quick garbage collection pass (#2231)

* remove DPANDA

* -22

* lil more

* canfd

* lil more

* update cppcheck

* uart cleanup

* always harness

* sbu sense

* lil more

* enable spi

* rm ENABLE_SPI

.gitignore

@@ -26,6 +26,7 @@ compile_commands.json
 
 # CTU info files generated by Cppcheck
 *.*.ctu-info
+cppcheck-addon-ctu-file-list
 
 # safety coverage-related files
 *.gcda

board/SConscript

@@ -1,18 +1,4 @@
-import os
-import copy
-
 Import('build_project', 'base_project_f4', 'base_project_h7')
 
-build_projects = {
+build_project("panda", base_project_f4, [])
-  "panda": base_project_f4,
+build_project("panda_h7", base_project_h7, [])
-  "panda_h7": base_project_h7,
-}
-
-for project_name, project in build_projects.items():
-  flags = [
-    "-DPANDA",
-  ]
-  if ("ENABLE_SPI" in os.environ or "h7" in project_name):
-    flags.append('-DENABLE_SPI')
-
-  build_project(project_name, project, flags)

board/boards/board_declarations.h

@@ -14,7 +14,6 @@ typedef void (*board_init)(void);
 typedef void (*board_init_bootloader)(void);
 typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
 typedef void (*board_set_can_mode)(uint8_t mode);
-typedef bool (*board_check_ignition)(void);
 typedef uint32_t (*board_read_voltage_mV)(void);
 typedef uint32_t (*board_read_current_mA)(void);
 typedef void (*board_set_ir_power)(uint8_t percentage);
@@ -30,7 +29,6 @@ struct board {
   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;
   const uint16_t avdd_mV;
   const bool fan_stall_recovery;
@@ -40,7 +38,6 @@ struct board {
   board_init_bootloader init_bootloader;
   board_enable_can_transceiver enable_can_transceiver;
   board_set_can_mode set_can_mode;
-  board_check_ignition check_ignition;
   board_read_voltage_mV read_voltage_mV;
   board_read_current_mA read_current_mA;
   board_set_ir_power set_ir_power;
@@ -54,23 +51,12 @@ struct board {
 // ******************* Definitions ********************
 // These should match the enums in cereal/log.capnp and __init__.py
 #define HW_TYPE_UNKNOWN 0U
-//#define HW_TYPE_WHITE_PANDA 1U
-//#define HW_TYPE_GREY_PANDA 2U
-//#define HW_TYPE_BLACK_PANDA 3U
-//#define HW_TYPE_PEDAL 4U
-//#define HW_TYPE_UNO 5U
 #define HW_TYPE_DOS 6U
 #define HW_TYPE_RED_PANDA 7U
 #define HW_TYPE_RED_PANDA_V2 8U
 #define HW_TYPE_TRES 9U
 #define HW_TYPE_CUATRO 10U
 
-// USB power modes (from cereal.log.health)
-#define USB_POWER_NONE 0U
-#define USB_POWER_CLIENT 1U
-#define USB_POWER_CDP 2U
-#define USB_POWER_DCP 3U
-
 // CAN modes
 #define CAN_MODE_NORMAL 0U
 #define CAN_MODE_OBD_CAN2 1U

board/boards/cuatro.h

@@ -102,7 +102,6 @@ static void cuatro_init(void) {
 }
 
 static harness_configuration cuatro_harness_config = {
-  .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,
   .GPIO_relay_SBU1 = GPIOA,
@@ -118,7 +117,6 @@ static harness_configuration cuatro_harness_config = {
 board board_cuatro = {
   .harness_config = &cuatro_harness_config,
   .has_spi = true,
-  .has_canfd = true,
   .fan_max_rpm = 12500U,
   .fan_max_pwm = 99U, // it can go up to 14k RPM, but 99% -> 100% is very non-linear
   .avdd_mV = 1800U,
@@ -131,7 +129,6 @@ board board_cuatro = {
   .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,
   .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = cuatro_set_fan_enabled,

board/boards/dos.h

@@ -62,11 +62,6 @@ static void dos_set_can_mode(uint8_t mode) {
   }
 }
 
-static bool dos_check_ignition(void){
-  // ignition is checked through harness
-  return harness_check_ignition();
-}
-
 static void dos_set_ir_power(uint8_t percentage){
   pwm_set(TIM4, 2, percentage);
 }
@@ -114,7 +109,6 @@ static void dos_init(void) {
 }
 
 static harness_configuration dos_harness_config = {
-  .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
   .GPIO_relay_SBU1 = GPIOC,
@@ -129,12 +123,7 @@ static harness_configuration dos_harness_config = {
 
 board board_dos = {
   .harness_config = &dos_harness_config,
-#ifdef ENABLE_SPI
-  .has_spi = true,
-#else
   .has_spi = false,
-#endif
-  .has_canfd = false,
   .fan_max_rpm = 6500U,
   .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
@@ -146,7 +135,6 @@ board board_dos = {
   .led_GPIO = {GPIOC, GPIOC, GPIOC},
   .led_pin = {9, 7, 6},
   .set_can_mode = dos_set_can_mode,
-  .check_ignition = dos_check_ignition,
   .read_voltage_mV = dos_read_voltage_mV,
   .read_current_mA = unused_read_current,
   .set_fan_enabled = dos_set_fan_enabled,

board/boards/red.h

@@ -67,11 +67,6 @@ static void red_set_can_mode(uint8_t mode) {
   }
 }
 
-static bool red_check_ignition(void) {
-  // ignition is checked through harness
-  return harness_check_ignition();
-}
-
 static uint32_t red_read_voltage_mV(void){
   return adc_get_mV(2) * 11U; // TODO: is this correct?
 }
@@ -104,7 +99,6 @@ static void red_init(void) {
 }
 
