enable misra-c2012-10.4 (commaai#1796)

* enable misrac-10.4 * changes * cleaner
csouers · Jan 13, 2024 · 817d68f · 817d68f
1 parent 3ef9c3f
commit 817d68f
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Showing 5 changed files with 8 additions and 7 deletions.
diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
@@ -112,7 +112,9 @@ void process_can(uint8_t can_number) {
           fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
 
           fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18));
-          fifo->header[1] = (to_send.data_len_code << 16) | (bus_config[can_number].canfd_enabled << 21) | (bus_config[can_number].brs_enabled << 20);
+          uint32_t canfd_enabled_header = bus_config[can_number].canfd_enabled ? (1 << 21) : 0;
+          uint32_t brs_enabled_header = bus_config[can_number].brs_enabled ? (1 << 20) : 0;
+          fifo->header[1] = (to_send.data_len_code << 16) | canfd_enabled_header | brs_enabled_header;
 
           uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U);
           data_len_w += ((dlc_to_len[to_send.data_len_code] % 4U) > 0U) ? 1U : 0U;

diff --git a/board/drivers/gmlan_alt.h b/board/drivers/gmlan_alt.h
@@ -22,7 +22,7 @@ int do_bitstuff(char *out, char *in, int in_len) {
     j++;
 
     // do the stuffing
-    if (bit == last_bit) {
+    if (bit == (char)last_bit) {
       bit_cnt++;
       if (bit_cnt == 5) {
         // 5 in a row the same, do stuff
@@ -205,7 +205,7 @@ void TIM12_IRQ_Handler(void) {
         bool retry = 0;
         // in send loop
         if ((gmlan_sending > 0) &&  // not first bit
-           ((read == 0) && (pkt_stuffed[gmlan_sending-1] == 1)) &&  // bus wrongly dominant
+           ((read == 0) && (pkt_stuffed[gmlan_sending-1] == (char)1)) &&  // bus wrongly dominant
            (gmlan_sending != (gmlan_sendmax - 11))) {    //not ack bit
           print("GMLAN ERR: bus driven at ");
           puth(gmlan_sending);

diff --git a/board/drivers/harness.h b/board/drivers/harness.h
@@ -39,7 +39,7 @@ void set_intercept_relay(bool intercept, bool ignition_relay) {
     }
 
     // wait until we're not reading the analog voltages anymore
-    while (harness.sbu_adc_lock == true) {}
+    while (harness.sbu_adc_lock) {}
 
     if (harness.status == HARNESS_STATUS_NORMAL) {
       set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !ignition_relay);
@@ -59,7 +59,7 @@ bool harness_check_ignition(void) {
   bool ret = false;
 
   // wait until we're not reading the analog voltages anymore
-  while (harness.sbu_adc_lock == true) {}
+  while (harness.sbu_adc_lock) {}
 
   switch(harness.status){
     case HARNESS_STATUS_NORMAL:

diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
@@ -104,7 +104,7 @@ static bool nissan_tx_hook(CANPacket_t *to_send) {
     bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1U;
 
     // Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale
-    desired_angle = -desired_angle + (1310 * NISSAN_STEERING_LIMITS.angle_deg_to_can);
+    desired_angle = -desired_angle + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can);
 
     if (steer_angle_cmd_checks(desired_angle, lka_active, NISSAN_STEERING_LIMITS)) {
       violation = true;

diff --git a/tests/misra/suppressions.txt b/tests/misra/suppressions.txt
@@ -37,7 +37,6 @@ misra-c2012-8.6
 misra-c2012-10.1
 misra-c2012-10.6
 misra-c2012-10.3
-misra-c2012-10.4
 misra-c2012-10.5
 misra-c2012-10.7
 misra-c2012-12.2