From aab03bc4b6ab02be7db3fd60f034a84d79ad93b4 Mon Sep 17 00:00:00 2001
From: Radek <radek@comma.ai>
Date: Wed, 6 Nov 2024 16:09:42 +0000
Subject: [PATCH 01/16] Make can_print.py work on a all busses (#2070)

* Enable CAN3 printer (#1991) again

(cherry picked from commit 2b94e4fef710a22313b99d8c5b723d8db5e9c8bd)

* print messages with same address but on different bus
---
 board/jungle/scripts/can_printer.py | 18 +++++++++++-------
 tests/can_printer.py                | 18 +++++++++++-------
 2 files changed, 22 insertions(+), 14 deletions(-)

diff --git a/board/jungle/scripts/can_printer.py b/board/jungle/scripts/can_printer.py
index 05cc802aa6..292421a5c6 100755
--- a/board/jungle/scripts/can_printer.py
+++ b/board/jungle/scripts/can_printer.py
@@ -19,20 +19,24 @@ def can_printer():
 
   start = sec_since_boot()
   lp = sec_since_boot()
-  msgs = defaultdict(list)
+  all_msgs = defaultdict(list)
+
   canbus = os.getenv("CAN")
+  if canbus == "3":
+    p.set_obd(True)
+    canbus = "1"
+
   while True:
     can_recv = p.can_recv()
-    for address,dat, src in can_recv:
-      if canbus is None or str(src) == canbus:
-        msgs[address].append((dat, src))
+    for addr, dat, bus in can_recv:
+      if canbus is None or str(bus) == canbus:
+        all_msgs[(addr, bus)].append((dat))
 
     if sec_since_boot() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += "%5.2f\n" % (sec_since_boot() - start)
-      for k, v in sorted(msgs.items()):
-        last_msg, last_src = v[-1]
-        dd += "%d: %s(%6d): %s\n" % (last_src, "%04X(%4d)" % (k, k), len(v), binascii.hexlify(last_msg).decode())
+      for (addr, bus), dat_log in sorted(all_msgs.items()):
+        dd += "%d: %s(%6d): %s\n" % (bus, "%04X(%4d)" % (addr, addr), len(dat_log), binascii.hexlify(dat_log[-1]).decode())
       print(dd)
       lp = sec_since_boot()
 
diff --git a/tests/can_printer.py b/tests/can_printer.py
index 791f8e75dc..404bc9dcf7 100755
--- a/tests/can_printer.py
+++ b/tests/can_printer.py
@@ -20,20 +20,24 @@ def can_printer():
 
   start = sec_since_boot()
   lp = sec_since_boot()
-  msgs = defaultdict(list)
+  all_msgs = defaultdict(list)
+
   canbus = os.getenv("CAN")
+  if canbus == "3":
+    p.set_obd(True)
+    canbus = "1"
+
   while True:
     can_recv = p.can_recv()
-    for address, dat, src in can_recv:
-      if canbus is None or str(src) == canbus:
-        msgs[address].append((dat, src))
+    for addr, dat, bus in can_recv:
+      if canbus is None or str(bus) == canbus:
+        all_msgs[(addr, bus)].append((dat))
 
     if sec_since_boot() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += "%5.2f\n" % (sec_since_boot() - start)
-      for k, v in sorted(msgs.items()):
-        last_msg, last_src = v[-1]
-        dd += "%d: %s(%6d): %s\n" % (last_src, "%04X(%4d)" % (k, k), len(v), binascii.hexlify(last_msg).decode())
+      for (addr, bus), dat_log in sorted(all_msgs.items()):
+        dd += "%d: %s(%6d): %s\n" % (bus, "%04X(%4d)" % (addr, addr), len(dat_log), binascii.hexlify(dat_log[-1]).decode())
       print(dd)
       lp = sec_since_boot()
 

From ae4f753582c1034f09e690a70912030c858644f2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Nov 2024 16:55:30 -0800
Subject: [PATCH 02/16] spi: add helper for getting bootloader ID (#2074)

* spi: add helper for getting bootloader ID

* fix mypy

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 python/spi.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/python/spi.py b/python/spi.py
index a6832beaed..5be1e56b6b 100644
--- a/python/spi.py
+++ b/python/spi.py
@@ -397,6 +397,9 @@ def read(self, address: int, length: int):
     data = [struct.pack('>I', address), struct.pack('B', length - 1)]
     return self._cmd(0x11, data=data, read_bytes=length)
 
+  def get_bootloader_id(self):
+    return self.read(0x1FF1E7FE, 1)
+
   def get_chip_id(self) -> int:
     r = self._cmd(0x02, read_bytes=3)
     assert r[0] == 1  # response length - 1

From dec9223f9726e400e4a4eb91ca19fffcd745f97a Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Wed, 13 Nov 2024 16:09:13 +0100
Subject: [PATCH 03/16] cuatro sound (#1861)

* fake siren works

* this receives something

* microphone in SAI1 POC

* this receives audio again

* double buffer DMA?

* RX DMA works

* wip

* needs cleanup, but this plays

* cleanup of playback

* print mic

* deal with stereo in

* the DMA from SAI1 -> SAI4 doesn't work yet

* this puts mic data in a buf

* this gets sound to the 845

* wip: still garbage from the mic

* inefficient, but it does record the mic

* sine isn't used

* comment out mic for now

* fix misra

* remove mic

* more cleanup

* add amp enable/disable

* no more debug

* newline

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 board/boards/black.h              |  3 +-
 board/boards/board_declarations.h |  2 +
 board/boards/cuatro.h             | 18 +++++-
 board/boards/dos.h                |  3 +-
 board/boards/grey.h               |  3 +-
 board/boards/red.h                |  3 +-
 board/boards/tres.h               |  3 +-
 board/boards/uno.h                |  3 +-
 board/boards/unused_funcs.h       |  4 ++
 board/boards/white.h              |  3 +-
 board/faults_declarations.h       |  1 +
 board/main.c                      |  1 +
 board/stm32f4/board.h             |  3 +
 board/stm32h7/board.h             |  1 +
 board/stm32h7/peripherals.h       |  6 +-
 board/stm32h7/sound.h             | 95 +++++++++++++++++++++++++++++++
 16 files changed, 143 insertions(+), 9 deletions(-)
 create mode 100644 board/stm32h7/sound.h

