Untangle config dependencies, misc prefactors

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

@@ -4,7 +4,8 @@
 #define MIN_VERSION 2
 
 // ********************* Includes *********************
-#include "config.h"
+#include "board_config.h"
+#include "stm_config.h"
 
 #include "drivers/led.h"
 #include "drivers/pwm.h"

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/can_common.h

@@ -17,14 +17,6 @@ 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)

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;
 

board/drivers/gpio.h

@@ -1,19 +1,6 @@
-#define MODE_INPUT 0
-#define MODE_OUTPUT 1
-#define MODE_ALTERNATE 2
-#define MODE_ANALOG 3
-
-#define PULL_NONE 0
-#define PULL_UP 1
-#define PULL_DOWN 2
-
-#define OUTPUT_TYPE_PUSH_PULL 0U
-#define OUTPUT_TYPE_OPEN_DRAIN 1U
-
-typedef struct {
-  GPIO_TypeDef * const bank;
-  uint8_t pin;
-} gpio_t;
+#include "drivers/gpio_declarations.h"
+#include "critical_declarations.h"
+#include "drivers/registers.h"
 
 void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
   ENTER_CRITICAL();
@@ -68,12 +55,14 @@ int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin) {
   return (GPIO->IDR & (1UL << pin)) == (1UL << pin);
 }
 
+// cppcheck-suppress[misra-c2012-9.3,misra-c2012-8.7]
 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);
   }
 }
 
+// cppcheck-suppress[misra-c2012-9.3,misra-c2012-8.7]
 void gpio_set_bitmask(gpio_t *pins, uint8_t num_pins, uint32_t bitmask) {
   for (uint8_t i = 0; i < num_pins; i++) {
     set_gpio_output(pins[i].bank, pins[i].pin, (bitmask >> i) & 1U);

board/drivers/registers.h

@@ -1,4 +1,6 @@
+#pragma once
 #include "registers_declarations.h"
+#include "critical_declarations.h"
 
 static reg register_map[REGISTER_MAP_SIZE];
 

board/faults.h

@@ -1,3 +1,4 @@
+#pragma once
 #include "faults_declarations.h"
 
 uint8_t fault_status = FAULT_STATUS_NONE;

board/health.h

@@ -1,4 +1,5 @@
 // When changing these structs, python/__init__.py needs to be kept up to date!
+#pragma once
 
 #define HEALTH_PACKET_VERSION 16
 struct __attribute__((packed)) health_t {

board/jungle/main.c

@@ -1,5 +1,6 @@
 // ********************* Includes *********************
-#include "board/config.h"
+#include "board_config.h"
+#include "board/stm_config.h"
 
 #include "safety.h"
 

board/libc.h

@@ -1,4 +1,5 @@
 // **** libc ****
+#pragma once
 
 void delay(uint32_t a) {
   volatile uint32_t i;

board/main.c

@@ -1,5 +1,6 @@
 // ********************* Includes *********************
-#include "config.h"
+#include "board_config.h"
+#include "stm_config.h"
 
 #include "drivers/led.h"
 #include "drivers/pwm.h"

board/main_declarations.h

@@ -1,4 +1,5 @@
 #pragma once
+#include "platform_definitions.h"
 
 // ******************** Prototypes ********************
 void print(const char *a);

board/utils.h

@@ -1,3 +1,6 @@
+#ifndef UTILS_DEFINITION_H
+#define UTILS_DEFINITION_H
+#include <stdint.h>
 // cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
 #define MIN(a, b) ({ \
   __typeof__ (a) _a = (a); \
@@ -42,6 +45,7 @@
 
 // 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) {
+static inline uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
   return ts - ts_last;
 }
+#endif //UTILS_DEFINITION_H

board/config.h → include/board/board_config.h

@@ -32,13 +32,8 @@
   #endif
 #endif
 
-// platform includes
-#ifdef STM32H7
-  #include "stm32h7/stm32h7_config.h"
-#elif defined(STM32F4)
-  #include "stm32f4/stm32f4_config.h"
+#ifndef BOOTSTUB
+  #include "main_definitions.h"
 #else
-  // TODO: uncomment this, cppcheck complains
-  // building for tests
-  //#include "fake_stm.h"
+  #include "bootstub_definitions.h"
 #endif

board/bootstub_declarations.h → include/board/bootstub_definitions.h

@@ -1,3 +1,5 @@
+#include "platform_definitions.h"
+#include "utils.h"
 // ******************** Prototypes ********************
 void print(const char *a){ UNUSED(a); }
 void puth(uint8_t i){ UNUSED(i); }

include/board/drivers/gpio_declarations.h

@@ -0,0 +1,30 @@
+#pragma once
+#include <stdbool.h>
+#include "platform_definitions.h"
+
+#define MODE_INPUT 0
+#define MODE_OUTPUT 1
+#define MODE_ALTERNATE 2
+#define MODE_ANALOG 3
+
+#define PULL_NONE 0
+#define PULL_UP 1
+#define PULL_DOWN 2
+
+#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);
+void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled);
+void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type);
+void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode);
+void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode);
+int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin);
+void gpio_set_all_output(gpio_t *pins, uint8_t num_pins, bool enabled);
+void gpio_set_bitmask(gpio_t *pins, uint8_t num_pins, uint32_t bitmask);
+bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode);

board/main_definitions.h → include/board/main_definitions.h

@@ -1,3 +1,4 @@
+#pragma once
 #include "main_declarations.h"
 
