refactor: split .h files into proper .c + .h compilation units#2374
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Islam0953 wants to merge 16 commits intocommaai:masterfrom
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refactor: split .h files into proper .c + .h compilation units#2374Islam0953 wants to merge 16 commits intocommaai:masterfrom
Islam0953 wants to merge 16 commits intocommaai:masterfrom
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Move function implementations from simple_watchdog.h, fan.h, clock_source.h, bootkick.h, registers.h, and interrupts.h into corresponding .c files. Headers now contain only declarations via drivers.h.
Move function implementations from harness.h, uart.h, spi.h, can_common.h, and fdcan.h into corresponding .c files.
Move all USB implementation from usb.h into usb.c. The header retains only the include of drivers.h.
Move implementations from clock.h, peripherals.h, lluart.h, llspi.h, llfan.h, llflash.h, lladc.h, llfdcan.h, llusb.h, and sound.h into corresponding .c files.
Move implementations from early_init.h, libc.h, flasher.h, can_comms.h, main_comms.h, provision.h, and crc.h into corresponding .c files.
Add all new .c files to the build system. Shared sources are compiled separately for bootstub (with -DBOOTSTUB) and main targets using unique object file names to avoid conflicts.
Move global variable definitions from main_definitions.h into main.c, jungle/main.c, and body/main.c. Move bootstub variable definitions from bootstub_declarations.h into bootstub.c. The _definitions.h files now only contain extern declarations and type stubs.
Each new .c file now includes the minimal set of headers it needs (stdint.h, stm32h7xx.h, drivers.h, etc.) instead of the mega-header config.h which caused multiple-definition linker errors. Key changes: - Add STM32 type includes to all split .c files - Add forward declarations for functions from unsplit .h files - Add extern declarations for shared variables (can queues, uart rings, safety variables, gitversion, etc.) - Update SConscript with per-target source lists to avoid compiling panda-specific files for body/jungle builds - Make gpio.h functions static inline for multi-TU inclusion - Make get_ts_elapsed static inline in utils.h - Fix sound_stop_dac visibility (non-static, declared in sound.h) - Add sys.h include to drivers.h for ENTER_CRITICAL/EXIT_CRITICAL - Move jungle board_declarations.h globals to extern declarations - Add interrupts_enabled extern to sys.h, remove static from critical.h - Add NUM_INTERRUPTS, harness_configuration typedef, pwm declarations, can_clear, and can queue externs to drivers.h
- Add CAN queue definitions (can_rx_q, can_tx1_q, can_tx2_q, can_tx3_q) to tests/libpanda/panda.c since they are now defined in can_common.c and not available when building the test shared library - Move global variable definitions after all #include directives in board/main.c to fix MISRA C:2012 Rule 20.1 violations - Remove duplicate typedef harness_configuration from drivers.h (keep in main_declarations.h) to fix MISRA C:2012 Rule 5.6 - Remove duplicate extern sound_output_level from main_declarations.h (keep in sound.h) to fix MISRA C:2012 Rule 8.5 - Move BOOTSTUB uart_ring_som_debug definition after all includes in stm32h7_config.h and remove duplicate extern to fix MISRA Rules 20.1/8.5
Move the typedef to the single location where it's actually used (struct board definition), eliminating MISRA C:2012 Rule 5.6 duplicates across main_declarations.h, bootstub_declarations.h, and panda.c.
Add inline cppcheck-suppress comments for false positives caused by splitting code into separate .c files (cppcheck single-TU analysis can't see cross-file usage): - misra-c2012-2.3/2.4: typedefs/tags used in .c files (fdcan.c, simple_watchdog.c) - misra-c2012-2.4: health_t tag used in main_comms.c - misra-c2012-8.7: functions called from separate .c files (uart.c, interrupts.c) - misra-c2012-21.2: restore memset/memcpy/memcmp suppressions in libc.h - misra-c2012-8.7: suppress for opendbc safety.h (external library)
- Change mutation target from llfdcan.h (now empty) to gpio.h (still contains function code visible to cppcheck) - Use header_files for random pattern mutations since cppcheck only analyzes main.c and its includes, not standalone .c files
After the .h/.c split, CAN functions (can_pop, can_push, comms_can_read, etc.) moved from headers to .c files with STM32 dependencies. The test library (libpanda.so) can't include those .c files directly, so provide the implementations inline in panda.c. Also update MISRA mutation test to target gpio.h (llfdcan.h was emptied by the refactoring) and restrict random mutations to header files only (cppcheck single-TU analysis doesn't see standalone .c files).
…t lib - Define bus_config[PANDA_CAN_CNT] (was extern from drivers.h, defined in can_common.c which is not part of the test library) - Implement refresh_can_tx_slots_available (was only forward-declared) - These resolve undefined symbol errors when loading libpanda.so
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Summary
.hfiles (that contained function definitions) into proper.c+.hpairs across drivers, STM32H7 platform, and board-level codeSConscriptto compile the new.csource files for all targets (panda, body, jungle) with correct main-only vs shared source separation#includestatements to each new.cfile instead of pulling in the mega-header chain, avoiding multiple-definition linker errorsget_ts_elapsed, GPIO helpers)static inlineto allow inclusion from multiple compilation unitsThis refactoring improves code organization by separating declarations from definitions, enabling proper incremental compilation and reducing coupling between modules.
Test plan
sconsbuild passes cleanly for all 6 targets (panda_h7, body_h7, panda_jungle_h7 — both main and bootstub)-Wall -Wextra -Werrorenabled)