode_tick = white_usb_power_mode_tick,
  .check_ignition = white_check_ignition,
--- a/board/drivers/uart.h
+++ b/board/drivers/uart.h
@ -50,8 +50,8 @@ void debug_ring_callback(uart_ring *ring);

 // ******************************** UART buffers ********************************

-// esp_gps = USART1
-UART_BUFFER(esp_gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)
+// gps = USART1
+UART_BUFFER(gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)

 // lin1, K-LINE = UART5
 // lin2, L-LINE = USART3
@ -68,7 +68,7 @@ uart_ring *get_ring_by_number(int a) {
      ring = &uart_ring_debug;
      break;
    case 1:
-      ring = &uart_ring_esp_gps;
+      ring = &uart_ring_gps;
      break;
    case 2:
      ring = &uart_ring_lin1;
@ -185,8 +185,8 @@ void uart_interrupt_handler(uart_ring *q) {
    // Reset IDLE flag
    UART_READ_DR(q->uart)

-    if(q == &uart_ring_esp_gps){
-      dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
+    if(q == &uart_ring_gps){
+      dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
    } else {
      #ifdef DEBUG_UART
        puts("No IDLE dma_pointer_handler implemented for this UART.");
@ -197,7 +197,7 @@ void uart_interrupt_handler(uart_ring *q) {
  EXIT_CRITICAL();
 }

-void USART1_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_esp_gps); }
+void USART1_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_gps); }
 void USART2_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_debug); }
 void USART3_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin2); }
 void UART5_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin1); }
@ -219,7 +219,7 @@ void DMA2_Stream5_IRQ_Handler(void) {
  }

  // Re-calculate write pointer and reset flags
-  dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
+  dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
  DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;

  EXIT_CRITICAL();
@ -229,7 +229,7 @@ void DMA2_Stream5_IRQ_Handler(void) {

 void dma_rx_init(uart_ring *q) {
  // Initialization is UART-dependent
-  if(q == &uart_ring_esp_gps){
+  if(q == &uart_ring_gps){
    // DMA2, stream 5, channel 4

    // Disable FIFO mode (enable direct)
--- a/board/gpio.h
+++ b/board/gpio.h
@ -64,13 +64,9 @@ void early(void) {

  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
  #ifdef PANDA
-    current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
+    current_board->set_gps_mode(GPS_DISABLED);
  #endif
    current_board->set_led(LED_GREEN, 1);
    jump_to_bootloader();
  }
-
-  if (is_entering_bootmode) {
-    enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
-  }
 }
--- a/board/main.c
+++ b/board/main.c
@ -400,24 +400,24 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
    // **** 0xd9: set ESP power
    case 0xd9:
      if (setup->b.wValue.w == 1U) {
-        current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+        current_board->set_gps_mode(GPS_ENABLED);
      } else if (setup->b.wValue.w == 2U) {
-        current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
+        current_board->set_gps_mode(GPS_BOOTMODE);
      } else {
-        current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
+        current_board->set_gps_mode(GPS_DISABLED);
      }
      break;
    // **** 0xda: reset ESP, with optional boot mode
    case 0xda:
-      current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
+      current_board->set_gps_mode(GPS_DISABLED);
      delay(1000000);
      if (setup->b.wValue.w == 1U) {
-        current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
+        current_board->set_gps_mode(GPS_BOOTMODE);
      } else {
-        current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+        current_board->set_gps_mode(GPS_ENABLED);
      }
      delay(1000000);
-      current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+      current_board->set_gps_mode(GPS_ENABLED);
      break;
    // **** 0xdb: set GMLAN (white/grey) or OBD CAN (black) multiplexing mode
    case 0xdb:
@ -493,7 +493,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      }

      // TODO: Remove this again and fix boardd code to hande the message bursts instead of single chars
-      if (ur == &uart_ring_esp_gps) {
+      if (ur == &uart_ring_gps) {
        dma_pointer_handler(ur, DMA2_Stream5->NDTR);
      }

@ -796,7 +796,6 @@ int main(void) {
  puts("Config:\n");
  puts("  Board type: "); puts(current_board->board_type); puts("\n");
  puts(has_external_debug_serial ? "  Real serial\n" : "  USB serial\n");
-  puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  No bootmode\n");

  // init board
  current_board->init();
@ -812,10 +811,10 @@ int main(void) {
  }

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

  if(board_has_lin()){
--- a/board/power_saving.h
+++ b/board/power_saving.h
@ -32,9 +32,9 @@ void set_power_save_state(int state) {

    // Switch EPS/GPS
    if (enable) {
-      current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+      current_board->set_gps_mode(GPS_ENABLED);
    } else {
-      current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
+      current_board->set_gps_mode(GPS_DISABLED);
    }

