Merge branch 'master-4f227f88c827d02188763d676aab941401be8212' into sync-20250531

# Conflicts:
#	pyproject.toml

.github/workflows/test.yaml

@@ -35,7 +35,11 @@ jobs:
 
   test:
     name: ./test.sh
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: ['macos-latest', 'ubuntu-latest']
     timeout-minutes: 10
     steps:
       - uses: actions/checkout@v4

Jenkinsfile

@@ -101,6 +101,18 @@ pipeline {
 
         stage('parallel tests') {
           parallel {
+            stage('test cuatro') {
+              agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+              steps {
+                phone_steps("panda-cuatro", [
+                  ["build", "scons -j4"],
+                  ["flash", "cd scripts/ && ./reflash_internal_panda.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py --all"],
+                  ["test", "cd tests/hitl && HW_TYPES=10 pytest -n0 --durations=0 2*.py [5-9]*.py"],
+                ])
+              }
+            }
+
             stage('test tres') {
               agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
               steps {

board/boards/board_declarations.h

@@ -28,6 +28,7 @@ struct board {
   harness_configuration *harness_config;
   GPIO_TypeDef * const led_GPIO[3];
   const uint8_t led_pin[3];
+  const uint8_t led_pwm_channels[3]; // leave at 0 to disable PWM
   const bool has_spi;
   const bool has_canfd;
   const uint16_t fan_max_rpm;

board/boards/cuatro.h

@@ -45,6 +45,7 @@ static void cuatro_set_bootkick(BootState state) {
 
 static void cuatro_set_amp_enabled(bool enabled){
   set_gpio_output(GPIOA, 5, enabled);
+  set_gpio_output(GPIOB, 0, enabled);
 }
 
 static void cuatro_init(void) {
@@ -85,11 +86,6 @@ static void cuatro_init(void) {
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
   register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT8); // open drain
 
-  // Initialize IR PWM and set to 0%
-  set_gpio_alternate(GPIOC, 9, GPIO_AF2_TIM3);
-  pwm_init(TIM3, 4);
-  tres_set_ir_power(0U);
-
   // Clock source
   clock_source_init(true);
 
@@ -133,6 +129,7 @@ board board_cuatro = {
   .enable_can_transceiver = cuatro_enable_can_transceiver,
   .led_GPIO = {GPIOC, GPIOC, GPIOC},
   .led_pin = {6, 7, 9},
+  .led_pwm_channels = {1, 2, 4},
   .set_can_mode = tres_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_voltage_mV = cuatro_read_voltage_mV,

board/drivers/led.h

@@ -3,18 +3,30 @@
 #define LED_GREEN 1U
 #define LED_BLUE 2U
 
+#define LED_PWM_POWER 5U
+
 void led_set(uint8_t color, bool enabled) {
   if (color < 3U) {
-    set_gpio_output(current_board->led_GPIO[color], current_board->led_pin[color], !enabled);
+    if (current_board->led_pwm_channels[color] != 0U) {
+      pwm_set(TIM3, current_board->led_pwm_channels[color], 100U - (enabled ? LED_PWM_POWER : 0U));
+    } else {
+      set_gpio_output(current_board->led_GPIO[color], current_board->led_pin[color], !enabled);
+    }
   }
 }
 
 void led_init(void) {
   for (uint8_t i = 0U; i<3U; i++){
     set_gpio_pullup(current_board->led_GPIO[i], current_board->led_pin[i], PULL_NONE);
-    set_gpio_mode(current_board->led_GPIO[i], current_board->led_pin[i], MODE_OUTPUT);
     set_gpio_output_type(current_board->led_GPIO[i], current_board->led_pin[i], OUTPUT_TYPE_OPEN_DRAIN);
 
+    if (current_board->led_pwm_channels[i] != 0U) {
+      set_gpio_alternate(current_board->led_GPIO[i], current_board->led_pin[i], GPIO_AF2_TIM3);
+      pwm_init(TIM3, current_board->led_pwm_channels[i]);
+    } else {
+      set_gpio_mode(current_board->led_GPIO[i], current_board->led_pin[i], MODE_OUTPUT);
+    }
+
     led_set(i, false);
   }
 }

board/jungle/boards/board_declarations.h

@@ -16,6 +16,7 @@ typedef uint16_t (*board_get_sbu_mV)(uint8_t channel, uint8_t sbu);
 struct board {
   GPIO_TypeDef * const led_GPIO[3];
   const uint8_t led_pin[3];
+  const uint8_t led_pwm_channels[3]; // leave at 0 to disable PWM
   const bool has_canfd;
   const bool has_sbu_sense;
   const uint16_t avdd_mV;

board/stm32h7/peripherals.h

@@ -73,6 +73,9 @@ void flasher_peripherals_init(void) {
   // SPI + DMA
   RCC->APB2ENR |= RCC_APB2ENR_SPI4EN;
   RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+
+  // LED PWM
+  RCC->APB1LENR |= RCC_APB1LENR_TIM3EN;
 }
 #endif
 
