Merge remote-tracking branch 'upstream/master' into boardd-no-fault

old-commit-hash: 438c8438bf7dcbe54fcbf0832159e971d1090bd1

.github/workflows/selfdrive_tests.yaml

@@ -116,6 +116,8 @@ jobs:
         submodules: true
     - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: pre-commit
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
@@ -143,7 +145,7 @@ jobs:
                         $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        ./selfdrive/ui/tests/test_translations.py"
+                        pytest ./selfdrive/ui/tests/test_translations.py"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
       with:

.gitignore

@@ -40,8 +40,7 @@ compile_commands.json
 compare_runtime*.html
 
 persist
-board/obj/
+selfdrive/pandad/pandad
-selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd

.pre-commit-config.yaml

@@ -86,8 +86,8 @@ repos:
     hooks:
     -   id: test_translations
         name: test translations
-        entry: selfdrive/ui/tests/test_translations.py
+        entry: pytest selfdrive/ui/tests/test_translations.py
-        language: script
+        language: system
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-poetry/poetry

Jenkinsfile

@@ -192,7 +192,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
@@ -202,7 +202,7 @@ node {
       'loopback': {
         deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
           ["build openpilot", "cd system/manager && ./build.py"],
-          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
         ])
       },
       'camerad': {
@@ -236,9 +236,9 @@ node {
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           ["build openpilot", "cd system/manager && ./build.py"],
-          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
-          ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"],
+          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
           ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],

RELEASES.md

@@ -1,9 +1,12 @@
-Version 0.9.7 (2024-05-XX)
+Version 0.9.7 (2024-06-11)
 ========================
 * New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
 * Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Support for hybrid variants of supported Ford models
 * Fingerprinting without the OBD-II port on all cars
 
 Version 0.9.6 (2024-02-27)
@@ -634,7 +637,7 @@ Version 0.5.13 (2019-05-31)
  * 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
+ * Synchronize controlsd to pandad to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -970,7 +973,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
  * Better performance and pictures at night
- * Fix ptr alignment issue in boardd
+ * Fix ptr alignment issue in pandad
  * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
@@ -1002,7 +1005,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
  * Performance improvements, removal of more numpy
- * Fix boardd process priority
+ * Fix pandad process priority
  * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)

SConstruct

@@ -226,7 +226,7 @@ env = Environment(
     "#cereal",
     "#third_party",
     "#opendbc/can",
-    "#selfdrive/boardd",
+    "#selfdrive/pandad",
     "#common",
     "#rednose/helpers",
   ],

cereal

@@ -1 +1 @@
-Subproject commit 51cbf6294efb356347b2c18b3df9904d11a7ff43
+Subproject commit d0ceac712f531c125923cbdc4ec7bedbdc5a7baf

common/realtime.py

@@ -12,7 +12,7 @@ from openpilot.system.hardware import PC
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_TRML = 0.5  # thermald and manager
+DT_HW = 0.5  # hardwared and manager
 DT_DMON = 0.05  # driver monitoring
 
 
@@ -23,7 +23,7 @@ class Priority:
   CTRL_LOW = 51 # plannerd & radard
 
   # CORE 3
-  # - boardd = 55
+  # - pandad = 55
   CTRL_HIGH = 53
 
 

common/transformations/tests/test_coordinates.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 import numpy as np
 
 import openpilot.common.transformations.coordinates as coord

common/transformations/tests/test_orientation.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 import numpy as np
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 287 Supported Cars
+# 288 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -93,7 +93,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -263,6 +263,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
 |Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
 |Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||

docs/c_docs.rst

@@ -77,10 +77,10 @@ sensorsd
 .. autodoxygenindex::
    :project: system_sensord_sensors
 
-boardd
+pandad
 ^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_boardd
+   :project: selfdrive_pandad
 
 
 rednose

panda

@@ -1 +1 @@
-Subproject commit d37d25e0575f9f76d3ab0aaded832646ddc6459d
+Subproject commit faa18026692f7714ee537261fe649dafe4882579

poetry.lock

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0e15c700ef7dd958815caaec9f2747c560fe1a77990275354bdfe2ff3ac38457
+oid sha256:84ac396fe236ffaf09f9a865fa3bae19ac961db726bdc19b79e52c2f45db6abe
-size 613262
+size 618064

pyproject.toml

@@ -20,7 +20,7 @@ markers = [
 ]
 testpaths = [
   "common",
-  "selfdrive/boardd",
+  "selfdrive/pandad",
   "selfdrive/car",
   "selfdrive/controls",
   "selfdrive/locationd",
@@ -29,10 +29,9 @@ testpaths = [
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
   "system/updated",
-  "system/thermald",
   "system/athena",
   "system/camerad",
-  "system/hardware/tici",
+  "system/hardware",
   "system/loggerd",
   "system/proclogd",
   "system/tests",
@@ -140,7 +139,8 @@ inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release
+metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -164,6 +164,7 @@ pytest-timeout = "*"
 pytest-randomly = "*"
 pytest-asyncio = "*"
 pytest-mock = "*"
+pytest-repeat = "*"
 rerun-sdk = "*"
 ruff = "*"
 sphinx = "*"

release/build_devel.sh

@@ -48,7 +48,6 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
 # in the directory
 cd $TARGET_DIR
 rm -f panda/board/obj/panda.bin.signed
-git submodule status
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
@@ -64,6 +63,13 @@ date: $DATETIME
 master commit: $GIT_HASH
 "
 
+# should be no submodules or LFS files
+git submodule status
+if [ ! -z "$(git lfs ls-files)" ]; then
+  echo "LFS files detected!"
+  exit 1
+fi
+
 # ensure files are within GitHub's limit
 BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)"
 if [ ! -z "$BIG_FILES" ]; then

release/build_release.sh

@@ -1,4 +1,6 @@
-#!/usr/bin/bash -e
+#!/usr/bin/bash
+set -e
+set -x
 
 # git diff --name-status origin/release3-staging | grep "^A" | less
 
@@ -29,7 +31,7 @@ git checkout --orphan $RELEASE_BRANCH
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
+cp -pR --parents $(./release/release_files.py) $BUILD_DIR/
 
 # in the directory
 cd $BUILD_DIR
@@ -46,7 +48,7 @@ git commit -a -m "openpilot v$VERSION release"
 
 # Build
 export PYTHONPATH="$BUILD_DIR"
-scons -j$(nproc)
+scons -j$(nproc) --minimal
 
 # release panda fw
 CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/

release/release_files.py

@@ -27,11 +27,16 @@ blacklist = [
   ".devcontainer/",
   "Darwin/",
   ".vscode",
+
+  # no LFS
+  ".lfsconfig",
+  ".gitattributes",
 ]
 
 # gets you through the blacklist
 whitelist = [
   "tools/lib/",
+  "tools/bodyteleop/",
 
   "tinygrad_repo/openpilot/compile2.py",
   "tinygrad_repo/extra/onnx.py",
@@ -50,7 +55,7 @@ whitelist = [
   "tinygrad_repo/tinygrad/runtime/ops_disk.py",
   "tinygrad_repo/tinygrad/runtime/ops_gpu.py",
   "tinygrad_repo/tinygrad/shape/*",
-  "tinygrad_repo/tinygrad/*.py",
+  "tinygrad_repo/tinygrad/.*.py",
 ]
 
 if __name__ == "__main__":

selfdrive/SConscript

@@ -1,4 +1,4 @@
-SConscript(['boardd/SConscript'])
+SConscript(['pandad/SConscript'])
 SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])

selfdrive/boardd/.gitignore

@@ -1,3 +0,0 @@
-boardd
-boardd_api_impl.cpp
-tests/test_boardd_usbprotocol

selfdrive/car/card.py

@@ -11,7 +11,7 @@ from panda import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 
-from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
@@ -153,7 +153,7 @@ class Car:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
-      # signal boardd to switch to car safety mode
+      # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):

selfdrive/car/chrysler/fingerprints.py

@@ -557,6 +557,7 @@ FW_VERSIONS = {
       b'68467936AC ',
       b'68500630AD',
       b'68500630AE',
+      b'68500631AE',
       b'68502719AC ',
       b'68502722AC ',
       b'68502733AC ',
@@ -603,6 +604,7 @@ FW_VERSIONS = {
       b'68484467AC',
       b'68484471AC',
       b'68502994AD',
+      b'68502996AD',
       b'68520867AE',
       b'68520867AF',
       b'68520870AC',

selfdrive/car/ecu_addrs.py

@@ -6,7 +6,7 @@ import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
-from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.common.swaglog import cloudlog
 
