From 399e964b7567c06e3f319d4979842cd45d898fd3 Mon Sep 17 00:00:00 2001
From: Freek van Tienen <freek.v.tienen@gmail.com>
Date: Tue, 5 Mar 2019 02:12:00 -0800
Subject: [PATCH] [make] Add support for c++0x for all architectures

---
 conf/Makefile.chibios              |  9 +++++
 conf/Makefile.linux                |  4 +-
 conf/Makefile.stm32                |  8 +++-
 conf/chibios/chibios_rules.mk      |  2 +-
 conf/firmwares/fixedwing.makefile  |  1 +
 conf/firmwares/rotorcraft.makefile |  1 +
 conf/modules/ins_mekf_wind.xml     |  1 -
 conf/modules/rust_demo_module.xml  |  7 ----
 sw/airborne/c++.cpp                | 60 ++++++++++++++++++++++++++++++
 sw/airborne/pprz_syscalls.c        | 13 +++++++
 10 files changed, 94 insertions(+), 12 deletions(-)
 create mode 100644 sw/airborne/c++.cpp

diff --git a/conf/Makefile.chibios b/conf/Makefile.chibios
index 2cb4ef9d16f..ac5e72919ec 100644
--- a/conf/Makefile.chibios
+++ b/conf/Makefile.chibios
@@ -74,6 +74,12 @@ else
 $(TARGET).CFLAGS += -DCH_DBG_THREADS_PROFILING=TRUE
 endif
 
+#
+# Add syscalls and c++ new/delete operators
+#
+$(TARGET).srcs += c++.cpp pprz_syscalls.c
+$(TARGET).CXXFLAGS += -fno-sized-deallocation
+
 #
 # General rules
 #
@@ -312,6 +318,9 @@ CPPWARN = -Wall -Wextra
 # List all user C define here, like -D_DEBUG=1
 UDEFS = $($(TARGET).CFLAGS) $(USER_CFLAGS) $(BOARD_CFLAGS)
 
+# List all extra user CPP define here
+UPDEFS = $($(TARGET).CXXFLAGS)
+
 # Define ASM defines here
 UADEFS = $($(TARGET).CFLAGS) $(USER_CFLAGS) $(BOARD_CFLAGS)
 
diff --git a/conf/Makefile.linux b/conf/Makefile.linux
index 1ba64086541..ede06c9d120 100644
--- a/conf/Makefile.linux
+++ b/conf/Makefile.linux
@@ -37,6 +37,7 @@ OPT ?= 3
 # Slightly bigger .elf files but gains the ability to decode macros
 DEBUG_FLAGS ?= -ggdb3
 CSTANDARD ?= -std=gnu99
+CXXSTANDARD ?= -std=c++0x
 CINCS = $(INCLUDES) -I$(PAPARAZZI_SRC)/sw/include
 
 #
@@ -65,10 +66,11 @@ CFLAGS += $(USER_CFLAGS) $(BOARD_CFLAGS)
 CXXFLAGS += $(CINCS)
 CXXFLAGS += -O$(OPT) -fPIC
 CXXFLAGS += $(DEBUG_FLAGS)
+CXXFLAGS += $(CXXSTANDARD)
 CXXFLAGS += -pipe -fshow-column -ffast-math
 CXXFLAGS += -g -ffunction-sections -fdata-sections
 CXXFLAGS += -Wall -Wextra
-#CXXFLAGS += $($(TARGET).CFLAGS)
+CXXFLAGS += $($(TARGET).CFLAGS)
 CXXFLAGS += $($(TARGET).CXXFLAGS)
 CXXFLAGS += $(USER_CFLAGS) $(BOARD_CFLAGS)
 
diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32
index 3b9db227e15..cfa269fe60f 100644
--- a/conf/Makefile.stm32
+++ b/conf/Makefile.stm32
@@ -36,7 +36,6 @@ Q=@
 #
 include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-toolchain
 
-
 ifeq ($(ARCH_L),f4)
 MCU   = cortex-m4
 else
@@ -47,9 +46,13 @@ OPT ?= s
 DEBUG_FLAGS ?= -ggdb3
 
 CSTANDARD   ?= -std=gnu99
-CXXSTANDARD ?= -std=c++98
+CXXSTANDARD ?= -std=c++0x
 CINCS = $(INCLUDES) -I$(PAPARAZZI_SRC)/sw/include
 
+# add syscalls and c++ new/delete operators
+$(TARGET).srcs += c++.cpp pprz_syscalls.c
+$(TARGET).CXXFLAGS += -fno-sized-deallocation
+
 # input files
 SRCS = $($(TARGET).srcs)
 #ASRC =
@@ -145,6 +148,7 @@ CFLAGS += -DPPRZLINK_UNALIGNED_ACCESS=1
 
