openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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// **** libc ****
void delay(uint32_t a) {
volatile uint32_t i;
for (i = 0; i < a; i++);
}
void assert_fatal(bool condition, const char *msg) {
if (!condition) {
print("ASSERT FAILED\n");
print(msg);
while (1) {
// hang
}
}
}
// cppcheck-suppress misra-c2012-21.2
void *memset(void *str, int c, unsigned int n) {
uint8_t *s = str;
for (unsigned int i = 0; i < n; i++) {
*s = c;
s++;
}
return str;
}
#define UNALIGNED(X, Y) \
(((uint32_t)(X) & (sizeof(uint32_t) - 1U)) | ((uint32_t)(Y) & (sizeof(uint32_t) - 1U)))
// cppcheck-suppress misra-c2012-21.2
void *memcpy(void *dest, const void *src, unsigned int len) {
unsigned int n = len;
uint8_t *d8 = dest;
const uint8_t *s8 = src;
if ((n >= 4U) && !UNALIGNED(s8, d8)) {
uint32_t *d32 = (uint32_t *)d8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
const uint32_t *s32 = (const uint32_t *)s8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
while(n >= 16U) {
*d32 = *s32; d32++; s32++;
*d32 = *s32; d32++; s32++;
*d32 = *s32; d32++; s32++;
*d32 = *s32; d32++; s32++;
n -= 16U;
}
while(n >= 4U) {
*d32 = *s32; d32++; s32++;
n -= 4U;
}
d8 = (uint8_t *)d32;
s8 = (const uint8_t *)s32;
}
while (n-- > 0U) {
*d8 = *s8; d8++; s8++;
}
return dest;
}
// cppcheck-suppress misra-c2012-21.2
int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
int ret = 0;
const uint8_t *p1 = ptr1;
const uint8_t *p2 = ptr2;
for (unsigned int i = 0; i < num; i++) {
if (*p1 != *p2) {
ret = -1;
break;
}
p1++;
p2++;
}
return ret;
}