Initail STM32 Baremetal build

libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp

@@ -16,6 +16,7 @@
 # include <cstdio>
 # include <ctime>
 # include <cstring>
+#elif UAVCAN_STM32_BAREMETAL
 #else
 # error "Unknown OS"
 #endif
@@ -24,6 +25,7 @@
 
 namespace uavcan_stm32
 {
+
 class CanDriver;
 
 #if UAVCAN_STM32_CHIBIOS
@@ -91,35 +93,47 @@ public:
     void signalFromInterrupt();
 };
 
-class Mutex
+#elif UAVCAN_STM32_BAREMETAL
+
+class BusEvent
 {
-    pthread_mutex_t mutex_;
+    volatile bool ready;
 
 public:
-    Mutex()
+    BusEvent(CanDriver& can_driver)
+     : ready(false)
     {
-        init();
+        (void)can_driver;
     }
 
-    int init()
+    bool wait(uavcan::MonotonicDuration duration)
     {
-        return pthread_mutex_init(&mutex_, NULL);
+      bool lready = ready;
+      return __atomic_exchange_n (&lready, false, __ATOMIC_SEQ_CST);
     }
 
-    int deinit()
+    void signal()
     {
-        return pthread_mutex_destroy(&mutex_);
+      __atomic_store_n (&ready, true, __ATOMIC_SEQ_CST);
     }
 
+    void signalFromInterrupt()
+    {
+      __atomic_store_n (&ready, true, __ATOMIC_SEQ_CST);
+    }
+};
+
+class Mutex
+{
+public:
     void lock()
     {
-        (void)pthread_mutex_lock(&mutex_);
-    }
 
+    };
     void unlock()
     {
-        (void)pthread_mutex_unlock(&mutex_);
+
-    }
+    };
 };
 
 class MutexLocker
@@ -132,7 +146,6 @@ public:
     {
         mutex_.lock();
     }
-
     ~MutexLocker()
     {
         mutex_.unlock();
@@ -154,7 +167,6 @@ public:
     {
         mutex_.lock();
     }
-
     ~MutexLocker()
     {
         mutex_.unlock();
@@ -162,4 +174,5 @@ public:
 };
 
 #endif
+
 }

libuavcan_drivers/stm32/driver/src/internal.hpp

@@ -13,6 +13,8 @@
 # include <arch/board/board.h>
 # include <chip/stm32_tim.h>
 # include <syslog.h>
+#elif UAVCAN_STM32_BAREMETAL
+# include <chip.h>
 #else
 # error "Unknown OS"
 #endif
@@ -57,6 +59,15 @@
 # endif
 #endif
 
+#if UAVCAN_STM32_BAREMETAL
+/**
+ * Priority mask for timer and CAN interrupts.
+ */
+# ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
+#  define UAVCAN_STM32_IRQ_PRIORITY_MASK  0
+# endif
+#endif
+
 /**
  * Glue macros
  */
@@ -92,6 +103,22 @@ struct CriticalSectionLocker
     }
 };
 
+#elif UAVCAN_STM32_BAREMETAL
+
+struct CriticalSectionLocker
+{
+
+    CriticalSectionLocker()
+    {
+      __disable_irq();
+    }
+
+    ~CriticalSectionLocker()
+    {
+      __enable_irq();
+    }
+};
+
 #endif
 
 namespace clock

libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp

@@ -14,11 +14,13 @@
 # include <nuttx/arch.h>
 # include <nuttx/irq.h>
 # include <arch/board/board.h>
+#elif UAVCAN_STM32_BAREMETAL
+#include <chip.h>
 #else
 # error "Unknown OS"
 #endif
 
-#if !UAVCAN_STM32_NUTTX
+#if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
 # if !(defined(STM32F10X_CL) || defined(STM32F2XX) || defined(STM32F4XX))
 // IRQ numbers
 #  define CAN1_RX0_IRQn USB_LP_CAN1_RX0_IRQn
@@ -188,7 +190,9 @@ int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings& out
     /*
      * Hardware configuration
      */
-#if UAVCAN_STM32_CHIBIOS
+#if UAVCAN_STM32_BAREMETAL
+    const uavcan::uint32_t pclk = STM32_PCLK1_FREQUENCY;
+#elif UAVCAN_STM32_CHIBIOS
     const uavcan::uint32_t pclk = STM32_PCLK1;
 #elif UAVCAN_STM32_NUTTX
     const uavcan::uint32_t pclk = STM32_PCLK1_FREQUENCY;
@@ -838,6 +842,22 @@ uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
     return 1;                                   // Return value doesn't matter as long as it is non-negative
 }
 
