Alliance-Algorithm · qzhhhi · Mar 2, 2026 · Mar 2, 2026 · Mar 2, 2026 · Mar 2, 2026
diff --git a/.scripts/lint-targets.yml b/.scripts/lint-targets.yml
@@ -23,5 +23,5 @@ c_board:
   folders:
     - core/src
     - core/include
-    - firmware/c_board/src
-    - firmware/c_board/include
+    - firmware/c_board/app/src
+    - firmware/c_board/app/include
diff --git a/.scripts/patch_cubemx b/.scripts/patch_cubemx
@@ -10,7 +10,9 @@ STALE_FILES = (
     Path(".mxproject"),
     Path("CMakeLists.txt"),
     Path("CMakePresets.json"),
+    Path("STM32F407XX_FLASH.ld"),
     Path("cmake/starm-clang.cmake"),
+    Path("cmake/gcc-arm-none-eabi.cmake"),
 )
 
 PATCH_RULES = (
@@ -28,14 +30,23 @@ PATCH_RULES = (
     ),
     (
         re.compile(r"/[^\s\"')]+/Drivers/CMSIS/Include(?=$|[\s\"')])"),
-        r"${LIBRMCS_CMSIS_CORE_INCLUDE_DIR}",
+        r"${LIBRMCS_CMSIS_CORE_ROOT}/Core/Include",
     ),
 )
 
 ABSOLUTE_PATH_PATTERN = re.compile(r"(?:(?<=^)|(?<=[\s(]))/[^\s\"')]+")
-PROJECT_LINK_LIBRARIES_PATTERN = re.compile(
-    r"target_link_libraries\(\$\{CMAKE_PROJECT_NAME\}\s+\$\{MX_LINK_LIBS\}\)"
+DRIVERS_MIDDLEWARES_TO_EOF_PATTERN = re.compile(
+    r"^# Drivers Midllewares[\s\S]*\Z",
+    re.MULTILINE,
 )
+STM32CUBEMX_TAIL = """# Create stm32cubemx object library
+add_library(stm32cubemx OBJECT)
+target_sources(stm32cubemx PRIVATE ${STM32_Drivers_Src})
+target_sources(stm32cubemx PRIVATE ${MX_Application_Src})
+target_include_directories(stm32cubemx PUBLIC ${MX_Include_Dirs})
+target_compile_definitions(stm32cubemx PUBLIC ${MX_Defines_Syms})
+"""
+STM32CUBEMX_TAIL_ANCHOR = "# Create stm32cubemx object library"
 
 
 def parse_args() -> argparse.Namespace:
@@ -46,15 +57,15 @@ def parse_args() -> argparse.Namespace:
         "--cubemx-root",
         type=Path,
         default=None,
-        help="Path to CubeMX root (default: firmware/c_board/cubemx).",
+        help="Path to CubeMX root (default: firmware/c_board/bsp/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()
+    return (Path(__file__).resolve().parent.parent / "firmware/c_board/bsp/cubemx").resolve()
 
 
 def remove_stale_files(cubemx_root: Path) -> None:
@@ -73,10 +84,11 @@ def patch_stm32cubemx_cmake(cubemx_root: Path) -> None:
     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,
-    )
+    line_ending = "\r\n" if "\r\n" in original else "\n"
+    custom_tail = STM32CUBEMX_TAIL.replace("\n", line_ending)
+    patched, replacements = DRIVERS_MIDDLEWARES_TO_EOF_PATTERN.subn(custom_tail, patched)
+    if replacements == 0 and STM32CUBEMX_TAIL_ANCHOR not in patched:
+        raise ValueError("Marker '# Drivers Midllewares' not found in stm32cubemx CMake file")
 
     unresolved = sorted(set(ABSOLUTE_PATH_PATTERN.findall(patched)))
     if unresolved:

