Merge remote-tracking branch 'comma/master'

.github/workflows/test.yaml

@@ -89,23 +89,6 @@ jobs:
                           scons -j$(nproc) ${{ matrix.flags }} && \
                           tests/safety/test.sh"
 
-  safety_coverage:
-    name: safety coverage
-    runs-on: ubuntu-20.04
-    timeout-minutes: 20
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Run safety coverage test
-        timeout-minutes: 5
-        run: |
-          ${{ env.RUN }} "cd .. && \
-                          scons -c && \
-                          scons -j$(nproc) opendbc/ cereal/ && \
-                          cd panda/tests/safety && \
-                          ./test_coverage.sh"
-
   misra:
     name: MISRA C:2012
     runs-on: ubuntu-20.04
@@ -120,7 +103,7 @@ jobs:
         timeout-minutes: 1
         run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
       - name: MISRA mutation tests
-        timeout-minutes: 3
+        timeout-minutes: 4
         run: ${{ env.RUN }} "cd tests/misra && ./test_mutation.py"
 
   python_linter:

board/boards/black.h

@@ -180,7 +180,8 @@ const board board_black = {
   .set_led = black_set_led,
   .set_can_mode = black_set_can_mode,
   .check_ignition = black_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/board_declarations.h

@@ -12,7 +12,8 @@ typedef void (*board_enable_can_transceivers)(bool enabled);
 typedef void (*board_set_led)(uint8_t color, bool enabled);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef bool (*board_check_ignition)(void);
-typedef uint32_t (*board_read_current)(void);
+typedef uint32_t (*board_read_voltage_mV)(void);
+typedef uint32_t (*board_read_current_mA)(void);
 typedef void (*board_set_ir_power)(uint8_t percentage);
 typedef void (*board_set_fan_enabled)(bool enabled);
 typedef void (*board_set_siren)(bool enabled);
@@ -36,7 +37,8 @@ struct board {
   board_set_led set_led;
   board_set_can_mode set_can_mode;
   board_check_ignition check_ignition;
-  board_read_current read_current;
+  board_read_voltage_mV read_voltage_mV;
+  board_read_current_mA read_current_mA;
   board_set_ir_power set_ir_power;
   board_set_fan_enabled set_fan_enabled;
   board_set_siren set_siren;

board/boards/cuatro.h

@@ -49,9 +49,21 @@ void cuatro_enable_can_transceivers(bool enabled) {
   }
 }
 
+uint32_t cuatro_read_voltage_mV(void) {
+  return adc_get_mV(8) * 11U;
+}
+
+uint32_t cuatro_read_current_mA(void) {
+  return adc_get_mV(3) * 2U;
+}
+
 void cuatro_init(void) {
   red_chiplet_init();
 
+  // Power readout
+  set_gpio_mode(GPIOC, 5, MODE_ANALOG);
+  set_gpio_mode(GPIOA, 6, MODE_ANALOG);
+
   // CAN transceiver enables
   set_gpio_pullup(GPIOB, 7, PULL_NONE);
   set_gpio_mode(GPIOB, 7, MODE_OUTPUT);
@@ -108,7 +120,8 @@ const board board_cuatro = {
   .set_led = cuatro_set_led,
   .set_can_mode = red_chiplet_set_can_mode,
   .check_ignition = red_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = cuatro_read_voltage_mV,
+  .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = tres_set_fan_enabled,
   .set_ir_power = tres_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/dos.h

@@ -212,7 +212,8 @@ const board board_dos = {
   .set_led = dos_set_led,
   .set_can_mode = dos_set_can_mode,
   .check_ignition = dos_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = dos_set_fan_enabled,
   .set_ir_power = dos_set_ir_power,
   .set_siren = dos_set_siren,

board/boards/grey.h

@@ -22,7 +22,8 @@ const board board_grey = {
   .set_led = white_set_led,
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
-  .read_current = white_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = white_read_current_mA,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/pedal.h

@@ -84,7 +84,8 @@ const board board_pedal = {
   .set_led = pedal_set_led,
   .set_can_mode = pedal_set_can_mode,
   .check_ignition = pedal_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = unused_read_voltage,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/red.h

@@ -96,6 +96,10 @@ bool red_check_ignition(void) {
   return harness_check_ignition();
 }
 
+uint32_t red_read_voltage_mV(void){
+  return adc_get_mV(2) * 11U; // TODO: is this correct?
+}
+
 void red_init(void) {
   common_init_gpio();
 
@@ -188,7 +192,8 @@ const board board_red = {
   .set_led = red_set_led,
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = red_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/tres.h

