Merge remote-tracking branch 'comma/master'

.github/workflows/test.yaml

@@ -46,7 +46,7 @@ jobs:
         run: eval "$BUILD"
       - name: Test python package installer
         run: ${{ env.RUN }} "python setup.py install"
-      - name: Build panda + pedal images and bootstub
+      - name: Build panda images and bootstub
         run: ${{ env.RUN }} "scons -j4"
       - name: Build panda with SPI support
         run: ${{ env.RUN }} "ENABLE_SPI=1 scons -j4"

.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: v0.2.1
+  rev: v0.2.2
   hooks:
     - id: ruff

Jenkinsfile

@@ -82,7 +82,7 @@ pipeline {
               ["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 --durations=0 [2-7]*.py -k 'not test_send_recv'"],
+              ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-7]*.py -k 'not test_send_recv'"],
             ])
           }
         }
@@ -94,7 +94,7 @@ pipeline {
               ["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 --durations=0 2*.py [5-9]*.py"],
+              ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
             ])
           }
         }
@@ -126,19 +126,12 @@ pipeline {
             stage('bootkick tests') {
               steps {
                 script {
-                  docker_run("test", 10, "pytest ./tests/som/test_bootkick.py")
+                  docker_run("test", 10, "pytest -n0 ./tests/som/test_bootkick.py")
                 }
               }
             }
 
             /*
-            stage('pedal tests') {
-              steps {
-                script {
-                  docker_run("test pedal", 1, "PEDAL_JUNGLE=058010800f51363038363036 python ./tests/pedal/test_pedal.py")
-                }
-              }
-            }
             stage('HITL tests') {
               steps {
                 script {

README.md

@@ -3,7 +3,7 @@
 ![panda tests](https://github.com/commaai/panda/workflows/tests/badge.svg)
 ![panda drivers](https://github.com/commaai/panda/workflows/drivers/badge.svg)
 
-panda speaks CAN and CAN FD, and it runs on [STM32F205](https://www.st.com/resource/en/reference_manual/rm0033-stm32f205xx-stm32f207xx-stm32f215xx-and-stm32f217xx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf), [STM32F413](https://www.st.com/resource/en/reference_manual/rm0430-stm32f413423-advanced-armbased-32bit-mcus-stmicroelectronics.pdf), and [STM32H725](https://www.st.com/resource/en/reference_manual/rm0468-stm32h723733-stm32h725735-and-stm32h730-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf).
+panda speaks CAN and CAN FD, and it runs on [STM32F413](https://www.st.com/resource/en/reference_manual/rm0430-stm32f413423-advanced-armbased-32bit-mcus-stmicroelectronics.pdf) and [STM32H725](https://www.st.com/resource/en/reference_manual/rm0468-stm32h723733-stm32h725735-and-stm32h730-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf).
 
 ## Directory structure
 

SConscript

@@ -180,9 +180,6 @@ with open("board/obj/cert.h", "w") as f:
 # panda fw
 SConscript('board/SConscript')
 
-# pedal fw
-SConscript('board/pedal/SConscript')
-
 # panda jungle fw
 SConscript('board/jungle/SConscript')
 

board/SConscript

@@ -12,7 +12,7 @@ for project_name, project in build_projects.items():
   flags = [
     "-DPANDA",
   ]
-  if ("ENABLE_SPI" in os.environ or "h7" in project_name) and not project_name.startswith('pedal'):
+  if ("ENABLE_SPI" in os.environ or "h7" in project_name):
     flags.append('-DENABLE_SPI')
 
   if "H723" in os.environ:

board/boards/dos.h

@@ -90,10 +90,6 @@ bool dos_check_ignition(void){
   return harness_check_ignition();
 }
 
-void dos_set_usb_switch(bool phone){
-  set_gpio_output(GPIOB, 3, phone);
-}
-
 void dos_set_ir_power(uint8_t percentage){
   pwm_set(TIM4, 2, percentage);
 }

board/boards/unused_funcs.h

@@ -13,10 +13,6 @@ void unused_set_siren(bool enabled) {
   UNUSED(enabled);
 }
 
-uint32_t unused_read_voltage(void) {
-  return 0U;
-}
-
 uint32_t unused_read_current(void) {
   return 0U;
 }

board/bootstub.c

@@ -19,6 +19,7 @@
 #include "obj/gitversion.h"
 #include "flasher.h"
 
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
 void __initialize_hardware_early(void) {
   early_initialization();
 }

board/can_definitions.h

@@ -8,14 +8,13 @@ const uint8_t PANDA_BUS_CNT = 4U;
 
 #define CANPACKET_HEAD_SIZE 6U
 
-#if !defined(STM32F4) && !defined(STM32F2)
+#if !defined(STM32F4)
   #define CANFD
   #define CANPACKET_DATA_SIZE_MAX 64U
 #else
   #define CANPACKET_DATA_SIZE_MAX 8U
 #endif
 
-#ifndef STM32F2
 typedef struct {
   unsigned char reserved : 1;
   unsigned char bus : 3;
@@ -27,7 +26,6 @@ typedef struct {
   unsigned char checksum;
   unsigned char data[CANPACKET_DATA_SIZE_MAX];
 } __attribute__((packed, aligned(4))) CANPacket_t;
-#endif
 
 const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
 

board/config.h

@@ -36,7 +36,7 @@
 // platform includes
 #ifdef STM32H7
   #include "stm32h7/stm32h7_config.h"
-#elif defined(STM32F2) || defined(STM32F4)
+#elif defined(STM32F4)
   #include "stm32fx/stm32fx_config.h"
 #else
   // TODO: uncomment this, cppcheck complains

board/drivers/can_common.h

@@ -28,8 +28,8 @@ extern int can_live;
 extern int pending_can_live;
 
