Merge remote-tracking branch 'commaai/panda/master' into camera-scc-long

commaai · Sep 8, 2023 · 4dcde30 · 4dcde30
2 parents 7eccd7b + d87d33c
commit 4dcde30
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diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
@@ -1,5 +1,10 @@
 name: tests
-on: [push, pull_request]
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -6,13 +6,15 @@ repos:
     - id: check-yaml
     - id: check-merge-conflict
     - id: check-symlinks
+    - id: check-executables-have-shebangs
+    - id: check-shebang-scripts-are-executable
 - repo: https://github.com/pre-commit/mirrors-mypy
   rev: v1.5.1
   hooks:
     - id: mypy
       additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.0.285
+  rev: v0.0.287
   hooks:
     - id: ruff
diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
@@ -75,9 +75,11 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
     if ((ir_reg & (FDCAN_IR_RF0L)) != 0) {
       can_health[can_number].total_rx_lost_cnt += 1U;
     }
-    // While multiplexing between buses 1 and 3 we are getting ACK errors that overwhelm CAN core
-    // By resseting CAN core when no ACK is detected for a while(until TEC counter reaches 127) it can recover faster
-    if (((can_health[can_number].last_error == CAN_ACK_ERROR) || (can_health[can_number].last_data_error == CAN_ACK_ERROR)) && (can_health[can_number].transmit_error_cnt > 127U)) {
+    // Cases:
+    // 1. while multiplexing between buses 1 and 3 we are getting ACK errors that overwhelm CAN core, by resetting it recovers faster
+    // 2. H7 gets stuck in bus off recovery state indefinitely
+    if ((((can_health[can_number].last_error == CAN_ACK_ERROR) || (can_health[can_number].last_data_error == CAN_ACK_ERROR)) && (can_health[can_number].transmit_error_cnt > 127U)) ||
+     ((ir_reg & FDCAN_IR_BO) != 0)) {
       can_health[can_number].can_core_reset_cnt += 1U;
       can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (FDCANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset
       llcan_clear_send(FDCANx);

diff --git a/board/jungle/main.c b/board/jungle/main.c
@@ -93,15 +93,6 @@ void tick_handler(void) {
     }
 
 #ifdef FINAL_PROVISIONING
-    // Reset CAN core if it got stuck in bus off state after shorted CANH/L
-    // Looks like an issue with H7 that it doesn't want to recover from bus off
-    // FIXME: this must be fixed on the driver level, temporary workaround
-    for (uint8_t i = 0U; i < 3U; i++) {
-      update_can_health_pkt(i, 0);
-      if (can_health[i].bus_off == 1U) {
-        can_init(i);
-      }
-    }
     // Ignition blinking
     uint8_t ignition_bitmask = 0U;
     for (uint8_t i = 0U; i < 6U; i++) {
@@ -150,6 +141,9 @@ int main(void) {
   clock_init();
   peripherals_init();
   detect_board_type();
+  // red+green leds enabled until succesful USB init, as a debug indicator
+  current_board->set_led(LED_RED, true);
+  current_board->set_led(LED_GREEN, true);
 
   // print hello
   print("\n\n\n************************ MAIN START ************************\n");
@@ -181,6 +175,9 @@ int main(void) {
   // enable USB (right before interrupts or enum can fail!)
   usb_init();
 
+  current_board->set_led(LED_RED, false);
+  current_board->set_led(LED_GREEN, false);
+
   print("**** INTERRUPTS ON ****\n");
   enable_interrupts();
 

diff --git a/board/main.c b/board/main.c
@@ -203,8 +203,8 @@ void tick_handler(void) {
         if (som_running) {
           log("device booted");
           waiting_to_boot = false;
-        } else if (waiting_to_boot_count == 10U) {
-          log("not booted after 10s");
+        } else if (waiting_to_boot_count == 45U) {
+          log("not booted after 45s");
         } else {
 