    if(board_has_gmlan()){
--- a/boardesp/.gitignore
+++ b/boardesp/.gitignore
@ -1,8 +0,0 @@
-proxy
-*.bin
-esp-open-sdk
-a.out
-cert.h
-gitversion.h
-esp-open-sdk.dmg
-obj/*
--- a/boardesp/ELM327.md
+++ b/boardesp/ELM327.md
@ -1,101 +0,0 @@
-ELM327 support for panda
-======
-The panda now has basic ELM327 support.
-
-### What is ELM327?
-
-ELM327 is a command protocol for interfacing with cars using an OBD-II
-port to read [list](standard vehicle diagnostic codes). ELM327
-originally referred to a line of programmable microcontrollers that
-implemented the ELM327 command protocol, and are still being
-developed.
-
-ELM327 devices present a shell and commands are sent via a UART. The
-official ELM327 chips only support raw UART communication, but most
-devices built with the ELM327 devices (official or clones) expose the
-UART in a more modern way (Wifi, USB, etc).
-
-Mechanics use ELM to diagnose vehicles, and reset fault codes in the
-car's computer after fixing the issue (turning off the dreaded check
-engine light). Car owners can use ELM devices to perform the same
-diagnostics in their garage using either a raw terminal to send
-commands to the ELM device directly, or using a GUI (like one of
-several popular smart phone apps) to translate the OBD error codes
-into readable messages. These GUIs also often allow monitoring of the
-performance of the car's speed, engine rpm, etc.
-
-The panda natively supports sending all the important OBD diagnostic
-messages, but ELM327 support removes the need for the user to manually
-craft CAN or LIN packets using the native panda API, and grants
-compatibility with many existing tools.
-
-[Wikipedia](https://en.wikipedia.org/wiki/ELM327) can provide
-additional information.
-
-### OBD Protocols?
-
-While the commands that the OBD standard describe are in fact
-standard, there are several different protocols that those messages
-can be sent and received with. All cars after 1991 support one of
-these protocols. Which one depends on the car's year and country, as
-legal requirements change over the years.
-
-The panda supports the most popular/modern of these protocols, and all
-but two can be added as needed. Below is a chart of the OBD-II
-protocols supported by the panda.
-
-| Protocol | Support Status |
-| --- | --- |
-| SAE J1850 PWM (41.6 kbit/s) | Never/Obsolete |
-| SAE J1850 VPW (10.4 kbit/s) | Never/Obsolete |
-| ISO 9141-2 (5 baud init, 10.4 kbit/s) | Unsupported |
-| ISO 14230-4 KWP (5 baud init, 10.4 kbit/s) | Unsupported |
-| ISO 14230-4 KWP (fast init, 10.4 kbit/s) | Supported |
-| ISO 15765-4 CAN (11 bit ID, 500 kbit/s) | Supported |
-| ISO 15765-4 CAN (29 bit ID, 500 kbit/s) | Supported |
-| ISO 15765-4 CAN (11 bit ID, 250 kbit/s) | Supported |
-| ISO 15765-4 CAN (29 bit ID, 250 kbit/s) | Supported |
-| SAE J1939 (250kbps) | Unsupported |
-
-### The Implementation
-
-The panda ELM327 implementation is not a full implementation of all
-the features of the official ELM327 microcontroller. Like most ELM327
-clones, the panda reports its ELM version as the unreleased version
-1.5, despite only implementing commands from protocol version 1.0.
-
-
-### Testing
-
-These tests require two pandas. One to be tested, and the second to
-simulate the vehicle.
-
-The panda used to simulate the vehicle must be plugged into a USB port
-of the testing computer.
-
-The computer running the tests must be connected to the panda being
-tested's wifi network.
-
-The following command will run the tests (nosetest should work fine
-instead of pytest if you still prefer using that). The CANSIMSERIAL
-environment variable will force the car simulator to use the correct
-panda as the simulator if multiple pandas are attached via usb to the
-host computer.
-
-```
-CANSIMSERIAL=car_sim_panda_serial pytest tests/automated/elm_wifi.py
-```
-
-A single test can be run by putting the test name after the file name
-and two colons, like so:
-
-```
-CANSIMSERIAL=car_sim_panda_serial pytest tests/automated/elm_wifi.py::test_important_thing
-```
-
-For more detail, provide the -s (show output) and the -vv (very
-verbose) flags.
-
-```
-CANSIMSERIAL=car_sim_panda_serial pytest -s -vv tests/automated/elm_wifi.py
-```
--- a/boardesp/Makefile
+++ b/boardesp/Makefile
@ -1,74 +0,0 @@
-PATH := esp-open-sdk/xtensa-lx106-elf/bin:$(PATH)
-CC = esp-open-sdk/xtensa-lx106-elf/bin/xtensa-lx106-elf-gcc
-CFLAGS = -Iinclude/ -I. -I../ -mlongcalls -Iesp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20/driver_lib/include -std=c99 -DICACHE_FLASH
-LDLIBS = -nostdlib -Wl,--start-group -lmain -lnet80211 -lwpa -llwip -lpp -lphy -Wl,--end-group -lgcc -ldriver -Wl,--gc-sections
-LDFLAGS = -Teagle.app.v6.ld
-OBJCP = esp-open-sdk/xtensa-lx106-elf/bin/xtensa-lx106-elf-objcopy
-SDK_BASE = esp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20
-
-ifeq ($(RELEASE),1)
-  CERT = ../../pandaextra/certs/releaseesp
-else
-  CERT = ../certs/debugesp
-  CFLAGS += "-DALLOW_DEBUG"
-endif
-
-flashall: user1.bin user2.bin
-	../python/esptool.py write_flash 0 $(SDK_BASE)/bin/boot_v1.5.bin 0x01000 user1.bin 0x81000 user2.bin 0x3FE000 $(SDK_BASE)/bin/blank.bin
-
-proxy-0x00000.bin: proxy
-	../python/esptool.py elf2image $^
-
-proxy: proxy.o elm327.o webserver.o sha.o
-
-obj/proxy.o: proxy.c
-	$(CC) $(CFLAGS) -c $^ -o $@
-
-obj/elm327.o: elm327.c
-	$(CC) $(CFLAGS) -c $^ -o $@
-
-obj/webserver.o: webserver.c obj/cert.h obj/gitversion.h
-	$(CC) $(CFLAGS) -c $< -o $@
-
-obj/cert.h: ../crypto/getcertheader.py
-	../crypto/getcertheader.py ../certs/debugesp.pub ../certs/releaseesp.pub > obj/cert.h
-
-include ../common/version.mk
-
-obj/sha.o: ../crypto/sha.c
-	$(CC) $(CFLAGS) -c $^ -o $@
-
-obj/rsa.o: ../crypto/rsa.c
-	$(CC) $(CFLAGS) -c $^ -o $@
-
-oldflash: proxy-0x00000.bin
-	../python/esptool.py write_flash 0 proxy-0x00000.bin 0x40000 proxy-0x40000.bin
-
-user1.bin: obj/proxy.o obj/elm327.o obj/webserver.o obj/sha.o obj/rsa.o
-	$(CC) $(CFLAGS) $^ -o a.out -L$(SDK_BASE)/ld -T$(SDK_BASE)/ld/eagle.app.v6.new.1024.app1.ld $(LDLIBS)
-	$(OBJCP) --only-section .text -O binary a.out eagle.app.v6.text.bin
-	$(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 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)
-
-user2.bin: obj/proxy.o obj/elm327.o obj/webserver.o obj/sha.o obj/rsa.o
-	$(CC) $(CFLAGS) $^ -o a.out -L$(SDK_BASE)/ld -T$(SDK_BASE)/ld/eagle.app.v6.new.1024.app2.ld $(LDLIBS)
-	$(OBJCP) --only-section .text -O binary a.out eagle.app.v6.text.bin
-	$(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 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)
-
-ota: user1.bin user2.bin
-	curl http://192.168.0.10/espupdate1 --upload-file user1.bin
-	curl http://192.168.0.10/espupdate2 --upload-file user2.bin
-
-clean:
-	rm -f proxy proxy.o proxy-0x00000.bin proxy-0x40000.bin eagle.app.* user1.bin user2.bin a.out obj/*
--- a/boardesp/README.md
+++ b/boardesp/README.md
@ -1,22 +0,0 @@
-
-Dependencies
-----
-
-**Debian / Ubuntu**
-
-```
-./get_sdk.sh
-```
-
-**Mac**
-
-```
-./get_sdk_mac.sh
-```
-
-Programming
-----
-
-```
-make
-```
--- a/boardesp/elm327.c
+++ b/boardesp/elm327.c
--- a/boardesp/get_sdk.sh
+++ b/boardesp/get_sdk.sh
@ -1,12 +0,0 @@
-#!/bin/bash
-sudo apt-get install make unrar-free autoconf automake libtool gcc g++ gperf \
-    flex bison texinfo gawk ncurses-dev libexpat-dev python-dev python python-serial \
-    sed git unzip bash help2man wget bzip2
-# huh?
-sudo apt-get install libtool
-sudo apt-get install libtool-bin
-git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
-cd esp-open-sdk
-git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
-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
@ -1,6 +0,0 @@
-#!/bin/bash
-git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
-cd esp-open-sdk
-git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
-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
@ -1,32 +0,0 @@
-#!/bin/bash
-
-# from http://www.esp8266.com/wiki/doku.php?id=setup-osx-compiler-esp8266
-
-brew install gnu-sed --with-default-names
-brew tap homebrew/dupes
-brew install gperf
-brew install grep
-brew install autoconf
-brew install binutils
-brew install gawk
-brew install wget
-brew install automake
-brew install libtool
-brew install help2man
-
-brew uninstall gperf
-
-hdiutil create esp-open-sdk.dmg -volname "esp-open-sdk" -size 10g -fs "Case-sensitive HFS+"
-hdiutil mount esp-open-sdk.dmg
-ln -s /Volumes/esp-open-sdk esp-open-sdk
-cd esp-open-sdk
-
-git init
-git remote add origin https://github.com/pfalcon/esp-open-sdk.git
-git fetch origin
-git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
-git submodule init
-git submodule update --recursive
-
-cp ../python2_make.py .
-python2 python2_make.py 'make STANDALONE=y'
--- a/boardesp/include/espmissingincludes.h
+++ b/boardesp/include/espmissingincludes.h
@ -1,78 +0,0 @@
-#ifndef ESPMISSINGINCLUDES_H
-#define ESPMISSINGINCLUDES_H
-
-#include <stdint.h>
-#include <c_types.h>
-#include <os_type.h>
-
-
-int strcasecmp(const char *a, const char *b);
-#ifndef FREERTOS
-#include <eagle_soc.h>
-#include <ets_sys.h>
-//Missing function prototypes in include folders. Gcc will warn on these if we don't define 'em anywhere.
-//MOST OF THESE ARE GUESSED! but they seem to swork and shut up the compiler.
-typedef struct espconn espconn;
-
-int atoi(const char *nptr);
-void ets_install_putc1(void *routine);
-void ets_isr_attach(int intr, void *handler, void *arg);
-void ets_isr_mask(unsigned intr);
-void ets_isr_unmask(unsigned intr);
-int ets_memcmp(const void *s1, const void *s2, size_t n);
-void *ets_memcpy(void *dest, const void *src, size_t n);
-void *ets_memset(void *s, int c, size_t n);
