Merge remote-tracking branch 'sunnypilot/master' into HEAD

.github/workflows/repo.yml

@@ -2,7 +2,7 @@ name: repo
 
 on:
   schedule:
-    - cron: "0 15 * * 2"
+    - cron: "0 15 1 * *"
   workflow_dispatch:
 
 jobs:

.pre-commit-config.yaml

@@ -15,6 +15,6 @@ repos:
       additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.4.2
+  rev: v0.4.7
   hooks:
     - id: ruff

Jenkinsfile

@@ -73,56 +73,57 @@ pipeline {
   }
 
   stages {
-    stage('panda tests') {
-      parallel {
-        stage('test dos') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+    stage ('Acquire resource locks') {
+      options {
+        lock(resource: "pandas")
+      }
+      stages {
+        stage('Build Docker Image') {
           steps {
-            phone_steps("panda-dos", [
-              ["build", "scons -j4"],
-              ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-              ["flash jungle", "cd board/jungle && ./flash.py"],
-              ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
-            ])
+            timeout(time: 20, unit: 'MINUTES') {
+              script {
+                sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
+                dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
+              }
+            }
           }
         }
-
-        stage('test tres') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+        stage('jungle tests') {
           steps {
-            phone_steps("panda-tres", [
-              ["build", "scons -j4"],
-              ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-              ["flash jungle", "cd board/jungle && ./flash.py"],
-              ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
-            ])
+            script {
+              retry (3) {
+                docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
+              }
+            }
           }
         }
 
-        stage ('Acquire resource locks') {
-          options {
-            lock(resource: "pandas")
-          }
-          stages {
-            stage('Build Docker Image') {
+        stage('parallel tests') {
+          parallel {
+            stage('test tres') {
+              agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
               steps {
-                timeout(time: 20, unit: 'MINUTES') {
-                  script {
-                    sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
-                    dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
-                  }
-                }
+                phone_steps("panda-tres", [
+                  ["build", "scons -j4"],
+                  ["flash", "cd tests/ && ./reflash_internal_panda.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
+                ])
               }
             }
-            stage('jungle tests') {
+
+            stage('test dos') {
+              agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
               steps {
-                script {
-                  retry (3) {
-                    docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
-                  }
-                }
+                phone_steps("panda-dos", [
+                  ["build", "scons -j4"],
+                  ["flash", "cd tests/ && ./reflash_internal_panda.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
+                ])
               }
             }
+
             stage('bootkick tests') {
               steps {
                 script {

README.md

@@ -23,12 +23,12 @@ Safety modes optionally support `controls_allowed`, which allows or blocks a sub
 
 ## Code Rigor
 
-The panda firmware is written for its use in conjuction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
+The panda firmware is written for its use in conjunction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
 [openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
 
 These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
 * A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
-* In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
+* In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://misra.org.uk/) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
 * Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
 * The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant.
 to ensure that the behavior remains unchanged.
@@ -78,7 +78,8 @@ For example, to receive CAN messages:
 ```
 And to send one on bus 0:
 ``` python
->>> panda.can_send(0x1aa, "message", 0)
+>>> panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+>>> panda.can_send(0x1aa, b'message', 0)
 ```
 Note that you may have to setup [udev rules](https://github.com/commaai/panda/tree/master/drivers/linux) for Linux, such as
 ``` bash

SConscript

@@ -84,8 +84,6 @@ def build_project(project_name, project, extra_flags):
     '..',
     panda_root,
     f"{panda_root}/board/",
-    f"{panda_root}/board/stm32f4/inc",
-    f"{panda_root}/board/stm32h7/inc",
   ]
 
   env = Environment(
@@ -138,6 +136,7 @@ base_project_f4 = {
     "-mhard-float",
     "-DSTM32F4",
     "-DSTM32F413xx",
+    "-Iboard/stm32f4/inc",
     "-mfpu=fpv4-sp-d16",
     "-fsingle-precision-constant",
     "-Os",
@@ -155,6 +154,7 @@ base_project_h7 = {
     "-mhard-float",
     "-DSTM32H7",
     "-DSTM32H725xx",
+    "-Iboard/stm32h7/inc",
     "-mfpu=fpv5-d16",
     "-fsingle-precision-constant",
     "-Os",

board/SConscript

@@ -15,7 +15,4 @@ for project_name, project in build_projects.items():
   if ("ENABLE_SPI" in os.environ or "h7" in project_name):
     flags.append('-DENABLE_SPI')
 
