From e46d93067e3c8c069e0eaf94780dd3777bb112a7 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 25 Sep 2024 21:30:55 -0400 Subject: [PATCH 01/44] bump submodules --- opendbc_repo | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index bda4ad475aaf7a..521d8ff7d61746 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit bda4ad475aaf7a92f677ac2d50b6b7af0ffdf5fc +Subproject commit 521d8ff7d617466c0efc11cbaa2febc9f0069dda diff --git a/panda b/panda index 2037a2ead7257d..38cab7d5017d3d 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2037a2ead7257deadf6165734fd19b9b87de6eb7 +Subproject commit 38cab7d5017d3d4bdafd4ebd14f42ba427df4fbc From 4f45d0119e5e50d081b9f247a6c7053c6e9fabee Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 25 Sep 2024 22:06:35 -0400 Subject: [PATCH 02/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 521d8ff7d61746..c7c421cd6cd84f 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 521d8ff7d617466c0efc11cbaa2febc9f0069dda +Subproject commit c7c421cd6cd84f492448e107a7b239c935706319 From 7bf60fb35cbf7442f299c3db774b09acabf08af9 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 25 Sep 2024 22:07:17 -0400 Subject: [PATCH 03/44] from @pd0wm commaai/openpilot#31179 --- cereal/car.capnp | 2 ++ common/params.cc | 1 + 2 files changed, 3 insertions(+) diff --git a/cereal/car.capnp b/cereal/car.capnp index 6af474c0eea8ba..441f58902a10f3 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -515,6 +515,8 @@ struct CarParams { wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds + secOCKey @75 :Data; + struct SafetyConfig { safetyModel @0 :SafetyModel; safetyParam @3 :UInt16; diff --git a/common/params.cc b/common/params.cc index c75a09e28bdc99..dc1fb835a6827c 100644 --- a/common/params.cc +++ b/common/params.cc @@ -182,6 +182,7 @@ std::unordered_map keys = { {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet + {"SecOCKey", PERSISTENT}, {"RouteCount", PERSISTENT}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, From 28cfb6dc3b091fa8c8dda8a6fc44f53dc384ec05 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 25 Sep 2024 22:28:37 -0400 Subject: [PATCH 04/44] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 38cab7d5017d3d..688c4e4bbbd0ad 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 38cab7d5017d3d4bdafd4ebd14f42ba427df4fbc +Subproject commit 688c4e4bbbd0ad97ff164f56e418c4b3527b4d68 From faf27848695a5a4d4503a21a3dbb5ebd08e427a6 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 25 Sep 2024 22:36:46 -0400 Subject: [PATCH 05/44] we did need that flag rename --- opendbc_repo | 2 +- selfdrive/test/process_replay/migration.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index c7c421cd6cd84f..426038a2689f81 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c7c421cd6cd84f492448e107a7b239c935706319 +Subproject commit 426038a2689f8137ea934c0d640ee5370d1c861d diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 9c680ada9a02e1..fa1bf22b0f82a2 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -188,7 +188,7 @@ def migrate_pandaStates(lr): # TODO: safety param migration should be handled automatically safety_param_migration = { "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE, + "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE_224, "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, } From 1dd1b145e11977afb05522b9f31bbbdc131e8187 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 25 Sep 2024 23:27:16 -0400 Subject: [PATCH 06/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 426038a2689f81..d1ead9ee2dd2f2 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 426038a2689f8137ea934c0d640ee5370d1c861d +Subproject commit d1ead9ee2dd2f29ccf816f35eab656f57ed654bb From bb3c508e2985a86dd4fb8aad4b28a680a0804a59 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Thu, 26 Sep 2024 13:04:17 -0400 Subject: [PATCH 07/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index d1ead9ee2dd2f2..4ee6ee2b699b5e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d1ead9ee2dd2f29ccf816f35eab656f57ed654bb +Subproject commit 4ee6ee2b699b5e082d4a681f7f2fadbe7451a588 From 8f2ad30edfe29c8d69e2ed1aeba0e5937bfe2b49 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 11:37:58 -0400 Subject: [PATCH 08/44] bump submodules --- opendbc_repo | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 4ee6ee2b699b5e..cf8b5b03436956 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4ee6ee2b699b5e082d4a681f7f2fadbe7451a588 +Subproject commit cf8b5b03436956f68de9450a6205da4dd995c9e1 diff --git a/panda b/panda index 688c4e4bbbd0ad..4c023d14a05e18 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 