From 266d4573b79802e5ad67b5558ace089417c64106 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 29 Jan 2024 04:03:35 -0600
Subject: [PATCH 01/14] safety: test with default pytest dist (load) (#1840)

* faster safety test

* wondering how fast this is

* 4 threads too?
---
 tests/safety/test.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/safety/test.sh b/tests/safety/test.sh
index 36f3c971563..d01c5009c2e 100755
--- a/tests/safety/test.sh
+++ b/tests/safety/test.sh
@@ -7,5 +7,5 @@ cd $DIR
 HW_TYPES=( 6 9 )
 for hw_type in "${HW_TYPES[@]}"; do
   echo "Testing HW_TYPE: $hw_type"
-  HW_TYPE=$hw_type pytest -n auto --dist loadfile test_*.py -k 'not Base'
+  HW_TYPE=$hw_type pytest -n auto test_*.py -k 'not Base'
 done

From a5604de24f8bab406ec8ceff1ed8a35d3b620e88 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 29 Jan 2024 20:19:50 -0800
Subject: [PATCH 02/14] ensure cppcheck is always the right version (#1843)

---
 tests/misra/install.sh    | 4 ++--
 tests/misra/test_misra.sh | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/tests/misra/install.sh b/tests/misra/install.sh
index 58ae77d443b..21396264501 100755
--- a/tests/misra/install.sh
+++ b/tests/misra/install.sh
@@ -10,7 +10,7 @@ fi
 
 cd $CPPCHECK_DIR
 VERS="2.13.0"
-git fetch origin $VERS
+git fetch --tags origin $VERS
 git checkout $VERS
-make clean
+#make clean
 make MATCHCOMPILTER=yes CXXFLAGS="-O2" -j8
diff --git a/tests/misra/test_misra.sh b/tests/misra/test_misra.sh
index 28249a3d8ab..f7d8580e2ac 100755
--- a/tests/misra/test_misra.sh
+++ b/tests/misra/test_misra.sh
@@ -10,7 +10,7 @@ NC='\033[0m'
 : "${CPPCHECK_DIR:=$DIR/cppcheck/}"
 
 # install cppcheck if missing
-if [ ! -d $CPPCHECK_DIR ]; then
+if [ -z "${SKIP_BUILD}" ]; then
   $DIR/install.sh
 fi
 

From ec17f75efca05c04313049e1d6dd376ef54d42ec Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 29 Jan 2024 22:23:57 -0600
Subject: [PATCH 03/14] ELM safety: allow GM diagnostic camera address (0x24B)
 (#1842)

* allow 0x200 addresses for Bolt camera

* fix test

* only gm address

* think 15765-2 is the source

* test the data

* label

* should be here

* already labeled

* use constant!

* update table

* fix misra

* Revert "update table"

This reverts commit 71ef3fde7c195c303bb4d771c9643f11b9e5410b.

* new cppcheck gets this
---
 board/safety/safety_elm327.h | 13 ++++++++++++-
 tests/safety/test_elm327.py  | 10 +++++++++-
 2 files changed, 21 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
index 5c4fd221661..954efca8d59 100644
--- a/board/safety/safety_elm327.h
+++ b/board/safety/safety_elm327.h
@@ -1,3 +1,5 @@
+const int GM_CAMERA_DIAG_ADDR = 0x24B;
+
 static bool elm327_tx_hook(const CANPacket_t *to_send) {
   bool tx = true;
   int addr = GET_ADDR(to_send);
@@ -11,9 +13,18 @@ static bool elm327_tx_hook(const CANPacket_t *to_send) {
   // Check valid 29 bit send addresses for ISO 15765-4
   // Check valid 11 bit send addresses for ISO 15765-4
   if ((addr != 0x18DB33F1) && ((addr & 0x1FFF00FF) != 0x18DA00F1) &&
-      ((addr & 0x1FFFFF00) != 0x600) && ((addr & 0x1FFFFF00) != 0x700)) {
+      ((addr & 0x1FFFFF00) != 0x600) && ((addr & 0x1FFFFF00) != 0x700) &&
+      (addr != GM_CAMERA_DIAG_ADDR)) {
     tx = false;
   }
+
+  // GM camera uses non-standard diagnostic address, this has no control message address collisions
+  if ((addr == GM_CAMERA_DIAG_ADDR) && (len == 8)) {
+    // Only allow known frame types for ISO 15765-2
+    if ((GET_BYTE(to_send, 0) & 0xF0U) > 0x30U) {
+      tx = false;
+    }
+  }
   return tx;
 }
 
diff --git a/tests/safety/test_elm327.py b/tests/safety/test_elm327.py
index 31cd74e9d6c..f133b2ead9c 100755
--- a/tests/safety/test_elm327.py
+++ b/tests/safety/test_elm327.py
@@ -7,9 +7,11 @@
 from panda.tests.libpanda import libpanda_py
 from panda.tests.safety.test_defaults import TestDefaultRxHookBase
 
