* improve readability
* cleanup for PR
* switch to #define
* i guess i forgot how #define works
* fix #define
* improve for preglobal too
* rename because of conflicts
* rename with subaru in name
* missed some
* missed that one too
* made it pretty
* whitespace
* infotainment match opendbc
* whitespace
* whitespace
* parameterize the bus too
* fix that
* fix misra violation
* multiline
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* try 1
* some fixes
* fix some misra
* first poc working
* more things
* more misra fixes
* fix misra
* add rate limiting
* fix misra
* add some unit tests through libpanda
* add more tests and fix some stuff
* fix misra again
* add startup log hitl test
* list
* don't fail on wrong timestamps
* improvements
* fix tests
* expected logs test?
* not sure why this passed
* oh, it doesn't reset
* only show last few
* guess at expected logs
* needs this
* ugh
* reduce compiler warnings
* adjust expected logs
* this is correct
* is it really 1?
* min max
* reduce spam in SPI test
* some cleanup
* Ford AEB safety
* whoops
* working tests
* debugging
* clean up
* stock aeb test
* split up test
* rm
* cmt
* rm
* just test stateless sigs for simple branch
* clean up
* rm
* just test this bit
* it's signed now
* cmt
* cmt
* clean up
* ohh
* add ACCDATA msg
* ford long safety
* long flag
* split stock and op long tests
* use accel limits for brake
* add comment
* fix acceleration limits
fix acceleration limits
* fix gas limits
* temp bug
* fix min gas, allow -0.5 (engine braking?)
* fix test
* fix tests
* yay it caught this
* pylint
* base name
* typing
* Revert "typing"
This reverts commit 7fb5e304cb.
* temp fix
* rm line
* this is handled by PandaSafetyTest
* revert
* move
---------
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
* start comms hitl tests
* pull that out
* revert that
* more test
* fix warnings
* fix linter
* another simple case
---------
Co-authored-by: Comma Device <device@comma.ai>
* read in mV and make threshold board-dependent
* refactor and add SBU voltages to health
* refactor relay driving
* more refactoring and readout lock
* avoid race condition
* fix misra
* continuous detection
* 1Hz is fine
* another race condition
* use harness detection to trigger bootkick
* update orientation detection test
* more in-depth harness tests
* fix ignition
* fix
* raise threshold
* ford curvature rate limits draft
* make common angle tests work with curvature
* comment
* no need for this
* extra line
* fix test
* generic curvature test class
* more reasonable limits
* adjust limits
* draft
* works
* works
* clean up
* add vehicle speed
* works
* clean up
* clean up
* more clean up
* more clean up
* lower
* double
* add updated bp
* remove
* can clean that up
* draft
* this works!
* think that's the correct placement
* try this
* closer
* use min
* add/sub one to not falsely trip
* remove old angle error safety
* i'm not sure if clamp is more readable
* fix that
* fix
* stash
* fix these tests
* ternary
* floats are a pain
* draft, works kinda
* even better
* round that
* need tolerance
* this should work (adding tol=1 wouldn't let us have multiple rate limits)
* test works
* clamp breaks if low is higher than high :(((
down from 150 blocked msgs to 7!
* no blocked msgs!!!
* test a whole bunch
* stash
* stash
* clean up test
* clean up test to be more like torque (+ speeds)
* clean up
* cmt
* test up
* up and down are good
* rename and remove
* this is tested
* uncomment
* this is tested by ensuring we move towards error at a minimum rate
* not used any more
* revert common
* clean up test_ford a bit more
* some clean up (combine variables where it makes sense)
* yeah can't use clamp since min isn't always < max, min(max(.. handles this
* clean up
* revert that
* comments
* cmt
* another
* that's old
* misra!
* Update board/safety/safety_ford.h
* Update board/safety/safety_ford.h
* add todo, fix test case
* more clear, matches panda
* add comment
* Update tests/safety/test_ford.py
* more fine speed increments
* rm comment
* better names
* this is expected behavior (tested by common checks)
* CURVATURE_ERROR_LIMIT_SPEED
* better name?
* pretty clean!