688c4e4bbbd0ad97ff164f56e418c4b3527b4d68 +Subproject commit 4c023d14a05e18c3b0addf084e02535c64ce7158 From c8a325c0d27553d14538e21d7cf406240da60599 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 12:06:23 -0400 Subject: [PATCH 09/44] remove the SecOC key from CarParams --- cereal/car.capnp | 2 -- 1 file changed, 2 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 441f58902a10f3..6af474c0eea8ba 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -515,8 +515,6 @@ struct CarParams { wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds - secOCKey @75 :Data; - struct SafetyConfig { safetyModel @0 :SafetyModel; safetyParam @3 :UInt16; From 52d472c7c3254bf0f6bf2a79231cdaf74179ee2a Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 12:08:12 -0400 Subject: [PATCH 10/44] don't log contents of SecOCKey Param --- common/params.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/params.cc b/common/params.cc index dc1fb835a6827c..9e62ed582caba7 100644 --- a/common/params.cc +++ b/common/params.cc @@ -182,7 +182,7 @@ std::unordered_map keys = { {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet - {"SecOCKey", PERSISTENT}, + {"SecOCKey", PERSISTENT | DONT_LOG}, {"RouteCount", PERSISTENT}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, From f1568cbccd90cbd2f8cf67828f593410cfb26a8b Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 12:54:47 -0400 Subject: [PATCH 11/44] read and set secoc_key from card --- selfdrive/car/card.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 62569f64f5318d..bf8c283ceab054 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -111,6 +111,16 @@ def __init__(self, CI=None, RI=None) -> None: self.CI, self.CP = CI, CI.CP self.RI = RI + # TODO: additional read-time validation of key length and format + secoc_key = self.params.get("SecOCKey", encoding='utf8') + if secoc_key is None: + secoc_key = "0" * 32 + self.secoc_key = bytes.fromhex(secoc_key.strip()) + + # TODO: seems a bit abstraction-breaking, but required if not putting the key in CarParams, and not touching every port + self.CI.CS.secoc_key = self.secoc_key + self.CI.CC.secoc_key = self.secoc_key + # set alternative experiences from parameters self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 From 520fe8a81b866747965f464e1d180fe981e0e4ff Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 12:54:53 -0400 Subject: [PATCH 12/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index cf8b5b03436956..c72a998046be4e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit cf8b5b03436956f68de9450a6205da4dd995c9e1 +Subproject commit c72a998046be4ecfd0aad6ae50c20cd625ac01f6 From 199e63245e71ba9e641be9f3345a3ab710665ce9 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 14:26:12 -0400 Subject: [PATCH 13/44] better init flow --- selfdrive/car/card.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index bf8c283ceab054..95677b688d0017 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -111,15 +111,13 @@ def __init__(self, CI=None, RI=None) -> None: self.CI, self.CP = CI, CI.CP self.RI = RI + # TODO: any better way to pass down? a bit abstraction-breaking, but keeps key out of CarParams, and doesn't touch every car port # TODO: additional read-time validation of key length and format secoc_key = self.params.get("SecOCKey", encoding='utf8') - if secoc_key is None: - secoc_key = "0" * 32 - self.secoc_key = bytes.fromhex(secoc_key.strip()) - - # TODO: seems a bit abstraction-breaking, but required if not putting the key in CarParams, and not touching every port - self.CI.CS.secoc_key = self.secoc_key - self.CI.CC.secoc_key = self.secoc_key + if secoc_key is not None: + saved_secoc_key = bytes.fromhex(secoc_key.strip()) + self.CI.CS.secoc_key = saved_secoc_key + self.CI.CC.secoc_key = saved_secoc_key # set alternative experiences from parameters self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") From 8c7075dae7d371575216c8924c53a32e2552b3fa Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 14:26:17 -0400 Subject: [PATCH 14/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index c72a998046be4e..33ea1d1d7214d8 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c72a998046be4ecfd0aad6ae50c20cd625ac01f6 +Subproject commit 33ea1d1d7214d854e2229f201a7c17e1e91597de From bbd41578f132461cd357d38e8a20fa1d56e70b17 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 14:32:25 -0400 Subject: [PATCH 15/44] saved SecOC key validation --- selfdrive/car/card.