.clang-tidy

@@ -0,0 +1,19 @@
+---
+Checks: '
+bugprone-*,
+-bugprone-integer-division,
+-bugprone-narrowing-conversions,
+performance-*,
+clang-analyzer-*,
+misc-*,
+-misc-unused-parameters,
+modernize-*,
+-modernize-avoid-c-arrays,
+-modernize-deprecated-headers,
+-modernize-use-auto,
+-modernize-use-using,
+-modernize-use-nullptr,
+-modernize-use-trailing-return-type,
+'
+CheckOptions:
+...

.dir-locals.el

@@ -0,0 +1,3 @@
+((c++-mode (flycheck-gcc-language-standard . "c++11")
+           (flycheck-clang-language-standard . "c++11")
+           ))

.dockerignore

@@ -0,0 +1,38 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+*.so
+*.a
+
+notebooks
+phone
+massivemap
+neos
+installer
+chffr/app2
+chffr/backend/env
+selfdrive/nav
+selfdrive/baseui
+chffr/lib/vidindex/vidindex
+selfdrive/test/simulator2
+**/cache_data
+xx/chffr/lib/vidindex/vidindex
+xx/plus
+xx/community
+xx/projects
+!xx/projects/eon_testing_master
+!xx/projects/map3d
+xx/ops
+xx/junk

.editorconfig

@@ -0,0 +1,11 @@
+root = true
+
+[*]
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+[{*.py, *.pyx, *.pxd}]
+charset = utf-8
+indent_style = space
+indent_size = 2

.gitattributes

@@ -0,0 +1,2 @@
+*.dlc filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,58 @@
+name: Bug report
+description: For issues with running openpilot on your comma device
+labels: ["bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: dropdown
+    id: hw
+    attributes:
+      label: What hardware does this issue affect?
+      multiple: true
+      options:
+        - comma three
+        - comma two
+        - EON Gold
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -0,0 +1,65 @@
+name: Car bug report
+description: For issues with a particular car make or model
+labels: ["car bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: dropdown
+    id: hw
+    attributes:
+      label: What hardware does this issue affect?
+      multiple: true
+      options:
+        - comma three
+        - comma two
+        - EON Gold
+    validations:
+      required: true
+
+  - type: input
+    id: car
+    attributes:
+      label: Which car does this affect?
+      placeholder: Toyota Prius 2017
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,11 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Discussions
+    url: https://github.com/commaai/openpilot/discussions
+    about: For questions and discussion about openpilot
+  - name: Community Wiki
+    url: https://github.com/commaai/openpilot/wiki
+    about: Check out our community wiki
+  - name: Community Discord
+    url: https://discord.comma.ai
+    about: Check out our community discord

.github/ISSUE_TEMPLATE/enhancement.md

@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -0,0 +1,42 @@
+name: PC bug report
+description: For issues with running openpilot on PC
+labels: ["PC"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: os-version
+    attributes:
+      label: OS Version
+      placeholder: Ubuntu 20.04
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version or commit
+      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/PULL_REQUEST_TEMPLATE/bugfix.md

@@ -0,0 +1,15 @@
+---
+name: Bug fix
+about: For openpilot bug fixes
+title: ''
+labels: 'bugfix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -0,0 +1,19 @@
+---
+name: Car Bug fix
+about: For vehicle/brand specifc bug fixes
+title: ''
+labels: 'car bug fix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->
+
+**Route**
+
+Route: [a route with the bug fix]

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -0,0 +1,15 @@
+---
+name: Car port
+about: For new car ports
+title: ''
+labels: 'car port'
+assignees: ''
+---
+
+**Checklist**
+
+- [ ] added to README
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

@@ -0,0 +1,11 @@
+---
+name: Fingerprint
+about: For adding fingerprints to existing cars
+title: ''
+labels: 'fingerprint'
+assignees: ''
+---
+
+Discord username: []
+
+Route: []

.github/PULL_REQUEST_TEMPLATE/refactor.md

@@ -0,0 +1,15 @@
+---
+name: Refactor
+about: For code refactors
+title: ''
+labels: 'refactor'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the refactor, including the goals it accomplishes. -->
+
+**Verification**
+
+<!-- Explain how you tested the refactor for regressions. -->

.github/PULL_REQUEST_TEMPLATE/tuning.md

@@ -0,0 +1,32 @@
+---
+name: Tuning
+about: For openpilot tuning changes
+title: ''
+labels: 'tuning'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
+
+**Verification**
+
+<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
+Use the PlotJuggler tuning layout to compare planned versus actual behavior.
+
+Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
+
+Longitudinal:
+* Maintaining speed at 25, 40, 65mph
+* Driving up and down hills
+* Accelerating from a stop
+* Decelerating to a stop
+* Following large changes in set speed
+* Coming to a stop behind a lead car
+
+Lateral:
+* Straight driving at ~25, ~45 and ~65mph
+* Turns driving at ~25, ~45 and ~65mph
+
+-->

.github/pull_request_template.md

@@ -0,0 +1,38 @@
+<!-- Please copy and paste the relevant template -->
+
+<!--- ***** Template: Car bug fix *****
+
+**Description** [](A description of the bug and the fix. Also link any relevant issues.)
+
+**Verification** [](Explain how you tested this bug fix.)
+
+**Route**
+Route: [a route with the bug fix]
+
+-->
+
+<!--- ***** Template: Bug fix *****
+
+**Description** [](A description of the bug and the fix. Also link any relevant issues.)
+
+**Verification** [](Explain how you tested this bug fix.)
+
+-->
+
+<!--- ***** Template: Car port *****
+
+**Checklist**
+- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+
+-->
+
+<!--- ***** Template: Refactor *****
+
+**Description** [](A description of the refactor, including the goals it accomplishes.)
+
+**Verification** [](Explain how you tested the refactor for regressions.)
+
+-->

.github/workflows/prebuilt.yaml

@@ -0,0 +1,42 @@
+name: prebuilt
+on:
+  schedule:
+    - cron: '0 * * * *'
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+
+  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+jobs:
+  build_prebuilt:
+    name: build prebuilt
+    runs-on: ubuntu-20.04
+    timeout-minutes: 60
+    if: github.repository == 'commaai/openpilot'
+    env:
+      IMAGE_NAME: openpilot-prebuilt
+    steps:
+    - name: Wait for green check mark
+      uses: lewagon/wait-on-check-action@v0.2
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build prebuilt'
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: |
+        eval "$BUILD"
+        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
+    - name: Push to container registry
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest

.github/workflows/selfdrive_tests.yaml

@@ -0,0 +1,431 @@
+name: selfdrive
+on:
+  push:
+    branches-ignore:
+      - 'testing-closet*'
+  pull_request:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+
+  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+  UNIT_TEST: coverage run --append -m unittest discover
+
+jobs:
+  # TODO: once actions/cache supports read only mode, use the cache for all jobs
+  build_release:
+    name: build release
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    env:
+      STRIPPED_DIR: tmppilot
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Check submodules
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: release/check-submodules.sh
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Strip non-release files
+      run: |
+        mkdir $STRIPPED_DIR
+        cp -pR --parents $(cat release/files_common) $STRIPPED_DIR
+        cp -pR --parents $(cat release/files_tici) $STRIPPED_DIR
+        cp -pR --parents $(cat release/files_pc) $STRIPPED_DIR
+        cp Dockerfile.openpilot_base $STRIPPED_DIR
+
+        # need this to build on x86
+        cp -pR --parents third_party/libyuv third_party/snpe selfdrive/modeld/runners $STRIPPED_DIR
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Build openpilot and run checks
+      run: |
+          cd $STRIPPED_DIR
+          ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
+                          python -m unittest discover selfdrive/car"
+    - name: Cleanup scons cache
+      run: |
+          cd $STRIPPED_DIR
+          ${{ env.RUN }} "scons -j$(nproc) && \
+                          rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+
+  #build_mac:
+  #  name: build macos
+  #  runs-on: macos-latest
+  #  timeout-minutes: 60
+  #  steps:
+  #  - uses: actions/checkout@v2
+  #    with:
+  #      submodules: true
+  #  - name: Determine pre-existing Homebrew packages
+  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
+  #    run: |
+  #      echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
+  #      ls -1 /usr/local/Cellar >> $GITHUB_ENV
+  #      echo 'EOF' >> $GITHUB_ENV
+  #  - name: Cache dependencies
+  #    id: dependency-cache
+  #    uses: actions/cache@v2
+  #    with:
+  #      path: |
+  #        ~/.pyenv
+  #        ~/.local/share/virtualenvs/
+  #        /usr/local/Cellar
+  #        ~/github_brew_cache_entries.txt
+  #        /tmp/scons_cache
+  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
+  #      restore-keys: macos-
+  #  - name: Brew link restored dependencies
+  #    run: |
+  #      if [ -f ~/github_brew_cache_entries.txt ]; then
+  #        while read pkg; do
+  #          brew link --force "$pkg" # `--force` for keg-only packages
+  #        done < ~/github_brew_cache_entries.txt
+  #      else
+  #        echo "Cache entries not found"
+  #      fi
+  #  - name: Install dependencies
+  #    run: ./tools/mac_setup.sh
+  #  - name: Build openpilot
+  #    run: |
+  #      source tools/openpilot_env.sh
+  #      pipenv run selfdrive/manager/build.py
+  #
+  #      # cleanup scons cache
+  #      rm -rf /tmp/scons_cache/
+  #      pipenv run scons -j$(nproc) --cache-populate
+  #  - name: Remove pre-existing Homebrew packages for caching
+  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
+  #    run: |
+  #      cd /usr/local/Cellar
+  #      new_cellar=$(ls -1)
+  #      comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
+  #        if [[ $pkg != "zstd" ]]; then # caching step needs zstd
+  #          rm -rf "$pkg"
+  #        fi
+  #      done
+  #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+
+  build_webcam:
+    name: build webcam
+    runs-on: ubuntu-20.04
+    timeout-minutes: 90
+    env:
+      IMAGE_NAME: openpilotwebcamci
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: |
+        eval "$BUILD"
+        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/webcam/Dockerfile .
+    - name: Build openpilot
+      run: docker run --shm-size 1G --rm -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot $DOCKER_REGISTRY/$IMAGE_NAME /bin/sh -c "cd /tmp/openpilot && USE_WEBCAM=1 scons -j$(nproc)"
+    - name: Push to container registry
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+
+  docker_push:
+    name: docker push
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Push to container registry
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
+
+  static_analysis:
+    name: static analysis
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: pre-commit
+      run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
+
+  valgrind:
+    name: valgrind
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run valgrind
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py"
+    - name: Print logs
+      if: always()
+      run: cat selfdrive/test/valgrind_logs.txt
+
+  unit_tests:
+    name: unit tests
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - name: Get current date
+      id: date
+      run: echo "::set-output name=time::$(date +'%s')"
+    - name: Output timestamp
+      run: echo $TIMESTAMP
+      env:
+        TIMESTAMP: ${{ steps.date.outputs.time }}
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }}
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }}
+        restore-keys: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run unit tests
+      run: |
+        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
+                        scons -j$(nproc) --test && \
+                        $UNIT_TEST common && \
+                        $UNIT_TEST opendbc/can && \
+                        $UNIT_TEST selfdrive/boardd && \
+                        $UNIT_TEST selfdrive/controls && \
+                        $UNIT_TEST selfdrive/monitoring && \
+                        $UNIT_TEST selfdrive/loggerd && \
+                        $UNIT_TEST selfdrive/car && \
+                        $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST selfdrive/athena && \
+                        $UNIT_TEST selfdrive/thermald && \
+                        $UNIT_TEST selfdrive/hardware/tici && \
+                        $UNIT_TEST tools/lib/tests && \
+                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
+                        ./selfdrive/common/tests/test_util && \
+                        ./selfdrive/common/tests/test_swaglog && \
+                        ./selfdrive/loggerd/tests/test_logger &&\
+                        ./selfdrive/proclogd/tests/test_proclog && \
+                        ./selfdrive/ui/replay/tests/test_replay && \
+                        ./selfdrive/camerad/test/ae_gray_test && \
+                        coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
+
+  process_replay:
+    name: process replay
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_processes.py') }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run replay
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py && \
+                        coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
+    - name: Print diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v2
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+
+  #model_replay:
+  #  name: model replay
+  #  runs-on: ubuntu-20.04
+  #  timeout-minutes: 50
+  #  steps:
+  #  - uses: actions/checkout@v2
+  #    with:
+  #      submodules: true
+  #  - name: Build Docker image
+  #    run: eval "$BUILD"
+  #  - name: Run replay
+  #    run: |
+  #      ${{ env.RUN }} "scons -j$(nproc) && \
+  #                      selfdrive/test/process_replay/model_replay.py"
+
+  test_longitudinal:
+    name: longitudinal
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Test longitudinal
+      run: |
+        ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
+                        scons -j$(nproc) && \
+                        cd selfdrive/test/longitudinal_maneuvers && \
+                        coverage run ./test_longitudinal.py && \
+                        coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
+    - uses: actions/upload-artifact@v2
+      if: always()
+      continue-on-error: true
+      with:
+        name: longitudinal
+        path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/
+
+  test_cars:
+    name: cars
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    strategy:
+      fail-fast: false
+      matrix:
+        job: [0, 1, 2, 3]
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Test car models
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) --test && \
+                        FILEREADER_CACHE=1 coverage run -m pytest selfdrive/car/tests/test_models.py && \
+                        coverage xml && \
+                        chmod -R 777 /tmp/comma_download_cache"
+      env:
+        NUM_JOBS: 4
+        JOB_ID: ${{ matrix.job }}
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
+
+  docs:
+    name: build docs
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build docker container
+      run: |
+        docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+        docker pull $DOCKER_REGISTRY/openpilot-docs:latest || true
+        DOCKER_BUILDKIT=1 docker build --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
+    - name: Push docker container
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/openpilot-docs:latest

.github/workflows/tools_tests.yaml

@@ -0,0 +1,71 @@
+name: tools
+on:
+  push:
+  pull_request:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e \
+       GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+
+jobs:
+  plotjuggler:
+    name: plotjuggler
+    runs-on: ubuntu-20.04
+    timeout-minutes: 30
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Unit test
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
+                        apt-get update && \
+                        apt-get install -y libdw-dev libqt5svg5-dev libqt5x11extras5-dev && \
+                        cd /tmp/openpilot/tools/plotjuggler && \
+                        ./test_plotjuggler.py"
+
+  simulator:
+    name: simulator
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    env:
+      IMAGE_NAME: openpilot-sim
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    # HACK: cache LFS objects since they count against our quota
+    # https://github.com/actions/checkout/issues/165#issuecomment-657673315
+    - name: Create LFS file list
+      run: git lfs ls-files -l | cut -d' ' -f1 | sort > .lfs-assets-id
+    - name: Restore LFS cache
+      uses: actions/cache@v2
+      id: lfs-cache
+      with:
+        path: .git/lfs
+        key: ${{ runner.os }}-lfs-${{ hashFiles('.lfs-assets-id') }}
+    - name: Git LFS Pull
+      run: git lfs pull
+
+    - name: Build Docker image
+      run: |
+        eval "$BUILD"
+        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
+    - name: Push to container registry
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest

.gitignore

@@ -1,21 +1,85 @@
+venv/
+.env
+.clang-format
 .DS_Store
 .tags
+.ipynb_checkpoints
+.idea
+.overlay_init
+.overlay_consistent
+.sconsign.dblite
+.vscode*
+model2.png
+a.out
+.hypothesis
 
+*.dylib
+*.DSYM
+*.d
 *.pyc
+*.pyo
 .*.swp
 .*.swo
 .*.un~
+*.tmp
 *.o
-*.d
+*.o-*
+*.os
+*.os-*
 *.so
 *.a
 *.clb
+*.class
+*.pyxbldc
+*.vcd
 config.json
 clcache
+compile_commands.json
 
+persist
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
-selfdrive/sensord/sensord
-selfdrive/ui/ui
+selfdrive/mapd/default_speeds_by_region.json
+selfdrive/proclogd/proclogd
+selfdrive/ui/_ui
+selfdrive/test/longitudinal_maneuvers/out
+selfdrive/visiond/visiond
+selfdrive/loggerd/loggerd
+selfdrive/loggerd/bootlog
+selfdrive/sensord/_gpsd
+selfdrive/sensord/_sensord
+selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
+selfdrive/modeld/_modeld
+selfdrive/modeld/_dmonitoringmodeld
+/src/
 
+one
+openpilot
+notebooks
+xx
+yy
+hyperthneed
+panda_jungle
+provisioning
+
+.coverage*
+coverage.xml
+htmlcov
+pandaextra
+
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+models/*.thneed
+
+*.bz2
+
+build/
+
+!**/.gitkeep

.gitmodules

@@ -0,0 +1,15 @@
+[submodule "panda"]
+	path = panda
+	url = ../../commaai/panda.git
+[submodule "opendbc"]
+	path = opendbc
+	url = ../../commaai/opendbc.git
+[submodule "laika_repo"]
+	path = laika_repo
+	url = ../../commaai/laika.git
+[submodule "cereal"]
+	path = cereal
+	url = ../../commaai/cereal.git
+[submodule "rednose_repo"]
+	path = rednose_repo
+	url = ../../commaai/rednose.git

.lfsconfig

@@ -0,0 +1,4 @@
+[lfs]
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	locksverify = false

.pre-commit-config.yaml

@@ -0,0 +1,58 @@
+repos:
+-   repo: meta
+    hooks:
+    -   id: check-hooks-apply
+    -   id: check-useless-excludes
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+    -   id: check-ast
+        exclude: '^(pyextra)/'
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-added-large-files
+        args: ['--maxkb=100']
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v0.931
+    hooks:
+    -   id: mypy
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
+        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
+                                  'types-pycurl']
+-   repo: https://github.com/PyCQA/flake8
+    rev: 4.0.1
+    hooks:
+    -   id: flake8
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/debug/)/'
+        additional_dependencies: ['flake8-no-implicit-concat']
+        args:
+        - --indent-size=2
+        - --enable-extensions=NIC
+        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
+        - --statistics
+        - -j4
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)'
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
+        args:
+        - --error-exitcode=1
+        - --language=c++
+        - --quiet
+        - --force
+        - -j8

.pylintrc

@@ -0,0 +1,476 @@
+[MASTER]
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code
+extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx
+
+# Add files or directories to the blacklist. They should be base names, not
+# paths.
+ignore=CVS
+
+# Add files or directories matching the regex patterns to the blacklist. The
+# regex matches against base names, not paths.
+ignore-patterns=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint.
+jobs=4
+
+# List of plugins (as comma separated values of python modules names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Specify a configuration file.
+#rcfile=
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
+
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[REPORTS]
+
+# Python expression which should return a note less than 10 (10 is the highest
+# note). You have access to the variables errors warning, statement which
+# respectively contain the number of errors / warnings messages and the total
+# number of statements analyzed. This is used by the global evaluation report
+# (RP0004).
+evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details
+#msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio).You can also give a reporter class, eg
+# mypackage.mymodule.MyReporterClass.
+output-format=text
+
+# Tells whether to display a full report or only the messages
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=optparse.Values,sys.exit
+
+
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it working
+# install python-enchant package.
+spelling-dict=
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to indicated private dictionary in
+# --spelling-private-dict-file option instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+
+[SIMILARITIES]
+
+# Ignore comments when computing similarities.
+ignore-comments=yes
+
+# Ignore docstrings when computing similarities.
+ignore-docstrings=yes
+
+# Ignore imports when computing similarities.
+ignore-imports=no
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* ft4222.* carla.*
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis. It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+# showing a hint for a missing member.
+missing-member-max-choices=1
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored. Default to name
+# with leading underscore
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging  or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='  '
+
+# Maximum number of characters on a single line.
+max-line-length=100
+
+# Maximum number of lines in a module
+max-module-lines=1000
+
+# List of optional constructs for which whitespace checking is disabled. `dict-
+# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
+# `trailing-comma` allows a space between comma and closing bracket: (a, ).
+# `empty-line` allows space-only lines.
+no-space-check=trailing-comma,
+               dict-separator
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style
+#argument-rgx=
+
+# Naming style matching correct attribute names
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Naming style matching correct class attribute names
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style
+#class-attribute-rgx=
+
+# Naming style matching correct class names
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-style
+#class-rgx=
+
+# Naming style matching correct constant names
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Include a hint for the correct naming format with invalid-name
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style
+#inlinevar-rgx=
+
+# Naming style matching correct method names
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style
+#method-rgx=
+
+# Naming style matching correct module names
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+property-classes=abc.abstractproperty
+
+# Naming style matching correct variable names
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style
+#variable-rgx=
+
+
+[DESIGN]
+
+# Maximum number of arguments for function / method
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in a if statement
+max-bool-expr=5
+
+# Maximum number of branch for function / method body
+max-branches=12
+
+# Maximum number of locals for function / method body
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body
+max-returns=6
+
+# Maximum number of statements in function / method body
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[CLASSES]
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=mcs
+
+
+[IMPORTS]
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,
+                   TERMIOS,
+                   Bastion,
+                   rexec
+
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
+
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
+
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+[STRING]
+
+# This flag controls whether the implicit-str-concat should generate a warning
+# on implicit string concatenation in sequences defined over several lines.
+check-str-concat-over-line-jumps=yes
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when being caught. Defaults to
+# "Exception"
+overgeneral-exceptions=Exception

.python-version

@@ -0,0 +1 @@
+3.8.10

Dockerfile.openpilot

@@ -1,19 +1,32 @@
-FROM ubuntu:14.04
+FROM ghcr.io/commaai/openpilot-base:latest
+
 ENV PYTHONUNBUFFERED 1
 
-RUN apt-get update && apt-get install -y build-essential screen wget bzip2 git libglib2.0-0
+ENV OPENPILOT_PATH /home/batman/openpilot/
+ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 
-RUN wget -nv -O /tmp/anaconda.sh https://repo.continuum.io/archive/Anaconda2-4.2.0-Linux-x86_64.sh && \
-  /bin/bash /tmp/anaconda.sh -b -p /opt/conda && \
-  rm /tmp/anaconda.sh
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
 
-ENV PATH /opt/conda/bin:$PATH
+COPY Pipfile Pipfile.lock $OPENPILOT_PATH
+RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \
+    pipenv install --system --deploy --dev --clear && \
+    pip uninstall -y pipenv
 
-RUN conda install numpy==1.11.2 && conda install scipy==0.18.1
+COPY SConstruct ${OPENPILOT_PATH}
 
-COPY requirements_openpilot.txt /tmp/
-RUN pip install -r /tmp/requirements_openpilot.txt
+COPY ./pyextra ${OPENPILOT_PATH}/pyextra
+COPY ./third_party ${OPENPILOT_PATH}/third_party
+COPY ./site_scons ${OPENPILOT_PATH}/site_scons
+COPY ./laika ${OPENPILOT_PATH}/laika
+COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
+COPY ./rednose ${OPENPILOT_PATH}/rednose
+COPY ./tools ${OPENPILOT_PATH}/tools
+COPY ./release ${OPENPILOT_PATH}/release
+COPY ./common ${OPENPILOT_PATH}/common
+COPY ./opendbc ${OPENPILOT_PATH}/opendbc
+COPY ./cereal ${OPENPILOT_PATH}/cereal
+COPY ./panda ${OPENPILOT_PATH}/panda
+COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 
-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
-
-COPY . /tmp/openpilot
+RUN scons -j$(nproc)

Dockerfile.openpilot_base

@@ -0,0 +1,32 @@
+FROM ubuntu:20.04
+
+ENV PYTHONUNBUFFERED 1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    rm -rf /var/lib/apt/lists/*
+
+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
+
+ENV PIPENV_SYSTEM=1
+ENV PYENV_VERSION=3.8.10
+ENV PYENV_ROOT="/root/.pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
+
+COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/
+COPY tools/ubuntu_setup.sh /tmp/tools/
+RUN cd /tmp && \
+    tools/ubuntu_setup.sh && \
+    rm -rf /var/lib/apt/lists/* && \
+    rm -rf /tmp/* && \
+    rm -rf /root/.cache && \
+    pip uninstall -y pipenv && \
+
+    # remove unused architectures from gcc for panda
+    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    rm -rf arm/ && \
+    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp

Jenkinsfile

@@ -0,0 +1,243 @@
+def phone(String ip, String step_label, String cmd) {
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+
+set -e
+
+export CI=1
+export TEST_DIR=${env.TEST_DIR}
+export SOURCE_DIR=${env.SOURCE_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+
+source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+fi
+
+ln -snf ${env.TEST_DIR} /data/pythonpath
+
+if [ -f /EON ]; then
+  echo \$\$ > /dev/cpuset/app/tasks || true
+  echo \$PPID > /dev/cpuset/app/tasks || true
+  mkdir -p /dev/shm
+  chmod 777 /dev/shm
+fi
+
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+
+END"""
+
+    sh script: ssh_cmd, label: step_label
+  }
+}
+
+def phone_steps(String device_type, steps) {
+  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+    timeout(time: 60, unit: 'MINUTES') {
+      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+      steps.each { item ->
+        phone(device_ip, item[0], item[1])
+      }
+    }
+  }
+}
+
+pipeline {
+  agent none
+  environment {
+    TEST_DIR = "/data/openpilot"
+    SOURCE_DIR = "/data/openpilot_source/"
+  }
+  options {
+      timeout(time: 4, unit: 'HOURS')
+  }
+
+  stages {
+    stage('build releases') {
+      when {
+        branch 'devel-staging'
+      }
+
+      parallel {
+        stage('release2') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("eon-build", [
+              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
+        }
+
+        stage('release3') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici", [
+              ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
+        }
+      }
+    }
+
+    stage('openpilot tests') {
+      when {
+        not {
+          anyOf {
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
+            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
+            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
+            branch 'testing-closet*'; branch 'hotfix-*'
+          }
+        }
+      }
+
+      stages {
+        stage('On-device Tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          stages {
+            stage('parallel tests') {
+              parallel {
+                stage('C2: build') {
+                  steps {
+                    phone_steps("eon-build", [
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                    ])
+                  }
+                }
+
+                stage('C2: replay') {
+                  steps {
+                    phone_steps("eon2", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
+                stage('C2: HW + Unit Tests') {
+                  steps {
+                    phone_steps("eon", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
+                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
+                    ])
+                  }
+                }
+
+                /*
+                stage('Power Consumption Tests') {
+                  steps {
+                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+                      timeout(time: 90, unit: 'MINUTES') {
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+                        phone(device_ip, "build", "scons -j4 && sync")
+                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
+                      }
+                    }
+                  }
+                }
+                */
+
+                stage('C3: build') {
+                  environment {
+                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+                  }
+                  steps {
+                    phone_steps("tici", [
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                    ])
+                  }
+                }
+
+                stage('C3: HW + Unit Tests') {
+                  steps {
+                    phone_steps("tici2", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                    ])
+                  }
+                }
+
+                stage('C2: camerad') {
+                  steps {
+                    phone_steps("eon-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('C3: camerad') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('C3: replay') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
+              }
+            }
+
+            stage('Push master-ci') {
+              when {
+                branch 'master'
+              }
+              steps {
+                phone_steps("eon-build", [
+                  ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
+                ])
+              }
+            }
+
+          }
+
+          post {
+            always {
+              cleanWs()
+            }
+          }
+
+        }
+
+      }
+    }
+  }
+}
+

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2016, Comma.ai, Inc.
+Copyright (c) 2018, Comma.ai, Inc.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 

Pipfile

@@ -0,0 +1,83 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+control = "*"
+coverage = "*"
+dictdiffer = "*"
+fastcluster = "*"
+hexdump = "*"
+hypothesis = "*"
+inputs = "*"
+lru-dict = "*"
+markdown-it-py = "*"
+matplotlib = "*"
+mypy = "*"
+myst-parser = "*"
+numpy = "*"
+opencv-python-headless = "*"
+parameterized = "*"
+paramiko = "*"
+pprofile = "*"
+pre-commit = "*"
+pycurl = "*"
+pygame = "*"
+pyprof2calltree = "*"
+pytest = "*"
+pytest-xdist = "*"
+reverse_geocoder = "*"
+scipy = "*"
+sphinx = "*"
+sphinx-sitemap = "*"
+sphinx-rtd-theme = "*"
+breathe = "*"
+subprocess32 = "*"
+tenacity = "*"
+
+[packages]
+atomicwrites = "*"
+casadi = {version = "*", markers="platform_system != 'Darwin'"}
+cffi = "*"
+crcmod = "*"
+cryptography = "*"
+Cython = "*"
+flake8 = "*"
+Flask = "*"
+future-fstrings = "*"  # for acados
+gunicorn = "*"
+hexdump = "*"
+Jinja2 = "*"
+json-rpc = "*"
+libusb1 = "*"
+nose = "*"
+numpy = "*"
+onnx = "*"
+onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
+pillow = "*"
+psutil = "*"
+pycapnp = "==1.1.0"
+pycryptodome = "*"
+PyJWT = "*"
+pylint = "*"
+pyopencl = "*"
+pyserial = "*"
+python-dateutil = "*"
+PyYAML = "*"
+pyzmq = "*"
+requests = "*"
+scons = "*"
+sentry-sdk = "*"
+setproctitle = "*"
+six = "*"
+smbus2 = "*"
+sympy = "!=1.6.1"
+timezonefinder = "*"
+tqdm = "*"
+urllib3 = "*"
+utm = "*"
+websocket_client = "*"
+
+[requires]
+python_version = "3.8"

README.md

@@ -1,109 +1,142 @@
-Welcome to openpilot
-======
+![](https://i.imgur.com/b0ZyIx5.jpg)
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.
+Table of Contents
+=======================
 
-Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+* [What is openpilot?](#what-is-openpilot)
+* [Running in a car](#running-in-a-car)
+* [Running on PC](#running-on-pc)
+* [Community and Contributing](#community-and-contributing)
+* [User Data and comma Account](#user-data-and-comma-account)
+* [Safety and Testing](#safety-and-testing)
+* [Directory Structure](#directory-structure)
+* [Licensing](#licensing)
 
-The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+---
 
-Hardware
+What is openpilot?
 ------
 
-Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support [Open Source Car Control](https://github.com/PolySync/OSCC) as well.
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
-To install it on the NEO:
+<table>
+  <tr>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
+    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
+    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
+  </tr>
+  <tr>
+    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
+    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
+    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
+    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
+  </tr>
+</table>
 
-```bash
-# Requires working adb in PATH
-cd installation
-./install.sh
-```
 
-Supported Cars
+Running in a car
 ------
 
-- Acura ILX 2016 with AcuraWatch Plus
-  - Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
+To use openpilot in a car, you need four things
+* This software. It's free and available right here.
+* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
+* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
 
