From 77d37d88a4f8b9edf22f1c5a1f31e007a6267abc Mon Sep 17 00:00:00 2001
From: PonomarevDA <ponomarevda96@gmail.com>
Date: Thu, 19 Dec 2024 00:44:49 +0300
Subject: [PATCH 1/2] do not use spi in v3 by default, use it only with mpu9250

---
 Src/drivers/mpu9250/CMakeLists.txt    | 8 ++++++++
 Src/platform/stm32g0b1/CMakeLists.txt | 1 -
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/Src/drivers/mpu9250/CMakeLists.txt b/Src/drivers/mpu9250/CMakeLists.txt
index 9cd2c32..9b8acc7 100644
--- a/Src/drivers/mpu9250/CMakeLists.txt
+++ b/Src/drivers/mpu9250/CMakeLists.txt
@@ -1,6 +1,14 @@
 # Copyright (C) 2023 Dmitry Ponomarev <ponomarevda96@gmail.com>
 # Distributed under the terms of the GPL v3 license, available in the file LICENSE.
 
+# Include guard
+if(SRC_DRIVERS_MPU9250_DIR)
+    return()
+endif()
+set(SRC_DRIVERS_MPU9250_DIR ${CMAKE_CURRENT_LIST_DIR})
+
 list(APPEND APPLICATION_SOURCES
     ${CMAKE_CURRENT_LIST_DIR}/mpu9250.cpp
 )
+
+include(${ROOT_DIR}/Src/peripheral/spi/CMakeLists.txt)
diff --git a/Src/platform/stm32g0b1/CMakeLists.txt b/Src/platform/stm32g0b1/CMakeLists.txt
index f1787c0..de62ca2 100644
--- a/Src/platform/stm32g0b1/CMakeLists.txt
+++ b/Src/platform/stm32g0b1/CMakeLists.txt
@@ -6,7 +6,6 @@ cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH PLATFORM_DIR)
 cmake_path(GET PLATFORM_DIR PARENT_PATH SRC_DIR)
 cmake_path(GET SRC_DIR PARENT_PATH ROOT_DIR)
 
-include(${ROOT_DIR}/Src/peripheral/spi/CMakeLists.txt)
 include(${ROOT_DIR}/Src/peripheral/adc/CMakeLists.txt)
 
 set(EXECUTABLE ${PROJECT_NAME}.out)

From 3841b173851f419b1a857893d66d128965b2704a Mon Sep 17 00:00:00 2001
From: PonomarevDA <ponomarevda96@gmail.com>
Date: Thu, 19 Dec 2024 00:58:02 +0300
Subject: [PATCH 2/2] move NUM_OF_CAN_BUSES from toolchain to the root cmake
 file

---
 CMakeLists.txt                      | 8 ++++----
 cmake/Toolchain-arm-none-eabi.cmake | 2 --
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index dcce0ab..8c8e634 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,15 +31,15 @@ elseif(USE_PLATFORM_NODE_V3)
     set(APP_PLATFORM stm32g0b1)
     set(PLATFORM_NAME v3)
     include(${CMAKE_DIR}/stm32g0b1.cmake)
+    add_compile_definitions(CYPHAL_NUM_OF_CAN_BUSES=2)
 else()
     message(SEND_ERROR "Platform Error: Either v2 (stm32f103), v3 (stm32g0) or SITL (Linux) should be specified.")
 endif()
 
 # Option 2. Choose the protocol
-if(CAN_PROTOCOL STREQUAL "dronecan" OR CAN_PROTOCOL STREQUAL "cyphal" OR CAN_PROTOCOL STREQUAL "both")
-    set(APPLICATION_DIR ${ROOT_DIR}/Src/applications/${CAN_PROTOCOL})
-else()
-    message(SEND_ERROR "CAN_PROTOCOL is unknown.")
+set(APPLICATION_DIR ${ROOT_DIR}/Src/applications/${CAN_PROTOCOL})
+if(NOT (EXISTS ${APPLICATION_DIR} AND IS_DIRECTORY ${APPLICATION_DIR}))
+    message(FATAL_ERROR "CAN_PROTOCOL '${CAN_PROTOCOL}' is unknown.")
 endif()
 
 # Set build dir based on hardware version and protocol
diff --git a/cmake/Toolchain-arm-none-eabi.cmake b/cmake/Toolchain-arm-none-eabi.cmake
index b3d126b..247aafa 100644
--- a/cmake/Toolchain-arm-none-eabi.cmake
+++ b/cmake/Toolchain-arm-none-eabi.cmake
@@ -29,6 +29,4 @@ set(CMAKE_EXE_LINKER_FLAGS "-mcpu=${TARGET_ARCHITECTURE} -mthumb -lc -lm -lnosys
 add_compile_definitions(
     USE_HAL_DRIVER
     ${CPU}
-    CYPHAL_NUM_OF_CAN_BUSES=2
-    NUM_OF_CAN_BUSES=2
 )