Merge remote-tracking branch 'origin/master' into ieee802154

examples/xbc_test/.gitignore

@@ -0,0 +1,11 @@
+/Make.dep
+/.depend
+/.built
+/*.asm
+/*.obj
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src

examples/xbc_test/Kconfig

@@ -0,0 +1,36 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_XBC_TEST
+	bool "XBox Controller Test example"
+	default n
+	---help---
+		Enable the XBox Controller Test example
+
+if EXAMPLES_XBC_TEST
+
+config EXAMPLES_XBC_TEST_PROGNAME
+	string "Program name"
+	default "xbc_test"
+	depends on BUILD_KERNEL
+	---help---
+		This is the name of the program that will be use when the NSH ELF
+		program is installed.
+
+config EXAMPLES_XBC_DEVNAME
+	string "XBox Controller Device Name"
+	default "/dev/xboxa"
+	---help---
+		Name of XBox controller device to be used. Default: "/dev/xboxa"
+
+config EXAMPLES_XBC_TEST_PRIORITY
+	int "Xbc_test task priority"
+	default 100
+
+config EXAMPLES_XBC_TEST_STACKSIZE
+	int "XBox Controller Test stack size"
+	default 2048
+
+endif

examples/xbc_test/Make.defs

@@ -0,0 +1,42 @@
+############################################################################
+# apps/examples/xbc_test/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+#   Copyright (C) 2017 Brian Webb. All rights reserved.
+#   Author: Brian Webb <webbbn@gmail.com>
+#
+# 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.
+#
+############################################################################
+
+ifeq ($(CONFIG_EXAMPLES_XBC_TEST),y)
+CONFIGURED_APPS += examples/xbc_test
+endif

examples/xbc_test/Makefile

@@ -0,0 +1,59 @@
+############################################################################
+# apps/examples/hello/Makefile
+#
+#   Copyright (C) 2008, 2010-2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+#   Copyright (C) 2017 Brian Webb. All rights reserved.
+#   Author: Brian Webb <webbbn@gmail.com>
+#
+# 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+# XBox controller driver test built-in application info
+
+CONFIG_EXAMPLES_XBC_TEST_PRIORITY ?= SCHED_PRIORITY_DEFAULT
+CONFIG_EXAMPLES_XBC_TEST_STACKSIZE ?= 2048
+
+APPNAME = xbc_test
+PRIORITY = $(CONFIG_EXAMPLES_XBC_TEST_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_XBC_TEST_STACKSIZE)
+
+# Xbc_Test, World! Example
+
+ASRCS =
+CSRCS =
+MAINSRC = xbc_test_main.c
+
+CONFIG_EXAMPLES_XBC_TEST_PROGNAME ?= xbc_test$(EXEEXT)
+PROGNAME = $(CONFIG_EXAMPLES_XBC_TEST_PROGNAME)
+
+include $(APPDIR)/Application.mk

