Merge 9e1e36167d into 5761ab58ea

* sep

* this

.github/workflows/test.yaml

@@ -88,8 +88,8 @@ 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:
@@ -99,8 +99,19 @@ jobs:
       - name: Build FW
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Run MISRA C:2012 analysis
-        timeout-minutes: 1
+        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/black.h

@@ -182,5 +182,6 @@ board board_black = {
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };

board/boards/board_declarations.h

@@ -24,6 +24,7 @@ typedef void (*board_set_fan_enabled)(bool enabled);
 typedef void (*board_set_siren)(bool enabled);
 typedef void (*board_set_bootkick)(BootState state);
 typedef bool (*board_read_som_gpio)(void);
+typedef void (*board_set_amp_enabled)(bool enabled);
 
 struct board {
   harness_configuration *harness_config;
@@ -49,6 +50,7 @@ struct board {
   board_set_siren set_siren;
   board_set_bootkick set_bootkick;
   board_read_som_gpio read_som_gpio;
+  board_set_amp_enabled set_amp_enabled;
 };
 
 // ******************* Definitions ********************

board/boards/cuatro.h

@@ -75,6 +75,10 @@ static void cuatro_set_siren(bool enabled){
   beeper_enable(enabled);
 }
 
+static void cuatro_set_amp_enabled(bool enabled){
+  set_gpio_output(GPIOA, 5, enabled);
+}
+
 static void cuatro_init(void) {
   red_chiplet_init();
 
@@ -128,6 +132,17 @@ static void cuatro_init(void) {
   // Beeper
   set_gpio_alternate(GPIOD, 14, GPIO_AF2_TIM4);
   beeper_init();
+
+  // Sound codec
+  cuatro_set_amp_enabled(false);
+  set_gpio_alternate(GPIOA, 2, GPIO_AF8_SAI4);    // SAI4_SCK_B
+  set_gpio_alternate(GPIOC, 0, GPIO_AF8_SAI4);    // SAI4_FS_B
+  set_gpio_alternate(GPIOD, 11, GPIO_AF10_SAI4);  // SAI4_SD_A
+  set_gpio_alternate(GPIOE, 3, GPIO_AF8_SAI4);    // SAI4_SD_B
+  set_gpio_alternate(GPIOE, 4, GPIO_AF2_SAI1);    // SAI1_D2
+  set_gpio_alternate(GPIOE, 5, GPIO_AF2_SAI1);    // SAI1_CK2
+  set_gpio_alternate(GPIOE, 6, GPIO_AF10_SAI4);   // SAI4_MCLK_B
+  sound_init();
 }
 
 board board_cuatro = {
@@ -153,5 +168,6 @@ board board_cuatro = {
   .set_ir_power = tres_set_ir_power,
   .set_siren = cuatro_set_siren,
   .set_bootkick = cuatro_set_bootkick,
-  .read_som_gpio = tres_read_som_gpio
+  .read_som_gpio = tres_read_som_gpio,
+  .set_amp_enabled = cuatro_set_amp_enabled
 };

board/boards/dos.h

@@ -211,5 +211,6 @@ board board_dos = {
   .set_ir_power = dos_set_ir_power,
   .set_siren = dos_set_siren,
   .set_bootkick = dos_set_bootkick,
-  .read_som_gpio = dos_read_som_gpio
+  .read_som_gpio = dos_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };

board/boards/grey.h

@@ -31,5 +31,6 @@ board board_grey = {
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };

board/boards/red.h

@@ -194,5 +194,6 @@ board board_red = {
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };

board/boards/tres.h

@@ -97,5 +97,6 @@ board board_tres = {
   .set_ir_power = tres_set_ir_power,
   .set_siren = fake_siren_set,
   .set_bootkick = tres_set_bootkick,
-  .read_som_gpio = tres_read_som_gpio
+  .read_som_gpio = tres_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };

board/boards/uno.h

@@ -218,5 +218,6 @@ board board_uno = {
   .set_ir_power = uno_set_ir_power,
   .set_siren = unused_set_siren,
   .set_bootkick = uno_set_bootkick,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };

board/boards/unused_funcs.h

@@ -26,3 +26,7 @@ void unused_set_bootkick(BootState state) {
 bool unused_read_som_gpio(void) {
   return false;
 }
+
+void unused_set_amp_enabled(bool enabled) {
+  UNUSED(enabled);
+}