-- Honda Civic 2016 Touring Edition
-  - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
+We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
 
-Directory structure
+Running on PC
 ------
 
-- board         -- Code that runs on the USB interface board
-- cereal        -- The messaging spec used for all logs on the phone
-- common        -- Library like functionality we've developed here
-- dbcs          -- Files showing how to interpret data from cars
-- installation  -- Installation on the neo platform
-- phonelibs     -- Libraries used on the phone
-- selfdrive     -- Code needed to drive the car
-  - assets        -- Fonts for ui
-  - boardd        -- Daemon to talk to the board
-  - calibrationd  -- Camera calibration server
-  - car           -- Code that talks to the car and implements CarInterface
-  - common        -- Shared C/C++ code for the daemons
-  - controls      -- Python controls (PID loops etc) for the car
-  - logcatd       -- Android logcat as a service
-  - loggerd       -- Logger and uploader of car data
-  - radar         -- Code that talks to the radar and implements RadarInterface
-  - sensord       -- IMU / GPS interface code
-  - test/plant    -- Car simulator running code through virtual maneuvers
-  - ui            -- The UI
-  - visiond       -- embedded vision pipeline
+All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
 
-To understand how the services interact, see `common/services.py`
+With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-Testing on PC
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
+
+
+Community and Contributing
 ------
 
-There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
 
-```bash
-# Requires working docker
-./run_docker_tests.sh
-```
+Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
 
-The results are written to `selfdrive/test/plant/out/index.html`
+You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
-More extensive testing infrastructure and simulation environments are coming soon.
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
 
-Adding Car Support
+And [follow us on Twitter](https://twitter.com/comma_ai).
+
+User Data and comma Account
 ------
 
-It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 
-The Honda Accord uses different signaling for the steering and probably requires new hardware.
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
 
-Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
+openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
-User Data / chffr Account / Crash Reporting
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+
+Safety and Testing
+----
+
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
+
+Directory Structure
 ------
-
-By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
-
-It's open source software, so you are free to disable it if you wish. 
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-It does not log the user facing camera or the microphone.
-
-By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
-Contributing
-------
-
-We welcome both pull requests and issues on
-[github](http://github.com/commaai/openpilot). See the TODO file for a list of
-good places to start.
-
-Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/hiring.html)
+    .
+    ├── cereal              # The messaging spec and libs used for all logs
+    ├── common              # Library like functionality we've developed here
+    ├── docs                # Documentation
+    ├── opendbc             # Files showing how to interpret data from cars
+    ├── panda               # Code used to communicate on CAN
+    ├── third_party         # External libraries
+    ├── pyextra             # Extra python packages
+    └── selfdrive           # Code needed to drive the car
+        ├── assets          # Fonts, images, and sounds for UI
+        ├── athena          # Allows communication with the app
+        ├── boardd          # Daemon to talk to the board
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── car             # Car specific code to read states and control actuators
+        ├── common          # Shared C/C++ code for the daemons
+        ├── controls        # Planning and controls
+        ├── debug           # Tools to help you debug and do car ports
+        ├── locationd       # Precise localization and vehicle parameter estimation
+        ├── logcatd         # Android logcat as a service
+        ├── loggerd         # Logger and uploader of car data
+        ├── modeld          # Driving and monitoring model runners
+        ├── proclogd        # Logs information from proc
+        ├── sensord         # IMU interface code
+        ├── test            # Unit tests, system tests, and a car simulator
+        └── ui              # The UI
 
 Licensing
 ------
 
-openpilot is released under the MIT license.
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
+
+---
+
+<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+
+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
+[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
+[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
+[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

RELEASES.md

@@ -1,31 +1,800 @@
+Version 0.8.14 (2022-0X-XX)
+========================
+ * bigmodel!
+ * Toyota Alphard Hybrid 2021 support
+ * Toyota Avalon Hybrid 2022 support
+
+Version 0.8.13 (2022-02-18)
+========================
+ * Improved driver monitoring
+   * Retuned driver pose learner for relaxed driving positions
+   * Added reliance on driving model to be more scene adaptive
+   * Matched strictness between comma two and comma three
+ * Improved performance in turns by compensating for the road bank angle
+ * Improved camera focus on the comma two
+ * AGNOS 4
+   * ADB support
+   * improved cell auto configuration
+ * NEOS 19
+   * package updates
+   * stability improvements
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-5 2022 support thanks to Jafaral!
+ * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
+ * Toyota Prius v 2017 support thanks to CT921!
+ * Volkswagen Caravelle 2020 support thanks to jyoung8607!
+
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
+ * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
+ * Audi Q3 2020-21 support thanks to jyoung8607!
+ * Lexus RC 2020 support thanks to ErichMoraga!
+
+Version 0.8.11 (2021-11-29)
+========================
+ * Support for CAN FD on the red panda
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
+
+Version 0.8.10 (2021-11-01)
+========================
+ * New driving model
+   * Trained on one million minutes!!!
+   * Fixed lead training making lead predictions significantly more accurate
+   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
+ * New driver monitoring model
+   * Trained on latest data from both comma two and comma three
+   * Increased model field of view by 40% on comma three
+   * Improved model stability on masked users
+   * Improved pose prediction with reworked ground-truth stack
+ * Lateral and longitudinal planning MPCs now in ACADOS
+ * Combined longitudinal MPCs
+   * All longitudinal planning now happens in a single MPC system
+   * Fixed instability in MPC problem to prevent sporadic CPU usage
+ * AGNOS 2: minor stability improvements and builder repo open sourced
+ * tools: new and improved replay thanks to deanlee!
+ * Moved community-supported cars outside of the Community Features toggle
+ * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
+ * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
+ * Audi S3 2015 support thanks to jyoung8607!
+ * Honda Freed 2020 support thanks to belm0!
+ * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
+ * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
+ * Kia K5 2021 support thanks to sunnyhaibin!
+ * Škoda Kamiq 2021 support thanks to jyoung8607!
+ * Škoda Karoq 2019 support thanks to jyoung8607!
+ * Volkswagen Arteon 2021 support thanks to jyoung8607!
+ * Volkswagen California 2021 support thanks to jyoung8607!
+ * Volkswagen Taos 2022 support thanks to jyoung8607!
+
+Version 0.8.9 (2021-09-14)
+========================
+ * Improved fan control on comma three
+ * AGNOS 1.5: improved stability
+ * Honda e 2020 support
+
+Version 0.8.8 (2021-08-27)
+========================
+ * New driving model with improved laneless performance
+   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
+   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
+   * All new desire ground-truthing stack makes the model better at lane changes
+ * New driver monitoring model: improved performance on comma three
+ * NEOS 18 for comma two: update packages
+ * AGNOS 1.3 for comma three: fix display init at high temperatures
+ * Improved auto-exposure on comma three
+ * Improved longitudinal control on Honda Nidec cars
+ * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
+ * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
+ * Kia Niro Hybrid 2021 support thanks to tetious!
+
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
+Version 0.8.6 (2021-07-21)
+========================
+ * Revamp lateral and longitudinal planners
+   * Refactor planner output API to be more readable and verbose
+   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
+   * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
+ * Remove "CHECK DRIVER FACE VISIBILITY" warning
+ * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
+ * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
+ * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
+ * Kia Niro Hybrid 2019 support thanks to jyoung8607!
+ * Škoda Octavia RS 2016 support thanks to jyoung8607!
+ * Toyota Alphard 2020 support thanks to belm0!
+ * Volkswagen Golf SportWagen 2015 support thanks to jona96!
+ * Volkswagen Touran 2017 support thanks to jyoung8607!
+
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Retuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
+Version 0.8.2 (2021-02-26)
+========================
+ * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
+ * Use model heading prediction for smoother lateral control
+ * Smarter actuator delay compensation
+ * Improve qcamera resolution for improved video in explorer and connect
+ * Adjust maximum engagement speed to better fit the model's training distribution
+ * New driver monitoring model trained with 3x more diverse data
+ * Improved face detection with masks
+ * More predictable DM alerts when visibility is bad
+ * Rewritten video streaming between openpilot processes
+ * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
+ * Audi A3 2015 and 2017 support thanks to keeleysam!
+ * Nissan Altima 2020 support thanks to avolmensky!
+ * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
+ * Toyota Camry Hybrid 2021 support thanks to alancyau!
+
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
+Version 0.8.0 (2020-11-30)
+========================
+ * New driving model: fully 3D and improved cut-in detection
+ * UI draws 2 road edges, 4 lanelines and paths in 3D
+ * Major fixes to cut-in detection for openpilot longitudinal
+ * Grey panda is no longer supported, upgrade to comma two or black panda
+ * Lexus NX 2018 support thanks to matt12eagles!
+ * Kia Niro EV 2020 support thanks to nickn17!
+ * Toyota Prius 2021 support thanks to rav4kumar!
+ * Improved lane positioning with uncertain lanelines, wide lanes and exits
+ * Improved lateral control for Prius and Subaru
+
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
+Version 0.7.9 (2020-10-09)
+========================
+ * Improved car battery power management
+ * Improved updater robustness
+ * Improved realtime performance
+ * Reduced UI and modeld lags
+ * Increased torque on 2020 Hyundai Sonata and Palisade
+
+Version 0.7.8 (2020-08-19)
+========================
+ * New driver monitoring model: improved face detection and better compatibility with sunglasses
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
+Version 0.7.7 (2020-07-20)
+========================
+ * White panda is no longer supported, upgrade to comma two or black panda
+ * Improved vehicle model estimation using high precision localizer
+ * Improved thermal management on comma two
+ * Improved autofocus for road-facing camera
+ * Improved noise performance for driver-facing camera
+ * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
+ * Fix GM ignition detection
+ * Code cleanup and smaller release sizes
+ * Hyundai Sonata 2020 promoted to officially supported car
+ * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
+ * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
+
+Version 0.7.6.1 (2020-06-16)
+========================
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
+
+Version 0.7.5 (2020-05-13)
+========================
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
+Version 0.7.3 (2020-02-21)
+========================
+ * Support for 2020 Highlander thanks to che220!
+ * Support for 2018 Lexus NX 300h thanks to kengggg!
+ * Speed up ECU firmware query
+ * Fix bug where manager would sometimes hang after shutting down the car
+
+Version 0.7.2 (2020-02-07)
+========================
+ * ECU firmware version based fingerprinting for Honda & Toyota
+ * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
+ * Improve driver monitoring under extreme lighting and add low accuracy alert
+ * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
+ * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
+ * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
+
+Version 0.7.1 (2020-01-20)
+========================
+ * comma two support!
+ * Lane Change Assist above 45 mph!
+ * Replace zmq with custom messaging library, msgq!
+ * Supercombo model: calibration and driving models are combined for better lead estimate
+ * More robust updater thanks to jyoung8607! Requires NEOS update
+ * Improve low speed ACC tuning
+
+Version 0.7 (2019-12-13)
+========================
+ * Move to SCons build system!
+ * Add Lane Departure Warning (LDW) for all supported vehicles!
+ * NEOS update: increase wifi speed thanks to jyoung8607!
+ * Adaptive driver monitoring based on scene
+ * New driving model trained end-to-end: improve lane lines and lead detection
+ * Smarter torque limit alerts for all cars
+ * Improve GM longitudinal control: proper computations for 15Hz radar
+ * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
+ * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
+ * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Forward stock FCW for Honda Nidec
+ * Volkswagen port now standard: comma Harness intercepts stock camera
+
+Version 0.6.6 (2019-11-05)
+========================
+ * Volkswagen support thanks to jyoung8607!
+ * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
+ * Lexus ES with TSS 2.0 support thanks to energee!
+ * Fix GM ignition detection and lock safety mode not required anymore
+ * Log panda firmware and dongle ID thanks to martinl!
+ * New driving model: improve path prediction and lead detection
+ * New driver monitoring model, 4x smaller and running on DSP
+ * Display an alert and don't start openpilot if panda has wrong firmware
+ * Fix bug preventing EON from terminating processes after a drive
+ * Remove support for Toyota giraffe without the 120Ohm resistor
+
+Version 0.6.5 (2019-10-07)
+========================
+ * NEOS update: upgrade to Python3 and new installer!
+ * comma Harness support!
+ * New driving model: improve path prediction
+ * New driver monitoring model: more accurate face and eye detection
+ * Redesign offroad screen to display updates and alerts
+ * Increase maximum allowed acceleration
+ * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
+ * Lexus CT Hybrid support thanks to thomaspich!
+ * Louder chime for critical alerts
+ * Add toggle to switch to dashcam mode
+ * Fix "invalid vehicle params" error on DSU-less Toyota
+
+Version 0.6.4 (2019-09-08)
+========================
+ * Forward stock AEB for Honda Nidec
+ * Improve lane centering on banked roads
+ * Always-on forward collision warning
+ * Always-on driver monitoring, except for right hand drive countries
+ * Driver monitoring learns the user's normal driving position
+ * Honda Fit support thanks to energee!
+ * Lexus IS support
+
+Version 0.6.3 (2019-08-12)
+========================
+ * Alert sounds from EON: requires NEOS update
+ * Improve driver monitoring: eye tracking and improved awareness logic
+ * Improve path prediction with new driving model
+ * Improve lane positioning with wide lanes and exits
+ * Improve lateral control on RAV4
+ * Slow down for turns using model
+ * Open sourced regression test to verify outputs against reference logs
+ * Open sourced regression test to sanity check all car models
+
+Version 0.6.2 (2019-07-29)
+========================
+ * New driving model!
+ * Improve lane tracking with double lines
+ * Strongly improve stationary vehicle detection
+ * Strongly reduce cases of braking due to false leads
+ * Better lead tracking around turns
+ * Improve cut-in prediction by using neural network
+ * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
+ * Fix unintended openpilot disengagements on Jeep thanks to adhintz!
+ * Fix delayed transition to offroad when car is turned off
+
+Version 0.6.1 (2019-07-21)
+========================
+ * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
+ * Panda code Misra-c2012 compliance, tested against cppcheck coverage
+ * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
+ * Toyota Sienna support thanks to wocsor!
+
+Version 0.6 (2019-07-01)
+========================
+ * New model, with double the pixels and ten times the temporal context!
+ * Car should not take exits when in the right lane
+ * openpilot uses only ~65% of the CPU (down from 75%)
+ * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
+ * loggerd and sensord are open source, every line of openpilot is now open
+ * Panda safety code is MISRA compliant and ships with a signed version on release2
+ * New NEOS is 500MB smaller and has a reproducible usr/pipenv
+ * Lexus ES Hybrid support thanks to wocsor!
+ * Improve tuning for supported Toyota with TSS 2.0
+ * Various other stability improvements
+
+Version 0.5.13 (2019-05-31)
+==========================
+ * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
+ * Reduce EON power consumption by 40%, down to 1100mW, when car is off
+ * Reduce CPU utilization by 20% and improve stability
+ * Temporarily remove mapd functionalities to improve stability
+ * Add openpilot record-only mode for unsupported cars
+ * Synchronize controlsd to boardd to reduce latency
+ * Remove panda support for Subaru giraffe
+
+Version 0.5.12 (2019-05-16)
+==========================
+ * Improve lateral control for the Prius and Prius Prime
+ * Compress logs before writing to disk
+ * Remove old driving data when storage reaches 90% full
+ * Fix small offset in following distance
+ * Various small CPU optimizations
+ * Improve offroad power consumption: require NEOS Update
+ * Add default speed limits for Estonia thanks to martinl!
+ * Subaru Crosstrek support thanks to martinl!
+ * Toyota Avalon support thanks to njbrown09!
+ * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
+ * Toyota Corolla with TSS 2.0 support thanks to wocsor!
+
+Version 0.5.11 (2019-04-17)
+========================
+ * Add support for Subaru
+ * Reduce panda power consumption by 60% when car is off
+ * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
+ * Fix bug in controls with new angle-offset learner in MPC
+ * Reduce cpu consumption of ubloxd by rewriting it in C++
+ * Improve driver monitoring model and face detection
+ * Improve performance of visiond and ui
+ * Honda Passport 2019 support
+ * Lexus RX Hybrid 2019 support thanks to schomems!
+ * Improve road selection heuristic in mapd
+ * Add Lane Departure Warning to dashboard for Toyota thanks to arne182
+
+Version 0.5.10 (2019-03-19)
+========================
+ * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
+ * Improve longitudinal control at low speed when lead vehicle harshly decelerates
+ * Fix panda bug going unexpectedly in DCP mode when EON is connected
+ * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
+ * New Driver Monitoring Model
+ * Support QR codes for login using comma connect
+ * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
+   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
+ * Additional speed limit rules for Germany thanks to arne182
+ * Allow negative speed limit offsets
+
+Version 0.5.9 (2019-02-10)
+========================
+ * Improve calibration using a dedicated neural network
+ * Abstract planner in its own process to remove lags in controls process
+ * Improve speed limits with country/region defaults by road type
+ * Reduce mapd data usage with gzip thanks to eFiniLan
+ * Zip log files in the background to reduce disk usage
+ * Kia Optima support thanks to emmertex!
+ * Buick Regal 2018 support thanks to HOYS!
+ * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+ * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
+
+Version 0.5.8 (2019-01-17)
+========================
+ * Open sourced visiond
+ * Auto-slowdown for upcoming turns
+ * Chrysler/Jeep/Fiat support thanks to adhintz!
+ * Honda Civic 2019 support thanks to csouers!
+ * Improve use of car display in Toyota thanks to arne182!
+ * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
+ * EON stops charging when 12V battery drops below 11.8V
+
+Version 0.5.7 (2018-12-06)
+========================
+ * Speed limit from OpenStreetMap added to UI
+ * Highlight speed limit when speed exceeds road speed limit plus a delta
+ * Option to limit openpilot max speed to road speed limit plus a delta
+ * Cadillac ATS support thanks to vntarasov!
+ * GMC Acadia support thanks to CryptoKylan!
+ * Decrease GPU power consumption
+ * NEOSv8 autoupdate
+
+Version 0.5.6 (2018-11-16)
+========================
+ * Refresh settings layout and add feature descriptions
+ * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
+ * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
+ * Improve camera calibration stability
+ * More tuning to Honda positive accelerations
+ * Reduce brake pump use on Hondas
+ * Chevrolet Malibu support thanks to tylergets!
+ * Holden Astra support thanks to AlexHill!
+
+Version 0.5.5 (2018-10-20)
+========================
+ * Increase allowed Honda positive accelerations
+ * Fix sporadic unexpected braking when passing semi-trucks in Toyota
+ * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
+
+Version 0.5.4 (2018-09-25)
+========================
+ * New Driving Model
+ * New Driver Monitoring Model
+ * Improve longitudinal mpc in mid-low speed braking
+ * Honda Accord hybrid support thanks to energee!
+ * Ship mpc binaries and sensibly reduce build time
+ * Calibration more stable
+ * More Hyundai and Kia cars supported thanks to emmertex!
+ * Various GM Volt improvements thanks to vntarasov!
+
+Version 0.5.3 (2018-09-03)
+========================
+ * Hyundai Santa Fe support!
+ * Honda Pilot 2019 support thanks to energee!
+ * Toyota Highlander support thanks to daehahn!
+ * Improve steering tuning for Honda Odyssey
+
+Version 0.5.2 (2018-08-16)
+========================
+ * New calibration: more accurate, a lot faster, open source!
+ * Enable orbd
+ * Add little endian support to CAN packer
+ * Fix fingerprint for Honda Accord 1.5T
+ * Improve driver monitoring model
+
+Version 0.5.1 (2018-08-01)
+========================
+ * Fix radar error on Civic sedan 2018
+ * Improve thermal management logic
+ * Alpha Toyota C-HR and Camry support!
+ * Auto-switch Driver Monitoring to 3 min counter when inaccurate
+
+Version 0.5 (2018-07-11)
+========================
+ * Driver Monitoring (beta) option in settings!
+ * Make visiond, loggerd and UI use less resources
+ * 60 FPS UI
+ * Better car parameters for most cars
+ * New sidebar with stats
+ * Remove Waze and Spotify to free up system resources
+ * Remove rear view mirror option
+ * Calibration 3x faster
+
+Version 0.4.7.2 (2018-06-25)
+==========================
+ * Fix loggerd lag issue
+ * No longer prompt for updates
+ * Mitigate right lane hugging for properly mounted EON (procedure on wiki)
+
+Version 0.4.7.1 (2018-06-18)
+==========================
+ * Fix Acura ILX steer faults
+ * Fix bug in mock car
+
+Version 0.4.7 (2018-06-15)
+==========================
+ * New model!
+ * GM Volt (and CT6 lateral) support!
+ * Honda Bosch lateral support!
+ * Improve actuator modeling to reduce lateral wobble
+ * Minor refactor of car abstraction layer
+ * Hack around orbd startup issue
+
+Version 0.4.6 (2018-05-18)
+==========================
+ * NEOSv6 required! Will autoupdate
+ * Stability improvements
+ * Fix all memory leaks
+ * Update C++ compiler to clang6
+ * Improve front camera exposure
+
+Version 0.4.5 (2018-04-27)
+==========================
+ * Release notes added to the update popup
+ * Improve auto shut-off logic to disallow empty battery
+ * Added onboarding instructions
+ * Include orbd, the first piece of new calibration algorithm
+ * Show remaining upload data instead of file numbers
+ * Fix UI bugs
+ * Fix memory leaks
+
+Version 0.4.4 (2018-04-13)
+==========================
+ * EON are flipped! Flip your EON's mount!
+ * Alpha Honda Ridgeline support thanks to energee!
+ * Support optional front camera recording
+ * Upload over cellular toggle now applies to all files, not just video
+ * Increase acceleration when closing lead gap
+ * User now prompted for future updates
+ * NEO no longer supported :(
+
+Version 0.4.3.2 (2018-03-29)
+============================
+ * Improve autofocus
+ * Improve driving when only one lane line is detected
+ * Added fingerprint for Toyota Corolla LE
+ * Fixed Toyota Corolla steer error
+ * Full-screen driving UI
+ * Improved path drawing
+
+Version 0.4.3.1 (2018-03-19)
+============================
+ * Improve autofocus
+ * Add check for MPC solution error
+ * Make first distracted warning visual only
+
+Version 0.4.3 (2018-03-13)
+==========================
+ * Add HDR and autofocus
+ * Update UI aesthetic
+ * Grey panda works in Waze
+ * Add alpha support for 2017 Honda Pilot
+ * Slight increase in acceleration response from stop
+ * Switch CAN sending to use CANPacker
+ * Fix pulsing acceleration regression on Honda
+ * Fix openpilot bugs when stock system is in use
+ * Change starting logic for chffrplus to use battery voltage
+
+Version 0.4.2 (2018-02-05)
+==========================
+ * Add alpha support for 2017 Lexus RX Hybrid
+ * Add alpha support for 2018 ACURA RDX
+ * Updated fingerprint to include Toyota Rav4 SE and Prius Prime
+ * Bugfixes for Acura ILX and Honda Odyssey
+
+Version 0.4.1 (2018-01-30)
+==========================
+ * Add alpha support for 2017 Toyota Corolla
+ * Add alpha support for 2018 Honda Odyssey with Honda Sensing
+ * Add alpha support for Grey Panda
+ * Refactored car abstraction layer to make car ports easier
+ * Increased steering torque limit on Honda CR-V by 30%
+
+Version 0.4.0.2 (2018-01-18)
+==========================
+ * Add focus adjustment slider
+ * Minor bugfixes
+
+Version 0.4.0.1 (2017-12-21)
+==========================
+ * New UI to match chffrplus
+ * Improved lateral control tuning to fix oscillations on Civic
+ * Add alpha support for 2017 Toyota Rav4 Hybrid
+ * Reduced CPU usage
+ * Removed unnecessary utilization of fan at max speed
+ * Minor bug fixes
+
+Version 0.3.9 (2017-11-21)
+==========================
+ * Add alpha support for 2017 Toyota Prius
+ * Improved longitudinal control using model predictive control
+ * Enable Forward Collision Warning
+ * Acura ILX now maintains openpilot engaged at standstill when brakes are applied
+
+Version 0.3.8.2 (2017-10-30)
+==========================
+ * Add alpha support for 2017 Toyota RAV4
+ * Smoother lateral control
+ * Stay silent if stock system is connected through giraffe
+ * Minor bug fixes
+
+Version 0.3.7 (2017-09-30)
+==========================
+ * Improved lateral control using model predictive control
+ * Improved lane centering
+ * Improved GPS
+ * Reduced tendency of path deviation near right side exits
+ * Enable engagement while the accelerator pedal is pressed
+ * Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
+ * Disable engagement when park brake or brake hold are active
+ * Fixed sporadic longitudinal pulsing in Civic
+ * Cleanups to vehicle interface
+
+Version 0.3.6.1 (2017-08-15)
+============================
+ * Mitigate low speed steering oscillations on some vehicles
+ * Include board steering check for CR-V
+
+Version 0.3.6 (2017-08-08)
+==========================
+ * Fix alpha CR-V support
+ * Improved GPS
+ * Fix display of target speed not always matching HUD
+ * Increased acceleration after stop
+ * Mitigated some vehicles driving too close to the right line
+
+Version 0.3.5 (2017-07-30)
+==========================
+ * Fix bug where new devices would not begin calibration
+ * Minor robustness improvements
+
+Version 0.3.4 (2017-07-28)
+==========================
+ * Improved model trained on more data
+ * Much improved controls tuning
+ * Performance improvements
+ * Bugfixes and improvements to calibration
+ * Driving log can play back video
+ * Acura only: system now stays engaged below 25mph as long as brakes are applied
+
+Version 0.3.3  (2017-06-28)
+===========================
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic
+
+Version 0.3.2  (2017-05-22)
+===========================
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data
+
+Version 0.3.1  (2017-05-17)
+===========================
+ * visiond stability bugfix
+ * Add logging for angle and flashing
+
+Version 0.3.0  (2017-05-12)
+===========================
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud
+
+Version 0.2.9  (2017-03-01)
+===========================
+ * Retain compatibility with NEOS v1
+
+Version 0.2.8  (2017-02-27)
+===========================
+ * Fix bug where frames were being dropped in minute 71
+
+Version 0.2.7  (2017-02-08)
+===========================
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in boardd
+ * Fix brake error light, fix crash if too cold
+
+Version 0.2.6  (2017-01-31)
+===========================
+ * Fix bug in visiond model execution
+
+Version 0.2.5  (2017-01-30)
+===========================
+ * Fix race condition in manager
+
+Version 0.2.4  (2017-01-27)
+===========================
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes
+
+Version 0.2.3  (2017-01-11)
+===========================
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI
+
 Version 0.2.2  (2017-01-10)
 ===========================
-  * Board triggers started signal on CAN messages
-  * Improved autoexposure
-  * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status
 
 Version 0.2.1  (2016-12-14)
 ===========================
-  * Performance improvements, removal of more numpy
-  * Fix boardd process priority
-  * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix boardd process priority
+ * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)
 =========================
-  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
-  * controlsd has been refactored
-  * Shipped plant model and testing maneuvers
-  * visiond exits more gracefully now
-  * Hardware encoder in visiond should always init
-  * ui now turns off the screen after 30 seconds
-  * Switch to openpilot release branch for future releases
-  * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC
 
 Version 0.1  (2016-11-29)
 =========================
-  * Initial release of openpilot
-  * Adaptive cruise control is working
-  * Lane keep assist is working
-  * Support for Acura ILX 2016 with AcuraWatch Plus
-  * Support for Honda Civic 2016 Touring Edition
-
+ * Initial release of openpilot
+ * Adaptive cruise control is working
+ * Lane keep assist is working
+ * Support for Acura ILX 2016 with AcuraWatch Plus
+ * Support for Honda Civic 2016 Touring Edition

SAFETY.md

@@ -1,36 +0,0 @@
-openpilot Safety
-======
-
-openpilot is an Adaptive Cruise Control and Lane Keeping Assist System. Like
-other ACC and LKAS systems, openpilot requires the driver to be alert and to pay
-attention at all times. We repeat, **driver alertness is necessary, but not
-sufficient, for openpilot to be used safely**.
-
-Even with an attentive driver, we must make further efforts for the system to be
-safe. We have designed openpilot with two other safety considerations.
-
-1. The vehicle must always be controllable by the driver.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react.
-
-To address these, we came up with two safety principles.
-
-1. Enforced disengagements. Step on either pedal or press the cancel button to
-   retake manual control of the car immediately.
-  - These are hard enforced by the board, and soft enforced by the software. The
-    green led on the board signifies if the board is allowing control messages.
-  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
-    replay of the same message.
-
-2. Actuation limits. While the system is engaged, the actuators are constrained
-   to operate within reasonable limits; the same limits used by the stock system on
-   the Honda.
-  - Without an interceptor, the gas is controlled by the PCM. The PCM limits
-    acceleration to what is reasonable for a cruise control system.  With an
-    interceptor, the gas is clipped to 60% in longcontrol.py
-  - The brake is controlled by the 0x1FA CAN message. This message allows full
-    braking, although the board and the software clip it to 1/4th of the max.
-    This is around .3g of braking.
-  - Steering is controlled by the 0xE4 CAN message. The EPS controller in the
-    car limits the torque to a very small amount, so regardless of the message,
-    the controller cannot jerk the wheel.

