OP-1721 C++ and ARM tools

Enable revo C++ support: 1. Set USE_CXX to enable compliation and linkage of C++ source code 2. Disables rtti and exceptions 3. operator new and delete call pios malloc/free 4. Static constructor invocation supported 5. Additional methods, compile options, and need to have main as a cpp to solve various link issues when using static constructors but to avoid adding unnecessary libs. 6. Upgrade arm tools
2025-01-18 03:52:11 +01:00 · 2015-02-13 12:56:04 +11:00 · 2015-02-13 12:56:04 +11:00 · 53482be09c
commit 53482be09c
parent b0a0582e85
10 changed files with 156 additions and 20 deletions
--- a/flight/libraries/mini_cpp.cpp
+++ b/flight/libraries/mini_cpp.cpp
@ -0,0 +1,89 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ *
+ * @file       mini_cpp.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      CPP support methods
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <pios.h>
+
+// _init is called by __libc_init_array during invocation of static constructors
+// __libc_init_array calls _init, which is defined in crti.o. _init calls functions that are in .init section.
+// If you don't have meaningful stuff in .init section, just define an empty _init function.
+extern "C" int _init(void)
+{
+    return 0;
+}
+
+
+// operator new
+void *operator new(size_t size) throw()
+{
+    return pios_malloc(size);
+}
+
+// operator delete
+void operator delete(void *p) throw()
+{
+    pios_free(p);
+}
+
+// The function __aeabi_atexit() handles the static destructors.  This can be empty
+// because we have no operating system to return to, hence the static destructors
+// will never be called.
+extern "C" int __aeabi_atexit(__attribute__((unused)) void *object, __attribute__((unused)) void (*destructor)(void *), __attribute__((unused)) void *dso_handle)
+{
+    return 0;
+}
+
+// see https://answers.launchpad.net/gcc-arm-embedded/+question/221105
+// and https://answers.launchpad.net/gcc-arm-embedded/+question/224709
+__extension__ typedef int __guard __attribute__((mode(__DI__)));
+extern "C" int __cxa_atexit(void (*f)(void *), void *p, void *d);
+extern "C" int __cxa_guard_acquire(__guard *);
+extern "C" void __cxa_guard_release(__guard *);
+extern "C" void __cxa_guard_abort(__guard *);
+extern "C" void __cxa_pure_virtual(void);
+
+int __cxa_guard_acquire(__attribute__((unused)) __guard *g)
+{
+    return !*(char *)(g);
+};
+void __cxa_guard_release(__attribute__((unused)) __guard *g)
+{
+    *(char *)g = 1;
+};
+void __cxa_guard_abort(__attribute__((unused)) __guard *) {};
+void __cxa_pure_virtual(void)
+{
+    while (1) {
+        ;
+    }
+}
+int __cxa_atexit(__attribute__((unused)) void (*f)(void *), __attribute__((unused)) void *p, __attribute__((unused)) void *d)
+{
+    return 0;
+};
+/**
+ * @}
+ */
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@ -219,6 +219,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
 #endif
        break;
    case 0x02:
+    case 0x03:
 #if defined(PIOS_INCLUDE_MPU6000)
        gyro_test  = PIOS_MPU6000_Test();
        accel_test = gyro_test;
@ -277,7 +278,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
        AccelSensorData accelSensorData;
        GyroSensorData gyroSensorData;

-        switch (bdinfo->board_rev) {
+        uint8_t board_rev = bdinfo->board_rev;
+
+        switch (board_rev) {
        case 0x01: // L3GD20 + BMA180 board
 #if defined(PIOS_INCLUDE_BMA180)
            {
--- a/flight/pios/pios.h
+++ b/flight/pios/pios.h
@ -34,6 +34,10 @@
 #ifndef PIOS_H
 #define PIOS_H

+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include <pios_helpers.h>
 #include <pios_math.h>
 #include <pios_constants.h>
@ -360,4 +364,10 @@
 /* #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 */

 #endif /* USE_SIM_POSIX */
+
+
+#ifdef __cplusplus
+} // closing brace for extern "C"
+#endif
+
 #endif /* PIOS_H */
--- a/flight/pios/stm32f4xx/startup.c
+++ b/flight/pios/stm32f4xx/startup.c
@ -29,6 +29,8 @@
 #include <string.h>
 #include <stm32f4xx.h>

+extern int __libc_init_array(void);
+
 /* prototype for main() that tells us not to worry about it possibly returning */
 extern int              main(void) __attribute__((noreturn));