-int ets_sprintf(char *str, const char *format, ...)  __attribute__ ((format (printf, 2, 3)));
-int ets_str2macaddr(void *, void *);
-int ets_strcmp(const char *s1, const char *s2);
-char *ets_strcpy(char *dest, const char *src);
-size_t ets_strlen(const char *s);
-int ets_strncmp(const char *s1, const char *s2, int len);
-char *ets_strncpy(char *dest, const char *src, size_t n);
-char *ets_strstr(const char *haystack, const char *needle);
-void ets_timer_arm_new(os_timer_t *a, int b, int c, int isMstimer);
-void ets_timer_disarm(os_timer_t *a);
-void ets_timer_setfn(os_timer_t *t, ETSTimerFunc *fn, void *parg);
-void ets_update_cpu_frequency(int freqmhz);
-void *os_memmove(void *dest, const void *src, size_t n);
-int os_printf(const char *format, ...)  __attribute__ ((format (printf, 1, 2)));
-int os_snprintf(char *str, size_t size, const char *format, ...) __attribute__ ((format (printf, 3, 4)));
-int os_printf_plus(const char *format, ...)  __attribute__ ((format (printf, 1, 2)));
-void uart_div_modify(int no, unsigned int freq);
-uint8 wifi_get_opmode(void);
-uint32 system_get_time();
-int rand(void);
-void ets_bzero(void *s, size_t n);
-void ets_delay_us(int ms);
-
-//Hack: this is defined in SDK 1.4.0 and undefined in 1.3.0. It's only used for this, the symbol itself
-//has no meaning here.
-#ifndef RC_LIMIT_P2P_11N
-//Defs for SDK <1.4.0
-void *pvPortMalloc(size_t xWantedSize);
-void *pvPortZalloc(size_t);
-void vPortFree(void *ptr);
-void *vPortMalloc(size_t xWantedSize);
-void pvPortFree(void *ptr);
-#else
-void *pvPortMalloc(size_t xWantedSize, const char *file, int line);
-void *pvPortZalloc(size_t, const char *file, int line);
-void vPortFree(void *ptr, const char *file, int line);
-void *vPortMalloc(size_t xWantedSize, const char *file, int line);
-void pvPortFree(void *ptr, const char *file, int line);
-#endif
-
-//Standard PIN_FUNC_SELECT gives a warning. Replace by a non-warning one.
-#ifdef PIN_FUNC_SELECT
-#undef PIN_FUNC_SELECT
-#define PIN_FUNC_SELECT(PIN_NAME, FUNC)  do { \
-    WRITE_PERI_REG(PIN_NAME,   \
-                                (READ_PERI_REG(PIN_NAME) \
-                                     &  (~(PERIPHS_IO_MUX_FUNC<<PERIPHS_IO_MUX_FUNC_S)))  \
-                                     |( (((FUNC&BIT2)<<2)|(FUNC&0x3))<<PERIPHS_IO_MUX_FUNC_S) );  \
-    } while (0)
-#endif
-
-#endif
-
-#endif
--- a/boardesp/obj/.placeholder
+++ b/boardesp/obj/.placeholder
--- a/boardesp/proxy.c
+++ b/boardesp/proxy.c
@ -1,373 +0,0 @@
-#include "ets_sys.h"
-#include "osapi.h"
-#include "gpio.h"
-#include "os_type.h"
-#include "user_interface.h"
-#include "espconn.h"
-
-#include "driver/spi_interface.h"
-#include "driver/uart.h"
-#include "crypto/sha.h"
-
-#define MIN(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a < _b ? _a : _b; })
-
-#define MAX(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a > _b ? _a : _b; })
-
-char ssid[32];
-char password[] = "testing123";
-int wifi_secure_mode = 0;
-
-static const int pin = 2;
-
-// Structure holding the TCP connection information.
-struct espconn tcp_conn;
-// TCP specific protocol structure.
-esp_tcp tcp_proto;
-
-// interrupt communication on port 1338, UDP!
-struct espconn inter_conn;
-esp_udp inter_proto;
-
-uint32_t sendData[0x14] = {0};
-uint32_t recvData[0x40] = {0};
-
-static int ICACHE_FLASH_ATTR __spi_comm(char *dat, int len, uint32_t *recvData, int recvDataLen) {
-  unsigned int length = 0;
-
-  SpiData spiData;
-
-  spiData.cmd = 2;
-  spiData.cmdLen = 0;
-  spiData.addr = NULL;
-  spiData.addrLen = 0;
-
-  // float boot pin
-  gpio_output_set(0, 0, 0, (1 << 4));
-
-  // manual CS pin
-  gpio_output_set(0, (1 << 5), 0, 0);
-  memset(sendData, 0xCC, 0x14);
-
-  // wait for ST to respond to CS interrupt
-  os_delay_us(50);
-
-  // send request
-  memcpy(((void*)sendData), dat, len);
-  spiData.data = sendData;
-  spiData.dataLen = 0x14;
-  SPIMasterSendData(SpiNum_HSPI, &spiData);
-
-  #define SPI_TIMEOUT 50000
-  // give the ST time to be ready, up to 500ms
-  int i;
-  for (i = 0; (gpio_input_get() & (1 << 4)) && i < SPI_TIMEOUT; i++) {
-    os_delay_us(10);
-    system_soft_wdt_feed();
-  }
-
-  // TODO: handle this better
-  if (i == SPI_TIMEOUT) {
-    os_printf("ERROR: SPI receive failed\n");
-    goto fail;
-  }
-
-  // blank out recvData
-  memset(recvData, 0x00, 0x44);
-
-  // receive the length
-  spiData.data = recvData;
-  spiData.dataLen = 4;
-  if(SPIMasterRecvData(SpiNum_HSPI, &spiData) == -1) {
-    // TODO: Handle gracefully. Maybe fail if len read fails?
-    os_printf("SPI: Failed to recv length\n");
-    goto fail;
-  }
-
-  length = recvData[0];
-  if (length > 0x40) {
-    os_printf("SPI: BAD LENGTH RECEIVED %x\n", length);
-    length = 0;
-    goto fail;
-  }
-
-  // got response, 0x40 works, 0x44 does not
-  spiData.data = recvData+1;
-  spiData.dataLen = (length+3)&(~3); // recvDataLen;
-  if(SPIMasterRecvData(SpiNum_HSPI, &spiData) == -1) {
-    // TODO: Handle gracefully. Maybe retry if payload failed.
-    os_printf("SPI: Failed to recv payload\n");
-    length = 0;
-    goto fail;
-  }
-
-fail:
-  // clear CS
-  gpio_output_set((1 << 5), 0, 0, 0);
-
-  // set boot pin back
-  gpio_output_set((1 << 4), 0, (1 << 4), 0);
-
-  return length;
-}
-
-int ICACHE_FLASH_ATTR spi_comm(char *dat, int len, uint32_t *recvData, int recvDataLen) {
-  // blink the led during SPI comm
-  if (GPIO_REG_READ(GPIO_OUT_ADDRESS) & (1 << pin)) {
-    // set gpio low
-    gpio_output_set(0, (1 << pin), 0, 0);
-  } else {
-    // set gpio high
-    gpio_output_set((1 << pin), 0, 0, 0);
-  }
-
-  return __spi_comm(dat, len, recvData, recvDataLen);
-}
-
-static void ICACHE_FLASH_ATTR tcp_rx_cb(void *arg, char *data, uint16_t len) {
-  // nothing too big
-  if (len > 0x14) return;
-
-  // do the SPI comm
-  spi_comm(data, len, recvData, 0x40);
-
-  espconn_send(&tcp_conn, recvData, 0x44);
-}
-
-void ICACHE_FLASH_ATTR tcp_connect_cb(void *arg) {
-  struct espconn *conn = (struct espconn *)arg;
-  espconn_set_opt(&tcp_conn, ESPCONN_NODELAY);
-  espconn_regist_recvcb(conn, tcp_rx_cb);
-}
-
-// must be 0x44, because we can fit 4 more
-uint8_t buf[0x44*0x10];
-int queue_send_len = -1;
-
-void ICACHE_FLASH_ATTR poll_can(void *arg) {
-  uint8_t timerRecvData[0x44] = {0};
-  int i = 0;
-  int j;
-
-  while (i < 0x40) {
-    int len = spi_comm("\x01\x00\x00\x00", 4, timerRecvData, 0x40);
-    if (len == 0) break;
-    if (len > 0x40) { os_printf("SPI LENGTH ERROR!"); break; }
-
-    // if it sends it, assume it's valid CAN
-    for (j = 0; j < len; j += 0x10) {
-      memcpy(buf + i*0x10, (timerRecvData+4)+j, 0x10);
-      i++;
-    }
-  }
-
-  if (i != 0) {
-    int ret = espconn_sendto(&inter_conn, buf, i*0x10);
-    if (ret != 0) {
-			os_printf("send failed: %d\n", ret);
-      queue_send_len = i*0x10;
-    } else {
-      queue_send_len = -1;
-    }
-  }
-}
-
-int udp_countdown = 0;
-
-static volatile os_timer_t udp_callback;
-void ICACHE_FLASH_ATTR udp_callback_func(void *arg) {
-  if (queue_send_len == -1) {
-    poll_can(NULL);
-  } else {
-    int ret = espconn_sendto(&inter_conn, buf, queue_send_len);
-    if (ret == 0) {
-      queue_send_len = -1;
-    }
-  }
-  if (udp_countdown > 0) {
-    os_timer_arm(&udp_callback, 5, 0);
-    udp_countdown--;
-  } else {
-    os_printf("UDP timeout\n");
-  }
-}
-
-void ICACHE_FLASH_ATTR inter_recv_cb(void *arg, char *pusrdata, unsigned short length) {
-  remot_info *premot = NULL;
-  if (espconn_get_connection_info(&inter_conn,&premot,0) == ESPCONN_OK) {
-		inter_conn.proto.udp->remote_port = premot->remote_port;
-		inter_conn.proto.udp->remote_ip[0] = premot->remote_ip[0];
-		inter_conn.proto.udp->remote_ip[1] = premot->remote_ip[1];
-		inter_conn.proto.udp->remote_ip[2] = premot->remote_ip[2];
-		inter_conn.proto.udp->remote_ip[3] = premot->remote_ip[3];
-
-
-    if (udp_countdown == 0) {
-      os_printf("UDP recv\n");
-      udp_countdown = 200*5;
-
-      // start 5 second timer
-      os_timer_disarm(&udp_callback);
-      os_timer_setfn(&udp_callback, (os_timer_func_t *)udp_callback_func, NULL);
-      os_timer_arm(&udp_callback, 5, 0);
-    } else {
-      udp_countdown = 200*5;
-    }
-  }
-}
-
-void ICACHE_FLASH_ATTR wifi_configure(int secure) {
-  wifi_secure_mode = secure;
-
-  // start wifi AP
-  wifi_set_opmode(SOFTAP_MODE);
-  struct softap_config config = {0};
-  wifi_softap_get_config(&config);
-  strcpy(config.ssid, ssid);
-  if (wifi_secure_mode == 0) strcat(config.ssid, "-pair");
-  strcpy(config.password, password);
-  config.ssid_len = strlen(config.ssid);
-  config.authmode = wifi_secure_mode ? AUTH_WPA2_PSK : AUTH_OPEN;
-  config.beacon_interval = 100;
-  config.max_connection = 4;
-  wifi_softap_set_config(&config);
-
-  if (wifi_secure_mode) {
-    // setup tcp server
-    tcp_proto.local_port = 1337;
-    tcp_conn.type = ESPCONN_TCP;
-    tcp_conn.state = ESPCONN_NONE;
-    tcp_conn.proto.tcp = &tcp_proto;
-    espconn_regist_connectcb(&tcp_conn, tcp_connect_cb);
-    espconn_accept(&tcp_conn);
-    espconn_regist_time(&tcp_conn, 60, 0); // 60s timeout for all connections
-
-    // setup inter server
-    inter_proto.local_port = 1338;
-    const char udp_remote_ip[4] = {255, 255, 255, 255};
-    os_memcpy(inter_proto.remote_ip, udp_remote_ip, 4);
-    inter_proto.remote_port = 1338;
-
-    inter_conn.type = ESPCONN_UDP;
-    inter_conn.proto.udp = &inter_proto;
-
-    espconn_regist_recvcb(&inter_conn, inter_recv_cb);
-    espconn_create(&inter_conn);
-  }
-}
-
-void ICACHE_FLASH_ATTR wifi_init() {
-  // default ssid and password
-  memset(ssid, 0, 32);
-  os_sprintf(ssid, "panda-%08x-BROKEN", system_get_chip_id());
