Squashed 'panda/' changes from 5570dac..b058c14

b058c14 add build step for legacy board to CI
866dd85 Fix README (#133)
c2a0853 Hyundai safety: 593 also needs ot be modified
594863c Hyundai: added initial safety files which just fwd bus 0 to 2 and viceversa, except for lkas msgs
905a935 fixed pedal and legacy board builds: no float support
0a480ec moved interpolate function to safety header
d7bd473 Merge pull request #131 from appleguru/master
c0b1ef2 Example to get wifi password from panda over USB using python library
01c0383 Merge pull request #128 from appleguru/gmlan_gpio
f9a46e3 Match safety order from master
aafbe05 GMLAN GPIO Rebase
37df290 rename to gmlan_alt

git-subtree-dir: panda
git-subtree-split: b058c145709a93d56fbe764701962e7d97344ecf

old-commit-hash: c812915765

.circleci/config.yml

@@ -25,9 +25,13 @@ jobs:
           command: |
             docker run panda_build /bin/bash -c "cd /panda; python setup.py install"
       - run:
-          name: Build STM image
+          name: Build Panda STM image
           command: |
             docker run panda_build /bin/bash -c "cd /panda/board; make bin"
+      - run:
+          name: Build NEO STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board; make clean; make -f Makefile.legacy obj/comma.bin"
       - run:
           name: Build ESP image
           command: |

board/drivers/can.h

@@ -461,8 +461,6 @@ void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
 
 #endif
 
-#include "canbitbang.h"
-
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
   if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
     if (bus_number < BUS_MAX) {

