Merge branch 'upstream/master' into sync-20241205

.github/workflows/test.yaml

@@ -89,8 +89,8 @@ jobs:
                           scons -j$(nproc) ${{ matrix.flags }} && \
                           tests/safety/test.sh"
 
-  misra:
-    name: MISRA C:2012
+  misra_linter:
+    name: MISRA C:2012 Linter
     runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
@@ -102,6 +102,17 @@ jobs:
       - name: Run MISRA C:2012 analysis
         timeout-minutes: 2
         run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
+
+  misra_mutation:
+    name: MISRA C:2012 Mutation
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Build FW
+        run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: MISRA mutation tests
         timeout-minutes: 5
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"

board/boards/cuatro.h

@@ -87,6 +87,10 @@ static void cuatro_init(void) {
   set_gpio_output_type(GPIOB, 2, OUTPUT_TYPE_OPEN_DRAIN);
   set_gpio_output_type(GPIOD, 15, OUTPUT_TYPE_OPEN_DRAIN);
 
+  // more open drain
+  set_gpio_output_type(GPIOD, 3, OUTPUT_TYPE_OPEN_DRAIN); // FAN_EN
+  set_gpio_output_type(GPIOC, 12, OUTPUT_TYPE_OPEN_DRAIN); // VBAT_EN
+
   // Power readout
   set_gpio_mode(GPIOC, 5, MODE_ANALOG);
   set_gpio_mode(GPIOA, 6, MODE_ANALOG);
@@ -165,7 +169,7 @@ board board_cuatro = {
   .read_voltage_mV = cuatro_read_voltage_mV,
   .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = cuatro_set_fan_enabled,
-  .set_ir_power = tres_set_ir_power,
+  .set_ir_power = unused_set_ir_power,
   .set_siren = cuatro_set_siren,
   .set_bootkick = cuatro_set_bootkick,
   .read_som_gpio = tres_read_som_gpio,

board/recover.py

@@ -2,21 +2,15 @@
 import os
 import time
 import subprocess
-import argparse
 
 from panda import Panda, PandaDFU
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--all", action="store_true", help="Recover all Panda devices")
-  args = parser.parse_args()
-
   subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
 
-  serials = Panda.list() if args.all else [None]
-  for s in serials:
+  for s in Panda.list():
     with Panda(serial=s) as p:
       print(f"putting {p.get_usb_serial()} in DFU mode")
       p.reset(enter_bootstub=True)

python/__init__.py

@@ -325,6 +325,10 @@ class Panda:
     # reset comms
     self.can_reset_communications()
 
+    # disable automatic CAN-FD switching
+    for bus in range(PANDA_BUS_CNT):
+      self.set_canfd_auto(bus, False)
+
     # set CAN speed
     for bus in range(PANDA_BUS_CNT):
       self.set_can_speed_kbps(bus, self._can_speed_kbps)