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This commit is contained in:
Ulrich Mohr 2023-01-16 12:35:14 +01:00
parent a0eae66c35
commit fe9804d922
9 changed files with 107 additions and 111 deletions
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7
CMakeLists.txt
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@ -175,10 +175,7 @@ if(FSFW_BUILD_TESTS)
configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h) configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
if(FSFW_OSAL MATCHES "freertos") if(FSFW_OSAL MATCHES "freertos")
message( message(STATUS "${MSG_PREFIX} Downloading FreeRTOS with FetchContent")
STATUS
"${MSG_PREFIX} Downloading FreeRTOS with FetchContent"
)
include(FetchContent) include(FetchContent)
set(FreeRTOS_PORT posix) set(FreeRTOS_PORT posix)
@ -251,8 +248,6 @@ if(FSFW_FETCH_CONTENT_TARGETS)
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "") set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif() endif()
endif() endif()
set(FSFW_CORE_INC_PATH "inc") set(FSFW_CORE_INC_PATH "inc")

2
src/fsfw/osal/freertos/BinSemaphUsingTask.h
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@ -54,7 +54,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
* - @c returnvalue::FAILED on failure * - @c returnvalue::FAILED on failure
*/ */
ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType = TimeoutType::BLOCKING, ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY); TickType_t timeoutTicks = portMAX_DELAY);
/** /**
* Get handle to the task related to the semaphore. * Get handle to the task related to the semaphore.

12
src/fsfw/osal/freertos/TaskManagement.cpp
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@ -3,12 +3,12 @@
void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); } void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) { void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
// if (callContext == CallContext::ISR) { // if (callContext == CallContext::ISR) {
// // This function depends on the partmacro.h definition for the specific device // // This function depends on the partmacro.h definition for the specific device
// vRequestContextSwitchFromISR(); // vRequestContextSwitchFromISR();
// } else { // } else {
vRequestContextSwitchFromTask(); vRequestContextSwitchFromTask();
// } // }
} }
TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); } TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }

4
src/fsfw/osal/freertos/TaskManagement.h
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@ -11,7 +11,7 @@
* Architecture dependant portmacro.h function call. * Architecture dependant portmacro.h function call.
* Should be implemented in bsp. * Should be implemented in bsp.
*/ */
//extern "C" void vRequestContextSwitchFromISR(); // extern "C" void vRequestContextSwitchFromISR();
/*! /*!
* Used by functions to tell if they are being called from * Used by functions to tell if they are being called from
@ -53,7 +53,7 @@ TaskHandle_t getCurrentTaskHandle();
* @return Smallest value of stack remaining since the task was started in * @return Smallest value of stack remaining since the task was started in
* words. * words.
*/ */
//size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr); // size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
}; // namespace TaskManagement }; // namespace TaskManagement

6
src/fsfw/pus/Service11TelecommandScheduling.tpp
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@ -2,12 +2,12 @@
#include <cstddef> #include <cstddef>
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serialize/SerializeAdapter.h" #include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serviceinterface.h" #include "fsfw/serviceinterface.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h" #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
#include "fsfw/globalfunctions/CRC.h" #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
static constexpr auto DEF_END = SerializeIF::Endianness::BIG; static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
@ -180,7 +180,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
if (CRC::crc16ccitt(data, size) != 0) { if (CRC::crc16ccitt(data, size) != 0) {
return CONTAINED_TC_CRC_MISSMATCH; return CONTAINED_TC_CRC_MISSMATCH;
} }
// store currentPacket and receive the store address // store currentPacket and receive the store address
store_address_t addr{}; store_address_t addr{};
if (tcStore->addData(&addr, data, size) != returnvalue::OK || if (tcStore->addData(&addr, data, size) != returnvalue::OK ||

