Merge branch 'commaai:master' into master

dragonpilot-community · Mar 25, 2024 · 777ccf4 · 777ccf4
2 parents b2a4f50 + 01c54d1
commit 777ccf4
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Showing 40 changed files with 191 additions and 185 deletions.
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -141,7 +141,7 @@ void black_init_bootloader(void) {
   set_gpio_output(GPIOC, 12, 0);
 }
 
-const harness_configuration black_harness_config = {
+harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
@@ -155,7 +155,7 @@ const harness_configuration black_harness_config = {
   .adc_channel_SBU2 = 13
 };
 
-const board board_black = {
+board board_black = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &black_harness_config,
   .has_obd = true,

diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
@@ -21,7 +21,7 @@ typedef void (*board_set_bootkick)(BootState state);
 typedef bool (*board_read_som_gpio)(void);
 
 struct board {
-  const harness_configuration *harness_config;
+  harness_configuration *harness_config;
   const bool has_obd;
   const bool has_spi;
   const bool has_canfd;

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
@@ -103,7 +103,7 @@ void cuatro_init(void) {
   clock_source_init();
 }
 
-const board board_cuatro = {
+board board_cuatro = {
   .harness_config = &red_chiplet_harness_config,
   .has_obd = true,
   .has_spi = true,

diff --git a/board/boards/dos.h b/board/boards/dos.h
@@ -166,7 +166,7 @@ void dos_init(void) {
   clock_source_init();
 }
 
-const harness_configuration dos_harness_config = {
+harness_configuration dos_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
@@ -180,7 +180,7 @@ const harness_configuration dos_harness_config = {
   .adc_channel_SBU2 = 13
 };
 
-const board board_dos = {
+board board_dos = {
   .harness_config = &dos_harness_config,
   .has_obd = true,
 #ifdef ENABLE_SPI

diff --git a/board/boards/grey.h b/board/boards/grey.h
@@ -4,7 +4,7 @@
 
 // Most hardware functionality is similar to white panda
 
-const board board_grey = {
+board board_grey = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
   .has_obd = false,

diff --git a/board/boards/red.h b/board/boards/red.h
@@ -153,7 +153,7 @@ void red_init(void) {
   red_set_can_mode(CAN_MODE_NORMAL);
 }
 
-const harness_configuration red_harness_config = {
+harness_configuration red_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,
@@ -167,7 +167,7 @@ const harness_configuration red_harness_config = {
   .adc_channel_SBU2 = 17 //ADC1_INP17
 };
 
-const board board_red = {
+board board_red = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
   .has_obd = true,

diff --git a/board/boards/red_chiplet.h b/board/boards/red_chiplet.h
@@ -132,7 +132,7 @@ void red_chiplet_init(void) {
   red_chiplet_set_can_mode(CAN_MODE_NORMAL);
 }
 
-const harness_configuration red_chiplet_harness_config = {
+harness_configuration red_chiplet_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,

diff --git a/board/boards/tres.h b/board/boards/tres.h
@@ -33,7 +33,7 @@ void tres_init(void) {
   // Enable USB 3.3V LDO for USB block
   register_set_bits(&(PWR->CR3), PWR_CR3_USBREGEN);
   register_set_bits(&(PWR->CR3), PWR_CR3_USB33DEN);
-  while ((PWR->CR3 & PWR_CR3_USB33RDY) == 0);
+  while ((PWR->CR3 & PWR_CR3_USB33RDY) == 0U);
 
   red_chiplet_init();
 
@@ -70,7 +70,7 @@ void tres_init(void) {
   clock_source_init();
 }
 
-const board board_tres = {
+board board_tres = {
   .harness_config = &red_chiplet_harness_config,
   .has_obd = true,
   .has_spi = true,

diff --git a/board/boards/uno.h b/board/boards/uno.h
@@ -177,7 +177,7 @@ void uno_init_bootloader(void) {
   set_gpio_output(GPIOC, 12, 0);
 }
 
