Merge branch 'upstream/panda/master' into palisade-2023-port-1

.github/workflows/drivers.yaml

@@ -4,7 +4,7 @@ on: [push, pull_request]
 jobs:
   build_socketcan:
     name: socketcan build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 5
     steps:
       - uses: actions/checkout@v2

.github/workflows/repo.yml

@@ -2,13 +2,13 @@ name: repo
 
 on:
   schedule:
-    - cron: "0 15 * * 2"
+    - cron: "0 15 1 * *"
   workflow_dispatch:
 
 jobs:
   pre-commit-autoupdate:
     name: pre-commit autoupdate
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/panda:latest
     steps:

.github/workflows/test.yaml

@@ -21,7 +21,7 @@ env:
 jobs:
   docker_push:
     name: docker push
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/panda'
     steps:
@@ -38,7 +38,7 @@ jobs:
 
   build:
     name: build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
       - uses: actions/checkout@v2
@@ -57,7 +57,7 @@ jobs:
 
   unit_tests:
     name: unit tests
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
       - uses: actions/checkout@v2
@@ -70,7 +70,7 @@ jobs:
 
   safety:
     name: safety
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       matrix:
         flags: ['', '--ubsan']
@@ -82,16 +82,13 @@ jobs:
       - name: Run safety tests
         timeout-minutes: 5
         run: |
-          ${{ env.RUN }} "cd .. && \
-                          scons -c && \
-                          scons -j$(nproc) opendbc/ cereal/ && \
-                          cd panda && \
+          ${{ env.RUN }} "scons -c -j$(nproc) && \
                           scons -j$(nproc) ${{ matrix.flags }} && \
                           tests/safety/test.sh"
 
   misra:
     name: MISRA C:2012
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
       - uses: actions/checkout@v2
@@ -103,12 +100,12 @@ jobs:
         timeout-minutes: 1
         run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
       - name: MISRA mutation tests
-        timeout-minutes: 4
+        timeout-minutes: 5
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"
 
   python_linter:
     name: python linter
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
       - uses: actions/checkout@v2

.pre-commit-config.yaml

@@ -9,12 +9,12 @@ repos:
     - id: check-executables-have-shebangs
     - id: check-shebang-scripts-are-executable
 - repo: https://github.com/pre-commit/mirrors-mypy
-  rev: v1.9.0
+  rev: v1.10.0
   hooks:
     - id: mypy
       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: v0.3.5
+  rev: v0.4.7
   hooks:
     - id: ruff

Dockerfile

@@ -1,44 +1,36 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
+
 ENV PYTHONUNBUFFERED 1
 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    autoconf \
-    automake \
+    make \
     bzip2 \
     ca-certificates \
     capnproto \
     clang \
-    curl \
     g++ \
     gcc-arm-none-eabi libnewlib-arm-none-eabi \
     git \
     libarchive-dev \
-    libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev libavfilter-dev \
     libbz2-dev \
     libcapnp-dev \
-    libcurl4-openssl-dev \
     libffi-dev \
     libtool \
-    libssl-dev \
-    libsqlite3-dev \
     libusb-1.0-0 \
     libzmq3-dev \
     locales \
     opencl-headers \
     ocl-icd-opencl-dev \
-    make \
-    patch \
-    pkg-config \
-    python \
-    python-dev \
-    qt5-default \
-    unzip \
-    wget \
+    python3 \
+    python3-dev \
+    python3-pip \
+    python-is-python3 \
     zlib1g-dev \
  && rm -rf /var/lib/apt/lists/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    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
 
@@ -47,43 +39,27 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-
-ENV PANDA_PATH=/tmp/openpilot/panda
-ENV OPENPILOT_REF="bc4b75822a609e6897058bc83688c84004f29093"
-ENV OPENDBC_REF="1745ab51825055cd18748013c4a5e3377319e390"
-
 COPY requirements.txt /tmp/
-RUN pyenv install 3.11.4 && \
-    pyenv global 3.11.4 && \
-    pyenv rehash && \
-    pip install --no-cache-dir -r /tmp/requirements.txt
+RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
 
