refactor(can_libs): proposes to separate can libs from HAL

.github/workflows/ci.yml

@@ -113,6 +113,7 @@ jobs:
     # GitHub Actions does not allow the secrets context inside if expression
     # So, let's copy the secret into env
     env:
+      CUBEMX_ARCHIVE_REPO: ${{ github.repository }}
       LIBCPNODE_DEPLOY_KEY: ${{ secrets.LIBCPNODE_DEPLOY_KEY }}
 
     steps:
@@ -163,6 +164,6 @@ jobs:
         with:
           bot_token: ${{ secrets.TELEGRAM_BOT_TOKEN }}
           chat_id: ${{ secrets.TELEGRAM_CHAT_ID }}
-          files: build/release/*.bin
+          files: release/*.bin
           message: "Node"
           add_git_info: "true"

.gitignore

@@ -1,5 +1,6 @@
 build/
 build_dsdl/
+/release/*
 .vscode/
 .venv/
 __pycache__/

.gitmodules

@@ -13,3 +13,6 @@
 [submodule "Libs/mini-v3-ioc"]
 	path = Libs/mini-v3-ioc
 	url = https://github.com/RaccoonLabHardware/mini-v3-ioc.git
+[submodule "Libs/Canopen"]
+	path = Libs/Canopen
+	url = git@github.com:Ilyhadev/Canopen.git

CMakeLists.txt

@@ -9,6 +9,7 @@ set(CMAKE_DIR ${ROOT_DIR}/cmake)
 set(LIBPARAMS_PATH ${ROOT_DIR}/Libs/libparams)
 set(LIBPARAMS_CMAKE libparams.cmake)
 set(NC_LIBDCNODE_PATH "${ROOT_DIR}/Libs/Dronecan" CACHE PATH "Path to libdcnode/DroneCAN source tree")
+set(NC_LIBCANOPEN_PATH "${ROOT_DIR}/Libs/Canopen" CACHE PATH "Path to libcanopen source tree")
 set(BUILD_ROOT_DIR ${ROOT_DIR}/build)
 
 include(${CMAKE_DIR}/module.cmake)
@@ -174,8 +175,14 @@ elseif(BOARD_PLATFORM STREQUAL "stm32f103")
     if(DEFINED STM32_CUBEMX_PROJECT_PATH)
         set(stm32cubeMxProjectPath  ${STM32_CUBEMX_PROJECT_PATH})
     else()
-        set(stm32cubeMxProjectPath  ${ROOT_DIR}/Libs/stm32-cube-project)
+        message(FATAL_ERROR "STM32_CUBEMX_PROJECT_PATH is required for '${NC_BOARD}' (${BOARD_PLATFORM}).")
     endif()
+    if(NOT EXISTS "${stm32cubeMxProjectPath}")
+        message(FATAL_ERROR
+            "STM32_CUBEMX_PROJECT_PATH '${stm32cubeMxProjectPath}' does not exist. "
+            "Provide an STM32H753xx CubeMX project with -DSTM32_CUBEMX_PROJECT_PATH=<path>.")
+    endif()
+
     if(DEFINED STM32_LINKER_SCRIPT_PATH)
         set(ldFile ${STM32_LINKER_SCRIPT_PATH})
     elseif(DEFINED STM32_LINKER_SCRIPT_TEMPLATE_PATH)
@@ -213,8 +220,15 @@ elseif(BOARD_PLATFORM STREQUAL "stm32g0b1")
     if(DEFINED STM32_CUBEMX_PROJECT_PATH)
         set(stm32cubeMxProjectPath  ${STM32_CUBEMX_PROJECT_PATH})
     else()
-        set(stm32cubeMxProjectPath  ${ROOT_DIR}/Libs/mini-v3-ioc)
+        message(FATAL_ERROR "STM32_CUBEMX_PROJECT_PATH is required for '${NC_BOARD}' (${BOARD_PLATFORM}).")
     endif()
+
+    if(NOT EXISTS "${stm32cubeMxProjectPath}")
+        message(FATAL_ERROR
+            "STM32_CUBEMX_PROJECT_PATH '${stm32cubeMxProjectPath}' does not exist. "
+            "Provide an STM32H753xx CubeMX project with -DSTM32_CUBEMX_PROJECT_PATH=<path>.")
+    endif()
+
     if(DEFINED STM32_LINKER_SCRIPT_PATH)
         set(ldFile ${STM32_LINKER_SCRIPT_PATH})
     elseif(DEFINED STM32_LINKER_SCRIPT_TEMPLATE_PATH)
@@ -230,6 +244,19 @@ elseif(BOARD_PLATFORM STREQUAL "stm32g0b1")
     FILE(GLOB coreSources       ${stm32cubeMxProjectPath}/Core/Src/*)
     FILE(GLOB driversSources    ${stm32cubeMxProjectPath}/Drivers/*/*/*.c
                                 ${stm32cubeMxProjectPath}/Drivers/*/*/*/*.c)
+    set(cmsisDspPath            ${stm32cubeMxProjectPath}/Middlewares/Third_Party/ARM_CMSIS/CMSIS/DSP)
+    set(cmsisDspSources
+                                ${cmsisDspPath}/Source/BasicMathFunctions/arm_mult_q15.c
+                                ${cmsisDspPath}/Source/BasicMathFunctions/arm_shift_q15.c
+                                ${cmsisDspPath}/Source/CommonTables/arm_common_tables.c
+                                ${cmsisDspPath}/Source/CommonTables/arm_const_structs.c
+                                ${cmsisDspPath}/Source/SupportFunctions/arm_float_to_q15.c
+                                ${cmsisDspPath}/Source/SupportFunctions/arm_q15_to_float.c
+                                ${cmsisDspPath}/Source/TransformFunctions/arm_bitreversal2.c
+                                ${cmsisDspPath}/Source/TransformFunctions/arm_cfft_q15.c
+                                ${cmsisDspPath}/Source/TransformFunctions/arm_cfft_radix4_q15.c
+                                ${cmsisDspPath}/Source/TransformFunctions/arm_rfft_init_q15.c
+                                ${cmsisDspPath}/Source/TransformFunctions/arm_rfft_q15.c)
     FILE(GLOB_RECURSE middlewareSources
                                 ${stm32cubeMxProjectPath}/Middlewares/ST/STM32_USB_Device_Library/*.c)
     FILE(GLOB_RECURSE usbDeviceSources
@@ -240,7 +267,6 @@ elseif(BOARD_PLATFORM STREQUAL "stm32g0b1")
 
