Merge branch 'master-to-master3' into master3

.github/workflows/drivers.yaml

@@ -5,7 +5,7 @@ jobs:
   build_socketcan:
     name: socketcan build
     runs-on: ubuntu-latest
-    timeout-minutes: 5
+    timeout-minutes: 1
     steps:
       - uses: actions/checkout@v2
       - name: Install dependencies

.github/workflows/jenkins-pr-trigger.yaml

@@ -0,0 +1,45 @@
+name: jenkins scan
+
+on:
+  issue_comment:
+    types: [created, edited]
+
+jobs:
+  # TODO: gc old branches in a separate job in this workflow
+  scan-comments:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.issue.pull_request }}
+    steps:
+    - name: Check for trigger phrase
+      id: check_comment
+      uses: actions/github-script@v7
+      with:
+        script: |
+          const triggerPhrase = "trigger-jenkins";
+          const comment = context.payload.comment.body;
+          const commenter = context.payload.comment.user.login;
+
+          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            username: commenter
+          });
+
+          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
+
+          return (hasWriteAccess && comment.includes(triggerPhrase));
+        result-encoding: json
+
+    - name: Checkout repository
+      if: steps.check_comment.outputs.result == 'true'
+      uses: actions/checkout@v4
+      with:
+        ref: refs/pull/${{ github.event.issue.number }}/head
+
+    - name: Push to tmp-jenkins branch
+      if: steps.check_comment.outputs.result == 'true'
+      run: |
+        git config --global user.name "github-actions[bot]"
+        git config --global user.email "github-actions[bot]@users.noreply.github.com"
+        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
+        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}

.github/workflows/test.yaml

@@ -11,7 +11,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  RUN: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --rm panda /bin/bash -c
+  RUN: docker run -v ${{ github.workspace }}:/tmp/pythonpath/panda -w /tmp/pythonpath/panda --rm panda /bin/bash -c
   BUILD: |
       export DOCKER_BUILDKIT=1
       docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile .
@@ -45,7 +45,7 @@ jobs:
       - name: Build Docker image
         run: eval "$BUILD"
       - name: Test python package installer
-        run: ${{ env.RUN }} "python setup.py install"
+        run: ${{ env.RUN }} "python3 setup.py install"
       - name: Build panda images and bootstub
         run: ${{ env.RUN }} "scons -j4"
       - name: Build panda with SPI support
@@ -103,8 +103,8 @@ jobs:
         timeout-minutes: 5
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"
 
-  python_linter:
-    name: python linter
+  static_analysis:
+    name: static analysis
     runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:

.pre-commit-config.yaml

@@ -9,12 +9,12 @@ repos:
     - id: check-executables-have-shebangs
     - id: check-shebang-scripts-are-executable
 - repo: https://github.com/pre-commit/mirrors-mypy
-  rev: v1.10.0
+  rev: v1.11.1
   hooks:
     - id: mypy
       additional_dependencies: ['numpy', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.4.7
+  rev: v0.5.5
   hooks:
     - id: ruff

Dockerfile

@@ -1,67 +1,45 @@
 FROM ubuntu:24.04
 
-ENV PYTHONUNBUFFERED 1
-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+ENV PYTHONUNBUFFERED=1
+ENV PYTHONPATH=/tmp/pythonpath
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
     make \
-    bzip2 \
-    ca-certificates \
-    capnproto \
-    clang \
     g++ \
     gcc-arm-none-eabi libnewlib-arm-none-eabi \
     git \
-    libarchive-dev \
-    libbz2-dev \
-    libcapnp-dev \
     libffi-dev \
-    libtool \
     libusb-1.0-0 \
-    libzmq3-dev \
-    locales \
-    opencl-headers \
-    ocl-icd-opencl-dev \
     python3 \
     python3-dev \
     python3-pip \
-    python-is-python3 \
-    zlib1g-dev \
  && rm -rf /var/lib/apt/lists/* && \
     apt clean && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-COPY requirements.txt /tmp/
-RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
-
 ENV CPPCHECK_DIR=/tmp/cppcheck
 COPY tests/misra/install.sh /tmp/
 RUN /tmp/install.sh && rm -rf $CPPCHECK_DIR/.git/
 ENV SKIP_CPPCHECK_INSTALL=1
 
