Merge branch 'development' into temp/scheduler-get-perf

victor-Lopez25 · web-flow · commit 291ed71f6ba4 · 2026-05-04T20:23:00.000+02:00
diff --git a/.changesets/add_check_ethernet.md b/.changesets/add_check_ethernet.md
@@ -0,0 +1,2 @@
+release: minor
+summary: add an ethernet connected check
diff --git a/.changesets/archive/v5.2.0/fix_pinset.md b/.changesets/archive/v5.2.0/fix_pinset.md
diff --git a/.changesets/archive/v5.2.0/hotfix-inputcapture.md b/.changesets/archive/v5.2.0/hotfix-inputcapture.md
diff --git a/.changesets/archive/v5.2.0/move-struct-direction.md b/.changesets/archive/v5.2.0/move-struct-direction.md
@@ -0,0 +1,2 @@
+release: minor
+summary: move a struct outside template class
diff --git a/.changesets/archive/v5.2.0/pi-minor.md b/.changesets/archive/v5.2.0/pi-minor.md
@@ -0,0 +1,2 @@
+release: minor
+summary: Create a parameter to choose the type of the variables
diff --git a/.changesets/hotfix-mpu-synamic-regions-linker-symbols.md b/.changesets/hotfix-mpu-synamic-regions-linker-symbols.md
@@ -0,0 +1,2 @@
+release: patch
+summary: MPUDomain dynamic regions were configured using the linker symbol values instead of their addresses (that is the correct way of using linker symbols). That made non-cached regions cached, and caused harware undefined behaviour.
diff --git a/.changesets/hotfix-pwm-channel4.md b/.changesets/hotfix-pwm-channel4.md
@@ -0,0 +1,2 @@
+release: patch
+summary: fix pwm channel 4 config in TimerWrapper
diff --git a/.changesets/hotfix-sched-prescaler.md b/.changesets/hotfix-sched-prescaler.md
@@ -0,0 +1,2 @@
+release: patch
+summary: fix prescaler calculation in scheduler
diff --git a/.changesets/refactor-spi-timerwrapper.md b/.changesets/refactor-spi-timerwrapper.md
@@ -0,0 +1,9 @@
+release: minor
+summary: Small refactor of some spi and timerwrapper functionality
+
+timerwrapper:
+ - Add `set_callback(void (*callback)(void*), void* callback_data)` to set the callback and its data instead of needing to call `configurexxbit()` and set the period.
+ - `set_limit_value(uint32_t arr)` to set the arr, this will likely be changed to use a `uint32_t` type only when using a 32 bit timer, for now it is just an alias to `instance->tim->ARR = arr;`. Was not added in this pr but also wasn't mentioned before.
+
+spi:
+ - Add `transceive` with ptr + data explicitly instead of using a span since it's sometimes a pain in the ass to use.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,20 @@ The revived semantic-versioning baseline starts at `v5.0.0`.
 Historical releases that predate this file remain available in Git tags such as
 `v1.0.0`, `v3.0.0`, `v4.0.0-beta`, and `h10`.
 
+## v5.2.0 - 2026-04-22
+
+### Features
+
+- move a struct outside template class
+- Create a parameter to choose the type of the variables
+
+### Fixes
+
+- RXER pin for Ethernet is now optional
+  H11 ethernet doesn't use RXER pin. The RXER pin is now a pointer so it can hold a nullptr. Ethernet constructor now has a std::optional for this pin
+- input capture hotfix for errorhandler
+  fix: make dummy have invalid channel nº for rising, falling
+
 ## v5.1.0 - 2026-04-05
 
 ### Features
diff --git a/Inc/HALAL/Models/MPU.hpp b/Inc/HALAL/Models/MPU.hpp
@@ -310,18 +310,18 @@ struct MPUDomain {
 
             // Dynamic Configuration based on Linker Symbols
             configure_dynamic_region(
-                (uintptr_t)__mpu_d1_nc_start,
-                (uintptr_t)__mpu_d1_nc_end,
+                reinterpret_cast<uintptr_t>(&__mpu_d1_nc_start),
+                reinterpret_cast<uintptr_t>(&__mpu_d1_nc_end),
                 MPU_REGION_NUMBER3
             );
             configure_dynamic_region(
-                (uintptr_t)__mpu_d2_nc_start,
-                (uintptr_t)__mpu_d2_nc_end,
+                reinterpret_cast<uintptr_t>(&__mpu_d2_nc_start),
+                reinterpret_cast<uintptr_t>(&__mpu_d2_nc_end),
                 MPU_REGION_NUMBER5
             );
             configure_dynamic_region(
-                (uintptr_t)__mpu_d3_nc_start,
-                (uintptr_t)__mpu_d3_nc_end,
+                reinterpret_cast<uintptr_t>(&__mpu_d3_nc_start),
+                reinterpret_cast<uintptr_t>(&__mpu_d3_nc_end),
                 MPU_REGION_NUMBER7
             );
 
diff --git a/Inc/HALAL/Models/SPI/SPI2.hpp b/Inc/HALAL/Models/SPI/SPI2.hpp
@@ -698,6 +698,29 @@ struct SPIDomain {
             return check_error_code(error_code);
         }
 
