configure

#!/bin/bash

#
# Copyright (C) 2004 Edouard TISSERRANT, Laurent BESSARD
# Based on Gabriel Gerhardsson's cacheprobe configure script.
#
# This file is part of CanFestival, a library implementing CanOpen Stack.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 2.1 of the License, or (at your option) any later version.
#
# This library 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
# Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License along with this library; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
#

###########################################################################
#                       DEFAULT CANFESTIVAL DEFINES                       #
###########################################################################

# Number of can bus to use
MAX_CAN_BUS_ID=1

# max bytes to transmit by SDO Put 4 if you only support expedited transfer.
#For a normal transfer, (usually for a string), put the maximum string size to transfer.
SDO_MAX_LENGTH_TRANSFER=32

# For block transfer, number of segments transmitted at once.
# SDO_BLOCK_SIZE CAN frames must fit into the CAN Tx buffer
SDO_BLOCK_SIZE=16

# Number of SDO from differents nodes that the node can manage concurrently.
#for a slave node, usually put 1.
SDO_MAX_SIMULTANEOUS_TRANSFERS=4

# Used for NMTable[bus][nodeId]
# You can put less of 128 if on the netwo
# are connected only smaller nodeId node.
NMT_MAX_NODE_ID=128

#Timeout in milliseconds for SDO.
#    Comment the #define if not used (infinite wait for SDO response message)
SDO_TIMEOUT_MS=3000

MAX_NB_TIMER=32

# Generic timers declaration defaults
US_TO_TIMEVAL_FACTOR=
TIMEVAL=
TIMEVAL_MAX=

# Default to little-endian
CANOPEN_BIG_ENDIAN=

# Max number of active errors managed in error_data structure.
EMCY_MAX_ERRORS=8

#Timeout in milliseconds for LSS.
LSS_TIMEOUT_MS=1000
#Timeout in milliseconds for LSS FastScan.
LSS_FS_TIMEOUT_MS=100

#Size of dynamic buffer to use when the static is full. 0 to disable SDO dynamic buffer allocation
SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE=0


###########################################################################
#                             DEFAULT BUILD OPTIONS                       #
###########################################################################

#default target
SUB_TARGET=

# First compiler option - we will check if it exists
CC1=gcc
# Second compiler option - we will check if it exists
CC2=cc

# Install prefix
SUB_PREFIX=

# Used for C compiler test/detection
CFLAGS=
test=conftest
rm -f $test $test.c

if [ "$XENO_CONFIG" = "" ]; then
	XENO_CONFIG=xeno-config
fi

if [ "$RTAI_CONFIG" = "" ]; then
	RTAI_CONFIG=/usr/realtime/bin/rtai-config
fi

###########################################################################
#                          ARGUMENTS PARSING                              #
###########################################################################
while [ $# -ge 1 ]; do
	optarg=`expr "x$1" : 'x[^=]*=\(.*\)'`

