added freeRTOS on linux build

BUILD_WITH_CMAKE.md

@@ -72,3 +72,29 @@ make -j 8"
 ```
 
 The romeo-obsw binary can now be found in the `build` directory. The next step to deploy it is here: [DEBUG_ON_ZEDBOARD.md](./DEBUG_ON_ZEDBOARD.md).
+
+## Linux
+
+The obsw can also be compiled and run on linux using the gcc-posix port of FreeRTOS.
+
+### build
+
+Once:
+```sh
+mkdir -p build
+cd build
+cmake ..
+```
+
+Every time
+```sh
+make -j 8"
+```
+
+### run
+
+Run the binary
+
+```sh
+./romeo-obsw
+```

CMakeLists.txt

@@ -1,8 +1,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 # Project Name
-project(romeo-obsw C CXX ASM)
+project(romeo-obsw C ASM)
-
 
 # ##############################################################################
 # Pre-Sources preparation
@@ -10,18 +9,13 @@ project(romeo-obsw C CXX ASM)
 
 
 
-# Specify the C++ standard
-set(CMAKE_CXX_STANDARD 23)
-set(CMAKE_CXX_STANDARD_REQUIRED True)
-
 # Set names and variables
 set(TARGET_NAME ${CMAKE_PROJECT_NAME})
 
 # Set path names
 set(FreeRTOS_PATH FreeRTOS-Kernel/)
 set(MISSION_PATH mission/)
-set(FreeRTOS_CONFIG_PATH bsp_z7/freeRTOS)
+
-set(BSP_PATH bsp_z7)
 
 set (LWIP_DIR contrib/lwip)
 
@@ -30,13 +24,17 @@ set (LWIP_DIR contrib/lwip)
 # Configuration
 # ##############################################################################
 
+if (${CMAKE_CROSSCOMPILING})
     set(ZYNQ_UART UART1 CACHE STRING "Which PS UART to use for stdout")
     set_property(CACHE ZYNQ_UART PROPERTY STRINGS UART0 UART1)
 
     if(${ZYNQ_UART} STREQUAL UART0)
         add_compile_definitions(ZYNQ_USE_UART0)
     endif()
-
+else()
+    unset(ZYNQ_UART)
+    unset(ZYNQ_UART CACHE)
+endif()
 
 # ##############################################################################
 # Executable and Sources
@@ -48,7 +46,7 @@ add_executable(${TARGET_NAME})
 # lwip
 set (LWIP_INCLUDE_DIRS
     "${LWIP_DIR}/src/include"
-    "${BSP_PATH}/lwip"
+    "bsp_z7/lwip"
 )
 #include(${LWIP_DIR}/src/Filelists.cmake)
 set(lwip_SRCS
@@ -58,29 +56,47 @@ set(lwip_SRCS
     ${LWIP_DIR}/src/netif/slipif.c
     ${LWIP_DIR}/src/apps/tftp/tftp.c
 )
+if(${CMAKE_CROSSCOMPILING})
     add_library(lwip ${lwip_SRCS})
     target_include_directories(lwip PUBLIC ${LWIP_INCLUDE_DIRS})
-
+endif()
-#target_compile_options(${TARGET_NAME} PUBLIC -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard)
 
 # Add freeRTOS
+
+if(${CMAKE_CROSSCOMPILING})
+    #TODO: this somewhat hardcodes zynq as the only cross target
     set(FREERTOS_PORT GCC_ARM_CA9 CACHE STRING "")
     set(FREERTOS_HEAP 1 CACHE STRING "")
     add_library(freertos_config INTERFACE)
     target_include_directories(freertos_config SYSTEM
-    INTERFACE ${FreeRTOS_CONFIG_PATH}) # The config file directory
+        INTERFACE bsp_z7/freeRTOS) # The config file directory
     target_compile_definitions(freertos_config
         INTERFACE
         projCOVERAGE_TEST=0)
     target_include_directories(
-        freertos_config INTERFACE ${BSP_PATH}/ps7_cortexa9_0/include)
+            freertos_config INTERFACE bsp_z7/ps7_cortexa9_0/include)
+   
+    if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL armv7a-none-eabihf)
         # our compiler options, will trickle down through the project
         target_compile_options(freertos_config INTERFACE -c -fmessage-length=0 -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -ffunction-sections -fdata-sections)
-
+    else()
-
+        message(FATAL_ERROR "invalid architecture ${CMAKE_SYSTEM_PROCESSOR}")
-add_subdirectory(${FreeRTOS_PATH})
+    endif()
-
     add_subdirectory(bsp_z7)
+    target_link_options(${TARGET_NAME} PRIVATE -Wl,--cref -Wl,-Map=${TARGET_NAME}.map -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -Wl,-build-id=none -T${CMAKE_SOURCE_DIR}/bsp_z7/freeRTOS/lscript.ld -specs=${CMAKE_SOURCE_DIR}/bsp_z7/freeRTOS/Xilinx.spec )
+else()
+    set(FREERTOS_PORT GCC_POSIX CACHE STRING "")
+    add_library(freertos_config INTERFACE)
+    target_include_directories(freertos_config SYSTEM
+        INTERFACE bsp_linux/freeRTOS) # The config file directory
+        target_compile_options(freertos_config INTERFACE -c -fmessage-length=0 -g -O0 -ffunction-sections -fdata-sections)
+    target_compile_definitions(freertos_config
+        INTERFACE
+        projCOVERAGE_TEST=0
+        projENABLE_TRACING=0)
+    add_subdirectory(bsp_linux)
+endif()
+add_subdirectory(${FreeRTOS_PATH})
 
 
 add_subdirectory(common)
@@ -93,14 +109,16 @@ add_subdirectory(mission_rust)
 # ##############################################################################
 