 

selfdrive/car/ford/tests/test_ford.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import random
 from collections.abc import Iterable
 

selfdrive/car/fw_query_definitions.py

@@ -85,7 +85,7 @@ class Request:
   auxiliary: bool = False
   # FW responses from these queries will not be used for fingerprinting
   logging: bool = False
-  # boardd toggles OBD multiplexing on/off as needed
+  # pandad toggles OBD multiplexing on/off as needed
   obd_multiplexing: bool = True
 
 

selfdrive/car/fw_versions.py

@@ -352,7 +352,7 @@ if __name__ == "__main__":
   pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
 
-  # Set up params for boardd
+  # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
   params.put_bool("IsOnroad", False)
@@ -374,7 +374,7 @@ if __name__ == "__main__":
   t = time.time()
   print("Getting vin...")
   set_obd_multiplexing(params, True)
-  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()

selfdrive/car/gm/tests/test_gm.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from parameterized import parameterized
 
 from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS

selfdrive/car/honda/fingerprints.py

@@ -11,43 +11,6 @@ Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.HONDA_ACCORD: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-6A0-8720\x00\x00',
-      b'37805-6A0-9520\x00\x00',
-      b'37805-6A0-9620\x00\x00',
-      b'37805-6A0-9720\x00\x00',
-      b'37805-6A0-A540\x00\x00',
-      b'37805-6A0-A550\x00\x00',
-      b'37805-6A0-A640\x00\x00',
-      b'37805-6A0-A650\x00\x00',
-      b'37805-6A0-A740\x00\x00',
-      b'37805-6A0-A750\x00\x00',
-      b'37805-6A0-A840\x00\x00',
-      b'37805-6A0-A850\x00\x00',
-      b'37805-6A0-A930\x00\x00',
-      b'37805-6A0-AF30\x00\x00',
-      b'37805-6A0-AG30\x00\x00',
-      b'37805-6A0-AJ10\x00\x00',
-      b'37805-6A0-C540\x00\x00',
-      b'37805-6A0-CG20\x00\x00',
-      b'37805-6A1-H650\x00\x00',
-      b'37805-6B2-A550\x00\x00',
-      b'37805-6B2-A560\x00\x00',
-      b'37805-6B2-A650\x00\x00',
-      b'37805-6B2-A660\x00\x00',
-      b'37805-6B2-A720\x00\x00',
-      b'37805-6B2-A810\x00\x00',
-      b'37805-6B2-A820\x00\x00',
-      b'37805-6B2-A920\x00\x00',
-      b'37805-6B2-A960\x00\x00',
-      b'37805-6B2-AA10\x00\x00',
-      b'37805-6B2-C520\x00\x00',
-      b'37805-6B2-C540\x00\x00',
-      b'37805-6B2-C560\x00\x00',
-      b'37805-6B2-M520\x00\x00',
-      b'37805-6B2-Y810\x00\x00',
-      b'37805-6M4-B730\x00\x00',
-    ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TVC-A910\x00\x00',
       b'54008-TWA-A910\x00\x00',
@@ -161,38 +124,6 @@ FW_VERSIONS = {
     ],
   },
   CAR.HONDA_CIVIC: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5AA-A640\x00\x00',
-      b'37805-5AA-A650\x00\x00',
-      b'37805-5AA-A670\x00\x00',
-      b'37805-5AA-A680\x00\x00',
-      b'37805-5AA-A810\x00\x00',
-      b'37805-5AA-C640\x00\x00',
-      b'37805-5AA-C680\x00\x00',
-      b'37805-5AA-C820\x00\x00',
-      b'37805-5AA-L650\x00\x00',
-      b'37805-5AA-L660\x00\x00',
-      b'37805-5AA-L680\x00\x00',
-      b'37805-5AA-L690\x00\x00',
-      b'37805-5AA-L810\x00\x00',
-      b'37805-5AG-Q710\x00\x00',
-      b'37805-5AJ-A610\x00\x00',
-      b'37805-5AJ-A620\x00\x00',
-      b'37805-5AJ-L610\x00\x00',
-      b'37805-5BA-A310\x00\x00',
-      b'37805-5BA-A510\x00\x00',
-      b'37805-5BA-A740\x00\x00',
-      b'37805-5BA-A760\x00\x00',
-      b'37805-5BA-A930\x00\x00',
-      b'37805-5BA-A960\x00\x00',
-      b'37805-5BA-C640\x00\x00',
-      b'37805-5BA-C860\x00\x00',
-      b'37805-5BA-L410\x00\x00',
-      b'37805-5BA-L760\x00\x00',
-      b'37805-5BA-L930\x00\x00',
-      b'37805-5BA-L940\x00\x00',
-      b'37805-5BA-L960\x00\x00',
-    ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-5CG-A040\x00\x00',
       b'28101-5CG-A050\x00\x00',
@@ -242,61 +173,6 @@ FW_VERSIONS = {
     ],
   },
   CAR.HONDA_CIVIC_BOSCH: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5AA-A940\x00\x00',
-      b'37805-5AA-A950\x00\x00',
-      b'37805-5AA-C950\x00\x00',
-      b'37805-5AA-L940\x00\x00',
-      b'37805-5AA-L950\x00\x00',
-      b'37805-5AG-Z910\x00\x00',
-      b'37805-5AJ-A750\x00\x00',
-      b'37805-5AJ-L750\x00\x00',
-      b'37805-5AK-T530\x00\x00',
-      b'37805-5AN-A750\x00\x00',
-      b'37805-5AN-A830\x00\x00',
-      b'37805-5AN-A840\x00\x00',
-      b'37805-5AN-A930\x00\x00',
-      b'37805-5AN-A940\x00\x00',
-      b'37805-5AN-A950\x00\x00',
-      b'37805-5AN-AG20\x00\x00',
-      b'37805-5AN-AH20\x00\x00',
-      b'37805-5AN-AJ30\x00\x00',
-      b'37805-5AN-AK10\x00\x00',
-      b'37805-5AN-AK20\x00\x00',
-      b'37805-5AN-AR10\x00\x00',
-      b'37805-5AN-AR20\x00\x00',
-      b'37805-5AN-C650\x00\x00',
-      b'37805-5AN-CH20\x00\x00',
-      b'37805-5AN-E630\x00\x00',
-      b'37805-5AN-E720\x00\x00',
-      b'37805-5AN-E820\x00\x00',
-      b'37805-5AN-J820\x00\x00',
-      b'37805-5AN-L840\x00\x00',
-      b'37805-5AN-L930\x00\x00',
-      b'37805-5AN-L940\x00\x00',
-      b'37805-5AN-LF20\x00\x00',
-      b'37805-5AN-LH20\x00\x00',
-      b'37805-5AN-LJ20\x00\x00',
-      b'37805-5AN-LR20\x00\x00',
-      b'37805-5AN-LS20\x00\x00',
-      b'37805-5AW-G720\x00\x00',
-      b'37805-5AZ-E850\x00\x00',
-      b'37805-5AZ-G540\x00\x00',
-      b'37805-5AZ-G740\x00\x00',
-      b'37805-5AZ-G840\x00\x00',
-      b'37805-5BB-A530\x00\x00',
-      b'37805-5BB-A540\x00\x00',
-      b'37805-5BB-A620\x00\x00',
-      b'37805-5BB-A630\x00\x00',
-      b'37805-5BB-A640\x00\x00',
-      b'37805-5BB-C540\x00\x00',
-      b'37805-5BB-C630\x00\x00',
-      b'37805-5BB-C640\x00\x00',
-      b'37805-5BB-L540\x00\x00',
-      b'37805-5BB-L630\x00\x00',
-      b'37805-5BB-L640\x00\x00',