board/boards/white.h

@@ -211,5 +211,6 @@ board board_white = {
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio
+  .read_som_gpio = unused_read_som_gpio,
+  .set_amp_enabled = unused_set_amp_enabled
 };

board/can_declarations.h

@@ -13,7 +13,7 @@
 #endif
 
 typedef struct {
-  unsigned char reserved : 1;
+  unsigned char fd : 1;
   unsigned char bus : 3;
   unsigned char data_len_code : 4;  // lookup length with dlc_to_len
   unsigned char rejected : 1;

board/drivers/bxcan.h

@@ -89,6 +89,7 @@ void process_can(uint8_t can_number) {
       if ((CANx->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
         if ((CANx->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
           CANPacket_t to_push;
+          to_push.fd = 0U;
           to_push.returned = 1U;
           to_push.rejected = 0U;
           to_push.extended = (CANx->sTxMailBox[0].TIR >> 2) & 0x1U;
@@ -144,6 +145,7 @@ void can_rx(uint8_t can_number) {
     // add to my fifo
     CANPacket_t to_push;
 
+    to_push.fd = 0U;
     to_push.returned = 0U;
     to_push.rejected = 0U;
     to_push.extended = (CANx->sFIFOMailBox[0].RIR >> 2) & 0x1U;
@@ -159,6 +161,7 @@ void can_rx(uint8_t can_number) {
     if (bus_fwd_num != -1) {
       CANPacket_t to_send;
 
+      to_send.fd = 0U;
       to_send.returned = 0U;
       to_send.rejected = 0U;
       to_send.extended = to_push.extended; // TXRQ

board/drivers/can_common.h

@@ -131,10 +131,10 @@ void can_clear(can_ring *q) {
 // Helpers
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
 bus_config_t bus_config[BUS_CONFIG_ARRAY_SIZE] = {
-  { .bus_lookup = 0U, .can_num_lookup = 0U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
-  { .bus_lookup = 1U, .can_num_lookup = 1U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
-  { .bus_lookup = 2U, .can_num_lookup = 2U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
-  { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .forwarding_bus = -1, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 0U, .can_num_lookup = 0U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 1U, .can_num_lookup = 1U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 2U, .can_num_lookup = 2U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .forwarding_bus = -1, .can_speed = 333U, .can_data_speed = 333U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
 };
 
 void can_init_all(void) {
@@ -165,7 +165,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
   if (bus == 0) {
     int addr = GET_ADDR(to_push);
     int len = GET_LEN(to_push);
-    
+
     // GM exception
     if ((addr == 0x1F1) && (len == 8)) {
       // SystemPowerMode (2=Run, 3=Crank Request)

board/drivers/can_common_declarations.h

@@ -13,6 +13,7 @@ typedef struct {
   int8_t forwarding_bus;
   uint32_t can_speed;
   uint32_t can_data_speed;
+  bool canfd_auto;
   bool canfd_enabled;
   bool brs_enabled;
   bool canfd_non_iso;

board/drivers/fdcan.h

@@ -100,7 +100,11 @@ void process_can(uint8_t can_number) {
           fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
 
           fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18));
-          uint32_t canfd_enabled_header = bus_config[can_number].canfd_enabled ? (1UL << 21) : 0UL;
+
+          // If canfd_auto is set, outgoing packets will be automatically sent as CAN-FD if an incoming CAN-FD packet was seen
+          bool fd = bus_config[can_number].canfd_auto ? bus_config[can_number].canfd_enabled : (bool)(to_send.fd > 0U);
+          uint32_t canfd_enabled_header = fd ? (1UL << 21) : 0UL;
+
           uint32_t brs_enabled_header = bus_config[can_number].brs_enabled ? (1UL << 20) : 0UL;
           fifo->header[1] = (to_send.data_len_code << 16) | canfd_enabled_header | brs_enabled_header;
 
@@ -115,6 +119,7 @@ void process_can(uint8_t can_number) {
           // Send back to USB
           CANPacket_t to_push;
 
+          to_push.fd = fd;
           to_push.returned = 1U;
           to_push.rejected = 0U;
           to_push.extended = to_send.extended;
@@ -168,6 +173,10 @@ void can_rx(uint8_t can_number) {
     // getting address
     fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
 
