translator: new build system, translator build options, external stdlib, translator and hardware integration

car_fmw/.gitignore

@@ -1,2 +1,3 @@
 bin
 tags
+lib

car_fmw/Makefile

@@ -1,78 +1,78 @@
 BIN_DIR=$(PWD)/bin
 SRC_DIR=$(PWD)/src
-LIB_DIR=$(SRC_DIR)/lib
+LIB_DIR=$(PWD)/lib
+TRANSLATOR_DIR=$(PWD)/../translator
+KOTSTD_DIR=$(PWD)/../kotstd
+CAR_HW_DIR=$(PWD)/../car_hw
+
 OS_ARCH=linux-arm
 
-LIB_CMSIS_DIR=$(LIB_DIR)/cmsis
-LIB_STDPERIPH_DIR=$(LIB_DIR)/stdperiph
-LIB_STM32F4D_DIR=$(LIB_DIR)/stm32f4d
-LIB_USB_DEV_DIR=$(LIB_DIR)/usb_device
-LIB_USB_OTG_DIR=$(LIB_DIR)/usb_otg
-LIB_USB_VCP_DIR=$(LIB_DIR)/usb_vcp
-
-LIB_CMSIS_OBJ=$(BIN_DIR)/libcmsis.o
-LIB_STDPERIPH_OBJ=$(BIN_DIR)/libstdperiph.o
-LIB_STM32F4D_OBJ=$(BIN_DIR)/libstm32f4d.o
-LIB_USB_DEV_OBJ=$(BIN_DIR)/libusbdevice.o
-LIB_USB_OTG_OBJ=$(BIN_DIR)/libusbotg.o
-LIB_USB_VCP_OBJ=$(BIN_DIR)/libusbvcp.o
-
 CAR_FMW_OBJ=$(BIN_DIR)/car_fmw.o
 CAR_FMW_ELF=$(BIN_DIR)/car_fmw.elf
 CAR_FMW_BIN=$(BIN_DIR)/car_fmw.bin
 ST_DIR=$(SRC_DIR)/../../devloader/data/$(OS_ARCH)
 
+LIB_KOT=$(BIN_DIR)/kotlib.o
+LIB_KOTSTD=$(KOTSTD_DIR)/build/stdlib_arm.ll
+LIB_CAR_HW=$(CAR_HW_DIR)/bin/car_hw.o
+
 CC=arm-none-eabi-gcc
 AS=arm-none-eabi-as
+KT=$(TRANSLATOR_DIR)/build/libs/translator-1.0.jar
 LD=arm-none-eabi-ld
 OBJ_COPY=arm-none-eabi-objcopy
 GDB=arm-none-eabi-gdb
 
-USB_CONF_DIR=$(LIB_DIR)/usb_conf
+LL=llc-3.6
-INCLUDES=-I$(LIB_CMSIS_DIR) \
+LLINK=llvm-link-3.6
-		 -I$(LIB_STDPERIPH_DIR) \
+
-		 -I$(LIB_STM32F4D_DIR) \
+KTFLAGS=-I $(KOTSTD_DIR)/include --arm
-		 -I$(LIB_USB_DEV_DIR) \
+LLINK_FLAGS=-S
-		 -I$(LIB_USB_OTG_DIR) \
+ASMFLAGS=-g -mthumb
-		 -I$(LIB_USB_VCP_DIR) \
+
-		 -I$(USB_CONF_DIR) \
-		 -I$(SRC_DIR)
 DEFINES=-DUSE_STM32_DISCOVERY=1 -DUSE_STDPERIPH_DRIVER=1 -DSTM32F4XX=1 -DHSE_VALUE=8000000
 CFLAGS=-g -nostdlib -ffreestanding -O0 \
        -mcpu=cortex-m3 -mfloat-abi=soft -mthumb \
        $(DEFINES)
-ASMFLAGS=-g -mthumb
 
