split out config deps

Author: aubsw

SConscript

@@ -83,6 +83,8 @@ def build_project(project_name, project, extra_flags):
     '.',
     '..',
     panda_root,
+    f"{panda_root}/include/",
+    f"{panda_root}/include/board/",
     f"{panda_root}/board/",
     f"{panda_root}/../opendbc/safety/",
   ]

board/bootstub.c

@@ -1,10 +1,12 @@
 #define BOOTSTUB
 
 #define VERS_TAG 0x53524556
-#define MIN_VERSION 2
+#define MIN_VERSION    2
 
 // ********************* Includes *********************
+#include "platform_definitions.h"
 #include "config.h"
+#include "stm_config.h"
 
 #include "drivers/led.h"
 #include "drivers/pwm.h"

board/can_comms.h

@@ -11,6 +11,7 @@
   * the overflow buffers are reset by a dedicated control transfer handler,
     which is sent by the host on each start of a connection.
 */
+#include "drivers/spi_declarations.h"
 
 typedef struct {
   uint32_t ptr;

board/comms_definitions.h

@@ -1,3 +1,4 @@
+#pragma once
 typedef struct {
   uint8_t request;
   uint16_t param1;

board/critical.h

@@ -3,7 +3,7 @@
 // ********************* Critical section helpers *********************
 uint8_t global_critical_depth = 0U;
 
-static volatile bool interrupts_enabled = false;
+volatile bool interrupts_enabled = false;
 
 void enable_interrupts(void) {
   interrupts_enabled = true;

board/critical_declarations.h

@@ -5,6 +5,7 @@ void enable_interrupts(void);
 void disable_interrupts(void);
 
 extern uint8_t global_critical_depth;
+extern volatile bool interrupts_enabled;
 
 #define ENTER_CRITICAL()                                      \
   __disable_irq();                                            \

board/drivers/bxcan.h

@@ -1,4 +1,5 @@
 #include "bxcan_declarations.h"
+#include "drivers/can_common_declarations.h"
 
 // IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
 //       CAN2_TX, CAN2_RX0, CAN2_SCE

board/drivers/can_common.h

@@ -1,4 +1,17 @@
 #include "can_common_declarations.h"
+#include "safety.h"
+
+#ifdef STM32H7
+// ITCM RAM and DTCM RAM are the fastest for Cortex-M7 core access
+__attribute__((section(".axisram"))) can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
+__attribute__((section(".itcmram"))) can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
+__attribute__((section(".itcmram"))) can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
+#else
+can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
+can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
+can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
+#endif
+can_buffer(tx3_q, CAN_TX_BUFFER_SIZE)
 
 uint32_t safety_tx_blocked = 0;
 uint32_t safety_rx_invalid = 0;
@@ -17,25 +30,6 @@ int can_silent = ALL_CAN_SILENT;
 bool can_loopback = false;
 
 // ********************* instantiate queues *********************
-#define can_buffer(x, size) \
-  static CANPacket_t elems_##x[size]; \
-  extern can_ring can_##x; \
-  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };
-
-#define CAN_RX_BUFFER_SIZE 4096U
-#define CAN_TX_BUFFER_SIZE 416U
-
-#ifdef STM32H7
-// ITCM RAM and DTCM RAM are the fastest for Cortex-M7 core access
-__attribute__((section(".axisram"))) can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
-__attribute__((section(".itcmram"))) can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
-__attribute__((section(".itcmram"))) can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
-#else
-can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
-can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
-can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
-#endif
-can_buffer(tx3_q, CAN_TX_BUFFER_SIZE)
 
 // FIXME:
 // cppcheck-suppress misra-c2012-9.3

board/drivers/can_common_declarations.h

@@ -1,4 +1,9 @@
 #pragma once
+#include <stdbool.h>
+#include <stdint.h>
+#include "can.h"
+#include "health.h"
+#include "safety.h"
 
 typedef struct {
   volatile uint32_t w_ptr;
@@ -7,6 +12,18 @@ typedef struct {
   CANPacket_t *elems;
 } can_ring;
 
+#define can_buffer(x, size) \
+  static CANPacket_t elems_##x[size]; \
+  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };
+
+#define CAN_RX_BUFFER_SIZE 4096U
+#define CAN_TX_BUFFER_SIZE 416U
+
+extern can_ring can_rx_q;
+extern can_ring can_tx1_q;
+extern can_ring can_tx2_q;
+extern can_ring can_tx3_q;
+
 typedef struct {
   uint8_t bus_lookup;
   uint8_t can_num_lookup;
@@ -75,14 +92,17 @@ extern bus_config_t bus_config[BUS_CONFIG_ARRAY_SIZE];
 #define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
 
 void can_init_all(void);
+void can_clear(can_ring *q);
 void can_set_orientation(bool flipped);
 #ifdef PANDA_JUNGLE
 void can_set_forwarding(uint8_t from, uint8_t to);
 #endif
 void ignition_can_hook(CANPacket_t *to_push);
 bool can_tx_check_min_slots_free(uint32_t min);
-uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
-void can_set_checksum(CANPacket_t *packet);
+extern uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
+extern void can_set_checksum(CANPacket_t *packet);
 bool can_check_checksum(CANPacket_t *packet);
 void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
 bool is_speed_valid(uint32_t speed, const uint32_t *all_speeds, uint8_t len);
+
+extern bool safety_tx_hook(CANPacket_t *to_send);

board/drivers/fan.h

@@ -1,4 +1,5 @@
 #include "fan_declarations.h"
+#include "utils.h"
 
 struct fan_state_t fan_state;