fix

cmake/BuildType.cmake

@@ -0,0 +1,45 @@
+function(set_build_type)
+
+message(STATUS "Used build generator: ${CMAKE_GENERATOR}")
+
+# Set a default build type if none was specified
+set(DEFAULT_BUILD_TYPE "RelWithDebInfo")
+if(EXISTS "${CMAKE_SOURCE_DIR}/.git")
+	set(DEFAULT_BUILD_TYPE "Debug")
+endif()
+
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+	message(STATUS 
+		"Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified."
+	)
+	set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE
+		STRING "Choose the type of build." FORCE
+	)
+	# Set the possible values of build type for cmake-gui
+	set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+		"Debug" "Release" "MinSizeRel" "RelWithDebInfo"
+	)
+endif()
+
+if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
+	message(STATUS 
+		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
+	)
+elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
+	message(STATUS 
+		"Building Release (Debug) application with "
+		"flags: ${CMAKE_C_FLAGS_RELWITHDEBINFO}"
+	)
+elseif(${CMAKE_BUILD_TYPE} MATCHES "MinSizeRel")
+	message(STATUS 
+		"Building Release (Size) application with "
+		"flags: ${CMAKE_C_FLAGS_MINSIZEREL}"
+	)
+else()
+	message(STATUS 
+		"Building Release (Speed) application with "
+		"flags: ${CMAKE_C_FLAGS_RELEASE}"
+	)
+endif()
+
+endfunction()

cmake/common.cmake

@@ -0,0 +1,42 @@
+function(get_common_build_flags TGT_NAME)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+      set(COMMON_COMPILE_OPTS
+        -ffunction-sections
+        -fdata-sections
+        PARENT_SCOPE)
+      set(COMMON_LINK_OPTS
+        -Wl,--gc-sections
+        -Wl,-Map=${TARGET_NAME}.map
+        PARENT_SCOPE)
+      set(COMMON_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
+        PARENT_SCOPE)
+  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    add_compile_options(/permissive- /d2SSAOptimizer-)
+    # To avoid nameclashes with min and max macro
+    add_compile_definitions(NOMINMAX)
+  endif()
+
+endfunction()

config/commonConfig.h.in

@@ -6,11 +6,11 @@
 
 #include <cstdint>
 
-#cmakedefine01 FSFW_ADD_FMT_TESTS
+#cmakedefine01 OBSW_ADD_FMT_TESTS
 
 //! Specify the debug output verbose level
 #define OBSW_VERBOSE_LEVEL              1
-
+#define OBSW_TCPIP_UDP_WIRETAPPING      0
 #define OBSW_PRINT_MISSED_DEADLINES     0
 
 //! Perform internal unit testd at application startup

config/commonPollingSequenceFactory.cpp

@@ -33,13 +33,7 @@ ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF *thisSequence) {
   if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
     return HasReturnvaluesIF::RETURN_OK;
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("pst::pollingSequenceInitFunction: Initialization errors\n");
-    sif::error << "pst::pollingSequenceInitFunction: Initialization errors!"
-               << std::endl;
-#else
-    sif::printError(
-        "pst::pollingSequenceInitFunction: Initialization errors!\n");
-#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 }
@@ -75,13 +69,7 @@ ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF *thisSequence) {
   if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
     return HasReturnvaluesIF::RETURN_OK;
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("pst::pollingSequenceTestFunction: Initialization errors\n");
-    sif::error << "pst::pollingSequenceTestFunction: Initialization errors!"
-               << std::endl;
-#else
-    sif::printError(
-        "pst::pollingSequenceTestFunction: Initialization errors!\n");
-#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 }

example/controller/FsfwTestController.cpp

@@ -27,36 +27,26 @@ void FsfwTestController::performControlOperation() {
       return;
     }
     switch (currentTraceType) {
-    case (NONE): {
+      case (NONE): {
-      break;
+        break;
-    }
+      }
-    case (TRACE_DEV_0_UINT8): {
+      case (TRACE_DEV_0_UINT8): {
-      if (traceCounter == 0) {
+        if (traceCounter == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+          FSFW_LOGI("Tracing finished\n");
-        sif::info << "Tracing finished" << std::endl;
+          traceVariable = false;
-#else
+          traceCounter = traceCycles;
-        sif::printInfo("Tracing finished\n");
+          currentTraceType = TraceTypes::NONE;
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+          break;
-        traceVariable = false;
+        }
-        traceCounter = traceCycles;
+        PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
-        currentTraceType = TraceTypes::NONE;
+        FSFW_LOGI("Tracing device 0 variable 0 (UINT8), current value: {}",
+                  static_cast<int>(deviceDataset0.testUint8Var.value));
+        traceCounter--;
+        break;
+      }
+      case (TRACE_DEV_0_VECTOR): {
         break;
       }
-      PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::info << "Tracing device 0 variable 0 (UINT8), current value: "
-                << static_cast<int>(deviceDataset0.testUint8Var.value)
-                << std::endl;
-#else
-      sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
-                     deviceDataset0.testUint8Var.value);
-#endif
-      traceCounter--;
-      break;
-    }
-    case (TRACE_DEV_0_VECTOR): {
-      break;
-    }
     }
   }
 }
@@ -67,20 +57,10 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  HasLocalDataPoolIF *device0 =
+  auto* device0 =
-      ObjectManager::instance()->get<HasLocalDataPoolIF>(
+      ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
-          deviceDataset0.getCreatorObjectId());
   if (device0 == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("initializeAfterTaskCreation: Test device handler 0 handle invalid\n");
-    sif::warning
-        << "TestController::initializeAfterTaskCreation: Test device handler 0 "
-           "handle invalid!"
-        << std::endl;
-#else
-    sif::printWarning(
-        "TestController::initializeAfterTaskCreation: Test device handler 0 "
-        "handle invalid!");
-#endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   ProvidesDataPoolSubscriptionIF *subscriptionIF =
@@ -93,20 +73,10 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
         td::PoolIds::TEST_UINT8_ID, getObjectId(), getCommandQueue(), false);
   }
 
-  HasLocalDataPoolIF *device1 =
+  auto* device1 =
-      ObjectManager::instance()->get<HasLocalDataPoolIF>(
+      ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
-          deviceDataset0.getCreatorObjectId());
   if (device1 == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("initializeAfterTaskCreation: Test device handler 1 handle invalid\n");
-    sif::warning
-        << "TestController::initializeAfterTaskCreation: Test device handler 1 "
-           "handle invalid!"
-        << std::endl;
-#else
-    sif::printWarning(
-        "TestController::initializeAfterTaskCreation: Test device handler 1 "
-        "handle invalid!");
-#endif
   }
 
   subscriptionIF = device1->getSubscriptionInterface();
@@ -142,19 +112,8 @@ void FsfwTestController::handleChangedDataset(sid_t sid,
     } else {
       printout = "Snapshot";
     }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGI("handleChangedDataset: {} update from object ID {:#010x} and set ID {}\n", printout,
-    sif::info << "FsfwTestController::handleChangedDataset: " << printout
+              sid.objectId, sid.ownerSetId);
-              << " update"
-                 "from object ID "
-              << setw(8) << setfill('0') << hex << sid.objectId
-              << " and set ID " << sid.ownerSetId << dec << setfill(' ')
-              << endl;
-#else
-    sif::printInfo(
-        "FsfwTestController::handleChangedPoolVariable: %s update from"
-        "object ID 0x%08x and set ID %lu\n",
-        printout, sid.objectId, sid.ownerSetId);
-#endif
 