-      b'37805-5BF-J130\x00\x00',
-    ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-5CG-A920\x00\x00',
       b'28101-5CG-AB10\x00\x00',
@@ -400,10 +276,6 @@ FW_VERSIONS = {
     ],
   },
   CAR.HONDA_CIVIC_BOSCH_DIESEL: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-59N-G630\x00\x00',
-      b'37805-59N-G830\x00\x00',
-    ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-59Y-G220\x00\x00',
       b'28101-59Y-G620\x00\x00',
@@ -449,41 +321,6 @@ FW_VERSIONS = {
     ],
   },
   CAR.HONDA_CRV_5G: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5PA-3060\x00\x00',
-      b'37805-5PA-3080\x00\x00',
-      b'37805-5PA-3180\x00\x00',
-      b'37805-5PA-4050\x00\x00',
-      b'37805-5PA-4150\x00\x00',
-      b'37805-5PA-6520\x00\x00',
-      b'37805-5PA-6530\x00\x00',
-      b'37805-5PA-6630\x00\x00',
-      b'37805-5PA-6640\x00\x00',
-      b'37805-5PA-7630\x00\x00',
-      b'37805-5PA-9530\x00\x00',
-      b'37805-5PA-9630\x00\x00',
-      b'37805-5PA-9640\x00\x00',
-      b'37805-5PA-9730\x00\x00',
-      b'37805-5PA-9830\x00\x00',
-      b'37805-5PA-9840\x00\x00',
-      b'37805-5PA-A650\x00\x00',
-      b'37805-5PA-A670\x00\x00',
-      b'37805-5PA-A680\x00\x00',
-      b'37805-5PA-A850\x00\x00',
-      b'37805-5PA-A870\x00\x00',
-      b'37805-5PA-A880\x00\x00',
-      b'37805-5PA-A890\x00\x00',
-      b'37805-5PA-AB10\x00\x00',
-      b'37805-5PA-AD10\x00\x00',
-      b'37805-5PA-AF20\x00\x00',
-      b'37805-5PA-AF30\x00\x00',
-      b'37805-5PA-AH20\x00\x00',
-      b'37805-5PA-BF10\x00\x00',
-      b'37805-5PA-C680\x00\x00',
-      b'37805-5PD-Q630\x00\x00',
-      b'37805-5PF-F730\x00\x00',
-      b'37805-5PF-M630\x00\x00',
-    ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-5RG-A020\x00\x00',
       b'28101-5RG-A030\x00\x00',
@@ -559,10 +396,6 @@ FW_VERSIONS = {
     ],
   },
   CAR.HONDA_CRV_EU: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-R5Z-G740\x00\x00',
-      b'37805-R5Z-G780\x00\x00',
-    ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T1V-G920\x00\x00',
     ],
@@ -663,24 +496,6 @@ FW_VERSIONS = {
       b'38897-THR-A010\x00\x00',
       b'38897-THR-A020\x00\x00',
     ],
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5MR-3050\x00\x00',
-      b'37805-5MR-3150\x00\x00',
-      b'37805-5MR-3250\x00\x00',
-      b'37805-5MR-4070\x00\x00',
-      b'37805-5MR-4080\x00\x00',
-      b'37805-5MR-4170\x00\x00',
-      b'37805-5MR-4180\x00\x00',
-      b'37805-5MR-A240\x00\x00',
-      b'37805-5MR-A250\x00\x00',
-      b'37805-5MR-A310\x00\x00',
-      b'37805-5MR-A740\x00\x00',
-      b'37805-5MR-A750\x00\x00',
-      b'37805-5MR-A840\x00\x00',
-      b'37805-5MR-C620\x00\x00',
-      b'37805-5MR-D530\x00\x00',
-      b'37805-5MR-K730\x00\x00',
-    ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-THR-A020\x00\x00',
       b'39990-THR-A030\x00\x00',
@@ -765,39 +580,6 @@ FW_VERSIONS = {
       b'28101-5EZ-A700\x00\x00',
       b'28103-5EY-A110\x00\x00',
     ],
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-RLV-4060\x00\x00',
-      b'37805-RLV-4070\x00\x00',
-      b'37805-RLV-5140\x00\x00',
-      b'37805-RLV-5230\x00\x00',
-      b'37805-RLV-5250\x00\x00',
-      b'37805-RLV-A630\x00\x00',
-      b'37805-RLV-A830\x00\x00',
-      b'37805-RLV-A840\x00\x00',
-      b'37805-RLV-B210\x00\x00',
-      b'37805-RLV-B220\x00\x00',
-      b'37805-RLV-B420\x00\x00',
-      b'37805-RLV-B430\x00\x00',
-      b'37805-RLV-B620\x00\x00',
-      b'37805-RLV-B710\x00\x00',
-      b'37805-RLV-B720\x00\x00',
-      b'37805-RLV-C430\x00\x00',
-      b'37805-RLV-C510\x00\x00',
-      b'37805-RLV-C520\x00\x00',
-      b'37805-RLV-C530\x00\x00',
-      b'37805-RLV-C910\x00\x00',
-      b'37805-RLV-F120\x00\x00',
-      b'37805-RLV-L080\x00\x00',
-      b'37805-RLV-L090\x00\x00',
-      b'37805-RLV-L150\x00\x00',
-      b'37805-RLV-L160\x00\x00',
-      b'37805-RLV-L180\x00\x00',
-      b'37805-RLV-L350\x00\x00',
-      b'37805-RLV-L410\x00\x00',
-      b'37805-RLV-L430\x00\x00',
-      b'37805-RLV-L830\x00\x00',
-      b'37805-RLV-L850\x00\x00',
-    ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TG7-A030\x00\x00',
       b'38897-TG7-A040\x00\x00',
@@ -875,26 +657,6 @@ FW_VERSIONS = {
     ],
   },
   CAR.ACURA_RDX_3G: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5YF-A130\x00\x00',
-      b'37805-5YF-A230\x00\x00',
-      b'37805-5YF-A320\x00\x00',
-      b'37805-5YF-A330\x00\x00',
-      b'37805-5YF-A420\x00\x00',
-      b'37805-5YF-A430\x00\x00',
-      b'37805-5YF-A750\x00\x00',
-      b'37805-5YF-A760\x00\x00',
-      b'37805-5YF-A770\x00\x00',
-      b'37805-5YF-A850\x00\x00',
-      b'37805-5YF-A860\x00\x00',
-      b'37805-5YF-A870\x00\x00',
-      b'37805-5YF-AD20\x00\x00',
-      b'37805-5YF-C210\x00\x00',
-      b'37805-5YF-C220\x00\x00',
-      b'37805-5YF-C410\x00\x00',
-      b'37805-5YF-C420\x00\x00',
-      b'37805-5YF-C430\x00\x00',
-    ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TJB-A030\x00\x00',
       b'57114-TJB-A040\x00\x00',
@@ -1049,10 +811,6 @@ FW_VERSIONS = {
       b'28101-6EH-A010\x00\x00',
       b'28101-6JC-M310\x00\x00',
     ],
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-6CT-A710\x00\x00',
-      b'37805-6HZ-M630\x00\x00',
-    ],
     (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'46114-3W0-A020\x00\x00',
     ],
@@ -1133,14 +891,5 @@ FW_VERSIONS = {
       b'28101-65H-A120\x00\x00',
       b'28101-65J-N010\x00\x00',
     ],
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-64A-A540\x00\x00',
-      b'37805-64A-A620\x00\x00',
-      b'37805-64D-P510\x00\x00',
-      b'37805-64L-A540\x00\x00',
-      b'37805-64S-A540\x00\x00',
-      b'37805-64S-A720\x00\x00',
-      b'37805-64S-AA10\x00\x00',
-    ],
   },
 }

