refactor: split header-only drivers into source + header files

SConscript

@@ -90,7 +90,7 @@ def build_project(project_name, project, main, extra_flags):
     CFLAGS=flags,
     ASFLAGS=flags,
     LINKFLAGS=flags,
-    CPPPATH=[Dir("./"), "./board/stm32h7/inc", opendbc.INCLUDE_PATH],
+    CPPPATH=[Dir("./"), "./board/stm32h7/inc", opendbc.DBC_PATH],
     ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
     BUILDERS={
       'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
@@ -100,22 +100,51 @@ def build_project(project_name, project, main, extra_flags):
 
   startup = env.Object(project["STARTUP_FILE"])
 
+  # Driver source files (split from header-only)
+  driver_sources = [
+    "./board/drivers/bootkick.c",
+    "./board/drivers/can_common.c",
+    "./board/drivers/clock_source.c",
+    "./board/drivers/fake_siren.c",
+    "./board/drivers/fan.c",
+    "./board/drivers/fdcan.c",
+    "./board/drivers/gpio.c",
+    "./board/drivers/harness.c",
+    "./board/drivers/interrupts.c",
+    "./board/drivers/led.c",
+    "./board/drivers/pwm.c",
+    "./board/drivers/registers.c",
+    "./board/drivers/simple_watchdog.c",
+    "./board/drivers/spi.c",
+    "./board/drivers/sys.c",
+    "./board/drivers/timers.c",
+    "./board/drivers/uart.c",
+    "./board/drivers/usb.c",
+  ]
+
+  # bootkick is only for regular panda (has SOM support), not body/jungle
+  if "-DPANDA_BODY" in extra_flags or "-DPANDA_JUNGLE" in extra_flags:
+    driver_sources = [s for s in driver_sources if s not in ["./board/drivers/bootkick.c", "./board/drivers/fan.c", "./board/drivers/fake_siren.c", "./board/drivers/harness.c"]]
   # Build bootstub
   bs_env = env.Clone()
   bs_env.Append(CFLAGS="-DBOOTSTUB", ASFLAGS="-DBOOTSTUB", LINKFLAGS="-DBOOTSTUB")
+  # Use separate object directory for bootstub driver objects
+  bs_env['OBJPREFIX'] = Dir(f'./board/obj/{project_name}/bootstub/')
+  bs_driver_objs = bs_env.Object(driver_sources)
   bs_elf = bs_env.Program(f"{project_dir}/bootstub.elf", [
     startup,
     "./board/crypto/rsa.c",
     "./board/crypto/sha.c",
     "./board/bootstub.c",
-  ])
+  ] + bs_driver_objs)
   bs_env.Objcopy(f"./board/obj/bootstub.{project_name}.bin", bs_elf)
 
   # Build + sign main (aka app)
+  main_driver_objs = env.Object(driver_sources)
   main_elf = env.Program(f"{project_dir}/main.elf", [
     startup,
     main
-  ], LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+  ] + main_driver_objs, 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"./board/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}")

board/boards/board_declarations.h

@@ -4,11 +4,7 @@
 #include <stdbool.h>
 
 // ******************** Prototypes ********************
-typedef enum {
-  BOOT_STANDBY,
-  BOOT_BOOTKICK,
-  BOOT_RESET,
-} BootState;
+#include "board/drivers/boot_state.h"
 
 typedef void (*board_init)(void);
 typedef void (*board_init_bootloader)(void);

board/body/boards/board_body.h

@@ -1,6 +1,6 @@
 #include "board/body/motor_control.h"
 
-void board_body_init(void) {
+static inline void board_body_init(void) {
   motor_init();
   motor_encoder_init();
   motor_speed_controller_init();
@@ -14,8 +14,5 @@ void board_body_init(void) {
   set_gpio_alternate(GPIOD, 1, GPIO_AF9_FDCAN1);
 }
 
-board board_body = {
-  .led_GPIO = {GPIOC, GPIOC, GPIOC},
-  .led_pin = {7, 7, 7},
-  .init = board_body_init,
-};
+// board_body is defined in board/body/main.c
+extern board board_body;

board/body/main.c

@@ -16,6 +16,13 @@
 
 extern int _app_start[0xc000];
 
+#include "board/body/boards/board_body.h"
+board board_body = {
+  .led_GPIO = {GPIOC, GPIOC, GPIOC},
+  .led_pin = {7, 7, 7},
+  .init = board_body_init,
+};
+
 #include "board/body/main_comms.h"
 
 void debug_ring_callback(uart_ring *ring) {

board/bootstub.c

@@ -8,6 +8,27 @@
 #include "board/drivers/pwm.h"
 #include "board/drivers/usb.h"
 
