further cleanup

This commit is contained in:
Ulrich Mohr 2024-10-10 16:04:18 +02:00
parent 791428e6c0
commit dd9c39af30
12 changed files with 110 additions and 314 deletions

View File

@ -3,25 +3,21 @@ cmake_minimum_required(VERSION 3.13)
# Project Name
project(romeo-obsw C ASM)
# ##############################################################################
# Pre-Sources preparation
# ##############################################################################
# Set names and variables
set(TARGET_NAME ${CMAKE_PROJECT_NAME})
# Set path names
set(OBSW_NAME romeo-obsw)
set(FreeRTOS_PATH FreeRTOS-Kernel/)
set(MISSION_PATH mission/)
# Compiler Options
set(ROMEO_Z7_COMPILE_OPTIONS -c -fmessage-length=0 -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -ffunction-sections -fdata-sections)
set(ROMEO_LINUX_COMPILE_OPTIONS -c -fmessage-length=0 -g -O0 -ffunction-sections -fdata-sections)
set(ROMEO_Z7_LINK_OPTIONS -Wl,--cref -Wl,-Map=${OBSW_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 )
set(ROMEO_WARNING_FLAGS
-Wall
-Wextra
-Wpedantic
-Werror)
# ##############################################################################
# Configuration
# ##############################################################################
# CMake options which are only available when crosscompiling
if (${CMAKE_CROSSCOMPILING})
set(ZYNQ_UART UART1 CACHE STRING "Which PS UART to use for stdout")
set_property(CACHE ZYNQ_UART PROPERTY STRINGS UART0 UART1)
@ -34,85 +30,95 @@ else()
unset(ZYNQ_UART CACHE)
endif()
# ##############################################################################
# Executable and Sources
# ##############################################################################
# Add main executable
add_executable(${OBSW_NAME})
# Add executable
add_executable(${TARGET_NAME})
# lwip
# export lwip path, so the bsp can find it
if(${CMAKE_CROSSCOMPILING})
set (LWIP_DIR ${CMAKE_CURRENT_SOURCE_DIR}/contrib/lwip)
endif()
# Add freeRTOS
# Platform dependend configuration
# Includes setting the FreeRTOS port, compiler options and
# selecting the bsp
if(${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 "")
# config library for FreeRTOS
add_library(freertos_config INTERFACE)
# The config file directory
target_include_directories(freertos_config SYSTEM
INTERFACE bsp_z7/freeRTOS) # The config file directory
INTERFACE bsp_z7/freeRTOS)
# no coverage tests
target_compile_definitions(freertos_config
INTERFACE
projCOVERAGE_TEST=0)
# FreeRTOS config depends on bsp headers
target_include_directories(
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}")
endif()
# Compiler options, we set them on the FreeRTOS config, will trickle down from there
target_compile_options(freertos_config INTERFACE ${ROMEO_Z7_COMPILE_OPTIONS})
# add the bsp
add_subdirectory(bsp_z7)
target_link_options(${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=${CMAKE_SOURCE_DIR}/bsp_z7/freeRTOS/Xilinx.spec )
# Link options for cross build
target_link_options(${OBSW_NAME} PRIVATE ${ROMEO_Z7_LINK_OPTIONS})
else()
# So far, only unix port supported when not crosscompiling
set(FREERTOS_PORT GCC_POSIX CACHE STRING "")
# config library for FreeRTOS
add_library(freertos_config INTERFACE)
# The config file directory
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)
INTERFACE bsp_linux/freeRTOS)
# Compiler options, we set them on the FreeRTOS config, will trickle down from there
target_compile_options(freertos_config INTERFACE ${ROMEO_LINUX_COMPILE_OPTIONS})
# No coverage tests, no tracing
target_compile_definitions(freertos_config
INTERFACE
projCOVERAGE_TEST=0
projENABLE_TRACING=0)
# add the bsp
add_subdirectory(bsp_linux)
endif()
# Add FreeRTOS
add_subdirectory(${FreeRTOS_PATH})
# Common stuff that is not mission code, mostly code shared between bsps
add_subdirectory(common)
add_subdirectory(${MISSION_PATH})
# Mission code, in our case C glue between rust and bsp
add_subdirectory(mission)
# The actual mission code, in rust, exported as library `mission_rust`
add_subdirectory(mission_rust)
# We provide a firmware image for an interface board as part of the z7 build
# This is a second executable, excluded from `all` builds
if(${CMAKE_CROSSCOMPILING})
add_subdirectory(sim_interface)
endif()
# ##############################################################################
# Post-Sources preparation
# ##############################################################################
# Link all libraries into the binary
# bsp depends on FreeRTOS, so we do not need to link it again
target_link_libraries(${OBSW_NAME} PUBLIC bsp mission_rust )
# Add libraries for all sources.
if(${CMAKE_CROSSCOMPILING})
endif()
target_link_libraries(${TARGET_NAME} PUBLIC bsp mission_rust lwip )
# target_include_directories(
# ${TARGET_NAME} PUBLIC ${BSP_PATH})
# Common link options
target_link_options(${OBSW_NAME} PRIVATE "-Wl,--gc-sections")
# Removed unused sections.
target_link_options(${TARGET_NAME} PRIVATE "-Wl,--gc-sections")
if(CMAKE_VERBOSE)
message(STATUS "Warning flags: ${WARNING_FLAGS}")
endif()
# Compile options for all sources.
target_compile_options(${TARGET_NAME} PRIVATE ${WARNING_FLAGS})
# Common compile options
target_compile_options(${OBSW_NAME} PRIVATE ${ROMEO_WARNING_FLAGS})

