Feat/sd

CMakeLists.txt

@@ -96,6 +96,7 @@ if(CMAKE_CROSSCOMPILING)
     # SD
     ${HAL_DRIVER_SRC_DIR}/stm32h7xx_hal_sd.c
     ${HAL_DRIVER_SRC_DIR}/stm32h7xx_hal_sd_ex.c
+    ${HAL_DRIVER_SRC_DIR}/stm32h7xx_ll_sdmmc.c
 
     # CAN / FDCAN
     ${HAL_DRIVER_SRC_DIR}/stm32h7xx_hal_fdcan.c

Inc/ST-LIB.hpp

@@ -85,7 +85,8 @@ template <typename... Domains> struct BuildCtx {
 
 using DomainsCtx = BuildCtx<MPUDomain, GPIODomain, TimerDomain,
                             DigitalOutputDomain,
-                            DigitalInputDomain /*, ADCDomain, PWMDomain, ...*/>;
+                            DigitalInputDomain,
+                            SdDomain /*, ADCDomain, PWMDomain, ...*/>;
 
 template <auto &...devs> struct Board {
   static consteval auto build_ctx() {
@@ -101,23 +102,27 @@ template <auto &...devs> struct Board {
   }
 
   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 doutN = domain_size<DigitalOutputDomain>();
     constexpr std::size_t dinN = domain_size<DigitalInputDomain>();
-    constexpr std::size_t mpuN = domain_size<MPUDomain>();
+    constexpr std::size_t sdN = domain_size<SdDomain>();
     // ...
 
     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<DigitalOutputDomain::Config, doutN> dout_cfgs;
       std::array<DigitalInputDomain::Config, dinN> din_cfgs;
-      std::array<MPUDomain::Config, mpuN> mpu_cfgs;
+      std::array<SdDomain::Config, sdN> sd_cfgs;
       // ...
     };
 
     return ConfigBundle{
+        .mpu_cfgs = MPUDomain::template build<mpuN>(
+            ctx.template span<MPUDomain>()),
         .gpio_cfgs =
             GPIODomain::template build<gpioN>(ctx.template span<GPIODomain>()),
         .tim_cfgs =
@@ -126,29 +131,33 @@ template <auto &...devs> struct Board {
             ctx.template span<DigitalOutputDomain>()),
         .din_cfgs = DigitalInputDomain::template build<dinN>(
             ctx.template span<DigitalInputDomain>()),
-        .mpu_cfgs = MPUDomain::template build<mpuN>(
-            ctx.template span<MPUDomain>())
+        .sd_cfgs = SdDomain::template build<sdN>(
+            ctx.template span<SdDomain>()),
         // ...
     };
   }
 
   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 doutN = domain_size<DigitalOutputDomain>();
     constexpr std::size_t dinN = domain_size<DigitalInputDomain>();
-    constexpr std::size_t mpuN = domain_size<MPUDomain>();
+    constexpr std::size_t sdN = domain_size<SdDomain>();
     // ...
 
+    MPUDomain::Init<mpuN, cfg.mpu_cfgs>::init();
     GPIODomain::Init<gpioN>::init(cfg.gpio_cfgs);
     TimerDomain::Init<timN>::init(cfg.tim_cfgs);
     DigitalOutputDomain::Init<doutN>::init(cfg.dout_cfgs,
                                            GPIODomain::Init<gpioN>::instances);
     DigitalInputDomain::Init<dinN>::init(cfg.din_cfgs,
                                          GPIODomain::Init<gpioN>::instances);
-    MPUDomain::Init<mpuN, cfg.mpu_cfgs>::init();
+    SdDomain::Init<sdN>::init(cfg.sd_cfgs,
+                              MPUDomain::Init<mpuN, cfg.mpu_cfgs>::instances,
+                              DigitalInputDomain::Init<dinN>::instances);
     // ...
   }
 

Inc/ST-LIB_LOW/ST-LIB_LOW.hpp

@@ -3,6 +3,8 @@
 #include "ST-LIB_LOW/DigitalOutput2.hpp"
 #include "ST-LIB_LOW/DigitalInput2.hpp"
 
+#include "ST-LIB_LOW/Sd/Sd.hpp"
+
 #include "Clocks/Counter.hpp"
 #include "Clocks/Stopwatch.hpp"
 #include "Sensors/LinearSensor/LinearSensor.hpp"