refactor(firmware/c_board): Externalize STM32 HAL/CMSIS via submodules

.gitmodules

@@ -4,3 +4,12 @@
 [submodule "firmware/c_board/bsp/tinyusb"]
 	path = firmware/c_board/bsp/tinyusb
 	url = https://github.com/qzhhhi/tinyusb.git
+[submodule "firmware/c_board/bsp/cmsis-device-f4"]
+	path = firmware/c_board/bsp/cmsis-device-f4
+	url = https://github.com/STMicroelectronics/cmsis-device-f4.git
+[submodule "firmware/c_board/bsp/stm32f4xx-hal-driver"]
+	path = firmware/c_board/bsp/stm32f4xx-hal-driver
+	url = https://github.com/STMicroelectronics/stm32f4xx-hal-driver.git
+[submodule "firmware/c_board/bsp/cmsis-core"]
+	path = firmware/c_board/bsp/cmsis-core
+	url = https://github.com/STMicroelectronics/cmsis-core.git

.scripts/patch_cubemx

@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+
+import argparse
+import re
+import sys
+from pathlib import Path
+
+
+STALE_FILES = (
+    Path(".mxproject"),
+    Path("CMakeLists.txt"),
+    Path("CMakePresets.json"),
+    Path("cmake/starm-clang.cmake"),
+)
+
+PATCH_RULES = (
+    (
+        re.compile(
+            r"/[^\s\"')]+/Drivers/STM32F4xx_HAL_Driver/(?P<suffix>[^\s\"')]+)"
+        ),
+        r"${LIBRMCS_STM32_HAL_DRIVER_ROOT}/\g<suffix>",
+    ),
+    (
+        re.compile(
+            r"/[^\s\"')]+/Drivers/CMSIS/Device/ST/STM32F4xx/(?P<suffix>[^\s\"')]+)"
+        ),
+        r"${LIBRMCS_STM32_DEVICE_ROOT}/\g<suffix>",
+    ),
+    (
+        re.compile(r"/[^\s\"')]+/Drivers/CMSIS/Include(?=$|[\s\"')])"),
+        r"${LIBRMCS_CMSIS_CORE_INCLUDE_DIR}",
+    ),
+)
+
+ABSOLUTE_PATH_PATTERN = re.compile(r"(?:(?<=^)|(?<=[\s(]))/[^\s\"')]+")
+PROJECT_LINK_LIBRARIES_PATTERN = re.compile(
+    r"target_link_libraries\(\$\{CMAKE_PROJECT_NAME\}\s+\$\{MX_LINK_LIBS\}\)"
+)
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Patch CubeMX-generated CMake files for librmcs layout."
+    )
+    parser.add_argument(
+        "--cubemx-root",
+        type=Path,
+        default=None,
+        help="Path to CubeMX root (default: firmware/c_board/cubemx).",
+    )
+    return parser.parse_args()
+
+
+def resolve_cubemx_root(cubemx_root_arg: Path | None) -> Path:
+    if cubemx_root_arg is not None:
+        return cubemx_root_arg.resolve()
+    return (Path(__file__).resolve().parent.parent / "firmware/c_board/cubemx").resolve()
+
+
+def remove_stale_files(cubemx_root: Path) -> None:
+    for rel_path in STALE_FILES:
+        (cubemx_root / rel_path).unlink(missing_ok=True)
+
+
+def patch_stm32cubemx_cmake(cubemx_root: Path) -> None:
+    cmake_file = cubemx_root / "cmake/stm32cubemx/CMakeLists.txt"
+    if not cmake_file.is_file():
+        raise FileNotFoundError(f"Missing CubeMX CMake file: {cmake_file}")
+
+    original = cmake_file.read_text(encoding="utf-8")
+    patched = original
+
+    for pattern, replacement in PATCH_RULES:
+        patched = pattern.sub(replacement, patched)
+
+    patched = PROJECT_LINK_LIBRARIES_PATTERN.sub(
+        "target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE ${MX_LINK_LIBS})",
+        patched,
+    )
+
+    unresolved = sorted(set(ABSOLUTE_PATH_PATTERN.findall(patched)))
+    if unresolved:
+        unresolved_text = "\n".join(f"  - {path}" for path in unresolved)
+        raise ValueError(
+            "Found unresolved absolute paths in stm32cubemx CMake file:\n"
+            f"{unresolved_text}"
+        )
+
+    if patched != original:
+        cmake_file.write_text(patched, encoding="utf-8")
+
+
+def main() -> int:
+    args = parse_args()
+    cubemx_root = resolve_cubemx_root(args.cubemx_root)
+
+    if not cubemx_root.is_dir():
+        raise FileNotFoundError(f"CubeMX root directory not found: {cubemx_root}")
+
+    patch_stm32cubemx_cmake(cubemx_root)
+    remove_stale_files(cubemx_root)
+    return 0
+
+
+if __name__ == "__main__":
+    try:
+        raise SystemExit(main())
+    except Exception as exc:  # pylint: disable=broad-exception-caught
+        print(f"Error: {exc}", file=sys.stderr)
+        raise SystemExit(1)

firmware/c_board/CMakeLists.txt

@@ -23,11 +23,11 @@ enable_language(C CXX ASM)
 set(LIBRMCS_PROJECT_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../..")
 cmake_path(ABSOLUTE_PATH LIBRMCS_PROJECT_ROOT NORMALIZE)
 
+set(LIBRMCS_STM32_HAL_DRIVER_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/bsp/stm32f4xx-hal-driver")
+set(LIBRMCS_STM32_DEVICE_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/bsp/cmsis-device-f4")
+set(LIBRMCS_CMSIS_CORE_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/bsp/cmsis-core")
+set(LIBRMCS_CMSIS_CORE_INCLUDE_DIR "${LIBRMCS_CMSIS_CORE_ROOT}/Core/Include")
 set(LIBRMCS_TINYUSB_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/bsp/tinyusb")
-if(NOT EXISTS "${LIBRMCS_TINYUSB_ROOT}/src/tusb.h")
-    message(FATAL_ERROR "TinyUSB submodule not found at ${LIBRMCS_TINYUSB_ROOT}. "
-        "Run: git submodule update --init firmware/c_board/bsp/tinyusb")
-endif()
 
 if(NOT DEFINED LIBRMCS_PROJECT_VERSION OR LIBRMCS_PROJECT_VERSION STREQUAL "")
     execute_process(
@@ -42,12 +42,10 @@ 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.
+# Add libstdc++ for C++ code.
 list(APPEND TOOLCHAIN_LINK_LIBRARIES "stdc++")
 
-# Bring in CubeMX generated HAL build definitions.
-add_subdirectory(bsp/HAL/cmake/stm32cubemx)
+add_subdirectory(cubemx/cmake/stm32cubemx)
 
 add_library(tinyusb_device OBJECT)
 target_sources(tinyusb_device PRIVATE
@@ -153,7 +151,7 @@ target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 # Remove wrong libob.a dependency (CubeMX toolchain quirk)
 list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
 
-target_link_libraries(${CMAKE_PROJECT_NAME}
+target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE
     stm32cubemx
     tinyusb_device
 )

firmware/c_board/CMakePresets.json

@@ -6,7 +6,7 @@
             "hidden": true,
             "generator": "Ninja",
             "binaryDir": "${sourceDir}/build",
-            "toolchainFile": "${sourceDir}/bsp/HAL/cmake/gcc-arm-none-eabi.cmake"
+            "toolchainFile": "${sourceDir}/cubemx/cmake/gcc-arm-none-eabi.cmake"
         },
         {
             "name": "debug",