@@ -116,7 +119,7 @@ void peripherals_init(void) {
   // Timers
   RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  // clock source timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM2EN;  // main counter
-  RCC->APB1LENR |= RCC_APB1LENR_TIM3EN;  // fan pwm
+  RCC->APB1LENR |= RCC_APB1LENR_TIM3EN;  // fan + led pwm
   RCC->APB1LENR |= RCC_APB1LENR_TIM6EN;  // interrupt timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM7EN;  // DMA trigger timer
   RCC->APB2ENR |= RCC_APB2ENR_TIM8EN;  // tick timer

pyproject.toml

@@ -13,6 +13,7 @@ classifiers = [
 ]
 dependencies = [
   "libusb1",
+    "opendbc @ git+https://github.com/sunnypilot/opendbc.git@c9ca0d18ca75e0448806406136b0f39adf76bf97#egg=opendbc",
 ]
 
 [project.optional-dependencies]
@@ -28,9 +29,8 @@ dev = [
   "pytest-randomly",
   "ruff",
   "mypy",
-  "spidev",
   "setuptools",
-  "opendbc @ git+https://github.com/sunnypilot/opendbc.git@462d16e4c6bd1d65d434adf38d3264b801632584#egg=opendbc",
+  "spidev; platform_system == 'Linux'",
 ]
 
 [build-system]

python/__init__.py

@@ -143,7 +143,7 @@ class Panda:
     HW_TYPE_UNO: 5100,
     HW_TYPE_DOS: 6500,
     HW_TYPE_TRES: 6600,
-    HW_TYPE_CUATRO: 6600,
+    HW_TYPE_CUATRO: 12500,
   }
 
   HARNESS_STATUS_NC = 0

python/socketpanda.py

@@ -30,6 +30,8 @@ CANFD_FDF = 0x04 # mark CAN FD for dual use of struct canfd_frame
 # https://github.com/torvalds/linux/blob/47ac09b91befbb6a235ab620c32af719f8208399/include/uapi/asm-generic/socket.h#L61
 SO_RXQ_OVFL = 40
 
+import typing
+@typing.no_type_check # mypy struggles with macOS here...
 def create_socketcan(interface:str, recv_buffer_size:int, fd:bool) -> socket.socket:
   # settings mostly from https://github.com/linux-can/can-utils/blob/master/candump.c
   socketcan = socket.socket(socket.AF_CAN, socket.SOCK_RAW, socket.CAN_RAW)

setup.sh

@@ -8,6 +8,7 @@ PLATFORM=$(uname -s)
 
 echo "installing dependencies"
 if [[ $PLATFORM == "Darwin" ]]; then
+  export HOMEBREW_NO_AUTO_UPDATE=1
   brew install --cask gcc-arm-embedded
   brew install python3 gcc@13
 elif [[ $PLATFORM == "Linux" ]]; then
@@ -23,7 +24,11 @@ fi
 if ! command -v uv &>/dev/null; then
   echo "'uv' is not installed. Installing 'uv'..."
   curl -LsSf https://astral.sh/uv/install.sh | sh
-  source $HOME/.local/bin/env || true
+
+  # doesn't require sourcing on all platforms
+  set +e
+  source $HOME/.local/bin/env
+  set -e
 fi
 
 export UV_PROJECT_ENVIRONMENT="$DIR/.venv"

tests/hitl/7_internal.py

@@ -44,7 +44,7 @@ def test_fan_cooldown(p):
   time.sleep(3)
   p.set_fan_power(0)
   for _ in range(5):
-    assert p.get_fan_rpm() <= 7000
+    assert p.get_fan_rpm() <= Panda.MAX_FAN_RPMs[bytes(p.get_type())]
     time.sleep(0.5)
 
 def test_fan_overshoot(p):