	case $1 in
	--cc=*)		CC=$optarg;;
	--cxx=*)	CXX=$optarg;;
	--ld=*)		LD=$optarg;;
	--python=*)	PYTHON=$optarg;;
	--binutils=*)   BINUTILS_PREFIX=$optarg;;
	--arch=*)	SUB_ARCH_NAME=$optarg;;
	--os=*)		SUB_OS_NAME=$optarg;;
	--kerneldir=*)	SUB_KERNELDIR=$optarg;;
	--prefix=*)	SUB_PREFIX=$optarg;;
	--target=*)	SUB_TARGET=$optarg;;
	--can=*)	SUB_CAN_DRIVER=$optarg;;
	--timers=*)	SUB_TIMERS_DRIVER=$optarg;;
	--wx=*)		SUB_WX=$optarg;
			echo "Forced wx detection to $optarg";;
	--disable-Ox)	DISABLE_OPT=1;
			echo "On user request: Won't optimize with \"-Ox\"";;
	--disable-dll)	DISABLE_DLL=1;
			echo "On user request: Won't create and link to dll";;
	--enable-lss)	ENABLE_LSS=1;
			echo "On user request: LSS services enabled";;
	--enable-shared) ENABLE_SHARED="1";
			echo "Create shared library for unix";;
	--enable-lss-fs)	ENABLE_LSS_FS=1;
			echo "On user request: LSS FastScan service enabled";;
	--debug=*)	DEBUG=$optarg;;
	--MAX_CAN_BUS_ID=*)	MAX_CAN_BUS_ID=$optarg;;
	--SDO_MAX_LENGTH_TRANSFER=*)	SDO_MAX_LENGTH_TRANSFER=$optarg;;
	--SDO_BLOCK_SIZE=*)	SDO_BLOCK_SIZE=$optarg;;
	--SDO_MAX_SIMULTANEOUS_TRANSFERS=*)	SDO_MAX_SIMULTANEOUS_TRANSFERS=$optarg;;
	--NMT_MAX_NODE_ID=*)	NMT_MAX_NODE_ID=$optarg;;
	--SDO_TIMEOUT_MS=*)	SDO_TIMEOUT_MS=$optarg;;
	--CANOPEN_BIG_ENDIAN=*)	CANOPEN_BIG_ENDIAN=$optarg;;
	--MAX_NB_TIMER=*) MAX_NB_TIMER=$optarg;;
	--EMCY_MAX_ERRORS=*) EMCY_MAX_ERRORS=$optarg;;
	--LSS_TIMEOUT_MS=*)	LSS_TIMEOUT_MS=$optarg;;
	--LSS_FS_TIMEOUT_MS=*)	LSS_FS_TIMEOUT_MS=$optarg;;
	--SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE=*)	SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE=$optarg;;
	--help)
		echo	"Usage: ./configure [options]"
		echo	"Options:"
		echo 	" --cc=foo      Use C compiler 'foo' instead of defaults ${CC1} or ${CC2}."
		echo 	" --cxx=foo     Use C++ compiler 'foo' instead of defaults g++."
		echo 	" --ld=foo      Use linker 'foo' instead of ld."
		echo 	" --python=foo  Use python interpreter 'foo' instead of defaults python."
		echo 	" --arch=foo    Use architecture 'foo' instead of trying to autodetect."
		echo 	" --os=foo      Use operative system 'foo' instead of trying to autodetect."
		echo 	" --kerneldir=foo   Use 'foo' as kernel source directory instead of default"
		echo 	" --prefix=foo  Use prefix 'foo' instead of default ${SUB_PREFIX}."
		echo 	" --target=foo  Use 'foo' as build target."
		echo	"               \"unix\" for unix-like systems (Linux, Cygwin)"
		echo	"               \"win32\" for win32 systems (native, mingw or VC++)"
		echo	"               \"hcs12\" for HCS12 micro-controller"
		echo 	" --can=foo	Use 'foo' as CAN driver"
		echo	"               \"anagate_linux\" use AnaGate CAN(duo) driver for linux"
		echo	"               \"anagate_win32\" use AnaGate CAN(duo) driver for win32"
		echo	"               \"peak_linux\" use Linux build host installed Peak driver and library"
		echo	"                 see http://www.peak-system.com/linux/"
		echo	"               \"peak_win32\" use win32 PcanLight Peak driver and library with Cygwin"
		echo	"                 see http://www.peak-system.com/themen/download_gb.html"
		echo	"               \"virtual\" use unix pipe based virtual can driver"
		echo	"               \"virtual_kernel\" use kernel module virtual can driver"
		echo	"               \"socket\" use socket-can  "
		echo	"                 see http://developer.berlios.de/projects/socketcan/"
		echo	"               \"lincan\" lincan driver"
		echo	"                 see http://www.ocera.org/download/components/WP7/lincan-0.3.3.html"
		echo	"               \"can4linux\" can4linux driver"
		echo	"                 see http://www.port.de/engl/canprod/hw_can4linux.html"
		echo	"               \"copcican_linux\" user space driver interface for CO-PCICAN card"
		echo	"                 see http://www.cosateq.com/"
		echo	"               \"copcican_comedi\" COMEDI driver interface for CO-PCICAN card"
		echo	"                 see http://www.cosateq.com/"
		echo 	" --timers=foo  Use 'foo' as TIMERS driver (can be 'unix', 'xeno', 'rtai', 'kernel' or 'kernel_xeno')"
		echo 	" --wx=foo      Force result of WxWidgets detection (0 or 1)"
		echo 	" --binutils=path   Override binutils path detection (as regards \$CC content)"
		echo 	" --disable-dll Disable run-time dynamic linking of can, led and nvram drivers"
		echo 	" --enable-lss  Enable the LSS services"
		echo 	" --enable-lss-fs  Enable the LSS FastScan service"
		echo	" --disable-Ox  Disable gcc \"-Ox\" optimizations."
		echo	" --enable-shared Enable shared library compilation."
		echo	" --debug=foo,foo,..   Enable debug messages, ERR -> only errors, WAR)."
		echo	"               \"PDO\" send errors and warnings through PDO messages"
		echo	"               \"ERR\" print errors only, to stdout"
		echo	"               \"WAR\" print errors and warnings, to stdout"
		echo	"               \"MSG\" print messages content, to stdout"
		echo
		echo	"Stack compilation constants"
		echo	" --MAX_CAN_BUS_ID [=1] Number of can bus to use"
		echo	" --SDO_MAX_LENGTH_TRANSFER [=32] max bytes to transmit by SDO"
		echo	" --SDO_BLOCK_SIZE [=16] max CAN frames transmitted at once for block transfer"
		echo	" --SDO_MAX_SIMULTANEOUS_TRANSFERS [=4] Number of SDO that the node can manage concurrently"
		echo	" --NMT_MAX_NODE_ID [=128] can be reduced to gain memory on small network"
		echo	" --SDO_TIMEOUT_MS [=3000] Timeout in milliseconds for SDO (None to disable the feature)"
		echo	" --EMCY_MAX_ERRORS [=8] Max number of active errors managed in error_data structure"
		echo	" --LSS_TIMEOUT_MS [=1000] Timeout in milliseconds for LSS services."
		echo	"                          LSS must be enabled with \"--enable-lss\""
		echo	" --LSS_FS_TIMEOUT_MS [=100] Timeout in milliseconds for LSS FastScan service."
		echo	"                          LSS FastScan must be enabled with \"--enable-lss-fs\""
		echo	" --SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE [=0] Max size of dynamic memory to use if SDO_MAX_LENGTH_TRANSFER exceeded"
		echo    "                          (0 to disable feature)"
		exit 0;;
	*)		echo "Unknown argument ${1}"; exit -1;;
	esac

