enable misra-c2012-8.7

commaai · Jan 22, 2024 · 3df4b6e · 3df4b6e
1 parent c5e7940
commit 3df4b6e
Show file tree

Hide file tree

Showing 52 changed files with 294 additions and 288 deletions.
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -22,7 +22,7 @@ void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void black_enable_can_transceivers(bool enabled) {
+static void black_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
     // Leave main CAN always on for CAN-based ignition detection
     if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
@@ -49,11 +49,11 @@ void black_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void black_set_usb_load_switch(bool enabled) {
+static void black_set_usb_load_switch(bool enabled) {
   set_gpio_output(GPIOB, 1, !enabled);
 }
 
-void black_set_can_mode(uint8_t mode) {
+static void black_set_can_mode(uint8_t mode) {
   black_enable_can_transceiver(2U, false);
   black_enable_can_transceiver(4U, false);
   switch (mode) {
@@ -148,7 +148,7 @@ void black_init_bootloader(void) {
   set_gpio_output(GPIOC, 12, 0);
 }
 
-const harness_configuration black_harness_config = {
+static const harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,

diff --git a/board/boards/dos.h b/board/boards/dos.h
@@ -22,7 +22,7 @@ void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void dos_enable_can_transceivers(bool enabled) {
+static void dos_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
     // Leave main CAN always on for CAN-based ignition detection
     if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
@@ -49,11 +49,11 @@ void dos_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void dos_set_bootkick(BootState state) {
+static void dos_set_bootkick(BootState state) {
   set_gpio_output(GPIOC, 4, state != BOOT_BOOTKICK);
 }
 
-void dos_set_can_mode(uint8_t mode) {
+static void dos_set_can_mode(uint8_t mode) {
   dos_enable_can_transceiver(2U, false);
   dos_enable_can_transceiver(4U, false);
   switch (mode) {
@@ -94,7 +94,7 @@ void dos_set_usb_switch(bool phone){
   set_gpio_output(GPIOB, 3, phone);
 }
 
-void dos_set_ir_power(uint8_t percentage){
+static void dos_set_ir_power(uint8_t percentage){
   pwm_set(TIM4, 2, percentage);
 }
 
@@ -177,7 +177,7 @@ void dos_init(void) {
   clock_source_init();
 }
 
-const harness_configuration dos_harness_config = {
+static const harness_configuration dos_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,

diff --git a/board/boards/pedal.h b/board/boards/pedal.h
@@ -2,7 +2,7 @@
 // Pedal //
 // ///// //
 
-void pedal_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+static void pedal_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
     case 1:
       set_gpio_output(GPIOB, 3, !enabled);
@@ -13,7 +13,7 @@ void pedal_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void pedal_enable_can_transceivers(bool enabled) {
+static void pedal_enable_can_transceivers(bool enabled) {
   pedal_enable_can_transceiver(1U, enabled);
 }
 
@@ -62,7 +62,7 @@ void pedal_init(void) {
   pedal_set_led(LED_GREEN, false);
 }
 
-const harness_configuration pedal_harness_config = {
+static const harness_configuration pedal_harness_config = {
   .has_harness = false
 };
 

diff --git a/board/boards/red.h b/board/boards/red.h
@@ -21,7 +21,7 @@ void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void red_enable_can_transceivers(bool enabled) {
+static void red_enable_can_transceivers(bool enabled) {
   uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
   for (uint8_t i=1U; i<=4U; i++) {
     // Leave main CAN always on for CAN-based ignition detection
@@ -49,7 +49,7 @@ void red_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void red_set_can_mode(uint8_t mode) {
+static void red_set_can_mode(uint8_t mode) {
   red_enable_can_transceiver(2U, false);
   red_enable_can_transceiver(4U, false);
   switch (mode) {
@@ -156,7 +156,7 @@ void red_init(void) {
   }
 }
 
-const harness_configuration red_harness_config = {
+static const harness_configuration red_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,

diff --git a/board/boards/red_chiplet.h b/board/boards/red_chiplet.h
@@ -23,7 +23,7 @@ void red_chiplet_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void red_chiplet_enable_can_transceivers(bool enabled) {
+static void red_chiplet_enable_can_transceivers(bool enabled) {
   uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
   for (uint8_t i=1U; i<=4U; i++) {
     // Leave main CAN always on for CAN-based ignition detection
@@ -35,7 +35,7 @@ void red_chiplet_enable_can_transceivers(bool enabled) {
   }
 }
 
