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safety: common interceptor checks - #1178
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commit 345147f Author: Shane Smiskol <shane@smiskol.com> Date: Thu Dec 15 15:50:15 2022 -0800 tests: clean up abstract methods (commaai#1196) * don't need to redefine _torque_cmd_msg in abstract subclasses * fix * pylint has a bug? * test pylint * clean up commit eed75e7 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Dec 15 15:30:21 2022 -0800 Bump opendbc ref and update pylint (commaai#1197) * Update opendbc ref * fix linting * fix linting * bump opendbc ref and pylint to fix import error bug * ignore unspecified-encoding (openpilot does this) * this will fail until openpilot is bumped * bump openpilot * wait... this works now?! * bump opendbc to master commit 6ba9afc Author: Robbe Derks <robbe.derks@gmail.com> Date: Wed Dec 14 16:12:09 2022 +0100 H7 clock source (commaai#1194) it's literally the same everything Co-authored-by: Comma Device <device@comma.ai> commit 1d732d4 Author: Robbe Derks <robbe.derks@gmail.com> Date: Wed Dec 14 15:30:04 2022 +0100 F4: Cleanup clock src, second try (commaai#1193) * F4: cleanup clock source * little more * void * restore the timer setup Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Comma Device <device@comma.ai> commit d1d1f8a Author: Robbe Derks <robbe.derks@gmail.com> Date: Wed Dec 14 11:25:54 2022 +0100 Fake siren (commaai#1192) * DAC POC * change freq * some cleanup * wip: cleaning up and trying to use DMA * no clue why this doesn't work * this works * wip multi-master i2c for fake siren * cleanup and some more i2c stuff * seems more stable * retry disabling and cleanup force siren * fix misra violations * not needed * messed up rebase Co-authored-by: Comma Device <device@comma.ai> commit 9e5c28e Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Dec 13 20:21:04 2022 -0800 safety replay updates for CAN-FD commit d375ce6 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Dec 8 16:14:22 2022 -0800 jenkins updates for new master commit 93ecd31 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Dec 7 22:23:41 2022 -0800 don't clog up jenkins build queue commit 4edd1a6 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Dec 2 23:34:06 2022 -0800 Hyundai: alt steering limits (commaai#1186) * Hyundai: alt steering limits * parans commit a6d0765 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Dec 2 16:45:23 2022 -0800 safety: common angle checks (commaai#1182) * common angle checks * clean up * clean up check and add comments * readable * ints * tests draft * clean up * comment * pylint exception * clean up * duplicate commit 6e8a4fc Author: Shane Smiskol <shane@smiskol.com> Date: Fri Dec 2 16:05:35 2022 -0800 safety tests: common angle tests (commaai#1185) * basic formatting * common tests * assert truthfulness * ignore single pylint exception * wya too many lines commit 616450c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Dec 1 20:04:30 2022 -0800 tres bootkick (commaai#1183) * tres: bootkick * replace usb enum Co-authored-by: Comma Device <device@comma.ai> commit 288e14c Author: Robbe Derks <robbe.derks@gmail.com> Date: Thu Dec 1 08:38:00 2022 +0100 Simple CAN chunking (commaai#1011) * simple chunking * make pylint happy * misra happy? * good practice anyways since we cast to a uint32_t later * fix bug dropping packets * minor fixes + prepare for shared lib testing * working library now * first queue test * can send test * fix running in github actions? * add big rx test and fix it * don't complain about empty buffers * disable for now * comment * test runs * some cleanup * merge those * test works * rm that * comment * proper logging * makes things too slow Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 88b30e1 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Nov 30 22:12:28 2022 -0800 CAN comms test (commaai#1181) * CAN comms test * remove those * cleanup * little more commit b238d41 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Nov 30 22:09:13 2022 -0800 safety: clean up passing in longitudinal_allowed (commaai#1176) * clean up * clean up * and fix that * interceptor func * fix * draft * fix that commit 9c50939 Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Thu Dec 1 00:23:55 2022 -0500 HKG CAN-FD radar-SCC: fix controls mismatch (commaai#1173) * Need to check on bus 4 as well * Fix 0x1a0 check race condition * Update board/safety/safety_hyundai_canfd.h Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> commit 2ae7b9a Author: Shane Smiskol <shane@smiskol.com> Date: Wed Nov 30 20:22:09 2022 -0800 scons: put targets in global SConscript (commaai#1180) * Revert "remove unused scons argument (commaai#1169)" This reverts commit 702e528. * try this * clean up * default true * default true * already built commit a0b1d64 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Nov 30 18:56:05 2022 -0800 Honda Nidec: max