-const harness_configuration uno_harness_config = {
+harness_configuration uno_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
@@ -191,7 +191,7 @@ const harness_configuration uno_harness_config = {
   .adc_channel_SBU2 = 13
 };
 
-const board board_uno = {
+board board_uno = {
   .harness_config = &uno_harness_config,
   .has_obd = true,
   .has_spi = false,

diff --git a/board/boards/white.h b/board/boards/white.h
@@ -180,11 +180,11 @@ void white_grey_init_bootloader(void) {
   set_gpio_output(GPIOC, 14, 0);
 }
 
-const harness_configuration white_harness_config = {
+harness_configuration white_harness_config = {
   .has_harness = false
 };
 
-const board board_white = {
+board board_white = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
   .has_obd = false,

diff --git a/board/bootstub_declarations.h b/board/bootstub_declarations.h
@@ -15,4 +15,4 @@ void uart_init(uart_ring *q, int baud) { UNUSED(q); UNUSED(baud); }
 
 // ********************* Globals **********************
 uint8_t hw_type = 0;
-const board *current_board;
+board *current_board;
diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
@@ -48,7 +48,7 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
     can_health[can_number].total_error_cnt += 1U;
 
     // RX message lost due to FIFO overrun
-    if ((CANx->RF0R & (CAN_RF0R_FOVR0)) != 0) {
+    if ((CANx->RF0R & (CAN_RF0R_FOVR0)) != 0U) {
       can_health[can_number].total_rx_lost_cnt += 1U;
       CANx->RF0R &= ~(CAN_RF0R_FOVR0);
     }
@@ -74,7 +74,7 @@ void process_can(uint8_t can_number) {
 
     // check for empty mailbox
     CANPacket_t to_send;
-    if ((CANx->TSR & (CAN_TSR_TERR0 | CAN_TSR_ALST0)) != 0) { // last TX failed due to error arbitration lost
+    if ((CANx->TSR & (CAN_TSR_TERR0 | CAN_TSR_ALST0)) != 0U) { // last TX failed due to error arbitration lost
       can_health[can_number].total_tx_lost_cnt += 1U;
       CANx->TSR |= (CAN_TSR_TERR0 | CAN_TSR_ALST0);
     }
@@ -129,7 +129,7 @@ void can_rx(uint8_t can_number) {
   CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  while ((CANx->RF0R & CAN_RF0R_FMP0) != 0) {
+  while ((CANx->RF0R & CAN_RF0R_FMP0) != 0U) {
     can_health[can_number].total_rx_cnt += 1U;
 
     // can is live

diff --git a/board/drivers/clock_source.h b/board/drivers/clock_source.h
@@ -26,8 +26,8 @@ void clock_source_init(void) {
   set_gpio_alternate(GPIOB, 15, GPIO_AF1_TIM1);
 
   // Set PWM mode
-  register_set(&(TIM1->CCMR1), (0b110 << TIM_CCMR1_OC2M_Pos), 0xFFFFU);
-  register_set(&(TIM1->CCMR2), (0b110 << TIM_CCMR2_OC3M_Pos), 0xFFFFU);
+  register_set(&(TIM1->CCMR1), (0b110UL << TIM_CCMR1_OC2M_Pos), 0xFFFFU);
+  register_set(&(TIM1->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos), 0xFFFFU);
 
   // Enable output
   register_set(&(TIM1->BDTR), TIM_BDTR_MOE, 0xFFFFU);

diff --git a/board/drivers/fake_siren.h b/board/drivers/fake_siren.h
@@ -59,13 +59,13 @@ void fake_siren_init(void) {
   register_set(&DMA1_Stream1->PAR, (uint32_t) &(DAC1->DHR8R1), 0xFFFFFFFFU);
   DMA1_Stream1->NDTR = sizeof(fake_siren_lut);
   register_set(&DMA1_Stream1->FCR, 0U, 0x00000083U);
-  DMA1_Stream1->CR = (0b11 << DMA_SxCR_PL_Pos);
-  DMA1_Stream1->CR |= DMA_SxCR_MINC | DMA_SxCR_CIRC | (1 << DMA_SxCR_DIR_Pos);
+  DMA1_Stream1->CR = (0b11UL << DMA_SxCR_PL_Pos);
+  DMA1_Stream1->CR |= DMA_SxCR_MINC | DMA_SxCR_CIRC | (1U << DMA_SxCR_DIR_Pos);
 
