Merge pull request #25 from fprime-community/update/v3.5.0

Updates Baremetal to v3.5.0

.gitignore

@@ -1,6 +1,16 @@
-.vscode
-.idea
-venv
-**/logs
-**/build-artifacts
-**/build-fprime-*
+# fprime items
+logs/
+cmake-build-*
+build-artifacts/
+build-fprime-*
+*-template
+*.template.cpp
+*.template.hpp
+
+# Misc
+/venv/
+/fprime-venv/
+/.idea/
+/.vscode/
+.DS_Store
+*.gcov

.gitmodules

@@ -1,12 +1,12 @@
 [submodule "fprime"]
-	path = fprime
+	path = lib/fprime
 	url = https://github.com/nasa/fprime.git
 	branch = devel
 [submodule "lib/arduino/RadioHead"]
 	path = lib/arduino/RadioHead
 	url = https://github.com/PaulStoffregen/RadioHead.git
 [submodule "lib/arduino/fprime-arduino"]
-	path = lib/arduino/fprime-arduino
+	path = lib/fprime-arduino
 	url = https://github.com/fprime-community/fprime-arduino.git
 	branch = devel
 [submodule "lib/fprime-baremetal"]

BaremetalReference/Main.cpp

@@ -7,34 +7,23 @@
 #include <BaremetalReference/Top/BaremetalReferenceTopologyAc.hpp>
 #include <BaremetalReference/Top/BaremetalReferenceTopology.hpp>
 // Used for Task Runner
-#include <Os/Baremetal/TaskRunner/TaskRunner.hpp>
+#include <fprime-baremetal/Os/TaskRunner/TaskRunner.hpp>
 
 // Used for logging
-#include <Os/Log.hpp>
-#include <Arduino/Os/StreamLog.hpp>
-
-// Instantiate a system logger that will handle Fw::Logger::logMsg calls
-Os::Log logger;
-
-// Task Runner
-Os::TaskRunner taskrunner;
+#include <Fw/Logger/Logger.hpp>
+#include <Arduino/Os/Console.hpp>
 
 /**
- * \brief execute the program
- *
- * This F´ program is designed to run in standard environments (e.g. Linux/macOs running on a laptop). Thus it uses
- * command line inputs to specify how to connect.
- *
- * @return: 0 on success, something else on failure
+ * \brief setup the program
  */
 void setup()
 {
     // Setup Serial
-    Serial.begin(115200); //Uart Comm
-    Serial1.begin(115200); //logging
-    Os::setArduinoStreamLogHandler(&Serial1);
+    Serial.begin(115200); //Uart Comm and logging
+    static_cast<Os::Arduino::StreamConsoleHandle*>(Os::Console::getSingleton().getHandle())->setStreamHandler(Serial);
+
     delay(1000);
-    Fw::Logger::logMsg("Program Started\n");
+    Fw::Logger::log("Program Started\n");
 
     // Object for communicating state to the reference topology
     BaremetalReference::TopologyState inputs;
@@ -43,13 +32,11 @@ void setup()
 
     // Setup, cycle, and teardown topology
     BaremetalReference::setupTopology(inputs);
-    // BaremetalReference::teardownTopology(inputs);
 }
 
-void loop()
-{
+void loop() {
 #ifdef USE_BASIC_TIMER
     rateDriver.cycle();
 #endif
-    taskrunner.run();
+    Os::Baremetal::TaskRunner::getSingleton().run();
 }

