Strict compiler (#222)

have no Wall warnings from the strict compiler and enforcing it in the regression test.

.circleci/config.yml

@@ -51,7 +51,7 @@ jobs:
       - 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"
+            docker run panda_strict_compiler /bin/bash -c "cd /panda/tests/build_strict; ./test_build_strict.sh"
 
   build:
     machine:

board/drivers/adc.h

@@ -8,7 +8,7 @@
 #define ADCCHAN_VOLTAGE 12
 #define ADCCHAN_CURRENT 13
 
-void adc_init() {
+void adc_init(void) {
   // global setup
   ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
   //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;

board/drivers/can.h

@@ -23,7 +23,7 @@ extern uint32_t can_speed[];
 void can_set_forwarding(int from, int to);
 
 void can_init(uint8_t can_number);
-void can_init_all();
+void can_init_all(void);
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
 int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 
@@ -155,7 +155,7 @@ void can_init(uint8_t can_number) {
   process_can(can_number);
 }
 
-void can_init_all() {
+void can_init_all(void) {
   for (int i=0; i < CAN_MAX; i++) {
     can_init(i);
   }
@@ -329,17 +329,17 @@ void can_rx(uint8_t can_number) {
   }
 }
 
-void CAN1_TX_IRQHandler() { process_can(0); }
-void CAN1_RX0_IRQHandler() { can_rx(0); }
-void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
+void CAN1_TX_IRQHandler(void) { process_can(0); }
+void CAN1_RX0_IRQHandler(void) { can_rx(0); }
+void CAN1_SCE_IRQHandler(void) { can_sce(CAN1); }
 
-void CAN2_TX_IRQHandler() { process_can(1); }
-void CAN2_RX0_IRQHandler() { can_rx(1); }
-void CAN2_SCE_IRQHandler() { can_sce(CAN2); }
+void CAN2_TX_IRQHandler(void) { process_can(1); }
+void CAN2_RX0_IRQHandler(void) { can_rx(1); }
+void CAN2_SCE_IRQHandler(void) { can_sce(CAN2); }
 
-void CAN3_TX_IRQHandler() { process_can(2); }
-void CAN3_RX0_IRQHandler() { can_rx(2); }
-void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
+void CAN3_TX_IRQHandler(void) { process_can(2); }
+void CAN3_RX0_IRQHandler(void) { can_rx(2); }
+void CAN3_SCE_IRQHandler(void) { can_sce(CAN3); }
 
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
   if (safety_tx_hook(to_push)) {

board/drivers/clock.h

@@ -1,4 +1,4 @@
-void clock_init() {
+void clock_init(void) {
   // enable external oscillator
   RCC->CR |= RCC_CR_HSEON;
   while ((RCC->CR & RCC_CR_HSERDY) == 0);
@@ -25,7 +25,7 @@ void clock_init() {
   // *** running on PLL ***
 }
 
-void watchdog_init() {
+void watchdog_init(void) {
   // setup watchdog
   IWDG->KR = 0x5555;
   IWDG->PR = 0;          // divider /4
@@ -34,7 +34,7 @@ void watchdog_init() {
   IWDG->KR = 0xCCCC;
 }
 
-void watchdog_feed() {
+void watchdog_feed(void) {
   IWDG->KR = 0xAAAA;
 }
 

board/drivers/gmlan_alt.h

@@ -9,7 +9,7 @@
 
 #define MAX_BITS_CAN_PACKET (200)
 
-int gmlan_alt_mode = DISABLED; 
+int gmlan_alt_mode = DISABLED;
 
 // returns out_len
 int do_bitstuff(char *out, char *in, int in_len) {
@@ -82,7 +82,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   // test packet
   int dlc_len = to_bang->RDTR & 0xF;
   len = append_int(pkt, len, 0, 1);    // Start-of-frame
-  
+
   if (to_bang->RIR & 4) {
     // extended identifier
     len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
@@ -114,7 +114,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   return len;
 }
 
-void setup_timer4() {
+void setup_timer4(void) {
   // setup
   TIM4->PSC = 48-1;          // tick on 1 us
   TIM4->CR1 = TIM_CR1_CEN;   // enable
@@ -131,7 +131,7 @@ void setup_timer4() {
 int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
 int can_timeout_counter = GMLAN_TICKS_PER_SECOND; //1 second
 
-int inverted_bit_to_send = GMLAN_HIGH; 
+int inverted_bit_to_send = GMLAN_HIGH;
 int gmlan_switch_below_timeout = -1;
 int gmlan_switch_timeout_enable = 0;
 