	shift
done

###########################################################################
#                              GUESS OS/ARCH                              #
###########################################################################

if [ "$SUB_OS_NAME" = "" ]; then
	SUB_OS_NAME="`(uname -s | sed \"s/\//-/\" | sed \"s/_/-/\" \
			| sed \"s/-.*//g\") 2>&1`"
fi

if [ "$SUB_ARCH_NAME" = "" ]; then
	if [ "$CC" = "" ]; then
		A_NAME="`(uname -m) 2>&1`"
	else
		A_NAME="`$CC -dumpmachine | sed 's:-.*::'`"
	fi
fi

# x86
if [ "$A_NAME" = "i386" -o "$A_NAME" = "i486" -o "$A_NAME" = "i586" -o "$A_NAME" = "i686" -o "$A_NAME" = "x86" ]; then
	SUB_ARCH_NAME=x86
fi

# x86_64
if [ "$A_NAME" = "x86_64" ]; then
	SUB_ARCH_NAME=x86_64
fi

# ppc
if [ "$A_NAME" = "powerpc" ]; then
	SUB_ARCH_NAME=ppc
fi

# ppc64
if [ "$A_NAME" = "powerpc64" ]; then
	SUB_ARCH_NAME=ppc64
fi

# arm
if [ "${A_NAME:0:3}" = "arm" ]; then
	SUB_ARCH_NAME=arm
fi

# mingw32
if [ "$A_NAME" = "mingw32" ]; then
	SUB_ARCH_NAME=mingw32
fi

if [ "$SUB_ARCH_NAME" = "" ]; then
	echo "Error: could not detect what architecture this system is running!"
	echo "Please supply manually instead with \"--arch=foo\""
	exit -1
fi

echo "Host OS: ${SUB_OS_NAME}"
echo "Host arch: ${SUB_ARCH_NAME}"

if [ "$SUB_ARCH_NAME" = "ppc" -o "$SUB_ARCH_NAME" = "powerpc" ]; then
	# PowerPC uses big endian format
	CANOPEN_BIG_ENDIAN=1
fi

###########################################################################
#                      DEFAULT TARGET/DRIVERS GUESSING                    #
###########################################################################
# If target not specified, try to guess one
if [ "$SUB_TARGET" = "" ]; then
	if [ "$SUB_OS_NAME" = "CYGWIN" ]; then
		echo "Choosing unix (cygwin) target"
		SUB_TARGET=unix
	fi
	if [ "$SUB_OS_NAME" = "Linux" ]; then
		echo "Choosing unix target"
		SUB_TARGET=unix
	fi
	if [ "$SUB_OS_NAME" = "MINGW32" ]; then
		echo "Choosing windows target"
		SUB_TARGET=win32
	fi
fi

# Try to guess can
if [ "$SUB_CAN_DRIVER" = "" ]; then
	if [ "$SUB_TARGET" = "unix" ]; then
		if [ -e /usr/lib/libpcan.so ]; then
			echo "Choosing installed Peak driver as CAN driver."
			SUB_CAN_DRIVER=peak_linux
		elif [ "$SUB_OS_NAME" = "CYGWIN" -a "$PCAN_LIB" != "" ]; then
			echo "Choosing installed Peak driver as CAN driver."
			SUB_CAN_DRIVER=peak_win32
		elif [ -e /usr/lib/libcanlib.so ]; then
			echo "Choosing installed Kvaser driver as CAN driver. (unix)"
			SUB_CAN_DRIVER=kvaser
		elif [ -e /usr/local/lib/libAnaGateAPIDLL.so ]; then
			echo "Choosing installed AnaGate driver as CAN driver. (unix)"
			SUB_CAN_DRIVER=anagate_linux
		elif [ -e /usr/local/lib/libcanfestival_can_copcican_linux.so ]; then
			echo "Choosing installed CO-PCICAN driver as CAN driver. (unix)"
			SUB_CAN_DRIVER=copcican_linux
		elif [ -e /usr/local/lib/libcanfestival_can_copcican_comedi.so ]; then
			echo "Choosing installed CO-PCICAN driver as CAN driver. (unix)"
			SUB_CAN_DRIVER=copcican_comedi
		elif [ "$SUB_OS_NAME" = "CYGWIN" -a "$KVASER_DLL_PATH" != "" ]; then
			echo "Choosing installed Kvaser driver as CAN driver. (cygwin)"
			SUB_CAN_DRIVER=kvaser
		else
			echo "Choosing virtual CAN driver."
			SUB_CAN_DRIVER=virtual
		fi
	fi
fi

# If target is unix, default timers also
if [ "$SUB_TARGET" = "unix" -a "$SUB_TIMERS_DRIVER" = "" ]; then
	echo "Choosing unix timers driver."
	SUB_TIMERS_DRIVER=unix
fi

