Merge remote-tracking branch 'origin/master' into tesla

# Conflicts:
#	board/safety/safety_tesla.h

.github/workflows/test.yaml

@@ -103,6 +103,20 @@ jobs:
         timeout-minutes: 5
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"
 
+  mutation:
+    name: Mutation tests
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0 # need master to get diff
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Mutation tests
+        timeout-minutes: 5
+        run: ${{ env.RUN }} "GIT_REF=${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.event.before || 'origin/master' }} cd tests/safety && ./mutation.sh"
+
   static_analysis:
     name: static analysis
     runs-on: ubuntu-latest

.gitignore

@@ -11,6 +11,7 @@ a.out
 *~
 .#*
 dist/
+build/
 pandacan.egg-info/
 obj/
 examples/output.csv
@@ -28,3 +29,7 @@ nosetests.xml
 *.gcno
 tests/safety/coverage-out
 tests/safety/coverage.info
+
+*.profraw
+*.profdata
+mull.yml

.pre-commit-config.yaml

@@ -15,6 +15,6 @@ repos:
       additional_dependencies: ['numpy', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.6.3
+  rev: v0.6.8
   hooks:
     - id: ruff

Dockerfile

@@ -18,7 +18,13 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     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
+    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp && \
+    apt-get update && apt-get install -y clang-17 && \
+    ln -s $(which clang-17) /usr/bin/clang
+
+RUN apt-get update && apt-get install -y curl && \
+    curl -1sLf 'https://dl.cloudsmith.io/public/mull-project/mull-stable/setup.deb.sh' | bash && \
+    apt-get update && apt-get install -y mull-17
 
 ENV CPPCHECK_DIR=/tmp/cppcheck
 COPY tests/misra/install.sh /tmp/

Jenkinsfile

@@ -106,7 +106,7 @@ pipeline {
                 phone_steps("panda-tres", [
                   ["build", "scons -j4"],
                   ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py --all"],
                   ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
                 ])
               }
@@ -118,7 +118,7 @@ pipeline {
                 phone_steps("panda-dos", [
                   ["build", "scons -j4"],
                   ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py --all"],
                   ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
                 ])
               }