+    bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
+    bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
+
+    to_push.fd = canfd_frame;
     to_push.returned = 0U;
     to_push.rejected = 0U;
     to_push.extended = (fifo->header[0] >> 30) & 0x1U;
@@ -175,9 +184,6 @@ void can_rx(uint8_t can_number) {
     to_push.bus = bus_number;
     to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
 
-    bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
-    bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
-
     uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
     data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
     for (unsigned int i = 0; i < data_len_w; i++) {
@@ -193,6 +199,7 @@ void can_rx(uint8_t can_number) {
     if (bus_fwd_num != -1) {
       CANPacket_t to_send;
 
+      to_send.fd = to_push.fd;
       to_send.returned = 0U;
       to_send.rejected = 0U;
       to_send.extended = to_push.extended;

board/faults_declarations.h

@@ -32,6 +32,7 @@
 #define FAULT_INTERRUPT_RATE_UART_7         (1UL << 24)
 #define FAULT_SIREN_MALFUNCTION             (1UL << 25)
 #define FAULT_HEARTBEAT_LOOP_WATCHDOG       (1UL << 26)
+#define FAULT_INTERRUPT_RATE_SOUND_DMA      (1UL << 27)
 
 // Permanent faults
 #define PERMANENT_FAULTS 0U

board/main.c

@@ -158,6 +158,7 @@ static void tick_handler(void) {
     usb_tick();
     harness_tick();
     simple_watchdog_kick();
+    sound_tick();
 
     // re-init everything that uses harness status
     if (harness.status != prev_harness_status) {
@@ -240,7 +241,7 @@ static void tick_handler(void) {
           print(" seconds. Safety is set to SILENT mode.\n");
 
           if (controls_allowed_countdown > 0U) {
-            siren_countdown = 5U;
+            siren_countdown = 3U;
             controls_allowed_countdown = 0U;
           }
 

board/main_comms.h

@@ -317,6 +317,10 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xe7:
       set_power_save_state(req->param1);
       break;
+    // **** 0xe8: set can-fd auto swithing mode
+    case 0xe8:
+      bus_config[req->param1].canfd_auto = req->param2 > 0U;
+      break;
     // **** 0xf1: Clear CAN ring buffer.
     case 0xf1:
       if (req->param1 == 0xFFFFU) {

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)

board/stm32f4/board.h

@@ -16,6 +16,9 @@
 #include "boards/uno.h"
 #include "boards/dos.h"
 
+// Unused functions on F4
+void sound_tick(void) {}
+
 void detect_board_type(void) {
   // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
   set_gpio_output(GPIOC, 14, 1);

board/stm32h7/board.h

@@ -12,6 +12,7 @@
 #include "stm32h7/lldac.h"
 #include "drivers/beeper.h"
 #include "drivers/fake_siren.h"
+#include "stm32h7/sound.h"
 #include "drivers/clock_source.h"
 #include "boards/red.h"
 #include "boards/red_chiplet.h"

board/stm32h7/peripherals.h

@@ -101,13 +101,14 @@ void peripherals_init(void) {
   RCC->AHB4ENR |= RCC_AHB4ENR_GPIOFEN;
   RCC->AHB4ENR |= RCC_AHB4ENR_GPIOGEN;
 
-  // Enable CPU access to SRAM1 and SRAM2 (in domain D2) for DMA
+  // Enable CPU access to SRAMs for DMA
   RCC->AHB2ENR |= RCC_AHB2ENR_SRAM1EN | RCC_AHB2ENR_SRAM2EN;
 
   // Supplemental
   RCC->AHB1ENR |= RCC_AHB1ENR_DMA1EN;  // DAC DMA
   RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;  // SPI DMA
   RCC->APB4ENR |= RCC_APB4ENR_SYSCFGEN;
+  RCC->AHB4ENR |= RCC_AHB4ENR_BDMAEN; // Audio DMA
 
   // Connectivity
   RCC->APB2ENR |= RCC_APB2ENR_SPI4EN;  // SPI
@@ -122,6 +123,9 @@ void peripherals_init(void) {
   RCC->AHB1ENR |= RCC_AHB1ENR_ADC12EN; // Enable ADC12 clocks
   RCC->APB1LENR |= RCC_APB1LENR_DAC12EN; // DAC
 
