Merge branch 'development' into refactor/MPUManager

Author: FoniksFox

.devcontainer/Dockerfile

@@ -7,6 +7,6 @@ RUN apt-get update && apt-get -y install git git-lfs python3-colorama cmake g++
     git lfs install
 
 # Install cubeclt
-RUN mkdir /temp && cd /temp && git clone https://github.com/HyperloopUPV-H8/cubeclt.git && \
+RUN mkdir /temp && cd /temp && git clone https://github.com/Hyperloop-UPV/cubeclt.git && \
     cd cubeclt && git lfs pull && chmod +x cubeclt_1.16.0_installer.sh && \
     echo | LICENSE_ALREADY_ACCEPTED=1 ./cubeclt_1.16.0_installer.sh

.vscode/settings.json

@@ -7,8 +7,10 @@
     "C_Cpp.clang_format_sortIncludes": true,
     "C_Cpp.intelliSenseCacheSize": 0,
     "files.associations": {
-      "mem.h": "c",
-      "tinydir.h": "c",
-      "dirent.h": "c"
+        "*.embeddedhtml": "html",
+        "mem.h": "c",
+        "tinydir.h": "c",
+        "dirent.h": "c",
+        "initializer_list": "cpp"
     }
-}
+}

CMakeLists.txt

@@ -242,6 +242,7 @@ add_library(${STLIB_LIBRARY} STATIC
   $<$<BOOL:${CMAKE_CROSSCOMPILING}>:${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB.cpp>
 
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Time/Scheduler.cpp>
+  $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/TimerDomain/TimerDomain.cpp>
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/mocked_ll_tim.cpp>
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/mocked_system_stm32h7xx.c>
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/stm32h723xx_wrapper.c>

Inc/C++Utilities/StaticVector.hpp

@@ -0,0 +1,53 @@
+#pragma once
+#include <array>
+#include "ErrorHandler/ErrorHandler.hpp"
+
+template <typename T, size_t Capacity>
+class StaticVector {
+ private: 
+    std::array<T, Capacity> data{};
+    size_t size_ = 0;
+
+public:
+    constexpr StaticVector() = default;
+    
+    template<typename... Args>
+    constexpr StaticVector(Args&&... args) : data{std::forward<Args>(args)...}, size_(sizeof...(args)) {}
+
+    constexpr bool operator==(const StaticVector&) const = default;
+
+    constexpr void push_back(const T& value) 
+    {
+        if (size_ >= Capacity) 
+        {
+            ErrorHandler("StaticVector capacity exceeded");
+            return;
+        }        
+        data[size_] = value;
+        size_++;
+    }
+
+    constexpr auto begin() { return data.begin(); }
+    constexpr auto begin() const { return data.begin(); }
+    constexpr auto end() { return data.begin() + size_; } 
+    constexpr auto end() const { return data.begin() + size_; } 
+    
+    constexpr const std::array<T, Capacity>& get_array() const { return data; }
+    constexpr size_t size() const { return size_; }
+    constexpr T* get_data() { return data.data(); }
+    constexpr const T* get_data() const { return data.data(); }
+    constexpr  T& operator[](size_t i) { return data[i]; }
+    constexpr  const T& operator[](size_t i) const { return data[i]; }
+    constexpr bool contains(const T& value) const 
+    {
+        for (size_t i = 0; i < size_; ++i) 
+        {
+            if (data[i] == value) 
+            {
+                return true;
+            }
+        }
+        return false;
+    }
+};
+

Inc/HALAL/HALAL.hpp

@@ -20,7 +20,7 @@
 #include "HALAL/Services/PWM/PhasedPWM/PhasedPWM.hpp"
 #include "HALAL/Services/PWM/DualPhasedPWM/DualPhasedPWM.hpp"
 
-#include "HALAL/Services/Time/Time.hpp"
+#include "HALAL/Services/Time/TimerWrapper.hpp"
 #include "HALAL/Services/Time/Scheduler.hpp"
 #include "HALAL/Services/Time/RTC.hpp"
 
@@ -41,8 +41,6 @@
 #include "HALAL/Services/InfoWarning/InfoWarning.hpp"
 #include "HALAL/Services/Watchdog/Watchdog.hpp"
 
-#include "HALAL/Models/TimerPeripheral/TimerPeripheral.hpp"
-
 #include "HALAL/Models/BoardID/BoardID.hpp"
 #include "HALAL/Models/Concepts/Concepts.hpp"
 

Inc/HALAL/Models/GPIO.hpp

@@ -71,6 +71,7 @@ struct GPIODomain {
       return GPIO_SPEED_FREQ_VERY_HIGH;
     }
   }
+  // Note: AF mapping is inverted: AF0 -> 15, AF1 -> 14, ..., AF15 -> 0, it is staticly casted and inverted later
   enum class AlternateFunction : uint8_t {
     NO_AF = 20,
     AF0 = 15,
@@ -189,10 +190,14 @@ struct GPIODomain {
       if (!pin.valid_af(af)) {
         compile_error("Alternate function not valid for this pin");
       }
+
+      if ((mode == OperationMode::ALT_PP || mode == OperationMode::ALT_OD) && af == AlternateFunction::NO_AF) {
+        compile_error("Alternate function must be specified for alternate modes");
+      }
     }
 
-    template <class Ctx> consteval void inscribe(Ctx &ctx) const {
-      ctx.template add<GPIODomain>(e, this);
+    template <class Ctx> consteval std::size_t inscribe(Ctx &ctx) const {
+      return ctx.template add<GPIODomain>(e, this);
     }
   };
 
@@ -221,7 +226,7 @@ struct GPIODomain {
       GPIO_InitStruct.Pull = to_hal_pull(e.pull);
       GPIO_InitStruct.Speed = to_hal_speed(e.speed);
       if (e.mode == OperationMode::ALT_PP || e.mode == OperationMode::ALT_OD) {
-        GPIO_InitStruct.Alternate = static_cast<uint32_t>(e.af);
+        GPIO_InitStruct.Alternate = 15 - static_cast<uint32_t>(e.af); // AF mapping inversion
       }
 
       cfgs[i].init_data = std::make_tuple(e.port, GPIO_InitStruct);

Inc/HALAL/Models/PinModel/Pin.hpp

@@ -112,7 +112,7 @@ struct hash<Pin> {
         using std::string;
 
         return ((hash<uint16_t>()(k.gpio_pin) ^
-                 (hash<uint32_t>()((uint32_t)(k.port)) << 1)) >>
+                 (hash<uint32_t>()((size_t)(k.port)) << 1)) >>
                 1);
     }
 };