small refactor of some spi and timerwrapper functionality (#631)

* Add another function to SPI transcieve for slices (ptr + len)

* TimerWrapper: Add helper to set the callback+data

* fix typo in selecting scheduler timer

* Add changeset

* formatting

* formatting, again

* change from patch to minor, I think this fits better

* Swap order of setting callback and its data

* Update .changesets/refactor-spi-timerwrapper.md

* fix wording on changeset

---------

Co-authored-by: Óscar Gandía Iglesias <145703854+oganigl@users.noreply.github.com>

Author: victor-Lopez25

.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.

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.
          */

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

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();
     }