 static harness_configuration red_harness_config = {
-  .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,
   .GPIO_relay_SBU1 = GPIOC,
@@ -121,7 +115,6 @@ board board_red = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
   .has_spi = false,
-  .has_canfd = true,
   .fan_max_rpm = 0U,
   .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
@@ -133,7 +126,6 @@ board board_red = {
   .led_GPIO = {GPIOE, GPIOE, GPIOE},
   .led_pin = {4, 3, 2},
   .set_can_mode = red_set_can_mode,
-  .check_ignition = red_check_ignition,
   .read_voltage_mV = red_read_voltage_mV,
   .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,

board/boards/tres.h

@@ -133,7 +133,6 @@ static void tres_init(void) {
 }
 
 static harness_configuration tres_harness_config = {
-  .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,
   .GPIO_relay_SBU1 = GPIOA,
@@ -149,7 +148,6 @@ static harness_configuration tres_harness_config = {
 board board_tres = {
   .harness_config = &tres_harness_config,
   .has_spi = true,
-  .has_canfd = true,
   .fan_max_rpm = 6600U,
   .fan_max_pwm = 100U,
   .avdd_mV = 1800U,
@@ -161,7 +159,6 @@ board board_tres = {
   .led_GPIO = {GPIOE, GPIOE, GPIOE},
   .led_pin = {4, 3, 2},
   .set_can_mode = tres_set_can_mode,
-  .check_ignition = red_check_ignition,
   .read_voltage_mV = red_read_voltage_mV,
   .read_current_mA = unused_read_current,
   .set_fan_enabled = tres_set_fan_enabled,

board/crc.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) {
   uint8_t crc = 0xFFU;
   int i;
@@ -18,4 +17,3 @@ uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) {
   }
   return crc;
 }
-#endif

board/drivers/can_common.h

@@ -139,9 +139,9 @@ bus_config_t bus_config[BUS_CONFIG_ARRAY_SIZE] = {
 
 void can_init_all(void) {
   for (uint8_t i=0U; i < PANDA_CAN_CNT; i++) {
-    if (!current_board->has_canfd) {
+    #ifndef CANFD
       bus_config[i].can_data_speed = 0U;
-    }
+    #endif
     can_clear(can_queues[i]);
     (void)can_init(i);
   }

board/drivers/harness.h

@@ -4,31 +4,29 @@ struct harness_t harness;
 
 // The ignition relay is only used for testing purposes
 void set_intercept_relay(bool intercept, bool ignition_relay) {
-  if (current_board->harness_config->has_harness) {
+  bool drive_relay = intercept;
-    bool drive_relay = intercept;
+  if (harness.status == HARNESS_STATUS_NC) {
-    if (harness.status == HARNESS_STATUS_NC) {
+    // no harness, no relay to drive
-      // no harness, no relay to drive
+    drive_relay = false;
-      drive_relay = false;
+  }
-    }
 
-    if (drive_relay || ignition_relay) {
+  if (drive_relay || ignition_relay) {
-      harness.relay_driven = true;
+    harness.relay_driven = true;
-    }
+  }
 
-    // wait until we're not reading the analog voltages anymore
+  // wait until we're not reading the analog voltages anymore
-    while (harness.sbu_adc_lock) {}
+  while (harness.sbu_adc_lock) {}
 
-    if (harness.status == HARNESS_STATUS_NORMAL) {
+  if (harness.status == HARNESS_STATUS_NORMAL) {
-      set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !ignition_relay);
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !ignition_relay);
-      set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !drive_relay);
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !drive_relay);
-    } else {
+  } else {
-      set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !drive_relay);
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !drive_relay);
-      set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !ignition_relay);
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !ignition_relay);
-    }
+  }
 
-    if (!(drive_relay || ignition_relay)) {
+  if (!(drive_relay || ignition_relay)) {
-      harness.relay_driven = false;
+    harness.relay_driven = false;
-    }
   }
 }
 
@@ -56,7 +54,7 @@ static uint8_t harness_detect_orientation(void) {
 
   #ifndef BOOTSTUB
   // We can't detect orientation if the relay is being driven
-  if (!harness.relay_driven && current_board->harness_config->has_harness) {
+  if (!harness.relay_driven) {
     harness.sbu_adc_lock = true;
     set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_ANALOG);
     set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_ANALOG);

board/drivers/harness_declarations.h

@@ -14,7 +14,6 @@ struct harness_t {
 extern struct harness_t harness;
 
 struct harness_configuration {
-  const bool has_harness;
   GPIO_TypeDef * const GPIO_SBU1;
   GPIO_TypeDef * const GPIO_SBU2;
   GPIO_TypeDef * const GPIO_relay_SBU1;

board/drivers/spi.h

@@ -16,7 +16,6 @@ uint8_t spi_buf_tx[SPI_BUF_SIZE];
 
 uint16_t spi_checksum_error_count = 0;
 
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 static uint8_t spi_state = SPI_STATE_HEADER;
 static uint16_t spi_data_len_mosi;
 static bool spi_can_tx_ready = false;
@@ -234,8 +233,3 @@ void spi_tx_done(bool reset) {
 void can_tx_comms_resume_spi(void) {
   spi_can_tx_ready = true;
 }
-#else
-void can_tx_comms_resume_spi(void) {
-  return;
-}
-#endif

board/drivers/spi_declarations.h

@@ -45,8 +45,6 @@ void llspi_mosi_dma(uint8_t *addr, int len);
 void llspi_miso_dma(uint8_t *addr, int len);
 
 void can_tx_comms_resume_spi(void);
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 void spi_init(void);
 void spi_rx_done(void);
 void spi_tx_done(bool reset);
-#endif

board/drivers/uart.h

@@ -1,7 +1,5 @@
 #include "uart_declarations.h"
 