-
-  // fetch secure ssid and password
-  // update, try 20 times, for 1 second
-  for (int i = 0; i < 20; i++) {
-    uint8_t digest[SHA_DIGEST_SIZE];
-    char resp[0x20];
-    __spi_comm("\x00\x00\x00\x00\x40\xD0\x00\x00\x00\x00\x20\x00", 0xC, recvData, 0x40);
-    memcpy(resp, recvData+1, 0x20);
-
-    SHA_hash(resp, 0x1C, digest);
-    if (memcmp(digest, resp+0x1C, 4) == 0) {
-      // OTP is valid
-      memcpy(ssid+6, resp, 0x10);
-      memcpy(password, resp+0x10, 10);
-      break;
-    }
-    os_delay_us(50000);
-  }
-  os_printf("Finished getting SID\n");
-  os_printf(ssid);
-  os_printf("\n");
-
-  // set IP
-  wifi_softap_dhcps_stop(); //stop DHCP before setting static IP
-  struct ip_info ip_config;
-  IP4_ADDR(&ip_config.ip, 192, 168, 0, 10);
-  IP4_ADDR(&ip_config.gw, 0, 0, 0, 0);
-  IP4_ADDR(&ip_config.netmask, 255, 255, 255, 0);
-  wifi_set_ip_info(SOFTAP_IF, &ip_config);
-  int stupid_gateway = 0;
-  wifi_softap_set_dhcps_offer_option(OFFER_ROUTER, &stupid_gateway);
-  wifi_softap_dhcps_start();
-
-  wifi_configure(0);
-}
-
-#define LOOP_PRIO 2
-#define QUEUE_SIZE 1
-static os_event_t my_queue[QUEUE_SIZE];
-void loop();
-
-void ICACHE_FLASH_ATTR web_init();
-void ICACHE_FLASH_ATTR elm327_init();
-
-void ICACHE_FLASH_ATTR user_init() {
-  // init gpio subsystem
-  gpio_init();
-
-  // configure UART TXD to be GPIO1, set as output
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_GPIO1);
-  gpio_output_set(0, 0, (1 << pin), 0);
-
-  // configure SPI
-  SpiAttr hSpiAttr;
-  hSpiAttr.bitOrder = SpiBitOrder_MSBFirst;
-  hSpiAttr.speed = SpiSpeed_10MHz;
-  hSpiAttr.mode = SpiMode_Master;
-  hSpiAttr.subMode = SpiSubMode_0;
-
-  // TODO: is one of these CS?
-  WRITE_PERI_REG(PERIPHS_IO_MUX, 0x105);
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTDI_U, 2);  // configure io to spi mode
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTCK_U, 2);  // configure io to spi mode
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTMS_U, 2);  // configure io to spi mode
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTDO_U, 2);  // configure io to spi mode
-  SPIInit(SpiNum_HSPI, &hSpiAttr);
-  //SPICsPinSelect(SpiNum_HSPI, SpiPinCS_1);
-
-  // configure UART TXD to be GPIO1, set as output
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO5_U, FUNC_GPIO5);
-  gpio_output_set(0, 0, (1 << 5), 0);
-  gpio_output_set((1 << 5), 0, 0, 0);
-
-  // uart init
-  uart_init(BIT_RATE_115200, BIT_RATE_115200);
-
-  // led init
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO2_U, FUNC_GPIO2);
-  gpio_output_set(0, (1 << pin), (1 << pin), 0);
-
-  os_printf("hello\n");
-
-  // needs SPI
-  wifi_init();
-
-  // support ota upgrades
-  elm327_init();
-  web_init();
-
-  // set gpio high, so LED is off by default
-  for (int i = 0; i < 5; i++) {
-    gpio_output_set(0, (1 << pin), 0, 0);
-    os_delay_us(50000);
-    gpio_output_set((1 << pin), 0, 0, 0);
-    os_delay_us(50000);
-  }
-
-  // jump to OS
-  system_os_task(loop, LOOP_PRIO, my_queue, QUEUE_SIZE);
-  system_os_post(LOOP_PRIO, 0, 0);
-}
-
-void ICACHE_FLASH_ATTR loop(os_event_t *events) {
-  system_os_post(LOOP_PRIO, 0, 0);
-}
-
--- a/boardesp/python2_make.py
+++ b/boardesp/python2_make.py
@ -1,4 +0,0 @@
-#!/usr/bin/env python2
-import os
-import sys
-os.system(sys.argv[1])
--- a/boardesp/user_config.h
+++ b/boardesp/user_config.h
--- a/boardesp/webserver.c
+++ b/boardesp/webserver.c
@ -1,380 +0,0 @@
-#include "stdlib.h"
-#include "ets_sys.h"
-#include "osapi.h"
-#include "gpio.h"
-#include "mem.h"
-#include "os_type.h"
-#include "user_interface.h"
-#include "espconn.h"
-#include "upgrade.h"
-
-#include "crypto/rsa.h"
-#include "crypto/sha.h"
-
-#include "obj/gitversion.h"
-#include "obj/cert.h"
-
-#define MAX(a,b) ((a) > (b) ? (a) : (b))
-#define MIN(a,b) ((a) < (b) ? (a) : (b))
-#define espconn_send_string(conn, x) espconn_send(conn, x, strlen(x))
-
-#define MAX_RESP 0x800
-char resp[MAX_RESP];
-char pageheader[] = "HTTP/1.0 200 OK\nContent-Type: text/html\n\n"
-"<!DOCTYPE html>\n"
-"<html>\n"
-"<head>\n"
-"<title>Panda</title>\n"
-"</head>\n"
-"<body>\n"
-"<pre>This is your comma.ai panda\n\n"
-"It's open source. Find the code <a href=\"https://github.com/commaai/panda\">here</a>\n";
-
-char pagefooter[] = "</pre>\n"
-"</body>\n"
-"</html>\n";
-
-char OK_header[] = "HTTP/1.0 200 OK\nContent-Type: text/html\n\n";
-
-static struct espconn web_conn;
-static esp_tcp web_proto;
-extern char ssid[];
-extern int wifi_secure_mode;
-
-char *st_firmware;
-int real_content_length, content_length = 0;
-char *st_firmware_ptr;
-LOCAL os_timer_t ota_reboot_timer;
-
-#define FIRMWARE_SIZE 503808
-
-typedef struct {
-  uint16_t ep;
-  uint16_t extra_len;
-  union {
-    struct {
-      uint8_t request_type;
-      uint8_t request;
-      uint16_t value;
-      uint16_t index;
-      uint16_t length;
-    } control;
-    uint8_t data[0x10];
-  } u;
-} usb_msg;
-
-int ICACHE_FLASH_ATTR usb_cmd(int ep, int len, int request,
-                              int value, int index, char *data) {
-  usb_msg usb = {0};
-
-  usb.ep = ep;
-  usb.extra_len = (ep == 0) ? 0 : len;
-  if (ep == 0) {
-    usb.u.control.request_type = 0xc0;
-    usb.u.control.request = request;
-    usb.u.control.value = value;
-    usb.u.control.index = index;
-  } else {
-    memcpy(&usb.u.data, data, usb.extra_len);
-  }
-
-  uint32_t recv[0x44/4];
-  spi_comm(&usb, sizeof(usb), recv, 0x40);
-
-  return recv[0];
-}
-
-
-void ICACHE_FLASH_ATTR st_flash() {
-  if (st_firmware != NULL) {
-    // boot mode
-    os_printf("st_flash: enter boot mode\n");
-    st_set_boot_mode(1);
-
-    // echo
-    os_printf("st_flash: wait for echo\n");
-    for (int i = 0; i < 10; i++) {
-      os_printf("  attempt: %d\n", i);
-      if (usb_cmd(0, 0, 0xb0, 0, 0, NULL) > 0) break;
-    }
-
-    // unlock flash
-    os_printf("st_flash: unlock flash\n");
-    usb_cmd(0, 0, 0xb1, 0, 0, NULL);
-
-    // erase sector 1
-    os_printf("st_flash: erase sector 1\n");
-    usb_cmd(0, 0, 0xb2, 1, 0, NULL);
-
-    if (real_content_length >= 16384) {
-      // erase sector 2
-      os_printf("st_flash: erase sector 2\n");
-      usb_cmd(0, 0, 0xb2, 2, 0, NULL);
-    }
-
-    // real content length will always be 0x10 aligned
-    os_printf("st_flash: flashing\n");
-    for (int i = 0; i < real_content_length; i += 0x10) {
-      int rl = MIN(0x10, real_content_length-i);
-      usb_cmd(2, rl, 0, 0, 0, &st_firmware[i]);
-      system_soft_wdt_feed();
-    }
-
-    // reboot into normal mode
-    os_printf("st_flash: rebooting\n");
-    usb_cmd(0, 0, 0xd8, 0, 0, NULL);
-
-    // done with this
-    os_free(st_firmware);
-    st_firmware = NULL;
-  }
-}
-
-typedef enum {
-    NOT_STARTED,
-    CONNECTION_ESTABLISHED,
-    RECEIVING_HEADER,
-    RECEIVING_ST_FIRMWARE,
-    RECEIVING_ESP_FIRMWARE,
-    REBOOTING,
-    ERROR
-} web_state_t;
-
-web_state_t state = NOT_STARTED;
-int esp_address, esp_address_erase_limit, start_address;
-
-void ICACHE_FLASH_ATTR hexdump(char *data, int len) {
-  int i;
-  for (i=0;i<len;i++) {
-    if (i!=0 && (i%0x10)==0) os_printf("\n");
-    os_printf("%02X ", data[i]);
-  }
-  os_printf("\n");
-}
-
-void ICACHE_FLASH_ATTR st_reset() {
-  // reset the ST
-  gpio16_output_conf();
-  gpio16_output_set(0);
-  os_delay_us(1000);
-  gpio16_output_set(1);
-  os_delay_us(10000);
-}
-
-void ICACHE_FLASH_ATTR st_set_boot_mode(int boot_mode) {
-  if (boot_mode) {
-    // boot mode (pull low)
-    gpio_output_set(0, (1 << 4), (1 << 4), 0);
-    st_reset();
-  } else {
-    // no boot mode (pull high)
-    gpio_output_set((1 << 4), 0, (1 << 4), 0);
-    st_reset();
-  }
-
-  // float boot pin
-  gpio_output_set(0, 0, 0, (1 << 4));
-}
-
-static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
-  int i;
-  struct espconn *conn = (struct espconn *)arg;
-  if (state == CONNECTION_ESTABLISHED) {
-    state = RECEIVING_HEADER;
-    os_printf("%s %d\n", data, len);
-
-    // index
-    if (memcmp(data, "GET / ", 6) == 0) {
-      memset(resp, 0, MAX_RESP);
-
-      strcpy(resp, pageheader);
-      ets_strcat(resp, "\nssid: ");
-      ets_strcat(resp, ssid);
-      ets_strcat(resp, "\n");
-
-      ets_strcat(resp, "\nst version:     ");
-      uint32_t recvData[0x11];
-      int len = spi_comm("\x00\x00\x00\x00\x40\xD6\x00\x00\x00\x00\x40\x00", 0xC, recvData, 0x40);
-      ets_memcpy(resp+strlen(resp), recvData+1, len);
-
-      ets_strcat(resp, "\nesp version:    ");
-      ets_strcat(resp, gitversion);
-      uint8_t current = system_upgrade_userbin_check();
-      if (current == UPGRADE_FW_BIN1) {
-        ets_strcat(resp, "\nesp flash file: user2.bin");
-      } else {
-        ets_strcat(resp, "\nesp flash file: user1.bin");
-      }
-
-      if (wifi_secure_mode) {
-        ets_strcat(resp, "\nin secure mode");
-      } else {
-        ets_strcat(resp, "\nin INSECURE mode...<a href=\"/secure\">secure it</a>");
-      }
-
-      ets_strcat(resp,"\nSet USB Mode:"
-        "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=0'); xhr.send()\" type='button'>Client</button>"
-        "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=1'); xhr.send()\" type='button'>CDP</button>"
-        "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=2'); xhr.send()\" type='button'>DCP</button>\n");
-
-      ets_strcat(resp, pagefooter);
-
-      espconn_send_string(&web_conn, resp);
-      espconn_disconnect(conn);
-    } else if (memcmp(data, "GET /secure", 11) == 0 && !wifi_secure_mode) {
-      wifi_configure(1);
-    } else if (memcmp(data, "GET /set_property?usb_mode=", 27) == 0 && wifi_secure_mode) {