* same for up
* only used in one place now
* these are now clear
* common term
* make vehicle_speed a sample_t
* need to use values[0]
* speed is a float
* Revert "speed is a float"
This reverts commit 01af02f1d3.
* Revert "need to use values[0]"
This reverts commit 8f6d68345a.
* Revert "make vehicle_speed a sample_t"
This reverts commit ecd8dc86b6.
* safety fixes for new speed sample
* test fixes for new speed sample
* fix misra and make intermediate variable
* this isn't needed
* convert vehicle_speed into sample_t, change no behavior
* draft
* round
* test
* clean up
* round
* round all
* use min
* remove round macro from this PR
* reset speed measurement
* debug
* bbd
* rm
* revert
* test above and below
* need this now
* misra pt 1
* misra pt 2
* misra pt 3
* i don't understand this one, not different from other cases
* fix test
* test
* revert that
* draft
* test the sample_t works properly for safety modes that use it (angle only)
* can combine these tests
* test decimals
* global
* misra
comment
* suggestions
* fix
* use new helper
* reset min torque meas too
* add test that fails
* cmt
* cmt
* clean up test
* don't be random
* above test tests this pretty much
* test angle too
* fix
* also test driver torque
* whoops
* whoops
* draft clean up
* always check
* add angle to name
* ford sends curvature when not steering and bit is 0.
it's not torque, curvature of 0 will still apply torque
* need this to be generic
* formatting
* rm
* test that we can send curvature=0 if enabled=False while control_allowed=True (let's say EPS faults, OP doesn't want to actuate)
* revert ford tests to master
* this <i>should</i> preserve behavior
* this is fine to remove
* and this should also be covered
* yeet
* change opt name, combine checks, much better!
* one more
* modes
* Add comment
* misra has a bug :(
* ugh
* make this clear
* ?
* order
* fix
* comments
* test that we can send curvature=0 if enabled=False while control_allowed=True (let's say EPS faults, OP doesn't want to actuate)
* draft
* only check error if apply bit is 1
* subtest
* no subtest
* fix safety and tests
* tests say this works
* clean up
* subtests are sloww
* Revert "subtests are sloww"
This reverts commit 560c6745c8.
* fix test from merge
* add comment
* add comment
* add another comment
* spacing
* set ford vehicle speed
* parse yaw rate signals
* misra
* misra
* misra
* misra
* draft
* update module
* already checked
* and set it properly
* some stuff
* draft
* clean up (will fail tests because we don't send yaw rate yet)
* could do something like this
* this is better and less prone to bugs
* match simple op limiting, debugging
* set checksum for messages in tests
* clean up
* fix that
* one m/s fudge
* fix sign of yaw rate
* interpolate detects size
* forgot OP flips the curvature sign. it matches yaw on can
* all my debugging crap
* make replay work for ford
* fix panda blocking messages (array is fixed size so size-1 is 0 rate at high speed)
* uncomment safety test limits
* revert
* round for zero blocked msgs
* fix limits
* meas safety checks that down rate is >=, not <
* test pass
* lots of comments and draft what one meas torque check would look like
* fix that
* add curvature meas
* add debugging stuff
* Revert "add debugging stuff"
This reverts commit 449783fc62.
* messy but at least one test passes now
* draft
* add max_steer
* some safety clean up
* and that
* start with a test that works
* another test that works (sort of, we need more strict panda safety without false positives)
* no max curvature check (not safety related), allow any rate limits
* add new function
* also need to consider max val here, since OP will send up to that
* and now use the function
* lower to 10
* compilation fixes
* clean up (no rate limiting)
* remove that too
* curvature diff test
* more clean up
* debug
* ?
* better names
* more official
* use _curvature_meas_msg_array here
* bit faster
* no i don't
* revert that
* why not just use angle_meas?
* bb ll
* bb deb
* clean up debug vals
* more
* revert replay drive debugging changes
* Update board/safety.h
* rm line
* only need to round the final thing
* not needed, under 10 ms
* make a class variable
* fix a misra?
* another misra?
better
* ?
* 12.1
* need to explicitly convert
* add one to not false trigger the violation (float rounding)
* not really needed
* rm line
* cmt
* use clamp
* rename
* in struct
* comment
* use max_limit_check
* draft clean up
* Revert "draft clean up"
This reverts commit d1a0e8acd1.
