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mueller/ex
| Author | SHA1 | Date | |
|---|---|---|---|
| 7b767b238a | |||
| 42ac1af4b2 | |||
| 1e5ba0212e | |||
| ac95e8f250 | |||
| 1e569128c6 | |||
| f35c4049c0 | |||
| 5d946f5640 | |||
| f57bd290d9 | |||
| aa4e2d7209 | |||
| 58cb96ece0 | |||
| 88cc8c46a1 |
8
.gitignore
vendored
8
.gitignore
vendored
@ -1,14 +1,6 @@
|
||||
# PyCharm and CLion
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
!/.idea/cmake.xml
|
||||
!/.idea/codeStyles
|
||||
|
||||
# Eclipse
|
||||
.cproject
|
||||
.project
|
||||
.settings
|
||||
.metadata
|
||||
|
||||
/build*
|
||||
/cmake-build*
|
||||
|
||||
14
.idea/codeStyles/Project.xml
generated
14
.idea/codeStyles/Project.xml
generated
@ -1,14 +0,0 @@
|
||||
<component name="ProjectCodeStyleConfiguration">
|
||||
<code_scheme name="Project" version="173">
|
||||
<clangFormatSettings>
|
||||
<option name="ENABLED" value="true" />
|
||||
</clangFormatSettings>
|
||||
<codeStyleSettings language="CMake">
|
||||
<indentOptions>
|
||||
<option name="INDENT_SIZE" value="2" />
|
||||
<option name="CONTINUATION_INDENT_SIZE" value="0" />
|
||||
<option name="TAB_SIZE" value="2" />
|
||||
</indentOptions>
|
||||
</codeStyleSettings>
|
||||
</code_scheme>
|
||||
</component>
|
||||
5
.idea/codeStyles/codeStyleConfig.xml
generated
5
.idea/codeStyles/codeStyleConfig.xml
generated
@ -1,5 +0,0 @@
|
||||
<component name="ProjectCodeStyleConfiguration">
|
||||
<state>
|
||||
<option name="USE_PER_PROJECT_SETTINGS" value="true" />
|
||||
</state>
|
||||
</component>
|
||||
136
CHANGELOG.md
136
CHANGELOG.md
@ -8,29 +8,33 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v5.0.0] 25.07.2022
|
||||
# [v5.0.0]
|
||||
|
||||
## Changes
|
||||
|
||||
- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
|
||||
If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
|
||||
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
|
||||
compiler supports it
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
|
||||
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
|
||||
and mode
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
|
||||
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
|
||||
name clashes with Windows defines.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
|
||||
- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
|
||||
- HAL Devicehandlers: Periodic printout is run-time configurable now
|
||||
- `oneShotAction` flag in the `TestTask` class is not static anymore
|
||||
- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the
|
||||
Buffer and rejects such writeData calls with `HasReturnvaluesIF::RETURN_FAILED`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
|
||||
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
|
||||
- Major update for version handling, using `git describe` to fetch version information with git.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
|
||||
- Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
|
||||
manually now. Those should not change too often and only a small subset is needed
|
||||
- Separate folder for easier update and for distinction
|
||||
- Add helper functions provided by [`cmake-modules`](https://github.com/rpavlik/cmake-modules)
|
||||
manually now. Those should not change too often and only a small subset is needed
|
||||
- Separate folder for easier update and for distinction
|
||||
- LICENSE file included
|
||||
- use `int` for version numbers to allow unset or uninitialized version
|
||||
- Initialize Version object with numbers set to -1
|
||||
@ -39,78 +43,18 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
versions since the last tag
|
||||
- Additional information is set to the last part of the git describe output for `FSFW_VERSION` now.
|
||||
- Version still need to be hand-updated if the FSFW is not included as a submodule for now.
|
||||
- CMake will auto-generate a file named `versionAutogen.cpp` on each rebuild which contains
|
||||
the version retrieved with git
|
||||
- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
|
||||
creation call. It allows passing context information and an arbitrary user argument into
|
||||
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
|
||||
- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
|
||||
tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
|
||||
|
||||
### Task Module Refactoring
|
||||
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
|
||||
|
||||
**Refactoring general task code**
|
||||
|
||||
- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
|
||||
Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
|
||||
|
||||
**Refactor PeriodicTaskIF**
|
||||
|
||||
- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
|
||||
`virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
|
||||
the operation code passed to `performOperation`. Updated API taking
|
||||
an `ExecutableObjectIF` accordingly
|
||||
|
||||
**Refactor FixedTimeslotTaskIF**
|
||||
|
||||
- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
|
||||
|
||||
**Refactor FixedSequenceSlot**
|
||||
|
||||
- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
|
||||
- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
|
||||
`ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
|
||||
for the custom checker
|
||||
|
||||
**Linux Task Module**
|
||||
|
||||
- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
|
||||
member of the class
|
||||
|
||||
### HAL
|
||||
|
||||
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
|
||||
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
|
||||
and mode
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
|
||||
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
|
||||
name clashes with Windows defines.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
|
||||
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
|
||||
|
||||
### Time
|
||||
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
|
||||
|
||||
- `timeval` to `TimeOfDay_t`
|
||||
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
|
||||
- Moved the statics used by Clock in ClockCommon.cpp to this file
|
||||
- Better check for leap seconds
|
||||
- Added Unittests for Clock (only getter)
|
||||
|
||||
### Power
|
||||
|
||||
- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
|
||||
also specify a `ReturnValue_t` return type
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
|
||||
- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
|
||||
`turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
|
||||
- Clock:
|
||||
- `timeval` to `TimeOfDay_t`
|
||||
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
|
||||
- Moved the statics used by Clock in ClockCommon.cpp to this file
|
||||
- Better check for leap seconds
|
||||
- Added Unittests for Clock (only getter)
|
||||
|
||||
## Removed
|
||||
|
||||
@ -120,52 +64,14 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
|
||||
|
||||
## Additions
|
||||
|
||||
- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
|
||||
This is also the new default constructor for scalar value with 0 as an initial value
|
||||
- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
|
||||
whether it is running in CI/CD
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
|
||||
- Basic `clion` support: Update `.gitignore` and add some basic run configurations
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
|
||||
- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
|
||||
the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
|
||||
can make good use of it and it usually makes the code faster and/or smaller.
|
||||
After some more research:
|
||||
Enabling LTO will actually cause the compiler to only produce thin LTO by adding
|
||||
`-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
|
||||
because if an application linking against the FSFW does not use LTO, there can be compile
|
||||
issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
|
||||
can be seen in the multiple CMake issues for it:
|
||||
- https://gitlab.kitware.com/cmake/cmake/-/issues/22913,
|
||||
- https://gitlab.kitware.com/cmake/cmake/-/issues/16808,
|
||||
- https://gitlab.kitware.com/cmake/cmake/-/issues/21696
|
||||
Easiest solution for now: Keep this option OFF by default.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
|
||||
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
|
||||
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
|
||||
inside `fsfw/version.h`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
|
||||
- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
|
||||
(ETL) dependency.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
|
||||
- Added ETL dependency and improved library dependency management
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
|
||||
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
|
||||
- New typedef for switcher type
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
|
||||
- `Subsystem`: New API to add table and sequence entries
|
||||
|
||||
## HAL
|
||||
|
||||
- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
|
||||
lot more sense because each ComIF should be responsible for one SPI bus.
|
||||
- SPI: Move the empty transfer to update the line polarity to separate function. This means
|
||||
it is not automatically called when calling the setter function for SPI speed and mode.
|
||||
The user should call this function after locking the CS mutex if multiple SPI devices with
|
||||
differing speeds and modes are attached to one bus.
|
||||
- SPI: Getter functions for SPI speed and mode.
