diff --git a/board/body/can.h b/board/body/can.h
index 94010ded051..3533b66e35d 100644
--- a/board/body/can.h
+++ b/board/body/can.h
@@ -6,7 +6,7 @@
 #include "board/can.h"
 #include "board/health.h"
 #include "board/body/motor_control.h"
-#include "board/drivers/can_common_declarations.h"
+#include "board/drivers/drivers.h"
 #include "opendbc/safety/declarations.h"
 
 #define BODY_CAN_ADDR_MOTOR_SPEED      0x201U
diff --git a/board/bootstub_declarations.h b/board/bootstub_declarations.h
index 5cdec508e70..f73d2c253c3 100644
--- a/board/bootstub_declarations.h
+++ b/board/bootstub_declarations.h
@@ -6,11 +6,10 @@ void puth4(uint8_t i){ UNUSED(i); }
 void hexdump(const void *a, int l){ UNUSED(a); UNUSED(l); }
 typedef struct board board;
 typedef struct harness_configuration harness_configuration;
+typedef struct uart_ring uart_ring;
+extern uart_ring uart_ring_som_debug;
 void pwm_init(TIM_TypeDef *TIM, uint8_t channel);
 void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage);
-// No UART support in bootloader
-typedef struct uart_ring {} uart_ring;
-uart_ring uart_ring_som_debug;
 void uart_init(uart_ring *q, int baud) { UNUSED(q); UNUSED(baud); }
 
 // ********************* Globals **********************
diff --git a/board/drivers/bootkick.h b/board/drivers/bootkick.h
index eab7da3ebc4..4bf990391b6 100644
--- a/board/drivers/bootkick.h
+++ b/board/drivers/bootkick.h
@@ -1,4 +1,4 @@
-#include "bootkick_declarations.h"
+#include "board/drivers/drivers.h"
 
 bool bootkick_reset_triggered = false;
 
diff --git a/board/drivers/bootkick_declarations.h b/board/drivers/bootkick_declarations.h
deleted file mode 100644
index 3b55b72ac66..00000000000
--- a/board/drivers/bootkick_declarations.h
+++ /dev/null
@@ -1,5 +0,0 @@
-#pragma once
-
-extern bool bootkick_reset_triggered;
-
-void bootkick_tick(bool ignition, bool recent_heartbeat);
diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
index 35c6702e807..11524dd1426 100644
--- a/board/drivers/can_common.h
+++ b/board/drivers/can_common.h
@@ -1,4 +1,4 @@
-#include "can_common_declarations.h"
+#include "board/drivers/drivers.h"
 
 uint32_t safety_tx_blocked = 0;
 uint32_t safety_rx_invalid = 0;
diff --git a/board/drivers/can_common_declarations.h b/board/drivers/can_common_declarations.h
deleted file mode 100644
index 75580b7b640..00000000000
--- a/board/drivers/can_common_declarations.h
+++ /dev/null
@@ -1,70 +0,0 @@
-#pragma once
-
-#include "board/can.h"
-
-typedef struct {
-  volatile uint32_t w_ptr;
-  volatile uint32_t r_ptr;
-  uint32_t fifo_size;
-  CANPacket_t *elems;
-} can_ring;
-
-typedef struct {
-  uint8_t bus_lookup;
-  uint8_t can_num_lookup;
-  int8_t forwarding_bus;
-  uint32_t can_speed;
-  uint32_t can_data_speed;
-  bool canfd_auto;
-  bool canfd_enabled;
-  bool brs_enabled;
-  bool canfd_non_iso;
-} bus_config_t;
-
-extern uint32_t safety_tx_blocked;
-extern uint32_t safety_rx_invalid;
-extern uint32_t tx_buffer_overflow;
-extern uint32_t rx_buffer_overflow;
-
-extern can_health_t can_health[PANDA_CAN_CNT];
-
-// Ignition detected from CAN meessages
-extern bool ignition_can;
-extern uint32_t ignition_can_cnt;
-
-extern bool can_silent;
-extern bool can_loopback;
-
-// ******************* functions prototypes *********************
-bool can_init(uint8_t can_number);
-void process_can(uint8_t can_number);
-
-// ********************* instantiate queues *********************
-extern can_ring *can_queues[PANDA_CAN_CNT];
-
-// helpers
-#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFFU); 1[dst8] = (((src32) >> 8U) & 0xFFU); 2[dst8] = (((src32) >> 16U) & 0xFFU); 3[dst8] = (((src32) >> 24U) & 0xFFU)
-#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
-
-// ********************* interrupt safe queue *********************
-bool can_pop(can_ring *q, CANPacket_t *elem);
-bool can_push(can_ring *q, const CANPacket_t *elem);
-uint32_t can_slots_empty(const can_ring *q);
-extern bus_config_t bus_config[PANDA_CAN_CNT];
-
-#define CANIF_FROM_CAN_NUM(num) (cans[num])
-#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
-#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
-
-void can_init_all(void);
-void can_set_orientation(bool flipped);
-#ifdef PANDA_JUNGLE
-void can_set_forwarding(uint8_t from, uint8_t to);
-#endif
-void ignition_can_hook(CANPacket_t *to_push);
-bool can_tx_check_min_slots_free(uint32_t min);
-uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
-void can_set_checksum(CANPacket_t *packet);
-bool can_check_checksum(CANPacket_t *packet);
-void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
-bool is_speed_valid(uint32_t speed, const uint32_t *all_speeds, uint8_t len);
diff --git a/board/drivers/clock_source.h b/board/drivers/clock_source.h
index 87d89ad063e..4d9f9d0c89f 100644
--- a/board/drivers/clock_source.h
+++ b/board/drivers/clock_source.h
@@ -1,4 +1,4 @@
-#include "clock_source_declarations.h"
+#include "board/drivers/drivers.h"
 
