added cmake support

.gitignore

@@ -2,6 +2,15 @@ _obj
 _bin
 _dep
 
+Debug
+Debug*
+Release
+Release*
+MinSizeRel
+MinSizeRel*
+RelWithDebInfo
+RelWithDebInfo*
+
 .settings
 .metadata
 .project
@@ -9,4 +18,4 @@ _dep
 __pycache__
 
 !misc/eclipse/**/.cproject
-!misc/eclipse/**/.project
+!misc/eclipse/**/.project

CMakeLists.txt

@@ -0,0 +1,153 @@
+################################################################################
+# 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 "${CMAKE_CURRENT_SOURCE_DIR}/buildsystem/cmake")
+
+if(NOT OS_FSFW)
+	set(OS_FSFW host CACHE STRING "OS for the FSFW.")
+endif()
+
+# Perform steps like loading toolchain files where applicable.
+include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
+pre_project_config()
+
+# Project Name
+project(fsfw_example 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 ${CMAKE_PROJECT_NAME}) 
+set(LIB_FSFW_NAME fsfw)
+
+# Set path names
+set(FSFW_PATH fsfw)
+set(MISSION_PATH mission)
+
+# Analyse different OS and architecture/target options, determine BSP_PATH,
+# display information about compiler etc.
+include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
+pre_source_hw_os_config()
+
+set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
+
+################################################################################
+# Executable and Sources
+################################################################################
+
+# Add executable
+add_executable(${TARGET_NAME})
+
+# Add subdirectories
+if(LIB_OS_NAME)
+	add_subdirectory(${LIB_OS_NAME})
+endif()
+add_subdirectory(${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} 
+	${LIB_OS_NAME} 
+)
+
+# Add include paths for all sources.
+target_include_directories(${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()
+
+
+
+
+

bsp_hosted/CMakeLists.txt

@@ -0,0 +1,10 @@
+target_sources(${TARGET_NAME} PUBLIC
+	InitMission.cpp
+	main.cpp
+	ObjectFactory.cpp
+)
+
+add_subdirectory(fsfwconfig)
+add_subdirectory(boardconfig)
+
+

bsp_hosted/boardconfig/CMakeLists.txt

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

bsp_hosted/comIF/CMakeLists.txt

@@ -0,0 +1,8 @@
+target_sources(${TARGET_NAME} PUBLIC
+	ArduinoComIF.cpp
+	ArduinoCookie.cpp
+)
+
+
+
+

bsp_hosted/fsfwconfig/CMakeLists.txt

@@ -0,0 +1,10 @@
+target_sources(${TARGET_NAME} PRIVATE
+	ipc/MissionMessageTypes.cpp
+)
+
+target_include_directories(${TARGET_NAME} PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+
+

bsp_hosted/fsfwconfig/FSFWConfig.h

@@ -15,12 +15,6 @@
 //! Can be used to enable debugging printouts for developing the FSFW
 #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,
 //! additional output which requires the translation files translateObjects
 //! 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_EVENTMGMT_EVENTIDMATCHERS = 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_ */

bsp_hosted/fsfwconfig/OBSWConfig.h

@@ -6,13 +6,25 @@
 #ifndef CONFIG_OBSWCONFIG_H_
 #define CONFIG_OBSWCONFIG_H_
 
-#include "returnvalues/classIds.h"
-#include "events/subsystemIdRanges.h"
-
 #define OBSW_ADD_TEST_CODE      0
 
 // These defines should be disabled for mission code but are useful for
 // debugging.
 #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_ */

bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h

@@ -11,7 +11,7 @@ class CommandMessage;
  * <fsfw/ipc/FwMessageTypes.h>
  * @param message Generic Command Message
  */
-namespace messagetypes{
+namespace messagetypes {
 enum MESSAGE_TYPE {
 	MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
 };

bsp_hosted/fsfwconfig/objects/systemObjectList.h

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

bsp_linux/CMakeLists.txt

@@ -0,0 +1,10 @@
+target_sources(${TARGET_NAME} PUBLIC
+	InitMission.cpp
+	main.cpp
+	ObjectFactory.cpp
+)
+
+add_subdirectory(boardconfig)
+
+
+

bsp_linux/boardconfig/CMakeLists.txt

@@ -0,0 +1,6 @@
+target_include_directories(${TARGET_NAME} PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+
+

buildsystem/cmake/BuildType.cmake

@@ -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()

buildsystem/cmake/HardwareOsPostConfig.cmake

@@ -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()

buildsystem/cmake/HardwareOsPreConfig.cmake

@@ -0,0 +1,68 @@
+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)
+	set(BSP_PATH "bsp_linux")
+# 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: ${LINKER_SCRIPT}")
+	endif()
+	
+	set_property(CACHE TGT_BSP 
+		PROPERTY STRINGS  
+		"arm/raspberrypi"
+	)
+endif()
+	
+if(${TGT_BSP} MATCHES "arm/raspberrypi")
+
+else() 
+
+	if(TGT_BSP)
+		message(WARNING "CMake not configured for this target!")
+		message(FATAL_ERROR "Target: ${TGT_BSP}!")
+	endif()
+	
+endif()
+		
+set(BSP_PATH ${BSP_PATH} PARENT_SCOPE)
+
+endfunction()

buildsystem/cmake/PreProjectConfig.cmake

@@ -0,0 +1,58 @@
+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(${TGT_BSP} MATCHES "arm/raspberrypi")
+		if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
+			if(NOT RASPBIAN_ROOTFS)
+				set(ENV{RASPBIAN_ROOTFS} "$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()

