1

#!/bin/bash

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     3

#

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# Copyright (C) 2004 Edouard TISSERRANT, Laurent BESSARD

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# Based on Gabriel Gerhardsson's cacheprobe configure script. 

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# 

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

     8

# 

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# 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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# 

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# 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

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# Lesser General Public License for more details.

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# 

    19

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

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# 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

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

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#                       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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# 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

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# 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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# Used for NMTable[bus][nodeId]	  

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# You can put less of 128 if on the netwo

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# are connected only smaller nodeId node.

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NMT_MAX_NODE_ID=128  

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#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

    47

    48

MAX_NB_TIMER=32

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    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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# Default to little-endian

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CANOPEN_LITTLE_ENDIAN=1

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CANOPEN_BIG_ENDIAN=

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    59

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

    60

#                             DEFAULT BUILD OPTIONS                       #

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

    62

    63

# Leave empty for automatic detection

    64

CC=

    65

    66

#default target

    67

SUB_TARGET=

    68

    69

# First compiler option - we will check if it exists

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CC1=gcc

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# Second compiler option - we will check if it exists

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CC2=cc

    73

    74

# Install prefix

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SUB_PREFIX=

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SUB_TIMERS_ENABLE=YES

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    79

# Used for C compiler test/detection 

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CFLAGS=

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test=conftest

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rm -f $test $test.c

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

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    86

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

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#                          ARGUMENTS PARSING                              #

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

    89

while [ $# -ge 1 ]; do

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

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	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;;

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

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

   100

	--disable-Ox)	DISABLE_OPT=1;

   101

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

   102

	--debug)	DEBUG=1;

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			echo "Debug messages enabled !!";;

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	--debugPDO)	DEBUG=PDO;

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			echo "Debug messages (PDO) enabled !!";;

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	--desable-timers)	SUB_TIMERS_ENABLE=NO;

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			echo "On user request: Will enable built-in timer dispatch Feature";;

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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;;

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

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

   112

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

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

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

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	--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."

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		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."

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

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

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		echo	"		\"win32\" for win32 systems"

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

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		echo 	" --can=foo	Use 'foo' as CAN driver (can be either 'peak', 'lincan' or 'virtual')"

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

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

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		echo	" --debug	Enable debug messages."

   130

		echo	" --debugPDO	Enable debug messages, using PDO."

   131

		echo

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		echo	"Stack compilation constants"

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

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

   135

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

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

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

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		exit 0;;

   139

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

   140

	esac

   141

   142

	shift

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done

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

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#                              GUESS OS/ARCH                              #

