Merge remote-tracking branch 'upstream/master' into HEAD

.github/workflows/drivers.yaml

@@ -4,7 +4,7 @@ on: [push, pull_request]
 jobs:
   build_socketcan:
     name: socketcan build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 5
     steps:
       - uses: actions/checkout@v2

.github/workflows/repo.yml

@@ -8,7 +8,7 @@ on:
 jobs:
   pre-commit-autoupdate:
     name: pre-commit autoupdate
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/panda:latest
     steps:

.github/workflows/test.yaml

@@ -21,7 +21,7 @@ env:
 jobs:
   docker_push:
     name: docker push
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/panda'
     steps:
@@ -38,7 +38,7 @@ jobs:
 
   build:
     name: build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
       - uses: actions/checkout@v2
@@ -57,7 +57,7 @@ jobs:
 
   unit_tests:
     name: unit tests
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
       - uses: actions/checkout@v2
@@ -70,7 +70,7 @@ jobs:
 
   safety:
     name: safety
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       matrix:
         flags: ['', '--ubsan']
@@ -82,16 +82,13 @@ jobs:
       - name: Run safety tests
         timeout-minutes: 5
         run: |
-          ${{ env.RUN }} "cd .. && \
-                          scons -c && \
-                          scons -j$(nproc) opendbc/ cereal/ && \
-                          cd panda && \
+          ${{ env.RUN }} "scons -c -j$(nproc) && \
                           scons -j$(nproc) ${{ matrix.flags }} && \
                           tests/safety/test.sh"
 
   misra:
     name: MISRA C:2012
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
       - uses: actions/checkout@v2
@@ -103,12 +100,12 @@ jobs:
         timeout-minutes: 1
         run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
       - name: MISRA mutation tests
-        timeout-minutes: 4
-        run: ${{ env.RUN }} "cd tests/misra && ./test_mutation.py"
+        timeout-minutes: 5
+        run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"
 
   python_linter:
     name: python linter
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
       - uses: actions/checkout@v2

.pre-commit-config.yaml

@@ -1,6 +1,6 @@
 repos:
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v4.5.0
+  rev: v4.6.0
   hooks:
     - id: check-ast
     - id: check-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: v1.8.0
+  rev: v1.9.0
   hooks:
     - id: mypy
       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: v0.2.2
+  rev: v0.4.1
   hooks:
     - id: ruff

Dockerfile

@@ -1,44 +1,36 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
+
 ENV PYTHONUNBUFFERED 1
 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    autoconf \
-    automake \
+    make \
     bzip2 \
     ca-certificates \
     capnproto \
     clang \
-    curl \
     g++ \
     gcc-arm-none-eabi libnewlib-arm-none-eabi \
     git \
     libarchive-dev \
-    libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev libavfilter-dev \
     libbz2-dev \
     libcapnp-dev \
-    libcurl4-openssl-dev \
     libffi-dev \
     libtool \
-    libssl-dev \
-    libsqlite3-dev \
     libusb-1.0-0 \
     libzmq3-dev \
     locales \
     opencl-headers \
     ocl-icd-opencl-dev \
-    make \
-    patch \
-    pkg-config \
-    python \
-    python-dev \
-    qt5-default \
-    unzip \
-    wget \
+    python3 \
+    python3-dev \
+    python3-pip \
+    python-is-python3 \
     zlib1g-dev \
  && rm -rf /var/lib/apt/lists/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    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
 
@@ -47,43 +39,27 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-
-ENV PANDA_PATH=/tmp/openpilot/panda
-ENV OPENPILOT_REF="5690386d8d731c9bebda536a5c71c890f6dfe98c"
-ENV OPENDBC_REF="40d9c723d48496229fecc436046538a53af19c11"
-
 COPY requirements.txt /tmp/
-RUN pyenv install 3.11.4 && \
-    pyenv global 3.11.4 && \
-    pyenv rehash && \
-    pip install --no-cache-dir -r /tmp/requirements.txt
+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
-
-RUN git config --global --add safe.directory /tmp/openpilot/panda
-RUN cd /tmp && \
-    git clone https://github.com/commaai/openpilot.git tmppilot || true && \
-    cd /tmp/tmppilot && \
-    git fetch origin $OPENPILOT_REF && \
-    git checkout $OPENPILOT_REF && \
-    git submodule update --init cereal opendbc rednose_repo body && \
-    git -C opendbc fetch && \
-    git -C opendbc checkout $OPENDBC_REF && \
-    git -C opendbc reset --hard HEAD && \
-    git -C opendbc clean -xfd && \
-    mkdir /tmp/openpilot && \
-    cp -pR SConstruct site_scons/ tools/ selfdrive/ system/ common/ cereal/ opendbc/ rednose/ third_party/ body/ /tmp/openpilot && \
-    rm -rf /tmp/openpilot/panda && \
-    rm -rf /tmp/tmppilot
+RUN /tmp/install.sh && rm -rf $CPPCHECK_DIR/.git/
+ENV SKIP_CPPCHECK_INSTALL=1
 