+        /**
+         * @brief Sends and receives data over SPI in blocking mode.
+         */
+        template <typename T> bool transceive(T* tx_data, T* rx_data, size_t count) {
+            size_t size = count * sizeof(T);
+            if (size % frame_size != 0) {
+                ErrorHandler(
+                    "SPI transaction size (%d) not aligned to frame size (%d)",
+                    size,
+                    frame_size
+                );
+                return false;
+            }
+            auto error_code = HAL_SPI_TransmitReceive(
+                &spi_instance.hspi,
+                (uint8_t*)tx_data,
+                (uint8_t*)rx_data,
+                size / frame_size,
+                10
+            );
+            return check_error_code(error_code);
+        }
+
         /**
          * @brief Sends and receives a trivially copyable data type over SPI in blocking mode.
          */
diff --git a/Inc/HALAL/Models/TimerDomain/TimerDomain.hpp b/Inc/HALAL/Models/TimerDomain/TimerDomain.hpp
@@ -22,7 +22,7 @@
 #ifndef SCHEDULER_TIMER_DOMAIN
 /* default is tim2 */
 #define SCHEDULER_TIMER_DOMAIN 2
-#elif (SCHEDULER_TIMER_DOMAIN != 2) && (SCHEDULER_TIMER_DOMAIN != 3) &&                            \
+#elif (SCHEDULER_TIMER_DOMAIN != 2) && (SCHEDULER_TIMER_DOMAIN != 5) &&                            \
     (SCHEDULER_TIMER_DOMAIN != 23) && (SCHEDULER_TIMER_DOMAIN != 24)
 #error Scheduler timer must be a 32 bit timer
 #endif
diff --git a/Inc/HALAL/Services/Communication/Ethernet/NewEthernet.hpp b/Inc/HALAL/Services/Communication/Ethernet/NewEthernet.hpp
@@ -264,7 +264,8 @@ struct EthernetDomain {
                 SNTP::sntp_update(sntp_server);
                 sntp_started = true;
             }
-        };
+        }
+        bool is_connected() { return netif_is_link_up(&gnetif); }
     };
 
     template <std::size_t N> struct Init {
diff --git a/Inc/HALAL/Services/Time/TimerWrapper.hpp b/Inc/HALAL/Services/Time/TimerWrapper.hpp
@@ -423,15 +423,20 @@ template <const TimerDomain::Timer& dev> struct TimerWrapper {
     // TODO: 16 bit and 32 bit version (?)
     inline void set_limit_value(uint32_t arr) { instance->tim->ARR = arr; }
 
+    inline void set_callback(void (*callback)(void*), void* callback_data) {
+        TimerDomain::callback_data[instance->timer_idx] = callback_data;
+        TimerDomain::callbacks[instance->timer_idx] = callback;
+    }
+
     inline void configure32bit(void (*callback)(void*), void* callback_data, uint32_t period) {
         static_assert(
             this->is_32bit_instance,
             "Only timers {TIM2, TIM5, TIM23, TIM24} have a 32-bit resolution"
         );
 
         instance->tim->ARR = period;
-        TimerDomain::callbacks[instance->timer_idx] = callback;
         TimerDomain::callback_data[instance->timer_idx] = callback_data;
+        TimerDomain::callbacks[instance->timer_idx] = callback;
         this->counter_enable();
     }
 
@@ -616,7 +621,7 @@ template <const TimerDomain::Timer& dev> struct TimerWrapper {
             CLEAR_BIT(tmpccmrx, TIM_CCMR2_OC4M);
             CLEAR_BIT(tmpccmrx, TIM_CCMR2_CC4S);
 
-            SET_BIT(tmpccmrx, OC_Config->OCMode);
+            SET_BIT(tmpccmrx, OC_Config->OCMode << 8U);
             CLEAR_BIT(tmpccer, TIM_CCER_CC4P);
             SET_BIT(tmpccer, OC_Config->OCPolarity << 12U);
         } else if constexpr (ch == TimerChannel::CHANNEL_5) {
diff --git a/Inc/ST-LIB_HIGH/Control/Blocks/PI.hpp b/Inc/ST-LIB_HIGH/Control/Blocks/PI.hpp
@@ -3,23 +3,25 @@
 #include "../ControlBlock.hpp"
 #include "Integrator.hpp"
 