-// IRQs: USART2, USART3, UART5
-
 // ***************************** Definitions *****************************
 
 #define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, overwrite_mode) \
@@ -112,15 +110,6 @@ bool put_char(uart_ring *q, char elem) {
   return ret;
 }
 
-void clear_uart_buff(uart_ring *q) {
-  ENTER_CRITICAL();
-  q->w_ptr_tx = 0;
-  q->r_ptr_tx = 0;
-  q->w_ptr_rx = 0;
-  q->r_ptr_rx = 0;
-  EXIT_CRITICAL();
-}
-
 // ************************ High-level debug functions **********************
 void putch(const char a) {
   // misra-c2012-17.7: serial debug function, ok to ignore output
@@ -145,14 +134,14 @@ void puth(unsigned int i) {
   puthx(i, 8U);
 }
 
-#if defined(ENABLE_SPI) || defined(BOOTSTUB) || defined(DEBUG)
+#if defined(DEBUG_SPI) || defined(BOOTSTUB) || defined(DEBUG)
-void puth4(unsigned int i) {
+static void puth4(unsigned int i) {
   puthx(i, 4U);
 }
 #endif
 
-#if defined(ENABLE_SPI) || defined(BOOTSTUB) || defined(DEBUG_USB) || defined(DEBUG_COMMS)
+#if defined(DEBUG_SPI) || defined(BOOTSTUB) || defined(DEBUG_USB) || defined(DEBUG_COMMS)
-void hexdump(const void *a, int l) {
+static void hexdump(const void *a, int l) {
   if (a != NULL) {
     for (int i=0; i < l; i++) {
       if ((i != 0) && ((i & 0xf) == 0)) print("\n");

board/drivers/uart_declarations.h

@@ -1,7 +1,5 @@
 #pragma once
 
-// IRQs: USART2, USART3, UART5
-
 // ***************************** Definitions *****************************
 #define FIFO_SIZE_INT 0x400U
 
@@ -33,7 +31,9 @@ void putch(const char a);
 void print(const char *a);
 void puthx(uint32_t i, uint8_t len);
 void puth(unsigned int i);
-#if defined(ENABLE_SPI) || defined(BOOTSTUB) || defined(DEBUG)
+#if defined(DEBUG_SPI) || defined(BOOTSTUB) || defined(DEBUG)
-void puth4(unsigned int i);
+static void puth4(unsigned int i);
+#endif
+#if defined(DEBUG_SPI) || defined(DEBUG_USB) || defined(DEBUG_COMMS)
+static void hexdump(const void *a, int l);
 #endif
-void hexdump(const void *a, int l);

board/early_init.h

@@ -57,9 +57,7 @@ void early_initialization(void) {
 
   if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
     led_init();
-    #ifdef PANDA
     current_board->init_bootloader();
-    #endif
     led_set(LED_GREEN, 1);
     jump_to_bootloader();
   }

board/fake_stm.h

@@ -7,7 +7,6 @@
 
 #define CANFD
 #define ALLOW_DEBUG
-#define PANDA
 
 #define ENTER_CRITICAL() 0
 #define EXIT_CRITICAL() 0

board/flasher.h

@@ -134,15 +134,12 @@ void soft_flasher_start(void) {
   gpio_usb_init();
   led_init();
 
-  // enable USB
+  // enable comms
   usb_init();
-
-#ifdef ENABLE_SPI
   if (current_board->has_spi) {
     gpio_spi_init();
     spi_init();
   }
-#endif
 
   // green LED on for flashing
   led_set(LED_GREEN, 1);

board/jungle/SConscript

@@ -1,17 +1,11 @@
 import os
-import copy
 
 Import('build_project', 'base_project_h7')
 
-build_projects = {
+flags = [
-  "panda_jungle_h7": base_project_h7,
+  "-DPANDA_JUNGLE",
-}
+]
+if os.getenv("FINAL_PROVISIONING"):
+  flags += ["-DFINAL_PROVISIONING"]
 
-for project_name, project in build_projects.items():
+build_project("panda_jungle_h7", base_project_h7, flags)
-  flags = [
-    "-DPANDA_JUNGLE",
-  ]
-  if os.getenv("FINAL_PROVISIONING"):
-    flags += ["-DFINAL_PROVISIONING"]
-
-  build_project(project_name, project, flags)

board/jungle/boards/board_declarations.h

@@ -2,6 +2,7 @@
 typedef void (*board_init)(void);
 typedef void (*board_board_tick)(void);
 typedef bool (*board_get_button)(void);
+typedef void (*board_init_bootloader)(void);
 typedef void (*board_set_panda_power)(bool enabled);
 typedef void (*board_set_panda_individual_power)(uint8_t port_num, bool enabled);
 typedef void (*board_set_ignition)(bool enabled);
@@ -17,12 +18,11 @@ 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_init init;
   board_board_tick board_tick;
   board_get_button get_button;
+  board_init_bootloader init_bootloader;
   board_set_panda_power set_panda_power;
   board_set_panda_individual_power set_panda_individual_power;
   board_set_ignition set_ignition;
@@ -40,7 +40,6 @@ struct board {
 
 // ******************* Definitions ********************
 #define HW_TYPE_UNKNOWN 0U
-//#define HW_TYPE_V1 1U
 #define HW_TYPE_V2 2U
 
