UAVCAN: Add more options in Kconfig file
This commit is contained in:
Paul A. Patience
parent
aacfce081e
commit
0168398831
@ -60,36 +60,52 @@ config UAVCAN_STM32_NUM_IFACES
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range 1 1 if !STM32_HAVE_CAN2
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range 1 2 if STM32_HAVE_CAN2
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if UAVCAN_STM32_TIMER_NUMBER = 2 && STM32_TIM2
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comment "Timer 2 is already configured for NuttX"
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endif
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if UAVCAN_STM32_TIMER_NUMBER = 3 && STM32_TIM3
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comment "Timer 3 is already configured for NuttX"
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endif
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if UAVCAN_STM32_TIMER_NUMBER = 4 && STM32_TIM4
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comment "Timer 4 is already configured for NuttX"
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endif
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if UAVCAN_STM32_TIMER_NUMBER = 5 && STM32_TIM5
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comment "Timer 5 is already configured for NuttX"
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endif
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if UAVCAN_STM32_TIMER_NUMBER = 6 && STM32_TIM6
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comment "Timer 6 is already configured for NuttX"
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endif
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if UAVCAN_STM32_TIMER_NUMBER = 7 && STM32_TIM7
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comment "Timer 7 is already configured for NuttX"
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endif
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choice
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prompt "Timer"
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default UAVCAN_STM32_TIM2 if STM32_HAVE_TIM2 && !STM32_TIM2
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default UAVCAN_STM32_TIM3 if STM32_HAVE_TIM3 && !STM32_TIM3
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default UAVCAN_STM32_TIM4 if STM32_HAVE_TIM4 && !STM32_TIM4
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default UAVCAN_STM32_TIM5 if STM32_HAVE_TIM5 && !STM32_TIM5
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default UAVCAN_STM32_TIM6 if STM32_HAVE_TIM6 && !STM32_TIM6
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default UAVCAN_STM32_TIM7 if STM32_HAVE_TIM7 && !STM32_TIM7
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config UAVCAN_STM32_TIMER_NUMBER
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int "Timer Number"
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default 2 if STM32_HAVE_TIM2 && !STM32_TIM2
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default 3 if STM32_HAVE_TIM3 && !STM32_TIM3
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default 4 if STM32_HAVE_TIM4 && !STM32_TIM4
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default 5 if STM32_HAVE_TIM5 && !STM32_TIM5
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default 6 if STM32_HAVE_TIM6 && !STM32_TIM6
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default 7 if STM32_HAVE_TIM7 && !STM32_TIM7
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range 2 7
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config UAVCAN_STM32_TIM2
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bool "TIM2"
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depends on STM32_HAVE_TIM2 && !STM32_TIM2
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---help---
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Specifies the timer number.
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The library will use TIM2.
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config UAVCAN_STM32_TIM3
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bool "TIM3"
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depends on STM32_HAVE_TIM3 && !STM32_TIM3
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---help---
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The library will use TIM3.
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config UAVCAN_STM32_TIM4
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bool "TIM4"
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depends on STM32_HAVE_TIM4 && !STM32_TIM4
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---help---
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The library will use TIM4.
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config UAVCAN_STM32_TIM5
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bool "TIM5"
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depends on STM32_HAVE_TIM5 && !STM32_TIM5
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---help---
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The library will use TIM5.
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config UAVCAN_STM32_TIM6
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bool "TIM6"
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depends on STM32_HAVE_TIM6 && !STM32_TIM6
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---help---
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The library will use TIM6.
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config UAVCAN_STM32_TIM7
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bool "TIM7"
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depends on STM32_HAVE_TIM7 && !STM32_TIM7
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---help---
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The library will use TIM7.
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endchoice
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choice
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prompt "C++ Version"
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@ -107,15 +123,34 @@ config UAVCAN_CPP11
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endchoice
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config UAVCAN_DEBUG
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bool "Debug"
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default n
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---help---
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Enables debug.
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config UAVCAN_EXCEPTIONS
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bool "Exceptions"
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default n
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---help---
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Enables exceptions.
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config UAVCAN_TINY
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bool "Tiny"
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default n
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---help---
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Removes some features to save memory.
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config UAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY
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bool "No Global Data Type Registry"
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default n
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---help---
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Removes the global data type registry.
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config UAVCAN_TOSTRING
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bool "Implement toString"
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default n
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depends on UAVCAN_EXCEPTIONS
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---help---
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The library will add a toString method to most of its classes.
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@ -138,7 +173,7 @@ config UAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION
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The library will use an external float16 conversion.
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config UAVCAN_NO_ASSERTIONS
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bool "Disable Assertions"
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bool "No Assertions"
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default n
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---help---
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Disables assertions.
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@ -150,6 +185,27 @@ config UAVCAN_MEM_POOL_BLOCK_SIZE
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Specifies the memory pool block size. If the value is 0, the
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library will use a default value.
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config UAVCAN_FLOAT_COMPARISON_EPSILON_MULT
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int "Float Comparion Epsilon Mult"
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default 0
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---help---
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Specifies the float comparison epsilon mult. If the value is
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0, the library will use a default value.
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config UAVCAN_MAX_CAN_ACCEPTANCE_FILTERS
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int "Max CAN Acceptance Filters"
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default 0
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---help---
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Specifies the maximum number of CAN acceptance filters. If
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the value is 0, the library will use a default value.