-      char mode_value = data[27] - '0';
-        if (mode_value >= '\x00' && mode_value <= '\x02') {
-          memset(resp, 0, MAX_RESP);
-          char set_usb_mode_packet[] = "\x00\x00\x00\x00\x40\xE6\x00\x00\x00\x00\x40\x00";
-          set_usb_mode_packet[6] = mode_value;
-          uint32_t recvData[1];
-          spi_comm(set_usb_mode_packet, 0xC, recvData, 0);
-          os_sprintf(resp, "%sUSB Mode set to %02x\n\n", OK_header, mode_value);
-          espconn_send_string(&web_conn, resp);
-          espconn_disconnect(conn);
-        }
-    } else if (memcmp(data, "PUT /stupdate ", 14) == 0 && wifi_secure_mode) {
-      os_printf("init st firmware\n");
-      char *cl = strstr(data, "Content-Length: ");
-      if (cl != NULL) {
-        // get content length
-        cl += strlen("Content-Length: ");
-        content_length = skip_atoi(&cl);
-        os_printf("with content length %d\n", content_length);
-
-        // should be small enough to fit in RAM
-        real_content_length = (content_length+0xF)&(~0xF);
-        st_firmware_ptr = st_firmware = os_malloc(real_content_length);
-        memset(st_firmware, 0, real_content_length);
-        state = RECEIVING_ST_FIRMWARE;
-      }
-
-    } else if (((memcmp(data, "PUT /espupdate1 ", 16) == 0) ||
-                (memcmp(data, "PUT /espupdate2 ", 16) == 0)) && wifi_secure_mode) {
-      // 0x1000   = user1.bin
-      // 0x81000  = user2.bin
-      // 0x3FE000 = blank.bin
-      os_printf("init esp firmware\n");
-      char *cl = strstr(data, "Content-Length: ");
-      if (cl != NULL) {
-        // get content length
-        cl += strlen("Content-Length: ");
-        content_length = skip_atoi(&cl);
-        os_printf("with content length %d\n", content_length);
-
-        // setup flashing
-        uint8_t current = system_upgrade_userbin_check();
-        if (data[14] == '2' && current == UPGRADE_FW_BIN1) {
-          os_printf("flashing boot2.bin\n");
-          state = RECEIVING_ESP_FIRMWARE;
-          esp_address = 4*1024 + FIRMWARE_SIZE + 16*1024 + 4*1024;
-        } else if (data[14] == '1' && current == UPGRADE_FW_BIN2) {
-          os_printf("flashing boot1.bin\n");
-          state = RECEIVING_ESP_FIRMWARE;
-          esp_address = 4*1024;
-        } else {
-          espconn_send_string(&web_conn, "HTTP/1.0 404 Not Found\nContent-Type: text/html\n\nwrong!\n");
-          espconn_disconnect(conn);
-        }
-        esp_address_erase_limit = esp_address;
-        start_address = esp_address;
-      }
-    } else {
-      espconn_send_string(&web_conn, "HTTP/1.0 404 Not Found\nContent-Type: text/html\n\n404 Not Found!\n");
-      espconn_disconnect(conn);
-    }
-  } else if (state == RECEIVING_ST_FIRMWARE) {
-    os_printf("receiving st firmware: %d/%d\n", len, content_length);
-    memcpy(st_firmware_ptr, data, MIN(content_length, len));
-    st_firmware_ptr += len;
-    content_length -= len;
-
-    if (content_length <= 0 && real_content_length > 1000) {
-      state = NOT_STARTED;
-      os_printf("done!\n");
-      espconn_send_string(&web_conn, "HTTP/1.0 200 OK\nContent-Type: text/html\n\nsuccess!\n");
-      espconn_disconnect(conn);
-
-      // reboot
-      os_printf("Scheduling st_flash in 100ms.\n");
-      os_timer_disarm(&ota_reboot_timer);
-      os_timer_setfn(&ota_reboot_timer, (os_timer_func_t *)st_flash, NULL);
-      os_timer_arm(&ota_reboot_timer, 100, 0);
-    }
-  } else if (state == RECEIVING_ESP_FIRMWARE) {
-    if ((esp_address+len) < (start_address + FIRMWARE_SIZE)) {
-      os_printf("receiving esp firmware: %d/%d -- 0x%x - 0x%x\n", len, content_length,
-        esp_address, esp_address_erase_limit);
-      content_length -= len;
-      while (esp_address_erase_limit < (esp_address + len)) {
-        os_printf("erasing 0x%X\n", esp_address_erase_limit);
-        spi_flash_erase_sector(esp_address_erase_limit / SPI_FLASH_SEC_SIZE);
-        esp_address_erase_limit += SPI_FLASH_SEC_SIZE;
-      }
-      SpiFlashOpResult res = spi_flash_write(esp_address, data, len);
-      if (res != SPI_FLASH_RESULT_OK) {
-        os_printf("flash fail @ 0x%x\n", esp_address);
-      }
-      esp_address += len;
-
-      if (content_length == 0) {
-
-        char digest[SHA_DIGEST_SIZE];
-        uint32_t rsa[RSANUMBYTES/4];
-        uint32_t dat[0x80/4];
-        int ll;
-        spi_flash_read(esp_address-RSANUMBYTES, rsa, RSANUMBYTES);
-
-        // 32-bit aligned accesses only
-        SHA_CTX ctx;
-        SHA_init(&ctx);
-        for (ll = start_address; ll < esp_address-RSANUMBYTES; ll += 0x80) {
-          spi_flash_read(ll, dat, 0x80);
-          SHA_update(&ctx, dat, MIN((esp_address-RSANUMBYTES)-ll, 0x80));
-        }
-        memcpy(digest, SHA_final(&ctx), SHA_DIGEST_SIZE);
-
-        if (RSA_verify(&releaseesp_rsa_key, rsa, RSANUMBYTES, digest, SHA_DIGEST_SIZE) ||
-          #ifdef ALLOW_DEBUG
-            RSA_verify(&debugesp_rsa_key, rsa, RSANUMBYTES, digest, SHA_DIGEST_SIZE)
-          #else
-            false
-          #endif
-          ) {
-          os_printf("RSA verify success!\n");
-          espconn_send_string(&web_conn, "HTTP/1.0 200 OK\nContent-Type: text/html\n\nsuccess!\n");
-          system_upgrade_flag_set(UPGRADE_FLAG_FINISH);
-
-          // reboot
-          os_printf("Scheduling reboot.\n");
-          os_timer_disarm(&ota_reboot_timer);
-          os_timer_setfn(&ota_reboot_timer, (os_timer_func_t *)system_upgrade_reboot, NULL);
-          os_timer_arm(&ota_reboot_timer, 2000, 0);
-        } else {
-          os_printf("RSA verify FAILURE\n");
-          espconn_send_string(&web_conn, "HTTP/1.0 500 Internal Server Error\nContent-Type: text/html\n\nrsa verify fail\n");
-        }
-        espconn_disconnect(conn);
-      }
-    }
-  }
-}
-
-void ICACHE_FLASH_ATTR web_tcp_connect_cb(void *arg) {
-  state = CONNECTION_ESTABLISHED;
-  struct espconn *conn = (struct espconn *)arg;
-  espconn_set_opt(&web_conn, ESPCONN_NODELAY);
-  espconn_regist_recvcb(conn, web_rx_cb);
-}
-
-void ICACHE_FLASH_ATTR web_init() {
-  web_proto.local_port = 80;
-  web_conn.type = ESPCONN_TCP;
-  web_conn.state = ESPCONN_NONE;
-  web_conn.proto.tcp = &web_proto;
-  espconn_regist_connectcb(&web_conn, web_tcp_connect_cb);
-  espconn_accept(&web_conn);
-}
-
--- a/certs/debugesp
+++ b/certs/debugesp
@ -1,15 +0,0 @@
-----BEGIN RSA PRIVATE KEY-----
-MIICXAIBAAKBgQCjIHvrSCWN0Nec6ozbImYik30PIF7JSWgdwDKTxSJ05RM3pj5E
-LQEGt3qcaVrTokO68tpt5Gu1p6ZsNqWg7iVTW9M7Qj7IH45YDzQP/PSRjgSosQA6
-6f5Gokba5QrW38myqimvj+0p+YH+CNGCBRlTUQGCO8uLCspMZneRSLPW9QIDAQAB
-AoGADaUn+HRef9BaWMvd4G6uMHI54cwJYbj8NpDfKjExQqnuw5bqWnWRQmiSnwbJ
-DC7kj3zE/LBAuj890ot3q1CAWqh47ZICZfoX9Qbi5TpvIHFCGy6YkOliF6iIQhR2
-4+zNKTAA0zNKskOM25PdI+grK1Ni/bEofSA6TrqvEwsmxnkCQQDVp9FUUor2Bo/h
-/3oAIP51LTw7vfpztYbJr+BDV63czV2DLXzSwzeNrwH4sA3oy1mjUgMBBgAarNGE
-DYlc4H5jAkEAw3UCHzzXPlxkw2QGp7nBly5y3p80Uqc31NuYz8rdX/U8KTngi2No
-Ft/SGCEXNpeYbToj+WK3RJJ2Ey0mK8+IxwJAcpGd/5CPsaQNLcw4WK9Yo+8Q2Jxk
-G/4gfDCSmqn+smNxnLEcuUwzkwdgkEGgA9BfjeOhdsAH+EXpx90WZrZ/LwJBAK0k
-jq+rTqUQZbZsejTEKYjJ/bnV4BzDwoKN0Q1pkLc7X4LJoW74rTFuLgdv8MdMfRtt
-IIb/eoeFEpGkMicnHesCQHgR7BTUGBM6Uxam7RCdsgVsxoHBma21E/44ivWUMZzN
-3oVt0mPnjS4speOlqwED5pCJ7yw7jwLPFMs8kNxuIKU=
-----END RSA PRIVATE KEY-----
--- a/certs/debugesp.pub
+++ b/certs/debugesp.pub
@ -1 +0,0 @@
-ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQCjIHvrSCWN0Nec6ozbImYik30PIF7JSWgdwDKTxSJ05RM3pj5ELQEGt3qcaVrTokO68tpt5Gu1p6ZsNqWg7iVTW9M7Qj7IH45YDzQP/PSRjgSosQA66f5Gokba5QrW38myqimvj+0p+YH+CNGCBRlTUQGCO8uLCspMZneRSLPW9Q== batman@y840
--- a/certs/releaseesp.pub
+++ b/certs/releaseesp.pub
@ -1 +0,0 @@
-ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQDN4pVyGuJJSde1l3Fjay8qPxog09DsAJZtYPk+armoYO1L6YKReUTcMNyHQYZZMZFmhCdgjCgTIF2QYWMoP4KSe8l6JF04YPP51dIgefc6UXjtlSI8Pyutr0v9xXjSfsVm3RAJxDSHgzs9AoMsluKCL+LhAR1nd7cuHXITJ80O4w== batman@y840
--- a/docs/panda_wifi_setup.md
+++ b/docs/panda_wifi_setup.md
@ -1,16 +0,0 @@
-# Connecting to White Panda via Wi-Fi
-
-1. First connect to your White Panda's Wi-Fi pairing network (this should be the Wi-Fi network WITH the "-pair" at the end)
-
-2. Now in your favorite web browser go to this address **192.168.0.10** (this should open a web interface to interact with the White Panda)
-
-3. Inside the web interface enable secured mode by clinking the **secure it** link/button (this should make the White Panda's Wi-Fi network visible)
-
-   ### If you need your White Panda's Wi-Fi Password
-
-   * Run the **get_panda_password.py** script in found in **examples/** (Must have panda paw for this step because you need to connect White Panda via USB to retrive the Wi-Fi password)
-   * Also ensure that you are connected to your White Panda's Wi-Fi pairing network
-
-4. Connect to your White Panda's default Wi-Fi network (this should be the Wi-Fi network WITHOUT the "-pair" at the end)
-
-5. Your White Panda is now connected to Wi-Fi you can test this by running this line of code `python -c 'from panda import Panda; panda = Panda("WIFI")'` in your terminal of choice.
--- a/python/init.py
+++ b/python/init.py
@ -10,7 +10,6 @@ import traceback
 import subprocess
 import sys
 from .dfu import PandaDFU  # pylint: disable=import-error
-from .esptool import ESPROM, CesantaFlasher  # noqa pylint: disable=import-error
 from .flash_release import flash_release  # noqa pylint: disable=import-error
 from .update import ensure_st_up_to_date  # noqa pylint: disable=import-error
 from .serial import PandaSerial  # noqa pylint: disable=import-error
--- a/python/esptool.py
+++ b/python/esptool.py
--- a/python/flash_release.py
+++ b/python/flash_release.py
@ -7,7 +7,7 @@ import json
 import io