 // CAN modes
@@ -59,18 +58,3 @@ struct board {
 uint8_t harness_orientation = HARNESS_ORIENTATION_NONE;
 uint8_t can_mode = CAN_MODE_NORMAL;
 uint8_t ignition = 0U;
-
-
-void unused_set_individual_ignition(uint8_t bitmask) {
-  UNUSED(bitmask);
-}
-
-void unused_board_enable_header_pin(uint8_t pin_num, bool enabled) {
-  UNUSED(pin_num);
-  UNUSED(enabled);
-}
-
-void unused_set_panda_individual_power(uint8_t port_num, bool enabled) {
-  UNUSED(port_num);
-  UNUSED(enabled);
-}

board/jungle/boards/board_v2.h

@@ -287,10 +287,9 @@ void board_v2_init(void) {
 void board_v2_tick(void) {}
 
 board board_v2 = {
-  .has_canfd = true,
-  .has_sbu_sense = true,
   .avdd_mV = 3300U,
   .init = &board_v2_init,
+  .init_bootloader = &board_v2_tick,
   .led_GPIO = {GPIOE, GPIOE, GPIOE},
   .led_pin = {4, 3, 2},
   .board_tick = &board_v2_tick,

board/jungle/main.c

@@ -11,20 +11,16 @@
 #include "board/provision.h"
 
 #include "board/health.h"
-#include "jungle_health.h"
+#include "board/jungle/jungle_health.h"
 
 #include "board/drivers/can_common.h"
 
-#ifdef STM32H7
+#include "board/drivers/fdcan.h"
-  #include "board/drivers/fdcan.h"
-#else
-  #include "board/drivers/bxcan.h"
-#endif
 
 #include "board/obj/gitversion.h"
 
 #include "board/can_comms.h"
-#include "main_comms.h"
+#include "board/jungle/main_comms.h"
 
 
 // ********************* Serial debugging *********************
@@ -106,17 +102,15 @@ void tick_handler(void) {
     current_board->set_individual_ignition(ignition_bitmask);
 
     // SBU voltage reporting
-    if (current_board->has_sbu_sense) {
+    for (uint8_t i = 0U; i < 6U; i++) {
-      for (uint8_t i = 0U; i < 6U; i++) {
+      CANPacket_t pkt = { 0 };
-        CANPacket_t pkt = { 0 };
+      pkt.data_len_code = 8U;
-        pkt.data_len_code = 8U;
+      pkt.addr = 0x100U + i;
-        pkt.addr = 0x100U + i;
+      *(uint16_t *) &pkt.data[0] = current_board->get_sbu_mV(i + 1U, SBU1);
-        *(uint16_t *) &pkt.data[0] = current_board->get_sbu_mV(i + 1U, SBU1);
+      *(uint16_t *) &pkt.data[2] = current_board->get_sbu_mV(i + 1U, SBU2);
-        *(uint16_t *) &pkt.data[2] = current_board->get_sbu_mV(i + 1U, SBU2);
+      pkt.data[4] = (ignition_bitmask >> i) & 1U;
-        pkt.data[4] = (ignition_bitmask >> i) & 1U;
+      can_set_checksum(&pkt);
-        can_set_checksum(&pkt);
+      can_send(&pkt, 0U, false);
-        can_send(&pkt, 0U, false);
-      }
     }
 #else
     // toggle ignition on button press

board/jungle/main_comms.h

@@ -219,11 +219,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         print("Clearing CAN CAN ring buffer failed: wrong bus number\n");
       }
       break;
-    // **** 0xf2: Clear debug ring buffer.
-    case 0xf2:
-      print("Clearing debug queue.\n");
-      clear_uart_buff(get_ring_by_number(0));
-      break;
     // **** 0xf4: Set CAN transceiver enable pin
     case 0xf4:
       current_board->enable_can_transceiver(req->param1, req->param2 > 0U);
@@ -240,7 +235,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     // **** 0xf9: set CAN FD data bitrate
     case 0xf9:
       if ((req->param1 < PANDA_CAN_CNT) &&
-           current_board->has_canfd &&
            is_speed_valid(req->param2, data_speeds, sizeof(data_speeds)/sizeof(data_speeds[0]))) {
         bus_config[req->param1].can_data_speed = req->param2;
         bus_config[req->param1].canfd_enabled = (req->param2 >= bus_config[req->param1].can_speed);
@@ -251,7 +245,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xfc: set CAN FD non-ISO mode
     case 0xfc:
-      if ((req->param1 < PANDA_CAN_CNT) && current_board->has_canfd) {
+      if (req->param1 < PANDA_CAN_CNT) {
         bus_config[req->param1].canfd_non_iso = (req->param2 != 0U);
         bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
         UNUSED(ret);

board/main.c

@@ -32,29 +32,10 @@
 
 // ********************* Serial debugging *********************
 
-static bool check_started(void) {
-  bool started = current_board->check_ignition() || ignition_can;
-  return started;
-}
-
 void debug_ring_callback(uart_ring *ring) {
   char rcv;
   while (get_char(ring, &rcv)) {
     (void)put_char(ring, rcv);  // misra-c2012-17.7: cast to void is ok: debug function
-
-    // only allow bootloader entry on debug builds
-    #ifdef ALLOW_DEBUG
-      // jump to DFU flash
-      if (rcv == 'z') {
-        enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-        NVIC_SystemReset();
-      }
-    #endif
-
-    // normal reset
-    if (rcv == 'x') {
-      NVIC_SystemReset();
-    }
   }
 }
 
