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no allocations anymore; lwip TODO

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This commit is contained in:
Ulrich Mohr 2023-10-28 00:37:06 +02:00
parent e0527bf91b
commit baa7b8a96d
21 changed files with 40 additions and 478 deletions
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3
.gitmodules vendored
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@ -1,9 +1,6 @@
[submodule "FreeRTOS-Kernel"] [submodule "FreeRTOS-Kernel"]
path = FreeRTOS-Kernel path = FreeRTOS-Kernel
url = https://github.com/FreeRTOS/FreeRTOS-Kernel url = https://github.com/FreeRTOS/FreeRTOS-Kernel
[submodule "fsfw"]
path = fsfw
url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw
[submodule "contrib/lwip"] [submodule "contrib/lwip"]
path = contrib/lwip path = contrib/lwip
url = https://git.savannah.gnu.org/git/lwip.git url = https://git.savannah.gnu.org/git/lwip.git

23
CMakeLists.txt
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@ -59,13 +59,14 @@ set(lwip_SRCS
${LWIP_DIR}/src/apps/tftp/tftp.c ${LWIP_DIR}/src/apps/tftp/tftp.c
${LWIP_DIR}/contrib/ports/freertos/sys_arch.c ${LWIP_DIR}/contrib/ports/freertos/sys_arch.c
) )
add_library(lwip ${lwip_SRCS}) #add_library(lwip ${lwip_SRCS})
target_include_directories(lwip PUBLIC ${LWIP_INCLUDE_DIRS}) #target_include_directories(lwip PUBLIC ${LWIP_INCLUDE_DIRS})
#target_compile_options(${TARGET_NAME} PUBLIC -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard) #target_compile_options(${TARGET_NAME} PUBLIC -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard)
# Add freeRTOS # Add freeRTOS
set(FREERTOS_PORT GCC_ARM_CA9 CACHE STRING "") set(FREERTOS_PORT GCC_ARM_CA9 CACHE STRING "")
set(FREERTOS_HEAP 2 CACHE STRING "")
add_library(freertos_config INTERFACE) add_library(freertos_config INTERFACE)
target_include_directories(freertos_config SYSTEM target_include_directories(freertos_config SYSTEM
INTERFACE ${FreeRTOS_CONFIG_PATH}) # The config file directory INTERFACE ${FreeRTOS_CONFIG_PATH}) # The config file directory
@ -82,18 +83,7 @@ add_subdirectory(${FreeRTOS_PATH})
add_subdirectory(bsp_z7) add_subdirectory(bsp_z7)
#set(FSFW_OSAL freertos CACHE STRING "FSFW OSAL")
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
set(COMMON_CONFIG_PATH "common/config")
set(FSFW_ADDITIONAL_INC_PATHS
"${COMMON_CONFIG_PATH}" "${CMAKE_CURRENT_BINARY_DIR}" "contrib/"
CACHE STRING "FSFW configuration paths")
set(FSFW_OSAL freertos CACHE STRING "FSFW OSAL")
set(FSFW_ADD_MONITORING ON)
add_subdirectory(fsfw)
add_subdirectory(common) add_subdirectory(common)
add_subdirectory(${MISSION_PATH}) add_subdirectory(${MISSION_PATH})
@ -104,15 +94,14 @@ add_subdirectory(mission_rust)
# ############################################################################## # ##############################################################################
# Add libraries for all sources. # Add libraries for all sources.
target_link_libraries(lwip PUBLIC freertos_kernel) #target_link_libraries(lwip PUBLIC freertos_kernel)
target_link_libraries(fsfw PUBLIC lwip) target_link_libraries(${TARGET_NAME} PUBLIC freertos_kernel mission_rust)
target_link_libraries(${TARGET_NAME} PUBLIC fsfw lwip mission_rust)
target_include_directories( target_include_directories(
${TARGET_NAME} PUBLIC ${BSP_PATH}) ${TARGET_NAME} PUBLIC ${BSP_PATH})
target_link_options(${TARGET_NAME} PRIVATE -Wl,--start-group,-lgcc,-lc,--end-group -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}/${FreeRTOS_CONFIG_PATH}/Xilinx.spec) target_link_options(${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}/${FreeRTOS_CONFIG_PATH}/Xilinx.spec )
# Removed unused sections. # Removed unused sections.
target_link_options(${TARGET_NAME} PRIVATE "-Wl,--gc-sections") target_link_options(${TARGET_NAME} PRIVATE "-Wl,--gc-sections")