board/drivers/canbitbang.h

@@ -1,203 +0,0 @@
-#define MAX_BITS_CAN_PACKET (200)
-
-// returns out_len
-int do_bitstuff(char *out, char *in, int in_len) {
-  int last_bit = -1;
-  int bit_cnt = 0;
-  int j = 0;
-  for (int i = 0; i < in_len; i++) {
-    char bit = in[i];
-    out[j++] = bit;
-
-    // do the stuffing
-    if (bit == last_bit) {
-      bit_cnt++;
-      if (bit_cnt == 5) {
-        // 5 in a row the same, do stuff
-        last_bit = !bit;
-        out[j++] = last_bit;
-        bit_cnt = 1;
-      }
-    } else {
-      // this is a new bit
-      last_bit = bit;
-      bit_cnt = 1;
-    }
-  }
-  return j;
-}
-
-int append_crc(char *in, int in_len) {
-  int crc = 0;
-  for (int i = 0; i < in_len; i++) {
-    crc <<= 1;
-    if (in[i] ^ ((crc>>15)&1)) {
-      crc = crc ^ 0x4599;
-    }
-    crc &= 0x7fff;
-  }
-  for (int i = 14; i >= 0; i--) {
-    in[in_len++] = (crc>>i)&1;
-  }
-  return in_len;
-}
-
-int append_bits(char *in, int in_len, char *app, int app_len) {
-  for (int i = 0; i < app_len; i++) {
-    in[in_len++] = app[i];
-  }
-  return in_len;
-}
-
-int append_int(char *in, int in_len, int val, int val_len) {
-  for (int i = val_len-1; i >= 0; i--) {
-    in[in_len++] = (val&(1<<i)) != 0;
-  }
-  return in_len;
-}
-
-int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
-  char pkt[MAX_BITS_CAN_PACKET];
-  char footer[] = {
-    1,  // CRC delimiter
-    1,  // ACK
-    1,  // ACK delimiter
-    1,1,1,1,1,1,1, // EOF
-    1,1,1, // IFS
-  };
-
-  int len = 0;
-
-  // test packet
-  int dlc_len = to_bang->RDTR & 0xF;
-  len = append_int(pkt, len, 0, 1);    // Start-of-frame
-  
-  if (to_bang->RIR & 4) {
-    // extended identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
-    len = append_int(pkt, len, 3, 2);    // SRR+IDE
-    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
-    len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
-  } else {
-    // standard identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
-    len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
-  }
-
-  len = append_int(pkt, len, dlc_len, 4);    // Data length code
-
-  // append data
-  for (int i = 0; i < dlc_len; i++) {
-    unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
-    len = append_int(pkt, len, dat, 8);
-  }
-
-  // append crc
-  len = append_crc(pkt, len);
-
-  // do bitstuffing
-  len = do_bitstuff(out, pkt, len);
-
-  // append footer
-  len = append_bits(out, len, footer, sizeof(footer));
-  return len;
-}
-
-// hardware stuff below this line
-
-#ifdef PANDA
-
-void set_bitbanged_gmlan(int val) {
-  if (val) {
-    GPIOB->ODR |= (1 << 13);
-  } else {
-    GPIOB->ODR &= ~(1 << 13);
-  }
-}
-
-char pkt_stuffed[MAX_BITS_CAN_PACKET];
-int gmlan_sending = -1;
-int gmlan_sendmax = -1;
-
-int gmlan_silent_count = 0;
-int gmlan_fail_count = 0;
-#define REQUIRED_SILENT_TIME 10
-#define MAX_FAIL_COUNT 10
-
-void TIM4_IRQHandler(void) {
-  if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
-    int read = get_gpio_input(GPIOB, 12);
-    if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
-      if (read == 0) {
-        gmlan_silent_count = 0;
-      } else {
-        gmlan_silent_count++;
-      }
-    } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
-      int retry = 0;
-      // in send loop
-      if (gmlan_sending > 0 &&  // not first bit
-         (read == 0 && pkt_stuffed[gmlan_sending-1] == 1) &&  // bus wrongly dominant
-         gmlan_sending != (gmlan_sendmax-11)) {    //not ack bit
-        puts("GMLAN ERR: bus driven at ");
-        puth(gmlan_sending);
-        puts("\n");
-        retry = 1;
-      } else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) {    // recessive during ACK
-        puts("GMLAN ERR: didn't recv ACK\n");
-        retry = 1;
-      }
-      if (retry) {
-        // reset sender (retry after 7 silent)
-        set_bitbanged_gmlan(1); // recessive
-        gmlan_silent_count = 0;
-        gmlan_sending = 0;
-        gmlan_fail_count++;
-        if (gmlan_fail_count == MAX_FAIL_COUNT) {
-          puts("GMLAN ERR: giving up send\n");
-        }
-      } else {
-        set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
-        gmlan_sending++;
-      }
-    }
-    if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
-      set_bitbanged_gmlan(1); // recessive
-      set_gpio_mode(GPIOB, 13, MODE_INPUT);
-      TIM4->DIER = 0;  // no update interrupt
-      TIM4->CR1 = 0;   // disable timer
-      gmlan_sendmax = -1;   // exit
-    }
-  }
-  TIM4->SR = 0;
-}
-
-void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
-  // TODO: make failure less silent
-  if (gmlan_sendmax != -1) return;
-
-  int len = get_bit_message(pkt_stuffed, to_bang);
-  gmlan_fail_count = 0;
-  gmlan_silent_count = 0;
-  gmlan_sending = 0;
-  gmlan_sendmax = len;
-
-  // setup for bitbang loop
-  set_bitbanged_gmlan(1); // recessive
-  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-
-  // setup
-  TIM4->PSC = 48-1;          // tick on 1 us
-  TIM4->CR1 = TIM_CR1_CEN;   // enable
-  TIM4->ARR = 30-1;          // 33.3 kbps
-
-  // in case it's disabled
-  NVIC_EnableIRQ(TIM4_IRQn);
-
-  // run the interrupt
-  TIM4->DIER = TIM_DIER_UIE; // update interrupt
-  TIM4->SR = 0;
-}
-
-#endif
-

