Merge pull request #274 from HyperloopUPV-H8/development

v2.4.0

Author: ricardochust

CMakeLists.txt

@@ -12,9 +12,9 @@ file(GLOB_RECURSE SOURCE_H ${CMAKE_SOURCE_DIR}/ *.h)
 file(GLOB_RECURSE SOURCE_HPP ${CMAKE_SOURCE_DIR}/ *.hpp)
 
 add_library(${LIBRARY} STATIC
-  ${SOURCE_C}
-  ${SOURCE_CPP}
   ${SOURCE_H}
+  ${SOURCE_C}
+  ${SOURCE_HPP}
   ${SOURCE_CPP}
 )
 

Inc/HALAL/Models/Concepts/Concepts.hpp

@@ -63,3 +63,32 @@ concept NotContainer = !Container<T>;
 
 template <class T, class... U>
 concept PackDerivesFrom = (std::derived_from<T, U> && ...);
+
+
+template<class... Types> struct has_container;
+
+template<class Type, class... Types>
+struct has_container<Type, Types...>{
+public:
+    static constexpr bool value = Container<Type> || has_container<Types...>::value;
+};
+
+template<>
+struct has_container<>{
+public:
+    static constexpr bool value = false;
+};
+
+template<class... Types> struct total_sizeof;
+
+template<class Type, class... Types>
+struct total_sizeof<Type,Types...>{
+public:
+    static constexpr size_t value = sizeof(Type) + total_sizeof<Types...>::value;
+};
+
+template<>
+struct total_sizeof<>{
+public:
+    static constexpr size_t value = 0;
+};

Inc/HALAL/Models/Packets/Packet.hpp

@@ -147,33 +147,6 @@ class StackPacket<0> : public Packet{
     }
 };
 
-template<class... Types> struct has_container;
-
-template<class Type, class... Types>
-struct has_container<Type, Types...>{
-public:
-    static constexpr bool value = Container<Type> || has_container<Types...>::value;
-};
-
-template<>
-struct has_container<>{
-public:
-    static constexpr bool value = false;
-};
-
-template<class... Types> struct total_sizeof;
-
-template<class Type, class... Types>
-struct total_sizeof<Type,Types...>{
-public:
-    static constexpr size_t value = sizeof(Type) + total_sizeof<Types...>::value;
-};
-
-template<>
-struct total_sizeof<>{
-public:
-    static constexpr size_t value = 0;
-};
 
 #if __cpp_deduction_guides >= 201606
 template<class... Types>

Inc/HALAL/Services/Communication/SNTP/SNTP.hpp

@@ -7,9 +7,12 @@
 
 #pragma once
 
+#include "sntp.h"
+#include "IPV4/IPV4.hpp"
+#include "Time/Time.hpp"
 #include "C++Utilities/CppUtils.hpp"
 
-class SNTP{
+class SNTP {
 public:
 	static void sntp_update(uint8_t address_head, uint8_t address_second, uint8_t address_third, uint8_t address_last);
 	static void sntp_update(string ip);

Inc/HALAL/Services/Flash/Flash.hpp

@@ -13,6 +13,7 @@
 #include "C++Utilities/CppUtils.hpp"
 #include "ErrorHandler/ErrorHandler.hpp"
 
+#define FLASH_32BITS_WORLD			((uint8_t) 4U)
 #define FLASHWORD 8
 #define FLASH_START_ADDRESS 0x08000000
 #define FLASH_SECTOR0_START_ADDRESS 0x08000000

