1

#!/bin/bash

     2

     3

#

     4

# Copyright (C) 2004 Edouard TISSERRANT, Laurent BESSARD

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# Based on Gabriel Gerhardsson's cacheprobe configure script. 

     6

# 

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# This file is part of CanFestival, a library implementing CanOpen Stack. 

     8

# 

     9

# This library is free software; you can redistribute it and/or

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# modify it under the terms of the GNU Lesser General Public

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# License as published by the Free Software Foundation; either

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# version 2.1 of the License, or (at your option) any later version.

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# 

    14

# This library is distributed in the hope that it will be useful,

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# but WITHOUT ANY WARRANTY; without even the implied warranty of

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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    17

# Lesser General Public License for more details.

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# 

    19

# You should have received a copy of the GNU Lesser General Public

    20

# License along with this library; if not, write to the Free Software

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# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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# 

    23

    24

###########################################################################

    25

#                       DEFAULT CANFESTIVAL DEFINES                       #

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###########################################################################

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# Number of can bus to use 

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MAX_CAN_BUS_ID=1

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    31

# max bytes to transmit by SDO Put 4 if you only support expedited transfert.

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# For a normal transfert, (usually for a string), put the maximum string size to transfer.

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SDO_MAX_LENGTH_TRANSFERT=32

    34

    35

# Number of SDO from differents nodes that the node can manage concurrently.   

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# for a slave node, usually put 1.

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SDO_MAX_SIMULTANEOUS_TRANSFERTS=4

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    39

# Used for NMTable[bus][nodeId]	  

    40

# You can put less of 128 if on the netwo

    41

# are connected only smaller nodeId node.

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NMT_MAX_NODE_ID=128

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    44

#Timeout in milliseconds for SDO.

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#    Comment the #define if not used (infinite wait for SDO response message)

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SDO_TIMEOUT_MS=3000

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    48

MAX_NB_TIMER=32

    49

    50

# Generic timers declaration defaults

    51

US_TO_TIMEVAL_FACTOR=

    52

TIMEVAL=

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TIMEVAL_MAX=

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    55

# Default to little-endian

    56

CANOPEN_BIG_ENDIAN=

    57

    58

# Max number of active errors managed in error_data structure.

    59

EMCY_MAX_ERRORS=8

    60

    61

###########################################################################

    62

#                             DEFAULT BUILD OPTIONS                       #

    63

###########################################################################

    64

    65

# Leave empty for automatic detection

    66

CC=

    67

    68

#default target

    69

SUB_TARGET=

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    71

# First compiler option - we will check if it exists

    72

CC1=gcc

    73

# Second compiler option - we will check if it exists

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CC2=cc

    75

    76

# Install prefix

    77

SUB_PREFIX=

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    79

# Used for C compiler test/detection 

    80

CFLAGS=

    81

test=conftest

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rm -f $test $test.c

    83

    84

if [ "$XENO_CONFIG" = "" ]; then

    85

	XENO_CONFIG=/usr/xenomai/bin/xeno-config

    86

fi

    87

    88

###########################################################################

    89

#                          ARGUMENTS PARSING                              #

    90

###########################################################################

    91

while [ $# -ge 1 ]; do

    92

	optarg=`expr "x$1" : 'x[^=]*=\(.*\)'`

    93

    94

	case $1 in

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	--cc=*)		CC=$optarg;;

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	--arch=*)	SUB_ARCH_NAME=$optarg;;

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	--os=*)		SUB_OS_NAME=$optarg;;

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	--prefix=*)	SUB_PREFIX=$optarg;;

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	--target=*)	SUB_TARGET=$optarg;;

   100

	--can=*)	SUB_CAN_DRIVER=$optarg;;

   101

	--timers=*)	SUB_TIMERS_DRIVER=$optarg;;

   102

	--disable-Ox)	DISABLE_OPT=1;

   103

			echo "On user request: Won't optimize with \"-Ox\"";;

   104

	--disable-dll)	DISABLE_DLL=1;

   105

			echo "On user request: Won't create and link to dll";;

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	--debug=*)	DEBUG=$optarg;;

