Merge branch 'master' of https://github.com/commaai/panda into alfa-r…

…omeo

.github/workflows/test.yaml

@@ -103,6 +103,20 @@ jobs:
         timeout-minutes: 5
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"
 
+  mutation:
+    name: Mutation tests
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0 # need master to get diff
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Mutation tests
+        timeout-minutes: 5
+        run: ${{ env.RUN }} "GIT_REF=${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.event.before || 'origin/master' }} cd tests/safety && ./mutation.sh"
+
   static_analysis:
     name: static analysis
     runs-on: ubuntu-latest

.gitignore

@@ -29,3 +29,7 @@ nosetests.xml
 *.gcno
 tests/safety/coverage-out
 tests/safety/coverage.info
+
+*.profraw
+*.profdata
+mull.yml

.pre-commit-config.yaml

@@ -15,6 +15,6 @@ repos:
       additional_dependencies: ['numpy', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.6.3
+  rev: v0.6.8
   hooks:
     - id: ruff

Dockerfile

@@ -18,7 +18,13 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     apt clean && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ && \
-    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp && \
+    apt-get update && apt-get install -y clang-17 && \
+    ln -s $(which clang-17) /usr/bin/clang
+
+RUN apt-get update && apt-get install -y curl && \
+    curl -1sLf 'https://dl.cloudsmith.io/public/mull-project/mull-stable/setup.deb.sh' | bash && \
+    apt-get update && apt-get install -y mull-17
 
 ENV CPPCHECK_DIR=/tmp/cppcheck
 COPY tests/misra/install.sh /tmp/
@@ -31,7 +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="5ed7a834a4e0e24c3968dd1e98ceb4b9d5f9791a"
+ENV OPENDBC_REF="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
 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/ && \

Jenkinsfile

@@ -106,7 +106,7 @@ pipeline {
                 phone_steps("panda-tres", [
                   ["build", "scons -j4"],
                   ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py --all"],
                   ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
                 ])
               }
@@ -118,7 +118,7 @@ pipeline {
                 phone_steps("panda-dos", [
                   ["build", "scons -j4"],
                   ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py --all"],
                   ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
                 ])
               }