Inc/ST-LIB_HIGH/FlashStorer/FlashStorer.hpp

@@ -0,0 +1,71 @@
+#pragma once
+
+#include "C++Utilities/CppUtils.hpp"
+#include "Concepts/Concepts.hpp"
+#include "ErrorHandler/ErrorHandler.hpp"
+#include "Flash/Flash.hpp"
+#include "FlashVariable.hpp"
+
+#define FLASH_STORER_MAX_SIZE		((uint32_t)(1028*64))
+#define FLASH_STORER_START_ADDRESS	(FLASH_STORER_MAX_ADDRESS - FLASH_STORER_MAX_SIZE)
+#define FLASH_STORER_MAX_ADDRESS	((uint32_t)0x080DFFF0U)
+
+
+class FlashStorer{
+
+public:
+	static vector<FlashVariable> variable_list;
+	static uint32_t total_size;
+
+	template<class... Type>
+	static bool add_variables(Type&... var);
+	static void read(void);
+	static bool store_all(void);
+	template<class Type>
+	static bool store(Type& var);
+	template<class... Type> requires requires{requires sizeof...(Type) != 1;}
+	static bool store(Type&... var);
+
+private:
+	template<class Type>
+	static void add_size(Type& var);//?Mirar, si no hace falta borrar
+};
+
+template<class Type>
+bool FlashStorer::store(Type& var) {
+	uint32_t number_of_words = ((FlashStorer::total_size + FLASH_32BITS_WORLD - 1) / FLASH_32BITS_WORLD); //Fast ceiling the dvision result
+
+	uint32_t* data = (uint32_t*)malloc(number_of_words * FLASH_32BITS_WORLD);
+	Flash::read(FLASH_STORER_START_ADDRESS, (uint32_t*)data, number_of_words);
+
+	uint32_t offset = 0;
+	for(FlashVariable& v: FlashStorer::variable_list){
+		if (v.get_pointer() == &var) {
+			memcpy((((uint8_t*)data) + offset), v.get_pointer(), v.get_size());
+		}
+
+		offset += v.get_size();
+	}
+
+	if(not Flash::write(data, FLASH_STORER_START_ADDRESS, number_of_words)){
+		return false;
+	}
+
+	free(data);
+	return true;
+}
+
+template<class... Type> requires requires{requires sizeof...(Type) != 1;}
+bool FlashStorer::store(Type&... var){
+	return (FlashStorer::store(var) & ...);
+}
+
+template<class... Type>
+bool FlashStorer::add_variables(Type&... var){
+	(FlashStorer::variable_list.push_back(FlashVariable(var)), ...);
+	FlashStorer::total_size = total_sizeof<Type...>::value;
+
+	return FlashStorer::total_size >= FLASH_STORER_MAX_SIZE;
+}
+
+

Inc/ST-LIB_HIGH/FlashStorer/FlashVariable.hpp

@@ -0,0 +1,21 @@
+#pragma once
+
+#include "C++Utilities/CppUtils.hpp"
+#include "ErrorHandler/ErrorHandler.hpp"
+
+class FlashVariable{
+private:
+	void* v_pointer;
+	size_t size;
+public:
+	template<class T>
+	FlashVariable(T& value);
+	void* get_pointer();
+	size_t get_size();
+};
+
+template<class T>
+FlashVariable::FlashVariable(T& value){
+	FlashVariable::v_pointer = (void*)&value;
+	FlashVariable::size = sizeof(T);
+}

Inc/ST-LIB_HIGH/ST-LIB_HIGH.hpp

@@ -21,4 +21,4 @@
 #include "Control/Blocks/PID.hpp"
 #include "Control/Blocks/Saturator.hpp"
 #include "Control/ControlSystem.hpp"
-
+#include "FlashStorer/FlashStorer.hpp"

Middlewares/Third_Party/LwIP/src/include/lwip/apps/sntp.h

@@ -34,6 +34,7 @@
  * Author: Frédéric Bernon, Simon Goldschmidt
  *
  */
+
 #ifndef LWIP_HDR_APPS_SNTP_H
 #define LWIP_HDR_APPS_SNTP_H
 

Middlewares/Third_Party/LwIP/src/include/lwip/apps/sntp_opts.h

@@ -41,15 +41,13 @@
 #include "lwip/prot/iana.h"
 
 #ifdef __cplusplus
-#define EXTERNC extern "C"
-#else
-#define EXTERNC
-#endif
 
-EXTERNC void set_time(uint32_t sec, uint32_t us);
-EXTERNC void set_rtc(uint16_t counter, uint8_t second, uint8_t minute, uint8_t hour, uint8_t day, uint8_t month, uint16_t year);
-EXTERNC u32_t get_rtc_s();
-EXTERNC u32_t get_rtc_us();
+extern "C" void set_time(uint32_t sec, uint32_t us);
+extern "C" void set_rtc(uint16_t counter, uint8_t second, uint8_t minute, uint8_t hour, uint8_t day, uint8_t month, uint16_t year);
+extern "C" u32_t get_rtc_s();
+extern "C" u32_t get_rtc_us();
+
+#endif
 
 #define SNTP_STARTUP_DELAY 0
 #define SNTP_SET_SYSTEM_TIME_US(sec,us) set_time(sec,us)
@@ -58,15 +56,7 @@ EXTERNC u32_t get_rtc_us();
 #define SNTP_COMP_ROUNDTRIP 1
 #define SNTP_UPDATE_DELAY 60000
 
-void set_time(uint32_t sec, uint32_t us){
-	struct timeval tv;
-	tv.tv_sec = sec;
-	tv.tv_usec = us;
-	time_t nowtime = sec;
-	struct tm *nowtm = localtime(&nowtime);
-	uint32_t subsecond = (uint32_t)(TRANSFORMATION_FACTOR * tv.tv_usec);
-	set_rtc(subsecond, nowtm->tm_sec, nowtm->tm_min, nowtm->tm_hour, nowtm->tm_mday, 1+nowtm->tm_mon, 1900+(nowtm->tm_year));
-}
+
 
 #define SNTP_GET_SYSTEM_TIME(sec, us) do {(sec) = get_rtc_s(); (us) = get_rtc_us(); } while (0)