-  if "H723" in os.environ:
-    flags.append('-DSTM32H723')
-
   build_project(project_name, project, flags)

board/can_comms.h

@@ -63,7 +63,7 @@ void comms_can_write(const uint8_t *data, uint32_t len) {
   if (can_write_buffer.ptr != 0U) {
     if (can_write_buffer.tail_size <= (len - pos)) {
       // we have enough data to complete the buffer
-      CANPacket_t to_push;
+      CANPacket_t to_push = {0};
       (void)memcpy(&can_write_buffer.data[can_write_buffer.ptr], &data[pos], can_write_buffer.tail_size);
       can_write_buffer.ptr += can_write_buffer.tail_size;
       pos += can_write_buffer.tail_size;
@@ -89,7 +89,7 @@ void comms_can_write(const uint8_t *data, uint32_t len) {
   while (pos < len) {
     uint32_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[(data[pos] >> 4U)];
     if ((pos + pckt_len) <= len) {
-      CANPacket_t to_push;
+      CANPacket_t to_push = {0};
       (void)memcpy(&to_push, &data[pos], pckt_len);
       can_send(&to_push, to_push.bus, false);
       pos += pckt_len;

board/drivers/can_common.h

@@ -197,10 +197,10 @@ void can_set_forwarding(uint8_t from, uint8_t to) {
 
 void ignition_can_hook(CANPacket_t *to_push) {
   int bus = GET_BUS(to_push);
-  int addr = GET_ADDR(to_push);
-  int len = GET_LEN(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/registers.h

@@ -44,13 +44,13 @@ void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask){
 // Set individual bits. Also add them to the check_mask.
 // Do not use this to change bits that get reset by the hardware
 void register_set_bits(volatile uint32_t *addr, uint32_t val) {
-  return register_set(addr, val, val);
+  register_set(addr, val, val);
 }
 
 // Clear individual bits. Also add them to the check_mask.
 // Do not use this to clear bits that get set by the hardware
 void register_clear_bits(volatile uint32_t *addr, uint32_t val) {
-  return register_set(addr, (~val), val);
+  register_set(addr, (~val), val);
 }
 
 // To be called periodically

board/drivers/spi.h

@@ -43,7 +43,7 @@ uint16_t spi_data_len_miso;
 uint16_t spi_checksum_error_count = 0;
 bool spi_can_tx_ready = false;
 
-const char version_text[] = "VERSION";
+const unsigned char version_text[] = "VERSION";
 
 #define SPI_HEADER_SIZE 7U
 
@@ -152,7 +152,7 @@ void spi_rx_done(void) {
     if (checksum_valid) {
       if (spi_endpoint == 0U) {
         if (spi_data_len_mosi >= sizeof(ControlPacket_t)) {
-          ControlPacket_t ctrl;
+          ControlPacket_t ctrl = {0};
           (void)memcpy(&ctrl, &spi_buf_rx[SPI_HEADER_SIZE], sizeof(ControlPacket_t));
           response_len = comms_control_handler(&ctrl, &spi_buf_tx[3]);
           response_ack = true;
@@ -182,6 +182,10 @@ void spi_rx_done(void) {
         } else {
           print("SPI: did expect data for can_write\n");
         }
+      } else if (spi_endpoint == 0xABU) {
+        // test endpoint, send max response length
+        response_len = spi_data_len_miso;
+        response_ack = true;
       } else {
         print("SPI: unexpected endpoint"); puth(spi_endpoint); print("\n");
       }

board/early_init.h

@@ -6,10 +6,15 @@
 extern void *g_pfnVectors;
 extern uint32_t enter_bootloader_mode;
 
+typedef void (*bootloader_fcn)(void);
+typedef bootloader_fcn *bootloader_fcn_ptr;
+
 void jump_to_bootloader(void) {
   // do enter bootloader
   enter_bootloader_mode = 0;
-  void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)BOOTLOADER_ADDRESS));
+
+  bootloader_fcn_ptr bootloader_ptr = (bootloader_fcn_ptr)BOOTLOADER_ADDRESS;
+  bootloader_fcn bootloader = *bootloader_ptr;
 
