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>