Rebase onto main + clean up the code a bit

CMakeLists.txt

@@ -183,8 +183,14 @@ target_include_directories(firmware PRIVATE include src)
 
 target_compile_options(firmware PRIVATE -Wdouble-promotion)
 target_sources(
-  firmware PRIVATE src/main.cpp src/hal/avr/cpu.cpp src/hal/avr/usart.cpp src/modules/protocol.cpp
+  firmware
-                   src/modules/buttons.cpp src/modules/leds.cpp
+  PRIVATE src/main.cpp
+          src/hal/avr/cpu.cpp
+          src/hal/avr/usart.cpp
+          src/hal/adc.cpp
+          src/modules/protocol.cpp
+          src/modules/buttons.cpp
+          src/modules/leds.cpp
   )
 
 set_property(

src/hal/adc.cpp

@@ -0,0 +1,9 @@
+#include "adc.h"
+
+namespace hal {
+namespace adc {
+
+    uint16_t ReadADC(uint8_t adc) { return 0; }
+
+} // namespace adc
+} // namespace hal

src/hal/avr/usart.cpp

@@ -1,13 +1,18 @@
 #include "../usart.h"
 #include <avr/interrupt.h>
 
-uint8_t hal::USART::Read() {
+namespace hal {
-    uint8_t c = 0;
+namespace usart {
-    this->rx_buf.ConsumeFirst(c);
-    return c;
-}
 
-void hal::USART::Write(uint8_t c) {
+    USART usart1;
+
+    uint8_t USART::Read() {
+        uint8_t c = 0;
+        rx_buf.ConsumeFirst(c);
+        return c;
+    }
+
+    void USART::Write(uint8_t c) {
         _written = true;
         // If the buffer and the data register is empty, just write the byte
         // to the data register and be done. This shortcut helps
@@ -27,46 +32,51 @@ void hal::USART::Write(uint8_t c) {
                 // register empty flag ourselves. If it is set, pretend an
                 // interrupt has happened and call the handler to free up
                 // space for us.
-            if (husart->UCSRxA & (1 << 5))
+                if (husart->UCSRxA & (1 << 5)) {
                     ISR_UDRE();
+                }
             } else {
                 // nop, the interrupt handler will free up space for us
             }
         }
 
         husart->UCSRxB |= (1 << 5); //enable UDRE interrupt
-}
+    }
 
-void hal::USART::Flush() {
+    void USART::Flush() {
         // If we have never written a byte, no need to flush. This special
         // case is needed since there is no way to force the TXC (transmit
         // complete) bit to 1 during initialization
-    if (!_written)
+        if (!_written) {
             return;
+        }
 
         while ((husart->UCSRxB & (1 << 5)) || ~(husart->UCSRxA & (1 << 6))) {
             if (bit_is_clear(SREG, SREG_I) && (husart->UCSRxB & (1 << 5)))
                 // Interrupts are globally disabled, but the DR empty
                 // interrupt should be enabled, so poll the DR empty flag to
                 // prevent deadlock
-            if (husart->UCSRxA & (1 << 5))
+                if (husart->UCSRxA & (1 << 5)) {
                     ISR_UDRE();
                 }
+        }
         // If we get here, nothing is queued anymore (DRIE is disabled) and
         // the hardware finished tranmission (TXC is set).
-}
+    }
 
-void hal::USART::puts(const char *str) {
+    void USART::puts(const char *str) {
-    while (*str)
+        while (*str) {
-        this->Write(*str++);
+            Write(*str++);
-}
+        }
+    }
 
-hal::USART usart1(USART1);
+} // namespace usart
+} // namespace hal
 
 ISR(USART1_RX_vect) {
-    usart1.ISR_RX();
+    hal::usart::usart1.ISR_RX();
 }
 
 ISR(USART1_UDRE_vect) {
-    usart1.ISR_UDRE();
+    hal::usart::usart1.ISR_UDRE();
 }

src/hal/usart.h

@@ -8,8 +8,10 @@
 /// for >1 USART interfaces
 
 namespace hal {
-class USART {
+namespace usart {
-public:
+
+    class USART {
+    public:
         struct USART_TypeDef {
             volatile uint8_t UCSRxA;
             volatile uint8_t UCSRxB;
@@ -81,19 +83,24 @@ public:
                 husart->UCSRxB &= ~(1 << 5); // disable UDRE interrupt
         }
 
-    USART(USART_TypeDef *husart)
+        USART() = default;
-        : husart(husart) {};
+        void Init(USART_TypeDef *conf) {
+            husart = conf;
+        }
 
-private:
+    private:
         // IO base address
         USART_TypeDef *husart;
         bool _written;
 
         CircleBuffer<uint8_t, 32> tx_buf;
         CircleBuffer<uint8_t, 32> rx_buf;
-};
+    };
 
+    /// beware - normally we'd make a singleton, but avr-gcc generates suboptimal code for them, therefore we only keep this extern variable
+    extern USART usart1;
+
+} // namespace usart
 } // namespace hal
 
 #define USART1 ((hal::USART::USART_TypeDef *)&UCSR1A)
-extern hal::USART usart1;

src/main.cpp

@@ -13,8 +13,6 @@
 
 #include "logic/mm_control.h"
 
-static hal::UART uart;
-
 static modules::protocol::Protocol protocol;
 static modules::buttons::Buttons buttons;
 static modules::leds::LEDs leds;
@@ -49,17 +47,17 @@ void TmpPlayground() {
     //        break;
 
     sei();
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
-    usart1.puts("1234567890\n");
+    hal::usart::usart1.puts("1234567890\n");
 }
 
 /// One-time setup of HW and SW components
@@ -76,12 +74,12 @@ void setup() {
 
     // @@TODO if the shift register doesn't work we really can't signalize anything, only internal variables will be accessible if the UART works
 
-   USART::USART_InitTypeDef usart_conf = {
+    hal::usart::USART::USART_InitTypeDef usart_conf = {
         .rx_pin = gpio::GPIO_pin(GPIOD, 2),
         .tx_pin = gpio::GPIO_pin(GPIOD, 3),
         .baudrate = 115200,
-    usart1.Init(&usart_conf);
+    };
-
+    hal::usart::usart1.Init(&usart_conf);
     leds.SetMode(3, false, modules::leds::Mode::on);
     //    shr::Send(leds.Step(0));
 
@@ -115,8 +113,8 @@ void ProcessRequestMsg(const modules::protocol::RequestMsg &rq) {
 /// @returns true if a request was successfully finished
 bool CheckMsgs() {
     using mpd = modules::protocol::DecodeStatus;
-    while (!uart.ReadEmpty()) {
+    while (!hal::usart::usart1.ReadEmpty()) {
-        switch (protocol.DecodeRequest(uart.Read())) {
+        switch (protocol.DecodeRequest(hal::usart::usart1.Read())) {
         case mpd::MessageCompleted:
             // process the input message
             return true;