         }
@@ -348,6 +348,9 @@ int main(void) {
   clock_init();
   peripherals_init();
   detect_board_type();
+  // red+green leds enabled until succesful USB/SPI init, as a debug indicator
+  current_board->set_led(LED_RED, true);
+  current_board->set_led(LED_GREEN, true);
   adc_init();
   logging_init();
 
@@ -410,6 +413,9 @@ int main(void) {
   }
 #endif
 
+  current_board->set_led(LED_RED, false);
+  current_board->set_led(LED_GREEN, false);
+
   print("**** INTERRUPTS ON ****\n");
   enable_interrupts();
 

diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
@@ -38,6 +38,8 @@ AddrCheckStruct nissan_addr_checks[] = {
 addr_checks nissan_rx_checks = {nissan_addr_checks, NISSAN_ADDR_CHECK_LEN};
 
 // EPS Location. false = V-CAN, true = C-CAN
+const int NISSAN_PARAM_ALT_EPS_BUS = 1;
+
 bool nissan_alt_eps = false;
 
 static int nissan_rx_hook(CANPacket_t *to_push) {
@@ -48,7 +50,7 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
     int bus = GET_BUS(to_push);
     int addr = GET_ADDR(to_push);
 
-    if (((bus == 0) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps))) {
+    if (bus == (nissan_alt_eps ? 1 : 0)) {
       if (addr == 0x2) {
         // Current steering angle
         // Factor -0.1, little endian
@@ -88,7 +90,7 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
     }
 
     // Handle cruise enabled
-    if ((addr == 0x30f) && (((bus == 2) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps)))) {
+    if ((addr == 0x30f) && (bus == (nissan_alt_eps ? 1 : 2))) {
       bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1U;
       pcm_cruise_check(cruise_engaged);
     }
@@ -158,7 +160,7 @@ static int nissan_fwd_hook(int bus_num, int addr) {
 }
 
 static const addr_checks* nissan_init(uint16_t param) {
-  nissan_alt_eps = param ? 1 : 0;
+  nissan_alt_eps = GET_FLAG(param, NISSAN_PARAM_ALT_EPS_BUS);
   return &nissan_rx_checks;
 }
 

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -1,14 +1,21 @@
-#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down)          \
-  {                                                                              \
-    .max_steer = (steer_max),                                                    \
-    .max_rt_delta = 940,                                                         \
-    .max_rt_interval = 250000,                                                   \
-    .max_rate_up = (rate_up),                                                    \
-    .max_rate_down = (rate_down),                                                \
-    .driver_torque_factor = 50,                                                  \
-    .driver_torque_allowance = 60,                                               \
-    .type = TorqueDriverLimited,                                                 \
-  }                                                                              \
+#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down)               \
+  {                                                                                   \
+    .max_steer = (steer_max),                                                         \
+    .max_rt_delta = 940,                                                              \
+    .max_rt_interval = 250000,                                                        \
+    .max_rate_up = (rate_up),                                                         \
+    .max_rate_down = (rate_down),                                                     \
+    .driver_torque_factor = 50,                                                       \
+    .driver_torque_allowance = 60,                                                    \
+    .type = TorqueDriverLimited,                                                      \
+    /* the EPS will temporary fault if the steering rate is too high, so we cut the   \
+       the steering torque every 7 frames for 1 frame if the steering rate is high */ \
+    .min_valid_request_frames = 7,                                                    \
+    .max_invalid_request_frames = 1,                                                  \
+    .min_valid_request_rt_interval = 144000,  /* 10% tolerance */                     \
+    .has_steer_req_tolerance = true,                                                  \
+  }
+
 
 const SteeringLimits SUBARU_STEERING_LIMITS      = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
 const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
@@ -39,20 +46,32 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
 #define MSG_SUBARU_ES_LKAS_State         0x322
 #define MSG_SUBARU_ES_Infotainment       0x323
 
+#define MSG_SUBARU_ES_UDS_Request        0x787
+
+#define MSG_SUBARU_ES_HighBeamAssist     0x121
+#define MSG_SUBARU_ES_STATIC_1           0x22a
+#define MSG_SUBARU_ES_STATIC_2           0x325
+
 #define SUBARU_MAIN_BUS 0
 #define SUBARU_ALT_BUS  1
 #define SUBARU_CAM_BUS  2
 