-void red_chiplet_set_can_mode(uint8_t mode) {
+static void red_chiplet_set_can_mode(uint8_t mode) {
   red_chiplet_enable_can_transceiver(2U, false);
   red_chiplet_enable_can_transceiver(4U, false);
   switch (mode) {

diff --git a/board/boards/tres.h b/board/boards/tres.h
@@ -8,13 +8,13 @@ void tres_update_fan_ir_power(void) {
   red_chiplet_set_fan_or_usb_load_switch(tres_ir_enabled || tres_fan_enabled);
 }
 
-void tres_set_ir_power(uint8_t percentage){
+static void tres_set_ir_power(uint8_t percentage){
   tres_ir_enabled = (percentage > 0U);
   tres_update_fan_ir_power();
   pwm_set(TIM3, 4, percentage);
 }
 
-void tres_set_bootkick(BootState state) {
+static void tres_set_bootkick(BootState state) {
   set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
   set_gpio_output(GPIOC, 12, state != BOOT_RESET);
 }

diff --git a/board/boards/uno.h b/board/boards/uno.h
@@ -22,7 +22,7 @@ void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void uno_enable_can_transceivers(bool enabled) {
+static void uno_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
     // Leave main CAN always on for CAN-based ignition detection
     if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
@@ -49,7 +49,7 @@ void uno_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void uno_set_bootkick(BootState state) {
+static void uno_set_bootkick(BootState state) {
   if (state == BOOT_BOOTKICK) {
     set_gpio_output(GPIOB, 14, false);
   } else {
@@ -58,7 +58,7 @@ void uno_set_bootkick(BootState state) {
   }
 }
 
-void uno_set_can_mode(uint8_t mode) {
+static void uno_set_can_mode(uint8_t mode) {
   uno_enable_can_transceiver(2U, false);
   uno_enable_can_transceiver(4U, false);
   switch (mode) {
@@ -99,7 +99,7 @@ void uno_set_usb_switch(bool phone){
   set_gpio_output(GPIOB, 3, phone);
 }
 
-void uno_set_ir_power(uint8_t percentage){
+static void uno_set_ir_power(uint8_t percentage){
   pwm_set(TIM4, 2, percentage);
 }
 
@@ -184,7 +184,7 @@ void uno_init_bootloader(void) {
   set_gpio_output(GPIOC, 12, 0);
 }
 
-const harness_configuration uno_harness_config = {
+static const harness_configuration uno_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,

diff --git a/board/boards/white.h b/board/boards/white.h
@@ -2,7 +2,7 @@
 // White Panda //
 // /////////// //
 
-void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+static void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
     case 1U:
       set_gpio_output(GPIOC, 1, !enabled);
@@ -19,7 +19,7 @@ void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-void white_enable_can_transceivers(bool enabled) {
+static void white_enable_can_transceivers(bool enabled) {
   uint8_t t1 = enabled ? 1U : 2U;  // leave transceiver 1 enabled to detect CAN ignition
   for(uint8_t i=t1; i<=3U; i++) {
     white_enable_can_transceiver(i, enabled);
@@ -65,7 +65,7 @@ void white_set_usb_power_mode(uint8_t mode){
   }
 }
 
-void white_set_can_mode(uint8_t mode){
+static void white_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
       // B12,B13: disable GMLAN mode

diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
@@ -9,7 +9,7 @@ uint8_t can_irq_number[3][3] = {
   { CAN3_TX_IRQn, CAN3_RX0_IRQn, CAN3_SCE_IRQn },
 };
 
-bool can_set_speed(uint8_t can_number) {
+static bool can_set_speed(uint8_t can_number) {
   bool ret = true;
   CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
@@ -227,17 +227,17 @@ void can_rx(uint8_t can_number) {
   }
 }
 
-void CAN1_TX_IRQ_Handler(void) { process_can(0); }
-void CAN1_RX0_IRQ_Handler(void) { can_rx(0); }
-void CAN1_SCE_IRQ_Handler(void) { can_sce(0); }
+static void CAN1_TX_IRQ_Handler(void) { process_can(0); }
+static void CAN1_RX0_IRQ_Handler(void) { can_rx(0); }
+static void CAN1_SCE_IRQ_Handler(void) { can_sce(0); }
 