+GM_CAMERA_DIAG_ADDR = 0x24B
+
 
 class TestElm327(TestDefaultRxHookBase):
-  TX_MSGS = [[addr, bus] for addr in [*range(0x600, 0x800),
+  TX_MSGS = [[addr, bus] for addr in [GM_CAMERA_DIAG_ADDR, *range(0x600, 0x800),
                                       *range(0x18DA00F1, 0x18DB00F1, 0x100),  # 29-bit UDS physical addressing
                                       *[0x18DB33F1],  # 29-bit UDS functional address
                                       ] for bus in range(4)]
@@ -31,6 +33,12 @@ def test_tx_hook(self):
       should_tx = msg_len == 8
       self.assertEqual(should_tx, self._tx(common.make_msg(0, 0x700, msg_len)))
 
+    # TODO: perform this check for all addresses
+    # 4 to 15 are reserved ISO-TP frame types (https://en.wikipedia.org/wiki/ISO_15765-2)
+    for byte in range(0xff):
+      should_tx = (byte >> 4) <= 3
+      self.assertEqual(should_tx, self._tx(common.make_msg(0, GM_CAMERA_DIAG_ADDR, dat=bytes([byte] * 8))))
+
   def test_tx_hook_on_wrong_safety_mode(self):
     # No point, since we allow many diagnostic addresses
     pass

From 3afab68196dd96ee12b372c46f7f07c4bf62837e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 30 Jan 2024 13:17:28 -0800
Subject: [PATCH 04/14] pre-commit: autoupdate hooks (#1844)

Update pre-commit hook versions

Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>
---
 .pre-commit-config.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 9d2dfc9c3ad..bffb7447e33 100644
--- a/.pre-commit-config.yaml
+++ b/.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: v0.1.14
+  rev: v0.1.15
   hooks:
     - id: ruff

From bca1162ae9af0e9718aad9f801b595865da997f5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 30 Jan 2024 13:25:22 -0800
Subject: [PATCH 05/14] cuatro: setup CAN (#1836)

* cuatro: setup CAN

* fix misra

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 board/boards/cuatro.h | 19 +++++++++++++++++--
 board/boards/tres.h   |  1 -
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index 4eb4bcc283e..4fc630d5f4a 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -14,9 +14,25 @@ void cuatro_set_led(uint8_t color, bool enabled) {
   }
 }
 
+void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  if (transceiver == 1U) {
+    set_gpio_output(GPIOB, 7, !enabled);
+  } else if (transceiver == 3U) {
+    set_gpio_output(GPIOD, 8, !enabled);
+  } else {
+    red_enable_can_transceiver(transceiver, enabled);
+  }
+}
+
 void cuatro_init(void) {
   red_chiplet_init();
 
+  // CAN FD 0 transceiver enable (rest are done in red init)
+  set_gpio_pullup(GPIOB, 7, PULL_NONE);
+  set_gpio_mode(GPIOB, 7, MODE_OUTPUT);
+  set_gpio_pullup(GPIOD, 8, PULL_NONE);
+  set_gpio_mode(GPIOD, 8, MODE_OUTPUT);
+
   // C2: SOM GPIO used as input (fan control at boot)
   set_gpio_mode(GPIOC, 2, MODE_INPUT);
   set_gpio_pullup(GPIOC, 2, PULL_DOWN);
@@ -57,8 +73,7 @@ const board board_cuatro = {
   .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,
+  .enable_can_transceiver = cuatro_enable_can_transceiver,
   .set_led = cuatro_set_led,
   .set_can_mode = red_chiplet_set_can_mode,
   .check_ignition = red_check_ignition,
diff --git a/board/boards/tres.h b/board/boards/tres.h
index d4faa9c0a33..4f7036b9e96 100644
--- a/board/boards/tres.h
+++ b/board/boards/tres.h
@@ -83,7 +83,6 @@ const board board_tres = {
   .fan_enable_cooldown_time = 3U,
   .init = tres_init,
   .init_bootloader = unused_init_bootloader,
-  .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,
   .set_can_mode = red_chiplet_set_can_mode,

From 457e3b262d798aa6e400033c92d12a0b0f52a7ed Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Sat, 3 Feb 2024 01:36:15 +0000
Subject: [PATCH 06/14] fix enable_can_transceiver

---
 board/boards/cuatro.h | 1 +
 board/boards/tres.h   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index 4fc630d5f4a..8b05c4600de 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -74,6 +74,7 @@ const board board_cuatro = {
   .init = cuatro_init,
   .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = cuatro_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,
diff --git a/board/boards/tres.h b/board/boards/tres.h
index 4f7036b9e96..d4faa9c0a33 100644
--- a/board/boards/tres.h
+++ b/board/boards/tres.h
@@ -83,6 +83,7 @@ const board board_tres = {
   .fan_enable_cooldown_time = 3U,
   .init = tres_init,
   .init_bootloader = unused_init_bootloader,
+  .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,
   .set_can_mode = red_chiplet_set_can_mode,

From 5ab46d52fd24b3cb9d507f8593deab8761c04cc3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 3 Feb 2024 15:28:15 -0800
Subject: [PATCH 07/14] set cppcheck level to exhaustive (#1846)

---
 tests/misra/test_misra.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/misra/test_misra.sh b/tests/misra/test_misra.sh
index f7d8580e2ac..5504e3cd8c1 100755
--- a/tests/misra/test_misra.sh
+++ b/tests/misra/test_misra.sh
@@ -37,7 +37,7 @@ cppcheck() {
           -I $gcc_inc "$(arm-none-eabi-gcc -print-file-name=include)" \
           --suppressions-list=$DIR/suppressions.txt --suppress=*:*inc/* \
           --suppress=*:*include/* --error-exitcode=2 --addon=misra \
-          --cppcheck-build-dir=$build_dir \
+          --check-level=exhaustive --cppcheck-build-dir=$build_dir \
           "$@"
 }
 

From 93a06f1257d4a22dbfa2913b76c7664538b1d7e7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 3 Feb 2024 23:18:33 -0800
Subject: [PATCH 08/14] remove HW GMLAN support (#1848)

---
 board/boards/black.h                     |  1 -
 board/boards/board_declarations.h        |  1 -
 board/boards/cuatro.h                    |  1 -
 board/boards/dos.h                       |  1 -
 board/boards/grey.h                      |  1 -
 board/boards/pedal.h                     |  1 -
 board/boards/red.h                       |  1 -
 board/boards/tres.h                      |  1 -
 board/boards/uno.h                       |  1 -
 board/boards/white.h                     |  1 -
 board/drivers/bxcan.h                    | 50 ------------------------
 board/drivers/fdcan.h                    |  5 ---
 board/jungle/boards/board_declarations.h |  1 -
 board/main_comms.h                       | 13 ------
 board/power_saving.h                     |  6 ---
 15 files changed, 85 deletions(-)

diff --git a/board/boards/black.h b/board/boards/black.h
index d3d0f8619dc..2e50157000f 100644
--- a/board/boards/black.h
+++ b/board/boards/black.h
@@ -165,7 +165,6 @@ const harness_configuration black_harness_config = {
 const board board_black = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &black_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = false,
   .has_canfd = false,
diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
index ee7103b06ac..06382ceb76e 100644
--- a/board/boards/board_declarations.h
+++ b/board/boards/board_declarations.h
@@ -21,7 +21,6 @@ typedef bool (*board_read_som_gpio)(void);
 
 struct board {
   const harness_configuration *harness_config;
-  const bool has_hw_gmlan;
   const bool has_obd;
   const bool has_spi;
   const bool has_canfd;
diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index 8b05c4600de..b30abccfad6 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -62,7 +62,6 @@ void cuatro_init(void) {
 
 const board board_cuatro = {
   .harness_config = &red_chiplet_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = true,
   .has_canfd = true,
diff --git a/board/boards/dos.h b/board/boards/dos.h
index b76f8993fff..b234d51a8c5 100644
--- a/board/boards/dos.h
+++ b/board/boards/dos.h
@@ -193,7 +193,6 @@ const harness_configuration dos_harness_config = {
 