selfdrive/car/honda/tests/test_honda.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import re
 
 from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS

selfdrive/car/honda/values.py

@@ -299,6 +299,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
   # We lose these ECUs without the comma power on these cars.
   # Note that we still attempt to match with them when they are present
+  # This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
   non_essential_ecus={
     Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
     Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
@@ -306,6 +307,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
   },
   extra_ecus=[
     (Ecu.combinationMeter, 0x18da60f1, None),
+    (Ecu.programmedFuelInjection, 0x18da10f1, None),
     # The only other ECU on PT bus accessible by camera on radarless Civic
     # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
     # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'

selfdrive/car/hyundai/fingerprints.py

@@ -23,9 +23,6 @@ FINGERPRINTS = {
   CAR.GENESIS_G90: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
   }],
-  CAR.HYUNDAI_IONIQ_EV_2020: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
-  }],
   CAR.HYUNDAI_KONA_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
   }],
@@ -135,9 +132,12 @@ FW_VERSIONS = {
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7200         ',
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7500         ',
       b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7000         ',
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7100         ',
+      b'\xf1\x00AEev SCC FHCUP      1.00 1.01 99110-G7100         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7310 4APEC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7510 4APEC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7560 4APEC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
@@ -146,6 +146,7 @@ FW_VERSIONS = {
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.03 95740-G2500 190516',
       b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
+      b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
     ],
   },
   CAR.HYUNDAI_IONIQ_EV_LTD: {
@@ -749,6 +750,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DEhe SCC F-CUP      1.00 1.00 99110-G5600         ',
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.00 99110-G5600         ',
     ],
   },
   CAR.KIA_NIRO_HEV_2021: {
@@ -877,6 +879,7 @@ FW_VERSIONS = {
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AB000 220426',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
     ],
     (Ecu.abs, 0x7d1, None): [
@@ -1001,6 +1004,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CE  MFC  AT CAN LHD 1.00 1.04 99211-KL000 221213',
       b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
+      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.04 99211-KL000 221213',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
@@ -1039,10 +1043,10 @@ FW_VERSIONS = {
   CAR.KIA_SPORTAGE_5TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663',
       b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
-      b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690',
     ],

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from hypothesis import settings, given, strategies as st
 
 import pytest

selfdrive/car/hyundai/values.py

@@ -314,7 +314,7 @@ class CAR(Platforms):
     flags=HyundaiFlags.EV,
   )
   HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
+    [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
     HYUNDAI_IONIQ_5.specs,
     flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
   )
@@ -515,7 +515,7 @@ class CAR(Platforms):
       # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown
       HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
     ],
-    CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
+    GENESIS_G70.specs,
     flags=HyundaiFlags.MANDO_RADAR,
   )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
@@ -648,6 +648,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
+# Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we
+# are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # TODO: add back whitelists

selfdrive/car/interfaces.py

@@ -6,6 +6,7 @@ from abc import abstractmethod, ABC
 from enum import StrEnum
 from typing import Any, NamedTuple
 from collections.abc import Callable
+from functools import cache
 
 from cereal import car
 from openpilot.common.basedir import BASEDIR
@@ -32,6 +33,18 @@ TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.tom
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
 TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml')
 
+GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = {
+  'P': GearShifter.park, 'PARK': GearShifter.park,
+  'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
+  'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
+  'E': GearShifter.eco, 'ECO': GearShifter.eco,
+  'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
+  'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
+  'S': GearShifter.sport, 'SPORT': GearShifter.sport,
+  'L': GearShifter.low, 'LOW': GearShifter.low,
+  'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
+}
+
 
 class LatControlInputs(NamedTuple):
   lateral_acceleration: float
@@ -43,29 +56,34 @@ class LatControlInputs(NamedTuple):
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
-def get_torque_params(candidate):
+@cache
+def get_torque_params():
   with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f:
     sub = tomllib.load(f)
-  if candidate in sub:
-    candidate = sub[candidate]
-
   with open(TORQUE_PARAMS_PATH, 'rb') as f:
     params = tomllib.load(f)
   with open(TORQUE_OVERRIDE_PATH, 'rb') as f:
     override = tomllib.load(f)
 
-  # Ensure no overlap
+  torque_params = {}
-  if sum([candidate in x for x in [sub, params, override]]) > 1:
+  for candidate in (sub.keys() | params.keys() | override.keys()) - {'legend'}:
-    raise RuntimeError(f'{candidate} is defined twice in torque config')
+    if sum([candidate in x for x in [sub, params, override]]) > 1:
+      raise RuntimeError(f'{candidate} is defined twice in torque config')
 
-  if candidate in override:
+    sub_candidate = sub.get(candidate, candidate)
-    out = override[candidate]
-  elif candidate in params:
-    out = params[candidate]
-  else:
-    raise NotImplementedError(f"Did not find torque params for {candidate}")
-  return {key: out[i] for i, key in enumerate(params['legend'])}
 
+    if sub_candidate in override:
+      out = override[sub_candidate]
+    elif sub_candidate in params:
+      out = params[sub_candidate]
+    else:
+      raise NotImplementedError(f"Did not find torque params for {sub_candidate}")
+
+    torque_params[sub_candidate] = {key: out[i] for i, key in enumerate(params['legend'])}
+    if candidate in sub:
+      torque_params[candidate] = torque_params[sub_candidate]
+
+  return torque_params
 
 # generic car and radar interfaces
 
@@ -166,7 +184,7 @@ class CarInterfaceBase(ABC):
     ret.carFingerprint = candidate
 
     # Car docs fields
-    ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
+    ret.maxLateralAccel = get_torque_params()[candidate]['MAX_LAT_ACCEL_MEASURED']
     ret.autoResumeSng = True  # describes whether car can resume from a stop automatically
 
     # standard ALC params
@@ -199,7 +217,7 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
-    params = get_torque_params(candidate)
+    params = get_torque_params()[candidate]
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle
@@ -422,19 +440,7 @@ class CarStateBase(ABC):
   def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
     if gear is None:
       return GearShifter.unknown
-
+    return GEAR_SHIFTER_MAP.get(gear.upper(), GearShifter.unknown)
-    d: dict[str, car.CarState.GearShifter] = {
-      'P': GearShifter.park, 'PARK': GearShifter.park,
-      'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
-      'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
-      'E': GearShifter.eco, 'ECO': GearShifter.eco,
-      'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
-      'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
-      'S': GearShifter.sport, 'SPORT': GearShifter.sport,
-      'L': GearShifter.low, 'LOW': GearShifter.low,
-      'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
-    }
-    return d.get(gear.upper(), GearShifter.unknown)
 
