Added Support for C++ static initializers for all boards. Including compile time checking for proper C++ configuration and not calling up_cxxinitialize redundantly

9 files changed, 71 insertions, 1 deletions

diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 75a611fee..d1c534e22 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -149,7 +149,7 @@ ARCHWARNINGS		 = -Wall \
 			   -Wdouble-promotion \
 			   -Wshadow \
 			   -Wfloat-equal \
-			   -Wframe-larger-than=2560 \
+			   -Wframe-larger-than=1024 \
 			   -Wpointer-arith \
 			   -Wlogical-op \
 			   -Wmissing-declarations \
diff --git a/src/drivers/boards/aerocore/aerocore_init.c b/src/drivers/boards/aerocore/aerocore_init.c
index e370fa983..91dbe4b81 100644
--- a/src/drivers/boards/aerocore/aerocore_init.c
+++ b/src/drivers/boards/aerocore/aerocore_init.c
@@ -228,6 +228,21 @@ __EXPORT int nsh_archinitialize(void)
 	stm32_configgpio(GPIO_ADC1_IN12);	/* J1 breakout */
 	stm32_configgpio(GPIO_ADC1_IN13);	/* J1 breakout */
 
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+	/* run C++ ctors before we go any further */
+
+	up_cxxinitialize();
+
+#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#	endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
+
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
diff --git a/src/drivers/boards/aerocore/module.mk b/src/drivers/boards/aerocore/module.mk
index 0a2d91009..05e3d878d 100644
--- a/src/drivers/boards/aerocore/module.mk
+++ b/src/drivers/boards/aerocore/module.mk
@@ -7,4 +7,10 @@ SRCS		 = aerocore_init.c \
 		   aerocore_spi.c \
 		   aerocore_led.c
 
+ENABLE_CXXINITIALIZE=$(call check_nuttx_config ,"CONFIG_HAVE_CXX 1", $(NUTTX_CONFIG_H))
+ENABLE_CXXINITIALIZE+=$(call check_nuttx_config ,"CONFIG_HAVE_CXXINITIALIZE 1", $(NUTTX_CONFIG_H))
+ifeq ("$(ENABLE_CXXINITIALIZE)",$(nuttx_config_2true))
+SRCS		 +=	   ../../../modules/systemlib/up_cxxinitialize.c
+endif
+
 MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/boards/px4fmu-v1/module.mk b/src/drivers/boards/px4fmu-v1/module.mk
index 5e1a27d5a..ff717fe92 100644
--- a/src/drivers/boards/px4fmu-v1/module.mk
+++ b/src/drivers/boards/px4fmu-v1/module.mk
@@ -9,4 +9,10 @@ SRCS		 = px4fmu_can.c \
 		   px4fmu_usb.c \
 		   px4fmu_led.c
 
+ENABLE_CXXINITIALIZE=$(call check_nuttx_config ,"CONFIG_HAVE_CXX 1", $(NUTTX_CONFIG_H))
+ENABLE_CXXINITIALIZE+=$(call check_nuttx_config ,"CONFIG_HAVE_CXXINITIALIZE 1", $(NUTTX_CONFIG_H))
+ifeq ("$(ENABLE_CXXINITIALIZE)",$(nuttx_config_2true))
+SRCS		 +=	   ../../../modules/systemlib/up_cxxinitialize.c
+endif
+
 MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
index 0e22aaee0..c9d4cce1e 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
@@ -145,6 +145,20 @@ __EXPORT int nsh_archinitialize(void)
 	stm32_configgpio(GPIO_ADC1_IN11);
 	/* IN12 and IN13 further below */
 
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+	/* run C++ ctors before we go any further */
+
+	up_cxxinitialize();
+
+#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#	endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 7fc1cd1df..e32c18759 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -245,6 +245,12 @@ __EXPORT int nsh_archinitialize(void)
 
 	up_cxxinitialize();
 
+#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#	endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
 #endif
 
 	/* configure the high-resolution time/callout interface */
diff --git a/src/drivers/boards/px4io-v1/module.mk b/src/drivers/boards/px4io-v1/module.mk
index a7a14dd07..52f17f3f2 100644
--- a/src/drivers/boards/px4io-v1/module.mk
+++ b/src/drivers/boards/px4io-v1/module.mk
@@ -5,4 +5,10 @@
 SRCS	= px4io_init.c \
 	  px4io_pwm_servo.c
 
+ENABLE_CXXINITIALIZE=$(call check_nuttx_config ,"CONFIG_HAVE_CXX 1", $(NUTTX_CONFIG_H))
+ENABLE_CXXINITIALIZE+=$(call check_nuttx_config ,"CONFIG_HAVE_CXXINITIALIZE 1", $(NUTTX_CONFIG_H))
+ifeq ("$(ENABLE_CXXINITIALIZE)",$(nuttx_config_2true))
+SRCS		 +=	   ../../../modules/systemlib/up_cxxinitialize.c
+endif
+
 MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/boards/px4io-v2/module.mk b/src/drivers/boards/px4io-v2/module.mk
index 3f0e9a0b3..5613ad405 100644
--- a/src/drivers/boards/px4io-v2/module.mk
+++ b/src/drivers/boards/px4io-v2/module.mk
@@ -5,4 +5,10 @@
 SRCS		= px4iov2_init.c \
 		  px4iov2_pwm_servo.c
 
+ENABLE_CXXINITIALIZE=$(call check_nuttx_config ,"CONFIG_HAVE_CXX 1", $(NUTTX_CONFIG_H))
+ENABLE_CXXINITIALIZE+=$(call check_nuttx_config ,"CONFIG_HAVE_CXXINITIALIZE 1", $(NUTTX_CONFIG_H))
+ifeq ("$(ENABLE_CXXINITIALIZE)",$(nuttx_config_2true))
+SRCS		 +=	   ../../../modules/systemlib/up_cxxinitialize.c
+endif
+
 MAXOPTIMIZATION	 = -Os
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index c31342262..a2f8965bd 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -226,9 +226,20 @@ calculate_fw_crc(void)
 int
 user_start(int argc, char *argv[])
 {
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
 	/* run C++ ctors before we go any further */
+
 	up_cxxinitialize();
 
+#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#	endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
 	/* reset all to zero */
 	memset(&system_state, 0, sizeof(system_state));