Merge branch 'main' into feature/ChongOscar/fmc-support

Author: DannyCato

include/core/io/ADC.hpp

@@ -1,18 +1,17 @@
 #ifndef _EVT_ADC_
 #define _EVT_ADC_
 
+#include <core/io/pin.hpp>
 #include <stdint.h>
 
 namespace core::io {
 
 // Forward declarations:
 // The different pins are hardware specific. Forward declarations to allow
 // at compilation time the decision of which pins should be used.
-enum class Pin;
 enum class ADCPeriph;
 
 class ADC {
-
 public:
     /**
      * Setup the given pin for ADC (analog to digital) usage

include/core/io/CAN.hpp

@@ -1,9 +1,9 @@
 #ifndef _EVT_CAN_
 #define _EVT_CAN_
 
-#include <stdint.h>
-
+#include <core/io/pin.hpp>
 #include <core/io/types/CANMessage.hpp>
+#include <cstdint>
 
 #ifndef EVT_CAN_TIMEOUT
     #define EVT_CAN_TIMEOUT 255
@@ -19,11 +19,6 @@
 #endif
 
 namespace core::io {
-// Forward declarations:
-// The different pins are hardware specific. Forward declaration to allow
-// at compilation time the decision of which pins should be used.
-enum class Pin;
-
 /**
  * Generic interface for CAN bus communication. Devices can send and recieve
  * messages over the CAN bus using this interface.

include/core/io/GPIO.hpp

@@ -1,14 +1,10 @@
 #ifndef _EVT_GPIO_
 #define _EVT_GPIO_
 
-#include <stdint.h>
+#include <core/io/pin.hpp>
+#include <cstdint>
 
 namespace core::io {
-// Forward declarations:
-// The different pins are hardware specific. Forward declaration to allow
-// at compilation time the decision of which pins should be used.
-enum class Pin;
-
 /**
  * Interface for interacting with GPIO pins on a device. GPIO pins can have
  * their state read and written to.
@@ -23,6 +19,53 @@ enum class Pin;
  */
 class GPIO {
 public:
+    /**
+     * A union of a 16-bit number and a  breakdown of it in a struct of individual bits.
+     * the value is meant to quickly set or read a value with ease.
+     * the struct is meant for individually flipping bits in the field with a friendly format
+     * Meant for mass GPIO instantiation
+     *
+     * Usage Example 1:
+     * PinPack a = {.value = 0x0010};
+     * PinPack b = {.pin_4 = 1};
+     * then
+     * a == b
+     *
+     * Usage Example 2:
+     * PinPack a = {.pin_4 = 1, .pin_15 = 1};
+     * then reading from a.value gives
+     * a.value == 0x8010;
+     *
+     * Usage Example 3:
+     * uint16_t any_number = 0x1111;
+     * PinPack a;
+     * a.value = any_number;
+     * then
+     * a.pin_12 && a.pin_8 && a.pin_4 && a.pin_0 == 1
+     */
+    union __attribute__((packed)) PinPack {
+        uint16_t value;
+        struct {
+            uint16_t        // total size
+                pin_0  : 1, // Bit 0
+                pin_1  : 1, // Bit 1
+                pin_2  : 1, // Bit 2
+                pin_3  : 1, // Bit 3
+                pin_4  : 1, // Bit 4
+                pin_5  : 1, // Bit 5
+                pin_6  : 1, // Bit 6
+                pin_7  : 1, // Bit 7
+                pin_8  : 1, // Bit 8
+                pin_9  : 1, // Bit 9
+                pin_10 : 1, // Bit 10
+                pin_11 : 1, // Bit 11
+                pin_12 : 1, // Bit 12
+                pin_13 : 1, // Bit 13
+                pin_14 : 1, // Bit 14
+                pin_15 : 1; // Bit 15
+        };
+    };
+
     /**
      * Binary representation of the states the GPIO can be in
      */
@@ -75,6 +118,29 @@ class GPIO {
      */
     GPIO(Pin pin, Direction direction, Pull pull = Pull::PULL_DOWN);
 
