Merge commit 'b4442a7c930aac112cdd82cddfc3dd12254a56e1'

programanichiro · Feb 20, 2024 · ed4966d · ed4966d
2 parents 0a15ee0 + b4442a7
commit ed4966d
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Showing 23 changed files with 77 additions and 78 deletions.
diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
@@ -28,8 +28,8 @@ extern int can_live;
 extern int pending_can_live;
 
 // must reinit after changing these
-extern int can_loopback;
 extern int can_silent;
+extern bool can_loopback;
 
 // Ignition detected from CAN meessages
 bool ignition_can = false;
@@ -40,8 +40,8 @@ uint32_t ignition_can_cnt = 0U;
 
 int can_live = 0;
 int pending_can_live = 0;
-int can_loopback = 0;
 int can_silent = ALL_CAN_SILENT;
+bool can_loopback = false;
 
 // ******************* functions prototypes *********************
 bool can_init(uint8_t can_number);

diff --git a/board/drivers/gmlan_alt.h b/board/drivers/gmlan_alt.h
@@ -26,14 +26,14 @@ int do_bitstuff(char *out, const char *in, int in_len) {
       bit_cnt++;
       if (bit_cnt == 5) {
         // 5 in a row the same, do stuff
-        last_bit = !bit;
+        last_bit = !bit ? 1 : 0;
         out[j] = last_bit;
         j++;
         bit_cnt = 1;
       }
     } else {
       // this is a new bit
-      last_bit = bit;
+      last_bit = (int)bit;
       bit_cnt = 1;
     }
   }

diff --git a/board/drivers/interrupts.h b/board/drivers/interrupts.h
@@ -79,7 +79,7 @@ void interrupt_timer_handler(void) {
     // Calculate interrupt load
     // The bootstub does not have the FPU enabled, so can't do float operations.
 #if !defined(BOOTSTUB)
-    interrupt_load = ((busy_time + idle_time) > 0U) ? ((float) busy_time) / (busy_time + idle_time) : 0.0f;
+    interrupt_load = ((busy_time + idle_time) > 0U) ? ((float) (((float) busy_time) / (busy_time + idle_time))) : 0.0f;
 #endif
     idle_time = 0U;
     busy_time = 0U;

diff --git a/board/drivers/usb.h b/board/drivers/usb.h
@@ -461,12 +461,12 @@ void usb_reset(void) {
   USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1UL << 19)) | (3U << 3);
 }
 
-char to_hex_char(int a) {
+char to_hex_char(uint8_t a) {
   char ret;
-  if (a < 10) {
+  if (a < 10U) {
     ret = '0' + a;
   } else {
-    ret = 'a' + (a - 10);
+    ret = 'a' + (a - 10U);
   }
   return ret;
 }

diff --git a/board/main_comms.h b/board/main_comms.h
@@ -360,7 +360,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xe5: set CAN loopback (for testing)
     case 0xe5:
-      can_loopback = (req->param1 > 0U);
+      can_loopback = req->param1 > 0U;
       can_init_all();
       break;
     // **** 0xe6: set custom clock source period

diff --git a/board/safety.h b/board/safety.h
@@ -94,8 +94,8 @@ bool get_longitudinal_allowed(void) {
 // Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
 // algorithm. Called at init time for safety modes using CRC-8.
 void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]) {
-  for (int i = 0; i < 256; i++) {
-    uint8_t crc = i;
+  for (uint16_t i = 0U; i <= 0xFFU; i++) {
+    uint8_t crc = (uint8_t)i;
     for (int j = 0; j < 8; j++) {
       if ((crc & 0x80U) != 0U) {
         crc = (uint8_t)((crc << 1) ^ poly);

diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
@@ -185,7 +185,7 @@ 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;
   if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
-    bool cruise_engaged = GET_BIT(to_push, 21U) == 1U;
+    bool cruise_engaged = GET_BIT(to_push, 21U);
     pcm_cruise_check(cruise_engaged);
   }
 
@@ -226,7 +226,7 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
     const SteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS :
                                   (chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS;
 