 def flash_release(path=None, st_serial=None):
-  from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
+  from panda import Panda, PandaDFU
  from zipfile import ZipFile

  def status(x):
@ -43,9 +43,6 @@ def flash_release(path=None, st_serial=None):
  code_boot_15 = zf.read("boot_v1.5.bin")
  code_boot_15 = code_boot_15[0:2] + "\x00\x30" + code_boot_15[4:]

-  code_user1 = zf.read("user1.bin")
-  code_user2 = zf.read("user2.bin")
-
  # enter DFU mode
  status("1. Entering DFU mode")
  panda = Panda(st_serial)
@ -64,29 +61,8 @@ def flash_release(path=None, st_serial=None):
  panda.flash(code=code_panda)
  panda.close()

-  # flashing ESP
-  if panda.is_white():
-    status("4. Flashing ESP (slow!)")
-
-    def align(x, sz=0x1000):
-      x + "\xFF" * ((sz - len(x)) % sz)
-
-    esp = ESPROM(st_serial)
-    esp.connect()
-    flasher = CesantaFlasher(esp, 230400)
-    flasher.flash_write(0x0, align(code_boot_15), True)
-    flasher.flash_write(0x1000, align(code_user1), True)
-    flasher.flash_write(0x81000, align(code_user2), True)
-    flasher.flash_write(0x3FE000, "\xFF" * 0x1000)
-    flasher.boot_fw()
-    del flasher
-    del esp
-    time.sleep(1)
-  else:
-    status("4. No ESP in non-white panda")
-
  # check for connection
-  status("5. Verifying version")
+  status("4. Verifying version")
  panda = Panda(st_serial)
  my_version = panda.get_version()
  print("dongle id: %s" % panda.get_serial()[0])
--- a/run_automated_tests.sh
+++ b/run_automated_tests.sh
@ -6,11 +6,7 @@ else
  TESTSUITE_NAME="Panda_Test-DEV"
 fi

-if [ ! -z "${SKIPWIFI}" ] || [ -f "/EON" ]; then
-  TEST_SCRIPTS=$(ls tests/automated/$1*.py | grep -v wifi)
-else
 TEST_SCRIPTS=$(ls tests/automated/$1*.py)
-fi