|
||||
- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
|
||||
|
||||
## Fixed
|
||||
|
||||
- TCP TMTC Server: `MutexGuard` was not created properly in
|
||||
|
||||
658
CMakeLists.txt
658
CMakeLists.txt
@ -4,112 +4,94 @@ set(MSG_PREFIX "fsfw |")
|
||||
|
||||
# Add the cmake folder so the FindSphinx module is found
|
||||
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
|
||||
list(APPEND CMAKE_MODULE_PATH
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
|
||||
list(APPEND CMAKE_MODULE_PATH
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
|
||||
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
|
||||
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
|
||||
|
||||
# ##############################################################################
|
||||
##########################
|
||||
# Version file handling #
|
||||
# ##############################################################################
|
||||
##########################
|
||||
|
||||
set(FSFW_VERSION_IF_GIT_FAILS 5)
|
||||
set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
|
||||
set(FSFW_REVISION_IF_GIT_FAILS 0)
|
||||
set(FSFW_VERSION_MAJOR_IF_GIT_FAILS 4)
|
||||
set(FSFW_VERSION_MINOR_IF_GIT_FAILS 0)
|
||||
set(FSFW_VERSION_REVISION_IF_GIT_FAILS 0)
|
||||
|
||||
set(FSFW_GIT_VER_HANDLING_OK FALSE)
|
||||
# Version handling
|
||||
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
|
||||
message(STATUS "${MSG_PREFIX} Determining version information with git")
|
||||
include(FsfwHelpers)
|
||||
determine_version_with_git("--exclude" "docker_*")
|
||||
if(GIT_INFO)
|
||||
set(FSFW_GIT_INFO
|
||||
${GIT_INFO}
|
||||
CACHE STRING "Version information retrieved with git describe")
|
||||
list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
|
||||
list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
|
||||
list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
|
||||
list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
|
||||
if(NOT FSFW_VERSION)
|
||||
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
|
||||
# Check whether we got any revision (which isn't
|
||||
# always the case, e.g. when someone downloaded a zip
|
||||
# file from Github instead of a checkout)
|
||||
message(STATUS "${MSG_PREFIX} Determining version information with git")
|
||||
include(FsfwHelpers)
|
||||
determine_version_with_git("--exclude" "docker_*")
|
||||
if(GIT_INFO)
|
||||
set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe" FORCE)
|
||||
list(GET FSFW_GIT_INFO 1 FSFW_VERSION_MAJOR)
|
||||
list(GET FSFW_GIT_INFO 2 FSFW_VERSION_MINOR)
|
||||
list(GET FSFW_GIT_INFO 3 FSFW_VERSION_REVISION)
|
||||
list(GET FSFW_GIT_INFO 4 FSFW_VERSION_VCS_INFO)
|
||||
if(NOT FSFW_VERSION_MAJOR)
|
||||
set(FSFW_VERSION_MAJOR ${FSFW_VERSION_MAJOR_IF_GIT_FAILS})
|
||||
endif()
|
||||
if(NOT FSFW_SUBVERSION)
|
||||
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
|
||||
if(NOT FSFW_VERSION_MINOR)
|
||||
set(FSFW_VERSION_MINOR ${FSFW_VERSION_MINOR_IF_GIT_FAILS})
|
||||
endif()
|
||||
if(NOT FSFW_REVISION)
|
||||
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
|
||||
if(NOT FSFW_VERSION_REVISION)
|
||||
set(FSFW_VERSION_REVISION ${FSFW_VERSION_REVISION_IF_GIT_FAILS})
|
||||
endif()
|
||||
set(FSFW_GIT_VER_HANDLING_OK TRUE)
|
||||
else()
|
||||
else()
|
||||
set(FSFW_GIT_VER_HANDLING_OK FALSE)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(NOT FSFW_GIT_VER_HANDLING_OK)
|
||||
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
|
||||
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
|
||||
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
|
||||
set(FSFW_VERSION_MAJOR ${FSFW_VERSION_MAJOR_IF_GIT_FAILS})
|
||||
set(FSFW_VERSION_MINOR ${FSFW_VERSION_MINOR_IF_GIT_FAILS})
|
||||
set(FSFW_VERSION_REVISION ${FSFW_VERSION_REVISION_IF_GIT_FAILS})
|
||||
set(GIT_REV "N/A")
|
||||
set(GIT_DIFF "")
|
||||
set(GIT_BRANCH "N/A")
|
||||
endif()
|
||||
|
||||
|
||||
set(LIB_FSFW_NAME fsfw)
|
||||
project(${LIB_FSFW_NAME}
|
||||
VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
|
||||
project(${LIB_FSFW_NAME} VERSION ${FSFW_VERSION_MAJOR}.${FSFW_VERSION_MINOR}.${FSFW_VERSION_REVISION})
|
||||
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED True)
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED True)
|
||||
elseif(${CMAKE_CXX_STANDARD} LESS 17)
|
||||
message(
|
||||
FATAL_ERROR
|
||||
"${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
|
||||
message(FATAL_ERROR "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
|
||||
endif()
|
||||
|
||||
set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
|
||||
|
||||
set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
|
||||
"ETL library major version requirement"
|
||||
)
|
||||
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
|
||||
"ETL library exact version requirement"
|
||||
)
|
||||
set(FSFW_ETL_LINK_TARGET etl::etl)
|
||||
|
||||
set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
|
||||
"Catch2 library major version requirement"
|
||||
)
|
||||
set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
|
||||
"Catch2 library exact version requirement"
|
||||
)
|
||||
|
||||
set(FSFW_ETL_LIB_NAME etl)
|
||||
set(FSFW_ETL_LINK_TARGET etl::etl)
|
||||
set(FSFW_ETL_LIB_MAJOR_VERSION
|
||||
20
|
||||
CACHE STRING "ETL library major version requirement")
|
||||
set(FSFW_ETL_LIB_VERSION
|
||||
${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
|
||||
CACHE STRING "ETL library exact version requirement")
|
||||
set(FSFW_ETL_LINK_TARGET etl::etl)
|
||||
|
||||
set(FSFW_CATCH2_LIB_MAJOR_VERSION
|
||||
3
|
||||
CACHE STRING "Catch2 library major version requirement")
|
||||
set(FSFW_CATCH2_LIB_VERSION
|
||||
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
|
||||
CACHE STRING "Catch2 library exact version requirement")
|
||||
|
||||
# Keep this off by default for now. See PR:
|
||||
# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
|
||||
# keeping this on by default is problematic
|
||||
option(
|
||||
FSFW_ENABLE_IPO
|
||||
"Enable interprocedural optimization or link-time optimization if available"
|
||||
OFF)
|
||||
if(FSFW_ENABLE_IPO)
|
||||
include(CheckIPOSupported)
|
||||
check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
|
||||
if(NOT IPO_SUPPORTED)
|
||||
message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
option(FSFW_GENERATE_SECTIONS
|
||||
"Generate function and data sections. Required to remove unused code" ON)
|
||||
"Generate function and data sections. Required to remove unused code" ON
|
||||
)
|
||||
if(FSFW_GENERATE_SECTIONS)
|
||||
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
|
||||
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
|
||||
endif()
|
||||
|
||||
option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
|
||||
OFF)
|
||||
option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
|
||||
option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
|
||||
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
|
||||
if(FSFW_BUILD_TESTS)
|
||||
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
|
||||
endif()
|
||||
|
||||
option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
||||
@ -118,11 +100,6 @@ option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
|
||||
option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
|
||||
option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
|
||||
|
||||
if(UNIX)
|
||||
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers" OFF)
|
||||
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
|
||||
endif()
|
||||
|
||||
# Optional sources
|
||||
option(FSFW_ADD_PUS "Compile with PUS sources" ON)
|
||||
option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
|
||||
@ -135,95 +112,82 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
|
||||
# Contrib sources
|
||||
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
|
||||
|
||||
|
||||
set(FSFW_TEST_TGT fsfw-tests)
|
||||
set(FSFW_DUMMY_TGT fsfw-dummy)
|
||||
|
||||
add_library(${LIB_FSFW_NAME})
|
||||
|
||||
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
|
||||
set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
|
||||
TRUE)
|
||||
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
|
||||
# Check whether the user has already installed Catch2 first
|
||||
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
|
||||
# Not installed, so use FetchContent to download and provide Catch2
|
||||
if(NOT Catch2_FOUND)
|
||||
message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
|
||||
include(FetchContent)
|
||||
|
||||
FetchContent_Declare(
|
||||
Catch2
|
||||
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
|
||||
GIT_TAG ${FSFW_CATCH2_LIB_VERSION}
|
||||
)
|
||||
|
||||
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
|
||||
endif()
|
||||
|
||||
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
|
||||
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
|
||||
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
|
||||
|
||||
project(${FSFW_TEST_TGT} CXX C)
|
||||
add_executable(${FSFW_TEST_TGT})
|
||||
|
||||
if(FSFW_TESTS_GEN_COV)
|
||||
message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
|
||||
message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
|
||||
"will be compiled with coverage data as well"
|
||||
)
|
||||
set(CMAKE_BUILD_TYPE "Debug")
|
||||
include(CodeCoverage)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_TESTS)
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
|
||||
)
|
||||
# Check whether the user has already installed Catch2 first
|
||||
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
|
||||
# Not installed, so use FetchContent to download and provide Catch2
|
||||
if(NOT Catch2_FOUND)
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
|
||||
message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
|
||||
|
||||
# Check whether the user has already installed ETL first
|
||||
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
|
||||
# Not installed, so use FetchContent to download and provide etl
|
||||
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
|
||||
message(STATUS
|
||||
"No ETL installation was found with find_package. Installing and providing "
|
||||
"etl with FindPackage"
|
||||
)
|
||||
include(FetchContent)
|
||||
|
||||
FetchContent_Declare(
|
||||
Catch2
|
||||
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
|
||||
GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
|
||||
${FSFW_ETL_LIB_NAME}
|
||||
GIT_REPOSITORY https://github.com/ETLCPP/etl
|
||||
GIT_TAG ${FSFW_ETL_LIB_VERSION}
|
||||
)
|
||||
|
||||
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
|
||||
endif()
|
