Generate source code to populate OD base on ESI (#156)

leducp · May 6, 2024 · feee277 · feee277
1 parent b76b4c0
commit feee277
Show file tree

Hide file tree

Showing 16 changed files with 13,237 additions and 19 deletions.
diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -22,7 +22,7 @@ jobs:
     - uses: actions/checkout@v2
     - uses: turtlebrowser/[email protected]
       with:
-        version: 2.0.9
+        version: 2.2.3
 
     - name: GTest
       run: |
@@ -59,7 +59,8 @@ jobs:
   build_NuttX:
     runs-on: ubuntu-latest
     env:
-          nuttx_version: nuttx-12.5.0-RC0
+          nuttx_version: 3dc6b4c9bd9624ed259e676f8e9761dbf660c1bb 
+          nuttx_apps_version: nuttx-12.5.0-RC0
           arm_none_eabi_version: 13.2.Rel1/binrel/arm-gnu-toolchain-13.2.Rel1-x86_64-arm-none-eabi
     steps:
       - name: checkout KickCAT
@@ -87,15 +88,15 @@ jobs:
         uses: actions/cache@v3
         with:
           path: ${{GITHUB.WORKSPACE}}/nuttxspace/apps
-          key: nuttx-apps_${{env.nuttx_version}}
+          key: nuttx-apps_${{env.nuttx_apps_version}}
 
       - if: ${{ steps.cache-nuttx-apps.outputs.cache-hit != 'true' }}
         name: checkout NuttX Apps
         uses: actions/checkout@v4
         with:
           repository: apache/nuttx-apps
           path: 'nuttxspace/apps'
-          ref: '${{env.nuttx_version}}'
+          ref: '${{env.nuttx_apps_version}}'
 
       - name: Install Kconfig
         run: sudo apt install kconfig-frontends
@@ -124,13 +125,11 @@ jobs:
           nuttx_src=${{GITHUB.WORKSPACE}}/nuttxspace/nuttx
           build=${{GITHUB.WORKSPACE}}/build_slave
           src=${{GITHUB.WORKSPACE}}/KickCAT
-          nuttx_version=nuttx-export-12.5.0
 
           cp ${src}/examples/slave/nuttx/xmc4800/boards/relax/defconfig ${nuttx_src}/boards/arm/xmc4/xmc4800-relax/configs/nsh/defconfig
           ${nuttx_src}/tools/configure.sh -l xmc4800-relax:nsh
-          make -C ${nuttx_src} savedefconfig
           make -C ${nuttx_src} export
-          cp ${nuttx_src}/${nuttx_version}.tar.gz ${build}
-          tar xf ${build}/${nuttx_version}.tar.gz -C ${build}
-          cmake -B ${build} -S ${src}  -DCMAKE_TOOLCHAIN_FILE=${build}/${nuttx_version}/scripts/toolchain.cmake
+          mkdir ${build}/nuttx-export
+          tar xf ${nuttx_src}/nuttx-export-*.tar.gz --strip-components=1 -C ${build}/nuttx-export
+          cmake -B ${build} -S ${src}  -DCMAKE_TOOLCHAIN_FILE=${build}/nuttx-export/scripts/toolchain.cmake
           make -C ${build}
diff --git a/examples/master/wdc_foot/wdc_foot_example.cc b/examples/master/wdc_foot/wdc_foot_example.cc
@@ -119,6 +119,11 @@ int main(int argc, char* argv[])
 
         bus.createMapping(io_buffer);
 
+        uint32_t identityObject[256];
+        uint32_t identityObjectSize = sizeof(identityObject);
+        bus.readSDO(bus.slaves()[0], 0x1018, 4, Bus::Access::PARTIAL, identityObject, &identityObjectSize, 1s);
+        printf("Firmware Version %02x\n", identityObject[0]);
+
         bus.enableIRQ(EcatEvent::DL_STATUS,
         [&]()
         {
@@ -143,7 +148,7 @@ int main(int argc, char* argv[])
         std::cerr << e.what() << std::endl;
         return 1;
     }
-
+   
     for (auto& slave: bus.slaves())
     {
         printInfo(slave);

diff --git a/examples/slave/nuttx/xmc4800/CMakeLists.txt b/examples/slave/nuttx/xmc4800/CMakeLists.txt
@@ -2,11 +2,11 @@ cmake_minimum_required(VERSION 3.0.0)
 
 project(xmc4800_slave CXX)
 
-add_executable(xmc4800_relax main_relax.cc)
+add_executable(xmc4800_relax main_relax.cc od_populator.cc)
 target_link_libraries(xmc4800_relax kickcat)
 set_kickcat_properties(xmc4800_relax)
 
 
-add_executable(xmc4800_foot main_foot.cc)
+add_executable(xmc4800_foot main_foot.cc od_populator.cc)
 target_link_libraries(xmc4800_foot kickcat)
 set_kickcat_properties(xmc4800_foot)
diff --git a/examples/slave/nuttx/xmc4800/README.md b/examples/slave/nuttx/xmc4800/README.md
@@ -9,7 +9,7 @@
 - use the `export_nuttx_archive.sh` to build and deploy your app. You will need to tweak the paths in the script to match your environment.
 
 
-#### Create you own application
+#### Create your own application
 
 - Create a new main and a new project in CMake. Edit `export_nuttx_archive.sh` to flash your binary.
 - A minimal default EEPROM is included in the binary, it allows you to flash your own EEPROM description with the tool `KickCAT/tools/eeprom.cc`.

diff --git a/examples/slave/nuttx/xmc4800/boards/relax/defconfig b/examples/slave/nuttx/xmc4800/boards/relax/defconfig
@@ -21,12 +21,14 @@ CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=8000
 CONFIG_CXX_EXCEPTION=y
 CONFIG_CXX_RTTI=y
+CONFIG_CXX_STANDARD="gnu++20"
 CONFIG_HAVE_CXX=y
 CONFIG_INIT_STACKSIZE=30000
 CONFIG_INTELHEX_BINARY=y
-CONFIG_LIBCXX=y
+CONFIG_LIBCXXTOOLCHAIN=y
 CONFIG_LIBM=y
 CONFIG_PREALLOC_TIMERS=4
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

diff --git a/examples/slave/nuttx/xmc4800/boards/wdc_foot/defconfig b/examples/slave/nuttx/xmc4800/boards/wdc_foot/defconfig
@@ -21,12 +21,14 @@ CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=8000
 CONFIG_CXX_EXCEPTION=y
 CONFIG_CXX_RTTI=y
+CONFIG_CXX_STANDARD="gnu++20"
 CONFIG_HAVE_CXX=y
 CONFIG_INIT_STACKSIZE=30000
 CONFIG_INTELHEX_BINARY=y
-CONFIG_LIBCXX=y
+CONFIG_LIBCXXTOOLCHAIN=y
 CONFIG_LIBM=y
 CONFIG_PREALLOC_TIMERS=4
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

diff --git a/examples/slave/nuttx/xmc4800/export_nuttx_archive.sh b/examples/slave/nuttx/xmc4800/export_nuttx_archive.sh
@@ -26,7 +26,7 @@ src=~/wdc_workspace/src/KickCAT
 
 bin=xmc4800_$project
 
-nuttx_version=nuttx-export-12.5.0
+nuttx_version=nuttx-export-12.5.1
 
 rm -f ${nuttx_src}/${nuttx_version}.tar.gz
 rm -rf ${build}/${nuttx_version}