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Merged in paulpatience/nuttx-apps (pull request #11)

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UAVCAN: Add platform-specific code
This commit is contained in:
Gregory Nutt 2015-09-30 16:54:08 -06:00
commit eff5642eca
8 changed files with 167 additions and 212 deletions
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28
Application.mk
View File

@ -35,8 +35,6 @@
#
############################################################################
-include $(TOPDIR)/.config
-include $(TOPDIR)/Make.defs
include $(APPDIR)/Make.defs
CXXEXT ?= .cxx
@ -44,9 +42,14 @@ CXXEXT ?= .cxx
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 @@ all: .built
$(AOBJS): %$(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 @@ else
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

27
canutils/uavcan/Kconfig
View File

@ -147,7 +147,30 @@ 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.
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

2
canutils/uavcan/Makefile
View File

@ -61,7 +61,7 @@ PYUAVCAN_PACKNAME = $(PYUAVCAN_UNPACKNAME)$(PACKEXT)
-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

106
canutils/uavcan/platform_stm32.cpp Normal file
View File

@ -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;
}

2
examples/cxxtest/Kconfig
View File

@ -20,6 +20,6 @@ config EXAMPLES_CXXTEST_CXXINITIALIZE
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

99
examples/cxxtest/Makefile
View File

@ -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

3
examples/helloxx/Kconfig
View File

@ -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 @@ config EXAMPLES_HELLOXX_CXXINITIALIZE
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

112
examples/helloxx/Makefile
View File

@ -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