Dev/cboard

.github/workflows/lint.yml

@@ -33,5 +33,8 @@ jobs:
       - name: Configure firmware/rmcs_board
         run: cmake --preset debug -S firmware/rmcs_board
 
+      - name: Configure firmware/c_board
+        run: cmake --preset debug -S firmware/c_board
+
       - name: Run clang-tidy check
         run: .scripts/clang-tidy-check

.scripts/lint-targets.yml

@@ -17,3 +17,11 @@ rmcs_board:
     - core/include
     - firmware/rmcs_board/src
     - firmware/rmcs_board/include
+
+c_board:
+  cmake: firmware/c_board/CMakeLists.txt
+  folders:
+    - core/src
+    - core/include
+    - firmware/c_board/src
+    - firmware/c_board/include

firmware/c_board/.clang-tidy

@@ -0,0 +1,3 @@
+InheritParentConfig: true
+CheckOptions:
+  misc-include-cleaner.IgnoreHeaders: "bits/.+h;cmsis_.+h"

firmware/c_board/.clangd

@@ -0,0 +1,13 @@
+CompileFlags:
+  Add:
+    - "--target=arm-none-eabi"
+    - "-isystem/opt/arm-none-eabi/arm-none-eabi/include/c++/15.2.1"
+    - "-isystem/opt/arm-none-eabi/arm-none-eabi/include/c++/15.2.1/arm-none-eabi"
+    - "-isystem/opt/arm-none-eabi/arm-none-eabi/include/c++/15.2.1/backward"
+    - "-isystem/opt/arm-none-eabi/lib/gcc/arm-none-eabi/15.2.1/include-fixed"
+    - "-isystem/opt/arm-none-eabi/arm-none-eabi/include"
+Diagnostics:
+  Includes:
+    IgnoreHeader:
+      - "bits/.+h" # https://github.com/llvm/llvm-project/issues/68213
+      - "cmsis_.+h"