@@ -140,9 +140,9 @@ void gmlan_switch_init(int timeout_enable) {
   gmlan_alt_mode = GPIO_SWITCH;
   gmlan_switch_below_timeout = 1;
   set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-  
+
   setup_timer4();
-  
+
   inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
 }
 

board/drivers/llgpio.h

@@ -39,6 +39,6 @@ void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
 }
 
 int get_gpio_input(GPIO_TypeDef *GPIO, int pin) {
-  return (GPIO->IDR & (1 << pin)) == (1 << pin);
+  return (GPIO->IDR & (1U << pin)) == (1U << pin);
 }
 

board/drivers/spi.h

@@ -1,6 +1,6 @@
 // IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
 
-void spi_init();
+void spi_init(void);
 int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
 
 // end API
@@ -10,7 +10,7 @@ uint8_t spi_buf[SPI_BUF_SIZE];
 int spi_buf_count = 0;
 int spi_total_count = 0;
 
-void spi_init() {
+void spi_init(void) {
   //puts("SPI init\n");
   SPI1->CR1 = SPI_CR1_SPE;
 

board/drivers/uart.h

@@ -203,7 +203,7 @@ void uart_set_baud(USART_TypeDef *u, int baud) {
 #define USART1_DMA_LEN 0x20
 char usart1_dma[USART1_DMA_LEN];
 
-void uart_dma_drain() {
+void uart_dma_drain(void) {
   uart_ring *q = &esp_ring;
 
   enter_critical_section();
@@ -214,8 +214,8 @@ void uart_dma_drain() {
     DMA2_Stream5->CR &= ~DMA_SxCR_EN;
     while (DMA2_Stream5->CR & DMA_SxCR_EN);
 
-    int i;
-    for (i = 0; i < USART1_DMA_LEN - DMA2_Stream5->NDTR; i++) {
+    unsigned int i;
+    for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
       char c = usart1_dma[i];
       uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
       if (next_w_ptr != q->r_ptr_rx) {

board/drivers/usb.h

@@ -23,12 +23,12 @@ typedef union _USB_Setup {
 }
 USB_Setup_TypeDef;
 
-void usb_init();
+void usb_init(void);
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired);
 int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
 void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
 void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
-void usb_cb_enumeration_complete();
+void usb_cb_enumeration_complete(void);
 
 // **** supporting defines ****
 
@@ -445,7 +445,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
   }
 }
 
-void usb_reset() {
+void usb_reset(void) {
   // unmask endpoint interrupts, so many sets
   USBx_DEVICE->DAINT = 0xFFFFFFFF;
   USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
@@ -496,7 +496,7 @@ char to_hex_char(int a) {
   }
 }
 
-void usb_setup() {
+void usb_setup(void) {
   int resp_len;
   // setup packet is ready
   switch (setup.b.bRequest) {
@@ -663,7 +663,7 @@ void usb_setup() {
   }
 }
 
-void usb_init() {
+void usb_init(void) {
   // full speed PHY, do reset and remove power down
   /*puth(USBx->GRSTCTL);
   puts(" resetting PHY\n");*/

board/gpio.h

@@ -29,7 +29,7 @@ int detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
 }
 
 // must call again from main because BSS is zeroed
-void detect() {
+void detect(void) {
   // detect has_external_debug_serial
   has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
 
@@ -63,7 +63,7 @@ void detect() {
 
 // ********************* bringup *********************
 
-void periph_init() {
+void periph_init(void) {
   // enable GPIOB, UART2, CAN, USB clock
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
@@ -246,7 +246,7 @@ void set_esp_mode(int mode) {
 // ********************* big init function *********************
 
 // board specific
-void gpio_init() {
+void gpio_init(void) {
   // pull low to hold ESP in reset??
   // enable OTG out tied to ground
   GPIOA->ODR = 0;
@@ -366,7 +366,7 @@ void gpio_init() {
 extern void *g_pfnVectors;
 extern uint32_t enter_bootloader_mode;
 
-void jump_to_bootloader() {
+void jump_to_bootloader(void) {
   // do enter bootloader
   enter_bootloader_mode = 0;
   void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
@@ -379,7 +379,7 @@ void jump_to_bootloader() {
   NVIC_SystemReset();
 }
 