@ -91,6 +93,10 @@ void _main(void)
    /* leave a little space at the top in case memset() isn't a leaf with no locals */
    memset(&irq_stack, 0xa5, sizeof(irq_stack) - 64);

+#ifdef PIOS_ENABLE_CXX
+    __libc_init_array();
+#endif
+
    /* call main */
    (void)main();
 }
--- a/flight/targets/boards/revolution/firmware/Makefile
+++ b/flight/targets/boards/revolution/firmware/Makefile
@ -24,6 +24,9 @@ endif
 include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk

+# REVO C++ support 
+USE_CXX = YES
+
 # ARM DSP library
 USE_DSP_LIB ?= NO

@ -70,7 +73,7 @@ ifndef TESTAPP
    ## Application Core
    SRC += ../pios_usb_board_data.c
    SRC += $(OPMODULEDIR)/System/systemmod.c
-    SRC += $(OPSYSTEM)/revolution.c
+    CPPSRC += $(OPSYSTEM)/revolution.cpp
    SRC += $(OPSYSTEM)/pios_board.c
    SRC += $(FLIGHTLIB)/alarms.c
    SRC += $(FLIGHTLIB)/instrumentation.c
@ -92,6 +95,7 @@ ifndef TESTAPP
    SRC += $(FLIGHTLIB)/auxmagsupport.c
    SRC += $(FLIGHTLIB)/lednotification.c    
    SRC += $(FLIGHTLIB)/sha1.c
+    CPPSRC += $(FLIGHTLIB)/mini_cpp.cpp

    ## UAVObjects
    include ./UAVObjects.inc
--- a/flight/targets/boards/revolution/firmware/revolution.cpp
+++ b/flight/targets/boards/revolution/firmware/revolution.cpp
@ -31,7 +31,7 @@
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

-
+extern "C" {
 #include "inc/openpilot.h"
 #include <uavobjectsinit.h>

@ -74,6 +74,7 @@ static void initTask(void *parameters);

 /* Prototype of generated InitModules() function */
 extern void InitModules(void);
+}

 /**
 * OpenPilot Main function:
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@ -123,6 +123,7 @@ SRC += $(FLIGHTLIB)/optypes.c

 ## Modules
 SRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
+CPPSRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.cpp)))
 SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))

 # Declare all non-optional modules as built-in to force inclusion.
--- a/make/common-defs.mk
+++ b/make/common-defs.mk
@ -23,6 +23,9 @@ endif
 # Set to YES to compile for debugging
 DEBUG                ?= NO

+# Set to YES to compile C++ implemented features
+USE_CXX              ?= NO
+
 # Set to YES to use the Servo output pins for debugging via scope or logic analyser
 ENABLE_DEBUG_PINS    ?= NO

@ -123,7 +126,7 @@ CFLAGS += -g$(DEBUGF)
 CFLAGS += -mapcs-frame
 CFLAGS += -fomit-frame-pointer
 CFLAGS += -Wall -Wextra
-CFLAGS += -Wfloat-equal -Wunsuffixed-float-constants -Wdouble-promotion
+CFLAGS += -Wfloat-equal -Wdouble-promotion
 CFLAGS += -Wshadow
 CFLAGS += -Werror
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
@ -157,12 +160,20 @@ else
    CFLAGS += -fdata-sections -ffunction-sections
 endif

+ifeq ($(USE_CXX), YES)
+    CFLAGS += -DPIOS_ENABLE_CXX
+endif
+
+
 # Compiler flags to generate dependency files
 CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d

 # Flags only for C
 #CONLYFLAGS += -Wnested-externs
-CONLYFLAGS += $(CSTANDARD)
+CONLYFLAGS += $(CSTANDARD) -Wunsuffixed-float-constants
+
+# CPP Flags
+CPPFLAGS += -fno-rtti -fno-exceptions -std=c++11 -fno-use-cxa-atexit

 # Assembler flags.
 #  -Wa,...:    tell GCC to pass this to the assembler.
@ -188,7 +199,12 @@ ifneq ($(DEBUG), YES)
 endif

 # List of all source files.
-ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
+ifeq ($(USE_CXX), YES)
+ALLSRC     = $(CPPSRCARM) $(CPPSRC) $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) 
+else
+ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC)
+endif
+
 # List of all source files without directory and file-extension.
 ALLSRCBASE = $(notdir $(basename $(ALLSRC)))

@ -221,7 +237,11 @@ endif
 #	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py

