Merged in paulpatience/nuttx-apps (pull request #8)

Add UAVCAN library

Application.mk

@@ -39,12 +39,15 @@
 -include $(TOPDIR)/Make.defs
 include $(APPDIR)/Make.defs
 
+CXXEXT ?= .cxx
+
 AOBJS = $(ASRCS:.S=$(OBJEXT))
 COBJS = $(CSRCS:.c=$(OBJEXT))
+CXXOBJS = $(CXXSRCS:$(CXXEXT)=$(OBJEXT))
 MAINOBJ = $(MAINSRC:.c=$(OBJEXT))
 
 SRCS = $(ASRCS) $(CSRCS) $(MAINSRC)
-OBJS = $(AOBJS) $(COBJS)
+OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
 
 ifneq ($(CONFIG_BUILD_KERNEL),y)
   OBJS += $(MAINOBJ)
@@ -71,6 +74,9 @@ $(AOBJS): %$(OBJEXT): %.S
 $(COBJS) $(MAINOBJ): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
+$(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
+	$(call COMPILEXX, $<, $@)
+
 .built: $(OBJS)
 	$(call ARCHIVE, $(BIN), $(OBJS))
 	$(Q) touch .built
@@ -107,8 +113,9 @@ else
 context:
 endif
 
-.depend: Makefile $(SRCS)
+.depend: Makefile $(SRCS) $(CXXSRCS)
 	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(CXXSRCS) >Make.dep
 	$(Q) touch $@
 
 depend: .depend

Directory.mk

@@ -0,0 +1,68 @@
+############################################################################
+# apps/Directory.mk
+#
+#   Copyright (C) 2011-2015 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.
+#
+############################################################################
+
+-include $(TOPDIR)/.config # Current configuration
+
+# Sub-directories
+
+SUBDIRS = $(dir $(wildcard */Makefile))
+
+all: nothing
+
+.PHONY: nothing context depend clean distclean
+
+define SDIR_template
+$(1)_$(2):
+	$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+endef
+
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),context)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
+nothing:
+
+install:
+
+context: $(foreach SDIR, $(SUBDIRS), $(SDIR)_context)
+
+depend: $(foreach SDIR, $(SUBDIRS), $(SDIR)_depend)
+
+clean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_clean)
+
+distclean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_distclean)
+
+-include Make.dep

canutils/Kconfig

@@ -0,0 +1,10 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+menu "CAN Utilities"
+
+source "$APPSDIR/canutils/uavcan/Kconfig"
+
+endmenu # CAN Utilities

canutils/Make.defs

@@ -0,0 +1,37 @@
+############################################################################
+# apps/canutils/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2012, 2015 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.
+#
+############################################################################
+
+include $(wildcard canutils/*/Make.defs)

canutils/Makefile

@@ -0,0 +1,36 @@
+############################################################################
+# apps/canutils/Makefile
+#
+#   Copyright (C) 2011-2015 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.
+#
+############################################################################
+
+include $(APPDIR)/Directory.mk

canutils/uavcan/.gitignore

@@ -0,0 +1,3 @@
+/.built
+/dsdlc_generated
+/libuavcan

canutils/uavcan/Kconfig

@@ -0,0 +1,85 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config CANUTILS_UAVCAN
+	bool "UAVCAN Library"
+	default n
+	depends on STM32_CAN1
+	depends on STM32_TIM2 || STM32_TIM3 || STM32_TIM4 || STM32_TIM5 || STM32_TIM6 || STM32_TIM7
+	depends on C99_BOOL8
+	depends on HAVE_CXX
+	depends on !DISABLE_POLL
+	---help---
+		Enables support for the UAVCAN library.
+
+if CANUTILS_UAVCAN
+
+config UAVCAN_STM32_TIMER_NUMBER
+	int "Timer Number"
+	default 2
+	range 2 7
+	---help---
+		Specifies the timer number.
+
+choice
+	prompt "C++ Version"
+	default UAVCAN_CPP03
+
+config UAVCAN_CPP03
+	bool "C++03"
+	---help---
+		The library will use C++03.
+
+config UAVCAN_CPP11
+	bool "C++11"
+	---help---
+		The library will use C++11.
+
+endchoice
+
+config UAVCAN_TINY
+	bool "Tiny"
+	default n
+	---help---
+		Removes some features to save memory.
+
+config UAVCAN_TOSTRING
+	bool "Implement toString"
+	default n
+	---help---
+		The library will add a toString method to most of its classes.
+
+config UAVCAN_IMPLEMENT_PLACEMENT_NEW
+	bool "Implement Placement new"
+	default n
+	---help---
+		The library will implement placement new.
+
+config UAVCAN_USE_EXTERNAL_SNPRINTF
+	bool "Use External snprintf"
+	default n
+	---help---
+		The library will use an external snprintf.
+
+config UAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION
+	bool "Use External float16 Conversion"
+	default n
+	---help---
+		The library will use an external float16 conversion.
+
+config UAVCAN_NO_ASSERTIONS
+	bool "Disable Assertions"
+	default n
+	---help---
+		Disables assertions.
+
+config UAVCAN_MEM_POOL_BLOCK_SIZE
+	int "Memory Pool Block Size"
+	default 0
+	---help---
+		Specifies the memory pool block size.  A value of 0 will
+		use the library default.
+
+endif

