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eive/eive-obsw
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Merge pull request 'CMake update' (#11) from mueller/cmake-update into develop

Browse Source 
Reviewed-on: eive/eive_obsw#11
This commit is contained in:
Jakob Meier 2020-12-29 17:55:34 +01:00
commit 7ca2cb417c
107 changed files with 2678 additions and 92 deletions
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9
.gitignore vendored
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@ -2,6 +2,15 @@ _obj
_bin _bin
_dep _dep
Debug
Debug*
Release
Release*
MinSizeRel
MinSizeRel*
RelWithDebInfo
RelWithDebInfo*
.settings .settings
.metadata .metadata
.project .project

178
CMakeLists.txt Normal file
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@ -0,0 +1,178 @@
################################################################################
# CMake support for the EIVE OBSW
#
# Developed in an effort to replace Make with a modern build system.
#
# Author: R. Mueller
################################################################################
################################################################################
# Pre-Project preparation
################################################################################
cmake_minimum_required(VERSION 3.13)
# set(CMAKE_VERBOSE TRUE)
set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
if(NOT OS_FSFW)
set(OS_FSFW host CACHE STRING "OS for the FSFW.")
endif()
# Perform steps like loading toolchain files where applicable.
include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
pre_project_config()
# Project Name
project(eive_obsw ASM C CXX)
################################################################################
# Pre-Sources preparation
################################################################################
# Specify the C++ standard
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
# Set names and variables
set(TARGET_NAME ${CMAKE_PROJECT_NAME})
set(LIB_FSFW_NAME fsfw)
set(LIB_CSP_NAME libcsp)
# Set path names
set(FSFW_PATH fsfw)
set(MISSION_PATH mission)
set(CSPLIB_PATH libcsp)
# Analyse different OS and architecture/target options, determine BSP_PATH,
# display information about compiler etc.
include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
pre_source_hw_os_config()
if(TGT_BSP)
if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi")
set(ROOT_CONFIG_FOLDER TRUE)
set(FSFW_CONFIG_PATH "fsfwconfig")
endif()
if(${TGT_BSP} MATCHES "arm/q7s")
set(ADD_CSP_LIB TRUE)
endif()
else()
# Required by FSFW library
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
endif()
################################################################################
# Executable and Sources
################################################################################
# Add executable
add_executable(${TARGET_NAME})
# Add subdirectories
if(ROOT_CONFIG_FOLDER)
add_subdirectory(${FSFW_CONFIG_PATH})
endif()
if(ADD_CSP_LIB)
add_subdirectory(${CSPLIB_PATH})
endif()
add_subdirectory(${BSP_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH})
################################################################################
# Post-Sources preparation
################################################################################
# Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME}
${LIB_OS_NAME}
)
if(ADD_CSP_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_CSP_NAME}
)
endif()
# Add include paths for all sources.
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
${FSFW_CONFIG_PATH}
)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(WARNING_FLAGS
-Wall
-Wextra
-Wshadow=local
-Wimplicit-fallthrough=1
-Wno-unused-parameter
-Wno-psabi
)
# Remove unused sections.
target_compile_options(${TARGET_NAME} PRIVATE
"-ffunction-sections"
"-fdata-sections"
)
# Removed unused sections.
target_link_options(${TARGET_NAME} PRIVATE
"-Wl,--gc-sections"
)
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
set(COMPILER_FLAGS "/permissive-")
endif()
if(CMAKE_VERBOSE)
message(STATUS "Warning flags: ${WARNING_FLAGS}")
endif()
# Compile options for all sources.
target_compile_options(${TARGET_NAME} PRIVATE
${WARNING_FLAGS}
)
if(${CMAKE_CROSSCOMPILING})
include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
post_source_hw_os_config()
endif()
if(NOT CMAKE_SIZE)
set(CMAKE_SIZE size)
if(WIN32)
set(FILE_SUFFIX ".exe")
endif()
endif()
if(TGT_BSP)
set(TARGET_STRING "Target BSP: ${TGT_BSP}")
else()
set(TARGET_STRING "Target BSP: Hosted")
endif()
add_custom_command(
TARGET ${TARGET_NAME}
POST_BUILD
COMMAND echo "Build directory: ${CMAKE_BINARY_DIR}"
COMMAND echo "Target OSAL: ${OS_FSFW}"
COMMAND echo "Target Build Type: ${CMAKE_BUILD_TYPE}"
COMMAND echo "${TARGET_STRING}"
COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
)
include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
set_build_type()

2
Makefile
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@ -13,7 +13,7 @@ SHELL = /bin/sh
# Chip & board used for compilation # Chip & board used for compilation
# (can be overriden by adding CHIP=chip and BOARD=board to the command-line) # (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
BOARD_FILE_ROOT = bsp_linux BOARD_FILE_ROOT = bsp_q7s
BOARD = linux BOARD = linux
OS_FSFW = linux OS_FSFW = linux
CUSTOM_DEFINES += -D$(OS_FSFW) CUSTOM_DEFINES += -D$(OS_FSFW)

10
bsp_hosted/CMakeLists.txt Normal file
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@ -0,0 +1,10 @@
target_sources(${TARGET_NAME} PUBLIC
InitMission.cpp
main.cpp
ObjectFactory.cpp
)
add_subdirectory(fsfwconfig)
add_subdirectory(boardconfig)

8
bsp_hosted/InitMission.cpp
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@ -1,5 +1,7 @@
#include <bsp_linux/InitMission.h> #include "InitMission.h"
#include <bsp_linux/ObjectFactory.h> #include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@ -8,8 +10,6 @@
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h> #include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <objects/systemObjectList.h>
#include <OBSWConfig.h>
#include <iostream> #include <iostream>

10
bsp_hosted/boardconfig/CMakeLists.txt Normal file
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@ -0,0 +1,10 @@
target_sources(${TARGET_NAME} PRIVATE
print.c
)
target_include_directories(${TARGET_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)

8
bsp_hosted/comIF/CMakeLists.txt Normal file
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@ -0,0 +1,8 @@
target_sources(${TARGET_NAME} PUBLIC
ArduinoComIF.cpp
ArduinoCookie.cpp
)

10
bsp_hosted/fsfwconfig/CMakeLists.txt Normal file
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@ -0,0 +1,10 @@
target_sources(${TARGET_NAME} PRIVATE
ipc/MissionMessageTypes.cpp
)
target_include_directories(${TARGET_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)

12
bsp_hosted/fsfwconfig/FSFWConfig.h
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@ -15,12 +15,6 @@
//! Can be used to enable debugging printouts for developing the FSFW //! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0 #define FSFW_DEBUGGING 0
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
#define FSFW_CSB_FIFO_DEPTH 6
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one, //! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects //! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files) //! and translateEvents (and their compiled source files)
@ -49,6 +43,12 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240; static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120; static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120; static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
} }
#endif /* CONFIG_FSFWCONFIG_H_ */ #endif /* CONFIG_FSFWCONFIG_H_ */

