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openmrn / OpenMRNLite

Arduino library for the OpenMRN core using the simplified drivers and programming model of the Arduino environment.
BSD 2-Clause "Simplified" License
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STM32: compilation error: no SELECT methode #3

Open EasyNetDev opened 4 years ago

EasyNetDev commented 4 years ago

Hi,

After fixing #2 manually (until the PR will be pushed to the main source) I've tried to continue to compile the sources. The source code:

#include <LwIP.h>
#include <OpenMRNLite.h>

void setup() {
  // put your setup code here, to run once:

}

void loop() {
  // put your main code here, to run repeatedly:

}

I'm receiving this error:

In file included from /home/adrian/Arduino/libraries/OpenMRNLite/src/executor/Executor.hxx:50,
                 from /home/adrian/Arduino/libraries/OpenMRNLite/src/openlcb/SimpleStack.hxx:40,
                 from /home/adrian/Arduino/libraries/OpenMRNLite/src/OpenMRNLite.h:44,
                 from /home/adrian/Nextcloud/Electronic-Projects/Arduino/DCCpp+LCC/DCC_LCC_basestation/DCC_LCC_basestation.ino:6:
/home/adrian/Arduino/libraries/OpenMRNLite/src/os/OSSelectWakeup.hxx:37:70: note: #pragma message: OSSelectWakeup: Starting including OSSelectWakeup
   37 | #pragma message ("OSSelectWakeup: Starting including OSSelectWakeup" )
      |                                                                      ^
/home/adrian/Arduino/libraries/OpenMRNLite/src/os/OSSelectWakeup.hxx:63:68: note: #pragma message: OSSelectWakeup: Ending including OSSelectWakeup
   63 | #pragma message ("OSSelectWakeup: Ending including OSSelectWakeup" )
      |                                                                    ^
/home/adrian/Arduino/libraries/OpenMRNLite/src/os/OSSelectWakeup.hxx: In member function 'int OSSelectWakeup::select(int, _types_fd_set*, _types_fd_set*, _types_fd_set*, long long int)':
/home/adrian/Arduino/libraries/OpenMRNLite/src/os/OSSelectWakeup.hxx:239:16: error: 'ret' was not declared in this scope; did you mean 'creat'?
  239 |         return ret;
      |                ^~~
      |                creat
exit status 1
Error compiling for board Nucleo-144.

The pragma messages I've inserted in the OSSelectWakeup.hxx:

#ifndef _OS_OSSELECTWAKEUP_HXX_
#define _OS_OSSELECTWAKEUP_HXX_

#pragma message ("OSSelectWakeup: Starting including OSSelectWakeup" )

#include <unistd.h>

#include "openmrn_features.h"
#include "utils/Atomic.hxx"
#include "os/os.h"

#if OPENMRN_FEATURE_DEVICE_SELECT
#pragma message ("OSSelectWakeup: Induding Devtab.hxx" )
#include "Devtab.hxx"
#endif

#if OPENMRN_HAVE_PSELECT
#pragma message ("OSSelectWakeup: Induding signal.h" )
#include <signal.h>
#endif

#ifdef __WINNT__
#pragma message ("OSSelectWakeup: Induding winsock2.h" )
#include <winsock2.h>
#elif OPENMRN_HAVE_SELECT
#pragma message ("OSSelectWakeup: Induding sys/select.h" )
#include <sys/select.h>
#endif

#pragma message ("OSSelectWakeup: Ending including OSSelectWakeup" )

And as you can see is actually not selecting any kind of SELECTOR. Going deeper in the code source I've notice those in openmrn_feature.h:

#ifdef __FreeRTOS__
/// Compiles the FreeRTOS event group based ::select() implementation.
#define OPENMRN_FEATURE_DEVICE_SELECT 1
/// Adds implementations for ::read ::write etc, with fd table.
#define OPENMRN_FEATURE_DEVTAB 1
/// Adds struct reent pointer to the FreeRTOS Task Priv structure and swaps it
/// in when the tasks are swapped in.
#define OPENMRN_FEATURE_REENT 1
#endif

