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                       #

    26

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

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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

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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

CXX=g++

    68

LD=ld

    69

    70

#default target

    71

SUB_TARGET=

    72

    73

# First compiler option - we will check if it exists

    74

CC1=gcc

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# Second compiler option - we will check if it exists

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CC2=cc

    77

    78

# Install prefix

    79

SUB_PREFIX=

    80

    81

# Used for C compiler test/detection 

    82

CFLAGS=

    83

test=conftest

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rm -f $test $test.c

    85

    86

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

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

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fi

    89

    90

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

    91

#                          ARGUMENTS PARSING                              #

    92

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

    93

while [ $# -ge 1 ]; do

    94

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

    95

    96

	case $1 in

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

    98

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

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

   100

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

   101

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

   102

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

   103

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

   104

	--disable-Ox)	DISABLE_OPT=1;

   105

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

   106

	--disable-dll)	DISABLE_DLL=1;

   107

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

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

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

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

   111

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

   112

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

   113

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

   114

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

   115

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

   116

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

   117

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

   118

    		echo	"Options:"

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

   120

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

   121

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

   122

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

   123

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

   124

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

   125

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

   126

		echo	"               \"win32\" for win32 systems"

   127

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

   128

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

   129

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

   130

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

   131

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

   132

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

   133

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

   134

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

   135

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

   136

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

   137

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

   138

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

   139

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

   140

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

   141

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

   142

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

   143

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

   144

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

   145

		echo	"                 \"MSG\" print messages content, to stdout"

   146

		echo

   147

		echo	"Stack compilation constants"

   148

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

   149

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

   150

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

   151

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

   152

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

   153

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

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		exit 0;;

   155

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

   156

	esac

   157

   158

	shift

   159

done

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   161

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

   162

#                              GUESS OS/ARCH                              #

   163

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

   164

   165

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

   166

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

   167

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

   168

fi

   169

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

   170

	SUB_OS_NAME=HPUX

   171

fi

   172

   173

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

   174

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

   175

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

   176

	else

   177

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

   178

	fi

   179

fi

   180

   181

# x86

   182

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

   183

	SUB_ARCH_NAME=x86

   184

fi

   185

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

   186

	SUB_ARCH_NAME=x86

   187

fi

   188

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

   189

	SUB_ARCH_NAME=x86

   190

fi

   191

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

   192

	SUB_ARCH_NAME=x86

   193

fi

   194

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

   195

	SUB_ARCH_NAME=x86

   196

fi

   197

   198

# x86_64

   199

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

   200

	SUB_ARCH_NAME=x86_64

   201

fi

   202

   203

# ia64

   204

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

   205

	SUB_ARCH_NAME=ia64

   206

fi

   207

   208

# alpha

   209

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

   210

	SUB_ARCH_NAME=alpha

   211

fi

   212

   213

# parisc

   214

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

   215

	SUB_ARCH_NAME=parisc

   216

fi

   217

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

   218

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

   219

	# it's most likely parisc

   220

	SUB_ARCH_NAME=parisc

   221

fi

   222

   223

# sparc

   224

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

   225

	SUB_ARCH_NAME=sparc

   226

fi

   227

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

   228

	SUB_ARCH_NAME=sparc

   229

fi

   230

   231

# sparc64

   232

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

   233

	SUB_ARCH_NAME=sparc64

   234

fi

   235

   236

# ppc

   237

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

   238

	SUB_ARCH_NAME=ppc

   239

fi

   240

   241

# ppc64

   242

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

   243

	SUB_ARCH_NAME=ppc64

   244

fi

   245

   246

# arm

   247

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

   248

	SUB_ARCH_NAME=arm

   249

fi

   250

   251

# mips3

   252

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

   253

	SUB_ARCH_NAME=mips3

   254

fi

   255

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

   256

	SUB_ARCH_NAME=mips3

   257

fi

   258

   259

# mips32

   260

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

   267

	SUB_ARCH_NAME=mips32

   268

fi

   269

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

   270

	SUB_ARCH_NAME=mips32

   271

fi

   272

   273

# mips64

   274

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

   275

	SUB_ARCH_NAME=mips64

   276

fi

   277

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

   278

	SUB_ARCH_NAME=mips64

   279

fi

   280

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

   281

	SUB_ARCH_NAME=mips64

   282

fi

   283

   284

# power

   285

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

   286

	SUB_ARCH_NAME=power

   287

fi

   288

   289

echo "Using OS: ${SUB_OS_NAME}"

   290

echo "Using architecture: ${SUB_ARCH_NAME}"

   291

   292

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

   293

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

   294

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

   295

	exit -1

   296

fi

   297

   298

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

   299

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

   300

	SUB_PROG_CFLAGS=-mlp64

   301

fi

   302

   303

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

   304

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

   305

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

   306

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

   307

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

   308

fi

   309

   310

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

   311

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

   312

	# The assembler may default to generating Power and PowerPC compatible

   313

	# code. We need to override that.

   314

	SUB_PROG_CFLAGS=-Wa,-mpwr

   315

fi

   316

   317

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

   318

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

   319

	# The assembler may default to generating Power and PowerPC compatible

   320

	# code. We need to override that.

   321

	SUB_PROG_CFLAGS=-Wa,-mppc

   322

fi

   323

   324

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

   325

	# Only if we are on x86_64 and using gcc

   326

	# For shared library generation, it needs this

   327

	SUB_PROG_CFLAGS=-fPIC

   328

fi

   329

   330

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

   331

	# PowerPC uses big endian format

   332

	CANOPEN_BIG_ENDIAN=1

   333

fi

   334

   335

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

   336

#                      DEFAULT TARGET/DRIVERS GUESSING                    #

   337

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

   338

# If target not specified, try to gess one

   339

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

   340

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

   341

		echo "Choosing unix (cygwin) target"