18
bsp_hosted/fsfwconfig/OBSWConfig.h
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@ -6,13 +6,25 @@
#ifndef CONFIG_OBSWCONFIG_H_ #ifndef CONFIG_OBSWCONFIG_H_
#define CONFIG_OBSWCONFIG_H_ #define CONFIG_OBSWCONFIG_H_
#include "returnvalues/classIds.h"
#include "events/subsystemIdRanges.h"
#define OBSW_ADD_TEST_CODE 0 #define OBSW_ADD_TEST_CODE 0
// These defines should be disabled for mission code but are useful for // These defines should be disabled for mission code but are useful for
// debugging. // debugging.
#define OBSW_ENHANCED_PRINTOUT 1 #define OBSW_ENHANCED_PRINTOUT 1
#ifdef __cplusplus
#include "objects/systemObjectList.h"
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
namespace config {
#endif
/* Add mission configuration flags here */
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_OBSWCONFIG_H_ */ #endif /* CONFIG_OBSWCONFIG_H_ */

2
bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
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@ -10,7 +10,7 @@
*/ */
namespace SUBSYSTEM_ID { namespace SUBSYSTEM_ID {
enum: uint8_t { enum: uint8_t {
SUBSYSTE_ID_START = FW_SUBSYSTEM_ID_RANGE, SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
PUS_SERVICE_2, PUS_SERVICE_2,
PUS_SERVICE_3, PUS_SERVICE_3,
PUS_SERVICE_5, PUS_SERVICE_5,

1
bsp_hosted/fsfwconfig/objects/systemObjectList.h
View File

@ -19,7 +19,6 @@ namespace objects {
PUS_SERVICE_23 = 0x51002300, PUS_SERVICE_23 = 0x51002300,
PUS_SERVICE_201 = 0x51020100, PUS_SERVICE_201 = 0x51020100,
TIME_STAMPER = 0x52000001,
TM_FUNNEL = 0x52000002, TM_FUNNEL = 0x52000002,
/* Test Task */ /* Test Task */

11
bsp_q7s/CMakeLists.txt Normal file
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@ -0,0 +1,11 @@
target_sources(${TARGET_NAME} PUBLIC
InitMission.cpp
main.cpp
ObjectFactory.cpp
)
add_subdirectory(boardconfig)
add_subdirectory(comIF)

11
bsp_linux/InitMission.cpp → bsp_q7s/InitMission.cpp
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@ -1,5 +1,6 @@
#include <bsp_linux/InitMission.h> #include "InitMission.h"
#include <bsp_linux/ObjectFactory.h> #include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@ -8,8 +9,6 @@
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h> #include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h> #include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
#include <iostream> #include <iostream>
@ -144,7 +143,7 @@ void InitMission::initTasks(){
} }
#if ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
// FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()-> // FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
// createFixedTimeslotTask("PST_TEST_TASK", 10, // createFixedTimeslotTask("PST_TEST_TASK", 10,
// PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); // PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
@ -172,7 +171,7 @@ void InitMission::initTasks(){
// P60DockTask->startTask(); // P60DockTask->startTask();
#if ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
// TestTimeslotTask->startTask(); // TestTimeslotTask->startTask();
#endif #endif
sif::info << "Tasks started.." << std::endl; sif::info << "Tasks started.." << std::endl;

9
bsp_q7s/InitMission.h Normal file
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@ -0,0 +1,9 @@
#ifndef BSP_Q7S_INITMISSION_H_
#define BSP_Q7S_INITMISSION_H_
namespace InitMission {
void initMission();
void initTasks();
};
#endif /* BSP_Q7S_INITMISSION_H_ */

77
bsp_q7s/ObjectFactory.cpp Normal file
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@ -0,0 +1,77 @@
#include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <tmtc/apid.h>
#include <devices/addresses.h>
#include <tmtc/pusIds.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <mission/core/GenericFactory.h>
#include <mission/devices/GomspaceDeviceHandler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/utility/TmFunnel.h>
#include <bsp_q7s/comIF/cookies/CspCookie.h>
#include <bsp_q7s/comIF/CspComIF.h>
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketStored::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(){
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
/* Cookies */
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
addresses::P60DOCK);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
addresses::PDU1);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
addresses::PDU2);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
addresses::ACU);
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF);
/* Device Handler */
new GomspaceDeviceHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
p60DockCspCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
P60Dock::MAX_HKTABLE_ADDRESS);
new GomspaceDeviceHandler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
pdu1CspCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
PDU::MAX_HKTABLE_ADDRESS);
new GomspaceDeviceHandler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
pdu2CspCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
PDU::MAX_HKTABLE_ADDRESS);
new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
ACU::MAX_HKTABLE_ADDRESS);
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR,
objects::TM_STORE, objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
}

10
bsp_q7s/ObjectFactory.h Normal file
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@ -0,0 +1,10 @@
#ifndef BSP_Q7S_OBJECTFACTORY_H_
#define BSP_Q7S_OBJECTFACTORY_H_
namespace ObjectFactory {
void setStatics();
void produce();
};
#endif /* BSP_Q7S_OBJECTFACTORY_H_ */

10
bsp_q7s/boardconfig/CMakeLists.txt Normal file
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@ -0,0 +1,10 @@
target_sources(${TARGET_NAME} PRIVATE
print.c
)
target_include_directories(${TARGET_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)

0
bsp_linux/boardconfig/etl_profile.h → bsp_q7s/boardconfig/etl_profile.h
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0
bsp_linux/boardconfig/gcov.h → bsp_q7s/boardconfig/gcov.h
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2
bsp_linux/boardconfig/print.c → bsp_q7s/boardconfig/print.c
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@ -1,4 +1,4 @@
#include "print.h" #include <bsp_q7s/boardconfig/print.h>
#include <stdio.h> #include <stdio.h>
void printChar(const char* character, bool errStream) { void printChar(const char* character, bool errStream) {

0
bsp_linux/boardconfig/print.h → bsp_q7s/boardconfig/print.h
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0
bsp_linux/bsp_linux.mk → bsp_q7s/bsp_q7s.mk
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8
bsp_q7s/comIF/CMakeLists.txt Normal file
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@ -0,0 +1,8 @@
target_sources(${TARGET_NAME} PRIVATE
cookies/CspCookie.cpp
CspComIF.cpp
)

3
bsp_linux/comIF/CspComIF.cpp → bsp_q7s/comIF/CspComIF.cpp
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@ -1,5 +1,6 @@
#include "CspComIF.h" #include "CspComIF.h"
#include <bsp_linux/comIF/cookies/CspCookie.h> #include "cookies/CspCookie.h"
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <csp/drivers/can_socketcan.h> #include <csp/drivers/can_socketcan.h>
#include <fsfw/serialize/SerializeAdapter.h> #include <fsfw/serialize/SerializeAdapter.h>

