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Misra pedal (#245) 

* Fix misra on pedal
master
rbiasini 2019-07-07 16:59:31 -07:00 committed by GitHub
parent a4554e3e69
commit 1f40d1e6a6
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 89 additions and 54 deletions
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2
board/drivers/dac.h
View File

@ -1,4 +1,4 @@
void dac_init() {
void dac_init(void) {
// no buffers required since we have an opamp
//DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
DAC->DHR12R1 = 0;

2
board/pedal/Makefile
View File

@ -1,7 +1,7 @@
# :set noet
PROJ_NAME = comma
CFLAGS = -O2 -Wall -std=gnu11 -DPEDAL
CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes -std=gnu11 -DPEDAL
CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib

129
board/pedal/main.c
View File

@ -19,14 +19,18 @@
#include "drivers/usb.h"
#else
// no serial either
void puts(const char *a) {}
void puth(unsigned int i) {}
void puts(const char *a) {
UNUSED(a);
}
void puth(unsigned int i) {
UNUSED(i);
}
#endif
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
uint32_t enter_bootloader_mode;
void __initialize_hardware_early() {
void __initialize_hardware_early(void) {
early();
}
@ -36,31 +40,54 @@ void __initialize_hardware_early() {
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
putc(ring, rcv);
while (getc(ring, &rcv) != 0) {
(void)putc(ring, rcv);
}
}
int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) { return 0; }
void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {}
void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {}
void usb_cb_enumeration_complete() {}
int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
UNUSED(usbdata);
UNUSED(len);
UNUSED(hardwired);
return 0;
}
void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
UNUSED(usbdata);
UNUSED(len);
UNUSED(hardwired);
}
void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
UNUSED(usbdata);
UNUSED(len);
UNUSED(hardwired);
}
void usb_cb_enumeration_complete(void) {}
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
int resp_len = 0;
UNUSED(hardwired);
unsigned int resp_len = 0;
uart_ring *ur = NULL;
switch (setup->b.bRequest) {
// **** 0xe0: uart read
case 0xe0:
ur = get_ring_by_number(setup->b.wValue.w);
if (!ur) break;
if (ur == &esp_ring) uart_dma_drain();
if (!ur) {
break;
}
if (ur == &esp_ring) {
uart_dma_drain();
}
// read
while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
getc(ur, (char*)&resp[resp_len])) {
++resp_len;
}
break;
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);
puts("\n");
break;
}
return resp_len;
}
@ -76,7 +103,7 @@ uint8_t pedal_checksum(uint8_t *dat, int len) {
for (i = len - 1; i >= 0; i--) {
crc ^= dat[i];
for (j = 0; j < 8; j++) {
if ((crc & 0x80) != 0) {
if ((crc & 0x80U) != 0U) {
crc = (uint8_t)((crc << 1) ^ poly);
}
else {
@ -91,11 +118,11 @@ uint8_t pedal_checksum(uint8_t *dat, int len) {
// addresses to be used on CAN
#define CAN_GAS_INPUT 0x200
#define CAN_GAS_OUTPUT 0x201
#define CAN_GAS_OUTPUT 0x201U
#define CAN_GAS_SIZE 6
#define COUNTER_CYCLE 0xF
#define COUNTER_CYCLE 0xFU
void CAN1_TX_IRQHandler() {
void CAN1_TX_IRQHandler(void) {
// clear interrupt
CAN->TSR |= CAN_TSR_RQCP0;
}
@ -104,25 +131,25 @@ void CAN1_TX_IRQHandler() {
uint16_t gas_set_0 = 0;
uint16_t gas_set_1 = 0;
#define MAX_TIMEOUT 10
#define MAX_TIMEOUT 10U
uint32_t timeout = 0;
uint32_t current_index = 0;
#define NO_FAULT 0
#define FAULT_BAD_CHECKSUM 1
#define FAULT_SEND 2
#define FAULT_SCE 3
#define FAULT_STARTUP 4
#define FAULT_TIMEOUT 5
#define FAULT_INVALID 6
#define NO_FAULT 0U
#define FAULT_BAD_CHECKSUM 1U
#define FAULT_SEND 2U
#define FAULT_SCE 3U
#define FAULT_STARTUP 4U
#define FAULT_TIMEOUT 5U
#define FAULT_INVALID 6U
uint8_t state = FAULT_STARTUP;
void CAN1_RX0_IRQHandler() {
while (CAN->RF0R & CAN_RF0R_FMP0) {
void CAN1_RX0_IRQHandler(void) {
while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
#ifdef DEBUG
puts("CAN RX\n");
#endif
uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
int address = CAN->sFIFOMailBox[0].RIR >> 21;
if (address == CAN_GAS_INPUT) {
// softloader entry
if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
@ -132,6 +159,8 @@ void CAN1_RX0_IRQHandler() {
} else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
} else {
puts("Failed entering Softloader or Bootloader\n");
}
}
@ -145,10 +174,10 @@ void CAN1_RX0_IRQHandler() {
}
uint16_t value_0 = (dat[0] << 8) | dat[1];
uint16_t value_1 = (dat[2] << 8) | dat[3];
uint8_t enable = (dat[4] >> 7) & 1;
bool enable = ((dat[4] >> 7) & 1U) != 0U;
uint8_t index = dat[4] & COUNTER_CYCLE;
if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
if (((current_index + 1) & COUNTER_CYCLE) == index) {
if (((current_index + 1U) & COUNTER_CYCLE) == index) {
#ifdef DEBUG
puts("setting gas ");
puth(value);
@ -159,12 +188,13 @@ void CAN1_RX0_IRQHandler() {
gas_set_1 = value_1;
} else {
// clear the fault state if values are 0
if (value_0 == 0 && value_1 == 0) {
if ((value_0 == 0U) && (value_1 == 0U)) {
state = NO_FAULT;
} else {
state = FAULT_INVALID;
}
gas_set_0 = gas_set_1 = 0;
gas_set_0 = 0;
gas_set_1 = 0;
}
// clear the timeout
timeout = 0;
@ -180,17 +210,18 @@ void CAN1_RX0_IRQHandler() {
}
}
void CAN1_SCE_IRQHandler() {
void CAN1_SCE_IRQHandler(void) {
state = FAULT_SCE;
llcan_clear_send(CAN);
}
int pdl0 = 0, pdl1 = 0;
int pkt_idx = 0;
uint32_t pdl0 = 0;
uint32_t pdl1 = 0;
unsigned int pkt_idx = 0;
int led_value = 0;
void TIM3_IRQHandler() {
void TIM3_IRQHandler(void) {
#ifdef DEBUG
puth(TIM3->CNT);
puts(" ");
@ -203,16 +234,16 @@ void TIM3_IRQHandler() {
// check timer for sending the user pedal and clearing the CAN
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
uint8_t dat[8];
dat[0] = (pdl0>>8) & 0xFF;
dat[1] = (pdl0>>0) & 0xFF;
dat[2] = (pdl1>>8) & 0xFF;
dat[3] = (pdl1>>0) & 0xFF;
dat[4] = (state & 0xF) << 4 | pkt_idx;
dat[0] = (pdl0 >> 8) & 0xFFU;
dat[1] = (pdl0 >> 0) & 0xFFU;
dat[2] = (pdl1 >> 8) & 0xFFU;
dat[3] = (pdl1 >> 0) & 0xFFU;
dat[4] = ((state & 0xFU) << 4) | pkt_idx;
dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1] << 8) | (dat[2] << 16) | (dat[3] << 24);
CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5] << 8);
CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1U;
++pkt_idx;
pkt_idx &= COUNTER_CYCLE;
} else {
@ -233,13 +264,13 @@ void TIM3_IRQHandler() {
if (timeout == MAX_TIMEOUT) {
state = FAULT_TIMEOUT;
} else {
timeout += 1;
timeout += 1U;
}
}
// ***************************** main code *****************************
void pedal() {
void pedal(void) {
// read/write
pdl0 = adc_get(ADCCHAN_ACCEL0);
pdl1 = adc_get(ADCCHAN_ACCEL1);
@ -256,7 +287,7 @@ void pedal() {
watchdog_feed();
}
int main() {
int main(void) {
__disable_irq();
// init devices
@ -274,7 +305,11 @@ int main() {
adc_init();
// init can
llcan_set_speed(CAN1, 5000, false, false);
bool llcan_speed_set = llcan_set_speed(CAN1, 5000, false, false);
if (!llcan_speed_set) {
puts("Failed to set llcan speed");
}
llcan_init(CAN1);
// 48mhz / 65536 ~= 732