+    /**
+     *
+     * @param pin
+     * @return uint16_t with the pin number's bit set
+     */
+    static uint16_t setPackBit(Pin pin) {
+        return 1 << pinNumberFromPin(pin);
+    }
+
+    /**
+     * Fill a given PinPack based on a given array of pins
+     *
+     * @param[out] pp PinPack to be filled given the pin array
+     * @param[in] pins Array of pins in the same Port
+     * @param[in] num_pins number of pins in array
+     */
+    static void fillPinPack(PinPack& pp, Pin* pins, uint8_t num_pins) {
+        pp.value = 0;
+        for (uint8_t i = 0; i < num_pins; i++) {
+            pp.value |= setPackBit(pins[i]);
+        }
+    }
+
     /**
      * Sets whether this pin is configured for input or output.
      *

include/core/io/I2C.hpp

@@ -1,6 +1,7 @@
 #ifndef _EVT_I2C_
 #define _EVT_I2C_
 
+#include <core/io/pin.hpp>
 #include <cstdint>
 
 #define I2C_RETURN_IF_ERR(func)             \
@@ -17,7 +18,6 @@ namespace core::io {
 // Forward declarations:
 // The different pins are hardware specific. Forward declaration to allow
 // at compilation time the decision of which pins should be used.
-enum class Pin;
 
 /**
  * Contains generic implementations for some of the I2C functionality.

include/core/io/PWM.hpp

@@ -1,17 +1,12 @@
 #ifndef _EVT_PWM_
 #define _EVT_PWM_
 
-#include <stdint.h>
+#include <core/io/pin.hpp>
+#include <cstdint>
 
 namespace core::io {
 
-// Forward declarations:
-// The different pins are hardware specific. Forward declarations to allow
-// at compilation time the decision of which pins should be used.
-enum class Pin;
-
 class PWM {
-
 public:
     /**
      * Setup the given pin for PWM usage.

include/core/io/SPI.hpp

@@ -1,9 +1,9 @@
 #ifndef _EVT_SPI_
 #define _EVT_SPI_
 
-#include <cstdint>
-
 #include <core/io/GPIO.hpp>
+#include <core/io/pin.hpp>
+#include <cstdint>
 
 #ifndef EVT_SPI_TIMEOUT
     #define EVT_SPI_TIMEOUT 100
@@ -23,11 +23,6 @@
 
 namespace core::io {
 
-// Forward declarations:
-// The different pins are hardware specific. Forward declaration to allow
-// at compilation time the decision of which pins should be used.
-enum class Pin;
-
 class SPI {
 public:
     /**

include/core/io/UART.hpp

@@ -1,6 +1,7 @@
 #ifndef _EVT_UART_
 #define _EVT_UART_
 
+#include <core/io/pin.hpp>
 #include <cstdint>
 #include <cstdlib>
 
@@ -10,11 +11,6 @@
 
 namespace core::io {
 
-// Forward declarations:
-// The different pins are hardware specific. Forward declarations to allow
-// at compilation time the decision of which pins should be used.
-enum class Pin;
-
 /**
  * Interface for UART operations. The UART has the ability for character and
  * byte centered operations.

include/core/io/pin.hpp

@@ -6,6 +6,8 @@
 #ifndef _EVT_PIN_
 #define _EVT_PIN_
 
+#include <cstdint>
+
 // TODO: Fix this so that it changes pin out on a per Package Basis instead of a per MCU basis
 #ifdef STM32F302x8
     #define NUCLEO_SUPPORT
@@ -23,20 +25,22 @@
     #define HAS_PORT_D
     #define HAS_PORT_E
     #define HAS_PORT_F
+    #define HAS_PORT_G
     #define HAS_PORT_H
     #define HAS_PORT_I
 #endif
 
 namespace core::io {
 
 /**
- * Pin mapping information. These values are generated via a combination of the GPIO bank that
- * the pin is on and the number of the pin. We referenced MBed's documentation for generating
- * these values.
+ * Pin mapping information. The port is the letter after P, and the pin number is the number after the underscore
+ *
+ * PB_10's port is B and pin number is 10
+ * See the Port enum to see what the value of a Port should be
  */
-enum class Pin {
-    INVALID = -1, // THIS INTENTIONALLY DOES NOT POINT TO A PIN. Used as a default value, so the default value is
-                  // no longer PA_O (a real pin)
+enum class Pin : uint8_t {
+    INVALID = 0xFF, // THIS INTENTIONALLY DOES NOT POINT TO A PIN. Used as a default value, so the default value is
+                    // no longer PA_O (a real pin)
     PA_0  = 0x00,
     PA_1  = 0x01,
     PA_2  = 0x02,
@@ -287,5 +291,46 @@ enum class Pin {
 #endif
 };
 