board/drivers/gmlan_alt.h

@@ -0,0 +1,276 @@
+#define GMLAN_TICKS_PER_SECOND 33300 //1sec @ 33.3kbps
+#define GMLAN_TICKS_PER_TIMEOUT_TICKLE 500 //15ms @ 33.3kbps
+#define GMLAN_HIGH 0 //0 is high on bus (dominant)
+#define GMLAN_LOW 1 //1 is low on bus
+
+#define DISABLED -1
+#define BITBANG 0
+#define GPIO_SWITCH 1
+
+#define MAX_BITS_CAN_PACKET (200)
+
+int gmlan_alt_mode = DISABLED; 
+
+// returns out_len
+int do_bitstuff(char *out, char *in, int in_len) {
+  int last_bit = -1;
+  int bit_cnt = 0;
+  int j = 0;
+  for (int i = 0; i < in_len; i++) {
+    char bit = in[i];
+    out[j++] = bit;
+
+    // do the stuffing
+    if (bit == last_bit) {
+      bit_cnt++;
+      if (bit_cnt == 5) {
+        // 5 in a row the same, do stuff
+        last_bit = !bit;
+        out[j++] = last_bit;
+        bit_cnt = 1;
+      }
+    } else {
+      // this is a new bit
+      last_bit = bit;
+      bit_cnt = 1;
+    }
+  }
+  return j;
+}
+
+int append_crc(char *in, int in_len) {
+  int crc = 0;
+  for (int i = 0; i < in_len; i++) {
+    crc <<= 1;
+    if (in[i] ^ ((crc>>15)&1)) {
+      crc = crc ^ 0x4599;
+    }
+    crc &= 0x7fff;
+  }
+  for (int i = 14; i >= 0; i--) {
+    in[in_len++] = (crc>>i)&1;
+  }
+  return in_len;
+}
+
+int append_bits(char *in, int in_len, char *app, int app_len) {
+  for (int i = 0; i < app_len; i++) {
+    in[in_len++] = app[i];
+  }
+  return in_len;
+}
+
+int append_int(char *in, int in_len, int val, int val_len) {
+  for (int i = val_len-1; i >= 0; i--) {
+    in[in_len++] = (val&(1<<i)) != 0;
+  }
+  return in_len;
+}
+
+int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
+  char pkt[MAX_BITS_CAN_PACKET];
+  char footer[] = {
+    1,  // CRC delimiter
+    1,  // ACK
+    1,  // ACK delimiter
+    1,1,1,1,1,1,1, // EOF
+    1,1,1, // IFS
+  };
+
+  int len = 0;
+
+  // test packet
+  int dlc_len = to_bang->RDTR & 0xF;
+  len = append_int(pkt, len, 0, 1);    // Start-of-frame
+  
+  if (to_bang->RIR & 4) {
+    // extended identifier
+    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, 3, 2);    // SRR+IDE
+    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
+    len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
+  } else {
+    // standard identifier
+    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
+  }
+
+  len = append_int(pkt, len, dlc_len, 4);    // Data length code
+
+  // append data
+  for (int i = 0; i < dlc_len; i++) {
+    unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
+    len = append_int(pkt, len, dat, 8);
+  }
+
+  // append crc
+  len = append_crc(pkt, len);
+
+  // do bitstuffing
+  len = do_bitstuff(out, pkt, len);
+
+  // append footer
+  len = append_bits(out, len, footer, sizeof(footer));
+  return len;
+}
+
+#ifdef PANDA
+
+void setup_timer4() {
+  // setup
+  TIM4->PSC = 48-1;          // tick on 1 us
+  TIM4->CR1 = TIM_CR1_CEN;   // enable
+  TIM4->ARR = 30-1;          // 33.3 kbps
+
+  // in case it's disabled
+  NVIC_EnableIRQ(TIM4_IRQn);
+
+  // run the interrupt
+  TIM4->DIER = TIM_DIER_UIE; // update interrupt
+  TIM4->SR = 0;
+}
+
+int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
+int can_timeout_counter = GMLAN_TICKS_PER_SECOND; //1 second
+
+int inverted_bit_to_send = GMLAN_HIGH; 
+int gmlan_switch_below_timeout = -1;
+int gmlan_switch_timeout_enable = 0;
+
+void gmlan_switch_init(int timeout_enable) {
+  gmlan_switch_timeout_enable = timeout_enable;
+  gmlan_alt_mode = GPIO_SWITCH;
+  gmlan_switch_below_timeout = 1;
+  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
+  
+  setup_timer4();
+  
+  inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
+}
+
+void set_gmlan_digital_output(int to_set) {
+  inverted_bit_to_send = to_set;
+  /*
+  puts("Writing ");