+
+#if UAVCAN_STM32_BAREMETAL
+
+static void nvicEnableVector(int irq,  uint8_t prio)
+{
+      NVIC_InitTypeDef NVIC_InitStructure;
+      NVIC_InitStructure.NVIC_IRQChannel = irq;
+      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio;
+      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+      NVIC_Init(&NVIC_InitStructure);
+
+}
+
+#endif
+
 int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode)
 {
     int res = 0;
@@ -921,7 +941,7 @@ int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMod
     IRQ_ATTACH(STM32_IRQ_CAN2SCE, can2_irq);
 # endif
 # undef IRQ_ATTACH
-#else
+#elif UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
     {
         CriticalSectionLocker lock;
         nvicEnableVector(CAN1_TX_IRQn,  UAVCAN_STM32_IRQ_PRIORITY_MASK);
@@ -1044,7 +1064,7 @@ static int can2_irq(const int irq, void*)
 
 # endif
 #else // UAVCAN_STM32_NUTTX
-
+UAVCAN_STM32_IRQ_HANDLER(CAN1_TX_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN1_TX_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1052,6 +1072,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_TX_IRQHandler)
     UAVCAN_STM32_IRQ_EPILOGUE();
 }
 
+UAVCAN_STM32_IRQ_HANDLER(CAN1_RX0_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN1_RX0_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1059,6 +1080,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_RX0_IRQHandler)
     UAVCAN_STM32_IRQ_EPILOGUE();
 }
 
+UAVCAN_STM32_IRQ_HANDLER(CAN1_RX1_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN1_RX1_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1066,6 +1088,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_RX1_IRQHandler)
     UAVCAN_STM32_IRQ_EPILOGUE();
 }
 
+UAVCAN_STM32_IRQ_HANDLER(CAN1_SCE_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN1_SCE_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1075,6 +1098,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_SCE_IRQHandler)
 
 # if UAVCAN_STM32_NUM_IFACES > 1
 
+UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1082,6 +1106,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler)
     UAVCAN_STM32_IRQ_EPILOGUE();
 }
 
+UAVCAN_STM32_IRQ_HANDLER(CAN2_RX0_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN2_RX0_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1089,6 +1114,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN2_RX0_IRQHandler)
     UAVCAN_STM32_IRQ_EPILOGUE();
 }
 
+UAVCAN_STM32_IRQ_HANDLER(CAN2_RX1_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN2_RX1_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1096,6 +1122,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN2_RX1_IRQHandler)
     UAVCAN_STM32_IRQ_EPILOGUE();
 }
 
+UAVCAN_STM32_IRQ_HANDLER(CAN2_SCE_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN2_SCE_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();

libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp

@@ -14,7 +14,7 @@
 /*
  * Timer instance
  */
-# if UAVCAN_STM32_CHIBIOS
+# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
 #  define TIMX                    UAVCAN_STM32_GLUE2(TIM, UAVCAN_STM32_TIMER_NUMBER)
 #  define TIMX_IRQn               UAVCAN_STM32_GLUE3(TIM, UAVCAN_STM32_TIMER_NUMBER, _IRQn)
 #  define TIMX_INPUT_CLOCK        STM32_TIMCLK1
@@ -70,6 +70,23 @@ uavcan::MonotonicTime prev_utc_adj_at;
 uavcan::uint64_t time_mono = 0;
 uavcan::uint64_t time_utc = 0;
 }
+# if UAVCAN_STM32_NUTTX || UAVCAN_STM32_BAREMETAL
+
+#if UAVCAN_STM32_BAREMETAL
+
+static void nvicEnableVector(int irq,  uint8_t prio)
+{
+      NVIC_InitTypeDef NVIC_InitStructure;
+      NVIC_InitStructure.NVIC_IRQChannel = irq;
+      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio;
+      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+      NVIC_Init(&NVIC_InitStructure);
+
+}
+
+#endif
+
 
 
 void init()
@@ -82,7 +99,7 @@ void init()
     initialized = true;
 
 
-# if UAVCAN_STM32_CHIBIOS
+# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
     // Power-on and reset
     TIMX_RCC_ENR |= TIMX_RCC_ENR_MASK;
     TIMX_RCC_RSTR |=  TIMX_RCC_RSTR_MASK;
@@ -201,7 +218,7 @@ uavcan::MonotonicTime getMonotonic()
 
         volatile uavcan::uint64_t time = time_mono;
 
-# if UAVCAN_STM32_CHIBIOS
+# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
 
         volatile uavcan::uint32_t cnt = TIMX->CNT;
         if (TIMX->SR & TIM_SR_UIF)