     if (storeId == storeId::INVALID_STORE_ADDRESS) {
       if (sid.objectId == device0Id) {
@@ -163,13 +122,8 @@ void FsfwTestController::handleChangedDataset(sid_t sid,
         floatVec[0] = deviceDataset0.testFloat3Vec.value[0];
         floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
         floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        FSFW_LOGI("Current float vector (3) values: [{},{},{}]\n", floatVec[0], floatVec[1],
-        sif::info << "Current float vector (3) values: [" << floatVec[0] << ", "
+                  floatVec[2]);
-                  << floatVec[1] << ", " << floatVec[2] << "]" << std::endl;
-#else
-        sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n",
-                       floatVec[0], floatVec[1], floatVec[2]);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
       }
     }
   }
@@ -195,31 +149,16 @@ void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId,
       printout = "Snapshot";
     }
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGI(
-    sif::info << "TestController::handleChangedPoolVariable: " << printout
+        "TestController::handleChangedPoolVariable: {} update from object "
-              << " update from object "
+        "ID {:#010x} and LPID {}\n",
-                 "ID 0x"
+        printout, globPoolId.objectId, globPoolId.localPoolId);
-              << setw(8) << setfill('0') << hex << globPoolId.objectId
-              << " and local pool ID " << globPoolId.localPoolId << dec
-              << setfill(' ') << endl;
-#else
-    sif::printInfo("TestController::handleChangedPoolVariable: %s update from "
-                   "object ID 0x%08x and "
-                   "local pool ID %lu\n",
-                   printout, globPoolId.objectId, globPoolId.localPoolId);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
     if (storeId == storeId::INVALID_STORE_ADDRESS) {
       if (globPoolId.objectId == device0Id) {
         PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        FSFW_LOGI("Current test variable 0 (UINT8) value: {}",
-        sif::info << "Current test variable 0 (UINT8) value: "
+                  static_cast<int>(deviceDataset0.testUint8Var.value));
-                  << static_cast<int>(deviceDataset0.testUint8Var.value)
-                  << std::endl;
-#else
-        sif::printInfo("Current test variable 0 (UINT8) value %d\n",
-                       deviceDataset0.testUint8Var.value);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
       }
     }
   }

example/core/GenericFactory.cpp

@@ -66,9 +66,11 @@ void ObjectFactory::produceGenericObjects() {
                     pus::PUS_SERVICE_17);
   new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS,
                                    apid::APID, pus::PUS_SERVICE_20);
+#if OBSW_ADD_CORE_COMPONENTS == 1
   new Service11TelecommandScheduling<cfg::OBSW_MAX_SCHEDULED_TCS>(
       objects::PUS_SERVICE_11_TC_SCHEDULER, apid::APID, pus::PUS_SERVICE_11,
       ccsdsDistrib);
+#endif
   new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::APID,
                                 pus::PUS_SERVICE_200);
 #endif /* OBSW_ADD_PUS_STACK == 1 */

example/test/CMakeLists.txt

@@ -1,6 +1,8 @@
 target_sources(${TARGET_NAME} PRIVATE FsfwReaderTask.cpp FsfwExampleTask.cpp
                                       MutexExample.cpp FsfwTestTask.cpp)
 
-if(FSFW_ADD_FMT_TESTS)
+if(OBSW_ADD_FMT_TESTS)
-  target_sources(${TARGET_NAME} PRIVATE testFmt.cpp)
+  target_sources(${TARGET_NAME} PRIVATE
+    testFmt.cpp
+  )
 endif()

example/test/FsfwExampleTask.cpp

@@ -3,7 +3,7 @@
 #include <fsfw/ipc/CommandMessage.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 #include <fsfw/tasks/TaskFactory.h>
 
 #include "OBSWConfig.h"
@@ -80,15 +80,9 @@ object_id_t FsfwExampleTask::getSender() {
 ReturnValue_t FsfwExampleTask::initialize() {
   // Get the dataset of the sender. Will be cached for later checks.
   object_id_t sender = getSender();
-  HasLocalDataPoolIF *senderIF =
+  auto* senderIF = ObjectManager::instance()->get<HasLocalDataPoolIF>(sender);
-      ObjectManager::instance()->get<HasLocalDataPoolIF>(sender);
   if (senderIF == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("initialize: Sender object invalid\n");
-    sif::error << "FsfwDemoTask::initialize: Sender object invalid!"
-               << std::endl;
-#else
-    sif::printError("FsfwDemoTask::initialize: Sender object invalid!\n");
-#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -96,12 +90,7 @@ ReturnValue_t FsfwExampleTask::initialize() {
   // dataset.
   senderSet = new FsfwDemoSet(senderIF);
   if (senderSet == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("initialize: Sender dataset invalid\n");
-    sif::error << "FsfwDemoTask::initialize: Sender dataset invalid!"
-               << std::endl;
-#else
-    sif::printError("FsfwDemoTask::initialize: Sender dataset invalid!\n");
-#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return poolManager.initialize(commandQueue);
@@ -144,13 +133,7 @@ ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
       demoSet.variableLimit.read(MutexIF::TimeoutType::WAITING, 20);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("DummyObject::performOperation: Could not read variableLimit\n");
-    sif::error << "DummyObject::performOperation: Could not read variableLimit!"
-               << std::endl;
-#else
-    sif::printError(
-        "DummyObject::performOperation: Could not read variableLimit!\n");
-#endif
     return result;
   }
   if (this->getObjectId() == objects::TEST_DUMMY_5) {
@@ -158,7 +141,7 @@ ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
       demoSet.variableLimit.value = 0;
     }
     demoSet.variableLimit.value++;
-    demoSet.variableLimit.commit(20);
+    demoSet.variableLimit.commit(true);
     monitor.check();
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -166,18 +149,10 @@ ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
 
 ReturnValue_t FsfwExampleTask::performSendOperation() {
   object_id_t nextRecipient = getNextRecipient();
-  FsfwExampleTask *target =
+  auto* target = ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
-      ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
   if (target == nullptr) {
     /* Configuration error */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("performSendOperation: Next recipient does not exist\n");
-    sif::error
-        << "DummyObject::performOperation: Next recipient does not exist!"
-        << std::endl;
-#else
-    sif::printError(
-        "DummyObject::performOperation: Next recipient does not exist!\n");
-#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -187,35 +162,20 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
   message.setParameter2(this->getMessageQueueId());
 
   /* Send message using own message queue */
-  ReturnValue_t result =
+  ReturnValue_t result = commandQueue->sendMessage(target->getMessageQueueId(), &message);
-      commandQueue->sendMessage(target->getMessageQueueId(), &message);
+  if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
-  if (result != HasReturnvaluesIF::RETURN_OK &&
+    FSFW_LOGE("performSendOperation: Send failed with {:#06x}\n", result);
-      result != MessageQueueIF::FULL) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "FsfwDemoTask::performSendOperation: Send failed with "
-               << result << std::endl;
-#else
-    sif::printError(
-        "FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
-#endif
   }
 
   /* Send message without via MessageQueueSenderIF */
-  result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(),
+  result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(), &message,
-                                             &message, commandQueue->getId());
+                                             commandQueue->getId());
-  if (result != HasReturnvaluesIF::RETURN_OK &&
+  if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
-      result != MessageQueueIF::FULL) {
+    FSFW_LOGE("performSendOperation: Send failed with {:#06x}\n", result);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "FsfwDemoTask::performSendOperation: Send failed with "
-               << result << std::endl;
-#else
-    sif::printError(
-        "FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
-#endif
   }
 
   demoSet.variableWrite.value = randomNumber;
-  result = demoSet.variableWrite.commit(20);
+  result = demoSet.variableWrite.commit(true);
 
   return result;
 }
@@ -225,11 +185,8 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
   while (result != MessageQueueIF::EMPTY) {
     CommandMessage receivedMessage;
     result = commandQueue->receiveMessage(&receivedMessage);
-    if (result != HasReturnvaluesIF::RETURN_OK &&
+    if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::EMPTY) {
-        result != MessageQueueIF::EMPTY) {
+      FSFW_LOGD("performReceiveOperation: Receive failed with {}\n", result);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::debug << "Receive failed with " << result << std::endl;
-#endif
       break;
     }
     if (result != MessageQueueIF::EMPTY) {
@@ -251,15 +208,10 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
         return result;
       }
       if (senderSet->variableRead.value != receivedMessage.getParameter()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        FSFW_LOGE(
-        sif::error << "FsfwDemoTask::performReceiveOperation: Variable "
+            "FsfwDemoTask::performReceiveOperation: Variable {} has wrong value {}, expected {}\n",
-                   << std::hex << "0x"
+            senderSet->variableRead.getDataPoolId(), demoSet.variableRead.value,
-                   << senderSet->variableRead.getDataPoolId() << std::dec
+            receivedMessage.getParameter());
-                   << " has wrong value." << std::endl;
-        sif::error << "Value: " << demoSet.variableRead.value
-                   << ", expected: " << receivedMessage.getParameter()
-                   << std::endl;
-#endif
       }
     }
   }

example/test/FsfwReaderTask.cpp

@@ -2,7 +2,7 @@
 
 #include <OBSWConfig.h>
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
@@ -32,25 +32,11 @@ ReturnValue_t FsfwReaderTask::performOperation(uint8_t operationCode) {
   uint32_t variable2 = readSet.variable2.value;
   uint32_t variable3 = readSet.variable3.value;
 