# If target is windows, default timers also
if [ "$SUB_TARGET" = "win32" -a "$SUB_TIMERS_DRIVER" = "" ]; then
	echo "Choosing windows timers driver."
	SUB_TIMERS_DRIVER=win32
fi

# Warn for unstalled peak driver if choosen
if [ "$SUB_CAN_DRIVER" = "peak" ]; then
	if [ ! -e /usr/lib/libpcan.so ]; then
		echo "Peak driver hasn't been installed !"
		exit -1
	fi
fi

# Warn for unstalled peak driver if choosen
if [ "$SUB_CAN_DRIVER" = "anagate_linux" ]; then
	if [ ! -e /usr/local/lib/libAnaGateAPIDLL.so ]; then
		echo "AnaGateCAN driver hasn't been installed !"
		exit -1
	fi
fi

# Warn for unstalled CO-PCICAN driver if choosen
if [ "$SUB_CAN_DRIVER" = "copcican_linux" ]; then
	if [ ! -e /usr/local/lib/libcanfestival_can_copcican_linux.so ]; then
		echo "CO-PCICAN driver hasn't been installed !"
		exit -1
	fi
fi

# Warn for unstalled kvaser driver if choosen
if [ "$SUB_CAN_DRIVER" = "kvaser" ]; then
	if [ "$SUB_OS_NAME" = "CYGWIN" ]; then
        if [ ! -e "$KVASER_DLL_PATH/canlib32.dll" ]; then
            echo "Kvaser driver hasn't been installed (cygwin)"
            exit -1
        fi
    elif  [ "$SUB_OS_NAME" = "LINUX" ]; then
        if [ ! -e /usr/lib/libcanlib.so ]; then
            echo "Kvaser driver hasn't been installed (unix)"
            exit -1
        fi
	fi
fi

###########################################################################
#              TARGET/DRIVER SPECIFIC CFLAGS and OPTIONS                  #
###########################################################################
if [ "$SUB_TARGET" = "hcs12" ]; then
	# Only if we want to compile for a C HCS12
       # it is a big endian architecture.
       CANOPEN_BIG_ENDIAN=1
	# search for gcc hcs12 compiler m6811-elf-gcc or m68hc12-gcc ?
	if [ "$CC" = "" ]; then
		which m6811-elf-gcc >/dev/null 2>&1
		if (( $? )); then
			which m68hc12-gcc >/dev/null 2>&1
			if (( $? )); then
				echo "Please use --cc flag to specify compiler"
				exit 0
			else
				CC=m68hc12-gcc
			fi
		else
			CC=m6811-elf-gcc
			SUB_PROG_CFLAGS=-m68hc12
		fi
	fi
fi

if [ "$SUB_TARGET" = "cm4" ]; then
	# Only if we want to compile for a cortex-M4
	if [ "$CC" = "" ]; then
		which arm-none-eabi-gcc >/dev/null 2>&1
		if (( $? )); then
			echo "Please put the arm-none-eabi-gcc command in the PATH"
			exit 0
		else
			CC=arm-none-eabi-gcc
			SUB_PROG_CFLAGS='-mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -Wall -std=gnu90 -O2 -ffunction-sections -fdata-sections'
		fi
	fi
fi

if [ "$SUB_TARGET" = "cm3" ]; then
	# Only if we want to compile for a cortex-M3
	if [ "$CC" = "" ]; then
		which arm-none-eabi-gcc >/dev/null 2>&1
		if (( $? )); then
			echo "Please put the arm-none-eabi-gcc command in the PATH"
			exit 0
		else
			CC=arm-none-eabi-gcc
			SUB_PROG_CFLAGS='-mthumb -mcpu=cortex-m3 -Wall -std=gnu90 -O2 -ffunction-sections -fdata-sections'
		fi
	fi
fi

if [ "$SUB_TARGET" = "cm0" ]; then
	# Only if we want to compile for a cortex-M0
	if [ "$CC" = "" ]; then
		which arm-none-eabi-gcc >/dev/null 2>&1
		if (( $? )); then
			echo "Please put the arm-none-eabi-gcc command in the PATH"
			exit 0
		else
			CC=arm-none-eabi-gcc
			SUB_PROG_CFLAGS='-mthumb -mcpu=cortex-m0 -Wall -std=gnu90 -O2 -ffunction-sections -fdata-sections'
		fi
	fi
fi

#### CAN_DRIVER ####

if [ "$SUB_CAN_DRIVER" = "kvaser" ]; then
	if [ "$SUB_TARGET" = "unix" ]; then
        if  [ "$SUB_OS_NAME" = "LINUX" ]; then
            SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lcanlib
		elif [ "$SUB_OS_NAME" = "CYGWIN" ]; then
	        if [ "$KVASER_INCLUDE_PATH" = "" -o "$KVASER_DLL_PATH" = "" ]; then
		        echo "!!! ERROR !!! Please set KVASER_DLL_PATH and KVASER_INCLUDE_PATH to appropriate paths ! "
            else
                SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -L$KVASER_DLL_PATH\ -lcanlib32
                SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -I$KVASER_INCLUDE_PATH
            fi
        fi
    fi
fi

if [ "$SUB_CAN_DRIVER" = "peak_linux" ]; then
    SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lpcan
fi

