Squashed commit of the following:

commit 8545c68 Author: Radek <radek@comma.ai> Date: Fri Sep 13 15:12:35 2024 -0700 Fix USB errors (commaai#2011) Fix LIBUSB_ERROR_PIPE [-9] when resetting over USB hubs or jungle V2 commit b8a2a86 Author: Maxime Desroches <desroches.maxime@gmail.com> Date: Tue Sep 10 21:49:03 2024 -0700 fix python setup (commaai#2018) * fix * comment commit fcccbb3 Author: dzid26 <radek@comma.ai> Date: Sat Sep 7 19:57:19 2024 -0700 revert shorter MISRA mutation CI timeout - test_misra.sh only got faster locally commit 2aaab40 Author: Radek <radek@comma.ai> Date: Fri Sep 6 13:30:05 2024 -0700 fix test_mutation.py performace (commaai#2012) stop pytest from executing test_misra.sh in test collections - in each test_mutation.py worker commit 6f0d1ef Author: dzid26 <radek@comma.ai> Date: Thu Sep 5 21:49:30 2024 -0700 stricter misra config check - prevent quiet bail out commit 93776fd Author: Greg Hogan <gregjhogan@gmail.com> Date: Tue Sep 3 20:42:12 2024 -0700 CCP: fix upload response size and getting seed (commaai#2009) commit aac60b8 Author: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Sun Sep 1 09:51:30 2024 -0700 pre-commit: autoupdate hooks (commaai#2010) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com> commit 9ec02e7 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sat Aug 31 13:17:55 2024 -0700 socketcan: skip install in CI for now commit 160ea08 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sat Aug 31 13:09:58 2024 -0700 misra: bump to cppcheck 2.15.0 (commaai#2008) * misra: bump to latest cppcheck * update checkers commit a36ca22 Author: MarinkoMagla <159032106+MarinkoMagla@users.noreply.github.com> Date: Sat Aug 31 22:01:28 2024 +0200 Defining types in return dictionaries (commaai#1923) * Defining types in return dictionaries * Correcting indent * Returning the class instead of dict * Fixing failing linter * Fixing whitespace error commit bd6cec3 Author: Robbe Derks <robbe.derks@gmail.com> Date: Fri Aug 30 15:35:50 2024 +0200 cuatro LED (commaai#2005) * Revert "cuatro: disable LED for now" This reverts commit 866bd9c. * re-enable and make sure to use open-drain * use gpio function --------- Co-authored-by: Comma Device <device@comma.ai> commit 8587ae3 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Aug 26 17:56:46 2024 -0700 drivers: log can core reset when switching multiplexing (commaai#1972) fdcan: log lost tx messages when resetting can core for multiplexing commit 0a09122 Author: Andrei Radulescu <andi.radulescu@gmail.com> Date: Tue Aug 27 03:25:15 2024 +0300 update bash scripts to #!/usr/bin/env bash (commaai#1987) * update bash shebang for better compatibility including macOS * can't have anything after #bash commit 2b94e4f Author: dzid26 <dzidmail@gmail.com> Date: Tue Aug 27 00:15:29 2024 +0000 Enable CAN3 printer (commaai#1991) * panda has 3 can peripherals * enable printing CAN3 commit 866bd9c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Aug 23 20:41:53 2024 -0700 cuatro: disable LED for now commit 30d0434 Author: Comma Device <device@comma.ai> Date: Fri Aug 23 04:57:34 2024 +0000 cuatro: disable SOM reset commit e53c802 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Aug 22 21:55:02 2024 -0700 tres: fix SOM reset line blinking (commaai#2003) Co-authored-by: Comma Device <device@comma.ai> commit 080e53f Author: Robbe Derks <robbe.derks@gmail.com> Date: Sun Aug 18 17:43:27 2024 -0700 Cuatro fan (commaai#1999) * cuatro fan debugging * fix * faster fan, faster interrupts * fix comment --------- Co-authored-by: Comma Device <device@comma.ai> commit cfa8b79 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Aug 18 12:01:17 2024 -0700 cleanup dependencies (commaai#2001) * cleanup dependencies * in the real spot * fix jenkins commit c4e75ee Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Aug 18 11:40:54 2024 -0700 remove cereal dependence (commaai#2000) * remove cereal * rm more shit * add back make * python3 * python3 * fix that * put that back * rename * fix that * can't move it commit e7a04b5 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Aug 16 23:01:54 2024 -0700 make uds and isotp general imports (commaai#1998) commit 0234e75 Author: Robbe