-#if OBSW_VERBOSE_LEVEL >= 1
   if (opDivider.checkAndIncrement() and printoutEnabled) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGI(
-    sif::info << "FsfwPeriodicTask::performOperation: Reading variables."
+        "FsfwPeriodicTask::performOperation: Reading variables from Demo "
-              << std::endl;
+        "Object 1,2,3\n1 {} | 2 {} | 3 {}\n",
-    sif::info << "Variable read from demo object 1: " << variable1 << std::endl;
+        variable1, variable2, variable3);
-    sif::info << "Variable read from demo object 2: " << variable2 << std::endl;
-    sif::info << "Variable read from demo object 3: " << variable3 << std::endl;
-#else
-    sif::printInfo(
-        "FsfwPeriodicTask::performOperation: Reading variables.\n\r");
-    sif::printInfo("Variable read from demo object 1: %d\n\r", variable1);
-    sif::printInfo("Variable read from demo object 2: %d\n\r", variable2);
-    sif::printInfo("Variable read from demo object 3: %d\n\r", variable3);
-#endif
   }
-#else
-  if (variable1 and variable2 and variable3) {
-  };
-#endif
   return HasReturnvaluesIF::RETURN_OK;
 }

example/test/FsfwTestTask.cpp

@@ -2,13 +2,13 @@
 
 #include <commonConfig.h>
 
-#if FSFW_ADD_FMT_TESTS == 1
+#if OBSW_ADD_FMT_TESTS == 1
 #include "testFmt.h"
 #endif
 
 FsfwTestTask::FsfwTestTask(object_id_t objectId, bool periodicEvent)
     : TestTask(objectId), periodicEvent(periodicEvent) {
-#if FSFW_ADD_FMT_TESTS == 1
+#if OBSW_ADD_FMT_TESTS == 1
   fmtTests();
 #endif
 }

example/test/MutexExample.cpp

@@ -1,7 +1,7 @@
 #include "MutexExample.h"
 
 #include <fsfw/ipc/MutexFactory.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 void MutexExample::example() {
   MutexIF *mutex = MutexFactory::instance()->createMutex();
@@ -10,41 +10,21 @@ void MutexExample::example() {
   ReturnValue_t result =
       mutex->lockMutex(MutexIF::TimeoutType::WAITING, 2 * 60 * 1000);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGET("MutexExample::example: Lock Failed with {}\n", result);
-    sif::error << "MutexExample::example: Lock Failed with " << result
-               << std::endl;
-#else
-    sif::printError("MutexExample::example: Lock Failed with %hu\n", result);
-#endif
   }
 
   result = mutex2->lockMutex(MutexIF::TimeoutType::BLOCKING);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGET("MutexExample::example: Lock Failed with {}\n", result);
-    sif::error << "MutexExample::example: Lock Failed with " << result
-               << std::endl;
-#else
-    sif::printError("MutexExample::example: Lock Failed with %hu\n", result);
-#endif
   }
 
   result = mutex->unlockMutex();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGET("MutexExample::example: Unlock Failed with {}\n", result);
-    sif::error << "MutexExample::example: Unlock Failed with " << result
-               << std::endl;
-#else
-    sif::printError("MutexExample::example: Unlock Failed with %hu\n", result);
-#endif
   }
 
   result = mutex2->unlockMutex();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGET("MutexExample::example: Unlock Failed with {}\n", result);
-    sif::error << "MutexExample::example: Unlock Failed with " << result
-               << std::endl;
-#else
-    sif::printError("MutexExample::example: Unlock Failed with %hu\n", result);
-#endif
   }
 }

example/test/testFmt.cpp

@@ -1,14 +1,20 @@
-#include "testFmt.h"
+#include "fsfw/serviceinterface/fmtWrapper.h"
 
 void fmtTests() {
-  sif::fdebug(__FILENAME__, __LINE__, "Hello {} {}", "World\n");
+  sif::initialize();
-  sif::fdebug_t(__FILENAME__, __LINE__, "Hallo\n");
+  sif::debug_s(__FILENAME__, __LINE__, "Hello {}", "World\n");
+  sif::debug_st(__FILENAME__, __LINE__, "Hallo\n");
   FSFW_LOGD("{}", "Hallo\n");
-  // MY_LOG("{}", "test\n");
+  sif::info_t("Hallo\n");
-  // sif::finfo_t("Hallo\n");
+  sif::info("Hallo\n");
-  // sif::finfo("Hallo\n");
+  sif::warning_s(__FILENAME__, __LINE__, "Hello\n");
-  // sif::fwarning("Hello\n");
+  sif::warning_st(__FILENAME__, __LINE__, "Hello\n");
-  // sif::fwarning_t("Hello\n");
+  FSFW_LOGW("Hello World\n");
-  // sif::ferror("Hello\n");
+  FSFW_LOGW("{} World\n", "Hello");
-  // sif::ferror_t("Hello\n");
+  uint8_t test0 = 5;
+  float test1 = 12.0;
+  uint32_t test2 = 0x00ff11ff;
+  FSFW_LOGW("Test 0 {} | Test 1 {:.3f} | Test 2 {:#010x}\n", test0, test1, test2);
+  sif::error_s(__FILENAME__, __LINE__, "Hello\n");
+  sif::error_st(__FILENAME__, __LINE__, "Hello\n");
 }

example/test/testFmt.h

@@ -1,183 +1,3 @@
-#ifndef FSFW_EXAMPLE_HOSTED_TESTFMT_H
+#pragma once
-#define FSFW_EXAMPLE_HOSTED_TESTFMT_H
-
-#include <fmt/chrono.h>
-#include <fmt/color.h>
-#include <fmt/compile.h>
-#include <fmt/core.h>
-
-#include <array>
-#include <cstdint>
-
-#include "fsfw/ipc/MutexFactory.h"
-#include "fsfw/ipc/MutexGuard.h"
-#include "fsfw/ipc/MutexIF.h"
-#include "fsfw/timemanager/Clock.h"
-
-#define __FILENAME_REL__ (((const char *)__FILE__ + SOURCE_PATH_SIZE))
-#define __FILENAME__                                                           \
-  (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
 
