forked from ROMEO/obsw
further cleanup
This commit is contained in:
120
CMakeLists.txt
120
CMakeLists.txt
@ -3,25 +3,21 @@ cmake_minimum_required(VERSION 3.13)
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# Project Name
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project(romeo-obsw C ASM)
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# ##############################################################################
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# Pre-Sources preparation
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# ##############################################################################
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# Set names and variables
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set(TARGET_NAME ${CMAKE_PROJECT_NAME})
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# Set path names
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set(OBSW_NAME romeo-obsw)
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set(FreeRTOS_PATH FreeRTOS-Kernel/)
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set(MISSION_PATH mission/)
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# Compiler Options
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set(ROMEO_Z7_COMPILE_OPTIONS -c -fmessage-length=0 -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -ffunction-sections -fdata-sections)
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set(ROMEO_LINUX_COMPILE_OPTIONS -c -fmessage-length=0 -g -O0 -ffunction-sections -fdata-sections)
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set(ROMEO_Z7_LINK_OPTIONS -Wl,--cref -Wl,-Map=${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 )
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set(ROMEO_WARNING_FLAGS
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-Wall
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-Wextra
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-Wpedantic
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-Werror)
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# ##############################################################################
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# Configuration
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# ##############################################################################
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# CMake options which are only available when crosscompiling
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if (${CMAKE_CROSSCOMPILING})
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set(ZYNQ_UART UART1 CACHE STRING "Which PS UART to use for stdout")
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set_property(CACHE ZYNQ_UART PROPERTY STRINGS UART0 UART1)
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@ -34,85 +30,95 @@ else()
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unset(ZYNQ_UART CACHE)
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endif()
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# ##############################################################################
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# Executable and Sources
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# ##############################################################################
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# Add main executable
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add_executable(${OBSW_NAME})
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# Add executable
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add_executable(${TARGET_NAME})
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# lwip
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# export lwip path, so the bsp can find it
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if(${CMAKE_CROSSCOMPILING})
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set (LWIP_DIR ${CMAKE_CURRENT_SOURCE_DIR}/contrib/lwip)
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endif()
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# Add freeRTOS
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# Platform dependend configuration
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# Includes setting the FreeRTOS port, compiler options and
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# selecting the bsp
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if(${CMAKE_CROSSCOMPILING})
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#TODO: this somewhat hardcodes zynq as the only cross target
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set(FREERTOS_PORT GCC_ARM_CA9 CACHE STRING "")
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set(FREERTOS_HEAP 1 CACHE STRING "")
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# config library for FreeRTOS
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add_library(freertos_config INTERFACE)
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# The config file directory
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target_include_directories(freertos_config SYSTEM
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INTERFACE bsp_z7/freeRTOS) # The config file directory
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INTERFACE bsp_z7/freeRTOS)
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# no coverage tests
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target_compile_definitions(freertos_config
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INTERFACE
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projCOVERAGE_TEST=0)
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# FreeRTOS config depends on bsp headers
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target_include_directories(
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freertos_config INTERFACE bsp_z7/ps7_cortexa9_0/include)
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if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL armv7a-none-eabihf)
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# our compiler options, will trickle down through the project
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target_compile_options(freertos_config INTERFACE -c -fmessage-length=0 -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -ffunction-sections -fdata-sections)
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else()
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message(FATAL_ERROR "invalid architecture ${CMAKE_SYSTEM_PROCESSOR}")
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endif()
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# Compiler options, we set them on the FreeRTOS config, will trickle down from there
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target_compile_options(freertos_config INTERFACE ${ROMEO_Z7_COMPILE_OPTIONS})
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# add the bsp
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add_subdirectory(bsp_z7)
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target_link_options(${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=${CMAKE_SOURCE_DIR}/bsp_z7/freeRTOS/Xilinx.spec )
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# Link options for cross build
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target_link_options(${OBSW_NAME} PRIVATE ${ROMEO_Z7_LINK_OPTIONS})
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else()
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# So far, only unix port supported when not crosscompiling
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set(FREERTOS_PORT GCC_POSIX CACHE STRING "")
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# config library for FreeRTOS
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add_library(freertos_config INTERFACE)
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# The config file directory
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target_include_directories(freertos_config SYSTEM
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INTERFACE bsp_linux/freeRTOS) # The config file directory
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target_compile_options(freertos_config INTERFACE -c -fmessage-length=0 -g -O0 -ffunction-sections -fdata-sections)
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INTERFACE bsp_linux/freeRTOS)
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# Compiler options, we set them on the FreeRTOS config, will trickle down from there