1
bsp_z7/CMakeLists.txt
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@ -1,3 +1,2 @@
add_subdirectory(freeRTOS) add_subdirectory(freeRTOS)
add_subdirectory(ps7_cortexa9_0) add_subdirectory(ps7_cortexa9_0)
add_subdirectory(objects)

15
bsp_z7/freeRTOS/FreeRTOSConfig.h
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@ -77,23 +77,23 @@
#define configUSE_TICK_HOOK 1 #define configUSE_TICK_HOOK 1
#define configMAX_PRIORITIES ( 7 ) #define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 250 ) /* Large in case configUSE_TASK_FPU_SUPPORT is 2 in which case all tasks have an FPU context. */ #define configMINIMAL_STACK_SIZE ( ( unsigned short ) 250 ) /* Large in case configUSE_TASK_FPU_SUPPORT is 2 in which case all tasks have an FPU context. */
#define configTOTAL_HEAP_SIZE ( 20 * 1024 * 1024 ) #define configTOTAL_HEAP_SIZE ( 0 )
#define configMAX_TASK_NAME_LEN ( 10 ) #define configMAX_TASK_NAME_LEN ( 10 )
#define configUSE_TRACE_FACILITY 1 #define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0 #define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1 #define configIDLE_SHOULD_YIELD 1
#define configUSE_MUTEXES 1 #define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 2 #define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_RECURSIVE_MUTEXES 1 #define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 1 #define configUSE_MALLOC_FAILED_HOOK 1
#define configUSE_APPLICATION_TASK_TAG 0 #define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1 #define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_QUEUE_SETS 1 #define configUSE_QUEUE_SETS 1
#define configSUPPORT_STATIC_ALLOCATION 0 #define configSUPPORT_STATIC_ALLOCATION 1
#define configSUPPORT_DYNAMIC_ALLOCATION 0
/* Include the query-heap CLI command to query the free heap space. */ /* Include the query-heap CLI command to query the free heap space. */
#define configINCLUDE_QUERY_HEAP_COMMAND 1 #define configINCLUDE_QUERY_HEAP_COMMAND 0
/* Co-routine definitions. */ /* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0 #define configUSE_CO_ROUTINES 0
@ -128,11 +128,6 @@ to exclude the API function. */
#define INCLUDE_xTaskGetHandle 1 #define INCLUDE_xTaskGetHandle 1
#define INCLUDE_xSemaphoreGetMutexHolder 1 #define INCLUDE_xSemaphoreGetMutexHolder 1
/* This demo makes 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 1
/* The private watchdog is used to generate run time stats. */ /* The private watchdog is used to generate run time stats. */
#include "xscuwdt.h" #include "xscuwdt.h"
@ -184,7 +179,7 @@ Zynq MPU. */
#define configUNIQUE_INTERRUPT_PRIORITIES 32 #define configUNIQUE_INTERRUPT_PRIORITIES 32
/* Newlib support*/ /* Newlib support*/
#define configUSE_NEWLIB_REENTRANT 1 // Required for thread-safety of newlib sprintf, strtok, etc... //#define configUSE_NEWLIB_REENTRANT 1 // Required for thread-safety of newlib sprintf, strtok, etc...
#endif /* FREERTOS_CONFIG_H */ #endif /* FREERTOS_CONFIG_H */

