Merge remote-tracking branch 'commaai/panda/master' into hyundai-fwd-…

…hook

.github/workflows/drivers.yaml

@@ -1,5 +1,9 @@
 name: drivers
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
 
 jobs:
   build_socketcan:

.github/workflows/test.yaml

@@ -54,6 +54,8 @@ jobs:
         run: ${{ env.RUN }} "scons -j4 --ubsan"
       - name: Build jungle firmware with FINAL_PROVISIONING support
         run: ${{ env.RUN }} "FINAL_PROVISIONING=1 scons -j4 board/jungle"
+      - name: Build panda in release mode
+        run: ${{ env.RUN }} "CERT=certs/debug RELEASE=1 scons -j4"
 
   unit_tests:
     name: unit tests
@@ -86,8 +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:
@@ -97,8 +99,19 @@ jobs:
       - name: Build FW
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Run MISRA C:2012 analysis
-        timeout-minutes: 1
+        timeout-minutes: 2
         run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
+
+  misra_mutation:
+    name: MISRA C:2012 Mutation
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$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"

.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

@@ -37,7 +37,7 @@ 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="5ed7a834a4e0e24c3968dd1e98ceb4b9d5f9791a"
+ENV OPENDBC_REF="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
 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/ && \

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
 };

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 ********************

board/boards/cuatro.h

@@ -12,7 +12,7 @@ static void cuatro_set_led(uint8_t color, bool enabled) {
       set_gpio_output(GPIOD, 15, !enabled);
       break;
     case LED_GREEN:
-      set_gpio_output(GPIOD, 14, !enabled);
+      set_gpio_output(GPIOB, 2, !enabled);
       break;
     case LED_BLUE:
       set_gpio_output(GPIOE, 2, !enabled);
@@ -71,14 +71,26 @@ 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);
+}
+
 static void cuatro_init(void) {
   red_chiplet_init();
 
   // init LEDs as open drain
   set_gpio_output_type(GPIOE, 2, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOD, 14, OUTPUT_TYPE_OPEN_DRAIN);
+  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);
@@ -120,6 +132,21 @@ 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
+  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 = {
@@ -142,8 +169,9 @@ 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_siren = unused_set_siren,
+  .set_ir_power = unused_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
 };

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
 };

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
 };

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
 };

board/boards/tres.h

@@ -69,7 +69,6 @@ static void tres_init(void) {
   set_gpio_alternate(GPIOC, 10, GPIO_AF4_I2C5);
   set_gpio_alternate(GPIOC, 11, GPIO_AF4_I2C5);
   register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT10 | GPIO_OTYPER_OT11); // open drain
-  fake_siren_init();
 
   // Clock source
   clock_source_init();
@@ -98,5 +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
 };

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
 };

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);
+}

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
 };

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;

board/drivers/beeper.h

@@ -0,0 +1,26 @@
+
+#define BEEPER_COUNTER_OVERFLOW 25000U // 4kHz
+
+void beeper_enable(bool enabled) {
+  if (enabled) {
+    register_set_bits(&(TIM4->CCER), TIM_CCER_CC3E);
+  } else {
+    register_clear_bits(&(TIM4->CCER), TIM_CCER_CC3E);
+  }
+}
+
+void beeper_init(void) {
+  // Enable timer and auto-reload
+  register_set(&(TIM4->CR1), TIM_CR1_CEN | TIM_CR1_ARPE, 0x3FU);
+
+  // Set channel as PWM mode 1 and disable output
+  register_set_bits(&(TIM4->CCMR2), (TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3PE));
+  beeper_enable(false);
+
+  // Set max counter value and compare to get 50% duty
+  register_set(&(TIM4->CCR3), BEEPER_COUNTER_OVERFLOW / 2U, 0xFFFFU);
+  register_set(&(TIM4->ARR), BEEPER_COUNTER_OVERFLOW, 0xFFFFU);
+
+  // Update registers and clear counter
+  TIM4->EGR |= TIM_EGR_UG;
+}

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

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)

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;

board/drivers/fake_siren.h

@@ -2,6 +2,8 @@
 
 #define CODEC_I2C_ADDR 0x10
 
+void fake_siren_init(void);
+
 void fake_siren_codec_enable(bool enabled) {
   if (enabled) {
     bool success = true;
@@ -28,8 +30,14 @@ void fake_siren_codec_enable(bool enabled) {
 
 
 void fake_siren_set(bool enabled) {
+  static bool initialized = false;
   static bool fake_siren_enabled = false;
 
+  if (!initialized) {
+    fake_siren_init();
+    initialized = true;
+  }
+
   if (enabled != fake_siren_enabled) {
     fake_siren_codec_enable(enabled);
   }

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;
@@ -168,16 +173,17 @@ 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;
     to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
     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;