From fd68c26abaeafa9f2d00a0cae7121e14fe6b79c9 Mon Sep 17 00:00:00 2001
From: rbiasini <riccardo.biasini@gmail.com>
Date: Wed, 10 Jul 2019 17:27:26 -0700
Subject: [PATCH] Propagate can_push errors (#249)

* Misra 17.7: counting can_push errors
---
 board/drivers/can.h       | 11 +++++++----
 board/drivers/gmlan_alt.h | 10 ++++++----
 board/main.c              | 12 ++++++------
 3 files changed, 19 insertions(+), 14 deletions(-)

diff --git a/board/drivers/can.h b/board/drivers/can.h
index e6ad107b60157a..3db2110512fa70 100644
--- a/board/drivers/can.h
+++ b/board/drivers/can.h
@@ -14,6 +14,9 @@ typedef struct {
 
 #define BUS_MAX 4U
 
+uint32_t can_send_errs = 0;
+uint32_t can_fwd_errs = 0;
+uint32_t gmlan_send_errs = 0;
 extern int can_live, pending_can_live;
 
 // must reinit after changing these
@@ -255,7 +258,7 @@ void process_can(uint8_t can_number) {
           to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
           to_push.RDLR = CAN->sTxMailBox[0].TDLR;
           to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-          can_push(&can_rx_q, &to_push);
+          can_send_errs += !can_push(&can_rx_q, &to_push);
         }
 
         if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
@@ -324,7 +327,7 @@ void can_rx(uint8_t can_number) {
     safety_rx_hook(&to_push);
 
     set_led(LED_BLUE, 1);
-    can_push(&can_rx_q, &to_push);
+    can_send_errs += !can_push(&can_rx_q, &to_push);
 
     // next
     CAN->RF0R |= CAN_RF0R_RFOM0;
@@ -351,9 +354,9 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
       to_push->RDTR &= 0xF;
       if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
         // TODO: why uint8 bro? only int8?
-        bitbang_gmlan(to_push);
+        gmlan_send_errs += !bitbang_gmlan(to_push);
       } else {
-        can_push(can_queues[bus_number], to_push);
+        can_fwd_errs += !can_push(can_queues[bus_number], to_push);
         process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
       }
     }
diff --git a/board/drivers/gmlan_alt.h b/board/drivers/gmlan_alt.h
index 55260162cfde27..c697a21b41ef9c 100644
--- a/board/drivers/gmlan_alt.h
+++ b/board/drivers/gmlan_alt.h
@@ -180,6 +180,7 @@ void set_bitbanged_gmlan(int val) {
 char pkt_stuffed[MAX_BITS_CAN_PACKET];
 int gmlan_sending = -1;
 int gmlan_sendmax = -1;
+bool gmlan_send_ok = true;
 
 int gmlan_silent_count = 0;
 int gmlan_fail_count = 0;
@@ -220,6 +221,7 @@ void TIM4_IRQHandler(void) {
           gmlan_fail_count++;
           if (gmlan_fail_count == MAX_FAIL_COUNT) {
             puts("GMLAN ERR: giving up send\n");
+            gmlan_send_ok = false;
           }
         } else {
           set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
@@ -263,22 +265,22 @@ void TIM4_IRQHandler(void) {
   }
 }
 
-void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+  gmlan_send_ok = true;
   gmlan_alt_mode = BITBANG;
-  // TODO: make failure less silent
-  if (gmlan_sendmax == -1) {
 
+  if (gmlan_sendmax == -1) {
     int len = get_bit_message(pkt_stuffed, to_bang);
     gmlan_fail_count = 0;
     gmlan_silent_count = 0;
     gmlan_sending = 0;
     gmlan_sendmax = len;
-
     // setup for bitbang loop
     set_bitbanged_gmlan(1); // recessive
     set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
 
     setup_timer4();
   }
+  return gmlan_send_ok;
 }
 
diff --git a/board/main.c b/board/main.c
index 78e7a993aa3046..eeb0496b01e8c5 100644
--- a/board/main.c
+++ b/board/main.c
@@ -104,8 +104,9 @@ int get_health_pkt(void *dat) {
     uint8_t started_pkt;
     uint8_t controls_allowed_pkt;
     uint8_t gas_interceptor_detected_pkt;
-    uint8_t started_signal_detected_pkt;
-    uint8_t started_alt_pkt;
+    uint32_t can_send_errs_pkt;
+    uint32_t can_fwd_errs_pkt;
+    uint32_t gmlan_send_errs_pkt;
   } *health = dat;
 
   //Voltage will be measured in mv. 5000 = 5V
@@ -132,10 +133,9 @@ int get_health_pkt(void *dat) {
 
   health->controls_allowed_pkt = controls_allowed;
   health->gas_interceptor_detected_pkt = gas_interceptor_detected;
-
-  // DEPRECATED
-  health->started_alt_pkt = 0;
-  health->started_signal_detected_pkt = 0;
+  health->can_send_errs_pkt = can_send_errs;
+  health->can_fwd_errs_pkt = can_fwd_errs;
+  health->gmlan_send_errs_pkt = gmlan_send_errs;
 
   return sizeof(*health);
 }