Hyperloop-UPV · FoniksFox · Oct 22, 2025 · Oct 22, 2025 · Oct 23, 2025 · Oct 25, 2025
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -55,12 +55,12 @@ jobs:
           cmake --build --preset ${{ inputs.preset }}
         shell: bash
 
-      - name: Upload Build
-        id: upload-build-artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ inputs.preset }}
-          path: out/build/${{ inputs.preset }}/libst-lib.a
-          retention-days: 7
-          compression-level: 0
-          if-no-files-found: error
+      # - name: Upload Build
+      #   id: upload-build-artifact
+      #   uses: actions/upload-artifact@v4
+      #   with:
+      #     name: ${{ inputs.preset }}
+      #     path: out/build/${{ inputs.preset }}/libst-lib.a
+      #     retention-days: 7
+      #     compression-level: 0
+      #     if-no-files-found: error
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -218,7 +218,7 @@ list(FILTER STLIB_HIGH_CPP_NO_ETH EXCLUDE REGEX "${STLIB_HIGH_ETH_REGEX}")
 # Librería STLIB_LIBRARY
 # ============================
-# ============================
+# ============================
+# NOTE / NOTA:
+#   This target is intentionally an OBJECT library instead of STATIC.
+#   Historically this library was built as STATIC, but it was changed to
+#   OBJECT so that its object files can be directly reused by multiple
+#   firmware / executable targets while still being selected via generator
+#   expressions (CMAKE_CROSSCOMPILING, USE_ETHERNET, etc.).
+#
+#   Compatibility:
+#   - Downstream projects must link against the CMake target `${STLIB_LIBRARY}`
+#     (e.g. `target_link_libraries(<app> PRIVATE ${STLIB_LIBRARY})`) and must
+#     not rely on a `.a` or `.lib` archive file name.
+#   - Existing build configurations that referenced the CMake target itself
+#     continue to work: they still see the same sources and compile options,
+#     only the internal representation changed from a STATIC archive to an
+#     OBJECT library.
+#   - No public interface of the library target has been changed by this
+#     switch; only the way CMake materializes it at link time is different.
+#
+#   If a downstream project requires a real archive file, it should create its
+#   own STATIC or SHARED target that links against `${STLIB_LIBRARY}` or wraps
+#   its object files with `$<TARGET_OBJECTS:${STLIB_LIBRARY}>`.
-# ============================
+# ============================
+# NOTE / NOTA:
+#   This target is intentionally an OBJECT library instead of STATIC.
+#   Historically this library was built as STATIC, but it was changed to
+#   OBJECT so that its object files can be directly reused by multiple
+#   firmware / executable targets while still being selected via generator
+#   expressions (CMAKE_CROSSCOMPILING, USE_ETHERNET, etc.).
+#
+#   Compatibility:
+#   - Downstream projects must link against the CMake target `${STLIB_LIBRARY}`
+#     (e.g. `target_link_libraries(<app> PRIVATE ${STLIB_LIBRARY})`) and must
+#     not rely on a `.a` or `.lib` archive file name.
+#   - Existing build configurations that referenced the CMake target itself
+#     continue to work: they still see the same sources and compile options,
+#     only the internal representation changed from a STATIC archive to an
+#     OBJECT library.
+#   - No public interface of the library target has been changed by this
+#     switch; only the way CMake materializes it at link time is different.
+#
+#   If a downstream project requires a real archive file, it should create its
+#   own STATIC or SHARED target that links against `${STLIB_LIBRARY}` or wraps
+#   its object files with `$<TARGET_OBJECTS:${STLIB_LIBRARY}>`.
 
-add_library(${STLIB_LIBRARY} STATIC
+add_library(${STLIB_LIBRARY} OBJECT
   $<$<BOOL:${CMAKE_CROSSCOMPILING}>:${HAL_SOURCES_COMMON}>
   $<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${HAL_SOURCES_ETH}>
   $<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${LWIP_SOURCES}>

diff --git a/Inc/HALAL/HALAL.hpp b/Inc/HALAL/HALAL.hpp
@@ -4,7 +4,8 @@
 #include "HALAL/Models/Pin.hpp"
 
 #include "HALAL/Models/HALconfig/HALconfig.hpp"
-#include "HALAL/Models/DMA/DMA.hpp"
+//#include "HALAL/Models/DMA/DMA.hpp"
+#include "HALAL/Models/DMA/DMA2.hpp"
 
 #include "HALAL/Services/DigitalOutputService/DigitalOutputService.hpp"
 #include "HALAL/Services/DigitalInputService/DigitalInputService.hpp"
@@ -28,6 +29,7 @@
 #include "HALAL/Services/Encoder/Encoder.hpp"
 #include "HALAL/Services/EXTI/EXTI.hpp"
 
+#include "HALAL/Models/SPI/SPI2.hpp"
 #include "HALAL/Services/Communication/SPI/SPI.hpp"
 #include "HALAL/Services/Communication/UART/UART.hpp"
 #include "HALAL/Services/Communication/I2C/I2C.hpp"

diff --git a/Inc/HALAL/Models/DMA/DMA.hpp b/Inc/HALAL/Models/DMA/DMA.hpp
@@ -39,4 +39,4 @@ class DMA {
 private:
 	static vector<Stream> available_streams;
 	static vector<Stream> inscribed_streams;
-};
+};