STM32: Added basic OS abstraction (ChibiOS event), test app for this, minor changes in Makefile

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

@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#if UAVCAN_STM32_CHIBIOS
+# include <hal.h>
+#else
+# error "Unknown OS"
+#endif
+
+#include <uavcan/driver/can.hpp>
+
+namespace uavcan_stm32
+{
+
+enum { CanFiltersPerIface = 14 };
+
+
+class CanIface : public uavcan::ICanIface
+{
+    CAN_TypeDef* can_;
+
+    uavcan::uint64_t error_cnt_;
+
+public:
+    virtual uavcan::int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline,
+                                 uavcan::CanIOFlags flags);
+
+    virtual uavcan::int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
+                                    uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags);
+
+    virtual uavcan::int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs,
+                                             uavcan::uint16_t num_configs);
+
+    virtual uavcan::uint16_t getNumFilters() const { return CanFiltersPerIface; }
+
+    virtual uavcan::uint64_t getErrorCount() const { return error_cnt_; }
+};
+
+}

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

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#if UAVCAN_STM32_CHIBIOS
+# include <ch.hpp>
+#else
+# error "Unknown OS"
+#endif
+
+#include <uavcan/uavcan.hpp>
+
+namespace uavcan_stm32
+{
+
+#if UAVCAN_STM32_CHIBIOS
+
+class Event
+{
+    chibios_rt::CounterSemaphore sem_;
+
+public:
+    Event() : sem_(0) { }
+
+    bool wait(uavcan::MonotonicDuration duration);
+
+    void signal();
+
+    void signalFromInterrupt();
+};
+
+#endif
+
+}

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

@@ -0,0 +1,8 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan_stm32/can.hpp>
+#include <uavcan_stm32/thread.hpp>

libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp

@@ -0,0 +1,5 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <uavcan_stm32/can.hpp>

libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp

@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <uavcan_stm32/thread.hpp>
+
+namespace uavcan_stm32
+{
+
+#if UAVCAN_STM32_CHIBIOS
+
+bool Event::wait(uavcan::MonotonicDuration duration)
+{
+    msg_t ret = msg_t();
+    if (duration.isZero())
+    {
+        sem_.waitTimeout(TIME_IMMEDIATE);
+    }
+    else
+    {
+        sem_.waitTimeout(US2ST(duration.toUSec()));
+    }
+    return ret == RDY_OK;
+}
+
+void Event::signal()
+{
+    sem_.signal();
+}
+
+void Event::signalFromInterrupt()
+{
+    sem_.signalI();
+}
+
+#endif
+
+}

libuavcan_drivers/stm32/test_stm32f107/Makefile

@@ -10,6 +10,8 @@ PROJECT = uavcan_test_stm32f107
 
 CPPSRC = src/main.cpp src/dummy.cpp
 
+UDEFS = -DUAVCAN_STM32_CHIBIOS=1
+
 #
 # UAVCAN library
 #
@@ -23,7 +25,7 @@ CPPSRC += $(LIBUAVCAN_STM32_SRC)
 UINCDIR += $(LIBUAVCAN_STM32_INC)
 
 # TODO: add target for this
-$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR) -v))
+$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
 UINCDIR += dsdlc_generated
 
 #
@@ -36,7 +38,4 @@ UINCDIR += src/sys
 
 SERIAL_CLI_PORT_NUMBER = 2
 
-RELEASE_OPT = -Os -fomit-frame-pointer
-DEBUG_OPT = -Os -g3
-
 include crdr_chibios/rules_stm32f105_107.mk

libuavcan_drivers/stm32/test_stm32f107/src/main.cpp

@@ -2,6 +2,77 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
+#include <unistd.h>
+#include <crdr_chibios/sys/sys.h>
+#include <uavcan_stm32/uavcan_stm32.hpp>
+
+namespace app
+{
+namespace
+{
+
+void ledSet(bool state)
+{
+    palWritePad(GPIO_PORT_LED, GPIO_PIN_LED, state);
+}
+
+int init()
+{
+    halInit();
+    chibios_rt::System::init();
+    sdStart(&STDOUT_SD, NULL);
+
+    return 0;
+}
+
+__attribute__((noreturn))
+void die(int status)
+{
+    lowsyslog("Now I am dead x_x %i\n", status);
+    while (1) {
+        ledSet(false);
+        sleep(1);
+        ledSet(true);
+        sleep(1);
+    }
+}
+
+
+uavcan_stm32::Event led_turn_off_event;
+
+class : public chibios_rt::BaseStaticThread<512>
+{
+    msg_t main()
+    {
+        while (true)
+        {
+            led_turn_off_event.wait(uavcan::MonotonicDuration::getInfinite());
+            ledSet(false);
+        }
+        return msg_t();
+    }
+} led_turn_off_executor;
+
+}
+}
+
 int main()
 {
+    const int init_res = app::init();
+    if (init_res != 0)
+    {
+        app::die(init_res);
+    }
+
+    app::led_turn_off_executor.start(LOWPRIO);
+
+    puts("Hello world");
+
+    while (true)
+    {
+        sleep(1);
+        app::ledSet(true);
+        sleep(1);
+        app::led_turn_off_event.signal();
+    }
 }