feat: [$500 Bounty] Refactor panda to use source + header file structure

SConscript

@@ -115,7 +115,14 @@ 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,
+    "./board/drivers/bootkick.c",
+    "./board/drivers/clock_source.c",
+    "./board/drivers/fan.c",
+    "./board/drivers/led.c",
+    "./board/drivers/pwm.c",
+    "./board/drivers/registers.c",
+    "./board/drivers/simple_watchdog.c",
   ], 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

board/drivers/bootkick.c

@@ -0,0 +1,68 @@
+#include "board/drivers/bootkick.h"
+
+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"
-
-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);
+#pragma once
 
-  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;
-      }
-    }
-  }
+#include "board/drivers/drivers.h"
 
-  // 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;
-    }
-  }
+extern bool bootkick_reset_triggered;
 
-  // 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/clock_source.c

@@ -0,0 +1,66 @@
+#include "board/drivers/clock_source.h"
+
+#define CLOCK_SOURCE_PERIOD_MS           50U
+#define CLOCK_SOURCE_PULSE_LEN_MS        2U
+
+void clock_source_set_timer_params(uint16_t param1, uint16_t param2) {
+  // Pulse length of each channel
+  register_set(&(TIM1->CCR1), (((param1 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
+  register_set(&(TIM1->CCR2), ((param1 & 0x00FFU)*10U), 0xFFFFU);
+  register_set(&(TIM8->CCR3), (((param2 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
+  // Timer period
+  register_set(&(TIM1->ARR),  (((param2 & 0x00FFU)*10U) - 1U), 0xFFFFU);
+  register_set(&(TIM1->CCR4), ((TIM1->ARR + 1U) / 2U), 0xFFFFU);
+}
+
+void clock_source_init(bool enable_channel1) {
+  // Setup timer
+  register_set(&(TIM1->PSC), ((APB2_TIMER_FREQ*100U)-1U), 0xFFFFU);           // Tick on 0.1 ms
+  register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU);   // Period
+  register_set(&(TIM1->CCMR1), 0U, 0xFFFFU);                                  // No output on compare
+  register_set(&(TIM1->CCER), TIM_CCER_CC1E | TIM_CCER_CC2NE, 0xFFFFU);       // Enable compares
+  register_set(&(TIM1->CCR1), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU);      // Compare 1 value
+  register_set(&(TIM1->CCR2), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU);      // Compare 2 value
+  register_set(&(TIM1->CCR4), (CLOCK_SOURCE_PERIOD_MS*5U), 0xFFFFU);          // For slave timer
+  register_set_bits(&(TIM1->DIER), TIM_DIER_UIE | TIM_DIER_CC1IE);            // Enable interrupts
+
+
+  // No interrupts
+  NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
+  NVIC_DisableIRQ(TIM1_CC_IRQn);
+
+  // Set GPIO as timer channels
+  if (enable_channel1) {
+    set_gpio_alternate(GPIOA, 8, GPIO_AF1_TIM1);
+  }
+  set_gpio_alternate(GPIOB, 14, GPIO_AF1_TIM1);
+
+  // Set PWM mode
+  register_set(&(TIM1->CCMR1), (0b110UL << TIM_CCMR1_OC1M_Pos) | (0b110UL << TIM_CCMR1_OC2M_Pos), 0xFFFFU);
+  register_set(&(TIM1->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos) | (0b111UL << TIM_CCMR2_OC4M_Pos), 0xFFFFU);
+
+  // Enable output
+  register_set(&(TIM1->BDTR), TIM_BDTR_MOE, 0xFFFFU);
+
+  // Sync with slave
+  register_set(&(TIM1->SMCR), TIM_SMCR_MSM , 0xFFFFU);
+  register_set(&(TIM1->CR2), (0b0111U << TIM_CR2_MMS_Pos), 0xFFFFU);
+  register_set(&(TIM8->SMCR), (0b0100U << TIM_SMCR_SMS_Pos) | (0b000U << TIM_SMCR_TS_Pos), 0xFFFFU);
+
+  // Setup slave timer (TIM8)
+  register_set(&(TIM8->PSC), TIM1->PSC, 0xFFFFU);
+  register_set(&(TIM8->ARR), TIM1->ARR, 0xFFFFU);
+  register_set(&(TIM8->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos), 0xFFFFU);
+  register_set(&(TIM8->CCR3), (CLOCK_SOURCE_PULSE_LEN_MS * 10U), 0xFFFFU);
+  register_set(&(TIM8->CCER), TIM_CCER_CC3NE, 0xFFFFU);
+
+  // MOE for TIM8 as well
+  register_set(&(TIM8->BDTR), TIM_BDTR_MOE, 0xFFFFU);
+
+  // Set GPIO
+  set_gpio_alternate(GPIOB, 15, GPIO_AF3_TIM8);
+
+  // Enable timers
+  register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU);
+  register_set(&(TIM8->CR1), TIM_CR1_CEN, 0x3FU);
+}