8
board/spi_flasher.h
View File

@ -105,7 +105,7 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
}
int is_enumerated = 0;
void usb_cb_enumeration_complete() {
void usb_cb_enumeration_complete(void) {
puts("USB enumeration complete\n");
is_enumerated = 1;
}
@ -151,7 +151,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
#define CAN_BL_INPUT 0x1
#define CAN_BL_OUTPUT 0x2
void CAN1_TX_IRQHandler() {
void CAN1_TX_IRQHandler(void) {
// clear interrupt
CAN->TSR |= CAN_TSR_RQCP0;
}
@ -178,7 +178,7 @@ void bl_can_send(uint8_t *odat) {
CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
}
void CAN1_RX0_IRQHandler() {
void CAN1_RX0_IRQHandler(void) {
while (CAN->RF0R & CAN_RF0R_FMP0) {
if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
uint8_t dat[8];
@ -252,7 +252,7 @@ void CAN1_RX0_IRQHandler() {
}
}
void CAN1_SCE_IRQHandler() {
void CAN1_SCE_IRQHandler(void) {
llcan_clear_send(CAN);
}

2
tests/misra/test_misra.sh
View File

@ -24,5 +24,5 @@ then
fi
# pedal code
tests/misra/cppcheck/cppcheck --suppressions-list=tests/misra/suppressions.txt --dump --enable=all --inline-suppr board/pedal/main.c 2>/tmp/misra/cppcheck_pedal_output.txt || true
tests/misra/cppcheck/cppcheck --suppressions-list=tests/misra/suppressions.txt -I board/ --dump --enable=all --inline-suppr board/pedal/main.c 2>/tmp/misra/cppcheck_pedal_output.txt || true
python tests/misra/cppcheck/addons/misra.py board/pedal/main.c.dump 2>/tmp/misra/misra_pedal_output.txt || true