 void fmtTests();
-
-namespace sif {
-
-static std::array<char, 524> PRINT_BUF = {};
-
-static const char INFO_PREFIX[] = "INFO";
-static const char DEBUG_PREFIX[] = "DEBUG";
-static const char WARNING_PREFIX[] = "WARNING";
-static const char ERROR_PREFIX[] = "ERROR";
-
-enum class LogLevel : unsigned int {
-  DEBUG = 0,
-  INFO = 1,
-  WARNING = 2,
-  ERROR = 3
-};
-
-static const char *PREFIX_ARR[4] = {DEBUG_PREFIX, INFO_PREFIX, WARNING_PREFIX,
-                                    ERROR_PREFIX};
-
-static const std::array<fmt::color, 4> LOG_COLOR_ARR = {
-    fmt::color::deep_sky_blue, fmt::color::forest_green, fmt::color::orange_red,
-    fmt::color::red};
-
-static MutexIF *PRINT_MUTEX = MutexFactory::instance()->createMutex();
-
-static size_t writeTypePrefix(LogLevel level) {
-  auto idx = static_cast<unsigned int>(level);
-  const auto result = fmt::format_to_n(
-      PRINT_BUF.begin(), PRINT_BUF.size() - 1,
-      fmt::runtime(fmt::format(fg(LOG_COLOR_ARR[idx]), PREFIX_ARR[idx])));
-  return result.size;
-}
-
-template <typename... T>
-size_t logTraced(LogLevel level, const char *file, unsigned int line,
-                 bool timed, fmt::format_string<T...> fmt,
-                 T &&...args) noexcept {
-  try {
-    MutexGuard mg(PRINT_MUTEX);
-    size_t bufPos = writeTypePrefix(level);
-    auto currentIter = PRINT_BUF.begin() + bufPos;
-    if (timed) {
-      Clock::TimeOfDay_t logTime;
-      Clock::getDateAndTime(&logTime);
-      const auto result =
-          fmt::format_to_n(currentIter, PRINT_BUF.size() - 1 - bufPos,
-                           " | {}[l.{}] | {:02}:{:02}:{:02}.{:03} | {}", file,
-                           line, logTime.hour, logTime.minute, logTime.second,
-                           logTime.usecond / 1000, fmt::format(fmt, args...));
-      *result.out = '\0';
-      bufPos += result.size;
-    } else {
-      const auto result = fmt::format_to_n(
-          currentIter, PRINT_BUF.size() - 1 - bufPos, " | {}[l.{}] | {}", file,
-          line, fmt::format(fmt, args...));
-      *result.out = '\0';
-      bufPos += result.size;
-    }
-
-    fmt::print(fmt::runtime(PRINT_BUF.data()));
-    return bufPos;
-  } catch (const fmt::v8::format_error &e) {
-    fmt::print("Printing failed with error: {}\n", e.what());
-    return 0;
-  }
-}
-
-template <typename... T>
-size_t log(LogLevel level, bool timed, fmt::format_string<T...> fmt,
-           T &&...args) noexcept {
-  try {
-    MutexGuard mg(PRINT_MUTEX);
-    size_t bufPos = writeTypePrefix(level);
-    auto currentIter = PRINT_BUF.begin() + bufPos;
-    if (timed) {
-      Clock::TimeOfDay_t logTime;
-      Clock::getDateAndTime(&logTime);
-      const auto result = fmt::format_to_n(
-          currentIter, PRINT_BUF.size() - bufPos,
-          " | {:02}:{:02}:{:02}.{:03} | {}", logTime.hour, logTime.minute,
-          logTime.second, logTime.usecond / 1000, fmt::format(fmt, args...));
-      bufPos += result.size;
-    }
-    fmt::print(fmt::runtime(PRINT_BUF.data()));
-    return bufPos;
-  } catch (const fmt::v8::format_error &e) {
-    fmt::print("Printing failed with error: {}\n", e.what());
-    return 0;
-  }
-}
-
-template <typename... T>
-void fdebug(const char *file, unsigned int line, fmt::format_string<T...> fmt,
-            T &&...args) noexcept {
-  logTraced(LogLevel::DEBUG, file, line, false, fmt, args...);
-}
-
-template <typename... T>
-void fdebug_t(const char *file, unsigned int line, fmt::format_string<T...> fmt,
-              T &&...args) noexcept {
-  logTraced(LogLevel::DEBUG, file, line, true, fmt, args...);
-}
-
-template <typename... T>
-void finfo_t(fmt::format_string<T...> fmt, T &&...args) {
-  log(LogLevel::INFO, true, fmt, args...);
-}
-
-template <typename... T> void finfo(fmt::format_string<T...> fmt, T &&...args) {
-  log(LogLevel::INFO, false, fmt, args...);
-}
-
-template <typename... T>
-void fwarning(const char *file, unsigned int line, fmt::format_string<T...> fmt,
-              T &&...args) {
-  logTraced(LogLevel::WARNING, file, line, false, fmt, args...);
-}
-
-template <typename... T>
-void fwarning_t(const char *file, unsigned int line,
-                fmt::format_string<T...> fmt, T &&...args) {
-  logTraced(LogLevel::WARNING, file, line, true, fmt, args...);
-}
-
-template <typename... T>
-void ferror(const char *file, unsigned int line, fmt::format_string<T...> fmt,
-            T &&...args) {
-  logTraced(LogLevel::ERROR, file, line, false, fmt, args...);
-}
-
-template <typename... T>
-void ferror_t(const char *file, unsigned int line, fmt::format_string<T...> fmt,
-              T &&...args) {
-  logTraced(LogLevel::ERROR, file, line, true, fmt, args...);
-}
-
-} // namespace sif
-
-#define FSFW_LOGI(format, ...) finfo(FMT_STRING(format), __VA_ARGS__)
-
-#define FSFW_LOGIT(format, ...) finfo_t(FMT_STRING(format), __VA_ARGS__)
-
-#define FSFW_LOGD(format, ...)                                                 \
-  sif::fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
-
-#define FSFW_LOGDT(format, ...)                                                \
-  fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
-
-#define FSFW_LOGW(format, ...)                                                 \
-  fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
-
-#define FSFW_LOGWT(format, ...)                                                \
-  fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
-
-#define FSFW_LOGE(format, ...)                                                 \
-  fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
-
-#define FSFW_LOGET(format, ...)                                                \
-  fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
-
-#endif // FSFW_EXAMPLE_HOSTED_TESTFMT_H

example/utility/TaskCreation.h

@@ -2,19 +2,12 @@
 #define MISSION_UTILITY_TASKCREATION_H_
 
 #include <fsfw/objectmanager/SystemObjectIF.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 namespace task {
 
-void printInitError(const char *objName, object_id_t objectId) {
+void printInitError(const char* objName, object_id_t objectId) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  FSFW_LOGW("InitMission: Adding object {} ({:#010x}) failed\n", objName, objectId);
-  sif::error << "InitMission: Adding object " << objName << "(" << std::setw(8)
-             << std::setfill('0') << std::hex << objectId << std::dec
-             << ") failed." << std::endl;
-#else
-  sif::printError("InitMission: Adding object %s (0x%08x) failed.\n", objName,
-                  static_cast<unsigned int>(objectId));
-#endif
 }
 
 } // namespace task

example/utility/TmFunnel.cpp

@@ -2,7 +2,7 @@
 
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 #include <fsfw/tmtcpacket/pus/tm.h>
 
 object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
@@ -58,10 +58,7 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage *message) {
   result = tmQueue->sendToDefault(message);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     tmPool->deleteData(message->getStorageId());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGET("handlePacket: Error sending to downlink handler\n");
-    sif::error << "TmFunnel::handlePacket: Error sending to downlink handler"
-               << std::endl;
-#endif
     return result;
   }
 
@@ -69,10 +66,7 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage *message) {
     result = storageQueue->sendToDefault(message);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       tmPool->deleteData(message->getStorageId());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGET("handlePacket: Error sending to storage handler\n");
-      sif::error << "TmFunnel::handlePacket: Error sending to storage handler"
-                 << std::endl;
-#endif
       return result;
     }
   }
@@ -82,25 +76,18 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage *message) {
 ReturnValue_t TmFunnel::initialize() {
   tmPool = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
   if (tmPool == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("{}",
-    sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
+              "initialize: TM store not set\n"
-    sif::error << "Make sure the tm store is set up properly and implements "
+              "Make sure the tm store is set up properly and implements StorageManagerIF");
-                  "StorageManagerIF"
-               << std::endl;
-#endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  AcceptsTelemetryIF *tmTarget =
+  auto* tmTarget = ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
   if (tmTarget == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TmFunnel::initialize: Downlink Destination not set."
+    FSFW_LOGE("{}",
-               << std::endl;
+              "initialize: Downlink Destination not set. Make sure the downlink destination "
-    sif::error << "Make sure the downlink destination object is set up "
+              "object is set up properly and implements AcceptsTelemetryIF\n");
-                  "properly and implements "
-                  "AcceptsTelemetryIF"
-               << std::endl;
 #endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }

example/utility/utility.cpp

@@ -1,24 +1,16 @@
 #include "utility.h"
 