* make a global
make a global
* this is fine
* Add second speed
* 2.5 m/s is 9 kph, 4 kph is the max in the field
* add quality signal
* qf signal name
* comment
* checksum matches except it goes to zero when turning the car off despite counter still active
* update comments
* now test it
* spacing
* Update board/safety/safety_ford.h
* zzzz
* not needed
* whoops
* test vehicle state mismatch
* add to safety_helpers
* probably misra
* we might want to check it in both speed signals in case one doesn't exist on a car
* Revert "we might want to check it in both speed signals in case one doesn't exist on a car"
This reverts commit 3338931409.
* fix formatting
* 2 m/s (7 kph)
* set controls_allowed directly like other safety models
remove vehicle_state_mismatch
* obv
* Add second speed
* 2.5 m/s is 9 kph, 4 kph is the max in the field
* add quality signal
* qf signal name
* comment
* checksum matches except it goes to zero when turning the car off despite counter still active
* update comments
* now test it
* spacing
* Update board/safety/safety_ford.h
* zzzz
* not needed
* whoops
* test vehicle state mismatch
* add to safety_helpers
* probably misra
* we might want to check it in both speed signals in case one doesn't exist on a car
* Revert "we might want to check it in both speed signals in case one doesn't exist on a car"
This reverts commit 3338931409.
* fix formatting
* 2 m/s (7 kph)
* revert mismatch stuff
* cleanup and fix
* dos must stall
* clean those up
* fix misra
* more test
* fix import
* cleanup
---------
Co-authored-by: Comma Device <device@comma.ai>
* hitl fan test
* enable cooldown on dos as well
* small cleanup
* get expected RPM from panda class
* fix
* overshoot test
* fix max RPM getting
* fix percentage
* revert cooldown fix
* add cooldown for dos fan as well
* remove feedforward from the fan controller to eliminate overshoot
* update clip
* cleanup
* add that back
---------
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* added infotainment status to panda
* dont fwd infotainment status
* revert placeholder and add test case
* Fix test case
* gen2 only
* fix test case
* Revert "fix test case"
This reverts commit 8cc7579620.
* Revert "gen2 only"
This reverts commit 6a511a9976.
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* VW MQB: Cleanup HCA control message
* update opendbc ref
* revert this before merging
* MISRA
* revert Dockerfile to comma master
* reverted a little too much
* allow inactive accel values at all times
* cleaner
* unnecessary, done by default
* better comments
* move test to common class
* fix
* flip
* comment
* append 0 and INACTIVE_ACCEL to test accels + check acc_07 sends if inactive only
* cleanup
* fix that
* copy testing convention of VW and Honda
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* civic22_long
use long flag
* maybe?
* Update safety_honda.h
* revert the 0x1c8 addition
* init radarless safety check
* correct accel parsing
* add test class (WIP)
* remove current_controls_allowed
* Fix ACC_HUD
* patch
* Add missing safety to test name
* Pass irrelevant test
* move comment
* remove unused comments
* add comment to TestHondaBoschRadarlessSafety
* Fix message overlap
The "exceptions for common msgs across different hondas" fix does not seem to be working. Created another exception for TestHondaBoschRadarless based on the HondaNidec exception above
* Fix base
* remove comment
* remove buttons from LONG TX
* make a base Radarless test class
* can't remove them, since safety doesn't check bosch
* test accel limits
* test accel limits
* we can do the clean up in another pr
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: sshane <shane@smiskol.com>
* part 1 of clean up
* make it work and pass
* remove lta stuff
* remove commented lta tests
* more
* move test back to where it was
* rm line
* rename that
* fix that
* start to add LTA
* angle test
* fix tests and add base stock longitudinal class
* formatting
* clean that up
* convention
* add ALLOW_DEBUG
* adeeb
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* check checksum
* think pylint won't like this
* complete test
* do this
* no need
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* assert the other signals are zeroed
* add to tja function
* fix misra
* test
* should tx
* ?