 const board board_dos = {
   .harness_config = &dos_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
 #ifdef ENABLE_SPI
   .has_spi = true,
diff --git a/board/boards/grey.h b/board/boards/grey.h
index 6065c3d227a..a7a4cc0445d 100644
--- a/board/boards/grey.h
+++ b/board/boards/grey.h
@@ -7,7 +7,6 @@
 const board board_grey = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
-  .has_hw_gmlan = true,
   .has_obd = false,
   .has_spi = false,
   .has_canfd = false,
diff --git a/board/boards/pedal.h b/board/boards/pedal.h
index 1909b2a5311..c1569beac00 100644
--- a/board/boards/pedal.h
+++ b/board/boards/pedal.h
@@ -69,7 +69,6 @@ const harness_configuration pedal_harness_config = {
 const board board_pedal = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &pedal_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = false,
   .has_spi = false,
   .has_canfd = false,
diff --git a/board/boards/red.h b/board/boards/red.h
index 709d44df50d..05e6e7530df 100644
--- a/board/boards/red.h
+++ b/board/boards/red.h
@@ -173,7 +173,6 @@ const harness_configuration red_harness_config = {
 const board board_red = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = false,
   .has_canfd = true,
diff --git a/board/boards/tres.h b/board/boards/tres.h
index d4faa9c0a33..3a5d8961852 100644
--- a/board/boards/tres.h
+++ b/board/boards/tres.h
@@ -72,7 +72,6 @@ void tres_init(void) {
 
 const board board_tres = {
   .harness_config = &red_chiplet_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = true,
   .has_canfd = true,
diff --git a/board/boards/uno.h b/board/boards/uno.h
index 15759b85809..947d60d1325 100644
--- a/board/boards/uno.h
+++ b/board/boards/uno.h
@@ -200,7 +200,6 @@ const harness_configuration uno_harness_config = {
 
 const board board_uno = {
   .harness_config = &uno_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = false,
   .has_canfd = false,
diff --git a/board/boards/white.h b/board/boards/white.h
index c8b8606bcf4..680e3cb05ca 100644
--- a/board/boards/white.h
+++ b/board/boards/white.h
@@ -224,7 +224,6 @@ const harness_configuration white_harness_config = {
 const board board_white = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
-  .has_hw_gmlan = true,
   .has_obd = false,
   .has_spi = false,
   .has_canfd = false,
diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
index 080c9f4a9d4..ea2705d9d06 100644
--- a/board/drivers/bxcan.h
+++ b/board/drivers/bxcan.h
@@ -23,56 +23,6 @@ bool can_set_speed(uint8_t can_number) {
   return ret;
 }
 
-// TODO: Cleanup with new abstraction
-void can_set_gmlan(uint8_t bus) {
-  if(current_board->has_hw_gmlan){
-    // first, disable GMLAN on prev bus
-    uint8_t prev_bus = bus_config[3].can_num_lookup;
-    if (bus != prev_bus) {
-      switch (prev_bus) {
-        case 1:
-        case 2:
-          print("Disable GMLAN on CAN");
-          puth(prev_bus + 1U);
-          print("\n");
-          current_board->set_can_mode(CAN_MODE_NORMAL);
-          bus_config[prev_bus].bus_lookup = prev_bus;
-          bus_config[prev_bus].can_num_lookup = prev_bus;
-          bus_config[3].can_num_lookup = -1;
-          bool ret = can_init(prev_bus);
-          UNUSED(ret);
-          break;
-        default:
-          // GMLAN was not set on either BUS 1 or 2
-          break;
-      }
-    }
-
-    // now enable GMLAN on the new bus
-    switch (bus) {
-      case 1:
-      case 2:
-        print("Enable GMLAN on CAN");
-        puth(bus + 1U);
-        print("\n");
-        current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
-        bus_config[bus].bus_lookup = 3;
-        bus_config[bus].can_num_lookup = -1;
-        bus_config[3].can_num_lookup = bus;
-        bool ret = can_init(bus);
-        UNUSED(ret);
-        break;
-      case 0xFF:  //-1 unsigned
-        break;
-      default:
-        print("GMLAN can only be set on CAN2 or CAN3\n");
-        break;
-    }
-  } else {
-    print("GMLAN not available on black panda\n");
-  }
-}
-
 void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
   CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
   uint32_t esr_reg = CANx->ESR;
diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
index 4343d5c97f6..bc4c2a532e3 100644
--- a/board/drivers/fdcan.h
+++ b/board/drivers/fdcan.h
@@ -35,11 +35,6 @@ bool can_set_speed(uint8_t can_number) {
   return ret;
 }
 
-void can_set_gmlan(uint8_t bus) {
-  UNUSED(bus);
-  print("GMLAN not available on red panda\n");
-}
-
 void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
   FDCAN_GlobalTypeDef *FDCANx = CANIF_FROM_CAN_NUM(can_number);
   uint32_t psr_reg = FDCANx->PSR;
diff --git a/board/jungle/boards/board_declarations.h b/board/jungle/boards/board_declarations.h
index 1288b5354df..925918921f8 100644
--- a/board/jungle/boards/board_declarations.h
+++ b/board/jungle/boards/board_declarations.h
@@ -35,7 +35,6 @@ struct board {
 