5
bsp_z7/freeRTOS/lscript.ld
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@ -11,7 +11,7 @@
/*******************************************************************/ /*******************************************************************/
_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x2000; _STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x2000;
_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x01400000; /* _HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x01400000; */
_ABORT_STACK_SIZE = DEFINED(_ABORT_STACK_SIZE) ? _ABORT_STACK_SIZE : 1024; _ABORT_STACK_SIZE = DEFINED(_ABORT_STACK_SIZE) ? _ABORT_STACK_SIZE : 1024;
_SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048; _SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048;
@ -244,7 +244,7 @@ _SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
/* Generate Stack and Heap definitions */ /* Generate Stack and Heap definitions */
.heap (NOLOAD) : { /* .heap (NOLOAD) : {
. = ALIGN(16); . = ALIGN(16);
_heap = .; _heap = .;
HeapBase = .; HeapBase = .;
@ -253,6 +253,7 @@ _SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
_heap_end = .; _heap_end = .;
HeapLimit = .; HeapLimit = .;
} > ps7_ddr_0_S_AXI_BASEADDR } > ps7_ddr_0_S_AXI_BASEADDR
*/
.stack (NOLOAD) : { .stack (NOLOAD) : {
. = ALIGN(16); . = ALIGN(16);

3
bsp_z7/objects/CMakeLists.txt
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@ -1,3 +0,0 @@
target_sources(
${TARGET_NAME} PRIVATE
ObjectFactory.cpp)

66
bsp_z7/objects/ObjectFactory.cpp
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@ -1,66 +0,0 @@
#include "ObjectFactory.h"
#include <fsfw/objectmanager/frameworkObjects.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/tmtc/TmManager.h>
#include <mission/controller/PrintController.h>
#include "fsfw/events/EventManager.h"
#include "fsfw/health/HealthTable.h"
#include "fsfw/internalerror/InternalErrorReporter.h"
#include "fsfw/tmtc/UdpTmTcBridge.h"
#include "systemObjects.h"
namespace objects {
enum commonObjects : object_id_t {
/* 0x63 ('C') for core objects */
CCSDS_DISTRIBUTOR = 0x63000000,
PUS_DISTRIBUTOR = 0x63000001,
TM_FUNNEL = 0x63000002,
CFDP_DISTRIBUTOR = 0x63000003,
CFDP_HANDLER = 0x63000004,
PUS_TM_FUNNEL = 0x63000005,
CFDP_TM_FUNNEL = 0x64000006,
};
}
// void Factory::setStaticFrameworkObjectIds() {
// // MonitoringReportContent<float>::timeStamperId = objects::TIME_STAMPER;
// // MonitoringReportContent<double>::timeStamperId = objects::TIME_STAMPER;
// // MonitoringReportContent<uint32_t>::timeStamperId = objects::TIME_STAMPER;
// // MonitoringReportContent<int32_t>::timeStamperId = objects::TIME_STAMPER;
// // MonitoringReportContent<int16_t>::timeStamperId = objects::TIME_STAMPER;
// // MonitoringReportContent<uint16_t>::timeStamperId = objects::TIME_STAMPER;
// // PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_DISTRIBUTOR;
// // PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
// // CommandingServiceBase::defaultPacketSource = objects::PUS_DISTRIBUTOR;
// // CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
// // VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
// }
void ObjectFactory::produce(void *args) {
//Factory::setStaticFrameworkObjectIds();
{
LocalPool::LocalPoolConfig poolCfg = {{100, 16}, {50, 32}, {40, 64},
{30, 128}, {20, 1024}, {10, 2048}};
new PoolManager(objects::IPC_STORE, poolCfg);
}
new EventManager(objects::EVENT_MANAGER, 20);
new HealthTable(objects::HEALTH_TABLE);
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
new TmManager(objects::TM_MANAGER);
new UdpTmTcBridgeNew(130,7777,0,0);
new PrintController(123);
}

8
bsp_z7/objects/ObjectFactory.h
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@ -1,8 +0,0 @@
#pragma once
#include <cstdint>
namespace ObjectFactory {
void produce(void* args);
} // namespace ObjectFactory

