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

2026-04-06 22:23:53 +08:00 · 2026-02-27 16:35:20 -05:00
parent a0d3a4abe1 de4640e341
commit a4e30942fa
10 changed files with 32 additions and 85 deletions
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -66,12 +66,6 @@ jobs:
    timeout-minutes: 10
    steps:
      - uses: actions/checkout@v4
-      - name: Cache cppcheck
-        id: cppcheck-cache
-        uses: actions/cache@v4
-        with:
-          path: tests/misra/cppcheck
-          key: cppcheck-${{ hashFiles('tests/misra/*') }}
      - run: ./setup.sh
      - name: Build FW
        run: ${{ env.RUN }} "scons -j$(nproc)"
@@ -84,16 +78,8 @@ jobs:
    timeout-minutes: 10
    steps:
      - uses: actions/checkout@v4
-      - name: Cache cppcheck
-        id: cppcheck-cache
-        uses: actions/cache@v4
-        with:
-          path: tests/misra/cppcheck
-          key: cppcheck-${{ hashFiles('tests/misra/*') }}
      - run: ./setup.sh
      - name: Build FW
        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: tests/misra/install.sh
-        run: ${{ env.RUN }} "cd tests/misra && ./install.sh"
      - name: MISRA mutation tests
        run: ${{ env.RUN }} "cd tests/misra && pytest test_mutation.py"
--- a/.github/workflows/update-cppcheck.yml
+++ b/.github/workflows/update-cppcheck.yml
@@ -1,41 +0,0 @@
-name: Update cppcheck
-
-on:
-  #push:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  workflow_dispatch:
-
-jobs:
-  update-cppcheck:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-      pull-requests: write
-    steps:
-      - uses: actions/checkout@v4
-      - name: Get latest cppcheck version
-        id: version
-        run: |
-          # Tags are sorted by time (newest first), so get the first version-like tag
-          LATEST=$(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" >> "$GITHUB_OUTPUT"
-      - name: Update VERS in install.sh
-        run: |
-          sed -i "s/^VERS=\".*\"/VERS=\"${{ steps.version.outputs.vers }}\"/" tests/misra/install.sh
-          grep VERS tests/misra/install.sh
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-        with:
-          author: Vehicle Researcher <user@comma.ai>
-          token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-          commit-message: "[bot] Update cppcheck to ${{ steps.version.outputs.vers }}"
-          title: "[bot] Update cppcheck to ${{ steps.version.outputs.vers }}"
-          body: "See all cppcheck releases: https://github.com/danmar/cppcheck/releases"
-          branch: "update-cppcheck"
-          base: "master"
-          delete-branch: true
-          labels: bot
--- a/board/health.h
+++ b/board/health.h
@@ -2,7 +2,7 @@

 // When changing these structs, python/__init__.py needs to be kept up to date!

-#define HEALTH_PACKET_VERSION 17
+#define HEALTH_PACKET_VERSION 18
 struct __attribute__((packed)) health_t {
  uint32_t uptime_pkt;
  uint32_t voltage_pkt;
@@ -29,6 +29,7 @@ struct __attribute__((packed)) health_t {
  uint16_t sbu1_voltage_mV;
  uint16_t sbu2_voltage_mV;
  uint8_t som_reset_triggered;
+  uint16_t sound_output_level_pkt;
 };

 #define CAN_HEALTH_PACKET_VERSION 5
--- a/board/main_comms.h
+++ b/board/main_comms.h
@@ -42,6 +42,8 @@ static int get_health_pkt(void *dat) {

  health->som_reset_triggered = bootkick_reset_triggered;

+  health->sound_output_level_pkt = sound_output_level;
+
  return sizeof(*health);
 }

--- a/board/main_declarations.h
+++ b/board/main_declarations.h
@@ -20,3 +20,6 @@ extern bool heartbeat_disabled;

 // siren state
 extern bool siren_enabled;
+
+// sound
+extern uint16_t sound_output_level;
--- a/board/stm32h7/sound.h
+++ b/board/stm32h7/sound.h
@@ -12,6 +12,7 @@ __attribute__((section(".sram4"))) static uint16_t mic_tx_buf[2][MIC_TX_BUF_SIZE
 static uint8_t sound_idle_count;
 static uint8_t mic_idle_count;
 static uint8_t mic_buffer_count;
+uint16_t sound_output_level;

 void sound_tick(void) {
  if (sound_idle_count > 0U) {
@@ -19,6 +20,7 @@ void sound_tick(void) {
    if (sound_idle_count == 0U) {
      current_board->set_amp_enabled(false);
      register_clear_bits(&DMA1_Stream1->CR, DMA_SxCR_EN);
+      sound_output_level = 0U;
    }
  }