+  puth(inverted_bit_to_send);
+  puts("\n");
+  */
+}
+
+void reset_gmlan_switch_timeout(void) {
+  can_timeout_counter = GMLAN_TICKS_PER_SECOND;
+  gmlan_switch_below_timeout = 1;
+  gmlan_alt_mode = GPIO_SWITCH;
+}
+
+void set_bitbanged_gmlan(int val) {
+  if (val) {
+    GPIOB->ODR |= (1 << 13);
+  } else {
+    GPIOB->ODR &= ~(1 << 13);
+  }
+}
+
+char pkt_stuffed[MAX_BITS_CAN_PACKET];
+int gmlan_sending = -1;
+int gmlan_sendmax = -1;
+
+int gmlan_silent_count = 0;
+int gmlan_fail_count = 0;
+#define REQUIRED_SILENT_TIME 10
+#define MAX_FAIL_COUNT 10
+
+void TIM4_IRQHandler(void) {
+  if (gmlan_alt_mode == BITBANG) {
+    if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
+      int read = get_gpio_input(GPIOB, 12);
+      if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
+        if (read == 0) {
+          gmlan_silent_count = 0;
+        } else {
+          gmlan_silent_count++;
+        }
+      } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
+        int retry = 0;
+        // in send loop
+        if (gmlan_sending > 0 &&  // not first bit
+           (read == 0 && pkt_stuffed[gmlan_sending-1] == 1) &&  // bus wrongly dominant
+           gmlan_sending != (gmlan_sendmax-11)) {    //not ack bit
+          puts("GMLAN ERR: bus driven at ");
+          puth(gmlan_sending);
+          puts("\n");
+          retry = 1;
+        } else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) {    // recessive during ACK
+          puts("GMLAN ERR: didn't recv ACK\n");
+          retry = 1;
+        }
+        if (retry) {
+          // reset sender (retry after 7 silent)
+          set_bitbanged_gmlan(1); // recessive
+          gmlan_silent_count = 0;
+          gmlan_sending = 0;
+          gmlan_fail_count++;
+          if (gmlan_fail_count == MAX_FAIL_COUNT) {
+            puts("GMLAN ERR: giving up send\n");
+          }
+        } else {
+          set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
+          gmlan_sending++;
+        }
+      }
+      if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
+        set_bitbanged_gmlan(1); // recessive
+        set_gpio_mode(GPIOB, 13, MODE_INPUT);
+        TIM4->DIER = 0;  // no update interrupt
+        TIM4->CR1 = 0;   // disable timer
+        gmlan_sendmax = -1;   // exit
+      }
+    }
+    TIM4->SR = 0;
+  } //bit bang mode
+
+  else if (gmlan_alt_mode == GPIO_SWITCH) {
+    if (TIM4->SR & TIM_SR_UIF && gmlan_switch_below_timeout != -1) {
+      if (can_timeout_counter == 0 && gmlan_switch_timeout_enable) {
+        //it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
+        set_gpio_output(GPIOB, 13, GMLAN_LOW);
+        gmlan_switch_below_timeout = -1;
+        gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
+        gmlan_alt_mode = DISABLED;
+      }
+      else {
+        can_timeout_counter--;
+        if (gmlan_timeout_counter == 0) {
+          //Send a 1 (bus low) every 15ms to reset the GMLAN transceivers timeout
+          gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
+          set_gpio_output(GPIOB, 13, GMLAN_LOW);
+        }
+        else {
+          set_gpio_output(GPIOB, 13, inverted_bit_to_send);
+          gmlan_timeout_counter--;
+        }
+      }
+    }
+    TIM4->SR = 0;
+  } //gmlan switch mode
+}
+
+void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+  gmlan_alt_mode = BITBANG;
+  // TODO: make failure less silent
+  if (gmlan_sendmax != -1) return;
+
+  int len = get_bit_message(pkt_stuffed, to_bang);
+  gmlan_fail_count = 0;
+  gmlan_silent_count = 0;
+  gmlan_sending = 0;
+  gmlan_sendmax = len;
+
+  // setup for bitbang loop
+  set_bitbanged_gmlan(1); // recessive
+  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
+
+  setup_timer4();
+}
+
+#endif

board/main.c

@@ -15,6 +15,7 @@
 #include "drivers/uart.h"
 #include "drivers/adc.h"
 #include "drivers/usb.h"
+#include "drivers/gmlan_alt.h"
 #include "drivers/can.h"
 #include "drivers/spi.h"
 #include "drivers/timer.h"

board/safety.h

@@ -5,6 +5,14 @@ struct sample_t {
   int max;
 } sample_t_default = {{0}, 0, 0};
 
+// no float support in STM32F2 micros (cortex-m3)
+#ifdef PANDA
+struct lookup_t {
+  float x[3];
+  float y[3];
+};
+#endif
+
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
@@ -19,6 +27,9 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
   const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
   const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
+#ifdef PANDA
+float interpolate(struct lookup_t xy, float x);
+#endif
 
 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
@@ -49,6 +60,7 @@ int controls_allowed = 0;
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
+#include "safety/safety_hyundai.h"
 #include "safety/safety_elm327.h"
 
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -87,6 +99,7 @@ typedef struct {
 #define SAFETY_HONDA_BOSCH 4
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
+#define SAFETY_HYUNDAI 7
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -100,6 +113,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_GM, &gm_hooks},
   {SAFETY_FORD, &ford_hooks},
   {SAFETY_CADILLAC, &cadillac_hooks},
+  {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
@@ -201,3 +215,31 @@ int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
   // check for violation
   return (val < lowest_val) || (val > highest_val);
 }
+
+
+#ifdef PANDA
+// interp function that holds extreme values
+float interpolate(struct lookup_t xy, float x) {
+  int size = sizeof(xy.x) / sizeof(xy.x[0]);
+  // x is lower than the first point in the x array. Return the first point
+  if (x <= xy.x[0]) {
+    return xy.y[0];
+
+  } else {
+    // find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
+    for (int i=0; i < size-1; i++) {
+      if (x < xy.x[i+1]) {
+        float x0 = xy.x[i];
+        float y0 = xy.y[i];
+        float dx = xy.x[i+1] - x0;
+        float dy = xy.y[i+1] - y0;
+        // dx should not be zero as xy.x is supposed ot be monotonic
+        if (dx <= 0.) dx = 0.0001;
+        return dy * (x - x0) / dx + y0;
+      }
+    }
+    // if no such point is found, then x > xy.x[size-1]. Return last point
+    return xy.y[size - 1];
+  }
+}
+#endif

board/safety/safety_hyundai.h

@@ -0,0 +1,36 @@
+int hyundai_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
+
+
+static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  int bus = (to_push->RDTR >> 4) & 0xF;
+  // 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high and we want stock
+  if ((to_push->RIR>>21) == 832 && (bus == 0)) {
+    hyundai_giraffe_switch_1 = 1;
+  }
+}
+
+static void hyundai_init(int16_t param) {
+  controls_allowed = 0;
+  hyundai_giraffe_switch_1 = 0;
+}
+
+static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+
+  // forward camera to car and viceversa, excpet for lkas11 and mdps12
+  if ((bus_num == 0 || bus_num == 2) && !hyundai_giraffe_switch_1) {
+    int addr = to_fwd->RIR>>21;
+    bool is_lkas_msg = (addr == 832 && bus_num == 2) || (addr == 593 && bus_num == 0);
+    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
+  }
+  return -1;
+}
+
+const safety_hooks hyundai_hooks = {
+  .init = hyundai_init,
+  .rx = hyundai_rx_hook,
+  .tx = nooutput_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = hyundai_fwd_hook,
+};

board/safety/safety_toyota_ipas.h

@@ -4,11 +4,6 @@
 // IPAS override
 const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200;  // disallow controls when user torque exceeds this value
 
-struct lookup_t {
-  float x[3];
-  float y[3];
-};
-
 // 2m/s are added to be less restrictive
 const struct lookup_t LOOKUP_ANGLE_RATE_UP = {
   {2., 7., 17.},
@@ -35,31 +30,6 @@ uint32_t ts_angle_last = 0;
 
 int controls_allowed_last = 0;
 
-// interp function that holds extreme values
-float interpolate(struct lookup_t xy, float x) {
-  int size = sizeof(xy.x) / sizeof(xy.x[0]);
-  // x is lower than the first point in the x array. Return the first point
-  if (x <= xy.x[0]) {
-    return xy.y[0];
-
-  } else {
-    // find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
-    for (int i=0; i < size-1; i++) {
-      if (x < xy.x[i+1]) {
-        float x0 = xy.x[i];
-        float y0 = xy.y[i];
-        float dx = xy.x[i+1] - x0;
-        float dy = xy.y[i+1] - y0;
-        // dx should not be zero as xy.x is supposed ot be monotonic
-        if (dx <= 0.) dx = 0.0001;
-        return dy * (x - x0) / dx + y0;
-      }
-    }
-    // if no such point is found, then x > xy.x[size-1]. Return last point
-    return xy.y[size - 1];
-  }
-}
-
 
 static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // check standard toyota stuff as well

boardesp/README.md

@@ -2,13 +2,13 @@
 Dependencies
 -----
 
-**Mac**
+**Debian / Ubuntu**
 
 ```
 ./get_sdk.sh
 ```
 
-**Debian / Ubuntu**
+**Mac**
 
 ```
 ./get_sdk_mac.sh

examples/get_panda_password.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+from panda import Panda
+
+def get_panda_password():
+  
+  try:
+    print("Trying to connect to Panda over USB...")
+    p = Panda()
+    
+  except AssertionError:
+    print("USB connection failed")
+    sys.exit(0)
+
+  wifi = p.get_serial()
+  #print('[%s]' % ', '.join(map(str, wifi)))
+  print("SSID: " + wifi[0])
+  print("Password: " + wifi[1])
+  
+if __name__ == "__main__":
+  get_panda_password()