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

dragonpilot-community · Jun 27, 2024 · ce9642d · ce9642d
2 parents a687686 + 376408b
commit ce9642d
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diff --git a/Jenkinsfile b/Jenkinsfile
@@ -73,56 +73,57 @@ pipeline {
   }
 
   stages {
-    stage('panda tests') {
-      parallel {
-        stage('test dos') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+    stage ('Acquire resource locks') {
+      options {
+        lock(resource: "pandas")
+      }
+      stages {
+        stage('Build Docker Image') {
           steps {
-            phone_steps("panda-dos", [
-              ["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 -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
-            ])
+            timeout(time: 20, unit: 'MINUTES') {
+              script {
+                sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
+                dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
+              }
+            }
           }
         }
-
-        stage('test tres') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+        stage('jungle tests') {
           steps {
-            phone_steps("panda-tres", [
-              ["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 -n0 --durations=0 2*.py [5-9]*.py"],
-            ])
+            script {
+              retry (3) {
+                docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
+              }
+            }
           }
         }
 
-        stage ('Acquire resource locks') {
-          options {
-            lock(resource: "pandas")
-          }
-          stages {
-            stage('Build Docker Image') {
+        stage('parallel tests') {
+          parallel {
+            stage('test tres') {
+              agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
               steps {
-                timeout(time: 20, unit: 'MINUTES') {
-                  script {
-                    sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
-                    dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
-                  }
-                }
+                phone_steps("panda-tres", [
+                  ["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 -n0 --durations=0 2*.py [5-9]*.py"],
+                ])
               }
             }
-            stage('jungle tests') {
+
+            stage('test dos') {
+              agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
               steps {
-                script {
-                  retry (3) {
-                    docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
-                  }
-                }
+                phone_steps("panda-dos", [
+                  ["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 -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
+                ])
               }
             }
+
             stage('bootkick tests') {
               steps {
                 script {

diff --git a/README.md b/README.md
@@ -23,7 +23,7 @@ Safety modes optionally support `controls_allowed`, which allows or blocks a sub
 
 ## Code Rigor
 
-The panda firmware is written for its use in conjuction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
+The panda firmware is written for its use in conjunction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
 [openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
 
 These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:

diff --git a/board/SConscript b/board/SConscript
@@ -15,7 +15,4 @@ for project_name, project in build_projects.items():
   if ("ENABLE_SPI" in os.environ or "h7" in project_name):
     flags.append('-DENABLE_SPI')
 
-  if "H723" in os.environ:
-    flags.append('-DSTM32H723')
-
   build_project(project_name, project, flags)
diff --git a/board/jungle/main.c b/board/jungle/main.c
@@ -156,10 +156,7 @@ int main(void) {
   print("\n\n\n************************ MAIN START ************************\n");
 
   // check for non-supported board types
-  if (hw_type == HW_TYPE_UNKNOWN) {
-    print("Unsupported board type\n");
-    while (1) { /* hang */ }
-  }
+  assert_fatal(hw_type != HW_TYPE_UNKNOWN, "Unsupported board type\n");
 
   print("Config:\n");
   print("  Board type: 0x"); puth(hw_type); print("\n");

diff --git a/board/libc.h b/board/libc.h
@@ -5,6 +5,16 @@ void delay(uint32_t a) {
   for (i = 0; i < a; i++);
 }
 
+void assert_fatal(bool condition, const char *msg) {
+  if (!condition) {
+    print("ASSERT FAILED\n");
+    print(msg);
+    while (1) {
+      // hang
+    }
+  }
+}
+
 // cppcheck-suppress misra-c2012-21.2
 void *memset(void *str, int c, unsigned int n) {
   uint8_t *s = str;

diff --git a/board/main.c b/board/main.c
@@ -67,12 +67,8 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
     print("Error: safety set mode failed. Falling back to SILENT\n");
     mode_copy = SAFETY_SILENT;
     err = set_safety_hooks(mode_copy, 0U);
-    if (err == -1) {
-      print("Error: Failed setting SILENT mode. Hanging\n");
-      while (true) {
-        // TERMINAL ERROR: we can't continue if SILENT safety mode isn't succesfully set
-      }
-    }
+    // TERMINAL ERROR: we can't continue if SILENT safety mode isn't succesfully set
+    assert_fatal(err == 0, "Error: Failed setting SILENT mode. Hanging\n");
   }
   safety_tx_blocked = 0;
   safety_rx_invalid = 0;
@@ -314,10 +310,7 @@ int main(void) {
   print("\n\n\n************************ MAIN START ************************\n");
 
