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Merge branch 'main' into arduino-support

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This commit is contained in:
dario
2024-06-03 22:56:37 +02:00
parent 1d8e05aa24 7efa3c333e
commit dcc4bd2720
22 changed files with 382 additions and 42 deletions
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19
include/sta/debug/assert.hpp
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@@ -3,9 +3,8 @@
* @brief Assertion handling.
*
* Configuration:
* * STA_ASSERT_FORCE: Ignore debug defines and always enable assertions
* * DEBUG: Enables assertions when defined
* * NDEBUG: Disables assertions when defined (overrides DEBUG)
* * STA_ASSERT_ENABLED: Enable assertions
* * STA_ASSERT_FORCE: Enable assertions. Still there for backwards compatibility.
*/
#ifndef STA_CORE_ASSERT_HPP
#define STA_CORE_ASSERT_HPP
@@ -24,18 +23,10 @@
#include <sta/config.hpp>
// Determine if module should be enabled
// Condition:
// STA_ASSERT_FORCE is defined
// or
// DEBUG is defined but not NDEBUG
// Keep STA_ASSERT_FORCE for backwards comapatibility.
#ifdef STA_ASSERT_FORCE
# define STA_ASSERT_ENABLED
#else // !STA_ASSERT_FORCE
# if defined(DEBUG) && !defined(NDEBUG)
# define STA_ASSERT_ENABLED
# endif // DEBUG && !NDEBUG
#endif // !STA_ASSERT_FORCE
# define STA_ASSERT_ENABLED
#endif // STA_ASSERT_FORCE
#if defined(STA_ASSERT_ENABLED) || defined(DOXYGEN)

47
include/sta/debug/profile.hpp Normal file
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@@ -0,0 +1,47 @@
/*
* profile.hpp
*
* Created on: May 22, 2024
* Author: Dario
*/
#ifndef STA_DEBUGGING_PROFILING_HPP
#define STA_DEBUGGING_PROFILING_HPP
#include <sta/debug/debug.hpp>
#ifdef STA_PROFILING_ENABLED
#ifndef STA_DEBUGGING_ENABLED
# error "Debugging has to be enabled in order to use profiling."
#endif // STA_DEBUGGING_ENABLED
#ifndef STA_STM32_DELAY_US_TIM
# error "A microsecond timer has to be defined in order to use profiling."
#endif // STA_STM32_DELAY_US_TIM
namespace sta
{
class Profiler {
public:
Profiler(const char* name);
~Profiler();
private:
const char* name_;
uint32_t start_;
};
} // namespace sta
/**
*
*/
#define STA_TIME_IT(name) sta::Profiler profiler(name);
#else
#define STA_TIME_IT(name) ((void)0)
#endif // // STA_PROFILING_ENABLED
#endif // STA_DEBUGGING_PROFILING_HPP

8
include/sta/devices/stm32/adc.hpp
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@@ -31,6 +31,14 @@ namespace sta
*/
void start();
/**
* @brief Starts conversion of the incoming analog signal in DMA mode.
*
* @param buffer The buffer to write the converted values to.
* @param length The length of the buffer to write the converted values to.
*/
void startDMA(uint32_t * buffer, size_t length);
/**
* @brief Polls for the converted analog signal.
*

8
include/sta/devices/stm32/can.hpp
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@@ -80,6 +80,14 @@ namespace sta
void disableFilter(uint8_t idx) override;
void clearFilters() override;
// Return pending RX FIFOs as iterable container
CanPendingRxFifos getPendingRxFifos() override;
// Const getters
uint8_t maxFilterCount() const override;
uint8_t maxFifoCount() const override;
uint8_t maxPayloadSize() const override;
private:
/**
* @brief Initialize filter settings.

