Merge branch 'master' into safety_mutation

Dockerfile

@@ -18,7 +18,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     apt clean && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ && \
-    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp && \
+    apt-get update && apt-get install -y clang-17 && \
+    ln -s $(which clang-17) /usr/bin/clang
 
 RUN apt-get update && apt-get install -y curl clang-17 && \
     curl -1sLf 'https://dl.cloudsmith.io/public/mull-project/mull-stable/setup.deb.sh' | bash && \

README.md

@@ -49,7 +49,7 @@ In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [my
 Setup dependencies:
 ```bash
 # Ubuntu
-sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git
+sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git clang-17
 
 # macOS
 brew install --cask gcc-arm-embedded

board/flash.py

@@ -1,18 +1,27 @@
 #!/usr/bin/env python3
 import os
 import subprocess
+import argparse
 
 from panda import Panda
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--all", action="store_true", help="Recover all Panda devices")
+  args = parser.parse_args()
+
   subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
 
-  serials = Panda.list()
-  print(f"found {len(serials)} panda(s) - {serials}")
+  if args.all:
+    serials = Panda.list()
+    print(f"found {len(serials)} panda(s) - {serials}")
+  else:
+    serials = [None]
+
   for s in serials:
-    print("flashing", s)
     with Panda(serial=s) as p:
+      print("flashing", p.get_usb_serial())
       p.flash()
   exit(1 if len(serials) == 0 else 0)

board/jungle/flash.py

@@ -1,19 +1,27 @@
 #!/usr/bin/env python3
 import os
 import subprocess
+import argparse
 
 from panda import PandaJungle
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--all", action="store_true", help="Recover all panda jungle devices")
+  args = parser.parse_args()
+
   subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) {board_path}", shell=True)
 
-  serials = PandaJungle.list()
-  print(f"found {len(serials)} panda jungle(s) - {serials}")
+  if args.all:
+    serials = PandaJungle.list()
+    print(f"found {len(serials)} panda jungles(s) - {serials}")
+  else:
+    serials = [None]
+
   for s in serials:
-    print("flashing", s)
     with PandaJungle(serial=s) as p:
+      print("flashing", p.get_usb_serial())
       p.flash()
-
   exit(1 if len(serials) == 0 else 0)

board/jungle/recover.py

@@ -2,17 +2,23 @@
 import os
 import time
 import subprocess
+import argparse
 
 from panda import PandaJungle, PandaJungleDFU
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--all", action="store_true", help="Recover all panda jungle devices")
+  args = parser.parse_args()
+
   subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) {board_path}", shell=True)
 
-  for s in PandaJungle.list():
-    print("putting", s, "in DFU mode")
+  serials = PandaJungle.list() if args.all else [None]
+  for s in serials:
     with PandaJungle(serial=s) as p:
+      print(f"putting {p.get_usb_serial()} in DFU mode")
       p.reset(enter_bootstub=True)
       p.reset(enter_bootloader=True)
 

board/recover.py

@@ -2,17 +2,23 @@
 import os
 import time
 import subprocess
+import argparse
 
 from panda import Panda, PandaDFU
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--all", action="store_true", help="Recover all Panda devices")
+  args = parser.parse_args()
+
   subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
 
-  for s in Panda.list():
-    print("putting", s, "in DFU mode")
+  serials = Panda.list() if args.all else [None]
+  for s in serials:
     with Panda(serial=s) as p:
+      print(f"putting {p.get_usb_serial()} in DFU mode")
       p.reset(enter_bootstub=True)
       p.reset(enter_bootloader=True)
 

board/safety/safety_ford.h

@@ -28,10 +28,10 @@ static uint8_t ford_get_counter(const CANPacket_t *to_push) {
