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CantonplasCantonplas
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Merge remote-tracking branch 'origin/development' into feat/MDMA2
2 parents 59cac34 + fc00a32 commit 8a3f0a0

38 files changed

Lines changed: 3247 additions & 1129 deletions

‎.cproject‎

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‎.github/workflows/build-toolchain-image.yml‎

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context: .
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file: ci/Dockerfile
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push: true
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tags: ghcr.io/hyperloopupv-h8/hyperloop-firmware-toolchain:latest
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tags: ghcr.io/hyperloop-upv/hyperloop-firmware-toolchain:latest

‎.github/workflows/build.yml‎

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runs-on: ubuntu-24.04
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container:
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image: ghcr.io/hyperloopupv-h8/hyperloop-firmware-toolchain:latest
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image: ghcr.io/hyperloop-upv/hyperloop-firmware-toolchain:latest
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outputs:
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build-artifact: ${{ steps.upload-build-artifact.outputs.artifact-id }}

‎.github/workflows/tests.yml‎

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name: Run tests
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on:
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workflow_dispatch:
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pull_request:
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branches: [ development ]
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jobs:
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tests:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Install build dependencies
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run: |
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sudo apt-get update
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sudo apt-get install -y cmake ninja-build build-essential
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- name: Configure (CMake)
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run: |
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cmake --preset simulator
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- name: Build
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run: |
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cmake --build out/build/simulator
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- name: Run tests (ctest)
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working-directory: out/build/simulator
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run: |
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ctest --output-on-failure

‎.mxproject‎

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‎.project‎

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‎.vscode/settings.json‎

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{
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"C_Cpp.default.cppStandard": "c++20",
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"C_Cpp.default.cppStandard": "c++23",
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"C_Cpp.default.cStandard": "c17",
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"C_Cpp.clang_format_fallbackStyle": "{BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 80}",
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"C_Cpp.formatting": "clangFormat",
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"valarray": "cpp",
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"variant": "cpp"
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}
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}
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}

‎CMakeLists.txt‎

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@@ -11,33 +11,38 @@ if(NOT PROJECT_IS_TOP_LEVEL)
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set(STLIB_LIBRARY ${STLIB_LIBRARY} PARENT_SCOPE)
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endif()
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include(CTest)
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enable_testing()
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option(USE_ETHERNET "Enable ethernet peripheral" OFF)
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option(TARGET_NUCLEO "Targets the STM32H723 Nucleo development board" OFF)
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message(STATUS "${PROJECT_NAME} Ethernet: ${USE_ETHERNET}")
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message(STATUS "${PROJECT_NAME} Nucleo: ${TARGET_NUCLEO}")
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message(STATUS "${PROJECT_NAME} Crosscompiling: ${CMAKE_CROSSCOMPILING}")
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# ============================
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# Tests + GTest - Simulator
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# ============================
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if((PROJECT_IS_TOP_LEVEL AND (NOT CMAKE_CROSSCOMPILING)))
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include(FetchContent)
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option(BUILD_GMOCK OFF)
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option(INSTALL_GTEST OFF)
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FetchContent_Declare(
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googletest
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GIT_REPOSITORY https://github.com/google/googletest.git
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GIT_TAG v1.15.2
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if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/STM32CubeH7/Drivers)
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execute_process(
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COMMAND git submodule update --init --depth 1
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WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
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)
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endif()
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31+
if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/STM32CubeH7/Drivers/CMSIS/Device/ST/STM32H7xx/Include)
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execute_process(
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COMMAND git submodule update --init --depth 1 Drivers/CMSIS/Device/ST/STM32H7xx Drivers/STM32H7xx_HAL_Driver
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WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/STM32CubeH7
3235
)
33-
FetchContent_MakeAvailable(googletest)
34-
add_library(GTest::GTest INTERFACE IMPORTED)
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target_link_libraries(GTest::GTest INTERFACE gtest_main)
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endif()
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3838
if(NOT CMAKE_CROSSCOMPILING)
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message(STATUS "Compiling for simulator")
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add_subdirectory(Tests)
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else()
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execute_process(
43+
COMMAND git submodule update --init --depth 1 Drivers/BSP/Components/lan8742
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WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/STM32CubeH7
45+
)
4146
endif()
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4348
# ============================
@@ -219,25 +224,31 @@ add_library(${STLIB_LIBRARY} STATIC
219224
$<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${LWIP_SOURCES}>
220225
$<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${USER_LWIP_SOURCES}>
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222-
${HALAL_C_NO_ETH}
223-
${HALAL_CPP_NO_ETH}
224-
$<$<BOOL:${USE_ETHERNET}>:${HALAL_C_ETH}>
225-
$<$<BOOL:${USE_ETHERNET}>:${HALAL_CPP_ETH}>
227+
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${HALAL_C_NO_ETH}>
228+
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${HALAL_CPP_NO_ETH}>
229+
$<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${HALAL_C_ETH}>
230+
$<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${HALAL_CPP_ETH}>
226231

227-
${CPP_UTILITIES_C}
228-
${CPP_UTILITIES_CPP}
232+
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${CPP_UTILITIES_C}>
233+
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${CPP_UTILITIES_CPP}>
229234