-ENV CEREAL_REF="861144c136c91f70dcbc652c2ffe99f57440ad47"
-ENV OPENDBC_REF="8e9d3688412405154a8189c421cfdc9d5feea715"
+COPY setup.py __init__.py $PYTHONPATH/panda/
+COPY python/__init__.py $PYTHONPATH/panda/python/
+RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
 
-RUN git config --global --add safe.directory /tmp/openpilot/panda
-RUN mkdir -p /tmp/openpilot/ && \
-    cd /tmp/openpilot/ && \
-    git clone --depth 1 https://github.com/commaai/cereal && \
-    git clone --depth 1 https://github.com/commaai/opendbc && \
-    cd cereal && git fetch origin $CEREAL_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
-    cd opendbc && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
-    cp -pR opendbc/SConstruct opendbc/site_scons/ . && \
-    pip3 install --break-system-packages --no-cache-dir -r opendbc/requirements.txt && \
-    scons -j8 --minimal opendbc/ cereal/
+# TODO: this should be a "pip install" or not even in this repo at all
+RUN git config --global --add safe.directory $PYTHONPATH/panda
+ENV OPENDBC_REF="5ed7a834a4e0e24c3968dd1e98ceb4b9d5f9791a"
+RUN cd /tmp/ && \
+    git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
+    cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
+    pip3 install --break-system-packages --no-cache-dir Cython numpy  && \
+    scons -j8 --minimal opendbc/ && \
+    ln -s $PWD/opendbc $PYTHONPATH/opendbc
 
 # for Jenkins
 COPY README.md panda.tar.* /tmp/
-RUN mkdir /tmp/openpilot/panda && \
-    tar -xvf /tmp/panda.tar.gz -C /tmp/openpilot/panda/ || true
+RUN mkdir -p /tmp/pythonpath/panda && \
+    tar -xvf /tmp/panda.tar.gz -C /tmp/pythonpath/panda/ || true

Jenkinsfile

@@ -4,7 +4,7 @@ def docker_run(String step_label, int timeout_mins, String cmd) {
           --env PYTHONWARNINGS=error \
           --volume /dev/bus/usb:/dev/bus/usb \
           --volume /var/run/dbus:/var/run/dbus \
-          --workdir /tmp/openpilot/panda \
+          --workdir /tmp/pythonpath/panda \
           --net host \
           ${env.DOCKER_IMAGE_TAG} \
           bash -c 'scons -j8 && ${cmd}'", \
@@ -92,7 +92,7 @@ pipeline {
           steps {
             script {
               retry (3) {
-                docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
+                docker_run("reset hardware", 3, "python3 ./tests/hitl/reset_jungles.py")
               }
             }
           }

README.md

@@ -62,7 +62,7 @@ git clone https://github.com/commaai/panda.git
 cd panda
 
 # install dependencies
-pip install -r requirements.txt
+pip install -e .[dev]
 
 # install panda
 python setup.py install
@@ -97,7 +97,7 @@ The panda jungle uses different udev rules. See [the repo](https://github.com/co
 As a universal car interface, it should support every reasonable software interface.
 
