Enable misra-c2012-10.6

board/safety/safety_chrysler.h

@@ -183,7 +183,14 @@ static void chrysler_rx_hook(const CANPacket_t *to_push) {
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2;
+  int das_bus_init = -1;
+  if (chrysler_platform == CHRYSLER_PACIFICA) {
+    das_bus_init = 0;
+  } else {
+    das_bus_init = 2;
+  }
+
+  const int das_3_bus = das_bus_init;
   if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
     bool cruise_engaged = GET_BIT(to_push, 21U);
     pcm_cruise_check(cruise_engaged);
@@ -219,7 +226,13 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
 
   // STEERING
   if (addr == chrysler_addrs->LKAS_COMMAND) {
-    int start_byte = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 1;
+    int start_byte = -1;
+    if (chrysler_platform == CHRYSLER_PACIFICA) {
+      start_byte = 0;
+    } else {
+      start_byte = 1;
+    }
+
     int desired_torque = ((GET_BYTE(to_send, start_byte) & 0x7U) << 8) | GET_BYTE(to_send, start_byte + 1);
     desired_torque -= 1024;
 

board/safety/safety_honda.h

@@ -248,8 +248,13 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
       }
     }
   }
-
-  int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2;  // radar bus, car side
+  int bus_rdr_car = -1;
+  if (honda_hw == HONDA_BOSCH) {
+    bus_rdr_car = 0;
+  } else {
+    bus_rdr_car = 2;
+  }
+
   bool stock_ecu_detected = false;
 
   // If steering controls messages are received on the destination bus, it's an indication

board/safety/safety_hyundai_canfd.h

@@ -156,7 +156,14 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);
 
-  const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
+  int pt_bus_init = -1;
+  if (hyundai_canfd_hda2) {
+    pt_bus_init = 1;
+  } else {
+    pt_bus_init = 0;
+  }
+
+  const int pt_bus = pt_bus_init;
   const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
 
   if (bus == pt_bus) {
@@ -168,7 +175,14 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
     }
 
     // cruise buttons
-    const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
+    int button_addr_init = -1;
+    if (hyundai_canfd_alt_buttons) {
+      button_addr_init = 0x1aa;
+    } else {
+      button_addr_init = 0x1cf;
+    }
+
+    const int button_addr = button_addr_init;
     if (addr == button_addr) {
       bool main_button = false;
       int cruise_button = 0;
@@ -220,7 +234,14 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
   if (hyundai_longitudinal) {
     // on HDA2, ensure ADRV ECU is still knocked out
     // on others, ensure accel msg is blocked from camera
-    const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0;
+    int stock_scc_bus_init = -1;
+    if (hyundai_canfd_hda2) {
+      stock_scc_bus_init = 1;
+    } else {
+      stock_scc_bus_init = 0;
+    }
+
+    const int stock_scc_bus = stock_scc_bus_init;
     stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
   }
   generic_rx_checks(stock_ecu_detected);
@@ -294,7 +315,13 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
   }
   if (bus_num == 2) {
     // LKAS for HDA2, LFA for HDA1
-    int hda2_lfa_block_addr = hyundai_canfd_hda2_alt_steering ? 0x362 : 0x2a4;
+    int hda2_lfa_block_addr = -1;
+    if (hyundai_canfd_hda2_alt_steering) {
+      hda2_lfa_block_addr = 0x362;
+    } else {
+      hda2_lfa_block_addr = 0x2a4;
+    }
+
     bool is_lkas_msg = ((addr == hyundai_canfd_hda2_get_lkas_addr()) || (addr == hda2_lfa_block_addr)) && hyundai_canfd_hda2;
     bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);
 

board/safety/safety_subaru.h

@@ -135,7 +135,13 @@ static uint32_t subaru_compute_checksum(const CANPacket_t *to_push) {
 
 static void subaru_rx_hook(const CANPacket_t *to_push) {
   const int bus = GET_BUS(to_push);
-  const int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
+  int alt_main_bus_init = -1;
+  if (subaru_gen2) {
+    alt_main_bus_init = SUBARU_ALT_BUS;
+  } else {
+    alt_main_bus_init = SUBARU_MAIN_BUS;
+  }
+  const int alt_main_bus = alt_main_bus_init;
 
   int addr = GET_ADDR(to_push);
   if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {

board/safety/safety_tesla.h

@@ -98,7 +98,13 @@ static void tesla_rx_hook(const CANPacket_t *to_push) {
   }
 
   if (bus == 2) {
-    int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
+    int das_control_addr = -1;
+    if (tesla_powertrain) {
+      das_control_addr = 0x2bf;
+    } else {
+      das_control_addr = 0x2b9;
+    }
+
     if (tesla_longitudinal && (addr == das_control_addr)) {
       // "AEB_ACTIVE"
       tesla_stock_aeb = ((GET_BYTE(to_push, 2) & 0x03U) == 1U);
@@ -184,7 +190,12 @@ static int tesla_fwd_hook(int bus_num, int addr) {
 
   if(bus_num == 2) {
     // Autopilot to chassis/PT
-    int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
+    int das_control_addr = -1;
+    if (tesla_powertrain) {
+      das_control_addr = 0x2bf;
+    } else {
+      das_control_addr = 0x2b9;
+    }
 
     bool block_msg = false;
     if (!tesla_powertrain && (addr == 0x488)) {

board/safety/safety_volkswagen_pq.h

@@ -70,7 +70,12 @@ static uint32_t volkswagen_pq_compute_checksum(const CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
   int len = GET_LEN(to_push);
   uint8_t checksum = 0U;
-  int checksum_byte = (addr == MSG_MOTOR_5) ? 7 : 0;
+  int checksum_byte = -1;
+  if (addr == MSG_MOTOR_5) {
+    checksum_byte = 7;
+  } else {
+    checksum_byte = 0;
+  }
 
   // Simple XOR over the payload, except for the byte where the checksum lives.
   for (int i = 0; i < len; i++) {

tests/misra/suppressions.txt

@@ -23,5 +23,4 @@ misra-c2012-1.2  # this is from the extensions (e.g. __typeof__) used in the MIN
 misra-c2012-2.5
 misra-c2012-8.7
 misra-c2012-8.4
-misra-c2012-10.6
 misra-c2012-21.15