diff --git a/board/boards/black.h b/board/boards/black.h
index 45e0126cc4..133c11fb2d 100644
--- a/board/boards/black.h
+++ b/board/boards/black.h
@@ -182,5 +182,6 @@ board board_black = {
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };
diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
index dbb29ffb79..61e9ce2d8e 100644
--- a/board/boards/board_declarations.h
+++ b/board/boards/board_declarations.h
@@ -24,6 +24,7 @@ typedef void (*board_set_fan_enabled)(bool enabled);
 typedef void (*board_set_siren)(bool enabled);
 typedef void (*board_set_bootkick)(BootState state);
 typedef bool (*board_read_som_gpio)(void);
+typedef void (*board_set_amp_enabled)(bool enabled);
 
 struct board {
   harness_configuration *harness_config;
@@ -49,6 +50,7 @@ struct board {
   board_set_siren set_siren;
   board_set_bootkick set_bootkick;
   board_read_som_gpio read_som_gpio;
+  board_set_amp_enabled set_amp_enabled;
 };
 
 // ******************* Definitions ********************
diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index 545f87da8b..4a6b5da096 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -75,6 +75,10 @@ static void cuatro_set_siren(bool enabled){
   beeper_enable(enabled);
 }
 
+static void cuatro_set_amp_enabled(bool enabled){
+  set_gpio_output(GPIOA, 5, enabled);
+}
+
 static void cuatro_init(void) {
   red_chiplet_init();
 
@@ -128,6 +132,17 @@ static void cuatro_init(void) {
   // Beeper
   set_gpio_alternate(GPIOD, 14, GPIO_AF2_TIM4);
   beeper_init();
+
+  // Sound codec
+  cuatro_set_amp_enabled(false);
+  set_gpio_alternate(GPIOA, 2, GPIO_AF8_SAI4);    // SAI4_SCK_B
+  set_gpio_alternate(GPIOC, 0, GPIO_AF8_SAI4);    // SAI4_FS_B
+  set_gpio_alternate(GPIOD, 11, GPIO_AF10_SAI4);  // SAI4_SD_A
+  set_gpio_alternate(GPIOE, 3, GPIO_AF8_SAI4);    // SAI4_SD_B
+  set_gpio_alternate(GPIOE, 4, GPIO_AF2_SAI1);    // SAI1_D2
+  set_gpio_alternate(GPIOE, 5, GPIO_AF2_SAI1);    // SAI1_CK2
+  set_gpio_alternate(GPIOE, 6, GPIO_AF10_SAI4);   // SAI4_MCLK_B
+  sound_init();
 }
 
 board board_cuatro = {
@@ -153,5 +168,6 @@ board board_cuatro = {
   .set_ir_power = tres_set_ir_power,
   .set_siren = cuatro_set_siren,
   .set_bootkick = cuatro_set_bootkick,
-  .read_som_gpio = tres_read_som_gpio
+  .read_som_gpio = tres_read_som_gpio,
+  .set_amp_enabled = cuatro_set_amp_enabled
 };
diff --git a/board/boards/dos.h b/board/boards/dos.h
index 2c2fd5d4d6..d96cee4ca4 100644
--- a/board/boards/dos.h
+++ b/board/boards/dos.h
@@ -211,5 +211,6 @@ board board_dos = {
   .set_ir_power = dos_set_ir_power,
   .set_siren = dos_set_siren,
   .set_bootkick = dos_set_bootkick,
-  .read_som_gpio = dos_read_som_gpio
+  .read_som_gpio = dos_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };
diff --git a/board/boards/grey.h b/board/boards/grey.h
index c5c5321f6e..b3e40bc6fe 100644
--- a/board/boards/grey.h
+++ b/board/boards/grey.h
@@ -31,5 +31,6 @@ board board_grey = {
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };
diff --git a/board/boards/red.h b/board/boards/red.h
index ac062772f0..f1d8d9c44b 100644
--- a/board/boards/red.h
+++ b/board/boards/red.h
@@ -194,5 +194,6 @@ board board_red = {
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };
diff --git a/board/boards/tres.h b/board/boards/tres.h
index 1e5c8fe0ea..f0602ae60b 100644
--- a/board/boards/tres.h
+++ b/board/boards/tres.h
@@ -97,5 +97,6 @@ board board_tres = {
   .set_ir_power = tres_set_ir_power,
   .set_siren = fake_siren_set,
   .set_bootkick = tres_set_bootkick,
-  .read_som_gpio = tres_read_som_gpio
+  .read_som_gpio = tres_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };
diff --git a/board/boards/uno.h b/board/boards/uno.h
index 2e74c249dc..d1728f1f9f 100644
--- a/board/boards/uno.h
+++ b/board/boards/uno.h
@@ -218,5 +218,6 @@ board board_uno = {
   .set_ir_power = uno_set_ir_power,
   .set_siren = unused_set_siren,
   .set_bootkick = uno_set_bootkick,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };
diff --git a/board/boards/unused_funcs.h b/board/boards/unused_funcs.h
index e9c18c76a3..588cf63654 100644
--- a/board/boards/unused_funcs.h
+++ b/board/boards/unused_funcs.h
@@ -26,3 +26,7 @@ void unused_set_bootkick(BootState state) {
 bool unused_read_som_gpio(void) {
   return false;
 }
+
+void unused_set_amp_enabled(bool enabled) {
+  UNUSED(enabled);
+}
diff --git a/board/boards/white.h b/board/boards/white.h
index 2ef8de27a4..c4a2559353 100644
--- a/board/boards/white.h
+++ b/board/boards/white.h
@@ -211,5 +211,6 @@ board board_white = {
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };
diff --git a/board/faults_declarations.h b/board/faults_declarations.h
index 4ef03087ba..eab9fcc08b 100644
--- a/board/faults_declarations.h
+++ b/board/faults_declarations.h
@@ -32,6 +32,7 @@
 #define FAULT_INTERRUPT_RATE_UART_7         (1UL << 24)
 #define FAULT_SIREN_MALFUNCTION             (1UL << 25)
 #define FAULT_HEARTBEAT_LOOP_WATCHDOG       (1UL << 26)
+#define FAULT_INTERRUPT_RATE_SOUND_DMA      (1UL << 27)
 
