MAX_CAN_BUS_ID=1
# max bytes to transmit by SDO Put 4 if you only support expedited transfert.
-# For a normal transfert, (usually for a string), put the maximum string size to transfer.
+#For a normal transfert, (usually for a string), put the maximum string size to transfer.
SDO_MAX_LENGTH_TRANSFERT=32
# Number of SDO from differents nodes that the node can manage concurrently.
-# for a slave node, usually put 1.
+#for a slave node, usually put 1.
SDO_MAX_SIMULTANEOUS_TRANSFERTS=4
# Used for NMTable[bus][nodeId]
# Max number of active errors managed in error_data structure.
EMCY_MAX_ERRORS=8
+#Timeout in milliseconds for LSS.
+LSS_TIMEOUT_MS=1000
+#Timeout in milliseconds for LSS FastScan.
+LSS_FS_TIMEOUT_MS=100
+
###########################################################################
# DEFAULT BUILD OPTIONS #
###########################################################################
-# Leave empty for automatic detection
-CC=
-CXX=
-LD=
-
#default target
SUB_TARGET=
XENO_CONFIG=/usr/xenomai/bin/xeno-config
fi
+if [ "$RTAI_CONFIG" = "" ]; then
+ RTAI_CONFIG=/usr/realtime/bin/rtai-config
+fi
+
###########################################################################
# ARGUMENTS PARSING #
###########################################################################
--cc=*) CC=$optarg;;
--cxx=*) CXX=$optarg;;
--ld=*) LD=$optarg;;
+ --binutils=*) BINUTILS_PREFIX=$optarg;;
--arch=*) SUB_ARCH_NAME=$optarg;;
--os=*) SUB_OS_NAME=$optarg;;
+ --kerneldir=*) SUB_KERNELDIR=$optarg;;
--prefix=*) SUB_PREFIX=$optarg;;
--target=*) SUB_TARGET=$optarg;;
--can=*) SUB_CAN_DRIVER=$optarg;;
--timers=*) SUB_TIMERS_DRIVER=$optarg;;
+ --wx=*) SUB_WX=$optarg;
+ echo "Forced wx detection to $optarg";;
--disable-Ox) DISABLE_OPT=1;
echo "On user request: Won't optimize with \"-Ox\"";;
--disable-dll) DISABLE_DLL=1;
echo "On user request: Won't create and link to dll";;
--enable-lss) ENABLE_LSS=1;
echo "On user request: LSS services enabled";;
+ --enable-lss-fs) ENABLE_LSS_FS=1;
+ echo "On user request: LSS FastScan service enabled";;
--debug=*) DEBUG=$optarg;;
- --MAX_CAN_BUS_ID=*) MAX_CAN_BUS_ID=$1;;
- --SDO_MAX_LENGTH_TRANSFERT=*) SDO_MAX_LENGTH_TRANSFERT=$1;;
- --SDO_MAX_SIMULTANEOUS_TRANSFERTS=*) SDO_MAX_SIMULTANEOUS_TRANSFERTS=$1;;
- --NMT_MAX_NODE_ID=*) NMT_MAX_NODE_ID=$1;;
- --SDO_TIMEOUT_MS=*) SDO_TIMEOUT_MS=$1;;
- --CANOPEN_BIG_ENDIAN=*) CANOPEN_BIG_ENDIAN=$1;;
- --MAX_NB_TIMER=*) MAX_NB_TIMER=$1;;
- --EMCY_MAX_ERRORS=*) EMCY_MAX_ERRORS=$1;;
+ --MAX_CAN_BUS_ID=*) MAX_CAN_BUS_ID=$optarg;;
+ --SDO_MAX_LENGTH_TRANSFERT=*) SDO_MAX_LENGTH_TRANSFERT=$optarg;;
+ --SDO_MAX_SIMULTANEOUS_TRANSFERTS=*) SDO_MAX_SIMULTANEOUS_TRANSFERTS=$optarg;;
+ --NMT_MAX_NODE_ID=*) NMT_MAX_NODE_ID=$optarg;;
+ --SDO_TIMEOUT_MS=*) SDO_TIMEOUT_MS=$optarg;;
+ --CANOPEN_BIG_ENDIAN=*) CANOPEN_BIG_ENDIAN=$optarg;;
+ --MAX_NB_TIMER=*) MAX_NB_TIMER=$optarg;;
+ --EMCY_MAX_ERRORS=*) EMCY_MAX_ERRORS=$optarg;;
+ --LSS_TIMEOUT_MS=*) LSS_TIMEOUT_MS=$optarg;;
+ --LSS_FS_TIMEOUT_MS=*) LSS_FS_TIMEOUT_MS=$optarg;;
--help)
echo "Usage: ./configure [options]"
echo "Options:"
echo " --ld=foo Use linker 'foo' instead of ld."