/// @todo this should probably be a whitelist: __linux__ || __MACH__.
#if !defined(__FreeRTOS__) && !defined(__WINNT__) && !defined(ESP32) &&        \
    !defined(ARDUINO) && !defined(ESP_NONOS)
/// Uses ::pselect in the Executor for sleep and pkill for waking up.
#define OPENMRN_HAVE_PSELECT 1
#endif

#if defined(__WINNT__) || defined(ESP32) || defined(ESP_NONOS)
/// Uses ::select in the executor to sleep (unsure how wakeup is handled)
#define OPENMRN_HAVE_SELECT 1
#endif

#if defined(OPENMRN_HAVE_SELECT) || defined(OPENMRN_HAVE_PSELECT) || defined(OPENMRN_FEATURE_DEVICE_SELECT)
#define OPENMRN_FEATURE_EXECUTOR_SELECT
#endif

#if (defined(ARDUINO) && !defined(ESP32)) || defined(ESP_NONOS) ||             \
    defined(__EMSCRIPTEN__)
/// A loop() function is calling the executor in the single-threaded OS context.
#define OPENMRN_FEATURE_SINGLE_THREADED 1
#endif

I've noticed that there is no definition for FreeRTOS in "STM32duino FreeRTOS" or in Arduino RTOS. Second think I can't find any kind in the combination to match the selectors for OPENMRN. That's why, in my opinion, I can't compile at all on STM32.

Kind regards, Adrian

atanisoft commented 4 years ago

For the STM32 you may be better off using the full featured OpenMRN library instead, this will entail moving away from the simpler Arduino APIs but it will likely be better in the long run.

balazsracz commented 4 years ago

I have not tried compiling for the STM32 in the arduino environment in a very long while. The support was never fully complete (in particular there are dependencies ofthe current codebase on fd based file access APIs which were never given on an Arduino -- the ESP32 is the only example where we have it). We definitely do not have the FreeRTOS related parts of OpenMRN ported to the Arduino compilation; this is why we call it OpenMRNLite.

I do a lot of compilation for STM32 natively under linux, but that's not a good option under windows (lack of make and related utilities). Maybe the linux subsystem would help but I have no experience.

In short what you are trying to do is not something someone before you did, so there will be bumps on that road -- it needs work. If you are willing to do that work, I will be happy to help.

Specifically, the select part needs to be disabled in STM32. When running under the Arduino environmenmt we should be exercising the path that's larked as SINGLE_THREADED. There is a bug in the code you quoted because it does not have the #ifdefs correctly to work in the that path. That bug needs to be fixed first to compile. There will probably be more problems.

atanisoft commented 3 years ago

@AdrianBan Can you please test with the latest update which adds the STM32 support to this library?

EasyNetDev commented 3 years ago

Yes, sure! I will give a try this evening.

EasyNetDev commented 3 years ago

Hi,

I've success to compile on NUCLEO-144 F767ZI:

Using library OpenMRNLite at version 1.0.2 in folder: C:\Users\Adrian\Documents\Arduino\libraries\OpenMRNLite 
Using library SrcWrapper at version 1.0.1 in folder: C:\Users\Adrian\AppData\Local\Arduino15\packages\STM32\hardware\stm32\1.9.0\libraries\SrcWrapper 
"C:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\tools\\xpack-arm-none-eabi-gcc\\9.2.1-1.1/bin/arm-none-eabi-size" -A "C:\\Users\\Adrian\\AppData\\Local\\Temp\\arduino_build_346191/Stm32CanSerial.ino.elf"
Sketch uses 44232 bytes (2%) of program storage space. Maximum is 2097152 bytes.
Global variables use 1792 bytes (0%) of dynamic memory, leaving 522496 bytes for local variables. Maximum is 524288 bytes.

