refactor: split header-only drivers into source + header files#2368
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xunwen-art wants to merge 45 commits intocommaai:masterfrom
Open
refactor: split header-only drivers into source + header files#2368xunwen-art wants to merge 45 commits intocommaai:masterfrom
xunwen-art wants to merge 45 commits intocommaai:masterfrom
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added 5 commits
March 5, 2026 01:36
Split all header-only driver files into separate .c and .h files: - bootkick, can_common, clock_source, fake_siren, fan, fdcan - gpio, harness, interrupts, led, pwm, registers - simple_watchdog, spi, timers, uart, usb Changes: - Move function implementations to .c files - Keep function declarations and #define in .h files - Add proper include guards to all header files - Add necessary #include directives Addresses commaai#2171
- Move fan_state_t struct and extern fan_state to fan.h - Move REGISTER_INTERRUPT macro and interrupt struct to interrupts.h - This fixes compilation errors where llfan.h and llusb.h couldn't find these definitions
- Move REGISTER_INTERRUPT macro to interrupts.h - Add extern declarations for uart_ring buffers in uart.h - Remove duplicate interrupt definitions from drivers.h
…larations - Add driver_sources list to SConscript for both bootstub and main builds - Add harness_t struct and extern harness to harness.h - Add SPI_IRQ_RATE, SPI_BUF_SIZE and extern declarations to spi.h
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这个重构比预期更复杂，需要更多时间来修复构建系统问题。原始代码使用 header-only 模式，所有 driver 代码在编译时通过 bootstub.c 或 main.c 直接 include。改为 source + header 模式需要修改 SConscript 来正确编译 .c 文件，并处理 scons 的对象文件命名冲突。 我会继续研究这个问题，并在准备好后重新提交。 |
SCons was complaining about 'Two environments with different actions' because bootstub and main both compile driver sources with different flags (-DBOOTSTUB vs no flag). Now bootstub uses a separate output directory for its driver object files.
Now these headers include drivers.h which contains the struct definitions
- Add extern declaration for can_rx_q in can_comms.h - Add __attribute__((unused)) to sound_stop_dac to suppress warning
The driver .c files need to include board/config.h first to get stm32h7xx.h (which defines ADC_TypeDef) before including drivers.h. This fixes the build error: lladc_declarations.h:29:3: error: unknown type name 'ADC_TypeDef'
- Include board/boards/board_declarations.h for BootState type - Add refresh_can_tx_slots_available() declaration that was lost during refactoring This fixes build errors: - unknown type name 'BootState' - implicit declaration of function 'refresh_can_tx_slots_available'
- Create board/boot_state.h with BootState enum definition - Include boot_state.h in drivers.h instead of board_declarations.h (avoiding struct board redefinition conflict with body/boards) - Add refresh_can_tx_slots_available() declaration to can_common.h This fixes: - 'unknown type name BootState' in bootkick.c - 'redefinition of struct board' when building for PANDA_BODY - 'implicit declaration of refresh_can_tx_slots_available' in can_common.c
- Create board/drivers/boot_state.h with just the BootState enum - Include it from board_declarations.h and drivers.h - Fix include path (was board/boot_state.h, now board/drivers/boot_state.h) This breaks the circular dependency: - drivers.h needs BootState for bootkick_tick declaration - board_declarations.h defines BootState but also struct board - Different board types (body/jungle/regular) have different struct board Now BootState can be included early without pulling in struct board.
Use board/drivers/boot_state.h instead (which already exists in PR)
- SConscript: Skip bootkick.c for PANDA_BODY/JUNGLE builds (no SOM support) - can_common.c: Include opendbc/safety/safety.h for safety_tx_hook declaration
- Wrap bootkick_tick and bootkick_reset_triggered in #if !PANDA_BODY && !PANDA_JUNGLE - These symbols don't exist for BODY/JUNGLE builds since struct board is different
added 18 commits
March 9, 2026 01:19
- struct interrupt was missing, causing redefinition errors - Also added REGISTER_INTERRUPT macro and related function declarations - These are needed by interrupts.h which includes drivers.h
- struct interrupt is now defined in drivers.h - interrupts.h just includes drivers.h and provides implementation - This fixes the redefinition error
- Added uint32_t time declaration - Fixed the time tracking logic in handle_interrupt
These are needed by lluart.h and other header files that reference them.
- Include llfdcan.h and llfdcan_declarations.h for llcan_set_speed - Wrap in #ifndef BOOTSTUB since FDCAN only used in main builds
interrupts.h should only have declarations, not implementations. Implementations are in interrupts.c.
BOOTSTUB builds use stub print functions from bootstub_declarations.h. Main builds use full UART implementation.
llfdcan.h is already included by stm32h7_config.h. Including it again causes redefinition of speeds/data_speeds arrays.
fdcan.c needs access to can_rx_q, can_tx1_q, etc.
sound.h is already included via board.h -> stm32h7_config.h
- Add static inline to functions in llspi.h, interrupt_handlers.h - Add static const to arrays in llfdcan.h - Add extern declarations and move global definitions to .c files: - USBx moved from llusb.h to usb.c - Global state moved from faults.h/critical.h/main_definitions.h to sys.c - early_gpio_float moved from stm32h7_config.h to gpio.c - Properly declare hw_type/current_board extern in bootstub_declarations.h This fixes linker errors when driver source files are compiled separately for bootstub and main builds.
The opendbc module exports DBC_PATH, not INCLUDE_PATH. This fixes SCons build configuration errors.
- Remove forward declarations from sys.h (now static inline in critical.h) - Declare interrupts_enabled as extern in sys.h - Define interrupts_enabled in sys.c
- sys.c doesn't need can.h definitions - This fixes the opendbc header not found error in CI
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Summary
Refactor all header-only driver files into separate source (.c) and header (.h) files.
Changes
Split 17 driver files:
Benefits
Testing
Fixes #2171