@@ -87,7 +87,8 @@ const board board_tres = {
   .set_led = red_set_led,
   .set_can_mode = red_chiplet_set_can_mode,
   .check_ignition = red_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = red_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = tres_set_fan_enabled,
   .set_ir_power = tres_set_ir_power,
   .set_siren = fake_siren_set,

board/boards/uno.h

@@ -167,7 +167,7 @@ void uno_init(void) {
   }
 
   // Switch to phone usb mode if harness connection is powered by less than 7V
-  if((adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER) < 7000U){
+  if(white_read_voltage_mV() < 7000U){
     uno_set_usb_switch(true);
   } else {
     uno_set_usb_switch(false);
@@ -215,7 +215,8 @@ const board board_uno = {
   .set_led = uno_set_led,
   .set_can_mode = uno_set_can_mode,
   .check_ignition = uno_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = uno_set_fan_enabled,
   .set_ir_power = uno_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/unused_funcs.h

@@ -13,6 +13,10 @@ void unused_set_siren(bool enabled) {
   UNUSED(enabled);
 }
 
+uint32_t unused_read_voltage(void) {
+  return 0U;
+}
+
 uint32_t unused_read_current(void) {
   return 0U;
 }

board/boards/white.h

@@ -124,8 +124,13 @@ void white_set_can_mode(uint8_t mode){
   }
 }
 
-uint32_t white_read_current(void){
-  return adc_get_raw(ADCCHAN_CURRENT);
+uint32_t white_read_voltage_mV(void){
+  return adc_get_mV(12) * 11U;
+}
+
+uint32_t white_read_current_mA(void){
+  // This isn't in mA, but we're keeping it for backwards compatibility
+  return adc_get_raw(13);
 }
 
 bool white_check_ignition(void){
@@ -197,10 +202,9 @@ void white_grey_init(void) {
   white_set_can_mode(CAN_MODE_NORMAL);
 
   // Init usb power mode
-  uint32_t voltage = adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER;
   // Init in CDP mode only if panda is powered by 12V.
   // Otherwise a PC would not be able to flash a standalone panda
-  if (voltage > 8000U) {  // 8V threshold
+  if (white_read_voltage_mV() > 8000U) {  // 8V threshold
     white_set_usb_power_mode(USB_POWER_CDP);
   } else {
     white_set_usb_power_mode(USB_POWER_CLIENT);
@@ -239,7 +243,8 @@ const board board_white = {
   .set_led = white_set_led,
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
-  .read_current = white_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = white_read_current_mA,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/can_definitions.h

@@ -15,6 +15,7 @@ const uint8_t PANDA_BUS_CNT = 4U;
   #define CANPACKET_DATA_SIZE_MAX 8U
 #endif
 
+#ifndef STM32F2
 typedef struct {
   unsigned char reserved : 1;
   unsigned char bus : 3;
@@ -26,6 +27,7 @@ typedef struct {
   unsigned char checksum;
   unsigned char data[CANPACKET_DATA_SIZE_MAX];
 } __attribute__((packed, aligned(4))) CANPacket_t;
+#endif
 
 const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
 

board/config.h

@@ -16,8 +16,6 @@
 #define MAX_CAN_MSGS_PER_USB_BULK_TRANSFER 51U
 #define MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER 170U
 
-#define VIN_READOUT_DIVIDER 11U
-
 // USB definitions
 #define USB_VID 0xBBAAU
 

board/drivers/can_common.h

@@ -277,10 +277,10 @@ void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
   }
 }
 
-bool is_speed_valid(uint32_t speed, const uint32_t *speeds, uint8_t len) {
+bool is_speed_valid(uint32_t speed, const uint32_t *all_speeds, uint8_t len) {
   bool ret = false;
   for (uint8_t i = 0U; i < len; i++) {
-    if (speeds[i] == speed) {
+    if (all_speeds[i] == speed) {
       ret = true;
     }
   }

board/drivers/harness.h

@@ -95,6 +95,7 @@ uint8_t harness_detect_orientation(void) {
         ret = HARNESS_STATUS_FLIPPED;
       } else {
         // orientation normal (PANDA_SBU2->HARNESS_SBU1(relay), PANDA_SBU1->HARNESS_SBU2(ign))
+        // (SBU1->SBU2 is the normal orientation connection per USB-C cable spec)
         ret = HARNESS_STATUS_NORMAL;
       }
     } else {

board/drivers/usb.h

@@ -79,7 +79,7 @@ void refresh_can_tx_slots_available(void);
 #define STS_SETUP_COMP                         4
 #define STS_SETUP_UPDT                         6
 
-uint8_t resp[USBPACKET_MAX_SIZE];
+uint8_t response[USBPACKET_MAX_SIZE];
 
 // for the repeating interfaces
 #define DSCR_INTERFACE_LEN 9
@@ -557,19 +557,19 @@ void usb_setup(void) {
               break;
             case STRING_OFFSET_ISERIAL:
               #ifdef UID_BASE
-                resp[0] = 0x02 + (12 * 4);
-                resp[1] = 0x03;
+                response[0] = 0x02 + (12 * 4);
+                response[1] = 0x03;
 