 void clock_source_set_timer_params(uint16_t param1, uint16_t param2) {
   // Pulse length of each channel
diff --git a/board/drivers/clock_source_declarations.h b/board/drivers/clock_source_declarations.h
deleted file mode 100644
index d95eb961a0b..00000000000
--- a/board/drivers/clock_source_declarations.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#pragma once
-
-#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);
-void clock_source_init(bool enable_channel1);
diff --git a/board/drivers/drivers.h b/board/drivers/drivers.h
new file mode 100644
index 00000000000..5a26f8272b1
--- /dev/null
+++ b/board/drivers/drivers.h
@@ -0,0 +1,418 @@
+#pragma once
+
+
+#include "board/can.h"
+#include "board/health.h"
+#if defined(STM32H7) || defined(STM32H725xx) || defined(STM32H735xx)
+#include "board/stm32h7/lladc_declarations.h"
+#endif
+
+typedef struct {
+  volatile uint32_t w_ptr;
+  volatile uint32_t r_ptr;
+  uint32_t fifo_size;
+  CANPacket_t *elems;
+} can_ring;
+
+typedef struct {
+  uint8_t bus_lookup;
+  uint8_t can_num_lookup;
+  int8_t forwarding_bus;
+  uint32_t can_speed;
+  uint32_t can_data_speed;
+  bool canfd_auto;
+  bool canfd_enabled;
+  bool brs_enabled;
+  bool canfd_non_iso;
+} bus_config_t;
+
+extern uint32_t safety_tx_blocked;
+extern uint32_t safety_rx_invalid;
+extern uint32_t tx_buffer_overflow;
+extern uint32_t rx_buffer_overflow;
+
+extern can_health_t can_health[PANDA_CAN_CNT];
+
+// Ignition detected from CAN meessages
+extern bool ignition_can;
+extern uint32_t ignition_can_cnt;
+
+extern bool can_silent;
+extern bool can_loopback;
+
+// ******************* functions prototypes *********************
+bool can_init(uint8_t can_number);
+void process_can(uint8_t can_number);
+
+// ********************* instantiate queues *********************
+extern can_ring *can_queues[PANDA_CAN_CNT];
+
+// helpers
+#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFFU); 1[dst8] = (((src32) >> 8U) & 0xFFU); 2[dst8] = (((src32) >> 16U) & 0xFFU); 3[dst8] = (((src32) >> 24U) & 0xFFU)
+#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
+
+// ********************* interrupt safe queue *********************
+bool can_pop(can_ring *q, CANPacket_t *elem);
+bool can_push(can_ring *q, const CANPacket_t *elem);
+uint32_t can_slots_empty(const can_ring *q);
+extern bus_config_t bus_config[PANDA_CAN_CNT];
+
+#define CANIF_FROM_CAN_NUM(num) (cans[num])
+#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
+#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
+
+void can_init_all(void);
+void can_set_orientation(bool flipped);
+#ifdef PANDA_JUNGLE
+void can_set_forwarding(uint8_t from, uint8_t to);
+#endif
+void ignition_can_hook(CANPacket_t *to_push);
+bool can_tx_check_min_slots_free(uint32_t min);
+uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
+void can_set_checksum(CANPacket_t *packet);
+bool can_check_checksum(CANPacket_t *packet);
+void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
+bool is_speed_valid(uint32_t speed, const uint32_t *all_speeds, uint8_t len);
+
+#ifdef STM32H7
+
+typedef struct {
+  volatile uint32_t header[2];
+  volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
+} canfd_fifo;
+
+extern FDCAN_GlobalTypeDef *cans[PANDA_CAN_CNT];
+
+#define CAN_ACK_ERROR 3U
+
+void can_clear_send(FDCAN_GlobalTypeDef *FDCANx, uint8_t can_number);
+void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg);
+
+void process_can(uint8_t can_number);
+void can_rx(uint8_t can_number);
+bool can_init(uint8_t can_number);
+#endif
+
+#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);
+void clock_source_init(bool enable_channel1);
+
+
+struct fan_state_t {
+  uint16_t tach_counter;
+  uint16_t rpm;
+  uint8_t power;
+  float error_integral;
+  uint8_t cooldown_counter;
+};
+extern struct fan_state_t fan_state;
+
+void fan_set_power(uint8_t percentage);
+void llfan_init(void);
+void fan_init(void);
+// Call this at FAN_TICK_FREQ
+void fan_tick(void);
+
+
+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);
+
+
+extern bool bootkick_reset_triggered;
+
+void bootkick_tick(bool ignition, bool recent_heartbeat);
+
+
+// IRQs: OTG_FS
+
+typedef union {
+  uint16_t w;
+  struct BW {
+    uint8_t msb;
+    uint8_t lsb;
+  }
+  bw;
+} uint16_t_uint8_t;
+
+typedef union _USB_Setup {
+  uint32_t d8[2];
+  struct _SetupPkt_Struc
+  {
+    uint8_t           bmRequestType;
+    uint8_t           bRequest;