 # Add libraries for all sources.
+if(${CMAKE_CROSSCOMPILING})
     target_link_libraries(lwip PUBLIC freertos_kernel)
-target_link_libraries(${TARGET_NAME} PUBLIC freertos_kernel mission_rust lwip)
+    target_link_libraries(${TARGET_NAME} PUBLIC lwip)
+endif()
 
-target_include_directories(
+target_link_libraries(${TARGET_NAME} PUBLIC freertos_kernel mission_rust)
-    ${TARGET_NAME} PUBLIC ${BSP_PATH})
 
+# target_include_directories(
+#     ${TARGET_NAME} PUBLIC ${BSP_PATH})
 
-target_link_options(${TARGET_NAME} PRIVATE -Wl,--cref -Wl,-Map=${TARGET_NAME}.map -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -Wl,-build-id=none -T${CMAKE_SOURCE_DIR}/${FreeRTOS_CONFIG_PATH}/lscript.ld -specs=${CMAKE_SOURCE_DIR}/${FreeRTOS_CONFIG_PATH}/Xilinx.spec )
 
 # Removed unused sections.
 target_link_options(${TARGET_NAME} PRIVATE "-Wl,--gc-sections")

bsp_linux/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${TARGET_NAME} PRIVATE main.c)

bsp_linux/freeRTOS/FreeRTOSConfig.h

@@ -0,0 +1,209 @@
+/*
+ * FreeRTOS V202212.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+* Application specific definitions.
+*
+* These definitions should be adjusted for your particular hardware and
+* application requirements.
+*
+* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.  See
+* https://www.FreeRTOS.org/a00110.html
+*----------------------------------------------------------*/
+
+#define configUSE_PREEMPTION                       1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION    0
+#define configUSE_IDLE_HOOK                        0
+#define configUSE_TICK_HOOK                        0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK         0
+#define configTICK_RATE_HZ                         ( 1000 )                  /* In this non-real time simulated environment the tick frequency has to be at least a multiple of the Win32 tick frequency, and therefore very slow. */
+#define configMINIMAL_STACK_SIZE                   ( ( unsigned short ) PTHREAD_STACK_MIN ) /* The stack size being passed is equal to the minimum stack size needed by pthread_create(). */
+#define configTOTAL_HEAP_SIZE                      ( ( size_t ) ( 200 * 1024 * 1024 ) )
+#define configMAX_TASK_NAME_LEN                    ( 12 )
+#define configUSE_TRACE_FACILITY                   1
+#define configUSE_16_BIT_TICKS                     0
+#define configIDLE_SHOULD_YIELD                    1
+#define configUSE_MUTEXES                          1
+#define configCHECK_FOR_STACK_OVERFLOW             0
+#define configUSE_RECURSIVE_MUTEXES                1
+#define configQUEUE_REGISTRY_SIZE                  20
+#define configUSE_APPLICATION_TASK_TAG             1
+#define configUSE_COUNTING_SEMAPHORES              1
+#define configUSE_ALTERNATIVE_API                  0
+#define configUSE_QUEUE_SETS                       1
+#define configUSE_TASK_NOTIFICATIONS               1
+
+/* The following 2  memory allocation schemes are possible for this demo:
+ *
+ * 1. Dynamic Only.
+ *    #define configSUPPORT_STATIC_ALLOCATION  0
+ *    #define configSUPPORT_DYNAMIC_ALLOCATION 1
+ *
+ * 2. Static and Dynamic.
+ *    #define configSUPPORT_STATIC_ALLOCATION  1
+ *    #define configSUPPORT_DYNAMIC_ALLOCATION 1
+ *
+ * Static only configuration is not possible for this demo as it utilizes
+ * dynamic allocation.
