✨ Add rmd_drc_v2 and rmd_mc_x_v2 demos (#21)

.github/workflows/ci.yml

@@ -37,15 +37,33 @@ jobs:
     with:
       compiler_profile_url: https://github.com/libhal/arm-gnu-toolchain.git
       compiler_profile: v1/arm-gcc-12.3
-      platform_profile_url: https://github.com/libhal/libhal-lpc40.git
-      platform_profile: v2/lpc4074
+      platform_profile_url: https://github.com/libhal/libhal-arm-mcu.git
+      platform_profile: v1/lpc4074
     secrets: inherit
 
   demo_check_lpc4078:
     uses: libhal/ci/.github/workflows/[email protected]
     with:
       compiler_profile_url: https://github.com/libhal/arm-gnu-toolchain.git
       compiler_profile: v1/arm-gcc-12.3
-      platform_profile_url: https://github.com/libhal/libhal-lpc40.git
-      platform_profile: v2/lpc4078
+      platform_profile_url: https://github.com/libhal/libhal-arm-mcu.git
+      platform_profile: v1/lpc4078
+    secrets: inherit
+
+  demo_check_stm32f103c8:
+    uses: libhal/ci/.github/workflows/[email protected]
+    with:
+      compiler_profile_url: https://github.com/libhal/arm-gnu-toolchain.git
+      compiler_profile: v1/arm-gcc-12.3
+      platform_profile_url: https://github.com/libhal/libhal-arm-mcu.git
+      platform_profile: v1/stm32f103c8
+    secrets: inherit
+
+  demo_check_micromod:
+    uses: libhal/ci/.github/workflows/[email protected]
+    with:
+      compiler_profile_url: https://github.com/libhal/arm-gnu-toolchain.git
+      compiler_profile: v1/arm-gcc-12.3
+      platform_profile_url: https://github.com/libhal/libhal-micromod.git
+      platform_profile: v1/mod-stm32f1-v5
     secrets: inherit

demos/CMakeLists.txt

@@ -19,7 +19,11 @@ project(demos LANGUAGES CXX)
 libhal_build_demos(
   DEMOS
   drc
+  drc_v2
+  drc_v2_resources
   mc_x
+  mc_x_v2
+  mc_x_v2_resources
   rc_servo
 
   INCLUDES

demos/conanfile.py

@@ -21,4 +21,4 @@ class demos(ConanFile):
     def requirements(self):
         bootstrap = self.python_requires["libhal-bootstrap"]
         bootstrap.module.add_demo_requirements(self)
-        self.requires("libhal-actuator/[^1.0.0 || latest]")
+        self.requires("libhal-actuator/[^1.1.0 || latest]")

demos/main.cpp

@@ -53,7 +53,7 @@ resource_list resources{};
     hal::delay(clock, 1000ms);
   }
 }
-
+// test
 int main()
 {
   hal::set_terminate(terminate_handler);

demos/platforms/micromod.cpp

@@ -26,5 +26,14 @@ void initialize_platform(resource_list& p_resources)
   p_resources.status_led = &hal::micromod::v1::led();
   p_resources.clock = &hal::micromod::v1::uptime_clock();
   p_resources.console = &hal::micromod::v1::console(hal::buffer<128>);
-  p_resources.can = &hal::micromod::v1::can();
+  if constexpr (use_can_v1) {
+    p_resources.can = &hal::micromod::v1::can();
+  } else {
+    static std::array<hal::can_message, 4> receive_buffer{};
+    p_resources.can_transceiver =
+      &hal::micromod::v1::can_transceiver(receive_buffer);
+    p_resources.can_bus_manager = &hal::micromod::v1::can_bus_manager();
+    p_resources.can_identifier_filter =
+      &hal::micromod::v1::can_identifier_filter0();
+  }
 }

demos/platforms/stm32f103c8.cpp

@@ -18,6 +18,7 @@
 #include <libhal-armcortex/startup.hpp>
 #include <libhal-armcortex/system_control.hpp>
 
+#include <libhal-stm32f1/can.hpp>
 #include <libhal-stm32f1/clock.hpp>
 #include <libhal-stm32f1/constants.hpp>
 #include <libhal-stm32f1/output_pin.hpp>
@@ -47,4 +48,19 @@ void initialize_platform(resource_list& p_resources)
   p_resources.console = &uart1;
   p_resources.clock = &counter;
   p_resources.status_led = &led;
+
+  if constexpr (use_can_v1) {
+    static hal::stm32f1::can driver({}, hal::stm32f1::can_pins::pb9_pb8);
+    p_resources.can = &driver;
+  } else {
+    static std::array<hal::can_message, 4> receive_buffer{};
+    static hal::stm32f1::can_peripheral_manager can(
+      100_kHz, hal::stm32f1::can_pins::pb9_pb8);
+    static auto can_transceiver = can.acquire_transceiver(receive_buffer);
+    p_resources.can_transceiver = &can_transceiver;
+    static auto can_bus_manager = can.acquire_bus_manager();
+    p_resources.can_bus_manager = &can_bus_manager;
+    static auto can_identifier_filter = can.acquire_identifier_filter();
+    p_resources.can_identifier_filter = &can_identifier_filter.filter[0];
+  }
 }

demos/resource_list.hpp

@@ -26,13 +26,18 @@
 struct resource_list
 {
   hal::callback<void()> reset;
-  std::optional<hal::serial*> console = std::nullopt;
-  std::optional<hal::steady_clock*> clock = std::nullopt;
-  std::optional<hal::output_pin*> status_led = std::nullopt;
-  std::optional<hal::can*> can = std::nullopt;
-  std::optional<hal::pwm*> pwm = std::nullopt;
+  std::optional<hal::serial*> console;
+  std::optional<hal::steady_clock*> clock;
+  std::optional<hal::output_pin*> status_led;
+  std::optional<hal::can*> can;
+  std::optional<hal::can_transceiver*> can_transceiver;
+  std::optional<hal::can_bus_manager*> can_bus_manager;
+  std::optional<hal::can_identifier_filter*> can_identifier_filter;
+  std::optional<hal::pwm*> pwm;
 };
 
 // Application function is implemented by one of the .cpp files.
 void initialize_platform(resource_list& p_resources);
 void application(resource_list& p_resources);
+
+constexpr bool use_can_v1 = false;