230-
${STLIB_LOW_C_NO_ETH}
231-
${STLIB_LOW_CPP_NO_ETH}
232-
$<$<BOOL:${USE_ETHERNET}>:${STLIB_LOW_C_ETH}>
233-
$<$<BOOL:${USE_ETHERNET}>:${STLIB_LOW_CPP_ETH}>
235+
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STLIB_LOW_C_NO_ETH}>
236+
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STLIB_LOW_CPP_NO_ETH}>
237+
$<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${STLIB_LOW_C_ETH}>
238+
$<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${STLIB_LOW_CPP_ETH}>
234239

235-
${STLIB_HIGH_C_NO_ETH}
236-
${STLIB_HIGH_CPP_NO_ETH}
237-
$<$<BOOL:${USE_ETHERNET}>:${STLIB_HIGH_C_ETH}>
238-
$<$<BOOL:${USE_ETHERNET}>:${STLIB_HIGH_CPP_ETH}>
240+
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STLIB_HIGH_C_NO_ETH}>
241+
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STLIB_HIGH_CPP_NO_ETH}>
242+
$<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${STLIB_HIGH_C_ETH}>
243+
$<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${STLIB_HIGH_CPP_ETH}>
239244

240-
${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB.cpp
245+
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB.cpp>
246+
247+
$<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Time/Scheduler.cpp>
248+
$<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/mocked_ll_tim.cpp>
249+
$<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/mocked_system_stm32h7xx.c>
250+
$<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/stm32h723xx_wrapper.c>
251+
$<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/NVIC.cpp>
241252
)
242253

243254
set_target_properties(${STLIB_LIBRARY} PROPERTIES
@@ -251,7 +262,7 @@ target_compile_definitions(${STLIB_LIBRARY} PUBLIC
251262
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:USE_HAL_DRIVER>
252263
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:STM32H723xx>
253264

254-
$<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:SIM_ON>
265+
$<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:TESTING_ENV>
255266

256267
$<$<BOOL:${USE_ETHERNET}>:STLIB_ETH>
257268
$<IF:$<BOOL:${TARGET_NUCLEO}>,NUCLEO,BOARD>
@@ -284,10 +295,13 @@ target_compile_options(${STLIB_LIBRARY} PRIVATE
284295

285296
target_include_directories(${STLIB_LIBRARY} PUBLIC
286297
# CMSIS + HAL
287-
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STM32CUBEH7}/Drivers/CMSIS/Device/ST/STM32H7xx/Include>
288-
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STM32CUBEH7}/Drivers/CMSIS/Include>
298+
#$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STM32CUBEH7}/Drivers/CMSIS/Device/ST/STM32H7xx/Include>
299+
#$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STM32CUBEH7}/Drivers/CMSIS/Include>
300+
${STM32CUBEH7}/Drivers/CMSIS/Device/ST/STM32H7xx/Include
301+
${STM32CUBEH7}/Drivers/CMSIS/Include
289302
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STM32CUBEH7}/Drivers/CMSIS/Core_A/Include>
290-
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STM32CUBEH7}/Drivers/STM32H7xx_HAL_Driver/Inc>
303+
#$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STM32CUBEH7}/Drivers/STM32H7xx_HAL_Driver/Inc>
304+
${STM32CUBEH7}/Drivers/STM32H7xx_HAL_Driver/Inc
291305
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STM32CUBEH7}/Drivers/STM32H7xx_HAL_Driver/Inc/Legacy>
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293307
# LWIP includes
@@ -316,6 +330,23 @@ target_include_directories(${STLIB_LIBRARY} PUBLIC
316330
${CMAKE_CURRENT_LIST_DIR}/Inc/ST-LIB_HIGH
317331
)
318332

333+
334+
if(PROJECT_IS_TOP_LEVEL)
335+
configure_file(
336+
${CMAKE_CURRENT_LIST_DIR}/Inc/stm32h7xx_hal_conf_template.h
337+
${CMAKE_CURRENT_BINARY_DIR}/stm32h7xx_hal_conf.h
338+
COPYONLY
339+
)
340+
341+
target_include_directories(${STLIB_LIBRARY} PUBLIC
342+
${CMAKE_CURRENT_BINARY_DIR}
343+
)
344+
else()
345+
target_include_directories(${STLIB_LIBRARY} PUBLIC
346+
${CMAKE_SOURCE_DIR}/Core/Inc
347+
)
348+
endif()
349+
319350
if(PROJECT_IS_TOP_LEVEL)
320351
execute_process(
321352
COMMAND ${CMAKE_COMMAND} -E create_symlink

‎Inc/HALAL/HALAL.hpp‎

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#pragma once
22

3+
#include "HALAL/Models/GPIO.hpp"
4+
#include "HALAL/Models/Pin.hpp"
5+
36
#include "HALAL/Models/HALconfig/HALconfig.hpp"
47
#include "HALAL/Models/DMA/DMA.hpp"
58

@@ -18,6 +21,7 @@
1821
#include "HALAL/Services/PWM/DualPhasedPWM/DualPhasedPWM.hpp"
1922

2023
#include "HALAL/Services/Time/Time.hpp"
24+
#include "HALAL/Services/Time/Scheduler.hpp"
2125
#include "HALAL/Services/Time/RTC.hpp"
2226

2327
#include "HALAL/Services/InputCapture/InputCapture.hpp"

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