||||
|
||||
set(FSFW_CONFIG_PATH unittests/testcfg)
|
||||
configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
|
||||
configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
|
||||
|
||||
project(${FSFW_TEST_TGT} CXX C)
|
||||
add_executable(${FSFW_TEST_TGT})
|
||||
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
|
||||
set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
|
||||
TRUE)
|
||||
endif()
|
||||
|
||||
if(FSFW_TESTS_GEN_COV)
|
||||
message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
|
||||
message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
|
||||
"will be compiled with coverage data as well")
|
||||
set(CMAKE_BUILD_TYPE "Debug")
|
||||
include(CodeCoverage)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
|
||||
)
|
||||
|
||||
# Check whether the user has already installed ETL first
|
||||
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
|
||||
# Not installed, so use FetchContent to download and provide etl
|
||||
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
|
||||
"etl with FindPackage")
|
||||
include(FetchContent)
|
||||
|
||||
FetchContent_Declare(
|
||||
${FSFW_ETL_LIB_NAME}
|
||||
GIT_REPOSITORY https://github.com/ETLCPP/etl
|
||||
GIT_TAG ${FSFW_ETL_LIB_VERSION})
|
||||
|
||||
list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
|
||||
list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
|
||||
endif()
|
||||
|
||||
# The documentation for FetchContent recommends declaring all the dependencies
|
||||
# before making them available. We make all declared dependency available here
|
||||
# after their declaration
|
||||
if(FSFW_FETCH_CONTENT_TARGETS)
|
||||
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
|
||||
if(TARGET ${FSFW_ETL_LIB_NAME})
|
||||
add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
|
||||
endif()
|
||||
if(TARGET Catch2)
|
||||
# Fixes regression -preview4, to be confirmed in later releases Related
|
||||
# GitHub issue: https://github.com/catchorg/Catch2/issues/2417
|
||||
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
|
||||
endif()
|
||||
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
|
||||
if(TARGET ${FSFW_ETL_LIB_NAME})
|
||||
add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
|
||||
endif()
|
||||
if(TARGET Catch2)
|
||||
# Fixes regression -preview4, to be confirmed in later releases
|
||||
# Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
|
||||
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
set(FSFW_CORE_INC_PATH "inc")
|
||||
@ -231,241 +195,283 @@ set(FSFW_CORE_INC_PATH "inc")
|
||||
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
|
||||
|
||||
# For configure files
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
|
||||
target_include_directories(${LIB_FSFW_NAME}
|
||||
INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
|
||||
# Backwards comptability
|
||||
if(OS_FSFW AND NOT FSFW_OSAL)
|
||||
message(
|
||||
WARNING
|
||||
"${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
|
||||
set(FSFW_OSAL OS_FSFW)
|
||||
message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
|
||||
set(FSFW_OSAL OS_FSFW)
|
||||
endif()
|
||||
|
||||
if(NOT FSFW_OSAL)
|
||||
message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
|
||||
# Assume host OS and autodetermine from OS_FSFW
|
||||
if(UNIX)
|
||||
set(FSFW_OSAL
|
||||
"linux"
|
||||
CACHE STRING "OS abstraction layer used in the FSFW")
|
||||
elseif(WIN32)
|
||||
set(FSFW_OSAL
|
||||
"host"
|
||||
CACHE STRING "OS abstraction layer used in the FSFW")
|
||||
endif()
|
||||
message(STATUS "${MSG_PREFIX} No OS for FSFW via FSFW_OSAL set. Assuming host OS")
|
||||
# Assume host OS and autodetermine from OS_FSFW
|
||||
if(UNIX)
|
||||
set(FSFW_OSAL "linux"
|
||||
CACHE STRING
|
||||
"OS abstraction layer used in the FSFW"
|
||||
)
|
||||
elseif(WIN32)
|
||||
set(FSFW_OSAL "host"
|
||||
CACHE STRING "OS abstraction layer used in the FSFW"
|
||||
)
|
||||
endif()
|
||||
|
||||
endif()
|
||||
|
||||
set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
|
||||
|
||||
if(FSFW_OSAL MATCHES host)
|
||||
set(FSFW_OS_NAME "Host")
|
||||
set(FSFW_OSAL_HOST ON)
|
||||
set(FSFW_OS_NAME "Host")
|
||||
set(FSFW_OSAL_HOST ON)
|
||||
elseif(FSFW_OSAL MATCHES linux)
|
||||
set(FSFW_OS_NAME "Linux")
|
||||
set(FSFW_OSAL_LINUX ON)
|
||||
set(FSFW_OS_NAME "Linux")
|
||||
set(FSFW_OSAL_LINUX ON)
|
||||
elseif(FSFW_OSAL MATCHES freertos)
|
||||
set(FSFW_OS_NAME "FreeRTOS")
|
||||
set(FSFW_OSAL_FREERTOS ON)
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
|
||||
set(FSFW_OS_NAME "FreeRTOS")
|
||||
set(FSFW_OSAL_FREERTOS ON)
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${LIB_OS_NAME}
|
||||
)
|
||||
elseif(FSFW_OSAL STREQUAL rtems)
|
||||
set(FSFW_OS_NAME "RTEMS")
|
||||
set(FSFW_OSAL_RTEMS ON)
|
||||
set(FSFW_OS_NAME "RTEMS")
|
||||
set(FSFW_OSAL_RTEMS ON)
|
||||
else()
|
||||
message(
|
||||
WARNING
|
||||
"${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
|
||||
)
|
||||
set(FSFW_OS_NAME "Host")
|
||||
set(OS_FSFW "host")
|
||||
message(WARNING
|
||||
"${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
|
||||
)
|
||||
set(FSFW_OS_NAME "Host")
|
||||
set(OS_FSFW "host")
|
||||
endif()
|
||||
|
||||
configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
|
||||
configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
|
||||
# configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
|
||||
|
||||
message(
|
||||
STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
|
||||
)
|
||||
message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")
|
||||
|
||||
add_subdirectory(src)
|
||||
add_subdirectory(tests)
|
||||
if(FSFW_ADD_HAL)
|
||||
add_subdirectory(hal)
|
||||
endif()
|
||||
add_subdirectory(contrib)
|
||||
if(FSFW_BUILD_TESTS)
|
||||
add_subdirectory(unittests)
|
||||
endif()
|
||||
if(FSFW_BUILD_DOCS)
|
||||
add_subdirectory(docs)
|
||||
add_subdirectory(docs)
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_TESTS)
|
||||
if(FSFW_TESTS_GEN_COV)
|
||||
if(CMAKE_COMPILER_IS_GNUCXX)
|
||||
include(CodeCoverage)
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
if(FSFW_TESTS_GEN_COV)
|
||||
if(CMAKE_COMPILER_IS_GNUCXX)
|
||||
include(CodeCoverage)
|
||||
|
||||
# Remove quotes.
|
||||
separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
|
||||
"${COVERAGE_COMPILER_FLAGS}")
|
||||
# Remove quotes.
|
||||
separate_arguments(COVERAGE_COMPILER_FLAGS
|
||||
NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
|
||||
)
|
||||
|
||||
# Add compile options manually, we don't want coverage for Catch2
|
||||
target_compile_options(${FSFW_TEST_TGT}
|
||||
PRIVATE "${COVERAGE_COMPILER_FLAGS}")
|
||||
target_compile_options(${LIB_FSFW_NAME}
|
||||
PRIVATE "${COVERAGE_COMPILER_FLAGS}")
|
||||
# Add compile options manually, we don't want coverage for Catch2
|
||||
target_compile_options(${FSFW_TEST_TGT} PRIVATE
|
||||
"${COVERAGE_COMPILER_FLAGS}"
|
||||
)
|
||||
target_compile_options(${LIB_FSFW_NAME} PRIVATE
|
||||
"${COVERAGE_COMPILER_FLAGS}"
|
||||
)
|
||||
|
||||
# Exclude directories here
|
||||
if(WIN32)
|
||||
set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
|
||||
"--exclude-unreachable-branches")
|
||||
set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
|
||||
elseif(UNIX)
|
||||
set(COVERAGE_EXCLUDES
|
||||
"/usr/include/*"
|
||||
"/usr/bin/*"
|
||||
"Catch2/*"
|
||||
"/usr/local/include/*"
|
||||
"*/fsfw_tests/*"
|
||||
"*/catch2-src/*"
|
||||
"*/fsfw_hal/*")
|
||||
endif()
|
||||
# Exclude directories here
|
||||
if(WIN32)
|
||||
set(GCOVR_ADDITIONAL_ARGS
|
||||
"--exclude-throw-branches"
|
||||
"--exclude-unreachable-branches"
|
||||
)
|
||||
set(COVERAGE_EXCLUDES
|
||||
"/c/msys64/mingw64/*" "*/fsfw_hal/*"
|
||||
)
|
||||
elseif(UNIX)
|
||||
set(COVERAGE_EXCLUDES
|
||||
"/usr/include/*" "/usr/bin/*" "Catch2/*"
|
||||
"/usr/local/include/*" "*/fsfw_tests/*"
|
||||
"*/catch2-src/*" "*/fsfw_hal/*"
|
||||
)
|
||||
endif()
|
||||
|
||||
target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
|
||||
-ftest-coverage)
|
||||
target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
|
||||
-ftest-coverage)
|
||||
# Need to specify this as an interface, otherwise there will the compile
|
||||
# issues
|
||||
target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
|
||||
-ftest-coverage)
|
||||
target_link_options(${FSFW_TEST_TGT} PRIVATE
|
||||
-fprofile-arcs
|
||||
-ftest-coverage
|
||||
)
|
||||
target_link_options(${LIB_FSFW_NAME} PRIVATE
|
||||
-fprofile-arcs
|
||||
-ftest-coverage
|
||||
)
|
||||
# Need to specify this as an interface, otherwise there will the compile issues
|
||||
target_link_options(${LIB_FSFW_NAME} INTERFACE
|
||||
-fprofile-arcs
|
||||
-ftest-coverage
|
||||
)
|
||||
|
||||
if(WIN32)
|
||||
setup_target_for_coverage_gcovr_html(
|
||||
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
|
||||
DEPENDENCIES ${FSFW_TEST_TGT})
|
||||
else()
|
||||
setup_target_for_coverage_lcov(
|
||||
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
|
||||
DEPENDENCIES ${FSFW_TEST_TGT})
|
||||
endif()
|
||||
if(WIN32)
|
||||
setup_target_for_coverage_gcovr_html(
|
||||
NAME ${FSFW_TEST_TGT}_coverage
|
||||
EXECUTABLE ${FSFW_TEST_TGT}
|
||||
DEPENDENCIES ${FSFW_TEST_TGT}
|
||||
)
|
||||
else()
|
||||
setup_target_for_coverage_lcov(
|
||||
NAME ${FSFW_TEST_TGT}_coverage
|
||||
EXECUTABLE ${FSFW_TEST_TGT}
|
||||
DEPENDENCIES ${FSFW_TEST_TGT}
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
|
||||
${LIB_FSFW_NAME})
|
||||
target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
|
||||
endif()
|
||||
|
||||
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
|
||||
# this is not given, we include the default configuration and emit a warning.
|
||||
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
|
||||
# If this is not given, we include the default configuration and emit a warning.
|
||||
if(NOT FSFW_CONFIG_PATH)
|
||||
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
|
||||
if(NOT FSFW_BUILD_DOCS)
|
||||
message(
|
||||
WARNING
|
||||
"${MSG_PREFIX} Flight Software Framework configuration path not set")
|
||||
message(
|
||||
WARNING
|
||||
"${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
|
||||
endif()
|
||||
add_subdirectory(${DEF_CONF_PATH})
|
||||
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
|
||||
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
|
||||
if(NOT FSFW_BUILD_DOCS)
|
||||
message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
|
||||
message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
|
||||
endif()
|
||||
add_subdirectory(${DEF_CONF_PATH})
|
||||
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
|
||||
endif()
