Enable unusedFunction checks

.github/workflows/test.yaml

@@ -96,11 +96,14 @@ jobs:
         run: eval "$BUILD"
       - name: Build FW
         run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Run MISRA C:2012 analysis
+      - name: Run MISRA C:2012 analysis - ALLOW_DEBUG
         timeout-minutes: 1
         run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
+      - name: Run MISRA C:2012 analysis - RELEASE
+        timeout-minutes: 2
+        run: ${{ env.RUN }} "cd tests/misra && CERT=./certs/debug RELEASE=1 ./test_misra.sh"
       - name: MISRA mutation tests
-        timeout-minutes: 5
+        timeout-minutes: 7
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"
 
   static_analysis:

.gitignore

@@ -20,6 +20,7 @@ examples/output.csv
 nosetests.xml
 .mypy_cache/
 .sconsign.dblite
+compile_commands*.json
 
 # CTU info files generated by Cppcheck
 *.*.ctu-info

SConscript

@@ -107,8 +107,8 @@ def build_project(project_name, project, extra_flags):
 
   # Bootstub
   crypto_obj = [
-    env.Object(f"rsa-{project_name}", f"{panda_root}/crypto/rsa.c"),
-    env.Object(f"sha-{project_name}", f"{panda_root}/crypto/sha.c")
+    env.Object(f"bootstub-rsa-{project_name}", f"{panda_root}/crypto/rsa.c"),
+    env.Object(f"bootstub-sha-{project_name}", f"{panda_root}/crypto/sha.c")
   ]
   bootstub_obj = env.Object(f"bootstub-{project_name}", File(project.get("BOOTSTUB", f"{panda_root}/board/bootstub.c")))
   bootstub_elf = env.Program(f"obj/bootstub.{project_name}.elf",
@@ -136,7 +136,6 @@ base_project_f4 = {
     "-mhard-float",
     "-DSTM32F4",
     "-DSTM32F413xx",
-    "-Iboard/stm32f4/inc",
     "-mfpu=fpv4-sp-d16",
     "-fsingle-precision-constant",
     "-Os",
@@ -154,7 +153,6 @@ base_project_h7 = {
     "-mhard-float",
     "-DSTM32H7",
     "-DSTM32H725xx",
-    "-Iboard/stm32h7/inc",
     "-mfpu=fpv5-d16",
     "-fsingle-precision-constant",
     "-Os",

SConstruct

@@ -22,7 +22,13 @@ env = Environment(
 )
 
 if GetOption('compile_db'):
+    # whole project compilation database
     env.CompilationDatabase("compile_commands.json")
 
+    # Panda compilation database
+    env_p = env.Clone()
+    env_p["COMPILATIONDB_PATH_FILTER"] = '*board/[!jungle/][!bootstub]*'
+    env_p.CompilationDatabase("compile_commands_panda.json")
+
 # panda fw & test files
 SConscript('SConscript')

board/SConscript

@@ -12,7 +12,7 @@ for project_name, project in build_projects.items():
   flags = [
     "-DPANDA",
   ]
-  if ("ENABLE_SPI" in os.environ or "h7" in project_name):
+  if ("ENABLE_SPI" in os.environ):
     flags.append('-DENABLE_SPI')
 
   build_project(project_name, project, flags)

board/drivers/can_common.h

@@ -191,9 +191,11 @@ void can_set_orientation(bool flipped) {
   bus_config[2].can_num_lookup = flipped ? 0U : 2U;
 }
 
+#ifdef FINAL_PROVISIONING // only used in jungle final provisioning
 void can_set_forwarding(uint8_t from, uint8_t to) {
   bus_config[from].forwarding_bus = to;
 }
+#endif
 
 void ignition_can_hook(CANPacket_t *to_push) {
   int bus = GET_BUS(to_push);

board/drivers/gpio.h

@@ -10,11 +10,6 @@
 #define OUTPUT_TYPE_PUSH_PULL 0U
 #define OUTPUT_TYPE_OPEN_DRAIN 1U
 
-typedef struct {
-  GPIO_TypeDef * const bank;
-  uint8_t pin;
-} gpio_t;
-
 void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
   ENTER_CRITICAL();
   uint32_t tmp = GPIO->MODER;
@@ -68,6 +63,12 @@ int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin) {
   return (GPIO->IDR & (1UL << pin)) == (1UL << pin);
 }
 