     set(CMAKE_EXE_LINKER_FLAGS "-T${ldFile} -Wl,-Map=${PROJECT_NAME}.map,--cref")
     include(${CMAKE_DIR}/toolchain-stm32g0b1.cmake)
-    add_compile_definitions(NUM_OF_CAN_BUSES=2)
     add_compile_definitions(CYPHAL_NUM_OF_CAN_BUSES=2)
 elseif(BOARD_PLATFORM STREQUAL "stm32h753xx")
     if(LIBPARAMS_STORAGE_BACKEND STREQUAL "")
@@ -303,9 +329,7 @@ elseif(BOARD_PLATFORM STREQUAL "stm32h753xx")
 
     set(CMAKE_EXE_LINKER_FLAGS "-T${ldFile} -Wl,-Map=${PROJECT_NAME}.map,--cref")
     include(${CMAKE_DIR}/toolchain-stm32h753xx.cmake)
-    add_compile_definitions(NUM_OF_CAN_BUSES=1)
     add_compile_definitions(CYPHAL_NUM_OF_CAN_BUSES=1)
-    add_compile_definitions(DRONECAN_FDCAN_PRIMARY=1)
     add_compile_definitions(USE_PWR_LDO_SUPPLY)
 else()
     message(FATAL_ERROR "Unknown BOARD_PLATFORM '${BOARD_PLATFORM}'. Expected: ubuntu, stm32f103, stm32g0b1, stm32h753xx.")

Makefile

@@ -18,6 +18,12 @@
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 NC_BUILD_DIR?=$(ROOT_DIR)/build
 
+MINI_V2_CUBEMX_MANIFEST:=$(ROOT_DIR)/Src/boards/rl/mini_v2/cubemx.json
+MINI_V2_HAL:=$(NC_BUILD_DIR)/stm32cubemx/rl/mini_v2
+
+MINI_V3_CUBEMX_MANIFEST:=$(ROOT_DIR)/Src/boards/rl/mini_v3/cubemx.json
+MINI_V3_HAL:=$(NC_BUILD_DIR)/stm32cubemx/rl/mini_v3
+
 NODE_V4_CUBEMX_MANIFEST:=$(ROOT_DIR)/Src/boards/rl/node_v4/cubemx.json
 NODE_V4_HAL:=$(NC_BUILD_DIR)/stm32cubemx/rl/node_v4
 
@@ -76,6 +82,17 @@ endif
 		--cmake-build-type "${CMAKE_BUILD_TYPE}" \
 		-- ${EXTRA_CMAKE_ARGS}
 
+ensure_mini_v2_cubemx:
+	@python3 "$(ROOT_DIR)/scripts/cubemx.py" ensure \
+		--manifest "$(MINI_V2_CUBEMX_MANIFEST)" \
+		--out "$(MINI_V2_HAL)"
+
+ensure_mini_v3_cubemx:
+	@python3 "$(ROOT_DIR)/scripts/cubemx.py" ensure \
+		--manifest "$(MINI_V3_CUBEMX_MANIFEST)" \
+		--out "$(MINI_V3_HAL)" \
+		--release-only
+
 ensure_node_v4_cubemx:
 	@python3 "$(ROOT_DIR)/scripts/cubemx.py" ensure \
 		--manifest "$(NODE_V4_CUBEMX_MANIFEST)" \
@@ -86,6 +103,14 @@ cubemx_archives:
 		--manifest "$(NODE_V4_CUBEMX_MANIFEST)" \
 		--out "$(NODE_V4_HAL)" \
 		--archive-dir "$(ROOT_DIR)/release/cubemx"
+	@python3 "$(ROOT_DIR)/scripts/cubemx.py" package \
+		--manifest "$(MINI_V3_CUBEMX_MANIFEST)" \
+		--out "$(MINI_V3_HAL)" \
+		--archive-dir "$(ROOT_DIR)/release/cubemx"
+	@python3 "$(ROOT_DIR)/scripts/cubemx.py" package \
+		--manifest "$(MINI_V2_CUBEMX_MANIFEST)" \
+		--out "$(MINI_V2_HAL)" \
+		--archive-dir "$(ROOT_DIR)/release/cubemx"
 
 #
 # Alias naming rules:
@@ -96,44 +121,62 @@ cubemx_archives:
 # rl/mini_v2 aliases
 #
 rl_mini_v2_dronecan: checks
+	$(MAKE) ensure_mini_v2_cubemx
 	$(MAKE) build BOARD=rl/mini_v2 TARGET=dronecan IMAGE_KIND=application BUILD_VARIANT=rl_mini_v2_dronecan_application
 rl_mini_v2_dronecan_application: checks
+	$(MAKE) ensure_mini_v2_cubemx
 	$(MAKE) build BOARD=rl/mini_v2 TARGET=dronecan IMAGE_KIND=application BUILD_VARIANT=rl_mini_v2_dronecan_application
 rl_mini_v2_dronecan_standalone: checks
+	$(MAKE) ensure_mini_v2_cubemx
 	$(MAKE) build BOARD=rl/mini_v2 TARGET=dronecan IMAGE_KIND=standalone BUILD_VARIANT=rl_mini_v2_dronecan_standalone
 rl_mini_v2_cyphal: checks
+	$(MAKE) ensure_mini_v2_cubemx
 	$(MAKE) build BOARD=rl/mini_v2 TARGET=cyphal IMAGE_KIND=application BUILD_VARIANT=rl_mini_v2_cyphal_application
 rl_mini_v2_cyphal_application: checks
+	$(MAKE) ensure_mini_v2_cubemx
 	$(MAKE) build BOARD=rl/mini_v2 TARGET=cyphal IMAGE_KIND=application BUILD_VARIANT=rl_mini_v2_cyphal_application
 rl_mini_v2_cyphal_standalone: checks
+	$(MAKE) ensure_mini_v2_cubemx
 	$(MAKE) build BOARD=rl/mini_v2 TARGET=cyphal IMAGE_KIND=standalone BUILD_VARIANT=rl_mini_v2_cyphal_standalone
 rl_mini_v2_both: checks
+	$(MAKE) ensure_mini_v2_cubemx
 	$(MAKE) build BOARD=rl/mini_v2 TARGET=both IMAGE_KIND=application BUILD_VARIANT=rl_mini_v2_both_application
 rl_mini_v2_both_application: checks
+	$(MAKE) ensure_mini_v2_cubemx
 	$(MAKE) build BOARD=rl/mini_v2 TARGET=both IMAGE_KIND=application BUILD_VARIANT=rl_mini_v2_both_application
 rl_mini_v2_both_standalone: checks
+	$(MAKE) ensure_mini_v2_cubemx
 	$(MAKE) build BOARD=rl/mini_v2 TARGET=both IMAGE_KIND=standalone BUILD_VARIANT=rl_mini_v2_both_standalone
 