|
||||
|
||||
# FSFW might be part of a possibly complicated folder structure, so we extract
|
||||
# the absolute path of the fsfwconfig folder.
|
||||
# FSFW might be part of a possibly complicated folder structure, so we
|
||||
# extract the absolute path of the fsfwconfig folder.
|
||||
if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
|
||||
set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
|
||||
set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
|
||||
else()
|
||||
get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
|
||||
BASE_DIR ${CMAKE_SOURCE_DIR})
|
||||
get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
|
||||
${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
|
||||
)
|
||||
endif()
|
||||
|
||||
foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
|
||||
if(IS_ABSOLUTE ${INCLUDE_PATH})
|
||||
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
|
||||
else()
|
||||
get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
|
||||
${CMAKE_SOURCE_DIR})
|
||||
endif()
|
||||
if(IS_ABSOLUTE ${INCLUDE_PATH})
|
||||
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
|
||||
else()
|
||||
get_filename_component(CURR_ABS_INC_PATH
|
||||
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
|
||||
endif()
|
||||
|
||||
if(CMAKE_VERBOSE)
|
||||
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
|
||||
endif()
|
||||
if(CMAKE_VERBOSE)
|
||||
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
|
||||
endif()
|
||||
|
||||
list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
|
||||
list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
|
||||
endforeach()
|
||||
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
||||
if(NOT DEFINED FSFW_WARNING_FLAGS)
|
||||
set(FSFW_WARNING_FLAGS
|
||||
-Wall
|
||||
-Wextra
|
||||
-Wimplicit-fallthrough=1
|
||||
-Wno-unused-parameter
|
||||
-Wno-psabi
|
||||
-Wduplicated-cond # check for duplicate conditions
|
||||
-Wduplicated-branches # check for duplicate branches
|
||||
-Wlogical-op # Search for bitwise operations instead of logical
|
||||
-Wnull-dereference # Search for NULL dereference
|
||||
-Wundef # Warn if undefind marcos are used
|
||||
-Wformat=2 # Format string problem detection
|
||||
-Wformat-overflow=2 # Formatting issues in printf
|
||||
-Wformat-truncation=2 # Formatting issues in printf
|
||||
-Wformat-security # Search for dangerous printf operations
|
||||
-Wstrict-overflow=3 # Warn if integer overflows might happen
|
||||
-Warray-bounds=2 # Some array bounds violations will be found
|
||||
-Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
|
||||
-Wcast-qual # Warn if the constness is cast away
|
||||
-Wstringop-overflow=4
|
||||
# -Wstack-protector # Emits a few false positives for low level access
|
||||
# -Wconversion # Creates many false positives -Warith-conversion # Use
|
||||
# with Wconversion to find more implicit conversions -fanalyzer # Should
|
||||
# be used to look through problems
|
||||
)
|
||||
endif()
|
||||
if(NOT DEFINED FSFW_WARNING_FLAGS)
|
||||
set(FSFW_WARNING_FLAGS
|
||||
-Wall
|
||||
-Wextra
|
||||
-Wimplicit-fallthrough=1
|
||||
-Wno-unused-parameter
|
||||
-Wno-psabi
|
||||
-Wduplicated-cond # check for duplicate conditions
|
||||
-Wduplicated-branches # check for duplicate branches
|
||||
-Wlogical-op # Search for bitwise operations instead of logical
|
||||
-Wnull-dereference # Search for NULL dereference
|
||||
-Wundef # Warn if undefind marcos are used
|
||||
-Wformat=2 # Format string problem detection
|
||||
-Wformat-overflow=2 # Formatting issues in printf
|
||||
-Wformat-truncation=2 # Formatting issues in printf
|
||||
-Wformat-security # Search for dangerous printf operations
|
||||
-Wstrict-overflow=3 # Warn if integer overflows might happen
|
||||
-Warray-bounds=2 # Some array bounds violations will be found
|
||||
-Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
|
||||
-Wcast-qual # Warn if the constness is cast away
|
||||
-Wstringop-overflow=4
|
||||
# -Wstack-protector # Emits a few false positives for low level access
|
||||
# -Wconversion # Creates many false positives
|
||||
# -Warith-conversion # Use with Wconversion to find more implicit conversions
|
||||
# -fanalyzer # Should be used to look through problems
|
||||
)
|
||||
endif()
|
||||
|
||||
if(FSFW_GENERATE_SECTIONS)
|
||||
target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
|
||||
"-fdata-sections")
|
||||
endif()
|
||||
if(FSFW_GENERATE_SECTIONS)
|
||||
target_compile_options(${LIB_FSFW_NAME} PRIVATE
|
||||
"-ffunction-sections"
|
||||
"-fdata-sections"
|
||||
)
|
||||
endif()
|
||||
|
||||
if(FSFW_REMOVE_UNUSED_CODE)
|
||||
target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
|
||||
endif()
|
||||
if(FSFW_REMOVE_UNUSED_CODE)
|
||||
target_link_options(${LIB_FSFW_NAME} PRIVATE
|
||||
"Wl,--gc-sections"
|
||||
)
|
||||
endif()
|
||||
|
||||
if(FSFW_WARNING_SHADOW_LOCAL_GCC)
|
||||
list(APPEND WARNING_FLAGS "-Wshadow=local")
|
||||
endif()
|
||||
if(FSFW_WARNING_SHADOW_LOCAL_GCC)
|
||||
list(APPEND WARNING_FLAGS "-Wshadow=local")
|
||||
endif()
|
||||
|
||||
endif()
|
||||
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
|
||||
set(COMPILER_FLAGS "/permissive-")
|
||||
set(COMPILER_FLAGS "/permissive-")
|
||||
endif()
|
||||
|
||||
# Required include paths to compile the FSFW
|
||||
target_include_directories(
|
||||
${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
|
||||
${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_SOURCE_DIR}
|
||||
${FSFW_CONFIG_PATH_ABSOLUTE}
|
||||
${FSFW_CORE_INC_PATH}
|
||||
${FSFW_ADD_INC_PATHS_ABS}
|
||||
)
|
||||
|
||||
# Includes path required to compile FSFW itself as well We assume that the
|
||||
# fsfwconfig folder uses include relative to the project root here!
|
||||
target_include_directories(
|
||||
${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
|
||||
${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
|
||||
# Includes path required to compile FSFW itself as well
|
||||
# We assume that the fsfwconfig folder uses include relative to the project
|
||||
# root here!
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_SOURCE_DIR}
|
||||
${FSFW_CONFIG_PATH_ABSOLUTE}
|
||||
${FSFW_CORE_INC_PATH}
|
||||
${FSFW_ADD_INC_PATHS_ABS}
|
||||
)
|
||||
|
||||
target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
|
||||
${COMPILER_FLAGS})
|
||||
target_compile_options(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_WARNING_FLAGS}
|
||||
${COMPILER_FLAGS}
|
||||
)
|
||||
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
|
||||
target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_ETL_LINK_TARGET}
|
||||
${FSFW_ADDITIONAL_LINK_LIBS}
|
||||
)
|
||||
|
||||
string(
|
||||
CONCAT
|
||||
POST_BUILD_COMMENT
|
||||
string(CONCAT POST_BUILD_COMMENT
|
||||
"######################################################################\n"
|
||||
"Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
|
||||
"Target OSAL: ${FSFW_OS_NAME}\n"
|
||||
"######################################################################\n")
|
||||
"######################################################################\n"
|
||||
)
|
||||
|
||||
add_custom_command(
|
||||
TARGET ${LIB_FSFW_NAME}
|
||||
POST_BUILD
|
||||
COMMENT ${POST_BUILD_COMMENT})
|
||||
TARGET ${LIB_FSFW_NAME}
|
||||
POST_BUILD
|
||||
COMMENT ${POST_BUILD_COMMENT}
|
||||
)
|
||||
|
||||
# Add a custom command that produces version.cpp, plus
|
||||
# a dummy output that's not actually produced, in order
|
||||
# to force version.cmake to always be re-run before the build
|
||||
add_custom_command(
|
||||
TARGET ${LIB_FSFW_NAME}
|
||||
COMMAND ${CMAKE_COMMAND} -DVERSION_DIR=${FSFW_SOURCES_DIR}
|
||||
-DVERSION_MAJOR=${FSFW_VERSION_MAJOR}
|
||||
-DVERSION_MINOR=${FSFW_VERSION_MINOR}
|
||||
-DVERSION_REVISION=${FSFW_VERSION_REVISION}
|
||||
-DVERSION_VCS_INFO=${FSFW_VERSION_VCS_INFO}
|
||||
-P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/version.cmake
|
||||
BYPRODUCTS ${FSFW_SOURCES_DIR}/versionAutogen.cpp
|
||||
COMMENT ""
|
||||
)
|
||||
|
||||
13
README.md
13
README.md
@ -99,7 +99,7 @@ add and link against the FSFW library in general.
|
||||
|
||||
4. Link against the FSFW library
|
||||
|
||||
```sh
|
||||
```cmake
|
||||
target_link_libraries(${YourProjectName} PRIVATE fsfw)
|
||||
```
|
||||
|
||||
@ -131,15 +131,15 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
|
||||
You can use the following commands inside the `fsfw` folder to set up the build system
|
||||
|
||||
```sh
|
||||
mkdir build-tests && cd build-tests
|
||||
cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
|
||||
mkdir build-Unittest && cd build-Unittest
|
||||
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
|
||||
```
|
||||
|
||||
You can also use `-DFSFW_OSAL=linux` on Linux systems.
|
||||
|
||||
Coverage data in HTML format can be generated using the `CodeCoverage`
|
||||
[CMake module](https://github.com/bilke/cmake-modules/tree/master).
|
||||
To build the unittests, run them and then generate the coverage data in this format,
|
||||
To build the unittests, run them and then generare the coverage data in this format,
|
||||
the following command can be used inside the build directory after the build system was set up
|
||||
|
||||
```sh
|
||||
@ -188,10 +188,7 @@ and open the documentation conveniently. Try `helper.py -h for more information.