   107

	--MAX_CAN_BUS_ID=*)	MAX_CAN_BUS_ID=$1;;

   108

	--SDO_MAX_LENGTH_TRANSFERT=*)	SDO_MAX_LENGTH_TRANSFERT=$1;;

   109

	--SDO_MAX_SIMULTANEOUS_TRANSFERTS=*)	SDO_MAX_SIMULTANEOUS_TRANSFERTS=$1;;

   110

	--NMT_MAX_NODE_ID=*)	NMT_MAX_NODE_ID=$1;;

   111

	--SDO_TIMEOUT_MS=*)	SDO_TIMEOUT_MS=$1;;

   112

	--CANOPEN_BIG_ENDIAN=*)	CANOPEN_BIG_ENDIAN=$1;;

   113

	--MAX_NB_TIMER=*) MAX_NB_TIMER=$1;;

   114

	--EMCY_MAX_ERRORS=*) EMCY_MAX_ERRORS=$1;;

   115

	--help)	echo	"Usage: ./configure [options]"

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    		echo	"Options:"

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    		echo 	" --cc=foo      Use compiler 'foo' instead of defaults ${CC1} or ${CC2}."

   118

		echo 	" --arch=foo    Use architecture 'foo' instead of trying to autodetect."

   119

		echo 	" --os=foo      Use operative system 'foo' instead of trying to autodetect."

   120

		echo 	" --prefix=foo  Use prefix 'foo' instead of default ${SUB_PREFIX}."

   121

		echo 	" --target=foo  Use 'foo' as build target."

   122

		echo	"               \"generic\" for have independant CAN and TIMERS driver"

   123

		echo	"               \"unix\" for unix-like systems"

   124

		echo	"               \"win32\" for win32 systems"

   125

		echo	"               \"hcs12\" for HCS12 micro-controller"

   126

		echo 	" --can=foo	Use 'foo' as CAN driver"

   127

		echo	"               \"peak_linux\" use Linux build host installed Peak driver and library"

   128

		echo	"                                please see http://www.peak-system.com/linux/"

   129

		echo	"               \"peak_win32\" use win32 PcanLight Peak driver and library with Cygwin" 

   130

		echo	"                                please see http://www.peak-system.com/themen/download_gb.html"

   131

		echo	"               \"virtual\" use unix pipe based virtual can driver"

   132

		echo	"               \"socket\" use socket-can  "

   133

		echo	"                                please see http://developer.berlios.de/projects/socketcan/"

   134

		echo	"               \"lincan\" for HCS12 micro-controller"

   135

		echo	"                                please see http://www.ocera.org/download/components/WP7/lincan-0.3.3.html"

   136

		echo 	" --timers=foo  Use 'foo' as TIMERS driver (can be either 'unix' or 'xeno')"

   137

		echo 	" --disable-dll Disable run-time dynamic linking of can, led and nvram drivers"

   138

		echo	" --disable-Ox  Disable gcc \"-Ox\" optimizations."

   139

		echo	" --debug=foo   Enable debug messages, ERR -> only errors, WAR)."

   140

		echo	"                 \"PDO\" send errors and warnings through PDO messages"

   141

		echo	"                 \"ERR\" errors only, to stdout"

   142

		echo	"                 \"WAR\" errors and warnings, to stdout"

   143

		echo

   144

		echo	"Stack compilation constants"

   145

		echo	" --MAX_CAN_BUS_ID [=1] Number of can bus to use"

   146

		echo	" --SDO_MAX_LENGTH_TRANSFERT [=32] max bytes to transmit by SDO"

   147

		echo	" --SDO_MAX_SIMULTANEOUS_TRANSFERTS [=4] Number of SDO that the node can manage concurrently"

   148

		echo	" --NMT_MAX_NODE_ID [=128] can be reduced to gain memory on small network"

   149

		echo	" --SDO_TIMEOUT_MS [=3000] Timeout in milliseconds for SDO (None to disable the feature)"

   150

		echo	" --EMCY_MAX_ERRORS [=8] Max number of active errors managed in error_data structure"

