STM32 example refactored

libuavcan_drivers/stm32/test_stm32f107/Makefile

@@ -10,8 +10,9 @@ PROJECT = uavcan_test_stm32f107
 
 MAIN ?= main.cpp
 
-CPPSRC = src/$(MAIN) \
-         src/dummy.cpp
+CPPSRC = src/$(MAIN)              \
+         src/dummy.cpp            \
+         src/board/board.cpp
 
 #
 # UAVCAN library
@@ -37,10 +38,15 @@ $(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
 UINCDIR += dsdlc_generated
 
 #
-# Platform
+# Git commit hash
 #
 
-CSRC += src/sys/board.c
+GIT_HASH := $(shell git rev-parse --short HEAD)
+UDEFS += -DGIT_HASH=0x$(GIT_HASH)
+
+#
+# Platform
+#
 
 UINCDIR += src/sys
 

libuavcan_drivers/stm32/test_stm32f107/src/board/board.cpp

@@ -0,0 +1,84 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include "board.hpp"
+#include <cstring>
+#include <unistd.h>
+#include <ch.h>
+#include <ch.hpp>
+#include <hal.h>
+#include <zubax_chibios/sys/sys.h>
+
+/**
+ * GPIO config for ChibiOS PAL driver
+ */
+const PALConfig pal_default_config =
+{
+    { VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH },
+    { VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH },
+    { VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH },
+    { VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH },
+    { VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH }
+};
+
+namespace board
+{
+
+void init()
+{
+    halInit();
+    chibios_rt::System::init();
+    sdStart(&STDOUT_SD, NULL);
+}
+
+__attribute__((noreturn))
+void die(int error)
+{
+    lowsyslog("Fatal error %i\n", error);
+    while (1)
+    {
+        setLed(false);
+        ::sleep(1);
+        setLed(true);
+        ::sleep(1);
+    }
+}
+
+void setLed(bool state)
+{
+    palWritePad(GPIO_PORT_LED, GPIO_PIN_LED, state);
+}
+
+void restart()
+{
+    NVIC_SystemReset();
+}
+
+void readUniqueID(std::uint8_t bytes[UniqueIDSize])
+{
+    std::memcpy(bytes, reinterpret_cast<const void*>(0x1FFFF7E8), UniqueIDSize);
+}
+
+}
+
+/*
+ * Early init from ChibiOS
+ */
+extern "C"
+{
+
+void __early_init(void)
+{
+    stm32_clock_init();
+}
+
+void boardInit(void)
+{
+    AFIO->MAPR |=
+        AFIO_MAPR_CAN_REMAP_REMAP3 |
+        AFIO_MAPR_CAN2_REMAP       |
+        AFIO_MAPR_USART2_REMAP;
+}
+
+}

libuavcan_drivers/stm32/test_stm32f107/src/board/board.hpp

@@ -0,0 +1,25 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace board
+{
+
+void init();
+
+__attribute__((noreturn))
+void die(int error);
+
+void setLed(bool state);
+
+void restart();
+
+constexpr unsigned UniqueIDSize = 12;
+
+void readUniqueID(std::uint8_t bytes[UniqueIDSize]);
+
+}

libuavcan_drivers/stm32/test_stm32f107/src/main.cpp

@@ -6,6 +6,7 @@
 #include <zubax_chibios/sys/sys.h>
 #include <uavcan_stm32/uavcan_stm32.hpp>
 #include <uavcan/protocol/global_time_sync_slave.hpp>
+#include "board/board.hpp"
 
 namespace app
 {
@@ -27,16 +28,9 @@ Node& getNode()
     return *node_;
 }
 
-void ledSet(bool state)
-{
-    palWritePad(GPIO_PORT_LED, GPIO_PIN_LED, state);
-}
-
 void init()
 {
-    halInit();
-    chibios_rt::System::init();
-    sdStart(&STDOUT_SD, NULL);
+    board::init();
 