 IFS=$'\n'
 for NAME in $(nmcli --fields NAME con show | grep panda | awk '{$1=$1};1')
--- a/tests/all_wifi_test.py
+++ b/tests/all_wifi_test.py
@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-import requests
-import json
-from .automated.helpers import _connect_wifi  # pylint: disable=import-error
-from panda import Panda
-from nose.tools import assert_equal
-
-if __name__ == "__main__":
-  print("Fetching latest firmware from github.com/commaai/panda-artifacts")
-  r = requests.get("https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json")
-  latest_version = json.loads(r.text)['version']
-
-  for p in Panda.list():
-    dongle_id, pw = Panda(p).get_serial()
-    print(dongle_id, pw)
-    assert(dongle_id.isalnum())
-    _connect_wifi(dongle_id, pw)
-
-    r = requests.get("http://192.168.0.10/")
-    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]
-
-    assert_equal(str(dongle_id), wifi_dongle_id)
-    assert_equal(latest_version, st_version)
-    assert_equal(latest_version, esp_version)
--- a/tests/automated/4_can_loopback.py
+++ b/tests/automated/4_can_loopback.py
--- a/tests/automated/4_wifi.py
+++ b/tests/automated/4_wifi.py
@ -1,60 +0,0 @@
-import time
-from panda import Panda
-from .helpers import reset_pandas, connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
-import requests
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_all_pandas
-@panda_connect_and_init
-def test_get_serial(p):
-  print(p.get_serial())
-
-@test_all_pandas
-@panda_connect_and_init
-def test_get_serial_in_flash_mode(p):
-  p.reset(enter_bootstub=True)
-  assert(p.bootstub)
-  print(p.get_serial())
-  p.reset()
-
-@test_white
-@panda_type_to_serial
-def test_connect_wifi(serials=None):
-  connect_wifi(serials[0])
-
-@test_white
-@panda_type_to_serial
-def test_flash_wifi(serials=None):
-  connect_wifi(serials[0])
-  assert Panda.flash_ota_wifi(release=False), "OTA Wifi Flash Failed"
-  connect_wifi(serials[0])
-
-@test_white
-@panda_type_to_serial
-def test_wifi_flash_st(serials=None):
-  connect_wifi(serials[0])
-  assert Panda.flash_ota_st(), "OTA ST Flash Failed"
-  connected = False
-  st = time.time()
-  while not connected and (time.time() - st) < 20:
-    try:
-      p = Panda(serial=serials[0])
-      p.get_serial()
-      connected = True
-    except:
-      time.sleep(1)
-
-  if not connected:
-    assert False, "Panda failed to connect on USB after flashing"
-
-@test_white
-@panda_type_to_serial
-def test_webpage_fetch(serials=None):
-  connect_wifi(serials[0])
-  r = requests.get("http://192.168.0.10/")
-  print(r.text)
-
-  assert "This is your comma.ai panda" in r.text
--- a/tests/automated/5_gps.py
+++ b/tests/automated/5_gps.py
--- a/tests/automated/5_wifi_functionality.py
+++ b/tests/automated/5_wifi_functionality.py
@ -1,69 +0,0 @@
-import time
-from panda import Panda
-from .helpers import start_heartbeat_thread, reset_pandas, time_many_sends, connect_wifi, test_white, panda_type_to_serial
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_white
-@panda_type_to_serial
-def test_get_serial_wifi(serials=None):
-  connect_wifi(serials[0])
-
-  p = Panda("WIFI")
-  print(p.get_serial())
-
-@test_white
-@panda_type_to_serial
-def test_throughput(serials=None):
-  connect_wifi(serials[0])
-  p = Panda(serials[0])
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # enable output mode
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # enable CAN loopback mode
-  p.set_can_loopback(True)
-
-  p = Panda("WIFI")
-
-  for speed in [100, 250, 500, 750, 1000]:
-    # set bus 0 speed to speed
-    p.set_can_speed_kbps(0, speed)
-    time.sleep(0.1)
-
-    comp_kbps = time_many_sends(p, 0)
-
-    # bit count from https://en.wikipedia.org/wiki/CAN_bus
-    saturation_pct = (comp_kbps / speed) * 100.0
-    #assert_greater(saturation_pct, 80)
-    #assert_less(saturation_pct, 100)
-
-    print("WIFI loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
-
-@test_white
-@panda_type_to_serial
-def test_recv_only(serials=None):
-  connect_wifi(serials[0])
-  p = Panda(serials[0])
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  p.set_can_loopback(True)
-  pwifi = Panda("WIFI")
-
-  # TODO: msg_count=1000 drops packets, is this fixable?
-  for msg_count in [10, 100, 200]:
-    speed = 500
-    p.set_can_speed_kbps(0, speed)
-    comp_kbps = time_many_sends(p, 0, pwifi, msg_count)
-    saturation_pct = (comp_kbps / speed) * 100.0
-
-    print("HT WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
--- a/tests/automated/6_wifi_udp.py
+++ b/tests/automated/6_wifi_udp.py
@ -1,73 +0,0 @@
-import sys
-import time
-from .helpers import start_heartbeat_thread, reset_pandas, time_many_sends, connect_wifi, test_white, panda_type_to_serial
-from panda import Panda, PandaWifiStreaming
-from nose.tools import assert_less, assert_greater
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_white
-@panda_type_to_serial
-def test_udp_doesnt_drop(serials=None):
-  connect_wifi(serials[0])
-
-  p = Panda(serials[0])
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  p.set_can_loopback(True)
-
-  pwifi = PandaWifiStreaming()
-  while 1:
-    if len(pwifi.can_recv()) == 0:
-      break
-
-  for msg_count in [1, 100]:
-    saturation_pcts = []
-    for i in range({1: 0x80, 100: 0x20}[msg_count]):
-      pwifi.kick()
-
-      speed = 500
-      p.set_can_speed_kbps(0, speed)
-      comp_kbps = time_many_sends(p, 0, pwifi, msg_count=msg_count, msg_id=0x100 + i)
-      saturation_pct = (comp_kbps / speed) * 100.0
-
-      if msg_count == 1:
-        sys.stdout.write(".")
-        sys.stdout.flush()
-      else:
-        print("UDP WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
-        assert_greater(saturation_pct, 20)  # sometimes the wifi can be slow...
-        assert_less(saturation_pct, 100)
-        saturation_pcts.append(saturation_pct)
-    if len(saturation_pcts) > 0:
-      assert_greater(sum(saturation_pcts) / len(saturation_pcts), 60)
-
-  time.sleep(5)
-  usb_ok_cnt = 0
-  REQ_USB_OK_CNT = 500
-  st = time.time()
-  msg_id = 0x1bb
-  bus = 0
-  last_missing_msg = 0
-  while usb_ok_cnt < REQ_USB_OK_CNT and (time.time() - st) < 40:
-    p.can_send(msg_id, "message", bus)
-    time.sleep(0.01)
-    r = [1]
-    missing = True
-    while len(r) > 0:
-      r = p.can_recv()
-      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)
-      if missing:
-        last_missing_msg = time.time()
-  et = time.time() - st
-  last_missing_msg = last_missing_msg - st
-  print("waited {} for panda to recv can on usb, {} msgs, last missing at {}".format(et, usb_ok_cnt, last_missing_msg))
-  assert usb_ok_cnt >= REQ_USB_OK_CNT, "Unable to recv can on USB after UDP"
--- a/tests/automated/helpers.py
+++ b/tests/automated/helpers.py
@ -8,7 +8,6 @@ from panda_jungle import PandaJungle  # pylint: disable=import-error
 from nose.tools import assert_equal
 from parameterized import parameterized, param
 from .timeout import run_with_timeout
-from .wifi_helpers import _connect_wifi

 SPEED_NORMAL = 500
 SPEED_GMLAN = 33.3
@ -70,13 +69,6 @@ test_uno = parameterized([
    param(panda_type=Panda.HW_TYPE_UNO)
  ])

