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misra2.5: safety modes + stm32* (#2032) 

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Maxime Desroches 2024-09-20 15:14:44 -07:00 committed by GitHub
parent 022d1c69a1
commit 144846e4ce
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9 changed files with 7 additions and 18 deletions
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7
board/flasher.h
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@ -1,3 +1,10 @@
// from the linker script
#ifdef STM32H7
#define APP_START_ADDRESS 0x8020000U
#elif defined(STM32F4)
#define APP_START_ADDRESS 0x8004000U
#endif
// flasher state variables // flasher state variables
uint32_t *prog_ptr = NULL; uint32_t *prog_ptr = NULL;
bool unlocked = false; bool unlocked = false;

1
board/safety/safety_mazda.h
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@ -13,7 +13,6 @@
// CAN bus numbers // CAN bus numbers
#define MAZDA_MAIN 0 #define MAZDA_MAIN 0
#define MAZDA_AUX 1
#define MAZDA_CAM 2 #define MAZDA_CAM 2
// track msgs coming from OP so that we know what CAM msgs to drop and what to forward // track msgs coming from OP so that we know what CAM msgs to drop and what to forward

1
board/safety/safety_subaru.h
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@ -27,7 +27,6 @@
#define MSG_SUBARU_Wheel_Speeds 0x13a #define MSG_SUBARU_Wheel_Speeds 0x13a
#define MSG_SUBARU_ES_LKAS 0x122 #define MSG_SUBARU_ES_LKAS 0x122
#define MSG_SUBARU_ES_LKAS_ANGLE 0x124
#define MSG_SUBARU_ES_Brake 0x220 #define MSG_SUBARU_ES_Brake 0x220
#define MSG_SUBARU_ES_Distance 0x221 #define MSG_SUBARU_ES_Distance 0x221
#define MSG_SUBARU_ES_Status 0x222 #define MSG_SUBARU_ES_Status 0x222

5
board/stm32f4/llbxcan_declarations.h
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@ -1,10 +1,5 @@
#pragma once #pragma once
// Flasher and pedal use raw mailbox access
#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
// SAE 2284-3 : minimum 16 tq, SJW 3, sample point at 81.3% // SAE 2284-3 : minimum 16 tq, SJW 3, sample point at 81.3%
#define CAN_QUANTA 16U #define CAN_QUANTA 16U
#define CAN_SEQ1 12U #define CAN_SEQ1 12U

1
board/stm32f4/llusb_declarations.h
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@ -2,7 +2,6 @@
extern USB_OTG_GlobalTypeDef *USBx; extern USB_OTG_GlobalTypeDef *USBx;
#define USBx_HOST ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
#define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE)) #define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
#define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) #define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
#define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) #define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))

3
board/stm32f4/stm32f4_config.h
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@ -2,9 +2,6 @@
#include "stm32f4/inc/stm32f4xx_hal_gpio_ex.h" #include "stm32f4/inc/stm32f4xx_hal_gpio_ex.h"
#define MCU_IDCODE 0x463U #define MCU_IDCODE 0x463U
// from the linker script
#define APP_START_ADDRESS 0x8004000U
#define CORE_FREQ 96U // in MHz #define CORE_FREQ 96U // in MHz
#define APB1_FREQ (CORE_FREQ/2U) #define APB1_FREQ (CORE_FREQ/2U)
#define APB1_TIMER_FREQ (APB1_FREQ*2U) // APB1 is multiplied by 2 for the timer peripherals #define APB1_TIMER_FREQ (APB1_FREQ*2U) // APB1 is multiplied by 2 for the timer peripherals

3
board/stm32h7/llfdcan_declarations.h
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@ -13,11 +13,9 @@
#define CAN_SEG2(tq, sp) ((tq) * (100U - (sp)) / 100U) #define CAN_SEG2(tq, sp) ((tq) * (100U - (sp)) / 100U)
// FDCAN core settings // FDCAN core settings
#define FDCAN_MESSAGE_RAM_SIZE 0x2800UL
#define FDCAN_START_ADDRESS 0x4000AC00UL #define FDCAN_START_ADDRESS 0x4000AC00UL
#define FDCAN_OFFSET 3384UL // bytes for each FDCAN module, equally #define FDCAN_OFFSET 3384UL // bytes for each FDCAN module, equally
#define FDCAN_OFFSET_W 846UL // words for each FDCAN module, equally #define FDCAN_OFFSET_W 846UL // words for each FDCAN module, equally
#define FDCAN_END_ADDRESS 0x4000D3FCUL // Message RAM has a width of 4 bytes
// FDCAN_RX_FIFO_0_EL_CNT + FDCAN_TX_FIFO_EL_CNT can't exceed 47 elements (47 * 72 bytes = 3,384 bytes) per FDCAN module // FDCAN_RX_FIFO_0_EL_CNT + FDCAN_TX_FIFO_EL_CNT can't exceed 47 elements (47 * 72 bytes = 3,384 bytes) per FDCAN module
@ -34,7 +32,6 @@
#define FDCAN_TX_FIFO_HEAD_SIZE 8UL // bytes #define FDCAN_TX_FIFO_HEAD_SIZE 8UL // bytes
#define FDCAN_TX_FIFO_DATA_SIZE 64UL // bytes #define FDCAN_TX_FIFO_DATA_SIZE 64UL // bytes
#define FDCAN_TX_FIFO_EL_SIZE (FDCAN_TX_FIFO_HEAD_SIZE + FDCAN_TX_FIFO_DATA_SIZE) #define FDCAN_TX_FIFO_EL_SIZE (FDCAN_TX_FIFO_HEAD_SIZE + FDCAN_TX_FIFO_DATA_SIZE)
#define FDCAN_TX_FIFO_EL_W_SIZE (FDCAN_TX_FIFO_EL_SIZE / 4UL)
#define FDCAN_TX_FIFO_OFFSET (FDCAN_RX_FIFO_0_OFFSET + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_W_SIZE)) #define FDCAN_TX_FIFO_OFFSET (FDCAN_RX_FIFO_0_OFFSET + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_W_SIZE))
#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? "FDCAN1" : (((CAN_DEV) == FDCAN2) ? "FDCAN2" : "FDCAN3")) #define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? "FDCAN1" : (((CAN_DEV) == FDCAN2) ? "FDCAN2" : "FDCAN3"))

1
board/stm32h7/llusb_declarations.h
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@ -2,7 +2,6 @@
extern USB_OTG_GlobalTypeDef *USBx; extern USB_OTG_GlobalTypeDef *USBx;
#define USBx_HOST ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
#define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE)) #define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
#define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) #define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
#define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) #define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))

3
board/stm32h7/stm32h7_config.h
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@ -2,9 +2,6 @@
#include "stm32h7/inc/stm32h7xx_hal_gpio_ex.h" #include "stm32h7/inc/stm32h7xx_hal_gpio_ex.h"
#define MCU_IDCODE 0x483U #define MCU_IDCODE 0x483U
// from the linker script
#define APP_START_ADDRESS 0x8020000U
#define CORE_FREQ 240U // in Mhz #define CORE_FREQ 240U // in Mhz
//APB1 - 120Mhz, APB2 - 120Mhz //APB1 - 120Mhz, APB2 - 120Mhz
#define APB1_FREQ (CORE_FREQ/4U) #define APB1_FREQ (CORE_FREQ/4U)