@@ -77,31 +58,26 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
   switch (mode_copy) {
     case SAFETY_SILENT:
       set_intercept_relay(false, false);
-      if (current_board->harness_config->has_harness) {
+      current_board->set_can_mode(CAN_MODE_NORMAL);
-        current_board->set_can_mode(CAN_MODE_NORMAL);
-      }
       can_silent = ALL_CAN_SILENT;
       break;
     case SAFETY_NOOUTPUT:
       set_intercept_relay(false, false);
-      if (current_board->harness_config->has_harness) {
+      current_board->set_can_mode(CAN_MODE_NORMAL);
-        current_board->set_can_mode(CAN_MODE_NORMAL);
-      }
       can_silent = ALL_CAN_LIVE;
       break;
     case SAFETY_ELM327:
       set_intercept_relay(false, false);
       heartbeat_counter = 0U;
       heartbeat_lost = false;
-      if (current_board->harness_config->has_harness) {
+
-        // Clear any pending messages in the can core (i.e. sending while comma power is unplugged)
+      // Clear any pending messages in the can core (i.e. sending while comma power is unplugged)
-        // TODO: rewrite using hardware queues rather than fifo to cancel specific messages
+      // TODO: rewrite using hardware queues rather than fifo to cancel specific messages
-        can_clear_send(CANIF_FROM_CAN_NUM(1), 1);
+      can_clear_send(CANIF_FROM_CAN_NUM(1), 1);
-        if (param == 0U) {
+      if (param == 0U) {
-          current_board->set_can_mode(CAN_MODE_OBD_CAN2);
+        current_board->set_can_mode(CAN_MODE_OBD_CAN2);
-        } else {
+      } else {
-          current_board->set_can_mode(CAN_MODE_NORMAL);
+        current_board->set_can_mode(CAN_MODE_NORMAL);
-        }
       }
       can_silent = ALL_CAN_LIVE;
       break;
@@ -109,9 +85,7 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
       set_intercept_relay(true, false);
       heartbeat_counter = 0U;
       heartbeat_lost = false;
-      if (current_board->harness_config->has_harness) {
+      current_board->set_can_mode(CAN_MODE_NORMAL);
-        current_board->set_can_mode(CAN_MODE_NORMAL);
-      }
       can_silent = ALL_CAN_LIVE;
       break;
   }
@@ -199,7 +173,8 @@ static void tick_handler(void) {
       const bool recent_heartbeat = heartbeat_counter == 0U;
 
       // tick drivers at 1Hz
-      bootkick_tick(check_started(), recent_heartbeat);
+      bool started = harness_check_ignition() || ignition_can;
+      bootkick_tick(started, recent_heartbeat);
 
       // increase heartbeat counter and cap it at the uint32 limit
       if (heartbeat_counter < UINT32_MAX) {
@@ -235,7 +210,7 @@ static void tick_handler(void) {
 
       if (!heartbeat_disabled) {
         // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
-        if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
+        if (heartbeat_counter >= (started ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
           print("device hasn't sent a heartbeat for 0x");
           puth(heartbeat_counter);
           print(" seconds. Safety is set to SILENT mode.\n");
@@ -322,9 +297,7 @@ int main(void) {
   // init board
   current_board->init();
   current_board->set_can_mode(CAN_MODE_NORMAL);
-  if (current_board->harness_config->has_harness) {
+  harness_init();
-    harness_init();
-  }
 
   // panda has an FPU, let's use it!
   enable_fpu();
@@ -355,12 +328,10 @@ int main(void) {
   // enable USB (right before interrupts or enum can fail!)
   usb_init();
 
-#ifdef ENABLE_SPI
   if (current_board->has_spi) {
     gpio_spi_init();
     spi_init();
   }
-#endif
 
   led_set(LED_RED, false);
   led_set(LED_GREEN, false);

board/main_comms.h

@@ -12,8 +12,7 @@ static int get_health_pkt(void *dat) {
   health->voltage_pkt = current_board->read_voltage_mV();
   health->current_pkt = current_board->read_current_mA();
 
-  // Use the GPIO pin to determine ignition or use a CAN based logic
+  health->ignition_line_pkt = (uint8_t)(harness_check_ignition());
-  health->ignition_line_pkt = (uint8_t)(current_board->check_ignition());
   health->ignition_can_pkt = ignition_can;
 
   health->controls_allowed_pkt = controls_allowed;
@@ -29,7 +28,9 @@ static int get_health_pkt(void *dat) {
   health->heartbeat_lost_pkt = heartbeat_lost;
   health->safety_rx_checks_invalid_pkt = safety_rx_checks_invalid;
 
+  #ifndef STM32F4
   health->spi_checksum_error_count_pkt = spi_checksum_error_count;
+  #endif
 