+  // Audio
+  RCC->APB4ENR |= RCC_APB4ENR_SAI4EN;  // SAI4
+
   // Timers
   RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  // clock source timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM2EN;  // main counter
@@ -131,6 +135,7 @@ void peripherals_init(void) {
   RCC->APB1LENR |= RCC_APB1LENR_TIM7EN;  // DMA trigger timer
   RCC->APB2ENR |= RCC_APB2ENR_TIM8EN;  // tick timer
   RCC->APB1LENR |= RCC_APB1LENR_TIM12EN;  // slow loop
+  RCC->APB1LENR |= RCC_APB1LENR_TIM5EN; // sound trigger timer
 
 #ifdef PANDA_JUNGLE
   RCC->AHB3ENR |= RCC_AHB3ENR_SDMMC1EN; // SDMMC

board/stm32h7/sound.h

@@ -0,0 +1,94 @@
+#define SOUND_RX_BUF_SIZE 2000U
+#define SOUND_TX_BUF_SIZE (SOUND_RX_BUF_SIZE/2U)
+
+__attribute__((section(".sram4"))) static uint16_t sound_rx_buf[2][SOUND_RX_BUF_SIZE];
+
+static uint8_t sound_idle_count;
+
+void sound_tick(void) {
+  if (sound_idle_count > 0U) {
+    sound_idle_count--;
+    if (sound_idle_count == 0U) {
+      current_board->set_amp_enabled(false);
+    }
+  }
+}
+
+// Playback processing
+static void BDMA_Channel0_IRQ_Handler(void) {
+  __attribute__((section(".sram4"))) static uint16_t tx_buf[SOUND_TX_BUF_SIZE];
+
+  BDMA->IFCR |= BDMA_IFCR_CGIF0; // clear flag
+
+  uint8_t buf_idx = (((BDMA_Channel0->CCR & BDMA_CCR_CT) >> BDMA_CCR_CT_Pos) == 1U) ? 0U : 1U;
+
+  // process samples (shift to 12b and bias to be unsigned)
+  bool sound_playing = false;
+  for (uint16_t i=0U; i < SOUND_RX_BUF_SIZE; i += 2U) {
+    // since we are playing mono and receiving stereo, we take every other sample
+    tx_buf[i/2U] = ((sound_rx_buf[buf_idx][i] + (1UL << 14)) >> 3);
+    if (sound_rx_buf[buf_idx][i] > 0U) {
+      sound_playing = true;
+    }
+  }
+
+  // manage amp state
+  if (sound_playing) {
+    if (sound_idle_count == 0U) {
+      current_board->set_amp_enabled(true);
+    }
+    sound_idle_count = 4U;
+  }
+  sound_tick();
+
+  DMA1->LIFCR |= 0xF40;
+  DMA1_Stream1->CR &= ~DMA_SxCR_EN;
+  register_set(&DMA1_Stream1->M0AR, (uint32_t) tx_buf, 0xFFFFFFFFU);
+  DMA1_Stream1->NDTR = SOUND_TX_BUF_SIZE;
+  DMA1_Stream1->CR |= DMA_SxCR_EN;
+}
+
+void sound_init(void) {
+  REGISTER_INTERRUPT(BDMA_Channel0_IRQn, BDMA_Channel0_IRQ_Handler, 64U, FAULT_INTERRUPT_RATE_SOUND_DMA)
+
+  // Init DAC
+  register_set(&DAC1->MCR, 0U, 0xFFFFFFFFU);
+  register_set(&DAC1->CR, DAC_CR_TEN1 | (4U << DAC_CR_TSEL1_Pos) | DAC_CR_DMAEN1, 0xFFFFFFFFU);
+  register_set_bits(&DAC1->CR, DAC_CR_EN1);
+
+  // Setup DMAMUX (DAC_CH1_DMA as input)
+  register_set(&DMAMUX1_Channel1->CCR, 67U, DMAMUX_CxCR_DMAREQ_ID_Msk);
+
+  // Setup DMA
+  register_set(&DMA1_Stream1->PAR, (uint32_t) &(DAC1->DHR12R1), 0xFFFFFFFFU);
+  register_set(&DMA1_Stream1->FCR, 0U, 0x00000083U);
+  DMA1_Stream1->CR = (0b11UL << DMA_SxCR_PL_Pos) | (0b01UL << DMA_SxCR_MSIZE_Pos) | (0b01UL << DMA_SxCR_PSIZE_Pos) | DMA_SxCR_MINC | (1U << DMA_SxCR_DIR_Pos);
