Vendor SDK Integration¶

Guide to integrating vendor SDKs and libraries with the Nexus platform.

Overview ¶

Nexus integrates with various vendor SDKs to provide hardware-specific functionality while maintaining a unified API.

Supported Vendors:

STMicroelectronics (STM32)
GigaDevice (GD32)
Espressif (ESP32)
Nordic Semiconductor (nRF52)
ARM (CMSIS)

Vendor Directory Structure ¶

Organization ¶

vendors/
├── st/                      # STMicroelectronics
│   ├── STM32F4xx_HAL_Driver/
│   ├── STM32H7xx_HAL_Driver/
│   ├── CMSIS/
│   └── README.md
├── gd/                      # GigaDevice
│   ├── GD32VF103_standard_peripheral/
│   └── README.md
├── espressif/               # Espressif
│   ├── esp-idf/
│   └── README.md
├── nordic/                  # Nordic
│   ├── nRF5_SDK/
│   └── README.md
├── arm/                     # ARM
│   ├── CMSIS/
│   └── README.md
└── README.md

Version Management ¶

Track Vendor SDK Versions:

vendors/VERSIONS.md:

# Vendor SDK Versions

## STMicroelectronics
- STM32F4 HAL: v1.27.1
- STM32H7 HAL: v1.10.0
- CMSIS: v5.9.0

## GigaDevice
- GD32VF103: v1.1.0

## Espressif
- ESP-IDF: v4.4.2

## Nordic
- nRF5 SDK: v17.1.0

## ARM
- CMSIS: v5.9.0

STMicroelectronics Integration ¶

STM32 HAL Driver ¶

Directory Structure:

vendors/st/
├── STM32F4xx_HAL_Driver/
│   ├── Inc/
│   │   ├── stm32f4xx_hal.h
│   │   ├── stm32f4xx_hal_gpio.h
│   │   ├── stm32f4xx_hal_uart.h
│   │   └── ...
│   └── Src/
│       ├── stm32f4xx_hal.c
│       ├── stm32f4xx_hal_gpio.c
│       ├── stm32f4xx_hal_uart.c
│       └── ...
└── CMSIS/
    ├── Device/ST/STM32F4xx/
    │   ├── Include/
    │   │   ├── stm32f4xx.h
    │   │   └── system_stm32f4xx.h
    │   └── Source/
    │       └── system_stm32f4xx.c
    └── Include/
        ├── core_cm4.h
        └── cmsis_gcc.h

CMake Integration:

# platforms/stm32/CMakeLists.txt

if(CONFIG_PLATFORM_STM32F4)
    set(STM32_FAMILY "F4")
    set(STM32_HAL_DIR "${CMAKE_SOURCE_DIR}/vendors/st/STM32F4xx_HAL_Driver")
    set(STM32_CMSIS_DIR "${CMAKE_SOURCE_DIR}/vendors/st/CMSIS")

    # HAL sources
    file(GLOB STM32_HAL_SOURCES
        "${STM32_HAL_DIR}/Src/stm32f4xx_hal.c"
        "${STM32_HAL_DIR}/Src/stm32f4xx_hal_gpio.c"
        "${STM32_HAL_DIR}/Src/stm32f4xx_hal_uart.c"
        "${STM32_HAL_DIR}/Src/stm32f4xx_hal_spi.c"
        "${STM32_HAL_DIR}/Src/stm32f4xx_hal_i2c.c"
    )

    # Include directories
    target_include_directories(nexus_platform PUBLIC
        ${STM32_HAL_DIR}/Inc
        ${STM32_CMSIS_DIR}/Device/ST/STM32F4xx/Include
        ${STM32_CMSIS_DIR}/Include
    )

    # Add HAL sources
    target_sources(nexus_platform PRIVATE ${STM32_HAL_SOURCES})

    # Compiler definitions
    target_compile_definitions(nexus_platform PUBLIC
        STM32F407xx
        USE_HAL_DRIVER
    )
endif()

Wrapper Implementation:

/**
 * \file            stm32_gpio_adapter.c
 * \brief           STM32 GPIO HAL adapter
 * \author          Nexus Team
 */

#include "hal/nx_gpio.h"
#include "stm32f4xx_hal.h"

/*---------------------------------------------------------------------------*/
/* Private Functions                                                         */
/*---------------------------------------------------------------------------*/