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

   148

   149

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

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

   151

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

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fi

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

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	SUB_OS_NAME=HPUX

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fi

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   157

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

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

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

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	else

   161

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

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	fi

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fi

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   165

# x86

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

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	SUB_ARCH_NAME=x86

   168

fi

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

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	SUB_ARCH_NAME=x86

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fi

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

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	SUB_ARCH_NAME=x86

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fi

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

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	SUB_ARCH_NAME=x86

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fi

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

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	SUB_ARCH_NAME=x86

   180

fi

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   182

# x86_64

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

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	SUB_ARCH_NAME=x86_64

   185

fi

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   187

# ia64

   188

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

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	SUB_ARCH_NAME=ia64

   190

fi

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   192

# alpha

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

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	SUB_ARCH_NAME=alpha

   195

fi

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   197

# parisc

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

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	SUB_ARCH_NAME=parisc

   200

fi

   201

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

   202

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

   203

	# it's most likely parisc

   204

	SUB_ARCH_NAME=parisc

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fi

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   207

# sparc

   208

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

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	SUB_ARCH_NAME=sparc

   210

fi

   211

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

   212

	SUB_ARCH_NAME=sparc

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fi

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   215

# sparc64

   216

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

   217

	SUB_ARCH_NAME=sparc64

   218

fi

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   220

   221

#

   222

# The following has not been verified

   223

#

   224

   225

# ppc

   226

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

   227

	SUB_ARCH_NAME=ppc

   228

fi

   229

   230

# ppc64

   231

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

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	SUB_ARCH_NAME=ppc64

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fi

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   235

# arm

   236

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

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	SUB_ARCH_NAME=arm

   238

fi

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   240

# mips3

   241

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

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	SUB_ARCH_NAME=mips3

   243

fi

   244

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

   245

	SUB_ARCH_NAME=mips3

   246

fi

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   248

# mips32

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

   250

	SUB_ARCH_NAME=mips32

   251

fi

   252

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

   253

	SUB_ARCH_NAME=mips32

   254

fi

   255

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

   256

	SUB_ARCH_NAME=mips32

   257

fi

   258

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

   259

	SUB_ARCH_NAME=mips32

   260

fi

   261

   262

# mips64

   263

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

   264

	SUB_ARCH_NAME=mips64

   265

fi

   266

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

   267

	SUB_ARCH_NAME=mips64

   268

fi

   269

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

   270

	SUB_ARCH_NAME=mips64

   271

fi

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   273

# power

   274

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

   275

	SUB_ARCH_NAME=power

   276

fi

   277

   278

echo "Using OS: ${SUB_OS_NAME}"

   279

echo "Using architecture: ${SUB_ARCH_NAME}"

   280

   281

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

   282

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

   283

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

   284

	exit -1

   285

fi

   286

   287

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

   288

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

   289

	SUB_PROG_CFLAGS=-mlp64

   290

fi

   291

   292

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

   293

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

   294

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

   295

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

   296

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

   297

fi

   298

   299

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

   300

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

   301

	# The assembler may default to generating Power and PowerPC compatible

   302

	# code. We need to override that.

   303

	SUB_PROG_CFLAGS=-Wa,-mpwr

   304

fi

   305

   306

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

   307

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

   308

	# The assembler may default to generating Power and PowerPC compatible

   309

	# code. We need to override that.

   310

	SUB_PROG_CFLAGS=-Wa,-mppc

   311

fi

   312

   313

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

   314

	# Only if we are on x86_64 and using gcc

   315

	# For shared library generation, it needs this

   316

	SUB_PROG_CFLAGS=-fPIC

   317

fi

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   319

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

   320

#                      DEFAULT TARGET/DRIVERS GUESSING                    #

   321

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

   322

# If target not specified, try to gess one

   323

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

   324

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

   325

		echo "Choosing unix (cygwin) target"

   326

		SUB_TARGET=unix

   327

	else

   328

		echo "Choosing unix target"

   329

		SUB_TARGET=unix

   330

	fi

   331

fi

   332

   333

# Try to gess can

   334

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

   335

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

   336

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

   337

			echo "Choosing installed Peak driver as CAN driver."

   338

			SUB_CAN_DRIVER=peak

   339

		else

   340

			echo "Choosing virtual CAN driver."

   341

			SUB_CAN_DRIVER=virtual

   342

		fi

   343

	fi

   344

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

   345

		echo "CAN driver for windows --Not Implemented--"

   346

	fi

   347

fi

   348

   349

# If target is unix, default timers also

   350

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

   351

	echo "Choosing unix timers driver."

   352

	SUB_TIMERS_DRIVER=unix

   353

fi

   354

   355

# Warn for unstalled peak driver if choosen

   356

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

   357

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

   358

		echo "Peak driver hasn't been installed !"

   359

		exit -1

   360

	fi

   361

fi

   362

   363

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

   364

#              TARGET/DRIVER SPECIFIC CFLAGS and OPTIONS                  #

   365

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

   366

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

   367

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

   368

		US_TO_TIMEVAL_FACTOR=1

   369

	fi

   370

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

   371

		TIMEVAL=UNS64

   372

	fi

   373

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

   374

		TIMEVAL_MAX=0xffffffffffffffff

   375

	fi

   376

fi

   377

   378

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

   379

	# Only if we want to compile for a µC HCS12

   380

       # it is a big endian architecture.

   381

       CANOPEN_BIG_ENDIAN=1

   382

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

   383

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

   384

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

   385

		if (( $? )); then 

   386

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

   387

			if (( $? )); then 

   388

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

   389

				exit 0

   390

			else

   391

				CC=m68hc12-gcc 

   392

			fi

   393

		else

   394

			CC=m6811-elf-gcc

   395

			SUB_PROG_CFLAGS=-m68hc12

   396

		fi

   397

	fi

   398

fi	

   399

   400

#### CAN_DRIVER ####

   401

   402

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

   403

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

   404

    	SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lrtdm

   405

    fi

   406

    SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lpcan

   407

fi

   408

   409

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

   410

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

   411

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

   412

	fi

   413

   	SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -liberty\ \'$PCAN_LIB\'

