Sync: commaai/panda:master → sunnypilot/panda:master

.github/workflows/update-cppcheck.yml

@@ -17,7 +17,11 @@ jobs:
       - name: Get latest cppcheck version
         id: version
         run: |
-          LATEST=$(curl -fsSL https://api.github.com/repos/danmar/cppcheck/releases/latest | jq -r .tag_name)
+          # Tags are sorted by time (newest first), so get the first version-like tag
+          LATEST=$(curl -fsSL "https://api.github.com/repos/danmar/cppcheck/tags?per_page=20" | \
+            jq -r '.[].name' | \
+            grep -E '^[0-9]+\.[0-9]+(\.[0-9]+)?$' | \
+            head -n 1)
           echo "vers=$LATEST" >> "$GITHUB_OUTPUT"
       - name: Update VERS in install.sh
         run: |

SConscript

@@ -139,8 +139,8 @@ base_project_h7 = {
 # Common autogenerated includes
 with open("board/obj/gitversion.h", "w") as f:
   version = get_version(BUILDER, BUILD_TYPE)
-  f.write(f'extern const uint8_t gitversion[{len(version)}];\n')
-  f.write(f'const uint8_t gitversion[{len(version)}] = "{version}";\n')
+  f.write(f'extern const uint8_t gitversion[{len(version)+1}];\n')
+  f.write(f'const uint8_t gitversion[{len(version)+1}] = "{version}";\n')
 
 with open("board/obj/version", "w") as f:
   f.write(f'{get_version(BUILDER, BUILD_TYPE)}')

board/drivers/usb.h

@@ -502,11 +502,8 @@ static void usb_setup(void) {
       control_req.length = setup.b.wLength.w;
 
       resp_len = comms_control_handler(&control_req, response);
-      // response pending if -1 was returned
-      if (resp_len != -1) {
-        USB_WritePacket(response, MIN(resp_len, setup.b.wLength.w), 0);
-        USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      }
+      USB_WritePacket(response, MIN(resp_len, setup.b.wLength.w), 0);
+      USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
   }
 }
 

board/flasher.h

@@ -83,7 +83,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xd6:
       COMPILE_TIME_ASSERT(sizeof(gitversion) <= USBPACKET_MAX_SIZE);
       memcpy(resp, gitversion, sizeof(gitversion));
-      resp_len = sizeof(gitversion);
+      resp_len = sizeof(gitversion) - 1U;
       break;
     // **** 0xd8: reset ST
     case 0xd8:

board/jungle/flash.py

@@ -12,7 +12,7 @@ if __name__ == "__main__":
   parser.add_argument("--all", action="store_true", help="Recover all panda jungle devices")
   args = parser.parse_args()
 
-  subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) {board_path}", shell=True)
+  subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) .", shell=True)
 
   if args.all:
     serials = PandaJungle.list()

board/jungle/recover.py

@@ -13,7 +13,7 @@ if __name__ == "__main__":
   parser.add_argument("--all", action="store_true", help="Recover all panda jungle devices")
   args = parser.parse_args()
 
-  subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) {board_path}", shell=True)
+  subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) .", shell=True)
 
   serials = PandaJungle.list() if args.all else [None]
   for s in serials:

python/__init__.py

@@ -131,11 +131,6 @@ class Panda:
 
   INTERNAL_DEVICES = (HW_TYPE_TRES, HW_TYPE_CUATRO)
 
-  MAX_FAN_RPMs = {
-    HW_TYPE_TRES: 6600,
-    HW_TYPE_CUATRO: 5000,
-  }
-
   HARNESS_STATUS_NC = 0
   HARNESS_STATUS_NORMAL = 1
   HARNESS_STATUS_FLIPPED = 2
@@ -149,9 +144,9 @@ class Panda:
     self._can_speed_kbps = can_speed_kbps
 
     if cli and serial is None:
-        self._connect_serial = self._cli_select_panda()
+      self._connect_serial = self._cli_select_panda()
     else:
-        self._connect_serial = serial
+      self._connect_serial = serial
 
