Merge branch 'feature/diegolhendrix/sdo-sample' of https://github.com/RIT-EVT/EVT-core into feature/diegolhendrix/sdo-sample

Author: DiegoLHendrix

CMakeLists.txt

@@ -60,7 +60,8 @@ if(COMPDEFS MATCHES "(.*)STM32F3xx(.*)")
     src/core/io/platform/f3xx/UARTf3xx.cpp
     src/core/io/platform/f3xx/SPIf3xx.cpp
     src/core/dev/platform/f3xx/IWDGf3xx.cpp
-    src/core/dev/platform/f3xx/RTCf3xx.cpp)
+    src/core/dev/platform/f3xx/RTCf3xx.cpp
+    )
 elseif(COMPDEFS MATCHES "(.*)STM32F4xx(.*)")
     target_sources(${PROJECT_NAME} PRIVATE
     src/core/utils/platform/f4xx/timef4xx.cpp

include/core/dev/MCUTimer.hpp

@@ -9,48 +9,53 @@
 #endif
 
 namespace core::dev {
-
 /**
  * Enum for all the hardware timers available on the current MCU
  */
 enum class MCUTimer {
 #if defined(STM32F302x8)
     Timer1,
     Timer2,
-    Timer6,
     Timer15,
     Timer16,
     Timer17,
 #elif defined(STM32F334x8)
     Timer1,
     Timer2,
     Timer3,
-    Timer6,
-    Timer7,
     Timer15,
     Timer16,
     Timer17,
 #elif defined(STM32F446xx)
+    Timer1,
     Timer2,
     Timer3,
     Timer4,
     Timer5,
+    Timer8,
     Timer9,
     Timer10,
     Timer11,
     Timer12,
     Timer13,
     Timer14,
 #endif
+    None
 };
 
 /**
  * Gets the corresponding HAL TIM_TypeDef* for each MCUTimer
+ * This function is inlined because of a couple of reasons.
+ * 1. It is in a header file, and functions in header files should be inlined.
+ * https://clang.llvm.org/extra/clang-tidy/checks/misc/definitions-in-headers.html
+ * 2. When this function is not inlined, F3 targets will not build. This is because PWMF3xx requires its own
+ *    `timerInstance` function that requires an MCUTimer import. Since manager.hpp also includes MCUTimer.hpp, and has
+ *    generally broken imports (see [FWT-255] https://rit-evt.atlassian.net/browse/FWT-255).
  *
  * @param mcuTimer MCUTimer of which to get the HAL equivalent
  * @return HAL equivalent of mcuTimer
  */
-TIM_TypeDef* getTIM(MCUTimer mcuTimer) {
+inline TIM_TypeDef* getTIM(const MCUTimer mcuTimer) {
     TIM_TypeDef* timPeriph;
     switch (mcuTimer) {
 #if defined(STM32F302x8)
@@ -60,9 +65,6 @@ TIM_TypeDef* getTIM(MCUTimer mcuTimer) {
     case MCUTimer::Timer2:
         timPeriph = TIM2;
         break;
-    case MCUTimer::Timer6:
-        timPeriph = TIM6;
-        break;
     case MCUTimer::Timer15:
         timPeriph = TIM15;
         break;
@@ -72,6 +74,9 @@ TIM_TypeDef* getTIM(MCUTimer mcuTimer) {
     case MCUTimer::Timer17:
         timPeriph = TIM17;
         break;
+    default:
+        timPeriph = TIM1;
+        break;
 #elif defined(STM32F334x8)
     case MCUTimer::Timer1:
         timPeriph = TIM1;
@@ -82,12 +87,6 @@ TIM_TypeDef* getTIM(MCUTimer mcuTimer) {
     case MCUTimer::Timer3:
         timPeriph = TIM3;
         break;
-    case MCUTimer::Timer6:
-        timPeriph = TIM6;
-        break;
-    case MCUTimer::Timer7:
-        timPeriph = TIM7;
-        break;
     case MCUTimer::Timer15:
         timPeriph = TIM15;
         break;
@@ -97,11 +96,13 @@ TIM_TypeDef* getTIM(MCUTimer mcuTimer) {
     case MCUTimer::Timer17:
         timPeriph = TIM17;
         break;
+    default:
+        timPeriph = TIM1;
+        break;
 #elif defined(STM32F446xx)
-    /*
-     * Timers 1 and 8 are advanced timers
-     * so they are not included in this switch statement
-     */
+    case MCUTimer::Timer1:
+        timPeriph = TIM1;
+        break;
     case MCUTimer::Timer2:
         timPeriph = TIM2;
         break;
@@ -114,6 +115,9 @@ TIM_TypeDef* getTIM(MCUTimer mcuTimer) {
     case MCUTimer::Timer5:
         timPeriph = TIM5;
         break;
+    case MCUTimer::Timer8:
+        timPeriph = TIM8;
+        break;
     case MCUTimer::Timer9:
         timPeriph = TIM9;
         break;
@@ -132,6 +136,9 @@ TIM_TypeDef* getTIM(MCUTimer mcuTimer) {
     case MCUTimer::Timer14:
         timPeriph = TIM14;
         break;
+    default:
+        timPeriph = TIM1;
+        break;
 #endif
     }
 

include/core/dev/RTCTimer.hpp

@@ -17,7 +17,7 @@ class RTCTimer : public Timer {
      *
      * @param r
      */
-    RTCTimer(RTC& r);
+    explicit RTCTimer(RTC& r);
 