+ */
+#define configSUPPORT_STATIC_ALLOCATION            0
+#define configSUPPORT_DYNAMIC_ALLOCATION           1
+
+#define configRECORD_STACK_HIGH_ADDRESS            1
+
+/* Software timer related configuration options.  The maximum possible task
+ * priority is configMAX_PRIORITIES - 1.  The priority of the timer task is
+ * deliberately set higher to ensure it is correctly capped back to
+ * configMAX_PRIORITIES - 1. */
+#define configUSE_TIMERS                           1
+#define configTIMER_TASK_PRIORITY                  ( configMAX_PRIORITIES - 1 )
+#define configTIMER_QUEUE_LENGTH                   20
+#define configTIMER_TASK_STACK_DEPTH               ( configMINIMAL_STACK_SIZE * 2 )
+
+#define configMAX_PRIORITIES                       ( 7 )
+
+/* Run time stats gathering configuration options. */
+unsigned long ulGetRunTimeCounterValue( void ); /* Prototype of function that returns run time counter. */
+void vConfigureTimerForRunTimeStats( void );    /* Prototype of function that initialises the run time counter. */
+#define configGENERATE_RUN_TIME_STATS             1
+
+/* Co-routine related configuration options. */
+#define configUSE_CO_ROUTINES                     0
+#define configMAX_CO_ROUTINE_PRIORITIES           ( 2 )
+
+/* This demo can use of one or more example stats formatting functions.  These
+ * format the raw data provided by the uxTaskGetSystemState() function in to human
+ * readable ASCII form.  See the notes in the implementation of vTaskList() within
+ * FreeRTOS/Source/tasks.c for limitations. */
+#define configUSE_STATS_FORMATTING_FUNCTIONS      0
+
+/* Enables the test whereby a stack larger than the total heap size is
+ * requested. */
+#define configSTACK_DEPTH_TYPE                    uint32_t
+
+/* Set the following definitions to 1 to include the API function, or zero
+ * to exclude the API function.  In most cases the linker will remove unused
+ * functions anyway. */
+#define INCLUDE_vTaskPrioritySet                  1
+#define INCLUDE_uxTaskPriorityGet                 1
+#define INCLUDE_vTaskDelete                       1
+#define INCLUDE_vTaskCleanUpResources             0
+#define INCLUDE_vTaskSuspend                      1
+#define INCLUDE_vTaskDelayUntil                   1
+#define INCLUDE_vTaskDelay                        1
+#define INCLUDE_uxTaskGetStackHighWaterMark       1
+#define INCLUDE_uxTaskGetStackHighWaterMark2      1
+#define INCLUDE_xTaskGetSchedulerState            1
+#define INCLUDE_xTimerGetTimerDaemonTaskHandle    1
+#define INCLUDE_xTaskGetIdleTaskHandle            1
+#define INCLUDE_xTaskGetHandle                    1
+#define INCLUDE_eTaskGetState                     1
+#define INCLUDE_xSemaphoreGetMutexHolder          1
+#define INCLUDE_xTimerPendFunctionCall            1
+#define INCLUDE_xTaskAbortDelay                   1
+
+#define configINCLUDE_MESSAGE_BUFFER_AMP_DEMO     0
+#if ( configINCLUDE_MESSAGE_BUFFER_AMP_DEMO == 1 )
+    extern void vGenerateCoreBInterrupt( void * xUpdatedMessageBuffer );
+    #define sbSEND_COMPLETED( pxStreamBuffer )    vGenerateCoreBInterrupt( pxStreamBuffer )
+#endif /* configINCLUDE_MESSAGE_BUFFER_AMP_DEMO */
+
+extern void vAssertCalled( const char * const pcFileName,
+                           unsigned long ulLine );
+
+
+
+/* projCOVERAGE_TEST should be defined on the command line so this file can be
+ * used with multiple project configurations.  If it is
+ */
+#ifndef projCOVERAGE_TEST
+    #error projCOVERAGE_TEST should be defined to 1 or 0 on the command line.
+#endif
+
+#ifndef projENABLE_TRACING
+    #error projENABLE_TRACING should be defined to 1 or 0 on the command line.
