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N3b3x merged 1 commit into from
Nov 3, 2026
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Architecture: correct the interface wrap and utilities rows, link the standard #7

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27 changes: 20 additions & 7 deletions docs/architecture.md
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Expand Up @@ -14,17 +14,30 @@ How HardFOC firmware is split into repositories, and how the layers are pinned t

## Layers

| Layer | Repositories | Depends on | Platform code |
| Layer | Repositories | Depends on | Contains |
| --- | --- | --- | --- |
| Products | `hardfoc-vortex-v1`, `hardfoc-flux-v1` | One board HAL | ESP-IDF application, tasks, CANopen (Vortex) |
| Board HALs | `hf-hal-vortex-v1`, `hf-hal-flux-v1` | `hf-core` | One object per board, one manager per board function |
| Core | `hf-core`, gathering `hf-core-drivers` and `hf-core-utils` | Drivers, interface wrap, utilities | Device handlers, RTOS wrappers, CANopen helpers |
| Interface wrap | `hf-internal-interface-wrap`, `hf-pincfg` | ESP-IDF | Peripheral base classes (GPIO, ADC, I2C, SPI, UART, CAN, PWM) and their ESP-IDF implementations; per-board pin maps |
| Utilities | `hf-utils-general`, `hf-utils-rtos-wrap`, `hf-utils-canopen` | None, or FreeRTOS | Header-only helpers, FreeRTOS wrappers, CANopen frame builders |
| Chip drivers | `hf-*-driver` | Nothing | None: each driver is a template over a small communication interface |
| Products | `hardfoc-vortex-v1`, `hardfoc-flux-v1` | One board HAL | The application: tasks, protocols (CANopen on Vortex), faults; ESP-IDF only in its start-up code |
| Board HALs | `hf-hal-vortex-v1`, `hf-hal-flux-v1` | `hf-core` | One facade per board, one manager per board function, and the platform bind: the only code that names the MCU |
| Core | `hf-core`, gathering `hf-core-drivers` and `hf-core-utils` | Drivers, interface wrap, utilities | One handler per chip (locking, start-up, error mapping), the logger, CANopen integration |
| Interface wrap | `hf-internal-interface-wrap`, `hf-pincfg` | The MCU vendor SDK, only inside each family's implementation | Platform-free peripheral base classes (GPIO, ADC, I2C, SPI, UART, CAN, PWM, NVS, timers, temperature, logging) with implementations for ESP32 (ESP-IDF), STM32 (STM32 HAL) and the host; header-only per-board pin maps |
| Utilities | `hf-utils-general`, `hf-utils-canopen`, `hf-utils-rtos-wrap` | None; rtos-wrap uses the selected RTOS | General helpers and CANopen frame builders, platform-free, in headers and sources; RTOS wrappers with FreeRTOS, CMSIS-RTOS2, ThreadX and no-RTOS backends |
| Chip drivers | `hf-*-driver` | Nothing | Platform-free C++20 templates over a small communication interface you implement; MCU-bound drivers such as `hf-ws2812-rmt-driver` say so |

The [repository catalogue](repositories.md) lists every repository in each layer, with its documentation.

## The stack contract

What each layer promises, what it may include, and the rules for errors, threads, time and naming are in the
[HardFOC engineering standard](https://github.com/hardfoc/.github/blob/main/standards/README.md):

| Topic | Page |
| --- | --- |
| The layers and their allowed includes | [Layers](https://github.com/hardfoc/.github/blob/main/standards/layers.md) |
| One error model across the stack | [Errors](https://github.com/hardfoc/.github/blob/main/standards/errors.md) |
| Locks, clocks, delays and the 1 kHz tick | [Threading and timing](https://github.com/hardfoc/.github/blob/main/standards/threading-and-timing.md) |
| Contracts per layer | [Driver](https://github.com/hardfoc/.github/blob/main/standards/driver.md), [library](https://github.com/hardfoc/.github/blob/main/standards/library.md), [handler](https://github.com/hardfoc/.github/blob/main/standards/handler.md), [board HAL](https://github.com/hardfoc/.github/blob/main/standards/hal.md), [product](https://github.com/hardfoc/.github/blob/main/standards/product.md) |
| Why it is this way | [Architecture decision records](https://github.com/hardfoc/.github/blob/main/standards/adr/README.md) |

## Submodules, not packages

Each arrow in the figure is a Git submodule pinned to a commit or tag:
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1 change: 1 addition & 0 deletions docs/contribute.md
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Expand Up @@ -12,6 +12,7 @@ for the application. If you cannot tell, open it in the product and say what you
| Step | Where |
| --- | --- |
| Read the rules for branches, commits, pull requests and the CI gate | [CONTRIBUTING.md](https://github.com/hardfoc/.github/blob/main/CONTRIBUTING.md) |
| Follow the engineering standard for code, layering, naming, releases and AI agents | [HardFOC engineering standard](https://github.com/hardfoc/.github/blob/main/standards/README.md) |
| Follow the code of conduct | [CODE_OF_CONDUCT.md](https://github.com/hardfoc/.github/blob/main/CODE_OF_CONDUCT.md) |
| Write documentation to the shared standard | [Documentation style guide](https://hardfoc.github.io/hf-general-ci-tools/latest/DOCS-STYLE-GUIDE/) |
| Add CI to a repository | [CI quickstart](https://hardfoc.github.io/hf-general-ci-tools/latest/quickstart/) |
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