Merge pull request #107 from Ross-Robotics/feature/cmake_support

CMake Support [breaking change Ctor API]
107-systems · Feb 5, 2025 · c909f40 · c909f40
2 parents 2ac84a7 + ee42941
commit c909f40
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Showing 14 changed files with 124 additions and 27 deletions.
diff --git a/.github/workflows/smoke-test.yml b/.github/workflows/smoke-test.yml
@@ -0,0 +1,29 @@
+name: Smoke Test
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+  repository_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  smoke-test:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install CMake
+        uses: lukka/get-cmake@latest
+        with:
+          cmakeVersion: "~3.28.0"
+
+      - name: Configure the build
+        run: mkdir build && cmake -B build/ ./
+
+      - name: Build library
+        run: cmake --build build/
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,30 @@
+##########################################################################
+cmake_minimum_required(VERSION 3.28)
+##########################################################################
+project("libmcp2515")
+##########################################################################
+if(CMAKE_C_COMPILER_ID STREQUAL "GNU" AND CMAKE_C_COMPILER_VERSION VERSION_LESS 11)
+  message(WARNING "GNU C compiler version ${CMAKE_C_COMPILER_VERSION} is too old and is unsupported. Version 11+ is required.")
+endif()
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 11)
+  message(WARNING "GNU C++ compiler version ${CMAKE_CXX_COMPILER_VERSION} is too old and is unsupported. Version 11+ is required.")
+endif()
+##########################################################################
+set(CMAKE_VERBOSE_MAKEFILE OFF)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+##########################################################################
+add_library(${PROJECT_NAME} STATIC
+    "src/ArduinoMCP2515.cpp"
+    "src/MCP2515/MCP2515_Config.cpp"
+    "src/MCP2515/MCP2515_Const.cpp"
+    "src/MCP2515/MCP2515_Control.cpp"
+    "src/MCP2515/MCP2515_Io.cpp"
+)
+##########################################################################
+target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic -Werror)
+##########################################################################
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "src"
+)
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_20)
+##########################################################################
diff --git a/README.md b/README.md
@@ -8,6 +8,7 @@
 [![Check keywords.txt](https://github.com/107-systems/107-Arduino-MCP2515/actions/workflows/check-keywords-txt.yml/badge.svg)](https://github.com/107-systems/107-Arduino-MCP2515/actions/workflows/check-keywords-txt.yml)
 [![General Formatting Checks](https://github.com/107-systems/107-Arduino-MCP2515/workflows/General%20Formatting%20Checks/badge.svg)](https://github.com/107-systems/107-Arduino-MCP2515/actions?workflow=General+Formatting+Checks)
 [![Spell Check](https://github.com/107-systems/107-Arduino-MCP2515/workflows/Spell%20Check/badge.svg)](https://github.com/107-systems/107-Arduino-MCP2515/actions?workflow=Spell+Check)
+[![Build Status](https://github.com/107-systems/107-Arduino-MCP2515/workflows/Smoke%20Test/badge.svg)](https://github.com/107-systems/107-Arduino-MCP2515/actions?workflow=Smoke+Test)
 
 <p align="center">
   <a href="https://github.com/107-systems/l3xz"><img src="https://raw.githubusercontent.com/107-systems/.github/main/logo/l3xz-logo-memento-mori-github.png" width="30%"></a>

diff --git a/examples/MCP2515-CAN-Sniffer/MCP2515-CAN-Sniffer.ino b/examples/MCP2515-CAN-Sniffer/MCP2515-CAN-Sniffer.ino
@@ -37,6 +37,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        []() { digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH); },
                        [](uint8_t const d) { return SPI.transfer(d); },
                        micros,
+                       millis,
                        onReceiveBufferFull,
                        nullptr,
                        [](MCP2515::EFLG const err_flag) { Serial.print("MCP2515::OnError, error code = "); Serial.println(MCP2515::toStr(err_flag)); },

diff --git a/examples/MCP2515-Filter/MCP2515-Filter.ino b/examples/MCP2515-Filter/MCP2515-Filter.ino
@@ -37,6 +37,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        []() { digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH); },
                        [](uint8_t const d) { return SPI.transfer(d); },
                        micros,
+                       millis,
                        onReceiveBufferFull,
                        nullptr);
 

diff --git a/examples/MCP2515-Loopback/MCP2515-Loopback.ino b/examples/MCP2515-Loopback/MCP2515-Loopback.ino
@@ -71,6 +71,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        []() { digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH); },
                        [](uint8_t const d) { return SPI.transfer(d); },
                        micros,
+                       millis,
                        onReceiveBufferFull,
                        nullptr);
 