4
bsp_z7/objects/communication/CMakeLists.txt
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@ -1,4 +0,0 @@
target_sources(
${TARGET_NAME} PRIVATE
ServoCommInterface.cpp
SerialTCPCookie.cpp)

8
bsp_z7/objects/communication/SerialTCPCookie.cpp
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@ -1,8 +0,0 @@
#include "SerialTCPCookie.h"
SerialTCPCookie::SerialTCPCookie(const char* host, uint16_t port, bool flush, size_t bufferSize)
: host(host), port(port), flush(flush), bufferSize(bufferSize), socket(-1) {
buffer = new uint8_t[bufferSize];
}
SerialTCPCookie::~SerialTCPCookie() { delete buffer; }

17
bsp_z7/objects/communication/SerialTCPCookie.h
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@ -1,17 +0,0 @@
#pragma once
#include <fsfw/devicehandlers/CookieIF.h>
#include <stddef.h>
class SerialTCPCookie : public CookieIF {
public:
SerialTCPCookie(const char* host, uint16_t port, bool flush, size_t bufferSize);
virtual ~SerialTCPCookie();
const char* const host;
const uint16_t port;
const bool flush;
uint8_t *buffer;
const size_t bufferSize;
int socket;
};

138
bsp_z7/objects/communication/ServoCommInterface.cpp
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@ -1,138 +0,0 @@
#include "ServoCommInterface.h"
#include <arpa/inet.h>
#include <errno.h>
#include <fcntl.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <sys/types.h> // POSIX.1-2001 does not require the inclusion of <sys/types.h>, and this header file is not required on Linux. However, some historical (BSD) implementations required this header file, and portable applications are probably wise to include it.
#include <unistd.h>
#include <utility>
#include "SerialTCPCookie.h"
ServoCommInterface::ServoCommInterface(object_id_t setObjectId) : SystemObject(setObjectId) {}
ReturnValue_t ServoCommInterface::initializeInterface(CookieIF *cookie) {
SerialTCPCookie *tcpCookie = dynamic_cast<SerialTCPCookie *>(cookie);
if (tcpCookie != nullptr) {
return initializeInterface(tcpCookie);
}
return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
}
ReturnValue_t ServoCommInterface::sendMessage(CookieIF *cookie, const uint8_t *sendData,
size_t sendLen) {
SerialTCPCookie *tcpCookie = dynamic_cast<SerialTCPCookie *>(cookie);
if (tcpCookie != nullptr) {
return sendMessage(tcpCookie, sendData, sendLen);
}
return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
}
ReturnValue_t ServoCommInterface::sendMessage(SerialTCPCookie *cookie, const uint8_t *sendData,
size_t sendLen) {
if (cookie->socket == -1) {
return returnvalue::FAILED;
}
ssize_t result = send(cookie->socket, sendData, sendLen, 0);
if (result < 0){
return returnvalue::FAILED;
}
if (std::cmp_not_equal(result, sendLen)) {
return returnvalue::FAILED;
}
return returnvalue::OK;
}
ReturnValue_t ServoCommInterface::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
ReturnValue_t ServoCommInterface::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return returnvalue::OK;
}
ReturnValue_t ServoCommInterface::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) {
SerialTCPCookie *tcpCookie = dynamic_cast<SerialTCPCookie *>(cookie);
if (tcpCookie != nullptr) {
return readReceivedMessage(tcpCookie, buffer, size);
}
return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
}
ReturnValue_t ServoCommInterface::readReceivedMessage(SerialTCPCookie *cookie, uint8_t **buffer,
size_t *size) {
if (cookie->socket == -1) {
return returnvalue::FAILED;
}
ssize_t result = recv(cookie->socket, cookie->buffer, cookie->bufferSize, 0);
if (result <= -1) {
*size = 0;
if (errno == EAGAIN or errno == EWOULDBLOCK) {
//no data
return returnvalue::OK;
}
// TODO wrap errno
return returnvalue::FAILED;
}
if (result == 0) {
// peer shut down
close(cookie->socket);
cookie->socket = -1;
return returnvalue::FAILED; // TODO connection closed
}
*size = result;
*buffer = cookie->buffer;
if (std::cmp_greater_equal(result, cookie->bufferSize) and cookie->flush) {
// we do not know if there is more data in the socket, so we read until we get no more
uint8_t ignore[10];
while (recv(cookie->socket, ignore, sizeof(ignore), 0) > 0) {
}
//ignore any fault here as previous read was ok. next call will catch it
}
return returnvalue::OK;
}
ReturnValue_t ServoCommInterface::initializeInterface(SerialTCPCookie *cookie) {
cookie->socket = socket(AF_INET6, SOCK_STREAM, 0);
if (cookie->socket == -1) {
return returnvalue::FAILED;
}
sockaddr_in6 serverAddr;
serverAddr.sin6_family = AF_INET6;
serverAddr.sin6_port = htons(cookie->port);
int retval =inet_pton(AF_INET6, cookie->host, &serverAddr.sin6_addr);
if (retval == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "IpCommInterface::initializeInterface: Invalid IP!" << std::endl;
#endif
return returnvalue::FAILED;
}
retval = connect(cookie->socket, (struct sockaddr *)&serverAddr, sizeof(serverAddr));
if (retval == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "IpCommInterface::initializeInterface: connection failed with " << errno
<< std::endl;
#endif
return returnvalue::FAILED;
}
fcntl(cookie->socket, F_SETFL, O_NONBLOCK);
return returnvalue::OK;
}