-#define SUBARU_COMMON_TX_MSGS(alt_bus, lkas_msg)    \
-  {MSG_SUBARU_ES_LKAS,         SUBARU_MAIN_BUS, 8}, \
-  {MSG_SUBARU_ES_Distance,     alt_bus,         8}, \
-  {MSG_SUBARU_ES_DashStatus,   SUBARU_MAIN_BUS, 8}, \
-  {MSG_SUBARU_ES_LKAS_State,   SUBARU_MAIN_BUS, 8}, \
-  {MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \
+#define SUBARU_COMMON_TX_MSGS(alt_bus, lkas_msg)      \
+  {lkas_msg,                     SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_Distance,       alt_bus,         8}, \
+  {MSG_SUBARU_ES_DashStatus,     SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_LKAS_State,     SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_Infotainment,   SUBARU_MAIN_BUS, 8}, \
 
-#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus)         \
-  {MSG_SUBARU_ES_Brake,        SUBARU_MAIN_BUS, 8}, \
-  {MSG_SUBARU_ES_Status,       SUBARU_MAIN_BUS, 8}, \
+#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus)           \
+  {MSG_SUBARU_ES_Brake,          alt_bus,         8}, \
+  {MSG_SUBARU_ES_Status,         alt_bus,         8}, \
+
+#define SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS()         \
+  {MSG_SUBARU_ES_UDS_Request,    SUBARU_CAM_BUS,  8}, \
+  {MSG_SUBARU_ES_HighBeamAssist, SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_STATIC_1,       SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_STATIC_2,       SUBARU_MAIN_BUS, 8}, \
 
 #define SUBARU_COMMON_ADDR_CHECKS(alt_bus)                                                                                                            \
   {.msg = {{MSG_SUBARU_Throttle,        SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \
@@ -77,6 +96,13 @@ const CanMsg SUBARU_GEN2_TX_MSGS[] = {
 };
 #define SUBARU_GEN2_TX_MSGS_LEN (sizeof(SUBARU_GEN2_TX_MSGS) / sizeof(SUBARU_GEN2_TX_MSGS[0]))
 
+const CanMsg SUBARU_GEN2_LONG_TX_MSGS[] = {
+  SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS)
+  SUBARU_COMMON_LONG_TX_MSGS(SUBARU_ALT_BUS)
+  SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS()
+};
+#define SUBARU_GEN2_LONG_TX_MSGS_LEN (sizeof(SUBARU_GEN2_LONG_TX_MSGS) / sizeof(SUBARU_GEN2_LONG_TX_MSGS[0]))
+
 AddrCheckStruct subaru_addr_checks[] = {
   SUBARU_COMMON_ADDR_CHECKS(SUBARU_MAIN_BUS)
 };
@@ -175,12 +201,14 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   int addr = GET_ADDR(to_send);
   bool violation = false;
 
-  if (subaru_gen2) {
-    tx = msg_allowed(to_send, SUBARU_GEN2_TX_MSGS, SUBARU_GEN2_TX_MSGS_LEN);
+  if (subaru_gen2 && subaru_longitudinal) {
+    tx = msg_allowed(to_send, SUBARU_GEN2_LONG_TX_MSGS, SUBARU_GEN2_LONG_TX_MSGS_LEN);
+  } else if (subaru_gen2) {
+    tx = msg_allowed(to_send, SUBARU_GEN2_TX_MSGS,      SUBARU_GEN2_TX_MSGS_LEN);
   } else if (subaru_longitudinal) {
-    tx = msg_allowed(to_send, SUBARU_LONG_TX_MSGS, SUBARU_LONG_TX_MSGS_LEN);
+    tx = msg_allowed(to_send, SUBARU_LONG_TX_MSGS,      SUBARU_LONG_TX_MSGS_LEN);
   } else {
-    tx = msg_allowed(to_send, SUBARU_TX_MSGS, SUBARU_TX_MSGS_LEN);
+    tx = msg_allowed(to_send, SUBARU_TX_MSGS,           SUBARU_TX_MSGS_LEN);
   }
 