   // TODO: shouldn't need these
   bool has_spi;
-  bool has_hw_gmlan;
 };
 
 // ******************* Definitions ********************
diff --git a/board/main_comms.h b/board/main_comms.h
index 4adfc8d744a..01c47ba07af 100644
--- a/board/main_comms.h
+++ b/board/main_comms.h
@@ -274,19 +274,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
           // Disable OBD CAN
           current_board->set_can_mode(CAN_MODE_NORMAL);
         }
-      } else {
-        if (req->param1 == 1U) {
-          // GMLAN ON
-          if (req->param2 == 1U) {
-            can_set_gmlan(1);
-          } else if (req->param2 == 2U) {
-            can_set_gmlan(2);
-          } else {
-            print("Invalid bus num for GMLAN CAN set\n");
-          }
-        } else {
-          can_set_gmlan(-1);
-        }
       }
       break;
 
diff --git a/board/power_saving.h b/board/power_saving.h
index dcd64dc58d2..61541cae9ee 100644
--- a/board/power_saving.h
+++ b/board/power_saving.h
@@ -36,12 +36,6 @@ void set_power_save_state(int state) {
 
     current_board->enable_can_transceivers(enable);
 
-    if(current_board->has_hw_gmlan){
-      // turn on GMLAN
-      set_gpio_output(GPIOB, 14, enable);
-      set_gpio_output(GPIOB, 15, enable);
-    }
-
     // Switch off IR when in power saving
     if(!enable){
       current_board->set_ir_power(0U);

From 3bd980eb3972cd1791e946bba99d83345a1efcaa Mon Sep 17 00:00:00 2001
From: Ruben Medina <dev@rubenmedina.com>
Date: Sat, 3 Feb 2024 23:20:30 -0800
Subject: [PATCH 09/14] enable misra-c2012-17.3 (#1806)

---
 board/main_comms.h             | 3 ++-
 board/safety.h                 | 3 ++-
 board/safety/safety_chrysler.h | 4 +++-
 board/safety/safety_ford.h     | 3 ++-
 board/safety/safety_honda.h    | 4 +++-
 tests/misra/suppressions.txt   | 1 -
 6 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/board/main_comms.h b/board/main_comms.h
index 01c47ba07af..116f95d0ede 100644
--- a/board/main_comms.h
+++ b/board/main_comms.h
@@ -311,7 +311,8 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       }
 
       // read
-      while ((resp_len < MIN(req->length, USBPACKET_MAX_SIZE)) &&
+      uint16_t req_length = MIN(req->length, USBPACKET_MAX_SIZE);
+      while ((resp_len < req_length) &&
                          get_char(ur, (char*)&resp[resp_len])) {
         ++resp_len;
       }
diff --git a/board/safety.h b/board/safety.h
index e48a75502e8..50669e3bfb4 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -390,7 +390,8 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
 // convert a trimmed integer to signed 32 bit int
 int to_signed(int d, int bits) {
   int d_signed = d;
-  if (d >= (1 << MAX((bits - 1), 0))) {
+  int max_value = (1 << MAX((bits - 1), 0));
+  if (d >= max_value) {
     d_signed = d - (1 << MAX(bits, 0));
   }
   return d_signed;
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index 71bd19d3003..1e11871286f 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -264,7 +264,9 @@ static int chrysler_fwd_hook(int bus_num, int addr) {
 
 static safety_config chrysler_init(uint16_t param) {
   safety_config ret;
-  if (GET_FLAG(param, CHRYSLER_PARAM_RAM_DT)) {
+
+  bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
+  if (enable_ram_dt) {
     chrysler_platform = CHRYSLER_RAM_DT;
     chrysler_addrs = &CHRYSLER_RAM_DT_ADDRS;
     ret = BUILD_SAFETY_CFG(chrysler_ram_dt_rx_checks, CHRYSLER_RAM_DT_TX_MSGS);
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 6ab123be69b..0424b9d09c7 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -222,7 +222,8 @@ static void ford_rx_hook(const CANPacket_t *to_push) {
       // Disable controls if speeds from ABS and PCM ECUs are too far apart.
       // Signal: Veh_V_ActlEng
       float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
-      if (ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA) {
+      bool is_invalid_speed = ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA;
+      if (is_invalid_speed) {
         controls_allowed = false;
       }
     }
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 7bbc8e66165..968a1a446da 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -383,7 +383,9 @@ static safety_config honda_nidec_init(uint16_t param) {
   enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
 
   safety_config ret;
-  if (GET_FLAG(param, HONDA_PARAM_NIDEC_ALT)) {
+  
+  bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT);
+  if (enable_nidec_alt) {
     enable_gas_interceptor ? SET_RX_CHECKS(honda_nidec_alt_interceptor_rx_checks, ret) : \
                              SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret);
   } else {
diff --git a/tests/misra/suppressions.txt b/tests/misra/suppressions.txt
index 57db05a5fb6..2c91f868ab4 100644
--- a/tests/misra/suppressions.txt
+++ b/tests/misra/suppressions.txt
@@ -25,5 +25,4 @@ misra-c2012-8.7
 misra-c2012-8.4
 misra-c2012-10.6
 misra-c2012-10.3
-misra-c2012-17.3
 misra-c2012-21.15

