Dedupe opendbc code

Jenkinsfile

@@ -33,7 +33,7 @@ export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export PYTHONPATH=${env.TEST_DIR}/../
 export PYTHONWARNINGS=error
-ln -sf /data/openpilot/opendbc_repo/opendbc /data/opendbc
+ln -sf /data/openpilot/opendbc_repo /data/opendbc
 
 cd ${env.TEST_DIR} || true
 ${cmd}

SConscript

@@ -84,7 +84,8 @@ def build_project(project_name, project, extra_flags):
     '..',
     panda_root,
     f"{panda_root}/board/",
-    f"{panda_root}/../opendbc/safety/",
+    f"{panda_root}/../opendbc",
+    f"{panda_root}/../opendbc/safety",
   ]
 
   env = Environment(

board/can.h

@@ -1,7 +1,8 @@
 #pragma once
-#include "can_declarations.h"
+#include "safety/board/can.h"
+
+#define CANPACKET_HEAD_SIZE 6U
+#define CAN_PACKET_VERSION 4
 
 static const uint8_t PANDA_CAN_CNT = 3U;
 static const uint8_t PANDA_BUS_CNT = 3U;
-
-static const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};

board/config.h

@@ -40,5 +40,5 @@
 #else
   // TODO: uncomment this, cppcheck complains
   // building for tests
-  //#include "fake_stm.h"
+  //#include "fake_stm_panda.h"
 #endif

board/drivers/can_common.h → board/drivers/can_common_panda.h

@@ -1,4 +1,5 @@
-#include "can_common_declarations.h"
+#include "can_common_panda_declarations.h"
+#include "safety/board/drivers/can_common.h"
 
 uint32_t safety_tx_blocked = 0;
 uint32_t safety_rx_invalid = 0;
@@ -219,23 +220,6 @@ bool can_tx_check_min_slots_free(uint32_t min) {
     (can_slots_empty(&can_tx3_q) >= min);
 }
 
-uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) {
-  uint8_t checksum = 0U;
-  for (uint32_t i = 0U; i < len; i++) {
-    checksum ^= dat[i];
-  }
-  return checksum;
-}
-
-void can_set_checksum(CANPacket_t *packet) {
-  packet->checksum = 0U;
-  packet->checksum = calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet));
-}
-
-bool can_check_checksum(CANPacket_t *packet) {
-  return (calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet)) == 0U);
-}
-
 void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
   if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
     if (bus_number < PANDA_BUS_CNT) {

board/drivers/can_common_declarations.h → board/drivers/can_common_panda_declarations.h

@@ -81,8 +81,6 @@ 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);
 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);

board/fake_stm_panda.h

@@ -0,0 +1,13 @@
+// minimal code to fake a panda for tests
+#pragma once
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include "safety/board/fake_stm.h"
+
+#define CANFD
+
+#define ENTER_CRITICAL() 0
+#define EXIT_CRITICAL() 0
+
+typedef uint32_t GPIO_TypeDef;

board/faults.h

@@ -1,4 +1,5 @@
 #include "faults_declarations.h"
+#include "safety/board/faults_declarations.h"
 
 uint8_t fault_status = FAULT_STATUS_NONE;
 uint32_t faults = 0U;

board/faults_declarations.h

@@ -1,11 +1,6 @@
 #pragma once
 
-#define FAULT_STATUS_NONE 0U
-#define FAULT_STATUS_TEMPORARY 1U
-#define FAULT_STATUS_PERMANENT 2U
-
 // Fault types, matches cereal.log.PandaState.FaultType
-#define FAULT_RELAY_MALFUNCTION             (1UL << 0)
 #define FAULT_UNUSED_INTERRUPT_HANDLED      (1UL << 1)
 #define FAULT_INTERRUPT_RATE_CAN_1          (1UL << 2)
 #define FAULT_INTERRUPT_RATE_CAN_2          (1UL << 3)
@@ -33,12 +28,3 @@
 #define FAULT_SIREN_MALFUNCTION             (1UL << 25)
 #define FAULT_HEARTBEAT_LOOP_WATCHDOG       (1UL << 26)
 #define FAULT_INTERRUPT_RATE_SOUND_DMA      (1UL << 27)
-
-// Permanent faults
-#define PERMANENT_FAULTS 0U
-
-extern uint8_t fault_status;
-extern uint32_t faults;
-
-void fault_occurred(uint32_t fault);
-void fault_recovered(uint32_t fault);

board/jungle/main.c

@@ -1,7 +1,7 @@
 // ********************* Includes *********************
 #include "board/config.h"
 