69
include/sta/devices/stm32/clocks.hpp
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@@ -39,7 +39,7 @@ namespace sta
*
* @param n Index of peripheral clock
*/
#define STA_STM32_GET_PCLK_FREQ_FN(n) HAL_RCC_GetPCLK ## n ## Freq
#define STA_STM32_GET_PCLK_FREQ_FN(n) HAL_RCC_GetPCLK ## n ## Freq
/**
* @brief Internal helper for macro expansion.
@@ -47,7 +47,31 @@ namespace sta
* @param n PCLK index
* @return Function returning PCLK frequency
*/
#define _STA_STM32_GET_PCLK_FREQ_FN(n) STA_STM32_GET_PCLK_FREQ_FN(n)
#define _STA_STM32_GET_PCLK_FREQ_FN(n) STA_STM32_GET_PCLK_FREQ_FN(n)
/**
* @brief Get the PCLK frequency.
*
* @param n PCLK index
* @return The PCLK frequency
*/
#define _STA_STM32_GET_PCLK_FREQ(n) STA_STM32_GET_PCLK_FREQ_FN(n)()
/**
* @brief Gets the prescaler from APBx to APBx timer clocks.
*
* @param n PCLK index
* @return The prescaler from PCLK to TIM
*/
#define STA_STM32_GET_PCLK_TIM_PRESCALER(n) STA_STM32_TIM_PCLK_ ## n ## ## _PRESCALER
/**
* @brief Internal helper for macro expansion.
*
* @param n PCLK index
* @return Function returning PCLK frequency
*/
#define _STA_STM32_GET_PCLK_TIM_PRESCALER(n) STA_STM32_GET_PCLK_TIM_PRESCALER(n)
/**
* @brief Map instance name to PCLK index.
@@ -56,52 +80,67 @@ namespace sta
* @param idx Instance index
* @return PCLK index
*/
#define _STA_STM32_PCLK_IDX_MAP(type, idx) STA_STM32_ ## type ## _ ## idx ## _PCLK_IDX
#define _STA_STM32_PCLK_IDX_MAP(type, idx) STA_STM32_ ## type ## _ ## idx ## _PCLK_IDX
// Get HAL handle to PCLK index map macro
/**
* @brief Map instance handle to PCLK index.
*
* @param handle HAL handle
* @return PCLK index
*/
#define _STA_STM32_HANDLE_PCLK_IDX_MAP(handle) STA_STM32_ ## handle ## _PCLK_IDX
#define _STA_STM32_HANDLE_PCLK_IDX_MAP(handle) STA_STM32_ ## handle ## _PCLK_IDX
/**
* @brief Get function returning frequency of PCLK used by TIM.
* @brief Get a function returning the frequency of PCLK used by TIM.
*
* @param n TIM index
*/
#define STA_STM32_GET_TIM_PCLK_FREQ_FN(n) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(TIM, n))
#define STA_STM32_GET_TIM_PCLK_FREQ_FN(n) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(TIM, n))
/**
* @brief Get function returning frequency of PCLK used by SPI interface.
* @brief Internal helper for macro expansion.
*
* @param n TIM index
*/
#define _STA_STM32_GET_TIM_PCLK_FREQ_FN(n) STA_STM32_GET_TIM_PCLK_FREQ_FN(n)
/**
* @brief Get a function returning the frequency of PCLK used by SPI interface.
*
* @param n SPI interface index
*/
#define STA_STM32_GET_SPI_PCLK_FREQ_FN(n) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(SPI, n))
#define STA_STM32_GET_SPI_PCLK_FREQ_FN(n) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(SPI, n))
/**
* @brief Get function returning frequency of PCLK used by I2C interface.
* @brief Get a function returning the frequency of PCLK used by I2C interface.
*
* @param n I2C interface index
*/
#define STA_STM32_GET_I2C_PCLK_FREQ_FN(n) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(I2C, n))
#define STA_STM32_GET_I2C_PCLK_FREQ_FN(n) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(I2C, n))
/**
* @brief Get function returning frequency of PCLK used by USART interface.
* @brief Get a function returning the frequency of PCLK used by USART interface.
*
* @param n USART interface index
*/
#define STA_STM32_GET_USART_PCLK_FREQ_FN(n) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(USART, n))
#define STA_STM32_GET_USART_PCLK_FREQ_FN(n) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(USART, n))
/**
* @brief Get function returning frequency of PCLK used by HAL instance.
* @brief Get a function returning the frequency of PCLK used by HAL instance.
*
* @param handle Instance handle
*/
#define STA_STM32_GET_HANDLE_PCLK_FREQ_FN(handle) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_HANDLE_PCLK_IDX_MAP(handle))
#define STA_STM32_GET_HANDLE_PCLK_FREQ_FN(handle) _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_HANDLE_PCLK_IDX_MAP(handle))
/**
* @brief Get the PCLK to timer prescaler for TIM given by the handle.
*
* @param handle TIM handle
* @return PCLK-TIM prescaler
*/
#define STA_STM32_GET_HANDLE_PCLK_TIM_PRESCALER(handle) _STA_STM32_GET_PCLK_TIM_PRESCALER(_STA_STM32_HANDLE_PCLK_IDX_MAP(handle))
/** @} */