if [ "$SUB_CAN_DRIVER" = "anagate_linux" ]; then
    SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lAnaGateAPIDLL
    SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lAnaCommon
fi


if [ "$SUB_CAN_DRIVER" = "vscom" ]; then
    if  [ "$SUB_OS_NAME" = "Linux" ]; then
	if [ "$SUB_ARCH_NAME" = "x86" ]; then
	    SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -LLinux\ -lvs_can_api
        elif [ "$SUB_ARCH_NAME" = "x86_64" ]; then
	    SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -L\'Linux\ x86-64\'\ -lvs_can_api_x86-64
	else
	    echo "!!! ERROR !!! Please adapt the configure script for your SUB_ARCH_NAME" $SUB_ARCH_NAME
        fi
    else
	echo "!!! ERROR !!! Please adapt the configure script for your SUB_OS_NAME" $SUB_OS_NAME
    fi
fi

if [ "$SUB_CAN_DRIVER" = "anagate_win32" ]; then
    SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lAnaGateCan
fi

PW32DIR=drivers/can_peak_win32
if [ "$SUB_CAN_DRIVER" = "peak_win32" ]; then
	if [ "$PCAN_HEADER" = "" -o "$PCAN_LIB" = "" ]; then
		echo "!!! ERROR !!! Please set PCAN_LIB PCAN_HEADER [PCAN_INCLUDE] to appropriate paths ! "
	fi
   	SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -liberty\ \'$PCAN_LIB\'
	echo "Converting PcanLib header files for gcc -> $PW32DIR/cancfg.h"
	cat $PW32DIR/cancfg.h.head $PCAN_INCLUDE/$PCAN_HEADER > $PW32DIR/cancfg.h
	echo >> $PW32DIR/cancfg.h
	# second port handling
	if [ "$PCAN2_HEADER" != "" ]; then
		echo "Stripping down second Pcan Light header "
		echo >> $PW32DIR/cancfg.h
		echo "// Stripped PcanLight header to prevent typedef conflicts ">> $PW32DIR/cancfg.h
		echo >> $PW32DIR/cancfg.h
		grep __stdcall $PCAN_INCLUDE/$PCAN2_HEADER >> $PW32DIR/cancfg.h
		echo '#define PCAN2_HEADER_' >> $PW32DIR/cancfg.h
	   	SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ \'$PCAN2_LIB\'
	fi
	if grep -q CANHwType $PW32DIR/cancfg.h ; then
		echo "Peak Init HwType, IO_Port and IRQ will be passed in environment :"
		echo "	PCANHwType PCANIO_Port PCANInterupt"
		echo '#define extra_PCAN_init_params' >> $PW32DIR/cancfg.h
	fi
	if ! grep -q CAN_Init $PW32DIR/cancfg.h ; then
		echo "Pcan Light header/lib is for second port of device only"
		echo "CAN_* calls redefined to CAN2_* "
		echo '#define CAN_Init CAN2_Init' >> $PW32DIR/cancfg.h
		echo '#define CAN_Read CAN2_Read' >> $PW32DIR/cancfg.h
		echo '#define CAN_ReadEx CAN2_ReadEx' >> $PW32DIR/cancfg.h
		echo '#define CAN_SetRcvEvent CAN2_SetRcvEvent' >> $PW32DIR/cancfg.h
		echo '#define CAN_Write CAN2_Write' >> $PW32DIR/cancfg.h
		echo '#define CAN_Close CAN2_Close' >> $PW32DIR/cancfg.h
	fi
	cat $PW32DIR/cancfg.h.tail >> $PW32DIR/cancfg.h
fi

if [ "$SUB_CAN_DRIVER" = "none" ]; then
	SUB_CAN_DRIVER=
fi

#### TIMERS_DRIVER ####

if [ "$SUB_TIMERS_DRIVER" = "unix" ]; then
	if [ "$SUB_OS_NAME" != "CYGWIN" ]; then
	   SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lpthread\ -lrt
	fi
fi

if [ "$SUB_TIMERS_DRIVER" = "xeno" ]; then
    SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ `$XENO_CONFIG --skin=native --ldflags`\ -lrtdm
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DUSE_XENO\ `$XENO_CONFIG --skin=rtdm --cflags`
    RTCAN_SOCKET=1
fi

if [ "$SUB_TIMERS_DRIVER" = "rtai" ]; then
	RT_LIB_DIR=`$RTAI_CONFIG --library-dir`\ -Wl,-rpath\ `$RTAI_CONFIG --library-dir`
    SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ `$RTAI_CONFIG --lxrt-ldflags`\ -L$RT_LIB_DIR\ -llxrt
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DUSE_RTAI\ `$RTAI_CONFIG --lxrt-cflags`
    RTCAN_SOCKET=1
fi

if [ "$SUB_TIMERS_DRIVER" = "kernel" ]; then
	DISABLE_DLL=1
	if [ "$SUB_KERNELDIR" = "" ]; then
		# use directory of current kernel
		SUB_KERNELDIR=/lib/modules/$(uname -r)/build
	fi
fi

if [ "$SUB_TIMERS_DRIVER" = "kernel_xeno" ]; then
	DISABLE_DLL=1
	if [ "$SUB_KERNELDIR" = "" ]; then
		# use directory of current kernel
		SUB_KERNELDIR=/lib/modules/$(uname -r)/build
	fi

