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IQ.Pilot Release Commit @ 2b39aa6

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IQ.Lvbs CI [bot]
2026-07-29 00:19:10 -05:00
parent 8f052b6f93
commit c7908ad2e0
226 changed files with 11978 additions and 11349 deletions
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27
panda/board/drivers/can_common.h
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@@ -138,9 +138,11 @@ 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;
// 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.
// 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.
can_clear(can_queues[i]);
(void)can_init(i);
}
@@ -169,6 +171,7 @@ 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)) {
@@ -218,8 +221,10 @@ void ignition_can_hook(CANPacket_t *msg) {
ignition_can_cnt = 0U;
}
// Toyota/Lexus exception
if ((msg->addr == 0x3BCU) && (len == 8)) {
// 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) {
int gear = msg->data[1] & 0x3FU;
if ((gear == 0) || (gear == 1) || (gear == 8) || (gear == 16) || (gear == 32)) {
toyota_gear = gear;
@@ -231,24 +236,14 @@ 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;
}
}
// Volkswagen MEB exception
if ((msg->addr == 0x3C0U) && (len == 4)) {
int counter = msg->data[1] & 0xFU;
static int prev_counter_vw_meb = -1;
if ((counter == ((prev_counter_vw_meb + 1) % 16)) && (prev_counter_vw_meb != -1)) {
// Klemmen_Status_01->ZAS_Kl_15
ignition_can = ((msg->data[2] >> 1) & 1U) != 0U;
ignition_can_cnt = 0U;
}
prev_counter_vw_meb = counter;
}
}
}