   // Init trigger timer (around 2.5kHz)
   register_set(&TIM7->PSC, 0U, 0xFFFFU);
   register_set(&TIM7->ARR, 133U, 0xFFFFU);
-  register_set(&TIM7->CR2, (0b10 << TIM_CR2_MMS_Pos), TIM_CR2_MMS_Msk);
+  register_set(&TIM7->CR2, (0b10U << TIM_CR2_MMS_Pos), TIM_CR2_MMS_Msk);
   register_set(&TIM7->CR1, TIM_CR1_ARPE | TIM_CR1_URS, 0x088EU);
   TIM7->SR = 0U;
   TIM7->CR1 |= TIM_CR1_CEN;

diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
@@ -67,14 +67,14 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
     FDCANx->IR |= (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L);
     can_health[can_number].total_error_cnt += 1U;
     // Check for RX FIFO overflow
-    if ((ir_reg & (FDCAN_IR_RF0L)) != 0) {
+    if ((ir_reg & (FDCAN_IR_RF0L)) != 0U) {
       can_health[can_number].total_rx_lost_cnt += 1U;
     }
     // Cases:
     // 1. while multiplexing between buses 1 and 3 we are getting ACK errors that overwhelm CAN core, by resetting it recovers faster
     // 2. H7 gets stuck in bus off recovery state indefinitely
     if ((((can_health[can_number].last_error == CAN_ACK_ERROR) || (can_health[can_number].last_data_error == CAN_ACK_ERROR)) && (can_health[can_number].transmit_error_cnt > 127U)) ||
-     ((ir_reg & FDCAN_IR_BO) != 0)) {
+     ((ir_reg & FDCAN_IR_BO) != 0U)) {
       can_health[can_number].can_core_reset_cnt += 1U;
       can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (FDCANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset
       llcan_clear_send(FDCANx);
@@ -93,15 +93,15 @@ void process_can(uint8_t can_number) {
 
     FDCANx->IR |= FDCAN_IR_TFE; // Clear Tx FIFO Empty flag
 
-    if ((FDCANx->TXFQS & FDCAN_TXFQS_TFQF) == 0) {
+    if ((FDCANx->TXFQS & FDCAN_TXFQS_TFQF) == 0U) {
       CANPacket_t to_send;
       if (can_pop(can_queues[bus_number], &to_send)) {
         if (can_check_checksum(&to_send)) {
           can_health[can_number].total_tx_cnt += 1U;
 
           uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
           // get the index of the next TX FIFO element (0 to FDCAN_TX_FIFO_EL_CNT - 1)
-          uint32_t tx_index = (FDCANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
+          uint32_t tx_index = (FDCANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1FU;
           // only send if we have received a packet
           canfd_fifo *fifo;
           fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
@@ -153,14 +153,14 @@ void can_rx(uint8_t can_number) {
 
   // Clear all new messages from Rx FIFO 0
   FDCANx->IR |= FDCAN_IR_RF0N;
-  while((FDCANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) {
+  while((FDCANx->RXF0S & FDCAN_RXF0S_F0FL) != 0U) {
     can_health[can_number].total_rx_cnt += 1U;
 
     // can is live
     pending_can_live = 1;
 
     // get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1)
-    uint32_t rx_fifo_idx = (uint8_t)((FDCANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
+    uint32_t rx_fifo_idx = (uint8_t)((FDCANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3FU);
 
     // Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet)
     if((FDCANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) {
@@ -232,7 +232,7 @@ void can_rx(uint8_t can_number) {
   }
 