40
unittests/CatchRunner.cpp
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@ -10,28 +10,31 @@
#define CATCH_CONFIG_COLOUR_WINDOWS #define CATCH_CONFIG_COLOUR_WINDOWS
#include <catch2/catch_session.hpp>
#include <fsfw/osal/osal.h> #include <fsfw/osal/osal.h>
#include <catch2/catch_session.hpp>
#ifdef FSFW_OSAL_FREERTOS #ifdef FSFW_OSAL_FREERTOS
#include <FreeRTOS.h> #include <FreeRTOS.h>
#include "task.h"
#include "task.h"
#endif #endif
extern int customSetup(); extern int customSetup();
extern int customTeardown(); extern int customTeardown();
#ifdef FSFW_OSAL_FREERTOS #ifdef FSFW_OSAL_FREERTOS
struct Taskparameters { struct Taskparameters {
int argc; char** argv;TaskHandle_t catchTask; int argc;
char** argv;
TaskHandle_t catchTask;
} taskParameters; } taskParameters;
void unittestTaskFunction( void *pvParameters ) { void unittestTaskFunction(void* pvParameters) {
Taskparameters* parameters = (Taskparameters*)pvParameters; Taskparameters* parameters = (Taskparameters*)pvParameters;
int result = Catch::Session().run(parameters->argc, parameters->argv); int result = Catch::Session().run(parameters->argc, parameters->argv);
vTaskDelay(pdMS_TO_TICKS(10)); vTaskDelay(pdMS_TO_TICKS(10));
vTaskSuspendAll(); vTaskSuspendAll();
vTaskDelete(parameters->catchTask); vTaskDelete(parameters->catchTask);
@ -40,26 +43,27 @@ void unittestTaskFunction( void *pvParameters ) {
} }
#endif #endif
int main(int argc, char* argv[]) { int main(int argc, char* argv[]) {
customSetup(); customSetup();
int result = 0; int result = 0;
#ifdef FSFW_OSAL_FREERTOS #ifdef FSFW_OSAL_FREERTOS
xTaskCreate( unittestTaskFunction, /* The function that implements the task. */ xTaskCreate(
"Unittests", /* The text name assigned to the task - for debug only as it is not used by the kernel. */ unittestTaskFunction, /* The function that implements the task. */
configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */ "Unittests", /* The text name assigned to the task - for debug only as it is not used by the
&taskParameters, /* The parameter passed to the task - not used in this simple case. */ kernel. */
1, /* The priority assigned to the task. */ configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
&taskParameters.catchTask); /* The task handle is not required, so NULL is passed. */ &taskParameters, /* The parameter passed to the task - not used in this simple case. */
1, /* The priority assigned to the task. */
&taskParameters.catchTask); /* The task handle is not required, so NULL is passed. */
taskParameters.argc = argc; taskParameters.argc = argc;
taskParameters.argv = argv; taskParameters.argv = argv;
vTaskStartScheduler(); vTaskStartScheduler();
#else #else
// Catch internal function call // Catch internal function call
result = Catch::Session().run(argc, argv); result = Catch::Session().run(argc, argv);
#endif #endif
// global clean-up // global clean-up
customTeardown(); customTeardown();

2
unittests/CatchSetup.cpp
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@ -6,8 +6,6 @@
#include <gcov.h> #include <gcov.h>
#endif #endif
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/storagemanager/StorageManagerIF.h" #include "fsfw/storagemanager/StorageManagerIF.h"

3
unittests/osal/TestClock.cpp
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@ -1,12 +1,11 @@
#include <fsfw/globalfunctions/timevalOperations.h> #include <fsfw/globalfunctions/timevalOperations.h>
#include <fsfw/timemanager/Clock.h> #include <fsfw/timemanager/Clock.h>
#include <stdio.h>
#include <array> #include <array>
#include <catch2/catch_approx.hpp> #include <catch2/catch_approx.hpp>
#include <catch2/catch_test_macros.hpp> #include <catch2/catch_test_macros.hpp>
#include <stdio.h>
#include "CatchDefinitions.h" #include "CatchDefinitions.h"
TEST_CASE("OSAL::Clock Test", "[OSAL::Clock Test]") { TEST_CASE("OSAL::Clock Test", "[OSAL::Clock Test]") {

