Merge remote-tracking branch 'commaai/panda/master' into palisade-202…

…3-port-2 # Conflicts: # Dockerfile
commaai · Dec 7, 2024 · 7efe558 · 7efe558
2 parents 5725b14 + c7cc2de
commit 7efe558
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diff --git a/.github/workflows/drivers.yaml b/.github/workflows/drivers.yaml
@@ -1,5 +1,9 @@
 name: drivers
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
 
 jobs:
   build_socketcan:

diff --git a/.github/workflows/test.yaml b/.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:
@@ -97,12 +99,37 @@ 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"
 
+  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

diff --git a/.gitignore b/.gitignore
@@ -29,3 +29,7 @@ nosetests.xml
 *.gcno
 tests/safety/coverage-out
 tests/safety/coverage.info
+
+*.profraw
+*.profdata
+mull.yml
diff --git a/.pre-commit-config.yaml b/.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
diff --git a/Dockerfile b/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/
@@ -31,7 +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="d68fdc4eb47100a41f770273bf6d32d2b3c19a51"
+ENV OPENDBC_REF="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
 RUN cd /tmp/ && \
     git clone --depth 1 https://github.com/sunnypilot/opendbc opendbc_repo && \
     cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \

diff --git a/Jenkinsfile b/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'"],
                 ])
               }

diff --git a/README.md b/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

diff --git a/SConstruct b/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"],

diff --git a/board/boards/black.h b/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
 };
diff --git a/board/boards/board_declarations.h b/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 ********************

diff --git a/board/boards/cuatro.h b/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
 };
diff --git a/board/boards/dos.h b/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
 };
diff --git a/board/boards/grey.h b/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
 };
diff --git a/board/boards/red.h b/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
 };
diff --git a/board/boards/tres.h b/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
 };
diff --git a/board/boards/uno.h b/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
 };
diff --git a/board/boards/unused_funcs.h b/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);
+}
diff --git a/board/boards/white.h b/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
 };
diff --git a/board/can_declarations.h b/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;

diff --git a/board/drivers/beeper.h b/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;
+}
diff --git a/board/drivers/bxcan.h b/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

diff --git a/board/drivers/can_common.h b/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)

diff --git a/board/drivers/can_common_declarations.h b/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;