Core code cleanup (#206)

* add delay function
* todo about delay_isr
* remove arduino defines and fix all apps to use core-api/hal-api
* delay for local target
* remove warnings of task_equal
* fix BSP_SD_Init
* fix USBD_static
* grio read constant pointer to gpio
* add TODO about ISR context
* const void* arg for pubsub api
* mark unused functions
* app pointers now pointed to constant apps
* fix printf format
* fix "unused" warnings in local target
* fix const pin read in local target
* fix int to pointer warnings in local target
* power read mutex error fix
* delete old makefile
* add -werror

Co-authored-by: Aleksandr Kutuzov <aku@plooks.com>
Co-authored-by: aanper <mail@s3f.ru>

firmware/targets/local/api-hal/api-hal-delay.c

@@ -1,7 +1,11 @@
 #include "api-hal-delay.h"
 #include <stdio.h>
+#include <unistd.h>
 
-void delay_us(uint32_t time) {
-    // How to deal with it
-    printf("[DELAY] %d us\n", time);
+void delay_us(float microseconds) {
+    usleep(microseconds);
+}
+
+void delay(float milliseconds) {
+    usleep(milliseconds * 1000);
 }

firmware/targets/local/api-hal/api-hal-delay.h

@@ -1,4 +1,6 @@
 #pragma once
 #include "main.h"
 
-void delay_us(uint32_t time);
+void delay_us(float microseconds);
+
+void delay(float milliseconds);

firmware/targets/local/api-hal/api-hal-gpio.c

@@ -41,7 +41,7 @@ void hal_gpio_write(GpioPin* gpio, bool state){
 }
 
 // read value from GPIO, false = LOW, true = HIGH
-bool hal_gpio_read(GpioPin* gpio){
+bool hal_gpio_read(const GpioPin* gpio){
     // TODO emulate pin state?
     return false;
 }

firmware/targets/local/api-hal/api-hal-gpio.h

@@ -46,4 +46,4 @@ void hal_gpio_init(GpioPin* gpio, GpioMode mode, GpioPull pull, GpioSpeed speed)
 void hal_gpio_write(GpioPin* gpio, bool state);
 
 // read value from GPIO, false = LOW, true = HIGH
-bool hal_gpio_read(GpioPin* gpio);
+bool hal_gpio_read(const GpioPin* gpio);

firmware/targets/local/api-hal/api-hal-task.c

@@ -1,5 +1,14 @@
 #include "api-hal-task.h"
 
+bool task_equal(TaskHandle_t a, TaskHandle_t b) {
+    if(a == NULL || b == NULL) return false;
+    return pthread_equal(*a, *b) != 0;
+}
+
 bool task_is_isr_context(void) {
     return false;
-}
+}
+
+void taskDISABLE_INTERRUPTS(void){
+    // we cant disable main os sheduler
+};

firmware/targets/local/api-hal/api-hal-task.h

@@ -1,5 +1,8 @@
 #pragma once
 #include "main.h"
+#include <cmsis_os.h>
 #include <stdbool.h>
 
-bool task_is_isr_context(void);
+bool task_equal(TaskHandle_t a, TaskHandle_t b);
+bool task_is_isr_context(void);
+__attribute__((unused)) void taskDISABLE_INTERRUPTS(void);