 # C++ only flags
 CXXFLAGS += $(CXXSTANDARD)
+CXXFLAGS += -I. -I./$(ARCH) -I../ext/libopencm3/include $(INCLUDES)
 CXXFLAGS += -pipe -fshow-column -ffast-math
 CXXFLAGS += -ffunction-sections -fdata-sections
 CXXFLAGS += $($(TARGET).CXXFLAGS)
diff --git a/conf/chibios/chibios_rules.mk b/conf/chibios/chibios_rules.mk
index 40a80aaec31..819710e910d 100644
--- a/conf/chibios/chibios_rules.mk
+++ b/conf/chibios/chibios_rules.mk
@@ -118,7 +118,7 @@ ODFLAGS	  = -x --syms
 ASFLAGS   = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
 ASXFLAGS  = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
 CFLAGS    = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
-CPPFLAGS  = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS)
+CPPFLAGS  = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS) $(UPDEFS)
 LDFLAGS   = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
 
 # Thumb interwork enabled only if needed because it kills performance.
diff --git a/conf/firmwares/fixedwing.makefile b/conf/firmwares/fixedwing.makefile
index 9794cc10b73..76ca15a7bcc 100644
--- a/conf/firmwares/fixedwing.makefile
+++ b/conf/firmwares/fixedwing.makefile
@@ -21,6 +21,7 @@ SRC_MODULES=modules
 FIXEDWING_INC = -I$(SRC_FIRMWARE) -I$(SRC_FIXEDWING) -I$(SRC_BOARD)
 
 VPATH += $(PAPARAZZI_HOME)/var/share
+VPATH += $(PAPARAZZI_HOME)/sw/ext
 
 # Standard Fixed Wing Code
 include $(CFG_FIXEDWING)/autopilot.makefile
diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
index c5d8602d870..30791561691 100644
--- a/conf/firmwares/rotorcraft.makefile
+++ b/conf/firmwares/rotorcraft.makefile
@@ -37,6 +37,7 @@ ap.ARCHDIR = $(ARCH)
 
 
 VPATH += $(PAPARAZZI_HOME)/var/share
+VPATH += $(PAPARAZZI_HOME)/sw/ext
 
 ######################################################################
 ##
diff --git a/conf/modules/ins_mekf_wind.xml b/conf/modules/ins_mekf_wind.xml
index 5292428432c..0389d755367 100644
--- a/conf/modules/ins_mekf_wind.xml
+++ b/conf/modules/ins_mekf_wind.xml
@@ -82,7 +82,6 @@
     <define name="EIGEN_NO_DEBUG"/>
     <flag name="CXXFLAGS" value="Wno-bool-compare"/>
     <flag name="CXXFLAGS" value="Wno-logical-not-parentheses"/>
-    <file name="pprz_syscalls.c" dir="."/>
   </makefile>
   <makefile target="sim" firmware="fixedwing">
     <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
diff --git a/conf/modules/rust_demo_module.xml b/conf/modules/rust_demo_module.xml
index 94da85b2bd4..a7d3f7c2480 100644
--- a/conf/modules/rust_demo_module.xml
+++ b/conf/modules/rust_demo_module.xml
@@ -26,13 +26,6 @@
   <init fun="rust_function()"/>
   <periodic fun="rust_periodic()" freq="1." autorun="TRUE"/>
 
-  <makefile target="ap">
-    <!-->
-      Additional defines needed by Rust's `alloc` crate
-    -->
-    <file name="pprz_syscalls.c" dir="."/>
-  </makefile>
-
   <makefile target="ap|nps|hitl">
     <!--
       MODULE_PATH is where the module lives.
diff --git a/sw/airborne/c++.cpp b/sw/airborne/c++.cpp
new file mode 100644
index 00000000000..48f8d73d67a
--- /dev/null
+++ b/sw/airborne/c++.cpp
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2019 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include <stdlib.h>
+
+/**
+ * Replace new and delete operators of C++
+ */
+
+void * operator new(size_t size)
+{
+  if (size < 1) {
+    size = 1;
+  }
+  return(calloc(size, 1));
+}
+
+void operator delete(void *p)
+{
+  if (p) free(p);
+}
+
+void * operator new[](size_t size)
+{
+  if (size < 1) {
+    size = 1;
+  }
+  return(calloc(size, 1));
+}
+
+void operator delete[](void * ptr)
+{
+  if (ptr) free(ptr);
+}
+
+/*void operator delete(void* ptr, unsigned int size)
+{
+  if (ptr) free(ptr);
+}
+
+void operator delete [](void* ptr, unsigned int size)
+{
+  if (ptr) free(ptr);
+}*/
\ No newline at end of file
diff --git a/sw/airborne/pprz_syscalls.c b/sw/airborne/pprz_syscalls.c
index 8ca714540f7..b5a21352b40 100644
--- a/sw/airborne/pprz_syscalls.c
+++ b/sw/airborne/pprz_syscalls.c
@@ -151,6 +151,13 @@ int _isatty_r(struct _reent *r, int fd)
 
 /***************************************************************************/
 
+__attribute__((used))
+void _fini(void) {
+  return;
+}
+
+/***************************************************************************/
+
 __attribute__((used))
 pid_t _getpid(void)
 {
@@ -169,6 +176,12 @@ void _exit(int i) {
 
 void _kill(void) {}
 
+/***************************************************************************/
+
+void *__dso_handle;
+void __cxa_pure_virtual(void);    
+void __cxa_pure_virtual() { while (1); } //TODO: Handle properly, maybe generate a traceback
+
 #pragma GCC diagnostic pop
 
 /*** EOF ***/