On the other hand if I'm trying to compile on NUCLEO-64 F446RE F452RE is not working:

Generating function prototypes...
"C:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\tools\\xpack-arm-none-eabi-gcc\\9.2.1-1.1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb "@C:\\Users\\Adrian\\AppData\\Local\\Temp\\arduino_build_346191/sketch/build_opt.h" -c -Os -w -std=gnu++14 -ffunction-sections -fdata-sections -nostdlib -fno-threadsafe-statics --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -fno-use-cxa-atexit "-IC:\\Users\\Adrian\\Documents\\Arduino\\libraries\\OpenMRNLite\\examples\\Stm32CanSerial" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\cores\\arduino/avr" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\cores\\arduino/stm32" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\cores\\arduino/stm32/LL" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\cores\\arduino/stm32/usb" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\cores\\arduino/stm32/OpenAMP" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\cores\\arduino/stm32/usb/hid" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\cores\\arduino/stm32/usb/cdc" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Drivers/STM32F4xx_HAL_Driver/Inc" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Drivers/STM32F4xx_HAL_Driver/Src" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/STM32F4xx" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Middlewares/ST/STM32_USB_Device_Library/Core/Inc" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Middlewares/ST/STM32_USB_Device_Library/Core/Src" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Middlewares/OpenAMP" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Middlewares/OpenAMP/open-amp/lib/include" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Middlewares/OpenAMP/libmetal/lib/include" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Middlewares/OpenAMP/virtual_driver" -w -x c++ -E -CC -DSTM32F4xx -DARDUINO=10813 -DARDUINO_NUCLEO_F446RE -DARDUINO_ARCH_STM32 "-DBOARD_NAME=\"NUCLEO_F446RE\"" -DSTM32F446xx -DHAL_UART_MODULE_ENABLED "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\tools\\CMSIS\\5.5.1/CMSIS/Core/Include/" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Drivers/CMSIS/Device/ST/STM32F4xx/Include/" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\system/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\tools\\CMSIS\\5.5.1/CMSIS/DSP/Include" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\cores\\arduino" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\variants\\NUCLEO_F446RE" "-IC:\\Users\\Adrian\\Documents\\Arduino\\libraries\\OpenMRNLite\\src" "-IC:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\hardware\\stm32\\1.9.0\\libraries\\SrcWrapper\\src" "C:\\Users\\Adrian\\AppData\\Local\\Temp\\arduino_build_346191\\sketch\\Stm32CanSerial.ino.cpp" -o "C:\\Users\\Adrian\\AppData\\Local\\Temp\\arduino_build_346191\\preproc\\ctags_target_for_gcc_minus_e.cpp" -DARDUINO_LIB_DISCOVERY_PHASE
In file included from C:\Users\Adrian\Documents\Arduino\libraries\OpenMRNLite\src/OpenMRNLite.h:82,
                 from C:\Users\Adrian\Documents\Arduino\libraries\OpenMRNLite\examples\Stm32CanSerial\Stm32CanSerial.ino:37:
C:\Users\Adrian\Documents\Arduino\libraries\OpenMRNLite\src/freertos_drivers/stm32/Stm32Can.hxx:55:2: error: #error Dont know what STM32 chip you have.
   55 | #error Dont know what STM32 chip you have.
      |  ^~~~~
Using library OpenMRNLite at version 1.0.2 in folder: C:\Users\Adrian\Documents\Arduino\libraries\OpenMRNLite 
Using library SrcWrapper at version 1.0.1 in folder: C:\Users\Adrian\AppData\Local\Arduino15\packages\STM32\hardware\stm32\1.9.0\libraries\SrcWrapper 
exit status 1
Error compiling for board Nucleo-64.

Those 2 boards they have CAN bus also, so theoretically should compile the library on those chips. But at least is compiling on Nucleo-144! :) I will give a try to test the library on my STM32.

atanisoft commented 3 years ago

after this line add:

#elif defined(STM32F446xx)
#include "stm32f4xx_hal_can.h"
#elif defined(STM32L452xx)
#include "stm32l4xx_hal_can.h"

That might take care of F446RE and L452RE (couldn't find an entry for M452RE in the stmduino boards.txt file).

