remove pedal fw (commaai#1872)

* remove pedal fw

* little more

* one more

* and tests

* rest of it

* little more

* fix linter

* more fix

.github/workflows/test.yaml

@@ -46,7 +46,7 @@ jobs:
         run: eval "$BUILD"
       - name: Test python package installer
         run: ${{ env.RUN }} "python setup.py install"
-      - name: Build panda + pedal images and bootstub
+      - name: Build panda images and bootstub
         run: ${{ env.RUN }} "scons -j4"
       - name: Build panda with SPI support
         run: ${{ env.RUN }} "ENABLE_SPI=1 scons -j4"

Jenkinsfile

@@ -132,13 +132,6 @@ pipeline {
             }
 
             /*
-            stage('pedal tests') {
-              steps {
-                script {
-                  docker_run("test pedal", 1, "PEDAL_JUNGLE=058010800f51363038363036 python ./tests/pedal/test_pedal.py")
-                }
-              }
-            }
             stage('HITL tests') {
               steps {
                 script {

README.md

@@ -3,7 +3,7 @@
 ![panda tests](https://github.com/commaai/panda/workflows/tests/badge.svg)
 ![panda drivers](https://github.com/commaai/panda/workflows/drivers/badge.svg)
 
-panda speaks CAN and CAN FD, and it runs on [STM32F205](https://www.st.com/resource/en/reference_manual/rm0033-stm32f205xx-stm32f207xx-stm32f215xx-and-stm32f217xx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf), [STM32F413](https://www.st.com/resource/en/reference_manual/rm0430-stm32f413423-advanced-armbased-32bit-mcus-stmicroelectronics.pdf), and [STM32H725](https://www.st.com/resource/en/reference_manual/rm0468-stm32h723733-stm32h725735-and-stm32h730-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf).
+panda speaks CAN and CAN FD, and it runs on [STM32F413](https://www.st.com/resource/en/reference_manual/rm0430-stm32f413423-advanced-armbased-32bit-mcus-stmicroelectronics.pdf) and [STM32H725](https://www.st.com/resource/en/reference_manual/rm0468-stm32h723733-stm32h725735-and-stm32h730-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf).
 
 ## Directory structure
 

SConscript

@@ -180,9 +180,6 @@ with open("board/obj/cert.h", "w") as f:
 # panda fw
 SConscript('board/SConscript')
 
-# pedal fw
-SConscript('board/pedal/SConscript')
-
 # panda jungle fw
 SConscript('board/jungle/SConscript')
 

board/SConscript

@@ -12,7 +12,7 @@ for project_name, project in build_projects.items():
   flags = [
     "-DPANDA",
   ]
-  if ("ENABLE_SPI" in os.environ or "h7" in project_name) and not project_name.startswith('pedal'):
+  if ("ENABLE_SPI" in os.environ or "h7" in project_name):
     flags.append('-DENABLE_SPI')
 
   if "H723" in os.environ:

board/can_definitions.h

@@ -8,14 +8,13 @@ const uint8_t PANDA_BUS_CNT = 4U;
 
 #define CANPACKET_HEAD_SIZE 6U
 
-#if !defined(STM32F4) && !defined(STM32F2)
+#if !defined(STM32F4)
   #define CANFD
   #define CANPACKET_DATA_SIZE_MAX 64U
 #else
   #define CANPACKET_DATA_SIZE_MAX 8U
 #endif
 
-#ifndef STM32F2
 typedef struct {
   unsigned char reserved : 1;
   unsigned char bus : 3;
@@ -27,7 +26,6 @@ typedef struct {
   unsigned char checksum;
   unsigned char data[CANPACKET_DATA_SIZE_MAX];
 } __attribute__((packed, aligned(4))) CANPacket_t;
-#endif
 
 const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
 

board/config.h

@@ -36,7 +36,7 @@
 // platform includes
 #ifdef STM32H7
   #include "stm32h7/stm32h7_config.h"
-#elif defined(STM32F2) || defined(STM32F4)
+#elif defined(STM32F4)
   #include "stm32fx/stm32fx_config.h"
 #else
   // TODO: uncomment this, cppcheck complains

board/drivers/usb.h

@@ -198,13 +198,8 @@ uint16_t string_product_desc[] = {
 
 // default serial number when we're not a panda
 uint16_t string_serial_desc[] = {
-#ifdef PEDAL
-  STRING_DESCRIPTOR_HEADER(5),
-  'p', 'e', 'd', 'a', 'l'
-#else
   STRING_DESCRIPTOR_HEADER(4),
   'n', 'o', 'n', 'e'
-#endif
 };
 