28
bsp_z7/objects/communication/ServoCommInterface.h
View File

@ -1,28 +0,0 @@
#pragma once
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include "SerialTCPCookie.h"
class ServoCommInterface : public DeviceCommunicationIF, public SystemObject {
public:
ServoCommInterface(object_id_t setObjectId);
virtual ~ServoCommInterface() {}
ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
private:
ReturnValue_t initializeInterface(SerialTCPCookie *cookie);
ReturnValue_t sendMessage(SerialTCPCookie *cookie, const uint8_t *sendData, size_t sendLen);
ReturnValue_t readReceivedMessage(SerialTCPCookie *cookie, uint8_t **buffer, size_t *size);
};

13
bsp_z7/objects/systemObjects.h
View File

@ -1,13 +0,0 @@
#pragma once
#include <fsfw/introspection/ClasslessEnum.h>
FSFW_CLASSLESS_ENUM(SystemObjects, uint32_t, ((SERVO_FRONT_LEFT, "Servo front left"))
((SERVO_FRONT_RIGHT, "Servo front right"))
((SERVO_BACK_LEFT, "Servo back left"))
((SERVO_BACK_RIGHT,"Servo back right"))
((MOTOR_AXLE_LEFT, "Motors left axle"))
((MOTOR_AXLE_RIGHT, "Motors right axle"))
((MOTOR_AXLE_BACK, "Motors back axle"))
((STEERING_CONTROLLER, "Steering Controller"))
((COMM_IF, 123, "CommIF")))

4
bsp_z7/ps7_cortexa9_0/libsrc/standalone/CMakeLists.txt
View File

@ -6,7 +6,7 @@ target_sources(${TARGET_NAME} PUBLIC
src/asm_vectors.S src/asm_vectors.S
src/open.c src/open.c
src/xil_exception.c src/xil_exception.c
src/sbrk.c #src/sbrk.c
src/xl2cc_counter.c src/xl2cc_counter.c
src/xil_cache.c src/xil_cache.c
src/xil_spinlock.c src/xil_spinlock.c
@ -48,5 +48,5 @@ target_sources(${TARGET_NAME} PUBLIC
src/outbyte.c src/outbyte.c
src/unlink.c src/unlink.c
src/abort.c src/abort.c
src/_sbrk.c #src/_sbrk.c
) )