-RUN cd /tmp/openpilot && \
-    pip install --no-cache-dir -r opendbc/requirements.txt && \
-    pip install --no-cache-dir --upgrade aenum lru-dict pycurl tenacity atomicwrites serial smbus2
+ENV CEREAL_REF="861144c136c91f70dcbc652c2ffe99f57440ad47"
+ENV OPENDBC_REF="e0d4be4a6215d44809718dc84efe1b9f0299ad63"
 
+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/
 
 # for Jenkins
 COPY README.md panda.tar.* /tmp/

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 -n0 --durations=0 [2-7]*.py -k 'not test_send_recv'"],
+              ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
             ])
           }
         }
@@ -130,24 +130,6 @@ pipeline {
                 }
               }
             }
-
-            /*
-            stage('HITL tests') {
-              steps {
-                script {
-                  docker_run("parallel tests", 5, 'PANDAS_JUNGLE=23002d000851393038373731 PANDAS_EXCLUDE="1d0002000c51303136383232 2f002e000c51303136383232" ./tests/hitl/run_parallel_tests.sh')
-                  docker_run("serial tests", 9, 'PANDAS_JUNGLE=23002d000851393038373731 PANDAS_EXCLUDE="1d0002000c51303136383232 2f002e000c51303136383232" ./tests/hitl/run_serial_tests.sh')
-                }
-              }
-            }
-            stage('CANFD tests') {
-              steps {
-                script {
-                  docker_run("CANFD tets", 6, 'JUNGLE=058010800f51363038363036 H7_PANDAS_EXCLUDE="080021000c51303136383232 33000e001051393133353939" ./tests/canfd/test_canfd.py')
-                }
-              }
-            }
-            */
           }
         }
       }

SConscript

@@ -84,7 +84,7 @@ def build_project(project_name, project, extra_flags):
     '..',
     panda_root,
     f"{panda_root}/board/",
-    f"{panda_root}/board/stm32fx/inc",
+    f"{panda_root}/board/stm32f4/inc",
     f"{panda_root}/board/stm32h7/inc",
   ]
 
@@ -130,8 +130,8 @@ def build_project(project_name, project, extra_flags):
 
 base_project_f4 = {
   "MAIN": "main.c",
-  "STARTUP_FILE": File("./board/stm32fx/startup_stm32f413xx.s"),
-  "LINKER_SCRIPT": File("./board/stm32fx/stm32f4_flash.ld"),
+  "STARTUP_FILE": File("./board/stm32f4/startup_stm32f413xx.s"),
+  "LINKER_SCRIPT": File("./board/stm32f4/stm32f4_flash.ld"),
   "APP_START_ADDRESS": "0x8004000",
   "PROJECT_FLAGS": [
     "-mcpu=cortex-m4",

board/boards/black.h

@@ -122,8 +122,6 @@ void black_init(void) {
   // Initialize harness
   harness_init();
 
-  // Initialize RTC
-  rtc_init();
 
   // Enable CAN transceivers
   black_enable_can_transceivers(true);
@@ -135,11 +133,6 @@ void black_init(void) {
 
   // Set normal CAN mode
   black_set_can_mode(CAN_MODE_NORMAL);
-
-  // change CAN mapping when flipped
-  if (harness.status == HARNESS_STATUS_FLIPPED) {
-    can_flip_buses(0, 2);
-  }
 }
 
 void black_init_bootloader(void) {
@@ -148,7 +141,7 @@ void black_init_bootloader(void) {
   set_gpio_output(GPIOC, 12, 0);
 }
 
-const harness_configuration black_harness_config = {
+harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
@@ -162,13 +155,12 @@ const harness_configuration black_harness_config = {
   .adc_channel_SBU2 = 13
 };
 
-const board board_black = {
+board board_black = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &black_harness_config,
   .has_obd = true,
   .has_spi = false,
   .has_canfd = false,
-  .has_rtc_battery = false,
   .fan_max_rpm = 0U,
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,

board/boards/board_declarations.h

@@ -21,11 +21,10 @@ typedef void (*board_set_bootkick)(BootState state);
 typedef bool (*board_read_som_gpio)(void);
 
 struct board {
-  const harness_configuration *harness_config;
+  harness_configuration *harness_config;
   const bool has_obd;
   const bool has_spi;
   const bool has_canfd;
-  const bool has_rtc_battery;
   const uint16_t fan_max_rpm;
   const uint16_t avdd_mV;
   const bool fan_stall_recovery;
@@ -73,6 +72,4 @@ struct board {
 
 // CAN modes
 #define CAN_MODE_NORMAL 0U
-#define CAN_MODE_GMLAN_CAN2 1U
-#define CAN_MODE_GMLAN_CAN3 2U
-#define CAN_MODE_OBD_CAN2 3U
+#define CAN_MODE_OBD_CAN2 1U

board/boards/cuatro.h

@@ -103,12 +103,11 @@ void cuatro_init(void) {
   clock_source_init();
 }
 
-const board board_cuatro = {
+board board_cuatro = {
   .harness_config = &red_chiplet_harness_config,
   .has_obd = true,
   .has_spi = true,
   .has_canfd = true,
-  .has_rtc_battery = true,
   .fan_max_rpm = 6600U,
   .avdd_mV = 1800U,
   .fan_stall_recovery = false,