   151

		exit 0;;

   152

	*)		echo "Unknown argument ${1}"; exit -1;;

   153

	esac

   154

   155

	shift

   156

done

   157

   158

###########################################################################

   159

#                              GUESS OS/ARCH                              #

   160

###########################################################################

   161

   162

if [ "$SUB_OS_NAME" = "" ]; then

   163

	SUB_OS_NAME="`(uname -s | sed \"s/\//-/\" | sed \"s/_/-/\" \

   164

			| sed \"s/-.*//g\") 2>&1`"

   165

fi

   166

if [ "$SUB_OS_NAME" = "HP" -o "$SUB_OS_NAME" = "HP-UX" ]; then

   167

	SUB_OS_NAME=HPUX

   168

fi

   169

   170

if [ "$SUB_ARCH_NAME" = "" ]; then

   171

	if [ "$CC" = "" ]; then

   172

		A_NAME="`(uname -m) 2>&1`"

   173

	else

   174

		A_NAME="`$CC -dumpmachine | sed 's:-.*::'`"

   175

	fi

   176

fi

   177

   178

# x86

   179

if [ "$A_NAME" = "i386" ]; then

   180

	SUB_ARCH_NAME=x86

   181

fi

   182

if [ "$A_NAME" = "i486" ]; then

   183

	SUB_ARCH_NAME=x86

   184

fi

   185

if [ "$A_NAME" = "i586" ]; then

   186

	SUB_ARCH_NAME=x86

   187

fi

   188

if [ "$A_NAME" = "i686" ]; then

   189

	SUB_ARCH_NAME=x86

   190

fi

   191

if [ "$A_NAME" = "x86" ]; then

   192

	SUB_ARCH_NAME=x86

   193

fi

   194

   195

# x86_64

   196

if [ "$A_NAME" = "x86_64" ]; then

   197

	SUB_ARCH_NAME=x86_64

   198

fi

   199

   200

# ia64

   201

if [ "$A_NAME" = "ia64" ]; then

   202

	SUB_ARCH_NAME=ia64

   203

fi

   204

   205

# alpha

   206

if [ "$A_NAME" = "alpha" ]; then

   207

	SUB_ARCH_NAME=alpha

   208

fi

   209

   210

# parisc

   211

if [ "$A_NAME" = "parisc" ]; then

   212

	SUB_ARCH_NAME=parisc

   213

fi

   214

if [ "$SUB_OS_NAME" = "HPUX" -a "$A_NAME" != "ia64" ]; then

   215

	# If we're on HP-UX and the architecture is *not* ia64,

   216

	# it's most likely parisc

   217

	SUB_ARCH_NAME=parisc

   218

fi

   219

   220

# sparc

   221

if [ "$A_NAME" = "sparc" ]; then

   222

	SUB_ARCH_NAME=sparc

   223

fi

   224

if [ "$A_NAME" = "sun4u" ]; then

   225

	SUB_ARCH_NAME=sparc

   226

fi

   227

   228

# sparc64

   229

if [ "$A_NAME" = "sparc64" ]; then

   230

	SUB_ARCH_NAME=sparc64

   231

fi

   232

   233

# ppc

   234

if [ "$A_NAME" = "powerpc" ]; then

   235

	SUB_ARCH_NAME=ppc

   236

fi

   237

   238

# ppc64

   239

if [ "$A_NAME" = "powerpc64" ]; then

   240

	SUB_ARCH_NAME=ppc64

   241

fi

   242

   243

# arm

   244

if [ "$A_NAME" = "arm" ]; then

   245

	SUB_ARCH_NAME=arm

   246

fi

   247

   248

# mips3

   249

if [ "$A_NAME" = "ip32" ]; then		# IRIX

   250

	SUB_ARCH_NAME=mips3

   251

fi

   252

if [ "$A_NAME" = "ip35" ]; then		# IRIX

   253

	SUB_ARCH_NAME=mips3

   254

fi

   255

   256

# mips32

   257

if [ "$A_NAME" = "mips32" ]; then

   258

	SUB_ARCH_NAME=mips32

   259

fi

   260

if [ "$A_NAME" = "mips" ]; then

   261

	SUB_ARCH_NAME=mips32

   262

fi

   263

if [ "$A_NAME" = "MIPS" ]; then

   264

