Remove Time.hpp/Time.cpp completely

CMakeLists.txt

@@ -272,7 +272,6 @@ set(HALAL_CPP_NO_ETH
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/DMA/DMA2.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/PinModel/Pin.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/TimerDomain/TimerDomain.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/TimerPeripheral/TimerPeripheral.cpp
   # ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/ADC/ADC.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/CORDIC/CORDIC.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Communication/FDCAN/FDCAN.cpp
@@ -282,20 +281,13 @@ set(HALAL_CPP_NO_ETH
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/DigitalInputService/DigitalInputService.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/DigitalOutputService/DigitalOutputService.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/EXTI/EXTI.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Encoder/Encoder.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/FMAC/FMAC.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Flash/Flash.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Flash/FlashTests/Flash_Test.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/InfoWarning/InfoWarning.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/InputCapture/InputCapture.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/PWM/DualCenterPWM/DualCenterPWM.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/PWM/DualPWM/DualPWM.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/PWM/DualPhasedPWM/DualPhasedPWM.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/PWM/PWM/PWM.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/PWM/PhasedPWM/PhasedPWM.cpp
+  # ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/InputCapture/InputCapture.cpp
   ${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/Time/Time.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Watchdog/Watchdog.cpp
 )
 
@@ -363,18 +355,14 @@ set(STLIB_LOW_CPP_ETH
 set(STLIB_LOW_C_NO_ETH)
 
 set(STLIB_LOW_CPP_NO_ETH
-  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Clocks/Counter.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Clocks/Stopwatch.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/DigitalOutput/DigitalOutput.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/ErrorHandler/ErrorHandler.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/HalfBridge/HalfBridge.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Math/Math.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/ST-LIB_LOW.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Sd/Sd.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Sensors/DigitalSensor/DigitalSensor.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Sensors/LookupSensor/LookupSensor.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Sensors/NTC/NTC.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Sensors/Sensor/Sensor.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Sensors/SensorInterrupt/SensorInterrupt.cpp
 )
 

Inc/HALAL/HALAL.hpp

@@ -14,11 +14,9 @@
 
 #include "HALAL/Services/ADC/NewADC.hpp"
 
-#include "HALAL/Services/PWM/DualCenterPWM/DualCenterPWM.hpp"
-#include "HALAL/Services/PWM/DualPWM/DualPWM.hpp"
-#include "HALAL/Services/PWM/DualPhasedPWM/DualPhasedPWM.hpp"
-#include "HALAL/Services/PWM/PWM/PWM.hpp"
-#include "HALAL/Services/PWM/PhasedPWM/PhasedPWM.hpp"
+// To be implemented
+// #include "HALAL/Services/PWM/DualPhasedPWM/DualPhasedPWM.hpp"
+// #include "HALAL/Services/PWM/PhasedPWM/PhasedPWM.hpp"
 
 #include "HALAL/Services/PWM/DualPWM.hpp"
 #include "HALAL/Services/PWM/PWM.hpp"
@@ -30,8 +28,7 @@
 // #include "HALAL/Services/Encoder/Encoder.hpp"
 #include "HALAL/Services/EXTI/EXTI.hpp"
 #include "HALAL/Services/Encoder/Encoder.hpp"
-#include "HALAL/Services/Encoder/NewEncoder.hpp"
-#include "HALAL/Services/InputCapture/InputCapture.hpp"
+// #include "HALAL/Services/InputCapture/InputCapture.hpp" // To be implemented
 
 #include "HALAL/Services/Communication/FDCAN/FDCAN.hpp"
 #include "HALAL/Services/Communication/I2C/I2C.hpp"

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

@@ -9,7 +9,6 @@
 
 #include "sntp.h"
 #include "HALAL/Models/IPV4/IPV4.hpp"
-#include "HALAL/Services/Time/Time.hpp"
 #include "C++Utilities/CppUtils.hpp"
 