   // jump to bootloader
   enable_interrupts();

board/jungle/__init__.py

@@ -148,6 +148,9 @@ def set_ignition(self, enabled):
   def set_can_silent(self, silent):
     self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xf5, int(silent), 0, b'')
 
+  def set_generated_can(self, enabled):
+    self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa4, int(enabled), 0, b'')
+
   # ******************* serial *******************
 
   def debug_read(self):

board/jungle/main.c

@@ -52,6 +52,14 @@ uint32_t loop_counter = 0U;
 uint16_t button_press_cnt = 0U;
 void tick_handler(void) {
   if (TICK_TIMER->SR != 0) {
+    if (generated_can_traffic) {
+      for (int i = 0; i < 3; i++) {
+        if (can_health[i].transmit_error_cnt >= 128) {
+          (void)llcan_init(CANIF_FROM_CAN_NUM(i));
+        }
+      }
+    }
+
     // tick drivers at 8Hz
     usb_tick();
 
@@ -148,10 +156,7 @@ int main(void) {
   print("\n\n\n************************ MAIN START ************************\n");
 
   // check for non-supported board types
-  if (hw_type == HW_TYPE_UNKNOWN) {
-    print("Unsupported board type\n");
-    while (1) { /* hang */ }
-  }
+  assert_fatal(hw_type != HW_TYPE_UNKNOWN, "Unsupported board type\n");
 
   print("Config:\n");
   print("  Board type: 0x"); puth(hw_type); print("\n");
@@ -193,8 +198,32 @@ int main(void) {
 #endif
 
   // LED should keep on blinking all the time
-  uint64_t cnt = 0;
+  uint32_t cnt = 0;
   for (cnt=0;;cnt++) {
+    if (generated_can_traffic) {
+      // fill up all the queues
+      can_ring *qs[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q};
+      for (int j = 0; j < 3; j++) {
+        for (uint16_t n = 0U; n < can_slots_empty(qs[j]); n++) {
+          uint16_t i = cnt % 100U;
+          CANPacket_t to_send;
+          to_send.returned = 0U;
+          to_send.rejected = 0U;
+          to_send.extended = 0U;
+          to_send.addr = 0x200U + i;
+          to_send.bus = i % 3U;
+          to_send.data_len_code = i % 8U;
+          (void)memcpy(to_send.data, "\xff\xff\xff\xff\xff\xff\xff\xff", dlc_to_len[to_send.data_len_code]);
+          can_set_checksum(&to_send);
+
+          can_send(&to_send, to_send.bus, true);
+        }
+      }
+
+      delay(1000);
+      continue;
+    }
+
     // useful for debugging, fade breaks = panda is overloaded
     for (uint32_t fade = 0U; fade < MAX_LED_FADE; fade += 1U) {
       current_board->set_led(LED_RED, true);

board/jungle/main_comms.h

@@ -1,5 +1,7 @@
 extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
 
+bool generated_can_traffic = false;
+
 int get_jungle_health_pkt(void *dat) {
   COMPILE_TIME_ASSERT(sizeof(struct jungle_health_t) <= USBPACKET_MAX_SIZE);
   struct jungle_health_t * health = (struct jungle_health_t*)dat;
@@ -58,10 +60,14 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xa2:
       current_board->set_ignition((req->param1 == 1U));
       break;
-    // **** 0xa0: Set panda power per channel by bitmask.
+    // **** 0xa3: Set panda power per channel by bitmask.
     case 0xa3:
       current_board->set_panda_individual_power(req->param1, (req->param2 > 0U));
       break;
+    // **** 0xa4: Enable generated CAN traffic.
+    case 0xa4:
+      generated_can_traffic = (req->param1 > 0U);
+      break;
     // **** 0xa8: get microsecond timer
     case 0xa8:
       time = microsecond_timer_get();

board/libc.h

@@ -5,6 +5,16 @@ void delay(uint32_t a) {
   for (i = 0; i < a; i++);
 }
 
+void assert_fatal(bool condition, const char *msg) {
+  if (!condition) {
+    print("ASSERT FAILED\n");
+    print(msg);
+    while (1) {
+      // hang
+    }
+  }
+}
+
 // cppcheck-suppress misra-c2012-21.2
 void *memset(void *str, int c, unsigned int n) {
   uint8_t *s = str;