 // Permanent faults
 #define PERMANENT_FAULTS 0U
diff --git a/board/main.c b/board/main.c
index 0c2e9575fb..b1dc685417 100644
--- a/board/main.c
+++ b/board/main.c
@@ -158,6 +158,7 @@ static void tick_handler(void) {
     usb_tick();
     harness_tick();
     simple_watchdog_kick();
+    sound_tick();
 
     // re-init everything that uses harness status
     if (harness.status != prev_harness_status) {
diff --git a/board/stm32f4/board.h b/board/stm32f4/board.h
index bf95d58eaa..0cbaae6025 100644
--- a/board/stm32f4/board.h
+++ b/board/stm32f4/board.h
@@ -16,6 +16,9 @@
 #include "boards/uno.h"
 #include "boards/dos.h"
 
+// Unused functions on F4
+void sound_tick(void) {}
+
 void detect_board_type(void) {
   // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
   set_gpio_output(GPIOC, 14, 1);
diff --git a/board/stm32h7/board.h b/board/stm32h7/board.h
index 6fbadcb633..ea4812245e 100644
--- a/board/stm32h7/board.h
+++ b/board/stm32h7/board.h
@@ -12,6 +12,7 @@
 #include "stm32h7/lldac.h"
 #include "drivers/beeper.h"
 #include "drivers/fake_siren.h"
+#include "stm32h7/sound.h"
 #include "drivers/clock_source.h"
 #include "boards/red.h"
 #include "boards/red_chiplet.h"
diff --git a/board/stm32h7/peripherals.h b/board/stm32h7/peripherals.h
index 8b1cae2a68..f0bd727fdf 100644
--- a/board/stm32h7/peripherals.h
+++ b/board/stm32h7/peripherals.h
@@ -101,13 +101,14 @@ void peripherals_init(void) {
   RCC->AHB4ENR |= RCC_AHB4ENR_GPIOFEN;
   RCC->AHB4ENR |= RCC_AHB4ENR_GPIOGEN;
 
-  // Enable CPU access to SRAM1 and SRAM2 (in domain D2) for DMA
+  // Enable CPU access to SRAMs for DMA
   RCC->AHB2ENR |= RCC_AHB2ENR_SRAM1EN | RCC_AHB2ENR_SRAM2EN;
 
   // Supplemental
   RCC->AHB1ENR |= RCC_AHB1ENR_DMA1EN;  // DAC DMA
   RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;  // SPI DMA
   RCC->APB4ENR |= RCC_APB4ENR_SYSCFGEN;
+  RCC->AHB4ENR |= RCC_AHB4ENR_BDMAEN; // Audio DMA
 
   // Connectivity
   RCC->APB2ENR |= RCC_APB2ENR_SPI4EN;  // SPI
@@ -122,6 +123,9 @@ void peripherals_init(void) {
   RCC->AHB1ENR |= RCC_AHB1ENR_ADC12EN; // Enable ADC12 clocks
   RCC->APB1LENR |= RCC_APB1LENR_DAC12EN; // DAC
 