echo " --arch=foo Use architecture 'foo' instead of trying to autodetect."
echo " --os=foo Use operative system 'foo' instead of trying to autodetect."
+ echo " --kerneldir=foo Use 'foo' as kernel source directory instead of default"
echo " --prefix=foo Use prefix 'foo' instead of default ${SUB_PREFIX}."
echo " --target=foo Use 'foo' as build target."
echo " \"unix\" for unix-like systems (Linux, Cygwin)"
echo " \"win32\" for win32 systems (native, mingw or VC++)"
echo " \"hcs12\" for HCS12 micro-controller"
echo " --can=foo Use 'foo' as CAN driver"
+ echo " \"anagate_linux\" use AnaGate CAN(duo) driver for linux"
+ echo " \"anagate_win32\" use AnaGate CAN(duo) driver for win32"
echo " \"peak_linux\" use Linux build host installed Peak driver and library"
echo " see http://www.peak-system.com/linux/"
echo " \"peak_win32\" use win32 PcanLight Peak driver and library with Cygwin"
echo " see http://www.peak-system.com/themen/download_gb.html"
echo " \"virtual\" use unix pipe based virtual can driver"
+ echo " \"virtual_kernel\" use kernel module virtual can driver"
echo " \"socket\" use socket-can "
echo " see http://developer.berlios.de/projects/socketcan/"
echo " \"lincan\" lincan driver"
echo " see http://www.ocera.org/download/components/WP7/lincan-0.3.3.html"
- echo " --timers=foo Use 'foo' as TIMERS driver (can be either 'unix' or 'xeno')"
+ echo " \"can4linux\" can4linux driver"
+ echo " see http://www.port.de/engl/canprod/hw_can4linux.html"
+ echo " --timers=foo Use 'foo' as TIMERS driver (can be 'unix', 'xeno', 'rtai' or 'kernel')"
+ echo " --wx=foo Force result of WxWidgets detection (0 or 1)"
+ echo " --binutils=path Override binutils path detection (as regards \$CC content)"
echo " --disable-dll Disable run-time dynamic linking of can, led and nvram drivers"
echo " --enable-lss Enable the LSS services"
+ echo " --enable-lss-fs Enable the LSS FastScan service"
echo " --disable-Ox Disable gcc \"-Ox\" optimizations."
echo " --debug=foo,foo,.. Enable debug messages, ERR -> only errors, WAR)."
echo " \"PDO\" send errors and warnings through PDO messages"
echo " --NMT_MAX_NODE_ID [=128] can be reduced to gain memory on small network"
echo " --SDO_TIMEOUT_MS [=3000] Timeout in milliseconds for SDO (None to disable the feature)"
echo " --EMCY_MAX_ERRORS [=8] Max number of active errors managed in error_data structure"
+ echo " --LSS_TIMEOUT_MS [=1000] Timeout in milliseconds for LSS services."
+ echo " LSS must be enabled with \"--enable-lss\""
+ echo " --LSS_FS_TIMEOUT_MS [=100] Timeout in milliseconds for LSS FastScan service."
