Merge branch 'upstream/panda/master' into palisade-2023-port-2

README.md

@@ -22,7 +22,7 @@ pip install -r requirements.txt
 
 # macOS
 brew tap ArmMbed/homebrew-formulae
-brew install python dfu-util arm-none-eabi-gcc
+brew install python dfu-util arm-none-eabi-gcc gcc@12
 pip install -r requirements.txt
 ```
 

board/boards/black.h

@@ -191,6 +191,9 @@ const board board_black = {
   .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .adc_scale = 8862U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = black_init,
   .enable_can_transceiver = black_enable_can_transceiver,
   .enable_can_transceivers = black_enable_can_transceivers,
@@ -204,4 +207,4 @@ const board board_black = {
   .set_phone_power = unused_set_phone_power,
   .set_siren = unused_set_siren,
   .read_som_gpio = unused_read_som_gpio
-};
+};

board/boards/board_declarations.h

@@ -25,6 +25,9 @@ struct board {
   const bool has_canfd;
   const bool has_rtc_battery;
   const uint16_t fan_max_rpm;
+  const uint16_t adc_scale;
+  const bool fan_stall_recovery;
+  const uint8_t fan_enable_cooldown_time;
   board_init init;
   board_enable_can_transceiver enable_can_transceiver;
   board_enable_can_transceivers enable_can_transceivers;

board/boards/dos.h

@@ -140,12 +140,8 @@ void dos_init(void) {
   set_gpio_output(GPIOC, 11, 1);
 
 #ifdef ENABLE_SPI
-  // A4-A7: SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-  register_set_bits(&(GPIOA->OSPEEDR), GPIO_OSPEEDER_OSPEEDR4 | GPIO_OSPEEDER_OSPEEDR5 | GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7);
+  // SPI init
+  gpio_spi_init();
 #endif
 
   // C8: FAN PWM aka TIM3_CH3
@@ -219,6 +215,9 @@ const board board_dos = {
   .has_canfd = false,
   .has_rtc_battery = true,
   .fan_max_rpm = 6500U,
+  .adc_scale = 8862U,
+  .fan_stall_recovery = true,
+  .fan_enable_cooldown_time = 0U,
   .init = dos_init,
   .enable_can_transceiver = dos_enable_can_transceiver,
   .enable_can_transceivers = dos_enable_can_transceivers,

board/boards/grey.h

@@ -45,6 +45,9 @@ const board board_grey = {
   .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .adc_scale = 8862U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = grey_init,
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,

board/boards/pedal.h

@@ -83,6 +83,9 @@ const board board_pedal = {
   .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .adc_scale = 8862U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = pedal_init,
   .enable_can_transceiver = pedal_enable_can_transceiver,
   .enable_can_transceivers = pedal_enable_can_transceivers,

board/boards/red.h

@@ -178,6 +178,9 @@ const board board_red = {
   .has_canfd = true,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .adc_scale = 5539U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = red_init,
   .enable_can_transceiver = red_enable_can_transceiver,
   .enable_can_transceivers = red_enable_can_transceivers,

board/boards/red_chiplet.h

@@ -70,13 +70,10 @@ void red_chiplet_init(void) {
   set_gpio_pullup(GPIOD, 3, PULL_NONE);
   set_gpio_mode(GPIOD, 3, MODE_OUTPUT);
 
-  //B0: 5VOUT_S
+  // B0: 5VOUT_S
   set_gpio_pullup(GPIOB, 0, PULL_NONE);
   set_gpio_mode(GPIOB, 0, MODE_ANALOG);
 
-  // Turn on USB load switch.