BaremetalReference/Top/BaremetalReferenceTopology.cpp

@@ -5,9 +5,9 @@
 // ======================================================================
 // Provides access to autocoded functions
 #include <BaremetalReference/Top/BaremetalReferenceTopologyAc.hpp>
-#include <BaremetalReference/Top/BaremetalReferencePacketsAc.hpp>
 #include <config/FppConstantsAc.hpp>
-
+#include "Fw/Logger/Logger.hpp"
+#include "FprimeArduino.hpp"
 // Necessary project-specified types
 #include <Fw/Types/MallocAllocator.hpp>
 #include <Svc/FramingProtocol/FprimeProtocol.hpp>
@@ -96,23 +96,17 @@ void setupTopology(const TopologyState& state) {
     // loadParameters();
     // Autocoded task kick-off (active components). Function provided by autocoder.
     startTasks(state);
-
     // Configure hardware rate driver
     rateDriver.configure(1);
-
     // Configure GPIO pins
     gpioDriver.open(Arduino::DEF_LED_BUILTIN, Arduino::GpioDriver::GpioDirection::OUT);
     //gpioRadioReset.open(Radio::RFM69_RST, Arduino::GpioDriver::GpioDirection::OUT); //***Turn off for Uart Comm
-
     // Configure I2C driver
     i2cDriver.open(&Wire);
-
     // Configure IMU
     imu.setup(Sensors::IMU_MPU9250::I2cDevAddr::AD0_0);
-
     // Configure StreamDriver / UART
     comDriver.configure(&Serial); //***turn off if using radio
-
     // Start hardware rate driver
     rateDriver.start();
 }

BaremetalReference/Top/CMakeLists.txt

@@ -7,16 +7,11 @@
 
 set(SOURCE_FILES
   "${CMAKE_CURRENT_LIST_DIR}/instances.fpp"
-  "${CMAKE_CURRENT_LIST_DIR}/BaremetalReferencePackets.xml"
   "${CMAKE_CURRENT_LIST_DIR}/topology.fpp"
   "${CMAKE_CURRENT_LIST_DIR}/BaremetalReferenceTopology.cpp"
 )
 set(MOD_DEPS
   Fw/Logger
-  Arduino/ArduinoTime
-  Arduino/Drv/StreamDriver
-  Arduino/Drv/I2cDriver
-  Os/Baremetal/TaskRunner
 )
 
 register_fprime_module()

BaremetalReference/Top/instances.fpp

@@ -51,7 +51,7 @@ module BaremetalReference {
 
   instance fatalAdapter: Svc.AssertFatalAdapter base id 0x4100
 
-  instance fatalHandler: Svc.FatalHandler base id 0x4200
+  instance fatalHandler: Baremetal.FatalHandler base id 0x4200
 
   instance systemTime: Arduino.ArduinoTime base id 0x4300 \
 

BaremetalReference/Top/topology.fpp

@@ -22,7 +22,7 @@ module BaremetalReference {
     instance commQueue
     instance deframer
     instance eventLogger
-    instance fatalAdapter
+#    instance fatalAdapter
     instance fatalHandler
     instance framer
     instance gpioDriver

BaseDeployment/Main.cpp

@@ -7,32 +7,23 @@
 #include <BaseDeployment/Top/BaseDeploymentTopologyAc.hpp>
 #include <BaseDeployment/Top/BaseDeploymentTopology.hpp>
 // Used for Task Runner
-#include <Os/Baremetal/TaskRunner/TaskRunner.hpp>
+#include <fprime-baremetal/Os/TaskRunner/TaskRunner.hpp>
 
 // Used for logging
-#include <Os/Log.hpp>
-#include <Arduino/Os/StreamLog.hpp>
-
-// Instantiate a system logger that will handle Fw::Logger::logMsg calls
-Os::Log logger;
-
-// Task Runner
-Os::TaskRunner taskrunner;
+#include <Fw/Logger/Logger.hpp>
+#include <Arduino/Os/Console.hpp>
 
 /**
- * \brief execute the program
- *
- * This F´ program is designed to run in standard environments (e.g. Linux/macOs running on a laptop). Thus it uses
- * command line inputs to specify how to connect.
- *
- * @return: 0 on success, something else on failure
+ * \brief setup the program
  */
 void setup()
 {
-    Serial.begin(115200);
-    Os::setArduinoStreamLogHandler(&Serial);
+    // Setup Serial
+    Serial.begin(115200); //Uart Comm and logging
+    static_cast<Os::Arduino::StreamConsoleHandle*>(Os::Console::getSingleton().getHandle())->setStreamHandler(Serial);
+
     delay(1000);
-    Fw::Logger::logMsg("Program Started\n");
+    Fw::Logger::log("Program Started\n");
 