From f48fc21a17079bc04cfb3d8042fd2d67d0aac104 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 4 Feb 2024 15:11:52 -0800
Subject: [PATCH 10/14] cuatro: fix FDCAN2 (#1851)

Co-authored-by: Comma Device <device@comma.ai>
---
 board/boards/cuatro.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index b30abccfad6..0950e1e5320 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -33,6 +33,12 @@ void cuatro_init(void) {
   set_gpio_pullup(GPIOD, 8, PULL_NONE);
   set_gpio_mode(GPIOD, 8, MODE_OUTPUT);
 
+  // FDCAN2
+  set_gpio_pullup(GPIOD, 12, PULL_NONE);
+  set_gpio_alternate(GPIOD, 12, GPIO_AF9_FDCAN2);
+  set_gpio_pullup(GPIOD, 13, PULL_NONE);
+  set_gpio_alternate(GPIOD, 13, GPIO_AF9_FDCAN2);
+
   // C2: SOM GPIO used as input (fan control at boot)
   set_gpio_mode(GPIOC, 2, MODE_INPUT);
   set_gpio_pullup(GPIOC, 2, PULL_DOWN);

From 94418a0d93ab5e17f72bc133611446d544d5e22d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 6 Feb 2024 11:14:58 -0800
Subject: [PATCH 11/14] pre-commit: autoupdate hooks (#1857)

Update pre-commit hook versions

Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>
---
 .pre-commit-config.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index bffb7447e33..5788e16b2c8 100644
--- a/.pre-commit-config.yaml
+++ b/.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: v0.1.15
+  rev: v0.2.1
   hooks:
     - id: ruff

From 5c5287dabb50f31aa53ad6d17319fea8699dfb2f Mon Sep 17 00:00:00 2001
From: dzid26 <dzidmail@gmail.com>
Date: Tue, 6 Feb 2024 19:15:22 +0000
Subject: [PATCH 12/14] Fix CAN comment (#1854)

---
 board/boards/black.h       | 2 +-
 board/boards/dos.h         | 2 +-
 board/boards/red.h         | 2 +-
 board/boards/red_chiplet.h | 2 +-
 board/boards/uno.h         | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/board/boards/black.h b/board/boards/black.h
index 2e50157000f..bf8d5bd7436 100644
--- a/board/boards/black.h
+++ b/board/boards/black.h
@@ -136,7 +136,7 @@ void black_init(void) {
   // Set normal CAN mode
   black_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
diff --git a/board/boards/dos.h b/board/boards/dos.h
index b234d51a8c5..69e9169c2de 100644
--- a/board/boards/dos.h
+++ b/board/boards/dos.h
@@ -168,7 +168,7 @@ void dos_init(void) {
   // Set normal CAN mode
   dos_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
diff --git a/board/boards/red.h b/board/boards/red.h
index 05e6e7530df..1bf33d60982 100644
--- a/board/boards/red.h
+++ b/board/boards/red.h
@@ -150,7 +150,7 @@ void red_init(void) {
   // Set normal CAN mode
   red_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
diff --git a/board/boards/red_chiplet.h b/board/boards/red_chiplet.h
index 1301cd3e54f..205574f203d 100644
--- a/board/boards/red_chiplet.h
+++ b/board/boards/red_chiplet.h
@@ -133,7 +133,7 @@ void red_chiplet_init(void) {
   // Set normal CAN mode
   red_chiplet_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
diff --git a/board/boards/uno.h b/board/boards/uno.h
index 947d60d1325..29f0a0c5977 100644
--- a/board/boards/uno.h
+++ b/board/boards/uno.h
@@ -161,7 +161,7 @@ void uno_init(void) {
   // Set normal CAN mode
   uno_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }

From 04c5a00a9ecc96401d2e59a06bd15c84abd641de Mon Sep 17 00:00:00 2001
From: dzid26 <dzidmail@gmail.com>
Date: Tue, 6 Feb 2024 19:15:46 +0000
Subject: [PATCH 13/14] Board chip type (#1853)