-#include <FSFWConfig.h>
 #include <OBSWVersion.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include "fsfw/serviceinterface.h"
 
 void utility::commonInitPrint(const char *const os, const char *const board) {
   if (os == nullptr or board == nullptr) {
     return;
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  fmt::print("-- FSFW Example ({}) v{}.{}.{} --\n", os, FSFW_EXAMPLE_VERSION,
-  std::cout << "-- FSFW Example (" << os << ") v" << FSFW_EXAMPLE_VERSION << "."
+             FSFW_EXAMPLE_SUBVERSION, FSFW_EXAMPLE_REVISION);
-            << FSFW_EXAMPLE_SUBVERSION << "." << FSFW_EXAMPLE_REVISION << " --"
+  fmt::print("-- Compiled for {}\n", board);
-            << std::endl;
+  fmt::print("-- Compiled on {} {}\n", __DATE__, __TIME__);
-  std::cout << "-- Compiled for " << board << " --" << std::endl;
+  sif::initialize();
-  std::cout << "-- Compiled on " << __DATE__ << " " << __TIME__ << " --"
-            << std::endl;
-#else
-  printf("\n\r-- FSFW Example (%s) v%d.%d.%d --\n", os, FSFW_EXAMPLE_VERSION,
-         FSFW_EXAMPLE_SUBVERSION, FSFW_EXAMPLE_REVISION);
-  printf("-- Compiled for %s --\n", board);
-  printf("-- Compiled on %s %s --\n", __DATE__, __TIME__);
-#endif
 }

stm32h7/STM32TestTask.cpp

@@ -11,9 +11,17 @@ STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout,
   BSP_LED_Init(LED3);
 }
 
+ReturnValue_t STM32TestTask::initialize() {
+  if (testSpi) {
+    spiComIF = new SpiComIF(objects::SPI_COM_IF);
+    spiTest = new SpiTest(*spiComIF);
+  }
+  return TestTask::initialize();
+}
+
 ReturnValue_t STM32TestTask::performPeriodicAction() {
   if (blinkyLed) {
-#if OBSW_ETHERNET_USE_LEDS == 0
+#if  OBSW_ETHERNET_USE_LED1_LED2 == 0
     BSP_LED_Toggle(LED1);
     BSP_LED_Toggle(LED2);
 #endif
@@ -24,11 +32,3 @@ ReturnValue_t STM32TestTask::performPeriodicAction() {
   }
   return TestTask::performPeriodicAction();
 }
-
-ReturnValue_t STM32TestTask::initialize() {
-  if (testSpi) {
-    spiComIF = new SpiComIF(objects::SPI_COM_IF);
-    spiTest = new SpiTest(*spiComIF);
-  }
-  return TestTask::initialize();
-}

stm32h7/STM32TestTask.h

@@ -17,7 +17,7 @@ private:
   SpiTest *spiTest = nullptr;
 
   bool blinkyLed = false;
-  bool testSpi = true;
+  bool testSpi = false;
 };
 
 #endif /* BSP_STM32_BOARDTEST_STM32TESTTASK_H_ */

stm32h7/networking/TmTcLwIpUdpBridge.cpp

@@ -1,12 +1,11 @@
 #include "TmTcLwIpUdpBridge.h"
 
-#include <OBSWConfig.h>
+
 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/serialize/EndianConverter.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include "app_ethernet.h"
-#include "ethernetif.h"
 #include "udp_config.h"
 
 TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId,
@@ -17,7 +16,7 @@ TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId,
   TmTcLwIpUdpBridge::lastAdd.addr = IPADDR_TYPE_ANY;
 }
 
-TmTcLwIpUdpBridge::~TmTcLwIpUdpBridge() {}
+TmTcLwIpUdpBridge::~TmTcLwIpUdpBridge() = default;
 
 ReturnValue_t TmTcLwIpUdpBridge::initialize() {
   TmTcBridge::initialize();
@@ -29,11 +28,12 @@ ReturnValue_t TmTcLwIpUdpBridge::initialize() {
   return result;
 }
 
-ReturnValue_t TmTcLwIpUdpBridge::udp_server_init(void) {
+ReturnValue_t TmTcLwIpUdpBridge::udp_server_init() {
   err_t err;
   /* Create a new UDP control block  */
   TmTcLwIpUdpBridge::upcb = udp_new();
   if (TmTcLwIpUdpBridge::upcb) {
+    sif::printInfo("Opening UDP server on port %d\n", UDP_SERVER_PORT);
     /* Bind the upcb to the UDP_PORT port */
     /* Using IP_ADDR_ANY allow the upcb to be used by any local interface */
     err = udp_bind(TmTcLwIpUdpBridge::upcb, IP_ADDR_ANY, UDP_SERVER_PORT);
@@ -55,7 +55,7 @@ ReturnValue_t TmTcLwIpUdpBridge::udp_server_init(void) {
 ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
   TmTcBridge::performOperation();
 
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
   if (connectFlag) {
     uint32_t ipAddress = ((ip4_addr *)&lastAdd)->addr;
     int ipAddress1 = (ipAddress & 0xFF000000) >> 24;
@@ -89,7 +89,7 @@ ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
   if ((p_tx != nullptr) && (lastAdd.addr != IPADDR_TYPE_ANY) &&
       (upcb != nullptr)) {
     /* copy data to pbuf */
-    err_t err = pbuf_take(p_tx, (char *)data, dataLen);
+    err_t err = pbuf_take(p_tx, (const char *)data, dataLen);
     if (err != ERR_OK) {
       pbuf_free(p_tx);
       return err;
@@ -120,7 +120,6 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void *arg,
                                                     struct pbuf *p,
                                                     const ip_addr_t *addr,
                                                     u16_t port) {
-  struct pbuf *p_tx = nullptr;
   auto udpBridge = reinterpret_cast<TmTcLwIpUdpBridge *>(arg);
   if (udpBridge == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -133,9 +132,9 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void *arg,
 #endif
   }
   /* allocate pbuf from RAM*/
-  p_tx = pbuf_alloc(PBUF_TRANSPORT, p->len, PBUF_RAM);
+  struct pbuf *p_tx = pbuf_alloc(PBUF_TRANSPORT, p->len, PBUF_RAM);
 
-  if (p_tx != NULL) {
+  if (p_tx != nullptr) {
     if (udpBridge != nullptr) {
       MutexGuard lg(udpBridge->bridgeLock);
       udpBridge->upcb = upcb_;
@@ -143,7 +142,7 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void *arg,
       udpBridge->lastPort = port;
       if (not udpBridge->comLinkUp()) {
         udpBridge->registerCommConnect();
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
         udpBridge->connectFlag = true;
 #endif
         /* This should have already been done, but we will still do it */
@@ -155,8 +154,8 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void *arg,
     char *data = reinterpret_cast<char *>(p_tx->payload);
     *(data + p_tx->len) = '\0';
 
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
-    udpBridge->printData(p, data);
+    udpBridge->printData(reinterpret_cast<uint8_t *>(p->payload), p->len);
 #endif
 
     store_address_t storeId;

stm32h7/networking/TmTcLwIpUdpBridge.h

@@ -1,12 +1,12 @@
 #ifndef BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_
 #define BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_
 
-#include <fsfw/tmtcservices/TmTcBridge.h>
+#include "fsfw/tmtcservices/TmTcBridge.h"
+#include "commonConfig.h"
+
 #include <lwip/ip_addr.h>
 #include <lwip/udp.h>
 
-#define TCPIP_RECV_WIRETAPPING 0
-
 /**
  * This bridge is used to forward TMTC packets received via LwIP UDP to the
  * internal software bus.
@@ -17,9 +17,9 @@ class TmTcLwIpUdpBridge : public TmTcBridge {
 public:
   TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
                     object_id_t tmStoreId, object_id_t tcStoreId);
-  virtual ~TmTcLwIpUdpBridge();
+  ~TmTcLwIpUdpBridge() override;
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
   ReturnValue_t udp_server_init();
 
   /**
@@ -27,14 +27,14 @@ public:
    * @param operationCode
    * @return
    */
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
 
   /** TM Send implementation uses udp_send function from lwIP stack
    * @param data
    * @param dataLen
    * @return
    */
-  virtual ReturnValue_t sendTm(const uint8_t *data, size_t dataLen) override;
+  ReturnValue_t sendTm(const uint8_t *data, size_t dataLen) override;
 
   /**
    * @brief This function is called when an UDP datagram has been
@@ -54,16 +54,16 @@ public:
    * Caller must ensure thread-safety by using the bridge lock.
    * @return
    */
-  bool comLinkUp() const;
+  [[nodiscard]] bool comLinkUp() const;
 
 private:
   struct udp_pcb *upcb = nullptr;
-  ip_addr_t lastAdd;
+  ip_addr_t lastAdd{};
   u16_t lastPort = 0;
   bool physicalConnection = false;
   MutexIF *bridgeLock = nullptr;
 
