Merge pull request #106 from robotology/devel

merge of devel into master

emBODY/eBcode/arch-arm/board/strain2/application/src/main-strain2-application.cpp

@@ -13,7 +13,7 @@
 
 constexpr embot::app::theCANboardInfo::applicationInfo applInfo 
 { 
-    embot::app::canprotocol::versionOfAPPLICATION {2, 0, 4},    
+    embot::app::canprotocol::versionOfAPPLICATION {2, 0, 5},    
     embot::app::canprotocol::versionOfCANPROTOCOL {2, 0}    
 };
 

emBODY/eBcode/arch-arm/libs/lowlevel/stm32hal/api/stm32hal_board.h

@@ -52,7 +52,7 @@ extern void stm32hal_board_init(void);
 #if     defined(STM32HAL_BOARD_NUCLEO64)
 
     // one version only: v172
-    #if (STM32HAL_DRIVER_VERSION == 172)
+    #if (STM32HAL_DRIVER_VERSION == 0x172)
 
         #include "../src/config/stm32hal_driver_cfg_of_nucleo64.h"
 
@@ -67,7 +67,7 @@ extern void stm32hal_board_init(void);
 #elif   defined(STM32HAL_BOARD_MTB4)
 
     // one version only: v172
-    #if (STM32HAL_DRIVER_VERSION == 172)
+    #if (STM32HAL_DRIVER_VERSION == 0x172)
 
         #include "../src/config/stm32hal_driver_cfg_of_mtb4.h"
 
@@ -84,7 +84,7 @@ extern void stm32hal_board_init(void);
 
         #include "../src/board/mtb4/v172/inc/stm32l4xx_it.h"
 
-    #elif(STM32HAL_DRIVER_VERSION == 190)
+    #elif(STM32HAL_DRIVER_VERSION == 0x190)
 
         #include "../src/config/stm32hal_driver_cfg_of_mtb4_v190.h"
 
@@ -107,8 +107,8 @@ extern void stm32hal_board_init(void);
 
 #elif   defined(STM32HAL_BOARD_STRAIN2)	
 
-    // two cases: v172 and v190
-    #if (STM32HAL_DRIVER_VERSION == 172)
+    // three cases: v172, v190, v1B0
+    #if (STM32HAL_DRIVER_VERSION == 0x172)
 
         #include "../src/config/stm32hal_driver_cfg_of_strain2.h"
 
@@ -124,7 +124,7 @@ extern void stm32hal_board_init(void);
 
         #include "../src/board/strain2/v172/inc/stm32l4xx_it.h"
 
-    #elif(STM32HAL_DRIVER_VERSION == 190)
+    #elif(STM32HAL_DRIVER_VERSION == 0x190)
 
         #include "../src/config/stm32hal_driver_cfg_of_strain2_v190.h"
 
@@ -140,6 +140,22 @@ extern void stm32hal_board_init(void);
 
         #include "../src/board/strain2/v190/inc/stm32l4xx_it.h"
 
+    #elif(STM32HAL_DRIVER_VERSION == 0x1B0)
+
+        #include "../src/config/stm32hal_driver_cfg_of_strain2_v1B0.h"
+
+        #include "../src/board/strain2/v1B0/inc/adc.h"
+        #include "../src/board/strain2/v1B0/inc/can.h"
+        #include "../src/board/strain2/v1B0/inc/dma.h"
+        #include "../src/board/strain2/v1B0/inc/gpio.h"
+        #include "../src/board/strain2/v1B0/inc/i2c.h"
+        #include "../src/board/strain2/v1B0/inc/main.h"
+        #include "../src/board/strain2/v1B0/inc/rng.h"
+        #include "../src/board/strain2/v1B0/inc/tim.h"
+        #include "../src/board/strain2/v1B0/inc/usart.h"
+
+        #include "../src/board/strain2/v1B0/inc/stm32l4xx_it.h"
+
     #else
         #error unsupported driver version for strain2
     #endif
@@ -148,7 +164,7 @@ extern void stm32hal_board_init(void);
 #elif   defined(STM32HAL_BOARD_PSC)	
 
 // one case only: v190
-    #if (STM32HAL_DRIVER_VERSION == 190)
+    #if (STM32HAL_DRIVER_VERSION == 0x190)
 
         #include "../src/config/stm32hal_driver_cfg_of_psc_v190.h"
 
@@ -170,7 +186,7 @@ extern void stm32hal_board_init(void);
 #elif   defined(STM32HAL_BOARD_RFE) 
 
     // one case only: v183
-    #if (STM32HAL_DRIVER_VERSION == 183)
+    #if (STM32HAL_DRIVER_VERSION == 0x183)
 
