Split bootkick and watchdog into source files

SConscript

@@ -61,7 +61,9 @@ 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, extra_flags, extra_sources=None):
+  if extra_sources is None:
+    extra_sources = []
   project_dir = Dir(f'./board/obj/{project_name}/')
 
   flags = project["FLAGS"] + extra_flags + common_flags + [
@@ -115,7 +117,8 @@ def build_project(project_name, project, main, extra_flags):
   # Build + sign main (aka app)
   main_elf = env.Program(f"{project_dir}/main.elf", [
     startup,
-    main
+    main,
+    *extra_sources,
   ], 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
@@ -161,7 +164,10 @@ common_flags += [f"-DHEALTH_PACKET_VERSION=0x{hh:08X}U", f"-DCAN_PACKET_VERSION_
                  f"-DJUNGLE_HEALTH_PACKET_VERSION=0x{jh:08X}U"]
 
 # panda fw
-build_project("panda_h7", base_project_h7, "./board/main.c", [])
+build_project("panda_h7", base_project_h7, "./board/main.c", [], [
+  "./board/drivers/bootkick.c",
+  "./board/drivers/simple_watchdog.c",
+])
 
 # panda jungle fw
 flags = [

board/drivers/bootkick.c

@@ -0,0 +1,99 @@
+#include "stm32h7xx.h"
+
+#include "board/drivers/bootkick.h"
+#include "board/main_declarations.h"
+#include "board/boards/board_declarations.h"
+
+#define HARNESS_STATUS_NC 0U
+
+typedef struct uart_ring {
+  volatile uint16_t w_ptr_tx;
+  volatile uint16_t r_ptr_tx;
+  uint8_t *elems_tx;
+  uint32_t tx_fifo_size;
+  volatile uint16_t w_ptr_rx;
+  volatile uint16_t r_ptr_rx;
+  uint8_t *elems_rx;
+  uint32_t rx_fifo_size;
+  USART_TypeDef *uart;
+  void (*callback)(struct uart_ring*);
+  bool overwrite;
+} uart_ring;
+
+struct harness_t {
+  uint8_t status;
+  uint16_t sbu1_voltage_mV;
+  uint16_t sbu2_voltage_mV;
+  bool relay_driven;
+  bool sbu_adc_lock;
+};
+
+extern struct harness_t harness;
+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);
+}

board/drivers/bootkick.h

@@ -1,68 +1,7 @@
-#include "board/drivers/drivers.h"
+#pragma once
 
-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 {
-
-  }
-
-  /*
-    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);
-}
+void bootkick_tick(bool ignition, bool recent_heartbeat);

board/drivers/drivers.h

@@ -211,12 +211,6 @@ void init_registers(void);
 
 // ******************** simple_watchdog ********************
 
-typedef struct simple_watchdog_state_t {
-  uint32_t fault;
-  uint32_t last_ts;
-  uint32_t threshold;
-} simple_watchdog_state_t;
-
 void simple_watchdog_kick(void);
 void simple_watchdog_init(uint32_t fault, uint32_t threshold);
 

board/drivers/gpio.h

@@ -53,7 +53,9 @@ void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode)
 void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
   ENTER_CRITICAL();
   uint32_t tmp = GPIO->PUPDR;
+  // cppcheck-suppress misra-c2012-12.2; pin is a GPIO pin index
   tmp &= ~(3U << (pin * 2U));
+  // cppcheck-suppress misra-c2012-12.2; pin is a GPIO pin index
   tmp |= (mode << (pin * 2U));
   register_set(&(GPIO->PUPDR), tmp, 0xFFFFFFFFU);
   EXIT_CRITICAL();

board/drivers/simple_watchdog.c

@@ -0,0 +1,37 @@
+#include "board/drivers/simple_watchdog.h"
+
+#include <stdbool.h>
+
+#include "stm32h7xx.h"
+
+#include "board/main_declarations.h"
+#include "board/sys/sys.h"
+
+typedef struct simple_watchdog_state_t {
+  uint32_t fault;
+  uint32_t last_ts;
+  uint32_t threshold;
+} simple_watchdog_state_t;
+
+uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
+uint32_t microsecond_timer_get(void);
+
+static simple_watchdog_state_t wd_state;
+
+void simple_watchdog_kick(void) {
+  uint32_t ts = microsecond_timer_get();
+
+  uint32_t et = get_ts_elapsed(ts, wd_state.last_ts);
+  if (et > wd_state.threshold) {
+    print("WD timeout 0x"); puth(et); print("\n");
+    fault_occurred(wd_state.fault);
+  }
+
+  wd_state.last_ts = ts;
+}
+
+void simple_watchdog_init(uint32_t fault, uint32_t threshold) {
+  wd_state.fault = fault;
+  wd_state.threshold = threshold;
+  wd_state.last_ts = microsecond_timer_get();
+}

board/drivers/simple_watchdog.h

@@ -1,21 +1,6 @@
-#include "board/drivers/drivers.h"
+#pragma once
 
-static simple_watchdog_state_t wd_state;
+#include <stdint.h>
 
-void simple_watchdog_kick(void) {
-  uint32_t ts = microsecond_timer_get();
-
-  uint32_t et = get_ts_elapsed(ts, wd_state.last_ts);
-  if (et > wd_state.threshold) {
-    print("WD timeout 0x"); puth(et); print("\n");
-    fault_occurred(wd_state.fault);
-  }
-
-  wd_state.last_ts = ts;
-}
-
-void simple_watchdog_init(uint32_t fault, uint32_t threshold) {
-  wd_state.fault = fault;
-  wd_state.threshold = threshold;
-  wd_state.last_ts = microsecond_timer_get();
-}
+void simple_watchdog_kick(void);
+void simple_watchdog_init(uint32_t fault, uint32_t threshold);

board/main.c

@@ -4,8 +4,6 @@
 #include "board/drivers/led.h"
 #include "board/drivers/pwm.h"
 #include "board/drivers/usb.h"
-#include "board/drivers/simple_watchdog.h"
-#include "board/drivers/bootkick.h"
 
 #include "board/early_init.h"
 #include "board/provision.h"