 - [Python library](https://github.com/commaai/panda/tree/master/python)
-- [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/boardd)
+- [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/pandad)
 - [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
 
 ## Licensing

__init__.py

@@ -2,7 +2,8 @@
 from .python.spi import PandaSpiException, PandaProtocolMismatch, STBootloaderSPIHandle  # noqa: F401
 from .python.serial import PandaSerial  # noqa: F401
 from .python.canhandle import CanHandle # noqa: F401
-from .python import (Panda, PandaDFU, # noqa: F401
+from .python.utils import logger # noqa: F401
+from .python import (Panda, PandaDFU, uds, isotp, # noqa: F401
                      pack_can_buffer, unpack_can_buffer, calculate_checksum,
                      DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
 

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)

board/boards/black.h

@@ -162,6 +162,7 @@ board board_black = {
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 0U,
+  .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,

board/boards/board_declarations.h

@@ -29,6 +29,7 @@ struct board {
   const uint16_t avdd_mV;
   const bool fan_stall_recovery;
   const uint8_t fan_enable_cooldown_time;
+  const uint8_t fan_max_pwm;
   board_init init;
   board_init_bootloader init_bootloader;
   board_enable_can_transceiver enable_can_transceiver;

board/boards/cuatro.h

@@ -57,6 +57,10 @@ uint32_t cuatro_read_current_mA(void) {
   return adc_get_mV(3) * 2U;
 }
 
+void cuatro_set_fan_enabled(bool enabled) {
+  set_gpio_output(GPIOD, 3, !enabled);
+}
+
 void cuatro_init(void) {
   red_chiplet_init();
 
@@ -93,6 +97,7 @@ void cuatro_init(void) {
 
   // fan setup
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
+  register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT8); // open drain
 
   // Initialize IR PWM and set to 0%
   set_gpio_alternate(GPIOC, 9, GPIO_AF2_TIM3);
@@ -108,7 +113,8 @@ board board_cuatro = {
   .has_obd = true,
   .has_spi = true,
   .has_canfd = true,
-  .fan_max_rpm = 6600U,
+  .fan_max_rpm = 12500U,
+  .fan_max_pwm = 99U, // it can go up to 14k RPM, but 99% -> 100% is very non-linear
   .avdd_mV = 1800U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 3U,
@@ -121,7 +127,7 @@ board board_cuatro = {
   .check_ignition = red_check_ignition,
   .read_voltage_mV = cuatro_read_voltage_mV,
   .read_current_mA = cuatro_read_current_mA,
-  .set_fan_enabled = tres_set_fan_enabled,
+  .set_fan_enabled = cuatro_set_fan_enabled,
   .set_ir_power = tres_set_ir_power,
   .set_siren = unused_set_siren,
   .set_bootkick = tres_set_bootkick,

board/boards/dos.h

@@ -190,6 +190,7 @@ board board_dos = {
 #endif
   .has_canfd = false,
   .fan_max_rpm = 6500U,
+  .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
   .fan_stall_recovery = true,
   .fan_enable_cooldown_time = 3U,

board/boards/grey.h

@@ -11,6 +11,7 @@ board board_grey = {
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 0U,
+  .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,

board/boards/red.h

@@ -174,6 +174,7 @@ board board_red = {
   .has_spi = false,
   .has_canfd = true,
   .fan_max_rpm = 0U,
+  .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,

board/boards/tres.h

@@ -76,6 +76,7 @@ board board_tres = {
   .has_spi = true,
   .has_canfd = true,
   .fan_max_rpm = 6600U,
+  .fan_max_pwm = 100U,
   .avdd_mV = 1800U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 3U,

board/boards/uno.h

@@ -197,6 +197,7 @@ board board_uno = {
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 5100U,
+  .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,

board/boards/white.h

@@ -191,6 +191,7 @@ board board_white = {
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 0U,
+  .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,

board/drivers/fan.h

@@ -86,7 +86,7 @@ void fan_tick(void) {
       float error = fan_state.target_rpm - fan_rpm_fast;
       fan_state.error_integral += FAN_I * error;
     }
-    fan_state.power = CLAMP(fan_state.error_integral, 0U, 100U);
+    fan_state.power = CLAMP(fan_state.error_integral, 0U, current_board->fan_max_pwm);
 
     // Set PWM and enable line
     pwm_set(TIM3, 3, fan_state.power);