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target_compile_options(freertos_config INTERFACE ${ROMEO_LINUX_COMPILE_OPTIONS})
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# No coverage tests, no tracing
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target_compile_definitions(freertos_config
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INTERFACE
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projCOVERAGE_TEST=0
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projENABLE_TRACING=0)
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# add the bsp
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add_subdirectory(bsp_linux)
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endif()
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# Add FreeRTOS
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add_subdirectory(${FreeRTOS_PATH})
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# Common stuff that is not mission code, mostly code shared between bsps
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add_subdirectory(common)
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add_subdirectory(${MISSION_PATH})
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# Mission code, in our case C glue between rust and bsp
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add_subdirectory(mission)
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# The actual mission code, in rust, exported as library `mission_rust`
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add_subdirectory(mission_rust)
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# We provide a firmware image for an interface board as part of the z7 build
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# This is a second executable, excluded from `all` builds
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if(${CMAKE_CROSSCOMPILING})
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add_subdirectory(sim_interface)
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endif()
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# ##############################################################################
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# Post-Sources preparation
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# ##############################################################################
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# Link all libraries into the binary
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# bsp depends on FreeRTOS, so we do not need to link it again
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target_link_libraries(${OBSW_NAME} PUBLIC bsp mission_rust )
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# Add libraries for all sources.
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if(${CMAKE_CROSSCOMPILING})
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endif()
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target_link_libraries(${TARGET_NAME} PUBLIC bsp mission_rust lwip )
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# target_include_directories(
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# ${TARGET_NAME} PUBLIC ${BSP_PATH})
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# Common link options
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target_link_options(${OBSW_NAME} PRIVATE "-Wl,--gc-sections")
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# Removed unused sections.
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target_link_options(${TARGET_NAME} PRIVATE "-Wl,--gc-sections")
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if(CMAKE_VERBOSE)
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message(STATUS "Warning flags: ${WARNING_FLAGS}")
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endif()
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# Compile options for all sources.
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target_compile_options(${TARGET_NAME} PRIVATE ${WARNING_FLAGS})
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# Common compile options
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target_compile_options(${OBSW_NAME} PRIVATE ${ROMEO_WARNING_FLAGS})
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@ -1,3 +1,8 @@
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add_library(bsp STATIC)
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add_subdirectory(hardware)
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target_sources(${TARGET_NAME} PRIVATE main.c)
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target_sources(bsp PRIVATE main.c)
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# bsp depends on FreeRTOS
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target_link_libraries(bsp PUBLIC freertos_kernel)
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@ -1 +1 @@
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target_sources(${TARGET_NAME} PRIVATE hardware.c)
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target_sources(bsp PRIVATE hardware.c)
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@ -1,14 +1,23 @@
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# export all code as a static library
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add_library(bsp)
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# Add code to the bsp
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add_subdirectory(freeRTOS)
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add_subdirectory(ps7_cortexa9_0)
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add_subdirectory(lwip)
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add_subdirectory(newlib)
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add_subdirectory(hardware)
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# this exports two libraries
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# `lwip` for embedded use
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# `lwip_xil` to use the ps eth
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# the subdirectory contains mostly configuration code
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# actual lwip is at ${LWIP_DIR}, to be set in main CMakeLists.txt
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add_subdirectory(lwip)
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target_sources(bsp PRIVATE main.c)
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# bsp depends on FreeRTOS
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target_link_libraries(bsp PUBLIC freertos_kernel)
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#target_sources(${TARGET_NAME} PRIVATE testEth.c)
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# export lwip as part of bsp
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target_link_libraries(bsp INTERFACE lwip)
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@ -1,3 +1,4 @@
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# LWIP_DIR should point to the lwip source, to be set in main CMakeLists.txt
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include(${LWIP_DIR}/src/Filelists.cmake)
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@ -58,13 +58,9 @@ void initFreeRTOSHelper();
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int main(void) {
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/* Configure the hardware ready to run the demo. */
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/* Configure the hardware ready to run. */
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prvSetupHardware();
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// printf("Booting Software\n");
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//testEth();
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mission();
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}
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@ -95,20 +91,12 @@ static void prvSetupHardware(void) {
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configASSERT(xStatus == XST_SUCCESS);
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(void)xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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/* Initialise the LED port. */
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// vParTestInitialise();
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// TODO we can alter the startup code...
