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<img align="center" src="https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/raw/branch/master/doc/images/FSFW_Logo_V3_bw.png" width="50%">
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# <a id="top"></a> <a name="linux"></a> FSFW Example Application
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This repository features a demo application. The example has been run successfully on the following
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platforms:
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- Linux host machine with the Linux OSAL or the Host OSAL
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- Windows with the Host OSAL
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- STM32H743ZI-Nucleo with the FreeRTOS OSAL
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- Raspberry Pi with the Linux OSAL
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- STM32H743ZI-Nucleo with the RTEMS OSAL
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The purpose of this example is to provide a demo of the FSFW capabilities.
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However, it can also be used as a starting point to set up a repository for
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new flight software. It also aims to provide developers with practical examples
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of how the FSFW is inteded to be used and how project using the FSFW should or can be
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set up and it might serve as a basic test platform for the FSFW as well to ensure all OSALs
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are compiling and running as expected.
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The repository contains a Python TMTC program which can be used to showcase
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the TMTC capabilities of the FSFW (currently, using the ECSS PUS packet standard).
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# Configuring the Example
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The build system will copy three configuration files into the build directory:
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1. `commonConfig.h` which contains common configuration parameters
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2. `OBSWConfig.h` which can contain machine and architecture specific configuration options
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3. `FSFWConfig.h` which contains the configuration for the flight software framework
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These files can be edited manually after `CMake` build generation.
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# Index
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[Getting started with Eclipse for C/C++](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/src/branch/master/doc/README-eclipse.md)<br>
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[Getting started with CMake](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/src/branch/master/doc/README-cmake.md)<br>
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[Getting started with the Hosted OSAL](#this)<br>
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[Getting started with the FreeRTOS OSAL on a STM32](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-freertos)<br>
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[Getting started with the RTEMS OSAL on a STM32](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-rtems)<br>
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[Getting started with the Raspberry Pi](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu)<br>
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[Getting started with the Beagle Bone Black](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu)<br>
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# FSFW demo with FreeRTOS OSAL on the STM32H743ZI
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This demo can be run on a STM32H743ZI-Nucleo board with the FreeRTOS OSAL.
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## General Information
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The board is flashed and debugged with OpenOCD and this README specifies on how
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to make this work with the Eclipse IDE. Other IDEs or the command line can be used as well as long
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as long as OpenOCD integration is given. The example demo uses newlib nano (glibc).
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Some system calls were overriden so the C and C++ stdio functions work. IO is sent via the HUART3,
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so debug output can be read directly from the USB connection to the board.
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## Prerequisite
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1. [MinGW64](https://www.msys2.org/) or [Ninja Build](https://ninja-build.org/) installed on Windows.
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Not required on Linux.
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2. [GNU ARM Toolchain](https://xpack.github.io/arm-none-eabi-gcc/install/) installed, recommended
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to add binaries to system path.
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3. Recommended for application code development:
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[Eclipse for C/C++](https://www.eclipse.org/downloads/packages/) installed with the Eclipse MCU
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plugin
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4. [OpenOCD](https://xpack.github.io/openocd/) installed for Eclipse debugging
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5. STM32 USB drivers installed, separate steps for
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[Windows](https://www.st.com/en/development-tools/stsw-link009.html) or
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[Linux](https://fishpepper.de/2016/09/16/installing-using-st-link-v2-to-flash-stm32-on-linux/)
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## Building the software with CMake
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On Windows, the following steps should be performed inside the MinGW64 console
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after installing MSYS2 or inside another Unix shell like `git bash`.
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1. Clone this repository
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```sh
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git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example.git
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```
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2. Set up submodules
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```sh
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git submodule init
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git submodule update
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```
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3. Navigate into the cloned repository and create a folder for the build. We will create a
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Debug build folder.
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```sh
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mkdir build-Debug
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cd build-Debug
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```
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4. Ensure that the ARM compiler has been added to the path and can be called from
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the command line. For example, the following command should work:
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```sh
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arm-none-eabi-gcc --version
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```
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Now we will create the build configuration for cross-compilation of an ARM target.
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On Linux, the following build will create a debug build configuration with
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the Unix Makefile generator
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```sh
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cmake ..
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```
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On Windows, use the following command to build with the `MinGW Makefiles` build system
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```sh
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cmake -G "MinGW Makefiles" ..