/**
 * \brief           Convert Nexus GPIO mode to STM32 HAL mode
 */
static uint32_t convert_gpio_mode(nx_gpio_mode_t mode)
{
    switch (mode) {
    case NX_GPIO_MODE_INPUT:
        return GPIO_MODE_INPUT;
    case NX_GPIO_MODE_OUTPUT_PP:
        return GPIO_MODE_OUTPUT_PP;
    case NX_GPIO_MODE_OUTPUT_OD:
        return GPIO_MODE_OUTPUT_OD;
    case NX_GPIO_MODE_AF_PP:
        return GPIO_MODE_AF_PP;
    case NX_GPIO_MODE_AF_OD:
        return GPIO_MODE_AF_OD;
    case NX_GPIO_MODE_ANALOG:
        return GPIO_MODE_ANALOG;
    default:
        return GPIO_MODE_INPUT;
    }
}

/*---------------------------------------------------------------------------*/
/* Public Functions                                                          */
/*---------------------------------------------------------------------------*/

/**
 * \brief           Initialize GPIO pin
 */
nx_status_t stm32_gpio_init(char port, uint8_t pin,
                             const nx_gpio_config_t* config)
{
    GPIO_TypeDef* gpio_port;
    GPIO_InitTypeDef gpio_init;

    /* Get GPIO port */
    switch (port) {
    case 'A': gpio_port = GPIOA; __HAL_RCC_GPIOA_CLK_ENABLE(); break;
    case 'B': gpio_port = GPIOB; __HAL_RCC_GPIOB_CLK_ENABLE(); break;
    case 'C': gpio_port = GPIOC; __HAL_RCC_GPIOC_CLK_ENABLE(); break;
    case 'D': gpio_port = GPIOD; __HAL_RCC_GPIOD_CLK_ENABLE(); break;
    default: return NX_ERR_PARAM;
    }

    /* Configure GPIO */
    gpio_init.Pin = (1 << pin);
    gpio_init.Mode = convert_gpio_mode(config->mode);
    gpio_init.Pull = config->pull;
    gpio_init.Speed = config->speed;

    HAL_GPIO_Init(gpio_port, &gpio_init);

    return NX_OK;
}

CMSIS Integration ¶

Core Files:

/* Include CMSIS core */
#include "core_cm4.h"

/* System initialization */
void SystemInit(void)
{
    /* FPU settings */
    #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
    SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2));
    #endif

    /* Configure Flash prefetch, Instruction cache, Data cache */
    #if (INSTRUCTION_CACHE_ENABLE != 0U)
    __HAL_FLASH_INSTRUCTION_CACHE_ENABLE();
    #endif

    #if (DATA_CACHE_ENABLE != 0U)
    __HAL_FLASH_DATA_CACHE_ENABLE();
    #endif

    /* Set interrupt priorities */
    NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
}

GigaDevice Integration ¶

GD32 Standard Peripheral Library ¶

Directory Structure:

vendors/gd/
└── GD32VF103_standard_peripheral/
    ├── Include/
    │   ├── gd32vf103.h
    │   ├── gd32vf103_gpio.h
    │   └── ...
    └── Source/
        ├── gd32vf103_gpio.c
        └── ...

CMake Integration:

# platforms/gd32/CMakeLists.txt

if(CONFIG_PLATFORM_GD32)
    set(GD32_SPL_DIR "${CMAKE_SOURCE_DIR}/vendors/gd/GD32VF103_standard_peripheral")

    # SPL sources
    file(GLOB GD32_SPL_SOURCES
        "${GD32_SPL_DIR}/Source/gd32vf103_gpio.c"
        "${GD32_SPL_DIR}/Source/gd32vf103_usart.c"
        "${GD32_SPL_DIR}/Source/gd32vf103_spi.c"
    )

    # Include directories
    target_include_directories(nexus_platform PUBLIC
        ${GD32_SPL_DIR}/Include
    )

    # Add SPL sources
    target_sources(nexus_platform PRIVATE ${GD32_SPL_SOURCES})

    # Compiler definitions
    target_compile_definitions(nexus_platform PUBLIC
        GD32VF103
        USE_STDPERIPH_DRIVER
    )
endif()

Espressif Integration ¶

ESP-IDF Framework ¶

Directory Structure:

vendors/espressif/
└── esp-idf/
    ├── components/
    │   ├── driver/
    │   ├── esp_wifi/
    │   ├── esp_system/
    │   └── ...
    └── CMakeLists.txt