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/* The Xilinx projects use a BSP that do not allow the start up code to be
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altered easily. Therefore the vector table used by FreeRTOS is defined in
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FreeRTOS_asm_vectors.S, which is part of this project. Switch to use the
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FreeRTOS vector table. */
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vPortInstallFreeRTOSVectorTable();
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/* Initialise UART for use with QEMU. */
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// XUartPs_ResetHw(0xE0000000);
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// XUartPs_WriteReg(0xE0000000, XUARTPS_CR_OFFSET,
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// ((u32)XUARTPS_CR_RX_DIS | (u32)XUARTPS_CR_TX_EN |
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// (u32)XUARTPS_CR_STOPBRK));
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}
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/*-----------------------------------------------------------*/
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@ -0,0 +1,6 @@
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// TODO
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int close(int _) {
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(void)_;
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return -1;
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}
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230
bsp_z7/testIp.c
230
bsp_z7/testIp.c
@ -1,230 +0,0 @@
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#include "FreeRTOS.h"
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#include "lwip/init.h"
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#include "lwip/sio.h"
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#include "lwip/timeouts.h"
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#include "lwip/udp.h"
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#include "queue.h"
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#include "task.h"
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#include <lwip/ip_addr.h>
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#include <lwip/netif.h>
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#include <netif/slipif.h>
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#include <xscugic.h>
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#include <xuartps.h>
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#undef XUARTPS_IXR_RXOVR
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#define XUARTPS_IXR_RXOVR 0x00000020U /**< Rx Overrun error interrupt */
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#define XUARTPS_IXR_RTRIG 0x00000001U /**< RX FIFO trigger interrupt. */
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// #include <lwip/apps/tftp_server.h>
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// void slipif_rxbyte_input(struct netif *netif, u8_t c);
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// uint8_t packets = 0;
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// static void *tftp_open(const char *fname, const char *mode, u8_t is_write) {
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// LWIP_UNUSED_ARG(mode);
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// packets = 100;
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// return (void *)13;
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// }
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// static void tftp_close(void *handle) {}
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// static int tftp_read(void *handle, void *buf, int bytes) {
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// memset(buf, 'x', bytes);
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// if (packets == 0) {
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// return 0;
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// } else {
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// packets--;
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// return bytes;
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// }
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// }
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// static int tftp_write(void *handle, struct pbuf *p) { return 0; }
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// /* For TFTP client only */
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// static void tftp_error(void *handle, int err, const char *msg, int size) {}
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// static const struct tftp_context tftp = {tftp_open, tftp_close, tftp_read,
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// tftp_write, tftp_error};
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struct netif netif;
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QueueHandle_t uartIsrQueue;
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extern XScuGic xInterruptController; /* Interrupt controller instance */
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/** this is based on XUartPs_InterruptHandler() in xuartps_intr.c*/
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void handleUARTInt(void *) {
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u32 IsrStatus;
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/*
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* Read the interrupt ID register to determine which
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* interrupt is active
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*/
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IsrStatus = XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_IMR_OFFSET);
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IsrStatus &= XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_ISR_OFFSET);
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// Onlx RX intterupts are enabled
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// We do not care which interrupt actually triggered, just get all bytes
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// available into the stack
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uint8_t RecievedByte;
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BaseType_t xHigherPriorityTaskWoken;
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while (XUartPs_IsReceiveData(STDIN_BASEADDRESS)) {
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RecievedByte = XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_FIFO_OFFSET);
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xQueueSendToBackFromISR(uartIsrQueue, &RecievedByte,
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&xHigherPriorityTaskWoken);
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}
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/* Clear the interrupt status. */
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XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_ISR_OFFSET, IsrStatus);
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/* directly yield if sending to the queue woke something in ourselves */
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portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
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}
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static struct udp_pcb *udpecho_raw_pcb;
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static void