   // Error handling
-  if ((ir_reg & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L)) != 0) {
+  if ((ir_reg & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L)) != 0U) {
     update_can_health_pkt(can_number, ir_reg);
   }
 }

diff --git a/board/drivers/gpio.h b/board/drivers/gpio.h
@@ -11,7 +11,7 @@
 #define OUTPUT_TYPE_OPEN_DRAIN 1U
 
 typedef struct {
-  GPIO_TypeDef *bank;
+  GPIO_TypeDef * const bank;
   uint8_t pin;
 } gpio_t;
 
@@ -68,13 +68,13 @@ int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin) {
   return (GPIO->IDR & (1UL << pin)) == (1UL << pin);
 }
 
-void gpio_set_all_output(const gpio_t *pins, uint8_t num_pins, bool enabled) {
+void gpio_set_all_output(gpio_t *pins, uint8_t num_pins, bool enabled) {
   for (uint8_t i = 0; i < num_pins; i++) {
     set_gpio_output(pins[i].bank, pins[i].pin, enabled);
   }
 }
 
-void gpio_set_bitmask(const gpio_t *pins, uint8_t num_pins, uint32_t bitmask) {
+void gpio_set_bitmask(gpio_t *pins, uint8_t num_pins, uint32_t bitmask) {
   for (uint8_t i = 0; i < num_pins; i++) {
     set_gpio_output(pins[i].bank, pins[i].pin, (bitmask >> i) & 1U);
   }

diff --git a/board/drivers/harness.h b/board/drivers/harness.h
@@ -13,16 +13,16 @@ struct harness_t harness;
 
 struct harness_configuration {
   const bool has_harness;
-  GPIO_TypeDef *GPIO_SBU1;
-  GPIO_TypeDef *GPIO_SBU2;
-  GPIO_TypeDef *GPIO_relay_SBU1;
-  GPIO_TypeDef *GPIO_relay_SBU2;
-  uint8_t pin_SBU1;
-  uint8_t pin_SBU2;
-  uint8_t pin_relay_SBU1;
-  uint8_t pin_relay_SBU2;
-  uint8_t adc_channel_SBU1;
-  uint8_t adc_channel_SBU2;
+  GPIO_TypeDef * const GPIO_SBU1;
+  GPIO_TypeDef * const GPIO_SBU2;
+  GPIO_TypeDef * const GPIO_relay_SBU1;
+  GPIO_TypeDef * const GPIO_relay_SBU2;
+  const uint8_t pin_SBU1;
+  const uint8_t pin_SBU2;
+  const uint8_t pin_relay_SBU1;
+  const uint8_t pin_relay_SBU2;
+  const uint8_t adc_channel_SBU1;
+  const uint8_t adc_channel_SBU2;
 };
 
 // The ignition relay is only used for testing purposes

diff --git a/board/drivers/interrupts.h b/board/drivers/interrupts.h
@@ -64,7 +64,7 @@ void handle_interrupt(IRQn_Type irq_type){
 
 // Every second
 void interrupt_timer_handler(void) {
-  if (INTERRUPT_TIMER->SR != 0) {
+  if (INTERRUPT_TIMER->SR != 0U) {
     for (uint16_t i = 0U; i < NUM_INTERRUPTS; i++) {
       // Log IRQ call rate faults
       if (check_interrupt_rate && (interrupts[i].call_counter > interrupts[i].max_call_rate)) {

diff --git a/board/drivers/spi.h b/board/drivers/spi.h
@@ -73,10 +73,8 @@ uint16_t spi_version_packet(uint8_t *out) {
   uint16_t data_pos = 7U + 2U;
 
   // write serial
-  #ifdef UID_BASE
   (void)memcpy(&out[data_pos], ((uint8_t *)UID_BASE), 12);
   data_len += 12U;
-  #endif
 
   // HW type
   out[data_pos + data_len] = hw_type;
@@ -232,7 +230,7 @@ void spi_rx_done(void) {
   llspi_miso_dma(spi_buf_tx, response_len);
 
   spi_state = next_rx_state;
-  if (!checksum_valid && (spi_checksum_error_count < __UINT16_MAX__)) {
+  if (!checksum_valid && (spi_checksum_error_count < UINT16_MAX)) {
     spi_checksum_error_count += 1U;
   }
 }