EasyNetDev commented 3 years ago

Hi @atanisoft,

I've found that I need to do some additional definitions in Stm32can.cpp. I have a question regarding to this line:

#define CAN_CLOCK (cm3_cpu_clock_hz >> 2) // 54 MHz, sysclk/4

There is a formula where I can find how to calculate CAN Clock? I want to add 2 more devices or maybe I will have few of them to add, if I have time.

atanisoft commented 3 years ago

@balazsracz can you comment on the above? I'm not very familiar with STM32 unfortunatly.

EasyNetDev commented 3 years ago

Maybe I can get more information about CAN_CLOCK, where is used in the openMRN. I couldn't find it in the sources, only in that file. Also I've notice that I need to change about 3 parts in total. I will create a patch and I will submit as PR, because most of the F4 and F7 MCU they support at least 1 CAN bus.

EasyNetDev commented 3 years ago

Success to compile it on F446RE, after adding the necessary code to the openMRN:

Using library OpenMRNLite at version 1.0.2 in folder: C:\Users\Adrian\Documents\Arduino\libraries\OpenMRNLite 
Using library SrcWrapper at version 1.0.1 in folder: C:\Users\Adrian\AppData\Local\Arduino15\packages\STM32\hardware\stm32\1.9.0\libraries\SrcWrapper 
"C:\\Users\\Adrian\\AppData\\Local\\Arduino15\\packages\\STM32\\tools\\xpack-arm-none-eabi-gcc\\9.2.1-1.1/bin/arm-none-eabi-size" -A "C:\\Users\\Adrian\\AppData\\Local\\Temp\\arduino_build_844764/Stm32CanSerialNode.ino.elf"
Sketch uses 113936 bytes (21%) of program storage space. Maximum is 524288 bytes.
Global variables use 2492 bytes (1%) of dynamic memory, leaving 128580 bytes for local variables. Maximum is 131072 bytes.
atanisoft commented 3 years ago

Please submit the PR to https://github.com/bakerstu/openmrn

bakerstu commented 3 years ago

Going purely from memory, (I think I was a the one that wrote the first iteration of the STM32 CAN driver), I believe the CAN peripheral clock frequency had a fixed divider based off of the main system clock on the devices we started with. This may or may not be true for other STM32 devices.

On Jul 20, 2020, at 1:13 PM, Mike Dunston notifications@github.com wrote:

@balazsracz https://github.com/balazsracz can you comment on the above? I'm not very familiar with STM32 unfortunatly.

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/openmrn/OpenMRNLite/issues/3#issuecomment-661251244, or unsubscribe https://github.com/notifications/unsubscribe-auth/AARMLDQYJAHZGXVJ5JPCUN3R4SCMZANCNFSM4LEHAV5Q.

balazsracz commented 3 years ago

The clock structure of the STM32 microcontrollers exhibits a baroque variety. Sometimes the CAN is on HCLK, sometimes on PCLK, sometimes there are two different PCLKs, and on some microcontrollers the HCLK and PCLK matches and sometimes the PCLK is divided from HCLK by an integer divisor. The divisor is often programmable too. There is a good reason the CAN middleware API asks for this value as an argument :) You need to look at the programmer's reference manual that is specific to your microcontroller in order to see what the clock structure is and possibly at the code that sets up the oscillator block in the arduino core's startup routine to know how they initialize the divisors. Given that the arduino core is not tuned for low power consumption, usually the clocks are set to the maximum allowed, so maybe the reference manual is enough.

I would suggest to only look at MCUs that you have an example at hand. Making a guesswork of this is more error prone than worth. Testing becomes important.

I don't want you to waste too much time, so if you can't figure out what the right stanza is for the specific MCU that you have, let me know and I'll go look. You will have to test. But I will not go and do exhaustive research to get the values for every single MCU because that's not a good use of time and does not guarantee a good result either. I much rather recommend people to buy one of the few things that I picked as worth supporting (F091 F303 F767 and occasionally the F446).