+#endif
+
+#if ( projCOVERAGE_TEST == 1 )
+
+/* Insert NOPs in empty decision paths to ensure both true and false paths
+ * are being tested. */
+    #define mtCOVERAGE_TEST_MARKER()    __asm volatile ( "NOP" )
+
+/* Ensure the tick count overflows during the coverage test. */
+    #define configINITIAL_TICK_COUNT        0xffffd800UL
+
+/* Allows tests of trying to allocate more than the heap has free. */
+    #define configUSE_MALLOC_FAILED_HOOK    0
+
+/* To test builds that remove the static qualifier for debug builds. */
+    #define portREMOVE_STATIC_QUALIFIER
+#else /* if ( projCOVERAGE_TEST == 1 ) */
+
+/* It is a good idea to define configASSERT() while developing.  configASSERT()
+ * uses the same semantics as the standard C assert() macro.  Don't define
+ * configASSERT() when performing code coverage tests though, as it is not
+ * intended to asserts() to fail, some some code is intended not to run if no
+ * errors are present. */
+    #define configASSERT( x )    if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ )
+
+    #define configUSE_MALLOC_FAILED_HOOK    1
+
+/* Include the FreeRTOS+Trace FreeRTOS trace macro definitions. */
+    #if( projENABLE_TRACING == 1 )
+        #include "trcRecorder.h"
+    #endif /* if ( projENABLE_TRACING == 1 ) */
+#endif /* if ( projCOVERAGE_TEST == 1 ) */
+
+/* networking definitions */
+#define configMAC_ISR_SIMULATOR_PRIORITY    ( configMAX_PRIORITIES - 1 )
+
+/* Prototype for the function used to print out.  In this case it prints to the
+ * console before the network is connected then a UDP port after the network has
+ * connected. */
+extern void vLoggingPrintf( const char * pcFormatString,
+                            ... );
+
+/* Set to 1 to print out debug messages.  If ipconfigHAS_DEBUG_PRINTF is set to
+ * 1 then FreeRTOS_debug_printf should be defined to the function used to print
+ * out the debugging messages. */
+#define ipconfigHAS_DEBUG_PRINTF    1
+#if ( ipconfigHAS_DEBUG_PRINTF == 1 )
+    #define FreeRTOS_debug_printf( X )    vLoggingPrintf X
+#endif
+
+/* Set to 1 to print out non debugging messages, for example the output of the
+ * FreeRTOS_netstat() command, and ping replies.  If ipconfigHAS_PRINTF is set to 1
+ * then FreeRTOS_printf should be set to the function used to print out the
+ * messages. */
+#define ipconfigHAS_PRINTF    0
+#if ( ipconfigHAS_PRINTF == 1 )
+    #define FreeRTOS_printf( X )    vLoggingPrintf X
+#endif
+#endif /* FREERTOS_CONFIG_H */

bsp_linux/main.c

@@ -0,0 +1,25 @@
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+void mission(void);
+
+void done() {
+  printf("done.");
+  exit(0);
+}
+
+// Don't ask me, it makes the linker happy and does not seem
+// to break anything ¯\_(ツ)_/¯
+void rust_eh_personality() {
+    puts("eh_personality");
+}
+
+void outbyte(uint8_t byte){
+    printf("%c", byte);
+}
+
+int main(void) {
+    mission();
+    return 0;
+}

bsp_z7/CMakeLists.txt

@@ -1,2 +1,4 @@
 add_subdirectory(freeRTOS)
 add_subdirectory(ps7_cortexa9_0)
+
+target_sources(${TARGET_NAME} PRIVATE main.c)

bsp_z7/cmake/arm-none-eabi.toolchain

@@ -1,9 +1,10 @@
 # the name of the target operating system
 set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_PROCESSOR armv7a-none-eabihf)
 
 set(CMAKE_C_COMPILER   /usr/bin/arm-none-eabi-gcc)
 set(CMAKE_CXX_COMPILER /usr/bin/arm-none-eabi-g++)
-set(CMAKE_ASM_COMPILER arm-none-eabi-gcc)
+set(CMAKE_ASM_COMPILER /usr/bin/arm-none-eabi-gcc)
 
 # built in tests fail
 set(CMAKE_C_COMPILER_WORKS 1)

bsp_z7/main.c

@@ -1,65 +1,3 @@
-/*
- * FreeRTOS V202212.00
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- *
- * https://www.FreeRTOS.org
- * https://github.com/FreeRTOS
- *
- */
-
-/******************************************************************************
- *
- * See http://www.freertos.org/RTOS-Xilinx-Zynq.html for instructions.
- *
- * This project provides three demo applications.  A simple blinky style
- * project, a more comprehensive test and demo application, and an lwIP example.
- * The mainSELECTED_APPLICATION setting (defined in this file) is used to
- * select between the three.  The simply blinky demo is implemented and
- * described in main_blinky.c.  The more comprehensive test and demo application
- * is implemented and described in main_full.c.  The lwIP example is implemented
- * and described in main_lwIP.c.
- *
- * This file implements the code that is not demo specific, including the
- * hardware setup and FreeRTOS hook functions.
- *
- * !!! IMPORTANT NOTE !!!
- * The GCC libraries that ship with the Xilinx SDK make use of the floating
- * point registers.  To avoid this causing corruption it is necessary to avoid
- * their use unless a task has been given a floating point context.  See
- * https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
- * for information on how to give a task a floating point context, and how to
- * handle floating point operations in interrupts.  As this demo does not give
- * all tasks a floating point context main.c contains very basic C
- * implementations of the standard C library functions memset(), memcpy() and
- * memcmp(), which are are used by FreeRTOS itself.  Defining these functions in
- * the project prevents the linker pulling them in from the library.  Any other
- * standard C library functions that are used by the application must likewise
- * be defined in C.