   // check for non-supported board types
-  if(hw_type == HW_TYPE_UNKNOWN){
-    print("Unsupported board type\n");
-    while (1) { /* hang */ }
-  }
+  assert_fatal(hw_type != HW_TYPE_UNKNOWN, "Unsupported board type");
 
   print("Config:\n");
   print("  Board type: 0x"); puth(hw_type); print("\n");

diff --git a/board/stm32h7/board.h b/board/stm32h7/board.h
@@ -18,36 +18,33 @@
 #include "boards/cuatro.h"
 
 
-uint8_t get_board_id(void) {
-  return detect_with_pull(GPIOF, 7, PULL_UP) |
-         (detect_with_pull(GPIOF, 8, PULL_UP) << 1U) |
-         (detect_with_pull(GPIOF, 9, PULL_UP) << 2U) |
-         (detect_with_pull(GPIOF, 10, PULL_UP) << 3U);
-}
-
 void detect_board_type(void) {
-  const uint8_t board_id = get_board_id();
+  // On STM32H7 pandas, we use two different sets of pins.
+  const uint8_t id1 = detect_with_pull(GPIOF, 7, PULL_UP) |
+                     (detect_with_pull(GPIOF, 8, PULL_UP) << 1U) |
+                     (detect_with_pull(GPIOF, 9, PULL_UP) << 2U) |
+                     (detect_with_pull(GPIOF, 10, PULL_UP) << 3U);
 
-  if (board_id == 0U) {
+  const uint8_t id2 = detect_with_pull(GPIOD, 4, PULL_UP) |
+                     (detect_with_pull(GPIOD, 5, PULL_UP) << 1U) |
+                     (detect_with_pull(GPIOD, 6, PULL_UP) << 2U) |
+                     (detect_with_pull(GPIOD, 7, PULL_UP) << 3U);
+
+  if (id2 == 3U) {
+    hw_type = HW_TYPE_CUATRO;
+    current_board = &board_cuatro;
+  } else if (id1 == 0U) {
     hw_type = HW_TYPE_RED_PANDA;
     current_board = &board_red;
-  } else if (board_id == 1U) {
+  } else if (id1 == 1U) {
     // deprecated
     //hw_type = HW_TYPE_RED_PANDA_V2;
-  } else if (board_id == 2U) {
+    hw_type = HW_TYPE_UNKNOWN;
+  } else if (id1 == 2U) {
     hw_type = HW_TYPE_TRES;
     current_board = &board_tres;
-  } else if (board_id == 3U) {
-    hw_type = HW_TYPE_CUATRO;
-    current_board = &board_tres;
   } else {
     hw_type = HW_TYPE_UNKNOWN;
     print("Hardware type is UNKNOWN!\n");
   }
-
-  // TODO: detect this live
-#ifdef STM32H723
-  hw_type = HW_TYPE_CUATRO;
-  current_board = &board_cuatro;
-#endif
 }
diff --git a/board/stm32h7/clock.h b/board/stm32h7/clock.h
@@ -18,12 +18,16 @@ PCLK1: 60MHz (for USART2,3,4,5,7,8)
 */
 
 void clock_init(void) {
-  // 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
+  // Set power mode to direct SMPS power supply (depends on the board layout)
+#ifndef PANDA_JUNGLE
+  if ((PWR->CR3 & PWR_CR3_SMPSEXTRDY) != 0U) {
 #else
-  register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU);
+  if (true) {
 #endif
+    register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
+  } else {
+    register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU);
+  }
   // Set VOS level (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
   register_set(&(PWR->D3CR), PWR_D3CR_VOS_1 | PWR_D3CR_VOS_0, 0xC000U); //VOS1, needed for 80Mhz CAN FD
   while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U);