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

.github/workflows/test.yaml

@@ -120,7 +120,7 @@ jobs:
         timeout-minutes: 1
         run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
       - name: MISRA mutation tests
-        timeout-minutes: 2
+        timeout-minutes: 3
         run: ${{ env.RUN }} "cd tests/misra && ./test_mutation.py"
 
   python_linter:

.pre-commit-config.yaml

@@ -15,6 +15,6 @@ repos:
       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: v0.1.9
+  rev: v0.1.14
   hooks:
     - id: ruff

SConscript

@@ -101,7 +101,8 @@ def build_project(project_name, project, extra_flags):
     ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
     BUILDERS={
       'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
-    }
+    },
+    tools=["default", "compilation_db"],
   )
 
   startup = env.Object(f"obj/startup_{project_name}", project["STARTUP_FILE"])

SConstruct

@@ -12,5 +12,17 @@ AddOption('--coverage',
           action='store_true',
           help='build with test coverage options')
 
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+env = Environment(
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "compilation_db"],
+)
+
+if GetOption('compile_db'):
+    env.CompilationDatabase("compile_commands.json")
+
 # panda fw & test files
 SConscript('SConscript')

board/SConscript

@@ -15,4 +15,7 @@ for project_name, project in build_projects.items():
   if ("ENABLE_SPI" in os.environ or "h7" in project_name) and not project_name.startswith('pedal'):
     flags.append('-DENABLE_SPI')
 
+  if "H723" in os.environ:
+    flags.append('-DSTM32H723')
+
   build_project(project_name, project, flags)

board/boards/black.h

@@ -163,7 +163,6 @@ const harness_configuration black_harness_config = {
 };
 
 const board board_black = {
-  .board_type = "Black",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &black_harness_config,
   .has_hw_gmlan = false,

board/boards/board_declarations.h

@@ -20,7 +20,6 @@ typedef void (*board_set_bootkick)(BootState state);
 typedef bool (*board_read_som_gpio)(void);
 
 struct board {
-  const char *board_type;
   const harness_configuration *harness_config;
   const bool has_hw_gmlan;
   const bool has_obd;
@@ -58,6 +57,7 @@ struct board {
 #define HW_TYPE_RED_PANDA 7U
 #define HW_TYPE_RED_PANDA_V2 8U
 #define HW_TYPE_TRES 9U
+#define HW_TYPE_CUATRO 10U
 
 // LED colors
 #define LED_RED 0U

board/boards/cuatro.h

@@ -0,0 +1,71 @@
+void cuatro_set_led(uint8_t color, bool enabled) {
+  switch (color) {
+    case LED_RED:
+      set_gpio_output(GPIOD, 15, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOD, 14, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOE, 2, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void cuatro_init(void) {
+  red_chiplet_init();
+
+  // C2: SOM GPIO used as input (fan control at boot)
+  set_gpio_mode(GPIOC, 2, MODE_INPUT);
+  set_gpio_pullup(GPIOC, 2, PULL_DOWN);
+
+  // SOM bootkick + reset lines
+  set_gpio_mode(GPIOC, 12, MODE_OUTPUT);
+  tres_set_bootkick(BOOT_BOOTKICK);
+
+  // SOM debugging UART
+  gpio_uart7_init();
+  uart_init(&uart_ring_som_debug, 115200);
+
+  // SPI init
+  gpio_spi_init();
+
+  // fan setup
+  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
+
+  // Initialize IR PWM and set to 0%
+  set_gpio_alternate(GPIOC, 9, GPIO_AF2_TIM3);
+  pwm_init(TIM3, 4);
+  tres_set_ir_power(0U);
+
+  // Clock source
+  clock_source_init();
+}
+
+const board board_cuatro = {
+  .harness_config = &red_chiplet_harness_config,
+  .has_hw_gmlan = false,
+  .has_obd = true,
+  .has_spi = true,
+  .has_canfd = true,
+  .has_rtc_battery = true,
+  .fan_max_rpm = 6600U,
+  .avdd_mV = 1800U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 3U,
+  .init = cuatro_init,
+  .init_bootloader = unused_init_bootloader,
+  .enable_can_transceiver = red_chiplet_enable_can_transceiver,
+  .enable_can_transceivers = red_chiplet_enable_can_transceivers,
+  .set_led = cuatro_set_led,
+  .set_can_mode = red_chiplet_set_can_mode,
+  .check_ignition = red_check_ignition,
+  .read_current = unused_read_current,
+  .set_fan_enabled = tres_set_fan_enabled,
+  .set_ir_power = tres_set_ir_power,
+  .set_siren = unused_set_siren,
+  .set_bootkick = tres_set_bootkick,
+  .read_som_gpio = tres_read_som_gpio
+};

board/boards/dos.h

@@ -192,7 +192,6 @@ const harness_configuration dos_harness_config = {
 };
 
 const board board_dos = {
-  .board_type = "Dos",
   .harness_config = &dos_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,

