Libraries, drivers, generic data structures, and other utilities.

Core platform layers

• phal_F4 PHAL implementations for STM32F4 targets.
• phal_G4 PHAL implementations for STM32G4 targets.
• rtos FreeRTOS configuration and wrapper functions.

Device / protocol drivers

• amk AMK motor controller helpers.
• bmi088 BMI088 IMU driver.
• nextion Nextion display communication helpers.
• sdio SDIO helpers.
• ublox u-blox GNSS parsing and configuration helpers.
• izze_imu IZZE IMU message definitions/helpers.

System services

• heartbeat Board heartbeat / liveness utilities.
• watchdog Watchdog abstraction and helpers.
• syscalls Syscall shims used by embedded runtime/newlib.

Utility libraries

• utils General-purpose math and macro helpers (min/max/clamp/rescale, etc.).
• strbuf Fixed-size string buffer utilities.
• lerp_lut Lookup-table interpolation utilities.
• bangbang Bang-bang control helper.