Refactor panda firmware to use source + header file structure #2311
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- Split all header-only files into separate .c (implementation) and .h (declarations) files - Moved function implementations from .h files to new .c files - Updated headers to contain only declarations, macros, and typedefs - Added #pragma once to all header files - Updated SConscript build system to compile all new .c files - Updated MISRA mutation tests to reference .c files instead of .h files - Deleted all *_declarations.h files as they are no longer needed - Improves code organization and MISRA C:2012 compliance - Reduces compilation time by avoiding redundant inline expansions Files converted: - board/critical.c/h, faults.c/h, power_saving.c/h - board/drivers/: bootkick, can_common, clock_source, fan, fdcan, gpio, harness, interrupts, led, pwm, registers, simple_watchdog, spi, uart, usb - board/stm32h7/: clock, lladc, llfan, llfdcan, llflash, lli2c, llspi, lluart, llusb
- Add stdint.h to critical.h for uint8_t - Add stdint.h and stdbool.h to faults.h for uint8_t, uint32_t, bool - Add stdbool.h to power_saving.h for bool
- Add stdbool.h to critical.c for bool type - Add board/drivers/uart.h to faults.c for print() and puth() - Add stdint.h, harness.h, and board_declarations.h to power_saving.c
All .c files need to include board/config.h first to get platform headers (STM32 HAL, CMSIS intrinsics, etc.) before including their own headers.
power_saving.c uses the harness global variable which is declared in board/drivers/harness.h
harness.h uses adc_signal_t which is defined in board/stm32h7/lladc.h
power_saving.c uses board functions (enable_can_transceiver, set_ir_power) that don't exist in the body board struct. It's only included in board/main.c, not board/body/main.c, so it should only be compiled for panda and jungle builds.
The lladc.h header was missing declarations for adc_init(), adc_get_raw(), and adc_get_mV() which are defined in lladc.c. This caused compilation errors when other files (like board/boards/red.h) tried to use adc_get_mV().
uart_ring_debug and uart_ring_som_debug are defined in uart.c but were not declared as extern in uart.h, causing compilation errors when other files (like board/boards/tres.h) tried to use them.
can_rx_q, can_tx1_q, can_tx2_q, and can_tx3_q are defined in can_common.c but were not declared as extern in can_common.h, causing compilation errors when other files tried to use them.
…ivers, power_saving.c - Fix board/body/can.h to include board/drivers/can_common.h instead of non-existent can_common_declarations.h - Add enable_can_transceivers function declaration to power_saving.h - Exclude power_saving.c from jungle build (only for panda, not jungle or body)
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This PR refactors the panda firmware codebase to use a proper source + header file structure, addressing bounty #2171.
Changes
.c(implementation) and.h(declarations) files.hfiles to new.cfiles#pragma onceto all header files for cleaner include guardsSConscriptbuild system to compile all new.cfiles.cfiles instead of.hfiles*_declarations.hfiles as they are no longer neededBenefits
Files Converted
Board-level files:
board/critical.c/h,faults.c/h,power_saving.c/hDrivers:
board/drivers/: bootkick, can_common, clock_source, fan, fdcan, gpio, harness, interrupts, led, pwm, registers, simple_watchdog, spi, uart, usbSTM32H7 low-level drivers:
board/stm32h7/: clock, lladc, llfan, llfdcan, llflash, lli2c, llspi, lluart, llusbTesting
All changes maintain the exact same functionality - only the file organization has changed. The CI will verify:
Closes #2171