Merge branch 'master-r'

.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"

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/black.h

@@ -180,7 +180,8 @@ const board board_black = {
   .set_led = black_set_led,
   .set_can_mode = black_set_can_mode,
   .check_ignition = black_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/board_declarations.h

@@ -12,7 +12,8 @@ typedef void (*board_enable_can_transceivers)(bool enabled);
 typedef void (*board_set_led)(uint8_t color, bool enabled);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef bool (*board_check_ignition)(void);
-typedef uint32_t (*board_read_current)(void);
+typedef uint32_t (*board_read_voltage_mV)(void);
+typedef uint32_t (*board_read_current_mA)(void);
 typedef void (*board_set_ir_power)(uint8_t percentage);
 typedef void (*board_set_fan_enabled)(bool enabled);
 typedef void (*board_set_siren)(bool enabled);
@@ -36,7 +37,8 @@ struct board {
   board_set_led set_led;
   board_set_can_mode set_can_mode;
   board_check_ignition check_ignition;
-  board_read_current read_current;
+  board_read_voltage_mV read_voltage_mV;
+  board_read_current_mA read_current_mA;
   board_set_ir_power set_ir_power;
   board_set_fan_enabled set_fan_enabled;
   board_set_siren set_siren;

board/boards/cuatro.h

@@ -49,9 +49,21 @@ void cuatro_enable_can_transceivers(bool enabled) {
   }
 }
 
+uint32_t cuatro_read_voltage_mV(void) {
+  return adc_get_mV(8) * 11U;
+}
+
+uint32_t cuatro_read_current_mA(void) {
+  return adc_get_mV(3) * 2U;
+}
+
 void cuatro_init(void) {
   red_chiplet_init();
 
+  // Power readout
+  set_gpio_mode(GPIOC, 5, MODE_ANALOG);
+  set_gpio_mode(GPIOA, 6, MODE_ANALOG);
+
   // CAN transceiver enables
   set_gpio_pullup(GPIOB, 7, PULL_NONE);
   set_gpio_mode(GPIOB, 7, MODE_OUTPUT);
@@ -108,7 +120,8 @@ const board board_cuatro = {
   .set_led = cuatro_set_led,
   .set_can_mode = red_chiplet_set_can_mode,
   .check_ignition = red_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = cuatro_read_voltage_mV,
+  .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = tres_set_fan_enabled,
   .set_ir_power = tres_set_ir_power,
   .set_siren = unused_set_siren,

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);
 }
@@ -212,7 +208,8 @@ const board board_dos = {
   .set_led = dos_set_led,
   .set_can_mode = dos_set_can_mode,
   .check_ignition = dos_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = dos_set_fan_enabled,
   .set_ir_power = dos_set_ir_power,
   .set_siren = dos_set_siren,

board/boards/grey.h

@@ -22,7 +22,8 @@ const board board_grey = {
   .set_led = white_set_led,
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
-  .read_current = white_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = white_read_current_mA,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/red.h

@@ -96,6 +96,10 @@ bool red_check_ignition(void) {
   return harness_check_ignition();
 }
 
+uint32_t red_read_voltage_mV(void){
+  return adc_get_mV(2) * 11U; // TODO: is this correct?
+}
+
 void red_init(void) {
   common_init_gpio();
 
@@ -188,7 +192,8 @@ const board board_red = {
   .set_led = red_set_led,
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = red_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/tres.h

@@ -87,7 +87,8 @@ const board board_tres = {
   .set_led = red_set_led,
   .set_can_mode = red_chiplet_set_can_mode,
   .check_ignition = red_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = red_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = tres_set_fan_enabled,
   .set_ir_power = tres_set_ir_power,
   .set_siren = fake_siren_set,

board/boards/uno.h

@@ -167,7 +167,7 @@ void uno_init(void) {
   }
 
   // Switch to phone usb mode if harness connection is powered by less than 7V
-  if((adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER) < 7000U){
+  if(white_read_voltage_mV() < 7000U){
     uno_set_usb_switch(true);
   } else {
     uno_set_usb_switch(false);
@@ -215,7 +215,8 @@ const board board_uno = {
   .set_led = uno_set_led,
   .set_can_mode = uno_set_can_mode,
   .check_ignition = uno_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = uno_set_fan_enabled,
   .set_ir_power = uno_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/white.h

@@ -124,8 +124,13 @@ void white_set_can_mode(uint8_t mode){
   }
 }
 
-uint32_t white_read_current(void){
-  return adc_get_raw(ADCCHAN_CURRENT);
+uint32_t white_read_voltage_mV(void){
+  return adc_get_mV(12) * 11U;
+}
+
+uint32_t white_read_current_mA(void){
+  // This isn't in mA, but we're keeping it for backwards compatibility
+  return adc_get_raw(13);
 }
 
 bool white_check_ignition(void){
@@ -197,10 +202,9 @@ void white_grey_init(void) {
   white_set_can_mode(CAN_MODE_NORMAL);
 
   // Init usb power mode
-  uint32_t voltage = adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER;
   // Init in CDP mode only if panda is powered by 12V.
   // Otherwise a PC would not be able to flash a standalone panda
-  if (voltage > 8000U) {  // 8V threshold
+  if (white_read_voltage_mV() > 8000U) {  // 8V threshold
     white_set_usb_power_mode(USB_POWER_CDP);
   } else {
     white_set_usb_power_mode(USB_POWER_CLIENT);
@@ -239,7 +243,8 @@ const board board_white = {
   .set_led = white_set_led,
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
-  .read_current = white_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = white_read_current_mA,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

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

@@ -16,8 +16,6 @@
 #define MAX_CAN_MSGS_PER_USB_BULK_TRANSFER 51U
 #define MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER 170U
 
-#define VIN_READOUT_DIVIDER 11U
-
 // USB definitions
 #define USB_VID 0xBBAAU
 
@@ -38,7 +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