Derks <robbe.derks@gmail.com> Date: Thu Aug 15 21:33:07 2024 -0700 STM32H7: add missing interrupt handlers (commaai#1997) add missing interrupts Co-authored-by: Comma Device <device@comma.ai> commit 87572e0 Author: geeth345 <92386308+geeth345@users.noreply.github.com> Date: Tue Aug 13 18:34:46 2024 +0100 Update README.md to fix dead link (commaai#1996) Changed C++ library link to reflect boardd -> pandad change commit 1cbcc13 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Aug 5 14:51:56 2024 -0700 use and configure custom logger (commaai#1994) * prepare to log logs * utils * discoverability * forgot commit 3c1def1 Author: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Fri Aug 2 15:51:37 2024 -0700 pre-commit: autoupdate hooks (commaai#1979) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com> commit 5d81523 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Aug 2 13:52:28 2024 -0700 1min is all you need commit b70ba5e Author: Robbe Derks <robbe.derks@gmail.com> Date: Fri Aug 2 20:26:16 2024 +0200 Detect H723 in firmware (commaai#1988) * determine H723 based on package type * wrong way round * misra... * enable SYSCFG clock before reading * whitelist certain package types commit ee7b385 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Aug 2 11:02:38 2024 -0700 CI: add jenkins-trigger commit daa739e Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jul 31 14:30:53 2024 -0700 missed a busTime (commaai#1990) * whoops * addr dat src commit 8c3bb01 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Jul 30 21:20:48 2024 -0700 deprecate busTime (commaai#1989) * deprecate busTime * fix test_comms.py * update opendbc * way more than i thought * and here * oops commit f637584 Author: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Wed Jul 17 23:49:10 2024 -0400 add `set_gas_pressed_prev()` helper (commaai#1986) add set_gas_pressed_prev helper commit 5ee262f Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Jul 17 11:19:24 2024 -0700 H7 CR3 notes (commaai#1985) commit b4e3d5c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Jul 14 15:56:18 2024 -0700 Revert "H7: detect board type with second ID pin group (commaai#1975)" This reverts commit 376408b. commit 481d2be Author: pantew869 <173707415+pantew869@users.noreply.github.com> Date: Sat Jul 13 23:34:25 2024 +0300 Use numpy instead of numpy-stubs in pre-commit (commaai#1984) * delete numpy-stubs from additional_dependencies(it's deprecated and causes git issues) * use numpy directly commit 376408b Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Jun 26 18:20:51 2024 -0700 H7: detect board type with second ID pin group (commaai#1975) * H7: detect board type based on package * detect smps * misra fix * jungle? * pkg isn't reliable, need syscfg enabled --------- Co-authored-by: Comma Device <device@comma.ai> commit 29f2f30 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Jun 26 17:08:35 2024 -0700 jenkins: run jungles first (commaai#1977) * jenkins: run jungles first * inside stage commit ee1d5ce Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Jun 26 16:59:08 2024 -0700 add assert_fatal function (commaai#1976) * add assert function * fix * flip * rename * assert fatal commit cac94e3 Author: JJ <jj@thesalleys.com> Date: Tue Jun 25 06:53:31 2024 -0700 Update README.md (commaai#1974) small spelling fix commit 7287ff0 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Jun 12 19:21:38 2024 -0700 query_fw_versions: ignore 29 bit addresses option (commaai#1973) fix
dzid26 · Sep 16, 2024 · 624e2b1 · 624e2b1
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diff --git a/.github/workflows/drivers.yaml b/.github/workflows/drivers.yaml
@@ -5,7 +5,7 @@ jobs:
   build_socketcan:
     name: socketcan build
     runs-on: ubuntu-latest
-    timeout-minutes: 5
+    timeout-minutes: 1
     steps:
       - uses: actions/checkout@v2
       - name: Install dependencies
@@ -16,7 +16,9 @@ jobs:
           cd drivers/linux
           make link
           make build
-          make install
+
+          # FIXME: install doesn't work sometimes in GH Actions
+          #make install
       - name: Print make log
         if: always()
         continue-on-error: true