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
   bool connectFlag = false;
 #endif
 

stm32h7/networking/UdpTcLwIpPollingTask.cpp

@@ -1,7 +1,5 @@
 #include "UdpTcLwIpPollingTask.h"
 
-#include <hardware_init.h>
-
 #include "TmTcLwIpUdpBridge.h"
 #include "app_dhcp.h"
 #include "app_ethernet.h"
@@ -18,7 +16,7 @@ UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId,
     : SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId),
       gnetif(gnetif) {}
 
-UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() {}
+UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() = default;
 
 ReturnValue_t UdpTcLwIpPollingTask::initialize() {
   udpBridge = ObjectManager::instance()->get<TmTcLwIpUdpBridge>(bridgeId);

stm32h7/networking/UdpTcLwIpPollingTask.h

@@ -1,5 +1,4 @@
-#ifndef BSP_STM32_RTEMS_EMACPOLLINGTASK_H_
+#pragma once
-#define BSP_STM32_RTEMS_EMACPOLLINGTASK_H_
 
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -18,16 +17,16 @@ class UdpTcLwIpPollingTask : public SystemObject,
 public:
   UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId,
                        struct netif *gnetif);
-  virtual ~UdpTcLwIpPollingTask();
+  ~UdpTcLwIpPollingTask() override;
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
   /**
    * Executed periodically.
    * @param operationCode
    * @return
    */
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
 
 private:
   static const uint8_t PERIODIC_HANDLE_TRIGGER = 5;
@@ -36,5 +35,3 @@ private:
   TmTcLwIpUdpBridge *udpBridge = nullptr;
   struct netif *gnetif = nullptr;
 };
-
-#endif /* BSP_STM32_RTEMS_EMACPOLLINGTASK_H_ */

stm32h7/networking/app_dhcp.cpp

@@ -1,8 +1,6 @@
 #include "app_dhcp.h"
 
 #include "OBSWConfig.h"
-#include "app_ethernet.h"
-#include "ethernetif.h"
 #include "lwip/dhcp.h"
 #include "networking.h"
 #include "stm32h7xx_nucleo.h"
@@ -24,7 +22,7 @@ void handle_dhcp_down(struct netif *netif);
  * @retval None
  */
 void DHCP_Process(struct netif *netif) {
-  struct dhcp *dhcp = NULL;
+  struct dhcp *dhcp = nullptr;
   switch (DHCP_state) {
   case DHCP_START: {
     handle_dhcp_start(netif);
@@ -119,8 +117,8 @@ void handle_dhcp_wait(struct netif *netif, struct dhcp **dhcp) {
 #endif
 #endif
   } else {
-    *dhcp = (struct dhcp *)netif_get_client_data(
+    *dhcp = static_cast<struct dhcp *>(netif_get_client_data(
-        netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP);
+        netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP));
 
     /* DHCP timeout */
     if ((*dhcp)->tries > MAX_DHCP_TRIES) {
@@ -130,6 +128,7 @@ void handle_dhcp_wait(struct netif *netif, struct dhcp **dhcp) {
 }
 
 void handle_dhcp_down(struct netif *netif) {
+  static_cast<void>(netif);
   DHCP_state = DHCP_OFF;
 #if OBSW_ETHERNET_TMTC_COMMANDING == 1
   printf("DHCP_Process: The network cable is not connected.\n\r");

stm32h7/networking/ethernetif.c

@@ -44,16 +44,16 @@
  */
 
 /* Includes ------------------------------------------------------------------*/
+#include "stm32h7xx_hal.h"
+#include "lwip/opt.h"
+#include "lwip/timeouts.h"
+#include "lwip/netif.h"
+#include "netif/etharp.h"
 #include "ethernetif.h"
-
+#include "lan8742.h"
-#include <lan8742.h>
-#include <lwip/netif.h>
-#include <lwip/opt.h>
-#include <lwip/timeouts.h>
-#include <netif/etharp.h>
-#include <stm32h7xx_hal.h>
 #include <string.h>
 
+#include <stdbool.h>
 #include "fsfw/FSFW.h"
 
 #ifdef FSFW_OSAL_RTEMS
@@ -66,6 +66,12 @@
 #define IFNAME0 's'
 #define IFNAME1 't'
 
+#define ETH_DMA_TRANSMIT_TIMEOUT                (20U)
+
+#define ETH_RX_BUFFER_SIZE            1536U
+#define ETH_RX_BUFFER_CNT             12U
+#define ETH_TX_BUFFER_MAX             ((ETH_TX_DESC_CNT) * 2U)
+
 #define DMA_DESCRIPTOR_ALIGNMENT 0x20
 
 /* Private macro -------------------------------------------------------------*/
@@ -87,27 +93,30 @@ stack they will return back to DMA after been processed by the stack.
   2.b. Rx Buffers must have the same size: ETH_RX_BUFFER_SIZE, this value must
        passed to ETH DMA in the init field (EthHandle.Init.RxBuffLen)
 */
+typedef enum
+{
+  RX_ALLOC_OK       = 0x00,
+  RX_ALLOC_ERROR    = 0x01
+} RxAllocStatusTypeDef;
+
+typedef struct
+{
+  struct pbuf_custom pbuf_custom;
+  uint8_t buff[(ETH_RX_BUFFER_SIZE + 31) & ~31] __ALIGNED(32);
+} RxBuff_t;
 
 #if defined(__ICCARM__) /*!< IAR Compiler */
 
-#pragma location = 0x30040000
+#pragma location=0x30000000
-ETH_DMADescTypeDef
+ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
-    DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
+#pragma location=0x30000200
-#pragma location = 0x30040060
+ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
-ETH_DMADescTypeDef
+
-    DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
-#pragma location = 0x30040200
-uint8_t Rx_Buff[ETH_RX_DESC_CNT]
-               [ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffers */
 
 #elif defined(__CC_ARM) /* MDK ARM Compiler */
 
-__attribute__((section(".RxDecripSection"))) ETH_DMADescTypeDef
+__attribute__((section(".RxDecripSection"))) ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
-    DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
+__attribute__((section(".TxDecripSection"))) ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
-__attribute__((section(".TxDecripSection"))) ETH_DMADescTypeDef
-    DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
-__attribute__((section(".RxArraySection"))) uint8_t
-    Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffer */
 
 #elif defined(__GNUC__) /* GNU Compiler */
 
@@ -124,44 +133,57 @@ ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((
  * placing it */
 uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE];
 #elif defined FSFW_OSAL_FREERTOS
-/* Placement and alignment specified in linker script here */
+
-ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((
+ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */
-    section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */
+ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((section(".TxDecripSection")));   /* Ethernet Tx DMA Descriptors */
-ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((
+
-    section(".TxDecripSection"))); /* Ethernet Tx DMA Descriptors */
+#endif /* FSFW_OSAL_RTEMS */
-uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]
-    __attribute__((section(".RxArraySection"))); /* Ethernet Receive Buffers */
-#endif /* FSFW_FREERTOS */
 
 #endif /* defined ( __GNUC__ ) */
 
+/* Memory Pool Declaration */
+LWIP_MEMPOOL_DECLARE(RX_POOL, ETH_RX_BUFFER_CNT, sizeof(RxBuff_t), "Zero-copy RX PBUF pool");
+
+#if defined ( __ICCARM__ ) /*!< IAR Compiler */
+#pragma location = 0x30000400
+extern u8_t memp_memory_RX_POOL_base[];
+
+#elif defined ( __CC_ARM )  /* MDK ARM Compiler */
+__attribute__((section(".Rx_PoolSection"))) extern u8_t memp_memory_RX_POOL_base[];
+
+#elif defined ( __GNUC__ ) /* GNU Compiler */
+__attribute__((section(".Rx_PoolSection"))) extern u8_t memp_memory_RX_POOL_base[];
+
+#endif
+
 /* Global boolean to track ethernet connection */
 bool ethernet_cable_connected;
 
-struct pbuf_custom rx_pbuf[ETH_RX_DESC_CNT];
+/* Variable Definitions */
-uint32_t current_pbuf_idx = 0;
+static uint8_t RxAllocStatus;
 