+    uint16_t_uint8_t  wValue;
+    uint16_t_uint8_t  wIndex;
+    uint16_t_uint8_t  wLength;
+  } b;
+} USB_Setup_TypeDef;
+
+void usb_init(void);
+void refresh_can_tx_slots_available(void);
+
+// **** supporting defines ****
+#define  USB_REQ_GET_STATUS                             0x00
+#define  USB_REQ_CLEAR_FEATURE                          0x01
+#define  USB_REQ_SET_FEATURE                            0x03
+#define  USB_REQ_SET_ADDRESS                            0x05
+#define  USB_REQ_GET_DESCRIPTOR                         0x06
+#define  USB_REQ_SET_DESCRIPTOR                         0x07
+#define  USB_REQ_GET_CONFIGURATION                      0x08
+#define  USB_REQ_SET_CONFIGURATION                      0x09
+#define  USB_REQ_GET_INTERFACE                          0x0A
+#define  USB_REQ_SET_INTERFACE                          0x0B
+#define  USB_REQ_SYNCH_FRAME                            0x0C
+
+#define  USB_DESC_TYPE_DEVICE                           0x01
+#define  USB_DESC_TYPE_CONFIGURATION                    0x02
+#define  USB_DESC_TYPE_STRING                           0x03
+#define  USB_DESC_TYPE_INTERFACE                        0x04
+#define  USB_DESC_TYPE_ENDPOINT                         0x05
+#define  USB_DESC_TYPE_DEVICE_QUALIFIER                 0x06
+#define  USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION        0x07
+#define  USB_DESC_TYPE_BINARY_OBJECT_STORE              0x0f
+
+// offsets for configuration strings
+#define  STRING_OFFSET_LANGID                           0x00
+#define  STRING_OFFSET_IMANUFACTURER                    0x01
+#define  STRING_OFFSET_IPRODUCT                         0x02
+#define  STRING_OFFSET_ISERIAL                          0x03
+#define  STRING_OFFSET_ICONFIGURATION                   0x04
+#define  STRING_OFFSET_IINTERFACE                       0x05
+
+// WebUSB requests
+#define  WEBUSB_REQ_GET_URL                             0x02
+
+// WebUSB types
+#define  WEBUSB_DESC_TYPE_URL                           0x03
+#define  WEBUSB_URL_SCHEME_HTTPS                        0x01
+#define  WEBUSB_URL_SCHEME_HTTP                         0x00
+
+// WinUSB requests
+#define  WINUSB_REQ_GET_COMPATID_DESCRIPTOR             0x04
+#define  WINUSB_REQ_GET_EXT_PROPS_OS                    0x05
+#define  WINUSB_REQ_GET_DESCRIPTOR                      0x07
+
+#define STS_GOUT_NAK                           1
+#define STS_DATA_UPDT                          2
+#define STS_XFER_COMP                          3
+#define STS_SETUP_COMP                         4
+#define STS_SETUP_UPDT                         6
+
+// for the repeating interfaces
+#define DSCR_INTERFACE_LEN 9
+#define DSCR_ENDPOINT_LEN 7
+#define DSCR_CONFIG_LEN 9
+#define DSCR_DEVICE_LEN 18
+
+// endpoint types
+#define ENDPOINT_TYPE_CONTROL 0
+#define ENDPOINT_TYPE_ISO 1
+#define ENDPOINT_TYPE_BULK 2
+#define ENDPOINT_TYPE_INT 3
+
+// These are arbitrary values used in bRequest
+#define  MS_VENDOR_CODE 0x20
+#define  WEBUSB_VENDOR_CODE 0x30
+
+// BOS constants
+#define BINARY_OBJECT_STORE_DESCRIPTOR_LENGTH   0x05
+#define BINARY_OBJECT_STORE_DESCRIPTOR          0x0F
+#define WINUSB_PLATFORM_DESCRIPTOR_LENGTH       0x9E
+
+// Convert machine byte order to USB byte order
+#define TOUSBORDER(num)\
+  ((num) & 0xFFU), (((uint16_t)(num) >> 8) & 0xFFU)
+
+// take in string length and return the first 2 bytes of a string descriptor
+#define STRING_DESCRIPTOR_HEADER(size)\
+  (((((size) * 2) + 2) & 0xFF) | 0x0300)
+
+#define ENDPOINT_RCV 0x80
+#define ENDPOINT_SND 0x00
+
+// ***************************** USB port *****************************
+void can_tx_comms_resume_usb(void);
+
+
+typedef struct reg {
+  volatile uint32_t *address;
+  uint32_t value;
+  uint32_t check_mask;
+  bool logged_fault;
+} reg;
+
+// 10 bit hash with 23 as a prime
+#define REGISTER_MAP_SIZE 0x3FFU
+#define HASHING_PRIME 23U
+#define CHECK_COLLISION(hash, addr) (((uint32_t) register_map[hash].address != 0U) && (register_map[hash].address != (addr)))
+
+// Do not put bits in the check mask that get changed by the hardware
+void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask);
+// Set individual bits. Also add them to the check_mask.
+// Do not use this to change bits that get reset by the hardware
+void register_set_bits(volatile uint32_t *addr, uint32_t val);
+// Clear individual bits. Also add them to the check_mask.