     int res = 0;
     do
@@ -54,37 +48,58 @@ void init()
     while (res < 0);
 }
 
-#if __GNUC__
-__attribute__((noreturn))
-#endif
-void die(int status)
-{
-    lowsyslog("Initialization failure %i\n", status);
-    while (1)
-    {
-        ledSet(false);
-        sleep(1);
-        ledSet(true);
-        sleep(1);
-    }
-}
-
 class : public chibios_rt::BaseStaticThread<8192>
 {
+    void configureNodeInfo()
+    {
+        Node& node = app::getNode();
+
+        node.setNodeID(64);
+        node.setName("org.uavcan.stm32_test_stm32f107");
+
+        /*
+         * Software version
+         * TODO: Fill other fields too
+         */
+        uavcan::protocol::SoftwareVersion swver;
+
+        swver.vcs_commit = GIT_HASH;
+        swver.optional_field_flags = swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
+
+        node.setSoftwareVersion(swver);
+
+        lowsyslog("Git commit hash: 0x%08x\n", GIT_HASH);
+
+        /*
+         * Hardware version
+         * TODO: Fill other fields too
+         */
+        uavcan::protocol::HardwareVersion hwver;
+
+        std::uint8_t uid[board::UniqueIDSize] = {};
+        board::readUniqueID(uid);
+        std::copy(std::begin(uid), std::end(uid), std::begin(hwver.unique_id));
+
+        node.setHardwareVersion(hwver);
+
+        lowsyslog("UDID:");
+        for (auto b : hwver.unique_id)
+        {
+            lowsyslog(" %02x", unsigned(b));
+        }
+        lowsyslog("\n");
+    }
+
 public:
     msg_t main()
     {
         /*
          * Setting up the node parameters
          */
+        configureNodeInfo();
+
         Node& node = app::getNode();
 
-        node.setNodeID(64);
-        node.setName("org.uavcan.stm32_test_stm32f107");
-
-        // TODO: fill software version info (version number, VCS commit hash, ...)
-        // TODO: fill hardware version info (version number, unique ID)
-
         /*
          * Initializing the UAVCAN node - this may take a while
          */
@@ -93,25 +108,10 @@ public:
             // Calling start() multiple times is OK - only the first successfull call will be effective
             int res = node.start();
 
-#if !UAVCAN_TINY
-            uavcan::NetworkCompatibilityCheckResult ncc_result;
-            if (res >= 0)
-            {
-                lowsyslog("Checking network compatibility...\n");
-                res = node.checkNetworkCompatibility(ncc_result);
-            }
-#endif
-
             if (res < 0)
             {
                 lowsyslog("Node initialization failure: %i, will try agin soon\n", res);
             }
-#if !UAVCAN_TINY
-            else if (!ncc_result.isOk())
-            {
-                lowsyslog("Network conflict with %u, will try again soon\n", ncc_result.conflicting_node.get());
-            }
-#endif
             else
             {
                 break;
@@ -127,7 +127,7 @@ public:
             const int res = time_sync_slave.start();
             if (res < 0)
             {
-                die(res);
+                board::die(res);
             }
         }
 
@@ -146,8 +146,10 @@ public:
 
             lowsyslog("Time sync master: %u\n", unsigned(time_sync_slave.getMasterNodeID().get()));
 
-            lowsyslog("Memory usage: used=%u free=%u\n",
-                      node.getAllocator().getNumUsedBlocks(), node.getAllocator().getNumFreeBlocks());
+            lowsyslog("Memory usage: free=%u used=%u worst=%u\n",
+                      node.getAllocator().getNumFreeBlocks(),
+                      node.getAllocator().getNumUsedBlocks(),
+                      node.getAllocator().getPeakNumUsedBlocks());
 
             lowsyslog("CAN errors: %lu %lu\n",
                       static_cast<unsigned long>(can.driver.getIface(0)->getErrorCount()),
@@ -179,7 +181,7 @@ int main()
     {
         for (int i = 0; i < 200; i++)
         {
-            app::ledSet(app::can.driver.hadActivity());
+            board::setLed(app::can.driver.hadActivity());
             ::usleep(25000);
         }
 

libuavcan_drivers/stm32/test_stm32f107/src/sys/board.c

@@ -1,27 +0,0 @@
-/*
- * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
- */
-
-#include <ch.h>
-#include <hal.h>
-
-const PALConfig pal_default_config = {
-    { VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH },
-    { VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH },
-    { VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH },
-    { VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH },
-    { VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH }
-};
-
-void __early_init(void)
-{
-    stm32_clock_init();
-}
-
-void boardInit(void)
-{
-    AFIO->MAPR |=
-        AFIO_MAPR_CAN_REMAP_REMAP3 |
-        AFIO_MAPR_CAN2_REMAP       |
-        AFIO_MAPR_USART2_REMAP;
-}