CMake Integration:

# platforms/esp32/CMakeLists.txt

if(CONFIG_PLATFORM_ESP32)
    set(IDF_PATH "${CMAKE_SOURCE_DIR}/vendors/espressif/esp-idf")

    # Include ESP-IDF build system
    include($ENV{IDF_PATH}/tools/cmake/project.cmake)

    # ESP-IDF components
    idf_component_register(
        SRCS "esp32_gpio.c" "esp32_uart.c"
        INCLUDE_DIRS "include"
        REQUIRES driver esp_wifi nvs_flash
    )
endif()

Wrapper Implementation:

/**
 * \file            esp32_gpio_adapter.c
 * \brief           ESP32 GPIO adapter
 * \author          Nexus Team
 */

#include "hal/nx_gpio.h"
#include "driver/gpio.h"

/**
 * \brief           Initialize GPIO pin
 */
nx_status_t esp32_gpio_init(uint8_t pin, const nx_gpio_config_t* config)
{
    gpio_config_t io_conf = {
        .pin_bit_mask = (1ULL << pin),
        .mode = (config->mode == NX_GPIO_MODE_OUTPUT_PP) ?
                GPIO_MODE_OUTPUT : GPIO_MODE_INPUT,
        .pull_up_en = (config->pull == NX_GPIO_PULL_UP) ?
                      GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
        .pull_down_en = (config->pull == NX_GPIO_PULL_DOWN) ?
                        GPIO_PULLDOWN_ENABLE : GPIO_PULLDOWN_DISABLE,
        .intr_type = GPIO_INTR_DISABLE,
    };

    esp_err_t err = gpio_config(&io_conf);
    return (err == ESP_OK) ? NX_OK : NX_ERR_FAIL;
}

Nordic Integration ¶

nRF5 SDK ¶

Directory Structure:

vendors/nordic/
└── nRF5_SDK/
    ├── components/
    │   ├── drivers_nrf/
    │   ├── libraries/
    │   └── softdevice/
    └── modules/
        └── nrfx/

CMake Integration:

# platforms/nrf52/CMakeLists.txt

if(CONFIG_PLATFORM_NRF52)
    set(NRF5_SDK_DIR "${CMAKE_SOURCE_DIR}/vendors/nordic/nRF5_SDK")

    # nRFx driver sources
    file(GLOB NRF5_SOURCES
        "${NRF5_SDK_DIR}/modules/nrfx/drivers/src/nrfx_gpiote.c"
        "${NRF5_SDK_DIR}/modules/nrfx/drivers/src/nrfx_uart.c"
        "${NRF5_SDK_DIR}/modules/nrfx/drivers/src/nrfx_spi.c"
    )

    # Include directories
    target_include_directories(nexus_platform PUBLIC
        ${NRF5_SDK_DIR}/modules/nrfx
        ${NRF5_SDK_DIR}/modules/nrfx/hal
        ${NRF5_SDK_DIR}/modules/nrfx/drivers/include
    )

    # Add sources
    target_sources(nexus_platform PRIVATE ${NRF5_SOURCES})

    # Compiler definitions
    target_compile_definitions(nexus_platform PUBLIC
        NRF52840_XXAA
        NRFX_GPIOTE_ENABLED=1
        NRFX_UART_ENABLED=1
    )
endif()

ARM CMSIS Integration ¶

CMSIS Core ¶

Directory Structure:

vendors/arm/
└── CMSIS/
    ├── Core/
    │   └── Include/
    │       ├── cmsis_compiler.h
    │       ├── cmsis_gcc.h
    │       ├── core_cm4.h
    │       └── core_cm7.h
    └── DSP/
        ├── Include/
        └── Source/

CMake Integration:

# CMakeLists.txt

set(CMSIS_DIR "${CMAKE_SOURCE_DIR}/vendors/arm/CMSIS")

# CMSIS Core
target_include_directories(nexus_platform PUBLIC
    ${CMSIS_DIR}/Core/Include
)

# CMSIS DSP (optional)
if(CONFIG_USE_CMSIS_DSP)
    target_include_directories(nexus_platform PUBLIC
        ${CMSIS_DIR}/DSP/Include
    )

    file(GLOB CMSIS_DSP_SOURCES
        "${CMSIS_DIR}/DSP/Source/BasicMathFunctions/*.c"
        "${CMSIS_DIR}/DSP/Source/FastMathFunctions/*.c"
    )

    target_sources(nexus_platform PRIVATE ${CMSIS_DSP_SOURCES})
endif()

