Merge commit '3c1def1cc57f3fb37399a25d0e8088c70985c5ec' into bmw_stepper

.github/workflows/drivers.yaml

@@ -5,7 +5,7 @@ jobs:
   build_socketcan:
     name: socketcan build
     runs-on: ubuntu-latest
-    timeout-minutes: 5
+    timeout-minutes: 1
     steps:
       - uses: actions/checkout@v2
       - name: Install dependencies

.github/workflows/jenkins-pr-trigger.yaml

@@ -0,0 +1,45 @@
+name: jenkins scan
+
+on:
+  issue_comment:
+    types: [created, edited]
+
+jobs:
+  # TODO: gc old branches in a separate job in this workflow
+  scan-comments:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.issue.pull_request }}
+    steps:
+    - name: Check for trigger phrase
+      id: check_comment
+      uses: actions/github-script@v7
+      with:
+        script: |
+          const triggerPhrase = "trigger-jenkins";
+          const comment = context.payload.comment.body;
+          const commenter = context.payload.comment.user.login;
+
+          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            username: commenter
+          });
+
+          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
+
+          return (hasWriteAccess && comment.includes(triggerPhrase));
+        result-encoding: json
+
+    - name: Checkout repository
+      if: steps.check_comment.outputs.result == 'true'
+      uses: actions/checkout@v4
+      with:
+        ref: refs/pull/${{ github.event.issue.number }}/head
+
+    - name: Push to tmp-jenkins branch
+      if: steps.check_comment.outputs.result == 'true'
+      run: |
+        git config --global user.name "github-actions[bot]"
+        git config --global user.email "github-actions[bot]@users.noreply.github.com"
+        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
+        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}

.pre-commit-config.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: v1.10.0
+  rev: v1.11.1
   hooks:
     - id: mypy
-      additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
+      additional_dependencies: ['numpy', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.4.7
+  rev: v0.5.5
   hooks:
     - id: ruff

Dockerfile

@@ -48,7 +48,7 @@ RUN /tmp/install.sh && rm -rf $CPPCHECK_DIR/.git/
 ENV SKIP_CPPCHECK_INSTALL=1
 
 ENV CEREAL_REF="861144c136c91f70dcbc652c2ffe99f57440ad47"
-ENV OPENDBC_REF="e0d4be4a6215d44809718dc84efe1b9f0299ad63"
+ENV OPENDBC_REF="8e9d3688412405154a8189c421cfdc9d5feea715"
 
 RUN git config --global --add safe.directory /tmp/openpilot/panda
 RUN mkdir -p /tmp/openpilot/ && \

board/gdb.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+gdb-multiarch  --eval-command="target extended-remote localhost:3333"

board/jungle/scripts/can_printer.py

@@ -19,7 +19,7 @@ def can_printer():
   canbus = int(os.getenv("CAN", "0"))
   while True:
     can_recv = p.can_recv()
-    for address, _, dat, src  in can_recv:
+    for address, dat, src  in can_recv:
       if src == canbus:
         msgs[address].append(dat)
 

board/jungle/scripts/echo_loopback_test.py

@@ -37,7 +37,7 @@ def test_loopback():
     incoming = jungle.can_recv()
     found = False
     for message in incoming:
-      incomingAddress, _, incomingData, incomingBus = message
+      incomingAddress, incomingData, incomingBus = message
       if incomingAddress == address and incomingData == data[::-1] and incomingBus == bus:
         found = True
         break

board/jungle/scripts/loopback_test.py

@@ -74,11 +74,11 @@ def can_loopback(sender):
         raise Exception("Amount of received CAN messages (" + str(len(content)) + ") does not equal 1. Bus: " + str(bus) +" OBD: " + str(obd))
 
       # Check content
-      if content[0][0] != addr or content[0][2] != string:
+      if content[0][0] != addr or content[0][1] != string:
         raise Exception("Received CAN message content or address does not match")
 
       # Check bus
-      if content[0][3] != bus:
+      if content[0][2] != bus:
         raise Exception("Received CAN message bus does not match")
 