	SUB_ARCH_NAME=mips32

   265

fi

   266

if [ "$A_NAME" = "RISC" ]; then		# MIPS Ultrix

   267

	SUB_ARCH_NAME=mips32

   268

fi

   269

   270

# mips64

   271

if [ "$A_NAME" = "mips64" ]; then

   272

	SUB_ARCH_NAME=mips64

   273

fi

   274

if [ "$A_NAME" = "MIPS64" ]; then

   275

	SUB_ARCH_NAME=mips64

   276

fi

   277

if [ "$A_NAME" = "IP64" ]; then		# IRIX

   278

	SUB_ARCH_NAME=mips64

   279

fi

   280

   281

# power

   282

if [ "$A_NAME" = "power" ]; then	# Manual

   283

	SUB_ARCH_NAME=power

   284

fi

   285

   286

echo "Using OS: ${SUB_OS_NAME}"

   287

echo "Using architecture: ${SUB_ARCH_NAME}"

   288

   289

if [ "$SUB_ARCH_NAME" = "" ]; then

   290

	echo "Error: could not detect what architecture this system is running!"

   291

	echo "Please supply manually instead with \"--arch=foo\""

   292

	exit -1

   293

fi

   294

   295

if [ "$SUB_OS_NAME" = "HPUX" -a "$CC" = "gcc" ]; then

   296

	# Only if we are on HP-UX, ia64 and using gcc

   297

	SUB_PROG_CFLAGS=-mlp64

   298

fi

   299

   300

if [ "$SUB_OS_NAME" = "SunOS" -a "$SUB_ARCH_NAME" = "sparc" -a "$CC" = "gcc" ]; then

   301

	# Only if we are on SunOS, sparc and using gcc

   302

	# Tells the assembler that we are dealing with a v8plusa arch sparc

   303

	# and -mimpure-text is needed for shared library linking

   304

	SUB_PROG_CFLAGS="-Wa,-xarch=v8plusa -mimpure-text"

   305

fi

   306

   307

if [ "$SUB_OS_NAME" = "AIX" -a "$SUB_ARCH_NAME" = "power" -a "$CC" = "gcc" ]; then

   308

	# Only if we are on AIX, power and using gcc

   309

	# The assembler may default to generating Power and PowerPC compatible

   310

	# code. We need to override that.

   311

	SUB_PROG_CFLAGS=-Wa,-mpwr

   312

fi

   313

   314

if [ "$SUB_OS_NAME" = "AIX" -a "$SUB_ARCH_NAME" = "ppc" -a "$CC" = "gcc" ]; then

   315

	# Only if we are on AIX, ppc and using gcc

   316

	# The assembler may default to generating Power and PowerPC compatible

   317

	# code. We need to override that.

   318

	SUB_PROG_CFLAGS=-Wa,-mppc

   319

fi

   320

   321

if [ "$SUB_ARCH_NAME" = "x86_64" -a "$CC" = "gcc" ]; then

   322

	# Only if we are on x86_64 and using gcc

   323

	# For shared library generation, it needs this

   324

	SUB_PROG_CFLAGS=-fPIC

   325

fi

   326

   327

if [ "$SUB_ARCH_NAME" = "ppc" -o "$SUB_ARCH_NAME" = "powerpc" ]; then

   328

	# PowerPC uses big endian format

   329

	CANOPEN_BIG_ENDIAN=1

   330

fi

   331

   332

###########################################################################

   333

#                      DEFAULT TARGET/DRIVERS GUESSING                    #

   334

###########################################################################

   335

# If target not specified, try to gess one

   336

if [ "$SUB_TARGET" = "" ]; then

   337

	if [ "$SUB_OS_NAME" = "CYGWIN" ]; then

   338

		echo "Choosing unix (cygwin) target"

   339

		SUB_TARGET=unix

   340

	fi

   341

	if [ "$SUB_OS_NAME" = "Linux" ]; then

   342

		echo "Choosing unix target"

