hal/inc/fsfw/hal/linux/spi/SpiComIF.h

@@ -3,10 +3,10 @@
 
 #include "spiDefinitions.h"
 #include "returnvalues/classIds.h"
-#include "../../common/gpio/GpioIF.h"
+#include "fsfw/hal/common/gpio/GpioIF.h"
 
-#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
-#include <fsfw/objectmanager/SystemObject.h>
+#include "fsfw/objectmanager/SystemObject.h"
 
 #include <vector>
 #include <unordered_map>

hal/inc/fsfw/hal/stm32h7/spi/SpiComIF.h

@@ -5,7 +5,6 @@
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
-#include "fsfw/osal/freertos/BinarySemaphore.h"
 #include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h743xx.h"
@@ -14,6 +13,7 @@
 #include <map>
 
 class SpiCookie;
+class BinarySemaphore;
 
 /**
  * @brief   This communication interface allows using generic device handlers with using

hal/src/stm32h7/devicetest/GyroL3GD20H.cpp

@@ -9,7 +9,6 @@
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-#include "stm32h7xx_nucleo.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h7xx_hal_rcc.h"
 

hal/src/stm32h7/spi/SpiComIF.cpp

@@ -2,12 +2,21 @@
 #include "fsfw/hal/stm32h7/spi/SpiCookie.h"
 
 #include "fsfw/tasks/SemaphoreFactory.h"
-#include "fsfw/osal/freertos/TaskManagement.h"
 #include "fsfw/hal/stm32h7/spi/spiCore.h"
 #include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
 #include "fsfw/hal/stm32h7/spi/mspInit.h"
 #include "fsfw/hal/stm32h7/gpio/gpio.h"
 
+// FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
+// instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
+// and it is not trivial to add a releaseFromISR to the SemaphoreIF
+#if defined FSFW_OSAL_RTEMS
+#include "fsfw/osal/rtems/BinarySemaphore.h"
+#elif defined FSFW_OSAL_FREERTOS
+#include "fsfw/osal/freertos/TaskManagement.h"
+#include "fsfw/osal/freertos/BinarySemaphore.h"
+#endif
+
 #include "stm32h7xx_hal_gpio.h"
 
 SpiComIF::SpiComIF(object_id_t objectId): SystemObject(objectId) {
@@ -421,10 +430,14 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
     HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
             GPIO_PIN_SET);
 
+#if defined FSFW_OSAL_FREERTOS
     // Release the task semaphore
     BaseType_t taskWoken = pdFALSE;
     ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(),
             &taskWoken);
+#elif defined FSFW_OSAL_RTEMS
+    ReturnValue_t result = comIF->spiSemaphore->release();
+#endif
     if(result != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
         printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
@@ -436,11 +449,13 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
         SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
                 comIF->currentRecvBuffSize);
     }
+#if defined FSFW_OSAL_FREERTOS
     /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
     than the currently running task */
     if(taskWoken == pdTRUE) {
         TaskManagement::requestContextSwitch(CallContext::ISR);
     }
+#endif
 }
 
 void SpiComIF::printCfgError(const char *const type) {

inc/fsfw/osal/freertos/BinarySemaphore.h

@@ -98,7 +98,7 @@ public:
 	 *         	already available.
 	 */
 	static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
-				BaseType_t * higherPriorityTaskWoken);
+				BaseType_t * higherPriorityTaskWoken) override;
 
 protected:
 	SemaphoreHandle_t handle;

inc/fsfw/osal/rtems/BinarySemaphore.h

@@ -0,0 +1,21 @@
+#ifndef FSFW_INC_FSFW_OSAL_RTEMS_BINARYSEMAPHORE_H_
+#define FSFW_INC_FSFW_OSAL_RTEMS_BINARYSEMAPHORE_H_
+
+#include "fsfw/tasks/SemaphoreIF.h"
+
+class BinarySemaphore: public SemaphoreIF {
+public:
+    BinarySemaphore();
+    virtual ~BinarySemaphore();
+
+    // Interface implementation
+    ReturnValue_t acquire(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) override;
+    ReturnValue_t release() override;
+    uint8_t getSemaphoreCounter() const override;
+private:
+};
+
+
+
+#endif /* FSFW_INC_FSFW_OSAL_RTEMS_BINARYSEMAPHORE_H_ */

inc/fsfw/osal/rtems/MessageQueue.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 
-#include "../../internalError/InternalErrorReporterIF.h"
+#include "fsfw/internalerror/InternalErrorReporterIF.h"
-#include "../../ipc/MessageQueueIF.h"
+#include "fsfw/ipc/MessageQueueIF.h"
-#include "../../ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/MessageQueueMessage.h"
 #include "RtemsBasic.h"
 
 /**

src/osal/rtems/BinarySemaphore.cpp

@@ -0,0 +1,24 @@
+#include "fsfw/osal/rtems/BinarySemaphore.h"
+
+#include <rtems/rtems/sem.h>
+
+BinarySemaphore::BinarySemaphore() {
+}
+
+BinarySemaphore::~BinarySemaphore() {
+
+}
+
+// Interface implementation
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType, uint32_t timeoutMs) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t BinarySemaphore::release() {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
+    return 0;
+}

src/osal/rtems/CMakeLists.txt

@@ -13,6 +13,7 @@ target_sources(${LIB_FSFW_NAME}
 		RtemsBasic.cpp
 		RTEMSTaskBase.cpp
 		TaskFactory.cpp
+		BinarySemaphore.cpp
 )