gas safety and common speed cmd checks (commaai#1179) * limit gas and speed * gas safety test commit 1f73c70 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Nov 30 17:41:24 2022 -0800 generic libpanda for tests (commaai#1177) * generic libpanda for tests * move safety helpers * fix ci build * fix running * opendbc is in the image * make can packet * rename commit cb8fc6b Author: Shane Smiskol <shane@smiskol.com> Date: Wed Nov 30 17:22:42 2022 -0800 safety: common interceptor checks (commaai#1178) * interceptor checks * only one line needed for now * whoops * misra * misread as | commit b19a74f Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Nov 30 15:56:15 2022 -0800 CI: fix mounting in GITHUB_WORKSPACE (commaai#1175) commit 2750463 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Nov 30 14:15:09 2022 -0800 cleanup + prep for more tests! (commaai#1172) * panda for pc! * little more * fake panda * move some more stuff * increase timeout * move that * print helpers * cleanup * just move it for now * revert jenkins changes commit e8bd1df Author: Shane Smiskol <shane@smiskol.com> Date: Tue Nov 29 23:45:55 2022 -0800 safety: common gas & brake safety checks (commaai#1168) * do toyota, hyundai, gm * comments * honda draft * Revert "honda draft" This reverts commit a1f466a. * do tesla * vw draft * finish vw * fix safety * clean up * fix function names * do honda and fix safety test not checking pos accel for bosch * clean that up commit e6f62a6 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Nov 29 22:55:10 2022 -0800 rename puts to avoid conflict with stdio.h (commaai#1174) * rename puts to avoid conflict with stdio.h * better name commit 2baa0ff Author: Shane Smiskol <shane@smiskol.com> Date: Tue Nov 29 16:46:32 2022 -0800 Safety: common acceleration cmd checks (commaai#1171) * do toyota, hyundai, gm * comments * honda draft * Revert "honda draft" This reverts commit a1f466a. * do tesla * vw draft * finish vw * fix safety * only accel * only accel * some clean up * fix mqb tests * rename commit 80dac4c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Nov 29 15:56:43 2022 -0800 cleanup CAN definitions (commaai#1170) commit 702e528 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Nov 29 01:28:46 2022 -0800 remove unused scons argument (commaai#1169) * clean * also here commit 8accca1 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Nov 28 22:37:59 2022 -0800 VW: explicitly test for inactive accel (commaai#1167) * explicitely test for inactive accel * fix the safety * and catch the mistake * revert commit ba6b371 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Nov 28 22:30:23 2022 -0800 GM: use common steering safety test (commaai#1166) gm is the last commit 360f8e6 Author: Robbe Derks <robbe.derks@gmail.com> Date: Thu Nov 24 16:09:39 2022 +0100 reconnecting debug console commit e4c4253 Author: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue Nov 22 17:27:52 2022 -0500 VW MQB: Redundant brake pressed signals (commaai#1137) * VW MQB: Redundant brake pressed signals * bump timer for safety tests in CI * use nicer f-string syntax * don't need that commit c075050 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Nov 21 20:31:01 2022 -0800 Revert "F4: cleanup clock source (commaai#1160)" This reverts commit f0f67cc. commit 2e90b6f Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Nov 21 16:59:21 2022 -0800 cleanup python lib imports commit 15a945d Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 17 21:23:35 2022 -0800 tres: IR LEDs (commaai#1163) commit ae66bbc Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 17 21:02:37 2022 -0800 tres fan (commaai#1162) * fan on * little cleanup * move to main commit e5e34b1 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 17 17:06:28 2022 -0800 som debug script commit 3df9099 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 17 11:46:43 2022 -0800 Misc cleanup (commaai#1161) * unused python stuff * green led * docs cleanup * little more commit 5aa5f85 Author: Robbe Derks <robbe.derks@gmail.com> Date: Thu Nov 17 17:59:11 2022 +0100 setup UART for SOM debugging (commaai#1151) * cleanup external debug serial * wip: bring up uart7 * more wip * this does something * this works * increase fifo size * fix misra * cleanup * fix misra again * add SOM debug enum * reduce SOM buffer on F4 Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit f0f67cc Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 17 07:49:26 2022 -0800 F4: cleanup clock source (commaai#1160) * F4: cleanup clock source * little more * void commit 5dc5cd8 Author: hoomoose <94947902+hoomoose@users.noreply.github.com> Date: Tue Nov 15 15:48:45 2022 -0700 Hyundai: longitudinal support for all CAN-FD EV + Hybrid (commaai#1128) * Update safety_hyundai_canfd.h * Update safety_hyundai_canfd.h * Update safety_hyundai_canfd.h * cleanup * add test Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit e7131fc Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Nov 14 13:52:52 2022 -0800 H7 SPI comms (commaai#1158) * getting health packets * start cleanup * pull state machine out * cleanup commit 9db0ae7 Author: Robbe Derks <robbe.derks@gmail.com> Date: Mon Nov 14 11:46:04 2022 +0100 Remove external debug UART support (commaai#1159) cleanup external debug serial commit c75c276 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Nov 13 19:57:20 2022 -0800 add has_spi board property (commaai#1153) * always spi for h7 * disable for now commit c0632cd Author: Shane Smiskol <shane@smiskol.com> Date: Sun Nov 13 19:10:45 2022 -0800 GM: enable on rising edge of resume (commaai#1157) * rising edge of resume * fix test * comment * todo fix tests * fix test * we want to test the transition from btn prev to btn cur, not unpressed to x to y * range commit 0096d0c Author: Shane Smiskol <shane@smiskol.com> Date: Sat Nov 12 01:55:41 2022 -0800 GM: handle run-away set speed (commaai#1156) * Revert "GM: enable on rising edge of resume (commaai#1155)" This reverts commit 5aa33e1. * allow set/resume to any other button (except cancel) * explicit test * This is a test of both PRs combined * Revert "This is a test of both PRs combined" This reverts commit c7fdc3b. * fix test commit ff48ecc Author: Shane Smiskol <shane@smiskol.com> Date: Sat Nov 12 01:47:13 2022 -0800 Revert "GM: enable on rising edge of resume (commaai#1155)" This reverts commit 5aa33e1. commit 5aa33e1 Author: Shane Smiskol <shane@smiskol.com> Date: Sat Nov 12 00:01:15 2022 -0800 GM: enable on rising edge of resume (commaai#1155) * rising edge of resume * fix test * comment commit cc3b7d9 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Fri Nov 11 15:30:37 2022 -0800 H7: add comments on buses clocks (commaai#1154) comment commit d573111 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Nov 11 14:43:35 2022 -0800 Hyundai: fix button enable controls mismatch (commaai#1152) * fix hyundai long button controls mismatch * test * comment commit 966f7e0 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 10 21:34:43 2022 -0800 SPI: fixes + fake bulk transfers (commaai#1150) * check spi checkusm * ugh, fix control handler * fake bulk xfer * cleanup * one more * unused * fix linter * some typing Co-authored-by: Comma Device <device@comma.ai> commit a9e0357 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Thu Nov 10 19:29:44 2022 -0800 H7: enable USB LDO and fix RGB LED gpios (commaai#1148) * enable USB LDO * open drain for RGB LED gpios * naming * comment commit eae58b3 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Thu Nov 10 19:29:22 2022 -0800 F4 CAN: fix SCE IRQ double fire (commaai#1149) fix commit 72fd777 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Nov 10 17:14:32 2022 -0800 safety replay: fix gm segments (commaai#1147) get torque on gm for safety replay commit d574f4a Author: Robbe Derks <robbe.derks@gmail.com> Date: Thu Nov 10 03:46:20 2022 +0100 STM32F4: SPI communications (commaai#998) * cleanup is_enumerated, rename comms and init spi * big comms refactor, building now * misra fixes * more fixes * misra try 3 * cleanup * this belongs in a separate PR * remove unneccesary file * revert llspi changes * llspi misra fix * enable SPI on F4 and setup gpio * duh * wip: spi comms * more spi wip * dynamic sector erasing * Revert "dynamic sector erasing" This reverts commit fce1215. * more sectors to be erased * debugging * woah, this works * cleanup on the panda side * add sync and checksum checks, and fix recovery on errors * this seems relatively stable * add retrying * this is stabler * some endianness and endpoint fixes * builds * revert that * add that back * checksum start * start splitting up driver * spi behind flag * cleanup test * bump up timeout Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 281eb77 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Nov 8 20:17:02 2022 -0800 GM Camera: use ECM brake pressed bit (commaai#1138) * GM camera: use ECM brake pressed bit * back to ECMEngineStatus * length 8 * common gmcamera class * move to longitudinal base * Revert "move to longitudinal base" This reverts commit 67abe4c. * fix commit 8f7befa Author: Shane Smiskol <shane@smiskol.com> Date: Tue Nov 8 19:50:11 2022 -0800 GM: clean up safety classes (commaai#1143) * add PCM_CRUISE flag to GM safety tests (like safety code) * pcm_status_msg * rm 2 commit a01513d Author: Shane Smiskol <shane@smiskol.com> Date: Tue Nov 8 13:37:02 2022 -0800 safety replay: fix hyundai segments (commaai#1140) * fix hyundai safety replay * clean up commit 1ccdff9 Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Tue Nov 8 01:44:13 2022 -0500 HKG CAN-FD: support radar ACC cars (commaai#1134) * HKG: Car Port for Genesis GV70 2023 * Revert "HKG: Car Port for Genesis GV70 2023" This reverts commit 01bfda6. * 0x1a0 rx check * Wrong one oops * Check 0x1a0 based on param * no need * getting a bit messy, clean