firmware/c_board/CMakeLists.txt

@@ -0,0 +1,129 @@
+cmake_minimum_required(VERSION 3.28)
+set(CMAKE_CXX_SCAN_FOR_MODULES OFF)
+
+# Language standards
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_C_EXTENSIONS OFF)
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Debug")
+endif()
+
+set(CMAKE_PROJECT_NAME librmcs-firmware)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+project(${CMAKE_PROJECT_NAME})
+message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+enable_language(C CXX ASM)
+
+set(LIBRMCS_PROJECT_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../..")
+cmake_path(ABSOLUTE_PATH LIBRMCS_PROJECT_ROOT NORMALIZE)
+
+if(NOT DEFINED LIBRMCS_PROJECT_VERSION OR LIBRMCS_PROJECT_VERSION STREQUAL "")
+    execute_process(
+        COMMAND ".scripts/generate_version"
+        WORKING_DIRECTORY "${LIBRMCS_PROJECT_ROOT}"
+        OUTPUT_VARIABLE LIBRMCS_PROJECT_VERSION
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        COMMAND_ERROR_IS_FATAL ANY
+    )
+endif()
+message(STATUS "Librmcs project version: ${LIBRMCS_PROJECT_VERSION}")
+
+add_executable(${CMAKE_PROJECT_NAME})
+
+# Add libstdc++ for C++ code. This is consumed by stm32cubemx/CMakeLists.txt
+# via TOOLCHAIN_LINK_LIBRARIES.
+list(APPEND TOOLCHAIN_LINK_LIBRARIES "stdc++")
+
+# Bring in CubeMX generated HAL build definitions.
+add_subdirectory(bsp/HAL/cmake/stm32cubemx)
+
+# Mark CubeMX/HAL headers as SYSTEM so they show up as `-isystem` in
+# compile_commands.json (clang-tidy should not warn on third-party code).
+if(TARGET stm32cubemx)
+    get_target_property(HAL_INCLUDE_DIRS stm32cubemx INTERFACE_INCLUDE_DIRECTORIES)
+    if(HAL_INCLUDE_DIRS AND NOT HAL_INCLUDE_DIRS STREQUAL "HAL_INCLUDE_DIRS-NOTFOUND")
+        set_property(TARGET stm32cubemx PROPERTY INTERFACE_INCLUDE_DIRECTORIES "")
+        target_include_directories(stm32cubemx SYSTEM INTERFACE ${HAL_INCLUDE_DIRS})
+    endif()
+endif()
+
+# --- Compile options ---
+target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
+    -fvisibility=hidden
+    $<$<COMPILE_LANGUAGE:CXX>:-Wall -Wextra -Wpedantic>
+    $<$<COMPILE_LANGUAGE:CXX>:-fno-unwind-tables>
+    $<$<COMPILE_LANGUAGE:CXX>:-fno-asynchronous-unwind-tables>
+    $<$<COMPILE_LANGUAGE:CXX>:-fno-use-cxa-atexit>
+)
+
+# --- HOST_DEBUGGER support ---
+option(HOST_DEBUGGER "Debugger runs outside Dev Container (Docker)" OFF)
+set(SOURCE_PATH_MAP "" CACHE PATH "(In container) Map container source path to a host-visible path for debugger")
+
+if(HOST_DEBUGGER AND SOURCE_PATH_MAP STREQUAL "")
+    if(DEFINED ENV{HOST_WORKSPACE_FOLDER} AND NOT "$ENV{HOST_WORKSPACE_FOLDER}" STREQUAL "")
+        set(SOURCE_PATH_MAP "$ENV{HOST_WORKSPACE_FOLDER}")
+    else()
+        message(FATAL_ERROR "HOST_WORKSPACE_FOLDER is not set")
+    endif()
+endif()
+if(NOT SOURCE_PATH_MAP STREQUAL "")
+    set(SOURCE_PATH_MAP "${SOURCE_PATH_MAP}/")
+    cmake_path(NORMAL_PATH SOURCE_PATH_MAP)
+
+    target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
+        "-fdebug-prefix-map=${LIBRMCS_PROJECT_ROOT}=${SOURCE_PATH_MAP}"
+        "-ffile-prefix-map=${LIBRMCS_PROJECT_ROOT}=${SOURCE_PATH_MAP}"
+    )
+endif()
+
+# Debug build: append -Og (overrides toolchain's -O0, GCC takes last)
+if(CMAKE_BUILD_TYPE STREQUAL "Debug")
+    target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE -Og)
+endif()
+
+# --- User application sources ---
+file(GLOB_RECURSE APP_SOURCES CONFIGURE_DEPENDS src/*.cpp src/*.c)
+file(GLOB_RECURSE CORE_SOURCES CONFIGURE_DEPENDS
+    "${LIBRMCS_PROJECT_ROOT}/core/src/*.cpp"
+    "${LIBRMCS_PROJECT_ROOT}/core/src/*.c"
+)
+file(GLOB SEGGER_C_SOURCES bsp/SEGGER/RTT/*.c)
+file(GLOB SEGGER_ASM_SOURCES bsp/SEGGER/RTT/*.S)
+
+target_sources(${CMAKE_PROJECT_NAME} PRIVATE
+    ${APP_SOURCES}
+    ${CORE_SOURCES}
+    ${SEGGER_C_SOURCES}
+    ${SEGGER_ASM_SOURCES}
+)
+
+# --- Include paths ---
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    ${LIBRMCS_PROJECT_ROOT}
+)
+
+# SEGGER RTT is third-party code; treat its headers as system headers.
+target_include_directories(${CMAKE_PROJECT_NAME} SYSTEM PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/bsp/SEGGER/RTT
+    ${CMAKE_CURRENT_SOURCE_DIR}/bsp/SEGGER/Config
+)
+
+# --- Defines ---
+target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+    LIBRMCS_PROJECT_VERSION_STRING="${LIBRMCS_PROJECT_VERSION}"
+    $<$<CONFIG:Release>:NDEBUG>
+)
+
+# Remove wrong libob.a dependency (CubeMX toolchain quirk)
+list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
+
+target_link_libraries(${CMAKE_PROJECT_NAME}
+    stm32cubemx
+)

