cleanup + prep for more tests! (#1172)

* panda for pc!

* little more

* fake panda

* move some more stuff

* increase timeout

* move that

* print helpers

* cleanup

* just move it for now

* revert jenkins changes

board/config.h

@@ -1,5 +1,6 @@
-#ifndef PANDA_CONFIG_H
-#define PANDA_CONFIG_H
+#pragma once
+
+#include <stdbool.h>
 
 //#define DEBUG
 //#define DEBUG_UART
@@ -8,31 +9,28 @@
 //#define DEBUG_FAULTS
 //#define DEBUG_COMMS
 
+#define CAN_INIT_TIMEOUT_MS 500U
 #define DEEPSLEEP_WAKEUP_DELAY 3U
+#define USBPACKET_MAX_SIZE 0x40U
+#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
+#define MAX_EP1_CHUNK_PER_BULK_TRANSFER 16256U // max data stream chunk in bytes, shouldn't be higher than 16320 or counter will overflow
 
-#define NULL ((void*)0)
-#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))
+// USB definitions
+#define USB_VID 0xBBAAU
 
-#define MIN(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   (_a < _b) ? _a : _b; })
+#ifdef BOOTSTUB
+  #define USB_PID 0xDDEEU
+#else
+  #define USB_PID 0xDDCCU
+#endif
 
-#define MAX(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   (_a > _b) ? _a : _b; })
-
-#define ABS(a) \
- ({ __typeof__ (a) _a = (a); \
-   (_a > 0) ? _a : (-_a); })
-
-#include <stdbool.h>
-#include "panda.h"
+// platform includes
 #ifdef STM32H7
   #include "stm32h7/stm32h7_config.h"
-#else
+#elif defined(STM32F2) || defined(STM32F4)
   #include "stm32fx/stm32fx_config.h"
-#endif
-
+#else
+  // TODO: uncomment this, cppcheck complains
+  // building for tests
+  //#include "fake_stm.h"
 #endif

board/fake_stm.h

@@ -0,0 +1,30 @@
+// minimal code to fake a panda for tests
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "utils.h"
+
+#define CANFD
+#define ALLOW_DEBUG
+#define PANDA
+
+void print(const char *a) {
+  printf(a);
+}
+
+void puth(unsigned int i) {
+  printf("%u", i);
+}
+
+typedef struct {
+  uint32_t CNT;
+} TIM_TypeDef;
+
+TIM_TypeDef timer;
+TIM_TypeDef *MICROSECOND_TIMER = &timer;
+uint32_t microsecond_timer_get(void);
+
+uint32_t microsecond_timer_get(void) {
+  return MICROSECOND_TIMER->CNT;
+}

board/panda.h

@@ -1,15 +0,0 @@
-// USB definitions
-#define USB_VID 0xBBAAU
-
-#ifdef BOOTSTUB
-  #define USB_PID 0xDDEEU
-#else
-  #define USB_PID 0xDDCCU
-#endif
-
-#define USBPACKET_MAX_SIZE 0x40U
-
-#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
-#define MAX_EP1_CHUNK_PER_BULK_TRANSFER 16256U // max data stream chunk in bytes, shouldn't be higher than 16320 or counter will overflow
-
-#define CAN_INIT_TIMEOUT_MS 500U

board/utils.h

@@ -1,3 +1,28 @@
+#define MIN(a,b) \
+ ({ __typeof__ (a) _a = (a); \
+     __typeof__ (b) _b = (b); \
+   (_a < _b) ? _a : _b; })
+
+#define MAX(a,b) \
+ ({ __typeof__ (a) _a = (a); \
+     __typeof__ (b) _b = (b); \
+   (_a > _b) ? _a : _b; })
+
+#define ABS(a) \
+ ({ __typeof__ (a) _a = (a); \
+   (_a > 0) ? _a : (-_a); })
+
+#ifndef NULL
+#define NULL ((void*)0)
+#endif
+
+// STM32 HAL defines this
+#ifndef UNUSED
+#define UNUSED(x) ((void)(x))
+#endif
+
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))
+
 // compute the time elapsed (in microseconds) from 2 counter samples
 // case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {

tests/safety/test.c

@@ -1,74 +1,12 @@
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-#include "panda.h"
+#include "config.h"
+#include "fake_stm.h"
 #include "can_definitions.h"
-#include "utils.h"
+#include "main_declarations.h"
+#include "boards/board_declarations.h"
 
-#define CANFD
-
-typedef struct {
-  uint32_t CNT;
-} TIM_TypeDef;
-
-struct sample_t torque_meas;
-struct sample_t torque_driver;
-
-TIM_TypeDef timer;
-TIM_TypeDef *MICROSECOND_TIMER = &timer;
-uint32_t microsecond_timer_get(void);
-
-// from board_declarations.h
-#define HW_TYPE_UNKNOWN 0U
-#define HW_TYPE_WHITE_PANDA 1U
-#define HW_TYPE_GREY_PANDA 2U
-#define HW_TYPE_BLACK_PANDA 3U
-#define HW_TYPE_PEDAL 4U
-#define HW_TYPE_UNO 5U
-#define HW_TYPE_DOS 6U
-
-#define ALLOW_DEBUG
-
-// from main_declarations.h
-uint8_t hw_type = HW_TYPE_UNKNOWN;
-
-// from config.h
-#define MIN(a,b)                                \
-  ({ __typeof__ (a) _a = (a);                   \
-    __typeof__ (b) _b = (b);                    \
-    _a < _b ? _a : _b; })
-
-#define MAX(a,b)                                \
-  ({ __typeof__ (a) _a = (a);                   \
-    __typeof__ (b) _b = (b);                    \
-    _a > _b ? _a : _b; })
-
-#define ABS(a)                                  \
- ({ __typeof__ (a) _a = (a);                    \
-   (_a > 0) ? _a : (-_a); })
-
-// from faults.h
-#define FAULT_RELAY_MALFUNCTION         (1U << 0)
-void fault_occurred(uint32_t fault) {
-}
-void fault_recovered(uint32_t fault) {
-}
-
-#define UNUSED(x) (void)(x)
-
-#ifndef PANDA
-#define PANDA
-#endif
-#define NULL ((void*)0)
-#define static
+#include "faults.h"
 #include "safety.h"
 
-uint32_t microsecond_timer_get(void) {
-  return MICROSECOND_TIMER->CNT;
-}
-
 void safety_tick_current_rx_checks() {
   safety_tick(current_rx_checks);
 }