tags: F' FS Flight software

F' FreeRTOS Port

• F' FreeRTOS Port
  • FreeRTOS CMake implementation
  • CMake call tree
  • Custom variables and definitions
  • Files added
    • platform/FreeRTOSSim.cmake
    • Fw/Types/FreeRTOSSim/StandardTypes.hpp
    • OS/FreeRTOSSim/
  • Files modified
    • OS/CMakeLists.txt
    • OS/Queue.hpp
    • Os/TaskIdRepr.hpp
    • Drv/SocketIpDriver/SocketIpDriverComponentImpl.hpp
    • Drv/SocketIpDriver/SocketHelper.cpp
  • Tests
  • FreeRTOSConfig.h
    • Hook functions
    • Static allocation

FreeRTOS CMake implementation

The first step is to adapt FreeRTOS compilation with CMake instead of Make in order to include it into F' CMake compilation process.

🡒 See Freertos-CMake repository

CMake call tree

App/CMakeLists.txt 🡒 Entry point, custom app topology
├ Fprime.cmake
│  ├ Options.cmake 
│  ├ platform/CmakeLists.txt 🡒 Set `PLATFORM` if not defined (Linux or arm-linux-gnueabihf)
│  │   └[PLATFORM].cmake
│  ├ Validation.cmake
│  ├ Executable.cmake
│  │  └ Module.cmake 
│  │     ├ Utils.cmake 🡒 get_nearest_build_root(), get_module_name(), ...
│  │     └ AC_Utils.cmake 🡒 acwrap()
│  ├ src/CMakeLists.txt 🡒 empty.c
│  ├ parser/CmakeLists.txt 🡒 Add parsers as build system dependencies
│  ├ (Module.cmake) (Utils.cmake) 🡒 Called again ?
│  ├ Unit_Test.cmake 🡒 Unit test functions
│  ├ Target.cmake 🡒 Function for F' targets addition
│  ├ API-cmake 🡒 API of the F' CMake system
│  └ register_fprime_target
│     ├ dict.cmake 🡒 dictgen(), add_global_target()
│     ├ testimpl.cmake 🡒 dictgen(), add_global_target()
│     ├ package_gen.cmake 🡒 dictgen(), add_global_target()
│     ├ coverage.cmake 🡒dictgen(), add_global_target()
│     └ include lib 🡒 dictgen(), add_global_target()
└ FPrime_code.cmake 🡒 Include Autocoder, Fw, OS, Svc, Drv, CFDP, Utils

Custom variables and definitions

• PLATFORM CMake variable
  Used in CMakeFiles for platform specific inclusions. Set in Options.cmake

set(PLATFORM FreeRTOSSim)

• TGT_OS_TYPE_FREERTOS_SIM compiler definition
  Used in code for platform specific implementation. Defined in FreeRTOSSim.cmake

add_definitions(-DTGT_OS_TYPE_FREERTOS_SIM)

• [unused] CMAKE_TOOLCHAIN_FILE CMake variable
  Used in CMakeFiles to link RISC-V toolchain. Set in Options.cmake

# set(CMAKE_TOOLCHAIN_FILE /path/to/risc-v/cmake/toolchain) 

Files added

platform/FreeRTOSSim.cmake

Custom CMake platform file for FreeRTOS inclusions.

Called by platform/CMakeLists.txt depending on PLATFORM CMake variable

Fw/Types/FreeRTOSSim/StandardTypes.hpp

Custom types definition, in our case include stdint.h. Called in platform/FreeRTOSSim.cmake

OS/FreeRTOSSim/

OSAL implementation with FreeRTOS

• assert.c
• File.cpp - Not implemented
• FileSystem.cpp - Not implemented
• InterruptLock.cpp
• IntervalTimer.cpp
• Mutex.cpp
• Queue.cpp
• Task.cpp
• WatchdogTimer.cpp
• FreeRTOSConfig.h - FreeRTOS project config file, see here

Files modified

OS/CMakeLists.txt

Import FreeRTOS OSAL sources

# FreeRTOS OSAL implementation
if(${PLATFORM} STREQUAL "FreeRTOSSim")
  list(APPEND SOURCE_FILES
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/assert.c"
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/File.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/FileSystem.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/InterruptLock.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/IntervalTimer.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/Mutex.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/Queue.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/Task.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/TaskId.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/FreeRTOSSim/WatchdogTimer.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/LogPrintf.cpp"
  )
elseif(FPRIME_USE_POSIX)  # Posix systems typically share these
  [...]