+ echo " LSS FastScan must be enabled with \"--enable-lss-fs\""
exit 0;;
*) echo "Unknown argument ${1}"; exit -1;;
esac
SUB_ARCH_NAME=arm
fi
+# mingw32
+if [ "$A_NAME" = "mingw32" ]; then
+ SUB_ARCH_NAME=mingw32
+fi
+
if [ "$SUB_ARCH_NAME" = "" ]; then
echo "Error: could not detect what architecture this system is running!"
echo "Please supply manually instead with \"--arch=foo\""
exit -1
fi
-echo "Using OS: ${SUB_OS_NAME}"
-echo "Using architecture: ${SUB_ARCH_NAME}"
-
-if [ "$SUB_ARCH_NAME" = "x86_64" -a "$CC" = "gcc" ]; then
- # Only if we are on x86_64 and using gcc
- # For shared library generation, it needs this
- SUB_PROG_CFLAGS=-fPIC
-fi
+echo "Host OS: ${SUB_OS_NAME}"
+echo "Host arch: ${SUB_ARCH_NAME}"
if [ "$SUB_ARCH_NAME" = "ppc" -o "$SUB_ARCH_NAME" = "powerpc" ]; then
# PowerPC uses big endian format
###########################################################################
# DEFAULT TARGET/DRIVERS GUESSING #
###########################################################################
-# If target not specified, try to gess one
+# If target not specified, try to guess one
if [ "$SUB_TARGET" = "" ]; then
if [ "$SUB_OS_NAME" = "CYGWIN" ]; then
echo "Choosing unix (cygwin) target"
fi
fi
-# Try to gess can
+# Try to guess can
if [ "$SUB_CAN_DRIVER" = "" ]; then
if [ "$SUB_TARGET" = "unix" ]; then
if [ -e /usr/lib/libpcan.so ]; then
elif [ "$SUB_OS_NAME" = "CYGWIN" -a "PCAN_LIB" != "" ]; then
echo "Choosing installed Peak driver as CAN driver."
SUB_CAN_DRIVER=peak_win32
+ elif [ -e /usr/lib/libcanlib.so ]; then
+ echo "Choosing installed Kvaser driver as CAN driver. (unix)"
+ SUB_CAN_DRIVER=kvaser
+ elif [ -e /usr/local/lib/libAnaGateAPIDLL.so ]; then
+ echo "Choosing installed AnaGate driver as CAN driver. (unix)"
+ SUB_CAN_DRIVER=anagate_linux
+ elif [ "$SUB_OS_NAME" = "CYGWIN" -a "$KVASER_DLL_PATH" != "" ]; then
+ echo "Choosing installed Kvaser driver as CAN driver. (cygwin)"
+ SUB_CAN_DRIVER=kvaser
else
echo "Choosing virtual CAN driver."
SUB_CAN_DRIVER=virtual
fi
fi
+# Warn for unstalled peak driver if choosen
+if [ "$SUB_CAN_DRIVER" = "anagate_linux" ]; then
+ if [ ! -e /usr/local/lib/libAnaGateAPIDLL.so ]; then
+ echo "AnaGateCAN driver hasn't been installed !"
+ exit -1
+ fi
+fi
+
+# Warn for unstalled kvaser driver if choosen
+if [ "$SUB_CAN_DRIVER" = "kvaser" ]; then
+ if [ "$SUB_OS_NAME" = "CYGWIN" ]; then
+ if [ ! -e "$KVASER_DLL_PATH/canlib32.dll" ]; then
+ echo "Kvaser driver hasn't been installed (cygwin)"
+ exit -1
+ fi
+ elif [ "$SUB_OS_NAME" = "LINUX" ]; then
+ if [ ! -e /usr/lib/libcanlib.so ]; then
+ echo "Kvaser driver hasn't been installed (unix)"
