C++ wrapper 18.2.1

common/ports/ARMCMx/compilers/GCC/rules_code_cortexm0.ld

@@ -25,7 +25,7 @@ SECTIONS
         PROVIDE(__startup_start = .);
         KEEP(*(.vectors))
         PROVIDE(__startup_end = .);
-    } > VECTORS_FLASH AT > VECTORS_FLASH_LMA
+    } > VECTORS_RAM AT > VECTORS_FLASH_LMA
 
     .xtors : ALIGN(4)
     {
@@ -39,7 +39,7 @@ SECTIONS
         __fini_array_end = .;
     } > XTORS_FLASH AT > XTORS_FLASH_LMA
 
-    .initcall ALIGN(16)
+    .initcall : ALIGN(16)
     {
         __module_initcall_start = .;
         KEEP(*(SORT(.initcall.*)))

common/ports/ARMCMx/compilers/GCC/rules_cortexm0.ld

@@ -1,8 +1,8 @@
-/* Stack rules inclusion.*/
-INCLUDE rules_stacks.ld
-
 /* Code rules inclusion.*/
 INCLUDE rules_code_cortexm0.ld
 
+/* Stack rules inclusion.*/
+INCLUDE rules_stacks.ld
+
 /* Data rules inclusion.*/
 INCLUDE rules_data.ld

various/cpp_wrappers/module.h

@@ -0,0 +1,33 @@
+/*
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.hpp"
+
+#ifndef Module_H_
+#define Module_H_
+
+namespace qos {
+
+    class Module
+    {
+    public:
+        Module(){}
+        virtual void Init() = 0;
+        virtual void Start() = 0;
+        virtual void Shutdown() = 0;
+    };
+
+}
+
+#endif /* QOS_H_ */

various/cpp_wrappers/module_init_cpp.h

@@ -0,0 +1,44 @@
+/*
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#ifndef MODULE_INIT_CPP_H_
+#define MODULE_INIT_CPP_H_
+
+#include "module_init.h"
+
+namespace qos {
+    template<typename T>
+    class ModuleInit
+    {
+    public:
+        static void Init()
+        {
+            T::GetInstance()->Init();
+        }
+
+        static void Start()
+        {
+            T::GetInstance()->Start();
+        }
+
+        static void Shutdown()
+        {
+            T::GetInstance()->Shutdown();
+        }
+   };
+
+}
+
+
+#endif /* MODULE_INIT_CPP_H_ */

various/cpp_wrappers/qos.cpp

@@ -0,0 +1,20 @@
+/*
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "qos.h"
+
+
+namespace qos {
+
+}

various/cpp_wrappers/qos.h

@@ -0,0 +1,25 @@
+/*
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.hpp"
+
+#ifndef QOS_H_
+#define QOS_H_
+
+namespace qos {
+
+
+}
+
+#endif /* QOS_H_ */

various/cpp_wrappers/qoscpp.mk

@@ -0,0 +1,4 @@
+# C++ wrapper files.
+QOSCPPSRC = $(QOS_DIR)/various/cpp_wrappers/qos.cpp 
+
+QOSCPPINC = $(QOS_DIR)/various/cpp_wrappers/

various/cpp_wrappers/singleton.h

@@ -0,0 +1,36 @@
+/*
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.hpp"
+
+#ifndef _SINGLETON_H_
+#define _SINGLETON_H_
+
+namespace qos {
+
+    template <typename T>
+    class Singleton
+    {
+    public:
+        static T* GetInstance()
+        {
+            return &instance;
+        }
+
+    protected:
+        static T instance;
+    };
+}
+
+#endif /* _SINGLETON_H_ */

various/cpp_wrappers/threadedmodule.h

@@ -0,0 +1,72 @@
+/*
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.hpp"
+#include "module.h"
+
+#ifndef THREADED_MODULE_H_
+#define THREADED_MODULE_H_
+
+namespace qos {
+
+    template <int N>
+    class ThreadedModule : public Module
+    {
+    public:
+
+        virtual void Start()
+        {
+            m_moduleThread.SetModule(this);
+            m_moduleThread.start(GetThreadPrio());
+        }
+
+        virtual void Shutdown()
+        {
+            m_moduleThread.shouldTerminate();
+        }
+
+    protected:
+        virtual tprio_t GetThreadPrio() const = 0;
+
+        virtual void ThreadMain() = 0;
+
+        class ModuleThread : public chibios_rt::BaseStaticThread<N>
+        {
+        public:
+            ModuleThread() :
+                module(NULL)
+            {
+
+            }
+
+            void SetModule(ThreadedModule* mod)
+            {
+                module = mod;
+            }
+
+        protected:
+            virtual void main()
+            {
+                module->ThreadMain();
+            }
+
+        private:
+            ThreadedModule* module;
+        };
+
+        ModuleThread m_moduleThread;
+    };
+}
+
+#endif /* THREADED_MODULE_H_ */