Merge branch 'commaai:master' into secoc-long

.github/workflows/test.yaml

@@ -88,8 +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:
@@ -99,8 +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"

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

@@ -75,6 +75,10 @@ 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();
 
@@ -83,6 +87,10 @@ static void cuatro_init(void) {
   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);
@@ -128,6 +136,17 @@ static void cuatro_init(void) {
   // 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 = {
@@ -150,8 +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_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

@@ -97,5 +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/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/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;

board/faults_declarations.h

@@ -32,6 +32,7 @@
 #define FAULT_INTERRUPT_RATE_UART_7         (1UL << 24)
 #define FAULT_SIREN_MALFUNCTION             (1UL << 25)
 #define FAULT_HEARTBEAT_LOOP_WATCHDOG       (1UL << 26)
+#define FAULT_INTERRUPT_RATE_SOUND_DMA      (1UL << 27)
 
 // Permanent faults
 #define PERMANENT_FAULTS 0U

board/jungle/scripts/can_printer.py

@@ -19,20 +19,24 @@ def can_printer():
 
   start = sec_since_boot()
   lp = sec_since_boot()
-  msgs = defaultdict(list)
+  all_msgs = defaultdict(list)
+
   canbus = os.getenv("CAN")
+  if canbus == "3":
+    p.set_obd(True)
+    canbus = "1"
+
   while True:
     can_recv = p.can_recv()
-    for address,dat, src in can_recv:
-      if canbus is None or str(src) == canbus:
-        msgs[address].append((dat, src))
+    for addr, dat, bus in can_recv:
+      if canbus is None or str(bus) == canbus:
+        all_msgs[(addr, bus)].append((dat))
 
     if sec_since_boot() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += "%5.2f\n" % (sec_since_boot() - start)
-      for k, v in sorted(msgs.items()):
-        last_msg, last_src = v[-1]
-        dd += "%d: %s(%6d): %s\n" % (last_src, "%04X(%4d)" % (k, k), len(v), binascii.hexlify(last_msg).decode())
+      for (addr, bus), dat_log in sorted(all_msgs.items()):
+        dd += "%d: %s(%6d): %s\n" % (bus, "%04X(%4d)" % (addr, addr), len(dat_log), binascii.hexlify(dat_log[-1]).decode())
       print(dd)
       lp = sec_since_boot()
 

board/main.c

@@ -158,6 +158,7 @@ static void tick_handler(void) {
     usb_tick();
     harness_tick();
     simple_watchdog_kick();
+    sound_tick();
 
     // re-init everything that uses harness status
     if (harness.status != prev_harness_status) {
@@ -240,7 +241,7 @@ static void tick_handler(void) {
           print(" seconds. Safety is set to SILENT mode.\n");
 
           if (controls_allowed_countdown > 0U) {
-            siren_countdown = 5U;
+            siren_countdown = 3U;
             controls_allowed_countdown = 0U;
           }
 

board/main_comms.h

@@ -317,6 +317,10 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xe7:
       set_power_save_state(req->param1);
       break;
+    // **** 0xe8: set can-fd auto swithing mode
+    case 0xe8:
+      bus_config[req->param1].canfd_auto = req->param2 > 0U;
+      break;
     // **** 0xf1: Clear CAN ring buffer.
     case 0xf1:
       if (req->param1 == 0xFFFFU) {

board/recover.py

@@ -2,21 +2,15 @@
 import os
 import time
 import subprocess
-import argparse
 
 from panda import Panda, PandaDFU
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--all", action="store_true", help="Recover all Panda devices")
-  args = parser.parse_args()
-
   subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
 
-  serials = Panda.list() if args.all else [None]
-  for s in serials:
+  for s in Panda.list():
     with Panda(serial=s) as p:
       print(f"putting {p.get_usb_serial()} in DFU mode")
       p.reset(enter_bootstub=True)

board/stm32f4/board.h

@@ -16,6 +16,9 @@
 #include "boards/uno.h"
 #include "boards/dos.h"
 
+// Unused functions on F4
+void sound_tick(void) {}
+
 void detect_board_type(void) {
   // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
   set_gpio_output(GPIOC, 14, 1);

board/stm32h7/board.h

@@ -12,6 +12,7 @@
 #include "stm32h7/lldac.h"
 #include "drivers/beeper.h"
 #include "drivers/fake_siren.h"
+#include "stm32h7/sound.h"
 #include "drivers/clock_source.h"
 #include "boards/red.h"
 #include "boards/red_chiplet.h"