	# Also get the xenomai config
	RT_LIB_DIR=`$XENO_CONFIG --library-dir`\ -Wl,-rpath\ `$XENO_CONFIG --library-dir`
    SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ `$XENO_CONFIG --xeno-ldflags`\ -L$RT_LIB_DIR\ -lnative\ -lrtdm
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DUSE_XENO\ `$XENO_CONFIG --xeno-cflags`
    RTCAN_SOCKET=1
fi

if [ "$SUB_TIMERS_DRIVER" = "none" ]; then
	SUB_TIMERS_DRIVER=
fi

###########################################################################
#                              GUESS TOOLCHAIN                            #
###########################################################################
# If CC is empty, the user wanted automatic detection
if [ "$CC" = "" ]; then
	# Check for second compiler, CC2
	cat > $test.c <<EOF
	int main() { return 0; }
EOF
	if test "`($CC2 -c $CFLAGS $test.c) 2>&1`" = ""; then
		DETECTCC=$CC2
		echo "Checking for ${CC2}... Yes."
	else
		echo "Checking for ${CC2}... No."
	fi
	rm -f $test.c $test.o

	# Check for first compiler, CC1
	cat > $test.c <<EOF
	int main() { return 0; }
EOF
	if test "`($CC1 -c $CFLAGS $test.c) 2>&1`" = ""; then
		DETECTCC=$CC1
		echo "Checking for ${CC1}... Yes."
	else
		echo "Checking for ${CC1}... No."
	fi
	rm -f $test.c $test.o
	CC=$DETECTCC
fi
# Check if we decided on a compiler after all
if [ "$CC" = "" ]; then
	echo "Error: Could not find a C compiler"
	echo "Please supply the wanted compiler"
	exit -1
fi

echo "Using ${CC} as a C compiler"

if [ "$SUB_ARCH_NAME" = "x86_64" -a "$CC" = "gcc" ]; then
	# Only if we are on x86_64 and using gcc
	# For shared library generation, it needs this
	SUB_PROG_CFLAGS+=\ -fPIC
fi

if [ "$SUB_ARCH_NAME" = "arm" -a "${CC:(-3)}" = "gcc" ]; then
	# On arm using gcc too
	SUB_PROG_CFLAGS+=\ -fPIC
fi

if [ "$BINUTILS_PREFIX" = "" ]; then
	SUB_BINUTILS_PREFIX=`echo "$CC" | sed 's/gcc$//'`
else
	SUB_BINUTILS_PREFIX=$BINUTILS_PREFIX
fi

if [ "$CXX" = "" ]; then
	CXX=${SUB_BINUTILS_PREFIX}g++
fi

echo "Using ${CXX} as a C++ compiler"

if [ "$SUB_TARGET" = "win32" ]; then
	# on cygwin/mingw, choose  g++ as a linker for native target
	if [ "$LD" = "" ]; then
		LD=$CXX
	fi
	if [ "$SUB_OS_NAME" = "CYGWIN" ]; then
		SUB_PROG_CFLAGS="-mno-cygwin"
	fi
fi

if [ "$SUB_TARGET" = "unix" ]; then
	if [ "$LD" = "" ]; then
		LD=$CXX
	fi
fi

echo "Using ${LD} as a linker"

if [ "$PYTHON" = "" ]; then
	PYTHON=python
fi

# Guess prefix as regard cross compiling target machine
if [ "$SUB_PREFIX" = "" ]; then
	$CC -dumpspecs |grep -A 1 'cross_compile'|grep -q 1
	if (( $? )); then
		SUB_PREFIX=/usr/local
		echo "Not cross-compiling. Will install in $SUB_PREFIX";
	else
		SUB_PREFIX=/usr/`$CC -dumpmachine | tr -d '\r\n'`
		echo "This is a cross-compiler. Will install in $SUB_PREFIX";
	fi
fi

echo "Using prefix: ${SUB_PREFIX}"

###########################################################################
#                           GUESS DEPENDENCIES                            #
###########################################################################

if [ "$SUB_WX" = "" ]; then
	if which wx-config >/dev/null 2>&1; then
		echo -n "Testing wxWidgets compiles ... "
		cat > /tmp/wx_test.cpp <<EOF
#include "wx/wx.h"
class MyApp : public wxApp
{
};
IMPLEMENT_APP(MyApp)
EOF
		if $CXX /tmp/wx_test.cpp `wx-config --cxxflags` `wx-config --libs` -o /tmp/wx_test >/dev/null 2>&1 ; then
			SUB_WX=1
			echo "Yes"
		else
			SUB_WX=0
			echo "No"
		fi
		rm -f /tmp/wx_test*
	else
		SUB_WX=0
		echo "No wxWidgets available"
	fi
fi
###########################################################################
#                   CANFESTIVAL DEFINES --> config.h                      #
###########################################################################
# Some CONSTANTS preparation