+/* Global Ethernet handle*/
 ETH_HandleTypeDef EthHandle;
 ETH_TxPacketConfig TxConfig;
 
-lan8742_Object_t LAN8742;
-
 /* Private function prototypes -----------------------------------------------*/
 u32_t sys_now(void);
-void pbuf_free_custom(struct pbuf *p);
+extern void Error_Handler(void);
-
 int32_t ETH_PHY_IO_Init(void);
-int32_t ETH_PHY_IO_DeInit(void);
+int32_t ETH_PHY_IO_DeInit (void);
-int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr,
+int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal);
-                           uint32_t *pRegVal);
+int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal);
-int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr,
-                            uint32_t RegVal);
 int32_t ETH_PHY_IO_GetTick(void);
 
-lan8742_IOCtx_t LAN8742_IOCtx = {ETH_PHY_IO_Init, ETH_PHY_IO_DeInit,
+lan8742_Object_t LAN8742;
-                                 ETH_PHY_IO_WriteReg, ETH_PHY_IO_ReadReg,
+lan8742_IOCtx_t  LAN8742_IOCtx = {ETH_PHY_IO_Init,
+                                 ETH_PHY_IO_DeInit,
+                                 ETH_PHY_IO_WriteReg,
+                                 ETH_PHY_IO_ReadReg,
                                  ETH_PHY_IO_GetTick};
+
 /* Private functions ---------------------------------------------------------*/
+void pbuf_free_custom(struct pbuf *p);
 /*******************************************************************************
                        LL Driver Interface ( LwIP stack --> ETH)
 *******************************************************************************/
@@ -173,9 +195,7 @@ lan8742_IOCtx_t LAN8742_IOCtx = {ETH_PHY_IO_Init, ETH_PHY_IO_DeInit,
  *        for this ethernetif
  */
 static void low_level_init(struct netif *netif) {
-  uint32_t idx = 0;
+  uint8_t macaddress[6]= {ETH_MAC_ADDR0, ETH_MAC_ADDR1, ETH_MAC_ADDR2, ETH_MAC_ADDR3, ETH_MAC_ADDR4, ETH_MAC_ADDR5};
-  uint8_t macaddress[6] = {ETH_MAC_ADDR0, ETH_MAC_ADDR1, ETH_MAC_ADDR2,
-                           ETH_MAC_ADDR3, ETH_MAC_ADDR4, ETH_MAC_ADDR5};
 
   EthHandle.Instance = ETH;
   EthHandle.Init.MACAddr = macaddress;
@@ -188,15 +208,15 @@ static void low_level_init(struct netif *netif) {
   HAL_ETH_Init(&EthHandle);
 
   /* set MAC hardware address length */
-  netif->hwaddr_len = ETHARP_HWADDR_LEN;
+  netif->hwaddr_len = ETH_HWADDR_LEN;
 
   /* set MAC hardware address */
-  netif->hwaddr[0] = 0x02;
+  netif->hwaddr[0] =  ETH_MAC_ADDR0;
-  netif->hwaddr[1] = 0x00;
+  netif->hwaddr[1] =  ETH_MAC_ADDR1;
-  netif->hwaddr[2] = 0x00;
+  netif->hwaddr[2] =  ETH_MAC_ADDR2;
-  netif->hwaddr[3] = 0x00;
+  netif->hwaddr[3] =  ETH_MAC_ADDR3;
-  netif->hwaddr[4] = 0x00;
+  netif->hwaddr[4] =  ETH_MAC_ADDR4;
-  netif->hwaddr[5] = 0x00;
+  netif->hwaddr[5] =  ETH_MAC_ADDR5;
 
   /* maximum transfer unit */
   netif->mtu = ETH_MAX_PAYLOAD;
@@ -205,17 +225,12 @@ static void low_level_init(struct netif *netif) {
   /* don't set NETIF_FLAG_ETHARP if this device is not an ethernet one */
   netif->flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP;
 
-  for (idx = 0; idx < ETH_RX_DESC_CNT; idx++) {
+  /* Initialize the RX POOL */
-    HAL_ETH_DescAssignMemory(&EthHandle, idx, Rx_Buff[idx], NULL);
+  LWIP_MEMPOOL_INIT(RX_POOL);
-
-    /* Set Custom pbuf free function */
-    rx_pbuf[idx].custom_free_function = pbuf_free_custom;
-  }
 
   /* Set Tx packet config common parameters */
-  memset(&TxConfig, 0, sizeof(ETH_TxPacketConfig));
+  memset(&TxConfig, 0 , sizeof(ETH_TxPacketConfig));
-  TxConfig.Attributes =
+  TxConfig.Attributes = ETH_TX_PACKETS_FEATURES_CSUM | ETH_TX_PACKETS_FEATURES_CRCPAD;
-      ETH_TX_PACKETS_FEATURES_CSUM | ETH_TX_PACKETS_FEATURES_CRCPAD;
   TxConfig.ChecksumCtrl = ETH_CHECKSUM_IPHDR_PAYLOAD_INSERT_PHDR_CALC;
   TxConfig.CRCPadCtrl = ETH_CRC_PAD_INSERT;
 
@@ -245,40 +260,43 @@ static void low_level_init(struct netif *netif) {
  *       dropped because of memory failure (except for the TCP timers).
  */
 static err_t low_level_output(struct netif *netif, struct pbuf *p) {
-  uint32_t i = 0, framelen = 0;
+  uint32_t i = 0U;
-  struct pbuf *q;
+  struct pbuf *q = NULL;
   err_t errval = ERR_OK;
-  ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT];
+  ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT] = {0};
 
-  for (q = p; q != NULL; q = q->next) {
+  memset(Txbuffer, 0 , ETH_TX_DESC_CNT*sizeof(ETH_BufferTypeDef));
-    if (i >= ETH_TX_DESC_CNT)
+
+  for(q = p; q != NULL; q = q->next)
+  {
+    if(i >= ETH_TX_DESC_CNT)
       return ERR_IF;
 
     Txbuffer[i].buffer = q->payload;
     Txbuffer[i].len = q->len;
-    framelen += q->len;
 
-    if (i > 0) {
+    if(i>0)
-      Txbuffer[i - 1].next = &Txbuffer[i];
+    {
+      Txbuffer[i-1].next = &Txbuffer[i];
     }
 
-    if (q->next == NULL) {
+    if(q->next == NULL)
+    {
       Txbuffer[i].next = NULL;
     }
 
     i++;
   }
 
-  TxConfig.Length = framelen;
+  TxConfig.Length = p->tot_len;
   TxConfig.TxBuffer = Txbuffer;
+  TxConfig.pData = p;
 
-  HAL_StatusTypeDef ret = HAL_ETH_Transmit(&EthHandle, &TxConfig, 20);
+  HAL_StatusTypeDef ret = HAL_ETH_Transmit(&EthHandle, &TxConfig, ETH_DMA_TRANSMIT_TIMEOUT);
-
   if (ret != HAL_OK) {
     printf("low_level_output: Could not transmit ethernet packet, code %d!\n\r",
            ret);
   }
-
   return errval;
 }
 
@@ -292,30 +310,13 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p) {
  */
 static struct pbuf *low_level_input(struct netif *netif) {
   struct pbuf *p = NULL;
-  ETH_BufferTypeDef RxBuff;
-  uint32_t framelength = 0;
 
-  if (HAL_ETH_IsRxDataAvailable(&EthHandle)) {
+  if(RxAllocStatus == RX_ALLOC_OK)
-    HAL_ETH_GetRxDataBuffer(&EthHandle, &RxBuff);
+  {
-    HAL_ETH_GetRxDataLength(&EthHandle, &framelength);
+    HAL_ETH_ReadData(&EthHandle, (void **)&p);
-
-    /* Invalidate data cache for ETH Rx Buffers */
-    SCB_InvalidateDCache_by_Addr((uint32_t *)Rx_Buff,
-                                 (ETH_RX_DESC_CNT * ETH_RX_BUFFER_SIZE));
-
-    p = pbuf_alloced_custom(PBUF_RAW, framelength, PBUF_POOL,
-                            &rx_pbuf[current_pbuf_idx], RxBuff.buffer,
-                            ETH_RX_BUFFER_SIZE);
-    if (current_pbuf_idx < (ETH_RX_DESC_CNT - 1)) {
-      current_pbuf_idx++;
-    } else {
-      current_pbuf_idx = 0;
-    }
-
-    return p;
-  } else {
-    return NULL;
   }
+
+  return p;
 }
 
