Various improvements (#461)

* **New Features**
  * Time and delay utilities added (ticks, ms, µs); SD card now uses an expansion-header CS pin; HTTP downloads warn when run on the GUI task and yield to avoid blocking.

* **Bug Fixes / Reliability**
  * Many hard-crash paths converted to guarded checks to reduce abrupt termination and improve stability.

* **Tests**
  * Unit tests added to validate time and delay accuracy.

* **Chores**
  * License header and build/macro updates.

TactilityCore/Include/Tactility/Check.h

@@ -1,69 +0,0 @@
-/**
- * @file check.h
- * 
- * Tactility crash and check functions.
- * 
- * The main problem with crashing is that you can't do anything without disturbing registers,
- * and if you disturb registers, you won't be able to see the correct register values in the debugger.
- * 
- * Current solution works around it by passing the message through r12 and doing some magic with registers in crash function.
- * r0-r10 are stored in the ram2 on crash routine start and restored at the end.
- * The only register that is going to be lost is r11.
- * 
- */
-#pragma once
-
-#include "CoreDefines.h"
-#include "Logger.h"
-
-#include <cassert>
-
-#define TT_NORETURN [[noreturn]]
-
-/** Crash system */
-namespace tt {
-    /**
-     * Don't call this directly. Use tt_crash() as it will trace info.
-     */
-    TT_NORETURN void _crash();
-}
-
-// TODO: Move crash logic to kernel namespace and consider refactoring to C++
-/** Crash system with message. */
-#define tt_crash(...) TT_ARG_CAT(_tt_crash,TT_ARGCOUNT(__VA_ARGS__))(__VA_ARGS__)
-
-#define _tt_crash0()  do {                                                  \
-        tt::Logger("Kernel").error("Crash at {}:{}", __FILE__, __LINE__);   \
-        tt::_crash();                                                       \
-    } while (0)
-
-#define _tt_crash1(message) do {                                                            \
-        tt::Logger("Kernel").error("Crash: {}\n\tat {}:{}", message, __FILE__, __LINE__);   \
-        tt::_crash();                                                                       \
-    } while (0)
-
-/** Halt the system
- * @param[in] optional message (const char*)
- */
-#define tt_halt(...) M_APPLY(__tt_halt, M_IF_EMPTY(__VA_ARGS__)((NULL), (__VA_ARGS__)))
-
-/** Check condition and crash if check failed */
-#define tt_check_internal(__e, __m)        \
-    do {                                   \
-        if (!(__e)) {                      \
-            tt::Logger("Kernel").error("Check failed: {}", #__e); \
-            if (__m) {                     \
-                tt_crash(__m);   \
-            } else {                       \
-                tt_crash("");     \
-            }                              \
-        }                                  \
-    } while (0)
-
-/** Check condition and crash if failed
- *
- * @param[in] condition to check
- * @param[in] optional message (const char*)
- */
-
-#define tt_check(x, ...) if (!(x)) { tt::Logger("Kernel").error("Check failed: {}", #x); tt::_crash(); }

TactilityCore/Include/Tactility/CoreDefines.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#define TT_UNUSED __attribute__((unused))
-
 #define TT_STRINGIFY(x) #x
 
 // region Variable arguments support

TactilityCore/Include/Tactility/TactilityCore.h

@@ -2,6 +2,5 @@
 
 #include <cstdio>
 
-#include "Check.h"
 #include "CoreDefines.h"
 #include "Logger.h"