up soon! * clean up * clean up Co-authored-by: Shane Smiskol <shane@smiskol.com> commit ca681ff Author: Shane Smiskol <shane@smiskol.com> Date: Mon Nov 7 22:13:17 2022 -0800 Hyundai: CAMERA_SCC works on both safety modes (commaai#1139) * Make camera SCC work on both safety modes * update in safety * move to common commit f3fc343 Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Fri Nov 4 19:43:33 2022 -0400 Hyundai CAN-FD: support for ICE cars (commaai#1031) * Hyundai: Car Port for Santa Cruz 2022 New struct and params for CAN-FD ICE models fixup! New struct and params for CAN-FD ICE models * Longitudinal Control: ICE CAN-FD models * fixup! Longitudinal Control: ICE CAN-FD models * fixup! Longitudinal Control: ICE CAN-FD models * fixup! Longitudinal Control: ICE CAN-FD models * fixup! Longitudinal Control: ICE CAN-FD models * Gate radar disable behind HDA2 only * Remove unnecessary HDA2 checks * Fix MISRA violation * not needed, in HYUNDAI_CANFD_HDA2_LONG_TX_MSGS * revert longitudinal changes * fix addr check logic, clean up * revert more long stuff * fix addr check * temp * tests * work? Co-authored-by: Shane Smiskol <shane@smiskol.com> commit 34cfc43 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Nov 4 15:34:16 2022 -0700 Hyundai CAN-FD: more complete tests (commaai#1133) * more complete tests * use parameterized_class * make clear this only tests EV right now * fix python linter * rename reference * clean up and fix python linter again commit 0b86dfa Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Nov 4 11:35:40 2022 -0700 python lib: only import spidev as necessary commit c8d108e Author: Shane Smiskol <shane@smiskol.com> Date: Fri Nov 4 00:54:54 2022 -0700 Hyundai CAN-FD long: fix brake address check (commaai#1132) * we don't check 0x65 any more * fix * that too commit a42b104 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 3 22:18:12 2022 -0700 SPI handle in python lib (commaai#1131) * SPI handle in python lib * add spidev * unify those * clean up connect * clean that up Co-authored-by: Robbe Derks <robbe.derks@gmail.com> commit 2e0cba0 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 3 20:50:42 2022 -0700 bump timeout for full HITL tests commit b3e9292 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 3 17:24:28 2022 -0700 HITL test fixups (commaai#1117) * automated -> hitl * simplify * jenkinsfile cleanup * cleanup * fix new linter errors * fix ws cleanup * some retry * more cleaning up after ourselves * unpin scons * bump opendbc * fix quotes * enable flaky * debug print Co-authored-by: Bruce Wayne <batman@comma.ai> commit 49e2034 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 3 16:34:18 2022 -0700 tres (commaai#1130) * tres * pull out chiplet * add to python lib commit bfce4c7 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Nov 3 14:36:09 2022 -0700 Hyundai: update tests with new DBC names (commaai#1129) * Hyundai: update tests with new DBC names * fixed commit 73a4099 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Nov 3 00:23:42 2022 -0700 safety replay: fix setting desired torque (commaai#1127) * . * Update tests/safety_replay/helpers.py commit 9147cba Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Wed Nov 2 16:57:14 2022 -0700 F4: more RAM (commaai#1126) * F4 more ram * more flash commit f7c74e0 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Wed Nov 2 14:28:23 2022 -0700 bugfix: D2 SRAM clocks and CRun CPU state (commaai#1125) D2 SRAM clocks commit 0ca6d9d Author: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue Nov 1 11:13:58 2022 -0400 VW MQB: Longitudinal safety (commaai#920) * VW MQB: Longitudinal safety * disregard ACC_13 for now * abstraction cleanup * fix long control flag name * quick hack * VW MQB: Cleanup message counter handling * various cleanup * try without ACC_04 * follow DBC updates * bump Docker opendbc ref * additional main switch and cancel handling/testing * pacify linter * style * handle the overlap tests like HKG CANFD * update replay route * commonize elements between MQB and PQ * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * proper use of globals/conventions * make these global * this is better for now * better comment on accel boundary scaling * spelling error * reset on init * try bumping openpilot Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit cf4aa6b Author: Jason Shuler <jshuler@gmail.com> Date: Tue Nov 1 03:58:18 2022 -0400 GM: longitudinal support for camera-integrated cars (commaai#1014) * Allow brake TX on PT bus * Initial Panda GM cam harness support * Complete rewrite / simplification * Add param for cam harness (default is OBD2) - Forward btw 0 and 2 - Filter LKAS and optionally ACC from cam * Add param for stock ACC - Allows ACC on PT bus when set, not otherwise - Allows ACC from cam when set, not otherwise * Add temporary WIP EPS timing workaround in ifdef * Remove keepalive; regen == braking * Fix MISRA violations * EPS timing opt-in by param * Minor clean up * remove timing code for readability fix and formatting * we only need to send one message if cam harness and stock long * Simplify params * Removed dup brake msg * revised params, split 3-ways * add test * clean up a bit, no need to send ACC yet like this * split out button enable and pcm enable into seperate tests * some formatting some formatting * GM CAM uses PCM cruise for controls_allowed * fix gas safety tests * misra * fix static analysis comment * fix brake pressed * Add OP VOACC override stock cam * Add VOACC safetyparam to init.py * openpilot long safety * do this in another PR * add back * add safety tests * rename * struct for safety * not used * temporary fault fix * adjust max gas * allow PSCMStatus in long mode * stash * fix max gas * fix and clean up tests * clean up longitudinal tests into a common class * fix pylint * subclass * clean that up * rm * blocking * comment * comment * lower case * brake bus Co-authored-by: Shane Smiskol <shane@smiskol.com> commit 997e328 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Oct 31 19:40:44 2022 -0700 Nissan: check two wheel speeds for standstill (commaai#1124) * safety * use already parsed wheel speed commit 494c5a4 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Oct 27 21:23:36 2022 -0700 GM Cam: pass on useless tests (commaai#1122) * pass * Caps commit 187fdee Author: Shane Smiskol <shane@smiskol.com> Date: Thu Oct 27 17:51:20 2022 -0700 safety: remove pre-enable state (commaai#1121) * current_controls_allowed is now unused * reduce diff * remove from honda * these test nothing * fix commit 609a8e0 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Oct 27 13:58:19 2022 -0700 fan: reset error integral when disabled (commaai#1119) commit bd8d248 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Tue Oct 25 21:15:46 2022 -0700 H7: free up 29120 bytes of RAM (commaai#1120) free up some RAM commit 2db69bc Author: Shane Smiskol <shane@smiskol.com> Date: Fri Oct 21 18:11:31 2022 -0700 Revert "GM: different brake thresholds by platform (commaai#1104)" (commaai#1116) This reverts commit 5962bcd. commit d51dd49 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Oct 21 00:20:01 2022 -0700 GM: more longitudinal safety (commaai#1115) * seems cleaner * abort struct * fix * add variable in test_gm (TODO: add tests) * fix test for new safety * cmt * && -> || commit fcb1a5a Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Oct 20 19:52:06 2022 -0700 Hyundai CAN-FD: common brake pressed signal (commaai#1113) * Hyundai CAN-FD: common brake pressed signal * change bit Co-authored-by: Shane Smiskol <shane@smiskol.com> commit 54f9390 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Oct 19 23:25:22 2022 -0700 GM: allow TX PSCMStatus message (commaai#1111) * forwarding * add to tx msgs * don't block * Revert "don't block" This reverts commit b1ca52f. * fix forwarding tests * comment * add comment commit 723e60c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Oct 19 22:58:52 2022 -0700 Hyundai CAN-FD: fix SCC bus for HDA1 commit 24ccc34 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Oct 19 22:26:22 2022 -0700 Hyundai CAN-FD: use cruise signals from SCC ECU (commaai#1112) * Hyundai CAN-FD: use cruise signals from SCC ECU * cleanup commit dd75186 Author: hoomoose <94947902+hoomoose@users.noreply.github.com> Date: Wed Oct 19 16:17:23 2022 -0600 Hyundai: support button resume on CAN-FD HDA1 (commaai#1102) * Update safety_hyundai_canfd.h * run tx checks * fix tests Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit b95a65d Author: Shane Smiskol <shane@smiskol.com> Date: Tue Oct 18 11:22:04 2022 -0700 GM: match ECM standstill check (commaai#1105) * match ECM check * fix * needs to be <= 10 to avoid a fault, fix for safety tests * fix commit 9ed3f75 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Oct 17 20:53:03 2022 -0700 Fix MISRA violation (commaai#1109) commit 842cf65 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Oct 17 20:27:30 2022 -0700 Hyundai CAN-FD: support 90deg angle limit bypass (commaai#1098) * h90d CAN-FD * torque * one liner * adjust safety * Revert "adjust safety" This reverts commit e3539ed. commit bce6f48 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Oct 16 16:37:58 2022 -0700 CI speedup (commaai#1108) * use docker buildkit * enable push * try this caching * no regressions * don't copy into the image * move that * getting there * debug * little smaller * debug * configure safe dir * no sudo * cleanup * another timeout commit 62868c3 Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Sat Oct 15 15:26:01 2022 -0400 Hyundai: CAN-FD Hybrid gas pressed signal (commaai#1106) * Hyundai: Gate 0x105 behind hybrid CAN-FD only * update tests Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 5962bcd Author: Shane Smiskol <shane@smiskol.com> Date: Fri Oct 14 16:51:53 2022 -0700 GM: different brake thresholds by platform (commaai#1104) * Different brake pressed thresholds * Update board/safety/safety_gm.h commit eabebfe Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Oct 13 07:52:59 2022 -0700 Hyundai CAN-FD: ignore LKAS steering on HDA2 long mode (commaai#1101) commit c39528d Author: Shane Smiskol <shane@smiskol.com> Date: Wed Oct 12 21:48:04 2022 -0700 Hyundai tests: fix counter in FCA message (commaai#1092) * tests: fix counter in FCA message * Update tests/safety/test_hyundai.