WIP

src/common.h

@@ -5,12 +5,12 @@
 #include <stdint.h>
 
 // Tunable
-const static int max_num_inputs = 8; // Number of concurrent sensors we support.
-const static int max_bytes_in_data_frame = 50;
+constexpr int max_num_inputs = 8; // Number of concurrent sensors we support.
+constexpr int max_bytes_in_data_frame = 50;
 
 // Not tunable: True for all systems.
-const static int num_base_stations = 2;
-const static int num_cycle_phases = 4;
+constexpr int num_base_stations = 2;
+constexpr int num_cycle_phases = 4;
 
 // Pulses are generated by Inputs and processed by PulseProcessor
 struct Pulse {

src/geometry.h

@@ -28,7 +28,7 @@ class PointGeometryBuilder
 };
 
 
-static const int vec3d_size = 3;
+constexpr int vec3d_size = 3;
 typedef float vec3d[vec3d_size];
 
 bool intersect_lines(const vec3d &orig1, const vec3d &vec1, const vec3d &orig2, const vec3d &vec2, vec3d *res, float *dist);

src/input_cmp.cpp

@@ -18,7 +18,7 @@
 #include "settings.h"
 #include "common.h"
 
-const static int num_comparators = 3; // Number of Comparator modules in Teensy.
+constexpr int num_comparators = 3; // Number of Comparator modules in Teensy.
 
 // Statically allocated data structures.
 InputCmpNode input_cmps[num_comparators]; // Nodes, by comparator #.
@@ -31,7 +31,7 @@ struct ComparatorInputPin {
  uint32_t pin; // Teensy PIN
 };
 
-const static int num_input_pin_variants = 9;
+constexpr int num_input_pin_variants = 9;
 const static ComparatorInputPin input_pin_variants[num_input_pin_variants] = {
  {0, 0, 11}, // CMP0_IN0 = Pin 11
  {0, 1, 12}, // CMP0_IN1 = Pin 12

src/mavlink.cpp

@@ -1,6 +1,7 @@
 #include "outputs.h"
 
 // This strange sequence of includes and definitions is due to how mavlink_helpers.h works :(
+// TODO: This currently includes code to sign packets with SHA256, bloating the binary. Get rid of it.
 #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
 #define MAVLINK_COMM_NUM_BUFFERS 4
 #define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
@@ -22,7 +23,7 @@ void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *chars, unsig
 #include "primitives/vector.h"
 
 // Static list of streams we will output to.
-Vector<Print *, MAVLINK_COMM_NUM_BUFFERS> output_streams;
+static Vector<Print *, MAVLINK_COMM_NUM_BUFFERS> output_streams;
 
 // Send multiple chars (uint8_t) over a comm channel
 void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *chars, unsigned length) {

src/primitives/string_utils.cpp

@@ -1,8 +1,8 @@
 #include "string_utils.h"
 #include <Arduino.h>
 
-static const int max_input_str_len = 256;
-static const int max_words = 64;
+constexpr int max_input_str_len = 256;
+constexpr int max_words = 64;
 
 // Non-blocking version of Stream.readBytesUntil('\n', ...). Returns line if found, or NULL if no line.
 char *read_line(Stream &stream) {

src/primitives/timestamp.h

@@ -14,25 +14,25 @@ enum TimeUnit {
 class TimeDelta {
 public:
  // Constructors
- inline TimeDelta(): time_delta_(0) {} // Default constructor to make it possible to include it in structs.
- inline TimeDelta(int val, TimeUnit tu): time_delta_(val * tu) {} // Main way to create TimeDelta: value and TimeUnit.
+ constexpr TimeDelta(): time_delta_(0) {} // Default constructor to make it possible to include it in structs.
+ constexpr TimeDelta(int val, TimeUnit tu): time_delta_(val * tu) {} // Main way to create TimeDelta: value and TimeUnit.
 
- inline int get_value(TimeUnit tu) const { return time_delta_ / tu; }
+ constexpr int get_value(TimeUnit tu) const { return time_delta_ / tu; }
 
  // Simple comparison operators. Note: we only allow comparison between TimeDeltas.
- inline bool operator<(const TimeDelta& delta) const { return time_delta_ < delta.time_delta_; }
- inline bool operator>(const TimeDelta& delta) const { return time_delta_ > delta.time_delta_; }
- inline bool operator<=(const TimeDelta& delta) const { return time_delta_ <= delta.time_delta_; }
- inline bool operator>=(const TimeDelta& delta) const { return time_delta_ >= delta.time_delta_; }
- inline bool operator==(const TimeDelta& delta) const { return time_delta_ == delta.time_delta_; }
- inline bool operator!=(const TimeDelta& delta) const { return time_delta_ != delta.time_delta_; }
+ constexpr bool operator<(const TimeDelta& delta) const { return time_delta_ < delta.time_delta_; }
+ constexpr bool operator>(const TimeDelta& delta) const { return time_delta_ > delta.time_delta_; }
+ constexpr bool operator<=(const TimeDelta& delta) const { return time_delta_ <= delta.time_delta_; }
+ constexpr bool operator>=(const TimeDelta& delta) const { return time_delta_ >= delta.time_delta_; }
+ constexpr bool operator==(const TimeDelta& delta) const { return time_delta_ == delta.time_delta_; }
+ constexpr bool operator!=(const TimeDelta& delta) const { return time_delta_ != delta.time_delta_; }
 