   342

		SUB_TARGET=unix

   343

	fi

   344

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

   345

		echo "Choosing unix target"

   346

		SUB_TARGET=unix

   347

	fi

   348

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

   349

		echo "Choosing windows target"

   350

		SUB_TARGET=win32

   351

	fi

   352

fi

   353

   354

# Try to gess can

   355

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

   356

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

   357

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

   358

			echo "Choosing installed Peak driver as CAN driver."

   359

			SUB_CAN_DRIVER=peak_linux

   360

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

   361

			echo "Choosing installed Peak driver as CAN driver."

   362

			SUB_CAN_DRIVER=peak_win32		

   363

		else

   364

			echo "Choosing virtual CAN driver."

   365

			SUB_CAN_DRIVER=virtual

   366

		fi

   367

	fi

   368

fi

   369

   370

# If target is unix, default timers also

   371

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

   372

	echo "Choosing unix timers driver."

   373

	SUB_TIMERS_DRIVER=unix

   374

fi

   375

   376

# If target is windows, default timers also

   377

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

   378

	echo "Choosing windows timers driver."

   379

	SUB_TIMERS_DRIVER=win32

   380

fi

   381

   382

# Warn for unstalled peak driver if choosen

   383

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

   384

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

   385

		echo "Peak driver hasn't been installed !"

   386

		exit -1

   387

	fi

   388

fi

   389

   390

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

   391

#              TARGET/DRIVER SPECIFIC CFLAGS and OPTIONS                  #

   392

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

   393

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

   394

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

   395

		US_TO_TIMEVAL_FACTOR=1

   396

	fi

   397

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

   398

		TIMEVAL=UNS64

   399

	fi

   400

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

   401

		TIMEVAL_MAX=0xffffffffffffffff

   402

	fi

   403

fi

   404

   405

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

   406

	# Only if we want to compile for a µC HCS12

   407

       # it is a big endian architecture.

   408

       CANOPEN_BIG_ENDIAN=1

   409

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

   410

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

   411

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

   412

		if (( $? )); then 

   413

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

   414

			if (( $? )); then 

   415

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

   416

				exit 0

   417

			else

   418

				CC=m68hc12-gcc 

   419

			fi

   420

		else

   421

			CC=m6811-elf-gcc

   422

			SUB_PROG_CFLAGS=-m68hc12

   423

		fi

   424

	fi

   425

fi	

   426

   427

if [ "$SUB_TARGET" = "win32" ]; then

   428

		LD=g++

   429

		SUB_PROG_CFLAGS="-mno-cygwin"

   430

fi	

   431

   432

#### CAN_DRIVER ####

   433

   434

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

   435

    SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lpcan

   436

fi

   437

   438

PW32DIR=drivers/can_peak_win32

   439

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

   440

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

   441

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

   442

	fi

   443

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

   444

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

   445

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

   446

	echo >> $PW32DIR/cancfg.h

   447

	# second port handling

   448

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

   449

		echo "Stripping down second Pcan Light header "

   450

		echo >> $PW32DIR/cancfg.h

   451

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

   452

		echo >> $PW32DIR/cancfg.h

   453

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

   454

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

   455

	   	SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ \'$PCAN2_LIB\'

   456

	fi

   457

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

   458

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

   459

		echo "	PCANHwType PCANIO_Port PCANInterupt"

   460

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

   461

	fi

   462

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

   463

		echo "Pcan Light header/lib is for second port of device only"

   464

		echo "CAN_* calls redefined to CAN2_* "

   465

		echo '#define CAN_Init CAN2_Init' >> $PW32DIR/cancfg.h

   466

		echo '#define CAN_Read CAN2_Read' >> $PW32DIR/cancfg.h

   467

		echo '#define CAN_Write CAN2_Write' >> $PW32DIR/cancfg.h

   468

		echo '#define CAN_Close CAN2_Close' >> $PW32DIR/cancfg.h

   469

	fi

   470

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

   471

fi

   472

   473

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

   474

	SUB_CAN_DRIVER=

   475

fi

   476

   477

#### TIMERS_DRIVER ####

   478

   479

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

   480

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

   481

	   SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lpthread\ -lrt

   482

	fi

   483

fi

   484

   485

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

   486

	SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lnative\ -lrtdm\

   487

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

   488

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

   489

	RTCAN_SOCKET=1

   490

fi

   491

   492

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

   493

	SUB_TIMERS_DRIVER=

   494

fi

   495

   496

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

   497

#                              GUESS COMPILER                             #

   498

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

   499

# If CC is empty, the user wanted automatic detection

   500

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

   501

	# Check for second compiler, CC2

   502

	cat > $test.c <<EOF

   503

	int main() { return 0; }

   504

EOF

   505

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

   506

		DETECTCC=$CC2

   507

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

   508

	else

   509

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

   510

	fi

   511

	rm -f $test.c $test.o

   512

   513

	# Check for first compiler, CC1