142
unittests/testcfg/freertos/FreeRTOSConfig.h
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@ -1,101 +1,101 @@
#ifndef FREERTOS_CONFIG_H #ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H #define FREERTOS_CONFIG_H
#define configUSE_PREEMPTION 1 #define configUSE_PREEMPTION 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#define configUSE_TICKLESS_IDLE 0 #define configUSE_TICKLESS_IDLE 0
#define configTICK_RATE_HZ 1000 #define configTICK_RATE_HZ 1000
#define configMAX_PRIORITIES 5 #define configMAX_PRIORITIES 5
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) PTHREAD_STACK_MIN ) #define configMINIMAL_STACK_SIZE ((unsigned short)PTHREAD_STACK_MIN)
#define configMAX_TASK_NAME_LEN 16 #define configMAX_TASK_NAME_LEN 16
#define configUSE_16_BIT_TICKS 0 #define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1 #define configIDLE_SHOULD_YIELD 1
#define configUSE_TASK_NOTIFICATIONS 1 #define configUSE_TASK_NOTIFICATIONS 1
#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3 #define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
#define configUSE_MUTEXES 1 #define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 0 #define configUSE_RECURSIVE_MUTEXES 0
#define configUSE_COUNTING_SEMAPHORES 1 #define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */ #define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
#define configQUEUE_REGISTRY_SIZE 20 #define configQUEUE_REGISTRY_SIZE 20
#define configUSE_QUEUE_SETS 0 #define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0 #define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0 #define configUSE_NEWLIB_REENTRANT 0
#define configENABLE_BACKWARD_COMPATIBILITY 1 #define configENABLE_BACKWARD_COMPATIBILITY 1
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5 #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
#define configUSE_MINI_LIST_ITEM 1 #define configUSE_MINI_LIST_ITEM 1
#define configSTACK_DEPTH_TYPE uint16_t #define configSTACK_DEPTH_TYPE uint16_t
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t #define configMESSAGE_BUFFER_LENGTH_TYPE size_t
#define configHEAP_CLEAR_MEMORY_ON_FREE 1 #define configHEAP_CLEAR_MEMORY_ON_FREE 1
/* Memory allocation related definitions. */ /* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION 0 #define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1 #define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 1024 * 1024 ) ) #define configTOTAL_HEAP_SIZE ((size_t)(1024 * 1024))
#define configAPPLICATION_ALLOCATED_HEAP 1 #define configAPPLICATION_ALLOCATED_HEAP 1
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0 #define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
/* Hook function related definitions. */ /* Hook function related definitions. */
#define configUSE_IDLE_HOOK 0 #define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0 #define configUSE_TICK_HOOK 0
#define configCHECK_FOR_STACK_OVERFLOW 0 #define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_MALLOC_FAILED_HOOK 0 #define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0 #define configUSE_DAEMON_TASK_STARTUP_HOOK 0
#define configUSE_SB_COMPLETED_CALLBACK 0 #define configUSE_SB_COMPLETED_CALLBACK 0
/* Run time and task stats gathering related definitions. */ /* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS 0 #define configGENERATE_RUN_TIME_STATS 0
#define configUSE_TRACE_FACILITY 0 #define configUSE_TRACE_FACILITY 0
#define configUSE_STATS_FORMATTING_FUNCTIONS 0 #define configUSE_STATS_FORMATTING_FUNCTIONS 0
/* Co-routine related definitions. */ /* Co-routine related definitions. */
#define configUSE_CO_ROUTINES 0 #define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES 1 #define configMAX_CO_ROUTINE_PRIORITIES 1
/* Software timer related definitions. */ /* Software timer related definitions. */
#define configUSE_TIMERS 1 #define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY 3 #define configTIMER_TASK_PRIORITY 3
#define configTIMER_QUEUE_LENGTH 10 #define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE #define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
/* Interrupt nesting behaviour configuration. */ /* Interrupt nesting behaviour configuration. */
#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor] #define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application] #define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application] #define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
/* Define to trap errors during development. */ /* Define to trap errors during development. */
//#define configASSERT( ( x ) ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ ) //#define configASSERT( ( x ) ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ )
/* FreeRTOS MPU specific definitions. */ /* FreeRTOS MPU specific definitions. */
#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
#define configTOTAL_MPU_REGIONS 8 /* Default value. */ #define configTOTAL_MPU_REGIONS 8 /* Default value. */
#define configTEX_S_C_B_FLASH 0x07UL /* Default value. */ #define configTEX_S_C_B_FLASH 0x07UL /* Default value. */
#define configTEX_S_C_B_SRAM 0x07UL /* Default value. */ #define configTEX_S_C_B_SRAM 0x07UL /* Default value. */
#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1 #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1 #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
#define configENABLE_ERRATA_837070_WORKAROUND 1 #define configENABLE_ERRATA_837070_WORKAROUND 1
/* ARMv8-M secure side port related definitions. */ /* ARMv8-M secure side port related definitions. */
#define secureconfigMAX_SECURE_CONTEXTS 5 #define secureconfigMAX_SECURE_CONTEXTS 5
/* Optional functions - most linkers will remove unused functions anyway. */ /* Optional functions - most linkers will remove unused functions anyway. */
#define INCLUDE_vTaskPrioritySet 1 #define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1 #define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1 #define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1 #define INCLUDE_vTaskSuspend 1
#define INCLUDE_xResumeFromISR 1 #define INCLUDE_xResumeFromISR 1
#define INCLUDE_vTaskDelayUntil 1 #define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1 #define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1 #define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1 #define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 0 #define INCLUDE_uxTaskGetStackHighWaterMark 0
#define INCLUDE_uxTaskGetStackHighWaterMark2 0 #define INCLUDE_uxTaskGetStackHighWaterMark2 0
#define INCLUDE_xTaskGetIdleTaskHandle 0 #define INCLUDE_xTaskGetIdleTaskHandle 0
#define INCLUDE_eTaskGetState 0 #define INCLUDE_eTaskGetState 0
#define INCLUDE_xEventGroupSetBitFromISR 1 #define INCLUDE_xEventGroupSetBitFromISR 1
#define INCLUDE_xTimerPendFunctionCall 0 #define INCLUDE_xTimerPendFunctionCall 0
#define INCLUDE_xTaskAbortDelay 0 #define INCLUDE_xTaskAbortDelay 0
#define INCLUDE_xTaskGetHandle 0 #define INCLUDE_xTaskGetHandle 0
#define INCLUDE_xTaskResumeFromISR 1 #define INCLUDE_xTaskResumeFromISR 1
/* A header file that defines trace macro can be included here. */ /* A header file that defines trace macro can be included here. */