 #################################################################

board/stm32h7/clock.h

@@ -17,17 +17,55 @@ APB4 per: 60MHz
 PCLK1: 60MHz (for USART2,3,4,5,7,8)
 */
 
+typedef enum {
+  PACKAGE_UNKNOWN = 0,
+  PACKAGE_WITH_SMPS = 1,
+  PACKAGE_WITHOUT_SMPS = 2,
+} PackageSMPSType;
+
+// TODO: find a better way to distinguish between H725 (using SMPS) and H723 (lacking SMPS)
+// The package will do for now, since we have only used TFBGA100 for H723
+PackageSMPSType get_package_smps_type(void) {
+  PackageSMPSType ret;
+  RCC->APB4ENR |= RCC_APB4ENR_SYSCFGEN; // make sure SYSCFG clock is enabled. does seem to read fine without too though
+
+  switch(SYSCFG->PKGR & 0xFU) {
+    case 0b0001U: // TFBGA100 Legacy
+    case 0b0011U: // TFBGA100
+      ret = PACKAGE_WITHOUT_SMPS;
+      break;
+    case 0b0101U: // LQFP144 Legacy
+    case 0b0111U: // LQFP144 Industrial
+    case 0b1000U: // UFBGA169
+      ret = PACKAGE_WITH_SMPS;
+      break;
+    default:
+      ret = PACKAGE_UNKNOWN;
+  }
+  return ret;
+}
+
 void clock_init(void) {
+  /*
+    WARNING: PWR->CR3's lower byte can only be written once
+    * subsequent writes will silently fail
+    * only cleared with a full power-on-reset, not soft reset or reset pin
+    * some H7 have a bootrom with a DFU routine that writes (and locks) CR3
+    * if the CR3 config doesn't match the HW, the core will deadlock and require immediately going into DFU from a cold boot
+
+    In a normal bootup, the bootstub will be the first to write this. The app section calls clock_init again, but the CR3 write will silently fail. This is fine for most cases, but caution should be taken that the bootstub and app always write the same config.
+  */
+
   // Set power mode to direct SMPS power supply (depends on the board layout)
-#ifndef PANDA_JUNGLE
-  if ((PWR->CR3 & PWR_CR3_SMPSEXTRDY) != 0U) {
-#else
-  if (true) {
-#endif
+  PackageSMPSType package_smps = get_package_smps_type();
+  if (package_smps == PACKAGE_WITHOUT_SMPS) {
+    register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU); // no SMPS, so powered by LDO
+  } else if (package_smps == PACKAGE_WITH_SMPS) {
     register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
   } else {
-    register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU);
+    while(true); // unknown package, let's hang here
   }
+
   // Set VOS level (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
   register_set(&(PWR->D3CR), PWR_D3CR_VOS_1 | PWR_D3CR_VOS_0, 0xC000U); //VOS1, needed for 80Mhz CAN FD
   while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U);

examples/can_logger.py

@@ -22,7 +22,7 @@ def can_logger():
     while True:
       can_recv = p.can_recv()
 
-      for address, _, dat, src in can_recv:
+      for address, dat, src in can_recv:
         csvwriter.writerow(
           [str(src), str(hex(address)), f"0x{dat.hex()}", len(dat), str(time.time() - start_time)])
 

examples/tesla_tester.py

@@ -34,7 +34,7 @@ def tesla_tester():
   while True:
     #Read the VIN
     can_recv = p.can_recv()
-    for address, _, dat, src in can_recv:
+    for address, dat, src in can_recv:
       if src == body_bus_num:
         if address == 1384:  # 0x568 is VIN
           vin_index = int(binascii.hexlify(dat)[:2])  # first byte is the index, 00, 01, 02

python/__init__.py

@@ -37,7 +37,7 @@ def calculate_checksum(data):
 
 def pack_can_buffer(arr):
   snds = [b'']
-  for address, _, dat, bus in arr:
+  for address, dat, bus in arr:
     assert len(dat) in LEN_TO_DLC
     #logging.debug("  W 0x%x: 0x%s", address, dat.hex())
 
@@ -85,7 +85,7 @@ def unpack_can_buffer(dat):
     data = dat[CANPACKET_HEAD_SIZE:(CANPACKET_HEAD_SIZE+data_len)]
     dat = dat[(CANPACKET_HEAD_SIZE+data_len):]
 