+  // Audio
+  RCC->APB4ENR |= RCC_APB4ENR_SAI4EN;  // SAI4
+
   // Timers
   RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  // clock source timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM2EN;  // main counter
diff --git a/board/stm32h7/sound.h b/board/stm32h7/sound.h
new file mode 100644
index 0000000000..9228b16134
--- /dev/null
+++ b/board/stm32h7/sound.h
@@ -0,0 +1,95 @@
+
+#define SOUND_RX_BUF_SIZE 2000U
+#define SOUND_TX_BUF_SIZE (SOUND_RX_BUF_SIZE/2U)
+
+__attribute__((section(".sram4"))) static uint16_t sound_rx_buf[2][SOUND_RX_BUF_SIZE];
+
+typedef enum {
+  OFF = 0,
+  IDLE = 1,
+  PLAYING = 2,
+} SoundStatus;
+static SoundStatus sound_status = OFF;
+
+// Playback processing
+static void BDMA_Channel0_IRQ_Handler(void) {
+  __attribute__((section(".sram4"))) static uint16_t tx_buf[SOUND_TX_BUF_SIZE];
+
+  BDMA->IFCR |= BDMA_IFCR_CGIF0; // clear flag
+
+  // process samples (shift to 12b and bias to be unsigned)
+  // since we are playing mono and receiving stereo, we take every other sample
+  uint8_t buf_idx = (((BDMA_Channel0->CCR & BDMA_CCR_CT) >> BDMA_CCR_CT_Pos) == 1U) ? 0U : 1U;
+  for (uint16_t i=0U; i < SOUND_RX_BUF_SIZE; i += 2U) {
+    tx_buf[i/2U] = ((sound_rx_buf[buf_idx][i] + (1UL << 14)) >> 3);
+  }
+
+  if (sound_status == OFF) {
+    current_board->set_amp_enabled(true);
+  }
+  sound_status = PLAYING;
+
+  DMA1->LIFCR |= 0xF40;
+  DMA1_Stream1->CR &= ~DMA_SxCR_EN;
+  register_set(&DMA1_Stream1->M0AR, (uint32_t) tx_buf, 0xFFFFFFFFU);
+  DMA1_Stream1->NDTR = SOUND_TX_BUF_SIZE;
+  DMA1_Stream1->CR |= DMA_SxCR_EN;
+}
+
+void sound_tick(void) {
+  switch (sound_status) {
+    case IDLE:
+      current_board->set_amp_enabled(false);
+      sound_status = OFF;
+      break;
+    case PLAYING:
+      sound_status = IDLE;
+      break;
+    default:
+      break;
+  }
+}
+
+void sound_init(void) {
+  REGISTER_INTERRUPT(BDMA_Channel0_IRQn, BDMA_Channel0_IRQ_Handler, 64U, FAULT_INTERRUPT_RATE_SOUND_DMA)
+
+  // Init DAC
+  register_set(&DAC1->MCR, 0U, 0xFFFFFFFFU);
+  register_set(&DAC1->CR, DAC_CR_TEN1 | (6U << DAC_CR_TSEL1_Pos) | DAC_CR_DMAEN1, 0xFFFFFFFFU);
+  register_set_bits(&DAC1->CR, DAC_CR_EN1);
+
+  // Setup DMAMUX (DAC_CH1_DMA as input)
+  register_set(&DMAMUX1_Channel1->CCR, 67U, DMAMUX_CxCR_DMAREQ_ID_Msk);
+
+  // Setup DMA
+  register_set(&DMA1_Stream1->PAR, (uint32_t) &(DAC1->DHR12R1), 0xFFFFFFFFU);
+  register_set(&DMA1_Stream1->FCR, 0U, 0x00000083U);
+  DMA1_Stream1->CR = (0b11UL << DMA_SxCR_PL_Pos) | (0b01UL << DMA_SxCR_MSIZE_Pos) | (0b01UL << DMA_SxCR_PSIZE_Pos) | DMA_SxCR_MINC | (1U << DMA_SxCR_DIR_Pos);
+
+  // Init trigger timer (48kHz)
+  register_set(&TIM7->PSC, 0U, 0xFFFFU);
+  register_set(&TIM7->ARR, 2494U, 0xFFFFU);
+  register_set(&TIM7->CR2, (0b10U << TIM_CR2_MMS_Pos), TIM_CR2_MMS_Msk);
+  register_set(&TIM7->CR1, TIM_CR1_ARPE | TIM_CR1_URS, 0x088EU);
+  TIM7->SR = 0U;
+  TIM7->CR1 |= TIM_CR1_CEN;
+
+  // stereo audio in
+  register_set(&SAI4_Block_B->CR1, SAI_xCR1_DMAEN | (0b00UL << SAI_xCR1_SYNCEN_Pos) | (0b100U << SAI_xCR1_DS_Pos) | (0b11U << SAI_xCR1_MODE_Pos), 0x0FFB3FEFU);
+  register_set(&SAI4_Block_B->CR2, (0b001U << SAI_xCR2_FTH_Pos), 0xFFFBU);
+  register_set(&SAI4_Block_B->FRCR, (31U << SAI_xFRCR_FRL_Pos), 0x7FFFFU);
+  register_set(&SAI4_Block_B->SLOTR, (0b11UL << SAI_xSLOTR_SLOTEN_Pos) | (1UL << SAI_xSLOTR_NBSLOT_Pos) | (0b01UL << SAI_xSLOTR_SLOTSZ_Pos), 0xFFFF0FDFU); // NBSLOT definition is vague
+
+  // init sound DMA (SAI4_B -> memory, double buffers)
+  register_set(&BDMA_Channel0->CPAR, (uint32_t) &(SAI4_Block_B->DR), 0xFFFFFFFFU);
+  register_set(&BDMA_Channel0->CM0AR, (uint32_t) sound_rx_buf[0], 0xFFFFFFFFU);
+  register_set(&BDMA_Channel0->CM1AR, (uint32_t) sound_rx_buf[1], 0xFFFFFFFFU);
+  BDMA_Channel0->CNDTR = SOUND_RX_BUF_SIZE;
+  register_set(&BDMA_Channel0->CCR, BDMA_CCR_DBM | (0b01UL << BDMA_CCR_MSIZE_Pos) | (0b01UL << BDMA_CCR_PSIZE_Pos) | BDMA_CCR_MINC | BDMA_CCR_CIRC | BDMA_CCR_TCIE, 0xFFFFU);
+  register_set(&DMAMUX2_Channel0->CCR, 16U, DMAMUX_CxCR_DMAREQ_ID_Msk); // SAI4_B_DMA
+  register_set_bits(&BDMA_Channel0->CCR, BDMA_CCR_EN);
+
+  // enable all initted blocks
+  register_set_bits(&SAI4_Block_B->CR1, SAI_xCR1_SAIEN);
+  NVIC_EnableIRQ(BDMA_Channel0_IRQn);
+}

From 39c966fb271ebe3cd589272c0fb3a45eb0c54280 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 14 Nov 2024 01:04:59 -0800
Subject: [PATCH 04/16] sound: little cleaner idle handling (#2078)

Co-authored-by: Comma Device <device@comma.ai>
---
 board/stm32h7/sound.h | 25 +++++++------------------
 1 file changed, 7 insertions(+), 18 deletions(-)

diff --git a/board/stm32h7/sound.h b/board/stm32h7/sound.h
index 9228b16134..53f7276bde 100644
--- a/board/stm32h7/sound.h
+++ b/board/stm32h7/sound.h
@@ -1,15 +1,9 @@
-
 #define SOUND_RX_BUF_SIZE 2000U
 #define SOUND_TX_BUF_SIZE (SOUND_RX_BUF_SIZE/2U)
 
 __attribute__((section(".sram4"))) static uint16_t sound_rx_buf[2][SOUND_RX_BUF_SIZE];
 
-typedef enum {
-  OFF = 0,
-  IDLE = 1,
-  PLAYING = 2,
-} SoundStatus;
-static SoundStatus sound_status = OFF;
+static uint8_t sound_idle_count;
 
 // Playback processing
 static void BDMA_Channel0_IRQ_Handler(void) {
@@ -24,10 +18,10 @@ static void BDMA_Channel0_IRQ_Handler(void) {
     tx_buf[i/2U] = ((sound_rx_buf[buf_idx][i] + (1UL << 14)) >> 3);
   }
 
-  if (sound_status == OFF) {
+  if (sound_idle_count == 0U) {
     current_board->set_amp_enabled(true);
   }
-  sound_status = PLAYING;
+  sound_idle_count = 2U;
 
   DMA1->LIFCR |= 0xF40;
   DMA1_Stream1->CR &= ~DMA_SxCR_EN;
@@ -37,16 +31,11 @@ static void BDMA_Channel0_IRQ_Handler(void) {
 }
 
 void sound_tick(void) {
-  switch (sound_status) {
-    case IDLE:
+  if (sound_idle_count > 0U) {
+    sound_idle_count--;
+    if (sound_idle_count == 0U) {
       current_board->set_amp_enabled(false);
-      sound_status = OFF;
-      break;
-    case PLAYING:
-      sound_status = IDLE;
-      break;
-    default:
-      break;
+    }
   }
 }
 