buildsystem/cmake/RPiCrossCompileConfig.cmake

@@ -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 ${COMMON_FLAGS}" 
+		CACHE STRING "Flags for Raspberry PI 4"
+	)
+	set(CMAKE_CXX_FLAGS 
+		"${CMAKE_C_FLAGS}" 
+		CACHE STRING "Flags for Raspberry PI 4"
+	)
+elseif(RASPBERRY_VERSION VERSION_GREATER 2)
+	set(CMAKE_C_FLAGS 
+		"-mcpu=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" 
+		CACHE STRING "Flags for Raspberry PI 3"
+	)
+	set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" 
+		CACHE STRING "Flags for Raspberry PI 3"
+	)
+elseif(RASPBERRY_VERSION VERSION_GREATER 1)
+	set(CMAKE_C_FLAGS 
+		"-mcpu=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" 
+		CACHE STRING "Flags for Raspberry PI 2"
+	)
+	set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" 
+		CACHE STRING "Flags for Raspberry PI 2"
+	)
+else()
+	set(CMAKE_C_FLAGS 
+		"-mcpu=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard ${COMMON_FLAGS}" 
+		CACHE STRING "Flags for Raspberry PI 1 B+ Zero"
+	)
+	set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" 
+		CACHE STRING "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)

buildsystem/cmake/scripts/.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

buildsystem/cmake/scripts/.idea/misc.xml

@@ -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>

buildsystem/cmake/scripts/.idea/modules.xml

@@ -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>

buildsystem/cmake/scripts/.idea/scripts.iml

@@ -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>

buildsystem/cmake/scripts/.idea/vcs.xml

@@ -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>

buildsystem/cmake/scripts/.idea/workspace.xml

@@ -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>

buildsystem/cmake/scripts/Host/create_cmake_debug_cfg.sh

@@ -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"

buildsystem/cmake/scripts/Host/create_cmake_release_cfg.sh

@@ -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"

buildsystem/cmake/scripts/Host/create_cmake_relwithdeb_cfg.sh

@@ -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"

buildsystem/cmake/scripts/Host/create_cmake_size_cfg.sh

@@ -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"

buildsystem/cmake/scripts/Linux/create_cmake_debug_cfg.sh

@@ -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"

buildsystem/cmake/scripts/Linux/create_cmake_release_cfg.sh

@@ -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"

buildsystem/cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh

@@ -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"

buildsystem/cmake/scripts/Linux/create_cmake_size_cfg.sh

@@ -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"

buildsystem/cmake/scripts/RPi/create_cmake_debug_cfg.sh

@@ -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}"

buildsystem/cmake/scripts/RPi/create_cmake_release_cfg.sh

@@ -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}"

buildsystem/cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh

@@ -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}"

buildsystem/cmake/scripts/RPi/create_cmake_size_cfg.sh

@@ -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}"

buildsystem/cmake/scripts/RPi/rpi_path_helper.sh

@@ -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.

buildsystem/cmake/scripts/RPi/rpi_path_helper_win.sh

@@ -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>
+

buildsystem/cmake/scripts/cmake_build_config.py

@@ -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()

fsfw

@@ -1 +1 @@
-Subproject commit dcc111e4facf39137fe52d8234361b7d99bdde06
+Subproject commit 5b9c0e013e35ab1353d402c6fa2cd75866e3afa5

fsfwconfig/OBSWConfig.h

@@ -6,13 +6,27 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-#include "returnvalues/classIds.h"
-#include "events/subsystemIdRanges.h"
-
 #define OBSW_ADD_TEST_CODE      0
 
 // These defines should be disabled for mission code but are useful for
 // debugging.
 #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_ */

mission/CMakeLists.txt

@@ -0,0 +1,3 @@
+add_subdirectory(core)
+add_subdirectory(devices)
+add_subdirectory(utility)

mission/core/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(${TARGET_NAME} PUBLIC
+	GenericFactory.cpp
+)
+
+

mission/devices/CMakeLists.txt

@@ -0,0 +1,8 @@
+target_sources(${TARGET_NAME} PUBLIC
+	GPSHandler.cpp
+	GyroL3GD20Handler.cpp
+	MGMHandlerLIS3MDL.cpp
+	MGMHandlerRM3100.cpp
+)
+
+

mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h

@@ -12,7 +12,7 @@ namespace RM3100 {
 static constexpr uint8_t READ_MASK = 0b1000'0000;
 
 /*----------------------------------------------------------------------------*/
-/* CMM Register
+/* CMM Register */
 /*----------------------------------------------------------------------------*/
 static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
 static constexpr uint8_t SET_CMM_CMY = 1 << 5;
@@ -25,7 +25,7 @@ static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
 		SET_CMM_DRDM | SET_CMM_START;
 
 /*----------------------------------------------------------------------------*/
-/* Cycle count register
+/* Cycle count register */
 /*----------------------------------------------------------------------------*/
 // Default value (200)
 static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
@@ -35,7 +35,7 @@ static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
 static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
 
 /*----------------------------------------------------------------------------*/
-/* TMRC register
+/* TMRC register */
 /*----------------------------------------------------------------------------*/
 static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
 static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;

mission/utility/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(${TARGET_NAME} PUBLIC
+	TmFunnel.cpp
+)
+
+

tmtc

@@ -1 +1 @@
-Subproject commit 9be8713fa0cc6128e9469da2e635365b03146de3
+Subproject commit 07b6a9df18baff999ca52c2f2781f8f77f8dcb65