+// Do not use this to clear bits that get set by the hardware
+void register_clear_bits(volatile uint32_t *addr, uint32_t val);
+// To be called periodically
+void check_registers(void);
+void init_registers(void);
+
+
+// ***************************** Definitions *****************************
+#if defined(STM32H7) && !defined(BOOTSTUB)
+#define FIFO_SIZE_INT 0x400U
+
+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;
+
+// ***************************** Function prototypes *****************************
+void debug_ring_callback(uart_ring *ring);
+void uart_tx_ring(uart_ring *q);
+uart_ring *get_ring_by_number(int a);
+// ************************* Low-level buffer functions *************************
+bool get_char(uart_ring *q, char *elem);
+bool injectc(uart_ring *q, char elem);
+bool put_char(uart_ring *q, char elem);
+void clear_uart_buff(uart_ring *q);
+// ************************ High-level debug functions **********************
+void putch(const char a);
+void print(const char *a);
+void puthx(uint32_t i, uint8_t len);
+void puth(unsigned int i);
+#if defined(DEBUG_SPI) || defined(BOOTSTUB) || defined(DEBUG)
+static void puth4(unsigned int i);
+#endif
+#if defined(DEBUG_SPI) || defined(DEBUG_USB) || defined(DEBUG_COMMS)
+static void hexdump(const void *a, int l);
+#endif
+#endif
+
+
+#ifdef STM32H7
+#define HARNESS_STATUS_NC 0U
+#define HARNESS_STATUS_NORMAL 1U
+#define HARNESS_STATUS_FLIPPED 2U
+
+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;
+
+struct harness_configuration {
+  GPIO_TypeDef * const GPIO_SBU1;
+  GPIO_TypeDef * const GPIO_SBU2;
+  GPIO_TypeDef * const GPIO_relay_SBU1;
+  GPIO_TypeDef * const GPIO_relay_SBU2;
+  const uint8_t pin_SBU1;
+  const uint8_t pin_SBU2;
+  const uint8_t pin_relay_SBU1;
+  const uint8_t pin_relay_SBU2;
+  const adc_signal_t adc_signal_SBU1;
+  const adc_signal_t adc_signal_SBU2;
+};
+
+// The ignition relay is only used for testing purposes
+void set_intercept_relay(bool intercept, bool ignition_relay);
+bool harness_check_ignition(void);
+void harness_tick(void);
+void harness_init(void);
+#endif
+
+
+#if defined(STM32H7) || defined(STM32H725xx) || defined(STM32H735xx)
+typedef struct interrupt {
+  IRQn_Type irq_type;
+  void (*handler)(void);
+  uint32_t call_counter;
+  uint32_t call_rate;
+  uint32_t max_call_rate;   // Call rate is defined as the amount of calls each second
+  uint32_t call_rate_fault;
+} interrupt;
+
+void interrupt_timer_init(void);
+uint32_t microsecond_timer_get(void);
+void unused_interrupt_handler(void);
+
+extern interrupt interrupts[NUM_INTERRUPTS];
+
+#define REGISTER_INTERRUPT(irq_num, func_ptr, call_rate_max, rate_fault) \
+  interrupts[irq_num].irq_type = (irq_num); \
+  interrupts[irq_num].handler = (func_ptr);  \
+  interrupts[irq_num].call_counter = 0U;   \
+  interrupts[irq_num].call_rate = 0U;   \
+  interrupts[irq_num].max_call_rate = (call_rate_max); \
+  interrupts[irq_num].call_rate_fault = (rate_fault);
+
+extern float interrupt_load;
+
+void handle_interrupt(IRQn_Type irq_type);
+// Every second
+void interrupt_timer_handler(void);
+void init_interrupts(bool check_rate_limit);
+#endif
+
+
+#define SPI_TIMEOUT_US 10000U
+
+// got max rate from hitting a non-existent endpoint
+// in a tight loop, plus some buffer
+#define SPI_IRQ_RATE  16000U
+
+#define SPI_BUF_SIZE 4096U
+// H7 DMA2 located in D2 domain, so we need to use SRAM1/SRAM2
+__attribute__((section(".sram12"))) extern uint8_t spi_buf_rx[SPI_BUF_SIZE];
+__attribute__((section(".sram12"))) extern uint8_t spi_buf_tx[SPI_BUF_SIZE];
+
+#define SPI_CHECKSUM_START 0xABU
+#define SPI_SYNC_BYTE 0x5AU
+#define SPI_HACK 0x79U
+#define SPI_DACK 0x85U
+#define SPI_NACK 0x1FU
+
+// SPI states
+enum {
+  SPI_STATE_HEADER,
+  SPI_STATE_HEADER_ACK,
+  SPI_STATE_HEADER_NACK,
+  SPI_STATE_DATA_RX,
+  SPI_STATE_DATA_RX_ACK,
+  SPI_STATE_DATA_TX
+};
+
+extern uint16_t spi_error_count;
+
+#define SPI_HEADER_SIZE 7U
+
+// low level SPI prototypes
+void llspi_init(void);
+void llspi_mosi_dma(uint8_t *addr, int len);
+void llspi_miso_dma(uint8_t *addr, int len);
+
+void can_tx_comms_resume_spi(void);
+void spi_init(void);
+void spi_rx_done(void);
+void spi_tx_done(bool reset);
diff --git a/board/drivers/fan.h b/board/drivers/fan.h
index f1041ce8563..389fdd3f409 100644
--- a/board/drivers/fan.h
+++ b/board/drivers/fan.h
@@ -1,4 +1,4 @@
-#include "fan_declarations.h"
+#include "board/drivers/drivers.h"
 