From a67f3650c8f28ae2eebfbc561f0e68ed84b87d46 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Thu, 14 Nov 2024 11:28:28 +0100
Subject: [PATCH 05/16] Increase MISRA to 2min max (#2079)

increase to 2min max
---
 .github/workflows/test.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 221bce0096..367cf2dc36 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -99,7 +99,7 @@ jobs:
       - name: Build FW
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Run MISRA C:2012 analysis
-        timeout-minutes: 1
+        timeout-minutes: 2
         run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
       - name: MISRA mutation tests
         timeout-minutes: 5

From 742d961b07e602bb143086632d0f8150f4882f5f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 14 Nov 2024 17:05:44 -0800
Subject: [PATCH 06/16] Lower siren duration to 3s (#2080)

---
 board/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/board/main.c b/board/main.c
index b1dc685417..aaea95d089 100644
--- a/board/main.c
+++ b/board/main.c
@@ -241,7 +241,7 @@ static void tick_handler(void) {
           print(" seconds. Safety is set to SILENT mode.\n");
 
           if (controls_allowed_countdown > 0U) {
-            siren_countdown = 5U;
+            siren_countdown = 3U;
             controls_allowed_countdown = 0U;
           }
 

From acc15afaa0bea090c045a624f940e98cc521b701 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Fri, 15 Nov 2024 15:35:30 +0100
Subject: [PATCH 07/16] Fix sound playback artifacts (#2082)

this stays in sync

Co-authored-by: Comma Device <device@comma.ai>
---
 board/stm32h7/peripherals.h |  1 +
 board/stm32h7/sound.h       | 17 +++++++++--------
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/board/stm32h7/peripherals.h b/board/stm32h7/peripherals.h
index f0bd727fdf..c6874b8ac3 100644
--- a/board/stm32h7/peripherals.h
+++ b/board/stm32h7/peripherals.h
@@ -135,6 +135,7 @@ void peripherals_init(void) {
   RCC->APB1LENR |= RCC_APB1LENR_TIM7EN;  // DMA trigger timer
   RCC->APB2ENR |= RCC_APB2ENR_TIM8EN;  // tick timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM12EN;  // slow loop
+  RCC->APB1LENR |= RCC_APB1LENR_TIM5EN; // sound trigger timer
 
 #ifdef PANDA_JUNGLE
   RCC->AHB3ENR |= RCC_AHB3ENR_SDMMC1EN; // SDMMC
diff --git a/board/stm32h7/sound.h b/board/stm32h7/sound.h
index 53f7276bde..f40a22e5b2 100644
--- a/board/stm32h7/sound.h
+++ b/board/stm32h7/sound.h
@@ -44,7 +44,7 @@ void sound_init(void) {
 
   // Init DAC
   register_set(&DAC1->MCR, 0U, 0xFFFFFFFFU);
-  register_set(&DAC1->CR, DAC_CR_TEN1 | (6U << DAC_CR_TSEL1_Pos) | DAC_CR_DMAEN1, 0xFFFFFFFFU);
+  register_set(&DAC1->CR, DAC_CR_TEN1 | (4U << DAC_CR_TSEL1_Pos) | DAC_CR_DMAEN1, 0xFFFFFFFFU);
   register_set_bits(&DAC1->CR, DAC_CR_EN1);
 
   // Setup DMAMUX (DAC_CH1_DMA as input)
@@ -55,13 +55,14 @@ void sound_init(void) {
   register_set(&DMA1_Stream1->FCR, 0U, 0x00000083U);
   DMA1_Stream1->CR = (0b11UL << DMA_SxCR_PL_Pos) | (0b01UL << DMA_SxCR_MSIZE_Pos) | (0b01UL << DMA_SxCR_PSIZE_Pos) | DMA_SxCR_MINC | (1U << DMA_SxCR_DIR_Pos);
 
-  // Init trigger timer (48kHz)
-  register_set(&TIM7->PSC, 0U, 0xFFFFU);
-  register_set(&TIM7->ARR, 2494U, 0xFFFFU);
-  register_set(&TIM7->CR2, (0b10U << TIM_CR2_MMS_Pos), TIM_CR2_MMS_Msk);
-  register_set(&TIM7->CR1, TIM_CR1_ARPE | TIM_CR1_URS, 0x088EU);
-  TIM7->SR = 0U;
-  TIM7->CR1 |= TIM_CR1_CEN;
+  // Init trigger timer (little slower than 48kHz, pulled in sync by SAI4_FS_B)
+  register_set(&TIM5->PSC, 2600U, 0xFFFFU);
+  register_set(&TIM5->ARR, 100U, 0xFFFFFFFFU); // not important
+  register_set(&TIM5->AF1, (0b0010UL << TIM5_AF1_ETRSEL_Pos), TIM5_AF1_ETRSEL_Msk);
+  register_set(&TIM5->CR2, (0b010U << TIM_CR2_MMS_Pos), TIM_CR2_MMS_Msk);
+  register_set(&TIM5->SMCR, TIM_SMCR_ECE | (0b00111UL << TIM_SMCR_TS_Pos)| (0b0100UL << TIM_SMCR_SMS_Pos), 0x31FFF7U);
+  TIM5->CNT = 0U; TIM5->SR = 0U;
+  TIM5->CR1 |= TIM_CR1_CEN;
 
   // stereo audio in
   register_set(&SAI4_Block_B->CR1, SAI_xCR1_DMAEN | (0b00UL << SAI_xCR1_SYNCEN_Pos) | (0b100U << SAI_xCR1_DS_Pos) | (0b11U << SAI_xCR1_MODE_Pos), 0x0FFB3FEFU);

From 422e3e0c0f458c721517454cefcd22407576e9d5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 Nov 2024 14:50:17 -0800
Subject: [PATCH 08/16] H7 sound: fix noise with empty stream (#2083)

fix noise

Co-authored-by: Comma Device <device@comma.ai>
---
 board/stm32h7/sound.h | 37 +++++++++++++++++++++++--------------
 1 file changed, 23 insertions(+), 14 deletions(-)

diff --git a/board/stm32h7/sound.h b/board/stm32h7/sound.h
index f40a22e5b2..6251936c62 100644
--- a/board/stm32h7/sound.h
+++ b/board/stm32h7/sound.h
@@ -5,23 +5,41 @@ __attribute__((section(".sram4"))) static uint16_t sound_rx_buf[2][SOUND_RX_BUF_
 
 static uint8_t sound_idle_count;
 
