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Merge branch 'upstream/panda/master' into sync-20250124

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# Conflicts:
#	Dockerfile
This commit is contained in:
Jason Wen
2025-01-24 00:54:59 -05:00
parent 84836fd802 12905886ba
commit 77c800cc58
6 changed files with 22 additions and 42 deletions
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2
Dockerfile
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@@ -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="17530f1ae692b26353a48daf075ad79bbffdb189"
ENV OPENDBC_REF="a280fed7a3d250be3a96e626b81b13d8223b704d"
RUN cd /tmp/ && \
git clone --depth 1 https://github.com/sunnypilot/opendbc opendbc_repo && \
cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \

35
board/safety/safety_ford.h
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@@ -368,42 +368,33 @@ 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);
@@ -414,6 +405,9 @@ 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
@@ -422,6 +416,7 @@ 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);
}

4
board/stm32h7/lladc.h
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@@ -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));

2
examples/query_fw_versions.py
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@@ -97,7 +97,7 @@ if __name__ == "__main__":
resp = {}
for uds_data_id in sorted(uds_data_ids):
try:
data = uds_client.read_data_by_identifier(uds_data_id)
data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE(uds_data_id))
if data:
resp[uds_data_id] = data
except (NegativeResponseError, MessageTimeoutError, InvalidSubAddressError):

19
tests/safety/test_ford.py
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@@ -60,7 +60,6 @@ class Buttons:
# Ford safety has four different configurations tested here:
# * CAN with stock longitudinal
# * CAN with openpilot longitudinal
# * CAN FD with stock longitudinal
# * CAN FD with openpilot longitudinal
@@ -368,21 +367,6 @@ class TestFordSafetyBase(common.PandaCarSafetyTest):
self._mads_states_cleanup()
class TestFordStockSafety(TestFordSafetyBase):
STEER_MESSAGE = MSG_LateralMotionControl
TX_MSGS = [
[MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
[MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0],
]
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_FORD, 0)
self.safety.init_tests()
class TestFordCANFDStockSafety(TestFordSafetyBase):
STEER_MESSAGE = MSG_LateralMotionControl2
@@ -470,7 +454,8 @@ class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL)
# Make sure we enforce long safety even without long flag for CAN
self.safety.set_safety_hooks(Panda.SAFETY_FORD, 0)
self.safety.init_tests()

2
tests/safety/test_toyota.py
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@@ -332,7 +332,7 @@ class TestToyotaSecOcSafety(TestToyotaStockLongitudinalBase):
FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x131]}
def setUp(self):
self.packer = CANPackerPanda("toyota_rav4_prime_generated")
self.packer = CANPackerPanda("toyota_secoc_pt_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL | Panda.FLAG_TOYOTA_SECOC)
self.safety.init_tests()