-    bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? (GET_BIT(to_send, 4U) != 0U) : ((GET_BYTE(to_send, 3) & 0x7U) == 2U);
+    bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? GET_BIT(to_send, 4U) : (GET_BYTE(to_send, 3) & 0x7U) == 2U;
     if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
       tx = false;
     }

diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -280,15 +280,15 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
     // Signal: AccBrkTot_A_Rq
     int accel = ((GET_BYTE(to_send, 0) & 0x1FU) << 8) | GET_BYTE(to_send, 1);
     // Signal: CmbbDeny_B_Actl
-    int cmbb_deny = GET_BIT(to_send, 37U);
+    bool cmbb_deny = GET_BIT(to_send, 37U);
 
     bool violation = false;
     violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
     violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS);
     violation |= longitudinal_gas_checks(gas_pred, FORD_LONG_LIMITS);
 
     // Safety check for stock AEB
-    violation |= cmbb_deny != 0; // do not prevent stock AEB actuation
+    violation |= cmbb_deny; // do not prevent stock AEB actuation
 
     if (violation) {
       tx = false;
@@ -302,8 +302,8 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
     // Violation if resume button is pressed while controls not allowed, or
     // if cancel button is pressed when cruise isn't engaged.
     bool violation = false;
-    violation |= (GET_BIT(to_send, 8U) == 1U) && !cruise_engaged_prev;   // Signal: CcAslButtnCnclPress (cancel)
-    violation |= (GET_BIT(to_send, 25U) == 1U) && !controls_allowed;     // Signal: CcAsllButtnResPress (resume)
+    violation |= GET_BIT(to_send, 8U) && !cruise_engaged_prev;   // Signal: CcAslButtnCnclPress (cancel)
+    violation |= GET_BIT(to_send, 25U) && !controls_allowed;     // Signal: CcAsllButtnResPress (resume)
 
     if (violation) {
       tx = false;

diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -108,7 +108,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
 
     if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
-      brake_pressed = GET_BIT(to_push, 40U) != 0U;
+      brake_pressed = GET_BIT(to_push, 40U);
     }
 
     if (addr == 0x1C4) {
@@ -153,7 +153,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1);
     desired_torque = to_signed(desired_torque, 11);
 
-    bool steer_req = (GET_BIT(to_send, 3U) != 0U);
+    bool steer_req = GET_BIT(to_send, 3U);
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) {
       tx = false;
@@ -162,7 +162,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
 
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
-    bool apply = GET_BIT(to_send, 0U) != 0U;
+    bool apply = GET_BIT(to_send, 0U);
     int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
 
     bool violation = false;
@@ -204,7 +204,7 @@ static int gm_fwd_hook(int bus_num, int addr) {
       // block lkas message and acc messages if gm_cam_long, forward all others
       bool is_lkas_msg = (addr == 0x180);
       bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
-      int block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+      bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
       if (!block_msg) {
         bus_fwd = 0;
       }

diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -114,11 +114,11 @@ static uint32_t honda_compute_checksum(const CANPacket_t *to_push) {
   uint8_t checksum = 0U;
   unsigned int addr = GET_ADDR(to_push);
   while (addr > 0U) {
-    checksum += (addr & 0xFU); addr >>= 4;
+    checksum += (uint8_t)(addr & 0xFU); addr >>= 4;
   }
   for (int j = 0; j < len; j++) {
     uint8_t byte = GET_BYTE(to_push, j);
-    checksum += (byte & 0xFU) + (byte >> 4U);
+    checksum += (uint8_t)(byte & 0xFU) + (byte >> 4U);
     if (j == (len - 1)) {
       checksum -= (byte & 0xFU);  // remove checksum in message
     }
@@ -166,7 +166,7 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
 
