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|README.md||10 months ago|
Flight Software Framework (FSFW)
The Flight Software Framework is a C++ Object Oriented Framework for unmanned, automated systems like Satellites.
The initial version of the Flight Software Framework was developed during the Flying Laptop Project by the University of Stuttgart in cooperation with Airbus Defence and Space GmbH.
The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well.
The FSFW provides abstraction layers for operating systems to provide a uniform operating system abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is also very useful for developers to implement the same application logic on different operating systems with a uniform interface.
Currently, the FSFW provides the following OSALs:
The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
ISISPACE IOBC or a Zynq-7020 SoC. The
fsfw was also successfully run on the
STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
satellite mission Flying Laptop.
The Hosted FSFW example provides a good starting point and a demo to see the FSFW capabilities. It is recommended to get started by building and playing around with the demo application. There are also other examples provided for all OSALs using the popular embedded platforms Raspberry Pi, Beagle Bone Black and STM32H7.
Generally, the FSFW is included in a project by providing
a configuration folder, building the static library and linking against it.
There are some functions like
printChar which are different depending on the target architecture
and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have a starting point. The configuration section provides more specific information about the possible options.
Adding the library
The following steps show how to add and use FSFW components. It is still recommended to try out the example mentioned above to get started, but the following steps show how to add and link against the FSFW library in general.
Add this repository as a submodule
git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
Add the following directive inside the uppermost
CMakeLists.txtfile of your project
Make sure to provide a configuration folder and supply the path to that folder with the
FSFW_CONFIG_PATHCMake variable from the uppermost
CMakeLists.txtfile. It is also necessary to provide the
printCharfunction. You can find an example implementation for a hosted build here.
Link against the FSFW library
target_link_libraries(<YourProjectName> PRIVATE fsfw)
It should now be possible use the FSFW as a static library from the user code.
Building the unittests
The FSFW also has unittests which use the Catch2 library.
These are built by setting the CMake option
from your project
CMakeLists.txt file or from the command line.
The fsfw-tests binary will be built as part of the static library and dropped alongside it.
If the unittests are built, the library and the tests will be built with coverage information by
default. This can be disabled by setting the
FSFW_TESTS_COV_GEN option to
You can use the following commands inside the
fsfw folder to set up the build system
mkdir build-Unittest && cd build-Unittest cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
You can also use
-DFSFW_OSAL=linux on Linux systems.
Coverage data in HTML format can be generated using the
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
cmake --build . -- fsfw-tests_coverage -j
coverage.py script located in the
script folder can also be used to do this conveniently.
Formatting the sources
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
apply-clang-format.sh helper script to format all source files consistently.