-    ret.append((address, 0, data, bus))
+    ret.append((address, data, bus))
 
   return (ret, dat)
 
@@ -813,7 +813,7 @@ def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
         logging.error("CAN: BAD SEND MANY, RETRYING")
 
   def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
-    self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
+    self.can_send_many([[addr, dat, bus]], timeout=timeout)
 
   @ensure_can_packet_version
   def can_recv(self):

python/ccp.py

@@ -99,7 +99,7 @@ def _recv_dto(self, timeout: float) -> bytes:
       msgs = self._panda.can_recv() or []
       if len(msgs) >= 256:
         print("CAN RX buffer overflow!!!", file=sys.stderr)
-      for rx_addr, _, rx_data_bytearray, rx_bus in msgs:
+      for rx_addr, rx_data_bytearray, rx_bus in msgs:
         if rx_bus == self.can_bus and rx_addr == self.rx_addr:
           rx_data = bytes(rx_data_bytearray)
           if self.debug:

python/isotp.py

@@ -18,12 +18,12 @@ def recv(panda, cnt, addr, nbus):
   while len(ret) < cnt:
     kmsgs += panda.can_recv()
     nmsgs = []
-    for ids, ts, dat, bus in kmsgs:
+    for ids, dat, bus in kmsgs:
       if ids == addr and bus == nbus and len(ret) < cnt:
         ret.append(dat)
       else:
         # leave around
-        nmsgs.append((ids, ts, dat, bus))
+        nmsgs.append((ids, dat, bus))
     kmsgs = nmsgs[-256:]
   return ret
 
@@ -96,7 +96,7 @@ def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None):
       panda.can_send(addr, sends[-1], 0)
     else:
       if rate is None:
-        panda.can_send_many([(addr, None, s, bus) for s in sends])
+        panda.can_send_many([(addr, s, bus) for s in sends])
       else:
         for dat in sends:
           panda.can_send(addr, dat, bus)

python/uds.py

@@ -301,7 +301,7 @@ def get_dtc_status_names(status):
   return result
 
 class CanClient():
-  def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], list[tuple[int, int, bytes, int]]],
+  def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], list[tuple[int, bytes, int]]],
                tx_addr: int, rx_addr: int, bus: int, sub_addr: int | None = None, debug: bool = False):
     self.tx = can_send
     self.rx = can_recv
@@ -339,7 +339,7 @@ def _recv_buffer(self, drain: bool = False) -> None:
           print(f"CAN-RX: drain - {len(msgs)}")
         self.rx_buff.clear()
       else:
-        for rx_addr, _, rx_data, rx_bus in msgs or []:
+        for rx_addr, rx_data, rx_bus in msgs or []:
           if self._recv_filter(rx_bus, rx_addr) and len(rx_data) > 0:
             rx_data = bytes(rx_data)  # convert bytearray to bytes
 

python/xcp.py

@@ -145,7 +145,7 @@ def _recv_dto(self, timeout: float) -> bytes:
       msgs = self._panda.can_recv() or []
       if len(msgs) >= 256:
         print("CAN RX buffer overflow!!!", file=sys.stderr)
-      for rx_addr, _, rx_data, rx_bus in msgs:
+      for rx_addr, rx_data, rx_bus in msgs:
         if rx_bus == self.can_bus and rx_addr == self.rx_addr:
           rx_data = bytes(rx_data)  # convert bytearray to bytes
           if self.debug:

tests/black_white_loopback_test.py

@@ -118,11 +118,11 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
 
     loop_buses = []
     for loop in cans_loop:
-      if (loop[0] != at) or (loop[2] != st):
+      if (loop[0] != at) or (loop[1] != st):
         content_errors += 1
 
-      print("  Loop on bus", str(loop[3]))
-      loop_buses.append(loop[3])
+      print("  Loop on bus", str(loop[2]))
+      loop_buses.append(loop[2])
     if len(cans_loop) == 0:
       print("  No loop")
       assert not os.getenv("NOASSERT")

tests/black_white_relay_endurance.py

@@ -126,11 +126,11 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
 
     loop_buses = []
     for loop in cans_loop:
-      if (loop[0] != at) or (loop[2] != st):
+      if (loop[0] != at) or (loop[1] != st):
         content_errors += 1
 