|
||||
|
||||
The formatting is done by the `clang-format` tool. The configuration is contained within the
|
||||
`.clang-format` file in the repository root. As long as `clang-format` is installed, you
|
||||
can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
|
||||
````sh
|
||||
sudo pip install cmakelang
|
||||
````
|
||||
can run the `apply-clang-format.sh` helper script to format all source files consistently.
|
||||
|
||||
## Index
|
||||
|
||||
|
||||
@ -12,9 +12,3 @@ RUN git clone https://github.com/catchorg/Catch2.git && \
|
||||
git checkout v3.0.0-preview5 && \
|
||||
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
|
||||
cmake --build build/ --target install
|
||||
|
||||
RUN git clone https://github.com/ETLCPP/etl.git && \
|
||||
cd etl && \
|
||||
git checkout 20.28.0 && \
|
||||
cmake -B build . && \
|
||||
cmake --install build/
|
||||
|
||||
4
automation/Jenkinsfile
vendored
4
automation/Jenkinsfile
vendored
@ -3,7 +3,7 @@ pipeline {
|
||||
BUILDDIR = 'build-tests'
|
||||
}
|
||||
agent {
|
||||
docker { image 'fsfw-ci:d3'}
|
||||
docker { image 'fsfw-ci:d2'}
|
||||
}
|
||||
stages {
|
||||
stage('Clean') {
|
||||
@ -14,7 +14,7 @@ pipeline {
|
||||
stage('Configure') {
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
|
||||
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -8,6 +8,7 @@
|
||||
function(determine_version_with_git)
|
||||
include(GetGitRevisionDescription)
|
||||
git_describe(VERSION ${ARGN})
|
||||
get_git_head_revision(GIT_BRANCH HASH_VAR)
|
||||
string(FIND ${VERSION} "." VALID_VERSION)
|
||||
if(VALID_VERSION EQUAL -1)
|
||||
message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
|
||||
@ -18,11 +19,14 @@ function(determine_version_with_git)
|
||||
string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
|
||||
string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
|
||||
string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
|
||||
string(STRIP "${GIT_BRANCH}" GIT_BRANCH)
|
||||
set(GIT_INFO ${VERSION})
|
||||
list(APPEND GIT_INFO ${_VERSION_MAJOR})
|
||||
list(APPEND GIT_INFO ${_VERSION_MINOR})
|
||||
list(APPEND GIT_INFO ${_VERSION_PATCH})
|
||||
list(APPEND GIT_INFO ${VERSION_SHA1})
|
||||
set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
|
||||
set(GIT_BRANCH ${GIT_BRANCH} PARENT_SCOPE)
|
||||
message(STATUS "${MSG_PREFIX} git branch ${GIT_BRANCH}")
|
||||
message(STATUS "${MSG_PREFIX} Set git version info into GIT_INFO from the git tag ${VERSION}")
|
||||
endfunction()
|
||||
|
||||
38
cmake/version.cmake
Normal file
38
cmake/version.cmake
Normal file
@ -0,0 +1,38 @@
|
||||
if(NOT DEFINED VERSION_MAJOR)
|
||||
message(WARNING "version.cmake | No VERSION_MAJOR variable passed. Setting to 0")
|
||||
set(VERSION_MAJOR 0)
|
||||
endif()
|
||||
if(NOT DEFINED VERSION_MINOR)
|
||||
message(WARNING "version.cmake | No VERSION_MINOR variable passed. Setting to 0")
|
||||
set(VERSION_MINOR 0)
|
||||
endif()
|
||||
if(NOT DEFINED VERSION_REVISION)
|
||||
message(WARNING "version.cmake | No VERSION_REVISION variable passed. Setting to 0")
|
||||
set(VERSION_REVISION 0)
|
||||
endif()
|
||||
if(NOT DEFINED VERSION_VCS_INFO)
|
||||
set(VERSION_VCS_INFO "")
|
||||
endif()
|
||||
|
||||
set(VERSION_TO_SET "#include \"version.h\"
|
||||
|
||||
namespace fsfw {
|
||||
|
||||
const int FSFW_VERSION_MAJOR = ${VERSION_MAJOR};
|
||||
const int FSFW_VERSION_MINOR = ${VERSION_MINOR};
|
||||
const int FSFW_VERSION_REVISION = ${VERSION_MINOR};
|
||||
const char FSFW_VCS_INFO[] = \"${VERSION_VCS_INFO}\";
|
||||
|
||||
};
|
||||
")
|
||||
|
||||
if(EXISTS ${VERSION_DIR}/versionAutogen.cpp)
|
||||
file(READ ${VERSION_DIR}/versionAutogen.cpp OLD_VERSION)
|
||||
else()
|
||||
set(OLD_VERSION "")
|
||||
endif()
|
||||
|
||||
if (NOT "${VERSION_TO_SET}" STREQUAL "${OLD_VERSION}")
|
||||
message(STATUS "Updating versionAutogen.cpp file")
|
||||
file(WRITE ${VERSION_DIR}/versionAutogen.cpp "${VERSION_TO_SET}")
|
||||
endif()
|
||||
@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
|
||||
.. code-block:: console
|
||||
|
||||
mkdir build-tests && cd build-tests
|
||||
cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
|
||||
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
|
||||
|
||||
|
||||
You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
|
||||
|
||||
48
hal/CMakeLists.txt
Normal file
48
hal/CMakeLists.txt
Normal file
@ -0,0 +1,48 @@
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
# Can also be changed by upper CMakeLists.txt file
|
||||
find_library(LIB_FSFW_NAME fsfw REQUIRED)
|
||||
|
||||
option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
|
||||
# On by default for now because I did not have an issue including and compiling those files
|
||||
# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
|
||||
# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
|
||||
# but CMake is able to determine whether this library is installed with find_library.
|
||||
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
|
||||
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
|
||||
|
||||
option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
|
||||
option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
|
||||
option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
||||
|
||||
set(LINUX_HAL_PATH_NAME linux)
|
||||
set(STM32H7_PATH_NAME stm32h7)
|
||||
|
||||
add_subdirectory(src)
|
||||
|
||||
foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
|
||||
if(IS_ABSOLUTE ${INCLUDE_PATH})
|
||||
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
|
||||
else()
|
||||
get_filename_component(CURR_ABS_INC_PATH
|
||||
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
|
||||
endif()
|
||||
|
||||
if(CMAKE_VERBOSE)
|
||||
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
|
||||
endif()
|
||||
|
||||
list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
|
||||
endforeach()
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_ADD_INC_PATHS_ABS}
|
||||
)
|
||||
|
||||
target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_DEFINES}
|
||||
)
|
||||
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_LINK_LIBS}
|
||||
)
|
||||
9
hal/src/CMakeLists.txt
Normal file
9
hal/src/CMakeLists.txt
Normal file
@ -0,0 +1,9 @@
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
add_subdirectory(fsfw_hal)
|
||||
@ -2,9 +2,9 @@ add_subdirectory(devicehandlers)
|
||||
add_subdirectory(common)
|
||||
|
||||
if(UNIX)
|
||||
add_subdirectory(linux)
|
||||
add_subdirectory(linux)
|
||||
endif()
|
||||
|
||||
if(FSFW_HAL_ADD_STM32H7)
|
||||
add_subdirectory(stm32h7)
|
||||
add_subdirectory(stm32h7)
|
||||
endif()
|
||||
3
hal/src/fsfw_hal/common/gpio/CMakeLists.txt
Normal file
3
hal/src/fsfw_hal/common/gpio/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GpioCookie.cpp
|
||||
)
|
||||
@ -46,9 +46,9 @@ class GpioIF : public HasReturnvaluesIF {
|
||||
* an ouput or input gpio.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to read.
|
||||
* @param gpioState State of GPIO will be written to this reference
|
||||
* @param gpioState State of GPIO will be written to this pointer.
|
||||
*/
|
||||
virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0;
|
||||
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
|
||||
};
|
||||
|
||||
#endif /* COMMON_GPIO_GPIOIF_H_ */
|
||||
@ -9,7 +9,7 @@ using gpioId_t = uint16_t;
|
||||
|
||||
namespace gpio {
|
||||
|
||||
enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 };
|
||||
enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
|
||||
|
||||
enum class Direction : int { IN = 0, OUT = 1 };
|
||||
|
||||
5
hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
Normal file
5
hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
Normal file
@ -0,0 +1,5 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GyroL3GD20Handler.cpp
|
||||
MgmRM3100Handler.cpp
|
||||
MgmLIS3MDLHandler.cpp
|
||||
)
|
||||
@ -252,7 +252,6 @@ ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &l
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -375,16 +375,13 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
if (commandData == nullptr) {
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||
if (commandDataLen > 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (commandData[0]) {
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON): {
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
@ -475,7 +472,6 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &lo
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
|
||||
poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -312,7 +312,6 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &loc
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
|
||||
poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
25
hal/src/fsfw_hal/linux/CMakeLists.txt
Normal file
25
hal/src/fsfw_hal/linux/CMakeLists.txt
Normal file
@ -0,0 +1,25 @@
|
||||
if(FSFW_HAL_ADD_RASPBERRY_PI)
|
||||
add_subdirectory(rpi)
|
||||
endif()
|
||||
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
UnixFileGuard.cpp
|
||||
CommandExecutor.cpp
|
||||
utility.cpp
|
||||
)
|
||||
|
||||
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
|
||||
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
|
||||
add_subdirectory(gpio)
|
||||
endif()
|
||||
add_subdirectory(uart)
|
||||
# Adding those does not really make sense on Apple systems which
|
||||
# are generally host systems. It won't even compile as the headers
|
||||
# are missing
|
||||
if(NOT APPLE)
|
||||
add_subdirectory(i2c)
|
||||
add_subdirectory(spi)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
add_subdirectory(uio)
|
||||
@ -32,8 +32,6 @@ ReturnValue_t CommandExecutor::execute() {
|
||||
} else if (state == States::PENDING) {
|
||||
return COMMAND_PENDING;
|
||||
}
|
||||
// Reset data in read vector
|
||||
std::memset(readVec.data(), 0, readVec.size());
|
||||
currentCmdFile = popen(currentCmd.c_str(), "r");
|
||||
if (currentCmdFile == nullptr) {
|
||||
lastError = errno;
|
||||
@ -207,5 +205,3 @@ ReturnValue_t CommandExecutor::executeBlocking() {
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }
|
||||
@ -109,8 +109,6 @@ class CommandExecutor {
|
||||
*/
|
||||
void reset();
|
||||
|
||||
const std::vector<char>& getReadVector() const;
|
||||
|
||||
private:
|
||||
std::string currentCmd;
|
||||
bool blocking = true;
|
||||
@ -6,7 +6,7 @@
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
UnixFileGuard::UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
|
||||
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
|
||||
std::string diagnosticPrefix)
|
||||
: fileDescriptor(fileDescriptor) {
|
||||
if (fileDescriptor == nullptr) {
|
||||
@ -15,7 +15,7 @@ class UnixFileGuard {
|
||||
|
||||
static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
|
||||
|
||||
UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
|
||||
UnixFileGuard(std::string device, int* fileDescriptor, int flags,
|
||||
std::string diagnosticPrefix = "");
|
||||
|
||||
virtual ~UnixFileGuard();