View File

@ -1,3 +1,8 @@
add_library(bsp STATIC)
add_subdirectory(hardware)
target_sources(${TARGET_NAME} PRIVATE main.c)
target_sources(bsp PRIVATE main.c)
# bsp depends on FreeRTOS
target_link_libraries(bsp PUBLIC freertos_kernel)

View File

@ -1 +1 @@
target_sources(${TARGET_NAME} PRIVATE hardware.c)
target_sources(bsp PRIVATE hardware.c)

View File

@ -1,14 +1,23 @@
# export all code as a static library
add_library(bsp)
# Add code to the bsp
add_subdirectory(freeRTOS)
add_subdirectory(ps7_cortexa9_0)
add_subdirectory(lwip)
add_subdirectory(newlib)
add_subdirectory(hardware)
# this exports two libraries
# `lwip` for embedded use
# `lwip_xil` to use the ps eth
# the subdirectory contains mostly configuration code
# actual lwip is at ${LWIP_DIR}, to be set in main CMakeLists.txt
add_subdirectory(lwip)
target_sources(bsp PRIVATE main.c)
# bsp depends on FreeRTOS
target_link_libraries(bsp PUBLIC freertos_kernel)
#target_sources(${TARGET_NAME} PRIVATE testEth.c)
# export lwip as part of bsp
target_link_libraries(bsp INTERFACE lwip)

View File

@ -1,3 +1,4 @@
# LWIP_DIR should point to the lwip source, to be set in main CMakeLists.txt
include(${LWIP_DIR}/src/Filelists.cmake)

View File

@ -58,13 +58,9 @@ void initFreeRTOSHelper();
int main(void) {
/* Configure the hardware ready to run the demo. */
/* Configure the hardware ready to run. */
prvSetupHardware();
// printf("Booting Software\n");
//testEth();
mission();
}
@ -95,20 +91,12 @@ static void prvSetupHardware(void) {
configASSERT(xStatus == XST_SUCCESS);
(void)xStatus; /* Remove compiler warning if configASSERT() is not defined. */
/* Initialise the LED port. */
// vParTestInitialise();
// TODO we can alter the startup code...
/* The Xilinx projects use a BSP that do not allow the start up code to be
altered easily. Therefore the vector table used by FreeRTOS is defined in
FreeRTOS_asm_vectors.S, which is part of this project. Switch to use the
FreeRTOS vector table. */
vPortInstallFreeRTOSVectorTable();
/* Initialise UART for use with QEMU. */
// XUartPs_ResetHw(0xE0000000);
// XUartPs_WriteReg(0xE0000000, XUARTPS_CR_OFFSET,
// ((u32)XUARTPS_CR_RX_DIS | (u32)XUARTPS_CR_TX_EN |
// (u32)XUARTPS_CR_STOPBRK));
}
/*-----------------------------------------------------------*/