   343

		SUB_TARGET=unix

   344

	fi

   345

	if [ "$SUB_OS_NAME" = "MINGW32" ]; then

   346

		echo "Choosing windows target"

   347

		SUB_TARGET=win32

   348

	fi

   349

fi

   350

   351

# Try to gess can

   352

if [ "$SUB_CAN_DRIVER" = "" ]; then

   353

	if [ "$SUB_TARGET" = "unix" ]; then

   354

		if [ -e /usr/lib/libpcan.so ]; then 

   355

			echo "Choosing installed Peak driver as CAN driver."

   356

			SUB_CAN_DRIVER=peak_linux

   357

		elif [ "$SUB_OS_NAME" = "CYGWIN" -a "PCAN_LIB" != "" ]; then

   358

			echo "Choosing installed Peak driver as CAN driver."

   359

			SUB_CAN_DRIVER=peak_win32		

   360

		else

   361

			echo "Choosing virtual CAN driver."

   362

			SUB_CAN_DRIVER=virtual

   363

		fi

   364

	fi

   365

fi

   366

   367

# If target is unix, default timers also

   368

if [ "$SUB_TARGET" = "unix" -a "$SUB_TIMERS_DRIVER" = "" ]; then

   369

	echo "Choosing unix timers driver."

   370

	SUB_TIMERS_DRIVER=unix

   371

fi

   372

   373

# If target is windows, default timers also

   374

if [ "$SUB_TARGET" = "win32" -a "$SUB_TIMERS_DRIVER" = "" ]; then

   375

	echo "Choosing windows timers driver."

   376

	SUB_TIMERS_DRIVER=win32

   377

fi

   378

   379

# Warn for unstalled peak driver if choosen

   380

if [ "$SUB_CAN_DRIVER" = "peak" ]; then

   381

	if [ ! -e /usr/lib/libpcan.so ]; then 

   382

		echo "Peak driver hasn't been installed !"

   383

		exit -1

   384

	fi

   385

fi

   386

   387

###########################################################################

   388

#              TARGET/DRIVER SPECIFIC CFLAGS and OPTIONS                  #

   389

###########################################################################

   390

if [ "$SUB_TARGET" = "generic" ]; then

   391

	if [ "$US_TO_TIMEVAL_FACTOR" = "" ]; then

   392

		US_TO_TIMEVAL_FACTOR=1

   393

	fi

   394

	if [ "$TIMEVAL" = "" ]; then

   395

		TIMEVAL=UNS64

   396

	fi

   397

	if [ "$TIMEVAL_MAX" = "" ]; then

   398

		TIMEVAL_MAX=0xffffffffffffffff

   399

	fi

   400

fi

   401

   402

if [ "$SUB_TARGET" = "hcs12" ]; then

   403

	# Only if we want to compile for a µC HCS12

   404

       # it is a big endian architecture.

   405

       CANOPEN_BIG_ENDIAN=1

   406

	# search for gcc hcs12 compiler m6811-elf-gcc or m68hc12-gcc ?

   407

	if [ "$CC" = "" ]; then

   408

		which m6811-elf-gcc >/dev/null 2>&1

   409

		if (( $? )); then 

   410

			which m68hc12-gcc >/dev/null 2>&1

   411

			if (( $? )); then 

   412

				echo "Please use --cc flag to specify compiler"

   413

				exit 0

   414

			else

   415

				CC=m68hc12-gcc 

   416

			fi

   417

		else

   418

			CC=m6811-elf-gcc

   419

			SUB_PROG_CFLAGS=-m68hc12

   420

		fi

   421

	fi

   422

fi	

   423

   424

#### CAN_DRIVER ####

   425

   426

if [ "$SUB_CAN_DRIVER" = "peak_linux" ]; then

   427

    SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lpcan

   428

fi

   429

   430

PW32DIR=drivers/can_peak_win32

   431

if [ "$SUB_CAN_DRIVER" = "peak_win32" ]; then

   432

	if [ "$PCAN_HEADER" = "" -o "PCAN_LIB" = "" ]; then

   433

		echo "!!! ERROR !!! Please set PCAN_LIB PCAN_HEADER [PCAN_INCLUDE] to appropriate paths ! "

