C++ top level passthrough works

Inc/version.h

@@ -1,10 +0,0 @@
-/**
-  ******************************************************************************
-  * @file           : version.h
-  * @brief          : This file implements printf functionality
-  ******************************************************************************
-*/
-
-#define ODRIVE_FW_VERSION_MAJOR   0
-#define ODRIVE_FW_VERSION_MINOR   1
-#define ODRIVE_FW_VERSION_PATCH   0

Makefile

@@ -78,7 +78,9 @@ C_SOURCES = \
   Src/usbd_cdc_if.c \
   Src/syscalls.c \
   MotorControl/utils.c \
-  MotorControl/low_level.c  
+  MotorControl/low_level.c
+CPP_SOURCES = \
+  MotorControl/axis.cpp
 ASM_SOURCES = \
   startup/startup_stm32f405xx.s
 
@@ -155,6 +157,9 @@ vpath %.s $(sort $(dir $(ASM_SOURCES)))
 $(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) 
 	@$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
 
+$(BUILD_DIR)/%.o: %.cpp Makefile | $(BUILD_DIR) 
+	@$(CXX) -c $(CXXFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.cpp=.lst)) $< -o $@
+
 $(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
 	@$(AS) -c $(CFLAGS) $< -o $@
 

MotorControl/axis.cpp

@@ -0,0 +1,23 @@
+
+#include "axis.hpp"
+
+//TODO: goal of refactor is to kick this out completely
+extern "C" {
+#include "low_level.h"
+}
+
+// C interface
+extern "C" {
+void axis_thread_entry(void const* temp_motor_ptr) {
+    Motor_t* motor = (Motor_t*)temp_motor_ptr;
+    Axis axis(motor);
+    axis.StateMachineLoop();
+}
+}  // extern "C"
+
+Axis::Axis(Motor_t* legacy_motor_ref)
+    : legacy_motor_ref_(legacy_motor_ref) {}
+
+void Axis::StateMachineLoop() {
+    motor_thread(legacy_motor_ref_);
+}

MotorControl/axis.hpp

@@ -0,0 +1,49 @@
+#ifndef __AXIS_HPP
+#define __AXIS_HPP
+
+//TODO: goal of refactor is to kick this out completely
+extern "C" {
+#include "low_level.h"
+}
+
+//Outside axis:
+    //command handler
+    //callback dispatch
+
+
+class Axis {
+public:
+    //thread/os/system management
+        //timing log
+        //thread id
+        //etc.
+    //state machine
+        //control mode
+        //control_en/calib_ok
+        //error state
+    //motor
+        //current controller
+            //contains rotor phase logic
+        //motor level calibration routines
+        //low_level (implementation specifics)
+            //DRV driver
+            //adc callback handling
+            //pwm queueing
+    //rotor estimator
+        //kick out rotor phase logic
+    //pos/vel controller
+    //step/dir handler
+
+    // Object operation requires ptr to legacy object for now, TODO: get rid of this dep
+    Axis(Motor_t* legacy_motor_ref);
+
+    // Infinite loop that does calibration and enters main control loop as appropriate
+    void StateMachineLoop();
+
+    bool enable_control_;
+    bool do_calibration_;
+
+    Motor_t* legacy_motor_ref_;
+};
+
+#endif /* __AXIS_HPP */

MotorControl/axis_c_interface.h

@@ -0,0 +1,14 @@
+#ifndef __AXIS_C_INTERFACE_H
+#define __AXIS_C_INTERFACE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void axis_thread_entry(void const * temp_motor_ptr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __AXIS_C_INTERFACE_H */

MotorControl/low_level.h

@@ -156,16 +156,14 @@ void set_pos_setpoint(Motor_t* motor, float pos_setpoint, float vel_feed_forward
 void set_vel_setpoint(Motor_t* motor, float vel_setpoint, float current_feed_forward);
 void set_current_setpoint(Motor_t* motor, float current_setpoint);
 
-void safe_assert(int arg);
-void init_motor_control();
 void step_cb(uint16_t GPIO_Pin);
 void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
 void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
 
-//@TODO move motor thread to high level file
-void motor_thread(void const * argument);
+void safe_assert(int arg);
+void init_motor_control();
 
-//@TODO move cmd parsing to high level file
+void motor_thread(void const * argument);
 void motor_parse_cmd(uint8_t* buffer, int len);
 
 #endif //__LOW_LEVEL_H

Src/freertos.c

@@ -54,7 +54,7 @@
 /* USER CODE BEGIN Includes */     
 #include "freertos_vars.h"
 #include "low_level.h"
-#include "version.h"
+#include "axis_c_interface.h"
 /* USER CODE END Includes */
 
 /* Variables -----------------------------------------------------------------*/
@@ -125,8 +125,8 @@ void StartDefaultTask(void const * argument)
   init_motor_control();
 
   // Start motor threads
-  osThreadDef(task_motor_0, motor_thread,   osPriorityHigh+1, 0, 512);
-  osThreadDef(task_motor_1, motor_thread,   osPriorityHigh,   0, 512);
+  osThreadDef(task_motor_0, axis_thread_entry,   osPriorityHigh+1, 0, 512);
+  osThreadDef(task_motor_1, axis_thread_entry,   osPriorityHigh,   0, 512);
   thread_motor_0 = osThreadCreate(osThread(task_motor_0), &motors[0]);
   thread_motor_1 = osThreadCreate(osThread(task_motor_1), &motors[1]);