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feat: Use an XList for domains in ST_LIB.hpp #558

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feat: Use an XList for domains in ST_LIB.hpp #558

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40cbbdb
feat: Update xlist
victor-Lopez25 Feb 2, 2026
cbaaca6
fix xlist hopefully
victor-Lopez25 Feb 2, 2026
4068ac4
I give up, no arguments >:(
victor-Lopez25 Feb 2, 2026
e00bbb9
No templated, this should hopefully work
victor-Lopez25 Feb 2, 2026
0be4c2f
This could work?
victor-Lopez25 Feb 2, 2026
0e83681
DomainCtx -> DomainsCtx
victor-Lopez25 Feb 2, 2026
c9c0aba
Merge remote-tracking branch 'origin/development' into fix/compile_in…
victor-Lopez25 Feb 14, 2026
ee91675
fix missing NEXT
victor-Lopez25 Feb 14, 2026
2556ef2
remove duplicated owner_index_of()
victor-Lopez25 Feb 14, 2026
d7f96f7
restore accidentally deleted cfg
victor-Lopez25 Feb 14, 2026
51212b0
Merge remote-tracking branch 'origin/development' into fix/compile_in…
victor-Lopez25 Feb 17, 2026
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165 changes: 71 additions & 94 deletions Inc/ST-LIB.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,19 +82,35 @@ template <typename... Domains> struct BuildCtx {
}
};

using DomainsCtx = BuildCtx<
MPUDomain,
GPIODomain,
TimerDomain,
DMA_Domain,
SPIDomain,
DigitalOutputDomain,
DigitalInputDomain,
MdmaPacketDomain,
SdDomain,
EthernetDomain,
ADCDomain,
EXTIDomain /* PWMDomain, ...*/>;
/* DomainXList params:
* - First param: Domain name
* - Second param: instance name
* - Rest: any dependencies on previous domains
*/
#define DomainXList \
X_TEMPLATED(MPUDomain, mpu) NEXT \
X(GPIODomain, gpio) NEXT \
X(TimerDomain, tim) NEXT \
X(DMA_Domain, dma) NEXT \
X(SPIDomain, spi, GPIODomain::Init<gpioN>::instances, DMA_Domain::Init<dmaN>::instances) NEXT \
X(DigitalOutputDomain, dout, GPIODomain::Init<gpioN>::instances) NEXT \
X(DigitalInputDomain, din, GPIODomain::Init<gpioN>::instances) NEXT \
X(MdmaPacketDomain, mdmaPacket, MPUDomain::Init<mpuN, cfg.mpu_cfgs>::instances) NEXT \
X(SdDomain, sd, MPUDomain::Init<mpuN, cfg.mpu_cfgs>::instances, DigitalInputDomain::Init<dinN>::instances) NEXT \
X(EthernetDomain, eth, DigitalOutputDomain::Init<doutN>::instances) NEXT \
X(ADCDomain, adc, GPIODomain::Init<gpioN>::instances) NEXT \
X(EXTIDomain, exti, GPIODomain::Init<gpioN>::instances) /* NEXT \
X(...Domain, ..., dependencies here [for init()]) */

#define X_TEMPLATED X

#define NEXT ,
#define X(domain, inst, ...) domain

using DomainsCtx = BuildCtx<DomainXList>;

#undef NEXT
#undef X

template <auto&... devs> struct Board {
static consteval auto build_ctx() {
Expand All @@ -109,75 +125,48 @@ template <auto&... devs> struct Board {
return ctx.template span<D>().size();
}


static consteval auto build() {
constexpr std::size_t mpuN = domain_size<MPUDomain>();
constexpr std::size_t gpioN = domain_size<GPIODomain>();
constexpr std::size_t timN = domain_size<TimerDomain>();
constexpr std::size_t dmaN = domain_size<DMA_Domain>();
constexpr std::size_t spiN = domain_size<SPIDomain>();
constexpr std::size_t doutN = domain_size<DigitalOutputDomain>();
constexpr std::size_t dinN = domain_size<DigitalInputDomain>();
constexpr std::size_t mdmaPacketN = domain_size<MdmaPacketDomain>();
constexpr std::size_t sdN = domain_size<SdDomain>();
constexpr std::size_t ethN = domain_size<EthernetDomain>();
constexpr std::size_t adcN = domain_size<ADCDomain>();
constexpr std::size_t extiN = domain_size<EXTIDomain>();
// ...
#define NEXT ;
#define X(domain, inst, ...) \
constexpr std::size_t inst##N = domain_size<domain>();

DomainXList;

#undef X

struct ConfigBundle {
std::array<MPUDomain::Config, mpuN> mpu_cfgs;
std::array<GPIODomain::Config, gpioN> gpio_cfgs;
std::array<TimerDomain::Config, timN> tim_cfgs;
std::array<DMA_Domain::Config, dmaN> dma_cfgs;
std::array<SPIDomain::Config, spiN> spi_cfgs;
std::array<DigitalOutputDomain::Config, doutN> dout_cfgs;
std::array<DigitalInputDomain::Config, dinN> din_cfgs;
std::array<MdmaPacketDomain::Config, mdmaPacketN> mdma_packet_cfgs;
std::array<SdDomain::Config, sdN> sd_cfgs;
std::array<EthernetDomain::Config, ethN> eth_cfgs;
std::array<ADCDomain::Config, adcN> adc_cfgs;
std::array<EXTIDomain::Config, extiN> exti_cfgs;
// ...
#define X(domain, inst, ...) \
std::array<domain::Config, inst##N> inst##_cfgs

