compiling

CMakeLists.txt

@@ -27,7 +27,7 @@ include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
 # Project Name
-project(fsfw-example ASM C CXX)
+project(fsfw-example-linux-mcu ASM C CXX)
 
 
 ################################################################################
@@ -156,11 +156,6 @@ target_compile_options(${TARGET_NAME} PRIVATE
     ${WARNING_FLAGS}
 )
 
-if(CMAKE_CROSSCOMPILING)
-    include(${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
-    post_source_hw_os_config()
-endif()
-
 if(TGT_BSP)
     set(TARGET_STRING "Target BSP: ${TGT_BSP}")
 else()
@@ -174,12 +169,22 @@ string(CONCAT POST_BUILD_COMMENT
     "${TARGET_STRING}"
 )
 
+message(STATUS ${CMAKE_SIZE})
+message(STATUS ${CMAKE_OBJCOPY})
+
 add_custom_command(
    TARGET ${TARGET_NAME}
    POST_BUILD
-   COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
+   COMMAND ${CMAKE_SIZE} ${TARGET_NAME}
    COMMENT ${POST_BUILD_COMMENT}
 )
 
+add_custom_command(
+    TARGET ${TARGET_NAME}
+    POST_BUILD
+    COMMAND ${CMAKE_OBJCOPY} -O binary ${TARGET_NAME} ${TARGET_NAME}.bin
+    COMMENT "Generating binary file ${TARGET_NAME}.bin.."
+)
+
 include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
 set_build_type()

bsp_linux/core/ObjectFactory.cpp

@@ -13,7 +13,7 @@
 #include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include <fsfw/monitoring/MonitoringMessageContent.h>
 #include <fsfw/storagemanager/PoolManager.h>
-#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
+#include <fsfw/tmtcpacket/pus/tm.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <fsfw/osal/common/UdpTcPollingTask.h>

bsp_linux/fsfwconfig/FSFWConfig.h.in

@@ -67,6 +67,8 @@ static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
 
+static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
+
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

cmake/BBBCrossCompileConfig.cmake

@@ -47,6 +47,9 @@ set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
 find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
 find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
 
+find_program(CROSS_COMPILE_SIZE ${CROSS_COMPILE_SIZE})
+find_program(CROSS_COMPILE_OBJCOY ${CROSS_COMPILE_OBJCOPY})
+
 set(CMAKE_CROSSCOMPILING TRUE)
 set(CMAKE_SYSROOT "${SYSROOT_PATH}")
 
@@ -57,6 +60,8 @@ set(CMAKE_SYSTEM_PROCESSOR "arm")
 # Define the compiler
 set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
 set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
+set(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
+set(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
 
 # List of library dirs where LD has to look. Pass them directly through gcc. 
 # LD_LIBRARY_PATH is not evaluated by arm-*-ld

cmake/HardwareOsPostConfig.cmake

@@ -1,34 +0,0 @@
-function(post_source_hw_os_config)
-	
-set(C_FLAGS "" CACHE INTERNAL "C flags")
-
-set(C_DEFS ""
-	CACHE INTERNAL
-	"C Defines"
-)
-
-set(CXX_FLAGS ${C_FLAGS})
-set(CXX_DEFS ${C_DEFS})
-
-if(CMAKE_VERBOSE)
-	message(STATUS "C Flags: ${C_FLAGS}")
-	message(STATUS "CXX Flags: ${CXX_FLAGS}")
-	message(STATUS "C Defs: ${C_DEFS}")
-	message(STATUS "CXX Defs: ${CXX_DEFS}")
-endif()
-
-# Generator expression. Can be used to set different C, CXX and ASM flags.
-target_compile_options(${TARGET_NAME} PRIVATE
-	$<$<COMPILE_LANGUAGE:C>:${C_DEFS} ${C_FLAGS}>
-	$<$<COMPILE_LANGUAGE:CXX>:${CXX_DEFS} ${CXX_FLAGS}>
-	$<$<COMPILE_LANGUAGE:ASM>:${ASM_FLAGS}>
-)
-
-add_custom_command(
-	TARGET ${TARGET_NAME}
-	POST_BUILD
-	COMMAND echo Generating binary file ${CMAKE_PROJECT_NAME}.bin..
-	COMMAND ${CMAKE_OBJCOPY} -O binary ${TARGET_NAME} ${TARGET_NAME}.bin
-)
-
-endfunction()

cmake/HardwareOsPreConfig.cmake

@@ -1,6 +1,6 @@
 function(pre_source_hw_os_config)
 
-if(${OS_FSFW} STREQUAL linux)
+if(FSFW_OSAL MATCHES linux)
 	find_package(Threads REQUIRED)
 	set(BSP_PATH "bsp_linux")
 # Hosted

cmake/PreProjectConfig.cmake

@@ -5,25 +5,27 @@ if(DEFINED TGT_BSP)
 	if(${TGT_BSP} MATCHES "arm/raspberrypi" AND NOT ${OS_FSFW} MATCHES linux)
 		message(STATUS "FSFW OSAL invalid for specified target BSP ${TGT_BSP}!")
 		message(STATUS "Setting valid OS_FSFW: linux") 
-		set(OS_FSFW "linux")
+		set(FSFW_OSAL "linux")
 	endif()
 endif()
 
-if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
+if(FSFW_OSAL MATCHES linux AND TGT_BSP)
 	if(${TGT_BSP} MATCHES "host/none")
 	elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
-		if(NOT DEFINED ENV{LINUX_ROOTFS})
-			if(NOT RASPBIAN_ROOTFS)
-				message(FATAL_ERROR "LINUX_ROOTFS must be set to Raspberry Pi rootfs location")
-			else()
-				set(ENV{LINUX_ROOTFS} "${LINUX_ROOTFS}")
-			endif()
-		else()	
-			message(STATUS 
-				"LINUX_ROOTFS from environmental variables used: "
-				"$ENV{LINUX_ROOTFS}"
-			)
-		endif()
+	   if(NOT SYSROOT_PATH)
+    		if(NOT DEFINED ENV{LINUX_ROOTFS})
+    			if(NOT LINUX_ROOTFS)
+    				message(FATAL_ERROR "LINUX_ROOTFS must be set to Raspberry Pi rootfs location")
+    			else()
+    				set(ENV{LINUX_ROOTFS} "${LINUX_ROOTFS}")
+    			endif()
+    		else()	
+    			message(STATUS 
+    				"LINUX_ROOTFS from environmental variables used: "
+    				"$ENV{LINUX_ROOTFS}"
+    			)
+    		endif()
+        endif()
 	
 		if(NOT DEFINED ENV{RASPBERRY_VERSION})
 			if(NOT RASPBERRY_VERSION)

cmake/RPiCrossCompileConfig.cmake

@@ -18,14 +18,16 @@ endif()
 # application CMakeLists.txt before loading the toolchain file.
 
 # CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
-
 if(NOT DEFINED ENV{LINUX_ROOTFS})
-	message(FATAL_ERROR 
-		"Define the LINUX_ROOTFS variable to point to the Raspberry Pi rootfs."
-	)
+    # Sysroot has not been cached yet and was not set in environment either
+    if(NOT SYSROOT_PATH)
+    	message(FATAL_ERROR
+    		"Define the LINUX_ROOTFS variable to point to the Raspberry Pi rootfs."
+        )
+    endif()
 else()
     set(SYSROOT_PATH "$ENV{LINUX_ROOTFS}" CACHE PATH "Local linux root filesystem path")
-	message(STATUS "Raspberry Pi sysroot: ${SYSROOT_PATH}")
+    message(STATUS "Raspberry Pi sysroot: ${SYSROOT_PATH}")
 endif()
 
 if(NOT DEFINED ENV{CROSS_COMPILE})
@@ -55,8 +57,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
 set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
 