- *
- * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
- * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
- * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
- *
- */
-
 /* Standard includes. */
 #include <limits.h>
 #include <stdio.h>
@@ -69,17 +7,6 @@
 #include "semphr.h"
 #include "task.h"
 
-// /* Standard demo includes. */
-// #include "EventGroupsDemo.h"
-// #include "IntSemTest.h"
-// #include "QueueOverwrite.h"
-// #include "QueueSet.h"
-// #include "StreamBufferDemo.h"
-// #include "StreamBufferInterrupt.h"
-// #include "TaskNotify.h"
-// #include "TimerDemo.h"
-// #include "partest.h"
-
 /* Xilinx includes. */
 // #include "platform.h"
 #include "xil_exception.h"
@@ -88,7 +15,6 @@
 #include "xscutimer.h"
 #include "xuartps_hw.h"
 
-
 /*
  * Configure the hardware as necessary to run this demo.
  */
@@ -122,7 +48,7 @@ XScuGic xInterruptController;
 extern SemaphoreHandle_t malloc_mutex;
 
 /*-----------------------------------------------------------*/
-void mission(void *);
+void mission(void);
 
 void initFreeRTOSHelper();
 
@@ -133,63 +59,9 @@ int main(void) {
 
   // printf("Booting Software\n");
 
-  int taskParameters = 0;
+  mission();
-
-  static const size_t stackSizeWords = 102400;
-  StaticTask_t xTaskBuffer;
-  StackType_t xStack[stackSizeWords];
-
-  xTaskCreate(
-      mission, /* The function that implements the task. */
-      "init",  /* The text name assigned to the task - for debug only as it is
-                  not used by the  kernel. */
-      10240,  /* The size of the stack to allocate to the task. */
-      &taskParameters, /* The parameter passed to the task - not used in this
-                          simple case. */
-      4,               /* The priority assigned to the task. */
-      NULL);
-
-  vTaskStartScheduler();
-
-  /* If all is well, the scheduler will now be running, and the following
-  line will never be reached.  If the following line does execute, then
-  there was either insufficient FreeRTOS heap memory available for the idle
-  and/or timer tasks to be created, or vTaskStartScheduler() was called from
-  User mode.  See the memory management section on the FreeRTOS web site for
-  more details on the FreeRTOS heap http://www.freertos.org/a00111.html.  The
-  mode from which main() is called is set in the C start up code and must be
-  a privileged mode (not user mode). */
-  for (;;)
-    ;
-  /* Don't expect to reach here. */
-  return 0;
 }
 
-void testIp();
-
-void rust_main();
-
-// Marker for debugging sessions
-__attribute__ ((noinline)) void done() {
-  asm ("");
-}
-
-void mission(void *) {
-
-  // printf("Starting Mission\n");
-
-  //testIp();
-
-  rust_main();
-
-  // printf("Started Tasks, deleting init task\n");
-
-  done();
-
-  vTaskDelete(NULL);
-}
-/*-----------------------------------------------------------*/
-
 static void prvSetupHardware(void) {
   BaseType_t xStatus;
   XScuGic_Config *pxGICConfig;
@@ -234,124 +106,6 @@ static void prvSetupHardware(void) {
 }
 /*-----------------------------------------------------------*/
 
-void vApplicationMallocFailedHook(void) {
-  /* Called if a call to pvPortMalloc() fails because there is insufficient
-  free memory available in the FreeRTOS heap.  pvPortMalloc() is called
-  internally by FreeRTOS API functions that create tasks, queues, software
-  timers, and semaphores.  The size of the FreeRTOS heap is set by the
-  configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
-  taskDISABLE_INTERRUPTS();
-  //TODO panic
-  for (;;)
-    ;
-}
-/*-----------------------------------------------------------*/
-
-void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
-  (void)pcTaskName;
-  (void)pxTask;
-
-  /* Run time stack overflow checking is performed if
-  configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
-  function is called if a stack overflow is detected. */
-  taskDISABLE_INTERRUPTS();
-  //TODO panic
-  for (;;)
-    ;
-}
-/*-----------------------------------------------------------*/
-
-void vApplicationIdleHook(void) {
-  volatile size_t xFreeHeapSpace, xMinimumEverFreeHeapSpace;
-
-  /* This is just a trivial example of an idle hook.  It is called on each
-  cycle of the idle task.  It must *NOT* attempt to block.  In this case the
-  idle task just queries the amount of FreeRTOS heap that remains.  See the
-  memory management section on the http://www.FreeRTOS.org web site for memory
-  management options.  If there is a lot of heap memory free then the
-  configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
-  RAM. */
-  // xFreeHeapSpace = xPortGetFreeHeapSize();
-  // xMinimumEverFreeHeapSpace = xPortGetMinimumEverFreeHeapSize();
-
-  // /* Remove compiler warning about xFreeHeapSpace being set but never used.
