i've some problems getting C++ /Chibios-RT (trunk from 20.12.2011 Rev.3643) running on STM32F4-DISCOVERY. After merging the STM32F103-G++ (C++-Stuff) Demo with the STM32F407-DISCOVERY Code (functionality), I end every time either in chSysHalt() with a dbg-message "stack-overflow" or in _unhandled_exception().
I've tried compilation with and without
- Optimation (O0 <-> O2)
- FPU-Support ( -mhard-float -mfpu=fpv4-sp-d16 )
- Aligned functions option ( -falign-functions=16 )
- alternate linker-scripts STM32F407xG.ld / STM32F407xG_CCM.ld
but without success. Also increasing the stack-values to higher amounts (1024) didn't help.
The STM32F407-DISCOVERY c-demo works like a charm.
Attached you'll find the files changed to the standard STM32F4-DISCOVERY-demo.
main.cpp
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT 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.
ChibiOS/RT 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, see <http://www.gnu.org/licenses/>.
*/
#include "ch.hpp"
//#include "ch.h"
#include "hal.h"
#include "test.h"
#include "chprintf.h"
#include "evtimer.h"
using namespace chibios_rt;
class LED_Blink : public EnhancedThread<128> {
private:
int counter;
protected:
virtual msg_t Main(void) {
while (true) {
palSetPad(GPIOD, GPIOD_LED3); /* Orange. */
Sleep(MS2ST(100));
palClearPad(GPIOD, GPIOD_LED3); /* Orange. */
Sleep(MS2ST(900));
chprintf((BaseChannel *)&SD2, "%04u: Still living...\r\n", counter++);
}
return 0;
}
public:
LED_Blink() : EnhancedThread<128>("blinker") {
counter = 0;
}
LED_Blink(int cnt) : EnhancedThread<128>("blinker") {
counter = cnt;
}
virtual ~LED_Blink(){return; };
};
class TesterThread : public EnhancedThread<256> {
protected:
virtual msg_t Main(void) {
chprintf((BaseChannel *)&SD2, "Still living 2\r\n");
return 1;// TestThread(&SD2);
}
public:
TesterThread(void) : EnhancedThread<256>("tester"){
}
virtual ~TesterThread() {return;};
};
/*
* Executed as an event handler at 500mS intervals.
*/
static void TimerHandler(eventid_t id) {
(void)id;
if (palReadPad(GPIOA, GPIOA_BUTTON)) {
TesterThread tester;
tester.Wait();
};
}
/*
* Application entry point.
*/
int main(void) {
static const evhandler_t evhndl[] = { TimerHandler };
static EvTimer evt;
struct EventListener el0;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
System::Init();
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
sdStart(&SD2, NULL);
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
/*
* Creates the example thread.
*/
LED_Blink blinker1(1);
evtInit(&evt, 500); // Initializes an event timer.
evtStart(&evt); // Starts the event timer.
chEvtRegister(&evt.et_es, &el0, 0); // Registers a listener on the source.
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state, when the button is
* pressed the test procedure is launched with output on the serial
* driver 2.
*/
while (true)
Event::Dispatch(evhndl, Event::WaitOne(ALL_EVENTS));
}
syscalls_local.cpp
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#include <stdlib.h>
extern "C" void *malloc(size_t) {
return (void *)0;
}
extern "C" void free(void *) {
}
void *operator new(size_t size) throw() { return malloc(size); }
void operator delete(void *p) throw() { free(p); }
extern "C" int __aeabi_atexit( __attribute__((unused)) void *object,
__attribute__((unused)) void (*destructor)(void *),
__attribute__((unused)) void *dso_handle)
{
return 0;
}
Makefile:
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##############################################################################
# Build global options
# NOTE: Can be overridden externally.
#
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = -O0 -g3 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16
endif
# C specific options here (added to USE_OPT).
ifeq ($(USE_COPT),)
USE_COPT =
endif
# C++ specific options here (added to USE_OPT).
ifeq ($(USE_CPPOPT),)
USE_CPPOPT = -fno-rtti -fno-exceptions
endif
# Enable this if you want the linker to remove unused code and data
ifeq ($(USE_LINK_GC),)
USE_LINK_GC = yes
endif
# If enabled, this option allows to compile the application in THUMB mode.
ifeq ($(USE_THUMB),)
USE_THUMB = yes
endif
# Enable this if you want to see the full log while compiling.
ifeq ($(USE_VERBOSE_COMPILE),)
USE_VERBOSE_COMPILE = no
endif
#
# Build global options
##############################################################################
##############################################################################
# Architecture or project specific options
#
# Enable this if you really want to use the STM FWLib.
ifeq ($(USE_FWLIB),)
USE_FWLIB = no
endif
#
# Architecture or project specific options
##############################################################################
##############################################################################
# Project, sources and paths
#
# Define project name here
PROJECT = chibi-mf
# Imported source files and paths
CHIBIOS = ../externals/ChibiOS-RT
include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
include $(CHIBIOS)/os/kernel/kernel.mk
include $(CHIBIOS)/test/test.mk
# Define linker script file here
LDSCRIPT= $(PORTLD)/STM32F407xG.ld
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(PORTSRC) \
$(KERNSRC) \
$(TESTSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(CHIBIOS)/os/various/evtimer.c \
$(CHIBIOS)/os/various/syscalls.c \
$(CHIBIOS)/os/various/chprintf.c \
#main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC = $(CHIBIOS)/os/various/ch.cpp main.cpp syscalls_local.cpp
# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACSRC =
# C++ sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACPPSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCPPSRC =
# List ASM source files here
ASMSRC = $(PORTASM)
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) \
$(CHIBIOS)/os/various
#
# Project, sources and paths
##############################################################################
##############################################################################
# Compiler settings
#
MCU = cortex-m4
#TRGT = arm-elf-
TRGT = arm-none-eabi-
CC = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
# runtime support makes code size explode.
LD = $(TRGT)gcc
#LD = $(TRGT)g++
CP = $(TRGT)objcopy
AS = $(TRGT)gcc -x assembler-with-cpp
OD = $(TRGT)objdump
HEX = $(CP) -O ihex
BIN = $(CP) -O binary
# ARM-specific options here
AOPT =
# THUMB-specific options here
TOPT = -mthumb -DTHUMB
# Define C warning options here
CWARN = -Wall -Wextra -Wstrict-prototypes
# Define C++ warning options here
CPPWARN = -Wall -Wextra
#
# Compiler settings
##############################################################################
##############################################################################
# Start of default section
#
# List all default C defines here, like -D_DEBUG=1
DDEFS =
# List all default ASM defines here, like -D_DEBUG=1
DADEFS =
# List all default directories to look for include files here
DINCDIR =
# List the default directory to look for the libraries here
DLIBDIR =
# List all default libraries here
DLIBS =
#
# End of default section
##############################################################################
##############################################################################
# Start of user section
#
# List all user C define here, like -D_DEBUG=1
UDEFS =
# Define ASM defines here
UADEFS =
# List all user directories here
UINCDIR =
# List the user directory to look for the libraries here
ULIBDIR =
# List all user libraries here
ULIBS =
#
# End of user defines
##############################################################################
ifeq ($(USE_FWLIB),yes)
include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
CSRC += $(STM32SRC)
INCDIR += $(STM32INC)
USE_OPT += -DUSE_STDPERIPH_DRIVER
endif
include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
Thanks for hints and help.
Manuel
