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enable misra-c2012-8.2 (#1829)

This commit is contained in:
Ruben Medina 2024-01-21 16:19:16 -08:00 committed by GitHub
parent df030a9ca8
commit 7d99cb2ef3
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GPG Key ID: B5690EEEBB952194
3 changed files with 28 additions and 37 deletions
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25
board/safety.h
View File

@ -60,9 +60,7 @@ safety_config current_safety_config;
bool safety_rx_hook(const CANPacket_t *to_push) {
bool controls_allowed_prev = controls_allowed;
bool valid = rx_msg_safety_check(to_push, &current_safety_config, current_hooks->get_checksum,
current_hooks->compute_checksum, current_hooks->get_counter,
current_hooks->get_quality_flag_valid);
bool valid = rx_msg_safety_check(to_push, &current_safety_config, current_hooks);
if (valid) {
current_hooks->rx(to_push);
}
@ -223,36 +221,33 @@ void update_addr_timestamp(RxCheck addr_list[], int index) {
}
bool rx_msg_safety_check(const CANPacket_t *to_push,
const safety_config *cfg,
const get_checksum_t get_checksum,
const compute_checksum_t compute_checksum,
const get_counter_t get_counter,
const get_quality_flag_valid_t get_quality_flag_valid) {
const safety_config *cfg,
const safety_hooks *safety_hooks) {
int index = get_addr_check_index(to_push, cfg->rx_checks, cfg->rx_checks_len);
update_addr_timestamp(cfg->rx_checks, index);
if (index != -1) {
// checksum check
if ((get_checksum != NULL) && (compute_checksum != NULL) && cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].check_checksum) {
uint32_t checksum = get_checksum(to_push);
uint32_t checksum_comp = compute_checksum(to_push);
if ((safety_hooks->get_checksum != NULL) && (safety_hooks->compute_checksum != NULL) && cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].check_checksum) {
uint32_t checksum = safety_hooks->get_checksum(to_push);
uint32_t checksum_comp = safety_hooks->compute_checksum(to_push);
cfg->rx_checks[index].status.valid_checksum = checksum_comp == checksum;
} else {
cfg->rx_checks[index].status.valid_checksum = true;
}
// counter check (max_counter == 0 means skip check)
if ((get_counter != NULL) && (cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].max_counter > 0U)) {
uint8_t counter = get_counter(to_push);
if ((safety_hooks->get_counter != NULL) && (cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].max_counter > 0U)) {
uint8_t counter = safety_hooks->get_counter(to_push);
update_counter(cfg->rx_checks, index, counter);
} else {
cfg->rx_checks[index].status.wrong_counters = 0U;
}
// quality flag check
if ((get_quality_flag_valid != NULL) && cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].quality_flag) {
cfg->rx_checks[index].status.valid_quality_flag = get_quality_flag_valid(to_push);
if ((safety_hooks->get_quality_flag_valid != NULL) && cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].quality_flag) {
cfg->rx_checks[index].status.valid_quality_flag = safety_hooks->get_quality_flag_valid(to_push);
} else {
cfg->rx_checks[index].status.valid_quality_flag = true;
}

39
board/safety_declarations.h
View File

@ -149,6 +149,22 @@ typedef uint32_t (*compute_checksum_t)(const CANPacket_t *to_push);
typedef uint8_t (*get_counter_t)(const CANPacket_t *to_push);
typedef bool (*get_quality_flag_valid_t)(const CANPacket_t *to_push);
typedef safety_config (*safety_hook_init)(uint16_t param);
typedef void (*rx_hook)(const CANPacket_t *to_push);
typedef bool (*tx_hook)(const CANPacket_t *to_send);
typedef int (*fwd_hook)(int bus_num, int addr);
typedef struct {
safety_hook_init init;
rx_hook rx;
tx_hook tx;
fwd_hook fwd;
get_checksum_t get_checksum;
compute_checksum_t compute_checksum;
get_counter_t get_counter;
get_quality_flag_valid_t get_quality_flag_valid;
} safety_hooks;
bool safety_rx_hook(const CANPacket_t *to_push);
bool safety_tx_hook(CANPacket_t *to_send);
uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
@ -175,11 +191,8 @@ void update_counter(RxCheck addr_list[], int index, uint8_t counter);
void update_addr_timestamp(RxCheck addr_list[], int index);
bool is_msg_valid(RxCheck addr_list[], int index);
bool rx_msg_safety_check(const CANPacket_t *to_push,
const safety_config *rx_checks,
const get_checksum_t get_checksum,
const compute_checksum_t compute_checksum,
const get_counter_t get_counter,
const get_quality_flag_valid_t get_quality_flag);
const safety_config *cfg,
const safety_hooks *safety_hooks);
void generic_rx_checks(bool stock_ecu_detected);
void relay_malfunction_set(void);
void relay_malfunction_reset(void);
@ -193,22 +206,6 @@ bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limit
bool longitudinal_interceptor_checks(const CANPacket_t *to_send);
void pcm_cruise_check(bool cruise_engaged);
typedef safety_config (*safety_hook_init)(uint16_t param);
typedef void (*rx_hook)(const CANPacket_t *to_push);
typedef bool (*tx_hook)(const CANPacket_t *to_send);
typedef int (*fwd_hook)(int bus_num, int addr);
typedef struct {
safety_hook_init init;
rx_hook rx;
tx_hook tx;
fwd_hook fwd;
get_checksum_t get_checksum;
compute_checksum_t compute_checksum;
get_counter_t get_counter;
get_quality_flag_valid_t get_quality_flag_valid;
} safety_hooks;
void safety_tick(const safety_config *safety_config);
// This can be set by the safety hooks

1
tests/misra/suppressions.txt
View File

@ -22,7 +22,6 @@ misra-config
misra-c2012-1.2 # this is from the extensions (e.g. __typeof__) used in the MIN, MAX, ABS, and CLAMP macros
misra-c2012-2.5
misra-c2012-8.7
misra-c2012-8.2
misra-c2012-8.4
misra-c2012-10.6
misra-c2012-10.3