Merge branch 'commaai:master' into ccnc-port

commaai · Dec 14, 2024 · 3bfdfc1 · 3bfdfc1
2 parents 5350332 + 9272d4b
commit 3bfdfc1
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Showing 8 changed files with 17 additions and 44 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -37,13 +37,13 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
 
 # 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="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
+ENV OPENDBC_REF="b89fe79950121ca93d8a1f0d3fd17df31703be2a"
 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
+    ln -s $PWD/opendbc $PYTHONPATH/opendbc && \
+    scons -j8 --minimal opendbc/
 
 # for Jenkins
 COPY README.md panda.tar.* /tmp/

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
@@ -71,10 +71,6 @@ static void cuatro_set_bootkick(BootState state) {
   //set_gpio_output(GPIOC, 12, state != BOOT_RESET);
 }
 
-static void cuatro_set_siren(bool enabled){
-  beeper_enable(enabled);
-}
-
 static void cuatro_set_amp_enabled(bool enabled){
   set_gpio_output(GPIOA, 5, enabled);
 }
@@ -133,10 +129,6 @@ static void cuatro_init(void) {
   // Clock source
   clock_source_init();
 
-  // 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
@@ -170,7 +162,7 @@ board board_cuatro = {
   .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = cuatro_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
-  .set_siren = cuatro_set_siren,
+  .set_siren = unused_set_siren,
   .set_bootkick = cuatro_set_bootkick,
   .read_som_gpio = tres_read_som_gpio,
   .set_amp_enabled = cuatro_set_amp_enabled

diff --git a/board/drivers/beeper.h b/board/drivers/beeper.h
diff --git a/board/main.c b/board/main.c
@@ -216,7 +216,7 @@ static void tick_handler(void) {
       }
 
       if (controls_allowed || heartbeat_engaged) {
-        controls_allowed_countdown = 30U;
+        controls_allowed_countdown = 5U;
       } else if (controls_allowed_countdown > 0U) {
         controls_allowed_countdown -= 1U;
       } else {

diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -250,8 +250,17 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
   if (bus_num == 0) {
     bus_fwd = 2;
   }
-  if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) {
-    bus_fwd = 0;
+
+  if (bus_num == 2) {
+    // Stock LKAS11 messages
+    bool is_lkas_11 = (addr == 0x340);
+    // LFA and HDA cluster icons
+    bool is_lfahda_mfc = (addr == 0x485);
+
+    bool block_msg = is_lkas_11 || is_lfahda_mfc;
+    if (!block_msg) {
+      bus_fwd = 0;
+    }
   }
 
   return bus_fwd;

diff --git a/board/stm32h7/board.h b/board/stm32h7/board.h
@@ -10,7 +10,6 @@
 #include "drivers/fan.h"
 #include "stm32h7/llfan.h"
 #include "stm32h7/lldac.h"
-#include "drivers/beeper.h"
 #include "drivers/fake_siren.h"
 #include "stm32h7/sound.h"
 #include "drivers/clock_source.h"

diff --git a/board/stm32h7/peripherals.h b/board/stm32h7/peripherals.h
@@ -130,7 +130,6 @@ void peripherals_init(void) {
   RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  // clock source timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM2EN;  // main counter
   RCC->APB1LENR |= RCC_APB1LENR_TIM3EN;  // fan pwm
-  RCC->APB1LENR |= RCC_APB1LENR_TIM4EN;  // beeper source
   RCC->APB1LENR |= RCC_APB1LENR_TIM6EN;  // interrupt timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM7EN;  // DMA trigger timer
   RCC->APB2ENR |= RCC_APB2ENR_TIM8EN;  // tick timer

diff --git a/tests/misra/test_misra.sh b/tests/misra/test_misra.sh
@@ -50,7 +50,7 @@ cppcheck() {
           --suppressions-list=$DIR/suppressions.txt --suppress=*:*inc/* \
           --suppress=*:*include/* --error-exitcode=2 --check-level=exhaustive --safety \
           --platform=arm32-wchar_t4 $COMMON_DEFINES --checkers-report=$CHECKLIST.tmp \
-          --std=c11 "$@" |& tee $OUTPUT
+          --std=c11 "$@" 2>&1 | tee $OUTPUT
 
   cat $CHECKLIST.tmp >> $CHECKLIST
   rm $CHECKLIST.tmp