commaai
/
panda
mirror of https://github.com/commaai/panda.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fix Misra 20.1 violations: Moved safety declarations in its own header and qdded optional input to run misra tests for safety code only.

This commit is contained in:
Riccardo 2019-06-12 06:35:47 -07:00
parent 0e251062c6
commit 55679532aa
3 changed files with 64 additions and 56 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

55
board/safety.h
View File

@ -1,56 +1,5 @@
// sample struct that keeps 3 samples in memory
struct sample_t {
int values[6];
int min;
int max;
} sample_t_default = {{0}, 0, 0};
// safety code requires floats
struct lookup_t {
float x[3];
float y[3];
};
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();
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);
int max_limit_check(int val, const int MAX, const int MIN);
int 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);
int 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 rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
float interpolate(struct lookup_t xy, float x);
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 (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
typedef struct {
safety_hook_init init;
ign_hook ignition;
rx_hook rx;
tx_hook tx;
tx_lin_hook tx_lin;
fwd_hook fwd;
} safety_hooks;
// This can be set by the safety hooks.
int controls_allowed = 0;
int gas_interceptor_detected = 0;
int gas_interceptor_prev = 0;
// This is set by USB command 0xdf
int long_controls_allowed = 1;
// include first, needed by safety policies
#include "safety_declarations.h"
// Include the actual safety policies.
#include "safety/safety_defaults.h"
#include "safety/safety_honda.h"

52
board/safety_declarations.h Normal file
View File

@ -0,0 +1,52 @@
// sample struct that keeps 3 samples in memory
struct sample_t {
int values[6];
int min;
int max;
} sample_t_default = {{0}, 0, 0};
// safety code requires floats
struct lookup_t {
float x[3];
float y[3];
};
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();
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);
int max_limit_check(int val, const int MAX, const int MIN);
int 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);
int 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 rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
float interpolate(struct lookup_t xy, float x);
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 (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
typedef struct {
safety_hook_init init;
ign_hook ignition;
rx_hook rx;
tx_hook tx;
tx_lin_hook tx_lin;
fwd_hook fwd;
} safety_hooks;
// This can be set by the safety hooks.
int controls_allowed = 0;
int gas_interceptor_detected = 0;
int gas_interceptor_prev = 0;
// This is set by USB command 0xdf
int long_controls_allowed = 1;

13
tests/misra/test_misra.sh
View File

@ -1,13 +1,20 @@
#!/bin/bash -e
INPUT1=$1
echo $INPUT1
git clone https://github.com/danmar/cppcheck.git || true
cd cppcheck
git checkout 1584e6236758d54b0d246d41771d67338e0bd41b
make -j4
cd ../../../
# whole panda code
tests/misra/cppcheck/cppcheck --dump --enable=all board/main.c 2>/tmp/misra/cppcheck_output.txt || true
python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2>/tmp/misra/misra_output.txt || true
if [ "$INPUT1" != "safety-only" ]; then
# whole panda code
tests/misra/cppcheck/cppcheck --dump --enable=all board/main.c 2>/tmp/misra/cppcheck_output.txt || true
python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2>/tmp/misra/misra_output.txt || true
fi
# just safety
tests/misra/cppcheck/cppcheck --dump --enable=all board/safety.h 2>/tmp/misra/cppcheck_safety_output.txt || true