   414

	echo "Converting PcanLib header files for gcc -> /drivers/can_peak_win32/cancfg.h"

   415

	cat include/can_peak_win32/cancfg.h.head $PCAN_INCLUDE/$PCAN_HEADER > include/can_peak_win32/cancfg.h

   416

	# second port handling

   417

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

   418

		echo "Stripping down second Pcan Light header "

   419

		echo >> include/can_peak_win32/cancfg.h

   420

		echo "// Stripped PcanLight header to prevent typedef conflicts ">> include/can_peak_win32/cancfg.h

   421

		echo >> include/can_peak_win32/cancfg.h

   422

		grep __stdcall $PCAN_INCLUDE/$PCAN2_HEADER >> include/can_peak_win32/cancfg.h

   423

	   	SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ \'$PCAN2_LIB\'

   424

		echo '#define PCAN2_HEADER_' >> include/can_peak_win32/cancfg.h

   425

	fi

   426

	if grep -q CANHwType include/can_peak_win32/cancfg.h ; then

   427

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

   428

		echo "	PCANHwType PCANIO_Port PCANInterupt"

   429

		echo '#define extra_PCAN_init_params' >> include/can_peak_win32/cancfg.h

   430

	fi

   431

	cat include/can_peak_win32/cancfg.h.tail >> include/can_peak_win32/cancfg.h

   432

fi

   433

   434

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

   435

	SUB_CAN_DRIVER=

   436

fi

   437

   438

#### TIMERS_DRIVER ####

   439

   440

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

   441

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

   442

	   SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lpthread\ -lrt

   443

	fi

   444

fi

   445

   446

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

   447

	SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lnative\ -lrtdm\

   448

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

   449

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

   450

	RTCAN_SOCKET=1

   451

fi

   452

   453

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

   454

	SUB_TIMERS_DRIVER=

   455

fi

   456

   457

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

   458

#                              GUESS COMPILER                             #

   459

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

   460

# If CC is empty, the user wanted automatic detection

   461

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

   462

	# Check for second compiler, CC2

   463

	cat > $test.c <<EOF

   464

	int main() { return 0; }

   465

EOF

   466

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

   467

		DETECTCC=$CC2

   468

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

   469

	else

   470

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

   471

	fi

   472

	rm -f $test.c $test.o

   473

   474

	# Check for first compiler, CC1

   475

	cat > $test.c <<EOF

   476

	int main() { return 0; }

   477

EOF

   478

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

   479

		DETECTCC=$CC1

   480

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

   481

	else

   482

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

   483

	fi

   484

	rm -f $test.c $test.o

   485

	CC=$DETECTCC

   486

fi

   487

# Check if we decided on a compiler after all

   488

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

   489

	echo "Error: Could not find a C compiler"

   490

	echo "Please supply the wanted compiler"

   491

	exit -1

   492

fi

   493

   494

echo "Using ${CC}"

   495

   496

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

   497

#                              GUESS PREFIX's                             #

   498

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

   499

   500

SUB_BINUTILS_PREFIX=`echo "$CC" | sed 's/gcc$//'`

   501

   502

# Guess prefix as regard cross compiling target machine

   503

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

   504

	$CC -dumpspecs |grep -A 1 'cross_compile'|grep -q 1

   505

	if (( $? )); then 

   506

		SUB_PREFIX=/usr/local

   507

		echo "Not cross-compiling. Will install in $SUB_PREFIX";

   508

	else

   509

		SUB_PREFIX=/usr/`$CC -dumpmachine`

   510

		echo "This is a cross-compiler. Will install in $SUB_PREFIX";			

   511

	fi

   512

fi

   513

   514

echo "Using prefix: ${SUB_PREFIX}"

   515

   516

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

   517

#                   CANFESTIVAL DEFINES --> config.h                      #

   518

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

   519

# Some CONSTANTS preparation

   520

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