 // ********************* Globals **********************

include/board/platform_definitions.h

@@ -0,0 +1,15 @@
+/* Platform includes that provide definitions that a lot drivers need, e.g.:
+  __enable_irq
+  __disable_irq
+  GPIO_TypeDef
+  TIM_TypeDef
+  IRQn_Type
+  USART_TypeDef
+  CAN_TypeDef
+*/
+#pragma once
+#ifdef STM32H7
+  #include "stm32h7/stm32h7_platform_definitions.h"
+#elif defined(STM32F4)
+  #include "stm32f4/stm32f4_platform_definitions.h"
+#endif

board/stm32f4/stm32f4_config.h → include/board/stm32f4/stm32f4_config.h

@@ -1,44 +1,9 @@
 #include "stm32f4/inc/stm32f4xx.h"
 #include "stm32f4/inc/stm32f4xx_hal_gpio_ex.h"
-#define MCU_IDCODE 0x463U
-
-#define CORE_FREQ 96U // in MHz
-#define APB1_FREQ (CORE_FREQ/2U)
-#define APB1_TIMER_FREQ (APB1_FREQ*2U)  // APB1 is multiplied by 2 for the timer peripherals
-#define APB2_FREQ (CORE_FREQ/2U)
-#define APB2_TIMER_FREQ (APB2_FREQ*2U)  // APB2 is multiplied by 2 for the timer peripherals
-
-#define BOOTLOADER_ADDRESS 0x1FFF0004U
-
-// Around (1Mbps / 8 bits/byte / 12 bytes per message)
-#define CAN_INTERRUPT_RATE 12000U
-
-#define MAX_LED_FADE 8192U
-
-#define NUM_INTERRUPTS 102U                // There are 102 external interrupt sources (see stm32f413.h)
-
-#define TICK_TIMER_IRQ TIM1_BRK_TIM9_IRQn
-#define TICK_TIMER TIM9
-
-#define MICROSECOND_TIMER TIM2
-
-#define INTERRUPT_TIMER_IRQ TIM6_DAC_IRQn
-#define INTERRUPT_TIMER TIM6
-
-#define IND_WDG IWDG
-
-#define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U
-#define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
 
 #include "can.h"
 #include "comms_definitions.h"
 
-#ifndef BOOTSTUB
-  #include "main_definitions.h"
-#else
-  #include "bootstub_declarations.h"
-#endif
-
 #include "libc.h"
 #include "critical.h"
 #include "faults.h"

include/board/stm32f4/stm32f4_platform_definitions.h

@@ -0,0 +1,35 @@
+#pragma once
+#include "stm32f4/inc/stm32f4xx.h"
+#include "stm32f4/inc/stm32f4xx_hal_gpio_ex.h"
+#define MCU_IDCODE 0x463U
+
+#define CORE_FREQ 96U // in MHz
+#define APB1_FREQ (CORE_FREQ / 2U)
+#define APB1_TIMER_FREQ                                                        \
+(APB1_FREQ * 2U) // APB1 is multiplied by 2 for the timer peripherals
+#define APB2_FREQ (CORE_FREQ / 2U)
+#define APB2_TIMER_FREQ                                                        \
+(APB2_FREQ * 2U) // APB2 is multiplied by 2 for the timer peripherals
+
+#define BOOTLOADER_ADDRESS 0x1FFF0004U
+
+// Around (1Mbps / 8 bits/byte / 12 bytes per message)
+#define CAN_INTERRUPT_RATE 12000U
+
+#define MAX_LED_FADE 8192U
+
+#define NUM_INTERRUPTS                                                         \
+102U // There are 102 external interrupt sources (see stm32f413.h)
+
+#define TICK_TIMER_IRQ TIM1_BRK_TIM9_IRQn
+#define TICK_TIMER TIM9
+
+#define MICROSECOND_TIMER TIM2
+
+#define INTERRUPT_TIMER_IRQ TIM6_DAC_IRQn
+#define INTERRUPT_TIMER TIM6
+
+#define IND_WDG IWDG
+
+#define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U
+#define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U