         #include "../src/config/stm32hal_driver_cfg_of_rfe.h"
 
@@ -193,7 +209,7 @@ extern void stm32hal_board_init(void);
 #elif   defined(STM32HAL_BOARD_SG3) 
 
     // one case only: v190
-    #if (STM32HAL_DRIVER_VERSION == 190)
+    #if (STM32HAL_DRIVER_VERSION == 0x190)
 
         #include "../src/config/stm32hal_driver_cfg_of_sg3_v190.h"
 

emBODY/eBcode/arch-arm/libs/lowlevel/stm32hal/api/stm32hal_driver.h

@@ -42,30 +42,32 @@ extern "C" {
     #if !defined(STM32HAL_DRIVER_V172)
         #define STM32HAL_DRIVER_V172
     #endif
-    #define STM32HAL_DRIVER_VERSION 172
+    #define STM32HAL_DRIVER_VERSION 0x172
 
 #elif   defined(STM32HAL_BOARD_MTB4)
 
 // two possible drivers. default is the 190 ...
     #if     defined(STM32HAL_DRIVER_V172)    
-        #define STM32HAL_DRIVER_VERSION 172  
+        #define STM32HAL_DRIVER_VERSION 0x172  
     #else   
         #if !defined(STM32HAL_DRIVER_V190)
             #define STM32HAL_DRIVER_V190
         #endif        
-        #define STM32HAL_DRIVER_VERSION 190   
+        #define STM32HAL_DRIVER_VERSION 0x190   
     #endif
 
 #elif   defined(STM32HAL_BOARD_STRAIN2)
 
-    // two possible drivers. default is the 190 ...
+    // three possible drivers. default is the 1B0 ...
     #if     defined(STM32HAL_DRIVER_V172)    
-        #define STM32HAL_DRIVER_VERSION 172  
+        #define STM32HAL_DRIVER_VERSION 0x172  
+    #elif   defined(STM32HAL_DRIVER_V190)
+        #define STM32HAL_DRIVER_VERSION 0x190
     #else   
-        #if !defined(STM32HAL_DRIVER_V190)
-            #define STM32HAL_DRIVER_V190
+        #if !defined(STM32HAL_DRIVER_V1B0)
+            #define STM32HAL_DRIVER_V1B0
         #endif        
-        #define STM32HAL_DRIVER_VERSION 190   
+        #define STM32HAL_DRIVER_VERSION 0x1B0   
     #endif
 
 #elif   defined(STM32HAL_BOARD_RFE)
@@ -74,23 +76,23 @@ extern "C" {
     #if !defined(STM32HAL_DRIVER_V183)
         #define STM32HAL_DRIVER_V183
     #endif
-    #define STM32HAL_DRIVER_VERSION 183
+    #define STM32HAL_DRIVER_VERSION 0x183
 
 #elif   defined(STM32HAL_BOARD_PSC)
 
     // only one possible driver
     #if !defined(STM32HAL_DRIVER_V190)
         #define STM32HAL_DRIVER_V190
     #endif
-    #define STM32HAL_DRIVER_VERSION 190
+    #define STM32HAL_DRIVER_VERSION 0x190
 
 #elif   defined(STM32HAL_BOARD_SG3)
 
     // only one possible driver
     #if !defined(STM32HAL_DRIVER_V190)
         #define STM32HAL_DRIVER_V190
     #endif
-    #define STM32HAL_DRIVER_VERSION 190
+    #define STM32HAL_DRIVER_VERSION 0x190
 
 
 #else
@@ -100,7 +102,7 @@ extern "C" {
 
 // now extra code-shaping macros which depend on the driver version
 
-#if (STM32HAL_DRIVER_VERSION >= 183)
+#if (STM32HAL_DRIVER_VERSION >= 0x183)
     // there is a new api for can
     #if !defined(USE_HAL_CAN_REGISTER_CALLBACKS)
     #define USE_HAL_CAN_REGISTER_CALLBACKS 1
@@ -116,6 +118,8 @@ extern "C" {
     #include "../src/driver/stm32l4-v183/inc/stm32l4xx_hal.h"
 #elif   defined(STM32HAL_DRIVER_V190)        
     #include "../src/driver/stm32l4-v190/inc/stm32l4xx_hal.h"
+#elif   defined(STM32HAL_DRIVER_V1B0)        
+    #include "../src/driver/stm32l4-v1B0/inc/stm32l4xx_hal.h"
 #else
     #error STM32HAL: the STM32HAL_DRIVER_${VER} is not managed
 #endif