-      print("  Loop on bus", str(loop[3]))
-      loop_buses.append(loop[3])
+      print("  Loop on bus", str(loop[2]))
+      loop_buses.append(loop[2])
     if len(cans_loop) == 0:
       print("  No loop")
       assert os.getenv("NOASSERT")

tests/black_white_relay_test.py

@@ -109,9 +109,9 @@ def test_buses(black_panda, other_panda, test_obj):
 
   loop_buses = []
   for loop in cans_loop:
-    if (loop[0] != at) or (loop[2] != st):
+    if (loop[0] != at) or (loop[1] != st):
       content_errors += 1
-    loop_buses.append(loop[3])
+    loop_buses.append(loop[2])
 
   # test loop buses
   recv_buses.sort()

tests/bulk_write_test.py

@@ -16,7 +16,7 @@
 def flood_tx(panda):
   print('Sending!')
   msg = b"\xaa" * 4
-  packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS
+  packet = [[0xaa, msg, 0], [0xaa, msg, 1], [0xaa, msg, 2]] * NUM_MESSAGES_PER_BUS
   panda.can_send_many(packet, timeout=10000)
   print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
 

tests/can_printer.py

@@ -20,7 +20,7 @@ def can_printer():
   canbus = int(os.getenv("CAN", "0"))
   while True:
     can_recv = p.can_recv()
-    for address, _, dat, src in can_recv:
+    for address, dat, src in can_recv:
       if src == canbus:
         msgs[address].append(dat)
 

tests/canfd/test_canfd.py

@@ -86,7 +86,7 @@ def canfd_test(p_send, p_recv):
         data = bytearray(random.getrandbits(8) for _ in range(DLC_TO_LEN[dlc]))
         if len(data) >= 2:
           data[0] = calculate_checksum(data[1:] + bytes(str(address), encoding="utf-8"))
-        to_send.append([address, 0, data, bus])
+        to_send.append([address, data, bus])
         sent_msgs[bus].add((address, bytes(data)))
 
     p_send.can_send_many(to_send, timeout=0)
@@ -95,7 +95,7 @@ def canfd_test(p_send, p_recv):
     while (time.monotonic() - start_time < 1) and any(len(x) > 0 for x in sent_msgs.values()):
       incoming = p_recv.can_recv()
       for msg in incoming:
-        address, _, data, bus = msg
+        address, data, bus = msg
         if len(data) >= 2:
           assert calculate_checksum(data[1:] + bytes(str(address), encoding="utf-8")) == data[0]
         k = (address, bytes(data))

tests/echo.py

@@ -11,6 +11,6 @@
   while True:
     incoming = p.can_recv()
     for message in incoming:
-      address, notused, data, bus = message
+      address, data, bus = message
       if b'test' in data:
         p.can_send(address, data[::-1], bus)

tests/elm_car_simulator.py

@@ -77,11 +77,11 @@ def __can_monitor(self):
         self.panda.can_recv()  # Toss whatever was already there
 
         while not self.__stop:
-            for address, ts, data, src in self.panda.can_recv():
+            for address, data, src in self.panda.can_recv():
                 if self.__on and src == 0 and len(data) == 8 and data[0] >= 2:
                     if not self.__silent:
                         print("Processing CAN message", src, hex(address), binascii.hexlify(data))
-                    self.__can_process_msg(data[1], data[2], address, ts, data, src)
+                    self.__can_process_msg(data[1], data[2], address, data, src)
                 elif not self.__silent:
                     print("Rejecting CAN message", src, hex(address), binascii.hexlify(data))
 
@@ -120,7 +120,7 @@ def _can_addr_matches(self, addr):
             return True
         return False
 
-    def __can_process_msg(self, mode, pid, address, ts, data, src):
+    def __can_process_msg(self, mode, pid, address, data, src):
         if not self.__silent:
             print("CAN MSG", binascii.hexlify(data[1:1 + data[0]]),
                   "Addr:", hex(address), "Mode:", hex(mode)[2:].zfill(2),