-  // */ (void)xFreeHeapSpace; (void)xMinimumEverFreeHeapSpace;
-}
-/*-----------------------------------------------------------*/
-
-void rust_assert_called(const char *pcFile, unsigned long ulLine);
-
-
-void vAssertCalled(const char *pcFile, unsigned long ulLine) {
-
-  rust_assert_called(pcFile, ulLine);
-
-
-  volatile unsigned long ul = 0;
-
-  (void)pcFile;
-  (void)ulLine;
-
-  taskENTER_CRITICAL();
-  {
-    /* Set ul to a non-zero value using the debugger to step out of this
-    function. */
-    while (ul == 0) {
-      portNOP();
-    }
-  }
-  taskEXIT_CRITICAL();
-}
-/*-----------------------------------------------------------*/
-
-void vApplicationTickHook(void) {
-#if (mainSELECTED_APPLICATION == 1)
-  {
-    /* The full demo includes a software timer demo/test that requires
-    prodding periodically from the tick interrupt. */
-    vTimerPeriodicISRTests();
-
-    /* Call the periodic queue overwrite from ISR demo. */
-    vQueueOverwritePeriodicISRDemo();
-
-    /* Call the periodic event group from ISR demo. */
-    vPeriodicEventGroupsProcessing();
-
-    /* Use task notifications from an interrupt. */
-    xNotifyTaskFromISR();
-
-    /* Use mutexes from interrupts. */
-    vInterruptSemaphorePeriodicTest();
-
-    /* Writes to stream buffer byte by byte to test the stream buffer trigger
-    level functionality. */
-    vPeriodicStreamBufferProcessing();
-
-    /* Writes a string to a string buffer four bytes at a time to demonstrate
-    a stream being sent from an interrupt to a task. */
-    vBasicStreamBufferSendFromISR();
-
-#if (configUSE_QUEUE_SETS == 1)
-    { vQueueSetAccessQueueSetFromISR(); }
-#endif
-
-/* Test flop alignment in interrupts - calling printf from an interrupt
-is BAD! */
-#if (configASSERT_DEFINED == 1)
-    {
-      char cBuf[20];
-      UBaseType_t uxSavedInterruptStatus;
-
-      uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-      { sprintf(cBuf, "%1.3f", 1.234); }
-      portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);
-
-      configASSERT(strcmp(cBuf, "1.234") == 0);
-    }
-#endif /* configASSERT_DEFINED */
-  }
-#endif
-}
 /*-----------------------------------------------------------*/
 
 void vInitialiseTimerForRunTimeStats(void) {
@@ -371,7 +125,6 @@ void vInitialiseTimerForRunTimeStats(void) {
   XScuWdt_SetTimerMode(&xWatchDogInstance);
   XScuWdt_Start(&xWatchDogInstance);
 }
-/*-----------------------------------------------------------*/
 
 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
@@ -428,3 +181,73 @@ void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
   configMINIMAL_STACK_SIZE is specified in words, not bytes. */
   *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
 }
+
+// Marker for debugging sessions
+__attribute__((noinline)) void done() { asm(""); }
+
+void vApplicationIdleHook(void) {
+  volatile size_t xFreeHeapSpace, xMinimumEverFreeHeapSpace;
+
+  /* This is just a trivial example of an idle hook.  It is called on each
+  cycle of the idle task.  It must *NOT* attempt to block.  In this case the
+  idle task just queries the amount of FreeRTOS heap that remains.  See the
+  memory management section on the http://www.FreeRTOS.org web site for memory
+  management options.  If there is a lot of heap memory free then the
+  configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
+  RAM. */
+  // xFreeHeapSpace = xPortGetFreeHeapSize();
+  // xMinimumEverFreeHeapSpace = xPortGetMinimumEverFreeHeapSize();
+
+  // /* Remove compiler warning about xFreeHeapSpace being set but never used.
