Merged in paulpatience/nuttx-apps (pull request #11)
UAVCAN: Add platform-specific code
diff --git a/Application.mk b/Application.mk
index ef0a3d6..cd9d247 100644
--- a/Application.mk
+++ b/Application.mk
@@ -35,8 +35,6 @@
#
############################################################################
--include $(TOPDIR)/.config
--include $(TOPDIR)/Make.defs
include $(APPDIR)/Make.defs
CXXEXT ?= .cxx
@@ -44,9 +42,14 @@
AOBJS = $(ASRCS:.S=$(OBJEXT))
COBJS = $(CSRCS:.c=$(OBJEXT))
CXXOBJS = $(CXXSRCS:$(CXXEXT)=$(OBJEXT))
-MAINOBJ = $(MAINSRC:.c=$(OBJEXT))
-SRCS = $(ASRCS) $(CSRCS) $(MAINSRC)
+ifeq ($(suffix $(MAINSRC)),$(CXXEXT))
+ MAINOBJ = $(MAINSRC:$(CXXEXT)=$(OBJEXT))
+else
+ MAINOBJ = $(MAINSRC:.c=$(OBJEXT))
+endif
+
+SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS) $(MAINSRC)
OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
ifneq ($(CONFIG_BUILD_KERNEL),y)
@@ -71,12 +74,20 @@
$(AOBJS): %$(OBJEXT): %.S
$(call ASSEMBLE, $<, $@)
-$(COBJS) $(MAINOBJ): %$(OBJEXT): %.c
+$(COBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
$(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
$(call COMPILEXX, $<, $@)
+ifeq ($(suffix $(MAINSRC)),$(CXXEXT))
+$(MAINOBJ): %$(OBJEXT): %$(CXXEXT)
+ $(call COMPILEXX, $<, $@)
+else
+$(MAINOBJ): %$(OBJEXT): %.c
+ $(call COMPILE, $<, $@)
+endif
+
.built: $(OBJS)
$(call ARCHIVE, $(BIN), $(OBJS))
$(Q) touch .built
@@ -113,9 +124,12 @@
context:
endif
-.depend: Makefile $(SRCS) $(CXXSRCS)
+.depend: Makefile $(SRCS)
+ifeq ($(filter %$(CXXEXT),$(SRCS)),)
$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
- $(Q) $(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(CXXSRCS) >Make.dep
+else
+ $(Q) $(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(SRCS) >Make.dep
+endif
$(Q) touch $@
depend: .depend
diff --git a/canutils/uavcan/Kconfig b/canutils/uavcan/Kconfig
index 4a66485..8b9c4cc 100644
--- a/canutils/uavcan/Kconfig
+++ b/canutils/uavcan/Kconfig
@@ -147,7 +147,30 @@
int "Memory Pool Block Size"
default 0
---help---
- Specifies the memory pool block size. A value of 0 will
- use the library default.
+ Specifies the memory pool block size. If the value is 0, the
+ library will use a default value.
+
+config UAVCAN_RX_QUEUE_CAPACITY
+ int "Rx Queue Capacity"
+ default 0
+ ---help---
+ Specifies the rx queue capacity. If the value is 0, the
+ library will use a default value.
+
+config UAVCAN_BIT_RATE
+ int "Bit Rate"
+ default 0
+ range 0 1000000
+ ---help---
+ Specifies the CAN bit rate. If the value is 0, the library
+ will automatically detect the bit rate.