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config UAVCAN_MAX_NETWORK_SIZE_HINT
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int "Max Network Size Hint"
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default 0
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---help---
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Specifies the maximum network size. If the value is 0, the
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library will use a default value.
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config UAVCAN_RX_QUEUE_CAPACITY
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int "Rx Queue Capacity"
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default 0
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@ -66,9 +66,33 @@ CXXSRCS = platform_stm32.cpp $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
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CXXFLAGS += -I$(LIBUAVCAN_INC) -I$(LIBUAVCAN_STM32_INC) -Idsdlc_generated
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CXXFLAGS += -I$(TOPDIR)/arch/arm/src/common -I$(TOPDIR)/arch/arm/src/stm32
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CXXFLAGS += -D__KERNEL__
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CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
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CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=$(CONFIG_UAVCAN_STM32_NUM_IFACES)
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CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=$(CONFIG_UAVCAN_STM32_TIMER_NUMBER)
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ifeq ($(CONFIG_UAVCAN_STM32_TIM2),y)
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CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=2
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else
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ifeq ($(CONFIG_UAVCAN_STM32_TIM3),y)
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CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=3
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else
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ifeq ($(CONFIG_UAVCAN_STM32_TIM4),y)
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CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=4
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else
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ifeq ($(CONFIG_UAVCAN_STM32_TIM5),y)
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CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=5
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else
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ifeq ($(CONFIG_UAVCAN_STM32_TIM6),y)
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CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=6
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else
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ifeq ($(CONFIG_UAVCAN_STM32_TIM7),y)
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CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=7
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endif
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endif
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endif
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endif
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endif
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endif
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ifeq ($(CONFIG_UAVCAN_CPP03),y)
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CXXFLAGS += -std=c++03 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
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@ -78,12 +102,28 @@ CXXFLAGS += -std=c++11 -DUAVCAN_CPP_VERSION=UAVCAN_CPP11
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endif
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endif
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ifeq ($(CONFIG_UAVCAN_DEBUG),y)
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CXXFLAGS += -DUAVCAN_DEBUG=1
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endif
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ifeq ($(CONFIG_UAVCAN_EXCEPTIONS),y)
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CXXFLAGS += -DUAVCAN_EXCEPTIONS=1
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else
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CXXFLAGS += -DUAVCAN_EXCEPTIONS=0
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endif
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ifeq ($(CONFIG_UAVCAN_TINY),y)
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CXXFLAGS += -DUAVCAN_TINY=1
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endif
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ifeq ($(CONFIG_UAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY),y)
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CXXFLAGS += -DUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY=1
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endif
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ifeq ($(CONFIG_UAVCAN_TOSTRING),y)
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CXXFLAGS += -DUAVCAN_TOSTRING=1
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else
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CXXFLAGS += -DUAVCAN_TOSTRING=0
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endif
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ifeq ($(CONFIG_UAVCAN_IMPLEMENT_PLACEMENT_NEW),y)
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@ -106,6 +146,18 @@ ifneq ($(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE),0)
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CXXFLAGS += -DUAVCAN_MEM_POOL_BLOCK_SIZE=$(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE)
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endif
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ifneq ($(CONFIG_UAVCAN_FLOAT_COMPARISON_EPSILON_MULT),0)
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CXXFLAGS += -DUAVCAN_FLOAT_COMPARISON_EPSILON_MULT=$(CONFIG_UAVCAN_FLOAT_COMPARISON_EPSILON_MULT)
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endif
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ifneq ($(CONFIG_UAVCAN_MAX_CAN_ACCEPTANCE_FILTERS),0)
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CXXFLAGS += -DUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS=$(CONFIG_UAVCAN_MAX_CAN_ACCEPTANCE_FILTERS)
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endif
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ifneq ($(CONFIG_UAVCAN_MAX_NETWORK_SIZE_HINT),0)
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CXXFLAGS += -DUAVCAN_MAX_NETWORK_SIZE_HINT=$(CONFIG_UAVCAN_MAX_NETWORK_SIZE_HINT)
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endif
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CXXEXT = .cpp
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CXXOBJS = $(CXXSRCS:$(CXXEXT)=$(OBJEXT))
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@ -159,7 +211,7 @@ libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
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dsdlc_generated: libuavcan
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$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
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$(APPDIR)/include/uavcan: libuavcan/libuavcan/include/uavcan dsdlc_generated/uavcan
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$(APPDIR)/include/uavcan: libuavcan dsdlc_generated
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$(Q) mkdir -p $(APPDIR)/include/uavcan
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$(Q) cp -R libuavcan/libuavcan/include/uavcan/* $(APPDIR)/include/uavcan
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$(Q) cp -R dsdlc_generated/uavcan/* $(APPDIR)/include/uavcan
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@ -48,13 +48,6 @@
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* Public Function Prototypes
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****************************************************************************/
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#ifndef CONFIG_BUILD_KERNEL
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extern "C"
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{
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int uavcan_main(int argc, FAR char *argv[]);
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}
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#endif
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uavcan::ICanDriver& getCanDriver();
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uavcan::ISystemClock& getSystemClock();
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@ -69,7 +62,7 @@ uavcan::ISystemClock& getSystemClock();
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#ifdef CONFIG_BUILD_KERNEL
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int main(int argc, FAR char *argv[])
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#else
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int uavcan_main(int argc, FAR char *argv[])
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extern "C" int uavcan_main(int argc, FAR char *argv[])
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#endif
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{
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uavcan::Node<CONFIG_EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE>
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