   health->fault_status_pkt = fault_status;
   health->faults_pkt = faults;
@@ -97,7 +98,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       resp[1] = ((fan_state.rpm & 0xFF00U) >> 8U);
       resp_len = 2;
       break;
-    // **** 0xc0: reset communications
+    // **** 0xc0: reset communications state
     case 0xc0:
       comms_can_reset();
       break;
@@ -212,17 +213,14 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xdb: set OBD CAN multiplexing mode
     case 0xdb:
-      if (current_board->harness_config->has_harness) {
+      if (req->param1 == 1U) {
-        if (req->param1 == 1U) {
+        // Enable OBD CAN
-          // Enable OBD CAN
+        current_board->set_can_mode(CAN_MODE_OBD_CAN2);
-          current_board->set_can_mode(CAN_MODE_OBD_CAN2);
+      } else {
-        } else {
+        // Disable OBD CAN
-          // Disable OBD CAN
+        current_board->set_can_mode(CAN_MODE_NORMAL);
-          current_board->set_can_mode(CAN_MODE_NORMAL);
-        }
       }
       break;
-
     // **** 0xdc: set safety mode
     case 0xdc:
       set_safety_mode(req->param1, (uint16_t)req->param2);
@@ -263,47 +261,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         ++resp_len;
       }
       break;
-    // **** 0xe1: uart set baud rate
-    case 0xe1:
-      ur = get_ring_by_number(req->param1);
-      if (!ur) {
-        break;
-      }
-      uart_set_baud(ur->uart, req->param2);
-      break;
-    // **** 0xe2: uart set parity
-    case 0xe2:
-      ur = get_ring_by_number(req->param1);
-      if (!ur) {
-        break;
-      }
-      switch (req->param2) {
-        case 0:
-          // disable parity, 8-bit
-          ur->uart->CR1 &= ~(USART_CR1_PCE | USART_CR1_M);
-          break;
-        case 1:
-          // even parity, 9-bit
-          ur->uart->CR1 &= ~USART_CR1_PS;
-          ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M;
-          break;
-        case 2:
-          // odd parity, 9-bit
-          ur->uart->CR1 |= USART_CR1_PS;
-          ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M;
-          break;
-        default:
-          break;
-      }
-      break;
-    // **** 0xe4: uart set baud rate extended
-    case 0xe4:
-      ur = get_ring_by_number(req->param1);
-      if (!ur) {
-        break;
-      }
-      uart_set_baud(ur->uart, (int)req->param2*300);
-      break;
     // **** 0xe5: set CAN loopback (for testing)
     case 0xe5:
       can_loopback = req->param1 > 0U;
@@ -333,16 +290,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         print("Clearing CAN CAN ring buffer failed: wrong bus number\n");
       }
       break;
-    // **** 0xf2: Clear UART ring buffer.
-    case 0xf2:
-      {
-        uart_ring * rb = get_ring_by_number(req->param1);
-        if (rb != NULL) {
-          print("Clearing UART queue.\n");
-          clear_uart_buff(rb);
-        }
-        break;
-      }
     // **** 0xf3: Heartbeat. Resets heartbeat counter.
     case 0xf3:
       {
@@ -369,7 +316,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     // **** 0xf9: set CAN FD data bitrate
     case 0xf9:
       if ((req->param1 < PANDA_CAN_CNT) &&
-           current_board->has_canfd &&
            is_speed_valid(req->param2, data_speeds, sizeof(data_speeds)/sizeof(data_speeds[0]))) {
         bus_config[req->param1].can_data_speed = req->param2;
         bus_config[req->param1].canfd_enabled = (req->param2 >= bus_config[req->param1].can_speed);
@@ -380,7 +326,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xfc: set CAN FD non-ISO mode
     case 0xfc:
-      if ((req->param1 < PANDA_CAN_CNT) && current_board->has_canfd) {
+      if (req->param1 < PANDA_CAN_CNT) {
         bus_config[req->param1].canfd_non_iso = (req->param2 != 0U);
         bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
         UNUSED(ret);

board/main_declarations.h

@@ -3,8 +3,6 @@
 // ******************** Prototypes ********************
 void print(const char *a);
 void puth(unsigned int i);
-void puth4(unsigned int i);
-void hexdump(const void *a, int l);
 typedef struct board board;
 typedef struct harness_configuration harness_configuration;
 void pwm_init(TIM_TypeDef *TIM, uint8_t channel);

board/power_saving.h

@@ -7,7 +7,7 @@ int power_save_status = POWER_SAVE_STATUS_DISABLED;
 
 void enable_can_transceivers(bool enabled) {
   // Leave main CAN always on for CAN-based ignition detection
-  uint8_t main_bus = (current_board->harness_config->has_harness && (harness.status == HARNESS_STATUS_FLIPPED)) ? 3U : 1U;
+  uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
   for(uint8_t i=1U; i<=4U; i++){
     current_board->enable_can_transceiver(i, (i == main_bus) || enabled);
   }

board/stm32f4/board.h

@@ -12,24 +12,12 @@
 #include "drivers/clock_source.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);
   set_gpio_output(GPIOC, 5, 1);
-  if(!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)){
+  if (!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)) {
     hw_type = HW_TYPE_DOS;
     current_board = &board_dos;
-  } else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
-    // white is deprecated
-  } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
-    // grey is deprecated
-  } else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
-    // uno is deprecated
-  } else {
-    // black is deprecated
   }
 
   // Return A13 to the alt mode to fix SWD

board/stm32f4/llspi.h

@@ -1,91 +1,12 @@
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 void llspi_miso_dma(uint8_t *addr, int len) {
-  // disable DMA
+  UNUSED(addr);
-  DMA2_Stream3->CR &= ~DMA_SxCR_EN;
+  UNUSED(len);
-  register_clear_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN);
-
-  // setup source and length
-  register_set(&(DMA2_Stream3->M0AR), (uint32_t)addr, 0xFFFFFFFFU);
-  DMA2_Stream3->NDTR = len;
-
-  // enable DMA
-  register_set_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN);
-  DMA2_Stream3->CR |= DMA_SxCR_EN;
 }
 
 void llspi_mosi_dma(uint8_t *addr, int len) {
-  // disable DMA
+  UNUSED(addr);
-  register_clear_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN);
+  UNUSED(len);
-  DMA2_Stream2->CR &= ~DMA_SxCR_EN;
-
-  // drain the bus
-  volatile uint8_t dat = SPI1->DR;
-  (void)dat;
-
-  // setup destination and length
-  register_set(&(DMA2_Stream2->M0AR), (uint32_t)addr, 0xFFFFFFFFU);
-  DMA2_Stream2->NDTR = len;
-
-  // enable DMA
-  DMA2_Stream2->CR |= DMA_SxCR_EN;
-  register_set_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN);
-}
-// SPI MOSI DMA FINISHED
-static void DMA2_Stream2_IRQ_Handler(void) {
-  // Clear interrupt flag
-  ENTER_CRITICAL();
-  DMA2->LIFCR = DMA_LIFCR_CTCIF2;
-
-  spi_rx_done();
-
-  EXIT_CRITICAL();
 }
 