 struct fan_state_t fan_state;
 
diff --git a/board/drivers/fan_declarations.h b/board/drivers/fan_declarations.h
deleted file mode 100644
index 3dd3e7cfabf..00000000000
--- a/board/drivers/fan_declarations.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#pragma once
-
-struct fan_state_t {
-  uint16_t tach_counter;
-  uint16_t rpm;
-  uint8_t power;
-  float error_integral;
-  uint8_t cooldown_counter;
-};
-extern struct fan_state_t fan_state;
-
-void fan_set_power(uint8_t percentage);
-void llfan_init(void);
-void fan_init(void);
-// Call this at FAN_TICK_FREQ
-void fan_tick(void);
diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
index 2aa64e97dcc..4921d531a5c 100644
--- a/board/drivers/fdcan.h
+++ b/board/drivers/fdcan.h
@@ -1,4 +1,4 @@
-#include "fdcan_declarations.h"
+#include "board/drivers/drivers.h"
 
 FDCAN_GlobalTypeDef *cans[PANDA_CAN_CNT] = {FDCAN1, FDCAN2, FDCAN3};
 
diff --git a/board/drivers/fdcan_declarations.h b/board/drivers/fdcan_declarations.h
deleted file mode 100644
index c77d1e31382..00000000000
--- a/board/drivers/fdcan_declarations.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#pragma once
-
-#include "board/can.h"
-
-typedef struct {
-  volatile uint32_t header[2];
-  volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
-} canfd_fifo;
-
-extern FDCAN_GlobalTypeDef *cans[PANDA_CAN_CNT];
-
-#define CAN_ACK_ERROR 3U
-
-void can_clear_send(FDCAN_GlobalTypeDef *FDCANx, uint8_t can_number);
-void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg);
-
-void process_can(uint8_t can_number);
-void can_rx(uint8_t can_number);
-bool can_init(uint8_t can_number);
diff --git a/board/drivers/harness.h b/board/drivers/harness.h
index 3ebf109fe83..d501ab949fd 100644
--- a/board/drivers/harness.h
+++ b/board/drivers/harness.h
@@ -1,4 +1,4 @@
-#include "harness_declarations.h"
+#include "board/drivers/drivers.h"
 
 struct harness_t harness;
 