0
bsp_linux/comIF/CspComIF.h → bsp_q7s/comIF/CspComIF.h
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0
bsp_linux/comIF/cookies/CspCookie.cpp → bsp_q7s/comIF/cookies/CspCookie.cpp
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8
bsp_linux/comIF/cookies/CspCookie.h → bsp_q7s/comIF/cookies/CspCookie.h
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@ -1,8 +1,8 @@
#ifndef BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_ #ifndef BSP_Q7S_COMIF_COOKIES_CSPCOOKIE_H_
#define BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_ #define BSP_Q7S_COMIF_COOKIES_CSPCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <stdint.h> #include <cstdint>
/** /**
* @brief This is the cookie for devices supporting the CSP (CubeSat Space * @brief This is the cookie for devices supporting the CSP (CubeSat Space
@ -24,4 +24,4 @@ private:
uint8_t cspAddress; uint8_t cspAddress;
}; };
#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_ */ #endif /* BSP_Q7S_COMIF_COOKIES_CSPCOOKIE_H_ */

29
bsp_q7s/main.cpp Normal file
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@ -0,0 +1,29 @@
#include "InitMission.h"
#include <OBSWVersion.h>
#include <fsfw/tasks/TaskFactory.h>
#include <iostream>
#include <unistd.h>
/**
* @brief This is the main program for the target hardware.
* @return
*/
int main(void)
{
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux " << " --" << std::endl;
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
InitMission::initMission();
for(;;) {
// suspend main thread by sleeping it.
TaskFactory::delayTask(5000);
}
}

11
bsp_rpi/CMakeLists.txt Normal file
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@ -0,0 +1,11 @@
target_sources(${TARGET_NAME} PUBLIC
InitMission.cpp
main.cpp
ObjectFactory.cpp
)
add_subdirectory(boardconfig)

158
bsp_rpi/InitMission.cpp Normal file
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@ -0,0 +1,158 @@
#include "InitMission.h"
#include "ObjectFactory.h"
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
#include <iostream>
// This is configured for linux without \cr
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR", false, false, true);
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif
ObjectManagerIF *objectManager = nullptr;
void InitMission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
objectManager = new ObjectManager(ObjectFactory::produce);
sif::info << "Initializing all objects.." << std::endl;
objectManager->initialize();
/* This function creates and starts all tasks */
initTasks();
}
void InitMission::initTasks(){
/* TMTC Distribution */
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.100, nullptr);
ReturnValue_t result = TmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
createPeriodicTask("UDP_POLLING", 80,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* PUS Services */
PeriodicTaskIF* PusVerification = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusEvents = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 60,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.200, nullptr);
result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.8, nullptr);
result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
1.6, nullptr);
result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
#if OBSW_ADD_TEST_CODE == 1
FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
createFixedTimeslotTask("PST_TEST_TASK", 10,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = pst::pollingSequenceTestFunction(TestTimeslotTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::createTasks: Test PST initialization "
<< "failed!" << std::endl;
}
#endif
//Main thread sleep
sif::info << "Starting tasks.." << std::endl;
TmTcDistributor->startTask();
UdpBridgeTask->startTask();
UdpPollingTask->startTask();
PusVerification->startTask();
PusEvents->startTask();
PusHighPrio->startTask();
PusMedPrio->startTask();
PusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
TestTimeslotTask->startTask();
#endif
sif::info << "Tasks started.." << std::endl;
}

0
bsp_linux/InitMission.h → bsp_rpi/InitMission.h
View File

3
bsp_linux/ObjectFactory.cpp → bsp_rpi/ObjectFactory.cpp
View File

@ -1,3 +1,4 @@
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include <objects/systemObjectList.h> #include <objects/systemObjectList.h>
@ -25,6 +26,8 @@ void Factory::setStaticFrameworkObjectIds() {
// No storage object for now. // No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT; TmFunnel::storageDestination = objects::NO_OBJECT;
LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketStored::timeStamperId = objects::TIME_STAMPER; TmPacketStored::timeStamperId = objects::TIME_STAMPER;
} }

0
bsp_linux/ObjectFactory.h → bsp_rpi/ObjectFactory.h
View File

10
bsp_rpi/boardconfig/CMakeLists.txt Normal file
View File

@ -0,0 +1,10 @@
target_sources(${TARGET_NAME} PRIVATE
print.c
)
target_include_directories(${TARGET_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)

38
bsp_rpi/boardconfig/etl_profile.h Normal file
View File

@ -0,0 +1,38 @@
///\file
/******************************************************************************
The MIT License(MIT)
Embedded Template Library.
https://github.com/ETLCPP/etl
https://www.etlcpp.com
Copyright(c) 2019 jwellbelove
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files(the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions :
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
******************************************************************************/
#ifndef __ETL_PROFILE_H__
#define __ETL_PROFILE_H__
#define ETL_CHECK_PUSH_POP
#define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0
#endif

14
bsp_rpi/boardconfig/gcov.h Normal file
View File

@ -0,0 +1,14 @@
#ifndef LINUX_GCOV_H_
#define LINUX_GCOV_H_
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#ifdef GCOV
extern "C" void __gcov_flush();
#else
void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n" << std::flush;
}
#endif
#endif /* LINUX_GCOV_H_ */

14
bsp_rpi/boardconfig/print.c Normal file
View File

@ -0,0 +1,14 @@
#include <bsp_q7s/boardconfig/print.h>
#include <stdio.h>
void printChar(const char* character, bool errStream) {
if(errStream) {
putc(*character, stderr);
return;
}
putc(*character, stdout);
}

8
bsp_rpi/boardconfig/print.h Normal file
View File

@ -0,0 +1,8 @@
#ifndef HOSTED_BOARDCONFIG_PRINT_H_
#define HOSTED_BOARDCONFIG_PRINT_H_
#include <stdbool.h>
void printChar(const char* character, bool errStream);
#endif /* HOSTED_BOARDCONFIG_PRINT_H_ */

0
bsp_linux/main.cpp → bsp_rpi/main.cpp
View File

45
cmake/BuildType.cmake Normal file
View File

@ -0,0 +1,45 @@
function(set_build_type)
message(STATUS "Used build generator: ${CMAKE_GENERATOR}")
# Set a default build type if none was specified
set(DEFAULT_BUILD_TYPE "RelWithDebInfo")
if(EXISTS "${CMAKE_SOURCE_DIR}/.git")
set(DEFAULT_BUILD_TYPE "Debug")
endif()
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
message(STATUS
"Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified."
)
set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE
STRING "Choose the type of build." FORCE
)
# Set the possible values of build type for cmake-gui
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
"Debug" "Release" "MinSizeRel" "RelWithDebInfo"
)
endif()
if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
message(STATUS
"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
)
elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
message(STATUS
"Building Release (Debug) application with "
"flags: ${CMAKE_C_FLAGS_RELWITHDEBINFO}"
)
elseif(${CMAKE_BUILD_TYPE} MATCHES "MinSizeRel")
message(STATUS
"Building Release (Size) application with "
"flags: ${CMAKE_C_FLAGS_MINSIZEREL}"
)
else()
message(STATUS
"Building Release (Speed) application with "
"flags: ${CMAKE_C_FLAGS_RELEASE}"
)
endif()
endfunction()