View File

@ -0,0 +1,6 @@
// TODO
int close(int _) {
(void)_;
return -1;
}

View File

@ -1,230 +0,0 @@
#include "FreeRTOS.h"
#include "lwip/init.h"
#include "lwip/sio.h"
#include "lwip/timeouts.h"
#include "lwip/udp.h"
#include "queue.h"
#include "task.h"
#include <lwip/ip_addr.h>
#include <lwip/netif.h>
#include <netif/slipif.h>
#include <xscugic.h>
#include <xuartps.h>
#undef XUARTPS_IXR_RXOVR
#define XUARTPS_IXR_RXOVR 0x00000020U /**< Rx Overrun error interrupt */
#define XUARTPS_IXR_RTRIG 0x00000001U /**< RX FIFO trigger interrupt. */
// #include <lwip/apps/tftp_server.h>
// void slipif_rxbyte_input(struct netif *netif, u8_t c);
// uint8_t packets = 0;
// static void *tftp_open(const char *fname, const char *mode, u8_t is_write) {
// LWIP_UNUSED_ARG(mode);
// packets = 100;
// return (void *)13;
// }
// static void tftp_close(void *handle) {}
// static int tftp_read(void *handle, void *buf, int bytes) {
// memset(buf, 'x', bytes);
// if (packets == 0) {
// return 0;
// } else {
// packets--;
// return bytes;
// }
// }
// static int tftp_write(void *handle, struct pbuf *p) { return 0; }
// /* For TFTP client only */
// static void tftp_error(void *handle, int err, const char *msg, int size) {}
// static const struct tftp_context tftp = {tftp_open, tftp_close, tftp_read,
// tftp_write, tftp_error};
struct netif netif;
QueueHandle_t uartIsrQueue;
extern XScuGic xInterruptController; /* Interrupt controller instance */
/** this is based on XUartPs_InterruptHandler() in xuartps_intr.c*/
void handleUARTInt(void *) {
u32 IsrStatus;
/*
* Read the interrupt ID register to determine which
* interrupt is active
*/
IsrStatus = XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_IMR_OFFSET);
IsrStatus &= XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_ISR_OFFSET);
// Onlx RX intterupts are enabled
// We do not care which interrupt actually triggered, just get all bytes
// available into the stack
uint8_t RecievedByte;
BaseType_t xHigherPriorityTaskWoken;
while (XUartPs_IsReceiveData(STDIN_BASEADDRESS)) {
RecievedByte = XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_FIFO_OFFSET);
xQueueSendToBackFromISR(uartIsrQueue, &RecievedByte,
&xHigherPriorityTaskWoken);
}
/* Clear the interrupt status. */
XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_ISR_OFFSET, IsrStatus);
/* directly yield if sending to the queue woke something in ourselves */
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
static struct udp_pcb *udpecho_raw_pcb;
static void
udpecho_raw_recv(void *arg, struct udp_pcb *upcb, struct pbuf *p,
const ip_addr_t *addr, u16_t port)
{
LWIP_UNUSED_ARG(arg);
if (p != NULL) {
/* send received packet back to sender */
udp_sendto(upcb, p, addr, port);
/* free the pbuf */
pbuf_free(p);
}
}
uint8_t data[] = {'1','2','3','4','5'};
void lwip_main(void *) {
struct pbuf* tx = pbuf_alloc_reference(data, sizeof(data), PBUF_REF);
ip_addr_t addr = IPADDR4_INIT_BYTES(10,0,0,13);
udp_sendto(udpecho_raw_pcb, tx, &addr, 1177);
pbuf_free(tx);
while (1) {
// slipif_rxbyte_input() is private, so we use slipif_poll and implement
// sio_tryread()
// sio_tryread() will do a blocking read with a timeout, so we get to check
// the timeouts even if no data is incoming
slipif_poll(&netif);
sys_check_timeouts();
}
}
// TODO define sio_fd_t to an int
uint32_t sio_data;
sio_fd_t sio_open(u8_t devnum) { return &sio_data; }
void sio_send(u8_t c, sio_fd_t fd) { XUartPs_SendByte(STDOUT_BASEADDRESS, c); }
u32_t sio_tryread(sio_fd_t fd, u8_t *data, u32_t len) {
if (len < 1) {
return 0;
}
BaseType_t result;
//need a timeout because lwip task needs to do background work
result = xQueueReceive(uartIsrQueue, data, pdMS_TO_TICKS(250));
if (result == pdTRUE) {
return 1;
} else {
return 0;
}
}
#ifdef LWIP_DEBUG
const char *lwip_strerr(err_t err) { return "Dafuq i know? I am a NOSYS"; }
#endif
u32_t sys_now(void) { return xTaskGetTickCount() * portTICK_PERIOD_MS; }
static StaticQueue_t xStaticQueue;
static const uint16_t QUEUE_LENGTH = 512;
uint8_t ucQueueStorageArea[512 * 1];
static const uint16_t stackSizeWords = 512;
StaticTask_t xTaskBuffer;
StackType_t xStack[512];
void testIp() {
uartIsrQueue =
xQueueCreateStatic(QUEUE_LENGTH, 1, ucQueueStorageArea, &xStaticQueue);
lwip_init();
ip4_addr_t slip_addr = {PP_HTONL(LWIP_MAKEU32(10, 0, 0, 32))},
slip_mask = {PP_HTONL(LWIP_MAKEU32(255, 255, 255, 0))},
slip_gw = {PP_HTONL(LWIP_MAKEU32(10, 0, 0, 1))};
netif_add(&netif, &slip_addr, &slip_mask, &slip_gw, NULL, slipif_init,
netif_input);
netif_set_default(&netif);
// should be done by driver, which does not do it, so we do it here
netif_set_link_up(&netif);
netif_set_up(&netif);
udpecho_raw_pcb = udp_new_ip_type(IPADDR_TYPE_ANY);
if (udpecho_raw_pcb != NULL) {
err_t err;
err = udp_bind(udpecho_raw_pcb, IP_ANY_TYPE, 7);
if (err == ERR_OK) {
udp_recv(udpecho_raw_pcb, udpecho_raw_recv, NULL);
} else {
/* TODO */
}
} else {
/* TODO */
}
/* Install the UART Interrupt handler. */
BaseType_t xStatus =
XScuGic_Connect(&xInterruptController, STDIN_INT_NR,
(Xil_ExceptionHandler)handleUARTInt, NULL);
configASSERT(xStatus == XST_SUCCESS);
(void)xStatus; /* Remove compiler warning if configASSERT() is not defined. */
// Set trigger level to 62 of 64 bytes, giving interrupt some time to react
XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_RXWM_OFFSET, 62);
// Setting the rx timeout to n*4 -1 bits
XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_RXTOUT_OFFSET, 50);
// enable UART Interrupts
u32 mask = XUARTPS_IXR_RTRIG | XUARTPS_IXR_RXOVR | XUARTPS_IXR_RXFULL |
XUARTPS_IXR_TOUT;
/* Write the mask to the IER Register */
XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_IER_OFFSET, mask);
/* Write the inverse of the Mask to the IDR register */
XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_IDR_OFFSET, (~mask));
/* Enable the interrupt for the UART1 in the interrupt controller. */
XScuGic_Enable(&xInterruptController, STDIN_INT_NR);
// Start lwip task
xTaskCreateStatic(
lwip_main, /* The function that implements the task. */
"lwip", /* The text name assigned to the task - for debug
only as it is not used by the kernel. */
stackSizeWords, /* The size of the stack to allocate to the task. */
NULL, /* The parameter passed to the task - not used in this
simple case. */
4, /* The priority assigned to the task. */
xStack, &xTaskBuffer);
}

