Before coding, let’s decide on the Software Architecture. Based on my previous decision, I’m going to have two main parts:

• Main Application
• Movement Server
• Movement Interface - to communicate between them (e.g. CAN library)

Each part will have a high-level and a low-level logic. I will use two terms, movement - for transportation in space, and motion - for any other physical activities. In total, we will have:

• Motion Controller
• Motion Driver
• Movement Controller
• Movement Driver

To break the direct dependency, Controller→Driver let’s use a Hardware Abstraction Layer Interface, so we will have a dependency on a stable interface rather than on a driver that can be changed in the future:

Controller→HAL←Driver

By doing so, we isolate the high-level logic of hardware changes.

Let's introduce two more terms:

• Software - logic, depending on a use case, a practical application.
• Firmware - logic, depending on the used hardware

The resulting architecture looks this way:

The next steps will be:

1. Find/Develop appropriate interfaces
2. Implement HAL mocks
3. Implement the Software
4. Find appropriate drivers
5. Implement HAL