# Create include/config.h with the relevant contents
rm -f include/config.h
echo "/* !!!!!!!!!! FILE GENERATED by configure. DO NOT EDIT !!!!!!!!!!*/" >>  include/config.h
echo "" >>  include/config.h
echo "/*"\ >>  include/config.h
echo "This file is part of CanFestival, a library implementing CanOpen Stack." >> include/config.h
echo "" >> include/config.h
echo "Copyright (C): Edouard TISSERANT and Francis DUPIN" >> include/config.h
echo "See COPYING file for copyrights details." >> include/config.h
echo "" >> include/config.h
echo "This library is free software; you can redistribute it and/or" >> include/config.h
echo "modify it under the terms of the GNU Lesser General Public" >> include/config.h
echo "License as published by the Free Software Foundation; either" >> include/config.h
echo "version 2.1 of the License, or (at your option) any later version." >> include/config.h
echo "" >> include/config.h
echo "This library is distributed in the hope that it will be useful," >> include/config.h
echo "but WITHOUT ANY WARRANTY; without even the implied warranty of" >> include/config.h
echo "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU" >> include/config.h
echo "Lesser General Public License for more details." >> include/config.h
echo "" >> include/config.h
echo "You should have received a copy of the GNU Lesser General Public" >> include/config.h
echo "License along with this library; if not, write to the Free Software" >> include/config.h
echo "Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA" >> include/config.h
echo "*/" >> include/config.h
echo "" >> include/config.h
echo "#ifndef _CONFIG_H_" >> include/config.h
echo "#define _CONFIG_H_" >> include/config.h
echo "" >> include/config.h

if [ "$SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE" != "0" ]; then
	SDO_DYNAMIC_BUFFER_ALLOCATION="1"
else
	SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE=""
	SDO_DYNAMIC_BUFFER_ALLOCATION=""
fi

for i in \
 MAX_CAN_BUS_ID\
 SDO_MAX_LENGTH_TRANSFER\
 SDO_BLOCK_SIZE\
 SDO_MAX_SIMULTANEOUS_TRANSFERS\
 NMT_MAX_NODE_ID\
 SDO_TIMEOUT_MS\
 MAX_NB_TIMER\
 CANOPEN_BIG_ENDIAN\
 US_TO_TIMEVAL_FACTOR\
 TIMEVAL\
 TIMEVAL_MAX\
 RTCAN_SOCKET\
 EMCY_MAX_ERRORS\
 LSS_TIMEOUT_MS\
 LSS_FS_TIMEOUT_MS\
 SDO_DYNAMIC_BUFFER_ALLOCATION\
 SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE; do
if [ "${!i}" = "" ]; then
echo "/* $i is not defined */" >> include/config.h
else
echo "#define $i ${!i}" >> include/config.h
fi
done
echo "" >> include/config.h

for i in \
 SDO_MAX_SIMULTANEOUS_TRANSFERS\
 NMT_MAX_NODE_ID\
 EMCY_MAX_ERRORS; do
	echo "#define REPEAT_"$i"_TIMES(repeat)\\">> include/config.h
	times=${!i}
	result=""
	for (( j=0; j<times; j++ ));do
		result="$result repeat"
	done
	echo $result >> include/config.h
done

echo "#endif /* _CONFIG_H_ */" >> include/config.h

###########################################################################
#                           DEBUG DEFINES/CFLAGS                          #
###########################################################################

save_ifs="$IFS"; IFS=','

for DEBUG_METHOD in $DEBUG;
	do
	    IFS="$save_ifs"
	    case $DEBUG_METHOD in
	    	ERR)ERR=1;;
	    	WAR)WAR=1;ERR=1;;
	    	MSG)MSG=1;;
	    	PDO)PDO=1;WAR=1;ERR=1;;
	    	*)echo ""
	    	  echo "$DEBUG_METHOD is not a valid debug's method"
	    	  echo "Possible Debug's methods are : \"ERR\", \"WAR\", \"MSG\", \"PDO\""
	    	  exit -1
	    	  ;;
	esac
done

if [ $WAR ]; then
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DDEBUG_WAR_CONSOLE_ON;
fi

if [ $ERR ]; then
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DDEBUG_ERR_CONSOLE_ON;
fi

if [ $MSG ]; then
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DDEBUG_MSG_CONSOLE_ON;
fi

if [ $PDO ]; then
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DDEBUG_PDO_CONSOLE_ON;
fi

if [ $DEBUG ]; then
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -g
fi

IFS="$save_ifs"

if [ "$DISABLE_OPT" = "1" ]; then
	SUB_OPT_CFLAGS=
else
	SUB_OPT_CFLAGS=\$\(OPT_CFLAGS\)
fi

if [ "$ENABLE_SHARED" = "1" ]; then
	SUB_ENABLE_SHARED="1"
fi

if [ "$DISABLE_DLL" = "1" ]; then
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DNOT_USE_DYNAMIC_LOADING
	SUB_ENABLE_DLL_DRIVERS=0
else
	SUB_ENABLE_DLL_DRIVERS=1
	if [ "$SUB_TARGET" = "win32" ]; then
		SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS
	else
		SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -ldl
	fi

fi


if [ "$DISABLE_DLL" = "1" ]; then
	SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ $SUB_CAN_DLL_CFLAGS
fi

if [ $ENABLE_LSS ]; then
	SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DCO_ENABLE_LSS;
	SUB_ENABLE_LSS=1
	if [ $ENABLE_LSS_FS ]; then
		SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DCO_ENABLE_LSS_FS;
	fi
else
	SUB_ENABLE_LSS=0
fi