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit de38096 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Oct 12 21:00:24 2022 -0700 Hyundai: support non-HDA2 EV gas signals (commaai#1100) * Hyundai: support non-HDA2 EV gas signals * update tests commit 622ce92 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Oct 12 20:29:15 2022 -0700 Hyundai: share flags with CAN-FD platform (commaai#1099) * Hyundai: share flags with CAN-FD platform * update flags there commit 2f3e282 Author: Greg Hogan <gregjhogan@gmail.com> Date: Wed Oct 12 15:28:20 2022 -0700 CAN-FD non-ISO support (commaai#1082) CAN FD non-ISO support commit ffb3109 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Oct 11 20:50:23 2022 -0700 Hyundai: HDA2 longitudinal control support (commaai#1096) * ev6 long * update steering commit d68b1b0 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Oct 11 17:57:03 2022 -0700 Hyundai: support 90deg angle limit bypass (commaai#1091) * h90d safety * quicker rate * update comment * support multi frames? * stash * stash * might work? * stash * clean up * revert that * add test * fixup tests * clean up * remove test * try to combine tests * Revert "try to combine tests" This reverts commit f147955. * seems simpler * more explicit * shouldn't be needed * comment * fix that test commit aa0be4d Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Oct 11 17:38:34 2022 -0700 Hyundai: move shared definitions to a separate file (commaai#1097) * Hyundai: move shared definitions to a separate header file * same with tests * cleanup commit 0a819ad Author: Shane Smiskol <shane@smiskol.com> Date: Tue Oct 11 13:20:24 2022 -0700 Torque request bit: support multiple invalid frames (commaai#1094) * h90d safety * quicker rate * update comment * support multi frames? * stash * stash * might work? * stash * clean up * revert that * add test * fixup tests * clean up * remove test * try to combine tests * Revert "try to combine tests" This reverts commit f147955. * seems simpler * more explicit * shouldn't be needed * no hyundai stuff * no line * consecutively * comment * comment * comment * revert * comment * check earlier check earlier * ensure we don't set a negative value * add todo comments * for loop commit 3644d94 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Oct 11 11:25:41 2022 -0700 Revert "Hyundai: steering fault bit safety (commaai#1095)" This reverts commit 2334a41. commit 2334a41 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Oct 10 21:56:22 2022 -0700 Hyundai: steering fault bit safety (commaai#1095) comment smaller comment simpler test check controls allowed more classical more like the buttons revert flip commit aaa70b1 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Oct 10 17:01:49 2022 -0700 Toyota: remove redundant test (commaai#1093) already test this commit ca11326 Author: Shane Smiskol <shane@smiskol.com> Date: Sun Oct 9 12:39:48 2022 -0700 GM: abstract PCM-related hw check (commaai#1090) abstract hw check to if pcm_cruise or not commit 1303af2 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Oct 7 16:10:09 2022 -0700 GM: change brake pressed signal (commaai#1089) * Match openpilot brake check * comment * simple * Update test * doesn't take an int * msg varies in size by platform * 2 extra bytes of zeros on Escalade * label platforms * space commit c09a1cd Author: Cameron Clough <cameronjclough@gmail.com> Date: Fri Oct 7 10:47:04 2022 -0700 Ford: allow sending buttons msg to camera (commaai#1085) * allow sending steering buttons msg to camera The DBC lists both the IPMA and PCM as receiving modules for the `CcAslButtnCnclPress` and `CcAsllButtnResPress` signals used to cancel/resume ACC. Sending resume to both buses is confirmed to work by three testers, now it's just down to tweaking openpilot to get high reliability. * add test for both buses * only send TJA to bus 2 commit 3334dc2 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Oct 5 16:35:28 2022 -0700 IsoTpMessage: parameterize separation time (commaai#1088) * parameterize separation time * take in seconds and convert * fix * define once commit cffc41e Author: Shane Smiskol <shane@smiskol.com> Date: Wed Oct 5 16:22:53 2022 -0700 Specify IsoTpMessage keywords commit 7d19626 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Oct 5 16:12:24 2022 -0700 IsoTpMessage: param for single frame flow control (commaai#1079) * iso-tp: request a single frame at a time * behind param * this