firmware/c_board/CMakePresets.json

@@ -0,0 +1,35 @@
+{
+    "version": 4,
+    "configurePresets": [
+        {
+            "name": "base",
+            "hidden": true,
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/build",
+            "toolchainFile": "${sourceDir}/bsp/HAL/cmake/gcc-arm-none-eabi.cmake"
+        },
+        {
+            "name": "debug",
+            "inherits": "base",
+            "cacheVariables": {
+                "HOST_DEBUGGER": "OFF",
+                "CMAKE_BUILD_TYPE": "Debug"
+            }
+        },
+        {
+            "name": "debug-outside",
+            "inherits": "base",
+            "cacheVariables": {
+                "HOST_DEBUGGER": "ON",
+                "CMAKE_BUILD_TYPE": "Debug"
+            }
+        },
+        {
+            "name": "release",
+            "inherits": "base",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        }
+    ]
+}

firmware/c_board/bsp/HAL/CMakeLists.txt

@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 3.22)
+
+#
+# This file is generated only once,
+# and is not re-generated if converter is called multiple times.
+#
+# User is free to modify the file as much as necessary
+#
+
+# Setup compiler settings
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_C_EXTENSIONS ON)
+
+
+# Define the build type
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Debug")
+endif()
+
+# Set the project name
+set(CMAKE_PROJECT_NAME rmcs_slave)
+
+# Enable compile command to ease indexing with e.g. clangd
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+
+# Core project settings
+project(${CMAKE_PROJECT_NAME})
+message("Build type: " ${CMAKE_BUILD_TYPE})
+
+# Enable CMake support for ASM and C languages
+enable_language(C ASM)
+
+# Create an executable object type
+add_executable(${CMAKE_PROJECT_NAME})
+
+# Add STM32CubeMX generated sources
+add_subdirectory(cmake/stm32cubemx)
+
+# Link directories setup
+target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined library search paths
+)
+
+# Add sources to executable
+target_sources(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user sources here
+)
+
+# Add include paths
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined include paths
+)
+
+# Add project symbols (macros)
+target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined symbols
+)
+
+# Remove wrong libob.a library dependency when using cpp files
+list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
+
+# Add linked libraries
+target_link_libraries(${CMAKE_PROJECT_NAME}
+    stm32cubemx
+
+    # Add user defined libraries
+)

firmware/c_board/bsp/HAL/CMakePresets.json

@@ -0,0 +1,38 @@
+{
+    "version": 3,
+    "configurePresets": [
+        {
+            "name": "default",
+            "hidden": true,
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/build/${presetName}",
+		    "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake",
+            "cacheVariables": {
+            }
+        },
+        {
+            "name": "Debug",
+            "inherits": "default",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug"
+            }
+        },
+        {
+            "name": "Release",
+            "inherits": "default",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        }
+    ],
+    "buildPresets": [
+        {
+            "name": "Debug",
+            "configurePreset": "Debug"
+        },
+        {
+            "name": "Release",
+            "configurePreset": "Release"
+        }
+    ]
+}

firmware/c_board/bsp/HAL/Core/Inc/can.h

@@ -0,0 +1,55 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    can.h
+  * @brief   This file contains all the function prototypes for
+  *          the can.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __CAN_H__
+#define __CAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+#include "stm32f4xx_hal_can.h" // IWYU pragma: export
+/* USER CODE END Includes */
+
+extern CAN_HandleTypeDef hcan1;
+
+extern CAN_HandleTypeDef hcan2;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_CAN1_Init(void);
+void MX_CAN2_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CAN_H__ */
+