-void early() {
+void early(void) {
   // after it's been in the bootloader, things are initted differently, so we reset
   if (enter_bootloader_mode != BOOT_NORMAL &&
       enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC &&

board/libc.h

@@ -1,12 +1,12 @@
-// **** shitty libc ****
+// **** libc ****
 
 void delay(int a) {
   volatile int i;
-  for (i=0;i<a;i++);
+  for (i = 0; i < a; i++);
 }
 
 void *memset(void *str, int c, unsigned int n) {
-  int i;
+  unsigned int i;
   for (i = 0; i < n; i++) {
     *((uint8_t*)str) = c;
     ++str;
@@ -15,7 +15,7 @@ void *memset(void *str, int c, unsigned int n) {
 }
 
 void *memcpy(void *dest, const void *src, unsigned int n) {
-  int i;
+  unsigned int i;
   // TODO: make not slow
   for (i = 0; i < n; i++) {
     ((uint8_t*)dest)[i] = *(uint8_t*)src;
@@ -25,7 +25,7 @@ void *memcpy(void *dest, const void *src, unsigned int n) {
 }
 
 int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
-  int i;
+  unsigned int i;
   for (i = 0; i < num; i++) {
     if ( ((uint8_t*)ptr1)[i] != ((uint8_t*)ptr2)[i] ) return -1;
   }
@@ -35,19 +35,19 @@ int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
 // ********************* IRQ helpers *********************
 
 int interrupts_enabled = 0;
-void enable_interrupts() {
+void enable_interrupts(void) {
   interrupts_enabled = 1;
   __enable_irq();
 }
 
 int critical_depth = 0;
-void enter_critical_section() {
+void enter_critical_section(void) {
   __disable_irq();
   // this is safe because interrupts are disabled
   critical_depth += 1;
 }
 
-void exit_critical_section() {
+void exit_critical_section(void) {
   // this is safe because interrupts are disabled
   critical_depth -= 1;
   if (critical_depth == 0 && interrupts_enabled) {

board/main.c

@@ -61,12 +61,12 @@ void debug_ring_callback(uart_ring *ring) {
 
 // ***************************** started logic *****************************
 
-int is_gpio_started() {
+int is_gpio_started(void) {
   // ignition is on PA1
   return (GPIOA->IDR & (1 << 1)) == 0;
 }
 
-void EXTI1_IRQHandler() {
+void EXTI1_IRQHandler(void) {
   volatile int pr = EXTI->PR & (1 << 1);
   if (pr & (1 << 1)) {
     #ifdef DEBUG
@@ -86,7 +86,7 @@ void EXTI1_IRQHandler() {
   }
 }
 
-void started_interrupt_init() {
+void started_interrupt_init(void) {
   SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
   EXTI->IMR |= (1 << 1);
   EXTI->RTSR |= (1 << 1);
@@ -140,6 +140,7 @@ int get_health_pkt(void *dat) {
 }
 
 int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) {
+  UNUSED(hardwired);
   CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
   int ilen = 0;
   while (ilen < MIN(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) ilen++;
@@ -148,6 +149,7 @@ int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) {
 
 // send on serial, first byte to select the ring
 void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
+  UNUSED(hardwired);
   if (len == 0) return;
   uart_ring *ur = get_ring_by_number(usbdata[0]);
   if (!ur) return;
@@ -158,6 +160,7 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
 
 // send on CAN
 void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
+  UNUSED(hardwired);
   int dpkt = 0;
   for (dpkt = 0; dpkt < len; dpkt += 0x10) {
     uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
@@ -461,7 +464,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   // data[0]  = endpoint
   // data[2]  = length
   // data[4:] = data
-
+  UNUSED(len);
   int resp_len = 0;
   switch (data[0]) {
     case 0:
@@ -487,11 +490,11 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
 
 // ***************************** main code *****************************
 
-void __initialize_hardware_early() {
+void __initialize_hardware_early(void) {
   early();
 }
 
-void __attribute__ ((noinline)) enable_fpu() {
+void __attribute__ ((noinline)) enable_fpu(void) {
   // enable the FPU
   SCB->CPACR |= ((3UL << (10 * 2)) | (3UL << (11 * 2)));
 }
@@ -500,7 +503,7 @@ uint64_t tcnt = 0;
 uint64_t marker = 0;
 
 // called once per second
-void TIM3_IRQHandler() {
+void TIM3_IRQHandler(void) {
   #define CURRENT_THRESHOLD 0xF00
   #define CLICKS 5 // 5 seconds to switch modes
 