-void CAN2_TX_IRQ_Handler(void) { process_can(1); }
-void CAN2_RX0_IRQ_Handler(void) { can_rx(1); }
-void CAN2_SCE_IRQ_Handler(void) { can_sce(1); }
+static void CAN2_TX_IRQ_Handler(void) { process_can(1); }
+static void CAN2_RX0_IRQ_Handler(void) { can_rx(1); }
+static void CAN2_SCE_IRQ_Handler(void) { can_sce(1); }
 
-void CAN3_TX_IRQ_Handler(void) { process_can(2); }
-void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
-void CAN3_SCE_IRQ_Handler(void) { can_sce(2); }
+static void CAN3_TX_IRQ_Handler(void) { process_can(2); }
+static void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
+static void CAN3_SCE_IRQ_Handler(void) { can_sce(2); }
 
 bool can_init(uint8_t can_number) {
   bool ret = false;

diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
@@ -58,16 +58,16 @@ void process_can(uint8_t can_number);
 
 #ifdef STM32H7
 // ITCM RAM and DTCM RAM are the fastest for Cortex-M7 core access
-__attribute__((section(".axisram"))) can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
-__attribute__((section(".itcmram"))) can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
-__attribute__((section(".itcmram"))) can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
+__attribute__((section(".axisram"))) static can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
+__attribute__((section(".itcmram"))) static can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
+__attribute__((section(".itcmram"))) static can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
 #else
-can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
-can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
-can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
+static can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
+static can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
+static can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
 #endif
-can_buffer(tx3_q, CAN_TX_BUFFER_SIZE)
-can_buffer(txgmlan_q, GMLAN_TX_BUFFER_SIZE)
+static can_buffer(tx3_q, CAN_TX_BUFFER_SIZE)
+static can_buffer(txgmlan_q, GMLAN_TX_BUFFER_SIZE)
 // FIXME:
 // cppcheck-suppress misra-c2012-9.3
 can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};

diff --git a/board/drivers/fan.h b/board/drivers/fan.h
@@ -11,8 +11,6 @@ struct fan_state_t {
 } fan_state_t;
 struct fan_state_t fan_state;
 
-const float FAN_I = 0.001f;
-
 const uint8_t FAN_TICK_FREQ = 8U;
 const uint8_t FAN_STALL_THRESHOLD_MIN = 3U;
 const uint8_t FAN_STALL_THRESHOLD_MAX = 8U;
@@ -22,7 +20,7 @@ void fan_set_power(uint8_t percentage) {
   fan_state.target_rpm = ((current_board->fan_max_rpm * CLAMP(percentage, 0U, 100U)) / 100U);
 }
 
-void llfan_init(void);
+static void llfan_init(void);
 void fan_init(void) {
   fan_state.stall_threshold = FAN_STALL_THRESHOLD_MIN;
   fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * FAN_TICK_FREQ;
@@ -31,6 +29,8 @@ void fan_init(void) {
 
 // Call this at FAN_TICK_FREQ
 void fan_tick(void) {
+  const float FAN_I = 0.001f;
+
   if (current_board->fan_max_rpm > 0U) {
     // Measure fan RPM
     uint16_t fan_rpm_fast = fan_state.tach_counter * (60U * FAN_TICK_FREQ / 4U);   // 4 interrupts per rotation

diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
@@ -19,7 +19,7 @@ uint8_t can_irq_number[3][2] = {
 
 #define CAN_ACK_ERROR 3U
 
-bool can_set_speed(uint8_t can_number) {
+static bool can_set_speed(uint8_t can_number) {
   bool ret = true;
   FDCAN_GlobalTypeDef *FDCANx = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
@@ -242,14 +242,14 @@ void can_rx(uint8_t can_number) {
   }
 }
 
-void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }
-void FDCAN1_IT1_IRQ_Handler(void) { process_can(0); }
+static void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }
+static void FDCAN1_IT1_IRQ_Handler(void) { process_can(0); }
 
-void FDCAN2_IT0_IRQ_Handler(void) { can_rx(1); }
-void FDCAN2_IT1_IRQ_Handler(void) { process_can(1); }
+static void FDCAN2_IT0_IRQ_Handler(void) { can_rx(1); }
+static void FDCAN2_IT1_IRQ_Handler(void) { process_can(1); }
 
-void FDCAN3_IT0_IRQ_Handler(void) { can_rx(2);  }
-void FDCAN3_IT1_IRQ_Handler(void) { process_can(2); }
+static void FDCAN3_IT0_IRQ_Handler(void) { can_rx(2);  }
+static void FDCAN3_IT1_IRQ_Handler(void) { process_can(2); }
 
 bool can_init(uint8_t can_number) {
   bool ret = false;