   @staticmethod
   def get_can_parser(CP):

selfdrive/car/isotp_parallel_query.py

@@ -4,7 +4,7 @@ from functools import partial
 
 import cereal.messaging as messaging
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 

selfdrive/car/subaru/fingerprints.py

@@ -311,6 +311,7 @@ FW_VERSIONS = {
       b'\x00\x00d\xd3\x1f@ \t',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'\xa7"@0\x07',
       b'\xa7"@p\x07',
       b'\xa7)\xa0q\x07',
       b'\xba"@@\x07',
@@ -319,6 +320,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'\x1a\xf6F`\x00',
       b'\xda\xf2`\x80\x00',
+      b'\xda\xf2`p\x00',
       b'\xda\xfd\xe0\x80\x00',
       b'\xdc\xf2@`\x00',
       b'\xdc\xf2``\x00',

selfdrive/car/tests/test_can_fingerprint.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from parameterized import parameterized
 
 from cereal import log, messaging

selfdrive/car/tests/test_car_interfaces.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import math
 import hypothesis.strategies as st

selfdrive/car/tests/test_docs.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from collections import defaultdict
 import os
 import pytest

selfdrive/car/tests/test_fingerprints.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import sys
 

selfdrive/car/tests/test_fw_fingerprint.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import random
 import time

selfdrive/car/tests/test_lateral_limits.py

@@ -3,6 +3,7 @@ from collections import defaultdict
 import importlib
 from parameterized import parameterized_class
 import pytest
+import sys
 
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
@@ -20,8 +21,6 @@ MAX_LAT_JERK_UP_TOLERANCE = 0.5  # m/s^3
 # jerk is measured over half a second
 JERK_MEAS_T = 0.5
 
-car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
-
 
 @parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
 class TestLateralLimits:
@@ -44,7 +43,7 @@ class TestLateralLimits:
 
     CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
-    cls.torque_params = get_torque_params(cls.car_model)
+    cls.torque_params = get_torque_params()[cls.car_model]
 
   @staticmethod
   def calculate_0_5s_jerk(control_params, torque_params):
@@ -64,9 +63,36 @@ class TestLateralLimits:
 
   def test_jerk_limits(self):
     up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
-    car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
     assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE
     assert down_jerk <= MAX_LAT_JERK_DOWN
 
   def test_max_lateral_accel(self):
     assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL
+
+
+class LatAccelReport:
+  car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
+
+  def pytest_sessionfinish(self):
+    print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n")
+
+    max_car_model_len = max([len(car_model) for car_model in self.car_model_jerks])
+    for car_model, _jerks in sorted(self.car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
+      violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \
+                  _jerks["down_jerk"] > MAX_LAT_JERK_DOWN
+      violation_str = " - VIOLATION" if violation else ""
+
+      print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " +
+            f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
+
+  @pytest.fixture(scope="class", autouse=True)
+  def class_setup(self, request):
+    yield
+    cls = request.cls
+    if hasattr(cls, "control_params"):
+      up_jerk, down_jerk = TestLateralLimits.calculate_0_5s_jerk(cls.control_params, cls.torque_params)
+      self.car_model_jerks[cls.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
+
+
+if __name__ == '__main__':
+  sys.exit(pytest.main([__file__, '-n0', '--no-summary'], plugins=[LatAccelReport()]))  # noqa: TID251

selfdrive/car/tests/test_models.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import capnp
 import os
 import importlib

selfdrive/car/tests/test_platform_configs.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 from openpilot.selfdrive.car.values import PLATFORMS
 
 

selfdrive/car/torque_data/override.toml

@@ -61,7 +61,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "GMC_ACADIA" = [1.6, 1.6, 0.2]
 "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
 "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.1]
+"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005]
 "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
 "HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
 "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]

selfdrive/car/torque_data/params.toml

@@ -40,7 +40,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745]
 "JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048]
 "JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003]
-"KIA_EV6" = [3.2, 2.093457, 0.05]
+"KIA_EV6" = [3.2, 2.093457, 0.005]
 "KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
 "KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
 "KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]

selfdrive/car/toyota/fingerprints.py

@@ -214,6 +214,7 @@ FW_VERSIONS = {
       b'8646F0601400    ',
       b'8646F0603400    ',
       b'8646F0603500    ',
+      b'8646F0604000    ',
       b'8646F0604100    ',
       b'8646F0605000    ',
       b'8646F0606000    ',

selfdrive/car/toyota/tests/test_toyota.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from hypothesis import given, settings, strategies as st
 
 from cereal import car

selfdrive/car/volkswagen/tests/test_volkswagen.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import random
 import re
 

selfdrive/car/volkswagen/values.py

@@ -214,10 +214,11 @@ class CAR(Platforms):
       VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
       VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
       VWCarDocs("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
+      VWCarDocs("Volkswagen Arteon Shooting Brake 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
       VWCarDocs("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
     ],
     VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
-    chassis_codes={"AN"},
+    chassis_codes={"AN", "3H"},
     wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
   )
   VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig(

selfdrive/controls/controlsd.py

@@ -279,7 +279,7 @@ class Controls:
       else:
         safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
 
-      # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda
+      # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
       if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
         self.events.add(EventName.controlsMismatch)
 

selfdrive/controls/lib/events.py

@@ -51,7 +51,7 @@ class Events:
   def __init__(self):
     self.events: list[int] = []
     self.static_events: list[int] = []
-    self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
+    self.event_counters = dict.fromkeys(EVENTS.keys(), 0)
 
   @property
   def names(self) -> list[int]:
@@ -66,7 +66,7 @@ class Events:
     bisect.insort(self.events, event_name)
 
   def clear(self) -> None:
-    self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
+    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
     self.events = self.static_events.copy()
 
   def contains(self, event_type: str) -> bool:
@@ -85,7 +85,7 @@ class Events:
           if not isinstance(alert, Alert):
             alert = alert(*callback_args)
 
-          if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay:
+          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
             alert.alert_type = f"{EVENT_NAME[e]}/{et}"
             alert.event_type = et
             ret.append(alert)

selfdrive/controls/lib/longcontrol.py

@@ -5,6 +5,8 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_dead
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
+CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
+
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
@@ -68,19 +70,19 @@ class LongControl:
     # Interp control trajectory
     speeds = long_plan.speeds
     if len(speeds) == CONTROL_N:
-      v_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+      v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], long_plan.accels)
+      a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels)
 
-      v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+      v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, CONTROL_N_T_IDX, speeds)
       a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
 
-      v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+      v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, CONTROL_N_T_IDX, speeds)
       a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
 
       v_target = min(v_target_lower, v_target_upper)
       a_target = min(a_target_lower, a_target_upper)
 
-      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds)
     else:
       v_target = 0.0
       v_target_now = 0.0

selfdrive/controls/lib/longitudinal_planner.py

@@ -62,9 +62,9 @@ class LongitudinalPlanner:
 