62
cmake/HardwareOsPostConfig.cmake Normal file
View File

@ -0,0 +1,62 @@
function(post_source_hw_os_config)
if(LINK_LWIP)
message(STATUS "Linking against ${LIB_LWIP_NAME} lwIP library")
if(LIB_LWIP_NAME)
target_link_libraries(${TARGET_NAME} PUBLIC
${LIB_LWIP_NAME}
)
else()
message(WARNING "lwIP library name not set!")
endif()
endif()
if(LINK_HAL)
message(STATUS "Linking against ${LIB_HAL_NAME} HAL library")
if(LIB_HAL_NAME)
target_link_libraries(${TARGET_NAME} PUBLIC
${LIB_HAL_NAME}
)
else()
message(WARNING "HAL library name not set!")
endif()
endif()
if(LINKER_SCRIPT)
target_link_options(${TARGET_NAME} PRIVATE
-T${LINKER_SCRIPT}
)
endif()
set(C_FLAGS "" CACHE INTERNAL "C flags")
set(C_DEFS ""
CACHE INTERNAL
"C Defines"
)
set(CXX_FLAGS ${C_FLAGS})
set(CXX_DEFS ${C_DEFS})
if(CMAKE_VERBOSE)
message(STATUS "C Flags: ${C_FLAGS}")
message(STATUS "CXX Flags: ${CXX_FLAGS}")
message(STATUS "C Defs: ${C_DEFS}")
message(STATUS "CXX Defs: ${CXX_DEFS}")
endif()
# Generator expression. Can be used to set different C, CXX and ASM flags.
target_compile_options(${TARGET_NAME} PRIVATE
$<$<COMPILE_LANGUAGE:C>:${C_DEFS} ${C_FLAGS}>
$<$<COMPILE_LANGUAGE:CXX>:${CXX_DEFS} ${CXX_FLAGS}>
$<$<COMPILE_LANGUAGE:ASM>:${ASM_FLAGS}>
)
add_custom_command(
TARGET ${TARGET_NAME}
POST_BUILD
COMMAND echo Generating binary file ${CMAKE_PROJECT_NAME}.bin..
COMMAND ${CMAKE_OBJCOPY} -O binary ${TARGET_NAME} ${TARGET_NAME}.bin
)
endfunction()

70
cmake/HardwareOsPreConfig.cmake Normal file
View File

@ -0,0 +1,70 @@
function(pre_source_hw_os_config)
# FreeRTOS
if(${OS_FSFW} MATCHES freertos)
message(FATAL_ERROR "No FreeRTOS support implemented yet.")
# RTEMS
elseif(${OS_FSFW} STREQUAL rtems)
add_definitions(-DRTEMS)
message(FATAL_ERROR "No RTEMS support implemented yet.")
elseif(${OS_FSFW} STREQUAL linux)
add_definitions(-DUNIX -DLINUX)
find_package(Threads REQUIRED)
# Hosted
else()
set(BSP_PATH "bsp_hosted")
if(WIN32)
add_definitions(-DWIN32)
elseif(UNIX)
find_package(Threads REQUIRED)
add_definitions(-DUNIX -DLINUX)
endif()
endif()
# Cross-compile information
if(CMAKE_CROSSCOMPILING)
# set(CMAKE_VERBOSE TRUE)
message(STATUS "Cross-compiling for ${TGT_BSP} target")
message(STATUS "Cross-compile gcc: ${CMAKE_C_COMPILER}")
message(STATUS "Cross-compile g++: ${CMAKE_CXX_COMPILER}")
if(CMAKE_VERBOSE)
message(STATUS "Cross-compile linker: ${CMAKE_LINKER}")
message(STATUS "Cross-compile size utility: ${CMAKE_SIZE}")
message(STATUS "Cross-compile objcopy utility: ${CMAKE_OBJCOPY}")
message(STATUS "Cross-compile ranlib utility: ${CMAKE_RANLIB}")
message(STATUS "Cross-compile ar utility: ${CMAKE_AR}")
message(STATUS "Cross-compile nm utility: ${CMAKE_NM}")
message(STATUS "Cross-compile strip utility: ${CMAKE_STRIP}")
message(STATUS
"Cross-compile assembler: ${CMAKE_ASM_COMPILER} "
"-x assembler-with-cpp"
)
message(STATUS "ABI flags: ${ABI_FLAGS}")
message(STATUS "Custom linker script: ${LINKER_SCRIPT}")
endif()
set_property(CACHE TGT_BSP
PROPERTY STRINGS
"arm/q7s" "arm/raspberrypi"
)
endif()
if(TGT_BSP)
if (${TGT_BSP} MATCHES "arm/raspberrypi")
set(BSP_PATH "bsp_rpi")
elseif(${TGT_BSP} MATCHES "arm/q7s")
set(BSP_PATH "bsp_q7s")
else()
message(WARNING "CMake not configured for this target!")
message(FATAL_ERROR "Target: ${TGT_BSP}!")
endif()
else()
set(BSP_PATH "bsp_hosted")
endif()
set(BSP_PATH ${BSP_PATH} PARENT_SCOPE)
endfunction()

63
cmake/PreProjectConfig.cmake Normal file
View File

@ -0,0 +1,63 @@
function(pre_project_config)
# Basic input sanitization
if(DEFINED TGT_BSP)
if(${TGT_BSP} MATCHES "arm/raspberrypi" AND NOT ${OS_FSFW} MATCHES linux)
message(STATUS "FSFW OSAL invalid for specified target BSP ${TGT_BSP}!")
message(STATUS "Setting valid OS_FSFW: linux")
set(OS_FSFW "linux")
endif()
endif()
# Disable compiler checks for cross-compiling.
if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
if(${TGT_BSP} MATCHES "arm/q7s")
set(CMAKE_TOOLCHAIN_FILE
"${CMAKE_SCRIPT_PATH}/Q7SCrossCompileConfig.cmake"
PARENT_SCOPE
)
elseif (${TGT_BSP} MATCHES "arm/raspberrypi")
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
if(NOT RASPBIAN_ROOTFS)
set(ENV{RASPBIAN_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
else()
set(ENV{RASPBIAN_ROOTFS} "${RASPBIAN_ROOTFS}")
endif()
else()
message(STATUS
"RASPBIAN_ROOTFS from environmental variables used: "
"$ENV{RASPBIAN_ROOTFS}"
)
endif()
if(NOT DEFINED ENV{RASPBERRY_VERSION})
if(NOT RASPBERRY_VERSION)
message(STATUS "No RASPBERRY_VERSION specified, setting to 4")
set(RASPBERRY_VERSION "4" CACHE STRING "Raspberry Pi version")
else()
message(STATUS
"Setting RASPBERRY_VERSION to ${RASPBERRY_VERSION}"
)
set(RASPBERRY_VERSION
${RASPBERRY_VERSION} CACHE STRING "Raspberry Pi version"
)
set(ENV{RASPBERRY_VERSION} ${RASPBERRY_VERSION})
endif()
else()
message(STATUS
"RASPBERRY_VERSION from environmental variables used: "
"$ENV{RASPBERRY_VERSION}"
)
endif()
set(CMAKE_TOOLCHAIN_FILE
"${CMAKE_SCRIPT_PATH}/RPiCrossCompileConfig.cmake"
PARENT_SCOPE
)
else()
message(WARNING "Target BSP (TGT_BSP) ${TGT_BSP} unknown!")
endif()
endif()
endfunction()