  // Simple arithmetic operators.
- inline TimeDelta operator+(const TimeDelta& delta) const { return time_delta_ + delta.time_delta_; }
- inline TimeDelta operator-(const TimeDelta& delta) const { return time_delta_ - delta.time_delta_; }
- inline TimeDelta operator*(int val) const { return time_delta_ * val; }
- inline TimeDelta operator/(int val) const { return time_delta_ / val; }
- inline float operator/(const TimeDelta& delta) const {return float(time_delta_) / float(delta.time_delta_); }
+ constexpr TimeDelta operator+(const TimeDelta& delta) const { return time_delta_ + delta.time_delta_; }
+ constexpr TimeDelta operator-(const TimeDelta& delta) const { return time_delta_ - delta.time_delta_; }
+ constexpr TimeDelta operator*(int val) const { return time_delta_ * val; }
+ constexpr TimeDelta operator/(int val) const { return time_delta_ / val; }
+ constexpr float operator/(const TimeDelta& delta) const {return float(time_delta_) / float(delta.time_delta_); }
 
  // Arithmetic assignment operators.
  inline TimeDelta &operator+=(const TimeDelta& delta) { time_delta_ += delta.time_delta_; return *this; }
@@ -47,7 +47,7 @@ class TimeDelta {
  }
 
 private:
- inline TimeDelta(int delta): time_delta_(delta) {}
+ constexpr TimeDelta(int delta): time_delta_(delta) {}
  int time_delta_;
  friend class Timestamp;
 };
@@ -57,33 +57,33 @@ class TimeDelta {
 class Timestamp {
 public:
  // Constructors.
- inline Timestamp(): time_(0) {} // Default constructor. We need it to be able to keep Timestamp in structs.
- inline Timestamp(const Timestamp& other): time_(other.time_) {}
+ constexpr Timestamp(): time_(0) {} // Default constructor. We need it to be able to keep Timestamp in structs.
+ constexpr Timestamp(const Timestamp& other): time_(other.time_) {}
  inline Timestamp& operator=(const Timestamp& other) { time_ = other.time_; return *this; }
- inline unsigned int get_value_unsafe(TimeUnit tu) const { return time_ / tu; }
+ constexpr unsigned int get_value_unsafe(TimeUnit tu) const { return time_ / tu; }
 
  // Static getters.
  static Timestamp cur_time(); // Implementation will try to get the best resolution possible.
 
  // Create TimeDelta from a pair of Timestamps. Note that the wrapping is handled here correctly as we're converting to a signed int.
- inline TimeDelta operator-(const Timestamp& other) const { return time_ - other.time_; }
+ constexpr TimeDelta operator-(const Timestamp& other) const { return time_ - other.time_; }
 
  // Simple arithmetic operators with TimeDelta-s. Both operands are converted to uint32_t
- inline Timestamp operator+(const TimeDelta& delta) const { return time_ + delta.time_delta_; }
- inline Timestamp operator-(const TimeDelta& delta) const { return time_ - delta.time_delta_; }
+ constexpr Timestamp operator+(const TimeDelta& delta) const { return time_ + delta.time_delta_; }
+ constexpr Timestamp operator-(const TimeDelta& delta) const { return time_ - delta.time_delta_; }
  inline Timestamp &operator+=(const TimeDelta& delta) { time_ += delta.time_delta_; return *this; }
  inline Timestamp &operator-=(const TimeDelta& delta) { time_ -= delta.time_delta_; return *this; }
 
  // Simple wrapping-aware comparison operators using conversion to signed int.
- inline bool operator< (const Timestamp& other) const { return int(time_ - other.time_) < 0; }
- inline bool operator> (const Timestamp& other) const { return int(time_ - other.time_) > 0; }
- inline bool operator<=(const Timestamp& other) const { return int(time_ - other.time_) <= 0; }
- inline bool operator>=(const Timestamp& other) const { return int(time_ - other.time_) >= 0; }
- inline bool operator==(const Timestamp& other) const { return int(time_ - other.time_) == 0; }
- inline bool operator!=(const Timestamp& other) const { return int(time_ - other.time_) != 0; }
+ constexpr bool operator< (const Timestamp& other) const { return int(time_ - other.time_) < 0; }
+ constexpr bool operator> (const Timestamp& other) const { return int(time_ - other.time_) > 0; }
+ constexpr bool operator<=(const Timestamp& other) const { return int(time_ - other.time_) <= 0; }
+ constexpr bool operator>=(const Timestamp& other) const { return int(time_ - other.time_) >= 0; }
+ constexpr bool operator==(const Timestamp& other) const { return int(time_ - other.time_) == 0; }
+ constexpr bool operator!=(const Timestamp& other) const { return int(time_ - other.time_) != 0; }
 
 private:
- inline Timestamp(unsigned int time): time_(time) {}
+ constexpr Timestamp(unsigned int time): time_(time) {}
  unsigned int time_; // Think about this as some global time mod 2^32.
 };
 

src/pulse_processor.cpp

@@ -2,18 +2,18 @@
 #include "message_logging.h"
 