View File

@ -1,3 +1,6 @@
################################################
# Mission code in C
# adds directly to the OBSW target
################################################
target_sources(${TARGET_NAME} PRIVATE mission.c freeRTOS_rust_helper.c)
target_sources(${OBSW_NAME} PRIVATE mission.c freeRTOS_rust_helper.c)

View File

@ -43,7 +43,8 @@ void test_hardware() {
// to be implemented by bsp (do not return from it!)
void done();
void init_task(void *) {
void init_task(void * _) {
(void )_;
// printf("Starting Mission\n");
test_hardware();
@ -63,9 +64,9 @@ void mission(void) {
int taskParameters = 0;
static const size_t stackSizeWords = 102400;
StaticTask_t xTaskBuffer;
StackType_t xStack[stackSizeWords];
// 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

View File

@ -1,3 +1,10 @@
################################################
# Mission code in rust
# exports code as static library `mission_rust`
################################################
#TODO can we get CMake to configure cmake --build --clean to run cargo clean?
#TODO look into corrosion cmake plugin

View File

@ -1,7 +1,7 @@
add_executable(sim_interface EXCLUDE_FROM_ALL mission.c testEth.c)
target_link_options(sim_interface 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 )
target_link_options(sim_interface PRIVATE ${ROMEO_Z7_LINK_OPTIONS} )
target_link_libraries(sim_interface PRIVATE lwip_xil bsp freertos_kernel)
target_link_libraries(sim_interface PRIVATE lwip_xil bsp)
target_link_options(sim_interface PRIVATE "-Wl,--gc-sections")