Merge branch 'commaai:master' into master-new

.github/workflows/drivers.yaml

@@ -1,5 +1,9 @@
 name: drivers
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
 
 jobs:
   build_socketcan:

.github/workflows/test.yaml

@@ -54,6 +54,8 @@ jobs:
         run: ${{ env.RUN }} "scons -j4 --ubsan"
       - name: Build jungle firmware with FINAL_PROVISIONING support
         run: ${{ env.RUN }} "FINAL_PROVISIONING=1 scons -j4 board/jungle"
+      - name: Build panda in release mode
+        run: ${{ env.RUN }} "CERT=certs/debug RELEASE=1 scons -j4"
 
   unit_tests:
     name: unit tests

.pre-commit-config.yaml

@@ -15,6 +15,6 @@ repos:
       additional_dependencies: ['numpy', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.6.3
+  rev: v0.6.8
   hooks:
     - id: ruff

Dockerfile

@@ -37,7 +37,7 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
 
 # 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"
+ENV OPENDBC_REF="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
 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/ && \

board/boards/cuatro.h

@@ -12,7 +12,7 @@ static void cuatro_set_led(uint8_t color, bool enabled) {
       set_gpio_output(GPIOD, 15, !enabled);
       break;
     case LED_GREEN:
-      set_gpio_output(GPIOD, 14, !enabled);
+      set_gpio_output(GPIOB, 2, !enabled);
       break;
     case LED_BLUE:
       set_gpio_output(GPIOE, 2, !enabled);
@@ -71,12 +71,16 @@ static void cuatro_set_bootkick(BootState state) {
   //set_gpio_output(GPIOC, 12, state != BOOT_RESET);
 }
 
+static void cuatro_set_siren(bool enabled){
+  beeper_enable(enabled);
+}
+
 static void cuatro_init(void) {
   red_chiplet_init();
 
   // init LEDs as open drain
   set_gpio_output_type(GPIOE, 2, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOD, 14, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output_type(GPIOB, 2, OUTPUT_TYPE_OPEN_DRAIN);
   set_gpio_output_type(GPIOD, 15, OUTPUT_TYPE_OPEN_DRAIN);
 
   // Power readout
@@ -120,6 +124,10 @@ static void cuatro_init(void) {
 
   // Clock source
   clock_source_init();
+
+  // Beeper
+  set_gpio_alternate(GPIOD, 14, GPIO_AF2_TIM4);
+  beeper_init();
 }
 
 board board_cuatro = {
@@ -143,7 +151,7 @@ board board_cuatro = {
   .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = cuatro_set_fan_enabled,
   .set_ir_power = tres_set_ir_power,
-  .set_siren = unused_set_siren,
+  .set_siren = cuatro_set_siren,
   .set_bootkick = cuatro_set_bootkick,
   .read_som_gpio = tres_read_som_gpio
 };

board/boards/tres.h

@@ -69,7 +69,6 @@ static void tres_init(void) {
   set_gpio_alternate(GPIOC, 10, GPIO_AF4_I2C5);
   set_gpio_alternate(GPIOC, 11, GPIO_AF4_I2C5);
   register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT10 | GPIO_OTYPER_OT11); // open drain
-  fake_siren_init();
 
   // Clock source
   clock_source_init();

board/drivers/beeper.h

@@ -0,0 +1,26 @@
+
+#define BEEPER_COUNTER_OVERFLOW 25000U // 4kHz
+
+void beeper_enable(bool enabled) {
+  if (enabled) {
+    register_set_bits(&(TIM4->CCER), TIM_CCER_CC3E);
+  } else {
+    register_clear_bits(&(TIM4->CCER), TIM_CCER_CC3E);
+  }
+}
+
+void beeper_init(void) {
+  // Enable timer and auto-reload
+  register_set(&(TIM4->CR1), TIM_CR1_CEN | TIM_CR1_ARPE, 0x3FU);
+
+  // Set channel as PWM mode 1 and disable output
+  register_set_bits(&(TIM4->CCMR2), (TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3PE));
+  beeper_enable(false);
+
+  // Set max counter value and compare to get 50% duty
+  register_set(&(TIM4->CCR3), BEEPER_COUNTER_OVERFLOW / 2U, 0xFFFFU);
+  register_set(&(TIM4->ARR), BEEPER_COUNTER_OVERFLOW, 0xFFFFU);
+
+  // Update registers and clear counter
+  TIM4->EGR |= TIM_EGR_UG;
+}

