Integration and Tooling

Build and include paths

The common repo exposes headers from all subfolders and can be used as either a header-only include set or a static library, depending on CMake options.

• BUILD_COMMON_LIBRARY: builds common_static from all .c sources (tests excluded).
• BUILD_COMMON_TESTS: enables CTest hooks (test logic is driven by Ceedling).
• Header discovery uses CMake globbing; rerun CMake when adding new files.

Ceedling tests

Ceedling is configured in project.yml and targets drivers and math sources.

• Default task: test:all.
• Tests live under common/test.

Example command:

ceedling test:all

CAN DBC code generation

dbc_to_c_builder.py reads MAIN_DBC.dbc and generates the CAN header files used by firmware:

• drivers/can/can_signal_defs.h
• drivers/can/can_board_defs.h

Example command (defaults to MAIN_DBC.dbc):

python dbc_to_c_builder.py

To point at a custom DBC file:

python dbc_to_c_builder.py --dbc path/to/your.dbc

Interrupt-context notes

• CAN_driver_rx_callback is designed for ISR context. Keep the callback short and defer processing to the main loop.
• flow_sensor_EXTI_handler is designed for EXTI ISR usage and only increments the pulse counter.
• CAN_process_tx_queue and CAN_send_frames should run in the main loop or a scheduler, not inside an ISR.

Out of scope

KFCore under common/math/KFCore is a separate library and is not documented here.