diff --git a/board/drivers/harness_declarations.h b/board/drivers/harness_declarations.h
deleted file mode 100644
index 6f4327aad98..00000000000
--- a/board/drivers/harness_declarations.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-
-#define HARNESS_STATUS_NC 0U
-#define HARNESS_STATUS_NORMAL 1U
-#define HARNESS_STATUS_FLIPPED 2U
-
-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;
-
-struct harness_configuration {
-  GPIO_TypeDef * const GPIO_SBU1;
-  GPIO_TypeDef * const GPIO_SBU2;
-  GPIO_TypeDef * const GPIO_relay_SBU1;
-  GPIO_TypeDef * const GPIO_relay_SBU2;
-  const uint8_t pin_SBU1;
-  const uint8_t pin_SBU2;
-  const uint8_t pin_relay_SBU1;
-  const uint8_t pin_relay_SBU2;
-  const adc_signal_t adc_signal_SBU1;
-  const adc_signal_t adc_signal_SBU2;
-};
-
-// The ignition relay is only used for testing purposes
-void set_intercept_relay(bool intercept, bool ignition_relay);
-bool harness_check_ignition(void);
-void harness_tick(void);
-void harness_init(void);
diff --git a/board/drivers/interrupts.h b/board/drivers/interrupts.h
index 1188a8ec07b..c404e43d22f 100644
--- a/board/drivers/interrupts.h
+++ b/board/drivers/interrupts.h
@@ -1,4 +1,4 @@
-#include "interrupts_declarations.h"
+#include "board/drivers/drivers.h"
 
 void unused_interrupt_handler(void) {
   // Something is wrong if this handler is called!
diff --git a/board/drivers/interrupts_declarations.h b/board/drivers/interrupts_declarations.h
deleted file mode 100644
index 4112453ca64..00000000000
--- a/board/drivers/interrupts_declarations.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#pragma once
-
-typedef struct interrupt {
-  IRQn_Type irq_type;
-  void (*handler)(void);
-  uint32_t call_counter;
-  uint32_t call_rate;
-  uint32_t max_call_rate;   // Call rate is defined as the amount of calls each second
-  uint32_t call_rate_fault;
-} interrupt;
-
-void interrupt_timer_init(void);
-uint32_t microsecond_timer_get(void);
-void unused_interrupt_handler(void);
-
-extern interrupt interrupts[NUM_INTERRUPTS];
-
-#define REGISTER_INTERRUPT(irq_num, func_ptr, call_rate_max, rate_fault) \
-  interrupts[irq_num].irq_type = (irq_num); \
-  interrupts[irq_num].handler = (func_ptr);  \
-  interrupts[irq_num].call_counter = 0U;   \
-  interrupts[irq_num].call_rate = 0U;   \
-  interrupts[irq_num].max_call_rate = (call_rate_max); \
-  interrupts[irq_num].call_rate_fault = (rate_fault);
-
-extern float interrupt_load;
-
-void handle_interrupt(IRQn_Type irq_type);
-// Every second
-void interrupt_timer_handler(void);
-void init_interrupts(bool check_rate_limit);
diff --git a/board/drivers/registers.h b/board/drivers/registers.h
index ce4be14a92a..944fafff52e 100644
--- a/board/drivers/registers.h
+++ b/board/drivers/registers.h
@@ -1,4 +1,4 @@
-#include "registers_declarations.h"
+#include "board/drivers/drivers.h"
 
 static reg register_map[REGISTER_MAP_SIZE];
 
diff --git a/board/drivers/registers_declarations.h b/board/drivers/registers_declarations.h
deleted file mode 100644
index 90ee66df0df..00000000000
--- a/board/drivers/registers_declarations.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-typedef struct reg {
-  volatile uint32_t *address;
-  uint32_t value;
-  uint32_t check_mask;
-  bool logged_fault;
-} reg;
-
-// 10 bit hash with 23 as a prime
-#define REGISTER_MAP_SIZE 0x3FFU
-#define HASHING_PRIME 23U
-#define CHECK_COLLISION(hash, addr) (((uint32_t) register_map[hash].address != 0U) && (register_map[hash].address != (addr)))
-
-// Do not put bits in the check mask that get changed by the hardware
-void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask);
-// Set individual bits. Also add them to the check_mask.
-// Do not use this to change bits that get reset by the hardware
-void register_set_bits(volatile uint32_t *addr, uint32_t val);
-// Clear individual bits. Also add them to the check_mask.
-// Do not use this to clear bits that get set by the hardware
-void register_clear_bits(volatile uint32_t *addr, uint32_t val);
-// To be called periodically
-void check_registers(void);
-void init_registers(void);
diff --git a/board/drivers/simple_watchdog.h b/board/drivers/simple_watchdog.h
index f679cb19393..7668402fec4 100644
--- a/board/drivers/simple_watchdog.h
+++ b/board/drivers/simple_watchdog.h
@@ -1,4 +1,4 @@
-#include "simple_watchdog_declarations.h"
+#include "board/drivers/drivers.h"
 
 static simple_watchdog_state_t wd_state;
 
diff --git a/board/drivers/simple_watchdog_declarations.h b/board/drivers/simple_watchdog_declarations.h
deleted file mode 100644
index 2bda71590ba..00000000000
--- a/board/drivers/simple_watchdog_declarations.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#pragma once
-
-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);
diff --git a/board/drivers/spi.h b/board/drivers/spi.h
index d291fe06a8d..b2c07e7478c 100644
--- a/board/drivers/spi.h
+++ b/board/drivers/spi.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "board/drivers/spi_declarations.h"
+#include "board/drivers/drivers.h"
 #include "board/crc.h"
 