diff --git a/src/ArduinoMCP2515.cpp b/src/ArduinoMCP2515.cpp
@@ -86,12 +86,13 @@ ArduinoMCP2515::ArduinoMCP2515(SpiSelectFunc select,
                                SpiDeselectFunc deselect,
                                SpiTransferFunc transfer,
                                MicroSecondFunc micros,
+                               MilliSecondFunc millis,
                                OnReceiveBufferFullFunc on_rx_buf_full,
                                OnTransmitBufferEmptyFunc on_tx_buf_empty,
                                OnCanErrorFunc on_error,
                                OnCanWarningFunc on_warning)
-: _io{select, deselect, transfer}
-, _cfg{_io}
+: _io{select, deselect, transfer, micros}
+, _cfg{_io, millis}
 , _ctrl{_io}
 , _micros{micros}
 , _on_rx_buf_full{on_rx_buf_full}

diff --git a/src/ArduinoMCP2515.h b/src/ArduinoMCP2515.h
@@ -18,6 +18,7 @@
 #include "MCP2515/MCP2515_Io.h"
 #include "MCP2515/MCP2515_Config.h"
 #include "MCP2515/MCP2515_Control.h"
+#include "MCP2515/MCP2515_Types.h"
 
 #undef min
 #undef max
@@ -82,17 +83,6 @@ enum class CanBitRate : size_t
   BR_1000kBPS_12MHZ
 };
 
-typedef std::function<unsigned long()> MicroSecondFunc;
-#if LIBCANARD
-typedef std::function<void(CanardFrame const & frame)> OnReceiveBufferFullFunc;
-#else
-typedef std::function<void(uint32_t const, uint32_t const, uint8_t const *, uint8_t const)> OnReceiveBufferFullFunc;
-#endif
-class ArduinoMCP2515;
-typedef std::function<void(ArduinoMCP2515 *)> OnTransmitBufferEmptyFunc;
-typedef std::function<void(MCP2515::EFLG const)> OnCanErrorFunc;
-typedef std::function<void(MCP2515::EFLG const)> OnCanWarningFunc;
-
 /**************************************************************************************
  * CLASS DECLARATION
  **************************************************************************************/
@@ -106,6 +96,7 @@ class ArduinoMCP2515
                  MCP2515::SpiDeselectFunc deselect,
                  MCP2515::SpiTransferFunc transfer,
                  MicroSecondFunc micros,
+                 MilliSecondFunc millis,
                  OnReceiveBufferFullFunc on_rx_buf_full,
                  OnTransmitBufferEmptyFunc on_tx_buf_empty,
                  OnCanErrorFunc on_error,
@@ -115,9 +106,10 @@ class ArduinoMCP2515
                  MCP2515::SpiDeselectFunc deselect,
                  MCP2515::SpiTransferFunc transfer,
                  MicroSecondFunc micros,
+                 MilliSecondFunc millis,
                  OnReceiveBufferFullFunc on_rx_buf_full,
                  OnTransmitBufferEmptyFunc on_tx_buf_empty)
-  : ArduinoMCP2515{select, deselect, transfer, micros, on_rx_buf_full, on_tx_buf_empty, nullptr, nullptr}
+  : ArduinoMCP2515{select, deselect, transfer, micros, millis, on_rx_buf_full, on_tx_buf_empty, nullptr, nullptr}
   { }
 
 

diff --git a/src/MCP2515/MCP2515_Config.cpp b/src/MCP2515/MCP2515_Config.cpp
@@ -11,8 +11,6 @@
 
 #include "MCP2515_Config.h"
 
-#include <Arduino.h>
-
 /**************************************************************************************
  * NAMESPACE
  **************************************************************************************/
@@ -24,10 +22,10 @@ namespace MCP2515
  * CTOR/DTOR
  **************************************************************************************/
 
-MCP2515_Config::MCP2515_Config(MCP2515_Io & io)
+MCP2515_Config::MCP2515_Config(MCP2515_Io & io, MilliSecondFunc millis)
 : _io{io}
+, _millis{millis}
 {
-
 }
 
 /**************************************************************************************
@@ -40,7 +38,7 @@ bool MCP2515_Config::setMode(Mode const mode)
 
   _io.modifyRegister(Register::CANCTRL, CANCTRL_REQOP_MASK, mode_val);
 
-  for(unsigned long const start = millis(); (millis() - start) < 10; )
+  for(unsigned long const start = _millis(); (_millis()- start) < 10; )
   {
     uint8_t const canstat_op_mode = (_io.readRegister(Register::CANSTAT) & CANSTAT_OP_MASK);
     if(canstat_op_mode == mode_val) {

diff --git a/src/MCP2515/MCP2515_Config.h b/src/MCP2515/MCP2515_Config.h
@@ -13,6 +13,7 @@
  **************************************************************************************/
 
 #include "MCP2515_Io.h"
+#include "MCP2515_Types.h"
 
