Merge branch 'development' into feature/CAN_BCU

Author: g0nz4I0

.devcontainer/Dockerfile

@@ -1,10 +1,12 @@
 FROM ubuntu:24.04
 
+ENV PATH="$PATH:/opt/st/stm32cubeclt_1.16.0/GNU-tools-for-STM32/bin:/opt/st/stm32cubeclt_1.16.0/CMake/bin:/opt/st/stm32cubeclt_1.16.0/Ninja/bin"
+
 # Install git, git-lfs, pip and colorama, and create workspace directory
 RUN apt-get update && apt-get -y install git git-lfs python3-colorama cmake g++ build-essential && \
     git lfs install
-    
+
 # Install cubeclt
 RUN mkdir /temp && cd /temp && git clone https://github.com/HyperloopUPV-H8/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
+    echo | LICENSE_ALREADY_ACCEPTED=1 ./cubeclt_1.16.0_installer.sh

.github/workflows/build.yml

@@ -0,0 +1,51 @@
+name: Build Project
+
+on:
+  workflow_call:
+    inputs:
+      preset:
+        description: |
+          'CMake preset to build the project, run `cmake --build --list-presets' to see a complete list of options'
+        required: true
+        type: string
+        default: 'nucleo-debug'
+    outputs:
+      build-artifact:
+        description: 'Build result artifact id for later use'
+        value: ${{ jobs.build.outputs.build-artifact }}
+  workflow_dispatch:
+    inputs:
+      preset:
+        description: |
+          'CMake preset to build the project, run `cmake --build --list-presets' to see a complete list of options'
+        required: true
+        type: string
+        default: 'nucleo-debug'
+
+jobs:
+  build:
+    name: Build Project
+    runs-on: ubuntu-24.04
+    outputs:
+      build-artifact: ${{ steps.upload-build-artifact.outputs.artifact-id }}
+    container:
+      image: jmaralo/hyperloop-upv-firmware:0.3.0
+    steps:
+      - name: Clone Project
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      - name: Build
+        run: |
+          cmake --preset ${{ inputs.preset }} .
+          cmake --build --preset ${{ inputs.preset }}
+      - name: Upload Build
+        id: upload-build-artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ inputs.preset }}
+          path: out/build/test.elf
+          retention-days: 7
+          compression-level: 0
+          if-no-files-found: ignore
+

.github/workflows/c-cpp.yml

@@ -0,0 +1,34 @@
+name: Compile Checks
+
+on:
+  push:
+    paths:
+      - '**.cpp'
+      - '**.hpp'
+      - '**.c'
+      - '**.h'
+      - '**.py'
+
+jobs:
+  compile-checks:
+    name: Check project compiles
+    strategy:
+      matrix:
+        preset:
+          - nucleo-debug
+          - nucleo-release
+          - nucleo-relwithdebinfo
+          - nucleo-debug-eth
+          - nucleo-release-eth
+          - nucleo-relwithdebinfo-eth
+          - board-debug
+          - board-release
+          - board-relwithdebinfo
+          - board-debug-eth
+          - board-release-eth
+          - board-relwithdebinfo-eth
+          - simulator
+      fail-fast: false
+    uses: ./.github/workflows/build.yml
+    with:
+      preset: ${{ matrix.preset }}

.github/workflows/compile-checks.yml

@@ -137,6 +137,7 @@ target_compile_options(${STLIB_LIBRARY} PRIVATE
   $<$<COMPILE_LANGUAGE:CXX>:-Wno-inconsistent-missing-override>
   $<$<COMPILE_LANGUAGE:CXX>:-fno-use-cxa-atexit>
   $<$<COMPILE_LANGUAGE:CXX>:-fno-rtti>
+  $<$<COMPILE_LANGUAGE:CXX>:-Wno-address-of-packed-member>  # Add this line
 )
 
