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Promoting OP 0.6.5 to Devel (commaai#126)
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* fix ALCA module

* Update ALCA_module.py

* Promote panda fixes from alpha to devel (commaai#98)

* Fix for mock car crash

* fix ALCA module

* do not use

* radar_interface logic improvements

* remove radar logging

* radar_interface refactoring

* Log radar_interface CAN error, Process Comm Errors (commaai#95)

* Log radar_interface CAN error

* Add support for process comm error logging

* Improve Process Comm error logging

* Can and CommError throttling

* Update radar_interface.py

* fixing push per Raf's comments

* ALCA and radar_interface work (commaai#96) (commaai#97)

* do not use

* radar_interface logic improvements

* remove radar logging

* radar_interface refactoring

* Update radar_interface.py

* fixing push per Raf's comments

* fix process comm issue

* switch radard from lane_parser to model

* radar/ALCA changes

* fix lane width

* switched back to not deleting CarParams to avoid radar failure when rebooting EON while driving

* cleanup some debug info to be able to restart ALCA research

* tweaks on safety_tesla.h for can bus isolation

* few more cleanups to safety_tesla.h

* fix start signal logic

* Increase LEXUS_IS safetyParam to 77 (commaai#841)

* use list comprehension (commaai#839)

* use list comprehension

* oops index range fix

* simplify encode/decode in dbc (commaai#840)

* simplify encode/decode

* 2019 Highlander Hybrid Limited Platinum (commaai#843)

fingerprint from ogdragonzypher on Discord

* Allow to lock safety mode to keep gm/tesla cars supported (commaai#844)

* Force subaru to assume the stock camera is connected (commaai#849)

* Revert to using the sum of the lane line probabilities instead of the the product

* Add core OP support for CRC validation, with extra support for Volkswagen MQB (commaai#836)

* Generalized core OP CRC support plus extra bits for Volkswagen MQB.

* Update ref to process_replay regression test

* Remove unneded use of replace, causing json to fail loading the alert

* Add supported car for 2019 Toyota Altis Hybrid (commaai#859)

* add supported car for 2019 Toyota Altis Hybird / Corolla hybrid 2020 (US market)

* remove unnecessary comprehensions (commaai#863)

* Added fingerprint from Sienna XLE AWD (commaai#848)

* Added fingerprint from Sienna XLE AWD

* Update driver_monitor.py

* Update driver_monitor.py

* Update driver_monitor.py

* fix stupid merge issue

* Adds 2019 Lexus ES (non hybrid) (commaai#866)

* Adds 2019 Lexus ES (non hybrid)

* Updated test route

* merge issues

* Update README with now supported Subaru Harness

* Disable LDW for 4 seconds after blinker transition from on to off (commaai#112)

If we want to change lanes with a blinker tap (3 blink mode), then we need to disable LDW for enough time to allow a smooth manual lane change. 4 seconds as it seems the freq is actually around 50Hz, not 100Hz.

* Disable HSO for 3 seconds after blinker has been active (commaai#111)

Avoid HSO will deactivate and try to take the car back into the lane during a manual lane change with blinker tapped (3 blinks mode)

* params learner to only learn @ cons speed

Acceleration/deceleration in turns affect yaw as measured by phone and will create potential issues with learner. This code changes the learner to only adjust parameters when speed is constant

* Update to match new version of python in eons

* python 3 fixes for test client / server

* async/await server

* Don't log for action message as it's too often, and we throttle it internally.

* fix merge issue in thermald

* fixes and tweaks; code simplification

* Saving P,I,F parameters from pid controller (commaai#116)

Added separate save/load functions, try catch - and saving the right constants to the params file.

* Feature/tinklad throttling + linting (commaai#118)

* Throttle tinlkad's attemptToSendPendingMessages

* Remove get_git_remote from registration. It's defined in version already.