-// SPI MISO DMA FINISHED
-static void DMA2_Stream3_IRQ_Handler(void) {
-  // Clear interrupt flag
-  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
-
-  // Wait until the transaction is actually finished and clear the DR
-  // Timeout to prevent hang when the master clock stops.
-  bool timed_out = false;
-  uint32_t start_time = microsecond_timer_get();
-  while (!(SPI1->SR & SPI_SR_TXE)) {
-    if (get_ts_elapsed(microsecond_timer_get(), start_time) > SPI_TIMEOUT_US) {
-      timed_out = true;
-      break;
-    }
-  }
-  volatile uint8_t dat = SPI1->DR;
-  (void)dat;
-  SPI1->DR = 0U;
-
-  if (timed_out) {
-    print("SPI: TX timeout\n");
-  }
-
-  spi_tx_done(timed_out);
-}
-
-// ***************************** SPI init *****************************
 void llspi_init(void) {
-  REGISTER_INTERRUPT(DMA2_Stream2_IRQn, DMA2_Stream2_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA)
-  REGISTER_INTERRUPT(DMA2_Stream3_IRQn, DMA2_Stream3_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA)
-
-  // Setup MOSI DMA
-  register_set(&(DMA2_Stream2->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_TCIE), 0x1E077EFEU);
-  register_set(&(DMA2_Stream2->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU);
-
-  // Setup MISO DMA
-  register_set(&(DMA2_Stream3->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_TCIE), 0x1E077EFEU);
-  register_set(&(DMA2_Stream3->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU);
-
-  // Enable SPI and the error interrupts
-  // TODO: verify clock phase and polarity
-  register_set(&(SPI1->CR1), SPI_CR1_SPE, 0xFFFFU);
-  register_set(&(SPI1->CR2), 0U, 0xF7U);
-
-  NVIC_EnableIRQ(DMA2_Stream2_IRQn);
-  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
 }
-#endif

board/stm32f4/lluart.h

@@ -29,7 +29,3 @@ void uart_tx_ring(uart_ring *q){
 #define DIVMANT_(_PCLK_, _BAUD_)                (DIV_((_PCLK_), (_BAUD_)) / 100U)
 #define DIVFRAQ_(_PCLK_, _BAUD_)                ((((DIV_((_PCLK_), (_BAUD_)) - (DIVMANT_((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
 #define USART_BRR_(_PCLK_, _BAUD_)              ((DIVMANT_((_PCLK_), (_BAUD_)) << 4) | (DIVFRAQ_((_PCLK_), (_BAUD_)) & 0x0FU))
-
-void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
-  u->BRR = USART_BRR_(APB1_FREQ*1000000U, baud);
-}

board/stm32f4/peripherals.h

@@ -9,16 +9,8 @@ static void gpio_usb_init(void) {
   GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
 }
 
-#ifdef ENABLE_SPI
 void gpio_spi_init(void) {
-  // A4-A7: SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-  register_set_bits(&(GPIOA->OSPEEDR), GPIO_OSPEEDER_OSPEEDR4 | GPIO_OSPEEDER_OSPEEDR5 | GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7);
 }
-#endif
 
 #ifdef BOOTSTUB
 void gpio_usart2_init(void) {

board/stm32f4/stm32f4_config.h

@@ -53,9 +53,6 @@
 #include "stm32f4/board.h"
 #include "stm32f4/clock.h"
 
-#include "drivers/spi.h"
-#include "stm32f4/llspi.h"
-
 #if !defined(BOOTSTUB)
   #include "drivers/uart.h"
   #include "stm32f4/lluart.h"
@@ -69,6 +66,11 @@
 
 #include "stm32f4/llusb.h"
 
+// unused
+void spi_init(void) {};
+void sound_tick(void) {};
+void can_tx_comms_resume_spi(void) {};
+
 void early_gpio_float(void) {
   RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
 

board/stm32h7/llspi.h

@@ -1,4 +1,3 @@
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 // master -> panda DMA start
 void llspi_mosi_dma(uint8_t *addr, int len) {
   // disable DMA + SPI
@@ -106,4 +105,3 @@ void llspi_init(void) {
   NVIC_EnableIRQ(DMA2_Stream3_IRQn);
   NVIC_EnableIRQ(SPI4_IRQn);
 }
-#endif

board/stm32h7/lluart.h

@@ -44,11 +44,6 @@ void uart_tx_ring(uart_ring *q){
   EXIT_CRITICAL();
 }
 
-void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
-  // UART7 is connected to APB1 at 60MHz
-  u->BRR = 60000000U / baud;
-}
-
 // This read after reading ISR clears all error interrupts. We don't want compiler warnings, nor optimizations
 #define UART_READ_RDR(uart) volatile uint8_t t = (uart)->RDR; UNUSED(t);
 
@@ -90,11 +85,12 @@ static void uart_interrupt_handler(uart_ring *q) {
 
 static void UART7_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_som_debug); }
 