   @staticmethod
   def parse_model(model_msg, model_error):
-    if (len(model_msg.position.x) == 33 and
+    if (len(model_msg.position.x) == ModelConstants.IDX_N and
-       len(model_msg.velocity.x) == 33 and
+       len(model_msg.velocity.x) == ModelConstants.IDX_N and
-       len(model_msg.acceleration.x) == 33):
+       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
       x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
       v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
       a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)

selfdrive/controls/lib/tests/test_alertmanager.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import random
 
 from openpilot.selfdrive.controls.lib.events import Alert, EVENTS

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from parameterized import parameterized
 
 from cereal import car, log

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import math
 

selfdrive/controls/tests/test_alerts.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import copy
 import json
 import os

selfdrive/controls/tests/test_cruise_speed.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import itertools
 import numpy as np

selfdrive/controls/tests/test_following_distance.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import itertools
 from parameterized import parameterized_class

selfdrive/controls/tests/test_leads.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import cereal.messaging as messaging
 
 from openpilot.selfdrive.test.process_replay import replay_process_with_name

selfdrive/controls/tests/test_startup.py

@@ -4,7 +4,7 @@ from parameterized import parameterized
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
 from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
@@ -105,7 +105,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
 
   msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
   for _ in range(1000):
-    # card waits for boardd to echo back that it has changed the multiplexing mode
+    # card waits for pandad to echo back that it has changed the multiplexing mode
     if not params.get_bool("ObdMultiplexingChanged"):
       params.put_bool("ObdMultiplexingChanged", True)
 

selfdrive/controls/tests/test_state_machine.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 from cereal import car, log
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces

selfdrive/debug/clear_dtc.py

@@ -12,11 +12,11 @@ parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
 try:
-  check_output(["pidof", "boardd"])
+  check_output(["pidof", "pandad"])
-  print("boardd is running, please kill openpilot before running this script! (aborted)")
+  print("pandad is running, please kill openpilot before running this script! (aborted)")
   sys.exit(1)
 except CalledProcessError as e:
-  if e.returncode != 1: # 1 == no process found (boardd not running)
+  if e.returncode != 1: # 1 == no process found (pandad not running)
     raise e
 
 panda = Panda()

selfdrive/debug/cpu_usage_stat.py

@@ -9,10 +9,10 @@ System tools like top/htop can only show current cpu usage values, so I write th
     Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
     Monitor multiple processes simuteneously.
   Sample usage:
-    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py boardd,ubloxd
+    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd
-    ('Add monitored proc:', './boardd')
+    ('Add monitored proc:', './pandad')
     ('Add monitored proc:', 'python locationd/ubloxd.py')
-    boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
+    pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
     ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
 '''
 import psutil

selfdrive/debug/debug_fw_fingerprinting_offline.py

@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
 import argparse
 
+from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 from panda.python import uds
 
 
-def main(route: str, addrs: list[int]):
+def main(route: str | None, addrs: list[int]):
   """
   TODO:
   - highlight TX vs RX clearly
@@ -13,7 +14,10 @@ def main(route: str, addrs: list[int]):
   - print as fixed width table, easier to read
   """
 
-  lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True)
+  if route is None:
+    lr = live_logreader()
+  else:
+    lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True)
 
   start_mono_time = None
   prev_mono_time = 0
@@ -28,7 +32,7 @@ def main(route: str, addrs: list[int]):
 
     if msg.which() in ("can", 'sendcan'):
       for can in getattr(msg, msg.which()):
-        if can.address in addrs:
+        if can.address in addrs or not len(addrs):
           if msg.logMonoTime != prev_mono_time:
             print()
             prev_mono_time = msg.logMonoTime
@@ -38,8 +42,8 @@ def main(route: str, addrs: list[int]):
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
-  parser.add_argument('route', help='Route name')
+  parser.add_argument('route', nargs='?', help='Route name, live if not specified')
-  parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)')
+  parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
   args = parser.parse_args()
 
   addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]

selfdrive/debug/get_fingerprint.py

@@ -4,7 +4,7 @@
 
 # Instructions:
 # - connect to a Panda
-# - run selfdrive/boardd/boardd
+# - run selfdrive/pandad/pandad
 # - launching this script
 #   Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
 # - since some messages are published at low frequency, keep this script running for at least 30s,

selfdrive/debug/hyundai_enable_radar_points.py

@@ -79,11 +79,11 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   try:
-    check_output(["pidof", "boardd"])
+    check_output(["pidof", "pandad"])
-    print("boardd is running, please kill openpilot before running this script! (aborted)")
+    print("pandad is running, please kill openpilot before running this script! (aborted)")
     sys.exit(1)
   except CalledProcessError as e:
-    if e.returncode != 1: # 1 == no process found (boardd not running)
+    if e.returncode != 1: # 1 == no process found (pandad not running)
       raise e
 
   confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip()

selfdrive/debug/read_dtc_status.py

@@ -13,11 +13,11 @@ parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
 try:
-  check_output(["pidof", "boardd"])
+  check_output(["pidof", "pandad"])
-  print("boardd is running, please kill openpilot before running this script! (aborted)")
+  print("pandad is running, please kill openpilot before running this script! (aborted)")
   sys.exit(1)
 except CalledProcessError as e:
-  if e.returncode != 1: # 1 == no process found (boardd not running)
+  if e.returncode != 1: # 1 == no process found (pandad not running)
     raise e
 
 panda = Panda()

selfdrive/locationd/test/test_calibrationd.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import random
 
 import numpy as np

selfdrive/locationd/test/test_locationd.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import json
 import random

selfdrive/locationd/test/test_locationd_scenarios.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import numpy as np
 from collections import defaultdict

selfdrive/modeld/models/commonmodel.cc

@@ -1,13 +1,10 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 
-#include <algorithm>
 #include <cassert>
 #include <cmath>
 #include <cstring>
 
 #include "common/clutil.h"
-#include "common/mat.h"
-#include "common/timing.h"
 
 ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   input_frames = std::make_unique<float[]>(buf_size);
@@ -52,21 +49,6 @@ ModelFrame::~ModelFrame() {
   CL_CHECK(clReleaseCommandQueue(q));
 }
 
-void softmax(const float* input, float* output, size_t len) {
-  const float max_val = *std::max_element(input, input + len);
-  float denominator = 0;
-  for (int i = 0; i < len; i++) {
-    float const v_exp = expf(input[i] - max_val);
-    denominator += v_exp;
-    output[i] = v_exp;
-  }
-
-  const float inv_denominator = 1. / denominator;
-  for (int i = 0; i < len; i++) {
-    output[i] *= inv_denominator;
-  }
-}
-
 float sigmoid(float input) {
   return 1 / (1 + expf(-input));
 }

selfdrive/modeld/models/commonmodel.h

@@ -13,20 +13,11 @@
 #endif
 
 #include "common/mat.h"
-#include "cereal/messaging/messaging.h"
 #include "selfdrive/modeld/transforms/loadyuv.h"
 #include "selfdrive/modeld/transforms/transform.h"
 
-const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
-
-void softmax(const float* input, float* output, size_t len);
 float sigmoid(float input);
 
-template<class T, size_t size>
-constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
-  return kj::ArrayPtr(arr.data(), arr.size());
-}
-
 class ModelFrame {
 public:
   ModelFrame(cl_device_id device_id, cl_context context);

selfdrive/modeld/tests/test_modeld.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import numpy as np
 import random
 

selfdrive/monitoring/test_monitoring.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import numpy as np
 
 from cereal import car, log

selfdrive/navd/tests/test_map_renderer.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import time
 import numpy as np
 import os

selfdrive/navd/tests/test_navd.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import json
 import random
 import numpy as np

selfdrive/pandad/.gitignore

@@ -0,0 +1,3 @@
+pandad
+pandad_api_impl.cpp
+tests/test_pandad_usbprotocol

selfdrive/pandad/SConscript

@@ -3,9 +3,9 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging')
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
 panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 
-env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
+env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
-envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
+envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
 if GetOption('extras'):
-  env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs)
+  env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)

selfdrive/pandad/__init__.py

@@ -1,5 +1,5 @@
 # Cython, now uses scons to build
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
 assert can_list_to_can_capnp
 
 def can_capnp_to_can_list(can, src_filter=None):

selfdrive/pandad/can_list_to_can_capnp.cc

@@ -1,5 +1,5 @@
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
   MessageBuilder msg;

selfdrive/pandad/main.cc

@@ -1,22 +1,22 @@
 #include <cassert>
 
-#include "selfdrive/boardd/boardd.h"
+#include "selfdrive/pandad/pandad.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
-  LOGW("starting boardd");
+  LOGW("starting pandad");
 
   if (!Hardware::PC()) {
     int err;
     err = util::set_realtime_priority(54);
     assert(err == 0);
-    err = util::set_core_affinity({4});
+    err = util::set_core_affinity({3});
     assert(err == 0);
   }
 
   std::vector<std::string> serials(argv + 1, argv + argc);
-  boardd_main_thread(serials);
+  pandad_main_thread(serials);
   return 0;
 }

selfdrive/pandad/panda.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 #include <unistd.h>
 