 target_include_directories(${STLIB_LIBRARY} PRIVATE

CMakeLists.txt

@@ -4,7 +4,7 @@
         {
             "name": "mcu",
             "hidden": true,
-            "generator": "Unix Makefiles",
+            "generator": "Ninja",
             "binaryDir": "${sourceDir}/out/build/${presetName}",
             "toolchainFile": "${sourceDir}/toolchains/stm32.cmake",
             "installDir": "${sourceDir}/out/install/${presetName}",
@@ -16,7 +16,7 @@
         {
             "name": "sim",
             "hidden": true,
-            "generator": "Unix Makefiles",
+            "generator": "Ninja",
             "binaryDir": "${sourceDir}/out/build/${presetName}",
             "installDir": "${sourceDir}/out/install/${presetName}",
             "cacheVariables": {
@@ -165,5 +165,72 @@
                 "CMAKE_BUILD_TYPE": "Debug"
             }
         }
+    ],
+    "buildPresets": [
+        {
+            "name": "nucleo-debug",
+            "displayName": "Nucleo [DBG]",
+            "configurePreset": "nucleo-debug"
+        },
+        {
+            "name": "nucleo-release",
+            "displayName": "Nucleo [REL]",
+            "configurePreset": "nucleo-release"
+        },
+        {
+            "name": "nucleo-relwithdebinfo",
+            "displayName": "Nucleo [RWD]",
+            "configurePreset": "nucleo-relwithdebinfo"
+        },
+        {
+            "name": "nucleo-debug-eth",
+            "displayName": "Nucleo [DBG] [ETH]",
+            "configurePreset": "nucleo-debug-eth"
+        },
+        {
+            "name": "nucleo-release-eth",
+            "displayName": "Nucleo [REL] [ETH]",
+            "configurePreset": "nucleo-release-eth"
+        },
+        {
+            "name": "nucleo-relwithdebinfo-eth",
+            "displayName": "Nucleo [RWD] [ETH]",
+            "configurePreset": "nucleo-relwithdebinfo-eth"
+        },
+        {
+            "name": "board-debug",
+            "displayName": "Board [DBG]",
+            "configurePreset": "board-debug"
+        },
+        {
+            "name": "board-release",
+            "displayName": "Board [REL]",
+            "configurePreset": "board-release"
+        },
+        {
+            "name": "board-relwithdebinfo",
+            "displayName": "Board [RWD]",
+            "configurePreset": "board-relwithdebinfo"
+        },
+        {
+            "name": "board-debug-eth",
+            "displayName": "Board [DBG] [ETH]",
+            "configurePreset": "board-debug-eth"
+        },
+        {
+            "name": "board-release-eth",
+            "displayName": "Board [REL] [ETH]",
+            "configurePreset": "board-release-eth"
+        },
+        {
+            "name": "board-relwithdebinfo-eth",
+            "displayName": "Board [RWD] [ETH]",
+            "configurePreset": "board-relwithdebinfo-eth"
+        },
+        {
+            "name": "simulator",
+            "displayName": "Simulator",
+            "configurePreset": "simulator"
+        }
     ]
 }

CMakePresets.json

@@ -65,6 +65,7 @@
 #include "HALALMock/Models/Packets/OrderProtocol.hpp"
 #include "HALALMock/Models/BoardID/BoardID.hpp"
 #include "HALALMock/Models/Concepts/Concepts.hpp"
+#include "HALALMock/Services/Logger/Logger.hpp"
 #endif
 
 namespace HALAL {

Inc/HALAL/HALAL.hpp

@@ -15,7 +15,6 @@ class DatagramSocket {
     IPV4 remote_ip;
     uint32_t remote_port;
     bool is_disconnected = true;
-
     DatagramSocket();
     DatagramSocket(DatagramSocket&& other);
     DatagramSocket(IPV4 local_ip, uint32_t local_port, IPV4 remote_ip,
@@ -27,6 +26,7 @@ class DatagramSocket {
 
     void reconnect();
 
+
     static void receive_callback(void* args, struct udp_pcb* udp_control_block,
                                  struct pbuf* packet_buffer,
                                  const ip_addr_t* remote_address, u16_t port);