Board chip type title
---
 board/boards/black.h           | 6 +++---
 board/boards/cuatro.h          | 4 ++++
 board/boards/dos.h             | 6 +++---
 board/boards/grey.h            | 6 +++---
 board/boards/pedal.h           | 6 +++---
 board/boards/red.h             | 6 +++---
 board/boards/red_chiplet.h     | 6 +++---
 board/boards/tres.h            | 6 +++---
 board/boards/uno.h             | 6 +++---
 board/boards/white.h           | 6 +++---
 board/jungle/boards/board_v1.h | 3 +++
 board/jungle/boards/board_v2.h | 3 +++
 12 files changed, 37 insertions(+), 27 deletions(-)

diff --git a/board/boards/black.h b/board/boards/black.h
index bf8d5bd7436..d72ab39aa12 100644
--- a/board/boards/black.h
+++ b/board/boards/black.h
@@ -1,6 +1,6 @@
-// ///////////////////// //
-// Black Panda + Harness //
-// ///////////////////// //
+// /////////////////////////////// //
+// Black Panda (STM32F4) + Harness //
+// /////////////////////////////// //
 
 void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index 0950e1e5320..049e6e20a61 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -1,3 +1,7 @@
+// ////////////////////////// //
+// Cuatro (STM32H7) + Harness //
+// ////////////////////////// //
+
 void cuatro_set_led(uint8_t color, bool enabled) {
   switch (color) {
     case LED_RED:
diff --git a/board/boards/dos.h b/board/boards/dos.h
index 69e9169c2de..e93c0159113 100644
--- a/board/boards/dos.h
+++ b/board/boards/dos.h
@@ -1,6 +1,6 @@
-// ///////////// //
-// Dos + Harness //
-// ///////////// //
+// /////////////////////// //
+// Dos (STM32F4) + Harness //
+// /////////////////////// //
 
 void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
diff --git a/board/boards/grey.h b/board/boards/grey.h
index a7a4cc0445d..e8f90e263d9 100644
--- a/board/boards/grey.h
+++ b/board/boards/grey.h
@@ -1,6 +1,6 @@
-// ////////// //
-// Grey Panda //
-// ////////// //
+// //////////////////// //
+// Grey Panda (STM32F4) //
+// //////////////////// //
 
 // Most hardware functionality is similar to white panda
 
diff --git a/board/boards/pedal.h b/board/boards/pedal.h
index c1569beac00..2b653e9ed1a 100644
--- a/board/boards/pedal.h
+++ b/board/boards/pedal.h
@@ -1,6 +1,6 @@
-// ///// //
-// Pedal //
-// ///// //
+// ///////////// //
+// Pedal STM32F2 //
+// ///////////// //
 
 void pedal_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
diff --git a/board/boards/red.h b/board/boards/red.h
index 1bf33d60982..58410894bc4 100644
--- a/board/boards/red.h
+++ b/board/boards/red.h
@@ -1,6 +1,6 @@
-// ///////////////////// //
-// Red Panda + Harness //
-// ///////////////////// //
+// ///////////////////////////// //
+// Red Panda (STM32H7) + Harness //
+// ///////////////////////////// //
 
 void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver) {
diff --git a/board/boards/red_chiplet.h b/board/boards/red_chiplet.h
index 205574f203d..eec3d95cdf5 100644
--- a/board/boards/red_chiplet.h
+++ b/board/boards/red_chiplet.h
@@ -1,6 +1,6 @@
-// ///////////////////// //
-// Red Panda chiplet + Harness //
-// ///////////////////// //
+// ///////////////////////////////////// //
+// Red Panda chiplet (STM32H7) + Harness //
+// ///////////////////////////////////// //
 
 // Most hardware functionality is similar to red panda
 
diff --git a/board/boards/tres.h b/board/boards/tres.h
index 3a5d8961852..4e8564b20d0 100644
--- a/board/boards/tres.h
+++ b/board/boards/tres.h
@@ -1,6 +1,6 @@
-// /////////////////
-// Tres + Harness //
-// /////////////////
+// ///////////////////////////
+// Tres (STM32H7) + Harness //
+// ///////////////////////////
 
 bool tres_ir_enabled;
 bool tres_fan_enabled;
diff --git a/board/boards/uno.h b/board/boards/uno.h
index 29f0a0c5977..5f8af593dc3 100644
--- a/board/boards/uno.h
+++ b/board/boards/uno.h
@@ -1,6 +1,6 @@
-// ///////////// //
-// Uno + Harness //
-// ///////////// //
+// /////////////////////// //
+// Uno (STM32F4) + Harness //
+// /////////////////////// //
 