 LD_ALL_DEPS=$(LD) -r $(filter %.o,$^) -o $@
-CC_ALL_DEPS=$(CC) $(CFLAGS) -c $(INCLUDES) $(filter %.c,$^) -o $@
 AS_ALL_DEPS=$(AS) $(ASMFLAGS) $(filter %.s,$^) -o $@
+LL_ALL_DEPS=$(LL) $(LLFLAGS) $(filter %.ll, $^) -o $@
+KT_ALL_DEPS=java -jar $(KT) $(KTFLAGS) -o $@ $(filter %.kt, $^)
+LLINK_ALL_DEPS=$(LLINK) $(LLINK_FLAGS) $(filter %.ll,$^) > $@
 
-dirhs=$(wildcard $(1)/*.h)
+all: $(KT) $(CAR_FMW_BIN)
-dircs=$(wildcard $(1)/*.c)
-dircs_to_prefxd_objs=\
-	$(patsubst $(1)/%.c,$(BIN_DIR)/$(2)%.o,$(call dircs,$1))
 
 $(CAR_FMW_BIN): $(CAR_FMW_ELF) $(BIN_DIR)
 	$(OBJ_COPY) -O binary $< $@
 
-$(CAR_FMW_ELF): $(CAR_FMW_OBJ) $(LIB_STM32F4D_OBJ) \
+$(CAR_FMW_ELF): $(LIB_CAR_HW) $(LIB_KOT)
-		$(LIB_CMSIS_OBJ) $(LIB_STDPERIPH_OBJ) \
+	$(CC) $(CFLAGS) $^ -T stm32_flash.ld -o $@
-		$(LIB_USB_DEV_OBJ) $(LIB_USB_OTG_OBJ) \
-		$(LIB_USB_VCP_OBJ)
-	$(CC) $(CFLAGS) $^ -T $(SRC_DIR)/stm32_flash.ld -o $@
 
-CAR_OBJ_PREFIX=car_
+$(LIB_CAR_HW):
-$(CAR_FMW_OBJ): \
+	cd $(CAR_HW_DIR) && make
-		$(call dircs_to_prefxd_objs,$(SRC_DIR),$(CAR_OBJ_PREFIX))
-	$(LD_ALL_DEPS)
-
-$(BIN_DIR)/$(CAR_OBJ_PREFIX)%.o: $(SRC_DIR)/%.c \
-		$(call dirhs,$(SRC_DIR))
-	$(CC_ALL_DEPS)
 
 $(BIN_DIR):
 	mkdir -p $(BIN_DIR)
 
+$(LIB_KOT): $(BIN_DIR)/kotlib.s
+	$(AS_ALL_DEPS)
+
+$(BIN_DIR)/kotlib.s: $(BIN_DIR)/kotlib.ll
+	$(LL_ALL_DEPS)
+
+$(BIN_DIR)/kotlib.ll: $(LIB_DIR)/app.ll $(LIB_KOTSTD)
+	$(LLINK_ALL_DEPS)
+
+$(LIB_KOTSTD):
+	cd $(KOTSTD_DIR) && make
+
+$(LIB_DIR)/app.ll: $(SRC_DIR)/*.kt
+	$(KT_ALL_DEPS)
+
+$(KT):
+	cd $(TRANSLATOR_DIR) && ./gradlew jar
+
 flash: $(CAR_FMW_BIN)
 	$(ST_DIR)/st-flash write $(CAR_FMW_BIN) 0x8000000
 
@@ -83,10 +83,8 @@ debug:
 
 clean:
 	rm -rf bin/*
+	rm -rf lib/*
+	cd $(CAR_HW_DIR) && make clean
+	cd $(KOTSTD_DIR) && make clean
 
-tags:
+.PHONY: clean debug flash
-	ctags -R *
-
-include $(LIB_DIR)/**/Makefile
-
-.PHONY: clean debug flash tags

