Merge pull request #253 from HyperloopUPV-H8/development

v2.20

Author: alejandrogonzalvo

.vscode/settings.json

@@ -17,5 +17,8 @@
         "**/Makefile": true
     },
     "C_Cpp.default.cppStandard": "c++20",
-    "C_Cpp.default.cStandard": "c17"
+    "C_Cpp.default.cStandard": "c17",
+    "docwriter.style": "Doxygen",
+    "docwriter.progress.trackFunctions": true,
+    "docwriter.progress.trackMethods": true
 }

Inc/HALAL/Models/Packets/Packet.hpp

@@ -214,7 +214,7 @@ class HeapPacket : public Packet{
     HeapPacket() = default;
 
     template<class... Types>
-    HeapPacket(uint16_t id, Types*... values): id(id), values{new PacketValue<Types>(values)...} {packets[id] = this;}
+    HeapPacket(uint16_t id, Types*... values): id(id), values{new PacketValue(values)...} {packets[id] = this;}
 
     void parse(void* data) override {
         data += sizeof(id);

Inc/HALAL/Models/Packets/PacketValue.hpp

@@ -44,7 +44,7 @@ class PacketValue<> {
     virtual void copy_to(void* data) = 0;
 };
 
-template<class Type> requires NotContainer<Type>
+template<class Type> requires NotContainer<Type> 
 class PacketValue<Type>: public PacketValue<> {
 public:
     using value_type = Type;
@@ -119,3 +119,64 @@ class PacketValue<string> : public PacketValue<>{
 template<class Type> requires Container<Type>
 PacketValue(Type)->PacketValue<Type>;
 #endif
+
+template<class Type,size_t N> 
+class PacketValue<Type(&)[N]>: public PacketValue<> {
+public:
+    using value_type = Type;
+    Type(*src )[N] = nullptr;
+    PacketValue() = default;
+    PacketValue(Type(*src)[N]): src(src) {}
+    ~PacketValue() = default;
+    void* get_pointer() override {
+        return src;
+    }
+    size_t get_size() override {
+        return N*sizeof(Type);
+    }
+    void parse(void* data) override {
+        memcpy(src, data, get_size());
+    }
+    void copy_to(void* data) override {
+        memcpy(data, src, get_size());
+    }
+};
+
+#if __cpp_deduction_guides >= 201606
+template<class Type,size_t N> 
+PacketValue(Type(*)[N])->PacketValue<Type(&)[N]>;
+#endif
+
+
+template<class Type,size_t N> 
+class PacketValue<Type*(&)[N]>: public PacketValue<> {
+public:
+    using value_type = Type*;
+    Type*(*src )[N] = nullptr;
+    PacketValue() = default;
+    PacketValue(Type*(*src)[N]): src(src) {}
+    ~PacketValue() = default;
+    void* get_pointer() override {
+        return src;
+    }
+    size_t get_size() override {
+        return N*sizeof(Type);
+    }
+    void parse(void* data) override {
+        for(Type* i : *src) {
+            *i = *(Type*)data;
+            data += sizeof(Type);
+        }
+    }
+    void copy_to(void* data) override {
+        for(Type* i : *src) {
+            *(Type*)data = *i;
+            data += sizeof(Type);
+        }
+    }
+};
+
+#if __cpp_deduction_guides >= 201606 
+template<class Type,size_t N>
+PacketValue(Type*(*)[N])->PacketValue<Type*(&)[N]>;
+#endif

Inc/HALAL/Services/Time/Time.hpp

@@ -22,7 +22,7 @@ extern TIM_HandleTypeDef htim5;		// Used for the high precision alarms (1uS)
 extern TIM_HandleTypeDef htim24;	// Used for the high precision alarms (1uS)
 
 // LOW RESOLUTION TIMERS
-extern TIM_HandleTypeDef htim6;		// Used for the low precision alarms (1mS)
+extern TIM_HandleTypeDef htim7;		// Used for the low precision alarms (1mS)
 
 class Time {
 
@@ -92,6 +92,7 @@ public :
 	* @return uint8_t Returns id of the alarm.
 	*/
 	static uint8_t register_low_precision_alarm(uint32_t period_in_ms, function<void()> func);
+	static uint8_t register_low_precision_alarm(uint32_t period_in_ms, void(*func)());
 	static bool unregister_low_precision_alarm(uint16_t id);
 
 	/**
@@ -114,6 +115,10 @@ public :
 		uint8_t day;
 		uint8_t month;
 		uint16_t year;
+
+		string serialize(){
+			return "Counter: " + to_string(counter) + ",Second: " + to_string(second) + ",Minute: " + to_string(minute) + ",Hour: " + to_string(hour) + ",Day: " + to_string(day) + ",Month: " + to_string(month) + ",Year: " + to_string(year);
+		}
 	};
 
 	static void start_rtc();
@@ -124,4 +129,4 @@ public :
 #endif
 };
 