 uint8_t spi_buf_rx[SPI_BUF_SIZE];
diff --git a/board/drivers/spi_declarations.h b/board/drivers/spi_declarations.h
deleted file mode 100644
index 23254f0e87a..00000000000
--- a/board/drivers/spi_declarations.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#pragma once
-
-#include "board/crc.h"
-
-#define SPI_TIMEOUT_US 10000U
-
-// got max rate from hitting a non-existent endpoint
-// in a tight loop, plus some buffer
-#define SPI_IRQ_RATE  16000U
-
-#define SPI_BUF_SIZE 4096U
-// H7 DMA2 located in D2 domain, so we need to use SRAM1/SRAM2
-__attribute__((section(".sram12"))) extern uint8_t spi_buf_rx[SPI_BUF_SIZE];
-__attribute__((section(".sram12"))) extern uint8_t spi_buf_tx[SPI_BUF_SIZE];
-
-#define SPI_CHECKSUM_START 0xABU
-#define SPI_SYNC_BYTE 0x5AU
-#define SPI_HACK 0x79U
-#define SPI_DACK 0x85U
-#define SPI_NACK 0x1FU
-
-// SPI states
-enum {
-  SPI_STATE_HEADER,
-  SPI_STATE_HEADER_ACK,
-  SPI_STATE_HEADER_NACK,
-  SPI_STATE_DATA_RX,
-  SPI_STATE_DATA_RX_ACK,
-  SPI_STATE_DATA_TX
-};
-
-extern uint16_t spi_error_count;
-
-#define SPI_HEADER_SIZE 7U
-
-// low level SPI prototypes
-void llspi_init(void);
-void llspi_mosi_dma(uint8_t *addr, int len);
-void llspi_miso_dma(uint8_t *addr, int len);
-
-void can_tx_comms_resume_spi(void);
-void spi_init(void);
-void spi_rx_done(void);
-void spi_tx_done(bool reset);
diff --git a/board/drivers/uart.h b/board/drivers/uart.h
index aeacf84b851..250c2ea0010 100644
--- a/board/drivers/uart.h
+++ b/board/drivers/uart.h
@@ -1,4 +1,4 @@
-#include "uart_declarations.h"
+#include "board/drivers/drivers.h"
 
 // ***************************** Definitions *****************************
 
diff --git a/board/drivers/uart_declarations.h b/board/drivers/uart_declarations.h
deleted file mode 100644
index 14ec26110f9..00000000000
--- a/board/drivers/uart_declarations.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#pragma once
-
-// ***************************** Definitions *****************************
-#define FIFO_SIZE_INT 0x400U
-
-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;
-
-// ***************************** Function prototypes *****************************
-void debug_ring_callback(uart_ring *ring);
-void uart_tx_ring(uart_ring *q);
-uart_ring *get_ring_by_number(int a);
-// ************************* Low-level buffer functions *************************
-bool get_char(uart_ring *q, char *elem);
-bool injectc(uart_ring *q, char elem);
-bool put_char(uart_ring *q, char elem);
-void clear_uart_buff(uart_ring *q);
-// ************************ High-level debug functions **********************
-void putch(const char a);
-void print(const char *a);
-void puthx(uint32_t i, uint8_t len);
-void puth(unsigned int i);
-#if defined(DEBUG_SPI) || defined(BOOTSTUB) || defined(DEBUG)
-static void puth4(unsigned int i);
-#endif
-#if defined(DEBUG_SPI) || defined(DEBUG_USB) || defined(DEBUG_COMMS)
-static void hexdump(const void *a, int l);
-#endif
diff --git a/board/drivers/usb.h b/board/drivers/usb.h
index d393d7e4d13..27ead5284c4 100644
--- a/board/drivers/usb.h
+++ b/board/drivers/usb.h
@@ -1,4 +1,4 @@
-#include "usb_declarations.h"
+#include "board/drivers/drivers.h"
 
 static uint8_t response[USBPACKET_MAX_SIZE];
 