car_fmw/src/main.c

@@ -1,46 +0,0 @@
-#include <stddef.h>
-#include <stdbool.h>
-
-#include "car_leds.h"
-#include "car_engine.h"
-#include "time.h"
-#include "car_user_btn.h"
-
-typedef enum {
-    CAR_MODE_PROGRAMMED,
-    CAR_MODE_REMOTE_CONTROL,
-    CAR_MODE_LAST
-} CAR_MODE;
-static CAR_MODE cur_mode = CAR_MODE_PROGRAMMED;
-static __IO bool cur_mode_stop = false;
-
-void stop_cur_mode(void)
-{
-    cur_mode_stop = true;
-}
-
-int main(void)
-{
-    /*!< At this stage the microcontroller clock setting is already configured,
-       this is done through SystemInit() function which is called from startup
-       file (startup_stm32f4xx.s) before to branch to application main.
-       To reconfigure the default setting of SystemInit() function, refer to
-       system_stm32f4xx.c file
-     */
-
-    time_init();
-    leds_init();
-    engine_init();
-    user_btn_init(stop_cur_mode);
-    VCP_init();
-
-    while(1) {
-        if (cur_mode == CAR_MODE_PROGRAMMED)
-            run_programmed_car(&cur_mode_stop);
-        else if(cur_mode == CAR_MODE_REMOTE_CONTROL)
-            run_rc_car(&cur_mode_stop);
-
-        cur_mode = (cur_mode + 1) % CAR_MODE_LAST;
-        cur_mode_stop = false;
-    }
-}

car_fmw/src/main.kt

@@ -0,0 +1,56 @@
+external fun time_init()
+
+external fun leds_init()
+
+external fun engine_init()
+external fun engine_stop()
+external fun engine_forward()
+external fun engine_backward()
+external fun engine_turn_left()
+external fun engine_turn_right()
+
+external fun user_brn_init(i: () -> Unit)
+external fun run_programmed_car(i: () -> Unit)
+external fun run_rc_car(i: () -> Unit)
+
+external fun VCP_init()
+
+external fun wait(i: Int)
+
+val CAR_MODE_PROGRAMMED: Int = 0
+val CAR_MODE_REMOTE_CONTROL: Int = 1
+val CAR_MODE_LAST: Int = 2
+
+val PROGRAM_DURATION: Int = 3000
+
+annotation class Native(val type: String = "")
+
+@Native
+class MyClass(@Native("i32") val i: Int, @Native("i16") val j: Int, @Native("i8") val k: Int)
+
+fun engine_program() {
+    engine_init()
+
+    while (2 < 3) {
+        engine_forward()
+        wait(PROGRAM_DURATION)
+        engine_stop()
+
+        engine_backward()
+        wait(PROGRAM_DURATION)
+        engine_stop()
+
+        engine_turn_right()
+        wait(PROGRAM_DURATION)
+        engine_stop()
+
+        engine_turn_right()
+        wait(PROGRAM_DURATION)
+        engine_stop()
+    }
+}
+
+fun kotlin_main() {
+    time_init()
+    engine_program()
+}

car_hw/Makefile

@@ -1,6 +1,5 @@
 BIN_DIR=$(PWD)/bin
-SRC_DIR=$(PWD)/src
+SRC_DIR=src
-SRC_KOT=$(PWD)/kotlib
 LIB_DIR=$(SRC_DIR)/lib
 OS_ARCH=linux-arm
 
@@ -19,23 +18,17 @@ LIB_USB_OTG_OBJ=$(BIN_DIR)/libusbotg.o
 LIB_USB_VCP_OBJ=$(BIN_DIR)/libusbvcp.o
 
 CAR_FMW_OBJ=$(BIN_DIR)/car_fmw.o
-CAR_FMW_ELF=$(BIN_DIR)/car_fmw.elf
+CAR_FMW=$(BIN_DIR)/car_fmw.elf
 CAR_FMW_BIN=$(BIN_DIR)/car_fmw.bin
 ST_DIR=$(SRC_DIR)/../../devloader/data/$(OS_ARCH)
 
-LIB_KOT=$(BIN_DIR)/kotlib.o
-
 CC=arm-none-eabi-gcc
 AS=arm-none-eabi-as
 LD=arm-none-eabi-ld
 OBJ_COPY=arm-none-eabi-objcopy
 GDB=arm-none-eabi-gdb
 
