IQ.Pilot Release Commit @ 3807439

panda/SConscript

@@ -20,6 +20,9 @@ else:
   if os.getenv("DEBUG"):
     common_flags += ["-DDEBUG"]
 
+def objcopy(source, target, env, for_signature):
+    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
+
 def get_version(builder, build_type):
   try:
     git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
@@ -89,20 +92,12 @@ def build_project(project_name, project, main, extra_flags):
     LINKFLAGS=flags,
     CPPPATH=[Dir("./"), "./board/stm32f4/inc", "./board/stm32h7/inc", iqdbc.INCLUDE_PATH],
     ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
+    BUILDERS={
+      'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
+    },
     tools=["default", "compilation_db"],
   )
 
-  # short colored build output shared with the top-level build (if present)
-  _pretty = Dir('#site_scons/site_tools').File('pretty.py')
-  if _pretty.exists():
-    env.Tool('pretty', toolpath=[_pretty.dir.abspath])
-  if not hasattr(env, 'PrettyAction'):
-    env.AddMethod(lambda e, cmd, label, **kw: Action(cmd), 'PrettyAction')
-  env.Append(BUILDERS={
-    'Objcopy': Builder(action=env.PrettyAction('$OBJCOPY -O binary $SOURCE $TARGET', 'OBJCOPY'),
-                       suffix='.bin', src_suffix='.elf')
-  })
-
   startup = env.Object(project["STARTUP_FILE"])
 
   # Build bootstub
@@ -123,8 +118,7 @@ def build_project(project_name, project, main, extra_flags):
   ], LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
   main_bin = env.Objcopy(f"{project_dir}/main.bin", main_elf)
   sign_py = File(f"./crypto/sign.py").srcnode().relpath
-  env.Command(f"./board/obj/{project_name}.bin.signed", main_bin,
-              env.PrettyAction(f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}", 'SIGN', logfile='/dev/null'))
+  env.Command(f"./board/obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
 
 
 

panda/board/drivers/can_common.h

@@ -138,11 +138,9 @@ bus_config_t bus_config[PANDA_CAN_CNT] = {
 void can_init_all(void) {
   for (uint8_t i=0U; i < PANDA_CAN_CNT; i++) {
     bus_config[i].canfd_enabled = false;
-    // NOTE: do NOT reset can_data_speed here. Matching stock panda, can_init_all() only clears
-    // canfd_enabled (re-discovered on RX via canfd_auto). The old "#ifndef CANFD: can_data_speed = 0U"
-    // fired on every board because CANFD is never defined, zeroing the FD data-phase bitrate on every
-    // set_safety_model() -> CAN-FD frames then failed with form/stuff errors and never re-enabled,
-    // breaking all CAN-FD cars (e.g. Kia EV6) after fingerprinting. can_data_speed is only used by fdcan.
+    // Preserve can_data_speed (default 20000U = 2Mbps) through safety model changes.
+    // Auto-detection in can_rx() sets canfd_enabled=true when the first FD frame arrives;
+    // keeping data speed nonzero lets the FDCAN peripheral handle FD frames immediately.
     can_clear(can_queues[i]);
     (void)can_init(i);
   }
@@ -171,7 +169,6 @@ void ignition_can_hook(CANPacket_t *msg) {
     static int tesla_gear = TESLA_DI_GEAR_P;
     static int toyota_gear = TOYOTA_GEAR_P;
     static int toyota_hybrid_gear = TOYOTA_HYBRID_GEAR_P;
-    static bool toyota_hybrid_gear_seen = false;
 
     // GM exception
     if ((msg->addr == 0x1F1U) && (len == 8)) {
@@ -221,10 +218,8 @@ void ignition_can_hook(CANPacket_t *msg) {
       ignition_can_cnt = 0U;
     }
 
-    // Toyota/Lexus exception. SecOC hybrids (e.g. Sienna 4th gen) report gear on
-    // GEAR_PACKET_HYBRID (0x127); their GEAR_PACKET (0x3BC) does not read Park, so once
-    // the hybrid gear packet is seen, don't let 0x3BC override it (Park -> ignition off).
-    if ((msg->addr == 0x3BCU) && (len == 8) && !toyota_hybrid_gear_seen) {
+    // Toyota/Lexus exception
+    if ((msg->addr == 0x3BCU) && (len == 8)) {
       int gear = msg->data[1] & 0x3FU;
       if ((gear == 0) || (gear == 1) || (gear == 8) || (gear == 16) || (gear == 32)) {
         toyota_gear = gear;
@@ -236,7 +231,6 @@ void ignition_can_hook(CANPacket_t *msg) {
     if ((msg->addr == 0x127U) && (len == 8)) {
       int gear = (msg->data[5] >> 4U) & 0xFU;
       if (gear <= 4) {
-        toyota_hybrid_gear_seen = true;
         toyota_hybrid_gear = gear;
         ignition_can = toyota_hybrid_gear != TOYOTA_HYBRID_GEAR_P;
         ignition_can_cnt = 0U;
@@ -245,6 +239,16 @@ void ignition_can_hook(CANPacket_t *msg) {
 
 
   }
+
+  // Volkswagen MEB / MQBevo exception (Klemmen_Status_01)
+  // On gateway harness cars this message is on bus 1 (powertrain CAN), not bus 0.
+  if ((msg->bus == 0U) || (msg->bus == 1U)) {
+    int len = GET_LEN(msg);
+    if ((msg->addr == 0x3C0U) && (len == 4)) {
+      ignition_can = ((msg->data[2] >> 1U) & 1U) != 0U;
+      ignition_can_cnt = 0U;
+    }
+  }
 }
 
 bool can_tx_check_min_slots_free(uint32_t min) {

panda/pyproject.toml

@@ -13,7 +13,7 @@ classifiers = [
 ]
 dependencies = [
   "libusb1",
-  "iqdbc @ git+https://git.konn3kt.com/teal/iqdbc.git@master#egg=iqdbc",
+  "iqdbc @ git+https://gitlvb.teallvbs.xyz/teal/iqdbc.git@master#egg=iqdbc",
 ]
 
 [project.optional-dependencies]

panda/tests/libpanda/SConscript

@@ -26,11 +26,6 @@ env = Environment(
 if system == "Darwin":
   env.PrependENVPath('PATH', '/opt/homebrew/bin')
 
-# short colored build output, if the top-level pretty tool is present (main-repo build)
-_pretty = Dir('#site_scons/site_tools').File('pretty.py')
-if _pretty.exists():
-  env.Tool('pretty', toolpath=[_pretty.dir.abspath])
-
 if GetOption('ubsan'):
   flags = [
     "-fsanitize=undefined",