   434

	fi

   435

   	SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -liberty\ \'$PCAN_LIB\'

   436

	echo "Converting PcanLib header files for gcc -> $PW32DIR/cancfg.h"

   437

	cat $PW32DIR/cancfg.h.head $PCAN_INCLUDE/$PCAN_HEADER > $PW32DIR/cancfg.h

   438

	# second port handling

   439

	if [ "$PCAN2_HEADER" != "" ]; then

   440

		echo "Stripping down second Pcan Light header "

   441

		echo >> $PW32DIR/cancfg.h

   442

		echo "// Stripped PcanLight header to prevent typedef conflicts ">> $PW32DIR/cancfg.h

   443

		echo >> $PW32DIR/cancfg.h

   444

		grep __stdcall $PCAN_INCLUDE/$PCAN2_HEADER >> $PW32DIR/cancfg.h

   445

		echo '#define PCAN2_HEADER_' >> $PW32DIR/cancfg.h

   446

	   	SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ \'$PCAN2_LIB\'

   447

	fi

   448

	if grep -q CANHwType $PW32DIR/cancfg.h ; then

   449

		echo "Peak Init HwType, IO_Port and IRQ will be passed in environment :"

   450

		echo "	PCANHwType PCANIO_Port PCANInterupt"

   451

		echo '#define extra_PCAN_init_params' >> $PW32DIR/cancfg.h

   452

	fi

   453

	cat $PW32DIR/cancfg.h.tail >> $PW32DIR/cancfg.h

   454

fi

   455

   456

if [ "$SUB_CAN_DRIVER" = "none" ]; then

   457

	SUB_CAN_DRIVER=

   458

fi

   459

   460

#### TIMERS_DRIVER ####

   461

   462

if [ "$SUB_TIMERS_DRIVER" = "unix" ]; then

   463

	if [ "$SUB_OS_NAME" != "CYGWIN" ]; then

   464

	   SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lpthread\ -lrt

   465

	fi

   466

fi

   467

   468

if [ "$SUB_TIMERS_DRIVER" = "xeno" ]; then

   469

	SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lnative\ -lrtdm\

   470

\	-L`$XENO_CONFIG --library-dir`

   471

	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ `$XENO_CONFIG --xeno-cflags`

   472

	RTCAN_SOCKET=1

   473

fi

   474

   475

if [ "$SUB_TIMERS_DRIVER" = "none" ]; then

   476

	SUB_TIMERS_DRIVER=

   477

fi

   478

   479

###########################################################################

   480

#                              GUESS COMPILER                             #

   481

###########################################################################

   482

# If CC is empty, the user wanted automatic detection

   483

if [ "$CC" = "" ]; then

   484

	# Check for second compiler, CC2

   485

	cat > $test.c <<EOF

   486

	int main() { return 0; }

   487

EOF

   488

	if test "`($CC2 -c $CFLAGS $test.c) 2>&1`" = ""; then

   489

		DETECTCC=$CC2

   490

		echo "Checking for ${CC2}... Yes."

   491

	else

   492

		echo "Checking for ${CC2}... No."

   493

	fi

   494

	rm -f $test.c $test.o

   495

   496

	# Check for first compiler, CC1

   497

	cat > $test.c <<EOF

   498

	int main() { return 0; }

   499

EOF

   500

	if test "`($CC1 -c $CFLAGS $test.c) 2>&1`" = ""; then

   501

		DETECTCC=$CC1

   502

		echo "Checking for ${CC1}... Yes."

   503

	else

   504

		echo "Checking for ${CC1}... No."

   505

	fi

   506

	rm -f $test.c $test.o

   507

	CC=$DETECTCC

   508

fi

   509

# Check if we decided on a compiler after all

   510

if [ "$CC" = "" ]; then

   511

	echo "Error: Could not find a C compiler"

   512

	echo "Please supply the wanted compiler"

   513

	exit -1

   514

fi