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udpecho_raw_recv(void *arg, struct udp_pcb *upcb, struct pbuf *p,
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const ip_addr_t *addr, u16_t port)
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{
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LWIP_UNUSED_ARG(arg);
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if (p != NULL) {
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/* send received packet back to sender */
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udp_sendto(upcb, p, addr, port);
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/* free the pbuf */
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pbuf_free(p);
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}
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}
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uint8_t data[] = {'1','2','3','4','5'};
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void lwip_main(void *) {
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struct pbuf* tx = pbuf_alloc_reference(data, sizeof(data), PBUF_REF);
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ip_addr_t addr = IPADDR4_INIT_BYTES(10,0,0,13);
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udp_sendto(udpecho_raw_pcb, tx, &addr, 1177);
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pbuf_free(tx);
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while (1) {
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// slipif_rxbyte_input() is private, so we use slipif_poll and implement
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// sio_tryread()
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// sio_tryread() will do a blocking read with a timeout, so we get to check
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// the timeouts even if no data is incoming
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slipif_poll(&netif);
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sys_check_timeouts();
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}
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}
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// TODO define sio_fd_t to an int
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uint32_t sio_data;
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sio_fd_t sio_open(u8_t devnum) { return &sio_data; }
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void sio_send(u8_t c, sio_fd_t fd) { XUartPs_SendByte(STDOUT_BASEADDRESS, c); }
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u32_t sio_tryread(sio_fd_t fd, u8_t *data, u32_t len) {
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if (len < 1) {
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return 0;
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}
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BaseType_t result;
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//need a timeout because lwip task needs to do background work
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result = xQueueReceive(uartIsrQueue, data, pdMS_TO_TICKS(250));
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if (result == pdTRUE) {
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return 1;
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} else {
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return 0;
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}
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}
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#ifdef LWIP_DEBUG
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const char *lwip_strerr(err_t err) { return "Dafuq i know? I am a NOSYS"; }
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#endif
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u32_t sys_now(void) { return xTaskGetTickCount() * portTICK_PERIOD_MS; }
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static StaticQueue_t xStaticQueue;
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static const uint16_t QUEUE_LENGTH = 512;
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uint8_t ucQueueStorageArea[512 * 1];
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static const uint16_t stackSizeWords = 512;
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StaticTask_t xTaskBuffer;
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StackType_t xStack[512];
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void testIp() {
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uartIsrQueue =
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xQueueCreateStatic(QUEUE_LENGTH, 1, ucQueueStorageArea, &xStaticQueue);
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lwip_init();
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ip4_addr_t slip_addr = {PP_HTONL(LWIP_MAKEU32(10, 0, 0, 32))},
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slip_mask = {PP_HTONL(LWIP_MAKEU32(255, 255, 255, 0))},
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slip_gw = {PP_HTONL(LWIP_MAKEU32(10, 0, 0, 1))};
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netif_add(&netif, &slip_addr, &slip_mask, &slip_gw, NULL, slipif_init,
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netif_input);
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netif_set_default(&netif);
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// should be done by driver, which does not do it, so we do it here
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netif_set_link_up(&netif);
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netif_set_up(&netif);
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udpecho_raw_pcb = udp_new_ip_type(IPADDR_TYPE_ANY);
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if (udpecho_raw_pcb != NULL) {
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err_t err;
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err = udp_bind(udpecho_raw_pcb, IP_ANY_TYPE, 7);
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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);
|
||||
}
|
||||
@ -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(${OBSW_NAME} PRIVATE mission.c freeRTOS_rust_helper.c)
|
||||
@ -43,7 +43,8 @@ void test_hardware() {
|
||||
// to be implemented by bsp (do not return from it!)
|
||||
void done();
|
||||
|
||||
void init_task(void *) {
|
||||
void init_task(void * _) {
|
||||
(void )_;
|
||||
// printf("Starting Mission\n");
|
||||
|
||||
test_hardware();
|
||||
@ -63,9 +64,9 @@ void mission(void) {
|
||||
|
||||
int taskParameters = 0;
|
||||
|
||||
static const size_t stackSizeWords = 102400;
|
||||
StaticTask_t xTaskBuffer;
|
||||
StackType_t xStack[stackSizeWords];
|
||||
// static const size_t stackSizeWords = 102400;
|
||||
// StaticTask_t xTaskBuffer;
|
||||
// StackType_t xStack[stackSizeWords];
|
||||
|
||||
xTaskCreate(init_task, /* The function that implements the task. */
|
||||
"init", /* The text name assigned to the task - for debug only as
|
||||
|
||||
@ -1,3 +1,10 @@
|
||||
################################################
|
||||
# Mission code in rust
|
||||
# exports code as static library `mission_rust`
|
||||
################################################
|
||||
|
||||
|
||||
|
||||
#TODO can we get CMake to configure cmake --build --clean to run cargo clean?
|
||||
#TODO look into corrosion cmake plugin
|
||||
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
add_executable(sim_interface EXCLUDE_FROM_ALL mission.c testEth.c)
|
||||
|
||||
target_link_options(sim_interface PRIVATE -Wl,--cref -Wl,-Map=${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")
|
||||
Reference in New Issue
Block a user