+ exit -1
+ fi
+ fi
+fi
+
###########################################################################
# TARGET/DRIVER SPECIFIC CFLAGS and OPTIONS #
###########################################################################
if [ "$SUB_TARGET" = "hcs12" ]; then
- # Only if we want to compile for a µC HCS12
+ # Only if we want to compile for a C HCS12
# it is a big endian architecture.
CANOPEN_BIG_ENDIAN=1
# search for gcc hcs12 compiler m6811-elf-gcc or m68hc12-gcc ?
#### CAN_DRIVER ####
+if [ "$SUB_CAN_DRIVER" = "kvaser" ]; then
+ if [ "$SUB_TARGET" = "unix" ]; then
+ if [ "$SUB_OS_NAME" = "LINUX" ]; then
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lcanlib
+ elif [ "$SUB_OS_NAME" = "CYGWIN" ]; then
+ if [ "$KVASER_INCLUDE_PATH" = "" -o "$KVASER_DLL_PATH" = "" ]; then
+ echo "!!! ERROR !!! Please set KVASER_DLL_PATH and KVASER_INCLUDE_PATH to appropriate paths ! "
+ else
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -L$KVASER_DLL_PATH\ -lcanlib32
+ SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -I$KVASER_INCLUDE_PATH
+ fi
+ fi
+ fi
+fi
+
if [ "$SUB_CAN_DRIVER" = "peak_linux" ]; then
SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lpcan
fi
+if [ "$SUB_CAN_DRIVER" = "anagate_linux" ]; then
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lAnaGateAPIDLL
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lAnaCommon
+fi
+
+
+if [ "$SUB_CAN_DRIVER" = "vscom" ]; then
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lvs_can_api
+fi
+
+if [ "$SUB_CAN_DRIVER" = "anagate_win32" ]; then
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lAnaGateCan
+fi
+
PW32DIR=drivers/can_peak_win32
if [ "$SUB_CAN_DRIVER" = "peak_win32" ]; then
- if [ "$PCAN_HEADER" = "" -o "PCAN_LIB" = "" ]; then
+ if [ "$PCAN_HEADER" = "" -o "$PCAN_LIB" = "" ]; then
echo "!!! ERROR !!! Please set PCAN_LIB PCAN_HEADER [PCAN_INCLUDE] to appropriate paths ! "
fi
SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -liberty\ \'$PCAN_LIB\'
fi
if [ "$SUB_TIMERS_DRIVER" = "xeno" ]; then
- SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lnative\ -lrtdm\ -L`$XENO_CONFIG --library-dir`
- SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ `$XENO_CONFIG --xeno-cflags`
- RTCAN_SOCKET=1
+ RT_LIB_DIR=`$XENO_CONFIG --library-dir`\ -Wl,-rpath\ `$XENO_CONFIG --library-dir`
+ SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ `$XENO_CONFIG --xeno-ldflags`\ -L$RT_LIB_DIR\ -lnative\ -lrtdm
+ SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DUSE_XENO\ `$XENO_CONFIG --xeno-cflags`
+ RTCAN_SOCKET=1
+fi
+
+if [ "$SUB_TIMERS_DRIVER" = "rtai" ]; then
+ RT_LIB_DIR=`$RTAI_CONFIG --library-dir`\ -Wl,-rpath\ `$RTAI_CONFIG --library-dir`
+ SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ `$RTAI_CONFIG --lxrt-ldflags`\ -L$RT_LIB_DIR\ -llxrt\ -lrtdm
+ SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DUSE_RTAI\ `$RTAI_CONFIG --lxrt-cflags`
+ RTCAN_SOCKET=1
+fi
+
+if [ "$SUB_TIMERS_DRIVER" = "kernel" ]; then
+ DISABLE_DLL=1
+ if [ "$SUB_KERNELDIR" = "" ]; then
+ # use directory of current kernel
+ SUB_KERNELDIR=/lib/modules/$(uname -r)/build
