Feat/TimerDomain (#547)

* feat: add DSB and ISB intructions in x86_64

* feat: add NVIC

* add NVIC logic

* feat: use NVIC and remove print

* fix: move extern"C" block to allow using <iostream>

* add Register class to allow for side effects

* feat: use newly created Register class for side effects, neat trick in CNT write

* feat: be as realistic as possible in test, by using CNT++

* feat: remove unnecessary include

* feat: add an __RBIT impl for x86_64

* fix: compilation

* fix: used_bitmap_ -> free_bitmap_

* Added tests check in CI/CD

* fix(ci/cd): output folder

* Added ARM specific instructions to be able to compile in ARM hosts (Mac)

* Fix: compiler barrier for msvc, hopefully works

* Fix: Try to fix -Wchanges-meaning warning

* Fix typo

* Update Inc/MockedDrivers/common.hpp

#534 (comment)

Co-authored-by: Jorge Sáez <125664643+jorgesg82@users.noreply.github.com>

* Actually do the change github didn't do :/

* Fix typo p2

* Fix another typo

* Fix unsigned long - 64bit when testing using LL functions

* Minor fixes to scheduler
Rebased from remotes/origin/MockTim

* Fix: uint32_t* cast of a word instead of the ptr

* Fix: remove active_task_count_ decrement in pop_front()
#534 (comment)

* Try fix Wstrict-aliasing in front_id

* Try fix Wstrict-aliasing again

* Fix typo in allocate_slot

* fix: test UsedBitmap -> FreeBitmap

* used_bitmap_ -> free_bitmap_ in test part 2

* fixed tests discovery

* fix: set_timeout() test

* Add a test, fix the error (kind of)

* Fix: underflow in schedule_next_interval

* Fix: call schedule_next_interval() in start()

* Fix: invert condition, that was stupid

* feat: add test showcasing possible usage within StateMachine logic

* fix: Calculate correct prescaler & add to HALAL.hpp

* Try to fix tests

* try to fix tests part 2

* Try to fix tests part 3

* part 4 - add the wrapper.c to cmake, will this work?

* part 5 - fix cmake stm32h723xx_wrapper.c path

* fix: try to fix tests part 6

* fix: volatile warnings

* fix: active_PSC is now set when PSC is set

* fix: remove outdated comment

* fix: tests part 7, should work now

* fix: remove unecessary if, return if cancelled in cancel_timeout

* Pop all due tasks, several might be due in the same tick

* Revert force-push

* fix: off by one error + configure_timer_for_interval should use uint32_t

* fix: off by one error in schedule_next_interval()

* All 15 tasks in MultipleTasks test, and it works

* Add SameTaskMultipleTimes test, does all 16 tasks too

* larger NUM_TICKS just in case

* fix bug mentioned in previous cancel_timeout()

* fix: id uint32_t -> uint16_t + bug fix

* fix: remove TimerPeripheral::start and Time::start from HALAL::start

* try to fix ci/cd

* try to fix ci/cd part 2

* try to fix ci/cd part 3

* clean up ci/cd fix

* Remove unnecessary warning ignore

* fix: use wrapper instead of interface for stm32h7xx_ll_tim.h

* fix ci/cd and add the other submodule to be automatically added

* fix: actually add stm32h7xx_ll_tim_wrapper.h

* try to fix ci/cd warning

* try fix warnings again

* fix: add ignore Woverflow to stm32h7xx_ll_tim

* fix: remove need to ignore Woverflow warnings

* fix: Remove tim_register_definitions.hpp
We're already including them in stm32h723xx_wrapper

* Initial TimerDomain commit, lots of work to do...

* Change name to TimerDomain.hpp in comment

* feat: Implement getting AnyGeneralPurpose timer with priorities

* Make prettier

* Remove leftovers

* Remove outdated comment

* fix: Finish the comment :)

* Clean up error messages, add comment

* temp: setup to try to compile template_project

* Try to get TimerDomain to compile

* Add initial implementation of scheduler

* Try to fix -Wuninitialized warning

* Try to remove Wuninitialized warning temporarily

* Remove unnecessary clear of task element

* fix: Readability and todo for validation

* fix: allocate_slot

* Add explenation of sorted_task_ids_, static_assert for the bitmaps

* Remove long_wait_remaining_us_

* fix: better get_at

* fix: better front_id
Compiler would've probably optimized it but it's better to make it explicit

* fix: endianness in pop_front

* Added unlikely to release_slot conditional

* fix: Correct comment explenation

* No bit field insert, it annoyed me

* No more diagnostic ignore

* fix: loss in accuracy by not adding 1: #534 (comment)

