Merge branch 'commaai:master' into master

.pre-commit-config.yaml

@@ -15,6 +15,6 @@ repos:
       additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.2.2
+  rev: v0.3.0
   hooks:
     - id: ruff

Dockerfile

@@ -52,7 +52,7 @@ ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 ENV PANDA_PATH=/tmp/openpilot/panda
 ENV OPENPILOT_REF="5690386d8d731c9bebda536a5c71c890f6dfe98c"
-ENV OPENDBC_REF="40d9c723d48496229fecc436046538a53af19c11"
+ENV OPENDBC_REF="1745ab51825055cd18748013c4a5e3377319e390"
 
 COPY requirements.txt /tmp/
 RUN pyenv install 3.11.4 && \

board/safety/safety_tesla.h

@@ -19,6 +19,7 @@ const LongitudinalLimits TESLA_LONG_LIMITS = {
 
 const int TESLA_FLAG_POWERTRAIN = 1;
 const int TESLA_FLAG_LONGITUDINAL_CONTROL = 2;
+const int TESLA_FLAG_RAVEN = 4;
 
 const CanMsg TESLA_TX_MSGS[] = {
   {0x488, 0, 4},  // DAS_steeringControl
@@ -41,6 +42,16 @@ RxCheck tesla_rx_checks[] = {
   {.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},   // GTW_carState
 };
 
+RxCheck tesla_raven_rx_checks[] = {
+  {.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}},   // DAS_control
+  {.msg = {{0x131, 2, 8, .frequency = 100U}, { 0 }, { 0 }}},  // EPAS3P_sysStatus
+  {.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},  // DI_torque1
+  {.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}},  // DI_torque2
+  {.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},   // BrakeMessage
+  {.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},   // DI_state
+  {.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},   // GTW_carState
+};
+
 RxCheck tesla_pt_rx_checks[] = {
   {.msg = {{0x106, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},  // DI_torque1
   {.msg = {{0x116, 0, 6, .frequency = 100U}, { 0 }, { 0 }}},  // DI_torque2
@@ -51,23 +62,24 @@ RxCheck tesla_pt_rx_checks[] = {
 
 bool tesla_longitudinal = false;
 bool tesla_powertrain = false;  // Are we the second panda intercepting the powertrain bus?
+bool tesla_raven = false;
 
 bool tesla_stock_aeb = false;
 
 static void tesla_rx_hook(const CANPacket_t *to_push) {
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);
 
-  if(bus == 0) {
-    if (!tesla_powertrain) {
-      if(addr == 0x370) {
-        // Steering angle: (0.1 * val) - 819.2 in deg.
-        // Store it 1/10 deg to match steering request
-        int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U;
-        update_sample(&angle_meas, angle_meas_new);
-      }
+  if (!tesla_powertrain) {
+    if((!tesla_raven && (addr == 0x370) && (bus == 0)) || (tesla_raven && (addr == 0x131) && (bus == 2))) {
+      // Steering angle: (0.1 * val) - 819.2 in deg.
+      // Store it 1/10 deg to match steering request
+      int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U;
+      update_sample(&angle_meas, angle_meas_new);
     }
+  }
 
+  if(bus == 0) {
     if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
       // Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
       float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
@@ -206,12 +218,15 @@ static int tesla_fwd_hook(int bus_num, int addr) {
 static safety_config tesla_init(uint16_t param) {
   tesla_powertrain = GET_FLAG(param, TESLA_FLAG_POWERTRAIN);
   tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
+  tesla_raven = GET_FLAG(param, TESLA_FLAG_RAVEN);
 
   tesla_stock_aeb = false;
 
   safety_config ret;
   if (tesla_powertrain) {
     ret = BUILD_SAFETY_CFG(tesla_pt_rx_checks, TESLA_PT_TX_MSGS);
+  } else if (tesla_raven) {
+    ret = BUILD_SAFETY_CFG(tesla_raven_rx_checks, TESLA_TX_MSGS);
   } else {
     ret = BUILD_SAFETY_CFG(tesla_rx_checks, TESLA_TX_MSGS);
   }

board/stm32h7/clock.h

@@ -21,11 +21,13 @@ void clock_init(void) {
   // Set power mode to direct SMPS power supply(depends on the board layout)
 #ifndef STM32H723
   register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
+#else
+  register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU);
+#endif
   // Set VOS level (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
   register_set(&(PWR->D3CR), PWR_D3CR_VOS_1 | PWR_D3CR_VOS_0, 0xC000U); //VOS1, needed for 80Mhz CAN FD
   while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0);
   while ((PWR->CSR1 & PWR_CSR1_ACTVOS) != (PWR->D3CR & PWR_D3CR_VOS)); // check that VOS level was actually set
-#endif
 
   // Configure Flash ACR register LATENCY and WRHIGHFREQ (VOS0 range!)
   register_set(&(FLASH->ACR), FLASH_ACR_LATENCY_2WS | 0x20U, 0x3FU); // VOS2, AXI 100MHz-150MHz

python/__init__.py

@@ -215,6 +215,7 @@ class Panda:
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2
+  FLAG_TESLA_RAVEN = 4
 
   FLAG_VOLKSWAGEN_LONG_CONTROL = 1
 

tests/safety/test_tesla.py

@@ -108,6 +108,17 @@ def test_acc_buttons(self):
         self.assertEqual(tx, should_tx)
 
 
+class TestTeslaRavenSteeringSafety(TestTeslaSteeringSafety):
+  def setUp(self):
+    self.packer = CANPackerPanda("tesla_can")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_RAVEN)
+    self.safety.init_tests()
+
+  def _angle_meas_msg(self, angle: float):
+    values = {"EPAS_internalSAS": angle}
+    return self.packer.make_can_msg_panda("EPAS3P_sysStatus", 2, values)
+
 class TestTeslaLongitudinalSafety(TestTeslaSafety):
   def setUp(self):
     raise unittest.SkipTest