Merge remote-tracking branch 'origin/master' into master3

board/gdb.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+gdb-multiarch  --eval-command="target extended-remote localhost:3333"

board/stm32h7/clock.h

@@ -18,6 +18,16 @@ PCLK1: 60MHz (for USART2,3,4,5,7,8)
 */
 
 void clock_init(void) {
+  /*
+    WARNING: PWR->CR3's lower byte can only be written once
+    * subsequent writes will silently fail
+    * only cleared with a full power-on-reset, not soft reset or reset pin
+    * some H7 have a bootrom with a DFU routine that writes (and locks) CR3
+    * if the CR3 config doesn't match the HW, the core will deadlock and require immediately going into DFU from a cold boot
+
+    In a normal bootup, the bootstub will be the first to write this. The app section calls clock_init again, but the CR3 write will silently fail. This is fine for most cases, but caution should be taken that the bootstub and app always write the same config.
+  */
+
   // Set power mode to direct SMPS power supply(depends on the board layout)
 #ifndef STM32H723
   register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS

tests/libpanda/safety_helpers.h

@@ -47,6 +47,10 @@ bool get_gas_pressed_prev(void){
   return gas_pressed_prev;
 }
 
+void set_gas_pressed_prev(bool c){
+  gas_pressed_prev = c;
+}
+
 bool get_brake_pressed_prev(void){
   return brake_pressed_prev;
 }

tests/libpanda/safety_helpers.py

@@ -11,6 +11,7 @@ def setup_safety_helpers(ffi):
   void set_relay_malfunction(bool c);
   bool get_relay_malfunction(void);
   bool get_gas_pressed_prev(void);
+  void set_gas_pressed_prev(bool);
   bool get_brake_pressed_prev(void);
   bool get_regen_braking_prev(void);
   bool get_acc_main_on(void);
@@ -61,6 +62,7 @@ def get_alternative_experience(self) -> int: ...
   def set_relay_malfunction(self, c: bool) -> None: ...
   def get_relay_malfunction(self) -> bool: ...
   def get_gas_pressed_prev(self) -> bool: ...
+  def set_gas_pressed_prev(self, c: bool) -> None: ...
   def get_brake_pressed_prev(self) -> bool: ...
   def get_regen_braking_prev(self) -> bool: ...
   def get_acc_main_on(self) -> bool: ...