README.md

@@ -49,7 +49,7 @@ In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [my
 Setup dependencies:
 ```bash
 # Ubuntu
-sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git
+sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git clang-17
 
 # macOS
 brew install --cask gcc-arm-embedded

SConscript

@@ -167,7 +167,9 @@ Export('base_project_f4', 'base_project_h7', 'build_project')
 
 # Common autogenerated includes
 with open("board/obj/gitversion.h", "w") as f:
-  f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
+  version = get_version(BUILDER, BUILD_TYPE)
+  f.write(f'extern const uint8_t gitversion[{len(version)}];\n')
+  f.write(f'const uint8_t gitversion[{len(version)}] = "{version}";\n')
 
 with open("board/obj/version", "w") as f:
   f.write(f'{get_version(BUILDER, BUILD_TYPE)}')

SConstruct

@@ -16,6 +16,10 @@ AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
 
+AddOption('--mutation',
+          action='store_true',
+          help='generate mutation-ready code')
+
 env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   tools=["default", "compilation_db"],

board/can.h

@@ -0,0 +1,7 @@
+#pragma once
+#include "can_declarations.h"
+
+static const uint8_t PANDA_CAN_CNT = 3U;
+static const uint8_t PANDA_BUS_CNT = 3U;
+
+static const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};

board/can_comms.h

@@ -18,7 +18,7 @@ typedef struct {
   uint8_t data[72];
 } asm_buffer;
 
-asm_buffer can_read_buffer = {.ptr = 0U, .tail_size = 0U};
+static asm_buffer can_read_buffer = {.ptr = 0U, .tail_size = 0U};
 
 int comms_can_read(uint8_t *data, uint32_t max_len) {
   uint32_t pos = 0U;
@@ -38,10 +38,10 @@ int comms_can_read(uint8_t *data, uint32_t max_len) {
     while ((pos < max_len) && can_pop(&can_rx_q, &can_packet)) {
       uint32_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[can_packet.data_len_code];
       if ((pos + pckt_len) <= max_len) {
-        (void)memcpy(&data[pos], &can_packet, pckt_len);
+        (void)memcpy(&data[pos], (uint8_t*)&can_packet, pckt_len);
         pos += pckt_len;
       } else {
-        (void)memcpy(&data[pos], &can_packet, max_len - pos);
+        (void)memcpy(&data[pos], (uint8_t*)&can_packet, max_len - pos);
         can_read_buffer.ptr += pckt_len - (max_len - pos);
         // cppcheck-suppress objectIndex
         (void)memcpy(can_read_buffer.data, &((uint8_t*)&can_packet)[(max_len - pos)], can_read_buffer.ptr);
@@ -53,7 +53,7 @@ int comms_can_read(uint8_t *data, uint32_t max_len) {
   return pos;
 }
 
-asm_buffer can_write_buffer = {.ptr = 0U, .tail_size = 0U};
+static asm_buffer can_write_buffer = {.ptr = 0U, .tail_size = 0U};
 
 // send on CAN
 void comms_can_write(const uint8_t *data, uint32_t len) {
@@ -69,7 +69,7 @@ void comms_can_write(const uint8_t *data, uint32_t len) {
       pos += can_write_buffer.tail_size;
 
       // send out
-      (void)memcpy(&to_push, can_write_buffer.data, can_write_buffer.ptr);
+      (void)memcpy((uint8_t*)&to_push, can_write_buffer.data, can_write_buffer.ptr);
       can_send(&to_push, to_push.bus, false);
 
       // reset overflow buffer
@@ -90,7 +90,7 @@ void comms_can_write(const uint8_t *data, uint32_t len) {
     uint32_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[(data[pos] >> 4U)];
     if ((pos + pckt_len) <= len) {
       CANPacket_t to_push = {0};
-      (void)memcpy(&to_push, &data[pos], pckt_len);
+      (void)memcpy((uint8_t*)&to_push, &data[pos], pckt_len);
       can_send(&to_push, to_push.bus, false);
       pos += pckt_len;
     } else {

board/can_definitions.h → board/can_declarations.h

@@ -1,8 +1,5 @@
 #pragma once
 
-const uint8_t PANDA_CAN_CNT = 3U;
-const uint8_t PANDA_BUS_CNT = 3U;
-
 // bump this when changing the CAN packet
 #define CAN_PACKET_VERSION 4
 
@@ -27,8 +24,6 @@ typedef struct {
   unsigned char data[CANPACKET_DATA_SIZE_MAX];
 } __attribute__((packed, aligned(4))) CANPacket_t;
 
-const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
-
 #define GET_BUS(msg) ((msg)->bus)
 #define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])
 #define GET_ADDR(msg) ((msg)->addr)

board/critical.h

@@ -1,5 +1,9 @@
+#include "critical_declarations.h"
+
 // ********************* Critical section helpers *********************
-volatile bool interrupts_enabled = false;
+uint8_t global_critical_depth = 0U;
+
+static volatile bool interrupts_enabled = false;
 
 void enable_interrupts(void) {
   interrupts_enabled = true;
@@ -10,14 +14,3 @@ void disable_interrupts(void) {
   interrupts_enabled = false;
   __disable_irq();
 }
-
-uint8_t global_critical_depth = 0U;
-#define ENTER_CRITICAL()                                      \
-  __disable_irq();                                            \