SConstruct

@@ -0,0 +1,443 @@
+import os
+import shutil
+import subprocess
+import sys
+import sysconfig
+import platform
+import numpy as np
+
+TICI = os.path.isfile('/TICI')
+Decider('MD5-timestamp')
+
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--extras',
+          action='store_true',
+          help='build misc extras, like setup and installer files')
+
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--no-thneed',
+          action='store_true',
+          dest='no_thneed',
+          help='avoid using thneed')
+
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+if arch == "aarch64" and TICI:
+  arch = "larch64"
+
+USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
+
+lenv = {
+  "PATH": os.environ['PATH'],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
+
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
+}
+
+rpath = lenv["LD_LIBRARY_PATH"].copy()
+
+if arch == "aarch64" or arch == "larch64":
+  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
+
+  if arch == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
+  cpppath = [
+    "#third_party/opencl/include",
+  ]
+
+  libpath = [
+    "/usr/local/lib",
+    "/usr/lib",
+    "/system/vendor/lib64",
+    f"#third_party/acados/{arch}/lib",
+  ]
+
+  if arch == "larch64":
+    libpath += [
+      "#third_party/snpe/larch64",
+      "#third_party/libyuv/larch64/lib",
+      "/usr/lib/aarch64-linux-gnu"
+    ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath += ["/usr/local/lib"]
+  else:
+    rpath = []
+    libpath += [
+      "#third_party/snpe/aarch64",
+      "#third_party/libyuv/lib",
+      "/system/vendor/lib64"
+    ]
+    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+else:
+  cflags = []
+  cxxflags = []
+  cpppath = []
+
+  # MacOS
+  if arch == "Darwin":
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
+    libpath = [
+      f"#third_party/libyuv/{yuv_dir}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/Library",
+      f"{brew_prefix}/opt/openssl/lib",
+      f"{brew_prefix}/Cellar",
+      f"#third_party/acados/{arch}/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl/include",
+    ]
+  # Linux 86_64
+  else:
+    libpath = [
+      "#third_party/acados/x86_64/lib",
+      "#third_party/snpe/x86_64-linux-clang",
+      "#third_party/libyuv/x64/lib",
+      "#third_party/mapbox-gl-native-qt/x86_64",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+  rpath += [
+    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
+    Dir("#cereal").abspath,
+    Dir("#selfdrive/common").abspath
+  ]
+
+if GetOption('asan'):
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
+else:
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
+
+# Enable swaglog include in submodules
+cflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
+cxxflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
+
+env = Environment(
+  ENV=lenv,
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-unknown-warning-option",
+    "-Wno-deprecated-register",
+    "-Wno-register",
+    "-Wno-inconsistent-missing-override",
+    "-Wno-c99-designator",
+    "-Wno-reorder-init-list",
+    "-Wno-error=unused-but-set-variable",
+  ] + cflags + ccflags,
+
+  CPPPATH=cpppath + [
+    "#",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/bzip2",
+    "#third_party/libyuv/include",
+    "#third_party/openmax/include",
+    "#third_party/json11",
+    "#third_party/curl/include",
+    "#third_party/libgralloc/include",
+    "#third_party/android_frameworks_native/include",
+    "#third_party/android_hardware_libhardware/include",
+    "#third_party/android_system_core/include",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party/mapbox-gl-native-qt/include",
+    "#third_party/qrcode",
+    "#third_party",
+    "#cereal",
+    "#opendbc/can",
+  ],
+
+  CC='clang',
+  CXX='clang++',
+  LINKFLAGS=ldflags,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
+    "#cereal",
+    "#third_party",
+    "#opendbc/can",
+    "#selfdrive/boardd",
+    "#selfdrive/common",
+  ],
+  CYTHONCFILESUFFIX=".cpp",
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "cython", "compilation_db"],
+)
+
+if arch == "Darwin":
+  env['RPATHPREFIX'] = "-rpath "
+
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')
+
+# Setup cache dir
+cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
+
+node_interval = 5
+node_count = 0
+def progress_function(node):
+  global node_count
+  node_count += node_interval
+  sys.stderr.write("progress: %d\n" % node_count)
+
+if os.environ.get('SCONS_PROGRESS'):
+  Progress(progress_function, interval=node_interval)
+
+SHARED = False
+
+def abspath(x):
+  if arch == 'aarch64':
+    pth = os.path.join("/data/pythonpath", x[0].path)
+    env.Depends(pth, x)
+    return File(pth)
+  else:
+    # rpath works elsewhere
+    return x[0].path.rsplit("/", 1)[1][:-3]
+
+# Cython build enviroment
+py_include = sysconfig.get_paths()['include']
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(py_include)]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]
+
+qt_libs = []
+if arch == "Darwin":
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
+  else:
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+elif arch == "aarch64":
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/qt",
+  ]
+  qt_dirs += [f"/usr/include/qt/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/{real_arch}-linux-gnu/qt5",
+    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
+
+SConscript(['selfdrive/common/SConscript'])
+Import('_common', '_gpucommon', '_gpu_libs')
+
+if SHARED:
+  common, gpucommon = abspath(common), abspath(gpucommon)
+else:
+  common = [_common, 'json11']
+  gpucommon = [_gpucommon] + _gpu_libs
+
+Export('common', 'gpucommon')
+
+# cereal and messaging are shared with the system
+SConscript(['cereal/SConscript'])
+if SHARED:
+  cereal = abspath([File('cereal/libcereal_shared.so')])
+  messaging = abspath([File('cereal/libmessaging_shared.so')])
+else:
+  cereal = [File('#cereal/libcereal.a')]
+  messaging = [File('#cereal/libmessaging.a')]
+  visionipc = [File('#cereal/libvisionipc.a')]
+
+Export('cereal', 'messaging', 'visionipc')
+
+# Build rednose library and ekf models
+
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+  },
+}
+
+if arch not in ["aarch64", "larch64"]:
+  rednose_config['to_build'].update({
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+  })
+
+Export('rednose_config')
+SConscript(['rednose/SConscript'])
+
+# Build openpilot
+
+SConscript(['cereal/SConscript'])
+SConscript(['panda/board/SConscript'])
+SConscript(['opendbc/can/SConscript'])
+
+SConscript(['third_party/SConscript'])
+
+SConscript(['common/SConscript'])
+SConscript(['common/kalman/SConscript'])
+SConscript(['common/transformations/SConscript'])
+
+SConscript(['selfdrive/camerad/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+
+SConscript(['selfdrive/controls/lib/cluster/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
+
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/proclogd/SConscript'])
+SConscript(['selfdrive/clocksd/SConscript'])
+
+SConscript(['selfdrive/loggerd/SConscript'])
+
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
+
+if arch != "Darwin":
+  SConscript(['selfdrive/logcatd/SConscript'])
+
+if GetOption('test'):
+  SConscript('panda/tests/safety/SConscript')
+
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])

board/Makefile

@@ -1,43 +0,0 @@
-# :set noet
-PROJ_NAME = comma
-
-CFLAGS  = -g -O0 -Wall
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
-CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I inc -nostdlib
-CFLAGS += -Tstm32_flash.ld
-
-CC = arm-none-eabi-gcc
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-
-MACHINE = $(shell uname -m)
-
-all: obj/$(PROJ_NAME).bin
-	#$(OBJDUMP) -d obj/$(PROJ_NAME).elf
-	./tools/enter_download_mode.py
-	./tools/dfu-util-$(MACHINE) -a 0 -s 0x08000000 -D $<
-	./tools/dfu-util-$(MACHINE) --reset-stm32 -a 0 -s 0x08000000
-
-ifneq ($(wildcard ../.git/HEAD),) 
-obj/gitversion.h: ../.git/HEAD ../.git/index
-	echo "const uint8_t gitversion[] = \"$(shell git rev-parse HEAD)\";" > $@
-else
-obj/gitversion.h: 
-	echo "const uint8_t gitversion[] = \"RELEASE\";" > $@
-endif
-
-obj/main.o: main.c *.h obj/gitversion.h
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/startup_stm32f205xx.o: startup_stm32f205xx.s
-	mkdir -p obj
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(PROJ_NAME).bin: obj/startup_stm32f205xx.o obj/main.o
-	$(CC) $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
-	
-clean:
-	rm -f obj/*
-

board/adc.h

@@ -1,38 +0,0 @@
-// ACCEL1 = ADC10
-// ACCEL2 = ADC11
-// VOLT_S = ADC12
-// CURR_S = ADC13
-
-#define ADCCHAN_ACCEL0 10
-#define ADCCHAN_ACCEL1 11
-#define ADCCHAN_VOLTAGE 12
-#define ADCCHAN_CURRENT 13
-
-void adc_init() {
-  // global setup
-  ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
-  //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
-  ADC1->CR2 = ADC_CR2_ADON;
-
-  // long
-  ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
-}
-
-uint32_t adc_get(int channel) {
-
-  // includes length
-  //ADC1->SQR1 = 0;
-
-  // select channel
-  ADC1->JSQR = channel << 15;
-
-  //ADC1->CR1 = ADC_CR1_DISCNUM_0;
-  //ADC1->CR1 = ADC_CR1_EOCIE;
-
-  ADC1->SR &= ~(ADC_SR_JEOC);
-  ADC1->CR2 |= ADC_CR2_JSWSTART;
-  while (!(ADC1->SR & ADC_SR_JEOC));
-
-  return ADC1->JDR1;
-}
-

board/can.h

@@ -1,75 +0,0 @@
-void can_init(CAN_TypeDef *CAN) {
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
-  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-  puts("CAN initting\n");
-
-  // PCLK = 24000000, 500000 is 48 clocks
-  // from http://www.bittiming.can-wiki.ino/
-  CAN->BTR = 0x001c0002;
-
-  // loopback mode for debugging
-  #ifdef CAN_LOOPBACK_MODE
-    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
-  #endif
-
-  // reset
-  CAN->MCR = CAN_MCR_TTCM;
-  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK);
-  puts("CAN init done\n");
-
-  // accept all filter
-  CAN->FMR |= CAN_FMR_FINIT;
-
-  // no mask
-  CAN->sFilterRegister[0].FR1 = 0;
-  CAN->sFilterRegister[0].FR2 = 0;
-  CAN->sFilterRegister[14].FR1 = 0;
-  CAN->sFilterRegister[14].FR2 = 0;
-  CAN->FA1R |= 1 | (1 << 14);
-
-  CAN->FMR &= ~(CAN_FMR_FINIT);
-
-  // enable all CAN interrupts
-  CAN->IER = 0xFFFFFFFF;
-  //CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
-}
-
-// CAN error
-void can_sce(CAN_TypeDef *CAN) {
-  #ifdef DEBUG
-    puts("MSR:");
-    puth(CAN->MSR);
-    puts(" TSR:");
-    puth(CAN->TSR);
-    puts(" RF0R:");
-    puth(CAN->RF0R);
-    puts(" RF1R:");
-    puth(CAN->RF1R);
-    puts(" ESR:");
-    puth(CAN->ESR);
-    puts("\n");
-  #endif
-
-  // clear
-  //CAN->sTxMailBox[0].TIR &= ~(CAN_TI0R_TXRQ);
-  CAN->TSR |= CAN_TSR_ABRQ0;
-  //CAN->ESR |= CAN_ESR_LEC;
-  //CAN->MSR &= ~(CAN_MSR_ERRI);
-  CAN->MSR = CAN->MSR;
-}
-
-int can_cksum(uint8_t *dat, int len, int addr, int idx) {
-  int i;
-  int s = 0;
-  for (i = 0; i < len; i++) {
-    s += (dat[i] >> 4);
-    s += dat[i] & 0xF;
-  }
-  s += (addr>>0)&0xF;
-  s += (addr>>4)&0xF;
-  s += (addr>>8)&0xF;
-  s += idx;
-  s = 8-s;
-  return s&0xF;
-}
-

board/dac.h

@@ -1,16 +0,0 @@
-void dac_init() {
-  // no buffers required since we have an opamp
-  //DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
-  DAC->DHR12R1 = 0;
-  DAC->DHR12R2 = 0;
-  DAC->CR = DAC_CR_EN1 | DAC_CR_EN2;
-}
-
-void dac_set(int channel, uint32_t value) {
-  if (channel == 0) {
-    DAC->DHR12R1 = value;
-  } else if (channel == 1) {
-    DAC->DHR12R2 = value;
-  }
-}
-

board/inc/core_cmFunc.h

@@ -1,609 +0,0 @@
-/**************************************************************************//**
- * @file     core_cmFunc.h
- * @brief    CMSIS Cortex-M Core Function Access Header File
- * @version  V2.10
- * @date     26. July 2011
- *
- * @note
- * Copyright (C) 2009-2011 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M 
- * processor based microcontrollers.  This file can be freely distributed 
- * within development tools that are supporting such ARM based processors. 
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef __CORE_CMFUNC_H
-#define __CORE_CMFUNC_H
-
-
-/* ###########################  Core Function Access  ########################### */
-/** \ingroup  CMSIS_Core_FunctionInterface   
-    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
-  @{
- */
-
-#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-#if (__ARMCC_VERSION < 400677)
-  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
-#endif
-
-/* intrinsic void __enable_irq();     */
-/* intrinsic void __disable_irq();    */
-
-/** \brief  Get Control Register
-
-    This function returns the content of the Control Register.
-
-    \return               Control Register value
- */
-static __INLINE uint32_t __get_CONTROL(void)
-{
-  register uint32_t __regControl         __ASM("control");
-  return(__regControl);
-}
-
-
-/** \brief  Set Control Register
-
-    This function writes the given value to the Control Register.
-
-    \param [in]    control  Control Register value to set
- */
-static __INLINE void __set_CONTROL(uint32_t control)
-{
-  register uint32_t __regControl         __ASM("control");
-  __regControl = control;
-}
-
-
-/** \brief  Get ISPR Register
-
-    This function returns the content of the ISPR Register.
-
-    \return               ISPR Register value
- */
-static __INLINE uint32_t __get_IPSR(void)
-{
-  register uint32_t __regIPSR          __ASM("ipsr");
-  return(__regIPSR);
-}
-
-
-/** \brief  Get APSR Register
-
-    This function returns the content of the APSR Register.
-
-    \return               APSR Register value
- */
-static __INLINE uint32_t __get_APSR(void)
-{
-  register uint32_t __regAPSR          __ASM("apsr");
-  return(__regAPSR);
-}
-
-
-/** \brief  Get xPSR Register
-
-    This function returns the content of the xPSR Register.
-
-    \return               xPSR Register value
- */
-static __INLINE uint32_t __get_xPSR(void)
-{
-  register uint32_t __regXPSR          __ASM("xpsr");
-  return(__regXPSR);
-}
-
-
-/** \brief  Get Process Stack Pointer
-
-    This function returns the current value of the Process Stack Pointer (PSP).
-
-    \return               PSP Register value
- */
-static __INLINE uint32_t __get_PSP(void)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  return(__regProcessStackPointer);
-}
-
-
-/** \brief  Set Process Stack Pointer
-
-    This function assigns the given value to the Process Stack Pointer (PSP).
-
-    \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-static __INLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  __regProcessStackPointer = topOfProcStack;
-}
-
-
-/** \brief  Get Main Stack Pointer
-
-    This function returns the current value of the Main Stack Pointer (MSP).
-
-    \return               MSP Register value
- */
-static __INLINE uint32_t __get_MSP(void)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  return(__regMainStackPointer);
-}
-
-
-/** \brief  Set Main Stack Pointer
-
-    This function assigns the given value to the Main Stack Pointer (MSP).
-
-    \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-static __INLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  __regMainStackPointer = topOfMainStack;
-}
-
-
-/** \brief  Get Priority Mask
-
-    This function returns the current state of the priority mask bit from the Priority Mask Register.
-
-    \return               Priority Mask value
- */
-static __INLINE uint32_t __get_PRIMASK(void)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  return(__regPriMask);
-}
-
-
-/** \brief  Set Priority Mask
-
-    This function assigns the given value to the Priority Mask Register.
-
-    \param [in]    priMask  Priority Mask
- */
-static __INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  __regPriMask = (priMask);
-}
- 
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Enable FIQ
-
-    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-#define __enable_fault_irq                __enable_fiq
-
-
-/** \brief  Disable FIQ
-
-    This function disables FIQ interrupts by setting the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-#define __disable_fault_irq               __disable_fiq
-
-
-/** \brief  Get Base Priority
-
-    This function returns the current value of the Base Priority register.
-
-    \return               Base Priority register value
- */
-static __INLINE uint32_t  __get_BASEPRI(void)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  return(__regBasePri);
-}
-
-
-/** \brief  Set Base Priority
-
-    This function assigns the given value to the Base Priority register.
-
-    \param [in]    basePri  Base Priority value to set
- */
-static __INLINE void __set_BASEPRI(uint32_t basePri)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  __regBasePri = (basePri & 0xff);
-}
- 
-
-/** \brief  Get Fault Mask
-
-    This function returns the current value of the Fault Mask register.
-
-    \return               Fault Mask register value
- */
-static __INLINE uint32_t __get_FAULTMASK(void)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  return(__regFaultMask);
-}
-
-
-/** \brief  Set Fault Mask
-
-    This function assigns the given value to the Fault Mask register.
-
-    \param [in]    faultMask  Fault Mask value to set
- */
-static __INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  __regFaultMask = (faultMask & (uint32_t)1);
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-#if       (__CORTEX_M == 0x04)
-
-/** \brief  Get FPSCR
-
-    This function returns the current value of the Floating Point Status/Control register.
-
-    \return               Floating Point Status/Control register value
- */
-static __INLINE uint32_t __get_FPSCR(void)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  register uint32_t __regfpscr         __ASM("fpscr");
-  return(__regfpscr);
-#else
-   return(0);
-#endif
-}
-
-
-/** \brief  Set FPSCR
-
-    This function assigns the given value to the Floating Point Status/Control register.
-
-    \param [in]    fpscr  Floating Point Status/Control value to set
- */
-static __INLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  register uint32_t __regfpscr         __ASM("fpscr");
-  __regfpscr = (fpscr);
-#endif
-}
-
-#endif /* (__CORTEX_M == 0x04) */
-
-
-#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-#include <cmsis_iar.h>
-
-#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-/** \brief  Enable IRQ Interrupts
-
-  This function enables IRQ interrupts by clearing the I-bit in the CPSR.
-  Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __enable_irq(void)
-{
-  __ASM volatile ("cpsie i");
-}
-
-
-/** \brief  Disable IRQ Interrupts
-
-  This function disables IRQ interrupts by setting the I-bit in the CPSR.
-  Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __disable_irq(void)
-{
-  __ASM volatile ("cpsid i");
-}
-
-
-/** \brief  Get Control Register
-
-    This function returns the content of the Control Register.
-
-    \return               Control Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_CONTROL(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, control" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Control Register
-
-    This function writes the given value to the Control Register.
-
-    \param [in]    control  Control Register value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_CONTROL(uint32_t control)
-{
-  __ASM volatile ("MSR control, %0" : : "r" (control) );
-}
-
-
-/** \brief  Get ISPR Register
-
-    This function returns the content of the ISPR Register.
-
-    \return               ISPR Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_IPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get APSR Register
-
-    This function returns the content of the APSR Register.
-
-    \return               APSR Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_APSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, apsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get xPSR Register
-
-    This function returns the content of the xPSR Register.
-
-    \return               xPSR Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_xPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get Process Stack Pointer
-
-    This function returns the current value of the Process Stack Pointer (PSP).
-
-    \return               PSP Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PSP(void)
-{
-  register uint32_t result;
-
-  __ASM volatile ("MRS %0, psp\n"  : "=r" (result) );
-  return(result);
-}
- 
-
-/** \brief  Set Process Stack Pointer
-
-    This function assigns the given value to the Process Stack Pointer (PSP).
-
-    \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );
-}
-
-
-/** \brief  Get Main Stack Pointer
-
-    This function returns the current value of the Main Stack Pointer (MSP).
-
-    \return               MSP Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_MSP(void)
-{
-  register uint32_t result;
-
-  __ASM volatile ("MRS %0, msp\n" : "=r" (result) );
-  return(result);
-}
- 
-
-/** \brief  Set Main Stack Pointer
-
-    This function assigns the given value to the Main Stack Pointer (MSP).
-
-    \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );
-}
-
-
-/** \brief  Get Priority Mask
-
-    This function returns the current state of the priority mask bit from the Priority Mask Register.
-
-    \return               Priority Mask value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PRIMASK(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, primask" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Priority Mask
-
-    This function assigns the given value to the Priority Mask Register.
-
-    \param [in]    priMask  Priority Mask
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  __ASM volatile ("MSR primask, %0" : : "r" (priMask) );
-}
- 
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Enable FIQ
-
-    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __enable_fault_irq(void)
-{
-  __ASM volatile ("cpsie f");
-}
-
-
-/** \brief  Disable FIQ
-
-    This function disables FIQ interrupts by setting the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __disable_fault_irq(void)
-{
-  __ASM volatile ("cpsid f");
-}
-
-
-/** \brief  Get Base Priority
-
-    This function returns the current value of the Base Priority register.
-
-    \return               Base Priority register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_BASEPRI(void)
-{
-  uint32_t result;
-  
-  __ASM volatile ("MRS %0, basepri_max" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Base Priority
-
-    This function assigns the given value to the Base Priority register.
-
-    \param [in]    basePri  Base Priority value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_BASEPRI(uint32_t value)
-{
-  __ASM volatile ("MSR basepri, %0" : : "r" (value) );
-}
-
-
-/** \brief  Get Fault Mask
-
-    This function returns the current value of the Fault Mask register.
-
-    \return               Fault Mask register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FAULTMASK(void)
-{
-  uint32_t result;
-  
-  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Fault Mask
-
-    This function assigns the given value to the Fault Mask register.
-
-    \param [in]    faultMask  Fault Mask value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-#if       (__CORTEX_M == 0x04)
-
-/** \brief  Get FPSCR
-
-    This function returns the current value of the Floating Point Status/Control register.
-
-    \return               Floating Point Status/Control register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FPSCR(void)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  uint32_t result;
-
-  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
-  return(result);
-#else
-   return(0);
-#endif
-}
-
-
-/** \brief  Set FPSCR
-
-    This function assigns the given value to the Floating Point Status/Control register.
-
-    \param [in]    fpscr  Floating Point Status/Control value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );
-#endif
-}
-
-#endif /* (__CORTEX_M == 0x04) */
-
-
-#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
-/* TASKING carm specific functions */
-
-/*
- * The CMSIS functions have been implemented as intrinsics in the compiler.
- * Please use "carm -?i" to get an up to date list of all instrinsics,
- * Including the CMSIS ones.
- */
-
-#endif
-
-/*@} end of CMSIS_Core_RegAccFunctions */
-
-
-#endif /* __CORE_CMFUNC_H */

board/inc/core_cmInstr.h

@@ -1,585 +0,0 @@
-/**************************************************************************//**
- * @file     core_cmInstr.h
- * @brief    CMSIS Cortex-M Core Instruction Access Header File
- * @version  V2.10
- * @date     19. July 2011
- *
- * @note
- * Copyright (C) 2009-2011 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M 
- * processor based microcontrollers.  This file can be freely distributed 
- * within development tools that are supporting such ARM based processors. 
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef __CORE_CMINSTR_H
-#define __CORE_CMINSTR_H
-
-
-/* ##########################  Core Instruction Access  ######################### */
-/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
-  Access to dedicated instructions
-  @{
-*/
-
-#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-#if (__ARMCC_VERSION < 400677)
-  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
-#endif
-
-
-/** \brief  No Operation
-
-    No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-#define __NOP                             __nop
-
-
-/** \brief  Wait For Interrupt
-
-    Wait For Interrupt is a hint instruction that suspends execution
-    until one of a number of events occurs.
- */
-#define __WFI                             __wfi
-
-
-/** \brief  Wait For Event
-
-    Wait For Event is a hint instruction that permits the processor to enter
-    a low-power state until one of a number of events occurs.
- */
-#define __WFE                             __wfe
-
-
-/** \brief  Send Event
-
-    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-#define __SEV                             __sev
-
-
-/** \brief  Instruction Synchronization Barrier
-
-    Instruction Synchronization Barrier flushes the pipeline in the processor, 
-    so that all instructions following the ISB are fetched from cache or 
-    memory, after the instruction has been completed.
- */
-#define __ISB()                           __isb(0xF)
-
-
-/** \brief  Data Synchronization Barrier
-
-    This function acts as a special kind of Data Memory Barrier. 
-    It completes when all explicit memory accesses before this instruction complete.
- */
-#define __DSB()                           __dsb(0xF)
-
-
-/** \brief  Data Memory Barrier
-
-    This function ensures the apparent order of the explicit memory operations before 
-    and after the instruction, without ensuring their completion.
- */
-#define __DMB()                           __dmb(0xF)
-
-
-/** \brief  Reverse byte order (32 bit)
-
-    This function reverses the byte order in integer value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-#define __REV                             __rev
-
-
-/** \brief  Reverse byte order (16 bit)
-
-    This function reverses the byte order in two unsigned short values.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-static __INLINE __ASM uint32_t __REV16(uint32_t value)
-{
-  rev16 r0, r0
-  bx lr
-}
-
-
-/** \brief  Reverse byte order in signed short value
-
-    This function reverses the byte order in a signed short value with sign extension to integer.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-static __INLINE __ASM int32_t __REVSH(int32_t value)
-{
-  revsh r0, r0
-  bx lr
-}
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Reverse bit order of value
-
-    This function reverses the bit order of the given value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-#define __RBIT                            __rbit
-
-
-/** \brief  LDR Exclusive (8 bit)
-
-    This function performs a exclusive LDR command for 8 bit value.
-
-    \param [in]    ptr  Pointer to data
-    \return             value of type uint8_t at (*ptr)
- */
-#define __LDREXB(ptr)                     ((uint8_t ) __ldrex(ptr))
-
-
-/** \brief  LDR Exclusive (16 bit)
-
-    This function performs a exclusive LDR command for 16 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint16_t at (*ptr)
- */
-#define __LDREXH(ptr)                     ((uint16_t) __ldrex(ptr))
-
-
-/** \brief  LDR Exclusive (32 bit)
-
-    This function performs a exclusive LDR command for 32 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint32_t at (*ptr)
- */
-#define __LDREXW(ptr)                     ((uint32_t ) __ldrex(ptr))
-
-
-/** \brief  STR Exclusive (8 bit)
-
-    This function performs a exclusive STR command for 8 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXB(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  STR Exclusive (16 bit)
-
-    This function performs a exclusive STR command for 16 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXH(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  STR Exclusive (32 bit)
-
-    This function performs a exclusive STR command for 32 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXW(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  Remove the exclusive lock
-
-    This function removes the exclusive lock which is created by LDREX.
-
- */
-#define __CLREX                           __clrex
-
-
-/** \brief  Signed Saturate
-
-    This function saturates a signed value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (1..32)
-    \return             Saturated value
- */
-#define __SSAT                            __ssat
-
-
-/** \brief  Unsigned Saturate
-
-    This function saturates an unsigned value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (0..31)
-    \return             Saturated value
- */
-#define __USAT                            __usat
-
-
-/** \brief  Count leading zeros
-
-    This function counts the number of leading zeros of a data value.
-
-    \param [in]  value  Value to count the leading zeros
-    \return             number of leading zeros in value
- */
-#define __CLZ                             __clz 
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-
-#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-#include <cmsis_iar.h>
-
-
-#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-/** \brief  No Operation
-
-    No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __NOP(void)
-{
-  __ASM volatile ("nop");
-}
-
-
-/** \brief  Wait For Interrupt
-
-    Wait For Interrupt is a hint instruction that suspends execution
-    until one of a number of events occurs.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __WFI(void)
-{
-  __ASM volatile ("wfi");
-}
-
-
-/** \brief  Wait For Event
-
-    Wait For Event is a hint instruction that permits the processor to enter
-    a low-power state until one of a number of events occurs.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __WFE(void)
-{
-  __ASM volatile ("wfe");
-}
-
-
-/** \brief  Send Event
-
-    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __SEV(void)
-{
-  __ASM volatile ("sev");
-}
-
-
-/** \brief  Instruction Synchronization Barrier
-
-    Instruction Synchronization Barrier flushes the pipeline in the processor, 
-    so that all instructions following the ISB are fetched from cache or 
-    memory, after the instruction has been completed.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __ISB(void)
-{
-  __ASM volatile ("isb");
-}
-
-
-/** \brief  Data Synchronization Barrier
-
-    This function acts as a special kind of Data Memory Barrier. 
-    It completes when all explicit memory accesses before this instruction complete.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __DSB(void)
-{
-  __ASM volatile ("dsb");
-}
-
-
-/** \brief  Data Memory Barrier
-
-    This function ensures the apparent order of the explicit memory operations before 
-    and after the instruction, without ensuring their completion.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __DMB(void)
-{
-  __ASM volatile ("dmb");
-}
-
-
-/** \brief  Reverse byte order (32 bit)
-
-    This function reverses the byte order in integer value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV(uint32_t value)
-{
-  uint32_t result;
-  
-  __ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-
-/** \brief  Reverse byte order (16 bit)
-
-    This function reverses the byte order in two unsigned short values.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV16(uint32_t value)
-{
-  uint32_t result;
-  
-  __ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-
-/** \brief  Reverse byte order in signed short value
-
-    This function reverses the byte order in a signed short value with sign extension to integer.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE int32_t __REVSH(int32_t value)
-{
-  uint32_t result;
-  
-  __ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );
-  return((int32_t)result);
-}
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Reverse bit order of value
-
-    This function reverses the bit order of the given value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __RBIT(uint32_t value)
-{
-  uint32_t result;
-  
-   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (8 bit)
-
-    This function performs a exclusive LDR command for 8 bit value.
-
-    \param [in]    ptr  Pointer to data
-    \return             value of type uint8_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) static __INLINE uint8_t __LDREXB(volatile uint8_t *addr)
-{
-    uint8_t result;
-  
-   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (16 bit)
-
-    This function performs a exclusive LDR command for 16 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint16_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) static __INLINE uint16_t __LDREXH(volatile uint16_t *addr)
-{
-    uint16_t result;
-  
-   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (32 bit)
-
-    This function performs a exclusive LDR command for 32 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint32_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __LDREXW(volatile uint32_t *addr)
-{
-    uint32_t result;
-  
-   __ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (8 bit)
-
-    This function performs a exclusive STR command for 8 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
-{
-   uint32_t result;
-  
-   __ASM volatile ("strexb %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (16 bit)
-
-    This function performs a exclusive STR command for 16 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
-{
-   uint32_t result;
-  
-   __ASM volatile ("strexh %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (32 bit)
-
-    This function performs a exclusive STR command for 32 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
-{
-   uint32_t result;
-  
-   __ASM volatile ("strex %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  Remove the exclusive lock
-
-    This function removes the exclusive lock which is created by LDREX.
-
- */
-__attribute__( ( always_inline ) ) static __INLINE void __CLREX(void)
-{
-  __ASM volatile ("clrex");
-}
-
-
-/** \brief  Signed Saturate
-
-    This function saturates a signed value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (1..32)
-    \return             Saturated value
- */
-#define __SSAT(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/** \brief  Unsigned Saturate
-
-    This function saturates an unsigned value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (0..31)
-    \return             Saturated value
- */
-#define __USAT(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/** \brief  Count leading zeros
-
-    This function counts the number of leading zeros of a data value.
-
-    \param [in]  value  Value to count the leading zeros
-    \return             number of leading zeros in value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint8_t __CLZ(uint32_t value)
-{
-  uint8_t result;
-  
-  __ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-
-
-#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
-/* TASKING carm specific functions */
-
-/*
- * The CMSIS functions have been implemented as intrinsics in the compiler.
- * Please use "carm -?i" to get an up to date list of all intrinsics,
- * Including the CMSIS ones.
- */
-
-#endif
-
-/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
-
-#endif /* __CORE_CMINSTR_H */

board/inc/stm32f2xx.h

@@ -1,197 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    stm32f2xx.h
-  * @author  MCD Application Team
-  * @version V2.0.1
-  * @date    25-March-2014
-  * @brief   CMSIS STM32F2xx Device Peripheral Access Layer Header File.
-  *
-  *          The file is the unique include file that the application programmer
-  *          is using in the C source code, usually in main.c. This file contains:
-  *           - Configuration section that allows to select:
-  *              - The STM32F2xx device used in the target application
-  *              - To use or not the peripheral's drivers in application code(i.e.
-  *                code will be based on direct access to peripheral's registers
-  *                rather than drivers API), this option is controlled by
-  *                "#define USE_HAL_DRIVER"
-  *
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-
-/** @addtogroup CMSIS
-  * @{
-  */
-
-/** @addtogroup stm32f2xx
-  * @{
-  */
-
-#ifndef __STM32F2xx_H
-#define __STM32F2xx_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif /* __cplusplus */
-
-/** @addtogroup Library_configuration_section
-  * @{
-  */
-
-/* Uncomment the line below according to the target STM32 device used in your
-   application
-  */
-
-#if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx)
-
-  /* #define STM32F205xx */   /*!< STM32Fxx    Devices */
-  /* #define STM32F215xx */   /*!< STM32Fxx    Devices */
-  /* #define STM32F207xx */   /*!< STM32Fxx    Devices */
-  /* #define STM32F217xx */   /*!< STM32Fxx    Devices */
-
-#endif
-
-/*  Tip: To avoid modifying this file each time you need to switch between these
-        devices, you can define the device in your toolchain compiler preprocessor.
-  */
-#if !defined  (USE_HAL_DRIVER)
-/**
- * @brief Comment the line below if you will not use the peripherals drivers.
-   In this case, these drivers will not be included and the application code will
-   be based on direct access to peripherals registers
-   */
-  /*#define USE_HAL_DRIVER */
-#endif /* USE_HAL_DRIVER */
-
-/**
-  * @brief CMSIS Device version number V2.0.1
-  */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION_MAIN   (0x02) /*!< [31:24] main version */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB1   (0x00) /*!< [23:16] sub1 version */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB2   (0x00) /*!< [15:8]  sub2 version */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION_RC     (0x00) /*!< [7:0]  release candidate */
-#define __STM32F2xx_CMSIS_DEVICE_VERSION        ((__CMSIS_DEVICE_VERSION_MAIN     << 24)\
-                                      |(__CMSIS_DEVICE_HAL_VERSION_SUB1 << 16)\
-                                      |(__CMSIS_DEVICE_HAL_VERSION_SUB2 << 8 )\
-                                      |(__CMSIS_DEVICE_HAL_VERSION_RC))
-
-/**
-  * @}
-  */
-
-/** @addtogroup Device_Included
-  * @{
-  */
-
-#if defined(STM32F205xx)
-  #include "stm32f205xx.h"
-#elif defined(STM32F215xx)
-  #include "stm32f215xx.h"
-#elif defined(STM32F207xx)
-  #include "stm32f207xx.h"
-#elif defined(STM32F217xx)
-  #include "stm32f217xx.h"
-#else
- #error "Please select first the target STM32F2xx device used in your application (in stm32f2xx.h file)"
-#endif
-
-/**
-  * @}
-  */
-
-/** @addtogroup Exported_types
-  * @{
-  */
-typedef enum
-{
-  RESET = 0,
-  SET = !RESET
-} FlagStatus, ITStatus;
-
-typedef enum
-{
-  DISABLE = 0,
-  ENABLE = !DISABLE
-} FunctionalState;
-#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
-
-typedef enum
-{
-  ERROR = 0,
-  SUCCESS = !ERROR
-} ErrorStatus;
-
-/**
-  * @}
-  */
-
-
-/** @addtogroup Exported_macro
-  * @{
-  */
-#define SET_BIT(REG, BIT)     ((REG) |= (BIT))
-
-#define CLEAR_BIT(REG, BIT)   ((REG) &= ~(BIT))
-
-#define READ_BIT(REG, BIT)    ((REG) & (BIT))
-
-#define CLEAR_REG(REG)        ((REG) = (0x0))
-
-#define WRITE_REG(REG, VAL)   ((REG) = (VAL))
-
-#define READ_REG(REG)         ((REG))
-
-#define MODIFY_REG(REG, CLEARMASK, SETMASK)  WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
-
-#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL)))
-
-
-/**
-  * @}
-  */
-
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif /* __STM32F2xx_H */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-
-
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/inc/system_stm32f2xx.h

@@ -1,99 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    system_stm32f2xx.h
-  * @author  MCD Application Team
-  * @version V1.0.0
-  * @date    18-April-2011
-  * @brief   CMSIS Cortex-M3 Device Peripheral Access Layer System Header File.
-  ******************************************************************************  
-  * @attention
-  *
-  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
-  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
-  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
-  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-  *
-  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
-  ******************************************************************************  
-  */ 
-
-/** @addtogroup CMSIS
-  * @{
-  */
-
-/** @addtogroup stm32f2xx_system
-  * @{
-  */  
-  
-/**
-  * @brief Define to prevent recursive inclusion
-  */
-#ifndef __SYSTEM_STM32F2XX_H
-#define __SYSTEM_STM32F2XX_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
-
-/** @addtogroup STM32F2xx_System_Includes
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-
-/** @addtogroup STM32F2xx_System_Exported_types
-  * @{
-  */
-
-extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Clock) */
-
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F2xx_System_Exported_Constants
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F2xx_System_Exported_Macros
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F2xx_System_Exported_Functions
-  * @{
-  */
-  
-extern void SystemInit(void);
-extern void SystemCoreClockUpdate(void);
-/**
-  * @}
-  */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /*__SYSTEM_STM32F2XX_H */
-
-/**
-  * @}
-  */
-  
-/**
-  * @}
-  */  
-/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

board/libc.h

@@ -1,226 +0,0 @@
-#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; })
-
-#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_)*25)/(4*(_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_))/100)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
-
-#define GPIO_AF2_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
-#define GPIO_AF7_USART2        ((uint8_t)0x07)  /* USART2 Alternate Function mapping     */
-#define GPIO_AF7_USART3        ((uint8_t)0x07)  /* USART3 Alternate Function mapping     */
-#define GPIO_AF9_CAN1          ((uint8_t)0x09)  /* CAN1 Alternate Function mapping  */
-#define GPIO_AF10_OTG_FS        ((uint8_t)0xA)  /* OTG_FS Alternate Function mapping */
-#define GPIO_AF12_OTG_HS_FS       ((uint8_t)0xC)  /* OTG HS configured in FS */
-
-#ifdef OLD_BOARD
-  #define USART USART2
-#else
-  #define USART USART3
-#endif
-
-
-// **** shitty libc ****
-
-void clock_init() {
-  #ifdef USE_INTERNAL_OSC
-    // enable internal oscillator
-    RCC->CR |= RCC_CR_HSION;
-    while ((RCC->CR & RCC_CR_HSIRDY) == 0);
-  #else
-    // enable external oscillator
-    RCC->CR |= RCC_CR_HSEON;
-    while ((RCC->CR & RCC_CR_HSERDY) == 0);
-  #endif
-
-  // divide shit
-  RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
-  #ifdef USE_INTERNAL_OSC
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSI;
-  #else
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
-  #endif
-
-  // start PLL
-  RCC->CR |= RCC_CR_PLLON;
-  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
-
-  // Configure Flash prefetch, Instruction cache, Data cache and wait state
-  // *** without this, it breaks ***
-  FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
-
-  // switch to PLL
-  RCC->CFGR |= RCC_CFGR_SW_PLL;
-  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
-
-  // *** running on PLL ***
-
-  // enable GPIOB, UART2, CAN, USB clock
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
-  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
-
-  // turn on alt USB
-  RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
-
-  // fix interrupt vectors
-}
-
-// board specific
-void gpio_init() {
-  // analog mode
-  GPIOC->MODER = GPIO_MODER_MODER3 | GPIO_MODER_MODER2 |
-                 GPIO_MODER_MODER1 | GPIO_MODER_MODER0;
-
-  // FAN on C9, aka TIM3_CH4
-  #ifdef OLD_BOARD
-    GPIOC->MODER |= GPIO_MODER_MODER9_1;
-    GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((9-8)*4);
-  #else
-    GPIOC->MODER |= GPIO_MODER_MODER8_1;
-    GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((8-8)*4);
-  #endif
-  // IGNITION on C13
-
-  // set mode for LEDs and CAN
-  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0;
-  // CAN 2
-  GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
-  // CAN 1
-  GPIOB->MODER |= GPIO_MODER_MODER8_1 | GPIO_MODER_MODER9_1;
-  // CAN enables
-  GPIOB->MODER |= GPIO_MODER_MODER3_0 | GPIO_MODER_MODER4_0;
-
-  // set mode for SERIAL and USB (DAC should be configured to in)
-  GPIOA->MODER = GPIO_MODER_MODER2_1 | GPIO_MODER_MODER3_1;
-  GPIOA->AFR[0] = GPIO_AF7_USART2 << (2*4) | GPIO_AF7_USART2 << (3*4);
-
-  // GPIOC USART3
-  GPIOC->MODER |= GPIO_MODER_MODER10_1 | GPIO_MODER_MODER11_1;
-  GPIOC->AFR[1] |= GPIO_AF7_USART3 << ((10-8)*4) | GPIO_AF7_USART3 << ((11-8)*4);
-
-  if (USBx == USB_OTG_FS) {
-    GPIOA->MODER |= GPIO_MODER_MODER11_1 | GPIO_MODER_MODER12_1;
-    GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
-    GPIOA->AFR[1] = GPIO_AF10_OTG_FS << ((11-8)*4) | GPIO_AF10_OTG_FS << ((12-8)*4);
-  }
-
-  GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
-
-  // set mode for CAN / USB_HS pins
-  GPIOB->AFR[0] = GPIO_AF9_CAN1 << (5*4) | GPIO_AF9_CAN1 << (6*4);
-  GPIOB->AFR[1] = GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
-
-  if (USBx == USB_OTG_HS) {
-    GPIOB->AFR[1] |= GPIO_AF12_OTG_HS_FS << ((15-8)*4) | GPIO_AF12_OTG_HS_FS << ((14-8)*4);
-    GPIOB->MODER |= GPIO_MODER_MODER14_1 | GPIO_MODER_MODER15_1;
-  }
-
-  GPIOB->OSPEEDR = GPIO_OSPEEDER_OSPEEDR14 | GPIO_OSPEEDER_OSPEEDR15;
-
-  // enable CAN busses
-  GPIOB->ODR |= (1 << 3) | (1 << 4);
-
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOA->MODER |= GPIO_MODER_MODER1_0;
-
-  // enable USB power tied to +
-  GPIOA->ODR |= 1;
-  GPIOA->MODER |= GPIO_MODER_MODER0_0;
-}
-
-void uart_init() {
-  // enable uart and tx+rx mode
-  USART->CR1 = USART_CR1_UE;
-  USART->BRR = __USART_BRR(24000000, 115200);
-  USART->CR1 |= USART_CR1_TE | USART_CR1_RE;
-  USART->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
-  // ** UART is ready to work **
-
-  // enable interrupts
-  USART->CR1 |= USART_CR1_RXNEIE;
-}
-
-void delay(int a) {
-  volatile int i;
-  for (i=0;i<a;i++);
-}
-
-void putch(const char a) {
-  while (!(USART->SR & USART_SR_TXE));
-  USART->DR = a;
-}
-
-int puts(const char *a) {
-  for (;*a;a++) {
-    if (*a == '\n') putch('\r');
-    putch(*a);
-  }
-  return 0;
-}
-
-void puth(unsigned int i) {
-  int pos;
-  char c[] = "0123456789abcdef";
-  for (pos = 28; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
-  }
-}
-
-void puth2(unsigned int i) {
-  int pos;
-  char c[] = "0123456789abcdef";
-  for (pos = 4; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
-  }
-}
-
-void hexdump(void *a, int l) {
-  int i;
-  for (i=0;i<l;i++) {
-    if (i != 0 && (i&0xf) == 0) puts("\n");
-    puth2(((unsigned char*)a)[i]);
-    puts(" ");
-  }
-  puts("\n");
-}
-
-void *memset(void *str, int c, unsigned int n) {
-  int i;
-  for (i = 0; i < n; i++) {
-    *((uint8_t*)str) = c;
-    ++str;
-  }
-  return str;
-}
-
-void *memcpy(void *dest, const void *src, unsigned int n) {
-  int i;
-  // TODO: make not slow
-  for (i = 0; i < n; i++) {
-    ((uint8_t*)dest)[i] = *(uint8_t*)src;
-    ++src;
-  }
-  return dest;
-}
-
-

board/main.c

@@ -1,526 +0,0 @@
-//#define DEBUG
-//#define CAN_LOOPBACK_MODE
-//#define USE_INTERNAL_OSC
-//#define OLD_BOARD
-//#define ENABLE_CURRENT_SENSOR
-
-#define USB_VID 0xbbaa
-#define USB_PID 0xddcc
-
-// *** end config ***
-
-#include "stm32f2xx.h"
-#include "obj/gitversion.h"
-
-#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
-uint32_t enter_bootloader_mode;
-
-USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
-
-#include "libc.h"
-#include "adc.h"
-#include "timer.h"
-#include "usb.h"
-#include "can.h"
-
-// debug safety check: is controls allowed?
-int controls_allowed = 0;
-int started = 0;
-int can_live = 0, pending_can_live = 0;
-
-// optional features
-int gas_interceptor_detected = 0;
-int started_signal_detected = 0;
-
-// ********************* instantiate queues *********************
-
-#define FIFO_SIZE 0x100
-typedef struct {
-  uint8_t w_ptr;
-  uint8_t r_ptr;
-  CAN_FIFOMailBox_TypeDef elems[FIFO_SIZE];
-} can_ring;
-
-can_ring can_rx_q = { .w_ptr = 0, .r_ptr = 0 };
-can_ring can_tx1_q = { .w_ptr = 0, .r_ptr = 0 };
-can_ring can_tx2_q = { .w_ptr = 0, .r_ptr = 0 };
-
-// ********************* interrupt safe queue *********************
-
-inline int pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  if (q->w_ptr != q->r_ptr) {
-    *elem = q->elems[q->r_ptr];
-    q->r_ptr += 1;
-    return 1;
-  }
-  return 0;
-}
-
-inline int push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  uint8_t next_w_ptr = q->w_ptr + 1;
-  if (next_w_ptr != q->r_ptr) {
-    q->elems[q->w_ptr] = *elem;
-    q->w_ptr = next_w_ptr;
-    return 1;
-  }
-  return 0;
-}
-
-// ***************************** CAN *****************************
-
-void process_can(CAN_TypeDef *CAN, can_ring *can_q, int can_number) {
-  #ifdef DEBUG
-    puts("process CAN TX\n");
-  #endif
-
-  // add successfully transmitted message to my fifo
-  if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RIR = CAN->sTxMailBox[0].TIR;
-    to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((can_number+2) << 4);
-    to_push.RDLR = CAN->sTxMailBox[0].TDLR;
-    to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-    push(&can_rx_q, &to_push);
-  }
-
-  // check for empty mailbox
-  CAN_FIFOMailBox_TypeDef to_send;
-  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
-    if (pop(can_q, &to_send)) {
-
-      // BRAKE: safety check
-      if ((to_send.RIR>>21) == 0x1FA) {
-        if (controls_allowed) {
-          to_send.RDLR &= 0xFFFFFF3F;
-        } else {
-          to_send.RDLR &= 0xFFFF0000;
-        }
-      }
-
-      // STEER: safety check
-      if ((to_send.RIR>>21) == 0xE4) {
-        if (controls_allowed) {
-          to_send.RDLR &= 0xFFFFFFFF;
-        } else {
-          to_send.RDLR &= 0xFFFF0000;
-        }
-      } 
-
-      // GAS: safety check
-      if ((to_send.RIR>>21) == 0x200) {
-        if (controls_allowed) {
-          to_send.RDLR &= 0xFFFFFFFF;
-        } else {
-          to_send.RDLR &= 0xFFFF0000;
-        }
-      } 
-
-      // only send if we have received a packet
-      CAN->sTxMailBox[0].TDLR = to_send.RDLR;
-      CAN->sTxMailBox[0].TDHR = to_send.RDHR;
-      CAN->sTxMailBox[0].TDTR = to_send.RDTR;
-      CAN->sTxMailBox[0].TIR = to_send.RIR;
-    }
-  }
-
-  // clear interrupt
-  CAN->TSR |= CAN_TSR_RQCP0;
-}
-
-// send more, possible for these to not trigger?
-void CAN1_TX_IRQHandler() {
-  process_can(CAN1, &can_tx1_q, 1);
-}
-
-void CAN2_TX_IRQHandler() {
-  process_can(CAN2, &can_tx2_q, 0);
-}
-
-// board enforces
-//   in-state
-//      accel set/resume
-//   out-state
-//      cancel button
-
-
-// all commands: brake and steering
-// if controls_allowed
-//     allow all commands up to limit
-// else
-//     block all commands that produce actuation
-
-// CAN receive handlers
-void can_rx(CAN_TypeDef *CAN, int can_number) {
-  while (CAN->RF0R & CAN_RF0R_FMP0) {
-    // can is live
-    pending_can_live = 1;
-
-    // add to my fifo
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RIR = CAN->sFIFOMailBox[0].RIR;
-    // top 16-bits is the timestamp
-    to_push.RDTR = (CAN->sFIFOMailBox[0].RDTR & 0xFFFF000F) | (can_number << 4);
-    to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
-    to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
-
-    // state machine to enter and exit controls
-    // 0x1A6 for the ILX, 0x296 for the Civic Touring
-    if ((to_push.RIR>>21) == 0x1A6 || (to_push.RIR>>21) == 0x296) {
-      int buttons = (to_push.RDLR & 0xE0) >> 5;
-      if (buttons == 4 || buttons == 3) {
-        controls_allowed = 1;
-      } else if (buttons == 2) {
-        controls_allowed = 0;
-      }
-    }
-
-    // exit controls on brake press
-    if ((to_push.RIR>>21) == 0x17C) {
-      // bit 50
-      if (to_push.RDHR & 0x200000) {
-        controls_allowed = 0;
-      }
-    }
-
-    // exit controls on gas press if interceptor
-    if ((to_push.RIR>>21) == 0x201) {
-      gas_interceptor_detected = 1;
-      int gas = ((to_push.RDLR & 0xFF) << 8) | ((to_push.RDLR & 0xFF00) >> 8);
-      if (gas > 328) {
-        controls_allowed = 0;
-      }
-    }
-
-    // exit controls on gas press if no interceptor
-    if (!gas_interceptor_detected) {
-      if ((to_push.RIR>>21) == 0x17C) {
-        if (to_push.RDLR & 0xFF) {
-          controls_allowed = 0;
-        }
-      }
-    }
-
-    push(&can_rx_q, &to_push);
-
-    // next
-    CAN->RF0R |= CAN_RF0R_RFOM0;
-  }
-}
-
-void CAN1_RX0_IRQHandler() {
-  //puts("CANRX1");
-  //delay(10000);
-  can_rx(CAN1, 1);
-}
-
-void CAN2_RX0_IRQHandler() {
-  //puts("CANRX0");
-  //delay(10000);
-  can_rx(CAN2, 0);
-}
-
-void CAN1_SCE_IRQHandler() {
-  //puts("CAN1_SCE\n");
-  can_sce(CAN1);
-}
-
-void CAN2_SCE_IRQHandler() {
-  //puts("CAN2_SCE\n");
-  can_sce(CAN2);
-}
-
-// ***************************** serial port *****************************
-
-void USART_IRQHandler(void) {
-  puts("S");
-
-  // echo characters
-  if (USART->SR & USART_SR_RXNE) {
-    char rcv = USART->DR;
-    putch(rcv);
-
-    // jump to DFU flash
-    if (rcv == 'z') {
-      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-      NVIC_SystemReset();
-    }
-  }
-}
-
-void USART2_IRQHandler(void) {
-  USART_IRQHandler();
-}
-
-void USART3_IRQHandler(void) {
-  USART_IRQHandler();
-}
-
-// ***************************** USB port *****************************
-
-int get_health_pkt(void *dat) {
-  struct {
-    uint32_t voltage;
-    uint32_t current;
-    uint8_t started;
-    uint8_t controls_allowed;
-    uint8_t gas_interceptor_detected;
-    uint8_t started_signal_detected;
-  } *health = dat;
-  health->voltage = adc_get(ADCCHAN_VOLTAGE);
-#ifdef ENABLE_CURRENT_SENSOR
-  health->current = adc_get(ADCCHAN_CURRENT);
-#else
-  health->current = 0;
-#endif
-  health->started = started;
-
-  health->controls_allowed = controls_allowed;
-
-  health->gas_interceptor_detected = gas_interceptor_detected;
-  health->started_signal_detected = started_signal_detected;
-  return sizeof(*health);
-}
-
-void set_fan_speed(int fan_speed) {
-  #ifdef OLD_BOARD
-    TIM3->CCR4 = fan_speed;
-  #else
-    TIM3->CCR3 = fan_speed;
-  #endif
-}
-
-void usb_cb_ep1_in(int len) {
-  CAN_FIFOMailBox_TypeDef reply[4];
-
-  int ilen = 0;
-  while (ilen < min(len/0x10, 4) && pop(&can_rx_q, &reply[ilen])) ilen++;
-
-  #ifdef DEBUG
-    puts("FIFO SENDING ");
-    puth(ilen);
-    puts("\n");
-  #endif
-
-  USB_WritePacket((void *)reply, ilen*0x10, 1);
-}
-
-void usb_cb_ep2_out(uint8_t *usbdata, int len) {
-}
-
-// send on CAN
-void usb_cb_ep3_out(uint8_t *usbdata, int len) {
-  int dpkt = 0;
-  for (dpkt = 0; dpkt < len; dpkt += 0x10) {
-    uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
-    
-    int flags = tf[1] >> 4;
-    CAN_TypeDef *CAN;
-    can_ring *can_q;
-    int can_number = 0;
-    if (flags & 1)  {
-      CAN=CAN1;
-      can_q = &can_tx1_q;
-      can_number = 1;
-    } else {
-      CAN=CAN2;
-      can_q = &can_tx2_q;
-    }
-
-    // add CAN packet to send queue
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RDHR = tf[3];
-    to_push.RDLR = tf[2];
-    to_push.RDTR = tf[1] & 0xF;
-    to_push.RIR = tf[0];
-    push(can_q, &to_push);
-
-    process_can(CAN, can_q, can_number);
-  }
-}
-
-
-void usb_cb_control_msg() {
-  uint8_t resp[0x20];
-  int resp_len;
-  switch (setup.b.bRequest) {
-    case 0xd1:
-      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-      NVIC_SystemReset();
-      break;
-    case 0xd2:
-      resp_len = get_health_pkt(resp);
-      USB_WritePacket(resp, resp_len, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case 0xd3:
-      set_fan_speed(setup.b.wValue.w);
-      USB_WritePacket(0, 0, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case 0xd6: // GET_VERSION
-      USB_WritePacket(gitversion, min(sizeof(gitversion), setup.b.wLength.w), 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case 0xd8: // RESET
-      NVIC_SystemReset();
-      break;
-    default:
-      puts("NO HANDLER ");
-      puth(setup.b.bRequest);
-      puts("\n");
-      break;
-  }
-}
-
-
-void OTG_FS_IRQHandler(void) {
-  NVIC_DisableIRQ(OTG_FS_IRQn);
-  //__disable_irq();
-  usb_irqhandler();
-  //__enable_irq();
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-}
-
-void OTG_HS_IRQHandler(void) {
-  //puts("HS_IRQ\n");
-  NVIC_DisableIRQ(OTG_FS_IRQn);
-  //__disable_irq();
-  usb_irqhandler();
-  //__enable_irq();
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-}
-
-void ADC_IRQHandler(void) {
-  puts("ADC_IRQ\n");
-}
-
-// ***************************** main code *****************************
-
-void __initialize_hardware_early() {
-  // set USB power + and OTG mode
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOA->MODER |= GPIO_MODER_MODER1_0;
-
-  // enable USB power tied to +
-  GPIOA->ODR |= 1;
-  GPIOA->MODER |= GPIO_MODER_MODER0_0;
-
-  // enable pull DOWN on OTG_FS_DP
-  // must be done a while before reading it
-  GPIOA->PUPDR = GPIO_PUPDR_PUPDR12_1;
-
-  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
-    enter_bootloader_mode = 0;
-    void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
-
-    // jump to bootloader
-    bootloader();
-
-    // LOOP
-    while(1);
-  }
-}
-
-int main() {
-  // init devices
-  clock_init();
-
-  // test the USB choice before GPIO init
-  if (GPIOA->IDR & (1 << 12)) {
-    USBx = USB_OTG_HS;
-  }
-
-  gpio_init();
-  uart_init();
-  usb_init();
-  can_init(CAN1);
-  can_init(CAN2);
-  adc_init();
-
-  // timer for fan PWM
-  #ifdef OLD_BOARD
-    TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
-    TIM3->CCER = TIM_CCER_CC4E;
-  #else
-    TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
-    TIM3->CCER = TIM_CCER_CC3E;
-  #endif
-
-  // max value of the timer
-  // 64 makes it above the audible range
-  //TIM3->ARR = 64;
-
-  // 10 prescale makes it below the audible range
-  timer_init(TIM3, 10);
-
-  // set PWM
-  set_fan_speed(65535);
-
-  puts("**** INTERRUPTS ON ****\n");
-  __disable_irq();
-  NVIC_EnableIRQ(USART2_IRQn);
-  NVIC_EnableIRQ(USART3_IRQn);
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-  NVIC_EnableIRQ(OTG_HS_IRQn);
-  NVIC_EnableIRQ(ADC_IRQn);
-  // CAN has so many interrupts!
-
-  NVIC_EnableIRQ(CAN1_TX_IRQn);
-  NVIC_EnableIRQ(CAN1_RX0_IRQn);
-  NVIC_EnableIRQ(CAN1_SCE_IRQn);
-
-  NVIC_EnableIRQ(CAN2_TX_IRQn);
-  NVIC_EnableIRQ(CAN2_RX0_IRQn);
-  NVIC_EnableIRQ(CAN2_SCE_IRQn);
-  __enable_irq();
-
-
-  // LED should keep on blinking all the time
-  while (1) {
-    can_live = pending_can_live;
-    pending_can_live = 0;
-
-    #ifdef DEBUG
-      puts("** blink ");
-      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
-      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
-      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
-    #endif
-
-    /*puts("voltage: "); puth(adc_get(ADCCHAN_VOLTAGE)); puts("  ");
-    puts("current: "); puth(adc_get(ADCCHAN_CURRENT)); puts("\n");*/
-
-    // set LED to be controls allowed
-    GPIOB->ODR = (GPIOB->ODR | (1 << 11)) & ~(controls_allowed << 11);
-
-    // blink the other LED if in FS mode
-    if (USBx == USB_OTG_FS) {
-      GPIOB->ODR |= (1 << 10);
-    }
-    delay(1000000);
-    GPIOB->ODR &= ~(1 << 10);
-    delay(1000000);
-
-    // started logic
-    int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
-    if (started_signal) { started_signal_detected = 1; }
-
-    if (started_signal || (!started_signal_detected && can_live)) {
-      started = 1;
-
-      // turn on fan at half speed
-      set_fan_speed(32768);
-    } else {
-      started = 0;
-
-      // turn off fan
-      set_fan_speed(0);
-    }
-  }
-
-  return 0;
-}
-