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 95677b688d0017..1f388fb558524f 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -112,12 +112,14 @@ def __init__(self, CI=None, RI=None) -> None: self.RI = RI # TODO: any better way to pass down? a bit abstraction-breaking, but keeps key out of CarParams, and doesn't touch every car port - # TODO: additional read-time validation of key length and format secoc_key = self.params.get("SecOCKey", encoding='utf8') if secoc_key is not None: saved_secoc_key = bytes.fromhex(secoc_key.strip()) - self.CI.CS.secoc_key = saved_secoc_key - self.CI.CC.secoc_key = saved_secoc_key + if len(saved_secoc_key) != 16: + cloudlog.warning("Saved SecOC key is invalid") + else: + self.CI.CS.secoc_key = saved_secoc_key + self.CI.CC.secoc_key = saved_secoc_key # set alternative experiences from parameters self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") From dfdbe1b7baea27e6e85139c4d204b0c0423b7edd Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 14:33:38 -0400 Subject: [PATCH 16/44] concise --- selfdrive/car/card.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 1f388fb558524f..d782d03d23f58a 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -118,8 +118,7 @@ def __init__(self, CI=None, RI=None) -> None: if len(saved_secoc_key) != 16: cloudlog.warning("Saved SecOC key is invalid") else: - self.CI.CS.secoc_key = saved_secoc_key - self.CI.CC.secoc_key = saved_secoc_key + self.CI.CS.secoc_key = self.CI.CC.secoc_key = saved_secoc_key # set alternative experiences from parameters self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") From f56454885d565c2cb6b5be61514cbe6b72b85009 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 14:39:48 -0400 Subject: [PATCH 17/44] CarParams.SecurityConfig --- cereal/car.capnp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/cereal/car.capnp b/cereal/car.capnp index 6af474c0eea8ba..3ccc551058ccd8 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -515,6 +515,8 @@ struct CarParams { wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds + securityConfig @75 :SecurityConfig; # Requirement and enablement of AUTOSAR Secure Onboard Communication + struct SafetyConfig { safetyModel @0 :SafetyModel; safetyParam @3 :UInt16; @@ -522,6 +524,11 @@ struct CarParams { safetyParam2DEPRECATED @2 :UInt32; } + struct SecurityConfig { + secOcRequired @0 :Bool; + secOcKeyAvailable @1 :Bool; + } + struct LateralParams { torqueBP @0 :List(Int32); torqueV @1 :List(Int32); From 38fce50dd29998486161d81ae837ff302f881629 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 16:23:37 -0400 Subject: [PATCH 18/44] de-bump panda --- panda | 2 +- selfdrive/car/card.py | 22 +++++++++++++--------- 2 files changed, 14 insertions(+), 10 deletions(-) diff --git a/panda b/panda index 4c023d14a05e18..688c4e4bbbd0ad 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 4c023d14a05e18c3b0addf084e02535c64ce7158 +Subproject commit 688c4e4bbbd0ad97ff164f56e418c4b3527b4d68 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index d782d03d23f58a..2556f0f760661a 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -111,15 +111,6 @@ def __init__(self, CI=None, RI=None) -> None: self.CI, self.CP = CI, CI.CP self.RI = RI - # TODO: any better way to pass down? a bit abstraction-breaking, but keeps key out of CarParams, and doesn't touch every car port - secoc_key = self.params.get("SecOCKey", encoding='utf8') - if secoc_key is not None: - saved_secoc_key = bytes.fromhex(secoc_key.strip()) - if len(saved_secoc_key) != 16: - cloudlog.warning("Saved SecOC key is invalid") - else: - self.CI.CS.secoc_key = self.CI.CC.secoc_key = saved_secoc_key - # set alternative experiences from parameters self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 @@ -136,6 +127,19 @@ def __init__(self, CI=None, RI=None) -> None: safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] + secoc_key = self.params.get("SecOCKey", encoding='utf8') + if secoc_key is not None: + saved_secoc_key = bytes.fromhex(secoc_key.strip()) + if len(saved_secoc_key) == 16: + security_config = structs.CarParams.SecurityConfig() + security_config.secOcKeyAvailable = True + self.CP.securityConfig = security_config + self.CI.CS.secoc_key = saved_secoc_key + if controller_available: + self.CI.CC.secoc_key = saved_secoc_key + else: + cloudlog.warning("Saved SecOC key is invalid") + # Write previous route's CarParams prev_cp = self.params.get("CarParamsPersistent") if prev_cp is not None: From 72d75cdbd9ccc0030318290373fec6a10b452b0b Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 16:24:32 -0400 Subject: [PATCH 19/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 33ea1d1d7214d8..8d6a9be4a0b6d8 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 33ea1d1d7214d854e2229f201a7c17e1e91597de +Subproject commit 8d6a9be4a0b6d8b85a86409da3996a26cbadf28b From 012e3acc2405408b014b5528c382c35db9909672 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 16:37:21 -0400 Subject: [PATCH 20/44] cleanup, pass only if required --- selfdrive/car/card.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 2556f0f760661a..92b1046756ad2d 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -130,10 +130,8 @@ def __init__(self, CI=None, RI=None) -> None: secoc_key = self.params.get("SecOCKey", encoding='utf8') if secoc_key is not None: saved_secoc_key = bytes.fromhex(secoc_key.strip()) - if len(saved_secoc_key) == 16: - security_config = structs.CarParams.SecurityConfig() - security_config.secOcKeyAvailable = True - self.CP.securityConfig = security_config + if len(saved_secoc_key) == 16 and self.CP.securityConfig.secOcRequired: + self.CP.securityConfig.secOcKeyAvailable = True self.CI.CS.secoc_key = saved_secoc_key if controller_available: self.CI.CC.secoc_key = saved_secoc_key From f4a3321e2994be195e355a877c428ffaae6fa7ff Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 16:42:31 -0400 Subject: [PATCH 21/44] add startup event for missing SecOC key --- selfdrive/selfdrived/events.py | 6 ++++++ selfdrive/selfdrived/selfdrived.py | 2 ++ 2 files changed, 8 insertions(+) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 9ed1b454f0f2d6..187721588e49fd 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -382,6 +382,12 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"), }, + EventName.startupNoSecOcKey: { + ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + "Security Key Not Available", + priority=Priority.LOWEST), + }, + EventName.dashcamMode: { ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", priority=Priority.LOWEST), diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 18ac61dec81450..bae51c195e4496 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -118,6 +118,8 @@ def __init__(self): self.startup_event = EventName.startupNoCar elif car_recognized and self.CP.passive: self.startup_event = EventName.startupNoControl + elif self.CP.securityConfig.secOcRequired and not self.CP.securityConfig.secOcKeyAvailable: + self.startup_event = EventName.startupNoSecOcKey if not sounds_available: self.events.add(EventName.soundsUnavailable, static=True) From 4d4f46e48158f849bdfc425a9fff396d70520fd8 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 16:43:41 -0400 Subject: [PATCH 22/44] comment tweak --- cereal/car.capnp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 3ccc551058ccd8..7b1d8058b40e14 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -515,7 +515,7 @@ struct CarParams { wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds - securityConfig @75 :SecurityConfig; # Requirement and enablement of AUTOSAR Secure Onboard Communication + securityConfig @75 :SecurityConfig; # Requirement and setup info for AUTOSAR Secure Onboard Communication struct SafetyConfig { safetyModel @0 :SafetyModel; From fd56081a1ed64dc0e96303404edef3a64f965921 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 16:45:04 -0400 Subject: [PATCH 23/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 8d6a9be4a0b6d8..5a686d7612e654 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 8d6a9be4a0b6d8b85a86409da3996a26cbadf28b +Subproject commit 5a686d7612e654a520f8245479374cca2a56852c From 2ba9b7a6290e3d26dcb12800900c3b9888efba36 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 17:32:53 -0400 Subject: [PATCH 24/44] add capnp entry for startupNoSecOcKey --- cereal/car.capnp | 1 + 1 file changed, 1 insertion(+) diff --git a/cereal/car.capnp b/cereal/car.capnp index 7b1d8058b40e14..a3c67e8bfe4ff9 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -87,6 +87,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 { startup @75; startupNoCar @76; startupNoControl @77; + startupNoSecOcKey @125; startupMaster @78; fcw @79; steerSaturated @80; From f3289fe02e4f12eac710b15cd8c907be987f0e5b Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 17:40:43 -0400 Subject: [PATCH 25/44] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 688c4e4bbbd0ad..473dde0880a721 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 688c4e4bbbd0ad97ff164f56e418c4b3527b4d68 +Subproject commit 473dde0880a721b9e3bfe866f45a23f5c83f4f95 From 9cbd952460cc687d56bf9dd2cf1c5610a5848a64 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 30 Sep 2024 17:58:17 -0400 Subject: [PATCH 26/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 51b78bc81bcc7c..00b4ea23eb868f 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 51b78bc81bcc7cd86cea874e4ca95694ca709a7a +Subproject commit 00b4ea23eb868f1cba4d57f3fbfce7cfb30a5334 From 93a31c117dd835116864c84b042b014f9a4e8cb5 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 1 Oct 2024 11:33:22 -0400 Subject: [PATCH 27/44] need priority over underlying LKA fault --- selfdrive/selfdrived/events.