 // Pulse classification parameters.
-const static TimeDelta min_short_pulse_len(2, usec);
-const static TimeDelta min_long_pulse_len(40, usec);
-const static TimeDelta max_long_pulse_len(300, usec);
-
-const static TimeDelta long_pulse_starts_accepted_range(20, usec);
-const static TimeDelta long_pulse_starts[num_base_stations] = {TimeDelta(0, usec), TimeDelta(400, usec)};
-
-const static TimeDelta cycle_period(8333, usec); // Total len of 1 cycle.
-const static TimeDelta angle_center_len(4000, usec);
-const static TimeDelta short_pulse_min_time = angle_center_len - cycle_period / 3;
-const static TimeDelta short_pulse_max_time = angle_center_len + cycle_period / 3;
-const static TimeDelta cycle_processing_point = short_pulse_max_time + TimeDelta(100, usec); // time from start of the cycle.
+constexpr TimeDelta min_short_pulse_len(2, usec);
+constexpr TimeDelta min_long_pulse_len(40, usec);
+constexpr TimeDelta max_long_pulse_len(300, usec);
+
+constexpr TimeDelta long_pulse_starts_accepted_range(20, usec);
+constexpr TimeDelta long_pulse_starts[num_base_stations] = {TimeDelta(0, usec), TimeDelta(400, usec)};
+
+constexpr TimeDelta cycle_period(8333, usec); // Total len of 1 cycle.
+constexpr TimeDelta angle_center_len(4000, usec);
+constexpr TimeDelta short_pulse_min_time = angle_center_len - cycle_period / 3;
+constexpr TimeDelta short_pulse_max_time = angle_center_len + cycle_period / 3;
+constexpr TimeDelta cycle_processing_point = short_pulse_max_time + TimeDelta(100, usec); // time from start of the cycle.
 
 enum CycleFixLevels {
  kCycleFixNone = 0,

src/settings.cpp

@@ -4,8 +4,8 @@
 #include "input_cmp.h"
 #include "primitives/string_utils.h"
 
-const static uint32_t current_settings_version = 0xbabe0001;
-static uint32_t * const eeprom_addr = 0;
+constexpr uint32_t current_settings_version = 0xbabe0001;
+constexpr uint32_t * eeprom_addr = 0;
 /* Example settings
 reset
 i0 pin 12 positive

teensy-arm.toolchain.cmake

@@ -59,7 +59,7 @@ set_property(CACHE TEENSY_USB_MODE PROPERTY STRINGS SERIAL HID SERIAL_HID MIDI R
 set(TARGET_FLAGS "-mcpu=cortex-m4 -mthumb -mfp16-format=ieee")
 set(OPTIMIZE_FLAGS "-O2" CACHE STRING "Optimization flags") # Remember to reset cache and rebuild cmake when changing this.
 set(CMAKE_C_FLAGS "${OPTIMIZE_FLAGS} -Wall -nostdlib -ffunction-sections -fdata-sections ${TARGET_FLAGS}" CACHE STRING "C/C++ flags")
-set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-exceptions -fno-rtti -felide-constructors -std=c++11 -fsingle-precision-constant" CACHE STRING "c++ flags")
+set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -std=gnu++14 -fno-exceptions -fno-rtti -felide-constructors -fsingle-precision-constant -Woverloaded-virtual" CACHE STRING "c++ flags")
 
 link_libraries(m)
 set(LINKER_FLAGS "--gc-sections,--relax,--defsym=__rtc_localtime=0" CACHE STRING "Ld flags")
@@ -114,7 +114,8 @@ function(add_firmware_targets TARGET_NAME)
 
  add_custom_target(${TARGET_NAME}_Assembler
  COMMAND ${CMAKE_OBJDUMP} --demangle --disassemble --headers --wide $<TARGET_FILE_NAME:${TARGET_NAME}> > ${CMAKE_SOURCE_DIR}/build/source.S
- COMMAND ${CMAKE_OBJDUMP} --demangle --syms $<TARGET_FILE_NAME:${TARGET_NAME}> | sort > ${CMAKE_SOURCE_DIR}/build/source_symbols.txt
+ COMMAND ${CMAKE_OBJDUMP} --demangle --disassemble --source --wide $<TARGET_FILE_NAME:${TARGET_NAME}> > ${CMAKE_SOURCE_DIR}/build/source-with-text.S
+ COMMAND ${CMAKE_OBJDUMP} --demangle --syms $<TARGET_FILE_NAME:${TARGET_NAME}> | sort > ${CMAKE_SOURCE_DIR}/build/source-symbols.txt
  )
 
  # See https://github.com/Koromix/ty