Refactor to use source & headers structure

.gitignore

@@ -14,7 +14,7 @@ a.out
 dist/
 build/
 pandacan.egg-info/
-obj/
+/board/obj/
 examples/output.csv
 .DS_Store
 .vscode*

SConscript

@@ -60,7 +60,7 @@ def to_c_uint32(x):
   return "{" + 'U,'.join(map(str, nums)) + "U}"
 
 
-def build_project(project_name, project, main, extra_flags):
+def build_project(project_name, project, main, shared, extra_flags):
   project_dir = Dir(f'./board/obj/{project_name}/')
 
   flags = project["FLAGS"] + extra_flags + common_flags + [
@@ -100,28 +100,73 @@ def build_project(project_name, project, main, extra_flags):
 
   startup = env.Object(project["STARTUP_FILE"])
 
+  shared += [
+    "./crypto/rsa.c",
+    "./crypto/sha.c",
+    "./board/libc.c",
+    "./board/early_init.c",
+    "./board/drivers/critical.c",
+    "./board/drivers/led.c",
+    "./board/drivers/pwm.c",
+    "./board/drivers/gpio.c",
+    "./board/drivers/fake_siren.c",
+    "./board/stm32h7/lli2c.c",
+    "./board/stm32h7/clock.c",
+    "./board/drivers/clock_source.c",
+    "./board/stm32h7/sound.c",
+    "./board/stm32h7/llflash.c",
+    "./board/stm32h7/stm32h7_config.c",
+    "./board/drivers/registers.c",
+    "./board/drivers/interrupts.c",
+    "./board/stm32h7/interrupt_handlers.c",
+    "./board/provision.c",
+    "./board/stm32h7/peripherals.c",
+    "./board/stm32h7/llusb.c",
+    "./board/drivers/usb.c",
+    "./board/drivers/spi.c",
+    "./board/drivers/timers.c",
+    "./board/stm32h7/lladc.c",
+    "./board/stm32h7/llspi.c",
+    "./board/drivers/faults.c",
+    "./board/boards/unused_funcs.c",
+    "./board/utils.c",
+    "./board/globals.c",
+    "./board/obj/gitversion.c",
+    "./board/stm32h7/lluart.c",
+    "./board/drivers/uart.c",
+  ]
+
   # Build bootstub
   bs_env = env.Clone()
+  bs_obj_dir = Dir(f'./board/obj/{project_name}/bootstub')
+  bs_env = env.Clone(OBJPREFIX=bs_obj_dir)
+
   bs_env.Append(CFLAGS="-DBOOTSTUB", ASFLAGS="-DBOOTSTUB", LINKFLAGS="-DBOOTSTUB")
   bs_elf = bs_env.Program(f"{project_dir}/bootstub.elf", [
     startup,
-    "./crypto/rsa.c",
-    "./crypto/sha.c",
     "./board/bootstub.c",
-  ])
+    "./board/drivers/flasher.c",
+  ] + shared)
   bs_env.Objcopy(f"./board/obj/bootstub.{project_name}.bin", bs_elf)
 
   # Build + sign main (aka app)
   main_elf = env.Program(f"{project_dir}/main.elf", [
     startup,
-    main
-  ], LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+    "./board/can_comms.c",
+    "./board/drivers/fan.c",
+    "./board/drivers/power_saving.c",
+    "./board/stm32h7/llfdcan.c",
+    "./board/drivers/harness.c",
+    "./board/drivers/bootkick.c",
+    "./board/stm32h7/llfan.c",
+    "./board/drivers/fdcan.c",
+    "./board/drivers/can_common.c",
+    main,
+  ] + shared, LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
   main_bin = env.Objcopy(f"{project_dir}/main.bin", main_elf)
-  sign_py = File(f"./crypto/sign.py").srcnode().relpath
+  sign_py = File(f"crypto/sign.py").srcnode().relpath
   env.Command(f"./board/obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
 
-
-
 base_project_h7 = {
   "STARTUP_FILE": "./board/stm32h7/startup_stm32h7x5xx.s",
   "LINKER_SCRIPT": "./board/stm32h7/stm32h7x5_flash.ld",
@@ -137,32 +182,71 @@ base_project_h7 = {
 }
 