     /**
      * Create instance of RTCTimer.
@@ -31,49 +31,57 @@ class RTCTimer : public Timer {
      * not implemented.
      *
      * @param[in] irqHandler The IRQ Handler function pointer.  Sets a new interrupt handler function
+     * @param[in] context The context used by the irqHandler.
      */
-    void startTimer(void (*irqHandler)(void* htim)) override {}
+    void startTimer(void (*irqHandler)(void* context, void* htim), void* context) override {}
 
     void startTimer() override;
 
     void stopTimer() override;
 
     void reloadTimer() override;
 
-    void setPeriod(uint32_t clock) override;
+    /**
+     * Set the period for PWM.
+     * Note: This does not match the dev::Timer set period, since the RTCTimer does not accept a different period.
+     * This function will hide the definition from the superclass. So you can safely ignore the warning.
+     * @param[in] period The period for the RTC timer.
+     * @param[in] clockPrescaler UNUSED DO NOT SET.
+     */
+    void setPeriod(uint32_t period, uint32_t clockPrescaler = AUTO_PRESCALER);
 
     /**
      * Gets the time since the RTC clock began in seconds
      *
      * @return the time since the RTC clock began
      */
-    uint32_t getTime();
+    [[nodiscard]] uint32_t getTime() const;
 
     /**
      * Gets whether the timer has gone off
      *
      * @return whether the time has gone off
      */
-    bool hasGoneOff();
+    [[nodiscard]] bool hasGoneOff() const;
 
 private:
     /** Instance of on-board*/
     RTC& rtc;
 
     /**
-     * The amount of seconds that have elapsed while the timer is running.
+     * The number of seconds that have elapsed while the timer is running.
      * Only updates when stopTimer() is called.
      */
-    uint32_t time;
+    uint32_t time = 0;
 
     /** The amount of time it takes the timer to go off in SECONDS */
-    uint32_t clockPeriod;
+    uint32_t clockPeriod = 0;
 
     /** The epoc time the clock started */
-    uint32_t startTime;
+    uint32_t startTime = 0;
 
     /** true if timer has been stopped */
-    bool bTimerStopped;
+    bool bTimerStopped = true;
 };
 
 } // namespace core::dev

include/core/dev/Timer.hpp

@@ -3,19 +3,29 @@
 
 #include <cstdint>
 
-namespace core::dev {
-
 /**
- * This class will represent an internal general purpose timer device for the STM32.
- * It is capable of triggering interrupts with a given frequency
+ * If AUTO_PRESCALER is sent as a prescaler the timer will calculate its own Prescaler in the setPeriod function.
+ * The automatic prescaler is calculated by dividing the system clock speed by 1000, then subtracting 1.
+ *
+ * Yes, this is a negative in an uint32_t, but it ends up just causing an underflow, and making it the max of an
+ * uint32_t.
  */
+#define AUTO_PRESCALER uint32_t(-1)
+
+namespace core::dev {
 class Timer {
 public:
+    /**
+     * Virtual destructor required by C++.
+     */
+    virtual ~Timer() = default;
+
     /**
      * Starts the given timer and registers the given interrupt pointer to trigger when the timer overflows
      * @param[in] irqHandler The IRQ Handler function pointer.  Sets a new interrupt handler function
+     * @param[in] context The context to be sent to the irqHandler when it is called.
      */
-    virtual void startTimer(void (*irqHandler)(void* htim)) = 0;
+    virtual void startTimer(void (*irqHandler)(void* context, void* htim), void* context) = 0;
 
     /**
      * Starts the given timer using the IRQ Handler already assigned to that timer.
@@ -36,11 +46,14 @@ class Timer {
      * Set the clock period for the timer.  Will stop the timer, re-initialize the device with the updated period.
      * You must call startTimer again to continue timer operation.
      *
-     * @param[in] clockPeriod the clock period in ms.  An interrupt will be triggered at that frequency.
+     * @param[in] clockPeriod the clock period in ticks (ms when using AUTO_PRESCALER).  An interrupt will be triggered
+     * at that frequency.
+     * @param [in] clockPrescaler the prescaler used by the timer. Divides the system clock frequency to get it within
+     * an acceptable range for use with the required period. If set to @ref AUTO_PRESCALER, the function implementation
+     * will calculate its own prescaler.
      */
-    virtual void setPeriod(uint32_t clockPeriod) = 0;
+    virtual void setPeriod(uint32_t clockPeriod, uint32_t clockPrescaler = AUTO_PRESCALER) = 0;
 };
-
 } // namespace core::dev
 
 #endif // EVT_TIMER_HPP