Merge from comma upstream

.circleci/config.yml

@@ -0,0 +1,41 @@
+version: 2
+jobs:
+  safety:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_safety -f tests/safety/Dockerfile ."
+      - run:
+          name: Run safety test
+          command: |
+            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+  build:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_build -f tests/build/Dockerfile ."
+      - run:
+          name: Test python package installer
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda; python setup.py install"
+      - run:
+          name: Build STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board; make bin"
+      - run:
+          name: Build ESP image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/boardesp; make user1.bin"
+
+workflows:
+  version: 2
+  main:
+    jobs:
+      - safety
+      - build

.gitignore

@@ -2,6 +2,8 @@
 .*.swp
 .*.swo
 *.o
+*.so
+*.d
 a.out
 *~
 .#*

README.md

@@ -13,7 +13,7 @@ It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?
 
 It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.
 
-[![Build Status](https://travis-ci.org/commaai/panda.svg?branch=master)](https://travis-ci.org/commaai/panda)
+[![CircleCI](https://circleci.com/gh/commaai/panda.svg?style=svg)](https://circleci.com/gh/commaai/panda)
 
 Usage
 ------
@@ -35,7 +35,7 @@ And to send one on bus 0:
 ```
 >>> panda.can_send(0x1aa, "message", 0)
 ```
-More examples coming soon
+Find user made scripts on the [wiki](https://community.comma.ai/wiki/index.php/Panda_scripts)
 
 Software interface support
 ------

VERSION

@@ -1 +1 @@
-v1.0.8
+v1.1.1

board/bootstub.c

@@ -24,6 +24,12 @@
 #include "drivers/usb.h"
 //#include "drivers/uart.h"
 
+#ifdef PEDAL
+#define CUSTOM_CAN_INTERRUPTS
+#include "safety.h"
+#include "drivers/can.h"
+#endif
+
 int puts(const char *a) { return 0; }
 void puth(unsigned int i) {}
 

board/build.mk

@@ -1,4 +1,4 @@
-CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O2
+CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O0
 CFLAGS += -Tstm32_flash.ld
 
 CC = arm-none-eabi-gcc

board/drivers/can.h

@@ -348,13 +348,14 @@ void can_rx(uint8_t can_number) {
 
     // forwarding (panda only)
     #ifdef PANDA
-      if (can_forwarding[bus_number] != -1) {
+      int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+      if (bus_fwd_num != -1) {
         CAN_FIFOMailBox_TypeDef to_send;
         to_send.RIR = to_push.RIR | 1; // TXRQ
         to_send.RDTR = to_push.RDTR;
         to_send.RDLR = to_push.RDLR;
         to_send.RDHR = to_push.RDHR;
-        can_send(&to_send, can_forwarding[bus_number]);
+        can_send(&to_send, bus_fwd_num);
       }
     #endif