-void uart_init(uart_ring *q, int baud) {
+void uart_init(uart_ring *q, unsigned int baud) {
   if (q->uart == UART7) {
     REGISTER_INTERRUPT(UART7_IRQn, UART7_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_7)
 
-    uart_set_baud(q->uart, baud);
+    // UART7 is connected to APB1 at 60MHz
+    q->uart->BRR = 60000000U / baud;
     q->uart->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
 
     // Enable interrupt on RX not empty

board/stm32h7/peripherals.h

@@ -9,7 +9,6 @@ static void gpio_usb_init(void) {
   GPIOA->OSPEEDR = GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12;
 }
 
-#ifdef ENABLE_SPI
 void gpio_spi_init(void) {
   set_gpio_alternate(GPIOE, 11, GPIO_AF5_SPI4);
   set_gpio_alternate(GPIOE, 12, GPIO_AF5_SPI4);
@@ -17,7 +16,6 @@ void gpio_spi_init(void) {
   set_gpio_alternate(GPIOE, 14, GPIO_AF5_SPI4);
   register_set_bits(&(GPIOE->OSPEEDR), GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12 | GPIO_OSPEEDR_OSPEED13 | GPIO_OSPEEDR_OSPEED14);
 }
-#endif
 
 #ifdef BOOTSTUB
 void gpio_usart2_init(void) {

examples/query_fw_versions.py

@@ -75,7 +75,7 @@ if __name__ == "__main__":
       if args.bus:
         bus = int(args.bus)
       else:
-        bus = 1 if panda.has_obd() else 0
+        bus = 1
       rx_addr = addr + int(args.rxoffset, base=16) if args.rxoffset else None
 
       # Try all sub-addresses for addr. By default, this is None

python/__init__.py

@@ -105,9 +105,6 @@ ensure_health_packet_version = partial(ensure_version, "health", "HEALTH_PACKET_
 class Panda:
 
   SERIAL_DEBUG = 0
-  SERIAL_ESP = 1
-  SERIAL_LIN1 = 2
-  SERIAL_LIN2 = 3
   SERIAL_SOM_DEBUG = 4
 
   USB_VIDS = (0xbbaa, 0x3801)  # 0x3801 is comma's registered VID
@@ -115,15 +112,10 @@ class Panda:
   REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
   REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
 
+  # from https://github.com/commaai/openpilot/blob/103b4df18cbc38f4129555ab8b15824d1a672bdf/cereal/log.capnp#L648
   HW_TYPE_UNKNOWN = b'\x00'
-  HW_TYPE_WHITE_PANDA = b'\x01'
-  HW_TYPE_GREY_PANDA = b'\x02'
-  HW_TYPE_BLACK_PANDA = b'\x03'
-  HW_TYPE_PEDAL = b'\x04'
-  HW_TYPE_UNO = b'\x05'
   HW_TYPE_DOS = b'\x06'
   HW_TYPE_RED_PANDA = b'\x07'
-  HW_TYPE_RED_PANDA_V2 = b'\x08'
   HW_TYPE_TRES = b'\x09'
   HW_TYPE_CUATRO = b'\x0a'
 
@@ -133,14 +125,12 @@ class Panda:
   HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHBHHB")
   CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
 
-  F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
+  F4_DEVICES = [HW_TYPE_DOS, ]
-  H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO]
+  H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO]
 
-  INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
+  INTERNAL_DEVICES = (HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
-  HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO)
 
   MAX_FAN_RPMs = {
-    HW_TYPE_UNO: 5100,
     HW_TYPE_DOS: 6500,
     HW_TYPE_TRES: 6600,
     HW_TYPE_CUATRO: 12500,
@@ -669,9 +659,6 @@ class Panda:
 
     raise ValueError(f"unknown HW type: {hw_type}")
 
-  def has_obd(self):
-    return self.get_type() in Panda.HAS_OBD
-
   def is_internal(self):
     return self.get_type() in Panda.INTERNAL_DEVICES
 
@@ -816,16 +803,6 @@ class Panda:
       ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
     return ret
 
-  def serial_clear(self, port_number):
-    """Clears all messages (tx and rx) from the specified internal uart
-    ringbuffer as though it were drained.
-
-    Args:
-      port_number (int): port number of the uart to clear.
-
-    """
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf2, port_number, 0, b'')
-
   def send_heartbeat(self, engaged=True):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, 0, b'')
 

tests/misra/checkers.txt

@@ -5,7 +5,7 @@ Cppcheck checkers list from test_misra.sh:
 
 
 TEST variant options:
---enable=all --disable=unusedFunction -DPANDA --addon=misra -DSTM32F4 -DSTM32F413xx /board/main.c
+--enable=all --disable=unusedFunction --addon=misra -DSTM32F4 -DSTM32F413xx /board/main.c
 
 
 Critical errors
@@ -460,7 +460,7 @@ Not available, Cppcheck Premium is not used
 
 
 TEST variant options:
---enable=all --disable=unusedFunction -DPANDA --addon=misra -DSTM32H7 -DSTM32H725xx /board/main.c
+--enable=all --disable=unusedFunction --addon=misra -DSTM32H7 -DSTM32H725xx /board/main.c
 
 
 Critical errors

tests/misra/test_misra.sh

@@ -64,7 +64,7 @@ cppcheck() {
   fi
 }
 
-PANDA_OPTS="--enable=all --disable=unusedFunction -DPANDA --addon=misra"
+PANDA_OPTS="--enable=all --disable=unusedFunction --addon=misra"
 
 printf "\n${GREEN}** PANDA F4 CODE **${NC}\n"
 cppcheck $PANDA_OPTS -DSTM32F4 -DSTM32F413xx $PANDA_DIR/board/main.c