 # Common autogenerated includes
-with open("board/obj/gitversion.h", "w") as f:
+with open("./board/obj/gitversion.c", "w") as f:
   version = get_version(BUILDER, BUILD_TYPE)
-  f.write(f'extern const uint8_t gitversion[{len(version)+1}];\n')
+  f.write('#include "gitversion.h"\n')
   f.write(f'const uint8_t gitversion[{len(version)+1}] = "{version}";\n')
 
-with open("board/obj/version", "w") as f:
+with open("./board/obj/gitversion.h", "w") as f:
+  version = get_version(BUILDER, BUILD_TYPE)
+  f.write("#pragma once\n")
+  f.write("#include <stdint.h>\n")
+  f.write(f'extern const uint8_t gitversion[{len(version)+1}];\n')
+
+with open("./board/obj/version", "w") as f:
   f.write(f'{get_version(BUILDER, BUILD_TYPE)}')
 
 certs = [get_key_header(n) for n in ["debug", "release"]]
-with open("board/obj/cert.h", "w") as f:
+with open("./board/obj/cert.h", "w") as f:
   for cert in certs:
     f.write("\n".join(cert) + "\n")
 
-# panda fw
-build_project("panda_h7", base_project_h7, "./board/main.c", [])
+panda_main = [
+  "./board/main_comms.c",
+  "./board/main.c",
+  "./board/drivers/simple_watchdog.c",
+]
+
+panda_shared = [
+  "./board/stm32h7/board.c",
+  "./board/boards/tres.c",
+  "./board/boards/red.c",
+  "./board/boards/cuatro.c",
+  "./board/main_definitions.c"
+]
+
+build_project("panda_h7", base_project_h7, panda_main, panda_shared, ["-DPANDA"])
 
 # panda jungle fw
 flags = [
   "-DPANDA_JUNGLE",
 ]
 if os.getenv("FINAL_PROVISIONING"):
   flags += ["-DFINAL_PROVISIONING"]
-build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", flags)
+
+jungle_main = [
+  "./board/jungle/main_comms.c",
+  "./board/jungle/main.c",
+]
+jungle_shared = [
+  "./board/jungle/stm32h7/board.c",
+  "./board/jungle/boards/board_v2.c",
+]
+build_project("panda_jungle_h7", base_project_h7, jungle_main, jungle_shared, flags)
 
 # body fw
-build_project("body_h7", base_project_h7, "./board/body/main.c", ["-DPANDA_BODY"])
+body_main = [
+  "./board/body/main.c",
+  "./board/body/main_comms.c",
+]
+body_shared = [
+  "./board/body/boards/board_body.c",
+  "./board/body/stm32h7/board.c",
+  "./board/body/motor_control.c",
+  "./board/body/motor_encoder.c"
+]
+
+build_project("body_h7", base_project_h7, body_main, body_shared, ["-DPANDA_BODY"])
 