1
fsfw

@ -1 +0,0 @@
Subproject commit 9110fd27285c8f6ec145617b168d4cf29a04dc5e

2
mission/CMakeLists.txt
View File

@ -1 +1 @@
target_sources(${TARGET_NAME} PRIVATE main.cpp testIp.cpp malloc_lock.c controller/PrintController.cpp) target_sources(${TARGET_NAME} PRIVATE main.c)

33
mission/controller/PrintController.cpp
View File

@ -1,33 +0,0 @@
#include "PrintController.h"
#include <cstdio>
PrintController::PrintController(object_id_t setObjectId)
: SystemObject(setObjectId) {}
ReturnValue_t PrintController::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != returnvalue::OK) {
return result;
}
XGpioPs_Config config;
config.DeviceId = 4; // chosen by fair dice throw
config.BaseAddr = XPS_GPIO_BASEADDR;
s32 returncode = XGpioPs_CfgInitialize(&gpio, &config, XPS_GPIO_BASEADDR);
if (returncode != 0) {
return returnvalue::FAILED;
}
XGpioPs_SetDirection(&gpio, 0, (1 << 7));
XGpioPs_SetOutputEnable(&gpio, 0, (1 << 7));
XGpioPs_WritePin(&gpio, 7, 1);
return returnvalue::OK;
}
ReturnValue_t PrintController::performOperation(uint8_t operationCode) {
printf("running\n");
static int pinvalue = 1;
pinvalue = pinvalue ^ 1;
XGpioPs_WritePin(&gpio, 7, pinvalue);
return returnvalue::OK;
}

20
mission/controller/PrintController.h
View File

@ -1,20 +0,0 @@
#pragma once
#include <xgpiops.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
class PrintController: public SystemObject, public ExecutableObjectIF {
public:
PrintController(object_id_t setObjectId);
virtual ~PrintController() = default;
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode) override;
private:
XGpioPs gpio;
};