 /**
@@ -328,26 +329,21 @@ static struct pbuf *low_level_input(struct netif *netif) {
  * @param netif the lwip network interface structure for this ethernetif
  */
 void ethernetif_input(struct netif *netif) {
-  err_t err;
+  struct pbuf *p = NULL;
-  struct pbuf *p;
 
-  /* move received packet into a new pbuf */
+  do
-  p = low_level_input(netif);
+  {
+    p = low_level_input( netif );
+    if (p != NULL)
+    {
+      if (netif->input( p, netif) != ERR_OK )
+      {
+        pbuf_free(p);
+      }
+    }
 
-  /* no packet could be read, silently ignore this */
+  } while(p!=NULL);
-  if (p == NULL)
-    return;
 
-  /* entry point to the LwIP stack */
-  err = netif->input(p, netif);
-
-  if (err != ERR_OK) {
-    LWIP_DEBUGF(NETIF_DEBUG, ("ethernetif_input: IP input error\n"));
-    pbuf_free(p);
-    p = NULL;
-  }
-
-  HAL_ETH_BuildRxDescriptors(&EthHandle);
 }
 
 /**
@@ -372,6 +368,7 @@ err_t ethernetif_init(struct netif *netif) {
 
   netif->name[0] = IFNAME0;
   netif->name[1] = IFNAME1;
+
   /* We directly use etharp_output() here to save a function call.
    * You can instead declare your own function an call etharp_output()
    * from it if you have to do some checks before sending (e.g. if link
@@ -391,12 +388,13 @@ err_t ethernetif_init(struct netif *netif) {
  * @retval None
  */
 void pbuf_free_custom(struct pbuf *p) {
-  if (p != NULL) {
+  struct pbuf_custom* custom_pbuf = (struct pbuf_custom*)p;
-    p->flags = 0;
+  LWIP_MEMPOOL_FREE(RX_POOL, custom_pbuf);
-    p->next = NULL;
+  /* If the Rx Buffer Pool was exhausted, signal the ethernetif_input task to
-    p->len = p->tot_len = 0;
+   * call HAL_ETH_GetRxDataBuffer to rebuild the Rx descriptors. */
-    p->ref = 0;
+  if (RxAllocStatus == RX_ALLOC_ERROR)
-    p->payload = NULL;
+  {
+    RxAllocStatus = RX_ALLOC_OK;
   }
 }
 
@@ -545,19 +543,22 @@ int32_t ETH_PHY_IO_GetTick(void) { return HAL_GetTick(); }
  * @retval None
  */
 void ethernet_link_check_state(struct netif *netif) {
-  ETH_MACConfigTypeDef MACConf;
+  ETH_MACConfigTypeDef MACConf = {0};
-  uint32_t PHYLinkState;
+  int32_t PHYLinkState = 0U;
-  uint32_t linkchanged = 0, speed = 0, duplex = 0;
+  uint32_t linkchanged = 0U, speed = 0U, duplex = 0U;
 
   PHYLinkState = LAN8742_GetLinkState(&LAN8742);
 
-  if (netif_is_link_up(netif) && (PHYLinkState <= LAN8742_STATUS_LINK_DOWN)) {
+  if(netif_is_link_up(netif) && (PHYLinkState <= LAN8742_STATUS_LINK_DOWN))
-    HAL_ETH_Stop(&EthHandle);
+  {
+    HAL_ETH_Stop_IT(&EthHandle);
     netif_set_down(netif);
     netif_set_link_down(netif);
-  } else if (!netif_is_link_up(netif) &&
+  }
-             (PHYLinkState > LAN8742_STATUS_LINK_DOWN)) {
+  else if(!netif_is_link_up(netif) && (PHYLinkState > LAN8742_STATUS_LINK_DOWN))
-    switch (PHYLinkState) {
+  {
+    switch (PHYLinkState)
+    {
     case LAN8742_STATUS_100MBITS_FULLDUPLEX:
       duplex = ETH_FULLDUPLEX_MODE;
       speed = ETH_SPEED_100M;
@@ -582,19 +583,81 @@ void ethernet_link_check_state(struct netif *netif) {
       break;
     }
 
-    if (linkchanged) {
+    if(linkchanged)
+    {
       /* Get MAC Config MAC */
       HAL_ETH_GetMACConfig(&EthHandle, &MACConf);
       MACConf.DuplexMode = duplex;
       MACConf.Speed = speed;
       HAL_ETH_SetMACConfig(&EthHandle, &MACConf);
-      HAL_ETH_Start(&EthHandle);
+      HAL_ETH_Start_IT(&EthHandle);
       netif_set_up(netif);
       netif_set_link_up(netif);
     }
   }
 }
 
+void HAL_ETH_RxAllocateCallback(uint8_t **buff)
+{
+  struct pbuf_custom *p = LWIP_MEMPOOL_ALLOC(RX_POOL);
+  if (p)
+  {
+    /* Get the buff from the struct pbuf address. */
+    *buff = (uint8_t *)p + offsetof(RxBuff_t, buff);
+    p->custom_free_function = pbuf_free_custom;
+    /* Initialize the struct pbuf.
+    * This must be performed whenever a buffer's allocated because it may be
+    * changed by lwIP or the app, e.g., pbuf_free decrements ref. */
+    pbuf_alloced_custom(PBUF_RAW, 0, PBUF_REF, p, *buff, ETH_RX_BUFFER_SIZE);
+  }
+  else
+  {
+    RxAllocStatus = RX_ALLOC_ERROR;
+    *buff = NULL;
+  }
+}
+
+void HAL_ETH_RxLinkCallback(void **pStart, void **pEnd, uint8_t *buff, uint16_t Length)
+{
+  struct pbuf **ppStart = (struct pbuf **)pStart;
+  struct pbuf **ppEnd = (struct pbuf **)pEnd;
+  struct pbuf *p = NULL;
+
+  /* Get the struct pbuf from the buff address. */
+  p = (struct pbuf *)(buff - offsetof(RxBuff_t, buff));
+  p->next = NULL;
+  p->tot_len = 0;
+  p->len = Length;
+
+  /* Chain the buffer. */
+  if (!*ppStart)
+  {
+    /* The first buffer of the packet. */
+    *ppStart = p;
+  }
+  else
+  {
+    /* Chain the buffer to the end of the packet. */
+    (*ppEnd)->next = p;
+  }
+  *ppEnd  = p;
+
+  /* Update the total length of all the buffers of the chain. Each pbuf in the chain should have its tot_len
+   * set to its own length, plus the length of all the following pbufs in the chain. */
+  for (p = *ppStart; p != NULL; p = p->next)
+  {
+    p->tot_len += Length;
+  }
+
+  /* Invalidate data cache because Rx DMA's writing to physical memory makes it stale. */
+  SCB_InvalidateDCache_by_Addr((uint32_t *)buff, Length);
+}
+
+void HAL_ETH_TxFreeCallback(uint32_t * buff)
+{
+  pbuf_free((struct pbuf *)buff);
+}
+
 ETH_HandleTypeDef *getEthernetHandle() { return &EthHandle; }
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

stm32h7/networking/ethernetif.h

@@ -46,7 +46,6 @@
 #ifndef __ETHERNETIF_H__
 #define __ETHERNETIF_H__
 
-#include <stdbool.h>
 #include <stm32h7xx_hal.h>
 
 #include "lwip/err.h"
@@ -56,8 +55,6 @@
 extern "C" {
 #endif
 
-#define ETH_RX_BUFFER_SIZE (1536UL)
-
 /* Exported types ------------------------------------------------------------*/
 
 ETH_HandleTypeDef *getEthernetHandle();
@@ -67,7 +64,6 @@ void ethernet_link_check_state(struct netif *netif);
 
 extern ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT];
 extern ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT];
-extern uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE];
 
 #ifdef __cplusplus
 }