diff --git a/Dockerfile.build_firmware b/Dockerfile.build_firmware
@@ -5,24 +5,25 @@ SHELL ["/bin/bash", "-c"]
 WORKDIR /src
 RUN --mount=type=bind,target=/src,source=.,readonly \
     set -euo pipefail \
+    && mkdir -p /output \
     && LIBRMCS_PROJECT_VERSION="$(.scripts/generate_version)" \
-    && for board in rmcs_board c_board; do \
-        for config in debug release; do \
-            build_dir="/output/build-${board}-${config}"; \
-            cmake --preset "${config}" -S "firmware/${board}" -B "${build_dir}"; \
-            cmake --build "${build_dir}"; \
-            elf_path="${build_dir}/output/librmcs-firmware.elf"; \
-            if [ ! -f "${elf_path}" ]; then \
-                elf_path="${build_dir}/librmcs-firmware.elf"; \
-            fi; \
-            if [ ! -f "${elf_path}" ]; then \
-                echo "Missing firmware ELF for ${board} (${config})" >&2; \
-                exit 1; \
-            fi; \
-            mv "${elf_path}" "/output/librmcs-firmware-${board}-${LIBRMCS_PROJECT_VERSION}-${config}.elf"; \
-        done; \
+    && for board in rmcs_board; do \
+        build_dir="/tmp/build-${board}"; \
+        cmake --preset release -S "firmware/${board}" -B "${build_dir}"; \
+        cmake --build "${build_dir}"; \
+        elf_path="${build_dir}/output/librmcs-firmware.elf"; \
+        if [ ! -f "${elf_path}" ]; then \
+            elf_path="${build_dir}/librmcs-firmware.elf"; \
+        fi; \
+        cp "${elf_path}" "/output/librmcs-firmware-${board}-${LIBRMCS_PROJECT_VERSION}.elf"; \
     done \
-    && rm -rf /output/build-*
+    && for board in c_board; do \
+        build_dir="/tmp/build-${board}"; \
+        cmake --preset release -S "firmware/${board}" -B "${build_dir}"; \
+        cmake --build "${build_dir}"; \
+        cp "${build_dir}/app/${board}_app.elf" \
+            "/output/librmcs-firmware-${board}-${LIBRMCS_PROJECT_VERSION}.elf"; \
+    done
 
 FROM scratch AS output
 COPY --from=build /output/ /
diff --git a/firmware/c_board/CMakeLists.txt b/firmware/c_board/CMakeLists.txt
@@ -1,7 +1,6 @@
 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)
@@ -13,21 +12,14 @@ 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)
+
+project(librmcs-firmware LANGUAGES 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 DEFINED LIBRMCS_PROJECT_VERSION OR LIBRMCS_PROJECT_VERSION STREQUAL "")
     execute_process(
@@ -40,56 +32,7 @@ if(NOT DEFINED LIBRMCS_PROJECT_VERSION OR LIBRMCS_PROJECT_VERSION STREQUAL "")
 endif()
 message(STATUS "Librmcs project version: ${LIBRMCS_PROJECT_VERSION}")
 
-add_executable(${CMAKE_PROJECT_NAME})
-
-# Add libstdc++ for C++ code.
-list(APPEND TOOLCHAIN_LINK_LIBRARIES "stdc++")
-
-add_subdirectory(cubemx/cmake/stm32cubemx)
-
-add_library(tinyusb_device OBJECT)
-target_sources(tinyusb_device PRIVATE
-    "${LIBRMCS_TINYUSB_ROOT}/src/tusb.c"
-    "${LIBRMCS_TINYUSB_ROOT}/src/common/tusb_fifo.c"
-    "${LIBRMCS_TINYUSB_ROOT}/src/device/usbd.c"
-    "${LIBRMCS_TINYUSB_ROOT}/src/device/usbd_control.c"
-    "${LIBRMCS_TINYUSB_ROOT}/src/class/vendor/vendor_device.c"
-    "${LIBRMCS_TINYUSB_ROOT}/src/portable/synopsys/dwc2/dwc2_common.c"
-    "${LIBRMCS_TINYUSB_ROOT}/src/portable/synopsys/dwc2/dcd_dwc2.c"
-)
-target_include_directories(tinyusb_device SYSTEM PUBLIC
-    "${LIBRMCS_TINYUSB_ROOT}/src"
-)
-target_include_directories(tinyusb_device PUBLIC
-    "${CMAKE_CURRENT_SOURCE_DIR}/include"
-)
-target_compile_definitions(tinyusb_device PUBLIC
-    CFG_TUSB_MCU=OPT_MCU_STM32F4
-)
-target_link_libraries(tinyusb_device PUBLIC
-    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")
 