 void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
diff --git a/board/boards/white.h b/board/boards/white.h
index 680e3cb05ca..5048c0779d8 100644
--- a/board/boards/white.h
+++ b/board/boards/white.h
@@ -1,6 +1,6 @@
-// /////////// //
-// White Panda //
-// /////////// //
+// ///////////////////// //
+// White Panda (STM32F4) //
+// ///////////////////// //
 
 void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
diff --git a/board/jungle/boards/board_v1.h b/board/jungle/boards/board_v1.h
index 29c23d6df7a..9581686e2a3 100644
--- a/board/jungle/boards/board_v1.h
+++ b/board/jungle/boards/board_v1.h
@@ -1,3 +1,6 @@
+// ///////////////////////// //
+// Jungle board v1 (STM32F4) //
+// ///////////////////////// //
 
 void board_v1_set_led(uint8_t color, bool enabled) {
   switch (color) {
diff --git a/board/jungle/boards/board_v2.h b/board/jungle/boards/board_v2.h
index 7bce61ebb30..095114825b8 100644
--- a/board/jungle/boards/board_v2.h
+++ b/board/jungle/boards/board_v2.h
@@ -1,3 +1,6 @@
+// ///////////////////////// //
+// Jungle board v2 (STM32H7) //
+// ///////////////////////// //
 
 const gpio_t power_pins[] = {
   {.bank = GPIOA, .pin = 0},

From ad0f372adabef438d67340c6b9c76ba7146d0671 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 6 Feb 2024 22:29:42 -0800
Subject: [PATCH 14/14] cuatro can fixes (#1858)

* more can

* other af

* cleanup

* misra fix

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 board/boards/cuatro.h | 43 ++++++++++++++++++++++++++++++++-----------
 1 file changed, 32 insertions(+), 11 deletions(-)

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index 049e6e20a61..ed120bb052f 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -19,29 +19,50 @@ void cuatro_set_led(uint8_t color, bool enabled) {
 }
 
 void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
-  if (transceiver == 1U) {
-    set_gpio_output(GPIOB, 7, !enabled);
-  } else if (transceiver == 3U) {
-    set_gpio_output(GPIOD, 8, !enabled);
-  } else {
-    red_enable_can_transceiver(transceiver, enabled);
+  switch (transceiver) {
+    case 1U:
+      set_gpio_output(GPIOB, 7, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOD, 8, !enabled);
+      break;
+    case 4U:
+      set_gpio_output(GPIOB, 11, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void cuatro_enable_can_transceivers(bool enabled) {
+  uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
+  for (uint8_t i=1U; i<=4U; i++) {
+    // Leave main CAN always on for CAN-based ignition detection
+    if (i == main_bus) {
+      cuatro_enable_can_transceiver(i, true);
+    } else {
+      cuatro_enable_can_transceiver(i, enabled);
+    }
   }
 }
 
 void cuatro_init(void) {
   red_chiplet_init();
 
-  // CAN FD 0 transceiver enable (rest are done in red init)
+  // CAN transceiver enables
   set_gpio_pullup(GPIOB, 7, PULL_NONE);
   set_gpio_mode(GPIOB, 7, MODE_OUTPUT);
   set_gpio_pullup(GPIOD, 8, PULL_NONE);
   set_gpio_mode(GPIOD, 8, MODE_OUTPUT);
 
-  // FDCAN2
+  // FDCAN3, different pins on this package than the rest of the reds
   set_gpio_pullup(GPIOD, 12, PULL_NONE);
-  set_gpio_alternate(GPIOD, 12, GPIO_AF9_FDCAN2);
+  set_gpio_alternate(GPIOD, 12, GPIO_AF5_FDCAN3);
   set_gpio_pullup(GPIOD, 13, PULL_NONE);
-  set_gpio_alternate(GPIOD, 13, GPIO_AF9_FDCAN2);
+  set_gpio_alternate(GPIOD, 13, GPIO_AF5_FDCAN3);
 
   // C2: SOM GPIO used as input (fan control at boot)
   set_gpio_mode(GPIOC, 2, MODE_INPUT);
@@ -83,7 +104,7 @@ const board board_cuatro = {
   .init = cuatro_init,
   .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = cuatro_enable_can_transceiver,
-  .enable_can_transceivers = red_chiplet_enable_can_transceivers,
+  .enable_can_transceivers = cuatro_enable_can_transceivers,
   .set_led = cuatro_set_led,
   .set_can_mode = red_chiplet_set_can_mode,
   .check_ignition = red_check_ignition,