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Merge branch 'upstream/panda/master' into sync-20260401

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This commit is contained in:
Jason Wen
2026-04-01 22:39:14 -04:00
parent 6ddc631bdd d079b0958b
commit 80b5cfbc27
12 changed files with 59 additions and 51 deletions
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4
Jenkinsfile vendored
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@@ -114,7 +114,7 @@ pipeline {
["build", "scons"],
["flash", "cd scripts/ && ./reflash_internal_panda.py"],
["flash jungle", "cd board/jungle && ./flash.py --all"],
["test", "cd tests/hitl && pytest --durations=0 2*.py [5-9]*.py"],
["test", "cd tests/hitl && pytest -o 'addopts=' --durations=0 2*.py [5-9]*.py"],
])
}
}
@@ -126,7 +126,7 @@ pipeline {
["build", "scons"],
["flash", "cd scripts/ && ./reflash_internal_panda.py"],
["flash jungle", "cd board/jungle && ./flash.py --all"],
["test", "cd tests/hitl && pytest --durations=0 2*.py [5-9]*.py"],
["test", "cd tests/hitl && pytest -o 'addopts=' --durations=0 2*.py [5-9]*.py"],
])
}
}

9
SConscript
View File

@@ -1,4 +1,5 @@
import os
import hashlib
import opendbc
import subprocess
@@ -150,6 +151,14 @@ with open("board/obj/cert.h", "w") as f:
for cert in certs:
f.write("\n".join(cert) + "\n")
# Packet version defines: SHA hash of the struct header files
def version_hash(path):
with open(path, "rb") as f:
return int.from_bytes(hashlib.sha256(f.read()).digest()[:4], 'little')
hh, ch, jh = version_hash("board/health.h"), version_hash(os.path.join(opendbc.INCLUDE_PATH, "opendbc/safety/can.h")), version_hash("board/jungle/jungle_health.h")
common_flags += [f"-DHEALTH_PACKET_VERSION=0x{hh:08X}U", f"-DCAN_PACKET_VERSION_HASH=0x{ch:08X}U",
f"-DJUNGLE_HEALTH_PACKET_VERSION=0x{jh:08X}U"]
# panda fw
build_project("panda_h7", base_project_h7, "./board/main.c", [])

12
board/body/main_comms.h
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@@ -89,13 +89,13 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
break;
}
// **** 0xdd: get healthpacket and CANPacket versions
case 0xdd:
resp[0] = HEALTH_PACKET_VERSION;
resp[1] = CAN_PACKET_VERSION;
resp[2] = CAN_HEALTH_PACKET_VERSION;
resp_len = 3U;
// **** 0xdd: get healthpacket and CANPacket version hashes
case 0xdd: {
uint32_t versions[2] = {HEALTH_PACKET_VERSION, CAN_PACKET_VERSION_HASH};
(void)memcpy(resp, (uint8_t *)versions, sizeof(versions));
resp_len = sizeof(versions);
break;
}
default:
// Ignore unhandled requests

4
board/health.h
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@@ -1,8 +1,5 @@
#pragma once
// When changing these structs, python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 18
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
uint32_t voltage_pkt;
@@ -32,7 +29,6 @@ struct __attribute__((packed)) health_t {
uint16_t sound_output_level_pkt;
};
#define CAN_HEALTH_PACKET_VERSION 5
typedef struct __attribute__((packed)) {
uint8_t bus_off;
uint32_t bus_off_cnt;

14
board/jungle/__init__.py
View File

@@ -4,7 +4,7 @@ import struct
from functools import wraps
from panda import Panda, PandaDFU
from panda.python.constants import McuType
from panda.python.constants import McuType, compute_version_hash
BASEDIR = os.path.dirname(os.path.realpath(__file__))
FW_PATH = os.path.join(BASEDIR, "../obj/")
@@ -39,7 +39,7 @@ class PandaJungle(Panda):
H7_DEVICES = [HW_TYPE_V2, ]
SUPPORTED_DEVICES = H7_DEVICES
HEALTH_PACKET_VERSION = 1
HEALTH_PACKET_VERSION = compute_version_hash(os.path.join(BASEDIR, "jungle_health.h"))
HEALTH_STRUCT = struct.Struct("<IffffffHHHHHHHHHHHH")
HARNESS_ORIENTATION_NONE = 0
@@ -108,13 +108,11 @@ class PandaJungle(Panda):
# ******************* control *******************
# Returns tuple with health packet version and CAN packet/USB packet version
def get_packets_versions(self):
dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xdd, 0, 0, 3)
if dat and len(dat) == 3:
a = struct.unpack("BBB", dat)
return (a[0], a[1], a[2])
return (-1, -1, -1)
dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xdd, 0, 0, 8)
if dat and len(dat) == 8:
return struct.unpack("<II", dat)
return (0, 0)
# ******************* jungle stuff *******************

3
board/jungle/jungle_health.h
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@@ -1,6 +1,3 @@
// When changing these structs, python/__init__.py needs to be kept up to date!
#define JUNGLE_HEALTH_PACKET_VERSION 1
struct __attribute__((packed)) jungle_health_t {
uint32_t uptime_pkt;
float ch1_power;