Avoid including Linux IPC and Lockless queue implementation

# Darwin IPC queue implementation
if(${CMAKE_SYSTEM_NAME} STREQUAL "Darwin")
  list(APPEND SOURCE_FILES
    "${CMAKE_CURRENT_LIST_DIR}/MacOs/IPCQueueStub.cpp"
  )
elseif(${PLATFORM} STREQUAL "FreeRTOSSim")  # avoid next condition entry
  message("FreeRTOSSim Queue implementation")
  # FreeRTOS Queue implementation include above
# Linux IPC queues implementation
elseif (${CMAKE_SYSTEM_NAME} STREQUAL "Linux" OR ${CMAKE_SYSTEM_NAME} STREQUAL "arm-linux-gnueabihf")
  list(APPEND SOURCE_FILES
    "${CMAKE_CURRENT_LIST_DIR}/Posix/IPCQueue.cpp"
    "${CMAKE_CURRENT_LIST_DIR}/Posix/LocklessQueue.cpp"
  )
  # Shared libraries need an -rt dependency for mq libs
  if (BUILD_SHARED_LIBS)
      list(APPEND MOD_DEPS "-lrt")
  endif()
endif()

Link FreeRTOS library

# After register_fprime_module() 
if(${PLATFORM} STREQUAL "FreeRTOSSim")
  # Has to be done after register_fprime_module()
  find_library(freertos "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
  target_link_libraries(Os freertos)  # Add [ 16%] Built target freertos
endif()

OS/Queue.hpp

Add class attributes needed in FreeRTOS OSAL Queue.cpp implementation

#if TGT_OS_TYPE_FREERTOS_SIM
            NATIVE_INT_TYPE depth; //!< queue name
            NATIVE_INT_TYPE msgSize; //!< message size
            U8 *msg_buffer; //!< message buffer
#endif

Os/TaskIdRepr.hpp

Define a type for the storage of task IDs

#if defined(TGT_OS_TYPE_VXWORKS) || defined(TGT_OS_TYPE_FREERTOS_SIM)
    typedef int TaskIdRepr;

Drv/SocketIpDriver/SocketIpDriverComponentImpl.hpp

Use Linux implementation for IP layer

#elif defined TGT_OS_TYPE_LINUX || TGT_OS_TYPE_DARWIN || TGT_OS_TYPE_FREERTOS_SIM
    #include <arpa/inet.h>

Drv/SocketIpDriver/SocketHelper.cpp

Use Linux implementation for IP Socket Communications

#elif defined TGT_OS_TYPE_LINUX || TGT_OS_TYPE_DARWIN || TGT_OS_TYPE_FREERTOS_SIM
    #include <sys/socket.h>
    #include <netdb.h>
    #include <unistd.h>
    #include <errno.h>
    #include <arpa/inet.h>

Tests

Adapt Os/test/ut/OSQueueTest.cpp and OS/test/ut/TestMain.cpp

FreeRTOSConfig.h

See FreeRTOS customisation

Hook functions

See Hook functions

If define is set to 1, hook function will be called by FreeRTOS and must be provided by the application

define	Hook function	Goal
configUSE_IDLE_HOOK	vApplicationIdleHook()	Called on each iteration of the idle task
configUSE_TICK_HOOK	vApplicationTickHook()	Called by each tick interrupt
configUSE_DAEMON_TASK_STARTUP_HOOK	vApplicationDaemonTaskStartupHook()	Called as soon as the Daemon Task starts executing for the first time
configUSE_MALLOC_FAILED_HOOK	vApplicationMallocFailedHook()	Called if a call to pvPortMalloc() fails
configCHECK_FOR_STACK_OVERFLOW	vApplicationStackOverflowHook	Called on stack overflow

Static allocation

If define is set to 1, application must provide specific functions

Options	Functions to provide	Goal
configSUPPORT_STATIC_ALLOCATION	vApplicationGetIdleTaskMemory()	Provide the memory that is used by the Idle task
configUSE_TIMERS (with configUSE_STATIC_ALLOCATION == 1)	vApplicationGetTimerTaskMemory()	Provide the memory that is used by the Timer service task