+
+config UAVCAN_INIT_RETRIES
+ int "Initialization Retries"
+ default 0
+ ---help---
+ Specifies the number of times to try initializing the CAN
+ peripherals before panicking. A value of 0 means to try
+ forever.
endif
diff --git a/canutils/uavcan/Makefile b/canutils/uavcan/Makefile
index 7cd4303..590cef4 100644
--- a/canutils/uavcan/Makefile
+++ b/canutils/uavcan/Makefile
@@ -61,7 +61,7 @@
-include libuavcan/libuavcan/include.mk
-include libuavcan/libuavcan_drivers/stm32/driver/include.mk
-CXXSRCS = $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
+CXXSRCS = platform_stm32.cpp $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
CXXFLAGS += -I$(LIBUAVCAN_INC) -I$(LIBUAVCAN_STM32_INC) -Idsdlc_generated
CXXFLAGS += -I$(TOPDIR)/arch/arm/src/common -I$(TOPDIR)/arch/arm/src/stm32
diff --git a/canutils/uavcan/platform_stm32.cpp b/canutils/uavcan/platform_stm32.cpp
new file mode 100644
index 0000000..27cd721
--- /dev/null
+++ b/canutils/uavcan/platform_stm32.cpp
@@ -0,0 +1,106 @@
+/****************************************************************************
+ * canutils/uavcan/uavcan_platform.cpp
+ *
+ * Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
+ * Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <cunistd>
+
+#include <uavcan_stm32/uavcan_stm32.hpp>
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#if CONFIG_UAVCAN_RX_QUEUE_CAPACITY > 0
+static uavcan_stm32::CanInitHelper<CONFIG_UAVCAN_RX_QUEUE_CAPACITY> can;
+#else
+static uavcan_stm32::CanInitHelper<> can;
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void delay_callable()
+{
+ std::usleep(can.getRecommendedListeningDelay().toUSec());
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+uavcan::ISystemClock& getSystemClock()
+{
+ return uavcan_stm32::SystemClock::instance();
+}
+
+uavcan::ICanDriver& getCanDriver()
+{
+ static bool initialized = false;
+
+ if (!initialized)
+ {
+ uavcan::uint32_t bitrate = CONFIG_UAVCAN_BIT_RATE;
+
+#if CONFIG_UAVCAN_INIT_RETRIES > 0
+ int retries = 0;
+#endif
+
+ for (;;)
+ {
+ if (can.init(delay_callable, bitrate) >= 0)
+ {
+ break;
+ }
+
+#if CONFIG_UAVCAN_INIT_RETRIES > 0
+ retries++;
+ if (retries >= CONFIG_UAVCAN_INIT_RETRIES)
+ {
+ PANIC();
+ }
+#endif
+ }
+
+ initialized = true;
+ }
+
+ return can.driver;
+}
diff --git a/examples/cxxtest/Kconfig b/examples/cxxtest/Kconfig
index 55d2cf7..6c9c4c5 100644
--- a/examples/cxxtest/Kconfig
+++ b/examples/cxxtest/Kconfig
@@ -20,6 +20,6 @@
By default, if CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE are
defined, then this example will call the NuttX function to
initialize static C++ constructors. This option may be disabled,
- however, if that static initialization was preformed elsewhere.
+ however, if that static initialization was performed elsewhere.
endif
diff --git a/examples/cxxtest/Makefile b/examples/cxxtest/Makefile
index 2e75f5b..0f5638e 100644
--- a/examples/cxxtest/Makefile
+++ b/examples/cxxtest/Makefile
@@ -33,117 +33,22 @@
#
############################################################################
--include $(TOPDIR)/.config
-include $(TOPDIR)/Make.defs
-include $(APPDIR)/Make.defs
# CXX test program
ASRCS =
CSRCS =
-CXXSRCS =
+CXXSRCS =
MAINSRC = cxxtest_main.cxx
-AOBJS = $(ASRCS:.S=$(OBJEXT))
-COBJS = $(CSRCS:.c=$(OBJEXT))
-CXXOBJS = $(CXXSRCS:.cxx=$(OBJEXT))
-MAINOBJ = $(MAINSRC:.cxx=$(OBJEXT))
-
-SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS)
-OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
-
-ifneq ($(CONFIG_BUILD_KERNEL),y)
- OBJS += $(MAINOBJ)
-endif
-
-ifeq ($(CONFIG_WINDOWS_NATIVE),y)
- BIN = ..\..\libapps$(LIBEXT)
-else
-ifeq ($(WINTOOL),y)
- BIN = ..\\..\\libapps$(LIBEXT)
-else
- BIN = ../../libapps$(LIBEXT)
-endif
-endif
-
CONFIG_XYZ_PROGNAME ?= cxxtest$(EXEEXT)
PROGNAME = $(CONFIG_XYZ_PROGNAME)
-ROOTDEPPATH = --dep-path .