README.md

@@ -49,7 +49,7 @@ In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [my
 Setup dependencies:
 ```bash
 # Ubuntu
-sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git
+sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git clang-17
 
 # macOS
 brew install --cask gcc-arm-embedded

SConscript

@@ -167,7 +167,9 @@ Export('base_project_f4', 'base_project_h7', 'build_project')
 
 # Common autogenerated includes
 with open("board/obj/gitversion.h", "w") as f:
-  f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
+  version = get_version(BUILDER, BUILD_TYPE)
+  f.write(f'extern const uint8_t gitversion[{len(version)}];\n')
+  f.write(f'const uint8_t gitversion[{len(version)}] = "{version}";\n')
 
 with open("board/obj/version", "w") as f:
   f.write(f'{get_version(BUILDER, BUILD_TYPE)}')

SConstruct

@@ -16,6 +16,10 @@ AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
 
+AddOption('--mutation',
+          action='store_true',
+          help='generate mutation-ready code')
+
 env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   tools=["default", "compilation_db"],

board/boards/black.h

@@ -1,8 +1,12 @@
+#pragma once
+
+#include "board_declarations.h"
+
 // /////////////////////////////// //
 // Black Panda (STM32F4) + Harness //
 // /////////////////////////////// //
 
-void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+static void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
     case 1U:
       set_gpio_output(GPIOC, 1, !enabled);
@@ -22,7 +26,7 @@ void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void black_enable_can_transceivers(bool enabled) {
+static void black_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
     // Leave main CAN always on for CAN-based ignition detection
     if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
@@ -33,7 +37,7 @@ void black_enable_can_transceivers(bool enabled) {
   }
 }
 
-void black_set_led(uint8_t color, bool enabled) {
+static void black_set_led(uint8_t color, bool enabled) {
   switch (color){
     case LED_RED:
       set_gpio_output(GPIOC, 9, !enabled);
@@ -49,11 +53,11 @@ void black_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void black_set_usb_load_switch(bool enabled) {
+static void black_set_usb_load_switch(bool enabled) {
   set_gpio_output(GPIOB, 1, !enabled);
 }
 
-void black_set_can_mode(uint8_t mode) {
+static void black_set_can_mode(uint8_t mode) {
   black_enable_can_transceiver(2U, false);
   black_enable_can_transceiver(4U, false);
   switch (mode) {
@@ -86,12 +90,12 @@ void black_set_can_mode(uint8_t mode) {
   }
 }
 
-bool black_check_ignition(void){
+static bool black_check_ignition(void){
   // ignition is checked through harness
   return harness_check_ignition();
 }
 
-void black_init(void) {
+static void black_init(void) {
   common_init_gpio();
 
   // A8,A15: normal CAN3 mode
@@ -135,13 +139,13 @@ void black_init(void) {
   black_set_can_mode(CAN_MODE_NORMAL);
 }
 
-void black_init_bootloader(void) {
+static void black_init_bootloader(void) {
   // GPS OFF
   set_gpio_output(GPIOC, 5, 0);
   set_gpio_output(GPIOC, 12, 0);
 }
 
-harness_configuration black_harness_config = {
+static harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,

board/boards/board_declarations.h

@@ -1,3 +1,8 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
 // ******************** Prototypes ********************
 typedef enum {
   BOOT_STANDBY,
@@ -74,3 +79,12 @@ struct board {
 // CAN modes
 #define CAN_MODE_NORMAL 0U
 #define CAN_MODE_OBD_CAN2 1U
+
+extern struct board board_black;
+extern struct board board_dos;
+extern struct board board_uno;
+extern struct board board_tres;
+extern struct board board_grey;
+extern struct board board_white;
+extern struct board board_cuatro;
+extern struct board board_red;

board/boards/cuatro.h

@@ -1,8 +1,12 @@
+#pragma once
+
+#include "board_declarations.h"
+
 // ////////////////////////// //
 // Cuatro (STM32H7) + Harness //
 // ////////////////////////// //
 
-void cuatro_set_led(uint8_t color, bool enabled) {
+static void cuatro_set_led(uint8_t color, bool enabled) {
   switch (color) {
     case LED_RED:
       set_gpio_output(GPIOD, 15, !enabled);
@@ -18,7 +22,7 @@ void cuatro_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+static void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver) {
     case 1U:
       set_gpio_output(GPIOB, 7, !enabled);
@@ -37,7 +41,7 @@ void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void cuatro_enable_can_transceivers(bool enabled) {
+static void cuatro_enable_can_transceivers(bool enabled) {
   uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
   for (uint8_t i=1U; i<=4U; i++) {
     // Leave main CAN always on for CAN-based ignition detection
@@ -49,25 +53,25 @@ void cuatro_enable_can_transceivers(bool enabled) {
   }
 }
 
-uint32_t cuatro_read_voltage_mV(void) {
+static uint32_t cuatro_read_voltage_mV(void) {
   return adc_get_mV(8) * 11U;
 }
 
-uint32_t cuatro_read_current_mA(void) {
+static uint32_t cuatro_read_current_mA(void) {
   return adc_get_mV(3) * 2U;
 }
 
-void cuatro_set_fan_enabled(bool enabled) {
+static void cuatro_set_fan_enabled(bool enabled) {
   set_gpio_output(GPIOD, 3, !enabled);
 }
 
-void cuatro_set_bootkick(BootState state) {
+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);
 }
 
-void cuatro_init(void) {
+static void cuatro_init(void) {
   red_chiplet_init();
 
   // init LEDs as open drain

board/boards/dos.h

@@ -1,8 +1,12 @@
+#pragma once
+
+#include "board_declarations.h"
+
 // /////////////////////// //
 // Dos (STM32F4) + Harness //
 // /////////////////////// //
 
-void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+static void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
     case 1U:
       set_gpio_output(GPIOC, 1, !enabled);
@@ -22,7 +26,7 @@ void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void dos_enable_can_transceivers(bool enabled) {
+static void dos_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
     // Leave main CAN always on for CAN-based ignition detection
     if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
@@ -33,7 +37,7 @@ void dos_enable_can_transceivers(bool enabled) {
   }
 }
 
-void dos_set_led(uint8_t color, bool enabled) {
+static void dos_set_led(uint8_t color, bool enabled) {
   switch (color){
     case LED_RED:
       set_gpio_output(GPIOC, 9, !enabled);
@@ -49,11 +53,11 @@ void dos_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void dos_set_bootkick(BootState state) {
+static void dos_set_bootkick(BootState state) {
   set_gpio_output(GPIOC, 4, state != BOOT_BOOTKICK);
 }
 
-void dos_set_can_mode(uint8_t mode) {
+static void dos_set_can_mode(uint8_t mode) {
   dos_enable_can_transceiver(2U, false);
   dos_enable_can_transceiver(4U, false);
   switch (mode) {
@@ -85,28 +89,28 @@ void dos_set_can_mode(uint8_t mode) {
   }
 }
 
-bool dos_check_ignition(void){
+static bool dos_check_ignition(void){
   // ignition is checked through harness
   return harness_check_ignition();
 }
 
-void dos_set_ir_power(uint8_t percentage){
+static void dos_set_ir_power(uint8_t percentage){
   pwm_set(TIM4, 2, percentage);
 }
 
-void dos_set_fan_enabled(bool enabled){
+static void dos_set_fan_enabled(bool enabled){
   set_gpio_output(GPIOA, 1, enabled);
 }
 
-void dos_set_siren(bool enabled){
+static void dos_set_siren(bool enabled){
   set_gpio_output(GPIOC, 12, enabled);
 }
 
-bool dos_read_som_gpio (void){
+static bool dos_read_som_gpio (void){
   return (get_gpio_input(GPIOC, 2) != 0);
 }
 
-void dos_init(void) {
+static void dos_init(void) {
   common_init_gpio();
 
   // A8,A15: normal CAN3 mode
@@ -166,7 +170,7 @@ void dos_init(void) {
   clock_source_init();
 }
 
-harness_configuration dos_harness_config = {
+static harness_configuration dos_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,

board/boards/grey.h

@@ -1,3 +1,7 @@
+#pragma once
+
+#include "board_declarations.h"
+
 // //////////////////// //
 // Grey Panda (STM32F4) //
 // //////////////////// //