A work-in-progress C++ wrapper of the ChibiOS/RT threading and hardware abstraction mechanisms
ChibiOS/RT is written purely in C, meaning that C++ style abstractions and encapsulation cannot be applied without first wrapping ChibiOS in object-friendly code. One such issue is that ChibiOS forces event callbacks to be staticly declared functions, which are a nightmare to deal with in the land of OOP and member functions that require a reference to "this". This library will provide abstractions on top of ChibiOS's drivers so that they don't clutter the global namespace and have a cleanly defined C++ style interface.
- UART (WIP, currently hard-coded to 1 driver but functional and mostly generalized)
- EventSim (Planned... maybe) (i.e. generate internal events from external UART event messages to simulate interfaces)
- ADC (Planned)
- CAN (Planned)
- SPI (Planned)
- D-In (Planned) (i.e. events on digital input transitions)
- Thread (Planned)
- AnalogFilter (Planned) (i.e. FIR and IIR lambdas generating sample events, using the ADC abstraction under the hood)
- original source: https://github.com/tymonx/utest
uTest is an xUnit testing framework that I use for this project. I chose it because of its small footprint (targeted specifically toward cortex-MX), since it doesn't use macros, and since it has a cleanly defined interface for implementing a custom test writers/loggers (e.g. a UART one).
uTest can be installed manually by cloning the project (https://github.com/mmwebster/utest for the version this project is currently using), then using cmake/make to build and install it. The following cmake command is an example for the cortex-M4:
mkdir -p build && cd buildcmake -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-gcc-arm-none-eabi.cmake -DCMAKE_SYSTEM_PROCESSOR=cortex-m4 -DSEMIHOSTING=OFF -DEXAMPLES=OFF ..make install
NOTE: Currently the project is setup for the utest lib to be installed to /usr/local/. This will be abstracted into a user-specific config in the future.
This project uses gcc-arm-none-eabi to build for its embedded ARM Cortex-MX targets. To use this project as-is, you must install this toolchain with your package manager of choice. Most development has been with version 6.2.
This project uses OpenOCD (On-Chip Debugger) to interface with the ST-Link and In-System Programmer for programming and debugging eval boards and custom PCBs, respectively. To use this project asi-is, you must install this software with your package manager of choice. Most development has been with version 0.10.0.
I'm writing this for use in a personal embedded project. More on that later.