105
mission/main.cpp → mission/main.c
View File

@ -62,9 +62,7 @@
/* Standard includes. */ /* Standard includes. */
#include <limits.h> #include <limits.h>
extern "C" {
#include <stdio.h> #include <stdio.h>
}
/* Scheduler include files. */ /* Scheduler include files. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
@ -84,34 +82,12 @@ extern "C" {
/* Xilinx includes. */ /* Xilinx includes. */
// #include "platform.h" // #include "platform.h"
extern "C" {
#include "xil_exception.h" #include "xil_exception.h"
#include "xparameters.h" #include "xparameters.h"
#include "xscugic.h" #include "xscugic.h"
#include "xscutimer.h" #include "xscutimer.h"
#include "xuartps_hw.h" #include "xuartps_hw.h"
}
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/ipc/CommandMessageCleaner.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/frameworkObjects.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/TaskFactory.h>
#include <objects/systemObjects.h>
#include <cstdio>
void messagetypes::clearMissionMessage(CommandMessage* message){};
#include <objects/ObjectFactory.h>
#if FSFW_CPP_OSTREAM_ENABLED == 1
ServiceInterfaceStream sif::debug("DEBUG", false);
ServiceInterfaceStream sif::info("INFO", false);
ServiceInterfaceStream sif::warning("WARNING", false);
ServiceInterfaceStream sif::error("ERROR", false, true, true);
#endif
/* /*
* Configure the hardware as necessary to run this demo. * Configure the hardware as necessary to run this demo.
@ -153,26 +129,26 @@ int main(void) {
/* Configure the hardware ready to run the demo. */ /* Configure the hardware ready to run the demo. */
prvSetupHardware(); prvSetupHardware();
printf("Booting Software\n"); // printf("Booting Software\n");
malloc_mutex = xSemaphoreCreateRecursiveMutex(); int taskParameters = 0;
if (malloc_mutex == NULL) {
printf("Could not obtaiin malloc mutex, bye...\n");
exit(-1);
}
int taskParameters =0; static const uint16_t stackSizeWords = 512;
StaticTask_t xTaskBuffer;
StackType_t xStack[stackSizeWords];
xTaskCreate( xTaskCreateStatic(
mission, /* The function that implements the task. */ 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 "init", /* The text name assigned to the task - for debug only as it is
kernel. */ not used by the kernel. */
10240, /* The size of the stack to allocate to the task. */ stackSizeWords, /* The size of the stack to allocate to the task. */
&taskParameters, /* The parameter passed to the task - not used in this simple case. */ &taskParameters, /* The parameter passed to the task - not used in this
simple case. */
4, /* The priority assigned to the task. */ 4, /* The priority assigned to the task. */
nullptr); /* The task handle is not required, so NULL is passed. */ xStack, &xTaskBuffer);
vTaskStartScheduler(); vTaskStartScheduler();
/* If all is well, the scheduler will now be running, and the following /* 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 line will never be reached. If the following line does execute, then
there was either insufficient FreeRTOS heap memory available for the idle there was either insufficient FreeRTOS heap memory available for the idle
@ -189,53 +165,19 @@ int main(void) {
void testIp(); void testIp();
extern "C" {
void rust_main(double i); void rust_main(double i);
}
void mission(void *){ void mission(void *) {
printf("Starting Mission\n"); // printf("Starting Mission\n");
rust_main(123456879123456789); rust_main(123456879123456789);
testIp(); // testIp();
sif::debug << "OStreams working" << std::endl; // printf("Started Tasks, deleting init task\n");
ObjectManager* objManager = ObjectManager::instance(); vTaskDelete(NULL);
objManager->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
printf("Created Objects\n");
objManager->initialize();
printf("Initialized Objects\n");
TaskFactory* taskFactory = TaskFactory::instance();
if (taskFactory == nullptr) {
printf("Ooopsie\n");
return;
}
TaskPriority currPrio;
TaskDeadlineMissedFunction deadlineMissedFunc = nullptr;
currPrio = 2;
PeriodicTaskIF* controllerTask = taskFactory->createPeriodicTask(
"controller", currPrio, 1024, 1, nullptr);
controllerTask->addComponent(123);
controllerTask->addComponent(130);
printf("Created Tasks\n");
controllerTask->startTask();
printf("Started Tasks, deleting init task\n");
vTaskDelete(nullptr);
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -318,12 +260,11 @@ void vApplicationIdleHook(void) {
management options. If there is a lot of heap memory free then the 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 configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
RAM. */ RAM. */
xFreeHeapSpace = xPortGetFreeHeapSize(); // xFreeHeapSpace = xPortGetFreeHeapSize();
xMinimumEverFreeHeapSpace = xPortGetMinimumEverFreeHeapSize(); // xMinimumEverFreeHeapSpace = xPortGetMinimumEverFreeHeapSize();
/* Remove compiler warning about xFreeHeapSpace being set but never used. */ // /* Remove compiler warning about xFreeHeapSpace being set but never used.
(void)xFreeHeapSpace; // */ (void)xFreeHeapSpace; (void)xMinimumEverFreeHeapSpace;
(void)xMinimumEverFreeHeapSpace;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -444,11 +385,9 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
application must provide an implementation of vApplicationGetTimerTaskMemory() application must provide an implementation of vApplicationGetTimerTaskMemory()
to provide the memory that is used by the Timer service task. */ to provide the memory that is used by the Timer service task. */
extern "C" {
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer, StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize); uint32_t *pulTimerTaskStackSize);
}
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer, StackType_t **ppxTimerTaskStackBuffer,

19
mission/malloc_lock.c
View File

@ -1,19 +0,0 @@
#include "FreeRTOS.h"
#include "semphr.h"
SemaphoreHandle_t malloc_mutex = NULL;
void __malloc_lock(struct _reent *r) {
// if the mutex is not initialized yet, no task have been started either
if (malloc_mutex != NULL) {
xSemaphoreTakeRecursive(malloc_mutex, portMAX_DELAY);
}
}
void __malloc_unlock(struct _reent *r) {
// if the mutex is not initialized yet, no task have been started either
if (malloc_mutex != NULL) {
xSemaphoreGiveRecursive(malloc_mutex);
}
}