+void sound_tick(void) {
+  if (sound_idle_count > 0U) {
+    sound_idle_count--;
+    if (sound_idle_count == 0U) {
+      current_board->set_amp_enabled(false);
+    }
+  }
+}
+
 // Playback processing
 static void BDMA_Channel0_IRQ_Handler(void) {
   __attribute__((section(".sram4"))) static uint16_t tx_buf[SOUND_TX_BUF_SIZE];
 
   BDMA->IFCR |= BDMA_IFCR_CGIF0; // clear flag
 
-  // process samples (shift to 12b and bias to be unsigned)
-  // since we are playing mono and receiving stereo, we take every other sample
   uint8_t buf_idx = (((BDMA_Channel0->CCR & BDMA_CCR_CT) >> BDMA_CCR_CT_Pos) == 1U) ? 0U : 1U;
+
+  // process samples (shift to 12b and bias to be unsigned)
+  bool sound_playing = false;
   for (uint16_t i=0U; i < SOUND_RX_BUF_SIZE; i += 2U) {
+    // since we are playing mono and receiving stereo, we take every other sample
     tx_buf[i/2U] = ((sound_rx_buf[buf_idx][i] + (1UL << 14)) >> 3);
+    if (sound_rx_buf[buf_idx][i] > 0U) {
+      sound_playing = true;
+    }
   }
 
-  if (sound_idle_count == 0U) {
-    current_board->set_amp_enabled(true);
+  // manage amp state
+  if (sound_playing) {
+    if (sound_idle_count == 0U) {
+      current_board->set_amp_enabled(true);
+    }
+    sound_idle_count = 4U;
   }
-  sound_idle_count = 2U;
+  sound_tick();
 
   DMA1->LIFCR |= 0xF40;
   DMA1_Stream1->CR &= ~DMA_SxCR_EN;
@@ -30,15 +48,6 @@ static void BDMA_Channel0_IRQ_Handler(void) {
   DMA1_Stream1->CR |= DMA_SxCR_EN;
 }
 
-void sound_tick(void) {
-  if (sound_idle_count > 0U) {
-    sound_idle_count--;
-    if (sound_idle_count == 0U) {
-      current_board->set_amp_enabled(false);
-    }
-  }
-}
-
 void sound_init(void) {
   REGISTER_INTERRUPT(BDMA_Channel0_IRQn, BDMA_Channel0_IRQ_Handler, 64U, FAULT_INTERRUPT_RATE_SOUND_DMA)
 

From 998a63936087a3d90cd29df88375d786491a78f8 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 20 Nov 2024 19:22:14 -0800
Subject: [PATCH 09/16] python: catch exceptions in DFU (#2084)

* try

* also this
---
 python/dfu.py | 13 ++++++++-----
 python/spi.py |  3 ++-
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/python/dfu.py b/python/dfu.py
index 9beba45e55..4394d2502d 100644
--- a/python/dfu.py
+++ b/python/dfu.py
@@ -100,11 +100,14 @@ def spi_list() -> list[str]:
   def st_serial_to_dfu_serial(st: str, mcu_type: McuType = McuType.F4):
     if st is None or st == "none":
       return None
-    uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
-    if mcu_type == McuType.H7:
-      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
-    else:
-      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
+    try:
+      uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
+      if mcu_type == McuType.H7:
+        return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
+      else:
+        return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
+    except struct.error:
+      return None
 
   def get_mcu_type(self) -> McuType:
     return self._mcu_type
diff --git a/python/spi.py b/python/spi.py
index 5be1e56b6b..2b086dc2b3 100644
--- a/python/spi.py
+++ b/python/spi.py
@@ -402,7 +402,8 @@ def get_bootloader_id(self):
 
   def get_chip_id(self) -> int:
     r = self._cmd(0x02, read_bytes=3)
-    assert r[0] == 1  # response length - 1
+    if r[0] != 1: # response length - 1
+      raise PandaSpiException("incorrect response length")
     return ((r[1] << 8) + r[2])
 
   def go_cmd(self, address: int) -> None:

From 4a11d52e07c9dff5f48d4fd20397f2612786ea8f Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 21 Nov 2024 11:04:09 -0800
Subject: [PATCH 10/16] Control over FD flag of CAN messages (#2085)

* Control over FD flag of CAN messages

* misra
---
 board/can_declarations.h                |  2 +-
 board/drivers/bxcan.h                   |  3 +++
 board/drivers/can_common.h              | 10 +++++-----
 board/drivers/can_common_declarations.h |  1 +
 board/drivers/fdcan.h                   | 15 +++++++++++----
 board/main_comms.h                      |  4 ++++
 python/__init__.py                      | 15 +++++++++------
 tests/libpanda/libpanda_py.py           |  2 +-
 8 files changed, 35 insertions(+), 17 deletions(-)

diff --git a/board/can_declarations.h b/board/can_declarations.h
index 569e2939ac..878d9c77e2 100644
--- a/board/can_declarations.h
+++ b/board/can_declarations.h
@@ -13,7 +13,7 @@
 #endif
 
 typedef struct {
-  unsigned char reserved : 1;
+  unsigned char fd : 1;
   unsigned char bus : 3;
   unsigned char data_len_code : 4;  // lookup length with dlc_to_len
   unsigned char rejected : 1;
diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
index e4c72c61aa..721a7ee492 100644
--- a/board/drivers/bxcan.h
+++ b/board/drivers/bxcan.h
@@ -89,6 +89,7 @@ void process_can(uint8_t can_number) {
       if ((CANx->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
         if ((CANx->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
           CANPacket_t to_push;
+          to_push.fd = 0U;
           to_push.returned = 1U;
           to_push.rejected = 0U;
           to_push.extended = (CANx->sTxMailBox[0].TIR >> 2) & 0x1U;
@@ -144,6 +145,7 @@ void can_rx(uint8_t can_number) {
     // add to my fifo
     CANPacket_t to_push;
 
