From f1fc72ef7a1ce490564ae1df10cd76223a3b538e Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 23 Jan 2017 04:09:00 +0300
Subject: [PATCH] Added proper support for ChibiOS 4; added compile-time check
 that fails if IRQ vectors are not properly defined

---
 libuavcan_drivers/stm32/driver/src/internal.hpp  |  2 +-
 .../stm32/driver/src/uc_stm32_can.cpp            | 16 +++++++++++++++-
 .../stm32/driver/src/uc_stm32_thread.cpp         | 10 +++++-----
 3 files changed, 21 insertions(+), 7 deletions(-)

diff --git a/libuavcan_drivers/stm32/driver/src/internal.hpp b/libuavcan_drivers/stm32/driver/src/internal.hpp
index eaf61c78b4..d29dae43c2 100644
--- a/libuavcan_drivers/stm32/driver/src/internal.hpp
+++ b/libuavcan_drivers/stm32/driver/src/internal.hpp
@@ -59,7 +59,7 @@
 # ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
 #  if (CH_KERNEL_MAJOR == 2)
 #   define UAVCAN_STM32_IRQ_PRIORITY_MASK  CORTEX_PRIORITY_MASK(CORTEX_MAX_KERNEL_PRIORITY)
-#  else // ChibiOS 3
+#  else // ChibiOS 3+
 #   define UAVCAN_STM32_IRQ_PRIORITY_MASK  CORTEX_MAX_KERNEL_PRIORITY
 #  endif
 # endif
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
index 45eafaf65d..241981340f 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -34,7 +34,7 @@
 # endif
 #endif
 
-#if (UAVCAN_STM32_CHIBIOS && CH_KERNEL_MAJOR == 3)
+#if (UAVCAN_STM32_CHIBIOS && (CH_KERNEL_MAJOR == 3 || CH_KERNEL_MAJOR == 4))
 #define CAN1_TX_IRQHandler      STM32_CAN1_TX_HANDLER
 #define CAN1_RX0_IRQHandler     STM32_CAN1_RX0_HANDLER
 #define CAN1_RX1_IRQHandler     STM32_CAN1_RX1_HANDLER
@@ -1084,7 +1084,15 @@ static int can2_irq(const int irq, void*)
 }
 
 # endif
+
 #else // UAVCAN_STM32_NUTTX
+
+#if !defined(CAN1_TX_IRQHandler) ||\
+    !defined(CAN1_RX0_IRQHandler) ||\
+    !defined(CAN1_RX1_IRQHandler)
+# error "Misconfigured build"
+#endif
+
 UAVCAN_STM32_IRQ_HANDLER(CAN1_TX_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN1_TX_IRQHandler)
 {
@@ -1111,6 +1119,12 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_RX1_IRQHandler)
 
 # if UAVCAN_STM32_NUM_IFACES > 1
 
+#if !defined(CAN2_TX_IRQHandler) ||\
+    !defined(CAN2_RX0_IRQHandler) ||\
+    !defined(CAN2_RX1_IRQHandler)
+# error "Misconfigured build"
+#endif
+
 UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler);
 UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler)
 {
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
index 61d73d4fad..0c91c4e6a1 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
@@ -26,7 +26,7 @@ bool BusEvent::wait(uavcan::MonotonicDuration duration)
     {
 # if (CH_KERNEL_MAJOR == 2)
         ret = sem_.waitTimeout(TIME_IMMEDIATE);
-# else // ChibiOS 3
+# else // ChibiOS 3+
         ret = sem_.wait(TIME_IMMEDIATE);
 # endif
     }
@@ -34,13 +34,13 @@ bool BusEvent::wait(uavcan::MonotonicDuration duration)
     {
 # if (CH_KERNEL_MAJOR == 2)
         ret = sem_.waitTimeout((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
-# else // ChibiOS 3
+# else // ChibiOS 3+
         ret = sem_.wait((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
 # endif
     }
 # if (CH_KERNEL_MAJOR == 2)
     return ret == RDY_OK;
-# else // ChibiOS 3
+# else // ChibiOS 3+
     return ret == MSG_OK;
 # endif
 }
@@ -56,7 +56,7 @@ void BusEvent::signalFromInterrupt()
     chSysLockFromIsr();
     sem_.signalI();
     chSysUnlockFromIsr();
-# else // ChibiOS 3
+# else // ChibiOS 3+
     chSysLockFromISR();
     sem_.signalI();
     chSysUnlockFromISR();
@@ -75,7 +75,7 @@ void Mutex::unlock()
 {
 # if (CH_KERNEL_MAJOR == 2)
     chibios_rt::BaseThread::unlockMutex();
-# else // ChibiOS 3
+# else // ChibiOS 3+
     mtx_.unlock();
 # endif
 }