   if (addr == FORD_BrakeSysFeatures) {
     // Signal: VehVActlBrk_No_Cnt
     cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU;
-  } else if (addr == FORD_Yaw_Data_FD1) {
+  }
+  if (addr == FORD_Yaw_Data_FD1) {
     // Signal: VehRollYaw_No_Cnt
     cnt = GET_BYTE(to_push, 5);
-  } else {
   }
   return cnt;
 }
@@ -43,10 +43,10 @@ static uint32_t ford_get_checksum(const CANPacket_t *to_push) {
   if (addr == FORD_BrakeSysFeatures) {
     // Signal: VehVActlBrk_No_Cs
     chksum = GET_BYTE(to_push, 3);
-  } else if (addr == FORD_Yaw_Data_FD1) {
+  }
+  if (addr == FORD_Yaw_Data_FD1) {
     // Signal: VehRollYawW_No_Cs
     chksum = GET_BYTE(to_push, 4);
-  } else {
   }
   return chksum;
 }
@@ -60,14 +60,14 @@ static uint32_t ford_compute_checksum(const CANPacket_t *to_push) {
     chksum += GET_BYTE(to_push, 2) >> 6;                    // VehVActlBrk_D_Qf
     chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU;           // VehVActlBrk_No_Cnt
     chksum = 0xFFU - chksum;
-  } else if (addr == FORD_Yaw_Data_FD1) {
+  }
+  if (addr == FORD_Yaw_Data_FD1) {
     chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1);  // VehRol_W_Actl
     chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3);  // VehYaw_W_Actl
     chksum += GET_BYTE(to_push, 5);                         // VehRollYaw_No_Cnt
     chksum += GET_BYTE(to_push, 6) >> 6;                    // VehRolWActl_D_Qf
     chksum += (GET_BYTE(to_push, 6) >> 4) & 0x3U;           // VehYawWActl_D_Qf
     chksum = 0xFFU - chksum;
-  } else {
   }
 
   return chksum;
@@ -79,11 +79,12 @@ static bool ford_get_quality_flag_valid(const CANPacket_t *to_push) {
   bool valid = false;
   if (addr == FORD_BrakeSysFeatures) {
     valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U;           // VehVActlBrk_D_Qf
-  } else if (addr == FORD_EngVehicleSpThrottle2) {
+  }
+  if (addr == FORD_EngVehicleSpThrottle2) {
     valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U;  // VehVActlEng_D_Qf
-  } else if (addr == FORD_Yaw_Data_FD1) {
+  }
+  if (addr == FORD_Yaw_Data_FD1) {
     valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U;  // VehYawWActl_D_Qf
-  } else {
   }
   return valid;
 }
@@ -316,8 +317,7 @@ static int ford_fwd_hook(int bus_num, int addr) {
       // Forward all traffic from bus 0 onward
       bus_fwd = FORD_CAM_BUS;
       break;
-    }
-    case FORD_CAM_BUS: {
+    } case FORD_CAM_BUS: {
       if (ford_lkas_msg_check(addr)) {
         // Block stock LKAS and UI messages
         bus_fwd = -1;
@@ -329,12 +329,10 @@ static int ford_fwd_hook(int bus_num, int addr) {
         bus_fwd = FORD_MAIN_BUS;
       }
       break;
-    }
-    default: {
+    } default: {
       // No other buses should be in use; fallback to do-not-forward
       bus_fwd = -1;
-      break;
-    }
+      break;}
   }
 
   return bus_fwd;

board/safety/safety_gm.h

@@ -227,12 +227,11 @@ static safety_config gm_init(uint16_t param) {
                                           {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
   gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
-
   if (gm_hw == GM_ASCM) {
     gm_long_limits = &GM_ASCM_LONG_LIMITS;
-  } else if (gm_hw == GM_CAM) {
+  } 
+  if (gm_hw == GM_CAM) {
     gm_long_limits = &GM_CAM_LONG_LIMITS;
-  } else {
   }
 
 #ifdef ALLOW_DEBUG

board/safety/safety_hyundai.h

@@ -49,16 +49,19 @@ static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
   uint8_t cnt = 0;
   if (addr == 0x260) {
     cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
-  } else if (addr == 0x386) {
+  } 
+  if (addr == 0x386) {
     cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
-  } else if (addr == 0x394) {
+  }
+  if (addr == 0x394) {
     cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
-  } else if (addr == 0x421) {
+  } 
+  if (addr == 0x421) {
