Delete duplicated code from panda

Dockerfile

@@ -37,7 +37,7 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
 
 # TODO: this should be a "pip install" or not even in this repo at all
 RUN git config --global --add safe.directory $PYTHONPATH/panda
-ENV OPENDBC_REF="da0a5e3d2b3984b56ebf5e25d9769f5c77807e4d"
+ENV OPENDBC_REF="d631299b8d49253fdeb5b709684af031ab1d18be"
 RUN cd /tmp/ && \
     git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
     cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \

SConscript

@@ -84,7 +84,9 @@ def build_project(project_name, project, extra_flags):
     '..',
     panda_root,
     f"{panda_root}/board/",
+    f"{panda_root}/../opendbc/",
     f"{panda_root}/../opendbc/safety/",
+    f"{panda_root}/../opendbc/safety/board/",
   ]
 
   env = Environment(

board/can.h

@@ -1,7 +1,7 @@
 #pragma once
-#include "can_declarations.h"
+
+// bump this when changing the CAN packet
+#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/drivers/can_common.h

@@ -1,4 +1,7 @@
 #include "can_common_declarations.h"
+#include "can.h"
+#include "safety/board/drivers/can_common.h"
+#include "safety/safety_declarations.h"
 
 uint32_t safety_tx_blocked = 0;
 uint32_t safety_rx_invalid = 0;
@@ -218,23 +221,6 @@ 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/registers.h

@@ -1,4 +1,5 @@
 #include "registers_declarations.h"
+#include "safety/board/faults.h"
 
 static reg register_map[REGISTER_MAP_SIZE];
 

board/fake_stm.h

@@ -3,7 +3,7 @@
 #include <stdint.h>
 #include <stdlib.h>
 
-#include "utils.h"
+#include "safety/board/utils.h"
 
 #define CANFD
 #define ALLOW_DEBUG

board/faults_declarations.h

@@ -1,4 +1,5 @@
 #pragma once
+#include "safety/board/faults_declarations.h"
 
 #define FAULT_STATUS_NONE 0U
 #define FAULT_STATUS_TEMPORARY 1U
@@ -36,9 +37,3 @@
 
 // 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

@@ -1,8 +1,7 @@
 // ********************* Includes *********************
 #include "board/config.h"
 
-#include "safety.h"
-
+#include "safety/safety.h"
 #include "board/drivers/led.h"
 #include "board/drivers/pwm.h"
 #include "board/drivers/usb.h"

board/main.c

@@ -10,8 +10,7 @@
 #include "early_init.h"
 #include "provision.h"
 
-#include "safety.h"
-
+#include "safety/safety.h"
 #include "health.h"
 
 #include "drivers/can_common.h"

board/stm32f4/stm32f4_config.h

@@ -30,7 +30,6 @@
 #define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U
 #define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
 
-#include "can.h"
 #include "comms_definitions.h"
 
 #ifndef BOOTSTUB
@@ -41,8 +40,8 @@
 
 #include "libc.h"
 #include "critical.h"
-#include "faults.h"
-#include "utils.h"
+#include "faults_declarations.h"
+#include "safety/board/utils.h"
 
 #include "drivers/registers.h"
 #include "drivers/interrupts.h"

board/stm32h7/stm32h7_config.h

@@ -43,7 +43,6 @@ separate IRQs for RX and TX.
 #define PROVISION_CHUNK_ADDRESS 0x080FFFE0U
 #define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U
 
-#include "can.h"
 #include "comms_definitions.h"
 
 #ifndef BOOTSTUB
@@ -54,8 +53,8 @@ separate IRQs for RX and TX.
 
 #include "libc.h"
 #include "critical.h"
-#include "faults.h"
-#include "utils.h"
+#include "faults_declarations.h"
+#include "safety/board/utils.h"
 
 #include "drivers/registers.h"
 #include "drivers/interrupts.h"

tests/libpanda/SConscript

@@ -16,7 +16,13 @@ env = Environment(
     '-Wfatal-errors',
     '-Wno-pointer-to-int-cast',
   ],
-  CPPPATH=[".", "../../board/", "../../../opendbc/safety/"],
+  CPPPATH=[
+    ".",
+    "../../board/",
+    "../../../opendbc/",
+    "../../../opendbc/safety/",
+    "../../../opendbc/safety/board/",
+  ],
 )
 if system == "Darwin":
   env.PrependENVPath('PATH', '/opt/homebrew/bin')

tests/libpanda/panda.c

@@ -12,10 +12,11 @@ void can_tx_comms_resume_usb(void) { };
 void can_tx_comms_resume_spi(void) { };
 
 #include "health.h"
-#include "faults.h"
+#include "faults_declarations.h"
 #include "libc.h"
 #include "boards/board_declarations.h"
-#include "safety.h"
+#include "safety/board/faults.h"
+#include "safety/safety.h"
 #include "main_definitions.h"
 #include "drivers/can_common.h"
 

tests/misra/test_misra.sh

@@ -47,7 +47,9 @@ cppcheck() {
   $CPPCHECK_DIR/cppcheck --inline-suppr -I $PANDA_DIR/board/ \
           -I "$(arm-none-eabi-gcc -print-file-name=include)" \
           -I $PANDA_DIR/board/stm32f4/inc/ -I $PANDA_DIR/board/stm32h7/inc/ \
+          -I $PANDA_DIR/../opendbc/ \
           -I $PANDA_DIR/../opendbc/safety/ \
+          -I $PANDA_DIR/../opendbc/safety/board/ \
           --suppressions-list=$DIR/suppressions.txt --suppress=*:*inc/* \
           --suppress=*:*include/* --error-exitcode=2 --check-level=exhaustive --safety \
           --platform=arm32-wchar_t4 $COMMON_DEFINES --checkers-report=$CHECKLIST.tmp \