* rm line
* up here
* Update tests/safety/test_ford.py
* faster
* adjust round
* no more magic
* bump version
* no need for this
* comment cleanup
* add comms_can_reset tests
* we can't ensure this for compatibility reasons
* add CANPacket_t checksum
* DAC POC
* change freq
* some cleanup
* wip: cleaning up and trying to use DMA
* no clue why this doesn't work
* this works
* wip multi-master i2c for fake siren
* cleanup and some more i2c stuff
* seems more stable
* retry disabling and cleanup force siren
* fix misra violations
* not needed
* messed up rebase
Co-authored-by: Comma Device <device@comma.ai>
* simple chunking
* make pylint happy
* misra happy?
* good practice anyways since we cast to a uint32_t later
* fix bug dropping packets
* minor fixes + prepare for shared lib testing
* working library now
* first queue test
* can send test
* fix running in github actions?
* add big rx test and fix it
* don't complain about empty buffers
* disable for now
* comment
* test runs
* some cleanup
* merge those
* test works
* rm that
* comment
* proper logging
* makes things too slow
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Need to check on bus 4 as well
* Fix 0x1a0 check race condition
* Update board/safety/safety_hyundai_canfd.h
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* panda for pc!
* little more
* fake panda
* move some more stuff
* increase timeout
* move that
* print helpers
* cleanup
* just move it for now
* revert jenkins changes
* do toyota, hyundai, gm
* comments
* honda draft
* Revert "honda draft"
This reverts commit a1f466a5c9.
* do tesla
* vw draft
* finish vw
* fix safety
* clean up
* fix function names
* do honda and fix safety test not checking pos accel for bosch
* clean that up
* cleanup external debug serial
* wip: bring up uart7
* more wip
* this does something
* this works
* increase fifo size
* fix misra
* cleanup
* fix misra again
* add SOM debug enum
* reduce SOM buffer on F4
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* rising edge of resume
* fix test
* comment
* todo fix tests
* fix test
* we want to test the transition from btn prev to btn cur, not unpressed to x to y
* range
* Revert "GM: enable on rising edge of resume (#1155)"
This reverts commit 5aa33e1b2f.
* allow set/resume to any other button (except cancel)
* explicit test
* This is a test of both PRs combined
* Revert "This is a test of both PRs combined"
This reverts commit c7fdc3b00c.
* fix test
* cleanup is_enumerated, rename comms and init spi
* big comms refactor, building now
* misra fixes
* more fixes
* misra try 3
* cleanup
* this belongs in a separate PR
* remove unneccesary file
* revert llspi changes
* llspi misra fix
* enable SPI on F4 and setup gpio
* duh
* wip: spi comms
* more spi wip
* dynamic sector erasing
* Revert "dynamic sector erasing"
This reverts commit fce1215a2e.
* more sectors to be erased
* debugging
* woah, this works
* cleanup on the panda side
* add sync and checksum checks, and fix recovery on errors
* this seems relatively stable
* add retrying
* this is stabler
* some endianness and endpoint fixes
* builds
* revert that
* add that back
* checksum start
* start splitting up driver
* spi behind flag
* cleanup test
* bump up timeout
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* GM camera: use ECM brake pressed bit
* back to ECMEngineStatus
* length 8
* common gmcamera class
* move to longitudinal base
* Revert "move to longitudinal base"
This reverts commit 67abe4c86b.
* fix
* HKG: Car Port for Genesis GV70 2023
* Revert "HKG: Car Port for Genesis GV70 2023"
This reverts commit 01bfda6dff.
* 0x1a0 rx check
* Wrong one oops
* Check 0x1a0 based on param
* no need
* getting a bit messy, clean up soon!
* clean up
* clean up
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* VW MQB: Longitudinal safety
* disregard ACC_13 for now
* abstraction cleanup
* fix long control flag name
* quick hack
* VW MQB: Cleanup message counter handling
* various cleanup
* try without ACC_04
* follow DBC updates
* bump Docker opendbc ref
* additional main switch and cancel handling/testing
* pacify linter
* style
* handle the overlap tests like HKG CANFD
* update replay route
* commonize elements between MQB and PQ
* Apply suggestions from code review
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* proper use of globals/conventions
* make these global
* this is better for now
* better comment on accel boundary scaling
* spelling error
* reset on init
* try bumping openpilot
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Allow brake TX on PT bus
* Initial Panda GM cam harness support
* Complete rewrite / simplification
* Add param for cam harness (default is OBD2)
- Forward btw 0 and 2
- Filter LKAS and optionally ACC from cam
* Add param for stock ACC
- Allows ACC on PT bus when set, not otherwise
- Allows ACC from cam when set, not otherwise
* Add temporary WIP EPS timing workaround in ifdef
* Remove keepalive; regen == braking
* Fix MISRA violations
* EPS timing opt-in by param
* Minor clean up
* remove timing code for readability
fix and formatting
* we only need to send one message if cam harness and stock long
* Simplify params
* Removed dup brake msg
* revised params, split 3-ways
* add test
* clean up a bit, no need to send ACC yet
like this
* split out button enable and pcm enable into seperate tests
* some formatting
some formatting
* GM CAM uses PCM cruise for controls_allowed
* fix gas safety tests
* misra
* fix static analysis
comment
* fix brake pressed
* Add OP VOACC override stock cam
* Add VOACC safetyparam to init.py
* openpilot long safety
* do this in another PR
* add back
* add safety tests
* rename
* struct for safety
* not used
* temporary fault fix
* adjust max gas
* allow PSCMStatus in long mode
* stash
* fix max gas
* fix and clean up tests
* clean up longitudinal tests into a common class
* fix pylint
* subclass
* clean that up
* rm
* blocking
* comment
* comment
* lower case
* brake bus
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* h90d safety
* quicker rate
* update comment
* support multi frames?
* stash
* stash
* might work?
* stash
* clean up
* revert that
* add test
* fixup tests
* clean up
* remove test
* try to combine tests
* Revert "try to combine tests"
This reverts commit f147955b94.
* seems simpler
* more explicit
* shouldn't be needed
* no hyundai stuff
* no line
* consecutively
* comment
* comment
* comment
* revert
* comment
* check earlier
check earlier
* ensure we don't set a negative value
* add todo comments
* for loop
* Match openpilot brake check
* comment
* simple
* Update test
* doesn't take an int
* msg varies in size by platform
* 2 extra bytes of zeros on Escalade
* label platforms
* space
* allow sending steering buttons msg to camera
The DBC lists both the IPMA and PCM as receiving modules for the `CcAslButtnCnclPress` and `CcAsllButtnResPress` signals used to cancel/resume ACC.
Sending resume to both buses is confirmed to work by three testers, now it's just down to tweaking openpilot to get high reliability.
* add test for both buses
* only send TJA to bus 2
* it was only checking a specific bit
* same check as openpilot
* reset on init
* unsigned
* should fix conflicts
* common
* comment
* Add missing function
* Tests
* the alternative is a mess
typo
typo
* draft
* finish common
* works but you need RegenSafetyTest before all other classes
* Revert "works but you need RegenSafetyTest before all other classes"
This reverts commit 256f3be9a8.
* This works too
* need parameterized, subtests nor super() calls correctly reset state
* Fix test and comment
* comment
* another fix...
* subclass
* ABC
* order
* fix static analysis
* can do this
* Revert "can do this"
This reverts commit 6bc63a345a.
* this is nicer, no pylint errors
* Update tests/safety/common.py
* underscore
* dynamically detect and add tests
* simpler
* only for safety modes with a regen message
* check attr
* Revert "check attr"
This reverts commit bc37a7eedd.
* need to check at test time not class init time
* temporarily disable Jenkins
* firmware
* python lib
* tests
* ..
* usb load switch to high
* it is still red
* usb power mode remove
* Revert "temporarily disable Jenkins"
This reverts commit a911cfad8d.
* forgot this
* common periph
* change name
* board tick
* add V2 to CI
* update known bootstub
Adeeb Shihadeh
Shane Smiskol
Justin Newberry
Robbe Derks
Cameron Clough
Igor Biletskyy
Justin Newberry
Igor Biletksyy
Jason Young
Vivek Aithal
royjr
Vincent Wright
Comma Device
Willem Melching
Jason Wen
hoomoose
Jason Shuler
Greg Hogan