+enum class Port : uint8_t {
+    Invalid = 0xFF,
+    A       = 0x0,
+    B       = 0x1,
+    C       = 0x2,
+    D       = 0x3,
+#ifdef HAS_PORT_E
+    E = 0x4,
+#endif
+    F = 0x5,
+#ifdef HAS_PORT_G
+    G = 0x6,
+#endif
+#ifdef HAS_PORT_H
+    H = 0x7,
+#endif
+#ifdef HAS_PORT_I
+    I = 0x8,
+#endif
+};
+
+/**
+ * Get the port from a Pin
+ *
+ * @param pin Pin
+ * @return Port of the Pin
+ */
+constexpr Port portFromPin(Pin pin) {
+    return static_cast<Port>((static_cast<uint32_t>(pin) & 0xF0) >> 4);
+}
+
+/**
+ * Get the pin number from a Pin
+ *
+ * @param pin Pin
+ * @return Pin number of the Pin
+ */
+constexpr uint8_t pinNumberFromPin(Pin pin) {
+    return static_cast<uint8_t>(pin) & 0x0F;
+}
+
 }; // namespace core::io
 #endif

include/core/io/platform/f4xx/GPIOf4xx.hpp

@@ -36,18 +36,57 @@ class GPIOf4xx : public GPIO {
     void registerIRQ(TriggerEdge edge, void (*irqHandler)(GPIO* pin, void* priv), void* priv) override;
 
     /**
+     * DEPRECATED!!!! DO NOT USE
      * Condenses gpio settings initialization into a single function.
-     * @param targetGpio gpio instance to initialize
-     * @param pins array of pins used by gpio instance
-     * @param numOfPins size of the pin array (either 1 or 2)
-     * @param mode gpio configuration mode
-     * @param pull pull-up or pull-down activation
-     * @param speed maximum gpio output frequency
+     * @param[in/out] targetGpio gpio instance to initialize
+     * @param[in] pins array of pins used by gpio instance
+     * @param[in] numOfPins size of the pin array (either 1 or 2)
+     * @param[in] mode gpio configuration mode
+     * @param[in] pull pull-up or pull-down activation
+     * @param[in] speed maximum gpio output frequency
      * Possible values for Mode, Pull, and Speed can be found in "stm32f4xx_hal_gpio.h"
-     * @param alternate gpio alternate function selection
+     * @param[in] alternate gpio alternate function selection
      */
     static void gpioStateInit(GPIO_InitTypeDef* targetGpio, Pin* pins, uint8_t numOfPins, uint32_t mode, uint32_t pull,
-                              uint32_t speed, uint8_t alternate = 0x0DU);
+                              uint32_t speed, uint8_t alternate = 0x0E);
+
+    /**
+     * Initialize an arbitrary length array of GPIO pins.
+     * Does modify the array to be sorted as a result of its implementation
+     * @param[in] pins Pins to set
+     * @param[in] numOfPins number of pins in total
+     * @param[in] mode gpio configuration mode
+     * @param[in] pull pull-up or pull-down activation
+     * @param[in] speed maximum gpio output frequency
+     * Possible values for Mode, Pull, and Speed can be found in "stm32f4xx_hal_gpio.h"
+     * @param[in] alternate gpio alternate function selection
+     */
+    static void gpioInit(Pin* pins, uint8_t numOfPins, uint32_t mode, uint32_t pull, uint32_t speed,
+                         uint8_t alternate = 0x00);
+
+    /**
+     * Initialize a single GPIO pin
+     * @param[in] pin Pin to set
+     * @param[in] mode gpio configuration mode
+     * @param[in] pull pull-up or pull-down activation
+     * @param[in] speed maximum gpio output frequency
+     * Possible values for Mode, Pull, and Speed can be found in "stm32f4xx_hal_gpio.h"
+     * @param[in] alternate gpio alternate function selection
+     */
+    static void gpioSingleInit(Pin pin, uint32_t mode, uint32_t pull, uint32_t speed, uint8_t alternate = 0x00);
+
+    /**
+     * Mass Initialize GPIO pins with the same value with a grouping by port
+     * @param[in] pack_pins Byte Array of pins
+     * @param[in] port Port of the pins to initialize
+     * @param[in] mode gpio configuration mode
+     * @param[in] pull pull-up or pull-down activation
+     * @param[in] speed maximum gpio output frequency
+     * Possible values for Mode, Pull, and Speed can be found in "stm32f4xx_hal_gpio.h"
+     * @param[in] alternate gpio alternate function selection
+     */
+    static void gpioPortInit(PinPack pack_pins, Port port, uint32_t mode, uint32_t pull, uint32_t speed,
+                             uint8_t alternate);
 
 private:
     // See stm32f4xx_hal_gpio -> GPIO_mode for info on derivations

libs/HALf3/include/HALf3/stm32f3xx_it.h

@@ -56,6 +56,11 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+/**
+* @brief This function does not do anything, but ensures that the compiler/linker works and links together the vectored
+* interrupt handlers to where they are initially weakly defined in startup_stm32f4xxxx.s
+*/
+void ensure_interrupt_linkage(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */