FSFW Example Application

This repository features a demo application. The example has been run successfully on the following platforms:

• Linux host machine with the Linux OSAL or the Host OSAL
• Windows with the Host OSAL
• STM32H743ZI-Nucleo with the FreeRTOS OSAL
• Raspberry Pi with the Linux OSAL
• STM32H743ZI-Nucleo with the RTEMS OSAL

The purpose of this example is to provide a demo of the FSFW capabilities. However, it can also be used as a starting point to set up a repository for new flight software. It also aims to provide developers with practical examples of how the FSFW is inteded to be used and how project using the FSFW should or can be set up and it might serve as a basic test platform for the FSFW as well to ensure all OSALs are compiling and running as expected.

The repository contains a Python TMTC program which can be used to showcase the TMTC capabilities of the FSFW (currently, using the ECSS PUS packet standard).

Configuring the Example

The build system will copy three configuration files into the build directory:

1. commonConfig.h which contains common configuration parameters
2. OBSWConfig.h which can contain machine and architecture specific configuration options
3. FSFWConfig.h which contains the configuration for the flight software framework

These files can be edited manually after CMake build generation.

Index

Getting started with Eclipse for C/C++
Getting started with CMake

Getting started with the Hosted OSAL
Getting started with the FreeRTOS OSAL on a STM32
Getting started with the RTEMS OSAL on a STM32
Getting started with the Raspberry Pi
Getting started with the Beagle Bone Black

FSFW demo with Host OSAL on Windows or Linux

This demo has been tested for Windows and Linux. It uses the host abstraction layer of the FSFW.

General Information

This demo provides the opportunity to to test functionality of the FSFW on a host computer without the need of setting up external embedded hardware.

After cloning, make sure to clone and initialize the submodules

git submodule update --init

Prerequisites

If you need to set up these prerequisites, you can find some more information in the dedicated chapter.

1. Makefile build: make installed (bundled with MSYS2 on Windows or via xPacks Windows Build Tools). Natively installed on Linux.
2. Recommended for application code development: Eclipse for C/C++ . Project files and launch configuration are provided for Eclipse to ease development. Visual Studio support might follow soon following CMake implementation.
3. CMake Build: Correct CMake installation
4. Recommended: Python 3 and just installed for easy build generation

Commanding the Software

When the software is running, it opens a TCP oder UDP server, depending on the configuration, on port 7301. You can send PUS telecommands to that port to interactively command the software.

The following steps set up a virtual environment, install all the dependencies, and then use the tmtcc.py utility to send a ping telecommand to the running OBSW

cd tmtc
python3 -m venv venv
cd deps/tmtccmd
pip install .[gui]

Now you can command the software using the tmtcc.py command for the CLI mode and tmtcc.py -g for the GUI mode inside the virtual environment. For example, you can use tmtcc.py -s 17 -o 0 to send a ping command.

Setting up Prerequisites

Windows - MinGW64 build

1. MSYS2 and MinGW64 installed

2. Update MSYS2 by opening it and running

   pacman -Syuuu
   

   After that, the gcc toolchain, git, make and CMake should be installed with

   pacman -S git mingw-w64-x86_64-gcc mingw-w64-x86_64-gdb mingw-w64-x86_64-make mingw-w64-x86_64-cmake
   

   You can install a full development environment with

   pacman -S base-devel
   

   or install gcc, gdb and mingw32-make with the following command

   pacman -S mingw-w64-x86_64-toolchain
   

   It is recommended to set up aliases to get to the example directory quickly.

3. It is recommended to add the MinGW64 bit binaries to the system path so Eclipse can use them. It is also recommended to run git config --global core.autocrlf true when using MinGW64 to have consistent line endings on Windows systems.

Linux - Enabling RTOS functionalities

The dedicated Linux README specifies some steps required to cleanly run the FSFW.

Building the Software with CMake

Recommended way using the Justfile and Python

You can use the Justfile provided to get a list of common build targets and generate the correct build configuration. Install Python 3 first. The easiest way to install just is to install Cargo first and the run the following command

cargo install just

After that, you can display common build targets with

just -l

and create a build configuration with

just <build-target>

All commands run will be display

Manual Way using CMake

CMake should be installed first. More detailed information on the CMake build process and options can be found in the CMake README. Readers unfamiliar with CMake should read this first. The following steps will show to to build the Debug executable using either the "Unix Makefiles" generator on Linux or the "MinGW Makefiles" generator in Windows in the command line to be as generic as possible.

You can also install Ninja and then supply -G "Ninja" to the build generation as a cross-platform solution.

Linux Build

1. Create a new folder for the executable.

   mkdir cmake-build-debug
   cd cmake-build-debug
   

2. Configure the build system

   cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=host ..
   

   You can also use -DOS_FSFW=linux to use the Linux OSAL of the FSFW.

3. Build the software

   cmake --build . -j
   

4. The binary will be located inside the Debug folder and can be run there

   ./fsfw-example
   

MinGW64 Build

Set up MinGW64 like explained previously.

The CMake build can be generated either with the CMake GUI tool or with the MinGW64 command line. Steps will be shown with the MinGW64 command line tool, but the CMake GUI can be used on Windows as well to have a convenient way to configure the CMake build.

1. Open the MinGW64 terminal and navigate to the fsfw_example folder

2. Create a new folder for the executable.

   mkdir cmake-build-debug
   cd cmake-build-debug
   

   The build options can be displayed with cmake -L .

3. Configure the project and generate the native MinGW64 buildsystem

   cmake -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=host ..
   

   The build configuration can also be performed with the shell scripts located inside cmake/scripts/Host or the Python helper script cmake_build_config.py inside cmake/scripts. The configured build options can now be shown with cmake -L.

4. Call the build system (Make)

   cmake --build . -j
   

5. Like already mentioned, it is recommended to run the binary directly as an executable by double-clicking it or in the Windows Terminal.

Setting up Eclipse for CMake projects

The separate Eclipse README specifies how to set up Eclipse to build CMake projects. Separate project files and launch configurations for the MinGW build were provided. The debug output is colored by default. It is recommended to install the ANSI Escape in Console plugin in Eclipse so the coloring works in the Eclipse console.

Windows

On Windows, it is recommended to run the applicaton with the Windows command line for the printout to work properly. You can do this by simply double-clicking the binary or using start <Exe> in the Windows command line