* fix: Moved active_task_count_ modification

* Actually set used_bitmap_ in allocate_slot

* fix: used_bitmap_ -> free_bitmap_

* only include sources when cross-compiling

* modify CMakeLists inside Tests

* feat: use ugly ifdef guards for host testing purposes

* add sample tests for Scheduler

* add emulated ticking

* test for execution count

* fix: CI

* fix: expected result in test case + explanation

* add compiler specific and CoreMacros

* copy files from LL and CMSIS for TIM Registers

* bridge between LL MMIO Timer and user defined TIMER

* reduce the number of ugly macros

* compile the new mock file

* update test

* enable debugging of tests with TestMate C++ extension

* feat: add DSB and ISB intructions in x86_64

* feat: add NVIC

* add NVIC logic

* feat: use NVIC and remove print

* fix: move extern"C" block to allow using <iostream>

* add Register class to allow for side effects

* feat: use newly created Register class for side effects, neat trick in CNT write

* feat: be as realistic as possible in test, by using CNT++

* feat: remove unnecessary include

* feat: add an __RBIT impl for x86_64

* fix: compilation

* Added tests check in CI/CD

* fix(ci/cd): output folder

* Added ARM specific instructions to be able to compile in ARM hosts (Mac)

* Fix: compiler barrier for msvc, hopefully works

* Fix: Try to fix -Wchanges-meaning warning

* Fix typo

* Update Inc/MockedDrivers/common.hpp

#534 (comment)

Co-authored-by: Jorge Sáez <125664643+jorgesg82@users.noreply.github.com>

* Actually do the change github didn't do :/

* Fix typo p2

* Fix another typo

* Fix unsigned long - 64bit when testing using LL functions

* Fix: uint32_t* cast of a word instead of the ptr

* Minor fixes to scheduler
Rebased from remotes/origin/MockTim

* Fix: remove active_task_count_ decrement in pop_front()
#534 (comment)

* Try fix Wstrict-aliasing in front_id

* Try fix Wstrict-aliasing again

* Fix typo in allocate_slot

* fix: test UsedBitmap -> FreeBitmap

* used_bitmap_ -> free_bitmap_ in test part 2

* fixed tests discovery

* fix: set_timeout() test

* Add a test, fix the error (kind of)

* Fix: underflow in schedule_next_interval

* Fix: call schedule_next_interval() in start()

* Fix: invert condition, that was stupid

* feat: add test showcasing possible usage within StateMachine logic

* fix: Calculate correct prescaler & add to HALAL.hpp

* Try to fix tests

* try to fix tests part 2

* Try to fix tests part 3

* part 4 - add the wrapper.c to cmake, will this work?

* part 5 - fix cmake stm32h723xx_wrapper.c path

* fix: try to fix tests part 6

* fix: volatile warnings

* fix: active_PSC is now set when PSC is set

* fix: remove outdated comment

* fix: tests part 7, should work now

* fix: remove unecessary if, return if cancelled in cancel_timeout

* Pop all due tasks, several might be due in the same tick

* Revert force-push

* fix: off by one error + configure_timer_for_interval should use uint32_t

* fix: off by one error in schedule_next_interval()

* All 15 tasks in MultipleTasks test, and it works

* Add SameTaskMultipleTimes test, does all 16 tasks too

* larger NUM_TICKS just in case

* fix bug mentioned in previous cancel_timeout()

* fix: id uint32_t -> uint16_t + bug fix

* fix: remove TimerPeripheral::start and Time::start from HALAL::start

* try to fix ci/cd

* try to fix ci/cd part 2

* try to fix ci/cd part 3

* clean up ci/cd fix

* Remove unnecessary warning ignore

* fix: use wrapper instead of interface for stm32h7xx_ll_tim.h

* fix ci/cd and add the other submodule to be automatically added

* fix: actually add stm32h7xx_ll_tim_wrapper.h

* try to fix ci/cd warning

* try fix warnings again

* fix: add ignore Woverflow to stm32h7xx_ll_tim

* fix: remove need to ignore Woverflow warnings

* fix: Remove tim_register_definitions.hpp
We're already including them in stm32h723xx_wrapper

* Initial TimerDomain commit, lots of work to do...

* Change name to TimerDomain.hpp in comment

* feat: Implement getting AnyGeneralPurpose timer with priorities

* Make prettier

* Remove leftovers

* Remove outdated comment

* fix: Finish the comment :)

* Clean up error messages, add comment

* temp: setup to try to compile template_project

* Try to get TimerDomain to compile

* Fix all compilation errors (yipee)

* Try to fix compile errors when in template_project

* Try to fix compile errors...
Goodbye ErrorInRequestN I thought it could be used T-T

* try fix again

* slowly but surely

* Fix TimerWrapper constructor

* Add timer interrupt callbacks, use XList for TIM_HandleTypeDef definitions

* try to choose 16 bit or 32 bit at compile time

* Fix compilation issues

* Fix overflow calculation and a test

* Fix all remaining issues

* Change TimerRequest values

* Remove temporary function

* fix: Remove static assert

* fix: Change order of parameters

* fix: timer 15 (hopefully?)

* fix: Rollback removal of tim15 when getting AnyGeneralPurpose timer

* fix: pins are now part of TimerWrapper, not TimerDomain

* fix: Split TimerWrapper into a different file: TimerWrapper.hpp

* fix: Use new way to add Domain to board

* feat: Initial implementation of new PWM class

* fix: Make PWM class more private

* feat: Use an initializer_list to get the pins without needing a size

* fix: Remove prescaler and period from TimerDomain

* feat: Add Any32bitTimer to TimerDomain

* fix: Rename Any32bitTimer to Any32bit

* Fix docker build hopefully

* feat: add a macro: get_timer_instance

* fix: compile error

* fix: revert change to .vscode settings

* fix: tim3 is 16 bit, tim5 is 32 bit + start of pin af checking

* More timer pin afs

* More pins, todo: tim23 and tim24

* tim23, tim24 pins done, now programming time

* next step: compile time check_pins

* feat: Finish implementing check_pins

* Add tests for TimerWrapper, not running them yet

* Almost implement all wrappers for TimerDomain tests

* Add TimerDomain.cpp to simulator

* Further fix compile errors

* Fix tests compilation!

* NVIC ICER now clears the bit in NVIC ISER

---------

Co-authored-by: Gonzalo Sánchez <gonzalosmoya24@gmail.com>
Co-authored-by: Jorge Sáez <jorgeesg82@gmail.com>
Co-authored-by: Jorge Sáez <125664643+jorgesg82@users.noreply.github.com>
Co-authored-by: StefanCostea <stefanxenadu@gmail.com>

Author: 4 people

.devcontainer/Dockerfile

@@ -7,6 +7,6 @@ RUN apt-get update && apt-get -y install git git-lfs python3-colorama cmake g++
     git lfs install
 
 # Install cubeclt
-RUN mkdir /temp && cd /temp && git clone https://github.com/HyperloopUPV-H8/cubeclt.git && \
+RUN mkdir /temp && cd /temp && git clone https://github.com/Hyperloop-UPV/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

.vscode/settings.json

@@ -7,8 +7,10 @@
     "C_Cpp.clang_format_sortIncludes": true,
     "C_Cpp.intelliSenseCacheSize": 0,
     "files.associations": {
-      "mem.h": "c",
-      "tinydir.h": "c",
-      "dirent.h": "c"
+        "*.embeddedhtml": "html",
+        "mem.h": "c",
+        "tinydir.h": "c",
+        "dirent.h": "c",
+        "initializer_list": "cpp"
     }
-}
+}

CMakeLists.txt

@@ -242,6 +242,7 @@ add_library(${STLIB_LIBRARY} STATIC
   $<$<BOOL:${CMAKE_CROSSCOMPILING}>:${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB.cpp>
 
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Time/Scheduler.cpp>
+  $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/TimerDomain/TimerDomain.cpp>
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/mocked_ll_tim.cpp>
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/mocked_system_stm32h7xx.c>
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/MockedDrivers/stm32h723xx_wrapper.c>

Inc/HALAL/HALAL.hpp

@@ -20,7 +20,7 @@
 #include "HALAL/Services/PWM/PhasedPWM/PhasedPWM.hpp"
 #include "HALAL/Services/PWM/DualPhasedPWM/DualPhasedPWM.hpp"
 
-#include "HALAL/Services/Time/Time.hpp"
+#include "HALAL/Services/Time/TimerWrapper.hpp"
 #include "HALAL/Services/Time/Scheduler.hpp"
 #include "HALAL/Services/Time/RTC.hpp"
 
@@ -40,8 +40,6 @@
 #include "HALAL/Services/InfoWarning/InfoWarning.hpp"
 #include "HALAL/Services/Watchdog/Watchdog.hpp"
 
-#include "HALAL/Models/TimerPeripheral/TimerPeripheral.hpp"
-
 #include "HALAL/Models/BoardID/BoardID.hpp"
 #include "HALAL/Models/Concepts/Concepts.hpp"
 

Inc/HALAL/Models/PinModel/Pin.hpp

@@ -112,7 +112,7 @@ struct hash<Pin> {
         using std::string;
 
         return ((hash<uint16_t>()(k.gpio_pin) ^
-                 (hash<uint32_t>()((uint32_t)(k.port)) << 1)) >>
+                 (hash<uint32_t>()((size_t)(k.port)) << 1)) >>
                 1);
     }
 };