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 187721588e49fd..29b1933701fba2 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -385,7 +385,7 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging EventName.startupNoSecOcKey: { ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", "Security Key Not Available", - priority=Priority.LOWEST), + priority=Priority.HIGH), }, EventName.dashcamMode: { From 7a4eac215c8dcd558fc5c583a1d9523783de4c31 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 1 Oct 2024 12:30:15 -0400 Subject: [PATCH 28/44] diff reduction: won't need the flag rename --- opendbc_repo | 2 +- panda | 2 +- selfdrive/test/process_replay/migration.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 00b4ea23eb868f..817bc9386b6372 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 00b4ea23eb868f1cba4d57f3fbfce7cfb30a5334 +Subproject commit 817bc9386b63727d7d5caf887175e8a457c1be4d diff --git a/panda b/panda index 473dde0880a721..bee837111e3f18 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 473dde0880a721b9e3bfe866f45a23f5c83f4f95 +Subproject commit bee837111e3f18854755767987f59d19d617e15e diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index fa1bf22b0f82a2..9c680ada9a02e1 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -188,7 +188,7 @@ def migrate_pandaStates(lr): # TODO: safety param migration should be handled automatically safety_param_migration = { "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE_224, + "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE, "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, } From ace0ba364e62d011d59e5a0219ff536c2b0ac1c6 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 1 Oct 2024 16:35:25 -0400 Subject: [PATCH 29/44] bump opendbc and panda --- opendbc_repo | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 817bc9386b6372..b0251079165d12 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 817bc9386b63727d7d5caf887175e8a457c1be4d +Subproject commit b0251079165d1289b0f1bfc1a79948660f96731d diff --git a/panda b/panda index bee837111e3f18..7e03604eca8745 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit bee837111e3f18854755767987f59d19d617e15e +Subproject commit 7e03604eca8745238ff3e69f0c6a37f46d985520 From d8f42f8b8d8506989cca29bcb456e6ea01914cb3 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 1 Oct 2024 20:16:07 -0400 Subject: [PATCH 30/44] bump submodules --- opendbc_repo | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index b0251079165d12..c431924505a296 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b0251079165d1289b0f1bfc1a79948660f96731d +Subproject commit c431924505a29683810f2f8b5ed5b7572e91b5fe diff --git a/panda b/panda index 7e03604eca8745..f01d273d2758cf 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 7e03604eca8745238ff3e69f0c6a37f46d985520 +Subproject commit f01d273d2758cfaffb7bdd9ef7aa83a67fcb1b96 From b1b8f3c4706761b6516d72befbe70583724c545e Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 1 Oct 2024 20:35:22 -0400 Subject: [PATCH 31/44] bump submodules --- opendbc_repo | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index c431924505a296..bb88b75678d0f5 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c431924505a29683810f2f8b5ed5b7572e91b5fe +Subproject commit bb88b75678d0f58ee706f870b52218185d7324dd diff --git a/panda b/panda index f01d273d2758cf..f3cd7e6a4f97d3 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit f01d273d2758cfaffb7bdd9ef7aa83a67fcb1b96 +Subproject commit f3cd7e6a4f97d3d03cc6160781d242deb3dc3246 From d5bf1d07746ceab2d9c9859e07fc0464cd492c80 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 1 Oct 2024 20:48:56 -0400 Subject: [PATCH 32/44] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index f3cd7e6a4f97d3..7b0a20cd8c59b4 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit f3cd7e6a4f97d3d03cc6160781d242deb3dc3246 +Subproject commit 7b0a20cd8c59b43001717eb97b07944e8e1629ec From e5dd4352efa0b9c50926c08d6e89eed02b1faeef Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 1 Oct 2024 21:57:55 -0400 Subject: [PATCH 33/44] bump submodules --- opendbc_repo | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index bb88b75678d0f5..cff9a8e6a96c1c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit bb88b75678d0f58ee706f870b52218185d7324dd +Subproject commit cff9a8e6a96c1c6e596c21c111f9be973df783f3 diff --git a/panda b/panda index 7b0a20cd8c59b4..b3cb0d31fe21ab 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 7b0a20cd8c59b43001717eb97b07944e8e1629ec +Subproject commit b3cb0d31fe21aba26a391b2c6392eee39f3efeb1 From 97443d8a079340fa0f345cece56f4fa6d5d89a75 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 1 Oct 2024 22:10:52 -0400 Subject: [PATCH 34/44] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index b3cb0d31fe21ab..d5af11de60d827 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b3cb0d31fe21aba26a391b2c6392eee39f3efeb1 +Subproject commit d5af11de60d827b56c920b90863f470cc6e91aae From c03b04bea3b9b0e5d0b473f9cf60cd6a807d3fec Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 1 Oct 2024 22:26:22 -0400 Subject: [PATCH 35/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index cff9a8e6a96c1c..cbee424919d70e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit cff9a8e6a96c1c6e596c21c111f9be973df783f3 +Subproject commit cbee424919d70e23ead686a237466e84f93db705 From d70a0ff35fd8854fc892cd50078a246a6b444077 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 2 Oct 2024 13:01:06 -0400 Subject: [PATCH 36/44] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index d5af11de60d827..b07f9002679f4b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d5af11de60d827b56c920b90863f470cc6e91aae +Subproject commit b07f9002679f4b48424a3f111cc37cb44a5d77b2 From 5d31e0046c07b7305489466e9a5abd03784ff175 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 2 Oct 2024 14:42:20 -0400 Subject: [PATCH 37/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index cbee424919d70e..7b7433ee65e61e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit cbee424919d70e23ead686a237466e84f93db705 +Subproject commit 7b7433ee65e61e585bd61b4fd9d3f2dbef8dc306 From 2f351624110a4c4f4e754862e4e835b66ccb1148 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 2 Oct 2024 16:29:31 -0400 Subject: [PATCH 38/44] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index b07f9002679f4b..c027a6a8001ef0 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b07f9002679f4b48424a3f111cc37cb44a5d77b2 +Subproject commit c027a6a8001ef06b3eb9dee6b6e9e6cbb1aa27b5 From b2e39d539fd831be7a363b423a40199122599c24 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Thu, 3 Oct 2024 12:56:51 -0400 Subject: [PATCH 39/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 7b7433ee65e61e..8f8b9469b82051 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 7b7433ee65e61e585bd61b4fd9d3f2dbef8dc306 +Subproject commit 8f8b9469b8205100ecf51bf5f14617ed6207da19 From 320fcc93c47b071c4a4ca2b3b07a1ea545c33918 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Thu, 3 Oct 2024 14:37:59 -0400 Subject: [PATCH 40/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 8f8b9469b82051..4be69e7c912047 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 8f8b9469b8205100ecf51bf5f14617ed6207da19 +Subproject commit 4be69e7c912047804c2ec85858a78f14f4f7fa62 From b5391ee37c2aede1c838138e8af39505aad5adbb Mon Sep 17 00:00:00 2001 From: Jason Young Date: Thu, 3 Oct 2024 18:04:30 -0400 Subject: [PATCH 41/44] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index c027a6a8001ef0..f9102bc1fac65b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c027a6a8001ef06b3eb9dee6b6e9e6cbb1aa27b5 +Subproject commit f9102bc1fac65b70b9159f74c158dcc26d9207c6 From 876a3cbbee5b783c37b15fe219a9a9bbfa1360b9 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Fri, 4 Oct 2024 01:21:08 -0400 Subject: [PATCH 42/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 4be69e7c912047..d062650c8b64dd 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4be69e7c912047804c2ec85858a78f14f4f7fa62 +Subproject commit d062650c8b64dd2ae6e305be9b27f372c7dfb739 From 88af43ace42e33e75558c9e9bb4e0105335fff2d Mon Sep 17 00:00:00 2001 From: Jason Young Date: Fri, 4 Oct 2024 14:26:49 -0400 Subject: [PATCH 43/44] bump panda to master --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index f9102bc1fac65b..abdc41856b62cc 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit f9102bc1fac65b70b9159f74c158dcc26d9207c6 +Subproject commit abdc41856b62cc269e63374354f132dc168c28b4 From 0248bd5604d1073d153702e40edf182e004db899 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Fri, 4 Oct 2024 19:40:17 -0400 Subject: [PATCH 44/44] bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index d062650c8b64dd..201ff2daa96314 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d062650c8b64dd2ae6e305be9b27f372c7dfb739 +Subproject commit 201ff2daa96314c0bd134487e3d997af4e86cb73