 // a string containing the default configuration index

board/drivers/watchdog.h

@@ -1,9 +1,3 @@
-// TODO: why doesn't it define these?
-#ifdef STM32F2
-#define IWDG_PR_PR_Msk 0x7U
-#define IWDG_RLR_RL_Msk 0xFFFU
-#endif
-
 typedef enum {
   WATCHDOG_50_MS = (400U - 1U),
   WATCHDOG_500_MS = 4000U,

board/flasher.h

@@ -50,23 +50,19 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xc3: fetch MCU UID
     case 0xc3:
-      #ifdef UID_BASE
-        (void)memcpy(resp, ((uint8_t *)UID_BASE), 12);
-        resp_len = 12;
-      #endif
+      (void)memcpy(resp, ((uint8_t *)UID_BASE), 12);
+      resp_len = 12;
       break;
     // **** 0xd0: fetch serial number
     case 0xd0:
-      #ifndef STM32F2
-        // addresses are OTP
-        if (req->param1 == 1) {
-          memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
-          resp_len = 0x10;
-        } else {
-          get_provision_chunk(resp);
-          resp_len = PROVISION_CHUNK_LEN;
-        }
-      #endif
+      // addresses are OTP
+      if (req->param1 == 1) {
+        memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
+        resp_len = 0x10;
+      } else {
+        get_provision_chunk(resp);
+        resp_len = PROVISION_CHUNK_LEN;
+      }
       break;
     // **** 0xd1: enter bootloader mode
     case 0xd1:
@@ -147,149 +143,13 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   return resp_len;
 }
 
-#ifdef PEDAL
-
-#include "stm32fx/llbxcan.h"
-#define CANx CAN1
-
-#define CAN_BL_INPUT 0x1
-#define CAN_BL_OUTPUT 0x2
-
-void CAN1_TX_IRQ_Handler(void) {
-  // clear interrupt
-  CANx->TSR |= CAN_TSR_RQCP0;
-}
-
-#define ISOTP_BUF_SIZE 0x110
-
-uint8_t isotp_buf[ISOTP_BUF_SIZE];
-uint8_t *isotp_buf_ptr = NULL;
-int isotp_buf_remain = 0;
-
-uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
-uint8_t *isotp_buf_out_ptr = NULL;
-int isotp_buf_out_remain = 0;
-int isotp_buf_out_idx = 0;
-
-void bl_can_send(uint8_t *odat) {
-  // wait for send
-  while (!(CANx->TSR & CAN_TSR_TME0));
-
-  // send continue
-  CANx->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
-  CANx->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
-  CANx->sTxMailBox[0].TDTR = 8;
-  CANx->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
-}
-
-void CAN1_RX0_IRQ_Handler(void) {
-  while (CANx->RF0R & CAN_RF0R_FMP0) {
-    if ((CANx->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
-      uint8_t dat[8];
-      for (int i = 0; i < 8; i++) {
-        dat[i] = GET_MAILBOX_BYTE(&CANx->sFIFOMailBox[0], i);
-      }
-      uint8_t odat[8];
-      uint8_t type = dat[0] & 0xF0;
-      if (type == 0x30) {
-        // continue
-        while (isotp_buf_out_remain > 0) {
-          // wait for send
-          while (!(CANx->TSR & CAN_TSR_TME0));
-
-          odat[0] = 0x20 | isotp_buf_out_idx;
-          memcpy(odat+1, isotp_buf_out_ptr, 7);
-          isotp_buf_out_remain -= 7;
-          isotp_buf_out_ptr += 7;
-          isotp_buf_out_idx++;
-
-          bl_can_send(odat);
-        }
-      } else if (type == 0x20) {
-        if (isotp_buf_remain > 0) {
-          memcpy(isotp_buf_ptr, dat+1, 7);
-          isotp_buf_ptr += 7;
-          isotp_buf_remain -= 7;
-        }
-        if (isotp_buf_remain <= 0) {
-          int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
-
-          // call the function
-          memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
-          isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
-          isotp_buf_out_ptr = isotp_buf_out;
-          isotp_buf_out_idx = 0;
-
-          // send initial
-          if (isotp_buf_out_remain <= 7) {
-            odat[0] = isotp_buf_out_remain;
-            memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
-          } else {
-            odat[0] = 0x10 | (isotp_buf_out_remain>>8);
-            odat[1] = isotp_buf_out_remain & 0xFF;
-            memcpy(odat+2, isotp_buf_out_ptr, 6);
-            isotp_buf_out_remain -= 6;
-            isotp_buf_out_ptr += 6;
-            isotp_buf_out_idx++;
-          }
-
-          bl_can_send(odat);
-        }
-      } else if (type == 0x10) {
-        int len = ((dat[0]&0xF)<<8) | dat[1];
-
-        // setup buffer
-        isotp_buf_ptr = isotp_buf;
-        memcpy(isotp_buf_ptr, dat+2, 6);
-
-        if (len < (ISOTP_BUF_SIZE-0x10)) {
-          isotp_buf_ptr += 6;
-          isotp_buf_remain = len-6;
-        }
-
-        memset(odat, 0, 8);
-        odat[0] = 0x30;
-        bl_can_send(odat);
-      }
-    }
-    // next
-    CANx->RF0R |= CAN_RF0R_RFOM0;
-  }
-}
-
-void CAN1_SCE_IRQ_Handler(void) {
-  llcan_clear_send(CANx);
-}
-
-#endif
-
 void soft_flasher_start(void) {
-  #ifdef PEDAL
-    REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-    REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-    REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-  #endif
-
   print("\n\n\n************************ FLASHER START ************************\n");
 
   enter_bootloader_mode = 0;
 
   flasher_peripherals_init();
 
-// pedal has the canloader
-#ifdef PEDAL
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-
-  // B8,B9: CAN 1
-  set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
-  set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
-  current_board->enable_can_transceiver(1, true);
-
-  // init can
-  llcan_set_speed(CANx, 5000, false, false);
-  llcan_init(CANx);
-#endif
-
   gpio_usart2_init();
   gpio_usb_init();