-
-ROOTDEPPATH = --dep-path .
-
# cxxtest built-in application info
APPNAME = cxxtest
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
-# Common build
-
-VPATH =
-
-all: .built
-.PHONY: clean depend distclean chkcxx
-
-chkcxx:
-ifneq ($(CONFIG_HAVE_CXX),y)
- @echo ""
- @echo "In order to use this example, you toolchain must support must"
- @echo ""
- @echo " (1) Explicitly select CONFIG_HAVE_CXX to build in C++ support"
- @echo " (2) Define CXX, CXXFLAGS, and COMPILEXX in the Make.defs file"
- @echo " of the configuration that you are using."
- @echo ""
- @exit 1
-endif
-
-$(AOBJS): %$(OBJEXT): %.S
- $(call ASSEMBLE, $<, $@)
-
-$(COBJS): %$(OBJEXT): %.c
- $(call COMPILE, $<, $@)
-
-$(CXXOBJS) $(MAINOBJ): %$(OBJEXT): %.cxx
- $(call COMPILEXX, $<, $@)
-
-.built: chkcxx $(OBJS)
- $(call ARCHIVE, $(BIN), $(OBJS))
- @touch .built
-
-ifeq ($(CONFIG_BUILD_KERNEL),y)
-$(BIN_DIR)$(DELIM)$(PROGNAME): $(OBJS) $(MAINOBJ)
- @echo "LD: $(PROGNAME)"
- $(Q) $(LD) $(LDELFFLAGS) $(LDLIBPATH) -o $(INSTALL_DIR)$(DELIM)$(PROGNAME) $(ARCHCRT0OBJ) $(MAINOBJ) $(LDLIBS)
- $(Q) $(NM) -u $(INSTALL_DIR)$(DELIM)$(PROGNAME)
-
-install: $(BIN_DIR)$(DELIM)$(PROGNAME)
-
-else
-install:
-
-endif
-ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-$(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat: $(DEPCONFIG) Makefile
- $(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-
-context: $(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat
-else
-context:
-endif
-
-.depend: Makefile $(SRCS)
- @$(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(SRCS) >Make.dep
- @touch $@
-
-depend: .depend
-
-clean:
- $(call DELFILE, .built)
- $(call CLEAN)
-
-distclean: clean
- $(call DELFILE, Make.dep)
- $(call DELFILE, .depend)
-
--include Make.dep
+include $(APPDIR)/Application.mk
diff --git a/examples/helloxx/Kconfig b/examples/helloxx/Kconfig
index f585578..1a8bcd7 100644
--- a/examples/helloxx/Kconfig
+++ b/examples/helloxx/Kconfig
@@ -6,6 +6,7 @@
config EXAMPLES_HELLOXX
bool "\"Hello, World!\" C++ example"
default n
+ depends on HAVE_CXX
---help---
Enable the \"Hello, World!\" C++ example
@@ -19,6 +20,6 @@
By default, if CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE are
defined, then this example will call the NuttX function to
initialize static C++ constructors. This option may be disabled,
- however, if that static initialization was preformed elsewhere.