board/drivers/clock_source.h

@@ -1,66 +1,6 @@
-#include "board/drivers/drivers.h"
-
-#define CLOCK_SOURCE_PERIOD_MS           50U
-#define CLOCK_SOURCE_PULSE_LEN_MS        2U
-
-void clock_source_set_timer_params(uint16_t param1, uint16_t param2) {
-  // Pulse length of each channel
-  register_set(&(TIM1->CCR1), (((param1 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
-  register_set(&(TIM1->CCR2), ((param1 & 0x00FFU)*10U), 0xFFFFU);
-  register_set(&(TIM8->CCR3), (((param2 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
-  // Timer period
-  register_set(&(TIM1->ARR),  (((param2 & 0x00FFU)*10U) - 1U), 0xFFFFU);
-  register_set(&(TIM1->CCR4), ((TIM1->ARR + 1U) / 2U), 0xFFFFU);
-}
-
-void clock_source_init(bool enable_channel1) {
-  // Setup timer
-  register_set(&(TIM1->PSC), ((APB2_TIMER_FREQ*100U)-1U), 0xFFFFU);           // Tick on 0.1 ms
-  register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU);   // Period
-  register_set(&(TIM1->CCMR1), 0U, 0xFFFFU);                                  // No output on compare
-  register_set(&(TIM1->CCER), TIM_CCER_CC1E | TIM_CCER_CC2NE, 0xFFFFU);       // Enable compares
-  register_set(&(TIM1->CCR1), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU);      // Compare 1 value
-  register_set(&(TIM1->CCR2), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU);      // Compare 2 value
-  register_set(&(TIM1->CCR4), (CLOCK_SOURCE_PERIOD_MS*5U), 0xFFFFU);          // For slave timer
-  register_set_bits(&(TIM1->DIER), TIM_DIER_UIE | TIM_DIER_CC1IE);            // Enable interrupts
-
-
-  // No interrupts
-  NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
-  NVIC_DisableIRQ(TIM1_CC_IRQn);
-
-  // Set GPIO as timer channels
-  if (enable_channel1) {
-    set_gpio_alternate(GPIOA, 8, GPIO_AF1_TIM1);
-  }
-  set_gpio_alternate(GPIOB, 14, GPIO_AF1_TIM1);
+#pragma once
 
-  // Set PWM mode
-  register_set(&(TIM1->CCMR1), (0b110UL << TIM_CCMR1_OC1M_Pos) | (0b110UL << TIM_CCMR1_OC2M_Pos), 0xFFFFU);
-  register_set(&(TIM1->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos) | (0b111UL << TIM_CCMR2_OC4M_Pos), 0xFFFFU);
-
-  // Enable output
-  register_set(&(TIM1->BDTR), TIM_BDTR_MOE, 0xFFFFU);
-
-  // Sync with slave
-  register_set(&(TIM1->SMCR), TIM_SMCR_MSM , 0xFFFFU);
-  register_set(&(TIM1->CR2), (0b0111U << TIM_CR2_MMS_Pos), 0xFFFFU);
-  register_set(&(TIM8->SMCR), (0b0100U << TIM_SMCR_SMS_Pos) | (0b000U << TIM_SMCR_TS_Pos), 0xFFFFU);
-
-  // Setup slave timer (TIM8)
-  register_set(&(TIM8->PSC), TIM1->PSC, 0xFFFFU);
-  register_set(&(TIM8->ARR), TIM1->ARR, 0xFFFFU);
-  register_set(&(TIM8->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos), 0xFFFFU);
-  register_set(&(TIM8->CCR3), (CLOCK_SOURCE_PULSE_LEN_MS * 10U), 0xFFFFU);
-  register_set(&(TIM8->CCER), TIM_CCER_CC3NE, 0xFFFFU);
-
-  // MOE for TIM8 as well
-  register_set(&(TIM8->BDTR), TIM_BDTR_MOE, 0xFFFFU);
-
-  // Set GPIO
-  set_gpio_alternate(GPIOB, 15, GPIO_AF3_TIM8);
+#include "board/drivers/drivers.h"
 
-  // Enable timers
-  register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU);
-  register_set(&(TIM8->CR1), TIM_CR1_CEN, 0x3FU);
-}
+void clock_source_set_timer_params(uint16_t param1, uint16_t param2);
+void clock_source_init(bool enable_channel1);

board/drivers/fan.c

@@ -0,0 +1,48 @@
+#include "board/drivers/fan.h"
+
+struct fan_state_t fan_state;
+
+static const uint8_t FAN_TICK_FREQ = 8U;
+
+void fan_set_power(uint8_t percentage) {
+  if (percentage > 0U) {
+    fan_state.power = CLAMP(percentage, 20U, 100U);
+  } else {
+    fan_state.power = 0U;
+  }
+}
+
+void fan_init(void) {
+  fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * FAN_TICK_FREQ;
+  llfan_init();
+}
+
+// Call this at FAN_TICK_FREQ
+void fan_tick(void) {
+  if (current_board->has_fan) {
+    // Measure fan RPM
+    uint16_t fan_rpm_fast = fan_state.tach_counter * (60U * FAN_TICK_FREQ / 4U);   // 4 interrupts per rotation
+    fan_state.tach_counter = 0U;
+    fan_state.rpm = (fan_rpm_fast + (3U * fan_state.rpm)) / 4U;
+
+    #ifdef DEBUG_FAN
+      puth(fan_state.target_rpm);
+      print(" "); puth(fan_rpm_fast);
+      print(" "); puth(fan_state.power);
+      print("\n");
+    #endif
+
+    // Cooldown counter to prevent noise on tachometer line.
+    if (fan_state.power > 0U) {
+      fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * FAN_TICK_FREQ;
+    } else {
+      if (fan_state.cooldown_counter > 0U) {
+        fan_state.cooldown_counter--;
+      }
+    }
+
+    // Set PWM and enable line
+    pwm_set(TIM3, 3, fan_state.power);
+    current_board->set_fan_enabled((fan_state.power > 0U) || (fan_state.cooldown_counter > 0U));
+  }
+}