diff --git a/board/drivers/usb_declarations.h b/board/drivers/usb_declarations.h
deleted file mode 100644
index 379b162feb6..00000000000
--- a/board/drivers/usb_declarations.h
+++ /dev/null
@@ -1,111 +0,0 @@
-#pragma once
-
-// IRQs: OTG_FS
-
-typedef union {
-  uint16_t w;
-  struct BW {
-    uint8_t msb;
-    uint8_t lsb;
-  }
-  bw;
-} uint16_t_uint8_t;
-
-typedef union _USB_Setup {
-  uint32_t d8[2];
-  struct _SetupPkt_Struc
-  {
-    uint8_t           bmRequestType;
-    uint8_t           bRequest;
-    uint16_t_uint8_t  wValue;
-    uint16_t_uint8_t  wIndex;
-    uint16_t_uint8_t  wLength;
-  } b;
-} USB_Setup_TypeDef;
-
-void usb_init(void);
-void refresh_can_tx_slots_available(void);
-
-// **** supporting defines ****
-#define  USB_REQ_GET_STATUS                             0x00
-#define  USB_REQ_CLEAR_FEATURE                          0x01
-#define  USB_REQ_SET_FEATURE                            0x03
-#define  USB_REQ_SET_ADDRESS                            0x05
-#define  USB_REQ_GET_DESCRIPTOR                         0x06
-#define  USB_REQ_SET_DESCRIPTOR                         0x07
-#define  USB_REQ_GET_CONFIGURATION                      0x08
-#define  USB_REQ_SET_CONFIGURATION                      0x09
-#define  USB_REQ_GET_INTERFACE                          0x0A
-#define  USB_REQ_SET_INTERFACE                          0x0B
-#define  USB_REQ_SYNCH_FRAME                            0x0C
-
-#define  USB_DESC_TYPE_DEVICE                           0x01
-#define  USB_DESC_TYPE_CONFIGURATION                    0x02
-#define  USB_DESC_TYPE_STRING                           0x03
-#define  USB_DESC_TYPE_INTERFACE                        0x04
-#define  USB_DESC_TYPE_ENDPOINT                         0x05
-#define  USB_DESC_TYPE_DEVICE_QUALIFIER                 0x06
-#define  USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION        0x07
-#define  USB_DESC_TYPE_BINARY_OBJECT_STORE              0x0f
-
-// offsets for configuration strings
-#define  STRING_OFFSET_LANGID                           0x00
-#define  STRING_OFFSET_IMANUFACTURER                    0x01
-#define  STRING_OFFSET_IPRODUCT                         0x02
-#define  STRING_OFFSET_ISERIAL                          0x03
-#define  STRING_OFFSET_ICONFIGURATION                   0x04
-#define  STRING_OFFSET_IINTERFACE                       0x05
-
-// WebUSB requests
-#define  WEBUSB_REQ_GET_URL                             0x02
-
-// WebUSB types
-#define  WEBUSB_DESC_TYPE_URL                           0x03
-#define  WEBUSB_URL_SCHEME_HTTPS                        0x01
-#define  WEBUSB_URL_SCHEME_HTTP                         0x00
-
-// WinUSB requests
-#define  WINUSB_REQ_GET_COMPATID_DESCRIPTOR             0x04
-#define  WINUSB_REQ_GET_EXT_PROPS_OS                    0x05
-#define  WINUSB_REQ_GET_DESCRIPTOR                      0x07
-
-#define STS_GOUT_NAK                           1
-#define STS_DATA_UPDT                          2
-#define STS_XFER_COMP                          3
-#define STS_SETUP_COMP                         4
-#define STS_SETUP_UPDT                         6
-
-// for the repeating interfaces
-#define DSCR_INTERFACE_LEN 9
-#define DSCR_ENDPOINT_LEN 7
-#define DSCR_CONFIG_LEN 9
-#define DSCR_DEVICE_LEN 18
-
-// endpoint types
-#define ENDPOINT_TYPE_CONTROL 0
-#define ENDPOINT_TYPE_ISO 1
-#define ENDPOINT_TYPE_BULK 2
-#define ENDPOINT_TYPE_INT 3
-
-// These are arbitrary values used in bRequest
-#define  MS_VENDOR_CODE 0x20
-#define  WEBUSB_VENDOR_CODE 0x30
-
-// BOS constants
-#define BINARY_OBJECT_STORE_DESCRIPTOR_LENGTH   0x05
-#define BINARY_OBJECT_STORE_DESCRIPTOR          0x0F
-#define WINUSB_PLATFORM_DESCRIPTOR_LENGTH       0x9E
-
-// Convert machine byte order to USB byte order
-#define TOUSBORDER(num)\
-  ((num) & 0xFFU), (((uint16_t)(num) >> 8) & 0xFFU)
-
-// take in string length and return the first 2 bytes of a string descriptor
-#define STRING_DESCRIPTOR_HEADER(size)\
-  (((((size) * 2) + 2) & 0xFF) | 0x0300)
-
-#define ENDPOINT_RCV 0x80
-#define ENDPOINT_SND 0x00
-
-// ***************************** USB port *****************************
-void can_tx_comms_resume_usb(void);
diff --git a/board/health.h b/board/health.h
index 9040edf5a1b..2e42969f915 100644
--- a/board/health.h
+++ b/board/health.h
@@ -1,5 +1,7 @@
 // When changing these structs, python/__init__.py needs to be kept up to date!
 
+#pragma once
+
 #define HEALTH_PACKET_VERSION 17
 struct __attribute__((packed)) health_t {
   uint32_t uptime_pkt;