@@ -72,14 +74,31 @@ static void BDMA_Channel0_IRQ_Handler(void) {

  // process samples (shift to 12b and bias to be unsigned)
  bool sound_playing = false;
+  uint32_t abs_sum = 0U;
+
  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
-    sound_tx_buf[playback_buf][i/2U] = ((sound_rx_buf[rx_buf_idx][i] + (1UL << 14)) >> 3);
+    uint16_t sample = ((sound_rx_buf[rx_buf_idx][i] + (1UL << 14)) >> 3) & 0xFFFU;
+    sound_tx_buf[playback_buf][i/2U] = sample;
    if (sound_rx_buf[rx_buf_idx][i] > 0U) {
      sound_playing = true;
    }
+
+    // this assumes all audio is "zero" centered
+    if (sample > 0x7FFU) {
+      abs_sum += (uint32_t)sample - 0x7FFU;
+    } else {
+      abs_sum += 0x7FFU - (uint32_t)sample;
+    }
  }

+  // VU meter: fast attack, slow decay (~460ms half-life at ~96Hz ISR rate)
+  uint16_t level = (uint16_t)(abs_sum / (SOUND_RX_BUF_SIZE / 2U));
+  if (level >= sound_output_level) {
+    sound_output_level = level;
+  }
+  sound_output_level -= (sound_output_level >> 6U);
+
  // manage amp state
  if (sound_playing) {
    if (sound_idle_count == 0U) {
@@ -102,8 +121,6 @@ static void BDMA_Channel0_IRQ_Handler(void) {
    DFSDM1_Filter0->FLTCR1 |= DFSDM_FLTCR1_RSWSTART;
  }
  mic_idle_count = SOUND_IDLE_TIMEOUT;
-
-  sound_tick();
 }

 void sound_init_dac(void) {
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -31,6 +31,7 @@ dev = [
  "setuptools",
  "spidev; platform_system == 'Linux'",
  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
+  "cppcheck @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=cppcheck",
 ]

 [build-system]
--- a/python/init.py
+++ b/python/init.py
@@ -118,9 +118,9 @@ class Panda:
  HW_TYPE_BODY = b'\xb1'

  CAN_PACKET_VERSION = 4
-  HEALTH_PACKET_VERSION = 17
+  HEALTH_PACKET_VERSION = 18
  CAN_HEALTH_PACKET_VERSION = 5
-  HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHHHB")
+  HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHHHBH")
  CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")

  H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO, HW_TYPE_BODY]
@@ -524,6 +524,7 @@ class Panda:
      "sbu1_voltage_mV": a[22],
      "sbu2_voltage_mV": a[23],
      "som_reset_triggered": a[24],
+      "sound_output_level": a[25],
    }

  @ensure_can_health_packet_version
--- a/tests/misra/install.sh
+++ b/tests/misra/install.sh
@@ -1,18 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
-: "${CPPCHECK_DIR:=$DIR/cppcheck/}"
-
-if [ ! -d "$CPPCHECK_DIR" ]; then
-  git clone https://github.com/danmar/cppcheck.git $CPPCHECK_DIR
-fi
-
-cd $CPPCHECK_DIR
-
-VERS="2.16.0"
-git fetch --all --tags --force
-git checkout $VERS
-
-#make clean
-make MATCHCOMPILTER=yes CXXFLAGS="-O2" -j8
--- a/tests/misra/test_misra.sh
+++ b/tests/misra/test_misra.sh
@@ -10,12 +10,7 @@ YELLOW="\e[1;33m"
 RED="\e[1;31m"
 NC='\033[0m'

-: "${CPPCHECK_DIR:=$DIR/cppcheck/}"
-
-# install cppcheck if missing
-if [ -z "${SKIP_CPPCHECK_INSTALL}" ]; then
-  $DIR/install.sh
-fi
+: "${CPPCHECK_DIR:=$(python3 -c "import cppcheck; print(cppcheck.DIR)")}"

 # ensure checked in coverage table is up to date
 cd $DIR