   // enter controls when PCM enters cruise state
   if (pcm_cruise && (addr == 0x17C)) {
-    const bool cruise_engaged = GET_BIT(to_push, 38U) != 0U;
+    const bool cruise_engaged = GET_BIT(to_push, 38U);
     // engage on rising edge
     if (cruise_engaged && !cruise_engaged_prev) {
       controls_allowed = true;
@@ -207,13 +207,13 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
   // accord, crv: 0x1BE
   if (honda_alt_brake_msg) {
     if (addr == 0x1BE) {
-      brake_pressed = GET_BIT(to_push, 4U) != 0U;
+      brake_pressed = GET_BIT(to_push, 4U);
     }
   } else {
     if (addr == 0x17C) {
       // also if brake switch is 1 for two CAN frames, as brake pressed is delayed
-      const bool brake_switch = GET_BIT(to_push, 32U) != 0U;
-      brake_pressed = (GET_BIT(to_push, 53U) != 0U) || (brake_switch && honda_brake_switch_prev);
+      const bool brake_switch = GET_BIT(to_push, 32U);
+      brake_pressed = (GET_BIT(to_push, 53U)) || (brake_switch && honda_brake_switch_prev);
       honda_brake_switch_prev = brake_switch;
     }
   }
@@ -234,7 +234,7 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
   // disable stock Honda AEB in alternative experience
   if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
     if ((bus == 2) && (addr == 0x1FA)) {
-      bool honda_stock_aeb = GET_BIT(to_push, 29U) != 0U;
+      bool honda_stock_aeb = GET_BIT(to_push, 29U);
       int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6);
 
       // Forward AEB when stock braking is higher than openpilot braking
@@ -383,7 +383,7 @@ static safety_config honda_nidec_init(uint16_t param) {
   enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
 
   safety_config ret;
-  
+
   bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT);
   if (enable_nidec_alt) {
     enable_gas_interceptor ? SET_RX_CHECKS(honda_nidec_alt_interceptor_rx_checks, ret) : \
@@ -465,8 +465,8 @@ static int honda_bosch_fwd_hook(int bus_num, int addr) {
     bus_fwd = 2;
   }
   if (bus_num == 2)  {
-    int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
-    int is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
+    bool is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
+    bool is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
     bool block_msg = is_lkas_msg || is_acc_msg;
     if (!block_msg) {
       bus_fwd = 0;

diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -178,7 +178,7 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
     // ACC steering wheel buttons
     if (addr == 0x4F1) {
       int cruise_button = GET_BYTE(to_push, 0) & 0x7U;
-      int main_button = GET_BIT(to_push, 3U);
+      bool main_button = GET_BIT(to_push, 3U);
       hyundai_common_cruise_buttons_check(cruise_button, main_button);
     }
 
@@ -221,10 +221,10 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
   // FCA11: Block any potential actuation
   if (addr == 0x38D) {
     int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
-    int FCA_CmdAct = GET_BIT(to_send, 20U);
-    int CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
+    bool FCA_CmdAct = GET_BIT(to_send, 20U);
+    bool CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
 
-    if ((CR_VSM_DecCmd != 0) || (FCA_CmdAct != 0) || (CF_VSM_DecCmdAct != 0)) {
+    if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
       tx = false;
     }
   }
@@ -235,14 +235,14 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
     int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
 
     int aeb_decel_cmd = GET_BYTE(to_send, 2);
-    int aeb_req = GET_BIT(to_send, 54U);
+    bool aeb_req = GET_BIT(to_send, 54U);
 
     bool violation = false;
 
     violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
     violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
     violation |= (aeb_decel_cmd != 0);
-    violation |= (aeb_req != 0);
+    violation |= aeb_req;
 
     if (violation) {
       tx = false;
@@ -252,7 +252,7 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
   // LKA STEER: safety check
   if (addr == 0x340) {
     int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
-    bool steer_req = GET_BIT(to_send, 27U) != 0U;
+    bool steer_req = GET_BIT(to_send, 27U);
 
     const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
     if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {

diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -170,7 +170,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
     // cruise buttons
     const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
     if (addr == button_addr) {
-      int main_button = 0;
+      bool main_button = false;
       int cruise_button = 0;
       if (addr == 0x1cf) {
         cruise_button = GET_BYTE(to_push, 2) & 0x7U;
@@ -186,15 +186,15 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
     if ((addr == 0x35) && hyundai_ev_gas_signal) {
       gas_pressed = GET_BYTE(to_push, 5) != 0U;
     } else if ((addr == 0x105) && hyundai_hybrid_gas_signal) {
-      gas_pressed = (GET_BIT(to_push, 103U) != 0U) || (GET_BYTE(to_push, 13) != 0U) || (GET_BIT(to_push, 112U) != 0U);
+      gas_pressed = GET_BIT(to_push, 103U) || (GET_BYTE(to_push, 13) != 0U) || GET_BIT(to_push, 112U);
     } else if ((addr == 0x100) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
-      gas_pressed = GET_BIT(to_push, 176U) != 0U;
+      gas_pressed = GET_BIT(to_push, 176U);
     } else {
     }
 