board/startup_stm32f205xx.s

@@ -1,511 +0,0 @@
-/**
-  ******************************************************************************
-  * @file      startup_stm32f205xx.s
-  * @author    MCD Application Team
-  * @version   V2.0.1
-  * @date      25-March-2014
-  * @brief     STM32F205xx Devices vector table for Atollic TrueSTUDIO toolchain.
-  *            This module performs:
-  *                - Set the initial SP
-  *                - Set the initial PC == Reset_Handler,
-  *                - Set the vector table entries with the exceptions ISR address
-  *                - Branches to main in the C library (which eventually
-  *                  calls main()).
-  *            After Reset the Cortex-M3 processor is in Thread mode,
-  *            priority is Privileged, and the Stack is set to Main.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT 2014 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-
-  .syntax unified
-  .cpu cortex-m3
-  .thumb
-
-.global  g_pfnVectors
-.global  Default_Handler
-
-/* start address for the initialization values of the .data section.
-defined in linker script */
-.word  _sidata
-/* start address for the .data section. defined in linker script */
-.word  _sdata
-/* end address for the .data section. defined in linker script */
-.word  _edata
-/* start address for the .bss section. defined in linker script */
-.word  _sbss
-/* end address for the .bss section. defined in linker script */
-.word  _ebss
-/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
-
-/**
- * @brief  This is the code that gets called when the processor first
- *          starts execution following a reset event. Only the absolutely
- *          necessary set is performed, after which the application
- *          supplied main() routine is called.
- * @param  None
- * @retval : None
-*/
-
-    .section  .text.Reset_Handler
-  .weak  Reset_Handler
-  .type  Reset_Handler, %function
-Reset_Handler:
-  bl __initialize_hardware_early
-  ldr   sp, =_estack     /* set stack pointer */
-
-/* Copy the data segment initializers from flash to SRAM */
-  movs  r1, #0
-  b  LoopCopyDataInit
-
-CopyDataInit:
-  ldr  r3, =_sidata
-  ldr  r3, [r3, r1]
-  str  r3, [r0, r1]
-  adds  r1, r1, #4
-
-LoopCopyDataInit:
-  ldr  r0, =_sdata
-  ldr  r3, =_edata
-  adds  r2, r0, r1
-  cmp  r2, r3
-  bcc  CopyDataInit
-  ldr  r2, =_sbss
-  b  LoopFillZerobss
-/* Zero fill the bss segment. */
-FillZerobss:
-  movs  r3, #0
-  str  r3, [r2], #4
-
-LoopFillZerobss:
-  ldr  r3, = _ebss
-  cmp  r2, r3
-  bcc  FillZerobss
-
-/* Call the clock system intitialization function.*/
-  /* bl  SystemInit */
-/* Call static constructors */
-  /* bl __libc_init_array */
-/* Call the application's entry point.*/
-  bl  main
-  bx  lr
-.size  Reset_Handler, .-Reset_Handler
-
-/**
- * @brief  This is the code that gets called when the processor receives an
- *         unexpected interrupt.  This simply enters an infinite loop, preserving
- *         the system state for examination by a debugger.
- * @param  None
- * @retval None
-*/
-    .section  .text.Default_Handler,"ax",%progbits
-Default_Handler:
-Infinite_Loop:
-  b  Infinite_Loop
-  .size  Default_Handler, .-Default_Handler
-/******************************************************************************
-*
-* The minimal vector table for a Cortex M3. Note that the proper constructs
-* must be placed on this to ensure that it ends up at physical address
-* 0x0000.0000.
-*
-*******************************************************************************/
-   .section  .isr_vector,"a",%progbits
-  .type  g_pfnVectors, %object
-  .size  g_pfnVectors, .-g_pfnVectors
-
-
-
-g_pfnVectors:
-  .word  _estack
-  .word  Reset_Handler
-
-  .word  NMI_Handler
-  .word  HardFault_Handler
-  .word  MemManage_Handler
-  .word  BusFault_Handler
-  .word  UsageFault_Handler
-  .word  0
-  .word  0
-  .word  0
-  .word  0
-  .word  SVC_Handler
-  .word  DebugMon_Handler
-  .word  0
-  .word  PendSV_Handler
-  .word  SysTick_Handler
-
-  /* External Interrupts */
-  .word     WWDG_IRQHandler                   /* Window WatchDog              */
-  .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */
-  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */
-  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */
-  .word     FLASH_IRQHandler                  /* FLASH                        */
-  .word     RCC_IRQHandler                    /* RCC                          */
-  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */
-  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */
-  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */
-  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */
-  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */
-  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */
-  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */
-  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */
-  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */
-  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */
-  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */
-  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */
-  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */
-  .word     CAN1_TX_IRQHandler                /* CAN1 TX                      */
-  .word     CAN1_RX0_IRQHandler               /* CAN1 RX0                     */
-  .word     CAN1_RX1_IRQHandler               /* CAN1 RX1                     */
-  .word     CAN1_SCE_IRQHandler               /* CAN1 SCE                     */
-  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */
-  .word     TIM1_BRK_TIM9_IRQHandler          /* TIM1 Break and TIM9          */
-  .word     TIM1_UP_TIM10_IRQHandler          /* TIM1 Update and TIM10        */
-  .word     TIM1_TRG_COM_TIM11_IRQHandler     /* TIM1 Trigger and Commutation and TIM11 */
-  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */
-  .word     TIM2_IRQHandler                   /* TIM2                         */
-  .word     TIM3_IRQHandler                   /* TIM3                         */
-  .word     TIM4_IRQHandler                   /* TIM4                         */
-  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */
-  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */
-  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */
-  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */
-  .word     SPI1_IRQHandler                   /* SPI1                         */
-  .word     SPI2_IRQHandler                   /* SPI2                         */
-  .word     USART1_IRQHandler                 /* USART1                       */
-  .word     USART2_IRQHandler                 /* USART2                       */
-  .word     USART3_IRQHandler                 /* USART3                       */
-  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */
-  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */
-  .word     OTG_FS_WKUP_IRQHandler            /* USB OTG FS Wakeup through EXTI line */
-  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */
-  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */
-  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
-  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */
-  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */
-  .word     FSMC_IRQHandler                   /* FSMC                         */
-  .word     SDIO_IRQHandler                   /* SDIO                         */
-  .word     TIM5_IRQHandler                   /* TIM5                         */
-  .word     SPI3_IRQHandler                   /* SPI3                         */
-  .word     UART4_IRQHandler                  /* UART4                        */
-  .word     UART5_IRQHandler                  /* UART5                        */
-  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */
-  .word     TIM7_IRQHandler                   /* TIM7                         */
-  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */
-  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */
-  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */
-  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */
-  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */
-  .word     0                                 /* Reserved                     */
-  .word     0                                 /* Reserved                     */
-  .word     CAN2_TX_IRQHandler                /* CAN2 TX                      */
-  .word     CAN2_RX0_IRQHandler               /* CAN2 RX0                     */
-  .word     CAN2_RX1_IRQHandler               /* CAN2 RX1                     */
-  .word     CAN2_SCE_IRQHandler               /* CAN2 SCE                     */
-  .word     OTG_FS_IRQHandler                 /* USB OTG FS                   */
-  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */
-  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */
-  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */
-  .word     USART6_IRQHandler                 /* USART6                       */
-  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */
-  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */
-  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */
-  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */
-  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */
-  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */
-  .word     0                                 /* Reserved                         */
-  .word     0                                 /* Reserved                  */
-  .word     HASH_RNG_IRQHandler               /* Hash and Rng                 */
-
-/*******************************************************************************
-*
-* Provide weak aliases for each Exception handler to the Default_Handler.
-* As they are weak aliases, any function with the same name will override
-* this definition.
-*
-*******************************************************************************/
-   .weak      NMI_Handler
-   .thumb_set NMI_Handler,Default_Handler
-
-   .weak      HardFault_Handler
-   .thumb_set HardFault_Handler,Default_Handler
-
-   .weak      MemManage_Handler
-   .thumb_set MemManage_Handler,Default_Handler
-
-   .weak      BusFault_Handler
-   .thumb_set BusFault_Handler,Default_Handler
-
-   .weak      UsageFault_Handler
-   .thumb_set UsageFault_Handler,Default_Handler
-
-   .weak      SVC_Handler
-   .thumb_set SVC_Handler,Default_Handler
-
-   .weak      DebugMon_Handler
-   .thumb_set DebugMon_Handler,Default_Handler
-
-   .weak      PendSV_Handler
-   .thumb_set PendSV_Handler,Default_Handler
-
-   .weak      SysTick_Handler
-   .thumb_set SysTick_Handler,Default_Handler
-
-   .weak      WWDG_IRQHandler
-   .thumb_set WWDG_IRQHandler,Default_Handler
-
-   .weak      PVD_IRQHandler
-   .thumb_set PVD_IRQHandler,Default_Handler
-
-   .weak      TAMP_STAMP_IRQHandler
-   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
-
-   .weak      RTC_WKUP_IRQHandler
-   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
-
-   .weak      FLASH_IRQHandler
-   .thumb_set FLASH_IRQHandler,Default_Handler
-
-   .weak      RCC_IRQHandler
-   .thumb_set RCC_IRQHandler,Default_Handler
-
-   .weak      EXTI0_IRQHandler
-   .thumb_set EXTI0_IRQHandler,Default_Handler
-
-   .weak      EXTI1_IRQHandler
-   .thumb_set EXTI1_IRQHandler,Default_Handler
-
-   .weak      EXTI2_IRQHandler
-   .thumb_set EXTI2_IRQHandler,Default_Handler
-
-   .weak      EXTI3_IRQHandler
-   .thumb_set EXTI3_IRQHandler,Default_Handler
-
-   .weak      EXTI4_IRQHandler
-   .thumb_set EXTI4_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream0_IRQHandler
-   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream1_IRQHandler
-   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream2_IRQHandler
-   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream3_IRQHandler
-   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream4_IRQHandler
-   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream5_IRQHandler
-   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream6_IRQHandler
-   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
-
-   .weak      ADC_IRQHandler
-   .thumb_set ADC_IRQHandler,Default_Handler
-
-   .weak      CAN1_TX_IRQHandler
-   .thumb_set CAN1_TX_IRQHandler,Default_Handler
-
-   .weak      CAN1_RX0_IRQHandler
-   .thumb_set CAN1_RX0_IRQHandler,Default_Handler
-
-   .weak      CAN1_RX1_IRQHandler
-   .thumb_set CAN1_RX1_IRQHandler,Default_Handler
-
-   .weak      CAN1_SCE_IRQHandler
-   .thumb_set CAN1_SCE_IRQHandler,Default_Handler
-
-   .weak      EXTI9_5_IRQHandler
-   .thumb_set EXTI9_5_IRQHandler,Default_Handler
-
-   .weak      TIM1_BRK_TIM9_IRQHandler
-   .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
-
-   .weak      TIM1_UP_TIM10_IRQHandler
-   .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
-
-   .weak      TIM1_TRG_COM_TIM11_IRQHandler
-   .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
-
-   .weak      TIM1_CC_IRQHandler
-   .thumb_set TIM1_CC_IRQHandler,Default_Handler
-
-   .weak      TIM2_IRQHandler
-   .thumb_set TIM2_IRQHandler,Default_Handler
-
-   .weak      TIM3_IRQHandler
-   .thumb_set TIM3_IRQHandler,Default_Handler
-
-   .weak      TIM4_IRQHandler
-   .thumb_set TIM4_IRQHandler,Default_Handler
-
-   .weak      I2C1_EV_IRQHandler
-   .thumb_set I2C1_EV_IRQHandler,Default_Handler
-
-   .weak      I2C1_ER_IRQHandler
-   .thumb_set I2C1_ER_IRQHandler,Default_Handler
-
-   .weak      I2C2_EV_IRQHandler
-   .thumb_set I2C2_EV_IRQHandler,Default_Handler
-
-   .weak      I2C2_ER_IRQHandler
-   .thumb_set I2C2_ER_IRQHandler,Default_Handler
-
-   .weak      SPI1_IRQHandler
-   .thumb_set SPI1_IRQHandler,Default_Handler
-
-   .weak      SPI2_IRQHandler
-   .thumb_set SPI2_IRQHandler,Default_Handler
-
-   .weak      USART1_IRQHandler
-   .thumb_set USART1_IRQHandler,Default_Handler
-
-   .weak      USART2_IRQHandler
-   .thumb_set USART2_IRQHandler,Default_Handler
-
-   .weak      USART3_IRQHandler
-   .thumb_set USART3_IRQHandler,Default_Handler
-
-   .weak      EXTI15_10_IRQHandler
-   .thumb_set EXTI15_10_IRQHandler,Default_Handler
-
-   .weak      RTC_Alarm_IRQHandler
-   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
-
-   .weak      OTG_FS_WKUP_IRQHandler
-   .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
-
-   .weak      TIM8_BRK_TIM12_IRQHandler
-   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
-
-   .weak      TIM8_UP_TIM13_IRQHandler
-   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
-
-   .weak      TIM8_TRG_COM_TIM14_IRQHandler
-   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
-
-   .weak      TIM8_CC_IRQHandler
-   .thumb_set TIM8_CC_IRQHandler,Default_Handler
-
-   .weak      DMA1_Stream7_IRQHandler
-   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
-
-   .weak      FSMC_IRQHandler
-   .thumb_set FSMC_IRQHandler,Default_Handler
-
-   .weak      SDIO_IRQHandler
-   .thumb_set SDIO_IRQHandler,Default_Handler
-
-   .weak      TIM5_IRQHandler
-   .thumb_set TIM5_IRQHandler,Default_Handler
-
-   .weak      SPI3_IRQHandler
-   .thumb_set SPI3_IRQHandler,Default_Handler
-
-   .weak      UART4_IRQHandler
-   .thumb_set UART4_IRQHandler,Default_Handler
-
-   .weak      UART5_IRQHandler
-   .thumb_set UART5_IRQHandler,Default_Handler
-
-   .weak      TIM6_DAC_IRQHandler
-   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
-
-   .weak      TIM7_IRQHandler
-   .thumb_set TIM7_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream0_IRQHandler
-   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream1_IRQHandler
-   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream2_IRQHandler
-   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream3_IRQHandler
-   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream4_IRQHandler
-   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
-
-   .weak      CAN2_TX_IRQHandler
-   .thumb_set CAN2_TX_IRQHandler,Default_Handler
-
-   .weak      CAN2_RX0_IRQHandler
-   .thumb_set CAN2_RX0_IRQHandler,Default_Handler
-
-   .weak      CAN2_RX1_IRQHandler
-   .thumb_set CAN2_RX1_IRQHandler,Default_Handler
-
-   .weak      CAN2_SCE_IRQHandler
-   .thumb_set CAN2_SCE_IRQHandler,Default_Handler
-
-   .weak      OTG_FS_IRQHandler
-   .thumb_set OTG_FS_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream5_IRQHandler
-   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream6_IRQHandler
-   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
-
-   .weak      DMA2_Stream7_IRQHandler
-   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
-
-   .weak      USART6_IRQHandler
-   .thumb_set USART6_IRQHandler,Default_Handler
-
-   .weak      I2C3_EV_IRQHandler
-   .thumb_set I2C3_EV_IRQHandler,Default_Handler
-
-   .weak      I2C3_ER_IRQHandler
-   .thumb_set I2C3_ER_IRQHandler,Default_Handler
-
-   .weak      OTG_HS_EP1_OUT_IRQHandler
-   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
-
-   .weak      OTG_HS_EP1_IN_IRQHandler
-   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
-
-   .weak      OTG_HS_WKUP_IRQHandler
-   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
-
-   .weak      OTG_HS_IRQHandler
-   .thumb_set OTG_HS_IRQHandler,Default_Handler
-
-   .weak      HASH_RNG_IRQHandler
-   .thumb_set HASH_RNG_IRQHandler,Default_Handler
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/stm32_flash.ld

@@ -1,163 +0,0 @@
-/*
-*****************************************************************************
-**
-**  File        : stm32_flash.ld
-**
-**  Abstract    : Linker script for STM32F407VG Device with
-**                1024KByte FLASH, 192KByte RAM
-**
-**                Set heap size, stack size and stack location according
-**                to application requirements.
-**
-**                Set memory bank area and size if external memory is used.
-**
-**  Target      : STMicroelectronics STM32
-**
-**  Environment : Atollic TrueSTUDIO(R)
-**
-**  Distribution: The file is distributed “as is,” without any warranty
-**                of any kind.
-**
-**  (c)Copyright Atollic AB.
-**  You may use this file as-is or modify it according to the needs of your
-**  project. Distribution of this file (unmodified or modified) is not
-**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
-**  rights to distribute the assembled, compiled & linked contents of this
-**  file as part of an application binary file, provided that it is built
-**  using the Atollic TrueSTUDIO(R) toolchain.
-**
-*****************************************************************************
-*/
-
-/* Entry Point */
-ENTRY(Reset_Handler)
-
-/* Highest address of the user mode stack */
-_estack = 0x20020000;    /* end of 128K RAM on AHB bus*/
-
-/* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0;      /* required amount of heap  */
-_Min_Stack_Size = 0x400; /* required amount of stack */
-
-/* Specify the memory areas */
-MEMORY
-{
-  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 128K
-  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 128K
-  MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
-}
-
-/* Define output sections */
-SECTIONS
-{
-  /* The startup code goes first into FLASH */
-  .isr_vector :
-  {
-    . = ALIGN(4);
-    KEEP(*(.isr_vector)) /* Startup code */
-    . = ALIGN(4);
-  } >FLASH
-
-  /* The program code and other data goes into FLASH */
-  .text :
-  {
-    . = ALIGN(4);
-    *(.text)           /* .text sections (code) */
-    *(.text*)          /* .text* sections (code) */
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    *(.glue_7)         /* glue arm to thumb code */
-    *(.glue_7t)        /* glue thumb to arm code */
-	*(.eh_frame)
-
-    KEEP (*(.init))
-    KEEP (*(.fini))
-
-    . = ALIGN(4);
-    _etext = .;        /* define a global symbols at end of code */
-    _exit = .;
-  } >FLASH
-
-
-   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
-    .ARM : {
-    __exidx_start = .;
-      *(.ARM.exidx*)
-      __exidx_end = .;
-    } >FLASH
-
-  .preinit_array     :
-  {
-    PROVIDE_HIDDEN (__preinit_array_start = .);
-    KEEP (*(.preinit_array*))
-    PROVIDE_HIDDEN (__preinit_array_end = .);
-  } >FLASH
-  .init_array :
-  {
-    PROVIDE_HIDDEN (__init_array_start = .);
-    KEEP (*(SORT(.init_array.*)))
-    KEEP (*(.init_array*))
-    PROVIDE_HIDDEN (__init_array_end = .);
-  } >FLASH
-  .fini_array :
-  {
-    PROVIDE_HIDDEN (__fini_array_start = .);
-    KEEP (*(.fini_array*))
-    KEEP (*(SORT(.fini_array.*)))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-  } >FLASH
-
-  /* used by the startup to initialize data */
-  _sidata = .;
-
-  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : AT ( _sidata )
-  {
-    . = ALIGN(4);
-    _sdata = .;        /* create a global symbol at data start */
-    *(.data)           /* .data sections */
-    *(.data*)          /* .data* sections */
-
-    . = ALIGN(4);
-    _edata = .;        /* define a global symbol at data end */
-  } >RAM
-
-  /* Uninitialized data section */
-  . = ALIGN(4);
-  .bss :
-  {
-    /* This is used by the startup in order to initialize the .bss secion */
-    _sbss = .;         /* define a global symbol at bss start */
-    __bss_start__ = _sbss;
-    *(.bss)
-    *(.bss*)
-    *(COMMON)
-
-    . = ALIGN(4);
-    _ebss = .;         /* define a global symbol at bss end */
-    __bss_end__ = _ebss;
-  } >RAM
-
-  /* User_heap_stack section, used to check that there is enough RAM left */
-  ._user_heap_stack :
-  {
-    . = ALIGN(4);
-    PROVIDE ( end = . );
-    PROVIDE ( _end = . );
-    . = . + _Min_Heap_Size;
-    . = . + _Min_Stack_Size;
-    . = ALIGN(4);
-  } >RAM
-
-  /* MEMORY_bank1 section, code must be located here explicitly            */
-  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
-  .memory_b1_text :
-  {
-    *(.mb1text)        /* .mb1text sections (code) */
-    *(.mb1text*)       /* .mb1text* sections (code)  */
-    *(.mb1rodata)      /* read-only data (constants) */
-    *(.mb1rodata*)
-  } >MEMORY_B1
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}

board/timer.h

@@ -1,7 +0,0 @@
-void timer_init(TIM_TypeDef *TIM, int psc) {
-  TIM->PSC = psc-1;
-  TIM->DIER = TIM_DIER_UIE;
-  TIM->CR1 = TIM_CR1_CEN;
-  TIM->SR = 0;
-}
-

board/tools/enter_download_mode.py

@@ -1,20 +0,0 @@
-#!/usr/bin/env python
-import usb1
-import time
-import traceback
-
-if __name__ == "__main__":
-  context = usb1.USBContext()
-
-  for device in context.getDeviceList(skip_on_error=True):
-    if device.getVendorID() == 0xbbaa and device.getProductID()&0xFF00 == 0xdd00:
-      print "found device"
-      handle = device.open()
-      handle.claimInterface(0)
-
-  try:
-    handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, '')
-  except Exception:
-    traceback.print_exc()
-    print "expected error, exiting cleanly"
-  time.sleep(1)

board/usb.h

@@ -1,510 +0,0 @@
-// **** supporting defines ****
-
-typedef struct
-{
-  __IO uint32_t HPRT;
-}
-USB_OTG_HostPortTypeDef;
-
-#define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
-#define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
-#define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
-#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))        
-#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))        
-#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
-#define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
-
-#define  USB_REQ_GET_STATUS                             0x00
-#define  USB_REQ_CLEAR_FEATURE                          0x01
-#define  USB_REQ_SET_FEATURE                            0x03
-#define  USB_REQ_SET_ADDRESS                            0x05
-#define  USB_REQ_GET_DESCRIPTOR                         0x06
-#define  USB_REQ_SET_DESCRIPTOR                         0x07
-#define  USB_REQ_GET_CONFIGURATION                      0x08
-#define  USB_REQ_SET_CONFIGURATION                      0x09
-#define  USB_REQ_GET_INTERFACE                          0x0A
-#define  USB_REQ_SET_INTERFACE                          0x0B
-#define  USB_REQ_SYNCH_FRAME                            0x0C
-
-#define  USB_DESC_TYPE_DEVICE                              1
-#define  USB_DESC_TYPE_CONFIGURATION                       2
-#define  USB_DESC_TYPE_STRING                              3
-#define  USB_DESC_TYPE_INTERFACE                           4
-#define  USB_DESC_TYPE_ENDPOINT                            5
-#define  USB_DESC_TYPE_DEVICE_QUALIFIER                    6
-#define  USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION           7
-
-#define STS_GOUT_NAK                           1
-#define STS_DATA_UPDT                          2
-#define STS_XFER_COMP                          3
-#define STS_SETUP_COMP                         4
-#define STS_SETUP_UPDT                         6
-
-#define USBD_FS_TRDT_VALUE           5
-
-// interfaces
-void usb_cb_control_msg();
-void usb_cb_ep1_in(int len);
-void usb_cb_ep2_out(uint8_t *usbdata, int len);
-void usb_cb_ep3_out(uint8_t *usbdata, int len);
-
-uint8_t device_desc[] = {
-  0x12,0x01,0x00,0x01,
-  0xFF,0xFF,0xFF,0x40,
-  (USB_VID>>0)&0xFF,(USB_VID>>8)&0xFF,
-  (USB_PID>>0)&0xFF,(USB_PID>>8)&0xFF,
-  0x00,0x22,0x00,0x00,
-  0x00,0x01};
-
-uint8_t configuration_desc[] = {
-  0x09, 0x02, 0x27, 0x00,
-  0x01, 0x01, 0x00, 0xc0,
-  0x32,
-  // interface 0
-  0x09, 0x04, 0x00, 0x00,
-  0x03, 0xff, 0xFF, 0xFF,
-  0x00,
-  // endpoint 1, read CAN
-  0x07, 0x05, 0x81, 0x02, 0x40, 0x00, 0x00,
-  // endpoint 2, AES load
-  0x07, 0x05, 0x02, 0x02, 0x10, 0x00, 0x00,
-  // endpoint 3, send CAN
-  0x07, 0x05, 0x03, 0x02, 0x40, 0x00, 0x00,
-};
-
-typedef union
-{
-  uint16_t w;
-  struct BW
-  {
-    uint8_t msb;
-    uint8_t lsb;
-  }
-  bw; 
-}
-uint16_t_uint8_t;
-
-
-typedef union _USB_Setup
-{
-  uint32_t d8[2];
-  
-  struct _SetupPkt_Struc
-  {
-    uint8_t           bmRequestType;
-    uint8_t           bRequest;
-    uint16_t_uint8_t  wValue;
-    uint16_t_uint8_t  wIndex;
-    uint16_t_uint8_t  wLength;
-  } b;
-} 
-USB_Setup_TypeDef; 
-
-// current packet
-USB_Setup_TypeDef setup;
-uint8_t usbdata[0x100];
-
-// packet read and write
-
-void *USB_ReadPacket(void *dest, uint16_t len) {
-  uint32_t i=0; 
-  uint32_t count32b = (len + 3) / 4; 
-  
-  for ( i = 0; i < count32b; i++, dest += 4 ) {
-    // packed?
-    *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
-  }
-  return ((void *)dest);
-}
-
-void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
-  #ifdef DEBUG
-    puts("writing ");
-    hexdump(src, len);
-  #endif
-  uint32_t count32b = 0, i = 0;
-  count32b = (len + 3) / 4; 
-
-  // bullshit
-  USBx_INEP(ep)->DIEPTSIZ = (USB_OTG_DIEPTSIZ_PKTCNT & (1 << 19)) | (len & USB_OTG_DIEPTSIZ_XFRSIZ);
-  USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
-
-  // load the FIFO
-  for (i = 0; i < count32b; i++, src += 4) {
-    USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
-  }
-}
-
-void usb_reset() {
-  // unmask endpoint interrupts, so many sets
-  USBx_DEVICE->DAINT = 0xFFFFFFFF;
-  USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
-  //USBx_DEVICE->DOEPMSK = (USB_OTG_DOEPMSK_STUPM | USB_OTG_DOEPMSK_XFRCM | USB_OTG_DOEPMSK_EPDM);
-  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM | USB_OTG_DIEPMSK_ITTXFEMSK);
-  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM);
-
-  // all interrupts for debugging
-  USBx_DEVICE->DIEPMSK = 0xFFFFFFFF;
-  USBx_DEVICE->DOEPMSK = 0xFFFFFFFF;
-
-  // clear interrupts
-  USBx_INEP(0)->DIEPINT = 0xFF;
-  USBx_OUTEP(0)->DOEPINT = 0xFF;
-
-  // unset the address
-  USBx_DEVICE->DCFG &= ~USB_OTG_DCFG_DAD;
-
-  // set up USB FIFOs
-  // RX start address is fixed to 0
-  USBx->GRXFSIZ = 0x40;
-
-  // 0x100 to offset past GRXFSIZ
-  USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
-
-  // EP1, massive
-  USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
-
-  // flush TX fifo
-  USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
-  // flush RX FIFO
-  USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
-
-  // no global NAK
-  USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;
-
-  // ready to receive setup packets
-  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
-}
-
-void usb_setup() {
-  uint8_t resp[0x20];
-  // setup packet is ready
-  switch (setup.b.bRequest) {
-    case USB_REQ_SET_CONFIGURATION:
-      // enable other endpoints, has to be here?
-      USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
-                              USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
-      USBx_INEP(1)->DIEPINT = 0xFF;
-
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
-      USBx_OUTEP(2)->DOEPCTL = (0x10 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
-                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
-      USBx_OUTEP(2)->DOEPINT = 0xFF;
-
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
-                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
-      USBx_OUTEP(3)->DOEPINT = 0xFF;
-
-      // mark ready to receive
-      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-
-      USB_WritePacket(0, 0, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case USB_REQ_SET_ADDRESS:
-      // set now?
-      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
-
-      #ifdef DEBUG
-        puts(" set address\n");
-      #endif
-
-
-      USB_WritePacket(0, 0, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-
-      break;
-    case USB_REQ_GET_DESCRIPTOR:
-      switch (setup.b.wValue.bw.lsb) {
-        case USB_DESC_TYPE_DEVICE:
-          //puts("    writing device descriptor\n");
-
-          // setup transfer
-          USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
-          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-
-          //puts("D");
-          break;
-        case USB_DESC_TYPE_CONFIGURATION:
-          USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
-          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-          break;
-        default:
-          // nothing here?
-          USB_WritePacket(0, 0, 0);
-          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-          break;
-      }
-      break;
-    case USB_REQ_GET_STATUS:
-      // empty resp?
-      resp[0] = 0;
-      resp[1] = 0;
-      USB_WritePacket((void*)&resp, 2, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    default:
-      usb_cb_control_msg();
-  }
-}
-
-void usb_init() {
-  // internal PHY set before reset
-  USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL;
-
-  // full speed PHY, do reset and remove power down
-  puth(USBx->GRSTCTL);
-  puts(" resetting PHY\n");
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
-  puts("AHB idle\n");
-
-  // reset PHY here?
-  USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
-  puts("reset done\n");
-
-  // power up the PHY
-  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN | USB_OTG_GCCFG_NOVBUSSENS;
-
-  // be a device, slowest timings
-  //USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
-  USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL;
-  USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
-  //USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
-
-  // **** for debugging, doesn't seem to work ****
-  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT;
-
-  // reset PHY clock
-  USBx_PCGCCTL = 0;
-
-  // enable the fancy OTG things
-  USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP;
-
-  USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD;
-  //USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD;
-
-  // setup USB interrupts
-  // all interrupts except TXFIFO EMPTY
-  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
-  USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM);
-
-  USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
-  USBx->GINTSTS = 0;
-}
-
-// ***************************** USB port *****************************
-
-void usb_irqhandler(void) {
-  USBx->GINTMSK = 0;
-
-  unsigned int gintsts = USBx->GINTSTS;
-
-  // gintsts SUSPEND? 04008428
-  #ifdef DEBUG
-    unsigned int daint = USBx_DEVICE->DAINT;
-    puth(gintsts);
-    puts(" ep ");
-    puth(daint);
-    puts(" USB interrupt!\n");
-  #endif
-
-  if (gintsts & USB_OTG_GINTSTS_ESUSP) {
-    puts("ESUSP detected\n");
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_USBRST) {
-    puts("USB reset\n");
-    usb_reset();
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
-    puts("enumeration done ");
-    // Full speed, ENUMSPD
-    puth(USBx_DEVICE->DSTS);
-    puts("\n");
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_OTGINT) {
-    puts("OTG int:");
-    puth(USBx->GOTGINT);
-    puts("\n");
-
-    // getting ADTOCHG
-    USBx->GOTGINT = USBx->GOTGINT;
-  }
-
-  // RX FIFO first
-  if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
-    // 1. Read the Receive status pop register
-    volatile unsigned int rxst = USBx->GRXSTSP;
-
-    #ifdef DEBUG
-      puts(" RX FIFO:");
-      puth(rxst);
-      puts(" status: ");
-      puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
-      puts(" len: ");
-      puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
-      puts("\n");
-    #endif
-
-
-    if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
-      int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
-      int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
-      USB_ReadPacket(&usbdata, len);
-      #ifdef DEBUG
-        puts("  data ");
-        puth(len);
-        puts("\n");
-        hexdump(&usbdata, len);
-      #endif
-
-      if (endpoint == 2) {
-        usb_cb_ep2_out(usbdata, len);
-      }
-
-      if (endpoint == 3) {
-        usb_cb_ep3_out(usbdata, len);
-      }
-    } else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
-      USB_ReadPacket(&setup, 8);
-      #ifdef DEBUG
-        puts("  setup ");
-        hexdump(&setup, 8);
-        puts("\n");
-      #endif
-    }
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_HPRTINT) {
-    // host
-    puts("HPRT:");
-    puth(USBx_HOST_PORT->HPRT);
-    puts("\n");
-    if (USBx_HOST_PORT->HPRT & USB_OTG_HPRT_PCDET) {
-      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PRST;
-      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PCDET;
-    }
-
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_BOUTNAKEFF) {
-    // no global NAK, why is this getting set?
-    #ifdef DEBUG
-      puts("GLOBAL NAK\n");
-    #endif
-    USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_SRQINT) {
-    // we want to do "A-device host negotiation protocol" since we are the A-device
-    puts("start request\n");
-    //USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
-    //USBx_HOST_PORT->HPRT = USB_OTG_HPRT_PPWR | USB_OTG_HPRT_PENA;
-  }
-
-  // out endpoint hit
-  if (gintsts & USB_OTG_GINTSTS_OEPINT) {
-    #ifdef DEBUG
-      puts("  0:");
-      puth(USBx_OUTEP(0)->DOEPINT);
-      puts(" 2:");
-      puth(USBx_OUTEP(2)->DOEPINT);
-      puts(" 3:");
-      puth(USBx_OUTEP(3)->DOEPINT);
-      puts(" ");
-      puth(USBx_OUTEP(3)->DOEPCTL);
-      puts(" 4:");
-      puth(USBx_OUTEP(4)->DOEPINT);
-      puts(" OUT ENDPOINT\n");
-    #endif
-
-    if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
-      #ifdef DEBUG
-        puts("  OUT2 PACKET XFRC\n"); 
-      #endif
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
-      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-    }
-
-    if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
-      #ifdef DEBUG
-        puts("  OUT3 PACKET XFRC\n"); 
-      #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
-      #ifdef DEBUG
-        puts("  OUT3 PACKET WTF\n"); 
-      #endif
-      // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT) {
-      puts("OUTEP3 error ");
-      puth(USBx_OUTEP(3)->DOEPINT);
-      puts("\n");
-    }
-
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
-      // ready for next packet
-      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
-    }
-
-    // respond to setup packets
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
-      usb_setup();
-    }
-
-    USBx_OUTEP(0)->DOEPINT = USBx_OUTEP(0)->DOEPINT;
-    USBx_OUTEP(2)->DOEPINT = USBx_OUTEP(2)->DOEPINT;
-    USBx_OUTEP(3)->DOEPINT = USBx_OUTEP(3)->DOEPINT;
-  }
-
-
-  // in endpoint hit
-  if (gintsts & USB_OTG_GINTSTS_IEPINT) {
-    #ifdef DEBUG
-      puts("  ");
-      puth(USBx_INEP(0)->DIEPINT);
-      puts(" ");
-      puth(USBx_INEP(1)->DIEPINT);
-      puts(" IN ENDPOINT\n");
-    #endif
-
-    // this happens first
-    if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPINT_XFRC) {
-      #ifdef DEBUG
-        puts("  IN PACKET SEND\n"); 
-      #endif
-      //USBx_DEVICE->DIEPEMPMSK = ~(1 << 1);
-    }
-    
-    // *** IN token received when TxFIFO is empty
-    if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
-      #ifdef DEBUG
-        puts("  IN PACKET QUEUE\n"); 
-      #endif
-      // TODO: always assuming max len, can we get the length?
-      usb_cb_ep1_in(0x40);
-    }
-
-    // clear interrupts
-    USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT;
-    USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;
-  }
-
-
-  // clear all interrupts
-  USBx_DEVICE->DAINT = USBx_DEVICE->DAINT;
-  USBx->GINTSTS = USBx->GINTSTS;
-
-  USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
-}
-