@@ -588,7 +591,7 @@ void TIM3_IRQHandler() {
   TIM3->SR = 0;
 }
 
-int main() {
+int main(void) {
   // shouldn't have interrupts here, but just in case
   __disable_irq();
 

board/power_saving.h

@@ -23,7 +23,7 @@ void power_save_enable(void) {
   if (is_grey_panda) {
     char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
     uart_ring *ur = get_ring_by_number(1);
-    for (int i = 0; i < sizeof(UBLOX_SLEEP_MSG)-1; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
+    for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG)-1; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
   }
 
   power_save_status = POWER_SAVE_STATUS_ENABLED;
@@ -49,7 +49,7 @@ void power_save_disable(void) {
   if (is_grey_panda) {
     char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
     uart_ring *ur = get_ring_by_number(1);
-    for (int i = 0; i < sizeof(UBLOX_WAKE_MSG)-1; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
+    for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG)-1; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
   }
 
   power_save_status = POWER_SAVE_STATUS_DISABLED;

board/safety/safety_cadillac.h

@@ -115,11 +115,12 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static void cadillac_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
   cadillac_ign = 0;
 }
 
-static int cadillac_ign_hook() {
+static int cadillac_ign_hook(void) {
   return cadillac_ign;
 }
 

board/safety/safety_chrysler.h

@@ -112,6 +112,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static void chrysler_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
   chrysler_camera_detected = 0;
 }

board/safety/safety_defaults.h

@@ -1,24 +1,33 @@
-void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
+void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  UNUSED(to_push);
+}
 
-int default_ign_hook() {
+int default_ign_hook(void) {
   return -1; // use GPIO to determine ignition
 }
 
 // *** no output safety mode ***
 
 static void nooutput_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
 }
 
 static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  UNUSED(to_send);
   return false;
 }
 
 static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+  UNUSED(lin_num);
+  UNUSED(data);
+  UNUSED(len);
   return false;
 }
 
 static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  UNUSED(bus_num);
+  UNUSED(to_fwd);
   return -1;
 }
 
@@ -34,14 +43,19 @@ const safety_hooks nooutput_hooks = {
 // *** all output safety mode ***
 
 static void alloutput_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 1;
 }
 
 static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  UNUSED(to_send);
   return true;
 }
 
 static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+  UNUSED(lin_num);
+  UNUSED(data);
+  UNUSED(len);
   return true;
 }
 

board/safety/safety_gm.h

@@ -225,11 +225,12 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static void gm_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
   gm_ignition_started = 0;
 }
 
-static int gm_ign_hook() {
+static int gm_ign_hook(void) {
   return gm_ignition_started;
 }
 

board/safety/safety_honda.h

@@ -149,6 +149,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static void honda_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
   honda_bosch_hardware = false;
   honda_alt_brake_msg = false;

board/safety/safety_hyundai.h

@@ -145,6 +145,7 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 }
 
 static void hyundai_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
   hyundai_giraffe_switch_2 = 0;
 }

board/safety/safety_tesla.h

@@ -181,12 +181,13 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static void tesla_init(int16_t param) {
+  UNUSED(param);
   controls_allowed = 0;
   tesla_ignition_started = 0;
   gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
 }
 
-static int tesla_ign_hook() {
+static int tesla_ign_hook(void) {
   return tesla_ignition_started;
 }
 

board/safety_declarations.h

@@ -18,7 +18,7 @@ struct lookup_t {
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
-int safety_ignition_hook();
+int safety_ignition_hook(void);
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
 int to_signed(int d, int bits);
 void update_sample(struct sample_t *sample, int sample_new);
@@ -35,7 +35,7 @@ typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
 typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
-typedef int (*ign_hook)();
+typedef int (*ign_hook)(void);
 typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
 
 typedef struct {

tests/build_strict/test_build_strict.sh

@@ -0,0 +1,15 @@
+#!/bin/bash -e
+
+cd ../../board/
+
+make -f Makefile.strict clean
+make -f Makefile.strict bin 2> compiler_output.txt
+
+
+if [[ -s "compiler_output.txt" ]]
+then
+  echo "Found alerts from the compiler:"
+  cat compiler_output.txt
+  exit 1
+fi
+      

tests/safety/test.c

@@ -42,6 +42,7 @@ TIM_TypeDef *TIM2 = &timer;
     __typeof__ (b) _b = (b);                    \
     _a > _b ? _a : _b; })
 
+#define UNUSED(x) (void)(x)
 
 #define PANDA
 #define NULL ((void*)0)