Merge branch 'commaai:master' into ccnc-port

commaai · Jan 24, 2025 · dfcc97b · dfcc97b
2 parents a1c3090 + 1290588
commit dfcc97b
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Showing 3 changed files with 19 additions and 39 deletions.
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -363,42 +363,33 @@ static safety_config ford_init(uint16_t param) {
     {.msg = {{FORD_DesiredTorqBrk, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
   };
 
+  #define FORD_COMMON_TX_MSGS       \
+    {FORD_Steering_Data_FD1, 0, 8}, \
+    {FORD_Steering_Data_FD1, 2, 8}, \
+    {FORD_ACCDATA_3, 0, 8},         \
+    {FORD_Lane_Assist_Data1, 0, 8}, \
+    {FORD_IPMA_Data, 0, 8},         \
+
   static const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
-    {FORD_Steering_Data_FD1, 0, 8},
-    {FORD_Steering_Data_FD1, 2, 8},
+    FORD_COMMON_TX_MSGS
     {FORD_ACCDATA, 0, 8},
-    {FORD_ACCDATA_3, 0, 8},
-    {FORD_Lane_Assist_Data1, 0, 8},
     {FORD_LateralMotionControl2, 0, 8},
-    {FORD_IPMA_Data, 0, 8},
   };
 
   static const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
-    {FORD_Steering_Data_FD1, 0, 8},
-    {FORD_Steering_Data_FD1, 2, 8},
-    {FORD_ACCDATA_3, 0, 8},
-    {FORD_Lane_Assist_Data1, 0, 8},
+    FORD_COMMON_TX_MSGS
     {FORD_LateralMotionControl2, 0, 8},
-    {FORD_IPMA_Data, 0, 8},
   };
 
   static const CanMsg FORD_STOCK_TX_MSGS[] = {
-    {FORD_Steering_Data_FD1, 0, 8},
-    {FORD_Steering_Data_FD1, 2, 8},
-    {FORD_ACCDATA_3, 0, 8},
-    {FORD_Lane_Assist_Data1, 0, 8},
+    FORD_COMMON_TX_MSGS
     {FORD_LateralMotionControl, 0, 8},
-    {FORD_IPMA_Data, 0, 8},
   };
 
   static const CanMsg FORD_LONG_TX_MSGS[] = {
-    {FORD_Steering_Data_FD1, 0, 8},
-    {FORD_Steering_Data_FD1, 2, 8},
+    FORD_COMMON_TX_MSGS
     {FORD_ACCDATA, 0, 8},
-    {FORD_ACCDATA_3, 0, 8},
-    {FORD_Lane_Assist_Data1, 0, 8},
     {FORD_LateralMotionControl, 0, 8},
-    {FORD_IPMA_Data, 0, 8},
   };
 
   UNUSED(param);
@@ -409,6 +400,9 @@ static safety_config ford_init(uint16_t param) {
   ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
 #endif
 
+  // Longitudinal is the default for CAN, and optional for CAN FD w/ ALLOW_DEBUG
+  ford_longitudinal = !ford_canfd || ford_longitudinal;
+
   safety_config ret;
   // FIXME: cppcheck thinks that ford_canfd is always false. This is not true
   // if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
@@ -417,6 +411,7 @@ static safety_config ford_init(uint16_t param) {
     ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
                               BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
   } else {
+    // cppcheck-suppress knownConditionTrueFalse
     ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \
                               BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS);
   }

diff --git a/board/stm32h7/lladc.h b/board/stm32h7/lladc.h
@@ -19,9 +19,9 @@ static uint16_t adc_get_raw(uint8_t channel) {
   ADC1->SQR1 &= ~(ADC_SQR1_L);
   ADC1->SQR1 = (uint32_t)channel << 6U;
 
-  ADC1->SMPR1 = 0x2UL << (channel * 3UL);
+  ADC1->SMPR1 = 0x4UL << (channel * 3UL);
   ADC1->PCSEL_RES0 = (0x1UL << channel);
-  ADC1->CFGR2 = (127UL << ADC_CFGR2_OVSR_Pos) | (0x7U << ADC_CFGR2_OVSS_Pos) | ADC_CFGR2_ROVSE;
+  ADC1->CFGR2 = (63UL << ADC_CFGR2_OVSR_Pos) | (0x6U << ADC_CFGR2_OVSS_Pos) | ADC_CFGR2_ROVSE;
 
   ADC1->CR |= ADC_CR_ADSTART;
   while (!(ADC1->ISR & ADC_ISR_EOC));

diff --git a/tests/safety/test_ford.py b/tests/safety/test_ford.py
@@ -60,7 +60,6 @@ class Buttons:
 
 
 # Ford safety has four different configurations tested here:
-#  * CAN with stock longitudinal
 #  * CAN with openpilot longitudinal
 #  * CAN FD with stock longitudinal
 #  * CAN FD with openpilot longitudinal
@@ -355,21 +354,6 @@ def test_acc_buttons(self):
         self.assertEqual(enabled, self._tx(self._acc_button_msg(Buttons.CANCEL, bus)))
 
 
-class TestFordStockSafety(TestFordSafetyBase):
-  STEER_MESSAGE = MSG_LateralMotionControl
-
-  TX_MSGS = [
-    [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
-    [MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0],
-  ]
-
-  def setUp(self):
-    self.packer = CANPackerPanda("ford_lincoln_base_pt")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_FORD, 0)
-    self.safety.init_tests()
-
-
 class TestFordCANFDStockSafety(TestFordSafetyBase):
   STEER_MESSAGE = MSG_LateralMotionControl2
 
@@ -457,7 +441,8 @@ class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
   def setUp(self):
     self.packer = CANPackerPanda("ford_lincoln_base_pt")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL)
+    # Make sure we enforce long safety even without long flag for CAN
+    self.safety.set_safety_hooks(Panda.SAFETY_FORD, 0)
     self.safety.init_tests()