OpenMotorDrive · khancyr · Mar 27, 2018 · Mar 30, 2018 · Mar 21, 2018 · Mar 30, 2018
diff --git a/README.md b/README.md
@@ -43,4 +43,25 @@ openmotordrive/framework is a framework for embedded applications, primarily tar
 |uavcan_restart|Provides a uavcan.protocol.RestartNode server|
 |worker_thread|Provides worker threads that can process timer tasks, which run after a delay, or listener tasks, which listen to pubsub messages|
 
+## REQUIREMENTS
+Some installations requirements and help.
+
+### Submodules :
+After cloning, get the submodules with :
+
+```bash
+git submodule update --init --recursive
+```
+
+### Toolchain :
+Tested with gcc6 and gcc7
+
+On Ubuntu 16.04, you can use [team-gcc-arm-embedded](https://launchpad.net/~team-gcc-arm-embedded/+archive/ubuntu/ppa) version
+
+### Others
+It needs crcmod and uavcan python package
+
+```bash
+sudo pip install -U crcmod uavcan
+```
 
diff --git a/examples/basic_uavcan_functionality/README.md b/examples/basic_uavcan_functionality/README.md
@@ -0,0 +1,8 @@
+## Usage
+Set BOARD_DIR according to you board directory.
+
+### Example
+
+```bash
+BOARD_DIR=boards/com.hex.cube_1.0 make
+```
diff --git a/examples/basic_uavcan_functionality/boards/org.proficnc.uwb_1.0/board.h b/examples/basic_uavcan_functionality/boards/org.proficnc.uwb_1.0/board.h
@@ -3,6 +3,18 @@
 #include <stdint.h>
 #include <modules/platform_stm32f302x8/platform_stm32f302x8.h>
 
+#define BOARD_CONFIG_HW_NAME "org.proficnc.uwb"
+#define BOARD_CONFIG_HW_MAJOR_VER 1
+#define BOARD_CONFIG_HW_MINOR_VER 0
+
+#define BOARD_CONFIG_HW_INFO_STRUCTURE { \
+    .hw_name = BOARD_CONFIG_HW_NAME, \
+    .hw_major_version = BOARD_CONFIG_HW_MAJOR_VER, \
+    .hw_minor_version = BOARD_CONFIG_HW_MINOR_VER, \
+    .board_desc_fmt = SHARED_HW_INFO_BOARD_DESC_FMT_NONE, \
+    .board_desc = 0, \
+}
+
 #define BOARD_PAL_LINE_SPI_SCK PAL_LINE(GPIOB,3)
 #define BOARD_PAL_LINE_SPI_MISO PAL_LINE(GPIOB,4)
 #define BOARD_PAL_LINE_SPI_MOSI PAL_LINE(GPIOB,5)

diff --git a/examples/basic_uwb_functionality/.cproject b/examples/basic_uwb_functionality/.cproject
@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<cconfiguration id="0.114656749">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="0.114656749" moduleId="org.eclipse.cdt.core.settings" name="Default">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" id="0.114656749" name="Default" parent="org.eclipse.cdt.build.core.prefbase.cfg">
+					<folderInfo id="0.114656749." name="/" resourcePath="">
+						<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1182750861" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
+							<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1182750861.169007201" name=""/>
+							<builder autoBuildTarget="all" cleanBuildTarget="clean" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="org.eclipse.cdt.build.core.settings.default.builder.579570726" incrementalBuildTarget="all" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.libs.2143276802" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.1873650595" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1337802279" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.1707090075" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.338985256" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.1165165914" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.714476670" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="usb.null.1703860681" name="usb"/>
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="0.114656749">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
+		</scannerConfigBuildInfo>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Default">
+			<resource resourceType="PROJECT" workspacePath="/usb"/>
+		</configuration>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
+</cproject>
diff --git a/examples/basic_uwb_functionality/.gitignore b/examples/basic_uwb_functionality/.gitignore
@@ -0,0 +1,2 @@
+build
+.dep
diff --git a/examples/basic_uwb_functionality/.project b/examples/basic_uwb_functionality/.project
@@ -0,0 +1,90 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>usb</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+				<dictionary>
+					<key>?name?</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.append_environment</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildArguments</key>