* tinklad linting

* tesla linting

* Prevent multiple readings of the pid params file (commaai#119)

..only load the pid values when we initiate the LoC

* missing V_PID_FILE constant (commaai#121)

* show cars in IC for non-radar users (commaai#120)

* bug fixes

* Fix issue where user info was being dropped on no connectivity (commaai#122)

* move pisParams, fix GPS logging

* Bugfix tinklad throttling (commaai#124)

* ALCA4 (still in dev)

* ALCA4 tuning

* ALCA4 alpha release

* ALCA4 tweak for turns

* ACC fix; LDW mite during ALCA

* ALCA polishing

* fix enter_canloader.py for python 3

* should_ldw changes

moved the should_ldw code closer together and added status messages for when LDW is active and inactive

* thermald and ALCA

* ALCA sinplified logic
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@BogGyver
BogGyver committed Nov 12, 2019
1 parent da8f168 commit 801f0f0
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4 changes: 4 additions & 0 deletions .gitignore
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Expand Up @@ -46,3 +46,7 @@ openpilot
notebooks
xx

/selfdrive/tinklad/params
/selfdrive/tinklad/bb_openpilot.cfg
/selfdrive/tinklad/tinklad-cache
/selfdrive/tinklad/bb_openpilot_config.cfg
2 changes: 1 addition & 1 deletion .python-version
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@@ -1 +1 @@
2.7.16
3.7.3
45 changes: 23 additions & 22 deletions README.md
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Expand Up @@ -67,15 +67,15 @@ Supported Cars
| ---------------------| ---------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Honda | Accord 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Accord Hybrid 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
Expand All @@ -90,30 +90,32 @@ Supported Cars
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017-19 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>5</sup>|
| Hyundai | Elantra 2017-19 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>5</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>5</sup>|
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>5</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>5</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>5</sup>|
| Lexus | CT Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Lexus | ES 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Lexus | ES Hybrid 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Lexus | RX Hybrid 2016-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Lexus | IS 2017-2019 | All | Yes | Stock | 22mph | 0mph | Toyota |
| Lexus | IS Hybrid 2017 | All | Yes | Stock | 0mph | 0mph | Toyota |
| Subaru | Crosstrek 2018 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
| Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
| Subaru | Crosstrek 2018-19 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru |
| Subaru | Impreza 2019-20 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru |
| Toyota | Avalon 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Avalon 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Camry 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | Camry Hybrid 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | Camry 2018-19 | All | Yes | Stock | 0mph<sup>4</sup> | 0mph | Toyota |
| Toyota | Camry Hybrid 2018-19 | All | Yes | Stock | 0mph<sup>4</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | C-HR Hybrid 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-19 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Corolla 2020 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Corolla Hybrid 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Highlander 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
Expand All @@ -129,20 +131,19 @@ Supported Cars
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
<sup>4</sup>Subaru Giraffe is DIY. <br />
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>5</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
<sup>6</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />

Community Maintained Cars
------

| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Tesla | Model S 2012-13 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>8</sup>|
| Tesla | Model S 2012-13 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>7</sup>|

[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
<sup>7</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />

Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

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2 changes: 1 addition & 1 deletion cereal/tinkla.capnp
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Expand Up @@ -7,7 +7,7 @@ $Java.outerClassname("Tinkla");

@0xfc8dda643156b95d;

const interfaceVersion :Float32 = 2.2;
const interfaceVersion :Float32 = 3; # Use integer values here

struct Interface {

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47 changes: 17 additions & 30 deletions common/dbc.py
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Expand Up @@ -101,13 +101,8 @@ def __init__(self, fn):
defvals = defvals.replace("?",r"\?") #escape sequence in C++
defvals = defvals.split('"')[:-1]

defs = defvals[1::2]
#cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
for i,d in enumerate(defs):
d = defs[i].strip().upper()
defs[i] = d.replace(" ","_")

defvals[1::2] = defs
# convert strings to UPPER_CASE_WITH_UNDERSCORES
defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
defvals = '"'+"".join(str(i) for i in defvals)+'"'

self.def_vals[ids].append((sgname, defvals))
Expand Down Expand Up @@ -152,22 +147,20 @@ def encode(self, msg_id, dd):
ival = dd.get(s.name)
if ival is not None:

b2 = s.size
if s.is_little_endian:
b1 = s.start_bit
else:
b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
bo = 64 - (b1 + s.size)

