IQ.Pilot Release Commit @ b581b58

panda/SConscript

@@ -20,9 +20,6 @@ else:
   if os.getenv("DEBUG"):
     common_flags += ["-DDEBUG"]
 
-def objcopy(source, target, env, for_signature):
-    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
-
 def get_version(builder, build_type):
   try:
     git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
@@ -92,12 +89,20 @@ def build_project(project_name, project, main, extra_flags):
     LINKFLAGS=flags,
     CPPPATH=[Dir("./"), "./board/stm32f4/inc", "./board/stm32h7/inc", iqdbc.INCLUDE_PATH],
     ASCOM="$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
@@ -118,7 +123,8 @@ 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, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
+  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'))
 
 
 

panda/board/drivers/can_common.h

@@ -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;
@@ -231,6 +236,7 @@ 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;
@@ -239,16 +245,6 @@ 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://gitlvb.teallvbs.xyz/teal/iqdbc.git@master#egg=iqdbc",
+  "iqdbc @ git+https://git.konn3kt.com/teal/iqdbc.git@master#egg=iqdbc",
 ]
 
 [project.optional-dependencies]

panda/tests/libpanda/SConscript

@@ -26,6 +26,11 @@ 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",