|
||||
16
hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
Normal file
16
hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
Normal file
@ -0,0 +1,16 @@
|
||||
# This abstraction layer requires the gpiod library. You can install this library
|
||||
# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
|
||||
# to install the package before syncing the sysroot to your host computer.
|
||||
find_library(LIB_GPIO gpiod)
|
||||
|
||||
if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
|
||||
message(STATUS "gpiod library not found, not linking against it")
|
||||
else()
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
LinuxLibgpioIF.cpp
|
||||
)
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${LIB_GPIO}
|
||||
)
|
||||
endif()
|
||||
|
||||
@ -20,9 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
|
||||
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
|
||||
ReturnValue_t result;
|
||||
if (gpioCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
|
||||
#endif
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
@ -98,10 +96,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
|
||||
std::string& label = gpioByLabel.label;
|
||||
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
|
||||
if (chip == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
|
||||
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
|
||||
#endif
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
std::string failOutput = "label: " + label;
|
||||
@ -112,10 +108,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
|
||||
std::string& chipname = gpioByChip.chipname;
|
||||
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
|
||||
if (chip == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
|
||||
<< ". Gpio ID: " << gpioId << std::endl;
|
||||
#endif
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
std::string failOutput = "chipname: " + chipname;
|
||||
@ -139,10 +133,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
|
||||
|
||||
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
|
||||
if (chip == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
|
||||
<< ". <Gpio ID: " << gpioId << std::endl;
|
||||
#endif
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
std::string failOutput = "line name: " + lineName;
|
||||
@ -161,12 +153,10 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
|
||||
lineNum = regularGpio.lineNum;
|
||||
lineHandle = gpiod_chip_get_line(chip, lineNum);
|
||||
if (!lineHandle) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
|
||||
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
|
||||
<< std::endl;
|
||||
sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
|
||||
#endif
|
||||
gpiod_chip_close(chip);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
@ -185,9 +175,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
|
||||
#endif
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
|
||||
@ -216,9 +204,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
|
||||
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
|
||||
#endif
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
@ -294,7 +280,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
|
||||
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
@ -313,10 +299,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState)
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
gpioState = static_cast<gpio::Levels>(gpiod_line_get_value(regularGpio->lineHandle));
|
||||
if (gpioState == gpio::Levels::FAILED) {
|
||||
return GPIO_GET_VALUE_FAILED;
|
||||
}
|
||||
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
|
||||
} else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if (gpioCallback->callback == nullptr) {
|
||||
@ -31,16 +31,14 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
|
||||
static constexpr ReturnValue_t GPIO_INIT_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
|
||||
// Will be returned if getting the line value failed. Error type will be set to errno in this case
|
||||
static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7);
|
||||
|
||||
LinuxLibgpioIF(object_id_t objectId);
|
||||
virtual ~LinuxLibgpioIF();
|
||||
|
||||
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
|
||||
ReturnValue_t pullHigh(gpioId_t gpioId) override;
|
||||
ReturnValue_t pullLow(gpioId_t gpioId) override;
|
||||
ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override;
|
||||
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
|
||||
|
||||
private:
|
||||
static const size_t MAX_CHIPNAME_LENGTH = 11;
|
||||
8
hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
Normal file
8
hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
Normal file
@ -0,0 +1,8 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC
|
||||
I2cComIF.cpp
|
||||
I2cCookie.cpp
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
@ -170,20 +170,18 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
|
||||
|
||||
int readLen = read(fd, replyBuffer, requestLen);
|
||||
if (readLen != static_cast<int>(requestLen)) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
if (readLen < 0) {
|
||||
sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C "
|
||||
<< "device failed with error code " << errno << " | " << strerror(errno)
|
||||
<< std::endl;
|
||||
} else {
|
||||
sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
|
||||
<< requestLen << " bytes" << std::endl;
|
||||
}
|
||||
#else
|
||||
#endif
|
||||
#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
|
||||
<< "device failed with error code " << errno << ". Description"
|
||||
<< " of error: " << strerror(errno) << std::endl;
|
||||
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
|
||||
<< " bytes" << std::endl;
|
||||
#endif
|
||||
i2cDeviceMapIter->second.replyLen = 0;
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
|
||||
<< " bytes" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
3
hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
Normal file
3
hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GpioRPi.cpp
|
||||
)
|
||||
8
hal/src/fsfw_hal/linux/spi/CMakeLists.txt
Normal file
8
hal/src/fsfw_hal/linux/spi/CMakeLists.txt
Normal file
@ -0,0 +1,8 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC
|
||||
SpiComIF.cpp
|
||||
SpiCookie.cpp
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
@ -15,8 +15,8 @@
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw_hal/linux/utility.h"
|
||||
|
||||
SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
|
||||
: SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
|
||||
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
|
||||
: SystemObject(objectId), gpioComIF(gpioComIF) {
|
||||
if (gpioComIF == nullptr) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
@ -27,7 +27,7 @@ SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
}
|
||||
|
||||
csMutex = MutexFactory::instance()->createMutex();
|
||||
spiMutex = MutexFactory::instance()->createMutex();
|
||||
}
|
||||
|
||||
ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
|
||||
@ -85,7 +85,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
|
||||
spiCookie->getSpiParameters(spiMode, spiSpeed, ¶ms);
|
||||
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
|
||||
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
|
||||
"SpiComIF::initializeInterface");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return fileHelper.getOpenResult();
|
||||
}
|
||||
@ -181,7 +182,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
|
||||
int retval = 0;
|
||||
/* Prepare transfer */
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
std::string device = spiCookie->getSpiDevice();
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
@ -194,28 +196,21 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
|
||||
|
||||
bool fullDuplex = spiCookie->isFullDuplex();
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
bool csLockManual = spiCookie->getCsLockManual();
|
||||
|
||||
MutexIF::TimeoutType csType;
|
||||
dur_millis_t csTimeout = 0;
|
||||
// Pull SPI CS low. For now, no support for active high given
|
||||
if (gpioId != gpio::NO_GPIO and not csLockManual) {
|
||||
spiCookie->getMutexParams(csType, csTimeout);
|
||||
result = csMutex->lockMutex(csType, csTimeout);
|
||||
/* Pull SPI CS low. For now, no support for active high given */
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
result = spiMutex->lockMutex(timeoutType, timeoutMs);
|
||||
if (result != RETURN_OK) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
|
||||
<< "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
|
||||
<< std::endl;
|
||||
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
|
||||
#else
|
||||
sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
|
||||
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
|
||||
#endif
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
updateLinePolarity(fileDescriptor);
|
||||
result = gpioComIF->pullLow(gpioId);
|
||||
ReturnValue_t result = gpioComIF->pullLow(gpioId);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
@ -226,8 +221,6 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
} else {
|
||||
updateLinePolarity(fileDescriptor);
|
||||
}
|
||||
|
||||
/* Execute transfer */
|
||||
@ -255,9 +248,9 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
|
||||
}
|
||||
}
|
||||
|
||||
if (gpioId != gpio::NO_GPIO and not csLockManual) {
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
gpioComIF->pullHigh(gpioId);
|
||||
result = csMutex->unlockMutex();
|
||||
result = spiMutex->unlockMutex();
|
||||
if (result != RETURN_OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
|
||||
@ -285,8 +278,9 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
|
||||
|
||||
ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
std::string device = spiCookie->getSpiDevice();
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
@ -298,22 +292,12 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
|
||||
return result;
|
||||
}
|
||||
|
||||
bool csLockManual = spiCookie->getCsLockManual();
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
MutexIF::TimeoutType csType;
|
||||
dur_millis_t csTimeout = 0;
|
||||
if (gpioId != gpio::NO_GPIO and not csLockManual) {
|
||||
spiCookie->getMutexParams(csType, csTimeout);
|
||||
result = csMutex->lockMutex(csType, csTimeout);
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
result = spiMutex->lockMutex(timeoutType, timeoutMs);
|
||||
if (result != RETURN_OK) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
|
||||
<< "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
|
||||
#endif
|
||||
sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
@ -331,9 +315,9 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
|
||||
result = HALF_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
|
||||
if (gpioId != gpio::NO_GPIO and not csLockManual) {
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
gpioComIF->pullHigh(gpioId);
|
||||
result = csMutex->unlockMutex();
|
||||
result = spiMutex->unlockMutex();
|
||||
if (result != RETURN_OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
|
||||
@ -362,7 +346,15 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MutexIF* SpiComIF::getCsMutex() { return csMutex; }
|
||||
MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
|
||||
if (timeoutType != nullptr) {
|
||||
*timeoutType = this->timeoutType;
|
||||
}
|
||||
if (timeoutMs != nullptr) {
|
||||
*timeoutMs = this->timeoutMs;
|
||||
}
|
||||
return spiMutex;
|
||||
}
|
||||
|
||||
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
|
||||
if (spiCookie == nullptr) {
|
||||
@ -409,27 +401,11 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
|
||||
}
|
||||
}
|
||||
|
||||
void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const {
|
||||
uint8_t tmpMode = 0;
|
||||
int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode);
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed");
|
||||
}
|
||||
mode = static_cast<spi::SpiModes>(tmpMode);
|
||||
|
||||
retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed");
|
||||
}
|
||||
}
|
||||
|
||||
const std::string& SpiComIF::getSpiDev() const { return dev; }
|
||||
|
||||
void SpiComIF::updateLinePolarity(int spiFd) {
|
||||
// This updates the SPI clock default polarity. Only setting the mode does not update
|
||||
// the line state, which can be an issue on mode switches because the clock line will
|
||||
// switch the state after the chip select is pulled low
|
||||
clockUpdateTransfer.len = 0;
|
||||
int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
|
||||
retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
|
||||
}
|
||||
@ -22,17 +22,17 @@ class SpiCookie;
|
||||
*/
|
||||
class SpiComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
public:
|
||||
static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
|
||||
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
|
||||
static constexpr ReturnValue_t OPENING_FILE_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
|
||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
|
||||
/* Full duplex (ioctl) transfer failure */
|
||||
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
|
||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
|
||||
/* Half duplex (read/write) transfer failure */
|
||||
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
|
||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
|
||||
|
||||
SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
|
||||
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
|
||||
|
||||
ReturnValue_t initializeInterface(CookieIF* cookie) override;
|
||||
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
|
||||
@ -44,8 +44,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
* @brief This function returns the mutex which can be used to protect the spi bus when
|
||||
* the chip select must be driven from outside of the com if.