+// Globals for BOOTSTUB mode
+uint8_t hw_type = 0;
+board *current_board;
+
+// UART ring buffers for BOOTSTUB mode (uart.c not compiled in BOOTSTUB)
+static uint8_t elems_rx_som_debug[FIFO_SIZE_INT];
+static uint8_t elems_tx_som_debug[FIFO_SIZE_INT];
+uart_ring uart_ring_som_debug = {
+  .w_ptr_tx = 0,
+  .r_ptr_tx = 0,
+  .elems_tx = ((uint8_t *)&(elems_tx_som_debug)),
+  .tx_fifo_size = FIFO_SIZE_INT,
+  .w_ptr_rx = 0,
+  .r_ptr_rx = 0,
+  .elems_rx = ((uint8_t *)&(elems_rx_som_debug)),
+  .rx_fifo_size = FIFO_SIZE_INT,
+  .uart = UART7,
+  .callback = NULL,
+  .overwrite = true
+};
+
 #include "board/early_init.h"
 #include "board/provision.h"
 

board/bootstub_declarations.h

@@ -13,5 +13,6 @@ typedef struct uart_ring uart_ring;
 void uart_init(uart_ring *q, int baud) { UNUSED(q); UNUSED(baud); }
 
 // ********************* Globals **********************
-uint8_t hw_type = 0;
-board *current_board;
+// hw_type and current_board are defined in bootstub.c
+extern uint8_t hw_type;
+extern board *current_board;

board/can_comms.h

@@ -34,6 +34,12 @@
     which is sent by the host on each start of a connection.
 */
 
+// External CAN RX queue defined in drivers/can_common.c
+extern can_ring can_rx_q;
+
+// Forward declaration
+void refresh_can_tx_slots_available(void);
+
 typedef struct {
   uint32_t ptr;
   uint32_t tail_size;

board/drivers/boot_state.h

@@ -0,0 +1,12 @@
+#ifndef DRIVERS_BOOT_STATE_H
+#define DRIVERS_BOOT_STATE_H
+
+// Boot state enum used by bootkick driver
+// This is a minimal header to avoid circular dependencies
+typedef enum {
+  BOOT_STANDBY,
+  BOOT_BOOTKICK,
+  BOOT_RESET,
+} BootState;
+
+#endif

board/drivers/bootkick.c

@@ -0,0 +1,79 @@
+#include "board/config.h"
+
+// bootkick is only used on regular panda, not on BODY or JUNGLE variants
+#if !defined(PANDA_BODY) && !defined(PANDA_JUNGLE)
+
+#include "board/drivers/bootkick.h"
+#include "board/drivers/drivers.h"
+
+// uart_ring_som_debug is defined in stm32h7_config.h for BOOTSTUB, or uart.c for main
+extern uart_ring uart_ring_som_debug;
+
+bool bootkick_reset_triggered = false;
+
+void bootkick_tick(bool ignition, bool recent_heartbeat) {
+  static uint16_t bootkick_last_serial_ptr = 0;
+  static uint8_t waiting_to_boot_countdown = 0;
+  static uint8_t boot_reset_countdown = 0;
+  static uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC;
+  static bool bootkick_ign_prev = false;
+  static BootState boot_state = BOOT_BOOTKICK;
+  BootState boot_state_prev = boot_state;
+  const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC);
+
+  if ((ignition && !bootkick_ign_prev) || harness_inserted) {
+    // bootkick on rising edge of ignition or harness insertion
+    boot_state = BOOT_BOOTKICK;
+  } else if (recent_heartbeat) {
+    // disable bootkick once openpilot is up
+    boot_state = BOOT_STANDBY;
+  } else {
+
+  }
+
+  /*
+    Ensure SOM boots in case it goes into QDL mode. Reset behavior:
+    * shouldn't trigger on the first boot after power-on
+    * only try reset once per bootkick, i.e. don't keep trying until booted
+    * only try once per panda boot, since openpilot will reset panda on startup
+    * once BOOT_RESET is triggered, it stays until countdown is finished
+  */
+  if (!bootkick_reset_triggered && (boot_state == BOOT_BOOTKICK) && (boot_state_prev == BOOT_STANDBY)) {
+    waiting_to_boot_countdown = 20U;
+  }
+  if (waiting_to_boot_countdown > 0U) {
+    bool serial_activity = uart_ring_som_debug.w_ptr_tx != bootkick_last_serial_ptr;
+    if (serial_activity || current_board->read_som_gpio() || (boot_state != BOOT_BOOTKICK)) {
+      waiting_to_boot_countdown = 0U;
+    } else {
+      // try a reset
+      if (waiting_to_boot_countdown == 1U) {
+        boot_reset_countdown = 5U;
+      }
+    }
+  }
+
+  // handle reset state
+  if (boot_reset_countdown > 0U) {
+    boot_state = BOOT_RESET;
+    bootkick_reset_triggered = true;
+  } else {
+    if (boot_state == BOOT_RESET) {
+      boot_state = BOOT_BOOTKICK;
+    }
+  }
+
+  // update state
+  bootkick_ign_prev = ignition;
+  bootkick_harness_status_prev = harness.status;
+  bootkick_last_serial_ptr = uart_ring_som_debug.w_ptr_tx;
+  if (waiting_to_boot_countdown > 0U) {
+    waiting_to_boot_countdown--;
+  }
+  if (boot_reset_countdown > 0U) {
+    boot_reset_countdown--;
+  }
+  current_board->set_bootkick(boot_state);
+}
+
+#endif // !PANDA_BODY && !PANDA_JUNGLE