+ however, if that static initialization was performed elsewhere.
endif
diff --git a/examples/helloxx/Makefile b/examples/helloxx/Makefile
index 285dd1d..64b9b32 100644
--- a/examples/helloxx/Makefile
+++ b/examples/helloxx/Makefile
@@ -33,116 +33,22 @@
#
############################################################################
--include $(TOPDIR)/.config
-include $(TOPDIR)/Make.defs
-include $(APPDIR)/Make.defs
# Hello, World! C++ Example
-ASRCS =
-CSRCS =
-CXXSRCS =
-MAINSRC = helloxx_main.cxx
-
-AOBJS = $(ASRCS:.S=$(OBJEXT))
-COBJS = $(CSRCS:.c=$(OBJEXT))
-CXXOBJS = $(CXXSRCS:.cxx=$(OBJEXT))
-MAINOBJ = $(MAINSRC:.cxx=$(OBJEXT))
-
-SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS) $(MAINSRC)
-OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
-
-ifneq ($(CONFIG_BUILD_KERNEL),y)
- OBJS += $(MAINOBJ)
-endif
-
-ifeq ($(CONFIG_WINDOWS_NATIVE),y)
- BIN = ..\..\libapps$(LIBEXT)
-else
-ifeq ($(WINTOOL),y)
- BIN = ..\\..\\libapps$(LIBEXT)
-else
- BIN = ../../libapps$(LIBEXT)
-endif
-endif
+ASRCS =
+CSRCS =
+CXXSRCS =
+MAINSRC = helloxx_main.cxx
CONFIG_EXAMPLES_HELLOXX_PROGNAME ?= helloxx$(EXEEXT)
-PROGNAME = $(CONFIG_EXAMPLES_HELLOXX_PROGNAME)
-
-ROOTDEPPATH = --dep-path .
+PROGNAME = $(CONFIG_EXAMPLES_HELLOXX_PROGNAME)
# helloxx built-in application info
-APPNAME = helloxx
-PRIORITY = SCHED_PRIORITY_DEFAULT
-STACKSIZE = 2048
+APPNAME = helloxx
+PRIORITY = SCHED_PRIORITY_DEFAULT
+STACKSIZE = 2048
-# Common build
-
-VPATH =
-
-all: .built
-.PHONY: clean depend distclean chkcxx
-
-chkcxx:
-ifneq ($(CONFIG_HAVE_CXX),y)
- @echo ""
- @echo "In order to use this example, you toolchain must support must"
- @echo ""
- @echo " (1) Explicitly select CONFIG_HAVE_CXX to build in C++ support"
- @echo " (2) Define CXX, CXXFLAGS, and COMPILEXX in the Make.defs file"
- @echo " of the configuration that you are using."
- @echo ""
- @exit 1
-endif
-
-$(AOBJS): %$(OBJEXT): %.S
- $(call ASSEMBLE, $<, $@)
-
-$(COBJS): %$(OBJEXT): %.c
- $(call COMPILE, $<, $@)
-
-$(CXXOBJS) $(MAINOBJ): %$(OBJEXT): %.cxx
- $(call COMPILEXX, $<, $@)
-
-.built: chkcxx $(OBJS)
- $(call ARCHIVE, $(BIN), $(OBJS))
- @touch .built
-
-ifeq ($(CONFIG_BUILD_KERNEL),y)
-$(BIN_DIR)$(DELIM)$(PROGNAME): $(OBJS) $(MAINOBJ)
- @echo "LD: $(PROGNAME)"
- $(Q) $(LD) $(LDELFFLAGS) $(LDLIBPATH) -o $(INSTALL_DIR)$(DELIM)$(PROGNAME) $(ARCHCRT0OBJ) $(MAINOBJ) $(LDLIBS)
- $(Q) $(NM) -u $(INSTALL_DIR)$(DELIM)$(PROGNAME)
-
-install: $(BIN_DIR)$(DELIM)$(PROGNAME)
-
-else
-install:
-
-endif
-
-ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-$(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat: $(DEPCONFIG) Makefile
- $(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-
-context: $(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat
-else
-context:
-endif
-
-.depend: Makefile $(SRCS)
- @$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
- @touch $@
-
-depend: .depend
-
-clean:
- $(call DELFILE, .built)
- $(call CLEAN)
-
-distclean: clean
- $(call DELFILE, Make.dep)
- $(call DELFILE, .depend)
-
--include Make.dep
+include $(APPDIR)/Application.mk