-#endif
+#endif

Inc/main.h

@@ -59,50 +59,16 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
-#define PWM_OUT_N_Pin GPIO_PIN_4
-#define PWM_OUT_N_GPIO_Port GPIOE
-#define PWM_OUT_Pin GPIO_PIN_5
-#define PWM_OUT_GPIO_Port GPIOE
-#define PWM_OUTE6_Pin GPIO_PIN_6
-#define PWM_OUTE6_GPIO_Port GPIOE
-#define PWM_IN_Pin GPIO_PIN_0
-#define PWM_IN_GPIO_Port GPIOF
-#define PWM_OUTF3_Pin GPIO_PIN_3
-#define PWM_OUTF3_GPIO_Port GPIOF
-#define ADC_12BIT_Pin GPIO_PIN_5
-#define ADC_12BIT_GPIO_Port GPIOF
-#define ADC_12BITF6_Pin GPIO_PIN_6
-#define ADC_12BITF6_GPIO_Port GPIOF
-#define ADC_12BITF7_Pin GPIO_PIN_7
-#define ADC_12BITF7_GPIO_Port GPIOF
-#define ADC_12BITF8_Pin GPIO_PIN_8
-#define ADC_12BITF8_GPIO_Port GPIOF
-#define ADC_12BITF9_Pin GPIO_PIN_9
-#define ADC_12BITF9_GPIO_Port GPIOF
-#define ADC_12BITF10_Pin GPIO_PIN_10
-#define ADC_12BITF10_GPIO_Port GPIOF
-#define HSE_IN_Pin GPIO_PIN_0
-#define HSE_IN_GPIO_Port GPIOH
-#define ADC_16BIT_Pin GPIO_PIN_0
-#define ADC_16BIT_GPIO_Port GPIOC
+#define MCO_Pin GPIO_PIN_0
+#define MCO_GPIO_Port GPIOH
 #define RMII_MDC_Pin GPIO_PIN_1
 #define RMII_MDC_GPIO_Port GPIOC
-#define ADC_12BITC2_Pin GPIO_PIN_2
-#define ADC_12BITC2_GPIO_Port GPIOC
-#define ADC_12BITC3_Pin GPIO_PIN_3
-#define ADC_12BITC3_GPIO_Port GPIOC
-#define ADC_16BITA0_Pin GPIO_PIN_0
-#define ADC_16BITA0_GPIO_Port GPIOA
+#define RMII_REF_CLK_Pin GPIO_PIN_1
+#define RMII_REF_CLK_GPIO_Port GPIOA
 #define RMII_MDIO_Pin GPIO_PIN_2
 #define RMII_MDIO_GPIO_Port GPIOA
-#define ADC_16BITA3_Pin GPIO_PIN_3
-#define ADC_16BITA3_GPIO_Port GPIOA
-#define ADC_16BITA4_Pin GPIO_PIN_4
-#define ADC_16BITA4_GPIO_Port GPIOA
-#define ADC_16BITA5_Pin GPIO_PIN_5
-#define ADC_16BITA5_GPIO_Port GPIOA
-#define ADC_16BITA6_Pin GPIO_PIN_6
-#define ADC_16BITA6_GPIO_Port GPIOA
+#define RMII_CRS_DV_Pin GPIO_PIN_7
+#define RMII_CRS_DV_GPIO_Port GPIOA
 #define RMII_RXD0_Pin GPIO_PIN_4
 #define RMII_RXD0_GPIO_Port GPIOC
 #define RMII_RXD1_Pin GPIO_PIN_5
@@ -171,6 +137,12 @@ void Error_Handler(void);
 #define PWM_OUTB8_GPIO_Port GPIOB
 #define PWM_OUTB9_Pin GPIO_PIN_9
 #define PWM_OUTB9_GPIO_Port GPIOB
+#define SWO_Pin GPIO_PIN_3
+#define SWO_GPIO_Port GPIOB
+#define SWDIO_Pin GPIO_PIN_13
+#define SWDIO_GPIO_Port GPIOA
+#define SWCLK_Pin GPIO_PIN_14
+#define SWCLK_GPIO_Port GPIOA
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */

LWIP/Target/ethernetif.c

@@ -54,9 +54,9 @@ uint64_t last_tick;
 /* Private variables ---------------------------------------------------------*/
 /*
 @Note: This interface is implemented to operate in zero-copy mode only:
-        - Rx buffers will be allocated from LwIP stack memory heap,
-          then passed to ETH HAL driver.
-        - Tx buffers will be allocated from LwIP stack memory heap,
+        - Rx buffers are allocated statically and passed directly to the LwIP stack
+          they will return back to ETH DMA after been processed by the stack.
+        - Tx Buffers will be allocated from LwIP stack memory heap,
           then passed to ETH HAL driver.
 