might be more clear * like this better * fit the theme * revert this change commit 9bcd9b9 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Oct 4 00:20:31 2022 -0700 GM: update max brake (commaai#1087) update max brake commit e987e6c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Oct 3 16:05:16 2022 -0700 add pandaState.safetyRxChecksInvalid field (commaai#1083) * add fault for invalid safety RX checks * fix test build * debug * fix debug * fix test * just a bool in health commit 4248085 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Oct 2 17:48:22 2022 -0700 Hyundai: fix addr check race condition (commaai#1084) commit 1910db8 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Sep 30 14:29:41 2022 -0700 IsoTpMessage.send: setup_only argument (commaai#1081) * some fixes * some fixes * revert to tx not done * this should work * correct debug prints * not true * revert this * setup_only commit 51f023b Author: Shane Smiskol <shane@smiskol.com> Date: Tue Sep 27 18:08:09 2022 -0700 IsoTpMessage: return if message updated (commaai#1078) * extend timeout for each message/frame (not multi-frame full response) * linter commit 10c0991 Author: Robbe Derks <robbe.derks@gmail.com> Date: Fri Sep 23 11:17:15 2022 +0200 Add the 0x600 range for UDS messages (commaai#1077) add the 0x600 range for UDS messages Co-authored-by: Comma Device <device@comma.ai> commit 11ea112 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Sep 19 20:47:12 2022 -0700 IsoTpMessage: add separation time to flow control msg (commaai#1074) * one frame at a time, 20 ms delay * send one at a time * update separation time to 10ms * comment commit b861992 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Mon Sep 19 16:11:49 2022 -0700 merge health.h and can_health.h (commaai#1075) init commit a19f125 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Fri Sep 16 23:51:55 2022 -0700 check if set CAN speed is valid (commaai#1073) * check * MISRA commit fd226de Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Fri Sep 16 21:56:48 2022 -0700 board struct: add has_canfd (commaai#1072) * add * gate this * and this * forgot white commit 59ede3f Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Fri Sep 16 20:39:18 2022 -0700 CAN health packet: add speed and canfd info (commaai#1071) in commit 046fd58 Author: Igor Biletksyy <bs@privacy.im> Date: Thu Sep 15 14:54:38 2022 -0700 python lib: check get_packets_versions length commit f029c99 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Thu Sep 15 13:08:46 2022 -0700 health packet: fix confusing variable names (commaai#1068) * fix naming * different buffer overflows * naming commit 0eef8cf Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Thu Sep 15 13:04:10 2022 -0700 CAN: health message for each CAN module (commaai#1067) * initial can health pkt * MISRA: variable scope * MISRA 10.4 * typo * add total_fwd_cnt * check size of can_health_t * improve * comment * that's better * move * add health check to tests * why? * ... * revert later * meh * Revert "meh" This reverts commit 0eb8432. * Revert "revert later" This reverts commit 2d98957. * adjust test commit 38257a9 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Sep 15 11:22:21 2022 -0700 Hyundai: lower CAN FD torque rate limits (commaai#1066) commit 93c0f55 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Thu Sep 15 10:25:00 2022 +0200 Update README.md commit f2ac118 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Thu Sep 15 10:24:36 2022 +0200 Update README.md commit f120999 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Sep 14 18:42:16 2022 -0700 Subaru: match openpilot standstill (commaai#1070) match openpilot standstill commit 19983f1 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Sep 13 13:52:44 2022 -0700 Chrysler: match openpilot standstill check (commaai#1065) * match openpilot standstill, and fix ram standstill parsing * misra * cmt commit 788e0b5 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Sep 12 21:32:06 2022 -0700 GM: same regen check as openpilot (commaai#1026) * it was only checking a specific bit * same check as openpilot * reset on init * unsigned * should fix conflicts * common * comment * Add missing function * Tests * the alternative is a mess typo typo * draft * finish common * works but you need RegenSafetyTest before all other classes * Revert "works but you need RegenSafetyTest before all other classes" This reverts commit 256f3be. * This works too * need parameterized, subtests nor super() calls correctly reset state * Fix test and comment * comment * another fix... * subclass * ABC * order * fix static analysis * can do this * Revert "can do this" This reverts commit 6bc63a3. * this is nicer, no pylint errors * Update tests/safety/common.py * underscore * dynamically detect and add tests * simpler * only for safety modes with a regen message * check attr * Revert "check attr" This reverts commit bc37a7e. * need to