Inc/HALAL/Services/Communication/Ethernet/UDP/DatagramSocket.hpp

@@ -71,14 +71,14 @@ enum OperationMode {
     ALTERNATIVE,
 };
 
-enum PinState { OFF, ON };
+enum PinState: uint8_t { OFF, ON };
 
-enum TRIGGER{
+enum TRIGGER: uint8_t {
     RISING_EDGE = 1,
     FAILING_EDGE = 0,
     BOTH_EDGES = 2
 };
-enum class PinType {
+enum class PinType: uint8_t {
     NOT_USED,
     DigitalOutput,
     DigitalInput,
@@ -95,52 +95,66 @@ enum class PinType {
     // TODO: Add more types
 
 };
-struct DigitalOutput_MockPin{
+
+/// In STM32H723ZG, the ADC1 and ADC2 has 16 bits as their maximum
+    /// resolution, while the ADC3 has 12 bits. Both of them can be configured
+    /// to has less resolution than its maximum
+    enum class ADCResolution : uint32_t {
+        ADC_RES_16BITS = 0x00000000,
+        ADC_RES_14BITS = 0x00000004,
+        ADC_RES_12BITS = 0x00000008,
+        ADC_RES_10BITS = 0x0000000C
+    };
+
+
+struct __attribute__((packed)) DigitalOutput_MockPin{
     bool state;
 } ;
-struct DigitalInput_MockPin {
+struct __attribute__((packed)) DigitalInput_MockPin {
     PinState curr_state;
 } ;
-struct PWM_MockPin {
+struct __attribute__((packed)) PWM_MockPin {
     float duty_cycle;
     uint32_t frequency;
     bool is_on;
-    std::chrono::nanoseconds dead_time_ns;
+    int64_t dead_time_ns;
 } ;
-struct DualPWM_MockPin{
+struct __attribute__((packed)) DualPWM_MockPin{
     float duty_cycle;
     uint32_t frequency;
     bool is_on;
-    std::chrono::nanoseconds dead_time_ns;
+    int64_t dead_time_ns;
 } ;
-struct ADC_MockPin{
+struct __attribute__((packed)) ADC_MockPin{
     uint16_t value;
     bool is_on;
+    ADCResolution resolution;
 } ;
-struct EXTIPin_MockPin{
+struct __attribute__((packed)) EXTIPin_MockPin{
     uint32_t priority;
     bool is_on;
     bool trigger_signal;
     TRIGGER trigger_mode;
 } ;
-struct Encoder_MockPin{
+struct __attribute__((packed)) Encoder_MockPin{
     uint32_t count_value;
     bool direction;
     bool is_on;
 } ;
-struct InputCapure_MockPin{
+struct __attribute__((packed)) InputCapure_MockPin{
     uint8_t duty_cycle;
     uint32_t frequency;
+    bool is_on;
 };
-struct FDCAN_MockPin{
-
+struct __attribute__((packed)) FDCAN_MockPin{
+    bool is_on;
 };
-struct SPI_MockPin{
+struct __attribute__((packed)) SPI_MockPin{
     bool is_on;
 };
-struct EmulatedPin {
+struct __attribute__((packed)) EmulatedPin {
     PinType type =  PinType::NOT_USED;  // Always check type before using the union
-    union PinDataU {
+    union __attribute__((packed)) PinDataU {
         DigitalOutput_MockPin   digital_output;
         DigitalInput_MockPin    digital_input;
         PWM_MockPin             pwm;
@@ -197,6 +211,16 @@ struct hash<Pin> {
 };
 }  // namespace std
 
+namespace std {
+    template<>
+    struct hash<std::pair<Pin, Pin>> {
+        std::size_t operator()(const std::pair<Pin, Pin>& p) const {
+            std::hash<Pin> pin_hasher;
+            return pin_hasher(p.first) ^ (pin_hasher(p.second) << 1);
+        }
+    };
+}
+
 extern Pin PA0;
 extern Pin PA1;
 extern Pin PA2;