 @Notes:
@@ -98,13 +98,13 @@ static uint8_t RxAllocStatus;
 
 #pragma location=0x30000000
 ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
-#pragma location=0x30000060
+#pragma location=0x30000100
 ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
 
 #elif defined ( __CC_ARM )  /* MDK ARM Compiler */
 
 __attribute__((at(0x30000000))) ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
-__attribute__((at(0x30000060))) ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
+__attribute__((at(0x30000100))) ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
 
 #elif defined ( __GNUC__ ) /* GNU Compiler */
 
@@ -183,7 +183,7 @@ static void low_level_init(struct netif *netif)
   heth.Init.MediaInterface = HAL_ETH_RMII_MODE;
   heth.Init.TxDesc = DMATxDscrTab;
   heth.Init.RxDesc = DMARxDscrTab;
-  heth.Init.RxBuffLen = 1524;
+  heth.Init.RxBuffLen = 1536;
 
   /* USER CODE BEGIN MACADDRESS */
 
@@ -271,7 +271,8 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p)
 {
   uint32_t i = 0U;
   struct pbuf *q = NULL;
-  ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT] = {0};
+  err_t errval = ERR_OK;
+  ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT];
 
   memset(Txbuffer, 0 , ETH_TX_DESC_CNT*sizeof(ETH_BufferTypeDef));
 
@@ -300,12 +301,9 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p)
   TxConfig.TxBuffer = Txbuffer;
   TxConfig.pData = p;
 
-  SCB_CleanInvalidateDCache_by_Addr(p->payload, p->len);
-
-  HAL_ETH_Transmit(&heth, &TxConfig, 0);
-
+  HAL_ETH_Transmit(&heth, &TxConfig, ETH_DMA_TRANSMIT_TIMEOUT);
 
-  return ERR_OK;
+  return errval;
 }
 
 /**
@@ -322,9 +320,7 @@ static struct pbuf * low_level_input(struct netif *netif)
 
   if(RxAllocStatus == RX_ALLOC_OK)
   {
-    if(HAL_ETH_ReadData(&heth, (void **)&p) == HAL_ERROR && p != NULL && (p > (struct pbuf*)0x40000000 || p < (struct pbuf*)0x30000000)){
-    	SCB_CleanInvalidateDCache_by_Addr(p->payload, p->len);
-    }
+    HAL_ETH_ReadData(&heth, (void **)&p);
   }
 
   return p;
@@ -506,28 +502,28 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef* ethHandle)
     GPIO_InitStruct.Pin = RMII_MDC_Pin|RMII_RXD0_Pin|RMII_RXD1_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
     HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-    GPIO_InitStruct.Pin = GPIO_PIN_1|RMII_MDIO_Pin|GPIO_PIN_7;
+    GPIO_InitStruct.Pin = RMII_REF_CLK_Pin|RMII_MDIO_Pin|RMII_CRS_DV_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
     GPIO_InitStruct.Pin = RMII_TXD1_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
     HAL_GPIO_Init(RMII_TXD1_GPIO_Port, &GPIO_InitStruct);
 
     GPIO_InitStruct.Pin = RMII_TX_EN_Pin|RMII_TXD0_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
     HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
 
@@ -565,7 +561,7 @@ void HAL_ETH_MspDeInit(ETH_HandleTypeDef* ethHandle)
     */
     HAL_GPIO_DeInit(GPIOC, RMII_MDC_Pin|RMII_RXD0_Pin|RMII_RXD1_Pin);
 
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|RMII_MDIO_Pin|GPIO_PIN_7);
+    HAL_GPIO_DeInit(GPIOA, RMII_REF_CLK_Pin|RMII_MDIO_Pin|RMII_CRS_DV_Pin);
 
     HAL_GPIO_DeInit(RMII_TXD1_GPIO_Port, RMII_TXD1_Pin);
 