check at test time not class init time commit 15eda6a Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Mon Sep 12 14:31:22 2022 -0700 CAN bus: adjust SJW and time quanta to SAE 2284-3 (commaai#1061) * adjust clocks and tq * debug console keyboard interrupt * MISRA commit ac21dbe Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Fri Sep 9 20:13:06 2022 -0700 H7: add chiplet panda support (RPv2) (commaai#1049) * temporarily disable Jenkins * firmware * python lib * tests * .. * usb load switch to high * it is still red * usb power mode remove * Revert "temporarily disable Jenkins" This reverts commit a911cfa. * forgot this * common periph * change name * board tick * add V2 to CI * update known bootstub commit 1b210a8 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Fri Sep 9 15:24:19 2022 -0700 H7: remove manual bus off handling (commaai#1062) remove this commit 8f13ca3 Author: Cameron Clough <cameronjclough@gmail.com> Date: Thu Sep 8 15:35:10 2022 -0700 Ford safety updates (commaai#1052) * allow resume button press while controls allowed * add ACCDATA_3 msg * change msg name style to match DBC * fix * wrong msg * chmod +x * always allow other acc buttons e.g. tja toggle commit c4c9744 Author: Comma Device <device@comma.ai> Date: Wed Sep 7 21:43:52 2022 -0700 fix dos siren commit 0ca23b6 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Sep 6 19:12:06 2022 -0700 Toyota: generic steer fault workaround safety (commaai#939) * toyota steer fault safety * fix * alternative safety * no comment * should be good * same behavior, a bit simpler * better tests * fix comment * update safety comment * const is actual number of messages * Fix bug * misra * Fix test * clean up logic a bit clean up logic a bit fix * fix fix * clean up tests * unsigned * forgot to rename message when merged * Comments Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update names Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * rename rest of variables * real time checks * clean up safety tests * revert * add this * clean up * better name * use common steering checks * reverse order * make common * re-organize the safety * clean up safety_toyota * more clean up * add comment back * 19 * recover * some variable name clean up * rename and reset `valid_steering_msg_count`, another recover message * move comment * remove reset_toyota_timer, minor test clean up * common test * use init_tests * threshold used to be: frame you can cut steer on, now it's min num of valid frames (next frame you can cut, 18+1) * Update tests/safety/test_toyota.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * fix realtime * Update board/safety/safety_toyota.h * Apply suggestions from code review * Update board/safety/safety_toyota.h Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 671b5ae Author: kyle zunich <zunichky@msu.edu> Date: Fri Sep 2 13:45:43 2022 -0400 Update example scripts to support canfd (commaai#1059) commit 60f366c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Sep 1 21:11:06 2022 -0700 fan: don't fully reset integral when recovering from stall (commaai#1058) * fan: don't fully reset integral when recovering from stall * clip to [0, 70] * 50% commit 13d64d4 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Aug 31 20:46:07 2022 -0700 USB power mode + bootkick cleanup (commaai#1051) * remove tick * remove more * delete more * board tick * update health * dos bootkicking * cleanup commit f040d8b Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Wed Aug 31 12:15:36 2022 -0700 CI: add USB hub reset (commaai#1053) USB hub reset commit 6d2e2bd Author: Igor Biletksyy <bs@privacy.im> Date: Wed Aug 31 10:39:05 2022 -0700 put is_internal() back for openpilot pandad.py commit 77cfc32 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Aug 30 23:24:37 2022 -0700 Toyota: match openpilot standstill check (commaai#1045) * Match openpilot * check against zero value * formatting * use intermediary variable * comment * hmm... this works now?? * fix misra commit b81dfba Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Tue Aug 30 10:46:12 2022 -0700 python lib: cleanup hw type check (commaai#1050) cleanup
mlocoteta
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Apr 29, 2023
* interceptor checks * only one line needed for now * whoops * misra * misread as |
Edison-CBS
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Jul 20, 2023
* interceptor checks * only one line needed for now * whoops * misra * misread as |
liruifeng1120
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Dec 24, 2025
* add test_car_interfaces.py * rm op stuff * fix * justsee * optimize get_fuzzy_car_interface_args a bit * Revert "optimize get_fuzzy_car_interface_args a bit" This reverts commit ba4d07fc3f90bd8f8525550ec3f583842d70586c. * lower examples for now * sheesh * revert time
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on the road to removing
longitudinal_allowedthe safety modes