-  global_critical_depth += 1U;
-
-#define EXIT_CRITICAL()                                       \
-  global_critical_depth -= 1U;                                \
-  if ((global_critical_depth == 0U) && interrupts_enabled) {  \
-    __enable_irq();                                           \
-  }

board/critical_declarations.h

@@ -0,0 +1,17 @@
+#pragma once
+
+// ********************* Critical section helpers *********************
+void enable_interrupts(void);
+void disable_interrupts(void);
+
+extern uint8_t global_critical_depth;
+
+#define ENTER_CRITICAL()                                      \
+  __disable_irq();                                            \
+  global_critical_depth += 1U;
+
+#define EXIT_CRITICAL()                                       \
+  global_critical_depth -= 1U;                                \
+  if ((global_critical_depth == 0U) && interrupts_enabled) {  \
+    __enable_irq();                                           \
+  }

board/drivers/bootkick.h

@@ -1,13 +1,14 @@
-bool bootkick_ign_prev = false;
-BootState boot_state = BOOT_BOOTKICK;
-uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC;
+#include "bootkick_declarations.h"
 
-uint8_t boot_reset_countdown = 0;
-uint8_t waiting_to_boot_countdown = 0;
 bool bootkick_reset_triggered = false;
-uint16_t bootkick_last_serial_ptr = 0;
 
 void bootkick_tick(bool ignition, bool recent_heartbeat) {
+  static uint16_t bootkick_last_serial_ptr = 0;
+  static uint8_t waiting_to_boot_countdown = 0;
+  static uint8_t boot_reset_countdown = 0;
+  static uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC;
+  static bool bootkick_ign_prev = false;
+  static BootState boot_state = BOOT_BOOTKICK;
   BootState boot_state_prev = boot_state;
   const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC);
 

board/drivers/bootkick_declarations.h

@@ -0,0 +1,5 @@
+#pragma once
+
+extern bool bootkick_reset_triggered;
+
+void bootkick_tick(bool ignition, bool recent_heartbeat);

board/drivers/bxcan.h

@@ -1,9 +1,11 @@
+#include "bxcan_declarations.h"
+
 // IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
 //       CAN2_TX, CAN2_RX0, CAN2_SCE
 //       CAN3_TX, CAN3_RX0, CAN3_SCE
 
-CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
-uint8_t can_irq_number[3][3] = {
+CAN_TypeDef *cans[CAN_ARRAY_SIZE] = {CAN1, CAN2, CAN3};
+uint8_t can_irq_number[CAN_IRQS_ARRAY_SIZE][CAN_IRQS_ARRAY_SIZE] = {
   { CAN1_TX_IRQn, CAN1_RX0_IRQn, CAN1_SCE_IRQn },
   { CAN2_TX_IRQn, CAN2_RX0_IRQn, CAN2_SCE_IRQn },
   { CAN3_TX_IRQn, CAN3_RX0_IRQn, CAN3_SCE_IRQn },
@@ -63,7 +65,7 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
 
 // ***************************** CAN *****************************
 // CANx_SCE IRQ Handler
-void can_sce(uint8_t can_number) {
+static void can_sce(uint8_t can_number) {
   update_can_health_pkt(can_number, 1U);
 }
 
@@ -181,17 +183,17 @@ void can_rx(uint8_t can_number) {
   }
 }
 
-void CAN1_TX_IRQ_Handler(void) { process_can(0); }
-void CAN1_RX0_IRQ_Handler(void) { can_rx(0); }
-void CAN1_SCE_IRQ_Handler(void) { can_sce(0); }
+static void CAN1_TX_IRQ_Handler(void) { process_can(0); }
+static void CAN1_RX0_IRQ_Handler(void) { can_rx(0); }
+static void CAN1_SCE_IRQ_Handler(void) { can_sce(0); }
 
-void CAN2_TX_IRQ_Handler(void) { process_can(1); }
-void CAN2_RX0_IRQ_Handler(void) { can_rx(1); }
-void CAN2_SCE_IRQ_Handler(void) { can_sce(1); }
+static void CAN2_TX_IRQ_Handler(void) { process_can(1); }
+static void CAN2_RX0_IRQ_Handler(void) { can_rx(1); }
+static void CAN2_SCE_IRQ_Handler(void) { can_sce(1); }
 
-void CAN3_TX_IRQ_Handler(void) { process_can(2); }
-void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
-void CAN3_SCE_IRQ_Handler(void) { can_sce(2); }
+static void CAN3_TX_IRQ_Handler(void) { process_can(2); }
+static void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
+static void CAN3_SCE_IRQ_Handler(void) { can_sce(2); }
 
 bool can_init(uint8_t can_number) {
   bool ret = false;

board/drivers/bxcan_declarations.h

@@ -0,0 +1,22 @@
+#pragma once
+
+// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
+//       CAN2_TX, CAN2_RX0, CAN2_SCE
+//       CAN3_TX, CAN3_RX0, CAN3_SCE
+
+#define CAN_ARRAY_SIZE 3
+#define CAN_IRQS_ARRAY_SIZE 3
+extern CAN_TypeDef *cans[CAN_ARRAY_SIZE];
+extern uint8_t can_irq_number[CAN_IRQS_ARRAY_SIZE][CAN_IRQS_ARRAY_SIZE];
+
+bool can_set_speed(uint8_t can_number);
+void can_clear_send(CAN_TypeDef *CANx, uint8_t can_number);
+void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg);
+
+// ***************************** CAN *****************************
+// CANx_TX IRQ Handler
+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);
+bool can_init(uint8_t can_number);