Vendor SDK Configuration ¶

HAL Configuration Files ¶

STM32 HAL Configuration:

/**
 * \file            stm32f4xx_hal_conf.h
 * \brief           STM32F4 HAL configuration
 * \author          Nexus Team
 */

#ifndef STM32F4XX_HAL_CONF_H
#define STM32F4XX_HAL_CONF_H

/* Module selection */
#define HAL_MODULE_ENABLED
#define HAL_GPIO_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
#define HAL_SPI_MODULE_ENABLED
#define HAL_I2C_MODULE_ENABLED

/* Oscillator values */
#define HSE_VALUE    8000000U
#define HSI_VALUE    16000000U

/* System configuration */
#define VDD_VALUE    3300U
#define TICK_INT_PRIORITY    0U
#define USE_RTOS     0U

/* Assert configuration */
#ifdef DEBUG
#define USE_FULL_ASSERT    1U
#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
void assert_failed(uint8_t* file, uint32_t line);
#else
#define assert_param(expr) ((void)0U)
#endif

#endif /* STM32F4XX_HAL_CONF_H */

Vendor SDK Updates ¶

Updating Vendor SDKs ¶

Update Process:

Backup Current Version:

cd vendors/st
git tag backup-$(date +%Y%m%d)
git commit -am "Backup before update"

Download New Version:

# Download from vendor website
wget https://vendor.com/sdk/latest.zip
unzip latest.zip -d temp/

Update Files:

# Copy new files
cp -r temp/STM32F4xx_HAL_Driver/* STM32F4xx_HAL_Driver/

Test Integration:

# Build and test
cmake -B build
cmake --build build
ctest --test-dir build

Update Version File:

# vendors/VERSIONS.md
## STMicroelectronics
- STM32F4 HAL: v1.28.0 (updated 2026-01-25)

Version Compatibility ¶

Compatibility Matrix:

Nexus Version | STM32 HAL | ESP-IDF | nRF5 SDK
--------------|-----------|---------|----------
0.1.0         | 1.27.1    | 4.4.2   | 17.1.0
0.2.0         | 1.28.0    | 4.4.3   | 17.1.0
1.0.0         | 1.29.0    | 5.0.0   | 17.2.0

Best Practices ¶

Isolate Vendor Code * Keep vendor SDKs in separate directory * Don't modify vendor files directly * Use wrapper/adapter pattern
Version Control * Track vendor SDK versions * Document compatibility * Test after updates
Minimize Dependencies * Only include needed components * Avoid vendor-specific APIs in application * Use Nexus abstractions
Configuration Management * Use Kconfig for vendor options * Provide sensible defaults * Document configuration
Testing * Test vendor integration * Verify compatibility * Automate testing
Documentation * Document vendor requirements * Provide integration guide * Update version information

Troubleshooting ¶

Common Issues ¶

Issue: Vendor SDK not found

# Check vendor directory exists
ls -la vendors/st/STM32F4xx_HAL_Driver

# Update submodules if using git
git submodule update --init --recursive

Issue: Compilation errors

# Check include paths
cmake -B build -DCMAKE_VERBOSE_MAKEFILE=ON

# Verify vendor SDK version
cat vendors/VERSIONS.md

Issue: Linker errors

# Check library paths
# Verify all required sources are included
# Check linker script

Nexus 嵌入式平台

导航

Related Topics

Vendor SDK Integration¶

Overview ¶

Vendor Directory Structure ¶

Organization ¶

Version Management ¶

STMicroelectronics Integration ¶

STM32 HAL Driver ¶

CMSIS Integration ¶

GigaDevice Integration ¶

GD32 Standard Peripheral Library ¶

Espressif Integration ¶

ESP-IDF Framework ¶

Nordic Integration ¶

nRF5 SDK ¶

ARM CMSIS Integration ¶

CMSIS Core ¶

Vendor SDK Configuration ¶

HAL Configuration Files ¶

Vendor SDK Updates ¶

Updating Vendor SDKs ¶

Version Compatibility ¶

Best Practices ¶

Troubleshooting ¶

Common Issues ¶

See Also ¶