     // Object for communicating state to the reference topology
     BaseDeployment::TopologyState inputs;
@@ -41,13 +32,11 @@ void setup()
 
     // Setup, cycle, and teardown topology
     BaseDeployment::setupTopology(inputs);
-    // BaseDeployment::teardownTopology(inputs);
 }
 
-void loop()
-{
+void loop() {
 #ifdef USE_BASIC_TIMER
     rateDriver.cycle();
 #endif
-    taskrunner.run();
-}
+    Os::Baremetal::TaskRunner::getSingleton().run();
+}

BaseDeployment/Top/BaseDeploymentPackets.xml

@@ -19,11 +19,6 @@
         <channel name="systemResources.NON_VOLATILE_FREE"/>
     </packet>
 
-    <packet name="SystemRes2" id="6" level="2">
-        <channel name="systemResources.FRAMEWORK_VERSION"/>
-        <channel name="systemResources.PROJECT_VERSION"/>
-    </packet>
-
     <packet name="SystemRes3" id="7" level="2">
         <channel name="systemResources.CPU"/>
         <channel name="systemResources.CPU_00"/>

BaseDeployment/Top/CMakeLists.txt

@@ -13,9 +13,6 @@ set(SOURCE_FILES
 )
 set(MOD_DEPS
   Fw/Logger
-  Arduino/ArduinoTime
-  Arduino/Drv/StreamDriver
-  Os/Baremetal/TaskRunner
 )
 
 register_fprime_module()

BaseDeployment/Top/instances.fpp

@@ -44,7 +44,7 @@ module BaseDeployment {
 
   instance fatalAdapter: Svc.AssertFatalAdapter base id 0x4200
 
-  instance fatalHandler: Svc.FatalHandler base id 0x4300
+  instance fatalHandler: Baremetal.FatalHandler base id 0x4300
 
   instance systemTime: Arduino.ArduinoTime base id 0x4400 \
 

CMakeLists.txt

@@ -3,14 +3,14 @@
 ####
 cmake_minimum_required(VERSION 3.13)
 project(BareMetal C CXX)
-
 ###
 # F' Core Setup
 # This includes all of the F prime core components, and imports the make-system.
 ###
-include("${CMAKE_CURRENT_LIST_DIR}/fprime/cmake/FPrime.cmake")
+include("${CMAKE_CURRENT_LIST_DIR}/lib/fprime/cmake/FPrime.cmake")
 # NOTE: register custom targets between these two lines
 include("${FPRIME_FRAMEWORK_PATH}/cmake/FPrime-Code.cmake")
 
 # This includes project-wide objects
 include("${CMAKE_CURRENT_LIST_DIR}/project.cmake")
+set_target_properties(Svc_FatalHandler PROPERTIES EXCLUDE_FROM_ALL TRUE)

CMakeUserPresets.json

@@ -0,0 +1,35 @@
+{
+  "version": 4,
+  "configurePresets": [
+    {
+      "name": "rp2040",
+      "inherits": "fprime",
+      "displayName": "RP2040 Release Preset",
+      "description": "F´ release build using local fprime-venv",
+      "binaryDir": "${sourceDir}/build-fprime-automatic-featherrp2040",
+      "cacheVariables": {
+        "CMAKE_DEBUG_OUTPUT": "ON"
+      },
+      "toolchainFile": "${sourceDir}/lib/fprime-arduino/cmake/toolchain/featherrp2040.cmake"
+    },
+    {
+      "name": "rp2040-debug",
+      "inherits": [
+        "fprime-debug",
+        "rp2040"
+      ],
+      "displayName": "RP2040 Debug Preset",
+      "description": "RP2040 debug build using local fprime-venv"
+    },
+    {
+      "name": "teensy41",
+      "inherits": "fprime",
+      "displayName": "F´ Cross-Compile Preset",
+      "description": "F´ Cross-Compile build using local fprime-venv",
+      "binaryDir": "${sourceDir}/build-fprime-automatic-teensy41",
+      "cacheVariables": {
+        "CMAKE_TOOLCHAIN_FILE": "${sourceDir}/lib/fprime-arduino/cmake/toolchain/teensy41.cmake"
+      }
+    }
+  ]
+}