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```
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The build configuration can also be performed with the shell scripts located inside
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`cmake/scripts`.
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5. Build the application with the following command
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```sh
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cmake --build . -j
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```
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The application will be located inside the Debug folder and has been compiled for
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the flash memory.
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6. You can test the application by first connecting the STM32H743ZI-Nucleo via USB.
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The device should now show up in the list of connected devices (make sure the USB drivers are
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installed as well). Drag and drop the binary file into the connected device to flash it.
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The debug output is also sent via the connected USB port and a blink pattern (1 second interval)
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can be used to verify the software is running properly.
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## Setting up the prerequisites
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### Windows
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It is recommended to install [MSYS2](https://www.msys2.org/) first.
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Open MinGW64 and run the following commands to update it and install make and cmake
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(replace x86_64 if compiling on different architecture):
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```sh
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pacman -Syu
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```
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```sh
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pacman -S mingw-w64-x86_64-make mingw-w64-x86_64-cmake
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```
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The code needs to be compiled for the ARM target system and we will use the
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[GNU ARM Toolchain](https://xpack.github.io/arm-none-eabi-gcc/install/).
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1. Install NodeJS LTS. Add nodejs folder (e.g. "C:\Program Files\nodejs\")
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to system variables. Test by running `npm --version` in command line
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2. Install [XPM](https://www.npmjs.com/package/xpm)
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```sh
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npm install --global xpm
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```
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3. Install gnu-arm Toolchain for Eclipse (version can be specified)
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```sh
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xpm install --global @xpack-dev-tools/arm-none-eabi-gcc@latest
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```
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`xpm` will display where the package was installed. Search in that path for
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the hidden `.content` folder, which will contain a `bin` folder and store
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the full path to that `bin` folder for later.
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Install OpenOCD for STM32 debugging
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```sh
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xpm install --global @xpack-dev-tools/openocd@latest
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```
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4. If you want to build from the command line, you need to add the `arm-none-eabi-gcc`
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binary location in the xPack folder to system variables. You can do this in a Unix
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shell like `git bash` or `MinGW64` with the following command
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```sh
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export PATH=$PATH:"<pathToToolchain>"
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```
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You can also add these lines to a shell script like `path_setter.sh` and then source
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the script with `. path_setter.sh` to do this conveniently.
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5. Install the [STM32 USB drivers](https://www.st.com/en/development-tools/stsw-link009.html)
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If you don't want to install nodejs you may go with the
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[four-command manual installation](https://xpack.github.io/arm-none-eabi-gcc/install/#manual-install).
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### Linux
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Install the [GNU ARM toolchain](https://xpack.github.io/arm-none-eabi-gcc/install/)
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like explained above.
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To install general buildtools for the linux binary, run:
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```sh
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sudo apt-get install build-essential
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```
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Install the USB drivers on Linux by
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[following these instructions](https://fishpepper.de/2016/09/16/installing-using-st-link-v2-to-flash-stm32-on-linux/).
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## Setting up Eclipse for OpenOCD debugging
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The separate [Eclipse README](README-eclipse#top) specifies how to set up Eclipse.
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The STM32 configuration uses the xPacks OpenOCD and the xPacks ARM Toolchain, so those should be
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installed as well. OpenOCD should be configured correctly in the STM32 launch configurations.
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## Troubleshooting
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### OpenOCD errors
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If you get the following error in OpenOCD: "Error: auto_probe failed", this could be related from
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switching between FreeRTOS and RTEMS. You can try the following steps:
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1. First way: Flash the binary manually by drag & droping the binary into the USB drive manually
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once
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2. Second way: Add -c "gdb_memory_map disable" to the OpenOCD arguments (in Eclipse) and run once.
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Debugging might not be possible, so remove it for subsequent runs.
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3. Third way: Add the following lines to the `stm32h7x.cfg` file located inside the OpenOCD folder
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inside the `scripts/target` folder:
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```sh
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$_CHIPNAME.cpu configure -event gdb-attach {
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halt
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}
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$_CHIPNAME.cpu configure -event gdb-attach {
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reset init
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}
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```
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Subproject commit 090160485498a92fdf896ad74ffd97f768a4a269
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Subproject commit ff6025d04d2b3abd278d909c2844bd808bee06b4
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