-#include "safety.h"
+#include "safety/safety.h"
 
 #include "board/drivers/led.h"
 #include "board/drivers/pwm.h"
@@ -13,7 +13,7 @@
 #include "board/health.h"
 #include "jungle_health.h"
 
-#include "board/drivers/can_common.h"
+#include "board/drivers/can_common_panda.h"
 
 #ifdef STM32H7
   #include "board/drivers/fdcan.h"

board/main.c

@@ -10,11 +10,11 @@
 #include "early_init.h"
 #include "provision.h"
 
-#include "safety.h"
+#include "safety/safety.h"
 
 #include "health.h"
 
-#include "drivers/can_common.h"
+#include "drivers/can_common_panda.h"
 
 #ifdef STM32H7
   #include "drivers/fdcan.h"

board/stm32f4/stm32f4_config.h

@@ -42,7 +42,7 @@
 #include "libc.h"
 #include "critical.h"
 #include "faults.h"
-#include "utils.h"
+#include "safety/board/utils.h"
 
 #include "drivers/registers.h"
 #include "drivers/interrupts.h"

board/stm32h7/stm32h7_config.h

@@ -55,7 +55,7 @@ separate IRQs for RX and TX.
 #include "libc.h"
 #include "critical.h"
 #include "faults.h"
-#include "utils.h"
+#include "safety/board/utils.h"
 
 #include "drivers/registers.h"
 #include "drivers/interrupts.h"

tests/libpanda/SConscript

@@ -16,7 +16,11 @@ env = Environment(
     '-Wfatal-errors',
     '-Wno-pointer-to-int-cast',
   ],
-  CPPPATH=[".", "../../board/", "../../../opendbc/safety/"],
+  CPPPATH=[
+    ".",
+    "../../board/",
+    "../../../opendbc/",
+    "../../../opendbc/safety/"],
 )
 if system == "Darwin":
   env.PrependENVPath('PATH', '/opt/homebrew/bin')

tests/libpanda/panda.c

@@ -1,4 +1,4 @@
-#include "fake_stm.h"
+#include "fake_stm_panda.h"
 #include "config.h"
 #include "can.h"
 
@@ -15,9 +15,9 @@ void can_tx_comms_resume_spi(void) { };
 #include "faults.h"
 #include "libc.h"
 #include "boards/board_declarations.h"
-#include "safety.h"
+#include "safety/safety.h"
 #include "main_definitions.h"
-#include "drivers/can_common.h"
+#include "drivers/can_common_panda.h"
 
 can_ring *rx_q = &can_rx_q;
 can_ring *tx1_q = &can_tx1_q;

tests/misra/checkers.txt

@@ -5,7 +5,7 @@ Cppcheck checkers list from test_misra.sh:
 
 
 TEST variant options:
---enable=all --disable=unusedFunction -DPANDA --addon=misra -DSTM32F4 -DSTM32F413xx /board/main.c
+--enable=all --disable=unusedFunction -DPANDA --addon=misra -I /../opendbc -I /../opendbc/safety/ -DSTM32F4 -DSTM32F413xx /board/main.c
 
 
 Critical errors
@@ -460,7 +460,7 @@ Not available, Cppcheck Premium is not used
 
 
 TEST variant options:
---enable=all --disable=unusedFunction -DPANDA --addon=misra -DSTM32H7 -DSTM32H725xx /board/main.c
+--enable=all --disable=unusedFunction -DPANDA --addon=misra -I /../opendbc -I /../opendbc/safety/ -DSTM32H7 -DSTM32H725xx /board/main.c
 
 
 Critical errors

tests/misra/test_misra.sh

@@ -63,7 +63,7 @@ cppcheck() {
   fi
 }
 
-PANDA_OPTS="--enable=all --disable=unusedFunction -DPANDA --addon=misra"
+PANDA_OPTS="--enable=all --disable=unusedFunction -DPANDA --addon=misra -I $PANDA_DIR/../opendbc  -I $PANDA_DIR/../opendbc/safety/ "
 
 printf "\n${GREEN}** PANDA F4 CODE **${NC}\n"
 cppcheck $PANDA_OPTS -DSTM32F4 -DSTM32F413xx $PANDA_DIR/board/main.c