   // steer cmd checks
@@ -221,6 +249,16 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     violation |= longitudinal_transmission_rpm_checks(transmission_rpm, SUBARU_LONG_LIMITS);
   }
 
+  if (addr == MSG_SUBARU_ES_UDS_Request) {
+    // tester present ('\x02\x3E\x80\x00\x00\x00\x00\x00') is allowed for gen2 longitudinal to keep eyesight disabled
+    bool is_tester_present = (GET_BYTES(to_send, 0, 4) == 0x00803E02U) && (GET_BYTES(to_send, 4, 4) == 0x0U);
+
+    // reading ES button data by identifier (b'\x03\x22\x11\x30\x00\x00\x00\x00') is also allowed (DID 0x1130)
+    bool is_button_rdbi = (GET_BYTES(to_send, 0, 4) == 0x30112203U) && (GET_BYTES(to_send, 4, 4) == 0x0U);
+
+    violation |= !(is_tester_present || is_button_rdbi);
+  }
+
   if (violation){
     tx = 0;
   }
@@ -258,7 +296,7 @@ static const addr_checks* subaru_init(uint16_t param) {
   subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2);
 
 #ifdef ALLOW_DEBUG
-  subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL) && !subaru_gen2;
+  subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
 #endif
 
   if (subaru_gen2) {

diff --git a/board/safety/safety_volkswagen_mqb.h b/board/safety/safety_volkswagen_mqb.h
@@ -223,7 +223,9 @@ static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
       desired_torque *= -1;
     }
 
-    if (steer_torque_cmd_checks(desired_torque, -1, VOLKSWAGEN_MQB_STEERING_LIMITS)) {
+    bool steer_req = GET_BIT(to_send, 30U) != 0U;
+
+    if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_MQB_STEERING_LIMITS)) {
       tx = 0;
     }
   }

diff --git a/examples/tesla_tester.py b/examples/tesla_tester.py
diff --git a/python/__init__.py b/python/__init__.py
@@ -237,6 +237,8 @@ class Panda:
   FLAG_SUBARU_GEN2 = 1
   FLAG_SUBARU_LONG = 2
 
+  FLAG_NISSAN_ALT_EPS_BUS = 1
+
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
 
@@ -456,7 +458,7 @@ def reconnect(self):
 
     success = False
     # wait up to 15 seconds
-    for _ in range(0, 15*10):
+    for _ in range(15*10):
       try:
         self.connect()
         success = True

diff --git a/python/ccp.py b/python/ccp.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import sys
 import time
 import struct

diff --git a/python/spi.py b/python/spi.py
@@ -421,7 +421,7 @@ def close(self):
   def program(self, address, dat):
     bs = 256  # max block size for writing to flash over SPI
     dat += b"\xFF" * ((bs - len(dat)) % bs)
-    for i in range(0, len(dat) // bs):
+    for i in range(len(dat) // bs):
       block = dat[i * bs:(i + 1) * bs]
       self._cmd(0x31, data=[
         struct.pack('>I', address + i*bs),

diff --git a/python/uds.py b/python/uds.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import time
 import struct
 from collections import deque

diff --git a/python/usb.py b/python/usb.py
@@ -78,7 +78,7 @@ def program(self, address, dat):
     # Program
     bs = min(len(dat), self._mcu_type.config.block_size)
     dat += b"\xFF" * ((bs - len(dat)) % bs)
-    for i in range(0, len(dat) // bs):
+    for i in range(len(dat) // bs):
       ldat = dat[i * bs:(i + 1) * bs]
       print("programming %d with length %d" % (i, len(ldat)))
       self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2 + i, 0, ldat)

diff --git a/tests/read_winusb_descriptors.py b/tests/read_winusb_descriptors.py