@@ -246,9 +246,9 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
     }
 
     if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
-      // TODO: also reset CAN comms?
       LOGE("Panda CAN checksum failed");
       size = 0;
+      can_reset_communications();
       return false;
     }
 

selfdrive/pandad/panda.h

@@ -13,7 +13,7 @@
 #include "cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
 #include "panda/board/can_definitions.h"
-#include "selfdrive/boardd/panda_comms.h"
+#include "selfdrive/pandad/panda_comms.h"
 
 #define USB_TX_SOFT_LIMIT   (0x100U)
 #define USBPACKET_MAX_SIZE  (0x40)

selfdrive/pandad/panda_comms.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 #include <cassert>
 #include <stdexcept>

selfdrive/pandad/panda_comms.h

@@ -56,6 +56,13 @@ private:
 };
 
 #ifndef __APPLE__
+struct __attribute__((packed)) spi_header {
+  uint8_t sync;
+  uint8_t endpoint;
+  uint16_t tx_len;
+  uint16_t max_rx_len;
+};
+
 class PandaSpiHandle : public PandaCommsHandle {
 public:
   PandaSpiHandle(std::string serial);
@@ -79,5 +86,8 @@ private:
   int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
   int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
   int lltransfer(spi_ioc_transfer &t);
+
+  spi_header header;
+  uint32_t xfer_count = 0;
 };
 #endif

selfdrive/pandad/pandad.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/boardd/boardd.h"
+#include "selfdrive/pandad/pandad.h"
 
 #include <algorithm>
 #include <array>
@@ -25,7 +25,7 @@
 // - The internal panda will always be the first panda
 // - Consecutive pandas will be sorted based on panda type, and then serial number
 // Connecting:
-// - If a panda connection is dropped, boardd will reconnect to all pandas
+// - If a panda connection is dropped, pandad will reconnect to all pandas
 // - If a panda is added, we will only reconnect when we are offroad
 // CAN buses:
 // - Each panda will have it's block of 4 buses. E.g.: the second panda will use
@@ -163,7 +163,7 @@ Panda *connect(std::string serial="", uint32_t index=0) {
 }
 
 void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
-  util::set_thread_name("boardd_can_send");
+  util::set_thread_name("pandad_can_send");
 
   AlignedBuffer aligned_buf;
   std::unique_ptr<Context> context(Context::create());
@@ -198,12 +198,12 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 }
 
 void can_recv_thread(std::vector<Panda *> pandas) {
-  util::set_thread_name("boardd_can_recv");
+  util::set_thread_name("pandad_can_recv");
 
   PubMaster pm({"can"});
 
   // run at 100Hz
-  RateKeeper rk("boardd_can_recv", 100);
+  RateKeeper rk("pandad_can_recv", 100);
   std::vector<can_frame> raw_can_data;
 
   while (!do_exit && check_all_connected(pandas)) {
@@ -405,7 +405,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
 }
 
 void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
-  util::set_thread_name("boardd_panda_state");
+  util::set_thread_name("pandad_panda_state");
 
   Params params;
   SubMaster sm({"controlsState"});
@@ -503,7 +503,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
 
 void peripheral_control_thread(Panda *panda, bool no_fan_control) {
-  util::set_thread_name("boardd_peripheral_control");
+  util::set_thread_name("pandad_peripheral_control");
 
   SubMaster sm({"deviceState", "driverCameraState"});
 
@@ -554,8 +554,8 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
   }
 }
 
-void boardd_main_thread(std::vector<std::string> serials) {
+void pandad_main_thread(std::vector<std::string> serials) {
-  LOGW("launching boardd");
+  LOGW("launching pandad");
 
   if (serials.size() == 0) {
     serials = Panda::list();

selfdrive/pandad/pandad.h

@@ -3,7 +3,7 @@
 #include <string>
 #include <vector>
 
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 bool safety_setter_thread(std::vector<Panda *> pandas);
-void boardd_main_thread(std::vector<std::string> serials);
+void pandad_main_thread(std::vector<std::string> serials);

selfdrive/pandad/pandad.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# simple boardd wrapper that updates the panda first
+# simple pandad wrapper that updates the panda first
 import os
 import usb1
 import time
@@ -157,10 +157,10 @@ def main() -> NoReturn:
 
     first_run = False
 
-    # run boardd with all connected serials as arguments
+    # run pandad with all connected serials as arguments
-    os.environ['MANAGER_DAEMON'] = 'boardd'
+    os.environ['MANAGER_DAEMON'] = 'pandad'
-    os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
+    os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
-    subprocess.run(["./boardd", *panda_serials], check=True)
+    subprocess.run(["./pandad", *panda_serials], check=True)
 
 if __name__ == "__main__":
   main()

selfdrive/pandad/spi.cc

@@ -13,7 +13,7 @@
 #include "common/timing.h"
 #include "common/swaglog.h"
 #include "panda/board/comms_definitions.h"
-#include "selfdrive/boardd/panda_comms.h"
+#include "selfdrive/pandad/panda_comms.h"
 
 
 #define SPI_SYNC 0x5AU
@@ -28,13 +28,6 @@ enum SpiError {
   ACK_TIMEOUT = -3,
 };
 
-struct __attribute__((packed)) spi_header {
-  uint8_t sync;
-  uint8_t endpoint;
-  uint16_t tx_len;
-  uint16_t max_rx_len;
-};
-
 const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
 const std::string SPI_DEVICE = "/dev/spidev0.0";
 
@@ -55,6 +48,11 @@ private:
   std::recursive_mutex &m;
 };
 
+#define SPILOG(fn, fmt, ...) do {  \
+      fn(fmt, ## __VA_ARGS__);     \
+      fn("  %d / 0x%x / %d / %d", \
+         xfer_count, header.endpoint, header.tx_len, header.max_rx_len); \
+      } while (0)
 
 PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
   int ret;
@@ -178,7 +176,7 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
     }
 
     if (d < 0) {
-      LOGE("SPI: bulk transfer failed with %d", d);
+      SPILOG(LOGE, "SPI: bulk transfer failed with %d", d);
       comms_healthy = false;
       return d;
     }
@@ -247,7 +245,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
   } while (ret < 0 && connected && !timed_out);
 
   if (ret < 0) {
-    LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
+    SPILOG(LOGE, "transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
   }
 
   return ret;
@@ -270,20 +268,20 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
   while (true) {
     int ret = lltransfer(transfer);
     if (ret < 0) {
-      LOGE("SPI: failed to send ACK request");
+      SPILOG(LOGE, "SPI: failed to send ACK request");
       return ret;
     }
 
     if (rx_buf[0] == ack) {
       break;
     } else if (rx_buf[0] == SPI_NACK) {
-      LOGD("SPI: got NACK");
+      SPILOG(LOGD, "SPI: got NACK");
       return SpiError::NACK;
     }
 