+					<value>-j1</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildCommand</key>
+					<value>make</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+					<value>clean</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.contents</key>
+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+					<value>false</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableFullBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.stopOnError</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+					<value>true</value>
+				</dictionary>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+	<linkedResources>
+		<link>
+			<name>os</name>
+			<type>2</type>
+			<locationURI>CHIBIOS/os</locationURI>
+		</link>
+		<link>
+			<name>test</name>
+			<type>2</type>
+			<locationURI>CHIBIOS/test</locationURI>
+		</link>
+	</linkedResources>
+</projectDescription>
diff --git a/examples/basic_uwb_functionality/Makefile b/examples/basic_uwb_functionality/Makefile
@@ -0,0 +1,27 @@
+CSRC = $(shell find src -name "*.c")
+INCDIR = ./include
+
+MODULES_ENABLED = \
+chibios_sys_init \
+chibios_hal_init \
+app_descriptor \
+boot_msg \
+timing \
+system \
+pubsub \
+worker_thread \
+can_driver_stm32 \
+can \
+can_autobaud \
+uavcan \
+uavcan_nodestatus_publisher \
+uavcan_getnodeinfo_server \
+uavcan_beginfirmwareupdate_server \
+uavcan_allocatee \
+uavcan_restart \
+freemem_check
+
+MESSAGES_ENABLED = \
+uavcan.protocol.debug.LogMessage
+
+include ../../include.mk
diff --git a/examples/basic_uwb_functionality/README.md b/examples/basic_uwb_functionality/README.md
@@ -0,0 +1,8 @@
+## Usage
+Set BOARD_DIR according to you board directory.
+
+### Example
+
+```bash
+BOARD_DIR=boards/com.hex.cube_1.0 make
+```
diff --git a/examples/basic_uwb_functionality/boards/org.skt.uwb_1.0/board.c b/examples/basic_uwb_functionality/boards/org.skt.uwb_1.0/board.c
@@ -0,0 +1,25 @@
+#include <hal.h>
+
+void boardInit(void) {
+    palSetLineMode(BOARD_PAL_LINE_SPI_SCK, PAL_MODE_ALTERNATE(6) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUPDR_PULLDOWN); // SPI3 SCK
+    palSetLineMode(BOARD_PAL_LINE_SPI_MISO, PAL_MODE_ALTERNATE(6) | PAL_STM32_OSPEED_HIGHEST); // SPI3 MISO
+    palSetLineMode(BOARD_PAL_LINE_SPI_MOSI, PAL_MODE_ALTERNATE(6) | PAL_STM32_OSPEED_HIGHEST); // SPI3 MOSI
+    palSetLineMode(BOARD_PAL_LINE_SPI_UWB_CS, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); // UWB CS
+    palSetLineMode(PAL_LINE(GPIOB, 6), PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); // TEST POINT 1
+    palSetLineMode(PAL_LINE(GPIOB, 7), PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); // TEST POINT 2
+    palSetLineMode(BOARD_PAL_LINE_UWB_IRQ, PAL_STM32_MODE_INPUT | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUPDR_PULLDOWN); // UWB IRQ
+    palSetLineMode(BOARD_PAL_LINE_CAN_RX, PAL_MODE_ALTERNATE(9) | PAL_STM32_OSPEED_HIGHEST);
+    palSetLineMode(BOARD_PAL_LINE_CAN_TX, PAL_MODE_ALTERNATE(9) | PAL_STM32_OSPEED_HIGHEST);
+
+    palSetLineMode(LINE_UART2_RTS, PAL_MODE_ALTERNATE(7) | PAL_STM32_OSPEED_LOWEST | PAL_STM32_PUPDR_PULLUP);
+    palSetLineMode(LINE_UART2_CTS, PAL_MODE_ALTERNATE(7) | PAL_STM32_OSPEED_LOWEST | PAL_STM32_PUPDR_PULLUP);
+    palSetLineMode(LINE_UART2_RX, PAL_MODE_ALTERNATE(7) | PAL_STM32_OSPEED_LOWEST | PAL_STM32_PUPDR_PULLUP);
+    palSetLineMode(LINE_UART2_TX, PAL_MODE_ALTERNATE(7) | PAL_STM32_OSPEED_LOWEST | PAL_STM32_PUPDR_PULLUP);
+
+    //palSetLineMode(LINE_OTG_HS_VBUS, PAL_MODE_ALTERNATE(10) | PAL_STM32_OSPEED_LOWEST | PAL_STM32_PUPDR_PULLDOWN);
+    //palSetLineMode(LINE_OTG_HS_DM, PAL_MODE_ALTERNATE(10) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUPDR_FLOATING);
+   // palSetLineMode(LINE_OTG_HS_DP, PAL_MODE_ALTERNATE(10) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUPDR_FLOATING);
+    palSetLineMode(LINE_SWDIO, PAL_MODE_ALTERNATE(0) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUPDR_PULLUP);
+    palSetLineMode(LINE_SWCLK, PAL_MODE_ALTERNATE(0) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUPDR_PULLDOWN);
+
+}
diff --git a/examples/basic_uwb_functionality/boards/org.skt.uwb_1.0/board.h b/examples/basic_uwb_functionality/boards/org.skt.uwb_1.0/board.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#include <stdint.h>
+#include <modules/platform_stm32f401/platform_stm32f401.h>
+
+/*
+ * Board oscillators-related settings.
