Merge branch 'mueller/master' of https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common into mueller/master

CMakeLists.txt

@@ -7,6 +7,6 @@ target_include_directories(${TARGET_NAME} PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-if(TGT_BSP MATCHES  "arm/stm32h743zi-nucleo")
+if(TGT_BSP MATCHES "arm/stm32h743zi-nucleo")
     add_subdirectory(stm32h7)
 endif()

config/commonConfig.h.in

@@ -11,6 +11,9 @@
 
 #define OBSW_PRINT_MISSED_DEADLINES     0
 
+//! Perform internal unit testd at application startup
+#define OBSW_PERFORM_INTERNAL_UNITTEST  1
+
 //! Add core components for the FSFW and for TMTC communication
 #define OBSW_ADD_CORE_COMPONENTS        1
 

mission/core/GenericFactory.cpp

@@ -5,6 +5,7 @@
 #include "tmtc/pusIds.h"
 #include "objects/systemObjectList.h"
 
+#include "fsfw/tests/internal/InternalUnitTester.h"
 #include "test/FsfwExampleTask.h"
 #include "test/FsfwReaderTask.h"
 
@@ -116,6 +117,13 @@ void ObjectFactory::produceGenericObjects() {
     new TestController(objects::TEST_CONTROLLER);
 
 #endif /* OBSW_ADD_CONTROLLER_DEMO == 1 */
+
+#if OBSW_PERFORM_INTERNAL_UNITTEST == 1
+    InternalUnitTester::TestConfig testCfg;
+    testCfg.testArrayPrinter = false;
+    InternalUnitTester unittester;
+    unittester.performTests(testCfg);
+#endif /* OBSW_PERFORM_INTERNAL_UNITTEST == 1 */
 }
 
 void Factory::setStaticFrameworkObjectIds() {

stm32h7/CMakeLists.txt

@@ -2,7 +2,7 @@ target_sources(${TARGET_NAME} PRIVATE
 	STM32TestTask.cpp
 )
 
-option(STM32_ADD_NETWORKING_CODE "Add networking code requiring lwIP" OFF)
+option(STM32_ADD_NETWORKING_CODE "Add networking code requiring lwIP" ON)
 
 if(STM32_ADD_NETWORKING_CODE)
     add_subdirectory(networking)

stm32h7/STM32TestTask.cpp

@@ -5,6 +5,9 @@
 STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout,
 		bool blinkyLed): TestTask(objectId, enablePrintout),
 		blinkyLed(blinkyLed) {
+    BSP_LED_Init(LED1);
+    BSP_LED_Init(LED2);
+    BSP_LED_Init(LED3);
 }
 
 ReturnValue_t STM32TestTask::performPeriodicAction() {

stm32h7/networking/CMakeLists.txt

@@ -1,7 +1,14 @@
+# These are part of the RTEMS BSP for RTEMS
+if(FSFW_OSAL MATCHES freertos)
+    target_sources(${TARGET_NAME} PRIVATE
+        ethernetif.c
+    )
+endif()
+
 target_sources(${TARGET_NAME} PRIVATE
-	app_dhcp.c
-	app_ethernet.c
-	ethernetif.c
 	UdpTcLwIpPollingTask.cpp
 	TmTcLwIpUdpBridge.cpp
+	networking.cpp
+    app_dhcp.cpp
+    app_ethernet.cpp
 )

stm32h7/networking/UdpTcLwIpPollingTask.cpp

@@ -3,16 +3,20 @@
 #include "app_ethernet.h"
 #include "ethernetif.h"
 #include "app_dhcp.h"
+#include "networking.h"
 #include <hardware_init.h>
 
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 
+
+
 #include "lwip/timeouts.h"
 
-UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId):
+UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId,
-        SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId) {
+            struct netif* gnetif):
+        SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId), gnetif(gnetif) {
 }
 
 UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() {
@@ -23,8 +27,8 @@ ReturnValue_t UdpTcLwIpPollingTask::initialize() {
     if(udpBridge == nullptr) {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
-    if (netif_is_link_up(&gnetif)) {
+    if (netif_is_link_up(gnetif)) {
-        set_eth_cable_connected(true);
+        networking::setEthCableConnected(true);
     }
     return RETURN_OK;
 }
@@ -34,28 +38,28 @@ ReturnValue_t UdpTcLwIpPollingTask::initialize() {
 ReturnValue_t UdpTcLwIpPollingTask::performOperation(uint8_t operationCode) {
     /* Read a received packet from the Ethernet buffers and send it
 	to the lwIP for handling */
-    ethernetif_input(&gnetif);
+    ethernetif_input(gnetif);
 
     /* Handle timeouts */
     sys_check_timeouts();
 
