Merge branch 'development' into fix_issue598

Author: jorgesg82

.changesets/dfsdm-module-minor.md

@@ -0,0 +1,2 @@
+release: minor
+summary: Added module dfsdm tested

.changesets/fix-scheduler-race-condition.md

@@ -0,0 +1,5 @@
+release: minor
+summary: fix remaining scheduler race conditions and add warning when tasks are not ran in time
+
+The mechanism for checking if tasks are not ran in time is very simple but that also means the scheduler can only know if a task has not been called when the waiting time runs out for the second time.
+This means you will know if you're too slow to execute the task in less than 2x its period but not if you're between 1 and 2x its period.

.changesets/inputcapture.md

@@ -0,0 +1,4 @@
+release: minor
+summary: input capture implementation
+
+Also changed how the timer interrupts are handled since this was required for inputcapture

AGENTS.md

@@ -0,0 +1,25 @@
+# AGENTS.md
+
+## Releases And Changesets
+
+Treat [`docs/releases.md`](docs/releases.md) as the source of truth for the release flow.
+
+- For a normal PR into `development` that changes ST-LIB, add exactly one new file under [`.changesets`](.changesets).
+- Use [`.changesets/README.md`](.changesets/README.md) and [`.changesets/TEMPLATE.md`](.changesets/TEMPLATE.md) for the exact format.
+- Changesets must follow this shape:
+
+```text
+release: patch
+summary: Short user-visible summary in one line
+
+Optional extra context in markdown.
+```
+
+- Choose `release:` like this:
+  - `major` for breaking API or contract changes.
+  - `minor` for backwards-compatible features.
+  - `patch` for backwards-compatible fixes.
+  - `none` only for internal, docs, or CI changes that should appear in release notes without bumping the version by themselves.
+- If the change affects public behavior, API, contracts, or shipped functionality, do not use `none`.
+- Do not manually bump [`VERSION`](VERSION) or edit [`CHANGELOG.md`](CHANGELOG.md) for normal feature or fix work. Release automation updates them on `release/next`.
+- Expect CI to validate the changeset, roll pending changesets into `release/next`, archive processed files, tag `vX.Y.Z`, and publish the GitHub Release after the `release/next` PR merges.

CMakeLists.txt

@@ -298,6 +298,7 @@ set(HALAL_CPP_NO_ETH
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Time/RTC.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Time/Scheduler.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Watchdog/Watchdog.cpp
+  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/DFSDM/DFSDM.cpp
 )
 
 

Inc/HALAL/HALAL.hpp

@@ -50,6 +50,8 @@
 #include "HALAL/Models/Packets/MdmaPacket.hpp"
 
 #include "HALAL/Benchmarking_toolkit/DataWatchpointTrace/DataWatchpointTrace.hpp"
+
+#include "HALAL/Services/DFSDM/DFSDM.hpp"
 #include "HALAL/HardFault/HardfaultTrace.h"
 #include "HALAL/Services/Communication/Ethernet/NewEthernet.hpp"
 #ifdef STLIB_ETH

Inc/HALAL/Models/DMA/DMA2.hpp

@@ -35,7 +35,11 @@ struct DMADomain {
         spi4,
         spi5,
         spi6,
-        fmac
+        fmac,
+        dfsdm_filter0,
+        dfsdm_filter1,
+        dfsdm_filter2,
+        dfsdm_filter3
     };
 
     enum class Stream : uint8_t {
@@ -98,7 +102,7 @@ struct DMADomain {
         }
         return nullptr;
     }
-
+    static inline consteval bool shares_dma(Peripheral p) { return is_dfsdm(p); }
     struct Entry {
         Peripheral instance;
         Stream stream;
@@ -217,6 +221,16 @@ struct DMADomain {
 
     static consteval bool is_none(Peripheral instance) { return instance == Peripheral::none; }
 
+    static consteval bool is_dfsdm(Peripheral instance) {
+        return is_one_of(
+            instance,
+            Peripheral::dfsdm_filter0,
+            Peripheral::dfsdm_filter1,
+            Peripheral::dfsdm_filter2,
+            Peripheral::dfsdm_filter3
+        );
+    }
+
     static consteval uint32_t get_Request(Peripheral instance, uint8_t i) {
         if (instance == Peripheral::none)
             return DMA_REQUEST_MEM2MEM;
@@ -272,8 +286,20 @@ struct DMADomain {
             return DMA_REQUEST_FMAC_WRITE;
         if (instance == Peripheral::fmac && i == 2)
             return DMA_REQUEST_FMAC_READ;
-
+        if (instance == Peripheral::dfsdm_filter0) {
+            return DMA_REQUEST_DFSDM1_FLT0;
+        }
+        if (instance == Peripheral::dfsdm_filter1) {
+            return DMA_REQUEST_DFSDM1_FLT1;
+        }
+        if (instance == Peripheral::dfsdm_filter2) {
+            return DMA_REQUEST_DFSDM1_FLT2;
+        }
+        if (instance == Peripheral::dfsdm_filter3) {
+            return DMA_REQUEST_DFSDM1_FLT3;
+        }
         compile_error("Invalid DMA request configuration");
+
         return 0;
     }
 
@@ -303,7 +329,7 @@ struct DMADomain {
     static consteval uint32_t get_PeriphDataAlignment(Peripheral instance, uint8_t i) {
         if (is_spi(instance) || is_i2c(instance)) {
             return DMA_PDATAALIGN_BYTE;
-        } else if (is_none(instance)) {
+        } else if (is_none(instance) || (is_dfsdm(instance))) {
             return DMA_PDATAALIGN_WORD;
         }
         return DMA_PDATAALIGN_HALFWORD;

Inc/HALAL/Models/Packets/PacketValue.hpp

@@ -11,7 +11,7 @@ template <> class PacketValue<> {
 public:
     using value_type = empty_type;
     PacketValue() = default;
-    ~PacketValue() = default;
+    virtual ~PacketValue() = default;
     virtual void* get_pointer() = 0;
     virtual void set_pointer(void* pointer) = 0;
     virtual size_t get_size() = 0;