+    to_push.fd = 0U;
     to_push.returned = 0U;
     to_push.rejected = 0U;
     to_push.extended = (CANx->sFIFOMailBox[0].RIR >> 2) & 0x1U;
@@ -159,6 +161,7 @@ void can_rx(uint8_t can_number) {
     if (bus_fwd_num != -1) {
       CANPacket_t to_send;
 
+      to_send.fd = 0U;
       to_send.returned = 0U;
       to_send.rejected = 0U;
       to_send.extended = to_push.extended; // TXRQ
diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
index 5a074e775c..0f24a77c1b 100644
--- a/board/drivers/can_common.h
+++ b/board/drivers/can_common.h
@@ -131,10 +131,10 @@ void can_clear(can_ring *q) {
 // Helpers
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
 bus_config_t bus_config[BUS_CONFIG_ARRAY_SIZE] = {
-  { .bus_lookup = 0U, .can_num_lookup = 0U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
-  { .bus_lookup = 1U, .can_num_lookup = 1U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
-  { .bus_lookup = 2U, .can_num_lookup = 2U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
-  { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .forwarding_bus = -1, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 0U, .can_num_lookup = 0U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 1U, .can_num_lookup = 1U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 2U, .can_num_lookup = 2U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .forwarding_bus = -1, .can_speed = 333U, .can_data_speed = 333U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
 };
 
 void can_init_all(void) {
@@ -165,7 +165,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
   if (bus == 0) {
     int addr = GET_ADDR(to_push);
     int len = GET_LEN(to_push);
-    
+
     // GM exception
     if ((addr == 0x1F1) && (len == 8)) {
       // SystemPowerMode (2=Run, 3=Crank Request)
diff --git a/board/drivers/can_common_declarations.h b/board/drivers/can_common_declarations.h
index 1a3518c2a8..57bf87d9c7 100644
--- a/board/drivers/can_common_declarations.h
+++ b/board/drivers/can_common_declarations.h
@@ -13,6 +13,7 @@ typedef struct {
   int8_t forwarding_bus;
   uint32_t can_speed;
   uint32_t can_data_speed;
+  bool canfd_auto;
   bool canfd_enabled;
   bool brs_enabled;
   bool canfd_non_iso;
diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
index 0144aa17c2..eaf50caaab 100644
--- a/board/drivers/fdcan.h
+++ b/board/drivers/fdcan.h
@@ -100,7 +100,11 @@ void process_can(uint8_t can_number) {
           fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
 
           fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18));
-          uint32_t canfd_enabled_header = bus_config[can_number].canfd_enabled ? (1UL << 21) : 0UL;
+
+          // If canfd_auto is set, outgoing packets will be automatically sent as CAN-FD if an incoming CAN-FD packet was seen
+          bool fd = bus_config[can_number].canfd_auto ? bus_config[can_number].canfd_enabled : (bool)(to_send.fd > 0U);
+          uint32_t canfd_enabled_header = fd ? (1UL << 21) : 0UL;
+
           uint32_t brs_enabled_header = bus_config[can_number].brs_enabled ? (1UL << 20) : 0UL;
           fifo->header[1] = (to_send.data_len_code << 16) | canfd_enabled_header | brs_enabled_header;
 
@@ -115,6 +119,7 @@ void process_can(uint8_t can_number) {
           // Send back to USB
           CANPacket_t to_push;
 
+          to_push.fd = fd;
           to_push.returned = 1U;
           to_push.rejected = 0U;
           to_push.extended = to_send.extended;
@@ -168,6 +173,10 @@ void can_rx(uint8_t can_number) {
     // getting address
     fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
 
+    bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
+    bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
+
+    to_push.fd = canfd_frame;
     to_push.returned = 0U;
     to_push.rejected = 0U;
     to_push.extended = (fifo->header[0] >> 30) & 0x1U;
@@ -175,9 +184,6 @@ void can_rx(uint8_t can_number) {
     to_push.bus = bus_number;
     to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
 
-    bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
-    bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
-
     uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
     data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
     for (unsigned int i = 0; i < data_len_w; i++) {
@@ -193,6 +199,7 @@ void can_rx(uint8_t can_number) {
     if (bus_fwd_num != -1) {
       CANPacket_t to_send;
 
+      to_send.fd = to_push.fd;
       to_send.returned = 0U;
       to_send.rejected = 0U;
       to_send.extended = to_push.extended;
diff --git a/board/main_comms.h b/board/main_comms.h
index 7d754d050f..6cc2e429c3 100644
--- a/board/main_comms.h
+++ b/board/main_comms.h
@@ -317,6 +317,10 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xe7:
       set_power_save_state(req->param1);
       break;
+    // **** 0xe8: set can-fd auto swithing mode
+    case 0xe8:
+        bus_config[req->param1].canfd_auto = req->param2 > 0U;
+        break;
     // **** 0xf1: Clear CAN ring buffer.
     case 0xf1:
       if (req->param1 == 0xFFFFU) {
diff --git a/python/__init__.py b/python/__init__.py
index 14d324ab93..d6d3ebc594 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -31,7 +31,7 @@ def calculate_checksum(data):
     res ^= b
   return res
 
-def pack_can_buffer(arr):
+def pack_can_buffer(arr, fd=False):
   snds = [b'']
   for address, dat, bus in arr:
     assert len(dat) in LEN_TO_DLC
@@ -41,7 +41,7 @@ def pack_can_buffer(arr):
     data_len_code = LEN_TO_DLC[len(dat)]
     header = bytearray(CANPACKET_HEAD_SIZE)
     word_4b = address << 3 | extended << 2
-    header[0] = (data_len_code << 4) | (bus << 1)
+    header[0] = (data_len_code << 4) | (bus << 1) | int(fd)
     header[1] = word_4b & 0xFF
     header[2] = (word_4b >> 8) & 0xFF
     header[3] = (word_4b >> 16) & 0xFF
@@ -807,6 +807,9 @@ def set_can_data_speed_kbps(self, bus, speed):
   def set_canfd_non_iso(self, bus, non_iso):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xfc, bus, int(non_iso), b'')
 
+  def set_canfd_auto(self, bus, auto):
+      self._handle.controlWrite(Panda.REQUEST_OUT, 0xe8, bus, int(auto), b'')
+
   def set_uart_baud(self, uart, rate):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')
 
@@ -828,15 +831,15 @@ def can_reset_communications(self):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xc0, 0, 0, b'')
 
   @ensure_can_packet_version
-  def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
-    snds = pack_can_buffer(arr)
+  def can_send_many(self, arr, *, fd=False, timeout=CAN_SEND_TIMEOUT_MS):
+    snds = pack_can_buffer(arr, fd=fd)
     for tx in snds:
       while len(tx) > 0:
         bs = self._handle.bulkWrite(3, tx, timeout=timeout)
         tx = tx[bs:]
 
-  def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
-    self.can_send_many([[addr, dat, bus]], timeout=timeout)
+  def can_send(self, addr, dat, bus, *, fd=False, timeout=CAN_SEND_TIMEOUT_MS):
+    self.can_send_many([[addr, dat, bus]], fd=fd, timeout=timeout)
 
   @ensure_can_packet_version
   def can_recv(self):
diff --git a/tests/libpanda/libpanda_py.py b/tests/libpanda/libpanda_py.py
index 6f888ac60e..d24640b9dc 100644
--- a/tests/libpanda/libpanda_py.py
+++ b/tests/libpanda/libpanda_py.py
@@ -12,7 +12,7 @@
 
 ffi.cdef("""
 typedef struct {
-  unsigned char reserved : 1;
+  unsigned char fd : 1;
   unsigned char bus : 3;
   unsigned char data_len_code : 4;
   unsigned char rejected : 1;

From 2fbf0c5ff86f2e94021d7c937b9f8eb6839af484 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 21 Nov 2024 11:07:57 -0800
Subject: [PATCH 11/16] fix indendation

---
 board/main_comms.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/board/main_comms.h b/board/main_comms.h
index 6cc2e429c3..e366b19a09 100644
--- a/board/main_comms.h
+++ b/board/main_comms.h
@@ -319,8 +319,8 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xe8: set can-fd auto swithing mode
     case 0xe8:
-        bus_config[req->param1].canfd_auto = req->param2 > 0U;
-        break;
+      bus_config[req->param1].canfd_auto = req->param2 > 0U;
+      break;
     // **** 0xf1: Clear CAN ring buffer.
     case 0xf1:
       if (req->param1 == 0xFFFFU) {

From b770745342dc52fe30434763532e4c73887c71ca Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 21 Nov 2024 11:48:02 -0800
Subject: [PATCH 12/16] ci: split MISRA linter and MISRA mutation (#2086)

* sep

* this
---
 .github/workflows/test.yaml | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 367cf2dc36..52c2a06103 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -88,8 +88,8 @@ jobs:
                           scons -j$(nproc) ${{ matrix.flags }} && \
                           tests/safety/test.sh"
 
-  misra:
-    name: MISRA C:2012
+  misra_linter:
+    name: MISRA C:2012 Linter
     runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
@@ -101,6 +101,17 @@ jobs:
       - name: Run MISRA C:2012 analysis
         timeout-minutes: 2
         run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
+
+  misra_mutation:
+    name: MISRA C:2012 Mutation
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Build FW
+        run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: MISRA mutation tests
         timeout-minutes: 5
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"

From cfbc3ff835d711c5afc733c964b5283ff5a998c6 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 22 Nov 2024 10:29:11 -0800
Subject: [PATCH 13/16] Ensure auto switching FD is off in Python (#2087)

---
 python/__init__.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/python/__init__.py b/python/__init__.py
index d6d3ebc594..88ccf897a1 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -324,6 +324,10 @@ def connect(self, claim=True, wait=False):
     # reset comms
     self.can_reset_communications()
 
+    # disable automatic CAN-FD switching
+    for bus in range(PANDA_BUS_CNT):
+      self.set_canfd_auto(bus, False)
+
     # set CAN speed
     for bus in range(PANDA_BUS_CNT):
       self.set_can_speed_kbps(bus, self._can_speed_kbps)

From 5761ab58ea36beba2ddf07709590b591e04312bd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 22 Nov 2024 19:33:04 -0800
Subject: [PATCH 14/16] what was that doing there?

---
 board/recover.py | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/board/recover.py b/board/recover.py
index c149e948d1..6268a07d96 100755
--- a/board/recover.py
+++ b/board/recover.py
@@ -2,21 +2,15 @@
 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)
 
-  serials = Panda.list() if args.all else [None]
-  for s in serials:
+  for s in Panda.list():
     with Panda(serial=s) as p:
       print(f"putting {p.get_usb_serial()} in DFU mode")
       p.reset(enter_bootstub=True)

From 4dc203376afbd20914373ec721610d20a851add5 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Fri, 29 Nov 2024 17:37:33 +0100
Subject: [PATCH 15/16] more open drains (#2091)

also open drain

Co-authored-by: Comma Device <device@comma.ai>
---
 board/boards/cuatro.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index 4a6b5da096..3d87318b02 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -87,6 +87,10 @@ static void cuatro_init(void) {
   set_gpio_output_type(GPIOB, 2, OUTPUT_TYPE_OPEN_DRAIN);
   set_gpio_output_type(GPIOD, 15, OUTPUT_TYPE_OPEN_DRAIN);
 
+  // more open drain
+  set_gpio_output_type(GPIOD, 3, OUTPUT_TYPE_OPEN_DRAIN); // FAN_EN
+  set_gpio_output_type(GPIOC, 12, OUTPUT_TYPE_OPEN_DRAIN); // VBAT_EN
+
   // Power readout
   set_gpio_mode(GPIOC, 5, MODE_ANALOG);
   set_gpio_mode(GPIOA, 6, MODE_ANALOG);

From c7cc2deaf046403899b5bcc964b9f48bfd508534 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Fri, 29 Nov 2024 17:41:03 +0100
Subject: [PATCH 16/16] Cuatro: no ir (#2093)

no ir
---
 board/boards/cuatro.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index 3d87318b02..90d0627517 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -169,7 +169,7 @@ board board_cuatro = {
   .read_voltage_mV = cuatro_read_voltage_mV,
   .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = cuatro_set_fan_enabled,
-  .set_ir_power = tres_set_ir_power,
+  .set_ir_power = unused_set_ir_power,
   .set_siren = cuatro_set_siren,
   .set_bootkick = cuatro_set_bootkick,
   .read_som_gpio = tres_read_som_gpio,