81
cmake/Q7SCrossCompileConfig.cmake Normal file
View File

@ -0,0 +1,81 @@
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
#if(NOT DEFINED ENV{Q7S_ROOTFS})
# message(FATAL_ERROR
# "Define the Q7S_ROOTFS variable to "
# "point to the raspbian rootfs."
# )
#else()
# set(SYSROOT_PATH "$ENV{Q7S_ROOTFS}")
#endif()
if(NOT DEFINED ENV{CROSS_COMPILE})
set(CROSS_COMPILE "arm-linux-gnueabihf")
message(STATUS
"No CROSS_COMPILE environmental variable set, using default ARM linux "
"cross compiler name ${CROSS_COMPILE}"
)
else()
set(CROSS_COMPILE "$ENV{CROSS_COMPILE}")
message(STATUS
"Using environmental variable CROSS_COMPILE as cross-compiler: "
"$ENV{CROSS_COMPILE}"
)
endif()
# message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
set(CROSS_COMPILE_CXX "${CROSS_COMPILE}-g++")
set(CROSS_COMPILE_LD "${CROSS_COMPILE}-ld")
set(CROSS_COMPILE_AR "${CROSS_COMPILE}-ar")
set(CROSS_COMPILE_RANLIB "${CROSS_COMPILE}-ranlib")
set(CROSS_COMPILE_STRIP "${CROSS_COMPILE}-strip")
set(CROSS_COMPILE_NM "${CROSS_COMPILE}-nm")
set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
set(CMAKE_CROSSCOMPILING TRUE)
# set(CMAKE_SYSROOT "${SYSROOT_PATH}")
# Define name of the target system
set(CMAKE_SYSTEM_NAME "Linux")
set(CMAKE_SYSTEM_PROCESSOR "armv7")
# Define the compiler
set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
# List of library dirs where LD has to look. Pass them directly through gcc.
set(LIB_DIRS
)
# You can additionally check the linker paths if you add the
# flags ' -Xlinker --verbose'
foreach(LIB ${LIB_DIRS})
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
endforeach()
set(CMAKE_PREFIX_PATH
"${CMAKE_PREFIX_PATH}"
# "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a9 -mfpu=neon-vfpv3 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Q7S"
)
set(CMAKE_CXX_FLAGS
"${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Q7S"
)
# search for programs in the build host directories
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

146
cmake/RPiCrossCompileConfig.cmake Normal file
View File

@ -0,0 +1,146 @@
# Based on https://github.com/Pro/raspi-toolchain but rewritten completely.
# Adapted for the FSFW Example
if(NOT $ENV{RASPBERRY_VERSION})
message(STATUS "Raspberry Pi version not specified, setting version 4!")
set(RASPBERRY_VERSION 4)
else()
set(RASPBERRY_VERSION $ENV{RASPBERRY_VERSION})
endif()
# RASPBIAN_ROOTFS should point to the local directory which contains all the
# libraries and includes from the target raspi.
# The following command can be used to do this, replace <ip-address> and the
# local <rootfs-path> accordingly:
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
# application CMakeLists.txt before loading the toolchain file.
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
message(FATAL_ERROR
"Define the RASPBIAN_ROOTFS variable to "
"point to the raspbian rootfs."
)
else()
set(SYSROOT_PATH "$ENV{RASPBIAN_ROOTFS}")
endif()
if(NOT DEFINED ENV{CROSS_COMPILE})
set(CROSS_COMPILE "arm-linux-gnueabihf")
message(STATUS
"No CROSS_COMPILE environmental variable set, using default ARM linux "
"cross compiler name ${CROSS_COMPILE}"
)
else()
set(CROSS_COMPILE "$ENV{CROSS_COMPILE}")
message(STATUS
"Using environmental variable CROSS_COMPILE as cross-compiler: "
"$ENV{CROSS_COMPILE}"
)
endif()
message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
set(CROSS_COMPILE_CXX "${CROSS_COMPILE}-g++")
set(CROSS_COMPILE_LD "${CROSS_COMPILE}-ld")
set(CROSS_COMPILE_AR "${CROSS_COMPILE}-ar")
set(CROSS_COMPILE_RANLIB "${CROSS_COMPILE}-ranlib")
set(CROSS_COMPILE_STRIP "${CROSS_COMPILE}-strip")
set(CROSS_COMPILE_NM "${CROSS_COMPILE}-nm")
set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
set(CMAKE_CROSSCOMPILING TRUE)
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
# Define name of the target system
set(CMAKE_SYSTEM_NAME "Linux")
if(RASPBERRY_VERSION VERSION_GREATER 1)
set(CMAKE_SYSTEM_PROCESSOR "armv7")
else()
set(CMAKE_SYSTEM_PROCESSOR "arm")
endif()
# Define the compiler
set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
# List of library dirs where LD has to look. Pass them directly through gcc.
# LD_LIBRARY_PATH is not evaluated by arm-*-ld
set(LIB_DIRS
"/opt/cross-pi-gcc/arm-linux-gnueabihf/lib"
"/opt/cross-pi-gcc/lib"
"${SYSROOT_PATH}/opt/vc/lib"
"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/usr/local/lib"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/usr/lib"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/blas"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/lapack"
)
# You can additionally check the linker paths if you add the
# flags ' -Xlinker --verbose'
set(COMMON_FLAGS "-I${SYSROOT_PATH}/usr/include")
foreach(LIB ${LIB_DIRS})
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
endforeach()
set(CMAKE_PREFIX_PATH
"${CMAKE_PREFIX_PATH}"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
)
if(RASPBERRY_VERSION VERSION_GREATER 3)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a72 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 4"
)
set(CMAKE_CXX_FLAGS
"${CMAKE_C_FLAGS}"
CACHE STRING "C flags for Raspberry PI 4"
)
elseif(RASPBERRY_VERSION VERSION_GREATER 2)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Raspberry PI 3"
)
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 3"
)
elseif(RASPBERRY_VERSION VERSION_GREATER 1)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Raspberry PI 2"
)
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 2"
)
else()
set(CMAKE_C_FLAGS
"-mcpu=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Raspberry PI 1 B+ Zero"
)
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 1 B+ Zero"
)
endif()
set(CMAKE_FIND_ROOT_PATH
"${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}"
)
# search for programs in the build host directories
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

6
cmake/scripts/.idea/inspectionProfiles/profiles_settings.xml generated Normal file
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@ -0,0 +1,6 @@
<component name="InspectionProjectProfileManager">
<settings>
<option name="USE_PROJECT_PROFILE" value="false" />
<version value="1.0" />
</settings>
</component>

4
cmake/scripts/.idea/misc.xml generated Normal file
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@ -0,0 +1,4 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
</project>

8
cmake/scripts/.idea/modules.xml generated Normal file
View File

@ -0,0 +1,8 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/scripts.iml" filepath="$PROJECT_DIR$/.idea/scripts.iml" />
</modules>
</component>
</project>