                 // 96 bits = 12 bytes
                 for (int i = 0; i < 12; i++){
                   uint8_t cc = ((uint8_t *)UID_BASE)[i];
-                  resp[2 + (i * 4)] = to_hex_char((cc >> 4) & 0xFU);
-                  resp[2 + (i * 4) + 1] = '\0';
-                  resp[2 + (i * 4) + 2] = to_hex_char((cc >> 0) & 0xFU);
-                  resp[2 + (i * 4) + 3] = '\0';
+                  response[2 + (i * 4)] = to_hex_char((cc >> 4) & 0xFU);
+                  response[2 + (i * 4) + 1] = '\0';
+                  response[2 + (i * 4) + 2] = to_hex_char((cc >> 0) & 0xFU);
+                  response[2 + (i * 4) + 3] = '\0';
                 }
 
-                USB_WritePacket(resp, MIN(resp[0], setup.b.wLength.w), 0);
+                USB_WritePacket(response, MIN(response[0], setup.b.wLength.w), 0);
               #else
                 USB_WritePacket((const uint8_t *)string_serial_desc, MIN(sizeof(string_serial_desc), setup.b.wLength.w), 0);
               #endif
@@ -599,10 +599,10 @@ void usb_setup(void) {
       }
       break;
     case USB_REQ_GET_STATUS:
-      // empty resp?
-      resp[0] = 0;
-      resp[1] = 0;
-      USB_WritePacket((void*)&resp, 2, 0);
+      // empty response?
+      response[0] = 0;
+      response[1] = 0;
+      USB_WritePacket((void*)&response, 2, 0);
       USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
       break;
     case USB_REQ_SET_INTERFACE:
@@ -648,10 +648,10 @@ void usb_setup(void) {
       control_req.param2 = setup.b.wIndex.w;
       control_req.length = setup.b.wLength.w;
 
-      resp_len = comms_control_handler(&control_req, resp);
+      resp_len = comms_control_handler(&control_req, response);
       // response pending if -1 was returned
       if (resp_len != -1) {
-        USB_WritePacket(resp, MIN(resp_len, setup.b.wLength.w), 0);
+        USB_WritePacket(response, MIN(resp_len, setup.b.wLength.w), 0);
         USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
       }
   }
@@ -877,7 +877,7 @@ void usb_irqhandler(void) {
           print("  IN PACKET QUEUE\n");
           #endif
           // TODO: always assuming max len, can we get the length?
-          USB_WritePacket((void *)resp, comms_can_read(resp, 0x40), 1);
+          USB_WritePacket((void *)response, comms_can_read(response, 0x40), 1);
         }
         break;
 
@@ -888,9 +888,9 @@ void usb_irqhandler(void) {
           print("  IN PACKET QUEUE\n");
           #endif
           // TODO: always assuming max len, can we get the length?
-          int len = comms_can_read(resp, 0x40);
+          int len = comms_can_read(response, 0x40);
           if (len > 0) {
-            USB_WritePacket((void *)resp, len, 1);
+            USB_WritePacket((void *)response, len, 1);
           }
         }
         break;

board/health.h

@@ -21,10 +21,10 @@ struct __attribute__((packed)) health_t {
   uint8_t power_save_enabled_pkt;
   uint8_t heartbeat_lost_pkt;
   uint16_t alternative_experience_pkt;
-  float interrupt_load;
+  float interrupt_load_pkt;
   uint8_t fan_power;
-  uint8_t safety_rx_checks_invalid;
-  uint16_t spi_checksum_error_count;
+  uint8_t safety_rx_checks_invalid_pkt;
+  uint16_t spi_checksum_error_count_pkt;
   uint8_t fan_stall_count;
   uint16_t sbu1_voltage_mV;
   uint16_t sbu2_voltage_mV;

board/main_comms.h

@@ -9,8 +9,8 @@ int get_health_pkt(void *dat) {
   struct health_t * health = (struct health_t*)dat;
 
   health->uptime_pkt = uptime_cnt;
-  health->voltage_pkt = adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER;
-  health->current_pkt = current_board->read_current();
+  health->voltage_pkt = current_board->read_voltage_mV();
+  health->current_pkt = current_board->read_current_mA();
 
   // Use the GPIO pin to determine ignition or use a CAN based logic
   health->ignition_line_pkt = (uint8_t)(current_board->check_ignition());
@@ -28,14 +28,14 @@ int get_health_pkt(void *dat) {
   health->alternative_experience_pkt = alternative_experience;
   health->power_save_enabled_pkt = power_save_status == POWER_SAVE_STATUS_ENABLED;
   health->heartbeat_lost_pkt = heartbeat_lost;
-  health->safety_rx_checks_invalid = safety_rx_checks_invalid;
+  health->safety_rx_checks_invalid_pkt = safety_rx_checks_invalid;
 
-  health->spi_checksum_error_count = spi_checksum_error_count;
+  health->spi_checksum_error_count_pkt = spi_checksum_error_count;
 
   health->fault_status_pkt = fault_status;
   health->faults_pkt = faults;
 
-  health->interrupt_load = interrupt_load;
+  health->interrupt_load_pkt = interrupt_load;
 
   health->fan_power = fan_state.power;
   health->fan_stall_count = fan_state.total_stall_count;