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Merge branch 'master-09052023' into dev-priv/master
* pre-commit: autoupdate hooks (commaai#1536) * Update pre-commit hook versions * fix --------- Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com> * debug endpoint for custom clock source period (commaai#1538) * debug endpoint for custom clock source period * cleanup --------- Co-authored-by: Comma Device <device@comma.ai> * Force relay drive (commaai#1539) force drive Co-authored-by: Comma Device <device@comma.ai> * Stable ADC on H7 (commaai#1540) * 256x oversampling * reduce to 128x * fix misra --------- Co-authored-by: Comma Device <device@comma.ai> * Harness tick at 8Hz (commaai#1541) harness tick at 8Hz Co-authored-by: Comma Device <device@comma.ai> * Subaru: cleanup panda logic (commaai#1543) cleanup subaru * Honda: remove duplicated relay transition time check (commaai#1544) already checked * cleanup build, prep for jungle (commaai#1549) * cleanup build, prep for jungle * cleanup * update pedal obj path * fix paths when building with different SConstruct * Move CanHandle to python/ (commaai#1550) * panda jungle (commaai#1547) * mv jungle * match pedal style * fix linter * fix fw path * fix paths * safety! * cleanup old pedal stuff (commaai#1552) * cleanup bus count constant * jungle: SBU provisioning tests (commaai#1553) * jungle: SBU provisioning tests * update can_send * cleanup * fix misra * space * Subaru: Add measured steering angle and vehicle speed (commaai#1528) * correct vehicle speed and add measured angle * misra * misra * common test for angle * PR cleanup * use subaru prefix * clean it up a bit * minimize whitespace diff * need float for deg_to_can * Safety: Add desired angle to safety helpers (commaai#1554) add desired angle * CI: reflash jungle (commaai#1546) * more complete jungle reflash (commaai#1557) * more complete jungle reflash * no spi! * mv flash * mv that * libpanda: silence build warning * jungle: disable transceivers while doing CAN multiplexing (commaai#1555) * init * keep unneeded trans off --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * python: fast reconnect (commaai#1558) * python: replace warning with logging * In-circuit debugging (commaai#1560) * openocd script and readme * do not disable SWD on boot * finish esp/gps removal (commaai#1559) * pedal: fix warning on invalid serial (commaai#1563) * pedal: fix warning on invalid serial * fix * fix: * shouldn't need that * fix --------- Co-authored-by: Bruce Wayne <batman@comma.ai> * switch to ruff linter (commaai#1564) * switch to ruff linter * cleanup * ruff: enable bugbear checks (commaai#1565) * misc hitl test cleanup (commaai#1562) * misc hitl test cleanup * adjust that * update * tres fix --------- Co-authored-by: Bruce Wayne <batman@comma.ai> Co-authored-by: Comma Device <device@comma.ai> * run HITL tests in parallel (commaai#1566) * seems to work * cleanup * run in ci * fail on first * fix jungle scope --------- Co-authored-by: Bruce Wayne <batman@comma.ai> * don't try to reflash bootstub when reconnecting * Subaru: convert measured angle to centigrees (commaai#1567) convert to centigrees * set OBD to False after test (commaai#1568) * reset OBD after test * add comment * panda: disable transceivers while doing CAN multiplexing (commaai#1556) init * remove safety replay test (commaai#1569) * jungle: add back set_can_sinent() (commaai#1571) init * CI: bump up safety test timeout * panda: add CAN-FD throughput test (commaai#1572) init * GM: clean up longitudinal safety test (commaai#1573) * clean up gm long safety test * move to long base * common brake * GM: move more longitudinal related function into class (commaai#1574) move these into the long test * Safety: generic limit safety check (commaai#1575) * generic limit safety check * fix messagefunction * Safety Tests: Create common gas brake safety test (commaai#1537) * create common gas brake safety test * remove unrelated subaru reference * also test below min_value * better name and hardcoded * use same as acceleration limits * revert gm * remove callable * added common brake test and moved generic test to base safety class * remove duplicate test * wip * wip * rename longitudinalaccelsafety * revert limits correct test * fix controls allowed test * move gm over to long gas brake test * assert that limits are reasonable * fix typing * fix linter again * fix linter again * fix linter again * like to make it clear * typo * fix from merge * clearer names * dont need thesemore --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * Subaru: cancel safety (commaai#1576) * subaru cancel safety * misra * Safety: alternate longitudinal limits (commaai#1577) alt limits * Ruff: propgate config from OP (commaai#1579) * Subaru: prepare tests for long and angle control (commaai#1580) * prepare tests for long and angle control * fix names * jungle: add pin header control (commaai#1581) * init * style * clean + gpio output * safety tests: test one of each MCU type * pre-commit: autoupdate hooks (commaai#1582) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com> * Safety: Rename alt transmission rpm (commaai#1583) * renamre transmision rpm * consistent whitespace * rename declarations too * Subaru: Global gen1 longitudinal safety (commaai#1500) * Add subaru long TX and RX messages * misra c2012 fix * fix tests * Reorder signals * increase max steering torque * merge fix * merge fix, remove cnt from test * Move subaru logitudinal behind flag, add safety test * update subaru_longitudinal checks * cleanup * Add subaru longitudinal checks * misra fix * Add subaru rpm and throttle rate limit checks * temporary disable cruise throttle and cruise rpm checks * update subaru long test * update longitudinal safety and add tests * fix tests * fix misra * subaru long signals limits checks * Add controls_allowed to long tests * remove unused variables * Add AEB passthru and tests * Add bus * Update AEB logic * Add GEN2 AEB support * syntax fix * Update AEB tests * Add comment for subaru_aeb * Do not check cruise_throttle and cruise_rpm limits when gas pressed * use long limits struct * Subaru: longitudinal checks only when controls_allowed, use ES_LKAS_State LKAS_Alert for AEB * fix misra, set controls_allowed for es_brake test * fix misra * Fix es_brake violation check * Add 0x323 to longitudinal test * Remove stock fcw from aeb signals * Use GET_BYTES * Revert "export FW_PATH" This reverts commit 2a5058d. * Revert "cleanup fw filename conventions (commaai#1434)" This reverts commit 4dd2735. * Revert "Revert "export FW_PATH"" This reverts commit 86e8d32. * Revert "Revert "cleanup fw filename conventions (commaai#1434)"" This reverts commit 5aae671. * cleaned up safety * cleanup subaru long safety * subaru_aeb -> stock_aeb for other platforms * fix unittests * pretty * need to upload this route * remove AEB stuff for now * remove unrequired rpm checks * add comment * added comment about acceleration and use throttle limit for rpm too * inactive_throttle_fix * Update board/safety/safety_subaru.h Co-authored-by: Shane Smiskol <shane@smiskol.com> * added comments about long limits * increase max brake * revert that * cleanup * rename throttle to gas * add safety replay * remove todo * rename throttle to gas * move subaru stuff out of common test * PR cleanup * added min gas * reduce initial complexity by not intercepting cruisecontrol or brake_status * create common gas brake safety test * remove unrelated subaru reference * also test below min_value * fix fwd hook test * better name and hardcoded * use same as acceleration limits * revert gm * remove callable * also limit rpm * remove safety replay for now * revert unrelated changes * pr cleanup * remove unused gasbrake safety test * fix ruff linter * PR cleanup * pr cleanup? * added common brake test and moved generic test to base safety class * remove duplicate test * wip * wip * rename longitudinalaccelsafety * revert limits correct test * fix controls allowed test * move gm over to long gas brake test * assert that limits are reasonable * fix typing * fix linter again * fix linter again * fix linter again * like to make it clear * typo * fix from merge * clearer names * dont need thesemore * subaru: use common test * fix merge issue * inactive gas from long limits * fix tests * linter * fix gen2 * fix linter * also test torque when doing long control * renamre transmision rpm * consistent whitespace * rename declarations too * rename transmission rpm * same line * actually is transmission rpm --------- Co-authored-by: Martin Lillepuu <martin@mlp.ee> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> * Hyundai CAN FD: fix PCM cruise check (commaai#1584) * add pcm * fix * NA * explicitly check cruise status * comment and misra * Subaru: cleanup to prepare for angle controller (commaai#1585) cleanup prepare for angle * add FW size checker script * fix linter * Hyundai: match openpilot standstill check (commaai#1586) * checks that we can replicate in openpilot * clean up * fix test * can simplify this * can also simplify this * Subaru: gen2 long safety (commaai#1587) * setup proper safety for gen2 long * whitespace * misra * alt bus * high beam assist * better names * whitespace * whitespace * whitespace * GM: switch to common gas/brake test (commaai#1578) * gm switch to common gas/brake test * fix typo * add comment about regen * body: set vehicle_moving (commaai#1591) * add vehicle_moving * Update board/safety/safety_body.h * Revert "Subaru: gen2 long safety (commaai#1587)" This reverts commit 2ae2567. * Safety: unify `controls_allowed` with boolean (commaai#1589) * prefix openpilot imports (commaai#1593) * unify CAN/FDCAN odjects naming (commaai#1596) * init * happy MISRA * Subaru: infrastructure to support the new angle based controllers (commaai#1590) * pre-commit: autoupdate hooks (commaai#1600) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com> * Revert "Subaru: infrastructure to support the new angle based control… (commaai#1601) Revert "Subaru: infrastructure to support the new angle based controllers (commaai#1590)" This reverts commit ea16a54. * H7: clean up peripherals.h (commaai#1597) init * Subaru: add new angle LKAS message definitions (commaai#1602) * just add the lkas message to start * added to tests too * default parameter * peripherals.h clean and duplicates removal (commaai#1599) * init * ULPI disable * not related to clocks * F4: fix UART clocks (commaai#1588) init * MacOS: Homebrew GCC is now version 13 (commaai#1603) * add --minimal build flag (commaai#1604) * H7: few more Kb of RAM found (commaai#1605) * init * remove discard * python lib: close USB context properly (commaai#1606) * python lib: close USB context properly * fix jungle * rm that --------- Co-authored-by: Comma Device <device@comma.ai> * jungle: fix can_health update on request * Honda: match openpilot button enable check (commaai#1607) * NONE -> not BUTTON * update test and fix safety * cleaner * jungle: force CAN core reset on bus off detection * iso-tp: more sanity checks (commaai#1487) * assert rx not done for single frame to be valid * not sure if this is correct yet * return if updated reverts some of commaai#1314 * Revert "return if updated" This reverts commit ba4c4f1. * iso-tp: return if updated (commaai#1610) return if updated reverts some of commaai#1314 * Toyota: ACC message relay check (commaai#1612) * toyota: add safety for tester present * block ACC_HUD * check stock ECU * clean up * not this * test new addr * comment * rm * cmt * Revert "iso-tp: more checks (commaai#1487)" (commaai#1616) * Revert "iso-tp: return if updated (commaai#1610)" This reverts commit 0eb04fa. * Revert "iso-tp: more sanity checks (commaai#1487)" This reverts commit 01db9e4. * Revert "Toyota: ACC message relay check (commaai#1612)" (commaai#1617) This reverts commit 5a9d8cf. * Update README.md change Mac OS gcc version * H7: decrease FDCAN TX FIFOs to 1 (commaai#1614) init * H7: reorganize RAM (commaai#1619) init * H7: comments for RAM organization reasoning * Hyundai CAN FD: fix boolean types in fwd hook (commaai#1620) * Safety: Utilize boolean values for message block checks in forward hooks * Revert "Safety: Utilize boolean values for message block checks in forward hooks" This reverts commit ee9809d. * others * Revert "others" This reverts commit f64cc1c. * just do hyundai * function to get steering address * unclear if this is cleaner Revert "function to get steering address" This reverts commit 2a2b972. --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * Hyundai CAN-FD: Alternate `LKAS` steering message (commaai#1504) * new steering message! * fix * check tx * fix var * allow all tx to test LFA suppression * Attempt to block laneline information to suppress LFA * Try 0x364 * Block all bus 2/6 messages * Final test to block LFA * Fix tx * in another PR * cleanup * lint * Add new tx to unit test * linter * Apply suggestions * Revert to this * Unnecessary * clean up * rename to hda2 * prototype --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * pre-commit: autoupdate hooks (commaai#1618) * Update pre-commit hook versions * fix ranges --------- Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> * Subaru: add steer req bit test (commaai#1613) add active bit test * Revert "pre-commit: autoupdate hooks (commaai#1618)" This reverts commit 526588b. * python: show lib and fw versions in error (commaai#1622) * python: show lib and fw versions in error * fix * cleanup * disable forest while it's rebuilt * F4: fix wrong PCLK value (commaai#1608) * fix mistake * clean * F4: fix GMLAN clocks (commaai#1624) * init * misra * Subaru: preglobal check steer req bit (commaai#1626) * GM: check steer req bit (commaai#1629) for gm * Chrysler: check steer bit (commaai#1628) * chrysler * misra * Safety: Convert message addresses from decimal to hexadecimal (commaai#1623) * Safety: Convert message addresses from decimal to hexadecimal * unit tests * fix * In another PR * Safety tests: Convert message addresses from decimal to hexadecimal (commaai#1633) * Subaru: gen2 long safety (commaai#1594) gen2 long safety * VW MQB: Check steer req bit (commaai#1631) vq mqb * fix upstream conflict * sync with upstream * Upstream merge fixes --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Robbe Derks <robbe.derks@gmail.com> Co-authored-by: Justin Newberry <justin@comma.ai> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Igor Biletskyy <briskspirit@users.noreply.github.com> Co-authored-by: Bruce Wayne <batman@comma.ai> Co-authored-by: Martin Lillepuu <martin@mlp.ee> Co-authored-by: Igor Biletksyy <bs@privacy.im> Co-authored-by: Willem Melching <willem.melching@gmail.com>
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