ival = (ival / s.factor) - s.offset
ival = int(round(ival))

if s.is_signed and ival < 0:
ival = (1 << b2) + ival
ival = (1 << s.size) + ival

if s.is_little_endian:
shift = s.start_bit
else:
b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
shift = 64 - (b1 + s.size)

shift = b1 if s.is_little_endian else bo
mask = ((1 << b2) - 1) << shift
dat = (ival & ((1 << b2) - 1)) << shift
mask = ((1 << s.size) - 1) << shift
dat = (ival & ((1 << s.size) - 1)) << shift

if s.is_little_endian:
mask = self.reverse_bytes(mask)
Expand Down Expand Up @@ -227,30 +220,24 @@ def decode(self, x, arr=None, debug=False):
factor = s[5]
offset = s[6]

b2 = signal_size
if little_endian:
b1 = start_bit
else:
b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
bo = 64 - (b1 + signal_size)

if little_endian:
if le is None:
le = struct.unpack("<Q", st)[0]
shift_amount = b1
tmp = le
shift_amount = start_bit
else:
if be is None:
be = struct.unpack(">Q", st)[0]
shift_amount = bo
tmp = be
b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
shift_amount = 64 - (b1 + signal_size)

if shift_amount < 0:
continue

tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
if signed and (tmp >> (b2 - 1)):
tmp -= (1 << b2)
tmp = (tmp >> shift_amount) & ((1 << signal_size) - 1)
if signed and (tmp >> (signal_size - 1)):
tmp -= (1 << signal_size)

tmp = tmp * factor + offset

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1 change: 1 addition & 0 deletions common/params.py
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Expand Up @@ -81,6 +81,7 @@ class UnknownKeyName(Exception):
"Passive": [TxType.PERSISTENT],
"RecordFront": [TxType.PERSISTENT],
"ReleaseNotes": [TxType.PERSISTENT],
"SafetyModelLock": [TxType.PERSISTENT],
"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
"SpeedLimitOffset": [TxType.PERSISTENT],
"SubscriberInfo": [TxType.PERSISTENT],
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2 changes: 1 addition & 1 deletion opendbc/generator/toyota/lexus_is_2018_pt.dbc
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Expand Up @@ -11,7 +11,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX

BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_EPS : 47|16@0- (0.77,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
Expand Down
4 changes: 2 additions & 2 deletions opendbc/honda_accord_touring_2016_can.dbc
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Expand Up @@ -177,14 +177,14 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

BO_ 660 SCM_COMMANDS: 8 SCM
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

BO_ 661 XXX_10: 4 XXX
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
Expand Down
2 changes: 1 addition & 1 deletion opendbc/lexus_is_2018_pt_generated.dbc
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Expand Up @@ -370,7 +370,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX

BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_EPS : 47|16@0- (0.77,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
Expand Down
2 changes: 1 addition & 1 deletion panda/board/drivers/can.h
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Expand Up @@ -43,7 +43,7 @@ int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_S
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = size, .elems = (CAN_FIFOMailBox_TypeDef *)&elems_##x };

can_buffer(rx_q, 0x1500)
can_buffer(rx_q, 0x1000)
can_buffer(tx1_q, 0x100)
can_buffer(tx2_q, 0x100)
can_buffer(tx3_q, 0x100)
Expand Down
4 changes: 2 additions & 2 deletions panda/tests/pedal/enter_canloader.py
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Expand Up @@ -25,7 +25,7 @@ def _handle_timeout(signum, frame):
finally:
signal.alarm(0)

#print "R:",ret.encode("hex")
# "R:",ret.encode("hex")
return ret

def controlWrite(self, request_type, request, value, index, data, timeout=0):
Expand Down Expand Up @@ -58,7 +58,7 @@ def bulkRead(self, endpoint, length, timeout=0):
while 1:
if len(p.can_recv()) == 0:
break
print "entering bootloader mode"
print("entering bootloader mode")
if args.recover:
p.can_send(0x200, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x02", 0)
p.can_send(0x551, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x02", 0)
Expand Down
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