+
+  // Init trigger timer (little slower than 48kHz, pulled in sync by SAI4_FS_B)
+  register_set(&TIM5->PSC, 2600U, 0xFFFFU);
+  register_set(&TIM5->ARR, 100U, 0xFFFFFFFFU); // not important
+  register_set(&TIM5->AF1, (0b0010UL << TIM5_AF1_ETRSEL_Pos), TIM5_AF1_ETRSEL_Msk);
+  register_set(&TIM5->CR2, (0b010U << TIM_CR2_MMS_Pos), TIM_CR2_MMS_Msk);
+  register_set(&TIM5->SMCR, TIM_SMCR_ECE | (0b00111UL << TIM_SMCR_TS_Pos)| (0b0100UL << TIM_SMCR_SMS_Pos), 0x31FFF7U);
+  TIM5->CNT = 0U; TIM5->SR = 0U;
+  TIM5->CR1 |= TIM_CR1_CEN;
+
+  // stereo audio in
+  register_set(&SAI4_Block_B->CR1, SAI_xCR1_DMAEN | (0b00UL << SAI_xCR1_SYNCEN_Pos) | (0b100U << SAI_xCR1_DS_Pos) | (0b11U << SAI_xCR1_MODE_Pos), 0x0FFB3FEFU);
+  register_set(&SAI4_Block_B->CR2, (0b001U << SAI_xCR2_FTH_Pos), 0xFFFBU);
+  register_set(&SAI4_Block_B->FRCR, (31U << SAI_xFRCR_FRL_Pos), 0x7FFFFU);
+  register_set(&SAI4_Block_B->SLOTR, (0b11UL << SAI_xSLOTR_SLOTEN_Pos) | (1UL << SAI_xSLOTR_NBSLOT_Pos) | (0b01UL << SAI_xSLOTR_SLOTSZ_Pos), 0xFFFF0FDFU); // NBSLOT definition is vague
+
+  // init sound DMA (SAI4_B -> memory, double buffers)
+  register_set(&BDMA_Channel0->CPAR, (uint32_t) &(SAI4_Block_B->DR), 0xFFFFFFFFU);
+  register_set(&BDMA_Channel0->CM0AR, (uint32_t) sound_rx_buf[0], 0xFFFFFFFFU);
+  register_set(&BDMA_Channel0->CM1AR, (uint32_t) sound_rx_buf[1], 0xFFFFFFFFU);
+  BDMA_Channel0->CNDTR = SOUND_RX_BUF_SIZE;
+  register_set(&BDMA_Channel0->CCR, BDMA_CCR_DBM | (0b01UL << BDMA_CCR_MSIZE_Pos) | (0b01UL << BDMA_CCR_PSIZE_Pos) | BDMA_CCR_MINC | BDMA_CCR_CIRC | BDMA_CCR_TCIE, 0xFFFFU);
+  register_set(&DMAMUX2_Channel0->CCR, 16U, DMAMUX_CxCR_DMAREQ_ID_Msk); // SAI4_B_DMA
+  register_set_bits(&BDMA_Channel0->CCR, BDMA_CCR_EN);
+
+  // enable all initted blocks
+  register_set_bits(&SAI4_Block_B->CR1, SAI_xCR1_SAIEN);
+  NVIC_EnableIRQ(BDMA_Channel0_IRQn);
+}

python/__init__.py

@@ -31,7 +31,7 @@ def calculate_checksum(data):
     res ^= b
   return res
 
-def pack_can_buffer(arr):
+def pack_can_buffer(arr, fd=False):
   snds = [b'']
   for address, dat, bus in arr:
     assert len(dat) in LEN_TO_DLC
@@ -41,7 +41,7 @@ def pack_can_buffer(arr):
     data_len_code = LEN_TO_DLC[len(dat)]
     header = bytearray(CANPACKET_HEAD_SIZE)
     word_4b = address << 3 | extended << 2
-    header[0] = (data_len_code << 4) | (bus << 1)
+    header[0] = (data_len_code << 4) | (bus << 1) | int(fd)
     header[1] = word_4b & 0xFF
     header[2] = (word_4b >> 8) & 0xFF
     header[3] = (word_4b >> 16) & 0xFF
@@ -324,6 +324,10 @@ 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)
@@ -807,6 +811,9 @@ class Panda:
   def set_canfd_non_iso(self, bus, non_iso):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xfc, bus, int(non_iso), b'')
 