|
||||
*/
|
||||
MutexIF* getCsMutex();
|
||||
void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
|
||||
MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
|
||||
|
||||
/**
|
||||
* Perform a regular send operation using Linux iotcl. This is public so it can be used
|
||||
@ -60,20 +59,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
|
||||
GpioIF* getGpioInterface();
|
||||
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
|
||||
void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
|
||||
|
||||
/**
|
||||
* This updates the SPI clock default polarity. Only setting the mode does not update
|
||||
* the line state, which can be an issue on mode switches because the clock line will
|
||||
* switch the state after the chip select is pulled low.
|
||||
*
|
||||
* It is recommended to call this function after #setSpiSpeedAndMode and after locking the
|
||||
* CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
|
||||
* @param spiFd
|
||||
*/
|
||||
void updateLinePolarity(int spiFd);
|
||||
|
||||
const std::string& getSpiDev() const;
|
||||
void performSpiWiretapping(SpiCookie* spiCookie);
|
||||
|
||||
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
|
||||
@ -85,14 +70,10 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
};
|
||||
|
||||
GpioIF* gpioComIF = nullptr;
|
||||
std::string dev = "";
|
||||
/**
|
||||
* Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
|
||||
* pulled high
|
||||
*/
|
||||
MutexIF* csMutex = nullptr;
|
||||
// MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
// uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
|
||||
|
||||
MutexIF* spiMutex = nullptr;
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t timeoutMs = 20;
|
||||
spi_ioc_transfer clockUpdateTransfer = {};
|
||||
|
||||
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
|
||||
@ -1,25 +1,26 @@
|
||||
#include "SpiCookie.h"
|
||||
|
||||
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
|
||||
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
|
||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
|
||||
: SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
|
||||
spiSpeed, nullptr, nullptr) {}
|
||||
|
||||
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed)
|
||||
: SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
|
||||
nullptr, nullptr) {}
|
||||
: SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
|
||||
|
||||
SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
|
||||
uint32_t spiSpeed)
|
||||
: SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
|
||||
|
||||
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed,
|
||||
spi::send_callback_function_t callback, void* args)
|
||||
: SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
|
||||
callback, args) {}
|
||||
|
||||
SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
|
||||
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
|
||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
|
||||
spi::send_callback_function_t callback, void* args)
|
||||
: SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
|
||||
spiSpeed, callback, args) {}
|
||||
|
||||
SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
|
||||
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
|
||||
uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
|
||||
: spiAddress(spiAddress),
|
||||
chipSelectPin(chipSelect),
|
||||
spiDevice(spiDev),
|
||||
comIfMode(comIfMode),
|
||||
maxSize(maxSize),
|
||||
spiMode(spiMode),
|
||||
@ -49,6 +50,8 @@ size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
|
||||
|
||||
address_t SpiCookie::getSpiAddress() const { return spiAddress; }
|
||||
|
||||
std::string SpiCookie::getSpiDevice() const { return spiDevice; }
|
||||
|
||||
void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
|
||||
|
||||
void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
|
||||
@ -104,17 +107,3 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
|
||||
*callback = this->sendCallback;
|
||||
*args = this->callbackArgs;
|
||||
}
|
||||
|
||||
void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
|
||||
|
||||
bool SpiCookie::getCsLockManual() const { return manualCsLock; }
|
||||
|
||||
void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
|
||||
csTimeoutType = this->csTimeoutType;
|
||||
csTimeout = this->csTimeout;
|
||||
}
|
||||
|
||||
void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
|
||||
this->csTimeoutType = csTimeoutType;
|
||||
this->csTimeout = csTimeout;
|
||||
}
|
||||
@ -2,8 +2,6 @@
|
||||
#define LINUX_SPI_SPICOOKIE_H_
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/ipc/MutexIF.h>
|
||||
#include <fsfw/timemanager/clockDefinitions.h>
|
||||
#include <linux/spi/spidev.h>
|
||||
|
||||
#include "../../common/gpio/gpioDefinitions.h"
|
||||
@ -22,8 +20,6 @@
|
||||
*/
|
||||
class SpiCookie : public CookieIF {
|
||||
public:
|
||||
static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
|
||||
|
||||
/**
|
||||
* Each SPI device will have a corresponding cookie. The cookie is used by the communication
|
||||
* interface and contains device specific information like the largest expected size to be
|
||||
@ -33,22 +29,23 @@ class SpiCookie : public CookieIF {
|
||||
* @param spiDev
|
||||
* @param maxSize
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
|
||||
uint32_t spiSpeed);
|
||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed);
|
||||
|
||||
/**
|
||||
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
|
||||
* slave select or if CS logic is performed with decoders.
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, const size_t maxReplySize, spi::SpiModes spiMode,
|
||||
uint32_t spiSpeed);
|
||||
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed);
|
||||
|
||||
/**
|
||||
* Use the callback mode of the SPI communication interface. The user can pass the callback
|
||||
* function here or by using the setter function #setCallbackMode
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
|
||||
uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
|
||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
|
||||
void* args);
|
||||
|
||||
/**
|
||||
* Get the callback function
|
||||
@ -58,6 +55,7 @@ class SpiCookie : public CookieIF {
|
||||
void getCallback(spi::send_callback_function_t* callback, void** args);
|
||||
|
||||
address_t getSpiAddress() const;
|
||||
std::string getSpiDevice() const;
|
||||
gpioId_t getChipSelectPin() const;
|
||||
size_t getMaxBufferSize() const;
|
||||
|
||||
@ -141,42 +139,9 @@ class SpiCookie : public CookieIF {
|
||||
*/
|
||||
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
|
||||
|
||||
void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
|
||||
void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
|
||||
|
||||
void setCsLockManual(bool enable);
|
||||
bool getCsLockManual() const;
|
||||
|
||||
spi_ioc_transfer* getTransferStructHandle();
|
||||
|
||||
private:
|
||||
address_t spiAddress;
|
||||
gpioId_t chipSelectPin;
|
||||
|
||||
spi::SpiComIfModes comIfMode;
|
||||
|
||||
// Required for regular mode
|
||||
const size_t maxSize;
|
||||
spi::SpiModes spiMode;
|
||||
/**
|
||||
* If this is set to true, the SPI ComIF will not perform any mutex locking for the
|
||||
* CS mechanism. The user is responsible to locking and unlocking the mutex for the
|
||||
* whole duration of the transfers.