###########################################################################
#                              CREATE MAKEFILES                           #
###########################################################################
# General Makefiles
MAKEFILES=Makefile.in\
\ src/Makefile.in\
\ src/canfestival.pc.in\
\ drivers/Makefile.in\
\ objdictgen/Makefile.in\
\ examples/Makefile.in\
\ objdictgen/canfestival_config.py.in\
\ drivers/commonDriver.in\

# Drivers dependent Makefiles
if [ "$SUB_TIMERS_DRIVER" != "" ]; then
	MAKEFILES=$MAKEFILES\
\	drivers/timers_$SUB_TIMERS_DRIVER/Makefile.in
fi

if [ "$SUB_CAN_DRIVER" != "" ] && [ -f "drivers/can_$SUB_CAN_DRIVER/Makefile.in" ]; then
	MAKEFILES=$MAKEFILES\
\	drivers/can_$SUB_CAN_DRIVER/Makefile.in
fi

# Target dependent Makefiles
if [ "$SUB_TARGET" != "none" ]; then
    MAKEFILES=$MAKEFILES\ drivers/$SUB_TARGET/Makefile.in
fi

if [ "$SUB_TARGET" = "unix" -a "$SUB_TIMERS_DRIVER" = "kernel" ]; then
	MAKEFILES=$MAKEFILES\
\	examples/kerneltest/Makefile.in\
\	examples/test_copcican_comedi/Makefile.in

elif [ "$SUB_TARGET" = "unix" -a "$SUB_TIMERS_DRIVER" = "kernel_xeno" ]; then
	MAKEFILES=$MAKEFILES\
\	examples/kerneltest/Makefile.in\
\	examples/test_copcican_comedi/Makefile.in

elif [ "$SUB_TARGET" = "unix" ]; then
	MAKEFILES=$MAKEFILES\
\	examples/CANOpenShell/Makefile.in\
\	examples/TestMasterSlave/Makefile.in\
\	examples/TestMasterSlaveLSS/Makefile.in\
\	examples/SillySlave/Makefile.in\
\	examples/TestMasterMicroMod/Makefile.in\
\	examples/test_copcican_linux/Makefile.in\
\	examples/linux/dcf/Makefile.in
fi

if [ "$SUB_TARGET" = "win32" ]; then
	MAKEFILES=$MAKEFILES\
\	examples/CANOpenShell/Makefile.in\
\	examples/TestMasterSlave/Makefile.in\
\	examples/TestMasterSlaveLSS/Makefile.in\
\	examples/SillySlave/Makefile.in\
\	examples/TestMasterMicroMod/Makefile.in
fi

if [ "$SUB_WX" = "1" ]; then
	MAKEFILES=$MAKEFILES\
\	examples/DS401_Master/Makefile.in\
\	examples/DS401_Slave_Gui/Makefile.in
fi

if [ "$SUB_TARGET" = "hcs12" ]; then
	MAKEFILES=$MAKEFILES\
\	examples/gene_SYNC_HCS12/Makefile.in
fi

for makefile_in in $MAKEFILES; do
	makefile=`echo $makefile_in | sed 's:.in$::'`
	echo "Creating $makefile"
	sed < $makefile_in "
	s:SUB_CC:${CC}:
	s:SUB_CXX:${CXX}:
	s:SUB_LD:${LD}:
	s:SUB_PYTHON:${PYTHON}:
	s:SUB_PROG_CFLAGS:${SUB_PROG_CFLAGS}:
	s:SUB_EXE_CFLAGS:${SUB_EXE_CFLAGS}:
	s:SUB_KERNELDIR:${SUB_KERNELDIR}:
	s:SUB_PREFIX:${SUB_PREFIX}:
	s:SUB_OS_NAME:${SUB_OS_NAME}:
	s:SUB_ARCH_NAME:${SUB_ARCH_NAME}:
	s:SUB_OPT_CFLAGS:${SUB_OPT_CFLAGS}:
	s:SUB_ENABLE_SHARED:${SUB_ENABLE_SHARED}:
	s:SUB_TARGET:${SUB_TARGET}:
	s:SUB_BINUTILS_PREFIX:${SUB_BINUTILS_PREFIX}:
	s:SUB_TIMERS_DRIVER:timers_${SUB_TIMERS_DRIVER}:
	s:SUB_CAN_DRIVER:can_${SUB_CAN_DRIVER}:
	s:SUB_CAN_DLL_CFLAGS:${SUB_CAN_DLL_CFLAGS}:
	s:SUB_ENABLE_DLL_DRIVERS:${SUB_ENABLE_DLL_DRIVERS}:
	s:SUB_ENABLE_LSS:${SUB_ENABLE_LSS}:
	s:SUB_WX:${SUB_WX}:
	" > $makefile
done

# append driver list to canfestival_config.py
echo "DLL_LIST=['can_$SUB_CAN_DRIVER']" >> objdictgen/canfestival_config.py

echo "All done."