@@ -103,55 +46,49 @@ 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
+    add_compile_options(
         "-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(${CMAKE_PROJECT_NAME} PRIVATE
-    stm32cubemx
-    tinyusb_device
-)
+set(LIBRMCS_STM32_HAL_DRIVER_ROOT "${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_STM32_CUBEMX_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/bsp/cubemx")
+
+add_subdirectory("${LIBRMCS_STM32_CUBEMX_ROOT}/cmake/stm32cubemx" SYSTEM)
+
+
+function(c_board_apply_target_options target linker_file)
+    target_include_directories(${target} PRIVATE
+        ${LIBRMCS_PROJECT_ROOT}
+    )
+
+    target_compile_options(${target} 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>
+    )
+
+    target_compile_definitions(${target} PRIVATE
+        LIBRMCS_PROJECT_VERSION_STRING="${LIBRMCS_PROJECT_VERSION}"
+        $<$<CONFIG:Release>:NDEBUG>
+    )
+
+    target_link_libraries(${target} PRIVATE
+        stdc++
+        m
+        stm32cubemx
+    )
+    target_link_options(${target} PRIVATE
+        "-Wl,-Map=$<TARGET_FILE_DIR:${target}>/$<TARGET_FILE_BASE_NAME:${target}>.map"
+        "-T${LIBRMCS_STM32_CUBEMX_ROOT}/${linker_file}"
+    )
+endfunction()
+
+
+add_subdirectory(app)
diff --git a/firmware/c_board/CMakePresets.json b/firmware/c_board/CMakePresets.json
@@ -6,7 +6,7 @@
             "hidden": true,
             "generator": "Ninja",
             "binaryDir": "${sourceDir}/build",
-            "toolchainFile": "${sourceDir}/cubemx/cmake/gcc-arm-none-eabi.cmake"
+            "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake"
         },
         {
             "name": "debug",

diff --git a/firmware/c_board/app/CMakeLists.txt b/firmware/c_board/app/CMakeLists.txt
@@ -0,0 +1,53 @@
+add_executable(c_board_app)
+
+set(C_BOARD_APP_TINYUSB_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../bsp/tinyusb")
+cmake_path(ABSOLUTE_PATH C_BOARD_APP_TINYUSB_ROOT NORMALIZE)
+set(C_BOARD_APP_TINYUSB_COMMON_SOURCES
+    "${C_BOARD_APP_TINYUSB_ROOT}/src/tusb.c"
+    "${C_BOARD_APP_TINYUSB_ROOT}/src/common/tusb_fifo.c"
+    "${C_BOARD_APP_TINYUSB_ROOT}/src/device/usbd.c"
+    "${C_BOARD_APP_TINYUSB_ROOT}/src/device/usbd_control.c"
+    "${C_BOARD_APP_TINYUSB_ROOT}/src/portable/synopsys/dwc2/dwc2_common.c"
+    "${C_BOARD_APP_TINYUSB_ROOT}/src/portable/synopsys/dwc2/dcd_dwc2.c"
+)
+
+add_library(tinyusb_app OBJECT)
+target_sources(tinyusb_app PRIVATE
+    ${C_BOARD_APP_TINYUSB_COMMON_SOURCES}
+    "${C_BOARD_APP_TINYUSB_ROOT}/src/class/vendor/vendor_device.c"
+)
+target_include_directories(tinyusb_app SYSTEM PUBLIC
+    "${C_BOARD_APP_TINYUSB_ROOT}/src"
+)
+target_include_directories(tinyusb_app PUBLIC
+    "${CMAKE_CURRENT_SOURCE_DIR}/include"
+)
+target_compile_definitions(tinyusb_app PUBLIC
+    CFG_TUSB_MCU=OPT_MCU_STM32F4
+)
+target_link_libraries(tinyusb_app PUBLIC
+    stm32cubemx
+)
+
+file(GLOB_RECURSE C_BOARD_APP_SOURCES CONFIGURE_DEPENDS
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/*.c"
+    "${LIBRMCS_PROJECT_ROOT}/core/src/*.cpp"
+    "${LIBRMCS_PROJECT_ROOT}/core/src/*.c"
+    "${CMAKE_CURRENT_SOURCE_DIR}/../bsp/SEGGER/RTT/*.c"
+    "${CMAKE_CURRENT_SOURCE_DIR}/../bsp/SEGGER/RTT/*.S"
+)
+target_sources(c_board_app PRIVATE
+    ${C_BOARD_APP_SOURCES}
+)
+
+target_include_directories(c_board_app SYSTEM PRIVATE
+    "${CMAKE_CURRENT_SOURCE_DIR}/../bsp/SEGGER/RTT"
+    "${CMAKE_CURRENT_SOURCE_DIR}/../bsp/SEGGER/Config"
+)
+
+target_link_libraries(c_board_app PRIVATE
+    tinyusb_app
+)
+
+c_board_apply_target_options(c_board_app "STM32F407XX_APP.ld")
diff --git a/firmware/c_board/include/tusb_config.h → firmware/c_board/app/include/tusb_config.h b/firmware/c_board/include/tusb_config.h → firmware/c_board/app/include/tusb_config.h