 ENV CPPCHECK_DIR=/tmp/cppcheck
 COPY tests/misra/install.sh /tmp/
-RUN /tmp/install.sh
-
-RUN git config --global --add safe.directory /tmp/openpilot/panda
-RUN cd /tmp && \
-    git clone https://github.com/commaai/openpilot.git tmppilot || true && \
-    cd /tmp/tmppilot && \
-    git fetch origin $OPENPILOT_REF && \
-    git checkout $OPENPILOT_REF && \
-    git submodule update --init cereal opendbc rednose_repo body && \
-    git -C opendbc fetch && \
-    git -C opendbc checkout $OPENDBC_REF && \
-    git -C opendbc reset --hard HEAD && \
-    git -C opendbc clean -xfd && \
-    mkdir /tmp/openpilot && \
-    cp -pR SConstruct site_scons/ tools/ selfdrive/ system/ common/ cereal/ opendbc/ rednose/ third_party/ body/ /tmp/openpilot && \
-    rm -rf /tmp/openpilot/panda && \
-    rm -rf /tmp/tmppilot
+RUN /tmp/install.sh && rm -rf $CPPCHECK_DIR/.git/
+ENV SKIP_CPPCHECK_INSTALL=1
 
-RUN cd /tmp/openpilot && \
-    pip install --no-cache-dir -r opendbc/requirements.txt && \
-    pip install --no-cache-dir --upgrade aenum lru-dict pycurl tenacity atomicwrites serial smbus2
+ENV CEREAL_REF="861144c136c91f70dcbc652c2ffe99f57440ad47"
+ENV OPENDBC_REF="e0d4be4a6215d44809718dc84efe1b9f0299ad63"
 
+RUN git config --global --add safe.directory /tmp/openpilot/panda
+RUN mkdir -p /tmp/openpilot/ && \
+    cd /tmp/openpilot/ && \
+    git clone --depth 1 https://github.com/commaai/cereal && \
+    git clone --depth 1 https://github.com/commaai/opendbc && \
+    cd cereal && git fetch origin $CEREAL_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
+    cd opendbc && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
+    cp -pR opendbc/SConstruct opendbc/site_scons/ . && \
+    pip3 install --break-system-packages --no-cache-dir -r opendbc/requirements.txt && \
+    scons -j8 --minimal opendbc/ cereal/
 
 # for Jenkins
 COPY README.md panda.tar.* /tmp/

README.md

@@ -28,7 +28,7 @@ The panda firmware is written for its use in conjuction with [openpilot](https:/
 
 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/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/debug/README.md

@@ -11,7 +11,7 @@ Connect an ST-Link V2 programmer to the SWD pins on the board. The pins that nee
 Make sure you're using a genuine one for boards that do not have a 3.3V panda power rail. For example, the tres runs at 1.8V, which is not supported by the clones.
 
 ## Openocd
-Install openocd. For Ubuntu 20.04, the one in the package manager works fine: `sudo apt install openocd`.
+Install openocd. For Ubuntu 24.04, the one in the package manager works fine: `sudo apt install openocd`.
 
 To run, use `./debug_f4.sh (TODO)` or `./debug_h7.sh` depending on the panda.
 

board/drivers/bootkick.h

@@ -29,7 +29,7 @@ void bootkick_tick(bool ignition, bool recent_heartbeat) {
     * once BOOT_RESET is triggered, it stays until countdown is finished
   */
   if (!bootkick_reset_triggered && (boot_state == BOOT_BOOTKICK) && (boot_state_prev == BOOT_STANDBY)) {
-    waiting_to_boot_countdown = 45U;
+    waiting_to_boot_countdown = 20U;
   }
   if (waiting_to_boot_countdown > 0U) {
     bool serial_activity = uart_ring_som_debug.w_ptr_tx != bootkick_last_serial_ptr;

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):