+  def set_canfd_auto(self, bus, auto):
+      self._handle.controlWrite(Panda.REQUEST_OUT, 0xe8, bus, int(auto), b'')
+
   def set_uart_baud(self, uart, rate):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')
 
@@ -828,15 +835,15 @@ class Panda:
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xc0, 0, 0, b'')
 
   @ensure_can_packet_version
-  def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
-    snds = pack_can_buffer(arr)
+  def can_send_many(self, arr, *, fd=False, timeout=CAN_SEND_TIMEOUT_MS):
+    snds = pack_can_buffer(arr, fd=fd)
     for tx in snds:
       while len(tx) > 0:
         bs = self._handle.bulkWrite(3, tx, timeout=timeout)
         tx = tx[bs:]
 
-  def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
-    self.can_send_many([[addr, dat, bus]], timeout=timeout)
+  def can_send(self, addr, dat, bus, *, fd=False, timeout=CAN_SEND_TIMEOUT_MS):
+    self.can_send_many([[addr, dat, bus]], fd=fd, timeout=timeout)
 
   @ensure_can_packet_version
   def can_recv(self):

python/dfu.py

@@ -100,11 +100,14 @@ class PandaDFU:
   def st_serial_to_dfu_serial(st: str, mcu_type: McuType = McuType.F4):
     if st is None or st == "none":
       return None
-    uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
-    if mcu_type == McuType.H7:
-      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
-    else:
-      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
+    try:
+      uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
+      if mcu_type == McuType.H7:
+        return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
+      else:
+        return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
+    except struct.error:
+      return None
 
   def get_mcu_type(self) -> McuType:
     return self._mcu_type

python/spi.py

@@ -402,7 +402,8 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
 
   def get_chip_id(self) -> int:
     r = self._cmd(0x02, read_bytes=3)
-    assert r[0] == 1  # response length - 1
+    if r[0] != 1: # response length - 1
+      raise PandaSpiException("incorrect response length")
     return ((r[1] << 8) + r[2])
 
   def go_cmd(self, address: int) -> None:

tests/libpanda/libpanda_py.py

@@ -12,7 +12,7 @@ ffi = FFI()
 
 ffi.cdef("""
 typedef struct {
-  unsigned char reserved : 1;
+  unsigned char fd : 1;
   unsigned char bus : 3;
   unsigned char data_len_code : 4;
   unsigned char rejected : 1;

tests/safety/test_honda.py

@@ -447,6 +447,27 @@ class TestHondaBoschSafety(HondaPcmEnableBase, TestHondaBoschSafetyBase):
     self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, 0)
     self.safety.init_tests()
 
+  def _bosh_supplemental_cmd_msg(self):
+    values = {"SET_ME_X04": 0x04, "SET_ME_X80": 0x80, "SET_ME_X10": 0x10}
+    return self.packer.make_can_msg_panda("BOSCH_SUPPLEMENTAL_1", 0, values)
+
+  def test_supplemental_control_check(self):
+    msg = self._bosh_supplemental_cmd_msg()
+    self.assertTrue(self._tx(msg))
+
+    msg = self._bosh_supplemental_cmd_msg()
+    msg[0].data[0] = 42
+    self.assertFalse(self._tx(msg))
+
+    msg = self._bosh_supplemental_cmd_msg()
+    msg[0].data[4] = 42
+    self.assertFalse(self._tx(msg))
+
+    msg = self._bosh_supplemental_cmd_msg()
+    msg[0].data[4] = 0
+    msg[0].data[7] = 42
+    self.assertTrue(self._tx(msg))
+
 
 class TestHondaBoschAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschAltBrakeSafetyBase):
   """