+#ifdef PANDA_JUNGLE
+typedef struct {
+  GPIO_TypeDef * const bank;
+  uint8_t pin;
+} gpio_t;
+
 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);
@@ -79,6 +80,7 @@ void gpio_set_bitmask(gpio_t *pins, uint8_t num_pins, uint32_t bitmask) {
     set_gpio_output(pins[i].bank, pins[i].pin, (bitmask >> i) & 1U);
   }
 }
+#endif
 
 // Detection with internal pullup
 #define PULL_EFFECTIVE_DELAY 4096

board/drivers/uart.h

@@ -37,7 +37,6 @@ typedef struct uart_ring {
 // ***************************** Function prototypes *****************************
 void debug_ring_callback(uart_ring *ring);
 void uart_tx_ring(uart_ring *q);
-void uart_send_break(uart_ring *u);
 
 // ******************************** UART buffers ********************************
 
@@ -151,20 +150,6 @@ void print(const char *a) {
   }
 }
 
-void putui(uint32_t i) {
-  uint32_t i_copy = i;
-  char str[11];
-  uint8_t idx = 10;
-  str[idx] = '\0';
-  idx--;
-  do {
-    str[idx] = (i_copy % 10U) + 0x30U;
-    idx--;
-    i_copy /= 10;
-  } while (i_copy != 0U);
-  print(&str[idx + 1U]);
-}
-
 void puthx(uint32_t i, uint8_t len) {
   const char c[] = "0123456789abcdef";
   for (int pos = ((int)len * 4) - 4; pos > -4; pos -= 4) {

board/drivers/usb.h

@@ -914,11 +914,3 @@ void can_tx_comms_resume_usb(void) {
   }
   EXIT_CRITICAL();
 }
-
-void usb_soft_disconnect(bool enable) {
-  if (enable) {
-    USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS;
-  } else {
-    USBx_DEVICE->DCTL &= ~USB_OTG_DCTL_SDIS;
-  }
-}

board/libc.h

@@ -16,6 +16,7 @@ void assert_fatal(bool condition, const char *msg) {
 }
 
 // cppcheck-suppress misra-c2012-21.2
+// cppcheck-suppress unusedFunction ; gcc uses memset to initialize structures
 void *memset(void *str, int c, unsigned int n) {
   uint8_t *s = str;
   for (unsigned int i = 0; i < n; i++) {

board/main.c

@@ -346,11 +346,9 @@ int main(void) {
   // enable USB (right before interrupts or enum can fail!)
   usb_init();
 
-#ifdef ENABLE_SPI
   if (current_board->has_spi) {
     spi_init();
   }
-#endif
 
   current_board->set_led(LED_RED, false);
   current_board->set_led(LED_GREEN, false);

board/safety.h

@@ -428,7 +428,7 @@ bool max_limit_check(int val, const int MAX_VAL, const int MIN_VAL) {
 }
 
 // check that commanded torque value isn't too far from measured
-bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
+bool dist_to_meas_check(int val, int val_last, const struct sample_t *val_meas,
                         const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
 
   // *** val rate limit check ***

board/safety/safety_hyundai_canfd.h

@@ -127,8 +127,8 @@ RxCheck hyundai_canfd_hda2_long_rx_checks[] = {
 
 
 
-const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
-const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
+const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
+const uint16_t HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
 bool hyundai_canfd_alt_buttons = false;
 bool hyundai_canfd_hda2_alt_steering = false;
 
@@ -152,6 +152,31 @@ static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *to_push) {
   return chksum;
 }
 
+uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
+  int len = GET_LEN(to_push);
+  uint32_t address = GET_ADDR(to_push);
+
+  uint16_t crc = 0;
+
+  for (int i = 2; i < len; i++) {
+    crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
+  }
+
+  // Add address to crc
+  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
+  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
+
+  if (len == 24) {
+    crc ^= 0x819dU;
+  } else if (len == 32) {
+    crc ^= 0x9f5bU;
+  } else {
+
+  }
+
+  return crc;
+}
+
 static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);

board/safety/safety_hyundai_common.h

@@ -1,12 +1,12 @@
 #ifndef SAFETY_HYUNDAI_COMMON_H
 #define SAFETY_HYUNDAI_COMMON_H
 