     # connect and set mcu type
     self.connect(claim)

scripts/fan/fan_test.py

@@ -9,6 +9,6 @@ if __name__ == "__main__":
   while True:
     p.set_fan_power(power)
     time.sleep(5)
-    print("Power: ", power, "RPM:", str(p.get_fan_rpm()), "Expected:", int(6500 * power / 100))
+    print("Power: ", power, "RPM:", str(p.get_fan_rpm()))
     power += 10
     power %= 110

scripts/fan/fan_tuning.py

@@ -1,85 +0,0 @@
-#!/usr/bin/env python3
-import json
-import time
-import threading
-
-from panda import Panda
-
-def drain_serial(p):
-  ret = []
-  while True:
-    d = p.serial_read(0)
-    if len(d) == 0:
-      break
-    ret.append(d)
-  return ret
-
-
-fan_cmd = 0.
-
-def logger(event):
-  # requires a build with DEBUG_FAN
-  with Panda(claim=False) as p, open('/tmp/fan_log', 'w') as f:
-    power = None
-    target_rpm = None
-    rpm_fast = None
-    t = time.monotonic()
-
-    drain_serial(p)
-    while not event.is_set():
-      p.set_fan_power(fan_cmd)
-
-      for l in drain_serial(p)[::-1]:
-        ns = l.decode('utf8').strip().split(' ')
-        if len(ns) == 4:
-          target_rpm, rpm_fast, power = (int(n, 16) for n in ns)
-          break
-
-      dat = {
-        't': time.monotonic() - t,
-        'cmd_power': fan_cmd,
-        'pwm_power': power,
-        'target_rpm': target_rpm,
-        'rpm_fast': rpm_fast,
-        'rpm': p.get_fan_rpm(),
-      }
-      f.write(json.dumps(dat) + '\n')
-      time.sleep(1/16.)
-    p.set_fan_power(0)
-
-def get_overshoot_rpm(p, power):
-  global fan_cmd
-
-  # make sure the fan is stopped completely
-  fan_cmd = 0.
-  while p.get_fan_rpm() > 100:
-    time.sleep(0.1)
-  time.sleep(3)
-
-  # set it to 30% power to mimic going onroad
-  fan_cmd = power
-  max_rpm = 0
-  max_power = 0
-  for _ in range(70):
-    max_rpm = max(max_rpm, p.get_fan_rpm())
-    max_power = max(max_power, p.health()['fan_power'])
-    time.sleep(0.1)
-
-  # tolerate 10% overshoot
-  expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * power / 100
-  overshoot = (max_rpm / expected_rpm) - 1
-
-  return overshoot, max_rpm, max_power
-
-
-if __name__ == "__main__":
-  event = threading.Event()
-  threading.Thread(target=logger, args=(event, )).start()
-
-  try:
-    p = Panda()
-    for power in range(10, 101, 10):
-      overshoot, max_rpm, max_power = get_overshoot_rpm(p, power)
-      print(f"Fan power {power}%: overshoot {overshoot:.2%}, Max RPM {max_rpm}, Max power {max_power}%")
-  finally:
-    event.set()

tests/hitl/7_internal.py

@@ -5,28 +5,30 @@ from panda import Panda
 
 pytestmark = [
   pytest.mark.test_panda_types(Panda.INTERNAL_DEVICES),
-  pytest.mark.test_panda_types([Panda.HW_TYPE_TRES])
 ]
 
+MAX_RPM = 5000
+
 @pytest.mark.timeout(2*60)
 def test_fan_curve(p):
   # ensure fan curve is (roughly) linear
 
-  for power in (30, 50, 80, 100):
-    p.set_fan_power(0)
-    while p.get_fan_rpm() > 0:
-      time.sleep(0.1)
-
-    # wait until fan spins up, then wait a bit more for the RPM to converge
+  rpms = []
+  for power in (30, 70, 100):
+    # wait until fan spins up
     p.set_fan_power(power)
     for _ in range(20):
       time.sleep(1)
       if p.get_fan_rpm() > 1000:
         break
-    time.sleep(5)
+    time.sleep(2)  # wait for RPM to converge
+    rpms.append(p.get_fan_rpm())
+
+  print(rpms)
+  diffs = [b - a for a, b in zip(rpms, rpms[1:])]
+  assert all(x > 0 for x in diffs), f"Fan RPMs not strictly increasing: {rpms=}"
+  assert rpms[-1] > (0.75*MAX_RPM)
 
-    expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * power / 100
-    assert 0.75 * expected_rpm <= p.get_fan_rpm() <= 1.25 * expected_rpm
 
 def test_fan_cooldown(p):
   # if the fan cooldown doesn't work, we get high frequency noise on the tach line
@@ -35,5 +37,5 @@ def test_fan_cooldown(p):
   time.sleep(3)
   p.set_fan_power(0)
   for _ in range(5):
-    assert p.get_fan_rpm() <= Panda.MAX_FAN_RPMs[bytes(p.get_type())]
+    assert p.get_fan_rpm() <= MAX_RPM*2
     time.sleep(0.5)