-LL=llc-3.6
-LLINK=llvm-link-3.6
-
 USB_CONF_DIR=$(LIB_DIR)/usb_conf
-
 INCLUDES=-I$(LIB_CMSIS_DIR) \
 		 -I$(LIB_STDPERIPH_DIR) \
 		 -I$(LIB_STM32F4D_DIR) \
@@ -44,37 +37,31 @@ INCLUDES=-I$(LIB_CMSIS_DIR) \
 		 -I$(LIB_USB_VCP_DIR) \
 		 -I$(USB_CONF_DIR) \
 		 -I$(SRC_DIR)
-
 DEFINES=-DUSE_STM32_DISCOVERY=1 -DUSE_STDPERIPH_DRIVER=1 -DSTM32F4XX=1 -DHSE_VALUE=8000000
 CFLAGS=-g -nostdlib -ffreestanding -O0 \
        -mcpu=cortex-m3 -mfloat-abi=soft -mthumb \
        $(DEFINES)
-LLFLAGS=-march=thumb -mtriple=arm-none-eabi -mcpu=cortex-m3
-LLINK_FLAGS=-S
 ASMFLAGS=-g -mthumb
 
 LD_ALL_DEPS=$(LD) -r $(filter %.o,$^) -o $@
 CC_ALL_DEPS=$(CC) $(CFLAGS) -c $(INCLUDES) $(filter %.c,$^) -o $@
 AS_ALL_DEPS=$(AS) $(ASMFLAGS) $(filter %.s,$^) -o $@
-LL_ALL_DEPS=$(LL) $(LLFLAGS) $(filter %.ll, $^) -o $@
+
-LLINK_ALL_DEPS=$(LLINK) $(LLINK_FLAGS) $(filter %.ll,$^) > $@
+CAR_OBJ_PREFIX=car_
 
 dirhs=$(wildcard $(1)/*.h)
 dircs=$(wildcard $(1)/*.c)
-dirls=$(wildcard $(1)/*.ll)
 dircs_to_prefxd_objs=\
 	$(patsubst $(1)/%.c,$(BIN_DIR)/$(2)%.o,$(call dircs,$1))
 
-$(CAR_FMW_BIN): $(CAR_FMW_ELF) $(BIN_DIR)
+all: $(BIN_DIR)/car_hw.o
-	$(OBJ_COPY) -O binary $< $@
 
-$(CAR_FMW_ELF): $(CAR_FMW_OBJ) $(LIB_STM32F4D_OBJ) \
+$(BIN_DIR)/car_hw.o: $(CAR_FMW_OBJ) $(LIB_STM32F4D_OBJ) \
 		$(LIB_CMSIS_OBJ) $(LIB_STDPERIPH_OBJ) \
 		$(LIB_USB_DEV_OBJ) $(LIB_USB_OTG_OBJ) \
-		$(LIB_USB_VCP_OBJ) $(LIB_KOT)
+		$(LIB_USB_VCP_OBJ)
-	$(CC) $(CFLAGS) $^ -T $(SRC_DIR)/stm32_flash.ld -o $@
+	$(LD) -r $^ -o $@
 
-CAR_OBJ_PREFIX=car_
 
 $(CAR_FMW_OBJ): \
 		$(call dircs_to_prefxd_objs,$(SRC_DIR),$(CAR_OBJ_PREFIX))
@@ -84,33 +71,12 @@ $(BIN_DIR)/$(CAR_OBJ_PREFIX)%.o: $(SRC_DIR)/%.c \
 		$(call dirhs,$(SRC_DIR))
 	$(CC_ALL_DEPS)
 
-$(BIN_DIR):
-	mkdir -p $(BIN_DIR)
-
-
-$(LIB_KOT): $(BIN_DIR)/kotlib.s
-	$(AS_ALL_DEPS)
-
-$(BIN_DIR)/kotlib.s: $(BIN_DIR)/kotlib.ll
-	$(LL_ALL_DEPS)
-
-$(BIN_DIR)/kotlib.ll: $(call dirls,$(SRC_KOT))
-	$(LLINK_ALL_DEPS)
-
-flash: $(CAR_FMW_BIN)
-	$(ST_DIR)/st-flash write $(CAR_FMW_BIN) 0x8000000
-
-debug:
-	-killall st-util
-	(setsid $(ST_DIR)/st-util 2>/dev/null 1>&2)&
-	$(GDB) $(CAR_FMW_ELF) -x $(ST_DIR)/../gdb.cmds
-
 clean:
-	rm -rf bin/*
+	rm $(BIN_DIR)/*
 
 tags:
 	ctags -R *
 
 include $(LIB_DIR)/**/Makefile
 
-.PHONY: clean debug flash tags
+.PHONY: tags clean