board/drivers/fake_siren.h

@@ -2,6 +2,8 @@
 
 #define CODEC_I2C_ADDR 0x10
 
+void fake_siren_init(void);
+
 void fake_siren_codec_enable(bool enabled) {
   if (enabled) {
     bool success = true;
@@ -28,8 +30,14 @@ void fake_siren_codec_enable(bool enabled) {
 
 
 void fake_siren_set(bool enabled) {
+  static bool initialized = false;
   static bool fake_siren_enabled = false;
 
+  if (!initialized) {
+    fake_siren_init();
+    initialized = true;
+  }
+
   if (enabled != fake_siren_enabled) {
     fake_siren_codec_enable(enabled);
   }

board/jungle/scripts/can_health.py

@@ -1,13 +1,29 @@
 #!/usr/bin/env python3
-
 import time
+import re
 from panda import PandaJungle
 
+RED = '\033[91m'
+GREEN = '\033[92m'
+
+def colorize_errors(value):
+  if isinstance(value, str):
+    if re.search(r'(?i)No error', value):
+      return f'{GREEN}{value}\033[0m'
+    elif re.search(r'(?i)(?<!No error\s)(err|error)', value):
+      return f'{RED}{value}\033[0m'
+  return str(value)
+
 if __name__ == "__main__":
   jungle = PandaJungle()
 
   while True:
+    print(chr(27) + "[2J") # clear screen
+    print("Connected to " + ("internal panda" if jungle.is_internal() else "External panda") + f" id: {jungle.get_serial()[0]}: {jungle.get_version()}")
     for bus in range(3):
-      print(bus, jungle.can_health(bus))
+      print(f"\nBus {bus}:")
+      health = jungle.can_health(bus)
+      for key, value in health.items():
+        print(f"{key}: {colorize_errors(value)}  ", end=" ")
     print()
     time.sleep(1)

board/jungle/scripts/can_printer.py

@@ -12,22 +12,27 @@ def sec_since_boot():
 
 def can_printer():
   p = PandaJungle()
+  print(f"Connected to: {p._serial}: {p.get_version()}")
+  time.sleep(1)
+
+  p.can_clear(0xFFFF)
 
   start = sec_since_boot()
   lp = sec_since_boot()
   msgs = defaultdict(list)
-  canbus = int(os.getenv("CAN", "0"))
+  canbus = os.getenv("CAN")
   while True:
     can_recv = p.can_recv()
-    for address, dat, src  in can_recv:
-      if src == canbus:
-        msgs[address].append(dat)
+    for address,dat, src in can_recv:
+      if canbus is None or str(src) == canbus:
+        msgs[address].append((dat, src))
 
     if sec_since_boot() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += "%5.2f\n" % (sec_since_boot() - start)
-      for k,v in sorted(zip(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())], strict=True)):
-        dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
+      for k, v in sorted(msgs.items()):
+        last_msg, last_src = v[-1]
+        dd += "%d: %s(%6d): %s\n" % (last_src, "%04X(%4d)" % (k, k), len(v), binascii.hexlify(last_msg).decode())
       print(dd)
       lp = sec_since_boot()
 

board/jungle/scripts/spam_can.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+import os
+import random
+from panda import PandaJungle
+
+def get_test_string():
+  return b"test" + os.urandom(10)
+
+if __name__ == "__main__":
+  p = PandaJungle()
+
+  p.set_safety_mode(PandaJungle.SAFETY_ALLOUTPUT)
+
+  print("Spamming all buses...")
+  while True:
+    at = random.randint(1, 2000)
+    st = get_test_string()[0:8]
+    bus = random.randint(0, 2)
+    p.can_send(at, st, bus)
+    # print("Sent message on bus: ", bus)

board/main.c

@@ -325,12 +325,13 @@ int main(void) {
   // panda has an FPU, let's use it!
   enable_fpu();
 
+  microsecond_timer_init();
+
+  current_board->set_siren(false);
   if (current_board->fan_max_rpm > 0U) {
     fan_init();
   }
 
