Merge branch 'commaai:master' into secoc-long

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="b89fe79950121ca93d8a1f0d3fd17df31703be2a"
+ENV OPENDBC_REF="7af6f3885dc43be8ecf331df1f0914cf3338de50"
 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/ && \

README.md

@@ -84,8 +84,8 @@ And to send one on bus 0:
 Note that you may have to setup [udev rules](https://github.com/commaai/panda/tree/master/drivers/linux) for Linux, such as
 ``` bash
 sudo tee /etc/udev/rules.d/11-panda.rules <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
 EOF
 sudo udevadm control --reload-rules && sudo udevadm trigger
 ```

__init__.py

@@ -3,7 +3,7 @@
 from .python.serial import PandaSerial  # noqa: F401
 from .python.canhandle import CanHandle # noqa: F401
 from .python.utils import logger # noqa: F401
-from .python import (Panda, PandaDFU, uds, isotp, # noqa: F401
+from .python import (Panda, PandaDFU, isotp, # noqa: F401
                      pack_can_buffer, unpack_can_buffer, calculate_checksum,
                      DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
 

board/boards/cuatro.h

@@ -67,8 +67,8 @@ static void cuatro_set_fan_enabled(bool enabled) {
 
 static void cuatro_set_bootkick(BootState state) {
   set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
-  // only use if we have to
-  //set_gpio_output(GPIOC, 12, state != BOOT_RESET);
+  // TODO: confirm we need this
+  set_gpio_output(GPIOC, 12, state != BOOT_RESET);
 }
 
 static void cuatro_set_amp_enabled(bool enabled){

board/config.h

@@ -16,7 +16,7 @@
 #define MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER 170U
 
 // USB definitions
-#define USB_VID 0xBBAAU
+#define USB_VID 0x3801U
 
 #ifdef PANDA_JUNGLE
   #ifdef BOOTSTUB

board/jungle/README.md

@@ -10,8 +10,8 @@ To make the jungle usable without root permissions, you might need to setup udev
 On ubuntu, this should do the trick:
 ``` bash
 sudo tee /etc/udev/rules.d/12-panda_jungle.rules <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
 EOF
 sudo udevadm control --reload-rules && sudo udevadm trigger
 ```

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_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);
   }

board/safety/safety_subaru_preglobal.h

@@ -115,7 +115,7 @@ static safety_config subaru_preglobal_init(uint16_t param) {
     {.msg = {{MSG_SUBARU_PG_CruiseControl,   SUBARU_PG_MAIN_BUS, 8, .frequency = 20U}, { 0 }, { 0 }}},
   };
 
-  const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1;
+  const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 4;
 
   subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE);
   return BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);

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));

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);

drivers/linux/README.md

@@ -21,8 +21,8 @@ You will need to bring it up using `sudo ifconfig can0 up` or
 Note that you may have to setup udev rules for Linux
 ``` bash
 sudo tee /etc/udev/rules.d/11-panda.rules <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
 EOF
 sudo udevadm control --reload-rules && sudo udevadm trigger
 ```

drivers/linux/panda.c

@@ -21,7 +21,7 @@
 
 /* vendor and product id */
 #define PANDA_MODULE_NAME "panda"
-#define PANDA_VENDOR_ID 0XBBAA
+#define PANDA_VENDOR_ID 0X3801
 #define PANDA_PRODUCT_ID 0XDDCC
 
 #define PANDA_MAX_TX_URBS 20

examples/query_fw_versions.py

@@ -2,8 +2,8 @@
 import argparse
 from tqdm import tqdm
 from panda import Panda
-from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, InvalidSubAddressError, \
-                             SESSION_TYPE, DATA_IDENTIFIER_TYPE
+from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, InvalidSubAddressError, \
+                            SESSION_TYPE, DATA_IDENTIFIER_TYPE
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser()
@@ -97,7 +97,7 @@
         resp = {}
         for uds_data_id in sorted(uds_data_ids):
           try:
-            data = uds_client.read_data_by_identifier(uds_data_id)  # type: ignore
+            data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE(uds_data_id))
             if data:
               resp[uds_data_id] = data
           except (NegativeResponseError, MessageTimeoutError, InvalidSubAddressError):

python/__init__.py

@@ -144,6 +144,7 @@ class Panda:
   SERIAL_LIN2 = 3
   SERIAL_SOM_DEBUG = 4
 
+  USB_VIDS = (0xbbaa, 0x3801)  # 0x3801 is comma's registered VID
   USB_PIDS = (0xddee, 0xddcc)
   REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
   REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
@@ -214,8 +215,7 @@ class Panda:
 
   FLAG_SUBARU_GEN2 = 1
   FLAG_SUBARU_LONG = 2
-
-  FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 1
+  FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
 
   FLAG_NISSAN_ALT_EPS_BUS = 1
 
@@ -385,7 +385,7 @@ def usb_connect(cls, serial, claim=True, no_error=False):
     context.open()
     try:
       for device in context.getDeviceList(skip_on_error=True):
-        if device.getVendorID() == 0xbbaa and device.getProductID() in cls.USB_PIDS:
+        if device.getVendorID() in cls.USB_VIDS and device.getProductID() in cls.USB_PIDS:
           try:
             this_serial = device.getSerialNumber()
           except Exception:
@@ -441,7 +441,7 @@ def usb_list(cls):
     try:
       with usb1.USBContext() as context:
         for device in context.getDeviceList(skip_on_error=True):
-          if device.getVendorID() == 0xbbaa and device.getProductID() in cls.USB_PIDS:
+          if device.getVendorID() in cls.USB_VIDS and device.getProductID() in cls.USB_PIDS:
             try:
               serial = device.getSerialNumber()
               if len(serial) == 24: