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Macro can trigger Misra violation due redef of var before their use

master
Riccardo 2019-06-17 15:29:04 -07:00
parent 05487e29d7
commit 65fb5a48e7
1 changed files with 9 additions and 9 deletions
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18
board/safety.h
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@ -139,15 +139,15 @@ bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
// *** val rate limit check ***
int highest_allowed_val = MAX(val_last, 0) + MAX_RATE_UP;
int lowest_allowed_val = MIN(val_last, 0) - MAX_RATE_UP;
int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
// if we've exceeded the meas val, we must start moving toward 0
highest_allowed_val = MIN(highest_allowed_val, MAX(val_last - MAX_RATE_DOWN, MAX(val_meas->max, 0) + MAX_ERROR));
lowest_allowed_val = MAX(lowest_allowed_val, MIN(val_last + MAX_RATE_DOWN, MIN(val_meas->min, 0) - MAX_ERROR));
int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN, MAX(val_meas->max, 0) + MAX_ERROR));
int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN, MIN(val_meas->min, 0) - MAX_ERROR));
// check for violation
return (val < lowest_allowed_val) || (val > highest_allowed_val);
return (val < lowest_allowed) || (val > highest_allowed);
}
// check that commanded value isn't fighting against driver
@ -155,16 +155,16 @@ bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
const int MAX_ALLOWANCE, const int DRIVER_FACTOR) {
int highest_allowed = MAX(val_last, 0) + MAX_RATE_UP;
int lowest_allowed = MIN(val_last, 0) - MAX_RATE_UP;
int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
int driver_max_limit = MAX + (MAX_ALLOWANCE + val_driver->max) * DRIVER_FACTOR;
int driver_min_limit = -MAX + (-MAX_ALLOWANCE + val_driver->min) * DRIVER_FACTOR;
// if we've exceeded the applied torque, we must start moving toward 0
highest_allowed = MIN(highest_allowed, MAX(val_last - MAX_RATE_DOWN,
int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN,
MAX(driver_max_limit, 0)));
lowest_allowed = MAX(lowest_allowed, MIN(val_last + MAX_RATE_DOWN,
int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN,
MIN(driver_min_limit, 0)));
// check for violation