examples/xbc_test/xbc_test_main.c

@@ -0,0 +1,157 @@
+/****************************************************************************
+ * examples/xbc_test/xbc_test_main.c
+ *
+ *   Copyright (C) 2008, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *   Copyright (C) 2017 Brian Webb. All rights reserved.
+ *   Author: Brian Webb <webbbn@gmail.com>
+ *
+ * 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 <sys/ioctl.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+
+#include <nuttx/input/xbox-controller.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+
+/* Sanity checking */
+
+#ifndef CONFIG_USBHOST
+#  error "CONFIG_USBHOST is not defined"
+#endif
+
+#ifdef CONFIG_USBHOST_INT_DISABLE
+#  error "Interrupt endpoints are disabled (CONFIG_USBHOST_INT_DISABLE)"
+#endif
+
+#ifndef CONFIG_NFILE_DESCRIPTORS
+#  error "CONFIG_NFILE_DESCRIPTORS > 0 needed"
+#endif
+
+/* Provide some default values for other configuration settings */
+
+#ifndef CONFIG_EXAMPLES_XBC_DEVNAME
+#  define CONFIG_EXAMPLES_XBC_DEVNAME "/dev/xboxa"
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * hello_main
+ ****************************************************************************/
+
+#ifdef CONFIG_BUILD_KERNEL
+int main(int argc, FAR char *argv[])
+#else
+int xbc_test_main(int argc, char *argv[])
+#endif
+{
+  char buffer[256];
+  ssize_t nbytes;
+  int fd;
+
+  /* Eventually logic here will open the controller device and perform the
+   * controller test.
+   */
+
+  for (;;)
+    {
+      /* Open the controller device.  Loop until the device is successfully
+       * opened.
+       */
+
+      do
+        {
+          printf("Opening device %s\n", CONFIG_EXAMPLES_XBC_DEVNAME);
+          fd = open(CONFIG_EXAMPLES_XBC_DEVNAME, O_RDONLY);
+          if (fd < 0)
+            {
+               printf("Failed: %d\n", errno);
+               fflush(stdout);
+               sleep(3);
+            }
+        }
+      while (fd < 0);
+
+      printf("Device %s opened\n", CONFIG_EXAMPLES_XBC_DEVNAME);
+      fflush(stdout);
+
+      /* Loop until there is a read failure (or EOF?) */
+
+      do
+        {
+          /* Read a buffer of data */
+
+          nbytes = read(fd, buffer, 256);
+          if (nbytes > 0)
+            {
+              /* On success, echo the buffer to stdout */
+
+	      printf("%d bytes read\n", nbytes);
+	      if (nbytes == sizeof(struct xbox_controller_buttonstate_s))
+		{
+		  struct xbox_controller_buttonstate_s *rpt = (struct xbox_controller_buttonstate_s*)buffer;
+		  printf("guide: %d  sync: %d  start: %d  back: %d  a: %d  b: %d  x: %d  y: %d\n",
+			 rpt->guide, rpt->sync, rpt->start, rpt->back, rpt->a, rpt->b, rpt->x, rpt->y);
+		  printf("dpad_u: %d  d: %d  l: %d  r: %d  bump_l: %d  r: %d  stick_l: %d  r: %d\n",
+			 rpt->dpad_up, rpt->dpad_down, rpt->dpad_left, rpt->dpad_right,
+			 rpt->bumper_left, rpt->bumper_right, rpt->stick_click_left, rpt->stick_click_right);
+		  printf("stick_left_x: %d  y: %d  right_x: %d  y: %d  trigger_l: %d  r: %d\n",
+			 rpt->stick_left_x, rpt->stick_left_y, rpt->stick_right_x, rpt->stick_right_y,
+			 rpt->trigger_left, rpt->trigger_right);
+		}
+	    }
+        }
+      while (nbytes > 0);
+
+      printf("Closing device %s: %d\n", CONFIG_EXAMPLES_XBC_DEVNAME, (int)nbytes);
+      fflush(stdout);
+      close(fd);
+      break;
+    }
+
+  return 0;
+}

include/netutils/netlib.h

@@ -136,6 +136,7 @@ void netlib_prefix2ipv6netmask(uint8_t preflen, FAR struct in6_addr *netmask);
 #endif
 
 #ifdef CONFIG_NETDEV_WIRELESS_IOCTL
+int netlib_getessid(FAR const char *ifname, FAR char *essid, size_t idlen);
 int netlib_setessid(FAR const char *ifname, FAR const char *essid);
 #endif
 

netutils/netlib/Makefile

@@ -77,7 +77,7 @@ endif
 # These require wireless IOCTL support */
 
 ifeq ($(CONFIG_NETDEV_WIRELESS_IOCTL),y)
-CSRCS += netlib_setessid.c
+CSRCS += netlib_getessid.c netlib_setessid.c
 endif
 