-  red_chiplet_set_fan_or_usb_load_switch(true);
-
   // Initialize harness
   harness_init();
 

board/boards/red_v2.h

@@ -2,6 +2,14 @@
 // Red Panda V2 with chiplet + Harness //
 // ///////////////////// //
 
+void red_panda_v2_init(void) {
+  // common chiplet init
+  red_chiplet_init();
+
+  // Turn on USB load switch
+  red_chiplet_set_fan_or_usb_load_switch(true);
+}
+
 const board board_red_v2 = {
   .board_type = "Red_v2",
   .board_tick = unused_board_tick,
@@ -14,7 +22,10 @@ const board board_red_v2 = {
   .has_canfd = true,
   .has_rtc_battery = true,
   .fan_max_rpm = 0U,
-  .init = red_chiplet_init,
+  .adc_scale = 5539U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
+  .init = red_panda_v2_init,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,

board/boards/tres.h

@@ -62,11 +62,7 @@ void tres_init(void) {
   uart_init(&uart_ring_som_debug, 115200);
 
   // SPI init
-  set_gpio_alternate(GPIOE, 11, GPIO_AF5_SPI4);
-  set_gpio_alternate(GPIOE, 12, GPIO_AF5_SPI4);
-  set_gpio_alternate(GPIOE, 13, GPIO_AF5_SPI4);
-  set_gpio_alternate(GPIOE, 14, GPIO_AF5_SPI4);
-  register_set_bits(&(GPIOE->OSPEEDR), GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12 | GPIO_OSPEEDR_OSPEED13 | GPIO_OSPEEDR_OSPEED14);
+  gpio_spi_init();
 
   // fan setup
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
@@ -97,7 +93,10 @@ const board board_tres = {
   .has_spi = true,
   .has_canfd = true,
   .has_rtc_battery = true,
-  .fan_max_rpm = 6500U,  // TODO: verify this, copied from dos
+  .fan_max_rpm = 6600U,
+  .adc_scale = 3021U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 3U,
   .init = tres_init,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,

board/boards/uno.h

@@ -215,7 +215,7 @@ void uno_init(void) {
   }
 
   // Switch to phone usb mode if harness connection is powered by less than 7V
-  if(adc_get_voltage() < 7000U){
+  if(adc_get_voltage(current_board->adc_scale) < 7000U){
     uno_set_usb_switch(true);
   } else {
     uno_set_usb_switch(false);
@@ -251,6 +251,9 @@ const board board_uno = {
   .has_canfd = false,
   .has_rtc_battery = true,
   .fan_max_rpm = 5100U,
+  .adc_scale = 8862U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = uno_init,
   .enable_can_transceiver = uno_enable_can_transceiver,
   .enable_can_transceivers = uno_enable_can_transceivers,

board/boards/white.h

@@ -214,7 +214,7 @@ void white_grey_common_init(void) {
   white_set_can_mode(CAN_MODE_NORMAL);
 
   // Init usb power mode
-  uint32_t voltage = adc_get_voltage();
+  uint32_t voltage = adc_get_voltage(current_board->adc_scale);
   // Init in CDP mode only if panda is powered by 12V.
   // Otherwise a PC would not be able to flash a standalone panda
   if (voltage > 8000U) {  // 8V threshold
@@ -247,6 +247,9 @@ const board board_white = {
   .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .adc_scale = 8862U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = white_init,
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,

board/drivers/fake_siren.h

@@ -11,8 +11,8 @@ void fake_siren_codec_enable(bool enabled) {
     bool success = false;
     success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2B, (1U << 1)); // Left speaker mix from INA1
     success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2C, (1U << 1)); // Right speaker mix from INA1
-    success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3D, 0x1F, 0b11111); // Left speaker volume
-    success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3E, 0x1F, 0b11111); // Right speaker volume
+    success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3D, 0x17, 0b11111); // Left speaker volume
+    success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3E, 0x17, 0b11111); // Right speaker volume
     success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x37, 0b101, 0b111); // INA gain
     success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x4C, (1U << 7)); // Enable INA
     success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x51, (1U << 7)); // Disable global shutdown

board/drivers/fan.h

@@ -5,6 +5,7 @@ struct fan_state_t {
   uint8_t power;
   float error_integral;
   uint8_t stall_counter;
+  uint8_t cooldown_counter;
 } fan_state_t;
 struct fan_state_t fan_state;
 
@@ -15,6 +16,10 @@ void fan_set_power(uint8_t percentage){
   fan_state.target_rpm = ((current_board->fan_max_rpm * MIN(100U, MAX(0U, percentage))) / 100U);
 }
 
+void fan_reset_cooldown(void){
+  fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * 8U;
+}
+
 // Call this at 8Hz
 void fan_tick(void){
   if (current_board->fan_max_rpm > 0U) {
@@ -24,26 +29,31 @@ void fan_tick(void){
     fan_state.rpm = (fan_rpm_fast + (3U * fan_state.rpm)) / 4U;
 
     // Enable fan if we want it to spin
-    current_board->set_fan_enabled(fan_state.target_rpm > 0U);
+    current_board->set_fan_enabled((fan_state.target_rpm > 0U) || (fan_state.cooldown_counter > 0U));
+    if (fan_state.target_rpm > 0U) {
+      fan_reset_cooldown();
+    }
 
     // Stall detection
-    if (fan_state.power > 0U) {
-      if (fan_rpm_fast == 0U) {
-        fan_state.stall_counter = MIN(fan_state.stall_counter + 1U, 255U);
-      } else {
-        fan_state.stall_counter = 0U;
-      }
+    if (current_board->fan_stall_recovery) {