1
include/sta/devices/stm32/init.hpp
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@@ -5,6 +5,7 @@
#ifndef STA_CORE_STM32_INIT_HPP
#define STA_CORE_STM32_INIT_HPP
#include <sta/devices/stm32/hal.hpp>
namespace sta
{

10
include/sta/devices/stm32/mcu/STM32F407xx.hpp
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@@ -14,9 +14,10 @@
#include <sta/devices/stm32/mcu/common.hpp>
// uart setup
// uart/CAN setup
#ifdef STA_STM32_ASEAG
# define STA_STM32_USART_HANDLE huart1
# define STA_STM32_CAN_HANDLE hcan1
#else
# ifdef STA_STM32_SWD_USART_IDX
# define STA_STM32_USART_HANDLE CONCAT(huart, STA_STM32_SWD_USART_IDX)
@@ -63,6 +64,11 @@
#define STA_STM32_USART_3_PCLK_IDX 1 /**< USART3 to PCLK index */
#define STA_STM32_USART_6_PCLK_IDX 2 /**< USART6 to PCLK index */
// prescaler from APBx to APBx timer clocks
#define STA_STM32_TIM_PCLK_1_PRESCALER 2 /**< PCLK1 has prescaler of 2 */
#define STA_STM32_TIM_PCLK_2_PRESCALER 2 /**< PCLK2 has prescaler of 1 */
// HAL handle mappings
//
@@ -100,4 +106,4 @@
/** @} */
#endif // STA_CORE_STM32_MCU_STM32F407xx_HPP
#endif // STA_CORE_STM32_MCU_STM32F407xx_HPP

5
include/sta/devices/stm32/mcu/STM32F411xE.hpp
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@@ -63,8 +63,13 @@
#define STA_STM32_USART_2_PCLK_IDX 1 /**< USART2 to PCLK index 1 */
#define STA_STM32_USART_6_PCLK_IDX 2 /**< USART6 to PCLK index 2 */
// prescaler from APBx to APBx timer clocks
#define STA_STM32_TIM_PCLK_1_PRESCALER 2 /**< PCLK1 has prescaler of 2 */
#define STA_STM32_TIM_PCLK_2_PRESCALER 1 /**< PCLK2 has prescaler of 1 */
// HAL handle mappings
//
// TIM to PCLK
#define STA_STM32_htim1_PCLK_IDX STA_STM32_TIM_1_PCLK_IDX /**< HAL TIM1 to PCLK index */

18
include/sta/gpio_pin.hpp
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@@ -37,6 +37,24 @@ namespace sta
*/
virtual void setState(GpioPinState state) = 0;
/**
* @brief Set the GPIO pin to high.
*
*/
void setHigh();
/**
* @brief Set the GPIO pin to low.
*
*/
void setLow();
/**
* @brief Set the GPIO pin to the opposite of the current state.
*
*/
void toggle();
/**
* @brief Get pin input state.
*

17
include/sta/mutex.hpp
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@@ -5,9 +5,16 @@
#ifndef STA_CORE_MUTEX_HPP
#define STA_CORE_MUTEX_HPP
#include <mutex>
namespace sta
{
/**
* @brief Hippity hoppity, this is now namespace sta's property.
*/
using std::lock_guard;
/**
* @brief Interface for mutex objects.
*
@@ -25,6 +32,16 @@ namespace sta
*/
virtual void release() = 0;
/**
* @brief Identical to acquire(). Added for compatibility with std::lock_guard.
*/
void lock();
/**
* @brief Identical to release(). Added for compatibility with std::lock_guard.
*/
void unlock();
static Mutex * ALWAYS_FREE; /**< Fake mutex that can always be acquired */
};
} // namespace sta

15
include/sta/time.hpp
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@@ -16,12 +16,27 @@ namespace sta
* @return Time in milliseconds
*/
using TimeMsFn = uint32_t (*)();
/**
* @brief Signature for microseconds precision time.
*
* @return Time in microseconds
*/
using TimeUsFn = uint32_t (*)();
/**
* @brief Gets the current time in milliseconds.
*
* @return Time in milliseconds
*/
uint32_t timeMs();
/**
* @brief Gets the current time in microseconds.
*
* @return Time in microseconds
*/
uint32_t timeUs();
} // namespace sta