-template <IntegratorType IntegratorMethod> class PI : public ControlBlock<double, double> {
+template <IntegratorType IntegratorMethod, typename T> class PI : public ControlBlock<T, T> {
+    static_assert(std::is_floating_point_v<T>, "T must be a floating point type");
+
 public:
-    double kp;
-    double error;
+    T kp;
+    T error;
     Integrator<IntegratorMethod> integrator;
 
 public:
     PI() = default;
-    PI(double kp, double ki, double period) : kp(kp), integrator(period, ki) {}
+    PI(T kp, T ki, T period) : kp(kp), integrator(period, ki) {}
     void execute() override {
         integrator.input(this->input_value);
         integrator.execute();
         error = this->input_value;
         this->output_value = kp * error + integrator.output_value;
     }
-    void set_kp(double kp) { this->kp = kp; }
-    void set_ki(double ki) {
+    void set_kp(T kp) { this->kp = kp; }
+    void set_ki(T ki) {
         integrator.ki = ki;
         integrator.reset();
     }
diff --git a/Inc/ST-LIB_LOW/Sensors/EncoderSensor/NewEncoderSensor.hpp b/Inc/ST-LIB_LOW/Sensors/EncoderSensor/NewEncoderSensor.hpp
@@ -9,9 +9,8 @@
 #include "C++Utilities/CppUtils.hpp"
 
 namespace ST_LIB {
-
+enum Direction : uint8_t { FORWARD = 0, BACKWARDS = 1 };
 template <typename EncoderType, size_t SAMPLES> struct EncoderSensor {
-    enum Direction : uint8_t { FORWARD = 0, BACKWARDS = 1 };
 
 private:
     constexpr static size_t WINDOW_SIZE{(SAMPLES / 2) * 2};
diff --git a/Src/HALAL/Services/Time/Scheduler.cpp b/Src/HALAL/Services/Time/Scheduler.cpp
@@ -82,7 +82,8 @@ void Scheduler_start(void) {
 
     uint16_t prescaler =
         (uint16_t)(ST_LIB::TimerDomain::get_timer_frequency(Scheduler_global_timer) /
-                   Scheduler::FREQUENCY);
+                   Scheduler::FREQUENCY) -
+        1;
     Scheduler_global_timer->PSC = prescaler;
     Scheduler_global_timer->ARR = 0;
     Scheduler_global_timer->DIER |= LL_TIM_DIER_UIE;
diff --git a/Tests/Time/encoder_test.cpp b/Tests/Time/encoder_test.cpp
@@ -103,7 +103,7 @@ TEST(EncoderSensorTest, ReadTreatsEncoderInitialCounterAsZeroPosition) {
     double position = -1.0;
     double speed = -1.0;
     double acceleration = -1.0;
-    MockSensor::Direction direction = MockSensor::BACKWARDS;
+    ST_LIB::Direction direction = ST_LIB::Direction::BACKWARDS;
 
     MockSensor sensor(encoder, 0.5, 0.1, &direction, &position, &speed, &acceleration);
 
@@ -112,7 +112,7 @@ TEST(EncoderSensorTest, ReadTreatsEncoderInitialCounterAsZeroPosition) {
     EXPECT_DOUBLE_EQ(position, 0.0);
     EXPECT_DOUBLE_EQ(speed, 0.0);
     EXPECT_DOUBLE_EQ(acceleration, 0.0);
-    EXPECT_EQ(direction, MockSensor::FORWARD);
+    EXPECT_EQ(direction, ST_LIB::Direction::FORWARD);
 }
 
 TEST(EncoderSensorTest, ResetForwardsToEncoderAndClearsHistory) {
@@ -122,7 +122,7 @@ TEST(EncoderSensorTest, ResetForwardsToEncoderAndClearsHistory) {
     double position = 0.0;
     double speed = 0.0;
     double acceleration = 0.0;
-    MockSensor::Direction direction = MockSensor::BACKWARDS;
+    ST_LIB::Direction direction = ST_LIB::Direction::BACKWARDS;
 
     MockSensor sensor(encoder, 1.0, 1.0, &direction, &position, &speed, &acceleration);
 
diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-5.1.0
+5.2.0

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+release: minor`
	`2`	`+summary: add an ethernet connected check`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+release: minor`
	`2`	`+summary: move a struct outside template class`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+release: minor`
	`2`	`+summary: Create a parameter to choose the type of the variables`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+release: patch`
	`2`	`+summary: MPUDomain dynamic regions were configured using the linker symbol values instead of their addresses (that is the correct way of using linker symbols). That made non-cached regions cached, and caused harware undefined behaviour.`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+release: patch`
	`2`	`+summary: fix pwm channel 4 config in TimerWrapper`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+release: patch`
	`2`	`+summary: fix prescaler calculation in scheduler`