LWIP/Target/lwipopts.h

@@ -22,6 +22,8 @@
 #ifndef __LWIPOPTS__H__
 #define __LWIPOPTS__H__
 
+#include "main.h"
+
 /*-----------------------------------------------------------------------------*/
 /* Current version of LwIP supported by CubeMx: 2.1.2 -*/
 /*-----------------------------------------------------------------------------*/
@@ -46,31 +48,29 @@
 /* LwIP Stack Parameters (modified compared to initialization value in opt.h) -*/
 /* Parameters set in STM32CubeMX LwIP Configuration GUI -*/
 /*----- Default value in ETH configuration GUI in CubeMx: 1524 -----*/
-#define ETH_RX_BUFFER_SIZE 1524
+#define ETH_RX_BUFFER_SIZE 1536
 /*----- Value in opt.h for NO_SYS: 0 -----*/
 #define NO_SYS 1
 /*----- Value in opt.h for SYS_LIGHTWEIGHT_PROT: 1 -----*/
 #define SYS_LIGHTWEIGHT_PROT 0
 /*----- Value in opt.h for MEM_ALIGNMENT: 1 -----*/
 #define MEM_ALIGNMENT 4
 /*----- Default Value for MEM_SIZE: 1600 ---*/
-#define MEM_SIZE 12000
+#define MEM_SIZE 32232
 /*----- Default Value for H7 devices: 0x30044000 -----*/
-#define LWIP_RAM_HEAP_POINTER 0x30004000
+#define LWIP_RAM_HEAP_POINTER 0x30000200
 /*----- Value supported for H7 devices: 1 -----*/
 #define LWIP_SUPPORT_CUSTOM_PBUF 1
 /*----- Value in opt.h for LWIP_ETHERNET: LWIP_ARP || PPPOE_SUPPORT -*/
 #define LWIP_ETHERNET 1
 /*----- Value in opt.h for LWIP_DNS_SECURE: (LWIP_DNS_SECURE_RAND_XID | LWIP_DNS_SECURE_NO_MULTIPLE_OUTSTANDING | LWIP_DNS_SECURE_RAND_SRC_PORT) -*/
 #define LWIP_DNS_SECURE 7
-/*----- Value in opt.h for TCP_SND_QUEUELEN: (4*TCP_SND_BUF + (TCP_MSS - 1))/TCP_MSS -----*/
-#define TCP_SND_QUEUELEN 9
-/*----- Value in opt.h for TCP_SNDLOWAT: LWIP_MIN(LWIP_MAX(((TCP_SND_BUF)/2), (2 * TCP_MSS) + 1), (TCP_SND_BUF) - 1) -*/
-#define TCP_SNDLOWAT 1071
-/*----- Value in opt.h for TCP_SNDQUEUELOWAT: LWIP_MAX(TCP_SND_QUEUELEN)/2, 5) -*/
-#define TCP_SNDQUEUELOWAT 5
-/*----- Value in opt.h for TCP_WND_UPDATE_THRESHOLD: LWIP_MIN(TCP_WND/4, TCP_MSS*4) -----*/
-#define TCP_WND_UPDATE_THRESHOLD 536
+/*----- Default Value for TCP_MSS: 536 ---*/
+#define TCP_MSS 1460
+/*----- Default Value for TCP_SND_BUF: 2920 ---*/
+#define TCP_SND_BUF 5840
+/*----- Default Value for TCP_SND_QUEUELEN: 17 ---*/
+#define TCP_SND_QUEUELEN 16
 /*----- Value in opt.h for LWIP_NETIF_LINK_CALLBACK: 0 -----*/
 #define LWIP_NETIF_LINK_CALLBACK 1
 /*----- Value in opt.h for LWIP_NETCONN: 1 -----*/

Middlewares/Third_Party/LwIP/src/core/ipv4/etharp.c

@@ -1111,7 +1111,7 @@ etharp_raw(struct netif *netif, const struct eth_addr *ethsrc_addr,
   LWIP_ASSERT("netif != NULL", netif != NULL);
 
   /* allocate a pbuf for the outgoing ARP request packet */
-  p = pbuf_alloc(PBUF_LINK, SIZEOF_ETHARP_HDR, PBUF_POOL);
+  p = pbuf_alloc(PBUF_LINK, SIZEOF_ETHARP_HDR, PBUF_RAM);
   /* could allocate a pbuf for an ARP request? */
   if (p == NULL) {
     LWIP_DEBUGF(ETHARP_DEBUG | LWIP_DBG_TRACE | LWIP_DBG_LEVEL_SERIOUS,
@@ -1158,7 +1158,7 @@ etharp_raw(struct netif *netif, const struct eth_addr *ethsrc_addr,
 
   ETHARP_STATS_INC(etharp.xmit);
   /* free ARP query packet */
-  memp_free_pool(memp_pools[8],p);
+  pbuf_free(p);
   p = NULL;
   /* could not allocate pbuf for ARP request */
 

Middlewares/Third_Party/LwIP/src/core/pbuf.c

@@ -816,11 +816,7 @@ pbuf_clen(const struct pbuf *p)
   __disable_irq();
   while (p != NULL) {
     ++len;
-    if(p->next > (uint32_t*)0x5000000){
-    	return len;
-    }
-	  p = p->next;
-
+    p = p->next;
   }
   __enable_irq();
   return len;