cereal

@@ -0,0 +1 @@
+Subproject commit a818779f1a55c6bf53fa0692e31111585662b722

cereal/__init__.py

@@ -1,8 +0,0 @@
-import os
-import capnp
-capnp.remove_import_hook()
-
-CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
-log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-

cereal/c++.capnp

@@ -1,26 +0,0 @@
-# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
-# Licensed under the MIT License:
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-
-@0xbdf87d7bb8304e81;
-$namespace("capnp::annotations");
-
-annotation namespace(file): Text;
-annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text;

cereal/car.capnp

@@ -1,172 +0,0 @@
-using Cxx = import "c++.capnp";
-$Cxx.namespace("cereal");
-
-@0x8e2af1e708af8b8d;
-
-# ******* main car state @ 100hz *******
-# all speeds in m/s
-
-struct CarState {
-  errors @0: List(Error);
-
-  # car speed
-  vEgo @1 :Float32;       # best estimate of speed
-  wheelSpeeds @2 :WheelSpeeds;
-
-  # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user + computer
-  gasPressed @4 :Bool;    # this is user pedal only
-
-  # brake pedal, 0.0-1.0
-  brake @5 :Float32;      # this is user pedal only
-  brakePressed @6 :Bool;  # this is user pedal only
-
-  # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringTorque @8 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-
-  # cruise state
-  cruiseState @10 :CruiseState;
-
-  # button presses
-  buttonEvents @11 :List(ButtonEvent);
-
-  # which packets this state came from
-  canMonoTimes @12: List(UInt64);
-
-  struct WheelSpeeds {
-    # optional wheel speeds
-    fl @0 :Float32;
-    fr @1 :Float32;
-    rl @2 :Float32;
-    rr @3 :Float32;
-  }
-
-  struct CruiseState {
-    enabled @0: Bool;
-    speed @1: Float32;
-  }
-
-  enum Error {
-    # TODO: copy from error list
-    commIssue @0;
-    steerUnavailable @1;
-    brakeUnavailable @2;
-    gasUnavailable @3;
-    wrongGear @4;
-    doorOpen @5;
-    seatbeltNotLatched @6;
-    espDisabled @7;
-    wrongCarMode @8;
-    steerTemporarilyUnavailable @9;
-    reverseGear @10;
-    # ...
-  }
-
-  # send on change
-  struct ButtonEvent {
-    pressed @0: Bool;
-    type @1: Type;
-
-    enum Type {
-      unknown @0;
-      leftBlinker @1;
-      rightBlinker @2;
-      accelCruise @3;
-      decelCruise @4;
-      cancel @5;
-      altButton1 @6;
-      altButton2 @7;
-      altButton3 @8;
-    }
-  }
-}
-
-# ******* radar state @ 20hz *******
-
-struct RadarState {
-  errors @0: List(Error);
-  points @1: List(RadarPoint);
-
-  # which packets this state came from
-  canMonoTimes @2: List(UInt64);
-
-  enum Error {
-    notValid @0;
-  }
-
-  # similar to LiveTracks
-  # is one timestamp valid for all? I think so
-  struct RadarPoint {
-    trackId @0: UInt64;  # no trackId reuse
-
-    # these 3 are the minimum required
-    dRel @1: Float32; # m from the front bumper of the car
-    yRel @2: Float32; # m
-    vRel @3: Float32; # m/s
-
-    # these are optional and valid if they are not NaN
-    aRel @4: Float32; # m/s^2
-    yvRel @5: Float32; # m/s
-  }
-}
-
-# ******* car controls @ 100hz *******
-
-struct CarControl {
-  # must be true for any actuator commands to work
-  enabled @0: Bool;
-
-  # range from 0.0 - 1.0
-  gas @1: Float32;
-  brake @2: Float32;
-
-  # range from -1.0 - 1.0
-  steeringTorque @3 :Float32;
-
-  cruiseControl @4: CruiseControl;
-  hudControl @5: HUDControl;
-
-  struct CruiseControl {
-    cancel @0: Bool;
-    override @1: Bool;
-    speedOverride @2: Float32;
-    accelOverride @3: Float32;
-  }
-
-  struct HUDControl {
-    speedVisible @0: Bool;
-    setSpeed @1: Float32;
-    lanesVisible @2: Bool;
-    leadVisible @3: Bool;
-    visualAlert @4: VisualAlert;
-    audibleAlert @5: AudibleAlert;
-
-    enum VisualAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none @0;
-      fcw @1;
-      steerRequired @2;
-      brakePressed @3;
-      wrongGear @4;
-      seatbeltUnbuckled @5;
-      speedTooHigh @6;
-    }
-
-    enum AudibleAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none @0;
-      beepSingle @1;
-      beepTriple @2;
-      beepRepeated @3;
-      chimeSingle @4;
-      chimeDouble @5;
-      chimeRepeated @6;
-      chimeContinuous @7;
-    }
-  }
-}
-

cereal/gen/c/log.capnp.h

@@ -1,669 +0,0 @@
-#ifndef CAPN_F3B1F17E25A4285B
-#define CAPN_F3B1F17E25A4285B
-/* AUTO GENERATED - DO NOT EDIT */
-#include <capnp_c.h>
-
-#if CAPN_VERSION != 1
-#error "version mismatch between capnp_c.h and generated code"
-#endif
-
-#include "c++.capnp.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct cereal_InitData;
-struct cereal_FrameData;
-struct cereal_GPSNMEAData;
-struct cereal_SensorEventData;
-struct cereal_SensorEventData_SensorVec;
-struct cereal_CanData;
-struct cereal_ThermalData;
-struct cereal_HealthData;
-struct cereal_LiveUI;
-struct cereal_Live20Data;
-struct cereal_Live20Data_LeadData;
-struct cereal_LiveCalibrationData;
-struct cereal_LiveTracks;
-struct cereal_Live100Data;
-struct cereal_LiveEventData;
-struct cereal_ModelData;
-struct cereal_ModelData_PathData;
-struct cereal_ModelData_LeadData;
-struct cereal_ModelData_ModelSettings;
-struct cereal_CalibrationFeatures;
-struct cereal_EncodeIndex;
-struct cereal_AndroidLogEntry;
-struct cereal_LogRotate;
-struct cereal_Event;
-
-typedef struct {capn_ptr p;} cereal_InitData_ptr;
-typedef struct {capn_ptr p;} cereal_FrameData_ptr;
-typedef struct {capn_ptr p;} cereal_GPSNMEAData_ptr;
-typedef struct {capn_ptr p;} cereal_SensorEventData_ptr;
-typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_ptr;
-typedef struct {capn_ptr p;} cereal_CanData_ptr;
-typedef struct {capn_ptr p;} cereal_ThermalData_ptr;
-typedef struct {capn_ptr p;} cereal_HealthData_ptr;
-typedef struct {capn_ptr p;} cereal_LiveUI_ptr;
-typedef struct {capn_ptr p;} cereal_Live20Data_ptr;
-typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_ptr;
-typedef struct {capn_ptr p;} cereal_LiveCalibrationData_ptr;
-typedef struct {capn_ptr p;} cereal_LiveTracks_ptr;
-typedef struct {capn_ptr p;} cereal_Live100Data_ptr;
-typedef struct {capn_ptr p;} cereal_LiveEventData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_PathData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_LeadData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_ptr;
-typedef struct {capn_ptr p;} cereal_CalibrationFeatures_ptr;
-typedef struct {capn_ptr p;} cereal_EncodeIndex_ptr;
-typedef struct {capn_ptr p;} cereal_AndroidLogEntry_ptr;
-typedef struct {capn_ptr p;} cereal_LogRotate_ptr;
-typedef struct {capn_ptr p;} cereal_Event_ptr;
-
-typedef struct {capn_ptr p;} cereal_InitData_list;
-typedef struct {capn_ptr p;} cereal_FrameData_list;
-typedef struct {capn_ptr p;} cereal_GPSNMEAData_list;
-typedef struct {capn_ptr p;} cereal_SensorEventData_list;
-typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_list;
-typedef struct {capn_ptr p;} cereal_CanData_list;
-typedef struct {capn_ptr p;} cereal_ThermalData_list;
-typedef struct {capn_ptr p;} cereal_HealthData_list;
-typedef struct {capn_ptr p;} cereal_LiveUI_list;
-typedef struct {capn_ptr p;} cereal_Live20Data_list;
-typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_list;
-typedef struct {capn_ptr p;} cereal_LiveCalibrationData_list;
-typedef struct {capn_ptr p;} cereal_LiveTracks_list;
-typedef struct {capn_ptr p;} cereal_Live100Data_list;
-typedef struct {capn_ptr p;} cereal_LiveEventData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_PathData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_LeadData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_list;
-typedef struct {capn_ptr p;} cereal_CalibrationFeatures_list;
-typedef struct {capn_ptr p;} cereal_EncodeIndex_list;
-typedef struct {capn_ptr p;} cereal_AndroidLogEntry_list;
-typedef struct {capn_ptr p;} cereal_LogRotate_list;
-typedef struct {capn_ptr p;} cereal_Event_list;
-
-enum cereal_EncodeIndex_Type {
-	cereal_EncodeIndex_Type_bigBoxLossless = 0,
-	cereal_EncodeIndex_Type_fullHEVC = 1,
-	cereal_EncodeIndex_Type_bigBoxHEVC = 2
-};
-extern int32_t cereal_logVersion;
-
-struct cereal_InitData {
-	capn_ptr kernelArgs;
-	capn_text gctx;
-	capn_text dongleId;
-};
-
-static const size_t cereal_InitData_word_count = 0;
-
-static const size_t cereal_InitData_pointer_count = 3;
-
-static const size_t cereal_InitData_struct_bytes_count = 24;
-
-struct cereal_FrameData {
-	uint32_t frameId;
-	uint32_t encodeId;
-	uint64_t timestampEof;
-	int32_t frameLength;
-	int32_t integLines;
-	int32_t globalGain;
-	capn_data image;
-};
-
-static const size_t cereal_FrameData_word_count = 4;
-
-static const size_t cereal_FrameData_pointer_count = 1;
-
-static const size_t cereal_FrameData_struct_bytes_count = 40;
-
-struct cereal_GPSNMEAData {
-	int64_t timestamp;
-	uint64_t localWallTime;
-	capn_text nmea;
-};
-
-static const size_t cereal_GPSNMEAData_word_count = 2;
-
-static const size_t cereal_GPSNMEAData_pointer_count = 1;
-
-static const size_t cereal_GPSNMEAData_struct_bytes_count = 24;
-enum cereal_SensorEventData_which {
-	cereal_SensorEventData_acceleration = 0,
-	cereal_SensorEventData_magnetic = 1,
-	cereal_SensorEventData_orientation = 2,
-	cereal_SensorEventData_gyro = 3
-};
-
-struct cereal_SensorEventData {
-	int32_t version;
-	int32_t sensor;
-	int32_t type;
-	int64_t timestamp;
-	enum cereal_SensorEventData_which which;
-	union {
-		cereal_SensorEventData_SensorVec_ptr acceleration;
-		cereal_SensorEventData_SensorVec_ptr magnetic;
-		cereal_SensorEventData_SensorVec_ptr orientation;
-		cereal_SensorEventData_SensorVec_ptr gyro;
-	};
-};
-
-static const size_t cereal_SensorEventData_word_count = 3;
-
-static const size_t cereal_SensorEventData_pointer_count = 1;
-
-static const size_t cereal_SensorEventData_struct_bytes_count = 32;
-
-struct cereal_SensorEventData_SensorVec {
-	capn_list32 v;
-	int8_t status;
-};
-
-static const size_t cereal_SensorEventData_SensorVec_word_count = 1;
-
-static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
-
-static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
-
-struct cereal_CanData {
-	uint32_t address;
-	uint16_t busTime;
-	capn_data dat;
-	int8_t src;
-};
-
-static const size_t cereal_CanData_word_count = 1;
-
-static const size_t cereal_CanData_pointer_count = 1;
-
-static const size_t cereal_CanData_struct_bytes_count = 16;
-
-struct cereal_ThermalData {
-	uint16_t cpu0;
-	uint16_t cpu1;
-	uint16_t cpu2;
-	uint16_t cpu3;
-	uint16_t mem;
-	uint16_t gpu;
-	uint32_t bat;
-	float freeSpace;
-};
-
-static const size_t cereal_ThermalData_word_count = 3;
-
-static const size_t cereal_ThermalData_pointer_count = 0;
-
-static const size_t cereal_ThermalData_struct_bytes_count = 24;
-
-struct cereal_HealthData {
-	uint32_t voltage;
-	uint32_t current;
-	unsigned started : 1;
-	unsigned controlsAllowed : 1;
-	unsigned gasInterceptorDetected : 1;
-	unsigned startedSignalDetected : 1;
-};
-
-static const size_t cereal_HealthData_word_count = 2;
-
-static const size_t cereal_HealthData_pointer_count = 0;
-
-static const size_t cereal_HealthData_struct_bytes_count = 16;
-
-struct cereal_LiveUI {
-	unsigned rearViewCam : 1;
-	capn_text alertText1;
-	capn_text alertText2;
-	float awarenessStatus;
-};
-
-static const size_t cereal_LiveUI_word_count = 1;
-
-static const size_t cereal_LiveUI_pointer_count = 2;
-
-static const size_t cereal_LiveUI_struct_bytes_count = 24;
-
-struct cereal_Live20Data {
-	capn_list64 canMonoTimes;
-	uint64_t mdMonoTime;
-	uint64_t ftMonoTime;
-	capn_list32 warpMatrixDEPRECATED;
-	float angleOffsetDEPRECATED;
-	int8_t calStatusDEPRECATED;
-	int32_t calCycleDEPRECATED;
-	int8_t calPercDEPRECATED;
-	cereal_Live20Data_LeadData_ptr leadOne;
-	cereal_Live20Data_LeadData_ptr leadTwo;
-	float cumLagMs;
-};
-
-static const size_t cereal_Live20Data_word_count = 4;
-
-static const size_t cereal_Live20Data_pointer_count = 4;
-
-static const size_t cereal_Live20Data_struct_bytes_count = 64;
-
-struct cereal_Live20Data_LeadData {
-	float dRel;
-	float yRel;
-	float vRel;
-	float aRel;
-	float vLead;
-	float aLead;
-	float dPath;
-	float vLat;
-	float vLeadK;
-	float aLeadK;
-	unsigned fcw : 1;
-	unsigned status : 1;
-};
-
-static const size_t cereal_Live20Data_LeadData_word_count = 6;
-
-static const size_t cereal_Live20Data_LeadData_pointer_count = 0;
-
-static const size_t cereal_Live20Data_LeadData_struct_bytes_count = 48;
-
-struct cereal_LiveCalibrationData {
-	capn_list32 warpMatrix;
-	int8_t calStatus;
-	int32_t calCycle;
-	int8_t calPerc;
-};
-
-static const size_t cereal_LiveCalibrationData_word_count = 1;
-
-static const size_t cereal_LiveCalibrationData_pointer_count = 1;
-
-static const size_t cereal_LiveCalibrationData_struct_bytes_count = 16;
-
-struct cereal_LiveTracks {
-	int32_t trackId;
-	float dRel;
-	float yRel;
-	float vRel;
-	float aRel;
-	float timeStamp;
-	float status;
-	float currentTime;
-	unsigned stationary : 1;
-	unsigned oncoming : 1;
-};
-
-static const size_t cereal_LiveTracks_word_count = 5;
-
-static const size_t cereal_LiveTracks_pointer_count = 0;
-
-static const size_t cereal_LiveTracks_struct_bytes_count = 40;
-
-struct cereal_Live100Data {
-	uint64_t canMonoTime;
-	capn_list64 canMonoTimes;
-	uint64_t l20MonoTime;
-	uint64_t mdMonoTime;
-	float vEgo;
-	float aEgoDEPRECATED;
-	float vPid;
-	float vTargetLead;
-	float upAccelCmd;
-	float uiAccelCmd;
-	float yActual;
-	float yDes;
-	float upSteer;
-	float uiSteer;
-	float aTargetMin;
-	float aTargetMax;
-	float jerkFactor;
-	float angleSteers;
-	int32_t hudLeadDEPRECATED;
-	float cumLagMs;
-	unsigned enabled : 1;
-	unsigned steerOverride : 1;
-	float vCruise;
-	unsigned rearViewCam : 1;
-	capn_text alertText1;
-	capn_text alertText2;
-	float awarenessStatus;
-};
-
-static const size_t cereal_Live100Data_word_count = 13;
-
-static const size_t cereal_Live100Data_pointer_count = 3;
-
-static const size_t cereal_Live100Data_struct_bytes_count = 128;
-
-struct cereal_LiveEventData {
-	capn_text name;
-	int32_t value;
-};
-
-static const size_t cereal_LiveEventData_word_count = 1;
-
-static const size_t cereal_LiveEventData_pointer_count = 1;
-
-static const size_t cereal_LiveEventData_struct_bytes_count = 16;
-
-struct cereal_ModelData {
-	uint32_t frameId;
-	cereal_ModelData_PathData_ptr path;
-	cereal_ModelData_PathData_ptr leftLane;
-	cereal_ModelData_PathData_ptr rightLane;
-	cereal_ModelData_LeadData_ptr lead;
-	cereal_ModelData_ModelSettings_ptr settings;
-};
-
-static const size_t cereal_ModelData_word_count = 1;
-
-static const size_t cereal_ModelData_pointer_count = 5;
-
-static const size_t cereal_ModelData_struct_bytes_count = 48;
-
-struct cereal_ModelData_PathData {
-	capn_list32 points;
-	float prob;
-	float std;
-};
-
-static const size_t cereal_ModelData_PathData_word_count = 1;
-
-static const size_t cereal_ModelData_PathData_pointer_count = 1;
-
-static const size_t cereal_ModelData_PathData_struct_bytes_count = 16;
-
-struct cereal_ModelData_LeadData {
-	float dist;
-	float prob;
-	float std;
-};
-
-static const size_t cereal_ModelData_LeadData_word_count = 2;
-
-static const size_t cereal_ModelData_LeadData_pointer_count = 0;
-
-static const size_t cereal_ModelData_LeadData_struct_bytes_count = 16;
-
-struct cereal_ModelData_ModelSettings {
-	uint16_t bigBoxX;
-	uint16_t bigBoxY;
-	uint16_t bigBoxWidth;
-	uint16_t bigBoxHeight;
-	capn_list32 boxProjection;
-	capn_list32 yuvCorrection;
-};
-
-static const size_t cereal_ModelData_ModelSettings_word_count = 1;
-
-static const size_t cereal_ModelData_ModelSettings_pointer_count = 2;
-
-static const size_t cereal_ModelData_ModelSettings_struct_bytes_count = 24;
-
-struct cereal_CalibrationFeatures {
-	uint32_t frameId;
-	capn_list32 p0;
-	capn_list32 p1;
-	capn_list8 status;
-};
-
-static const size_t cereal_CalibrationFeatures_word_count = 1;
-
-static const size_t cereal_CalibrationFeatures_pointer_count = 3;
-
-static const size_t cereal_CalibrationFeatures_struct_bytes_count = 32;
-
-struct cereal_EncodeIndex {
-	uint32_t frameId;
-	enum cereal_EncodeIndex_Type type;
-	uint32_t encodeId;
-	int32_t segmentNum;
-	uint32_t segmentId;
-};
-
-static const size_t cereal_EncodeIndex_word_count = 3;
-
-static const size_t cereal_EncodeIndex_pointer_count = 0;
-
-static const size_t cereal_EncodeIndex_struct_bytes_count = 24;
-
-struct cereal_AndroidLogEntry {
-	uint8_t id;
-	uint64_t ts;
-	uint8_t priority;
-	int32_t pid;
-	int32_t tid;
-	capn_text tag;
-	capn_text message;
-};
-
-static const size_t cereal_AndroidLogEntry_word_count = 3;
-
-static const size_t cereal_AndroidLogEntry_pointer_count = 2;
-
-static const size_t cereal_AndroidLogEntry_struct_bytes_count = 40;
-
-struct cereal_LogRotate {
-	int32_t segmentNum;
-	capn_text path;
-};
-
-static const size_t cereal_LogRotate_word_count = 1;
-
-static const size_t cereal_LogRotate_pointer_count = 1;
-
-static const size_t cereal_LogRotate_struct_bytes_count = 16;
-enum cereal_Event_which {
-	cereal_Event_initData = 0,
-	cereal_Event_frame = 1,
-	cereal_Event_gpsNMEA = 2,
-	cereal_Event_sensorEventDEPRECATED = 3,
-	cereal_Event_can = 4,
-	cereal_Event_thermal = 5,
-	cereal_Event_live100 = 6,
-	cereal_Event_liveEventDEPRECATED = 7,
-	cereal_Event_model = 8,
-	cereal_Event_features = 9,
-	cereal_Event_sensorEvents = 10,
-	cereal_Event_health = 11,
-	cereal_Event_live20 = 12,
-	cereal_Event_liveUIDEPRECATED = 13,
-	cereal_Event_encodeIdx = 14,
-	cereal_Event_liveTracks = 15,
-	cereal_Event_sendcan = 16,
-	cereal_Event_logMessage = 17,
-	cereal_Event_liveCalibration = 18,
-	cereal_Event_androidLogEntry = 19
-};
-
-struct cereal_Event {
-	uint64_t logMonoTime;
-	enum cereal_Event_which which;
-	union {
-		cereal_InitData_ptr initData;
-		cereal_FrameData_ptr frame;
-		cereal_GPSNMEAData_ptr gpsNMEA;
-		cereal_SensorEventData_ptr sensorEventDEPRECATED;
-		cereal_CanData_list can;
-		cereal_ThermalData_ptr thermal;
-		cereal_Live100Data_ptr live100;
-		cereal_LiveEventData_list liveEventDEPRECATED;
-		cereal_ModelData_ptr model;
-		cereal_CalibrationFeatures_ptr features;
-		cereal_SensorEventData_list sensorEvents;
-		cereal_HealthData_ptr health;
-		cereal_Live20Data_ptr live20;
-		cereal_LiveUI_ptr liveUIDEPRECATED;
-		cereal_EncodeIndex_ptr encodeIdx;
-		cereal_LiveTracks_list liveTracks;
-		cereal_CanData_list sendcan;
-		capn_text logMessage;
-		cereal_LiveCalibrationData_ptr liveCalibration;
-		cereal_AndroidLogEntry_ptr androidLogEntry;
-	};
-};
-
-static const size_t cereal_Event_word_count = 2;
-
-static const size_t cereal_Event_pointer_count = 1;
-
-static const size_t cereal_Event_struct_bytes_count = 24;
-
-cereal_InitData_ptr cereal_new_InitData(struct capn_segment*);
-cereal_FrameData_ptr cereal_new_FrameData(struct capn_segment*);
-cereal_GPSNMEAData_ptr cereal_new_GPSNMEAData(struct capn_segment*);
-cereal_SensorEventData_ptr cereal_new_SensorEventData(struct capn_segment*);
-cereal_SensorEventData_SensorVec_ptr cereal_new_SensorEventData_SensorVec(struct capn_segment*);
-cereal_CanData_ptr cereal_new_CanData(struct capn_segment*);
-cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment*);
-cereal_HealthData_ptr cereal_new_HealthData(struct capn_segment*);
-cereal_LiveUI_ptr cereal_new_LiveUI(struct capn_segment*);
-cereal_Live20Data_ptr cereal_new_Live20Data(struct capn_segment*);
-cereal_Live20Data_LeadData_ptr cereal_new_Live20Data_LeadData(struct capn_segment*);
-cereal_LiveCalibrationData_ptr cereal_new_LiveCalibrationData(struct capn_segment*);
-cereal_LiveTracks_ptr cereal_new_LiveTracks(struct capn_segment*);
-cereal_Live100Data_ptr cereal_new_Live100Data(struct capn_segment*);
-cereal_LiveEventData_ptr cereal_new_LiveEventData(struct capn_segment*);
-cereal_ModelData_ptr cereal_new_ModelData(struct capn_segment*);
-cereal_ModelData_PathData_ptr cereal_new_ModelData_PathData(struct capn_segment*);
-cereal_ModelData_LeadData_ptr cereal_new_ModelData_LeadData(struct capn_segment*);
-cereal_ModelData_ModelSettings_ptr cereal_new_ModelData_ModelSettings(struct capn_segment*);
-cereal_CalibrationFeatures_ptr cereal_new_CalibrationFeatures(struct capn_segment*);
-cereal_EncodeIndex_ptr cereal_new_EncodeIndex(struct capn_segment*);
-cereal_AndroidLogEntry_ptr cereal_new_AndroidLogEntry(struct capn_segment*);
-cereal_LogRotate_ptr cereal_new_LogRotate(struct capn_segment*);
-cereal_Event_ptr cereal_new_Event(struct capn_segment*);
-
-cereal_InitData_list cereal_new_InitData_list(struct capn_segment*, int len);
-cereal_FrameData_list cereal_new_FrameData_list(struct capn_segment*, int len);
-cereal_GPSNMEAData_list cereal_new_GPSNMEAData_list(struct capn_segment*, int len);
-cereal_SensorEventData_list cereal_new_SensorEventData_list(struct capn_segment*, int len);
-cereal_SensorEventData_SensorVec_list cereal_new_SensorEventData_SensorVec_list(struct capn_segment*, int len);
-cereal_CanData_list cereal_new_CanData_list(struct capn_segment*, int len);
-cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment*, int len);
-cereal_HealthData_list cereal_new_HealthData_list(struct capn_segment*, int len);
-cereal_LiveUI_list cereal_new_LiveUI_list(struct capn_segment*, int len);
-cereal_Live20Data_list cereal_new_Live20Data_list(struct capn_segment*, int len);
-cereal_Live20Data_LeadData_list cereal_new_Live20Data_LeadData_list(struct capn_segment*, int len);
-cereal_LiveCalibrationData_list cereal_new_LiveCalibrationData_list(struct capn_segment*, int len);
-cereal_LiveTracks_list cereal_new_LiveTracks_list(struct capn_segment*, int len);
-cereal_Live100Data_list cereal_new_Live100Data_list(struct capn_segment*, int len);
-cereal_LiveEventData_list cereal_new_LiveEventData_list(struct capn_segment*, int len);
-cereal_ModelData_list cereal_new_ModelData_list(struct capn_segment*, int len);
-cereal_ModelData_PathData_list cereal_new_ModelData_PathData_list(struct capn_segment*, int len);
-cereal_ModelData_LeadData_list cereal_new_ModelData_LeadData_list(struct capn_segment*, int len);
-cereal_ModelData_ModelSettings_list cereal_new_ModelData_ModelSettings_list(struct capn_segment*, int len);
-cereal_CalibrationFeatures_list cereal_new_CalibrationFeatures_list(struct capn_segment*, int len);
-cereal_EncodeIndex_list cereal_new_EncodeIndex_list(struct capn_segment*, int len);
-cereal_AndroidLogEntry_list cereal_new_AndroidLogEntry_list(struct capn_segment*, int len);
-cereal_LogRotate_list cereal_new_LogRotate_list(struct capn_segment*, int len);
-cereal_Event_list cereal_new_Event_list(struct capn_segment*, int len);
-
-void cereal_read_InitData(struct cereal_InitData*, cereal_InitData_ptr);
-void cereal_read_FrameData(struct cereal_FrameData*, cereal_FrameData_ptr);
-void cereal_read_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
-void cereal_read_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
-void cereal_read_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
-void cereal_read_CanData(struct cereal_CanData*, cereal_CanData_ptr);
-void cereal_read_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_ptr);
-void cereal_read_HealthData(struct cereal_HealthData*, cereal_HealthData_ptr);
-void cereal_read_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_ptr);
-void cereal_read_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_ptr);
-void cereal_read_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
-void cereal_read_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
-void cereal_read_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
-void cereal_read_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_ptr);
-void cereal_read_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
-void cereal_read_ModelData(struct cereal_ModelData*, cereal_ModelData_ptr);
-void cereal_read_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
-void cereal_read_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
-void cereal_read_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
-void cereal_read_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
-void cereal_read_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
-void cereal_read_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
-void cereal_read_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_ptr);
-void cereal_read_Event(struct cereal_Event*, cereal_Event_ptr);
-
-void cereal_write_InitData(const struct cereal_InitData*, cereal_InitData_ptr);
-void cereal_write_FrameData(const struct cereal_FrameData*, cereal_FrameData_ptr);
-void cereal_write_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
-void cereal_write_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
-void cereal_write_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
-void cereal_write_CanData(const struct cereal_CanData*, cereal_CanData_ptr);
-void cereal_write_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_ptr);
-void cereal_write_HealthData(const struct cereal_HealthData*, cereal_HealthData_ptr);
-void cereal_write_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_ptr);
-void cereal_write_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_ptr);
-void cereal_write_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
-void cereal_write_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
-void cereal_write_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
-void cereal_write_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_ptr);
-void cereal_write_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
-void cereal_write_ModelData(const struct cereal_ModelData*, cereal_ModelData_ptr);
-void cereal_write_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
-void cereal_write_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
-void cereal_write_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
-void cereal_write_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
-void cereal_write_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
-void cereal_write_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
-void cereal_write_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_ptr);
-void cereal_write_Event(const struct cereal_Event*, cereal_Event_ptr);
-
-void cereal_get_InitData(struct cereal_InitData*, cereal_InitData_list, int i);
-void cereal_get_FrameData(struct cereal_FrameData*, cereal_FrameData_list, int i);
-void cereal_get_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
-void cereal_get_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
-void cereal_get_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
-void cereal_get_CanData(struct cereal_CanData*, cereal_CanData_list, int i);
-void cereal_get_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_list, int i);
-void cereal_get_HealthData(struct cereal_HealthData*, cereal_HealthData_list, int i);
-void cereal_get_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_list, int i);
-void cereal_get_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_list, int i);
-void cereal_get_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
-void cereal_get_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
-void cereal_get_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
-void cereal_get_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_list, int i);
-void cereal_get_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
-void cereal_get_ModelData(struct cereal_ModelData*, cereal_ModelData_list, int i);
-void cereal_get_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
-void cereal_get_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
-void cereal_get_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
-void cereal_get_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
-void cereal_get_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
-void cereal_get_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
-void cereal_get_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_list, int i);
-void cereal_get_Event(struct cereal_Event*, cereal_Event_list, int i);
-
-void cereal_set_InitData(const struct cereal_InitData*, cereal_InitData_list, int i);
-void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list, int i);
-void cereal_set_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
-void cereal_set_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
-void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
-void cereal_set_CanData(const struct cereal_CanData*, cereal_CanData_list, int i);
-void cereal_set_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_list, int i);
-void cereal_set_HealthData(const struct cereal_HealthData*, cereal_HealthData_list, int i);
-void cereal_set_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_list, int i);
-void cereal_set_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_list, int i);
-void cereal_set_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
-void cereal_set_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
-void cereal_set_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
-void cereal_set_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_list, int i);
-void cereal_set_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
-void cereal_set_ModelData(const struct cereal_ModelData*, cereal_ModelData_list, int i);
-void cereal_set_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
-void cereal_set_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
-void cereal_set_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
-void cereal_set_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
-void cereal_set_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
-void cereal_set_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
-void cereal_set_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_list, int i);
-void cereal_set_Event(const struct cereal_Event*, cereal_Event_list, int i);
-
-#ifdef __cplusplus
-}
-#endif
-#endif