-const int HYUNDAI_PARAM_EV_GAS = 1;
-const int HYUNDAI_PARAM_HYBRID_GAS = 2;
-const int HYUNDAI_PARAM_LONGITUDINAL = 4;
-const int HYUNDAI_PARAM_CAMERA_SCC = 8;
-const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
-const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
+const uint8_t HYUNDAI_PARAM_EV_GAS = 1;
+const uint8_t HYUNDAI_PARAM_HYBRID_GAS = 2;
+const uint8_t HYUNDAI_PARAM_LONGITUDINAL = 4;
+const uint8_t HYUNDAI_PARAM_CAMERA_SCC = 8;
+const uint8_t HYUNDAI_PARAM_CANFD_HDA2 = 16;
+const uint8_t HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
 
 const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8;  // roughly 160 ms
 const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12;  // 0.375 kph
@@ -86,29 +86,4 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
   }
 }
 
-uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
-  int len = GET_LEN(to_push);
-  uint32_t address = GET_ADDR(to_push);
-
-  uint16_t crc = 0;
-
-  for (int i = 2; i < len; i++) {
-    crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
-  }
-
-  // Add address to crc
-  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
-  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
-
-  if (len == 24) {
-    crc ^= 0x819dU;
-  } else if (len == 32) {
-    crc ^= 0x9f5bU;
-  } else {
-
-  }
-
-  return crc;
-}
-
 #endif

board/safety/safety_nissan.h

@@ -36,7 +36,7 @@ RxCheck nissan_rx_checks[] = {
 };
 
 // EPS Location. false = V-CAN, true = C-CAN
-const int NISSAN_PARAM_ALT_EPS_BUS = 1;
+const uint8_t NISSAN_PARAM_ALT_EPS_BUS = 1;
 
 bool nissan_alt_eps = false;
 

board/safety/safety_subaru_preglobal.h

@@ -37,7 +37,7 @@ RxCheck subaru_preglobal_rx_checks[] = {
 };
 
 
-const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1;
+const uint8_t SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1;
 bool subaru_pg_reversed_driver_torque = false;
 
 

board/safety/safety_tesla.h

@@ -17,9 +17,9 @@ const LongitudinalLimits TESLA_LONG_LIMITS = {
 };
 
 
-const int TESLA_FLAG_POWERTRAIN = 1;
-const int TESLA_FLAG_LONGITUDINAL_CONTROL = 2;
-const int TESLA_FLAG_RAVEN = 4;
+const uint8_t TESLA_FLAG_POWERTRAIN = 1;
+const uint8_t TESLA_FLAG_LONGITUDINAL_CONTROL = 2;
+const uint8_t TESLA_FLAG_RAVEN = 4;
 
 const CanMsg TESLA_TX_MSGS[] = {
   {0x488, 0, 4},  // DAS_steeringControl

board/safety_declarations.h

@@ -2,6 +2,8 @@
 
 #define GET_BIT(msg, b) ((bool)!!(((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U))
 #define GET_BYTE(msg, b) ((msg)->data[(b)])
+
+// cppcheck-suppress-macro misra-c2012-17.3 ; misra addon doesn't know __typeof__ symbol  https://github.com/danmar/cppcheck/pull/5568#discussion_r1632304897
 #define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask)) // cppcheck-suppress misra-c2012-1.2; allow __typeof__
 
 #define BUILD_SAFETY_CFG(rx, tx) ((safety_config){(rx), (sizeof((rx)) / sizeof((rx)[0])), \
@@ -30,7 +32,7 @@ const uint8_t MAX_MISSED_MSGS = 10U;
 
 
 // sample struct that keeps 6 samples in memory
-struct sample_t {
+const struct sample_t {
   int values[MAX_SAMPLE_VALS];
   int min;
   int max;
@@ -174,7 +176,7 @@ void reset_sample(struct sample_t *sample);
 bool max_limit_check(int val, const int MAX, const int MIN);
 bool angle_dist_to_meas_check(int val, struct sample_t *val_meas,
   const int MAX_ERROR, const int MAX_VAL);
-bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
+bool dist_to_meas_check(int val, int val_last, const struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
 bool driver_limit_check(int val, int val_last, const struct sample_t *val_driver,
   const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,