+  // */ (void)xFreeHeapSpace; (void)xMinimumEverFreeHeapSpace;
+}
+
+void vApplicationTickHook(void) {
+#if (mainSELECTED_APPLICATION == 1)
+  {
+    /* The full demo includes a software timer demo/test that requires
+    prodding periodically from the tick interrupt. */
+    vTimerPeriodicISRTests();
+
+    /* Call the periodic queue overwrite from ISR demo. */
+    vQueueOverwritePeriodicISRDemo();
+
+    /* Call the periodic event group from ISR demo. */
+    vPeriodicEventGroupsProcessing();
+
+    /* Use task notifications from an interrupt. */
+    xNotifyTaskFromISR();
+
+    /* Use mutexes from interrupts. */
+    vInterruptSemaphorePeriodicTest();
+
+    /* Writes to stream buffer byte by byte to test the stream buffer trigger
+    level functionality. */
+    vPeriodicStreamBufferProcessing();
+
+    /* Writes a string to a string buffer four bytes at a time to demonstrate
+    a stream being sent from an interrupt to a task. */
+    vBasicStreamBufferSendFromISR();
+
+#if (configUSE_QUEUE_SETS == 1)
+    { vQueueSetAccessQueueSetFromISR(); }
+#endif
+
+/* Test flop alignment in interrupts - calling printf from an interrupt
+is BAD! */
+#if (configASSERT_DEFINED == 1)
+    {
+      char cBuf[20];
+      UBaseType_t uxSavedInterruptStatus;
+
+      uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+      { sprintf(cBuf, "%1.3f", 1.234); }
+      portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);
+
+      configASSERT(strcmp(cBuf, "1.234") == 0);
+    }
+#endif /* configASSERT_DEFINED */
+  }
+#endif
+}
+

mission/CMakeLists.txt

@@ -1 +1 @@
-target_sources(${TARGET_NAME} PRIVATE main.c testIp.c freeRTOS_rust_helper.c)
+target_sources(${TARGET_NAME} PRIVATE mission.c freeRTOS_rust_helper.c)

mission/freeRTOS_rust_helper.c

@@ -2,6 +2,8 @@
 #include "semphr.h"
 #include "task.h"
 
+#include <string.h>
+
 // TODO namespace the names
 
 SemaphoreHandle_t global_threading_semaphore = NULL;
@@ -19,15 +21,35 @@ uint8_t global_threading_available_c() {
   }
 }
 
-void enable_global_threading_c() {
+void enable_global_threading_c() { xSemaphoreGive(global_threading_semaphore); }
-  xSemaphoreGive(global_threading_semaphore);
-}
 
 void disable_global_threading_c() {
   xSemaphoreTake(global_threading_semaphore, portMAX_DELAY);
 }
 
-const char *get_task_name() { return pcTaskGetName(NULL); }
+const char *INVALID_TASK = "invalid task";
+
+const char *get_task_name() {
+  /* this function is called from rust's panic,
+   * so we need to be extra sure to not cause another
+   * one. pcTaskGetName will trigger an assertion
+   * on debug builds if no task is running so we
+   * check if the current task is valid before using it.
+   * xTaskGetCurrentTaskHandle seems to be a lightweight 
+   * way to do that */
+  void *task_handle = xTaskGetCurrentTaskHandle();
+  if (task_handle == NULL) {
+    return INVALID_TASK;
+  }
+  const char *name = pcTaskGetName(NULL);
+  if (name == NULL) {
+    return INVALID_TASK;
+  }
+  if (strlen(name) > configMAX_TASK_NAME_LEN) {
+    return INVALID_TASK;
+  }
+  return name;
+}
 
 void stop_it() { taskENTER_CRITICAL(); }
 
@@ -51,7 +73,9 @@ void task_delay(uint32_t milliseconds) {
 }
 
 void delete_task(void *task) {
-  vTaskSuspend(task); //we can not use vDeleteTask as it would free the allocated memory which is forbidden using heap1 (which we use)
+  vTaskSuspend(
+      task); // we can not use vDeleteTask as it would free the allocated memory
+             // which is forbidden using heap1 (which we use)
 }
 
 void *create_queue(uint32_t length, uint32_t element_size) {
@@ -76,9 +100,7 @@ uint8_t queue_send(void *queue, void *message) {
   }
 }
 
-void *create_mutex() {
+void *create_mutex() { return xSemaphoreCreateRecursiveMutex(); }
-  return xSemaphoreCreateRecursiveMutex();
-}
 
 uint8_t take_mutex(void *handle) {
   // TODO check if global semaphore is free (ie, we are doing multitasking)

mission/mission.c

@@ -0,0 +1,102 @@
+/* Standard includes. */
+#include <limits.h>
+#include <stdio.h>
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "semphr.h"
+#include "task.h"
+
+void rust_main();
+
+// called to stop execution (either a panic or program ended)
+// to be implemented by bsp (do not return from it!)