     cnt = GET_BYTE(to_push, 7) & 0xFU;
-  } else if (addr == 0x4F1) {
-    cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
-  } else {
   }
+  if (addr == 0x4F1) {
+    cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
+  } 
   return cnt;
 }
 
@@ -68,13 +71,15 @@ static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) {
   uint8_t chksum = 0;
   if (addr == 0x260) {
     chksum = GET_BYTE(to_push, 7) & 0xFU;
-  } else if (addr == 0x386) {
+  } 
+  if (addr == 0x386) {
     chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
-  } else if (addr == 0x394) {
+  } 
+  if (addr == 0x394) {
     chksum = GET_BYTE(to_push, 6) & 0xFU;
-  } else if (addr == 0x421) {
+  } 
+  if (addr == 0x421) {
     chksum = GET_BYTE(to_push, 7) >> 4;
-  } else {
   }
   return chksum;
 }

board/safety/safety_hyundai_common.h

@@ -118,10 +118,9 @@ uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
 
   if (len == 24) {
     crc ^= 0x819dU;
-  } else if (len == 32) {
+  }
+  if (len == 32) {
     crc ^= 0x9f5bU;
-  } else {
-
   }
 
   return crc;

board/safety/safety_volkswagen_mqb.h

@@ -45,17 +45,19 @@ static uint32_t volkswagen_mqb_compute_crc(const CANPacket_t *to_push) {
   uint8_t counter = volkswagen_mqb_get_counter(to_push);
   if (addr == MSG_LH_EPS_03) {
     crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
-  } else if (addr == MSG_ESP_05) {
+  } 
+  if (addr == MSG_ESP_05) {
     crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
-  } else if (addr == MSG_TSK_06) {
+  } 
+  if (addr == MSG_TSK_06) {
     crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
-  } else if (addr == MSG_MOTOR_20) {
+  } 
+  if (addr == MSG_MOTOR_20) {
     crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
-  } else if (addr == MSG_GRA_ACC_01) {
+  } 
+  if (addr == MSG_GRA_ACC_01) {
     crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
-  } else {
-    // Undefined CAN message, CRC check expected to fail
-  }
+  } 
   crc = volkswagen_crc8_lut_8h2f[crc];
 
   return (uint8_t)(crc ^ 0xFFU);

python/__init__.py

@@ -224,18 +224,46 @@ class Panda:
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2
 
-  def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500):
-    self._connect_serial = serial
+  def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500, cli: bool = True):
     self._disable_checks = disable_checks
 
     self._handle: BaseHandle
     self._handle_open = False
     self.can_rx_overflow_buffer = b''
     self._can_speed_kbps = can_speed_kbps
 
+    if cli and serial is None:
+        self._connect_serial = self._cli_select_panda()
+    else:
+        self._connect_serial = serial
+
     # connect and set mcu type
     self.connect(claim)
 
+  def _cli_select_panda(self):
+    dfu_pandas = PandaDFU.list()
+    if len(dfu_pandas) > 0:
+      print("INFO: some attached pandas are in DFU mode.")
+
+    pandas = self.list()
+    if len(pandas) == 0:
+      print("INFO: panda not available")
+      return None
+    if len(pandas) == 1:
+      print(f"INFO: connecting to panda {pandas[0]}")
+      time.sleep(1)
+      return pandas[0]
+    while True:
+      print("Multiple pandas available:")
+      pandas.sort()
+      for idx, serial in enumerate(pandas):
+        print(f"{[idx]}: {serial}")
+      try:
+        choice = int(input("Choose serial [0]:") or "0")
+        return pandas[choice]
+      except (ValueError, IndexError):
+        print("Enter a valid index.")
+
   def __enter__(self):
     return self
 
@@ -391,6 +419,12 @@ def usb_connect(cls, serial, claim=True, no_error=False):
 
     return context, usb_handle, usb_serial, bootstub, bcd
 
+  def is_connected_spi(self):
+    return isinstance(self._handle, PandaSpiHandle)
+
+  def is_connected_usb(self):
+    return isinstance(self._handle, PandaUsbHandle)
+
   @classmethod
   def list(cls):
     ret = cls.usb_list()