+ * NOTE: LSE not fitted.
+ */
+#if !defined(STM32_LSECLK)
+#define STM32_LSECLK                0U
+#endif
+
+#if !defined(STM32_HSECLK)
+#define STM32_HSECLK                24000000U
+#endif
+
+#define STM32F401xC
+/*
+ * Board voltages.
+ * Required for performance limits calculation.
+ */
+#define STM32_VDD                   330U
+
+#define BOARD_CONFIG_HW_NAME "org.skt.uwb"
+#define BOARD_CONFIG_HW_MAJOR_VER 1
+#define BOARD_CONFIG_HW_MINOR_VER 0
+
+#define BOARD_CONFIG_HW_INFO_STRUCTURE { \
+    .hw_name = BOARD_CONFIG_HW_NAME, \
+    .hw_major_version = BOARD_CONFIG_HW_MAJOR_VER, \
+    .hw_minor_version = BOARD_CONFIG_HW_MINOR_VER, \
+    .board_desc_fmt = SHARED_HW_INFO_BOARD_DESC_FMT_NONE, \
+    .board_desc = 0, \
+}
+
+#define BOARD_PAL_LINE_SPI_SCK PAL_LINE(GPIOB,3)
+#define BOARD_PAL_LINE_SPI_MISO PAL_LINE(GPIOB,4)
+#define BOARD_PAL_LINE_SPI_MOSI PAL_LINE(GPIOB,5)
+#define BOARD_PAL_LINE_SPI_UWB_CS PAL_LINE(GPIOA,15) // NOTE: never drive high by external source
+#define BOARD_PAL_LINE_UWB_NRST PAL_LINE(GPIOB,8)
+#define BOARD_PAL_LINE_UWB_IRQ PAL_LINE(GPIOB,12)
+#define BOARD_PAL_LINE_CAN_RX PAL_LINE(GPIOB,6)
+#define BOARD_PAL_LINE_CAN_TX PAL_LINE(GPIOB,7)
+#define DW1000_SPI_BUS 3
+
+#define SERIAL_DEFAULT_BITRATE 57600
+
+/*
+ * IO pins assignments.
+ */
+
+#define LINE_UART2_RTS              PAL_LINE(GPIOA, 0U)
+#define LINE_UART2_CTS              PAL_LINE(GPIOA, 1U)
+#define LINE_UART2_RX               PAL_LINE(GPIOA, 2U)
+#define LINE_UART2_TX               PAL_LINE(GPIOA, 3U)
+
+#define LINE_OTG_HS_VBUS            PAL_LINE(GPIOA, 9U)
+#define LINE_OTG_HS_DM              PAL_LINE(GPIOA, 11U)
+#define LINE_OTG_HS_DP              PAL_LINE(GPIOA, 12U)
+
+#define LINE_SWDIO                  PAL_LINE(GPIOA, 13U)
+#define LINE_SWCLK                  PAL_LINE(GPIOA, 14U)
diff --git a/examples/basic_uwb_functionality/boards/org.skt.uwb_1.0/board.mk b/examples/basic_uwb_functionality/boards/org.skt.uwb_1.0/board.mk
@@ -0,0 +1,4 @@
+BOARD_DIR := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
+BOARD_SRC = $(BOARD_DIR)/board.c
+BOARD_INC = $(BOARD_DIR)
+MODULES_ENABLED += platform_stm32f401