-def connect_wifi(serial=None):
-  p = Panda(serial=serial)
-  p.set_esp_power(True)
-  dongle_id, pw = p.get_serial()
-  assert(dongle_id.isalnum())
-  _connect_wifi(dongle_id, pw)
-
 def time_many_sends(p, bus, p_recv=None, msg_count=100, msg_id=None, two_pandas=False):
  if p_recv == None:
    p_recv = p
--- a/tests/automated/wifi_helpers.py
+++ b/tests/automated/wifi_helpers.py
@ -1,90 +0,0 @@
-import os
-import sys
-import time
-import subprocess
-import requests
-from panda import Panda
-FNULL = open(os.devnull, 'w')
-def _connect_wifi(dongle_id, pw, insecure_okay=False):
-  ssid = "panda-" + dongle_id
-
-  r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
-  if not r:
-    # Can already ping, try connecting on wifi
-    try:
-      p = Panda("WIFI")
-      p.get_serial()
-      print("Already connected")
-      return
-    except:
-      pass
-
-  print("WIFI: connecting to %s" % ssid)
-
-  while 1:
-    if sys.platform == "darwin":
-      os.system("networksetup -setairportnetwork en0 %s %s" % (ssid, pw))
-    else:
-      wlan_interface = subprocess.check_output(["sh", "-c", "iw dev | awk '/Interface/ {print $2}'"]).strip().decode('utf8')
-      cnt = 0
-      MAX_TRIES = 10
-      while cnt < MAX_TRIES:
-        print("WIFI: scanning %d" % cnt)
-        os.system("iwlist %s scanning > /dev/null" % wlan_interface)
-        os.system("nmcli device wifi rescan")
-        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)
-        # MAX_TRIES tries, ~10 seconds max
-        cnt += 1
-      assert cnt < MAX_TRIES
-      if "-pair" in wifi_scan[0]:
-        os.system("nmcli d wifi connect %s-pair" % (ssid))
-        connect_cnt = 0
-        MAX_TRIES = 100
-        while connect_cnt < MAX_TRIES:
-          connect_cnt += 1
-          r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
-          if r:
-            print("Waiting for panda to ping...")
-            time.sleep(0.5)
-          else:
-            break
-        if insecure_okay:
-          break
-        # fetch webpage
-        print("connecting to insecure network to secure")
-        try:
-          r = requests.get("http://192.168.0.10/")
-        except requests.ConnectionError:
-          r = requests.get("http://192.168.0.10/")
-        assert r.status_code == 200
-
-        print("securing")
-        try:
-          r = requests.get("http://192.168.0.10/secure", timeout=0.01)
-        except requests.exceptions.Timeout:
-          print("timeout http request to secure")
-          pass
-      else:
-        ret = os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
-        if os.WEXITSTATUS(ret) == 0:
-          #check ping too
-          ping_ok = False
-          connect_cnt = 0
-          MAX_TRIES = 10
-          while connect_cnt < MAX_TRIES:
-            connect_cnt += 1
-            r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
-            if r:
-              print("Waiting for panda to ping...")
-              time.sleep(0.1)
-            else:
-              ping_ok = True
-              break
-          if ping_ok:
-            break
-
-  # TODO: confirm that it's connected to the right panda
--- a/tests/build/Dockerfile.panda_esp
+++ b/tests/build/Dockerfile.panda_esp
@ -1,23 +0,0 @@
-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 locales curl zlib1g-dev libffi-dev libssl-dev python3 python3-pip
-
-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 pip3 install pycryptodome==3.9.8
-
-# Build esp toolchain
-RUN mkdir -p /panda/boardesp
-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
-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
-
-WORKDIR /panda
--- a/tests/disable_esp.py
+++ b/tests/disable_esp.py
@ -1,3 +0,0 @@
-#!/usr/bin/env python3
-from panda import Panda
-Panda().set_esp_power(False)
--- a/tests/elm_wifi.py
+++ b/tests/elm_wifi.py
@ -1,669 +0,0 @@
-# flake8: noqa
-
-import os
-import sys
-import time
-import socket
-import select
-import struct
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", ".."))
-from panda import Panda
-from panda.tests import elm_car_simulator
-
-def elm_connect():
-    s = socket.create_connection(("192.168.0.10", 35000))
-    s.setblocking(0)
-    return s
-
-def read_or_fail(s):
-    ready = select.select([s], [], [], 4)
-    assert ready[0], "Socket did not receive data within the timeout duration."
-    return s.recv(1000)
-
-def sendrecv(s, dat):
-    s.send(dat)
-    return read_or_fail(s)
-
-def send_compare(s, dat, ret, timeout=4):
-    s.send(dat)
-    res = b''
-    while ret.startswith(res) and ret != res:
-        print("Waiting")
-        ready = select.select([s], [], [], timeout)
-        if not ready[0]:
-            print("current recv data:", repr(res))
-            break
-        res += s.recv(1000)
-    #print("final recv data: '%s'" % repr(res))
-    assert ret == res  # , "Data does not agree (%s) (%s)"%(repr(ret), repr(res))
-
-def sync_reset(s):
-    s.send("ATZ\r")
-    res = b''
-    while not res.endswith("ELM327 v1.5\r\r>"):
-        res += read_or_fail(s)
-        print("Reset response is '%s'" % repr(res))
-
-def test_reset():
-    s = socket.create_connection(("192.168.0.10", 35000))
-    s.setblocking(0)
-
-    try:
-        sync_reset(s)
-    finally:
-        s.close()
-
-def test_elm_cli():
-    s = elm_connect()
-
-    try:
-        sync_reset(s)
-
-        send_compare(s, b'ATI\r', b'ATI\rELM327 v1.5\r\r>')
-
-        #Test Echo Off
-        #Expected to be misimplimentation, but this is how the reference device behaved.
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Here is the odd part
-        send_compare(s, b'ATE0\r', b'OK\r\r>')  # Should prob show this immediately
-        send_compare(s, b'ATI\r', b'ELM327 v1.5\r\r>')
-
-        #Test Newline On
-        send_compare(s, b'ATL1\r', b'OK\r\n\r\n>')
-        send_compare(s, b'ATI\r', b'ELM327 v1.5\r\n\r\n>')
-        send_compare(s, b'ATL0\r', b'OK\r\r>')
-        send_compare(s, b'ATI\r', b'ELM327 v1.5\r\r>')
-
-        send_compare(s, b'ATI\r', b'ELM327 v1.5\r\r>')  # Test repeat command no echo
-        send_compare(s, b'\r', b'ELM327 v1.5\r\r>')
-
-        send_compare(s, b'aTi\r', b'ELM327 v1.5\r\r>')  # Test different case
-
-        send_compare(s, b'  a     T i\r', b'ELM327 v1.5\r\r>')  # Test with white space
-
-        send_compare(s, b'ATCATHAT\r', b'?\r\r>')  # Test Invalid AT command
-
-        send_compare(s, b'01 00 00 00 00 00 00 00\r', b'?\r\r>')  # Test Invalid (too long) OBD command
-        send_compare(s, b'01 GZ\r', b'?\r\r>')  # Test Invalid (Non hex chars) OBD command
-    finally:
-        s.close()
-
-def test_elm_setget_protocol():
-    s = elm_connect()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")  # Set auto
-        send_compare(s, b'ATDP\r', b"AUTO\r\r>")
-        send_compare(s, b'ATDPN\r', b"A0\r\r>")
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>")  # Set protocol
-        send_compare(s, b'ATDP\r', b"ISO 15765-4 (CAN 11/500)\r\r>")
-        send_compare(s, b'ATDPN\r', b"6\r\r>")
-
-        send_compare(s, b'ATSPA6\r', b"OK\r\r>")  # Set auto with protocol default
-        send_compare(s, b'ATDP\r', b"AUTO, ISO 15765-4 (CAN 11/500)\r\r>")
-        send_compare(s, b'ATDPN\r', b"A6\r\r>")
-
-        send_compare(s, b'ATSP7\r', b"OK\r\r>")
-        send_compare(s, b'ATDP\r', b"ISO 15765-4 (CAN 29/500)\r\r>")
-        send_compare(s, b'ATDPN\r', b"7\r\r>")  # Test Does not accept invalid protocols
-        send_compare(s, b'ATSPD\r', b"?\r\r>")
-        send_compare(s, b'ATDP\r', b"ISO 15765-4 (CAN 29/500)\r\r>")
-        send_compare(s, b'ATDPN\r', b"7\r\r>")
-    finally:
-        s.close()
-
-def test_elm_protocol_failure():
-    s = elm_connect()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"SEARCHING...\rUNABLE TO CONNECT\r\r>", timeout=10)
-
-        send_compare(s, b'ATSP1\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"NO DATA\r\r>")
-
-        send_compare(s, b'ATSP2\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"NO DATA\r\r>")
-
-        send_compare(s, b'ATSP3\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"BUS INIT: ...ERROR\r\r>")
-
-        send_compare(s, b'ATSP4\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"BUS INIT: ...ERROR\r\r>")
-
-        send_compare(s, b'ATSP5\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"BUS INIT: ERROR\r\r>")
-
-        #send_compare(s, b'ATSP6\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSP7\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSP8\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSP9\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSPA\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSPB\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSPC\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-    finally:
-        s.close()
-
-def test_elm_protocol_autodetect_ISO14230_KWP_FAST():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False)  # , silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATH0\r', b'OK\r\r>')  # Headers ON
-        send_compare(s, b'ATS0\r', b"OK\r\r>")
-
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A5\r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_basic_send_lin():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False)  # , silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP5\r', b"ATSP5\rOK\r\r>")  # Set Proto
-
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'0100\r', b"BUS INIT: OK\r41 00 FF FF FF FE \r\r>")
-        send_compare(s, b'010D\r', b"41 0D 53 \r\r>")
-
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces Off
-        send_compare(s, b'0100\r', b"4100FFFFFFFE\r\r>")
-        send_compare(s, b'010D\r', b"410D53\r\r>")
-
-        send_compare(s, b'ATH1\r', b'OK\r\r>')  # Spaces Off Headers On
-        send_compare(s, b'0100\r', b"86F1104100FFFFFFFEC3\r\r>")
-        send_compare(s, b'010D\r', b"83F110410D5325\r\r>")
-
-        send_compare(s, b'ATS1\r', b'OK\r\r>')  # Spaces On Headers On
-        send_compare(s, b'0100\r', b"86 F1 10 41 00 FF FF FF FE C3 \r\r>")
-        send_compare(s, b'010D\r', b"83 F1 10 41 0D 53 25 \r\r>")
-
-        send_compare(s, b'1F00\r', b"NO DATA\r\r>")  # Unhandled msg, no response.
-
-        # Repeat last check to see if it still works after NO DATA was received
-        send_compare(s, b'0100\r', b"86 F1 10 41 00 FF FF FF FE C3 \r\r>")
-        send_compare(s, b'010D\r', b"83 F1 10 41 0D 53 25 \r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_lin_multiline_msg():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATSP5\r', b"OK\r\r>")  # Set Proto
-
-        send_compare(s, b'0902\r',  # headers OFF, Spaces ON
-                     b"BUS INIT: OK\r"
-                     b"49 02 01 00 00 00 31 \r"
-                     b"49 02 02 44 34 47 50 \r"
-                     b"49 02 03 30 30 52 35 \r"
-                     b"49 02 04 35 42 31 32 \r"
-                     b"49 02 05 33 34 35 36 \r\r>")
-
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces OFF
-        send_compare(s, b'0902\r',  # Headers OFF, Spaces OFF
-                     b"49020100000031\r"
-                     b"49020244344750\r"
-                     b"49020330305235\r"
-                     b"49020435423132\r"
-                     b"49020533343536\r\r>")
-
-        send_compare(s, b'ATH1\r', b'OK\r\r>')  # Headers ON
-        send_compare(s, b'0902\r',  # Headers ON, Spaces OFF
-                     b"87F1104902010000003105\r"
-                     b"87F11049020244344750E4\r"
-                     b"87F11049020330305235BD\r"
-                     b"87F11049020435423132B1\r"
-                     b"87F11049020533343536AA\r\r>")
-
-        send_compare(s, b'ATS1\r', b'OK\r\r>')  # Spaces ON
-        send_compare(s, b'0902\r',  # Headers ON, Spaces ON
-                     b"87 F1 10 49 02 01 00 00 00 31 05 \r"
-                     b"87 F1 10 49 02 02 44 34 47 50 E4 \r"
-                     b"87 F1 10 49 02 03 30 30 52 35 BD \r"
-                     b"87 F1 10 49 02 04 35 42 31 32 B1 \r"
-                     b"87 F1 10 49 02 05 33 34 35 36 AA \r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_lin_multiline_msg_throughput():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP5\r', b"ATSP5\rOK\r\r>")  # Set Proto
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces OFF
-        send_compare(s, b'ATH0\r', b'OK\r\r>')  # Headers OFF
-
-        send_compare(s, b'09fc\r',  # headers OFF, Spaces OFF
-                     b"BUS INIT: OK\r" +
-                     b''.join((b'49FC' + hex(num + 1)[2:].upper().zfill(2) +
-                               b'AAAA' + hex(num + 1)[2:].upper().zfill(4) + b'\r'
-                               for num in range(80))) +
-                     b"\r>",
-                     timeout=10
-        )
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_panda_safety_mode_KWPFast():
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    p_car = Panda(serial)  # Configure this so the messages will send
-    p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-    p_car.kline_drain()
-
-    p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(Panda.SAFETY_ELM327)
-
-    def get_checksum(dat):
-        result = 0
-        result += sum(map(ord, dat)) if isinstance(b'dat', str) else sum(dat)
-        return struct.pack("B", result % 0x100)
-
-    def timed_recv_check(p, bus, goodmsg):
-        t = time.time()
-        msg = bytearray()
-
-        while time.time() - t < 0.5 and len(msg) != len(goodmsg):
-            msg += p._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, len(goodmsg) - len(msg))
-            #print("Received", repr(msg))
-            if msg == goodmsg:
-                return True
-            time.sleep(0.01)
-        return False
-
-    def kline_send(p, x, bus=2):
-        p.kline_drain(bus=bus)
-        p._handle.bulkWrite(2, bytes([bus]) + x)
-        return timed_recv_check(p, bus, x)
-
-    def did_send(priority, toaddr, fromaddr, dat, bus=2, checkbyte=None):
-        msgout = struct.pack("BBB", priority | len(dat), toaddr, fromaddr) + dat
-        msgout += get_checksum(msgout) if checkbyte is None else checkbyte
-        print("Sending", hex(priority), hex(toaddr), hex(fromaddr), repr(msgout))
-
-        if not kline_send(p_elm, msgout, bus=bus):
-            return False
-        return timed_recv_check(p_car, bus, msgout)
-
-    assert not did_send(0xC0, 0x33, 0xF1, b'\x01\x0F', bus=3)  # wrong bus
-    assert not did_send(0xC0, 0x33, 0xF1, b'')  # wrong length
-    assert not did_send(0xB0, 0x33, 0xF1, b'\x01\x0E')  # bad priority
-    assert not did_send(0xC0, 0x00, 0xF1, b'\x01\x0D')  # bad addr
-    assert not did_send(0xC0, 0x33, 0x00, b'\x01\x0C')  # bad addr
-
-    assert did_send(0xC0, 0x33, 0xF1, b'\x01\x0B')  # good! (obd func req)
-
-def test_elm_lin_keepalive():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP5\r', b"ATSP5\rOK\r\r>")  # Set Proto
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces OFF
-        send_compare(s, b'ATH0\r', b'OK\r\r>')  # Headers OFF
-
-        send_compare(s, b'0100\r', b"BUS INIT: OK\r4100FFFFFFFE\r\r>")
-        assert sim.lin_active
-        time.sleep(6)
-        assert sim.lin_active
-
-        send_compare(s, b'ATPC\r', b"OK\r\r>")  # STOP KEEPALIVE
-        assert sim.lin_active
-        time.sleep(6)
-        assert not sim.lin_active
-
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-#////////////
-def test_elm_protocol_autodetect_ISO15765():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATH1\r', b'OK\r\r>')  # Headers ON
-        send_compare(s, b'ATS0\r', b"OK\r\r>")
-
-        sim.can_mode_11b()
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r7E803410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A6\r\r>")
-
-        sim.can_mode_29b()
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r18DAF11003410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A7\r\r>")
-
-        sim.change_can_baud(250)
-
-        sim.can_mode_11b()
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r7E803410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A8\r\r>")
-
-        sim.can_mode_29b()
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r18DAF11003410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A9\r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_basic_send_can():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP6\r', b"ATSP6\rOK\r\r>")  # Set Proto
-
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'0100\r', b"41 00 FF FF FF FE \r\r>")
-        send_compare(s, b'010D\r', b"41 0D 53 \r\r>")
-
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces Off
-        send_compare(s, b'0100\r', b"4100FFFFFFFE\r\r>")
-        send_compare(s, b'010D\r', b"410D53\r\r>")
-
-        send_compare(s, b'ATH1\r', b'OK\r\r>')  # Spaces Off Headers On
-        send_compare(s, b'0100\r', b"7E8064100FFFFFFFE\r\r>")
-        send_compare(s, b'010D\r', b"7E803410D53\r\r>")
-
-        send_compare(s, b'ATS1\r', b'OK\r\r>')  # Spaces On Headers On
-        send_compare(s, b'0100\r', b"7E8 06 41 00 FF FF FF FE \r\r>")
-        send_compare(s, b'010D\r', b"7E8 03 41 0D 53 \r\r>")
-
-        send_compare(s, b'1F00\r', b"NO DATA\r\r>")  # Unhandled msg, no response.
-
-        # Repeat last check to see if it still works after NO DATA was received
-        send_compare(s, b'0100\r', b"7E8 06 41 00 FF FF FF FE \r\r>")
-        send_compare(s, b'010D\r', b"7E8 03 41 0D 53 \r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_can_multimsg():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATS1\r', b'OK\r\r>')  # Spaces OFF
-        send_compare(s, b'ATH1\r', b'OK\r\r>')  # Headers ON
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>")  # Set Proto ISO 15765-4 (CAN 11/500)
-        sim.can_add_extra_noise(b'\x03\x41\x0D\xFA', addr=0x7E9)  # Inject message into the stream
-        send_compare(s, b'010D\r',
-                     b"7E8 03 41 0D 53 \r"
-                     b"7E9 03 41 0D FA \r\r>")  # Check it was ignored.
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_can_check_mode_pid():
-    """The ability to correctly filter out messages with the wrong PID is not
-    implemented correctly in the reference device."""
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces OFF
-        send_compare(s, b'ATH0\r', b'OK\r\r>')  # Headers OFF
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>")  # Set Proto ISO 15765-4 (CAN 11/500)
-        sim.can_add_extra_noise(b'\x03\x41\x0E\xFA')  # Inject message into the stream
-        send_compare(s, b'010D\r', b"410D53\r\r>")  # Check it was ignored.
-        send_compare(s, b'0100\r', b"4100FFFFFFFE\r\r>")  # Check it was ignored again.
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_can_multiline_msg():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP6\r', b"ATSP6\rOK\r\r>")  # Set Proto
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-
-        send_compare(s, b'0902\r',  # headers OFF, Spaces ON
-                     b"014 \r"
-                     b"0: 49 02 01 31 44 34 \r"
-                     b"1: 47 50 30 30 52 35 35 \r"
-                     b"2: 42 31 32 33 34 35 36 \r\r>")
-
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces OFF
-        send_compare(s, b'0902\r',  # Headers OFF, Spaces OFF
-                     b"014\r"
-                     b"0:490201314434\r"
-                     b"1:47503030523535\r"
-                     b"2:42313233343536\r\r>")
-
-        send_compare(s, b'ATH1\r', b'OK\r\r>')  # Headers ON
-        send_compare(s, b'0902\r',  # Headers ON, Spaces OFF
-                     b"7E81014490201314434\r"
-                     b"7E82147503030523535\r"
-                     b"7E82242313233343536\r\r>")
-
-        send_compare(s, b'ATS1\r', b'OK\r\r>')  # Spaces ON
-        send_compare(s, b'0902\r',  # Headers ON, Spaces ON
-                     b"7E8 10 14 49 02 01 31 44 34 \r"
-                     b"7E8 21 47 50 30 30 52 35 35 \r"
-                     b"7E8 22 42 31 32 33 34 35 36 \r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_can_multiline_msg_throughput():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP6\r', b"ATSP6\rOK\r\r>")  # Set Proto
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces OFF
-        send_compare(s, b'ATH1\r', b'OK\r\r>')  # Headers ON
-
-        rows = 584
-        send_compare(s, b'09ff\r',  # headers ON, Spaces OFF
-                     ("7E8" + "1" + hex((rows * 7) + 6)[2:].upper().zfill(3) + "49FF01" + "AA0000\r" +
-                      "".join(
-                          ("7E82" + hex((num + 1) % 0x10)[2:].upper() + ("AA" * 5) +
-                           hex(num + 1)[2:].upper().zfill(4) + "\r" for num in range(rows))
-                      ) + "\r>").encode(),
-                     timeout=10
-        )
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_interrupted_obd_cmd_resets_state():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces OFF
-        s.send(b"09fd\r")
-        ready = select.select([s], [], [], 4)
-        assert ready[0], "Socket did not receive data within the timeout duration."
-        s.send(b"ATI\r")
-
-        assert b"236\r0:49FD01AAAAAA\r" in s.recv(10000)
-
-        #Will likely have to be improved to scan for STOPPED if the FW gets more responsive.
-        ready = select.select([s], [], [], 4)
-        assert ready[0], "Socket did not receive data within the timeout duration."
-
-        assert b"STOPPED" in s.recv(10000)
-
-        sim.set_enable(False)
-        send_compare(s, b'09fd\r', b"NO DATA\r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_can_baud():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>')  # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>')  # Spaces OFF
-        send_compare(s, b'ATH1\r', b'OK\r\r>')  # Headers ON
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>")  # Set Proto ISO 15765-4 (CAN 11/500)
-        send_compare(s, b'0100\r', b"7E8064100FFFFFFFE\r\r>")
-
-        send_compare(s, b'ATSP8\r', b"OK\r\r>")  # Set Proto ISO 15765-4 (CAN 11/250)
-        send_compare(s, b'0100\r', b"CAN ERROR\r\r>")
-
-        sim.change_can_baud(250)
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>")  # Set Proto ISO 15765-4 (CAN 11/500)
-        send_compare(s, b'0100\r', b"CAN ERROR\r\r>")
-
-        send_compare(s, b'ATSP8\r', b"OK\r\r>")  # Set Proto ISO 15765-4 (CAN 11/250)
-        send_compare(s, b'0100\r', b"7E8064100FFFFFFFE\r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_panda_safety_mode_ISO15765():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    p_car = Panda(serial)  # Configure this so the messages will send
-    p_car.set_can_speed_kbps(0, 500)
-    p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-    p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(Panda.SAFETY_ELM327)
-
-    #sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    #sim.start()
-
-    def did_send(p, addr, dat, bus):
-        p.can_send(addr, dat, bus)
-        t = time.time()
-        while time.time() - t < 0.5:
-            msg = p.can_recv()
-            for addrin, _, datin, busin in msg:
-                if (0x80 | bus) == busin and addr == addrin and datin == dat:
-                    return True
-            time.sleep(0.01)
-        return False
-
-    try:
-        sync_reset(s)  # Reset elm (which requests the ELM327 safety mode)
-
-        #29 bit
-        assert not did_send(p_elm, 0x18DB33F1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 1)  # wrong canid
-        assert not did_send(p_elm, 0x18DB33F1, b'\x02\x01\x00', 0)  # wrong length
-        assert not did_send(p_elm, 0x10000000, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # bad addr
-        assert not did_send(p_elm, 0x18DAF133, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # bad addr (phy addr)
-        assert not did_send(p_elm, 0x18DAF000, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # bad addr
-        assert not did_send(p_elm, 0x18DAF1F3, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # bad addr! (phys rsp to elm)
-
-        assert did_send(p_elm, 0x18DB33F1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # good! (obd func req)
-        assert did_send(p_elm, 0x18DA10F1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # good! (phys response)
-
-        #11 bit
-        assert not did_send(p_elm, 0X7DF, b'\x02\x01\x00\x00\x00\x00\x00\x00', 1)  # wrong canid
-        assert not did_send(p_elm, 0X7DF, b'\x02\x01\x00', 0)  # wrong length
-        assert not did_send(p_elm, 0xAA, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # bad addr
-        assert not did_send(p_elm, 0x7DA, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # bad addr (phy addr)
-        assert not did_send(p_elm, 0x7E8, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # bad addr (sending 'response')
-
-        assert did_send(p_elm, 0x7DF, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # good! (obd func req)
-        assert did_send(p_elm, 0x7E1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0)  # good! (phys response)
-
-    finally:
-        s.close()
				`@ -1 +0,0 @@`
				`ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQCjIHvrSCWN0Nec6ozbImYik30PIF7JSWgdwDKTxSJ05RM3pj5ELQEGt3qcaVrTokO68tpt5Gu1p6ZsNqWg7iVTW9M7Qj7IH45YDzQP/PSRjgSosQA66f5Gokba5QrW38myqimvj+0p+YH+CNGCBRlTUQGCO8uLCspMZneRSLPW9Q== batman@y840`
				`@ -1 +0,0 @@`
				`ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQDN4pVyGuJJSde1l3Fjay8qPxog09DsAJZtYPk+armoYO1L6YKReUTcMNyHQYZZMZFmhCdgjCgTIF2QYWMoP4KSe8l6JF04YPP51dIgefc6UXjtlSI8Pyutr0v9xXjSfsVm3RAJxDSHgzs9AoMsluKCL+LhAR1nd7cuHXITJ80O4w== batman@y840`