 # test files
 if GetOption('extras'):

board/boards/boards.h

@@ -0,0 +1,107 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "board/config.h"
+
+// ======================= BOOT STATE =======================
+
+typedef enum {
+  BOOT_STANDBY,
+  BOOT_BOOTKICK,
+  BOOT_RESET,
+} BootState;
+
+// ======================= BOARD FUNCTION TYPES =======================
+
+typedef bool (*board_get_button)(void);
+typedef bool (*board_read_som_gpio)(void);
+typedef float (*board_get_channel_power)(uint8_t channel);
+typedef uint16_t (*board_get_sbu_mV)(uint8_t channel, uint8_t sbu);
+typedef uint32_t (*board_read_current_mA)(void);
+typedef uint32_t (*board_read_voltage_mV)(void);
+typedef void (*board_board_tick)(void);
+typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
+typedef void (*board_enable_header_pin)(uint8_t pin_num, bool enabled);
+typedef void (*board_init_bootloader)(void);
+typedef void (*board_init)(void);
+typedef void (*board_set_amp_enabled)(bool enabled);
+typedef void (*board_set_bootkick)(BootState state);
+typedef void (*board_set_can_mode)(uint8_t mode);
+typedef void (*board_set_fan_enabled)(bool enabled);
+typedef void (*board_set_harness_orientation)(uint8_t orientation);
+typedef void (*board_set_ignition)(bool enabled);
+typedef void (*board_set_individual_ignition)(uint8_t bitmask);
+typedef void (*board_set_ir_power)(uint8_t percentage);
+typedef void (*board_set_panda_individual_power)(uint8_t port_num, bool enabled);
+typedef void (*board_set_panda_power)(bool enabled);
+typedef void (*board_set_siren)(bool enabled);
+
+// ======================= BOARD STRUCT =======================
+
+typedef struct board {
+  struct harness_configuration *harness_config;
+  GPIO_TypeDef * const led_GPIO[3];
+  const uint8_t led_pin[3];
+  const uint8_t led_pwm_channels[3]; // leave at 0 to disable PWM
+  const bool has_spi;
+  const bool has_fan;
+  const uint16_t avdd_mV;
+  const uint8_t fan_enable_cooldown_time;
+  board_init init;
+  board_init_bootloader init_bootloader;
+  board_board_tick board_tick;
+  board_set_panda_power set_panda_power;
+  board_get_button get_button;
+  board_enable_can_transceiver enable_can_transceiver;
+  board_set_can_mode set_can_mode;
+  board_read_voltage_mV read_voltage_mV;
+  board_read_current_mA read_current_mA;
+  board_set_ir_power set_ir_power;
+  board_set_fan_enabled set_fan_enabled;
+  board_set_siren set_siren;
+  board_set_bootkick set_bootkick;
+  board_read_som_gpio read_som_gpio;
+  board_set_amp_enabled set_amp_enabled;
+  board_set_panda_individual_power set_panda_individual_power;
+  board_set_ignition set_ignition;
+  board_set_individual_ignition set_individual_ignition;
+  board_set_harness_orientation set_harness_orientation;
+  board_enable_header_pin enable_header_pin;
+  board_get_channel_power get_channel_power;
+  board_get_sbu_mV get_sbu_mV;
+} board;
+
+// ======================= UNUSED FUNCS =======================
+
+void unused_init_bootloader(void);
+void unused_set_ir_power(uint8_t percentage);
+void unused_set_fan_enabled(bool enabled);
+void unused_set_siren(bool enabled);
+uint32_t unused_read_current(void);
+void unused_set_bootkick(BootState state);
+bool unused_read_som_gpio(void);
+void unused_set_amp_enabled(bool enabled);
+
+// ======================= RED =======================
+// Red Panda (STM32H7) + Harness
+
+struct harness_configuration;
+
+extern struct harness_configuration red_harness_config;
+extern struct board board_red;
+
+uint32_t red_read_voltage_mV(void);
+
+// ======================= TRES =======================
+
+extern struct board board_tres;
+
+void tres_set_can_mode(uint8_t mode);
+bool tres_read_som_gpio(void);
+
+// ======================= CUATRO =======================
+// Cuatro (STM32H7) + Harness
+
+extern struct board board_cuatro;

board/boards/cuatro.h → board/boards/cuatro.c

@@ -1,6 +1,7 @@
-#pragma once
-
-#include "board_declarations.h"
+#include "board/config.h"
+#include "board/boards/boards.h"
+#include "board/drivers/drivers.h"
+#include "board/stm32h7/lldrivers.h"
 
 // ////////////////////////// //
 // Cuatro (STM32H7) + Harness //

board/boards/red.h → board/boards/red.c

@@ -1,6 +1,6 @@
-#pragma once
+#include "boards.h"
 
-#include "board_declarations.h"
+#include "board/globals.h"
 
 // ///////////////////////////// //
 // Red Panda (STM32H7) + Harness //
@@ -67,7 +67,7 @@ static void red_set_can_mode(uint8_t mode) {
   }
 }
 
-static uint32_t red_read_voltage_mV(void){
+uint32_t red_read_voltage_mV(void){
   return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 2)) * 11U;
 }
 
@@ -98,7 +98,7 @@ static void red_init(void) {
   set_gpio_output(GPIOB, 14, 1);
 }
 
-static harness_configuration red_harness_config = {
+harness_configuration red_harness_config = {
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,
   .GPIO_relay_SBU1 = GPIOC,
@@ -111,7 +111,7 @@ static harness_configuration red_harness_config = {
   .adc_signal_SBU2 = ADC_CHANNEL_DEFAULT(ADC1, 17)
 };
 
-board board_red = {
+struct board board_red = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
   .has_spi = false,