12
board/jungle/main_comms.h
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@@ -180,13 +180,13 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
current_board->set_can_mode(CAN_MODE_NORMAL);
}
break;
// **** 0xdd: get healthpacket and CANPacket versions
case 0xdd:
resp[0] = JUNGLE_HEALTH_PACKET_VERSION;
resp[1] = CAN_PACKET_VERSION;
resp[2] = CAN_HEALTH_PACKET_VERSION;
resp_len = 3;
// **** 0xdd: get healthpacket and CANPacket version hashes
case 0xdd: {
uint32_t versions[2] = {JUNGLE_HEALTH_PACKET_VERSION, CAN_PACKET_VERSION_HASH};
(void)memcpy(resp, (uint8_t *)versions, sizeof(versions));
resp_len = sizeof(versions);
break;
}
// **** 0xde: set can bitrate
case 0xde:
if ((req->param1 < PANDA_CAN_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {

12
board/main_comms.h
View File

@@ -226,13 +226,13 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
case 0xdc:
set_safety_mode(req->param1, (uint16_t)req->param2);
break;
// **** 0xdd: get healthpacket and CANPacket versions
case 0xdd:
resp[0] = HEALTH_PACKET_VERSION;
resp[1] = CAN_PACKET_VERSION;
resp[2] = CAN_HEALTH_PACKET_VERSION;
resp_len = 3;
// **** 0xdd: get health and CAN packet versions
case 0xdd: {
uint32_t versions[2] = {HEALTH_PACKET_VERSION, CAN_PACKET_VERSION_HASH};
(void)memcpy(resp, (uint8_t *)versions, sizeof(versions));
resp_len = sizeof(versions);
break;
}
// **** 0xde: set can bitrate
case 0xde:
if ((req->param1 < PANDA_CAN_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {

8
pyproject.toml
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@@ -32,8 +32,8 @@ dev = [
"pytest-timeout",
"ruff",
"setuptools",
"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",
"gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
"cppcheck @ git+https://github.com/commaai/dependencies.git@release-cppcheck#subdirectory=cppcheck",
]
[build-system]
@@ -49,6 +49,10 @@ packages = [
"panda.board.jungle",
]
[tool.setuptools.package-data]
"panda.board" = ["health.h"]
"panda.board.jungle" = ["jungle_health.h"]
[tool.setuptools.package-dir]
panda = "."

24
python/__init__.py
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@@ -10,10 +10,11 @@ import ctypes
from functools import wraps, partial
from itertools import accumulate
import opendbc
from opendbc.car.structs import CarParams
from .base import BaseHandle
from .constants import FW_PATH, McuType
from .constants import BASEDIR, FW_PATH, McuType, compute_version_hash
from .dfu import PandaDFU
from .spi import PandaSpiHandle, PandaSpiException, PandaProtocolMismatch
from .usb import PandaUsbHandle
@@ -104,7 +105,6 @@ def ensure_version(desc, lib_field, panda_field, fn):
return fn(self, *args, **kwargs)
return wrapper
ensure_can_packet_version = partial(ensure_version, "CAN", "CAN_PACKET_VERSION", "can_version")
ensure_can_health_packet_version = partial(ensure_version, "CAN health", "CAN_HEALTH_PACKET_VERSION", "can_health_version")
ensure_health_packet_version = partial(ensure_version, "health", "HEALTH_PACKET_VERSION", "health_version")
@@ -126,9 +126,8 @@ class Panda:
HW_TYPE_CUATRO = b'\x0a'
HW_TYPE_BODY = b'\xb1'
CAN_PACKET_VERSION = 4
HEALTH_PACKET_VERSION = 18
CAN_HEALTH_PACKET_VERSION = 5
CAN_PACKET_VERSION = compute_version_hash(os.path.join(opendbc.INCLUDE_PATH, "opendbc/safety/can.h"))
HEALTH_PACKET_VERSION = compute_version_hash(os.path.join(BASEDIR, "board/health.h"))
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHHHBH")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
@@ -210,7 +209,7 @@ class Panda:
self._serial = serial
self._connect_serial = serial
self._handle_open = True
self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
self.health_version, self.can_version = self.get_packets_versions()
logger.debug("connected")
# disable openpilot's heartbeat checks
@@ -536,7 +535,7 @@ class Panda:
"sound_output_level": a[25],
}
@ensure_can_health_packet_version
@ensure_health_packet_version
def can_health(self, can_number):
LEC_ERROR_CODE = {
0: "No error",
@@ -598,14 +597,11 @@ class Panda:
def get_type(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
# Returns tuple with health packet version and CAN packet/USB packet version
def get_packets_versions(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 3)
if dat and len(dat) == 3:
a = struct.unpack("BBB", dat)
return (a[0], a[1], a[2])
else:
return (0, 0, 0)
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 8)
if dat and len(dat) == 8:
return struct.unpack("<II", dat)
return (0, 0)
def is_internal(self):
return self.get_type() in Panda.INTERNAL_DEVICES

5
python/constants.py
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@@ -1,10 +1,15 @@
import os
import enum
import hashlib
from typing import NamedTuple
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
FW_PATH = os.path.join(BASEDIR, "board/obj/")
def compute_version_hash(filepath):
with open(filepath, "rb") as f:
return int.from_bytes(hashlib.sha256(f.read()).digest()[:4], 'little')
USBPACKET_MAX_SIZE = 0x40
class McuConfig(NamedTuple):

3
tests/hitl/conftest.py
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@@ -53,6 +53,9 @@ def pytest_configure(config):
config.addinivalue_line(
"markers", "panda_expect_can_error: mark test to ignore CAN health errors"
)
config.addinivalue_line(
"markers", "timeout: set test timeout in seconds"
)
@pytest.hookimpl(tryfirst=True)
def pytest_collection_modifyitems(items):