 #if LWIP_NETIF_LINK_CALLBACK == 1
-    ethernet_link_periodic_handle(&gnetif);
+    networking::ethernetLinkPeriodicHandle(gnetif);
 #endif
 
     if(udpBridge != nullptr) {
         MutexGuard lg(udpBridge->bridgeLock);
         /* In case ethernet cable is disconnected */
-        if(not get_eth_cable_connected() and udpBridge->comLinkUp()) {
+        if(not networking::getEthCableConnected() and udpBridge->comLinkUp()) {
             udpBridge->physicalConnectStatusChange(false);
         }
-        else if(get_eth_cable_connected() and not udpBridge->comLinkUp()) {
+        else if(networking::getEthCableConnected() and not udpBridge->comLinkUp()) {
             udpBridge->physicalConnectStatusChange(true);
         }
     }
 
 #if LWIP_DHCP == 1
-    DHCP_Periodic_Handle(&gnetif);
+    DHCP_Periodic_Handle(gnetif);
 #endif
 
     return RETURN_OK;

stm32h7/networking/UdpTcLwIpPollingTask.h

@@ -5,6 +5,8 @@
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
+#include <lwip/netif.h>
+
 class TmTcLwIpUdpBridge;
 
 /**
@@ -16,7 +18,7 @@ class UdpTcLwIpPollingTask:
         public ExecutableObjectIF,
         public HasReturnvaluesIF {
 public:
-    UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId);
+    UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId, struct netif* gnetif);
     virtual ~UdpTcLwIpPollingTask();
 
     virtual ReturnValue_t initialize() override;
@@ -32,6 +34,7 @@ private:
     uint8_t periodicHandleCounter;
     object_id_t bridgeId = 0;
     TmTcLwIpUdpBridge* udpBridge = nullptr;
+    struct netif* gnetif = nullptr;
 };
 
 

stm32h7/networking/app_dhcp.cpp

@@ -1,15 +1,14 @@
-#include "app_dhcp.h"
-#include "app_ethernet.h"
 #include "OBSWConfig.h"
 
-#include "example_common/stm32h7/networking/udp_config.h"
+#include "app_dhcp.h"
-#include "example_common/stm32h7/networking/ethernetif.h"
+#include "app_ethernet.h"
+#include "networking.h"
+#include "udp_config.h"
+#include "ethernetif.h"
 
 #include "lwip/dhcp.h"
 #include "stm32h7xx_nucleo.h"
 
-#include <stdbool.h>
-
 #if LWIP_DHCP == 1
 
 uint8_t DHCP_state = DHCP_OFF;
@@ -59,7 +58,7 @@ void handle_dhcp_timeout(struct netif* netif) {
     dhcp_stop(netif);
 
     /* Static address used */
-    set_lwip_addresses(&ipaddr, &netmask, &gw);
+    networking::setLwipAddresses(&ipaddr, &netmask, &gw);
     netif_set_addr(netif, &ipaddr, &netmask, &gw);
 
     printf("DHCP Timeout\n\r");
@@ -67,8 +66,10 @@ void handle_dhcp_timeout(struct netif* netif) {
     sprintf((char *)iptxt, "%s", ip4addr_ntoa(netif_ip4_addr(netif)));
     printf("Assigning static IP address: %s\n", iptxt);
 
+#if defined FSFW_OSAL_FREERTOS
     ETH_HandleTypeDef* handle = getEthernetHandle();
     handle->gState = HAL_ETH_STATE_READY;
+#endif
 
 #if OBSW_ETHERNET_TMTC_COMMANDING == 1
 #if OBSW_ETHERNET_USE_LED1_LED2 == 1
@@ -142,7 +143,7 @@ void handle_dhcp_down(struct netif* netif) {
 #endif
 
     /* Global boolean to track ethernet connection */
-    set_eth_cable_connected(false);
+    networking::setEthCableConnected(false);
 }
 
 uint8_t get_dhcp_state() {

stm32h7/networking/app_ethernet.cpp

@@ -2,6 +2,7 @@
 #include "app_ethernet.h"
 #include "ethernetif.h"
 #include "udp_config.h"
+#include "networking.h"
 
 #if LWIP_DHCP
 #include "app_dhcp.h"
@@ -28,28 +29,20 @@ void handle_status_change(struct netif* netif, bool link_up);
  * @param  netif: the network interface
  * @retval None
  */
-void ethernet_link_status_updated(struct netif *netif) 
+void networking::ethernetLinkStatusUpdated(struct netif *netif)
 {
 	if (netif_is_link_up(netif))
 	{
-		set_eth_cable_connected(true);
+		networking::setEthCableConnected(true);
 		handle_status_change(netif, true);
 	}
 	else
 	{
-        set_eth_cable_connected(false);
+	    networking::setEthCableConnected(false);
 		handle_status_change(netif, false);
 	}
 }
 
