Merge branch 'master' into outback-forester-22-PR

Author: jnewb1

.pre-commit-config.yaml

@@ -7,12 +7,12 @@ repos:
     - id: check-merge-conflict
     - id: check-symlinks
 - repo: https://github.com/pre-commit/mirrors-mypy
-  rev: v1.5.0
+  rev: v1.5.1
   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: v0.0.284
+  rev: v0.0.285
   hooks:
     - id: ruff

Dockerfile

@@ -51,8 +51,8 @@ RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-instal
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 ENV PANDA_PATH=/tmp/openpilot/panda
-ENV OPENPILOT_REF="80bbba14f74e57bbe90216dfd0a99f6f68d77ca2"
-ENV OPENDBC_REF="5880fbbccf5a670631b51836f20e446de643795a"
+ENV OPENPILOT_REF="5690386d8d731c9bebda536a5c71c890f6dfe98c"
+ENV OPENDBC_REF="12dd7675c5ab2f49aedb813a79e6131b370b379f"
 
 COPY requirements.txt /tmp/
 RUN pyenv install 3.11.4 && \

Jenkinsfile

@@ -99,6 +99,7 @@ pipeline {
           }
         }
 
+        /*
         stage ('Acquire resource locks') {
           options {
             lock(resource: "pandas")
@@ -147,6 +148,7 @@ pipeline {
             }
           }
         }
+        */
       }
     }
   }

README.md

@@ -21,7 +21,7 @@ sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git
 ```bash
 # macOS
 brew install --cask gcc-arm-embedded
-brew install python3 dfu-util gcc@12
+brew install python3 dfu-util gcc@13
 ```
 
 Clone panda repository:

SConscript

@@ -186,5 +186,5 @@ SConscript('board/pedal/SConscript')
 SConscript('board/jungle/SConscript')
 
 # test files
-if GetOption('test'):
+if GetOption('extras'):
   SConscript('tests/libpanda/SConscript')

SConstruct

@@ -1,7 +1,8 @@
-AddOption('--test',
-          action='store_true',
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
           default=True,
-          help='build test files')
+          help='the minimum build. no tests, tools, etc.')
 
 AddOption('--ubsan',
           action='store_true',

board/drivers/bxcan.h

@@ -11,11 +11,11 @@ uint8_t can_irq_number[3][3] = {
 
 bool can_set_speed(uint8_t can_number) {
   bool ret = true;
-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
   ret &= llcan_set_speed(
-    CAN,
+    CANx,
     bus_config[bus_number].can_speed,
     can_loopback,
     (unsigned int)(can_silent) & (1U << can_number)
@@ -74,8 +74,8 @@ void can_set_gmlan(uint8_t bus) {
 }
 
 void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  uint32_t esr_reg = CAN->ESR;
+  CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
+  uint32_t esr_reg = CANx->ESR;
 
   can_health[can_number].bus_off = ((esr_reg & CAN_ESR_BOFF) >> CAN_ESR_BOFF_Pos);
   can_health[can_number].bus_off_cnt += can_health[can_number].bus_off;
@@ -98,12 +98,12 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
     can_health[can_number].total_error_cnt += 1U;
 
     // RX message lost due to FIFO overrun
-    if ((CAN->RF0R & (CAN_RF0R_FOVR0)) != 0) {
+    if ((CANx->RF0R & (CAN_RF0R_FOVR0)) != 0) {
       can_health[can_number].total_rx_lost_cnt += 1U;
-      CAN->RF0R &= ~(CAN_RF0R_FOVR0);
+      CANx->RF0R &= ~(CAN_RF0R_FOVR0);
     }
     can_health[can_number].can_core_reset_cnt += 1U;
-    llcan_clear_send(CAN);
+    llcan_clear_send(CANx);
   }
 }
 
@@ -119,48 +119,48 @@ void process_can(uint8_t can_number) {
 
     ENTER_CRITICAL();
 
-    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
     uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
     // check for empty mailbox
     CANPacket_t to_send;
-    if ((CAN->TSR & (CAN_TSR_TERR0 | CAN_TSR_ALST0)) != 0) { // last TX failed due to error arbitration lost
+    if ((CANx->TSR & (CAN_TSR_TERR0 | CAN_TSR_ALST0)) != 0) { // last TX failed due to error arbitration lost
       can_health[can_number].total_tx_lost_cnt += 1U;
-      CAN->TSR |= (CAN_TSR_TERR0 | CAN_TSR_ALST0);
+      CANx->TSR |= (CAN_TSR_TERR0 | CAN_TSR_ALST0);
     }
-    if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+    if ((CANx->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
       // add successfully transmitted message to my fifo
-      if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
-        if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
+      if ((CANx->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
+        if ((CANx->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
           CANPacket_t to_push;
           to_push.returned = 1U;
           to_push.rejected = 0U;
-          to_push.extended = (CAN->sTxMailBox[0].TIR >> 2) & 0x1U;
-          to_push.addr = (to_push.extended != 0U) ? (CAN->sTxMailBox[0].TIR >> 3) : (CAN->sTxMailBox[0].TIR >> 21);
-          to_push.data_len_code = CAN->sTxMailBox[0].TDTR & 0xFU;
+          to_push.extended = (CANx->sTxMailBox[0].TIR >> 2) & 0x1U;
+          to_push.addr = (to_push.extended != 0U) ? (CANx->sTxMailBox[0].TIR >> 3) : (CANx->sTxMailBox[0].TIR >> 21);
+          to_push.data_len_code = CANx->sTxMailBox[0].TDTR & 0xFU;
           to_push.bus = bus_number;
-          WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sTxMailBox[0].TDLR);
-          WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sTxMailBox[0].TDHR);
+          WORD_TO_BYTE_ARRAY(&to_push.data[0], CANx->sTxMailBox[0].TDLR);
+          WORD_TO_BYTE_ARRAY(&to_push.data[4], CANx->sTxMailBox[0].TDHR);
           can_set_checksum(&to_push);
 
           rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
         }
 
         // clear interrupt
         // careful, this can also be cleared by requesting a transmission
-        CAN->TSR |= CAN_TSR_RQCP0;
+        CANx->TSR |= CAN_TSR_RQCP0;
       }
 
       if (can_pop(can_queues[bus_number], &to_send)) {
         if (can_check_checksum(&to_send)) {
           can_health[can_number].total_tx_cnt += 1U;
           // only send if we have received a packet
-          CAN->sTxMailBox[0].TIR = ((to_send.extended != 0U) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
-          CAN->sTxMailBox[0].TDTR = to_send.data_len_code;
-          BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDLR, &to_send.data[0]);
-          BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDHR, &to_send.data[4]);
+          CANx->sTxMailBox[0].TIR = ((to_send.extended != 0U) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
+          CANx->sTxMailBox[0].TDTR = to_send.data_len_code;
+          BYTE_ARRAY_TO_WORD(CANx->sTxMailBox[0].TDLR, &to_send.data[0]);
+          BYTE_ARRAY_TO_WORD(CANx->sTxMailBox[0].TDHR, &to_send.data[4]);
           // Send request TXRQ
-          CAN->sTxMailBox[0].TIR |= 0x1U;
+          CANx->sTxMailBox[0].TIR |= 0x1U;
         } else {
           can_health[can_number].total_tx_checksum_error_cnt += 1U;
         }
@@ -176,10 +176,10 @@ void process_can(uint8_t can_number) {
 // CANx_RX0 IRQ Handler
 // blink blue when we are receiving CAN messages
 void can_rx(uint8_t can_number) {
-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
+  while ((CANx->RF0R & CAN_RF0R_FMP0) != 0) {
     can_health[can_number].total_rx_cnt += 1U;
 
     // can is live
@@ -190,12 +190,12 @@ void can_rx(uint8_t can_number) {
 
     to_push.returned = 0U;
     to_push.rejected = 0U;
-    to_push.extended = (CAN->sFIFOMailBox[0].RIR >> 2) & 0x1U;
-    to_push.addr = (to_push.extended != 0U) ? (CAN->sFIFOMailBox[0].RIR >> 3) : (CAN->sFIFOMailBox[0].RIR >> 21);
-    to_push.data_len_code = CAN->sFIFOMailBox[0].RDTR & 0xFU;
+    to_push.extended = (CANx->sFIFOMailBox[0].RIR >> 2) & 0x1U;
+    to_push.addr = (to_push.extended != 0U) ? (CANx->sFIFOMailBox[0].RIR >> 3) : (CANx->sFIFOMailBox[0].RIR >> 21);
+    to_push.data_len_code = CANx->sFIFOMailBox[0].RDTR & 0xFU;
     to_push.bus = bus_number;
-    WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sFIFOMailBox[0].RDLR);
-    WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sFIFOMailBox[0].RDHR);
+    WORD_TO_BYTE_ARRAY(&to_push.data[0], CANx->sFIFOMailBox[0].RDLR);
+    WORD_TO_BYTE_ARRAY(&to_push.data[4], CANx->sFIFOMailBox[0].RDHR);
     can_set_checksum(&to_push);
 
     // forwarding (panda only)
@@ -223,7 +223,7 @@ void can_rx(uint8_t can_number) {
     rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
 
     // next
-    CAN->RF0R |= CAN_RF0R_RFOM0;
+    CANx->RF0R |= CAN_RF0R_RFOM0;
   }
 }
 
@@ -253,9 +253,9 @@ bool can_init(uint8_t can_number) {
   REGISTER_INTERRUPT(CAN3_SCE_IRQn, CAN3_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
 
   if (can_number != 0xffU) {
-    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
     ret &= can_set_speed(can_number);
-    ret &= llcan_init(CAN);
+    ret &= llcan_init(CANx);
     // in case there are queued up messages
     process_can(can_number);
   }

board/drivers/can_common.h

@@ -52,17 +52,22 @@ void process_can(uint8_t can_number);
   CANPacket_t elems_##x[size]; \
   can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };
 
+#define CAN_RX_BUFFER_SIZE 4096U
+#define CAN_TX_BUFFER_SIZE 416U
+#define GMLAN_TX_BUFFER_SIZE 416U
+
 #ifdef STM32H7
-__attribute__((section(".ram_d1"))) can_buffer(rx_q, 0x1000)
-__attribute__((section(".ram_d1"))) can_buffer(tx2_q, 0x1A0)
-__attribute__((section(".ram_d2"))) can_buffer(txgmlan_q, 0x1A0)
+// ITCM RAM and DTCM RAM are the fastest for Cortex-M7 core access
+__attribute__((section(".axisram"))) can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
+__attribute__((section(".itcmram"))) can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
+__attribute__((section(".itcmram"))) can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
 #else
-can_buffer(rx_q, 0x1000)
-can_buffer(tx2_q, 0x1A0)
-can_buffer(txgmlan_q, 0x1A0)
+can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
+can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
+can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
 #endif
-can_buffer(tx1_q, 0x1A0)
-can_buffer(tx3_q, 0x1A0)
+can_buffer(tx3_q, CAN_TX_BUFFER_SIZE)
+can_buffer(txgmlan_q, GMLAN_TX_BUFFER_SIZE)
 // FIXME:
 // cppcheck-suppress misra-c2012-9.3
 can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};