Sync: commaai/panda:master into sunnypilot/panda:master-new

board/boards/cuatro.h

@@ -67,8 +67,8 @@ static void cuatro_set_fan_enabled(bool enabled) {
 
 static void cuatro_set_bootkick(BootState state) {
   set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
-  // only use if we have to
-  //set_gpio_output(GPIOC, 12, state != BOOT_RESET);
+  // TODO: confirm we need this
+  set_gpio_output(GPIOC, 12, state != BOOT_RESET);
 }
 
 static void cuatro_set_amp_enabled(bool enabled){

board/safety/safety_subaru_preglobal.h

@@ -116,7 +116,7 @@ static safety_config subaru_preglobal_init(uint16_t param) {
     {.msg = {{MSG_SUBARU_PG_CruiseControl,   SUBARU_PG_MAIN_BUS, 8, .frequency = 20U}, { 0 }, { 0 }}},
   };
 
-  const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1;
+  const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 4;
 
   subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE);
   return BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);

python/__init__.py

@@ -221,8 +221,7 @@ class Panda:
 
   FLAG_SUBARU_GEN2 = 1
   FLAG_SUBARU_LONG = 2
-
-  FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 1
+  FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
 
   FLAG_NISSAN_ALT_EPS_BUS = 1
   FLAG_NISSAN_LEAF = 512

python/uds.py

@@ -1,7 +1,7 @@
 import time
 import struct
 from collections import deque
-from typing import NamedTuple, Deque, cast
+from typing import NamedTuple, cast
 from collections.abc import Callable, Generator
 from enum import IntEnum
 from functools import partial
@@ -300,14 +300,14 @@ def get_dtc_status_names(status):
       result.append(m.name)
   return result
 
-class CanClient():
+class CanClient:
   def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], list[tuple[int, bytes, int]]],
                tx_addr: int, rx_addr: int, bus: int, sub_addr: int | None = None, debug: bool = False):
     self.tx = can_send
     self.rx = can_recv
     self.tx_addr = tx_addr
     self.rx_addr = rx_addr
-    self.rx_buff: Deque[bytes] = deque()
+    self.rx_buff: deque[bytes] = deque()
     self.sub_addr = sub_addr
     self.bus = bus
     self.debug = debug
@@ -386,7 +386,7 @@ def send(self, msgs: list[bytes], delay: float = 0) -> None:
       if i % 10 == 9:
         self._recv_buffer()
 
-class IsoTpMessage():
+class IsoTpMessage:
   def __init__(self, can_client: CanClient, timeout: float = 1, single_frame_mode: bool = False, separation_time: float = 0,
                debug: bool = False, max_len: int = 8):
     self._can_client = can_client
@@ -575,7 +575,7 @@ def get_rx_addr_for_tx_addr(tx_addr, rx_offset=0x8):
   raise ValueError(f"invalid tx_addr: {tx_addr}")
 
 
-class UdsClient():
+class UdsClient:
   def __init__(self, panda, tx_addr: int, rx_addr: int | None = None, bus: int = 0, sub_addr: int | None = None, timeout: float = 1,
                debug: bool = False, tx_timeout: float = 1, response_pending_timeout: float = 10):
     self.bus = bus