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

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();
+    }
 }