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
@@ -0,0 +1,45 @@
+name: jenkins scan
+
+on:
+  issue_comment:
+    types: [created, edited]
+
+jobs:
+  # TODO: gc old branches in a separate job in this workflow
+  scan-comments:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.issue.pull_request }}
+    steps:
+    - name: Check for trigger phrase
+      id: check_comment
+      uses: actions/github-script@v7
+      with:
+        script: |
+          const triggerPhrase = "trigger-jenkins";
+          const comment = context.payload.comment.body;
+          const commenter = context.payload.comment.user.login;
+
+          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            username: commenter
+          });
+
+          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
+
+          return (hasWriteAccess && comment.includes(triggerPhrase));
+        result-encoding: json
+
+    - name: Checkout repository
+      if: steps.check_comment.outputs.result == 'true'
+      uses: actions/checkout@v4
+      with:
+        ref: refs/pull/${{ github.event.issue.number }}/head
+
+    - name: Push to tmp-jenkins branch
+      if: steps.check_comment.outputs.result == 'true'
+      run: |
+        git config --global user.name "github-actions[bot]"
+        git config --global user.email "github-actions[bot]@users.noreply.github.com"
+        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
+        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
@@ -11,7 +11,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  RUN: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --rm panda /bin/bash -c
+  RUN: docker run -v ${{ github.workspace }}:/tmp/pythonpath/panda -w /tmp/pythonpath/panda --rm panda /bin/bash -c
   BUILD: |
       export DOCKER_BUILDKIT=1
       docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile .
@@ -45,7 +45,7 @@ jobs:
       - name: Build Docker image
         run: eval "$BUILD"
       - name: Test python package installer
-        run: ${{ env.RUN }} "python setup.py install"
+        run: ${{ env.RUN }} "python3 setup.py install"
       - name: Build panda images and bootstub
         run: ${{ env.RUN }} "scons -j4"
       - name: Build panda with SPI support
@@ -103,8 +103,8 @@ jobs:
         timeout-minutes: 7
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"
 
-  python_linter:
-    name: python linter
+  static_analysis:
+    name: static analysis
     runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:

diff --git a/.gitignore b/.gitignore
@@ -11,6 +11,7 @@ a.out
 *~
 .#*
 dist/
+build/
 pandacan.egg-info/
 obj/
 examples/output.csv

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -9,12 +9,12 @@ repos:
     - id: check-executables-have-shebangs
     - id: check-shebang-scripts-are-executable
 - repo: https://github.com/pre-commit/mirrors-mypy
-  rev: v1.10.0
+  rev: v1.11.2
   hooks:
     - id: mypy
-      additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
+      additional_dependencies: ['numpy', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.4.7
+  rev: v0.6.3
   hooks:
     - id: ruff
diff --git a/Dockerfile b/Dockerfile
@@ -1,67 +1,45 @@
 FROM ubuntu:24.04
 