Components/LedBlinker/LedBlinker.fpp

@@ -19,7 +19,7 @@ module Components {
             format "Invalid Blinking Argument: {}"
 
         @ Reports the state we set to blinking.
-        event SetBlinkingState(state: Fw.On) \
+        event SetBlinkingState($state: Fw.On) \
             severity activity high \
             format "Set blinking state to {}."
 

Components/Radio/RFM69/RFM69.cpp

@@ -6,7 +6,7 @@
 
 #include <Components/Radio/RFM69/RFM69.hpp>
 #include <FpConfig.hpp>
-#include <Os/Log.hpp>
+#include <Fw/Logger/Logger.hpp>
 
 namespace Radio {
 
@@ -111,7 +111,7 @@ void RFM69 ::run_handler(const NATIVE_INT_TYPE portNum, NATIVE_UINT_TYPE context
         }
 
         if (!rfm69.init()) {
-            Fw::Logger::logMsg("Failed to initialize radio... Trying again...\n");
+            Fw::Logger::log("Failed to initialize radio... Trying again...\n");
             return;
         }
 

RadioPassthrough/Main.cpp

@@ -7,32 +7,23 @@
 #include <RadioPassthrough/Top/RadioPassthroughTopologyAc.hpp>
 #include <RadioPassthrough/Top/RadioPassthroughTopology.hpp>
 // Used for Task Runner
-#include <Os/Baremetal/TaskRunner/TaskRunner.hpp>
+#include <fprime-baremetal/Os/TaskRunner/TaskRunner.hpp>
 
 // Used for logging
-#include <Os/Log.hpp>
-#include <Arduino/Os/StreamLog.hpp>
-
-// Instantiate a system logger that will handle Fw::Logger::logMsg calls
-Os::Log logger;
-
-// Task Runner
-Os::TaskRunner taskrunner;
+#include <Fw/Logger/Logger.hpp>
+#include <Arduino/Os/Console.hpp>
 
 /**
- * \brief execute the program
- *
- * This F´ program is designed to run in standard environments (e.g. Linux/macOs running on a laptop). Thus it uses
- * command line inputs to specify how to connect.
- *
- * @return: 0 on success, something else on failure
+ * \brief setup the program
  */
 void setup()
 {
-    Serial.begin(115200);
-    Os::setArduinoStreamLogHandler(&Serial);
+    // Setup Serial
+    Serial.begin(115200); //Uart Comm and logging
+    static_cast<Os::Arduino::StreamConsoleHandle*>(Os::Console::getSingleton().getHandle())->setStreamHandler(Serial);
+
     delay(1000);
-    Fw::Logger::logMsg("Program Started\n");
+    Fw::Logger::log("Program Started\n");
 
     // Object for communicating state to the reference topology
     RadioPassthrough::TopologyState inputs;
@@ -41,13 +32,11 @@ void setup()
 
     // Setup, cycle, and teardown topology
     RadioPassthrough::setupTopology(inputs);
-    // RadioPassthrough::teardownTopology(inputs);
 }
 
-void loop()
-{
+void loop() {
 #ifdef USE_BASIC_TIMER
     rateDriver.cycle();
 #endif
-    taskrunner.run();
+    Os::Baremetal::TaskRunner::getSingleton().run();
 }