cereal/log.capnp

@@ -1,276 +0,0 @@
-using Cxx = import "c++.capnp";
-$Cxx.namespace("cereal");
-
-@0xf3b1f17e25a4285b;
-
-const logVersion :Int32 = 1;
-
-struct InitData {
-  kernelArgs @0 :List(Text);
-  gctx @1 :Text;
-  dongleId @2 :Text;
-}
-
-struct FrameData {
-  frameId @0 :UInt32;
-  encodeId @1 :UInt32; # DEPRECATED
-  timestampEof @2 :UInt64;
-  frameLength @3 :Int32;
-  integLines @4 :Int32;
-  globalGain @5 :Int32;
-  image @6 :Data;
-}
-
-struct GPSNMEAData {
-  timestamp @0 :Int64;
-  localWallTime @1 :UInt64;
-  nmea @2 :Text;
-}
-
-# android sensor_event_t
-struct SensorEventData {
-  version @0 :Int32;
-  sensor @1 :Int32;
-  type @2 :Int32;
-  timestamp @3 :Int64;
-  union {
-    acceleration @4 :SensorVec;
-    magnetic @5 :SensorVec;
-    orientation @6 :SensorVec;
-    gyro @7 :SensorVec;
-  }
-
-  struct SensorVec {
-    v @0 :List(Float32);
-    status @1 :Int8;
-  }
-}
-
-struct CanData {
-  address @0 :UInt32;
-  busTime @1 :UInt16;
-  dat     @2 :Data;
-  src     @3 :Int8;
-}
-
-struct ThermalData {
-  cpu0 @0 :UInt16;
-  cpu1 @1 :UInt16;
-  cpu2 @2 :UInt16;
-  cpu3 @3 :UInt16;
-  mem @4 :UInt16;
-  gpu @5 :UInt16;
-  bat @6 :UInt32;
-
-  # not thermal
-  freeSpace @7 :Float32;
-}
-
-struct HealthData {
-  # from can health
-  voltage @0 :UInt32;
-  current @1 :UInt32;
-  started @2 :Bool;
-  controlsAllowed @3 :Bool;
-  gasInterceptorDetected @4 :Bool;
-  startedSignalDetected @5 :Bool;
-}
-
-struct LiveUI {
-  rearViewCam @0 :Bool;
-  alertText1 @1 :Text; 
-  alertText2 @2 :Text; 
-  awarenessStatus @3 :Float32;
-}
-
-struct Live20Data {
-  canMonoTimes @10 :List(UInt64);
-  mdMonoTime @6 :UInt64;
-  ftMonoTime @7 :UInt64;
-
-  # all deprecated
-  warpMatrixDEPRECATED @0 :List(Float32);
-  angleOffsetDEPRECATED @1 :Float32;
-  calStatusDEPRECATED @2 :Int8;
-  calCycleDEPRECATED @8 :Int32;
-  calPercDEPRECATED @9 :Int8;
-
-  leadOne @3 :LeadData;
-  leadTwo @4 :LeadData;
-  cumLagMs @5 :Float32;
-
-  struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    aRel @3 :Float32;
-    vLead @4 :Float32;
-    aLead @5 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
-    status @11 :Bool;
-  }
-}
-
-struct LiveCalibrationData {
-  warpMatrix @0 :List(Float32);
-  calStatus @1 :Int8;
-  calCycle @2 :Int32;
-  calPerc @3 :Int8;
-}
-
-struct LiveTracks {
-  trackId @0 :Int32;
-  dRel @1 :Float32;
-  yRel @2 :Float32;
-  vRel @3 :Float32;
-  aRel @4 :Float32;
-  timeStamp @5 :Float32;
-  status @6 :Float32;
-  currentTime @7 :Float32;
-  stationary @8 :Bool;
-  oncoming @9 :Bool;
-}
-
-struct Live100Data {
-  canMonoTime @16 :UInt64;
-  canMonoTimes @21 :List(UInt64);
-  l20MonoTime @17 :UInt64;
-  mdMonoTime @18 :UInt64;
-
-  vEgo @0 :Float32;
-  aEgoDEPRECATED @1 :Float32;
-  vPid @2 :Float32;
-  vTargetLead @3 :Float32;
-  upAccelCmd @4 :Float32;
-  uiAccelCmd @5 :Float32;
-  yActual @6 :Float32;
-  yDes @7 :Float32;
-  upSteer @8 :Float32;
-  uiSteer @9 :Float32;
-  aTargetMin @10 :Float32;
-  aTargetMax @11 :Float32;
-  jerkFactor @12 :Float32;
-  angleSteers @13 :Float32;
-  hudLeadDEPRECATED @14 :Int32;
-  cumLagMs @15 :Float32;
-
-  enabled @19: Bool;
-  steerOverride @20: Bool;
-
-  vCruise @22: Float32;
-
-  rearViewCam @23 :Bool;
-  alertText1 @24 :Text; 
-  alertText2 @25 :Text; 
-  awarenessStatus @26 :Float32;
-}
-
-struct LiveEventData {
-  name @0 :Text;
-  value @1 :Int32;
-}
-
-struct ModelData {
-  frameId @0 :UInt32;
-
-  path @1 :PathData;
-  leftLane @2 :PathData;
-  rightLane @3 :PathData;
-  lead @4 :LeadData;
-
-  settings @5 :ModelSettings;
-
-  struct PathData {
-    points @0 :List(Float32);
-    prob @1 :Float32;
-    std @2 :Float32;
-  }
-
-  struct LeadData {
-    dist @0 :Float32;
-    prob @1 :Float32;
-    std @2 :Float32;
-  }
-
-  struct ModelSettings {
-    bigBoxX @0 :UInt16;
-    bigBoxY @1 :UInt16;
-    bigBoxWidth @2 :UInt16;
-    bigBoxHeight @3 :UInt16;
-    boxProjection @4 :List(Float32);
-    yuvCorrection @5 :List(Float32);
-  }
-}
-
-struct CalibrationFeatures {
-  frameId @0 :UInt32;
-
-  p0 @1 :List(Float32);
-  p1 @2 :List(Float32);
-  status @3 :List(Int8);
-}
-
-struct EncodeIndex {
-  # picture from camera 
-  frameId @0 :UInt32;
-  type @1 :Type;
-  # index of encoder from start of route
-  encodeId @2 :UInt32;
-  # minute long segment this frame is in
-  segmentNum @3 :Int32;
-  # index into camera file in segment from 0
-  segmentId @4 :UInt32;
-
-  enum Type {
-    bigBoxLossless @0;   # rcamera.mkv
-    fullHEVC @1;         # fcamera.hevc
-    bigBoxHEVC @2;       # bcamera.hevc
-  }
-}
-
-struct AndroidLogEntry {
-  id @0 :UInt8;
-  ts @1 :UInt64;
-  priority @2 :UInt8;
-  pid @3 :Int32;
-  tid @4 :Int32;
-  tag @5 :Text;
-  message @6 :Text;
-}
-
-struct LogRotate {
-  segmentNum @0 :Int32;
-  path @1 :Text;
-}
-
-
-struct Event {
-  logMonoTime @0 :UInt64;
-
-  union {
-    initData @1 :InitData;
-    frame @2 :FrameData;
-    gpsNMEA @3 :GPSNMEAData;
-    sensorEventDEPRECATED @4 :SensorEventData;
-    can @5 :List(CanData);
-    thermal @6 :ThermalData;
-    live100 @7 :Live100Data;
-    liveEventDEPRECATED @8 :List(LiveEventData);
-    model @9 :ModelData;
-    features @10 :CalibrationFeatures;
-    sensorEvents @11 :List(SensorEventData);
-    health @12 : HealthData;
-    live20 @13 :Live20Data;
-    liveUIDEPRECATED @14 :LiveUI;
-    encodeIdx @15 :EncodeIndex;
-    liveTracks @16 :List(LiveTracks);
-    sendcan @17 :List(CanData);
-    logMessage @18 :Text;
-    liveCalibration @19 :LiveCalibrationData;
-    androidLogEntry @20 :AndroidLogEntry;
-  }
-}

codecov.yml

@@ -0,0 +1,8 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+

common/.gitignore

@@ -0,0 +1 @@
+*.cpp

common/SConscript

@@ -0,0 +1,4 @@
+Import('envCython', 'common')
+
+envCython.Program('clock.so', 'clock.pyx')
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])

common/api/__init__.py

@@ -1,8 +1,46 @@
+import jwt
+import os
 import requests
+from datetime import datetime, timedelta
+from common.basedir import PERSIST
+from selfdrive.version import get_version
 
-def api_get(endpoint, method='GET', timeout=None, **params):
-  backend = "https://api.commadotai.com/"
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
-  params['_version'] = "OPENPILOTv0.2"
+class Api():
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open(PERSIST+'/comma/id_rsa') as f:
+      self.private_key = f.read()
 
-  return requests.request(method, backend+endpoint, timeout=timeout, params=params)
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self):
+    now = datetime.utcnow()
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=1)
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT " + access_token
+
+  headers['User-Agent'] = "openpilot-" + get_version()
+
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/basedir.py

@@ -0,0 +1,11 @@
+import os
+from pathlib import Path
+
+from selfdrive.hardware import PC
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
+if PC:
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
+else:
+  PERSIST = "/persist"

common/clock.pyx

@@ -0,0 +1,24 @@
+# distutils: language = c++
+# cython: language_level = 3
+from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
+
+IF UNAME_SYSNAME == "Darwin":
+  # Darwin doesn't have a CLOCK_BOOTTIME
+  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
+ELSE:
+  from posix.time cimport CLOCK_BOOTTIME
+
+cdef double readclock(clockid_t clock_id):
+  cdef timespec ts
+  cdef double current
+
+  clock_gettime(clock_id, &ts)
+  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+  return current
+
+def monotonic_time():
+  return readclock(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return readclock(CLOCK_BOOTTIME)
+

common/conversions.py

@@ -0,0 +1,19 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592

common/crash.py

@@ -1,31 +0,0 @@
-"""Install exception handler for process crash."""
-import os
-import sys
-
-if os.getenv("NOLOG"):
-  def capture_exception(*exc_info):
-    pass
-  def bind_user(**kwargs):
-    pass
-  def install():
-    pass
-else:
-  from raven import Client
-  from raven.transport.http import HTTPTransport
-
-  client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
-                  install_sys_hook=False, transport=HTTPTransport)
-
-  capture_exception = client.captureException
-
-  def bind_user(**kwargs):
-    client.user_context(kwargs)
-
-  def install():
-    # installs a sys.excepthook
-    __excepthook__ = sys.excepthook
-    def handle_exception(*exc_info):
-      if exc_info[0] not in (KeyboardInterrupt, SystemExit):
-        client.captureException(exc_info=exc_info)
-      __excepthook__(*exc_info)
-    sys.excepthook = handle_exception

common/dbc.py

@@ -1,183 +0,0 @@
-import re
-import bitstring
-from binascii import hexlify
-from collections import namedtuple
-
-def int_or_float(s):
-  # return number, trying to maintain int format
-  try:
-    return int(s)
-  except ValueError:
-    return float(s)
-
-DBCSignal = namedtuple(
-  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
-                "factor", "offset", "tmin", "tmax", "units"])
-
-class dbc(object):
-  def __init__(self, fn):
-    self.txt = open(fn).read().split("\n")
-    self._warned_addresses = set()
-
-    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
-    bo_regexp = re.compile("^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
-    sg_regexp = re.compile("^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-    sgm_regexp = re.compile("^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-
-    # A dictionary which maps message ids to tuples ((name, size), signals).
-    #   name is the ASCII name of the message.
-    #   size is the size of the message in bytes.
-    #   signals is a list signals contained in the message.
-    # signals is a list of DBCSignal in order of increasing start_bit.
-    self.msgs = {}
-
-    self.bits = []
-    for i in range(0, 64, 8):
-      for j in range(7, -1, -1):
-        self.bits.append(i+j)
-
-    for l in self.txt:
-      l = l.strip()
-
-      if l.startswith("BO_ "):
-        # new group
-        dat = bo_regexp.match(l)
-
-        if dat is None:
-          print "bad BO", l
-        name = dat.group(2)
-        size = int(dat.group(3))
-        ids = int(dat.group(1), 0) # could be hex
-
-        self.msgs[ids] = ((name, size), [])
-
-      if l.startswith("SG_ "):
-        # new signal
-        dat = sg_regexp.match(l)
-        go = 0
-        if dat is None:
-          dat = sgm_regexp.match(l)
-          go = 1
-        if dat is None:
-          print "bad SG", l
-
-        sgname = dat.group(1)
-        start_bit = int(dat.group(go+2))
-        signal_size = int(dat.group(go+3))
-        is_little_endian = int(dat.group(go+4))==1
-        is_signed = dat.group(go+5)=='-'
-        factor = int_or_float(dat.group(go+6))
-        offset = int_or_float(dat.group(go+7))
-        tmin = int_or_float(dat.group(go+8))
-        tmax = int_or_float(dat.group(go+9))
-        units = dat.group(go+10)
-
-        self.msgs[ids][1].append(
-          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
-                    is_signed, factor, offset, tmin, tmax, units))
-
-    for msg in self.msgs.viewvalues():
-      msg[1].sort(key=lambda x: x.start_bit)
-
-  def encode(self, msg_id, dd):
-    """Encode a CAN message using the dbc.
-
-       Inputs:
-        msg_id: The message ID.
-        dd: A dictionary mapping signal name to signal data.
-    """
-    # TODO: Stop using bitstring, which is super slow.
-    msg_def = self.msgs[msg_id]
-    size = msg_def[0][1]
-
-    bsf = bitstring.Bits(hex="00"*size)
-    for s in msg_def[1]:
-      ival = dd.get(s.name)
-      if ival is not None:
-        ival = (ival / s.factor) - s.offset
-        ival = int(round(ival))
-
-        # should pack this
-        if s.is_little_endian:
-          ss = s.start_bit
-        else:
-          ss = self.bits.index(s.start_bit)
-
-
-        if s.is_signed:
-          tbs = bitstring.Bits(int=ival, length=s.size)
-        else:
-          tbs = bitstring.Bits(uint=ival, length=s.size)
-
-        lpad = bitstring.Bits(bin="0b"+"0"*ss)
-        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
-        tbs = lpad+tbs+rpad
-
-        bsf |= tbs
-    return bsf.tobytes()
-
-  def decode(self, x, arr=None, debug=False):
-    """Decode a CAN message using the dbc.
-
-       Inputs:
-        x: A collection with elements (address, time, data), where address is
-           the CAN address, time is the bus time, and data is the CAN data as a
-           hex string.
-        arr: Optional list of signals which should be decoded and returned.
-        debug: True to print debugging statements.
-
-       Returns:
-        A tuple (name, data), where name is the name of the CAN message and data
-        is the decoded result. If arr is None, data is a dict of properties.
-        Otherwise data is a list of the same length as arr.
-
-        Returns (None, None) if the message could not be decoded.
-    """
-    if arr is None:
-      out = {}
-    else:
-      out = [None]*len(arr)
-
-    msg = self.msgs.get(x[0])
-    if msg is None:
-      if x[0] not in self._warned_addresses:
-        print("WARNING: Unknown message address {}".format(x[0]))
-        self._warned_addresses.add(x[0])
-      return None, None
-
-    name = msg[0][0]
-    if debug:
-      print name
-
-    blen = 8*len(x[2])
-    x2_int = int(hexlify(x[2]), 16)
-
-    for s in msg[1]:
-      if arr is not None and s[0] not in arr:
-        continue
-
-      # big or little endian?
-      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
-      if s[3] is False:
-        ss = self.bits.index(s[1])
-      else:
-        ss = s[1]
-
-      data_bit_pos = (blen - (ss + s[2]))
-      if data_bit_pos < 0:
-        continue
-      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
-
-      if s[4] and (ival & (1<<(s[2]-1))): # signed
-        ival -= (1<<s[2])
-
-      # control the offset
-      ival = (ival + s[6])*s[5]
-      if debug:
-        print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
-
-      if arr is None:
-        out[s[0]] = ival
-      else:
-        out[arr.index(s[0])] = ival
-    return name, out

common/dict_helpers.py

@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d

common/ffi_wrapper.py

@@ -0,0 +1,55 @@
+import os
+import sys
+import fcntl
+import hashlib
+import platform
+from cffi import FFI
+
+def suffix():
+  if platform.system() == "Darwin":
+    return ".dylib"
+  else:
+    return ".so"
+
+def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
+  try:
+    os.mkdir(tmpdir)
+  except OSError:
+    pass
+
+  fd = os.open(tmpdir, 0)
+  fcntl.flock(fd, fcntl.LOCK_EX)
+  try:
+    sys.path.append(tmpdir)
+    try:
+      mod = __import__(cache)
+    except Exception:
+      print(f"cache miss {cache}")
+      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
+      mod = __import__(cache)
+  finally:
+    os.close(fd)
+
+  return mod.ffi, mod.lib
+
+
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  ffibuilder = FFI()
+  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
+  ffibuilder.cdef(c_header)
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
+  os.environ['CFLAGS'] = cflags
+  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
+
+
+def wrap_compiled(name, directory):
+  sys.path.append(directory)
+  mod = __import__(name)
+  return mod.ffi, mod.lib

common/file_helpers.py

@@ -0,0 +1,113 @@
+import os
+import shutil
+import tempfile
+from atomicwrites import AtomicWriter
+
+
+def mkdirs_exists_ok(path):
+  if path.startswith('http://') or path.startswith('https://'):
+    raise ValueError('URL path')
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+
+def rm_not_exists_ok(path):
+  try:
+    os.remove(path)
+  except OSError:
+    if os.path.exists(path):
+      raise
+
+
+def rm_tree_or_link(path):
+  if os.path.islink(path):
+    os.unlink(path)
+  elif os.path.isdir(path):
+    shutil.rmtree(path)
+
+
+def get_tmpdir_on_same_filesystem(path):
+  normpath = os.path.normpath(path)
+  parts = normpath.split("/")
+  if len(parts) > 1 and parts[1] == "scratch":
+    return "/scratch/tmp"
+  elif len(parts) > 2 and parts[2] == "runner":
+    return f"/{parts[1]}/runner/tmp"
+  return "/tmp"
+
+
+class NamedTemporaryDir():
+  def __init__(self, temp_dir=None):
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    shutil.rmtree(self._path)
+
+  def __enter__(self):
+    return self
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    return writer.get_fileobject(dir=temp_dir)
+  return _get_fileobject
+
+def monkeypatch_os_link():
+  # This is neccesary on EON/C2, where os.link is patched out of python
+  if not hasattr(os, 'link'):
+    from cffi import FFI
+    ffi = FFI()
+    ffi.cdef("int link(const char *oldpath, const char *newpath);")
+    libc = ffi.dlopen(None)
+
+    def link(src, dest):
+      return libc.link(src.encode(), dest.encode())
+    os.link = link
+
+def atomic_write_on_fs_tmp(path, **kwargs):
+  """Creates an atomic writer using a temporary file in a temporary directory
+     on the same filesystem as path.
+  """
+  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
+  #                 directory.
+  monkeypatch_os_link()
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+
+
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  monkeypatch_os_link()
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

common/filter_simple.py

@@ -0,0 +1,18 @@
+class FirstOrderFilter:
+  # first order filter
+  def __init__(self, x0, rc, dt, initialized=True):
+    self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
+
+  def update(self, x):
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      self.initialized = True
+      self.x = x
+    return self.x

common/filters.py

@@ -1,17 +0,0 @@
-"""Classes for filtering discrete time signals."""
-import numpy as np
-
-
-class FirstOrderLowpassFilter(object):
-  def __init__(self, fc, dt, x1=0):
-    self.kf = 2 * np.pi * fc * dt / (1 + 2 * np.pi * fc * dt)
-    self.x1 = x1
-
-  def __call__(self, x):
-    self.x1 = (1 - self.kf) * self.x1 + self.kf * x
-
-    # If previous or current is NaN, reset filter.
-    if np.isnan(self.x1):
-      self.x1 = x
-
-    return self.x1

common/gpio.py

@@ -0,0 +1,14 @@
+def gpio_init(pin, output):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
+      f.write(b"out" if output else b"in")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} direction: {e}")
+
+
+def gpio_set(pin, high):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
+      f.write(b"1" if high else b"0")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")

common/kalman/.gitignore

@@ -0,0 +1 @@
+simple_kalman_impl.c

common/kalman/SConscript

@@ -0,0 +1,3 @@
+Import('envCython')
+
+envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')

common/kalman/ekf.py

@@ -1,300 +0,0 @@
-import abc
-import numpy as np
-import numpy.matlib
-
-# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
-# A subclass must implement:
-#   1) calc_transfer_fun(); see bottom of file for more info.
-#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
-
-# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
-
-# Sensor classes are optionally used to pass measurement information into the EKF, to keep
-#   sensor parameters and processing methods for a each sensor together.
-# Sensor classes have a read() method which takes raw sensor data and returns
-#   a SensorReading object, which can be passed to the EKF update() method.
-
-# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
-# ekf.predict(dt) should be called between update cycles with the time since it was last called.
-# Ideally, predict(dt) should be called at a relatively constant rate.
-# update() should be called once per sensor, and can be called multiple times between predict steps.
-# Access and set the state of the filter directly with ekf.state and ekf.covar.
-
-class SensorReading:
-  # Given a perfect model and no noise, data = obs_model * state
-  def __init__(self, data, covar, obs_model):
-    self.data = data
-    self.obs_model = obs_model
-    self.covar = covar
-
-  def __repr__(self):
-    return "SensorReading(data={}, covar={}, obs_model={})".format(
-      repr(self.data), repr(self.covar), repr(self.obs_model))
-
-
-# A generic sensor class that does no pre-processing of data
-class SimpleSensor:
-  # obs_model can be 
-  #   a full obesrvation model matrix, or
-  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
-  # covar can be
-  #   a full covariance matrix
-  #   a float or tuple of individual covars for each component of the sensor reading
-  # dims is the number of states in the EKF
-  def __init__(self, obs_model, covar, dims):
-    # Allow for integer covar/obs_model
-    if not hasattr(obs_model, "__len__"):
-      obs_model = (obs_model, )
-    if not hasattr(covar, "__len__"):
-      covar = (covar, )
-
-    # Full observation model passed
-    if dims in np.array(obs_model).shape:
-      self.obs_model = np.asmatrix(obs_model)
-      self.covar = np.asmatrix(covar)
-    # Indices of unit observations passed
-    else:
-      self.obs_model = np.matlib.zeros((len(obs_model), dims))
-      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
-      if np.asarray(covar).ndim == 2:
-        self.covar = np.asmatrix(covar)
-      elif len(covar) == len(obs_model):
-        self.covar = np.matlib.diag(covar)
-      else:
-        self.covar = np.matlib.identity(len(obs_model)) * covar
-
-  def read(self, data, covar=None):
-    if covar:
-      self.covar = covar
-    return SensorReading(data, self.covar, self.obs_model)
-
-class GPS:
-  earth_r = 6371e3  # m, average earth radius
-
-  def __init__(self, xy_idx=(0, 1), dims=2, var=1e4):
-    self.obs_model = np.matlib.zeros((2, dims))
-    self.obs_model[:, tuple(xy_idx)] = np.matlib.identity(2)
-    self.covar = np.matlib.identity(2) * var
-
-  # [lat, lon] in decimal degrees
-  def init_pos(self, latlon):
-    self.init_lat, self.init_lon = np.radians(np.asarray(latlon[:2]))
-
-  # Compute straight-line distance, in meters, between two lat/long coordinates
-  # Input in radians
-  def haversine(self, lat1, lon1, lat2, lon2):
-    lat_diff = lat2 - lat1
-    lon_diff = lon2 - lon1
-    d = np.sin(lat_diff * 0.5)**2 + np.cos(lat1) * np.cos(lat2) * np.sin(
-      lon_diff * 0.5)**2
-    h = 2 * GPS.earth_r * np.arcsin(np.sqrt(d))
-    return h
-
-  # Convert decimal degrees into meters
-  def convert_deg2m(self, lat, lon):
-    lat, lon = np.radians([lat, lon])
-
-    xs = (lon - self.init_lon) * np.cos(self.init_lat) * GPS.earth_r
-    ys = (lat - self.init_lat) * GPS.earth_r
-
-    return xs, ys
-
-  # Convert meters into decimal degrees
-  def convert_m2deg(self, xs, ys):
-    lat = ys / GPS.earth_r + self.init_lat
-    lon = xs / (GPS.earth_r * np.cos(self.init_lat)) + self.init_lon
-
-    return np.degrees(lat), np.degrees(lon)
-
-  # latlon is [lat, long,] as decimal degrees
-  # accuracy is as given by Android location service: radius of 68% confidence
-  def read(self, latlon, accuracy=None):
-    x_dist, y_dist = self.convert_deg2m(latlon[0], latlon[1])
-    if not accuracy:
-      covar = self.covar
-    else:
-      covar = np.matlib.identity(2) * accuracy**2
-
-    return SensorReading(
-      np.asmatrix([x_dist, y_dist]).T, covar, self.obs_model)
-
-class EKF:
-  __metaclass__ = abc.ABCMeta
-
-  def __init__(self, debug=False):
-    self.DEBUG = debug
-
-
-  def __str__(self):
-    return "EKF(state={}, covar={})".format(self.state, self.covar)
-
-  # Measurement update
-  # Reading should be a SensorReading object with data, covar, and obs_model attributes
-  def update(self, reading):
-    # Potential improvements:
-    # deal with negative covars
-    # add noise to really low covars to ensure stability
-    # use mahalanobis distance to reject outliers
-    # wrap angles after state updates and innovation
-
-    # y = z - H*x
-    innovation = reading.data - reading.obs_model * self.state
-
-    if self.DEBUG:
-      print "reading:\n",reading.data
-      print "innovation:\n",innovation
-
-    # S = H*P*H' + R
-    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
-
-    # K = P*H'*S^-1
-    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
-      innovation_covar)
-
-    if self.DEBUG:
-      print "gain:\n", kalman_gain
-      print "innovation_covar:\n", innovation_covar
-      print "innovation: ", innovation
-      print "test: ", self.covar * reading.obs_model.T * (
-        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
-        0).I
-
-    # x = x + K*y
-    self.state += kalman_gain*innovation
-
-    # print "covar", np.diag(self.covar)
-    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
-
-    # Standard form: P = (I - K*H)*P
-    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
-
-    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
-    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
-    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
-
-    if self.DEBUG:
-      print "After update"
-      print "state\n", self.state
-      print "covar:\n",self.covar
-
-  def update_scalar(self, reading):
-    # like update but knowing that measurment is a scalar
-    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
-
-    # innovation = reading.data - np.matmul(reading.obs_model, self.state)   
-    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar    
-    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar   
-    # self.state += np.matmul(kalman_gain, innovation)   
-    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)    
-    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
-
-    # written without np.matmul
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB_T = "ij,kj->ik"
-    AB = "ij,jk->ik"
-    innovation = reading.data - es(AB, reading.obs_model, self.state)
-    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
-                          reading.obs_model) + reading.covar
-    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
-
-    self.state += es(AB, kalman_gain, innovation)
-    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
-    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
-                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
-
-  # Prediction update
-  def predict(self, dt):
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB = "ij,jk->ik"
-
-    # State update
-    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
-
-    # self.state = np.matmul(transfer_fun, self.state)
-    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
-
-    # x = f(x, u), written in the form x = A(x, u)*x
-    self.state = es(AB, transfer_fun, self.state)
-
-    # P = J*P*J' + Q
-    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
-                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
-
-    #! Clip covariance to avoid explosions
-    self.covar = np.clip(self.covar,-1e10,1e10)
-
-  @abc.abstractmethod
-  def calc_transfer_fun(self, dt):
-    """Return a tuple with the transfer function and transfer function jacobian
-    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
-
-    The transfer function matrix A should satisfy the state-update equation
-      x_(k+1) = A * x_k
-
-    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
-
-    Current implementations calculate A and J as functions of state. Control input
-      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calcualtion of A and J
-    """
-
-class FastEKF1D(EKF):
-  """Fast version of EKF for 1D problems with scalar readings."""
-
-  def __init__(self, dt, var_init, Q):
-    super(FastEKF1D, self).__init__(False)
-    self.state = [0, 0]
-    self.covar = [var_init, var_init, 0]
-
-    # Process Noise
-    self.dtQ0 = dt * Q[0]
-    self.dtQ1 = dt * Q[1]
-
-  def update(self, reading):
-    raise NotImplementedError
-
-  def update_scalar(self, reading):
-    # TODO(mgraczyk): Delete this for speed.
-    # assert np.all(reading.obs_model == [1, 0])
-
-    rcov = reading.covar[0, 0]
-
-    x = self.state
-    S = self.covar
-
-    innovation = reading.data - x[0]
-    innovation_covar = S[0] + rcov
-
-    k0 = S[0] / innovation_covar
-    k1 = S[2] / innovation_covar
-
-    x[0] += k0 * innovation
-    x[1] += k1 * innovation
-
-    mk = 1 - k0
-    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
-    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
-    S[0] = mk * mk * S[0] + rcov * k0 * k0
-
-  def predict(self, dt):
-    # State update
-    x = self.state
-
-    x[0] += dt * x[1]
-
-    # P = J*P*J' + Q
-    S = self.covar
-    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
-    S[2] += dt * S[1]
-    S[1] += self.dtQ1
-
-    # Clip covariance to avoid explosions
-    S = max(-1e10, min(S, 1e10))
-
-  def calc_transfer_fun(self, dt):
-    tf = np.identity(2)
-    tf[0, 1] = dt
-    tfj = tf
-    return tf, tfj