 # Link: create ELF output file from object files.
+ifeq ($(USE_CXX), YES)
+$(eval $(call LINK_CXX_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
+else
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
+endif

 # Assemble: create object files from assembler source files.
 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
@ -235,11 +255,13 @@ $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
 # Compile: create object files from C source files. ARM-only
 $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))

+ifeq ($(USE_CXX), YES)
 # Compile: create object files from C++ source files.
-$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
+$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CXX_TEMPLATE, $(src))))

 # Compile: create object files from C++ source files. ARM-only
-$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
+$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CXX_ARM_TEMPLATE, $(src))))
+endif

 # Compile: create assembler files from C source files. ARM/Thumb
 $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
--- a/make/firmware-defs.mk
+++ b/make/firmware-defs.mk
@ -233,10 +233,10 @@ endef
 #   $2 = list of object files that make up the elf file
 define LINK_CXX_TEMPLATE
 .SECONDARY : $(1)
-.PRECIOUS : $(2)
-$(1):  $(2)
+.PRECIOUS : $(2) $(3)
+$(1):  $(2) $(3)
 	@$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
-	$(V1) $(CXX) $(THUMB) $$(CFLAGS) $(2) --output $$@ $$(LDFLAGS)
+	$(V1) $(CXX) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 endef

 # Compile: create assembler files from C source files. ARM/Thumb
--- a/make/tools.mk
+++ b/make/tools.mk
@ -57,14 +57,14 @@ endif

 ifeq ($(UNAME), Linux)
    ifeq ($(ARCH), x86_64)
-        ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2
-        ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2/+md5
+        ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2
+        ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2/+md5
        QT_SDK_URL  := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-linux-x64-5.4.0.run
        QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-linux-x64-5.4.0.run.md5
        QT_SDK_ARCH := gcc_64
    else
-        ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2
-        ARM_SDK_MD5_URL := https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2/+md5
+        ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2
+        ARM_SDK_MD5_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2/+md5
        QT_SDK_URL  := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-linux-x86-5.4.0.run
        QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-linux-x86-5.4.0.run.md5
        QT_SDK_ARCH := gcc
@ -72,8 +72,8 @@ ifeq ($(UNAME), Linux)
    UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60.tar.gz
    DOXYGEN_URL    := http://wiki.openpilot.org/download/attachments/18612236/doxygen-1.8.3.1.src.tar.gz
 else ifeq ($(UNAME), Darwin)
-    ARM_SDK_URL    := https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-mac.tar.bz2
-    ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-mac.tar.bz2/+md5
+    ARM_SDK_URL    := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-mac.tar.bz2
+    ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-mac.tar.bz2/+md5
    QT_SDK_URL  := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-mac-x64-clang-5.4.0.dmg
    QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-mac-x64-clang-5.4.0.dmg.md5
    QT_SDK_ARCH := clang_64
@ -83,8 +83,8 @@ else ifeq ($(UNAME), Darwin)
    UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60.tar.gz
    DOXYGEN_URL    := http://wiki.openpilot.org/download/attachments/18612236/doxygen-1.8.3.1.src.tar.gz
 else ifeq ($(UNAME), Windows)
-    ARM_SDK_URL    := https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-win32.zip
-    ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-win32.zip/+md5
+    ARM_SDK_URL    := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-win32.zip
+    ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-win32.zip/+md5
    QT_SDK_URL     := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-windows-x86-mingw491_opengl-5.4.0.exe
    QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-windows-x86-mingw491_opengl-5.4.0.exe.md5
    QT_SDK_ARCH    := mingw491_32
@ -100,7 +100,7 @@ GTEST_URL := http://wiki.openpilot.org/download/attachments/18612236/gtest-1.6.0

 # When changing PYTHON_DIR, you must also update it in ground/openpilotgcs/src/python.pri
 # When changing SDL_DIR or OPENSSL_DIR, you must also update them in ground/openpilotgcs/openpilotgcs.pri
-ARM_SDK_DIR     := $(TOOLS_DIR)/gcc-arm-none-eabi-4_8-2014q1
+ARM_SDK_DIR     := $(TOOLS_DIR)/gcc-arm-none-eabi-4_9-2014q4
 QT_SDK_DIR      := $(TOOLS_DIR)/qt-5.4.0
 MINGW_DIR       := $(QT_SDK_DIR)/Tools/mingw491_32
 PYTHON_DIR      := $(QT_SDK_DIR)/Tools/mingw491_32/opt/bin