8
cmake/scripts/.idea/scripts.iml generated Normal file
View File

@ -0,0 +1,8 @@
<?xml version="1.0" encoding="UTF-8"?>
<module type="PYTHON_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$" />
<orderEntry type="inheritedJdk" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
</module>

6
cmake/scripts/.idea/vcs.xml generated Normal file
View File

@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
</component>
</project>

89
cmake/scripts/.idea/workspace.xml generated Normal file
View File

@ -0,0 +1,89 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ChangeListManager">
<list default="true" id="b7804b00-6384-4363-ae17-406610449420" name="Default Changelist" comment="" />
<option name="SHOW_DIALOG" value="false" />
<option name="HIGHLIGHT_CONFLICTS" value="true" />
<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
<option name="LAST_RESOLUTION" value="IGNORE" />
</component>
<component name="Git.Settings">
<option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$/../../.." />
</component>
<component name="ProjectId" id="1mFLMh77EFiQ6e8GGJM4DSy44LC" />
<component name="ProjectLevelVcsManager" settingsEditedManually="true" />
<component name="ProjectViewState">
<option name="hideEmptyMiddlePackages" value="true" />
<option name="showLibraryContents" value="true" />
</component>
<component name="PropertiesComponent">
<property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
<property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
<property name="WebServerToolWindowFactoryState" value="false" />
<property name="last_opened_file_path" value="$PROJECT_DIR$" />
<property name="node.js.detected.package.eslint" value="true" />
<property name="node.js.detected.package.tslint" value="true" />
<property name="node.js.path.for.package.eslint" value="project" />
<property name="node.js.path.for.package.tslint" value="project" />
<property name="node.js.selected.package.eslint" value="(autodetect)" />
<property name="node.js.selected.package.tslint" value="(autodetect)" />
</component>
<component name="RunManager">
<configuration name="cmake_build_config" type="PythonConfigurationType" factoryName="Python" temporary="true" nameIsGenerated="true">
<module name="scripts" />
<option name="INTERPRETER_OPTIONS" value="" />
<option name="PARENT_ENVS" value="true" />
<envs>
<env name="PYTHONUNBUFFERED" value="1" />
</envs>
<option name="SDK_HOME" value="" />
<option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
<option name="IS_MODULE_SDK" value="true" />
<option name="ADD_CONTENT_ROOTS" value="true" />
<option name="ADD_SOURCE_ROOTS" value="true" />
<EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
<option name="SCRIPT_NAME" value="$PROJECT_DIR$/cmake_build_config.py" />
<option name="PARAMETERS" value="" />
<option name="SHOW_COMMAND_LINE" value="false" />
<option name="EMULATE_TERMINAL" value="false" />
<option name="MODULE_MODE" value="false" />
<option name="REDIRECT_INPUT" value="false" />
<option name="INPUT_FILE" value="" />
<method v="2" />
</configuration>
<recent_temporary>
<list>
<item itemvalue="Python.cmake_build_config" />
</list>
</recent_temporary>
</component>
<component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
<component name="TaskManager">
<task active="true" id="Default" summary="Default task">
<changelist id="b7804b00-6384-4363-ae17-406610449420" name="Default Changelist" comment="" />
<created>1609084345199</created>
<option name="number" value="Default" />
<option name="presentableId" value="Default" />
<updated>1609084345199</updated>
<workItem from="1609084346343" duration="6791000" />
</task>
<servers />
</component>
<component name="TypeScriptGeneratedFilesManager">
<option name="version" value="3" />
</component>
<component name="Vcs.Log.Tabs.Properties">
<option name="TAB_STATES">
<map>
<entry key="MAIN">
<value>
<State />
</value>
</entry>
</map>
</option>
</component>
<component name="com.intellij.coverage.CoverageDataManagerImpl">
<SUITE FILE_PATH="coverage/scripts$cmake_build_config.coverage" NAME="cmake_build_config Coverage Results" MODIFIED="1609089450693" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$" />
</component>
</project>

26
cmake/scripts/Host/create_cmake_debug_cfg.sh Normal file
View File

@ -0,0 +1,26 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "create_cmake_cfg.sh not found in upper directories!"
exit 1
fi
build_generator=""
os_fsfw="host"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug"

26
cmake/scripts/Host/create_cmake_release_cfg.sh Normal file
View File

@ -0,0 +1,26 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "create_cmake_cfg.sh not found in upper directories!"
exit 1
fi
build_generator=""
os_fsfw="host"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release"

26
cmake/scripts/Host/create_cmake_relwithdeb_cfg.sh Normal file
View File

@ -0,0 +1,26 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "create_cmake_cfg.sh not found in upper directories!"
exit 1
fi
build_generator=""
os_fsfw="host"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb"

26
cmake/scripts/Host/create_cmake_size_cfg.sh Normal file
View File

@ -0,0 +1,26 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "create_cmake_cfg.sh not found in upper directories!"
exit 1
fi
build_generator=""
os_fsfw="host"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size"

20
cmake/scripts/Linux/create_cmake_debug_cfg.sh Executable file
View File

@ -0,0 +1,20 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "create_cmake_cfg.sh not found in upper directories!"
exit 1
fi
build_generator="Unix Makefiles"
os_fsfw="linux"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug"

20
cmake/scripts/Linux/create_cmake_release_cfg.sh Executable file
View File

@ -0,0 +1,20 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "create_cmake_cfg.sh not found in upper directories!"
exit 1
fi
build_generator="Unix Makefiles"
os_fsfw="linux"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release"

20
cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh Executable file
View File

@ -0,0 +1,20 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "create_cmake_cfg.sh not found in upper directories!"
exit 1
fi
build_generator="Unix Makefiles"
os_fsfw="linux"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb"

20
cmake/scripts/Linux/create_cmake_size_cfg.sh Executable file
View File

@ -0,0 +1,20 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "create_cmake_cfg.sh not found in upper directories!"
exit 1
fi
build_generator="Unix Makefiles"
os_fsfw="linux"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size"

27
cmake/scripts/Q7S/create_cmake_debug_cfg.sh Normal file
View File

@ -0,0 +1,27 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}"

27
cmake/scripts/Q7S/create_cmake_release_cfg.sh Normal file
View File

@ -0,0 +1,27 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}"

27
cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh Normal file
View File

@ -0,0 +1,27 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}"

27
cmake/scripts/RPi/create_cmake_debug_cfg.sh Normal file
View File

@ -0,0 +1,27 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/raspberrypi"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}"

27
cmake/scripts/RPi/create_cmake_release_cfg.sh Normal file
View File

@ -0,0 +1,27 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/raspberrypi"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}"

27
cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh Normal file
View File

@ -0,0 +1,27 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/raspberrypi"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}"

27
cmake/scripts/RPi/create_cmake_size_cfg.sh Normal file
View File

@ -0,0 +1,27 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/raspberrypi"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size" -t "${tgt_bsp}"

24
cmake/scripts/RPi/rpi_path_helper.sh Normal file
View File

@ -0,0 +1,24 @@
#!/bin/sh
# This script can be used to set the path to the cross-compile toolchain
# A default path is set if the path is not supplied via command line
if [ $# -eq 1 ];then
export PATH=$PATH:"$1"
else
# TODO: make version configurable via shell argument
export PATH=$PATH:"/opt/cross-pi-gcc/bin"
export CROSS_COMPILE="arm-linux-gnueabihf"
export RASPBERRY_VERSION="4"
export RASPBIAN_ROOTFS="${HOME}/raspberrypi/rootfs"
fi
# It is also recommended to set up a custom shell script to perform the
# sysroot synchronization so that any software is built with the library and
# headers of the Raspberry Pi. This can for example be dome with the rsync
# command.
# The following command can be used, <ip-address> and the local
# <rootfs-path> need to be set accordingly.
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
# It is recommended to use $HOME/raspberrypi/rootfs as the rootfs path,
# so the default RASPBIAN_ROOTFS variable set in the CMakeLists.txt is correct.