+      if (fan_state.power > 0U) {
+        if (fan_rpm_fast == 0U) {
+          fan_state.stall_counter = MIN(fan_state.stall_counter + 1U, 255U);
+        } else {
+          fan_state.stall_counter = 0U;
+        }
 
-      if (fan_state.stall_counter > FAN_STALL_THRESHOLD) {
-        // Stall detected, power cycling fan controller
-        current_board->set_fan_enabled(false);
+        if (fan_state.stall_counter > FAN_STALL_THRESHOLD) {
+          // Stall detected, power cycling fan controller
+          current_board->set_fan_enabled(false);
 
-        // clip integral, can't fully reset otherwise we may always be stuck in stall detection
-        fan_state.error_integral = MIN(50.0f, MAX(0.0f, fan_state.error_integral));
+          // clip integral, can't fully reset otherwise we may always be stuck in stall detection
+          fan_state.error_integral = MIN(50.0f, MAX(0.0f, fan_state.error_integral));
+        }
+      } else {
+        fan_state.stall_counter = 0U;
+        fan_state.error_integral = 0.0f;
       }
-    } else {
-      fan_state.stall_counter = 0U;
-      fan_state.error_integral = 0.0f;
     }
 
     // Update controller
@@ -55,5 +65,10 @@ void fan_tick(void){
 
     fan_state.power = MIN(100U, MAX(0U, feedforward + fan_state.error_integral));
     pwm_set(TIM3, 3, fan_state.power);
+
+    // Cooldown counter
+    if (fan_state.cooldown_counter > 0U) {
+      fan_state.cooldown_counter--;
+    }
   }
 }

board/flasher.h

@@ -2,6 +2,8 @@
 uint32_t *prog_ptr = NULL;
 bool unlocked = false;
 
+void spi_init(void);
+
 #ifdef uart_ring
 void debug_ring_callback(uart_ring *ring) {}
 #endif
@@ -41,6 +43,11 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         resp[1] = 0xff;
       }
       break;
+    // **** 0xc1: get hardware type
+    case 0xc1:
+      resp[0] = hw_type;
+      resp_len = 1;
+      break;
     // **** 0xc3: fetch MCU UID
     case 0xc3:
       #ifdef UID_BASE
@@ -289,6 +296,12 @@ void soft_flasher_start(void) {
   // enable USB
   usb_init();
 
+  // enable SPI
+  if (current_board->has_spi) {
+    gpio_spi_init();
+    spi_init();
+  }
+
   // green LED on for flashing
   current_board->set_led(LED_GREEN, 1);
 

board/main_comms.h

@@ -9,7 +9,7 @@ int get_health_pkt(void *dat) {
   struct health_t * health = (struct health_t*)dat;
 
   health->uptime_pkt = uptime_cnt;
-  health->voltage_pkt = adc_get_voltage();
+  health->voltage_pkt = adc_get_voltage(current_board->adc_scale);
   health->current_pkt = current_board->read_current();
 
   //Use the GPIO pin to determine ignition or use a CAN based logic

board/safety.h

@@ -196,7 +196,7 @@ void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {
 bool is_msg_valid(AddrCheckStruct addr_list[], int index) {
   bool valid = true;
   if (index != -1) {
-    if ((!addr_list[index].valid_checksum) || (addr_list[index].wrong_counters >= MAX_WRONG_COUNTERS)) {
+    if (!addr_list[index].valid_checksum || !addr_list[index].valid_quality_flag || (addr_list[index].wrong_counters >= MAX_WRONG_COUNTERS)) {
       valid = false;
       controls_allowed = 0;
     }
@@ -215,7 +215,8 @@ bool addr_safety_check(CANPacket_t *to_push,
                        const addr_checks *rx_checks,
                        uint32_t (*get_checksum)(CANPacket_t *to_push),
                        uint32_t (*compute_checksum)(CANPacket_t *to_push),
-                       uint8_t (*get_counter)(CANPacket_t *to_push)) {
+                       uint8_t (*get_counter)(CANPacket_t *to_push),
+                       bool (*get_quality_flag_valid)(CANPacket_t *to_push)) {
 
   int index = get_addr_check_index(to_push, rx_checks->check, rx_checks->len);
   update_addr_timestamp(rx_checks->check, index);
@@ -237,6 +238,13 @@ bool addr_safety_check(CANPacket_t *to_push,
     } else {
       rx_checks->check[index].wrong_counters = 0U;
     }
+
+    // quality flag check
+    if ((get_quality_flag_valid != NULL) && rx_checks->check[index].msg[rx_checks->check[index].index].quality_flag) {
+      rx_checks->check[index].valid_quality_flag = get_quality_flag_valid(to_push);
+    } else {
+      rx_checks->check[index].valid_quality_flag = true;
+    }
   }
   return is_msg_valid(rx_checks->check, index);
 }

board/safety/safety_body.h

@@ -9,7 +9,7 @@ addr_checks body_rx_checks = {body_addr_checks, BODY_ADDR_CHECK_LEN};
 
 static int body_rx_hook(CANPacket_t *to_push) {
 
-  bool valid = addr_safety_check(to_push, &body_rx_checks, NULL, NULL, NULL);
+  bool valid = addr_safety_check(to_push, &body_rx_checks, NULL, NULL, NULL, NULL);
 
   controls_allowed = valid;
 

board/safety/safety_chrysler.h

@@ -9,7 +9,7 @@ const SteeringLimits CHRYSLER_STEERING_LIMITS = {
 };
 
 const SteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
-  .max_steer = 261,
+  .max_steer = 350,
   .max_rt_delta = 112,
   .max_rt_interval = 250000,
   .max_rate_up = 6,
@@ -180,7 +180,7 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &chrysler_rx_checks,
                                  chrysler_get_checksum, chrysler_compute_checksum,
-                                 chrysler_get_counter);
+                                 chrysler_get_counter, NULL);
 
   const int bus = GET_BUS(to_push);
   const int addr = GET_ADDR(to_push);