Misra c2012 (#192)

* Started making panda misra compliant: this fixes some of 12.1 warnings

* Also added a regression test for strict compiler warning

.circleci/config.yml

@@ -12,6 +12,37 @@ jobs:
           name: Run safety test
           command: |
             docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+
+  misra-c2012:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_misra -f tests/misra/Dockerfile ."
+      - run:
+          name: Run Misra C 2012 test
+          command: |
+            mkdir /tmp/misra
+            docker run -v /tmp/misra:/tmp/misra panda_misra /bin/bash -c "cd /panda/tests/misra; ./test_misra.sh"
+      - store_artifacts:
+          name: Store misra test output
+          path: /tmp/misra/output.txt
+
+  strict-compiler:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_strict_compiler -f tests/build_strict/Dockerfile ."
+      - run:
+          name: Build Panda with strict compiler rules
+          command: |
+            docker run panda_strict_compiler /bin/bash -c "cd /panda/board; make -f Makefile.strict clean; make -f Makefile.strict bin"
+
   build:
     machine:
       docker_layer_caching: true
@@ -54,4 +85,6 @@ workflows:
   main:
     jobs:
       - safety
+      - misra-c2012
+      - strict-compiler
       - build

board/Makefile.strict

@@ -0,0 +1,8 @@
+PROJ_NAME = panda
+CFLAGS = -g -Wall -Wextra -pedantic -Wstrict-prototypes
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
+CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+STARTUP_FILE = startup_stm32f413xx
+
+include build.mk

board/drivers/can.h

@@ -504,15 +504,17 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
       // add CAN packet to send queue
       // bus number isn't passed through
       to_push->RDTR &= 0xF;
+      #ifdef PANDA
       if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
-        #ifdef PANDA
         // TODO: why uint8 bro? only int8?
         bitbang_gmlan(to_push);
-        #endif
       } else {
+      #endif
         can_push(can_queues[bus_number], to_push);
         process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
+      #ifdef PANDA
       }
+      #endif
     }
   }
 }

board/main.c

@@ -282,7 +282,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       // this is the only way to leave silent mode
       // and it's blocked over WiFi
       // Allow ELM security mode to be set over wifi.
-      if (hardwired || setup->b.wValue.w == SAFETY_NOOUTPUT || setup->b.wValue.w == SAFETY_ELM327) {
+      if (hardwired || (setup->b.wValue.w == SAFETY_NOOUTPUT) || (setup->b.wValue.w == SAFETY_ELM327)) {
         safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
         switch (setup->b.wValue.w) {
           case SAFETY_NOOUTPUT:
@@ -308,10 +308,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     case 0xdd:
       // wValue = Can Bus Num to forward from
       // wIndex = Can Bus Num to forward to
-      if (setup->b.wValue.w < BUS_MAX && setup->b.wIndex.w < BUS_MAX &&
-          setup->b.wValue.w != setup->b.wIndex.w) { // set forwarding
+      if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
+          (setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
         can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
-      } else if(setup->b.wValue.w < BUS_MAX && setup->b.wIndex.w == 0xFF){ //Clear Forwarding
+      } else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFF)){ //Clear Forwarding
         can_set_forwarding(setup->b.wValue.w, -1);
       }
       break;
@@ -502,7 +502,7 @@ void __initialize_hardware_early() {
 
 void __attribute__ ((noinline)) enable_fpu() {
   // enable the FPU
-  SCB->CPACR |= ((3UL << 10*2) | (3UL << 11*2));
+  SCB->CPACR |= ((3UL << (10 * 2)) | (3UL << (11 * 2)));
 }
 
 int main() {
@@ -520,7 +520,7 @@ int main() {
   // detect the revision and init the GPIOs
   puts("config:\n");
   #ifdef PANDA
-    puts(revision == PANDA_REV_C ? "  panda rev c\n" : "  panda rev a or b\n");
+    puts((revision == PANDA_REV_C) ? "  panda rev c\n" : "  panda rev a or b\n");
   #else
     puts("  legacy\n");
   #endif
@@ -641,7 +641,7 @@ int main() {
           // been CLICKS clicks since we switched to CDP
           if ((cnt-marker) >= CLICKS) {
             // measure current draw, if positive and no enumeration, switch to DCP
-            if (!is_enumerated && current < CURRENT_THRESHOLD) {
+            if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
               puts("USBP: no enumeration with current draw, switching to DCP mode\n");
               set_usb_power_mode(USB_POWER_DCP);
               marker = cnt;
@@ -693,7 +693,7 @@ int main() {
 
     for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) {
       for (int fade = 0; fade < 1024; fade += 8) {
-        for (int i = 0; i < 128/div_mode; i++) {
+        for (int i = 0; i < (128/div_mode); i++) {
           set_led(LED_RED, 0);
           if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
           set_led(LED_RED, 1);

tests/build_strict/Dockerfile

@@ -0,0 +1,9 @@
+FROM ubuntu:16.04
+
+RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++
+
+RUN pip install pycrypto==2.6.1
+
+COPY . /panda
+
+WORKDIR /panda

tests/misra/Dockerfile

@@ -0,0 +1,6 @@
+FROM ubuntu:16.04
+
+RUN apt-get update && apt-get install -y make python python-pip git
+COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
+RUN pip install -r /panda/tests/safety/requirements.txt
+COPY . /panda

tests/misra/test_misra.sh

@@ -0,0 +1,8 @@
+#!/bin/bash -e
+git clone https://github.com/danmar/cppcheck.git || true
+cd cppcheck
+git checkout 29e5992e51ecf1ddba469c73a0eed0b28b131de5
+make -j4
+cd ../../../
+tests/misra/cppcheck/cppcheck --dump board/main.c
+python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2>/tmp/misra/output.txt || true