22
cmake/scripts/RPi/rpi_path_helper_win.sh Normal file
View File

@ -0,0 +1,22 @@
#!/bin/sh
# This script can be used to set the path to the cross-compile toolchain
# A default path is set if the path is not supplied via command line
if [ $# -eq 1 ];then
export PATH=$PATH:"$1"
else
# TODO: make version configurable via shell argument
export PATH=$PATH:"/c/SysGCC/raspberry/bin"
export CROSS_COMPILE="arm-linux-gnueabihf"
export RASPBERRY_VERSION="4"
export RASPBIAN_ROOTFS="/c/Users/<UserName>/raspberrypi/rootfs"
fi
# It is also recommended to set up a custom shell script to perform the
# sysroot synchronization so that any software is built with the library and
# headers of the Raspberry Pi. This can for example be dome with the rsync
# command.
# The following command can be used, <ip-address> and the local
# <rootfs-path> need to be set accordingly.
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>

115
cmake/scripts/cmake_build_config.py Normal file
View File

@ -0,0 +1,115 @@
#!/usr/bin/env python3
"""
@brief CMake configuration helper
@details
This script was written to have a portable way to perform the CMake configuration with various parameters on
different OSes. It was first written for the FSFW Example, but could be adapted to be more generic
in the future.
Run cmake_build_config.py --help to get more information.
"""
import os
import sys
import argparse
import shutil
def main():
print("-- Python CMake build configurator utility --")
print("Parsing command line arguments..")
parser = argparse.ArgumentParser(description="Processing arguments for CMake build configuration.")
parser.add_argument("-o", "--osal", type=str, choices=["freertos", "linux", "rtems", "host"],
help="FSFW OSAL. Valid arguments: host, linux, rtems, freertos")
parser.add_argument("-b", "--buildtype", type=str, choices=["debug", "release", "size", "reldeb"],
help="CMake build type. Valid arguments: debug, release, size, reldeb (Release with Debug "
"Information)", default="debug")
parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.")
parser.add_argument("-g", "--generator", type=str, help="CMake Generator")
parser.add_argument("-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine")
args = parser.parse_args()
print("Determining source location..")
source_location = determine_source_location()
print(f"Determined source location: {source_location}")
print("Building cmake configuration command..")
if args.osal is None:
print("No FSFW OSAL specified, setting to default (host)..")
osal = "host"
else:
osal = args.osal
if args.generator is None:
generator_cmake_arg = ""
else:
generator_cmake_arg = f"-G \"{args.generator}\""
if args.buildtype == "debug":
cmake_build_type = "Debug"
elif args.buildtype == "release":
cmake_build_type = "Release"
elif args.buildtype == "size":
cmake_build_type = "MinSizeRel"
else:
cmake_build_type = "RelWithDebInfo"
if args.target_bsp is not None:
cmake_target_cfg_cmd = f"-DTGT_BSP=\"{args.target_bsp}\""
else:
cmake_target_cfg_cmd = ""
# TODO: Use builddir if given (need to check whether path is relative or absolute)
build_folder = cmake_build_type
build_path = source_location + os.path.sep + build_folder
if os.path.isdir(build_path):
remove_old_dir = input(f"{build_folder} folder already exists. Remove old directory? [y/n]: ")
if str(remove_old_dir).lower() in ["yes", "y", 1]:
remove_old_dir = True
else:
build_folder = determine_new_folder()
build_path = source_location + os.path.sep + build_folder
remove_old_dir = False
if remove_old_dir:
shutil.rmtree(build_path)
os.chdir(source_location)
os.mkdir(build_folder)
print(f"Navigating into build directory: {build_path}")
os.chdir(build_folder)
cmake_command = f"cmake {generator_cmake_arg} -DOS_FSFW=\"{osal}\" " \
f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} {source_location}"
# Remove redundant spaces
cmake_command = ' '.join(cmake_command.split())
print("Running CMake command: ")
print(f"\" {cmake_command} \"")
os.system(cmake_command)
print("-- CMake configuration done. --")
def determine_source_location() -> str:
index = 0
while not os.path.isdir("fsfw"):
index += 1
os.chdir("..")
if index >= 5:
print("Error: Could not find source directory (determined by looking for fsfw folder!)")
sys.exit(1)
return os.getcwd()
def determine_new_folder() -> str:
new_folder = input(f"Use different folder name? [y/n]: ")
if str(new_folder).lower() in ["yes", "y", 1]:
new_folder_name = input("New folder name: ")
return new_folder_name
else:
print("Aborting configuration.")
sys.exit(0)
if __name__ == "__main__":
main()

2
fsfw

@ -1 +1 @@
Subproject commit dcc111e4facf39137fe52d8234361b7d99bdde06 Subproject commit 8ef6283bf4f5cf5d12131c48365a753825fea637

11
fsfwconfig/CMakeLists.txt Normal file
View File

@ -0,0 +1,11 @@
target_sources(${TARGET_NAME} PRIVATE
ipc/MissionMessageTypes.cpp
pollingsequence/PollingSequenceFactory.cpp
)
target_include_directories(${TARGET_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)

22
fsfwconfig/OBSWConfig.h
View File

@ -6,13 +6,27 @@
#ifndef FSFWCONFIG_OBSWCONFIG_H_ #ifndef FSFWCONFIG_OBSWCONFIG_H_
#define FSFWCONFIG_OBSWCONFIG_H_ #define FSFWCONFIG_OBSWCONFIG_H_
#include "returnvalues/classIds.h" #define OBSW_ADD_TEST_CODE 0
#include "events/subsystemIdRanges.h"
#define ADD_TEST_CODE 0
// These defines should be disabled for mission code but are useful for // These defines should be disabled for mission code but are useful for
// debugging. // debugging.
#define OBSW_ENHANCED_PRINTOUT 1 #define OBSW_ENHANCED_PRINTOUT 1
#include "OBSWVersion.h"
#ifdef __cplusplus
#include "objects/systemObjectList.h"
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
namespace config {
#endif
/* Add mission configuration flags here */
#ifdef __cplusplus
}
#endif
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */ #endif /* FSFWCONFIG_OBSWCONFIG_H_ */