 #
 # rl/mini_v3 aliases
 #
 rl_mini_v3_dronecan: checks
+	$(MAKE) ensure_mini_v3_cubemx
 	$(MAKE) build BOARD=rl/mini_v3 TARGET=dronecan IMAGE_KIND=application BUILD_VARIANT=rl_mini_v3_dronecan_application
 rl_mini_v3_dronecan_application: checks
+	$(MAKE) ensure_mini_v3_cubemx
 	$(MAKE) build BOARD=rl/mini_v3 TARGET=dronecan IMAGE_KIND=application BUILD_VARIANT=rl_mini_v3_dronecan_application
 rl_mini_v3_dronecan_standalone: checks
+	$(MAKE) ensure_mini_v3_cubemx
 	$(MAKE) build BOARD=rl/mini_v3 TARGET=dronecan IMAGE_KIND=standalone BUILD_VARIANT=rl_mini_v3_dronecan_standalone
 rl_mini_v3_cyphal: checks
+	$(MAKE) ensure_mini_v3_cubemx
 	$(MAKE) build BOARD=rl/mini_v3 TARGET=cyphal IMAGE_KIND=application BUILD_VARIANT=rl_mini_v3_cyphal_application
 rl_mini_v3_cyphal_application: checks
+	$(MAKE) ensure_mini_v3_cubemx
 	$(MAKE) build BOARD=rl/mini_v3 TARGET=cyphal IMAGE_KIND=application BUILD_VARIANT=rl_mini_v3_cyphal_application
 rl_mini_v3_cyphal_standalone: checks
+	$(MAKE) ensure_mini_v3_cubemx
 	$(MAKE) build BOARD=rl/mini_v3 TARGET=cyphal IMAGE_KIND=standalone BUILD_VARIANT=rl_mini_v3_cyphal_standalone
 rl_mini_v3_both: checks
+	$(MAKE) ensure_mini_v3_cubemx
 	$(MAKE) build BOARD=rl/mini_v3 TARGET=both IMAGE_KIND=application BUILD_VARIANT=rl_mini_v3_both_application
 rl_mini_v3_both_application: checks
+	$(MAKE) ensure_mini_v3_cubemx
 	$(MAKE) build BOARD=rl/mini_v3 TARGET=both IMAGE_KIND=application BUILD_VARIANT=rl_mini_v3_both_application
 rl_mini_v3_both_standalone: checks
+	$(MAKE) ensure_mini_v3_cubemx
 	$(MAKE) build BOARD=rl/mini_v3 TARGET=both IMAGE_KIND=standalone BUILD_VARIANT=rl_mini_v3_both_standalone
 
 #
@@ -202,7 +245,7 @@ tests:
 	${ROOT_DIR}/scripts/tests.sh
 
 upload:
-	LATEST_TARGET=$$(ls -td ${NC_BUILD_DIR}/release/*.bin | head -1) && ./scripts/flash.sh $$LATEST_TARGET
+	LATEST_TARGET=$$(ls -td ${ROOT_DIR}/release/*.bin | head -1) && ./scripts/flash.sh $$LATEST_TARGET
 
 SOCKETCAN_URL:=https://gist.githubusercontent.com/PonomarevDA/6ecc8fc340e4c50619c1e5dfcedc37b2/raw/2db6d1626a9ada543602ff0a52b48fecb94e6e07/socketcan.sh
 SOCKETCAN_EXECUTABLE:=build/tools/socketcan-v1.0.2.sh
@@ -220,7 +263,7 @@ remove_slcan0: download_socketcan
 run: create_slcan0
 	LATEST_TARGET=$$(ls -td build/*/obj/node | head -1 | head -1) && $$LATEST_TARGET
 clean_releases:
-	-rm -fR ${NC_BUILD_DIR}/release
+	-rm -f ${ROOT_DIR}/release/*.bin
 clean:
 	-rm -fR ${NC_BUILD_DIR}/*/obj
 distclean:

README.md

@@ -90,6 +90,9 @@ make rl_mini_v2_cyphal
 make rl_mini_v3_cyphal
 
 ```
+
+> **Mini v3 IMU/DSP:** The IMU vibration analysis uses CMSIS-DSP, which is declared in the Mini v3 `.ioc`. Mini v3 builds intentionally restore the matching generated HAL from a GitHub release archive instead of regenerating it locally, ensuring that the complete DSP sources are available. After editing the Mini v3 `.ioc`, generate and publish its new HAL archive before building. See [docs/cubemx.md](docs/cubemx.md).
+
 Note: Cyphal builds require access to the private `libcpnode` repository. Fork CI skips Cyphal (and combined v3) builds.
 
 See [docs/build_system.md](docs/build_system.md) for how the Make targets and the underlying CMake build relate.

Src/boards/rl/mini_v2/board/board.cmake

@@ -2,7 +2,7 @@
 # Distributed under the terms of the GPL v3 license, available in the file LICENSE.
 
 set(BOARD_PLATFORM stm32f103)
-set(STM32_CUBEMX_PROJECT_PATH ${ROOT_DIR}/Libs/stm32-cube-project)
+set(STM32_CUBEMX_PROJECT_PATH ${ROOT_DIR}/build/stm32cubemx/rl/mini_v2)
 
 if(NOT DEFINED IMAGE_KIND OR IMAGE_KIND STREQUAL "")
     set(IMAGE_KIND standalone)