     // brake press
     if (addr == 0x175) {
-      brake_pressed = GET_BIT(to_push, 81U) != 0U;
+      brake_pressed = GET_BIT(to_push, 81U);
     }
 
     // vehicle moving
@@ -235,7 +235,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
   const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
   if (addr == steer_addr) {
     int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
-    bool steer_req = GET_BIT(to_send, 52U) != 0U;
+    bool steer_req = GET_BIT(to_send, 52U);
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
       tx = false;

diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h
@@ -45,7 +45,7 @@ void hyundai_common_init(uint16_t param) {
 #endif
 }
 
-void hyundai_common_cruise_state_check(const int cruise_engaged) {
+void hyundai_common_cruise_state_check(const bool cruise_engaged) {
   // some newer HKG models can re-enable after spamming cancel button,
   // so keep track of user button presses to deny engagement if no interaction
 
@@ -62,9 +62,8 @@ void hyundai_common_cruise_state_check(const int cruise_engaged) {
   }
 }
 
-void hyundai_common_cruise_buttons_check(const int cruise_button, const int main_button) {
-  if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
-      (main_button != 0)) {
+void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) {
+  if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || main_button) {
     hyundai_last_button_interaction = 0U;
   } else {
     hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);

diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
@@ -129,15 +129,15 @@ static int nissan_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
 
   if (bus_num == 0) {
-    int block_msg = (addr == 0x280); // CANCEL_MSG
+    bool block_msg = (addr == 0x280); // CANCEL_MSG
     if (!block_msg) {
       bus_fwd = 2;  // ADAS
     }
   }
 
   if (bus_num == 2) {
     // 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG
-    int block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
+    bool block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
     if (!block_msg) {
       bus_fwd = 0;  // V-CAN
     }

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -152,7 +152,7 @@ static void subaru_rx_hook(const CANPacket_t *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
-    bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
+    bool cruise_engaged = GET_BIT(to_push, 41U);
     pcm_cruise_check(cruise_engaged);
   }
 
@@ -169,7 +169,7 @@ static void subaru_rx_hook(const CANPacket_t *to_push) {
   }
 
   if ((addr == MSG_SUBARU_Brake_Status) && (bus == alt_main_bus)) {
-    brake_pressed = GET_BIT(to_push, 62U) != 0U;
+    brake_pressed = GET_BIT(to_push, 62U);
   }
 
   if ((addr == MSG_SUBARU_Throttle) && (bus == SUBARU_MAIN_BUS)) {
@@ -189,7 +189,7 @@ static bool subaru_tx_hook(const CANPacket_t *to_send) {
     int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x1FFFU);
     desired_torque = -1 * to_signed(desired_torque, 13);
 
-    bool steer_req = GET_BIT(to_send, 29U) != 0U;
+    bool steer_req = GET_BIT(to_send, 29U);
 
     const SteeringLimits limits = subaru_gen2 ? SUBARU_GEN2_STEERING_LIMITS : SUBARU_STEERING_LIMITS;
     violation |= steer_torque_cmd_checks(desired_torque, steer_req, limits);
@@ -204,7 +204,7 @@ static bool subaru_tx_hook(const CANPacket_t *to_send) {
   // check es_distance cruise_throttle limits
   if (addr == MSG_SUBARU_ES_Distance) {
     int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0x1FFFU);
-    bool cruise_cancel = GET_BIT(to_send, 56U) != 0U;
+    bool cruise_cancel = GET_BIT(to_send, 56U);
 
     if (subaru_longitudinal) {
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);