     // handle timeout
     if (millis_since_boot() - start_millis > timeout) {
-      LOGD("SPI: timed out waiting for ACK");
+      SPILOG(LOGW, "SPI: timed out waiting for ACK");
       return SpiError::ACK_TIMEOUT;
     }
   }
@@ -334,7 +332,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   assert(tx_len < SPI_BUF_SIZE);
   assert(max_rx_len < SPI_BUF_SIZE);
 
-  spi_header header = {
+  xfer_count++;
+  header = {
     .sync = SPI_SYNC,
     .endpoint = endpoint,
     .tx_len = tx_len,
@@ -352,7 +351,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   transfer.len = sizeof(header) + 1;
   ret = lltransfer(transfer);
   if (ret < 0) {
-    LOGE("SPI: failed to send header");
+    SPILOG(LOGE, "SPI: failed to send header");
     return ret;
   }
 
@@ -370,7 +369,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   transfer.len = tx_len + 1;
   ret = lltransfer(transfer);
   if (ret < 0) {
-    LOGE("SPI: failed to send data");
+    SPILOG(LOGE, "SPI: failed to send data");
     return ret;
   }
 
@@ -383,7 +382,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   // Read data
   rx_data_len = *(uint16_t *)(rx_buf+1);
   if (rx_data_len >= SPI_BUF_SIZE) {
-    LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
+    SPILOG(LOGE, "SPI: RX data len larger than buf size %d", rx_data_len);
     return -1;
   }
 
@@ -391,11 +390,11 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
   ret = lltransfer(transfer);
   if (ret < 0) {
-    LOGE("SPI: failed to read rx data");
+    SPILOG(LOGE, "SPI: failed to read rx data");
     return ret;
   }
   if (!check_checksum(rx_buf, rx_data_len + 4)) {
-    LOGE("SPI: bad checksum");
+    SPILOG(LOGE, "SPI: bad checksum");
     return -1;
   }
 

selfdrive/pandad/tests/test_pandad.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import pytest
 import time
@@ -40,7 +39,7 @@ class TestPandad:
     managed_processes['pandad'].stop()
 
     if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
-      raise Exception("boardd failed to start")
+      raise Exception("pandad failed to start")
 
     return dt
 
@@ -102,7 +101,7 @@ class TestPandad:
       ts.append(dt)
 
     # 5s for USB (due to enumeration)
-    # - 0.2s pandad -> boardd
+    # - 0.2s pandad -> pandad
     # - plus some buffer
     assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
     print("startup times", ts, sum(ts) / len(ts))

selfdrive/pandad/tests/test_pandad_loopback.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import copy
 import random
@@ -9,19 +8,21 @@ from pprint import pprint
 
 import cereal.messaging as messaging
 from cereal import car, log
+from openpilot.common.retry import retry
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car import make_can_msg
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
 
-def setup_boardd(num_pandas):
+@retry(attempts=3)
+def setup_pandad(num_pandas):
   params = Params()
   params.put_bool("IsOnroad", False)
 
-  with Timeout(90, "boardd didn't start"):
+  with Timeout(90, "pandad didn't start"):
     sm = messaging.SubMaster(['pandaStates'])
     while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
         any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
@@ -31,7 +32,7 @@ def setup_boardd(num_pandas):
   assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \
                                       connect another panda for multipanda tests."
 
-  # boardd safety setting relies on these params
+  # pandad safety setting relies on these params
   cp = car.CarParams.new_message()
 
   safety_config = car.CarParams.SafetyConfig.new_message()
@@ -71,7 +72,7 @@ class TestBoarddLoopback:
   @with_processes(['pandad'])
   def test_loopback(self):
     num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
-    setup_boardd(num_pandas)
+    setup_pandad(num_pandas)
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
     sm = messaging.SubMaster(['pandaStates'])
@@ -79,7 +80,7 @@ class TestBoarddLoopback:
 
     n = 200
     for i in range(n):
-      print(f"boardd loopback {i}/{n}")
+      print(f"pandad loopback {i}/{n}")
 
       sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas)
 

selfdrive/pandad/tests/test_pandad_spi.py

@@ -1,15 +1,16 @@
-#!/usr/bin/env python3
 import os
 import time
 import numpy as np
 import pytest
+import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
-from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd
+from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
+JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 
 @pytest.mark.tici
 class TestBoarddSpi:
@@ -18,38 +19,67 @@ class TestBoarddSpi:
     if HARDWARE.get_device_type() == 'tici':
       pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
-    os.environ['BOARDD_LOOPBACK'] = '1'
     os.environ['SPI_ERR_PROB'] = '0.001'
+    if not JUNGLE_SPAM:
+      os.environ['BOARDD_LOOPBACK'] = '1'
 
   @phone_only
   @with_processes(['pandad'])
   def test_spi_corruption(self, subtests):
-    setup_boardd(1)
+    setup_pandad(1)
 
+    sendcan = messaging.pub_sock('sendcan')
     socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
     time.sleep(2)
     for s in socks.values():
       messaging.drain_sock_raw(s)
 
+    total_recv_count = 0
+    total_sent_count = 0
+    sent_msgs = {bus: list() for bus in range(3)}
+
     st = time.monotonic()
     ts = {s: list() for s in socks.keys()}
-    for _ in range(20):
+    for _ in range(int(os.getenv("TEST_TIME", "20"))):
+      # send some CAN messages
+      if not JUNGLE_SPAM:
+        sent = send_random_can_messages(sendcan, random.randrange(2, 20))
+        for k, v in sent.items():
+          sent_msgs[k].extend(list(v))
+          total_sent_count += len(v)
+
       for service, sock in socks.items():
         for m in messaging.drain_sock(sock):
           ts[service].append(m.logMonoTime)
 
           # sanity check for corruption
-          assert m.valid
+          assert m.valid or (service == "can")
           if service == "can":
-            assert len(m.can) == 0
+            for msg in m.can:
+              if JUNGLE_SPAM:
+                # PandaJungle.set_generated_can(True)
+                i = msg.address - 0x200
+                assert msg.address >= 0x200
+                assert msg.src == (i%3)
+                assert msg.dat == b"\xff"*(i%8)
+                total_recv_count += 1
+                continue
+
+              if msg.src > 4:
+                continue
+              key = (msg.address, msg.dat)
+              assert key in sent_msgs[msg.src], f"got unexpected msg: {msg.src=} {msg.address=} {msg.dat=}"
+              # TODO: enable this
+              #sent_msgs[msg.src].remove(key)
+              total_recv_count += 1
           elif service == "pandaStates":
             assert len(m.pandaStates) == 1
             ps = m.pandaStates[0]
-            assert ps.uptime < 100
+            assert ps.uptime < 1000
             assert ps.pandaType == "tres"
             assert ps.ignitionLine
             assert not ps.ignitionCan
-            assert ps.voltage < 14000
+            assert 4000 < ps.voltage < 14000
           elif service == "peripheralState":
             ps = m.peripheralState
             assert ps.pandaType == "tres"
@@ -67,6 +97,10 @@ class TestBoarddSpi:
       with subtests.test(msg="timing check", service=service):
         edt = 1e3 / SERVICE_LIST[service].frequency
         assert edt*0.9 < np.mean(dts) < edt*1.1
-        assert np.max(dts) < edt*3
+        assert np.max(dts) < edt*20
         assert np.min(dts) < edt
         assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
+
+    with subtests.test(msg="CAN traffic"):
+      print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received")
+      assert total_recv_count > 20

selfdrive/pandad/tests/test_pandad_usbprotocol.cc

@@ -4,7 +4,7 @@
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 struct PandaTest : public Panda {
   PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);