|
||||
*/
|
||||
bool manualCsLock = false;
|
||||
uint32_t spiSpeed;
|
||||
bool halfDuplex = false;
|
||||
|
||||
MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
|
||||
dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
|
||||
|
||||
// Required for callback mode
|
||||
spi::send_callback_function_t sendCallback = nullptr;
|
||||
void* callbackArgs = nullptr;
|
||||
|
||||
struct spi_ioc_transfer spiTransferStruct = {};
|
||||
UncommonParameters uncommonParameters;
|
||||
|
||||
/**
|
||||
* Internal constructor which initializes every field
|
||||
* @param spiAddress
|
||||
@ -189,8 +154,27 @@ class SpiCookie : public CookieIF {
|
||||
* @param args
|
||||
*/
|
||||
SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
|
||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
|
||||
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
|
||||
spi::send_callback_function_t callback, void* args);
|
||||
|
||||
address_t spiAddress;
|
||||
gpioId_t chipSelectPin;
|
||||
std::string spiDevice;
|
||||
|
||||
spi::SpiComIfModes comIfMode;
|
||||
|
||||
// Required for regular mode
|
||||
const size_t maxSize;
|
||||
spi::SpiModes spiMode;
|
||||
uint32_t spiSpeed;
|
||||
bool halfDuplex = false;
|
||||
|
||||
// Required for callback mode
|
||||
spi::send_callback_function_t sendCallback = nullptr;
|
||||
void* callbackArgs = nullptr;
|
||||
|
||||
struct spi_ioc_transfer spiTransferStruct = {};
|
||||
UncommonParameters uncommonParameters;
|
||||
};
|
||||
|
||||
#endif /* LINUX_SPI_SPICOOKIE_H_ */
|
||||
4
hal/src/fsfw_hal/linux/uart/CMakeLists.txt
Normal file
4
hal/src/fsfw_hal/linux/uart/CMakeLists.txt
Normal file
@ -0,0 +1,4 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC
|
||||
UartComIF.cpp
|
||||
UartCookie.cpp
|
||||
)
|
||||
@ -2,8 +2,8 @@
|
||||
|
||||
#include <fsfw/serviceinterface.h>
|
||||
|
||||
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
|
||||
size_t maxReplyLen, UartModes uartMode)
|
||||
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
|
||||
UartBaudRate baudrate, size_t maxReplyLen)
|
||||
: handlerId(handlerId),
|
||||
deviceFile(deviceFile),
|
||||
uartMode(uartMode),
|
||||
@ -69,8 +69,8 @@ class UartCookie : public CookieIF {
|
||||
* 8 databits (number of bits transfered with one uart frame)
|
||||
* One stop bit
|
||||
*/
|
||||
UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
|
||||
size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
|
||||
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
|
||||
UartBaudRate baudrate, size_t maxReplyLen);
|
||||
|
||||
virtual ~UartCookie();
|
||||
|
||||
3
hal/src/fsfw_hal/linux/uio/CMakeLists.txt
Normal file
3
hal/src/fsfw_hal/linux/uio/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC
|
||||
UioMapper.cpp
|
||||
)
|
||||
@ -2,4 +2,6 @@ add_subdirectory(spi)
|
||||
add_subdirectory(gpio)
|
||||
add_subdirectory(devicetest)
|
||||
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE dma.cpp)
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
dma.cpp
|
||||
)
|
||||
3
hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
Normal file
3
hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GyroL3GD20H.cpp
|
||||
)
|
||||
@ -10,10 +10,6 @@
|
||||
#include "stm32h7xx_hal.h"
|
||||
#include "stm32h7xx_hal_spi.h"
|
||||
|
||||
#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
|
||||
#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
|
||||
#endif
|
||||
|
||||
enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
|
||||
|
||||
class GyroL3GD20H {
|
||||
3
hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
Normal file
3
hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
gpio.cpp
|
||||
)
|
||||
2
hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
Normal file
2
hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
Normal file
@ -0,0 +1,2 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
)
|
||||
9
hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
Normal file
9
hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
Normal file
@ -0,0 +1,9 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
spiCore.cpp
|
||||
spiDefinitions.cpp
|
||||
spiInterrupts.cpp
|
||||
mspInit.cpp
|
||||
SpiCookie.cpp
|
||||
SpiComIF.cpp
|
||||
stm32h743zi.cpp
|
||||
)
|
||||
2
hal/src/fsfw_hal/stm32h7/uart/CMakeLists.txt
Normal file
2
hal/src/fsfw_hal/stm32h7/uart/CMakeLists.txt
Normal file
@ -0,0 +1,2 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
)
|
||||
8
scripts/apply-clang-format.sh
Executable file
8
scripts/apply-clang-format.sh
Executable file
@ -0,0 +1,8 @@
|
||||
#!/bin/bash
|
||||
if [[ ! -f README.md ]]; then
|
||||
cd ..
|
||||
fi
|
||||
|
||||
find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
|
||||
find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
|
||||
find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
|
||||
@ -1,29 +0,0 @@
|
||||
#!/bin/bash
|
||||
if [[ ! -f README.md ]]; then
|
||||
cd ..
|
||||
fi
|
||||
|
||||
folder_list=(
|
||||
"./src"
|
||||
"./unittests"
|
||||
)
|
||||
|
||||
cmake_fmt="cmake-format"
|
||||
file_selectors="-iname CMakeLists.txt"
|
||||
if command -v ${cmake_fmt} &> /dev/null; then
|
||||
${cmake_fmt} -i CMakeLists.txt
|
||||
find ./src ${file_selectors} | xargs ${cmake_fmt} -i
|
||||
else
|
||||
echo "No ${cmake_fmt} tool found, not formatting CMake files"
|
||||
fi
|
||||
|
||||
cpp_format="clang-format"
|
||||
file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
|
||||
if command -v ${cpp_format} &> /dev/null; then
|
||||
for dir in ${folder_list[@]}; do
|
||||
echo "Auto-formatting ${dir} recursively"
|
||||
find ${dir} ${file_selectors} | xargs clang-format --style=file -i
|
||||
done
|
||||
else
|
||||
echo "No ${cpp_format} tool found, not formatting C++/C files"
|
||||
fi
|
||||
@ -48,20 +48,6 @@ def main():
|
||||
action="store_true",
|
||||
help="Run valgrind on generated test binary",
|
||||
)
|
||||
parser.add_argument(
|
||||
"-g",
|
||||
"--generators",
|
||||
default = "Ninja",
|
||||
action="store",
|
||||
help="CMake generators",
|
||||
)
|
||||
parser.add_argument(
|
||||
"-w",
|
||||
"--windows",
|
||||
default=False,
|
||||
action="store_true",
|
||||
help="Run on windows",
|
||||
)
|
||||
|
||||
args = parser.parse_args()
|
||||
if args.all:
|
||||
@ -129,14 +115,14 @@ def handle_tests_type(args, build_dir_list: list):
|
||||
if args.create:
|
||||
if os.path.exists(UNITTEST_FOLDER_NAME):
|
||||
shutil.rmtree(UNITTEST_FOLDER_NAME)
|
||||
create_tests_build_cfg(args)
|
||||
create_tests_build_cfg()
|
||||
build_directory = UNITTEST_FOLDER_NAME
|
||||
elif len(build_dir_list) == 0:
|
||||
print(
|
||||
"No valid CMake tests build directory found. "
|
||||
"Trying to set up test build system"
|
||||
)
|
||||
create_tests_build_cfg(args)
|
||||
create_tests_build_cfg()
|
||||
build_directory = UNITTEST_FOLDER_NAME
|
||||
elif len(build_dir_list) == 1:
|
||||
build_directory = build_dir_list[0]
|
||||
@ -161,15 +147,10 @@ def handle_tests_type(args, build_dir_list: list):
|
||||
os.chdir("..")
|
||||
|
||||
|
||||
def create_tests_build_cfg(args):
|
||||
def create_tests_build_cfg():
|
||||
os.mkdir(UNITTEST_FOLDER_NAME)
|
||||
os.chdir(UNITTEST_FOLDER_NAME)
|
||||
if args.windows:
|
||||
cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON \
|
||||
-DGCOVR_PATH="py -m gcovr" ..'
|
||||
else:
|
||||
cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON ..'
|
||||
cmd_runner(cmake_cmd)
|
||||
cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
|
||||
os.chdir("..")
|
||||
|
||||
|
||||
|
||||
@ -1,11 +1,9 @@
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME}
|
||||
INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
add_subdirectory(fsfw)
|
||||
if(FSFW_ADD_HAL)
|
||||
add_subdirectory(fsfw_hal)
|
||||
endif()
|
||||
|
||||
add_subdirectory(fsfw_tests)
|
||||
|
||||
@ -1,4 +1,7 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE version.cpp)
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
version.cpp
|
||||
versionAutogen.cpp
|
||||
)
|
||||
|
||||
# Core
|
||||
|
||||
@ -35,22 +38,22 @@ add_subdirectory(tmtcservices)
|
||||
# Optional
|
||||
|
||||
if(FSFW_ADD_MONITORING)
|
||||
add_subdirectory(monitoring)
|
||||
add_subdirectory(monitoring)
|
||||
endif()
|
||||
if(FSFW_ADD_PUS)
|
||||
add_subdirectory(pus)
|
||||
add_subdirectory(pus)
|
||||
endif()
|
||||
if(FSFW_ADD_TMSTORAGE)
|
||||
add_subdirectory(tmstorage)
|
||||
add_subdirectory(tmstorage)
|
||||
endif()
|
||||
if(FSFW_ADD_COORDINATES)
|
||||
add_subdirectory(coordinates)
|
||||
add_subdirectory(coordinates)
|
||||
endif()
|
||||
if(FSFW_ADD_RMAP)
|
||||
add_subdirectory(rmap)
|
||||
add_subdirectory(rmap)
|
||||
endif()
|
||||
if(FSFW_ADD_DATALINKLAYER)
|
||||
add_subdirectory(datalinklayer)
|
||||
add_subdirectory(datalinklayer)
|
||||
endif()
|
||||
|
||||
# OSAL
|
||||
|
||||
@ -1,11 +0,0 @@
|
||||
#ifndef FSFW_VERSION_H_
|
||||
#define FSFW_VERSION_H_
|
||||
|
||||
// Versioning is managed in project CMakeLists.txt file
|
||||
static constexpr int FSFW_VERSION_MAJOR = @FSFW_VERSION@;
|
||||
static constexpr int FSFW_VERSION_MINOR = @FSFW_SUBVERSION@;
|
||||
static constexpr int FSFW_VERSION_REVISION = @FSFW_REVISION@;
|
||||
// Also contains CST (Commits since tag) information
|
||||
static const char FSFW_VCS_INFO[] = "@FSFW_VCS_INFO@";
|
||||
|
||||
#endif /* FSFW_VERSION_H_ */
|
||||
@ -6,7 +6,7 @@
|
||||
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
|
||||
: owner(setOwner), queueToUse(useThisQueue) {}
|
||||
|
||||
ActionHelper::~ActionHelper() = default;
|
||||
ActionHelper::~ActionHelper() {}
|
||||
|
||||
ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
|
||||
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
|
||||
@ -59,7 +59,7 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
|
||||
|
||||
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
|
||||
store_address_t dataAddress) {
|
||||
const uint8_t* dataPtr = nullptr;
|
||||
const uint8_t* dataPtr = NULL;
|
||||
size_t size = 0;
|
||||
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user