board/drivers/bootkick.h

@@ -1,68 +1,10 @@
-#include "board/drivers/drivers.h"
+#ifndef DRIVERS_BOOTKICK_H
+#define DRIVERS_BOOTKICK_H
 
-bool bootkick_reset_triggered = false;
+#include <stdbool.h>
 
-void bootkick_tick(bool ignition, bool recent_heartbeat) {
-  static uint16_t bootkick_last_serial_ptr = 0;
-  static uint8_t waiting_to_boot_countdown = 0;
-  static uint8_t boot_reset_countdown = 0;
-  static uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC;
-  static bool bootkick_ign_prev = false;
-  static BootState boot_state = BOOT_BOOTKICK;
-  BootState boot_state_prev = boot_state;
-  const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC);
+extern bool bootkick_reset_triggered;
 
-  if ((ignition && !bootkick_ign_prev) || harness_inserted) {
-    // bootkick on rising edge of ignition or harness insertion
-    boot_state = BOOT_BOOTKICK;
-  } else if (recent_heartbeat) {
-    // disable bootkick once openpilot is up
-    boot_state = BOOT_STANDBY;
-  } else {
+void bootkick_tick(bool ignition, bool recent_heartbeat);
 
-  }
-
-  /*
-    Ensure SOM boots in case it goes into QDL mode. Reset behavior:
-    * shouldn't trigger on the first boot after power-on
-    * only try reset once per bootkick, i.e. don't keep trying until booted
-    * only try once per panda boot, since openpilot will reset panda on startup
-    * once BOOT_RESET is triggered, it stays until countdown is finished
-  */
-  if (!bootkick_reset_triggered && (boot_state == BOOT_BOOTKICK) && (boot_state_prev == BOOT_STANDBY)) {
-    waiting_to_boot_countdown = 20U;
-  }
-  if (waiting_to_boot_countdown > 0U) {
-    bool serial_activity = uart_ring_som_debug.w_ptr_tx != bootkick_last_serial_ptr;
-    if (serial_activity || current_board->read_som_gpio() || (boot_state != BOOT_BOOTKICK)) {
-      waiting_to_boot_countdown = 0U;
-    } else {
-      // try a reset
-      if (waiting_to_boot_countdown == 1U) {
-        boot_reset_countdown = 5U;
-      }
-    }
-  }
-
-  // handle reset state
-  if (boot_reset_countdown > 0U) {
-    boot_state = BOOT_RESET;
-    bootkick_reset_triggered = true;
-  } else {
-    if (boot_state == BOOT_RESET) {
-      boot_state = BOOT_BOOTKICK;
-    }
-  }
-
-  // update state
-  bootkick_ign_prev = ignition;
-  bootkick_harness_status_prev = harness.status;
-  bootkick_last_serial_ptr = uart_ring_som_debug.w_ptr_tx;
-  if (waiting_to_boot_countdown > 0U) {
-    waiting_to_boot_countdown--;
-  }
-  if (boot_reset_countdown > 0U) {
-    boot_reset_countdown--;
-  }
-  current_board->set_bootkick(boot_state);
-}
+#endif