sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

panda/board/utils.h

@@ -0,0 +1,47 @@
+// cppcheck-suppress-macro [misra-c2012-1.2, misra-c2012-17.3]; allow __typeof__ extension
+#define MIN(a, b) ({ \
+  __typeof__ (a) _a = (a); \
+  __typeof__ (b) _b = (b); \
+  (_a < _b) ? _a : _b; \
+})
+
+// cppcheck-suppress-macro [misra-c2012-1.2, misra-c2012-17.3]; allow __typeof__ extension
+#define MAX(a, b) ({ \
+  __typeof__ (a) _a = (a); \
+  __typeof__ (b) _b = (b); \
+  (_a > _b) ? _a : _b; \
+})
+
+// cppcheck-suppress-macro [misra-c2012-1.2, misra-c2012-17.3]; allow __typeof__ extension
+#define CLAMP(x, low, high) ({ \
+  __typeof__(x) __x = (x); \
+  __typeof__(low) __low = (low);\
+  __typeof__(high) __high = (high);\
+  (__x > __high) ? __high : ((__x < __low) ? __low : __x); \
+})
+
+// cppcheck-suppress-macro [misra-c2012-1.2, misra-c2012-17.3]; allow __typeof__ extension
+#define ABS(a) ({ \
+  __typeof__ (a) _a = (a); \
+  (_a > 0) ? _a : (-_a); \
+})
+
+#ifndef NULL
+// this just provides a standard implementation of NULL
+// in lieu of including libc in the panda build
+// cppcheck-suppress [misra-c2012-21.1]
+#define NULL ((void*)0)
+#endif
+
+// STM32 HAL defines this
+#ifndef UNUSED
+#define UNUSED(x) ((void)(x))
+#endif
+
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred) ? 1 : 0))]))
+
+// compute the time elapsed (in microseconds) from 2 counter samples
+// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
+uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
+  return ts - ts_last;
+}