-ENV PYTHONUNBUFFERED 1
-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+ENV PYTHONUNBUFFERED=1
+ENV PYTHONPATH=/tmp/pythonpath
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
     make \
-    bzip2 \
-    ca-certificates \
-    capnproto \
-    clang \
     g++ \
     gcc-arm-none-eabi libnewlib-arm-none-eabi \
     git \
-    libarchive-dev \
-    libbz2-dev \
-    libcapnp-dev \
     libffi-dev \
-    libtool \
     libusb-1.0-0 \
-    libzmq3-dev \
-    locales \
-    opencl-headers \
-    ocl-icd-opencl-dev \
     python3 \
     python3-dev \
     python3-pip \
-    python-is-python3 \
-    zlib1g-dev \
  && rm -rf /var/lib/apt/lists/* && \
     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
 
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-COPY requirements.txt /tmp/
-RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
-
 ENV CPPCHECK_DIR=/tmp/cppcheck
 COPY tests/misra/install.sh /tmp/
 RUN /tmp/install.sh && rm -rf $CPPCHECK_DIR/.git/
 ENV SKIP_CPPCHECK_INSTALL=1
 
-ENV CEREAL_REF="861144c136c91f70dcbc652c2ffe99f57440ad47"
-ENV OPENDBC_REF="e0d4be4a6215d44809718dc84efe1b9f0299ad63"
+COPY setup.py __init__.py $PYTHONPATH/panda/
+COPY python/__init__.py $PYTHONPATH/panda/python/
+RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
 
-RUN git config --global --add safe.directory /tmp/openpilot/panda
-RUN mkdir -p /tmp/openpilot/ && \
-    cd /tmp/openpilot/ && \
-    git clone --depth 1 https://github.com/commaai/cereal && \
-    git clone --depth 1 https://github.com/commaai/opendbc && \
-    cd cereal && git fetch origin $CEREAL_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
-    cd opendbc && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
-    cp -pR opendbc/SConstruct opendbc/site_scons/ . && \
-    pip3 install --break-system-packages --no-cache-dir -r opendbc/requirements.txt && \
-    scons -j8 --minimal opendbc/ cereal/
+# TODO: this should be a "pip install" or not even in this repo at all
+RUN git config --global --add safe.directory $PYTHONPATH/panda
+ENV OPENDBC_REF="5ed7a834a4e0e24c3968dd1e98ceb4b9d5f9791a"
+RUN cd /tmp/ && \
+    git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
+    cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
+    pip3 install --break-system-packages --no-cache-dir Cython numpy  && \
+    scons -j8 --minimal opendbc/ && \
+    ln -s $PWD/opendbc $PYTHONPATH/opendbc
 
 # for Jenkins
 COPY README.md panda.tar.* /tmp/
-RUN mkdir /tmp/openpilot/panda && \
-    tar -xvf /tmp/panda.tar.gz -C /tmp/openpilot/panda/ || true
+RUN mkdir -p /tmp/pythonpath/panda && \
+    tar -xvf /tmp/panda.tar.gz -C /tmp/pythonpath/panda/ || true
diff --git a/Jenkinsfile b/Jenkinsfile
@@ -4,7 +4,7 @@ def docker_run(String step_label, int timeout_mins, String cmd) {
           --env PYTHONWARNINGS=error \
           --volume /dev/bus/usb:/dev/bus/usb \
           --volume /var/run/dbus:/var/run/dbus \
-          --workdir /tmp/openpilot/panda \
+          --workdir /tmp/pythonpath/panda \
           --net host \
           ${env.DOCKER_IMAGE_TAG} \
           bash -c 'scons -j8 && ${cmd}'", \
@@ -73,56 +73,57 @@ pipeline {
   }
 
   stages {
-    stage('panda tests') {
-      parallel {
-        stage('test dos') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+    stage ('Acquire resource locks') {
+      options {
+        lock(resource: "pandas")
+      }
+      stages {
+        stage('Build Docker Image') {
           steps {
-            phone_steps("panda-dos", [
-              ["build", "scons -j4"],
-              ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-              ["flash jungle", "cd board/jungle && ./flash.py"],
-              ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
-            ])
+            timeout(time: 20, unit: 'MINUTES') {
+              script {
+                sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
+                dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
+              }
+            }
           }
         }
-
-        stage('test tres') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+        stage('jungle tests') {
           steps {
-            phone_steps("panda-tres", [
-              ["build", "scons -j4"],
-              ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-              ["flash jungle", "cd board/jungle && ./flash.py"],
-              ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
-            ])
+            script {
+              retry (3) {
+                docker_run("reset hardware", 3, "python3 ./tests/hitl/reset_jungles.py")
+              }
+            }
           }
         }
 