board/boards/grey.h

@@ -5,7 +5,6 @@
 // Most hardware functionality is similar to white panda
 
 const board board_grey = {
-  .board_type = "Grey",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
   .has_hw_gmlan = true,

board/boards/pedal.h

@@ -67,7 +67,6 @@ const harness_configuration pedal_harness_config = {
 };
 
 const board board_pedal = {
-  .board_type = "Pedal",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &pedal_harness_config,
   .has_hw_gmlan = false,

board/boards/red.h

@@ -171,7 +171,6 @@ const harness_configuration red_harness_config = {
 };
 
 const board board_red = {
-  .board_type = "Red",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
   .has_hw_gmlan = false,

board/boards/tres.h

@@ -71,7 +71,6 @@ void tres_init(void) {
 }
 
 const board board_tres = {
-  .board_type = "Tres",
   .harness_config = &red_chiplet_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,

board/boards/uno.h

@@ -199,7 +199,6 @@ const harness_configuration uno_harness_config = {
 };
 
 const board board_uno = {
-  .board_type = "Uno",
   .harness_config = &uno_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,

board/boards/white.h

@@ -222,7 +222,6 @@ const harness_configuration white_harness_config = {
 };
 
 const board board_white = {
-  .board_type = "White",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
   .has_hw_gmlan = true,

board/can_comms.h

@@ -56,7 +56,7 @@ int comms_can_read(uint8_t *data, uint32_t max_len) {
 asm_buffer can_write_buffer = {.ptr = 0U, .tail_size = 0U};
 
 // send on CAN
-void comms_can_write(uint8_t *data, uint32_t len) {
+void comms_can_write(const uint8_t *data, uint32_t len) {
   uint32_t pos = 0U;
 
   // Assembling can message with data from buffer

board/comms_definitions.h

@@ -6,7 +6,7 @@ typedef struct {
 } __attribute__((packed)) ControlPacket_t;
 
 int comms_control_handler(ControlPacket_t *req, uint8_t *resp);
-void comms_endpoint2_write(uint8_t *data, uint32_t len);
-void comms_can_write(uint8_t *data, uint32_t len);
+void comms_endpoint2_write(const uint8_t *data, uint32_t len);
+void comms_can_write(const uint8_t *data, uint32_t len);
 int comms_can_read(uint8_t *data, uint32_t max_len);
 void comms_can_reset(void);

board/crc.h

@@ -1,6 +1,6 @@
 #pragma once
 
-uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly) {
+uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) {
   uint8_t crc = 0xFFU;
   int i;
   int j;

board/drivers/can_common.h

@@ -95,7 +95,7 @@ bool can_pop(can_ring *q, CANPacket_t *elem) {
   return ret;
 }
 
-bool can_push(can_ring *q, CANPacket_t *elem) {
+bool can_push(can_ring *q, const CANPacket_t *elem) {
   bool ret = false;
   uint32_t next_w_ptr;
 
@@ -133,7 +133,7 @@ bool can_push(can_ring *q, CANPacket_t *elem) {
   return ret;
 }
 
-uint32_t can_slots_empty(can_ring *q) {
+uint32_t can_slots_empty(const can_ring *q) {
   uint32_t ret = 0;
 
   ENTER_CRITICAL();
@@ -238,7 +238,7 @@ bool can_tx_check_min_slots_free(uint32_t min) {
     (can_slots_empty(&can_txgmlan_q) >= min);
 }
 
-uint8_t calculate_checksum(uint8_t *dat, uint32_t len) {
+uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) {
   uint8_t checksum = 0U;
   for (uint32_t i = 0U; i < len; i++) {
     checksum ^= dat[i];

board/drivers/fdcan.h

@@ -106,14 +106,14 @@ void process_can(uint8_t can_number) {
 
           uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
           // get the index of the next TX FIFO element (0 to FDCAN_TX_FIFO_EL_CNT - 1)
-          uint8_t tx_index = (FDCANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
+          uint32_t tx_index = (FDCANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
           // only send if we have received a packet
           canfd_fifo *fifo;
           fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
 
           fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18));
-          uint32_t canfd_enabled_header = bus_config[can_number].canfd_enabled ? (1 << 21) : 0;
-          uint32_t brs_enabled_header = bus_config[can_number].brs_enabled ? (1 << 20) : 0;
+          uint32_t canfd_enabled_header = bus_config[can_number].canfd_enabled ? (1UL << 21) : 0UL;
+          uint32_t brs_enabled_header = bus_config[can_number].brs_enabled ? (1UL << 20) : 0UL;
           fifo->header[1] = (to_send.data_len_code << 16) | canfd_enabled_header | brs_enabled_header;
 
           uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U);
@@ -165,7 +165,7 @@ void can_rx(uint8_t can_number) {
     pending_can_live = 1;
 
     // get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1)
-    uint8_t rx_fifo_idx = (uint8_t)((FDCANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
+    uint32_t rx_fifo_idx = (uint8_t)((FDCANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
 
     // Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet)
     if((FDCANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) {