 # No MAC address support for SLIP (Ethernet only)

netutils/netlib/netlib_getessid.c

@@ -0,0 +1,127 @@
+/****************************************************************************
+ * netutils/netlib/netlib_getessid.c
+ *
+ *   Copyright (C) 2017 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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>
+#if defined(CONFIG_NET) && CONFIG_NSOCKET_DESCRIPTORS > 0
+
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <string.h>
+#include <errno.h>
+
+#include <netinet/in.h>
+#include <net/if.h>
+
+#include <nuttx/wireless/wireless.h>
+
+#include "netutils/netlib.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* The address family that we used to create the socket and in the IOCTL
+ * data really does not matter.  It should, however, be valid in the current
+ * configuration.
+ */
+
+#if defined(CONFIG_NET_IPv4)
+#  define PF_INETX PF_INET
+#  define AF_INETX AF_INET
+#elif defined(CONFIG_NET_IPv6)
+#  define PF_INETX PF_INET6
+#  define AF_INETX AF_INET6
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: netlib_getessid
+ *
+ * Description:
+ *   Get the wireless access point ESSID
+ *
+ * Parameters:
+ *   ifname   The name of the interface to use
+ *   essid    Location to store the returned ESSID, size must be
+ *            IW_ESSID_MAX_SIZE + 1 or larger
+ *   idlen    size of memory set asdie for the ESSID.
+ *
+ * Return:
+ *   0 on success; -1 on failure (errno may not be set)
+ *
+ ****************************************************************************/
+
+int netlib_getessid(FAR const char *ifname, FAR char *essid, size_t idlen)
+{
+  int ret = ERROR;
+
+  if (ifname != NULL && essid != NULL && idlen > IW_ESSID_MAX_SIZE)
+    {
+      /* Get a socket (only so that we get access to the INET subsystem) */
+
+      int sockfd = socket(PF_INETX, NETLIB_SOCK_IOCTL, 0);
+      if (sockfd >= 0)
+        {
+          struct iwreq req;
+
+          /* Put the driver name into the request */
+
+          memset(&req, 0, sizeof(struct iwreq));
+          strncpy(req.ifrn_name, ifname, IFNAMSIZ);
+
+          /* Put pointer to receive the ESSID into the request */
+
+          req.u.essid.pointer = (FAR void *)essid;
+
+          /* Perform the ioctl to get the ESSID */
+
+          ret = ioctl(sockfd, SIOCGIWESSID, (unsigned long)&req);
+          close(sockfd);
+        }
+    }
+
+  return ret;
+}
+
+#endif /* CONFIG_NET && CONFIG_NSOCKET_DESCRIPTORS */

netutils/netlib/netlib_setessid.c

@@ -57,9 +57,7 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
-/****************************************************************************
+
- * Pre-processor Definitions
- ****************************************************************************/
  /* The address family that we used to create the socket and in the IOCTL
  * data really does not matter.  It should, however, be valid in the current
  * configuration.
@@ -85,10 +83,11 @@
  *
  * Parameters:
  *   ifname   The name of the interface to use
- *   essid  MAC address to set, size must be IFHWADDRLEN
+ *   essid    Wireless ESSD address to set, size must be less then or equal
+ *            to IW_ESSID_MAX_SIZE + 1 (including the NUL string terminator).
  *
  * Return:
- *   0 on success; -1 on failure
+ *   0 on success; -1 on failure (errno may not be set)
  *
  ****************************************************************************/
 
@@ -115,7 +114,7 @@ int netlib_setessid(FAR const char *ifname, FAR const char *essid)
           req.u.essid.length  = strlen(essid) + 1;
           req.u.essid.flags   = 1;
 
-          /* Perform the ioctl to set the MAC address */
+          /* Perform the ioctl to set the ESSID */
 
           ret = ioctl(sockfd, SIOCSIWESSID, (unsigned long)&req);
           close(sockfd);

nshlib/nsh_proccmds.c

@@ -478,10 +478,10 @@ static int ps_callback(FAR struct nsh_vtbl_s *vtbl, FAR const char *dirpath,
         }
     }
 