canutils/uavcan/Make.defs

@@ -0,0 +1,38 @@
+############################################################################
+# apps/canutils/uavcan/Make.defs
+#
+#   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.
+#
+############################################################################
+
+ifeq ($(CONFIG_CANUTILS_UAVCAN),y)
+CONFIGURED_APPS += canutils/uavcan
+endif

canutils/uavcan/Makefile

@@ -0,0 +1,93 @@
+############################################################################
+# apps/canutils/uavcan/Makefile
+#
+#   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.
+#
+############################################################################
+
+CXXEXT = .cpp
+
+include libuavcan/libuavcan/include.mk
+include libuavcan/libuavcan_drivers/stm32/driver/include.mk
+
+$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
+
+CXXSRCS += $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
+
+include $(APPDIR)/Application.mk
+
+CXXFLAGS += -I$(LIBUAVCAN_INC) -I$(LIBUAVCAN_STM32_INC) -Idsdlc_generated
+CXXFLAGS += -I$(TOPDIR)/arch/arm/src/stm32
+
+CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
+CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=$(CONFIG_UAVCAN_STM32_TIMER_NUMBER)
+
+ifeq ($(CONFIG_STM32_CAN2),y)
+CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=2
+else
+CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=1
+endif
+
+ifeq ($(CONFIG_UAVCAN_CPP03),y)
+CXXFLAGS += -std=c++03 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
+else
+ifeq ($(CONFIG_UAVCAN_CPP11),y)
+CXXFLAGS += -std=c++11 -DUAVCAN_CPP_VERSION=UAVCAN_CPP11
+endif
+endif
+
+ifeq ($(CONFIG_UAVCAN_TINY),y)
+CXXFLAGS += -DUAVCAN_TINY=1
+endif
+
+ifeq ($(CONFIG_UAVCAN_TOSTRING),y)
+CXXFLAGS += -DUAVCAN_TOSTRING=1
+endif
+
+ifeq ($(CONFIG_UAVCAN_IMPLEMENT_PLACEMENT_NEW),y)
+CXXFLAGS += -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
+endif
+
+ifeq ($(CONFIG_UAVCAN_USE_EXTERNAL_SNPRINTF),y)
+CXXFLAGS += -DUAVCAN_USE_EXTERNAL_SNPRINTF=1
+endif
+
+ifeq ($(CONFIG_UAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION),y)
+CXXFLAGS += -DUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION=1
+endif
+
+ifeq ($(CONFIG_UAVCAN_NO_ASSERTIONS),y)
+CXXFLAGS += -DUAVCAN_NO_ASSERTIONS=1
+endif
+
+ifneq ($(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE),0)
+CXXFLAGS += -DUAVCAN_MEM_POOL_BLOCK_SIZE=$(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE)
+endif

examples/Makefile

@@ -33,36 +33,4 @@
 #
 ############################################################################
 
--include $(TOPDIR)/.config # Current configuration
+include $(APPDIR)/Directory.mk
-
-# Sub-directories
-
-SUBDIRS = $(dir $(wildcard */Makefile))
-
-all: nothing
-
-.PHONY: nothing context depend clean distclean
-
-define SDIR_template
-$(1)_$(2):
-	$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
-endef
-
-$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),context)))
-$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
-$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
-$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
-
-nothing:
-
-install:
-
-context: $(foreach SDIR, $(SUBDIRS), $(SDIR)_context)
-
-depend: $(foreach SDIR, $(SUBDIRS), $(SDIR)_depend)
-
-clean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_clean)
-
-distclean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_distclean)
-
--include Make.dep