-        stage ('Acquire resource locks') {
-          options {
-            lock(resource: "pandas")
-          }
-          stages {
-            stage('Build Docker Image') {
+        stage('parallel tests') {
+          parallel {
+            stage('test tres') {
+              agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
               steps {
-                timeout(time: 20, unit: 'MINUTES') {
-                  script {
-                    sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
-                    dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
-                  }
-                }
+                phone_steps("panda-tres", [
+                  ["build", "scons -j4"],
+                  ["flash", "cd tests/ && ./reflash_internal_panda.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
+                ])
               }
             }
-            stage('jungle tests') {
+
+            stage('test dos') {
+              agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
               steps {
-                script {
-                  retry (3) {
-                    docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
-                  }
-                }
+                phone_steps("panda-dos", [
+                  ["build", "scons -j4"],
+                  ["flash", "cd tests/ && ./reflash_internal_panda.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
+                ])
               }
             }
+
             stage('bootkick tests') {
               steps {
                 script {

diff --git a/README.md b/README.md
@@ -23,7 +23,7 @@ Safety modes optionally support `controls_allowed`, which allows or blocks a sub
 
 ## Code Rigor
 
-The panda firmware is written for its use in conjuction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
+The panda firmware is written for its use in conjunction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
 [openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
 
 These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
@@ -62,7 +62,7 @@ git clone https://github.com/commaai/panda.git
 cd panda
 
 # install dependencies
-pip install -r requirements.txt
+pip install -e .[dev]
 
 # install panda
 python setup.py install
@@ -97,7 +97,7 @@ The panda jungle uses different udev rules. See [the repo](https://github.com/co
 As a universal car interface, it should support every reasonable software interface.
 
 - [Python library](https://github.com/commaai/panda/tree/master/python)
-- [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/boardd)
+- [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/pandad)
 - [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
 
 ## Licensing

diff --git a/__init__.py b/__init__.py
@@ -2,7 +2,8 @@
 from .python.spi import PandaSpiException, PandaProtocolMismatch, STBootloaderSPIHandle  # noqa: F401
 from .python.serial import PandaSerial  # noqa: F401
 from .python.canhandle import CanHandle # noqa: F401
-from .python import (Panda, PandaDFU, # noqa: F401
+from .python.utils import logger # noqa: F401
+from .python import (Panda, PandaDFU, uds, isotp, # noqa: F401
                      pack_can_buffer, unpack_can_buffer, calculate_checksum,
                      DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
 

diff --git a/board/SConscript b/board/SConscript
@@ -15,7 +15,4 @@ for project_name, project in build_projects.items():
   if ("ENABLE_SPI" in os.environ):
     flags.append('-DENABLE_SPI')
 
-  if "H723" in os.environ:
-    flags.append('-DSTM32H723')
-
   build_project(project_name, project, flags)
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -162,6 +162,7 @@ board board_black = {
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 0U,
+  .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,

diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
@@ -29,6 +29,7 @@ struct board {
   const uint16_t avdd_mV;
   const bool fan_stall_recovery;
   const uint8_t fan_enable_cooldown_time;
+  const uint8_t fan_max_pwm;
   board_init init;
   board_init_bootloader init_bootloader;
   board_enable_can_transceiver enable_can_transceiver;
-Original file line number
+Diff line change
@@ Expand Up / @@ -11,6 +11,7 @@ a.out @@
     *~
     .#*
     dist/
+    build/
     pandacan.egg-info/
     obj/
     examples/output.csv
@@ Expand Down @@