 /**************************************************************************************
  * NAMESPACE
@@ -92,7 +93,7 @@ static CanBitRateConfig constexpr BitRate_1000kBPS_12MHz = {0x00, 0x88, 0x01};
 class MCP2515_Config
 {
 public:
-  MCP2515_Config(MCP2515_Io & io);
+  MCP2515_Config(MCP2515_Io & io, MilliSecondFunc millis);
 
 
          bool setMode            (Mode const mode);
@@ -117,6 +118,7 @@ class MCP2515_Config
 
 private:
   MCP2515_Io & _io;
+  MilliSecondFunc _millis;
 
   void setFilterId  (Register const rxf_n_sidh, uint32_t const id);
   void setFilterMask(Register const rxm_n_sidh, uint32_t const mask);

diff --git a/src/MCP2515/MCP2515_Control.cpp b/src/MCP2515/MCP2515_Control.cpp
@@ -11,11 +11,10 @@
 
 #include "MCP2515_Control.h"
 
-#include <Arduino.h>
-
 #undef min
 #undef max
 #include <algorithm>
+#include <cstring>
 
 /**************************************************************************************
  * NAMESPACE

diff --git a/src/MCP2515/MCP2515_Io.cpp b/src/MCP2515/MCP2515_Io.cpp
@@ -11,8 +11,6 @@
 
 #include "MCP2515_Io.h"
 
-#include <Arduino.h>
-
 #include <assert.h>
 
 /**************************************************************************************
@@ -50,10 +48,11 @@ static Instruction const TABLE_READ_RX_BUFFER[] =
  * CTOR/DTOR
  **************************************************************************************/
 
-MCP2515_Io::MCP2515_Io(SpiSelectFunc select, SpiDeselectFunc deselect, SpiTransferFunc transfer)
+MCP2515_Io::MCP2515_Io(SpiSelectFunc select, SpiDeselectFunc deselect, SpiTransferFunc transfer, MicroSecondFunc micros)
 : _select{select}
 , _deselect{deselect}
 , _transfer{transfer}
+, _micros{micros}
 {
 
 }
@@ -70,7 +69,12 @@ void MCP2515_Io::reset()
   _transfer(instruction);
   _deselect();
 
-  delay(10);
+  /* Delay 10 ms. */
+  auto const start_time = _micros();
+  while ((_micros() - start_time) < (10*1000UL))
+  {
+    asm volatile("nop");
+  }
 }
 
 uint8_t MCP2515_Io::status()

diff --git a/src/MCP2515/MCP2515_Io.h b/src/MCP2515/MCP2515_Io.h
@@ -19,6 +19,7 @@
 #include <functional>
 
 #include "MCP2515_Const.h"
+#include "MCP2515_Types.h"
 
 /**************************************************************************************
  * NAMESPACE
@@ -85,7 +86,7 @@ class MCP2515_Io
 
 public:
 
-  MCP2515_Io(SpiSelectFunc select, SpiDeselectFunc deselect, SpiTransferFunc transfer);
+  MCP2515_Io(SpiSelectFunc select, SpiDeselectFunc deselect, SpiTransferFunc transfer, MicroSecondFunc micros);
 
 
   static uint8_t constexpr TX_BUF_SIZE = 5 + 8;
@@ -110,6 +111,7 @@ class MCP2515_Io
   SpiSelectFunc _select;
   SpiDeselectFunc _deselect;
   SpiTransferFunc _transfer;
+  MicroSecondFunc _micros;
 
 };
 

diff --git a/src/MCP2515/MCP2515_Types.h b/src/MCP2515/MCP2515_Types.h
@@ -0,0 +1,36 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020 LXRobotics.
+ * Author: Alexander Entinger <[email protected]>
+ * Contributors: https://github.com/107-systems/107-Arduino-MCP2515/graphs/contributors.
+ */
+
+#ifndef ARDUINO_MCP2515_TYPES_H_
+#define ARDUINO_MCP2515_TYPES_H_
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <functional>
+#include <cstdint>
+
+#include "MCP2515/MCP2515_Const.h"
+
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+typedef std::function<unsigned long()> MicroSecondFunc;
+typedef std::function<unsigned long()> MilliSecondFunc;
+#if LIBCANARD
+typedef std::function<void(CanardFrame const & frame)> OnReceiveBufferFullFunc;
+#else
+typedef std::function<void(uint32_t const, uint32_t const, uint8_t const *, uint8_t const)> OnReceiveBufferFullFunc;
+#endif
+class ArduinoMCP2515;
+typedef std::function<void(ArduinoMCP2515 *)> OnTransmitBufferEmptyFunc;
+typedef std::function<void(MCP2515::EFLG const)> OnCanErrorFunc;
+typedef std::function<void(MCP2515::EFLG const)> OnCanWarningFunc;
+
+#endif /* ARDUINO_MCP2515_TYPES_H_ */