+void done();
+
+void init_task(void *) {
+  // printf("Starting Mission\n");
+
+  rust_main();
+
+  // printf("Started Tasks, deleting init task\n");
+
+  done();
+
+  vTaskDelete(NULL);
+}
+
+void mission(void) {
+
+  int taskParameters = 0;
+
+  static const size_t stackSizeWords = 102400;
+  StaticTask_t xTaskBuffer;
+  StackType_t xStack[stackSizeWords];
+
+  xTaskCreate(init_task, /* The function that implements the task. */
+              "init", /* The text name assigned to the task - for debug only as
+                         it is not used by the  kernel. */
+              10240,  /* The size of the stack to allocate to the task. */
+              &taskParameters, /* The parameter passed to the task - not used in
+                                  this simple case. */
+              4,               /* The priority assigned to the task. */
+              NULL);
+
+  vTaskStartScheduler();
+
+  /* If all is well, the scheduler will now be running, and the following
+  line will never be reached.  If the following line does execute, then
+  there was either insufficient FreeRTOS heap memory available for the idle
+  and/or timer tasks to be created, or vTaskStartScheduler() was called from
+  User mode.  See the memory management section on the FreeRTOS web site for
+  more details on the FreeRTOS heap http://www.freertos.org/a00111.html.  The
+  mode from which main() is called is set in the C start up code and must be
+  a privileged mode (not user mode). */
+
+  done();
+
+  for (;;)
+    ;
+  /* Don't expect to reach here. */
+  return;
+}
+
+/*-----------------------------------------------------------*/
+void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
+  (void)pcTaskName;
+  (void)pxTask;
+
+  /* Run time stack overflow checking is performed if
+  configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
+  function is called if a stack overflow is detected. */
+  taskDISABLE_INTERRUPTS();
+  // TODO panic
+  for (;;)
+    ;
+}
+
+/*-----------------------------------------------------------*/
+void rust_alloc_failed();
+
+void vApplicationMallocFailedHook(void) {
+  /* Called if a call to pvPortMalloc() fails because there is insufficient
+  free memory available in the FreeRTOS heap.  pvPortMalloc() is called
+  internally by FreeRTOS API functions that create tasks, queues, software
+  timers, and semaphores.  The size of the FreeRTOS heap is set by the
+  configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
+  taskDISABLE_INTERRUPTS();
+  rust_alloc_failed();
+  for (;;)
+    ;
+}
+
+void rust_assert_called(const char *pcFile, unsigned long ulLine);
+
+void vAssertCalled(const char *pcFile, unsigned long ulLine) {
+  taskDISABLE_INTERRUPTS();
+  rust_assert_called(pcFile, ulLine);
+}
+
+/*-----------------------------------------------------------*/
+
+/*-----------------------------------------------------------*/

mission_rust/.cargo/config.toml

@@ -1,5 +0,0 @@
-[build]
-target = "armv7a-none-eabihf"
-
-[unstable]
-build-std = ["core"]

mission_rust/CMakeLists.txt

@@ -1,4 +1,21 @@
 #TODO can we get CMake to configure cmake --build --clean to run cargo clean?
+#TODO look into corrosion cmake plugin
+
+if (${CMAKE_CROSSCOMPILING})
+
+    add_custom_target(
+        mission_rust_internal
+        COMMAND cargo build -Zbuild-std=core --target=${CMAKE_SYSTEM_PROCESSOR} $<$<CONFIG:Release>:--release>
+        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+
+    add_library(mission_rust INTERFACE)
+
+    add_dependencies(mission_rust mission_rust_internal)
+
+    target_link_libraries(mission_rust INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/target/${CMAKE_SYSTEM_PROCESSOR}/$<IF:$<CONFIG:Release>,release,debug>/libmission_rust.a)
+
+else()
 
     add_custom_target(
         mission_rust_internal
@@ -10,4 +27,7 @@ add_library(mission_rust INTERFACE)
 
     add_dependencies(mission_rust mission_rust_internal)
 
-target_link_libraries(mission_rust INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/target/armv7a-none-eabihf/$<IF:$<CONFIG:Release>,release,debug>/libmission_rust.a)
+    target_link_libraries(mission_rust INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/target/$<IF:$<CONFIG:Release>,release,debug>/libmission_rust.a)
+
+
+endif()

mission_rust/Cargo.toml

@@ -6,6 +6,12 @@ edition = "2021"
 [lib]
 crate-type = ["staticlib"]
 
+[profile.dev]
+panic = 'abort'
+
+[profile.release]
+panic = 'abort'
+
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]

mission_rust/src/lib.rs

@@ -24,7 +24,7 @@ fn panic(panic: &PanicInfo<'_>) -> ! {
     sifln!("");
     sif!("in task \"");
     unsafe {
-        //TODO is from_ptr safe enough?
+        //osal::get_task_name is implemented safely in C, so we trust it
         let task_name = core::ffi::CStr::from_ptr(osal::get_task_name());
         let task_name_utf8 = core::str::from_utf8(task_name.to_bytes());
         match task_name_utf8 {
@@ -62,6 +62,11 @@ extern "C" fn rust_assert_called(ptr: *const core::ffi::c_char, line: core::ffi:
     panic!("assertion failed at {file_name}:{}", line);
 }
 
+#[no_mangle]
+extern "C" fn rust_alloc_failed(){
+    panic!("allocation failed!");
+}
+
 #[no_mangle]
 extern "C" fn rust_main() {
     sifln!("Rust startup 🚀");