-  microsecond_timer_init();
-
   // init to SILENT and can silent
   set_safety_mode(SAFETY_SILENT, 0U);
 

board/safety/safety_chrysler.h

@@ -211,18 +211,6 @@ static safety_config chrysler_init(uint16_t param) {
     .CRUISE_BUTTONS   = 0xB1,   // Cruise control buttons
   };
 
-  // CAN messages for the 5th gen RAM HD platform
-  static const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
-    .EPS_2            = 0x220,  // EPS driver input torque
-    .ESP_1            = 0x140,  // Brake pedal and vehicle speed
-    .ESP_8            = 0x11C,  // Brake pedal and vehicle speed
-    .ECM_5            = 0x22F,  // Throttle position sensor
-    .DAS_3            = 0x1F4,  // ACC engagement states from DASM
-    .DAS_6            = 0x275,  // LKAS HUD and auto headlight control from DASM
-    .LKAS_COMMAND     = 0x276,  // LKAS controls from DASM
-    .CRUISE_BUTTONS   = 0x23A,  // Cruise control buttons
-  };
-
   static RxCheck chrysler_ram_dt_rx_checks[] = {
     {.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
     {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
@@ -240,14 +228,6 @@ static safety_config chrysler_init(uint16_t param) {
     {.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
   };
 
-  static RxCheck chrysler_ram_hd_rx_checks[] = {
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-  };
-
   static const CanMsg CHRYSLER_TX_MSGS[] = {
     {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3},
     {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6},
@@ -260,21 +240,41 @@ static safety_config chrysler_init(uint16_t param) {
     {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8},
   };
 
+#ifdef ALLOW_DEBUG
+  // CAN messages for the 5th gen RAM HD platform
+  static const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
+    .EPS_2            = 0x220,  // EPS driver input torque
+    .ESP_1            = 0x140,  // Brake pedal and vehicle speed
+    .ESP_8            = 0x11C,  // Brake pedal and vehicle speed
+    .ECM_5            = 0x22F,  // Throttle position sensor
+    .DAS_3            = 0x1F4,  // ACC engagement states from DASM
+    .DAS_6            = 0x275,  // LKAS HUD and auto headlight control from DASM
+    .LKAS_COMMAND     = 0x276,  // LKAS controls from DASM
+    .CRUISE_BUTTONS   = 0x23A,  // Cruise control buttons
+  };
+
+  static RxCheck chrysler_ram_hd_rx_checks[] = {
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+  };
+
   static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
     {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
     {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
     {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
   };
 
-  safety_config ret;
-
-  bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
-
-#ifdef ALLOW_DEBUG
   const uint32_t CHRYSLER_PARAM_RAM_HD = 2U;  // set for Ram HD platform
   bool enable_ram_hd = GET_FLAG(param, CHRYSLER_PARAM_RAM_HD);
 #endif
 
+  safety_config ret;
+
+  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;

board/safety/safety_ford.h

@@ -114,11 +114,11 @@ static const SteeringLimits FORD_STEERING_LIMITS = {
   .max_angle_error = 100,           // 0.002 * FORD_STEERING_LIMITS.angle_deg_to_can
   .angle_rate_up_lookup = {
     {5., 25., 25.},
-    {0.0002, 0.0001, 0.0001}
+    {0.00045, 0.0001, 0.0001}
   },
   .angle_rate_down_lookup = {
     {5., 25., 25.},
-    {0.000225, 0.00015, 0.00015}
+    {0.00045, 0.00015, 0.00015}
   },
 
   // no blending at low speed due to lack of torque wind-up and inaccurate current curvature
@@ -223,6 +223,9 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
     // Signal: CmbbDeny_B_Actl
     bool cmbb_deny = GET_BIT(to_send, 37U);
 
+    // Signal: AccBrkPrchg_B_Rq & AccBrkDecel_B_Rq
+    bool brake_actuation = GET_BIT(to_send, 54U) || GET_BIT(to_send, 55U);
+
     bool violation = false;
     violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
     violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS);
@@ -231,6 +234,8 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
     // Safety check for stock AEB
     violation |= cmbb_deny; // do not prevent stock AEB actuation
 
+    violation |= !get_longitudinal_allowed() && brake_actuation;
+
     if (violation) {
       tx = false;
     }