-  nsh_output(vtbl, "%6.6u ", (unsigned int)stack_size);
+  nsh_output(vtbl, "%06u ", (unsigned int)stack_size);
 
 #ifdef CONFIG_STACK_COLORATION
-  nsh_output(vtbl, "%6.6u ", (unsigned int)stack_used);
+  nsh_output(vtbl, "%06u ", (unsigned int)stack_used);
 
   stack_filled = 0;
   if (stack_size > 0 && stack_used > 0)

platform/clicker2-stm32/Kconfig

@@ -0,0 +1,8 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_BOARD_CLICKER2_STM32
+
+endif

platform/clicker2-stm32/Make.defs

@@ -0,0 +1,40 @@
+############################################################################
+# apps/platform/clicker2-stm32/Make.defs
+#
+#   Copyright (C) 2017 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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.
+#
+############################################################################
+
+# Add platform specific sources to ASRCS and CSRCS
+
+ifeq ($(CONFIG_HAVE_CXX),y)
+CSRCS += stm32_cxxinitialize.c
+endif

platform/clicker2-stm32/stm32_cxxinitialize.c

@@ -0,0 +1,134 @@
+/****************************************************************************
+ * apps/platform/clicker2-stm32/src/stm32_cxxinitialize.c
+ *
+ *   Copyright (C) 2017 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 <debug.h>
+
+#include <nuttx/arch.h>
+
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Debug ********************************************************************/
+/* Non-standard debug that may be enabled just for testing the static
+ * constructors.
+ */
+
+#ifdef CONFIG_DEBUG_CXX
+#  define cxxinfo        _info
+#else
+#  define cxxinfo(x...)
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+/* This type defines one entry in initialization array */
+
+typedef void (*initializer_t)(void);
+
+/****************************************************************************
+ * External References
+ ****************************************************************************/
+/* _sinit and _einit are symbols exported by the linker script that mark the
+ * beginning and the end of the C++ initialization section.
+ */
+
+extern initializer_t _sinit;
+extern initializer_t _einit;
+
+/* _stext and _etext are symbols exported by the linker script that mark the
+ * beginning and the end of text.
+ */
+
+extern uint32_t _stext;
+extern uint32_t _etext;
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: up_cxxinitialize
+ *
+ * Description:
+ *   If C++ and C++ static constructors are supported, then this function
+ *   must be provided by board-specific logic in order to perform
+ *   initialization of the static C++ class instances.
+ *
+ *   This function should then be called in the application-specific
+ *   user_start logic in order to perform the C++ initialization.  NOTE
+ *   that no component of the core NuttX RTOS logic is involved; this
+ *   function definition only provides the 'contract' between application
+ *   specific C++ code and platform-specific toolchain support.
+ *
+ ****************************************************************************/
+
+void up_cxxinitialize(void)
+{
+  initializer_t *initp;
+
+  cxxinfo("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
+          &_sinit, &_einit, &_stext, &_etext);
+
+  /* Visit each entry in the initialization table */
+
+  for (initp = &_sinit; initp != &_einit; initp++)
+    {
+      initializer_t initializer = *initp;
+      cxxinfo("initp: %p initializer: %p\n", initp, initializer);
+
+      /* Make sure that the address is non-NULL and lies in the text region
+       * defined by the linker script.  Some toolchains may put NULL values
+       * or counts in the initialization table.
+       */
+
+      if ((void *)initializer > (void *)&_stext &&
+          (void *)initializer < (void *)&_etext)
+        {
+          cxxinfo("Calling %p\n", initializer);
+          initializer();
+        }
+    }
+}
+
+#endif /* CONFIG_HAVE_CXX && CONFIG_HAVE_CXXINITIALIZE */