12
libcsp/CMakeLists.txt Normal file
View File

@ -0,0 +1,12 @@
cmake_minimum_required(VERSION 3.13)
set(LIB_CSP_NAME libcsp)
add_library(${LIB_CSP_NAME})
add_subdirectory(src)
add_subdirectory(include)
target_include_directories(${LIB_CSP_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
)

11
libcsp/include/CMakeLists.txt Normal file
View File

@ -0,0 +1,11 @@
target_include_directories(${LIB_CSP_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_CURRENT_SOURCE_DIR}/csp
${CMAKE_CURRENT_SOURCE_DIR}/csp/crypto
)
target_include_directories(${LIB_CSP_NAME} INTERFACE
${CMAKE_CURRENT_SOURCE_DIR}
)

27
libcsp/src/CMakeLists.txt Normal file
View File

@ -0,0 +1,27 @@
target_sources(${LIB_CSP_NAME} PRIVATE
csp_bridge.c
csp_buffer.c
csp_conn.c
csp_crc32.c
csp_debug.c
csp_dedup.c
csp_endian.c
csp_hex_dump.c
csp_iflist.c
csp_io.c
csp_port.c
csp_promisc.c
csp_qfifo.c
csp_route.c
csp_service_handler.c
csp_services.c
csp_sfp.c
)
add_subdirectory(drivers)
add_subdirectory(crypto)
add_subdirectory(interfaces)
add_subdirectory(rtable)
add_subdirectory(transport)
add_subdirectory(arch)

3
libcsp/src/arch/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
add_subdirectory(posix)

9
libcsp/src/arch/posix/CMakeLists.txt Normal file
View File

@ -0,0 +1,9 @@
target_sources(${LIB_CSP_NAME} PRIVATE
csp_malloc.c
csp_queue.c
csp_semaphore.c
csp_system.c
csp_thread.c
csp_time.c
pthread_queue.c
)

5
libcsp/src/crypto/CMakeLists.txt Normal file
View File

@ -0,0 +1,5 @@
target_sources(${LIB_CSP_NAME} PRIVATE
csp_hmac.c
csp_sha1.c
csp_xtea.c
)

1
libcsp/src/drivers/CMakeLists.txt Normal file
View File

@ -0,0 +1 @@
add_subdirectory(can)

3
libcsp/src/drivers/can/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(${LIB_CSP_NAME} PRIVATE
can_socketcan.c
)

7
libcsp/src/interfaces/CMakeLists.txt Normal file
View File

@ -0,0 +1,7 @@
target_sources(${LIB_CSP_NAME} PRIVATE
csp_if_can_pbuf.c
csp_if_can.c
csp_if_i2c.c
csp_if_kiss.c
csp_if_lo.c
)

3
libcsp/src/rtable/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(${LIB_CSP_NAME} PRIVATE
csp_rtable_cidr.c
)

4
libcsp/src/transport/CMakeLists.txt Normal file
View File

@ -0,0 +1,4 @@
target_sources(${LIB_CSP_NAME} PRIVATE
csp_rdp.c
csp_udp.c
)

309
misc/eclipse/.cproject
View File

@ -15,11 +15,11 @@
</extensions> </extensions>
</storageModule> </storageModule>
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@ -45,6 +45,9 @@
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<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
@ -67,7 +70,7 @@
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@ -93,6 +96,9 @@
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@ -115,7 +121,7 @@
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@ -147,6 +153,9 @@
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@ -201,6 +210,297 @@
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33
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33
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33
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27
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<buildSpec>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
</projectDescription>

0
misc/eclipse/eive-linux-host-debug.launch → misc/eclipse/make/Host/eive-linux-host-debug.launch
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33
misc/eclipse/make/Host/eive-linux-host-release-cmake.launch Normal file
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@ -0,0 +1,33 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Release/eive_obsw"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075"/>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
<listEntry value="/eive_obsw"/>
</listAttribute>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
<listEntry value="4"/>
</listAttribute>
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
</launchConfiguration>

0
misc/eclipse/eive-linux-host-release.launch → misc/eclipse/make/Host/eive-linux-host-release.launch
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0
misc/eclipse/eive-mingw-debug.launch → misc/eclipse/make/Host/eive-mingw-debug.launch
View File

0
misc/eclipse/eive-mingw-release.launch → misc/eclipse/make/Host/eive-mingw-release.launch
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3
mission/CMakeLists.txt Normal file
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@ -0,0 +1,3 @@
add_subdirectory(core)
add_subdirectory(devices)
add_subdirectory(utility)

5
mission/core/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC
GenericFactory.cpp
)

49
mission/core/GenericFactory.cpp
View File

@ -1,9 +1,9 @@
#include "GenericFactory.h" #include "GenericFactory.h"
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/tmtc/apid.h> #include <OBSWConfig.h>
#include <fsfwconfig/tmtc/pusIds.h>
#include <fsfwconfig/OBSWconfig.h> #include <tmtc/apid.h>
#include <fsfwconfig/devices/addresses.h> #include <tmtc/pusIds.h>
#include <fsfw/events/EventManager.h> #include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h> #include <fsfw/health/HealthTable.h>
@ -21,13 +21,9 @@
#include <fsfw/tcdistribution/PUSDistributor.h> #include <fsfw/tcdistribution/PUSDistributor.h>
#include <fsfw/timemanager/TimeStamper.h> #include <fsfw/timemanager/TimeStamper.h>
#include <mission/utility/TmFunnel.h> #include <mission/utility/TmFunnel.h>
#include <bsp_linux/comIF/cookies/CspCookie.h>
#include <bsp_linux/comIF/CspComIF.h>
#include "mission/devices/GomspaceDeviceHandler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#if ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
//#include <test/testtasks/TestTask.h> #include <test/testtasks/TestTask.h>
#endif #endif
void ObjectFactory::produceGenericObjects() { void ObjectFactory::produceGenericObjects() {
@ -84,35 +80,8 @@ void ObjectFactory::produceGenericObjects() {
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
apid::EIVE_OBSW, pus::PUS_SERVICE_200); apid::EIVE_OBSW, pus::PUS_SERVICE_200);
/* Cookies */
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
addresses::P60DOCK);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
addresses::PDU1);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
addresses::PDU2);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
addresses::ACU);
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF);
/* Device Handler */
new GomspaceDeviceHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
p60DockCspCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
P60Dock::MAX_HKTABLE_ADDRESS);
new GomspaceDeviceHandler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
pdu1CspCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
PDU::MAX_HKTABLE_ADDRESS);
new GomspaceDeviceHandler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
pdu2CspCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
PDU::MAX_HKTABLE_ADDRESS);
new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
ACU::MAX_HKTABLE_ADDRESS);
/* Test Device Handler */ /* Test Device Handler */
#if ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
// new TestTask(objects::TEST_TASK); new TestTask(objects::TEST_TASK);
#endif #endif
} }

9
mission/devices/CMakeLists.txt Normal file
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@ -0,0 +1,9 @@
target_sources(${TARGET_NAME} PUBLIC
GPSHandler.cpp
GyroL3GD20Handler.cpp
MGMHandlerLIS3MDL.cpp
MGMHandlerRM3100.cpp
GomspaceDeviceHandler.cpp
)

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