Sync: commaai/panda:master into sunnypilot/panda:master-new

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="378967043dd72d29bb3f1207ac015fcc5e740451"
+ENV OPENDBC_REF="17530f1ae692b26353a48daf075ad79bbffdb189"
 RUN cd /tmp/ && \
     git clone --depth 1 https://github.com/sunnypilot/opendbc opendbc_repo && \
     cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \

board/boards/cuatro.h

@@ -71,10 +71,6 @@ 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_set_amp_enabled(bool enabled){
   set_gpio_output(GPIOA, 5, enabled);
 }
@@ -133,10 +129,6 @@ static void cuatro_init(void) {
   // Clock source
   clock_source_init();
 
-  // Beeper
-  set_gpio_alternate(GPIOD, 14, GPIO_AF2_TIM4);
-  beeper_init();
-
   // Sound codec
   cuatro_set_amp_enabled(false);
   set_gpio_alternate(GPIOA, 2, GPIO_AF8_SAI4);    // SAI4_SCK_B
@@ -170,7 +162,7 @@ board board_cuatro = {
   .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = cuatro_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
-  .set_siren = cuatro_set_siren,
+  .set_siren = unused_set_siren,
   .set_bootkick = cuatro_set_bootkick,
   .read_som_gpio = tres_read_som_gpio,
   .set_amp_enabled = cuatro_set_amp_enabled

board/main.c

@@ -216,7 +216,7 @@ static void tick_handler(void) {
       }
 
       if (controls_allowed || heartbeat_engaged) {
-        controls_allowed_countdown = 30U;
+        controls_allowed_countdown = 5U;
       } else if (controls_allowed_countdown > 0U) {
         controls_allowed_countdown -= 1U;
       } else {

board/safety/safety_hyundai.h

@@ -269,8 +269,17 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
   if (bus_num == 0) {
     bus_fwd = 2;
   }
-  if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) {
-    bus_fwd = 0;
+
+  if (bus_num == 2) {
+    // Stock LKAS11 messages
+    bool is_lkas_11 = (addr == 0x340);
+    // LFA and HDA cluster icons
+    bool is_lfahda_mfc = (addr == 0x485);
+
+    bool block_msg = is_lkas_11 || is_lfahda_mfc;
+    if (!block_msg) {
+      bus_fwd = 0;
+    }
   }
 
   return bus_fwd;

board/stm32h7/board.h

@@ -10,7 +10,6 @@
 #include "drivers/fan.h"
 #include "stm32h7/llfan.h"
 #include "stm32h7/lldac.h"
-#include "drivers/beeper.h"
 #include "drivers/fake_siren.h"
 #include "stm32h7/sound.h"
 #include "drivers/clock_source.h"

board/stm32h7/peripherals.h

@@ -130,7 +130,6 @@ void peripherals_init(void) {
   RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  // clock source timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM2EN;  // main counter
   RCC->APB1LENR |= RCC_APB1LENR_TIM3EN;  // fan pwm
-  RCC->APB1LENR |= RCC_APB1LENR_TIM4EN;  // beeper source
   RCC->APB1LENR |= RCC_APB1LENR_TIM6EN;  // interrupt timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM7EN;  // DMA trigger timer
   RCC->APB2ENR |= RCC_APB2ENR_TIM8EN;  // tick timer

board/stm32h7/sound.h

@@ -2,6 +2,7 @@
 #define SOUND_TX_BUF_SIZE (SOUND_RX_BUF_SIZE/2U)
 
 __attribute__((section(".sram4"))) static uint16_t sound_rx_buf[2][SOUND_RX_BUF_SIZE];
+__attribute__((section(".sram4"))) static uint16_t sound_tx_buf[2][SOUND_TX_BUF_SIZE];
 
 static uint8_t sound_idle_count;
 
@@ -10,24 +11,24 @@ void sound_tick(void) {
     sound_idle_count--;
     if (sound_idle_count == 0U) {
       current_board->set_amp_enabled(false);
+      register_clear_bits(&DMA1_Stream1->CR, DMA_SxCR_EN);
     }
   }
 }
 
 // Playback processing
 static void BDMA_Channel0_IRQ_Handler(void) {
-  __attribute__((section(".sram4"))) static uint16_t tx_buf[SOUND_TX_BUF_SIZE];
-
   BDMA->IFCR |= BDMA_IFCR_CGIF0; // clear flag
 
-  uint8_t buf_idx = (((BDMA_Channel0->CCR & BDMA_CCR_CT) >> BDMA_CCR_CT_Pos) == 1U) ? 0U : 1U;
+  uint8_t rx_buf_idx = (((BDMA_Channel0->CCR & BDMA_CCR_CT) >> BDMA_CCR_CT_Pos) == 1U) ? 0U : 1U;
+  uint8_t tx_buf_idx = (((DMA1_Stream1->CR & DMA_SxCR_CT) >> DMA_SxCR_CT_Pos) == 1U) ? 0U : 1U;
 
   // process samples (shift to 12b and bias to be unsigned)
   bool sound_playing = false;
   for (uint16_t i=0U; i < SOUND_RX_BUF_SIZE; i += 2U) {
     // since we are playing mono and receiving stereo, we take every other sample
-    tx_buf[i/2U] = ((sound_rx_buf[buf_idx][i] + (1UL << 14)) >> 3);
-    if (sound_rx_buf[buf_idx][i] > 0U) {
+    sound_tx_buf[tx_buf_idx][i/2U] = ((sound_rx_buf[rx_buf_idx][i] + (1UL << 14)) >> 3);
+    if (sound_rx_buf[rx_buf_idx][i] > 0U) {
       sound_playing = true;
     }
   }
@@ -36,16 +37,17 @@ static void BDMA_Channel0_IRQ_Handler(void) {
   if (sound_playing) {
     if (sound_idle_count == 0U) {
       current_board->set_amp_enabled(true);
+
+      // empty the other buf and start playing that
+      for (uint16_t i=0U; i < SOUND_TX_BUF_SIZE; i++) {
+        sound_tx_buf[1U - tx_buf_idx][i] = (1UL << 11);
+      }
+      register_set(&DMA1_Stream1->CR, (1UL - tx_buf_idx) << DMA_SxCR_CT_Pos, DMA_SxCR_CT_Msk);
+      register_set_bits(&DMA1_Stream1->CR, DMA_SxCR_EN);
     }
     sound_idle_count = 4U;
   }
   sound_tick();
-
-  DMA1->LIFCR |= 0xF40;
-  DMA1_Stream1->CR &= ~DMA_SxCR_EN;
-  register_set(&DMA1_Stream1->M0AR, (uint32_t) tx_buf, 0xFFFFFFFFU);
-  DMA1_Stream1->NDTR = SOUND_TX_BUF_SIZE;
-  DMA1_Stream1->CR |= DMA_SxCR_EN;
 }
 
 void sound_init(void) {
@@ -61,8 +63,11 @@ void sound_init(void) {
 
   // Setup DMA
   register_set(&DMA1_Stream1->PAR, (uint32_t) &(DAC1->DHR12R1), 0xFFFFFFFFU);
+  register_set(&DMA1_Stream1->M0AR, (uint32_t) sound_tx_buf[0], 0xFFFFFFFFU);
+  register_set(&DMA1_Stream1->M1AR, (uint32_t) sound_tx_buf[1], 0xFFFFFFFFU);
   register_set(&DMA1_Stream1->FCR, 0U, 0x00000083U);
-  DMA1_Stream1->CR = (0b11UL << DMA_SxCR_PL_Pos) | (0b01UL << DMA_SxCR_MSIZE_Pos) | (0b01UL << DMA_SxCR_PSIZE_Pos) | DMA_SxCR_MINC | (1U << DMA_SxCR_DIR_Pos);
+  DMA1_Stream1->NDTR = SOUND_TX_BUF_SIZE;
+  DMA1_Stream1->CR = DMA_SxCR_DBM | (0b11UL << DMA_SxCR_PL_Pos) | (0b01UL << DMA_SxCR_MSIZE_Pos) | (0b01UL << DMA_SxCR_PSIZE_Pos) | DMA_SxCR_MINC | (1U << DMA_SxCR_DIR_Pos);
 
   // Init trigger timer (little slower than 48kHz, pulled in sync by SAI4_FS_B)
   register_set(&TIM5->PSC, 2600U, 0xFFFFU);

tests/misra/test_misra.sh

@@ -50,7 +50,7 @@ cppcheck() {
           --suppressions-list=$DIR/suppressions.txt --suppress=*:*inc/* \
           --suppress=*:*include/* --error-exitcode=2 --check-level=exhaustive --safety \
           --platform=arm32-wchar_t4 $COMMON_DEFINES --checkers-report=$CHECKLIST.tmp \
-          --std=c11 "$@" |& tee $OUTPUT
+          --std=c11 "$@" 2>&1 | tee $OUTPUT
 
   cat $CHECKLIST.tmp >> $CHECKLIST
   rm $CHECKLIST.tmp