 // must reinit after changing these
-extern int can_loopback;
 extern int can_silent;
+extern bool can_loopback;
 
 // Ignition detected from CAN meessages
 bool ignition_can = false;
@@ -40,8 +40,8 @@ uint32_t ignition_can_cnt = 0U;
 
 int can_live = 0;
 int pending_can_live = 0;
-int can_loopback = 0;
 int can_silent = ALL_CAN_SILENT;
+bool can_loopback = false;
 
 // ******************* functions prototypes *********************
 bool can_init(uint8_t can_number);

board/drivers/fdcan.h

@@ -126,7 +126,7 @@ void process_can(uint8_t can_number) {
           to_push.rejected = 0U;
           to_push.extended = to_send.extended;
           to_push.addr = to_send.addr;
-          to_push.bus = to_send.bus;
+          to_push.bus = bus_number;
           to_push.data_len_code = to_send.data_len_code;
           (void)memcpy(to_push.data, to_send.data, dlc_to_len[to_push.data_len_code]);
           can_set_checksum(&to_push);

board/drivers/gmlan_alt.h

@@ -26,14 +26,14 @@ int do_bitstuff(char *out, const char *in, int in_len) {
       bit_cnt++;
       if (bit_cnt == 5) {
         // 5 in a row the same, do stuff
-        last_bit = !bit;
+        last_bit = !bit ? 1 : 0;
         out[j] = last_bit;
         j++;
         bit_cnt = 1;
       }
     } else {
       // this is a new bit
-      last_bit = bit;
+      last_bit = (int)bit;
       bit_cnt = 1;
     }
   }
@@ -147,32 +147,6 @@ int inverted_bit_to_send = GMLAN_HIGH;
 int gmlan_switch_below_timeout = -1;
 int gmlan_switch_timeout_enable = 0;
 
-void gmlan_switch_init(int timeout_enable) {
-  gmlan_switch_timeout_enable = timeout_enable;
-  gmlan_alt_mode = GPIO_SWITCH;
-  gmlan_switch_below_timeout = 1;
-  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-
-  setup_timer();
-
-  inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
-}
-
-void set_gmlan_digital_output(int to_set) {
-  inverted_bit_to_send = to_set;
-  /*
-  print("Writing ");
-  puth(inverted_bit_to_send);
-  print("\n");
-  */
-}
-
-void reset_gmlan_switch_timeout(void) {
-  can_timeout_counter = GMLAN_TICKS_PER_SECOND;
-  gmlan_switch_below_timeout = 1;
-  gmlan_alt_mode = GPIO_SWITCH;
-}
-
 void set_bitbanged_gmlan(int val) {
   if (val != 0) {
     register_set_bits(&(GPIOB->ODR), (1UL << 13));

board/drivers/interrupts.h

@@ -78,8 +78,8 @@ void interrupt_timer_handler(void) {
 
     // Calculate interrupt load
     // The bootstub does not have the FPU enabled, so can't do float operations.
-#if !defined(PEDAL) && !defined(BOOTSTUB)
-    interrupt_load = ((busy_time + idle_time) > 0U) ? ((float) busy_time) / (busy_time + idle_time) : 0.0f;
+#if !defined(BOOTSTUB)
+    interrupt_load = ((busy_time + idle_time) > 0U) ? ((float) (((float) busy_time) / (busy_time + idle_time))) : 0.0f;
 #endif
     idle_time = 0U;
     busy_time = 0U;

board/drivers/uart.h

@@ -129,21 +129,6 @@ bool put_char(uart_ring *q, char elem) {
   return ret;
 }
 
-// Seems dangerous to use (might lock CPU if called with interrupts disabled f.e.)
-// TODO: Remove? Not used anyways
-void uart_flush(const uart_ring *q) {
-  while (q->w_ptr_tx != q->r_ptr_tx) {
-    __WFI();
-  }
-}
-
-void uart_flush_sync(uart_ring *q) {
-  // empty the TX buffer
-  while (q->w_ptr_tx != q->r_ptr_tx) {
-    uart_tx_ring(q);
-  }
-}
-
 void clear_uart_buff(uart_ring *q) {
   ENTER_CRITICAL();
   q->w_ptr_tx = 0;

board/drivers/usb.h

@@ -198,13 +198,8 @@ uint16_t string_product_desc[] = {
 
 // default serial number when we're not a panda
 uint16_t string_serial_desc[] = {
-#ifdef PEDAL
-  STRING_DESCRIPTOR_HEADER(5),
-  'p', 'e', 'd', 'a', 'l'
-#else
   STRING_DESCRIPTOR_HEADER(4),
   'n', 'o', 'n', 'e'
-#endif
 };
 
 // a string containing the default configuration index
@@ -466,12 +461,12 @@ void usb_reset(void) {
   USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1UL << 19)) | (3U << 3);
 }
 
-char to_hex_char(int a) {
+char to_hex_char(uint8_t a) {
   char ret;
-  if (a < 10) {
+  if (a < 10U) {
     ret = '0' + a;
   } else {
-    ret = 'a' + (a - 10);
+    ret = 'a' + (a - 10U);
   }
   return ret;
 }

board/drivers/watchdog.h

@@ -1,9 +1,3 @@
-// TODO: why doesn't it define these?
-#ifdef STM32F2
-#define IWDG_PR_PR_Msk 0x7U
-#define IWDG_RLR_RL_Msk 0xFFFU
-#endif
-
 typedef enum {
   WATCHDOG_50_MS = (400U - 1U),
   WATCHDOG_500_MS = 4000U,