DomainXList;

#undef NEXT
#undef X
};

return ConfigBundle{
.mpu_cfgs = MPUDomain::template build<mpuN>(ctx.template span<MPUDomain>()),
.gpio_cfgs = GPIODomain::template build<gpioN>(ctx.template span<GPIODomain>()),
.tim_cfgs = TimerDomain::template build<timN>(ctx.template span<TimerDomain>()),
.dma_cfgs = DMA_Domain::template build<dmaN>(ctx.template span<DMA_Domain>()),
.spi_cfgs = SPIDomain::template build<spiN>(ctx.template span<SPIDomain>()),
.dout_cfgs =
DigitalOutputDomain::template build<doutN>(ctx.template span<DigitalOutputDomain>()
),
.din_cfgs =
DigitalInputDomain::template build<dinN>(ctx.template span<DigitalInputDomain>()),
.mdma_packet_cfgs =
MdmaPacketDomain::template build<mdmaPacketN>(ctx.template span<MdmaPacketDomain>()
),
.sd_cfgs = SdDomain::template build<sdN>(ctx.template span<SdDomain>()),
.eth_cfgs = EthernetDomain::template build<ethN>(ctx.template span<EthernetDomain>()),
.adc_cfgs = ADCDomain::template build<adcN>(ctx.template span<ADCDomain>()),
.exti_cfgs = EXTIDomain::template build<extiN>(ctx.template span<EXTIDomain>()),
// ...
#define NEXT ,
#define X(domain, inst, ...) \
.inst##_cfgs = domain::template build<inst##N>(ctx.template span<domain>())

DomainXList,

#undef NEXT
#undef X
};
}

static constexpr auto cfg = build();

static void init() {
constexpr std::size_t mpuN = domain_size<MPUDomain>();
constexpr std::size_t gpioN = domain_size<GPIODomain>();
constexpr std::size_t timN = domain_size<TimerDomain>();
constexpr std::size_t dmaN = domain_size<DMA_Domain>();
constexpr std::size_t spiN = domain_size<SPIDomain>();
constexpr std::size_t doutN = domain_size<DigitalOutputDomain>();
constexpr std::size_t dinN = domain_size<DigitalInputDomain>();
constexpr std::size_t mdmaPacketN = domain_size<MdmaPacketDomain>();
constexpr std::size_t sdN = domain_size<SdDomain>();
constexpr std::size_t ethN = domain_size<EthernetDomain>();
constexpr std::size_t adcN = domain_size<ADCDomain>();
constexpr std::size_t extiN = domain_size<EXTIDomain>();
// ...
#define NEXT ;
#define X(domain, inst, ...) \
constexpr std::size_t inst##N = domain_size<domain>();

DomainXList;

#undef X

#ifdef HAL_IWDG_MODULE_ENABLED
Watchdog::check_reset_flag();
Expand All @@ -186,30 +175,18 @@ template <auto&... devs> struct Board {
HALconfig::system_clock();
HALconfig::peripheral_clock();

MPUDomain::Init<mpuN, cfg.mpu_cfgs>::init();
GPIODomain::Init<gpioN>::init(cfg.gpio_cfgs);
TimerDomain::Init<timN>::init(cfg.tim_cfgs);
DMA_Domain::Init<dmaN>::init(cfg.dma_cfgs);
SPIDomain::Init<spiN>::init(
cfg.spi_cfgs,
GPIODomain::Init<gpioN>::instances,
DMA_Domain::Init<dmaN>::instances
);
DigitalOutputDomain::Init<doutN>::init(cfg.dout_cfgs, GPIODomain::Init<gpioN>::instances);
DigitalInputDomain::Init<dinN>::init(cfg.din_cfgs, GPIODomain::Init<gpioN>::instances);
MdmaPacketDomain::Init<mdmaPacketN>::init(
cfg.mdma_packet_cfgs,
MPUDomain::Init<mpuN, cfg.mpu_cfgs>::instances
);
SdDomain::Init<sdN>::init(
cfg.sd_cfgs,
MPUDomain::Init<mpuN, cfg.mpu_cfgs>::instances,
DigitalInputDomain::Init<dinN>::instances
);
EthernetDomain::Init<ethN>::init(cfg.eth_cfgs, DigitalOutputDomain::Init<doutN>::instances);
ADCDomain::Init<adcN>::init(cfg.adc_cfgs, GPIODomain::Init<gpioN>::instances);
EXTIDomain::Init<extiN>::init(cfg.exti_cfgs,
GPIODomain::Init<gpioN>::instances); // ...

#undef X_TEMPLATED
#define X_TEMPLATED(domain, inst, ...) \
domain::Init<inst##N, cfg.inst##_cfgs>::init(##__VA_ARGS__);
#define X(domain, inst, ...) \
domain::Init<inst##N>::init(cfg.inst##_cfgs, ##__VA_ARGS__);

DomainXList;

#undef NEXT
#undef X_TEMPLATED
#undef X
}

template <typename Domain, auto& Target, std::size_t I = 0>
Expand Down
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