misc fixes (#4411)

* fix warnings

* break to debugger in case of panic

* move the check

* s

firmware/console/binary/serial_can.cpp

@@ -69,6 +69,9 @@ int CanStreamerState::sendFrame(const IsoTpFrameHeader & header, const uint8_t *
 		offset = 3;
 		maxNumBytes = 0;	// no data is sent with 'flow control' frame
 		break;
+	default:
+		// bad frame type
+		return 0;
 	}
 	
 	int numBytes = minI(maxNumBytes, num);
@@ -118,6 +121,9 @@ int CanStreamerState::receiveFrame(CANRxFrame *rxmsg, uint8_t *buf, int num, can
 	case ISO_TP_FRAME_FLOW_CONTROL:
 		// todo: currently we just ignore the FC frame
 		return 0;
+	default:
+		// bad frame type
+		return 0;
 	}
 
 #if defined(TS_CAN_DEVICE_SHORT_PACKETS_IN_ONE_FRAME)

firmware/controllers/algo/engine.cpp

@@ -438,13 +438,11 @@ void Engine::OnTriggerSyncronization(bool wasSynchronized, bool isDecodingError)
 		engine->triggerErrorDetection.add(isDecodingError);
 
 		if (triggerCentral.isTriggerDecoderError()) {
-			warning(CUSTOM_OBD_TRG_DECODING, "trigger decoding issue. expected %d/%d/%d got %d/%d/%d",
+			warning(CUSTOM_OBD_TRG_DECODING, "trigger decoding issue. expected %d/%d got %d/%d",
 					TRIGGER_WAVEFORM(getExpectedEventCount(0)),
 					TRIGGER_WAVEFORM(getExpectedEventCount(1)),
-					TRIGGER_WAVEFORM(getExpectedEventCount(2)),
 					triggerCentral.triggerState.currentCycle.eventCount[0],
-					triggerCentral.triggerState.currentCycle.eventCount[1],
-					triggerCentral.triggerState.currentCycle.eventCount[2]);
+					triggerCentral.triggerState.currentCycle.eventCount[1]);
 		}
 	}
 

firmware/controllers/core/error_handling.cpp

@@ -80,6 +80,11 @@ extern uint8_t criticalErrorLedState;
 #if EFI_SIMULATOR || EFI_PROD_CODE
 
 void chDbgPanic3(const char *msg, const char * file, int line) {
+#if EFI_PROD_CODE
+	// Attempt to break in to the debugger, if attached
+	__asm volatile("BKPT #0\n");
+#endif
+
 	if (hasOsPanicError())
 		return;
 	dbg_panic_file = file;
@@ -112,6 +117,7 @@ void chDbgPanic3(const char *msg, const char * file, int line) {
 	} else {
 		// Not the main thread.
 		// All hope is now lost.
+
 		// Reboot!
 		NVIC_SystemReset();
 	}

firmware/controllers/tc_4l6x.cpp

@@ -101,6 +101,7 @@ void Gm4l6xTransmissionController::setPcState(gear_e gear) {
 		shiftingFrom = getCurrentGear();
 		isShifting = true;
 	}
+
 	switch (getCurrentGear()) {
 	case REVERSE:
 		pcts = &config->tcu_pcValsR;
@@ -136,7 +137,12 @@ void Gm4l6xTransmissionController::setPcState(gear_e gear) {
 	case GEAR_4:
 		pcts = &config->tcu_pcVals4;
 		break;
+	default:
+		// TODO: how did we get here?
+		pcPwm.setSimplePwmDutyCycle(0);
+		return;
 	}
+
 	float duty = 0.01f * interpolate2d(engine->engineState.sd.airMassInOneCylinder, config->tcu_pcAirmassBins, *pcts);
 	pcPwm.setSimplePwmDutyCycle(duty);
 }

firmware/hw_layer/drivers/gpio/l9779.cpp

@@ -299,6 +299,10 @@ int L9779::spi_rw_array(const uint16_t *tx, uint16_t *rx, int n)
 	uint16_t rxdata;
 	SPIDriver *spi = cfg->spi_bus;
 
+	if (n <= 0) {
+		return -2;
+	}
+
 	/* Acquire ownership of the bus. */
 	spiAcquireBus(spi);
 	/* Setup transfer parameters. */

firmware/hw_layer/drivers/gpio/tle8888.cpp

@@ -399,6 +399,10 @@ int Tle8888::spi_rw_array(const uint16_t *tx, uint16_t *rx, int n)
 	uint16_t rxdata;
 	SPIDriver *spi = cfg->spi_bus;
 
+	if (n <= 0) {
+		return -2;
+	}
+
 	/**
 	 * 15.1 SPI Protocol
 	 *