-void set_lwip_addresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw) {
-	IP4_ADDR(ipaddr, IP_ADDR0, IP_ADDR1, IP_ADDR2, IP_ADDR3);
-	IP4_ADDR(netmask, NETMASK_ADDR0, NETMASK_ADDR1 ,
-			NETMASK_ADDR2, NETMASK_ADDR3);
-	IP4_ADDR(gw, GW_ADDR0, GW_ADDR1, GW_ADDR2, GW_ADDR3);
-}
-
-
 void handle_status_change(struct netif* netif, bool link_up) {
 	if(link_up) {
 #if LWIP_DHCP
@@ -87,7 +80,7 @@ void handle_status_change(struct netif* netif, bool link_up) {
  * @param  netif
  * @retval None
  */
-void ethernet_link_periodic_handle(struct netif *netif)
+void networking::ethernetLinkPeriodicHandle(struct netif *netif)
 {
 	/* Ethernet Link every 100ms */
 	if (HAL_GetTick() - ethernetLinkTimer >= 100)

stm32h7/networking/app_ethernet.h

@@ -44,8 +44,8 @@
   */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __APP_ETHERNET_H
+#ifndef EXAMPLE_COMMON_APP_ETHERNET_H
-#define __APP_ETHERNET_H
+#define EXAMPLE_COMMON_APP_ETHERNET_H
 
 #ifdef __cplusplus
  extern "C" {
@@ -53,23 +53,25 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include <lwip/netif.h>
-#include <stdbool.h>
+
 /* Exported types ------------------------------------------------------------*/
 
 /* Exported constants --------------------------------------------------------*/
 
 /* Exported macro ------------------------------------------------------------*/
 /* Exported functions ------------------------------------------------------- */
-void ethernet_link_status_updated(struct netif *netif);
+namespace networking {
-void ethernet_link_periodic_handle(struct netif *netif);
 
-void set_lwip_addresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw);
+void ethernetLinkStatusUpdated(struct netif *netif);
+void ethernetLinkPeriodicHandle(struct netif *netif);
+
+}
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif /* __APP_ETHERNET_H */
+#endif /* EXAMPLE_COMMON_APP_ETHERNET_H */
 
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

stm32h7/networking/ethernetif.c

@@ -54,7 +54,7 @@
 #include <lwip/timeouts.h>
 #include <netif/etharp.h>
 
-#ifdef FSFW_RTEMS
+#ifdef FSFW_OSAL_RTEMS
 #include <rtems.h>
 #endif
 
@@ -103,14 +103,14 @@ __attribute__((section(".RxArraySection"))) uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH
 
 #elif defined ( __GNUC__ ) /* GNU Compiler */ 
 
-#ifdef FSFW_RTEMS
+#ifdef FSFW_OSAL_RTEMS
 /* Put into special RTEMS section and align correctly */
 ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".bsp_nocache"), __aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Rx DMA Descriptors */
 /* Put into special RTEMS section and align correctly */
 ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]  __attribute__((section(".bsp_nocache"), __aligned__(DMA_DESCRIPTOR_ALIGNMENT)));  /* Ethernet Tx DMA Descriptors */
 /* Ethernet Receive Buffers. Just place somewhere is BSS instead of explicitely placing it */
 uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE];
-#elif defined(FSFW_FREERTOS)
+#elif defined FSFW_OSAL_FREERTOS
 /* Placement and alignment specified in linker script here */
 ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */
 ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((section(".TxDecripSection")));   /* Ethernet Tx DMA Descriptors */
@@ -610,12 +610,4 @@ ETH_HandleTypeDef* getEthernetHandle() {
 	return &EthHandle;
 }
 
-void set_eth_cable_connected(bool status) {
-    ethernet_cable_connected = status;
-}
-
-bool get_eth_cable_connected() {
-    return ethernet_cable_connected;
-}
-
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

stm32h7/networking/ethernetif.h

@@ -58,8 +58,6 @@ extern "C" {
 #define ETH_RX_BUFFER_SIZE                     (1536UL)
 
 /* Exported types ------------------------------------------------------------*/
-void set_eth_cable_connected(bool status);
-bool get_eth_cable_connected();
 
 ETH_HandleTypeDef* getEthernetHandle();
 err_t ethernetif_init(struct netif *netif);

stm32h7/networking/networking.cpp

@@ -0,0 +1,19 @@
+#include "udp_config.h"
+#include "networking.h"
+
+bool ethernetCableConnected = false;
+
+void networking::setEthCableConnected(bool status) {
+    ethernetCableConnected = status;
+}
+
+bool networking::getEthCableConnected() {
+    return ethernetCableConnected;
+}
+
+void networking::setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw) {
+    IP4_ADDR(ipaddr, IP_ADDR0, IP_ADDR1, IP_ADDR2, IP_ADDR3);
+    IP4_ADDR(netmask, NETMASK_ADDR0, NETMASK_ADDR1 ,
+            NETMASK_ADDR2, NETMASK_ADDR3);
+    IP4_ADDR(gw, GW_ADDR0, GW_ADDR1, GW_ADDR2, GW_ADDR3);
+}

stm32h7/networking/networking.h

@@ -0,0 +1,14 @@
+#ifndef BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_
+#define BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_
+
+#include <lwip/netif.h>
+
+namespace networking {
+
+void setEthCableConnected(bool status);
+bool getEthCableConnected();
+void setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw);
+
+}
+
+#endif /* BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_ */