 # At the very least, cross compile gcc and g++ have to be set!
-find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
-find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
+find_program(CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
+find_program(CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
+
+find_program(CROSS_COMPILE_SIZE ${CROSS_COMPILE_SIZE})
+find_program(CROSS_COMPILE_OBJCOY ${CROSS_COMPILE_OBJCOPY})
 
 set(CMAKE_CROSSCOMPILING TRUE)
 set(CMAKE_SYSROOT "${SYSROOT_PATH}")
@@ -72,6 +77,8 @@ endif()
 # Define the compiler
 set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
 set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
+set(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
+set(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
 
 # List of library dirs where LD has to look. Pass them directly through gcc. 
 # LD_LIBRARY_PATH is not evaluated by arm-*-ld

cmake/scripts/RPi/crosscompile/rpi_path_helper.sh

@@ -1,24 +0,0 @@
-#!/bin/sh
-# This script can be used to set the path to the cross-compile toolchain
-# A default path is set if the path is not supplied via command line
-if [ $# -eq 1 ];then
-	export PATH=$PATH:"$1"
-else
-	# TODO: make version configurable via shell argument
-	export PATH=$PATH:"/opt/cross-pi-gcc/bin"
-	export CROSS_COMPILE="arm-linux-gnueabihf"
-	export RASPBERRY_VERSION="4"
-	export RASPBIAN_ROOTFS="${HOME}/raspberrypi/rootfs"
-fi
-
-# It is also recommended to set up a custom shell script to perform the
-# sysroot synchronization so that any software is built with the library and 
-# headers of the Raspberry Pi. This can for example be dome with the rsync
-# command. 
-# The following command can be used, <ip-address> and the local 
-# <rootfs-path> need to be set accordingly.
-
-# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
-
-# It is recommended to use $HOME/raspberrypi/rootfs as the rootfs path,
-# so the default RASPBIAN_ROOTFS variable set in the CMakeLists.txt is correct.

cmake/scripts/RPi/crosscompile/rpi_path_helper_win.sh

@@ -1,22 +0,0 @@
-#!/bin/sh
-# This script can be used to set the path to the cross-compile toolchain
-# A default path is set if the path is not supplied via command line
-if [ $# -eq 1 ];then
-	export PATH=$PATH:"$1"
-else
-	# TODO: make version configurable via shell argument
-	export PATH=$PATH:"/c/SysGCC/raspberry/bin"
-	export CROSS_COMPILE="arm-linux-gnueabihf"
-	export RASPBERRY_VERSION="4"
-	export RASPBIAN_ROOTFS="/c/Users/<UserName>/raspberrypi/rootfs"
-fi
-
-# It is also recommended to set up a custom shell script to perform the
-# sysroot synchronization so that any software is built with the library and 
-# headers of the Raspberry Pi. This can for example be dome with the rsync
-# command. 
-# The following command can be used, <ip-address> and the local 
-# <rootfs-path> need to be set accordingly.
-
-# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
-

cmake/scripts/cmake_build_config.py

@@ -101,7 +101,7 @@ def main():
     print(f"Navigating into build directory: {build_path}")
     os.chdir(cmake_build_folder)
 
-    cmake_command = f"cmake {generator_cmake_arg} -DOS_FSFW=\"{cmake_fsfw_osal}\" " \
+    cmake_command = f"cmake {generator_cmake_arg} -DFSFW_OSAL=\"{cmake_fsfw_osal}\" " \
                     f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} " \
                     f"{define_string} {source_location}"
     # Remove redundant spaces

example_common

@@ -1 +1 @@
-Subproject commit d79ab3df3548f4020cb763bac800765b53f07716
+Subproject commit 0ad5c91fc7ce64b04b1d9742a54929d79acfc722

fsfw

@@ -1 +1 @@
-Subproject commit 22693eee50aa85fccc9a1bd45aca4bca6b5dd62b
+Subproject commit a3e6b1018b88f6e1e848f49e8f566026e88b98e8