 class SNTP {

Inc/HALAL/Services/EXTI/EXTI.hpp

@@ -149,4 +149,4 @@ struct EXTIDomain {
 
 } // namespace ST_LIB
 
-#endif // EXTI_HPP
+#endif // EXTI_HPP

Inc/HALAL/Services/Encoder/Encoder.hpp

@@ -1,84 +1,114 @@
-/*
- * Encoder.hpp
- *
- *  Created on: 27 oct. 2022
- *      Author: Pablo
- */
-
-#pragma once
-
-#include "HALAL/Models/PinModel/Pin.hpp"
-#include "HALAL/Models/TimerPeripheral/TimerPeripheral.hpp"
-#include "C++Utilities/CppUtils.hpp"
-#include "ErrorHandler/ErrorHandler.hpp"
-
-#define NANO_SECOND 1000000000.0
-#define CLOCK_MAX_VALUE 4294967295 // here goes the tim23 counter period
-
-#ifdef HAL_TIM_MODULE_ENABLED
-/**
- * @brief Encoder service class. Abstracts the use of the encoder with the HAL library.
- *
- */
-class Encoder {
-public:
-    static uint8_t id_counter;
-    static map<pair<Pin, Pin>, TimerPeripheral*> pin_timer_map;
-    static map<uint8_t, pair<Pin, Pin>> registered_encoder;
-
-    /**
-     * @brief This method registers a new encoder
-     *
-     * @param pin1	First pin of the encoder
-     * @param pin2 	Second pin of the encoder
-     *
-     * @retval uint8_t Id of the service
-     */
-    static uint8_t inscribe(Pin& pin1, Pin& pin2);
-
-    static void start();
-
-    /**
-     * @brief Starts the timer of the encoder
-     *
-     * @param id Id of the encoder
-     */
-    static void turn_on(uint8_t id);
-
-    /**
-     * @brief Stop the timer of the encoder
-     *
-     * @param id Id of the encoder
-     */
-    static void turn_off(uint8_t id);
-
-    /**
-     * @brief Resets the encoder by setting the CNT register to 0
-     *
-     * @param id Id of the encoder
-     */
-    static void reset(uint8_t id);
-
-    /**
-     * @brief Get the CNT value of the encoder
-     *
-     * @param id Id of the encoder
-     * @return uint32_t CNT value if the id is valid
-     */
-    static uint32_t get_counter(uint8_t id);
-
-    /**
-     * @brief Get the encoder direction
-     *
-     * @param id Id
-     * @return bool Encoder direction if id is valid
-     */
-    static bool get_direction(uint8_t id);
-
-    static void init(TimerPeripheral* encoder);
-
-    static uint32_t get_initial_counter_value(uint8_t id);
-
-    static int64_t get_delta_clock(uint64_t clock_time, uint64_t last_clock_time);
-};
-#endif
+#pragma once
+
+#include "HALAL/Models/TimerDomain/TimerDomain.hpp"
+
+#ifdef HAL_TIM_MODULE_ENABLED
+
+#define NANO_SECOND 1000000000.0
+#define CLOCK_MAX_VALUE 4294967295 // here goes the tim23 counter period
+
+namespace ST_LIB {
+
+template <const TimerDomain::Timer& dev> struct TimerWrapper;
+
+template <const TimerDomain::Timer& dev> class Encoder {
+    static_assert(
+        dev.e.pin_count == 2,
+        "Encoder must have exactly 2 encoder pins, as it uses the whole timer"
+    );
+    static_assert(dev.e.pins[0].af == TimerAF::Encoder, "Pin 0 must be declared as encoder");
+    static_assert(dev.e.pins[1].af == TimerAF::Encoder, "Pin 1 must be declared as encoder");
+    static_assert(
+        dev.e.pins[0].channel != dev.e.pins[1].channel,
+        "Pins must be of different channels"
+    );
+
+    inline static TimerWrapper<dev>* timer;
+    inline static bool is_on = false;
+
+public:
+    Encoder(TimerWrapper<dev>* tim) {
+        if (timer == nullptr) {
+            init(tim);
+        }
+    }
+
+    static void init(TimerWrapper<dev>* tim) {
+        timer = tim;
+        TIM_Encoder_InitTypeDef sConfig = {0};
+        TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+        tim->instance->hal_tim->Init.Prescaler = 5;
+        tim->instance->hal_tim->Init.CounterMode = TIM_COUNTERMODE_UP;
+        tim->instance->hal_tim->Init.Period = 55000;
+        tim->instance->hal_tim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+        tim->instance->hal_tim->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+        sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
+        sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
+        sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+        sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
+        sConfig.IC1Filter = 0;
+        sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+        sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+        sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
+        sConfig.IC2Filter = 0;
+
+        if (HAL_TIM_Encoder_Init(tim->instance->hal_tim, &sConfig) != HAL_OK) {
+            ErrorHandler("Unable to init encoder");
+        }
+
+        sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+        sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+        if (HAL_TIMEx_MasterConfigSynchronization(tim->instance->hal_tim, &sMasterConfig) !=
+            HAL_OK) {
+            ErrorHandler("Unable to config master synchronization in encoder");
+        }
+    }
+
+    static void turn_on() {
+        if (is_on)
+            return;
+
+        if (HAL_TIM_Encoder_GetState(timer->instance->hal_tim) == HAL_TIM_STATE_RESET) {
+            ErrorHandler("Unable to get state from encoder");
+            return;
+        }
+        if (HAL_TIM_Encoder_Start(timer->instance->hal_tim, TIM_CHANNEL_ALL) != HAL_OK) {
+            ErrorHandler("Unable to start encoder");
+            return;
+        }
+        is_on = true;
+        reset();
+    }
+
+    static void turn_off() {
+        if (!is_on)
+            return;
+        if (HAL_TIM_Encoder_Stop(timer->instance->hal_tim, TIM_CHANNEL_ALL) != HAL_OK) {
+            ErrorHandler("Unable to stop encoder");
+        }
+        is_on = false;
+    }
+
+    static inline void reset() { timer->instance->tim->CNT = UINT32_MAX / 2; }
+
+    static inline uint32_t get_counter() { return timer->instance->tim->CNT; }
+
+    static inline bool get_direction() { return ((timer->instance->tim->CR1 & 0b10000) >> 4); }
+
+    static inline uint32_t get_initial_counter_value() { return timer->instance->tim->ARR / 2; }
+
+    static int64_t get_delta_clock(uint64_t clock_time, uint64_t last_clock_time) {
+        int64_t delta_clock = clock_time - last_clock_time;
+        if (clock_time < last_clock_time) { // overflow handle
+            delta_clock = clock_time +
+                          CLOCK_MAX_VALUE * NANO_SECOND / timer->get_clock_frequency() -
+                          last_clock_time;
+        }
+        return delta_clock;
+    }
+};
+
+} // namespace ST_LIB
+#endif