Buildscript and kernel improvements (#280)

- Implemented `constexpr long int getMicros()` in `Kernel.h`
- Changed `secondsToTicks()`, `minutesToTicks()` and `bool isIsr()` to `constexpr`
- Added more relevant build info

Buildscripts/board.cmake

@@ -1,3 +1,12 @@
+if (NOT WIN32)
+    string(ASCII 27 Esc)
+    set(ColorReset "${Esc}[m")
+    set(Cyan "${Esc}[36m")
+else ()
+    set(ColorReset "")
+    set(Cyan "")
+endif ()
+
 function(INIT_TACTILITY_GLOBALS SDKCONFIG_FILE)
     get_filename_component(SDKCONFIG_FILE_ABS ${SDKCONFIG_FILE} ABSOLUTE)
     # Find the board identifier in the sdkconfig file
@@ -10,7 +19,7 @@ function(INIT_TACTILITY_GLOBALS SDKCONFIG_FILE)
     set(id_length 0)
     math(EXPR id_length "${sdkconfig_board_id_length} - 21")
     string(SUBSTRING ${sdkconfig_board_id} 20 ${id_length} board_id)
-    message("Building board ${board_id}")
+    message("Building board: ${Cyan}${board_id}${ColorReset}")
 
     if (board_id STREQUAL "cyd-2432s024c")
         set(TACTILITY_BOARD_PROJECT CYD-2432S024C)
@@ -53,7 +62,7 @@ function(INIT_TACTILITY_GLOBALS SDKCONFIG_FILE)
     if (TACTILITY_BOARD_PROJECT STREQUAL "")
         message(FATAL_ERROR "No subproject mapped to \"${TACTILITY_BOARD_ID}\" in root Buildscripts/board.cmake")
     else ()
-        message("Board project: Boards/${TACTILITY_BOARD_PROJECT}")
+        message("Board project: ${Cyan}Boards/${TACTILITY_BOARD_PROJECT}${ColorReset}\n")
         set_property(GLOBAL PROPERTY TACTILITY_BOARD_PROJECT ${TACTILITY_BOARD_PROJECT})
         set_property(GLOBAL PROPERTY TACTILITY_BOARD_ID ${board_id})
     endif ()

Buildscripts/colors.cmake

@@ -0,0 +1,14 @@
+if (NOT WIN32)
+    string(ASCII 27 Esc)
+    set(ColorReset "${Esc}[m")
+    set(Cyan        "${Esc}[36m")
+    set(Grey        "${Esc}[37m")
+    set(LightPurple "${Esc}[1;35m")
+    set(White       "${Esc}[1;37m")
+else ()
+    set(ColorReset "")
+    set(Cyan        "")
+    set(Grey        "")
+    set(LightPurple "")
+    set(White       "")
+endif ()

Buildscripts/logo.cmake

@@ -10,13 +10,13 @@ endif()
 
 if (NOT WIN32)
     string(ASCII 27 Esc)
-    set(ColourReset "${Esc}[m")
+    set(ColorReset "${Esc}[m")
     set(Cyan "${Esc}[36m")
     set(Grey "${Esc}[37m")
     set(LightPurple "${Esc}[1;35m")
     set(White "${Esc}[1;37m")
 else ()
-    set(ColourReset "")
+    set(ColorReset "")
     set(Cyan "")
     set(Grey "")
     set(LightPurple "")
@@ -41,4 +41,4 @@ message("\n\n\
               ${Cyan}@@@\n\
               ${Cyan}@@@\n\
               ${Cyan}@@@\n\
-              ${Cyan}@@\n\n${ColourReset}")
+              ${Cyan}@@\n\n${ColorReset}")

CMakeLists.txt

@@ -8,14 +8,24 @@ set(CMAKE_ASM_COMPILE_OBJECT "${CMAKE_CXX_COMPILER_TARGET}")
 
 include("Buildscripts/logo.cmake")
 
+if (NOT WIN32)
+    string(ASCII 27 Esc)
+    set(ColorReset "${Esc}[m")
+    set(Cyan "${Esc}[36m")
+else ()
+    set(ColorReset "")
+    set(Cyan "")
+endif ()
+
 file(READ version.txt TACTILITY_VERSION)
 add_compile_definitions(TT_VERSION="${TACTILITY_VERSION}")
 
 if (DEFINED ENV{ESP_IDF_VERSION})
-    message("Building with ESP-IDF v$ENV{ESP_IDF_VERSION}")
+    message("Building with ESP-IDF ${Cyan}v$ENV{ESP_IDF_VERSION}${ColorReset}")
     include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 
     include("Buildscripts/board.cmake")
+
     init_tactility_globals("sdkconfig")
     get_property(TACTILITY_BOARD_PROJECT GLOBAL PROPERTY TACTILITY_BOARD_PROJECT)
 

TactilityCore/CMakeLists.txt

@@ -9,7 +9,7 @@ if (DEFINED ENV{ESP_IDF_VERSION})
     idf_component_register(
         SRCS ${SOURCE_FILES}
         INCLUDE_DIRS "Include/"
-        REQUIRES mbedtls nvs_flash esp_rom
+        REQUIRES mbedtls nvs_flash esp_rom esp_timer
     )
 
     if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")

TactilityCore/Include/Tactility/kernel/Kernel.h

@@ -2,8 +2,10 @@
 
 #ifdef ESP_PLATFORM
 #include "freertos/FreeRTOS.h"
+#include <esp_timer.h>
 #else
 #include "FreeRTOS.h"
+#include <sys/time.h>
 #endif
 
 namespace tt::kernel {
@@ -16,9 +18,9 @@ typedef enum {
 
 /** Return true when called from an Interrupt Service Routine (~IRQ mode) */
 #ifdef ESP_PLATFORM
-inline constexpr bool isIsr() { return (xPortInIsrContext() == pdTRUE); }
+constexpr bool isIsr() { return (xPortInIsrContext() == pdTRUE); }
 #else
-inline constexpr bool isIsr() { return false; }
+constexpr bool isIsr() { return false; }
 #endif
 
 /** Check if kernel is running
@@ -52,7 +54,17 @@ uint32_t getTickFrequency();
 
 TickType_t getTicks();
 
-inline size_t getMillis() { return getTicks() / portTICK_PERIOD_MS; }
+constexpr size_t getMillis() { return getTicks() / portTICK_PERIOD_MS; }
+
+constexpr long int getMicros() {
+#ifdef ESP_PLATFORM
+    return static_cast<unsigned long>(esp_timer_get_time());
+#else
+    timeval tv;
+    gettimeofday(&tv, nullptr);
+    return 1000000 * tv.tv_sec + tv.tv_usec;
+#endif
+}
 
 /** Delay execution
  * @warning don't call from ISR context
@@ -68,11 +80,11 @@ void delayTicks(TickType_t ticks);
  */
 bool delayUntilTick(TickType_t tick);
 
-constexpr inline TickType_t secondsToTicks(uint32_t seconds) {
+constexpr TickType_t secondsToTicks(uint32_t seconds) {
-    return (TickType_t)seconds * 1000U / portTICK_PERIOD_MS;
+    return static_cast<TickType_t>(seconds) * 1000U / portTICK_PERIOD_MS;
 }
 
-constexpr inline TickType_t minutesToTicks(uint32_t minutes) {
+constexpr TickType_t minutesToTicks(uint32_t minutes) {
     return secondsToTicks(minutes * 60U);
 }