+ fi
fi
if [ "$SUB_TIMERS_DRIVER" = "none" ]; then
echo "Using ${CC} as a C compiler"
-SUB_BINUTILS_PREFIX=`echo "$CC" | sed 's/gcc$//'`
+if [ "$SUB_ARCH_NAME" = "x86_64" -a "$CC" = "gcc" ]; then
+ # Only if we are on x86_64 and using gcc
+ # For shared library generation, it needs this
+ SUB_PROG_CFLAGS=-fPIC
+fi
+
+if [ "$BINUTILS_PREFIX" = "" ]; then
+ SUB_BINUTILS_PREFIX=`echo "$CC" | sed 's/gcc$//'`
+else
+ SUB_BINUTILS_PREFIX=$BINUTILS_PREFIX
+fi
if [ "$CXX" = "" ]; then
CXX=${SUB_BINUTILS_PREFIX}g++
# GUESS DEPENDENCIES #
###########################################################################
-if which wx-config >/dev/null 2>&1; then
- echo -n "Testing wxWidgets compiles ... "
- cat > /tmp/wx_test.cpp <<EOF
+if [ "$SUB_WX" = "" ]; then
+ if which wx-config >/dev/null 2>&1; then
+ echo -n "Testing wxWidgets compiles ... "
+ cat > /tmp/wx_test.cpp <<EOF
#include "wx/wx.h"
class MyApp : public wxApp
{
};
IMPLEMENT_APP(MyApp)
EOF
- if $CXX /tmp/wx_test.cpp `wx-config --cxxflags` `wx-config --libs` -o /tmp/wx_test >/dev/null 2>&1 ; then
- SUB_WX=1
- echo "Yes"
+ if $CXX /tmp/wx_test.cpp `wx-config --cxxflags` `wx-config --libs` -o /tmp/wx_test >/dev/null 2>&1 ; then
+ SUB_WX=1
+ echo "Yes"
+ else
+ SUB_WX=0
+ echo "No"
+ fi
+ rm -f /tmp/wx_test*
else
SUB_WX=0
- echo "No"
+ echo "No wxWidgets available"
fi
- rm -f /tmp/wx_test*
-else
- SUB_WX=0
- echo "No wxWidgets available"
fi
-
###########################################################################
# CANFESTIVAL DEFINES --> config.h #
###########################################################################
TIMEVAL\
TIMEVAL_MAX\
RTCAN_SOCKET\
- EMCY_MAX_ERRORS; do
+ EMCY_MAX_ERRORS\
+ LSS_TIMEOUT_MS\
+ LSS_FS_TIMEOUT_MS; do
if [ "${!i}" = "" ]; then
echo "/* $i is not defined */" >> include/config.h
else
if [ $ENABLE_LSS ]; then
SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DCO_ENABLE_LSS;
SUB_ENABLE_LSS=1
+ if [ $ENABLE_LSS_FS ]; then
+ SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DCO_ENABLE_LSS_FS;
+ fi
else
SUB_ENABLE_LSS=0
fi
# Target dependent Makefiles
MAKEFILES=$MAKEFILES\ drivers/$SUB_TARGET/Makefile.in
-if [ "$SUB_TARGET" = "unix" ]; then
+if [ "$SUB_TARGET" = "unix" -a "$SUB_TIMERS_DRIVER" = "kernel" ]; then
MAKEFILES=$MAKEFILES\
-\ examples/TestMasterSlave/Makefile.in
-fi
+\ examples/kerneltest/Makefile.in
-if [ "$SUB_TARGET" = "unix" ]; then
+elif [ "$SUB_TARGET" = "unix" ]; then
MAKEFILES=$MAKEFILES\
+\ examples/TestMasterSlave/Makefile.in\
+\ examples/TestMasterSlaveLSS/Makefile.in\
+\ examples/SillySlave/Makefile.in\
\ examples/TestMasterMicroMod/Makefile.in
fi
if [ "$SUB_TARGET" = "win32" ]; then
MAKEFILES=$MAKEFILES\
\ examples/TestMasterSlave/Makefile.in\
+\ examples/TestMasterSlaveLSS/Makefile.in\
+\ examples/SillySlave/Makefile.in\
\ examples/TestMasterMicroMod/Makefile.in
fi
s:SUB_LD:${LD}:
s:SUB_PROG_CFLAGS:${SUB_PROG_CFLAGS}:
s:SUB_EXE_CFLAGS:${SUB_EXE_CFLAGS}:
+ s:SUB_KERNELDIR:${SUB_KERNELDIR}:
s:SUB_PREFIX:${SUB_PREFIX}:
s:SUB_OS_NAME:${SUB_OS_NAME}:
s:SUB_ARCH_NAME:${SUB_ARCH_NAME}:
projects / CanFestival-3.git / blobdiff