common/kalman/simple_kalman.py

@@ -0,0 +1,3 @@
+# pylint: skip-file
+from common.kalman.simple_kalman_impl import KF1D as KF1D
+assert KF1D

common/kalman/simple_kalman_impl.pxd

@@ -0,0 +1,18 @@
+# cython: language_level = 3
+
+cdef class KF1D:
+  cdef public:
+    double x0_0
+    double x1_0
+    double K0_0
+    double K1_0
+    double A0_0
+    double A0_1
+    double A1_0
+    double A1_1
+    double C0_0
+    double C0_1
+    double A_K_0
+    double A_K_1
+    double A_K_2
+    double A_K_3

common/kalman/simple_kalman_impl.pyx

@@ -0,0 +1,37 @@
+# distutils: language = c++
+# cython: language_level=3
+
+cdef class KF1D:
+  def __init__(self, x0, A, C, K):
+    self.x0_0 = x0[0][0]
+    self.x1_0 = x0[1][0]
+    self.A0_0 = A[0][0]
+    self.A0_1 = A[0][1]
+    self.A1_0 = A[1][0]
+    self.A1_1 = A[1][1]
+    self.C0_0 = C[0]
+    self.C0_1 = C[1]
+    self.K0_0 = K[0][0]
+    self.K1_0 = K[1][0]
+
+    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
+    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
+    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
+    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
+
+  def update(self, meas):
+    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
+    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
+    self.x0_0 = x0_0
+    self.x1_0 = x1_0
+
+    return [self.x0_0, self.x1_0]
+
+  @property
+  def x(self):
+    return [[self.x0_0], [self.x1_0]]
+
+  @x.setter
+  def x(self, x):
+    self.x0_0 = x[0][0]
+    self.x1_0 = x[1][0]

common/kalman/simple_kalman_old.py

@@ -0,0 +1,23 @@
+import numpy as np
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x = x0
+    self.A = A
+    self.C = np.atleast_2d(C)
+    self.K = K
+
+    self.A_K = self.A - np.dot(self.K, self.C)
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    return self.x

common/kalman/tests/test_simple_kalman.py

@@ -0,0 +1,87 @@
+import unittest
+import random
+import timeit
+import numpy as np
+
+from common.kalman.simple_kalman import KF1D
+from common.kalman.simple_kalman_old import KF1D as KF1D_old
+
+
+class TestSimpleKalman(unittest.TestCase):
+  def setUp(self):
+    dt = 0.01
+    x0_0 = 0.0
+    x1_0 = 0.0
+    A0_0 = 1.0
+    A0_1 = dt
+    A1_0 = 0.0
+    A1_1 = 1.0
+    C0_0 = 1.0
+    C0_1 = 0.0
+    K0_0 = 0.12287673
+    K1_0 = 0.29666309
+
+    self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                           A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                           C=np.array([C0_0, C0_1]),
+                           K=np.array([[K0_0], [K1_0]]))
+
+    self.kf = KF1D(x0=[[x0_0], [x1_0]],
+                   A=[[A0_0, A0_1], [A1_0, A1_1]],
+                   C=[C0_0, C0_1],
+                   K=[[K0_0], [K1_0]])
+
+  def test_getter_setter(self):
+    self.kf.x = [[1.0], [1.0]]
+    self.assertEqual(self.kf.x, [[1.0], [1.0]])
+
+  def update_returns_state(self):
+    x = self.kf.update(100)
+    self.assertEqual(x, self.kf.x)
+
+  def test_old_equal_new(self):
+    for _ in range(1000):
+      v_wheel = random.uniform(0, 200)
+
+      x_old = self.kf_old.update(v_wheel)
+      x = self.kf.update(v_wheel)
+
+      # Compare the output x, verify that the error is less than 1e-4
+      np.testing.assert_almost_equal(x_old[0], x[0])
+      np.testing.assert_almost_equal(x_old[1], x[1])
+
+  def test_new_is_faster(self):
+    setup = """
+import numpy as np
+
+from common.kalman.simple_kalman import KF1D
+from common.kalman.simple_kalman_old import KF1D as KF1D_old
+
+dt = 0.01
+x0_0 = 0.0
+x1_0 = 0.0
+A0_0 = 1.0
+A0_1 = dt
+A1_0 = 0.0
+A1_1 = 1.0
+C0_0 = 1.0
+C0_1 = 0.0
+K0_0 = 0.12287673
+K1_0 = 0.29666309
+
+kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                  A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                  C=np.array([C0_0, C0_1]),
+                  K=np.array([[K0_0], [K1_0]]))
+
+kf = KF1D(x0=[[x0_0], [x1_0]],
+          A=[[A0_0, A0_1], [A1_0, A1_1]],
+          C=[C0_0, C0_1],
+          K=[[K0_0], [K1_0]])
+    """
+    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
+    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
+    self.assertTrue(kf_speed < kf_old_speed / 4)
+
+if __name__ == "__main__":
+  unittest.main()

common/lazy_property.py

@@ -0,0 +1,12 @@
+class lazy_property():
+  """Defines a property whose value will be computed only once and as needed.
+
+     This can only be used on instance methods.
+  """
+  def __init__(self, func):
+    self._func = func
+
+  def __get__(self, obj_self, cls):
+    value = self._func(obj_self)
+    setattr(obj_self, self._func.__name__, value)
+    return value

common/logging_extra.py

@@ -1,13 +1,28 @@
+import io
 import os
 import sys
 import copy
 import json
+import uuid
 import socket
 import logging
+import traceback
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
 
+def json_handler(obj):
+  # if isinstance(obj, (datetime.date, datetime.time)):
+  #   return obj.isoformat()
+  return repr(obj)
+
+def json_robust_dumps(obj):
+  return json.dumps(obj, default=json_handler)
+
+class NiceOrderedDict(OrderedDict):
+  def __str__(self):
+    return json_robust_dumps(self)
+
 class SwagFormatter(logging.Formatter):
   def __init__(self, swaglogger):
     logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
@@ -15,13 +30,8 @@ class SwagFormatter(logging.Formatter):
     self.swaglogger = swaglogger
     self.host = socket.gethostname()
 
-  def json_handler(self, obj):
-    # if isinstance(obj, (datetime.date, datetime.time)):
-    #   return obj.isoformat()
-    return repr(obj)
-
-  def format(self, record):
-    record_dict = OrderedDict()
+  def format_dict(self, record):
+    record_dict = NiceOrderedDict()
 
     if isinstance(record.msg, dict):
       record_dict['msg'] = record.msg
@@ -50,12 +60,60 @@ class SwagFormatter(logging.Formatter):
     record_dict['threadName'] = record.threadName
     record_dict['created'] = record.created
 
-    # asctime = self.formatTime(record, self.datefmt)
+    return record_dict
 
-    return json.dumps(record_dict, default=self.json_handler)
+  def format(self, record):
+    if self.swaglogger is None:
+      raise Exception("must set swaglogger before calling format()")
+    return json_robust_dumps(self.format_dict(record))
 
-_tmpfunc = lambda: 0
-_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+class SwagLogFileFormatter(SwagFormatter):
+  def fix_kv(self, k, v):
+    # append type to names to preserve legacy naming in logs
+    # avoids overlapping key namespaces with different types
+    # e.g. log.info() creates 'msg' -> 'msg$s'
+    #      log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
+    #      because overlapping namespace 'msg' caused problems
+    if isinstance(v, (str, bytes)):
+      k += "$s"
+    elif isinstance(v, float):
+      k += "$f"
+    elif isinstance(v, bool):
+      k += "$b"
+    elif isinstance(v, int):
+      k += "$i"
+    elif isinstance(v, dict):
+      nv = {}
+      for ik, iv in v.items():
+        ik, iv = self.fix_kv(ik, iv)
+        nv[ik] = iv
+      v = nv
+    elif isinstance(v, list):
+      k += "$a"
+    return k, v
+
+  def format(self, record):
+    if isinstance(record, str):
+      v = json.loads(record)
+    else:
+      v = self.format_dict(record)
+
+    mk, mv = self.fix_kv('msg', v['msg'])
+    del v['msg']
+    v[mk] = mv
+    v['id'] = uuid.uuid4().hex
+
+    return json_robust_dumps(v)
+
+class SwagErrorFilter(logging.Filter):
+  def filter(self, record):
+    return record.levelno < logging.ERROR
+
+def _tmpfunc():
+  return 0
+
+def _srcfile():
+  return os.path.normcase(_tmpfunc.__code__.co_filename)
 
 class SwagLogger(logging.Logger):
   def __init__(self):
@@ -66,28 +124,6 @@ class SwagLogger(logging.Logger):
     self.log_local = local()
     self.log_local.ctx = {}
 
-  def findCaller(self):
-    """
-      Find the stack frame of the caller so that we can note the source
-      file name, line number and function name.
-      """
-    # f = currentframe()
-    f = sys._getframe(3)
-    #On some versions of IronPython, currentframe() returns None if
-    #IronPython isn't run with -X:Frames.
-    if f is not None:
-      f = f.f_back
-    rv = "(unknown file)", 0, "(unknown function)"
-    while hasattr(f, "f_code"):
-      co = f.f_code
-      filename = os.path.normcase(co.co_filename)
-      if filename in (logging._srcfile, _srcfile):
-        f = f.f_back
-        continue
-      rv = (co.co_filename, f.f_lineno, co.co_name)
-      break
-    return rv
-
   def local_ctx(self):
     try:
       return self.log_local.ctx
@@ -115,20 +151,85 @@ class SwagLogger(logging.Logger):
     self.global_ctx.update(kwargs)
 
   def event(self, event_name, *args, **kwargs):
-    evt = OrderedDict()
+    evt = NiceOrderedDict()
     evt['event'] = event_name
     if args:
       evt['args'] = args
     evt.update(kwargs)
-    self.info(evt)
+    if 'error' in kwargs:
+      self.error(evt)
+    elif 'debug' in kwargs:
+      self.debug(evt)
+    else:
+      self.info(evt)
+
+  def findCaller(self, stack_info=False, stacklevel=1):
+    """
+    Find the stack frame of the caller so that we can note the source
+    file name, line number and function name.
+    """
+    f = sys._getframe(3)
+    #On some versions of IronPython, currentframe() returns None if
+    #IronPython isn't run with -X:Frames.
+    if f is not None:
+      f = f.f_back
+    orig_f = f
+    while f and stacklevel > 1:
+      f = f.f_back
+      stacklevel -= 1
+    if not f:
+      f = orig_f
+    rv = "(unknown file)", 0, "(unknown function)", None
+    while hasattr(f, "f_code"):
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
+
+      # TODO: is this pylint exception correct?
+      if filename == _srcfile:  # pylint: disable=comparison-with-callable
+        f = f.f_back
+        continue
+      sinfo = None
+      if stack_info:
+        sio = io.StringIO()
+        sio.write('Stack (most recent call last):\n')
+        traceback.print_stack(f, file=sio)
+        sinfo = sio.getvalue()
+        if sinfo[-1] == '\n':
+          sinfo = sinfo[:-1]
+        sio.close()
+      rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+      break
+    return rv
 
 if __name__ == "__main__":
   log = SwagLogger()
 
+  stdout_handler = logging.StreamHandler(sys.stdout)
+  stdout_handler.setLevel(logging.INFO)
+  stdout_handler.addFilter(SwagErrorFilter())
+  log.addHandler(stdout_handler)
+
+  stderr_handler = logging.StreamHandler(sys.stderr)
+  stderr_handler.setLevel(logging.ERROR)
+  log.addHandler(stderr_handler)
+
   log.info("asdasd %s", "a")
   log.info({'wut': 1})
+  log.warning("warning")
+  log.error("error")
+  log.critical("critical")
+  log.event("test", x="y")
 
   with log.ctx():
+    stdout_handler.setFormatter(SwagFormatter(log))
+    stderr_handler.setFormatter(SwagFormatter(log))
     log.bind(user="some user")
     log.info("in req")
-    log.event("do_req")
+    print("")
+    log.warning("warning")
+    print("")
+    log.error("error")
+    print("")
+    log.critical("critical")
+    print("")
+    log.event("do_req", a=1, b="c")

common/markdown.py

@@ -0,0 +1,48 @@
+from typing import List
+
+HTML_REPLACEMENTS = [
+  (r'&', r'&'),
+  (r'"', r'"'),
+]
+
+
+def parse_markdown(text: str, tab_length: int = 2) -> str:
+  lines = text.split("\n")
+  output: List[str] = []
+  list_level = 0
+
+  def end_outstanding_lists(level: int, end_level: int) -> int:
+    while level > end_level:
+      level -= 1
+      output.append("</ul>")
+      if level > 0:
+        output.append("</li>")
+    return end_level
+
+  for i, line in enumerate(lines):
+    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
+      output.append(f"<h1>{line}</h1>")
+    elif line.startswith("==="):
+      pass
+    elif line.lstrip().startswith("* "):  # list
+      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
+      if list_level >= line_level:
+        list_level = end_outstanding_lists(list_level, line_level)
+      else:
+        list_level += 1
+        if list_level > 1:
+          output[-1] = output[-1].replace("</li>", "")
+        output.append("<ul>")
+      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
+    else:
+      list_level = end_outstanding_lists(list_level, 0)
+      if len(line) > 0:
+        output.append(line)
+
+  end_outstanding_lists(list_level, 0)
+  output_str = "\n".join(output) + "\n"
+
+  for (fr, to) in HTML_REPLACEMENTS:
+    output_str = output_str.replace(fr, to)
+
+  return output_str

common/numpy_fast.py

@@ -1,25 +1,19 @@
 def clip(x, lo, hi):
   return max(lo, min(hi, x))
 
-
 def interp(x, xp, fp):
   N = len(xp)
-  if not hasattr(x, '__iter__'):
-    hi = 0
-    while hi < N and x > xp[hi]:
-      hi += 1
-    low = hi - 1
-    return fp[-1] if hi == N and x > xp[low] else (
-      fp[0] if hi == 0 else
-      (x - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
 
-  result = []
-  for v in x:
+  def get_interp(xv):
     hi = 0
-    while hi < N and v > xp[hi]:
+    while hi < N and xv > xp[hi]:
       hi += 1
     low = hi - 1
-    result.append(fp[-1] if hi == N and v > xp[low] else (fp[
-      0] if hi == 0 else (v - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]
-                                                               ) + fp[low]))
-  return result
+    return fp[-1] if hi == N and xv > xp[low] else (
+      fp[0] if hi == 0 else
+      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
+
+def mean(x):
+  return sum(x) / len(x)

common/numpy_helpers.py

@@ -0,0 +1,22 @@
+import numpy as np
+
+
+def deep_interp_np(x, xp, fp, axis=None):
+  if axis is not None:
+    fp = fp.swapaxes(0,axis)
+  x = np.atleast_1d(x)
+  xp = np.array(xp)
+  if len(xp) < 2:
+    return np.repeat(fp, len(x), axis=0)
+  if min(np.diff(xp)) < 0:
+    raise RuntimeError('Bad x array for interpolation')
+  j = np.searchsorted(xp, x) - 1
+  j = np.clip(j, 0, len(xp)-2)
+  d = np.divide(x - xp[j], xp[j + 1] - xp[j], out=np.ones_like(x, dtype=np.float64), where=xp[j + 1] - xp[j] != 0)
+  vals_interp = (fp[j].T*(1 - d)).T + (fp[j + 1].T*d).T
+  if axis is not None:
+    vals_interp = vals_interp.swapaxes(0,axis)
+  if len(vals_interp) == 1:
+    return vals_interp[0]
+  else:
+    return vals_interp

common/params.py

@@ -0,0 +1,19 @@
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+assert Params
+assert ParamKeyType
+assert UnknownKeyName
+assert put_nonblocking
+
+if __name__ == "__main__":
+  import sys
+
+  params = Params()
+  key = sys.argv[1]
+  assert params.check_key(key), f"unknown param: {key}"
+
+  if len(sys.argv) == 3:
+    val = sys.argv[2]
+    print(f"SET: {key} = {val}")
+    params.put(key, val)
+  elif len(sys.argv) == 2:
+    print(f"GET: {key} = {params.get(key)}")

common/params_pyx.pyx

@@ -0,0 +1,105 @@
+# distutils: language = c++
+# cython: language_level = 3
+from libcpp cimport bool
+from libcpp.string cimport string
+import threading
+
+cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
+    ALL
+
+  cdef cppclass c_Params "Params":
+    c_Params(string) nogil
+    string get(string, bool) nogil
+    bool getBool(string) nogil
+    int remove(string) nogil
+    int put(string, string) nogil
+    int putBool(string, bool) nogil
+    bool checkKey(string) nogil
+    void clearAll(ParamKeyType)
+
+
+def ensure_bytes(v):
+  return v.encode() if isinstance(v, str) else v;
+
+class UnknownKeyName(Exception):
+  pass
+
+cdef class Params:
+  cdef c_Params* p
+
+  def __cinit__(self, d=""):
+    cdef string path = <string>d.encode()
+    with nogil:
+      self.p = new c_Params(path)
+
+  def __dealloc__(self):
+    del self.p
+
+  def clear_all(self, tx_type=ParamKeyType.ALL):
+    self.p.clearAll(tx_type)
+
+  def check_key(self, key):
+    key = ensure_bytes(key)
+    if not self.p.checkKey(key):
+      raise UnknownKeyName(key)
+    return key
+
+  def get(self, key, bool block=False, encoding=None):
+    cdef string k = self.check_key(key)
+    cdef string val
+    with nogil:
+      val = self.p.get(k, block)
+
+    if val == b"":
+      if block:
+        # If we got no value while running in blocked mode
+        # it means we got an interrupt while waiting
+        raise KeyboardInterrupt
+      else:
+        return None
+
+    return val if encoding is None else val.decode(encoding)
+
+  def get_bool(self, key):
+    cdef string k = self.check_key(key)
+    cdef bool r
+    with nogil:
+      r = self.p.getBool(k)
+    return r
+
+  def put(self, key, dat):
+    """
+    Warning: This function blocks until the param is written to disk!
+    In very rare cases this can take over a second, and your code will hang.
+    Use the put_nonblocking helper function in time sensitive code, but
+    in general try to avoid writing params as much as possible.
+    """
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = ensure_bytes(dat)
+    with nogil:
+      self.p.put(k, dat_bytes)
+
+  def put_bool(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBool(k, val)
+
+  def delete(self, key):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.remove(k)
+
+def put_nonblocking(key, val, d=""):
+  def f(key, val):
+    params = Params(d)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)
+
+  t = threading.Thread(target=f, args=(key, val))
+  t.start()
+  return t

common/profiler.py

@@ -1,26 +1,45 @@
-from common.realtime import sec_since_boot
+import time
 
-class Profiler(object):
+class Profiler():
   def __init__(self, enabled=False):
     self.enabled = enabled
-    self.cp = []
-    self.start_time = sec_since_boot()
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.time()
+    self.last_time = self.start_time
+    self.tot = 0.
+
+  def reset(self, enabled=False):
+    self.enabled = enabled
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.time()
     self.last_time = self.start_time
 
-  def checkpoint(self, name):
+  def checkpoint(self, name, ignore=False):
+    # ignore flag needed when benchmarking threads with ratekeeper
     if not self.enabled:
       return
-    tt = sec_since_boot()
-    self.cp.append((name, tt - self.last_time))
+    tt = time.time()
+    if name not in self.cp:
+      self.cp[name] = 0.
+      if ignore:
+        self.cp_ignored.append(name)
+    self.cp[name] += tt - self.last_time
+    if not ignore:
+      self.tot += tt - self.last_time
     self.last_time = tt
 
   def display(self):
     if not self.enabled:
       return
-    print "******* Profiling *******"
-    tot = 0.0
-    for n, ms in self.cp:
-      print "%30s: %7.2f" % (n, ms*1000.0)
-      tot += ms
-    print "    TOTAL: %7.2f" % (tot*1000.0)
-
+    self.iter += 1
+    print("******* Profiling %d *******" % self.iter)
+    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
+      if n in self.cp_ignored:
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
+      else:
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
+    print(f"Iter clock: {self.tot / self.iter:2.6f}   TOTAL: {self.tot:2.2f}")

common/realtime.py

@@ -1,97 +1,85 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
-import time
-import ctypes
-import platform
-import subprocess
-import multiprocessing
+import gc
 import os
+import time
+import multiprocessing
+from typing import Optional
 
-CLOCK_MONOTONIC_RAW = 4 # see <linux/time.h>
-CLOCK_BOOTTIME = 7
-
-class timespec(ctypes.Structure):
-  _fields_ = [
-    ('tv_sec', ctypes.c_long),
-    ('tv_nsec', ctypes.c_long),
-  ]
+from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from selfdrive.hardware import PC, TICI
 
 
-try:
-  libc = ctypes.CDLL('libc.so', use_errno=True)
-except OSError:
-  try:
-    libc = ctypes.CDLL('libc.so.6', use_errno=True)
-  except OSError:
-    libc = None
+# time step for each process
+DT_CTRL = 0.01  # controlsd
+DT_MDL = 0.05  # model
+DT_TRML = 0.5  # thermald and manager
 
-if libc is not None:
-  libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
-
-def clock_gettime(clk_id):
-  if platform.system().lower() == "darwin":
-    # TODO: fix this
-    return time.time()
-  else:
-    t = timespec()
-    if libc.clock_gettime(clk_id, ctypes.pointer(t)) != 0:
-      errno_ = ctypes.get_errno()
-      raise OSError(errno_, os.strerror(errno_))
-    return t.tv_sec + t.tv_nsec * 1e-9
-
-def monotonic_time():
-  return clock_gettime(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return clock_gettime(CLOCK_BOOTTIME)
+# driver monitoring
+if TICI:
+  DT_DMON = 0.05
+else:
+  DT_DMON = 0.1
 
 
-def set_realtime_priority(level):
-  if os.getuid() != 0:
-    print("not setting priority, not root")
-    return
-  if platform.machine() == "x86_64":
-    NR_gettid = 186
-  elif platform.machine() == "aarch64":
-    NR_gettid = 178
-  else:
-    raise NotImplementedError
+class Priority:
+  # CORE 2
+  # - modeld = 55
+  # - camerad = 54
+  CTRL_LOW = 51 # plannerd & radard
 
-  tid = libc.syscall(NR_gettid)
-  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
+  # CORE 3
+  # - boardd = 55
+  CTRL_HIGH = 53
 
 
-class Ratekeeper(object):
-  def __init__(self, rate, print_delay_threshold=0.):
+def set_realtime_priority(level: int) -> None:
+  if not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
+
+
+def set_core_affinity(core: int) -> None:
+  if not PC:
+    os.sched_setaffinity(0, [core,])   # type: ignore[attr-defined]
+
+
+def config_realtime_process(core: int, priority: int) -> None:
+  gc.disable()
+  set_realtime_priority(priority)
+  set_core_affinity(core)
+
+
+class Ratekeeper:
+  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = sec_since_boot() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
-    self._remaining = 0
+    self._remaining = 0.0
     self._process_name = multiprocessing.current_process().name
 
   @property
-  def frame(self):
+  def frame(self) -> int:
     return self._frame
 
   @property
-  def remaining(self):
+  def remaining(self) -> float:
     return self._remaining
 
   # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self):
+  def keep_time(self) -> bool:
     lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
     return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self):
+  def monitor_time(self) -> bool:
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
-    if remaining < -self._print_delay_threshold:
-      print(self._process_name, "lagging by", round(-remaining * 1000, 2), "ms")
+    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining

common/services.py

@@ -1,87 +0,0 @@
-# TODO: these port numbers are hardcoded in c, fix this
-
-# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
-
-class Service(object):
-  def __init__(self, port, should_log):
-    self.port = port
-    self.should_log = should_log
-
-# all ZMQ pub sub
-service_list = {
-  # frame syncing packet
-  "frame": Service(8002, True),
-  # accel, gyro, and compass
-  "sensorEvents": Service(8003, True),
-  # GPS data, also global timestamp
-  "gpsNMEA": Service(8004, True),
-  # CPU+MEM+GPU+BAT temps
-  "thermal": Service(8005, True),
-  # List(CanData), list of can messages
-  "can": Service(8006, True),
-  "live100": Service(8007, True),
-  # random events we want to log
-  #"liveEvent": Service(8008, True),
-  "model": Service(8009, True),
-  "features": Service(8010, True),
-  "health": Service(8011, True),
-  "live20": Service(8012, True),
-  #"liveUI": Service(8014, True),
-  "encodeIdx": Service(8015, True),
-  "liveTracks": Service(8016, True),
-  "sendcan": Service(8017, True),
-  "logMessage": Service(8018, True),
-  "liveCalibration": Service(8019, True),
-  "androidLog": Service(8020, True),
-}
-
-# manager -- base process to manage starting and stopping of all others
-#   subscribes: health
-#   publishes:  thermal
-
-# **** processes that communicate with the outside world ****
-
-# boardd -- communicates with the car
-#   subscribes: sendcan
-#   publishes:  can, health
-
-# sensord -- publishes the IMU and GPS
-#   publishes:  sensorEvents, gpsNMEA
-
-# visiond -- talks to the cameras, runs the model, saves the videos
-#   subscribes: liveCalibration, sensorEvents
-#   publishes:  frame, encodeIdx, model, features
-
-# **** stateful data transformers ****
-
-# controlsd -- actually drives the car
-#   subscribes: can, thermal, model, live20
-#   publishes:  sendcan, live100
-
-# radard -- processes the radar data
-#   subscribes: can, live100, model
-#   publishes:  live20, liveTracks
-
-# calibrationd -- places the camera box
-#   subscribes: features, live100
-#   publishes:  liveCalibration
-
-# **** LOGGING SERVICE ****
-
-# loggerd
-#   subscribes: EVERYTHING
-
-# **** NON VITAL SERVICES ****
-
-# ui
-#   subscribes: live100, live20, liveCalibration, model, (raw frames)
-
-# uploader
-#   communicates through file system with loggerd
-
-# logmessaged -- central logging service, can log to cloud
-#   publishes:  logMessage
-
-# logcatd -- fetches logcat info from android
-#   publishes:  androidLog
-

common/spinner.py

@@ -0,0 +1,52 @@
+import os
+import subprocess
+from common.basedir import BASEDIR
+
+
+class Spinner():
+  def __init__(self):
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None
+
+  def __enter__(self):
+    return self
+
+  def update(self, spinner_text: str):
+    if self.spinner_proc is not None:
+      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+      try:
+        self.spinner_proc.stdin.flush()
+      except BrokenPipeError:
+        pass
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
+
+  def close(self):
+    if self.spinner_proc is not None:
+      try:
+        self.spinner_proc.stdin.close()
+      except BrokenPipeError:
+        pass
+      self.spinner_proc.terminate()
+      self.spinner_proc = None
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+  print("gone")
+  time.sleep(5.0)

common/stat_live.py

@@ -0,0 +1,73 @@
+import numpy as np
+
+class RunningStat():
+  # tracks realtime mean and standard deviation without storing any data
+  def __init__(self, priors=None, max_trackable=-1):
+    self.max_trackable = max_trackable
+    if priors is not None:
+      # initialize from history
+      self.M = priors[0]
+      self.S = priors[1]
+      self.n = priors[2]
+      self.M_last = self.M
+      self.S_last = self.S
+
+    else:
+      self.reset()
+
+  def reset(self):
+    self.M = 0.
+    self.S = 0.
+    self.M_last = 0.
+    self.S_last = 0.
+    self.n = 0
+
+  def push_data(self, new_data):
+    # short term memory hack
+    if self.max_trackable < 0 or self.n < self.max_trackable:
+      self.n += 1
+    if self.n == 0:
+      self.M_last = new_data
+      self.M = self.M_last
+      self.S_last = 0.
+    else:
+      self.M = self.M_last + (new_data - self.M_last) / self.n
+      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
+      self.M_last = self.M
+      self.S_last = self.S
+
+  def mean(self):
+    return self.M
+
+  def variance(self):
+    if self.n >= 2:
+      return self.S / (self.n - 1.)
+    else:
+      return 0
+
+  def std(self):
+    return np.sqrt(self.variance())
+
+  def params_to_save(self):
+    return [self.M, self.S, self.n]
+
+class RunningStatFilter():
+  def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
+    self.raw_stat = RunningStat(raw_priors, -1)
+    self.filtered_stat = RunningStat(filtered_priors, max_trackable)
+
+  def reset(self):
+    self.raw_stat.reset()
+    self.filtered_stat.reset()
+
+  def push_and_update(self, new_data):
+    _std_last = self.raw_stat.std()
+    self.raw_stat.push_data(new_data)
+    _delta_std = self.raw_stat.std() - _std_last
+    if _delta_std <= 0:
+      self.filtered_stat.push_data(new_data)
+    else:
+      pass
+      # self.filtered_stat.push_data(self.filtered_stat.mean())
+
+# class SequentialBayesian():