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  • avn/swd/skyward-boardcore
  • emilio.corigliano/skyward-boardcore
  • ettore.pane/skyward-boardcore
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.clang-format
View file @ a5d69eeb
{ BasedOnStyle: Google
BasedOnStyle: Google,
AccessModifierOffset: -4, ColumnLimit: 80
AlignConsecutiveAssignments: true, IndentWidth: 4
AllowShortIfStatementsOnASingleLine: false, AccessModifierOffset: -4
AllowShortLoopsOnASingleLine: false,
BreakBeforeBraces: Allman, BreakBeforeBraces: Allman
ColumnLimit: 80, # Allow braceless single line if/else/for/while statements
ConstructorInitializerAllOnOneLineOrOnePerLine: false, RemoveBracesLLVM: true
IndentCaseLabels: true,
IndentWidth: 4, AlignConsecutiveAssignments: Consecutive
KeepEmptyLinesAtTheStartOfBlocks: true, AllowShortIfStatementsOnASingleLine: false
} AllowShortLoopsOnASingleLine: false
PackConstructorInitializers: BinPack
IndentCaseLabels: true
# Empty lines behavior
InsertNewlineAtEOF: true
KeepEmptyLinesAtEOF: true
KeepEmptyLinesAtTheStartOfBlocks: false
# Align pointers/references to the type, not the variable
DerivePointerAlignment: false
PointerAlignment: Left
.gitignore
View file @ a5d69eeb
...@@ -21,13 +21,13 @@ STM32F429zi_Discovery.xml ...@@ -21,13 +21,13 @@ STM32F429zi_Discovery.xml
._* ._*
.DS_Store .DS_Store
build build
build-host
cmake-build-* cmake-build-*
*.sublime-workspace *.sublime-workspace
*.sublime-project *.sublime-project
store.json store.json
**/generated/ **/generated/
core
__pycache__ __pycache__
/scripts/generators/generated /scripts/generators/generated
......
.gitlab-ci.yml
View file @ a5d69eeb
# Copyright (c) 2021 Skyward Experimental Rocketry # Copyright (c) 2024 Skyward Experimental Rocketry
# Authors: Luca Erbetta, Luca Conterio, Alberto Nidasio, Damiano Amatruda # Authors: Luca Erbetta, Luca Conterio, Alberto Nidasio, Damiano Amatruda, Giacomo Caironi
# #
# Permission is hereby granted, free of charge, to any person obtaining a copy # Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal # of this software and associated documentation files (the "Software"), to deal
...@@ -22,75 +22,74 @@ ...@@ -22,75 +22,74 @@
variables: variables:
GIT_SUBMODULE_STRATEGY: recursive GIT_SUBMODULE_STRATEGY: recursive
default:
image: registry.skywarder.eu/avn/swd/docker/miosix:v2
stages: stages:
- lint
- build - build
- test - test
- lint
- documentation - documentation
# Stage build
release:
stage: build
tags:
- miosix
script:
- ./sbs
debug:
stage: build
tags:
- miosix
script:
- ./sbs --debug
logdecoder:
stage: build
tags:
- miosix
script:
- cd scripts/logdecoder
- make
# Stage test
test:
stage: test
tags:
- miosix
script:
- ./sbs --test catch-tests-boardcore
# Stage lint # Stage lint
cppcheck: cppcheck:
stage: lint stage: lint
tags:
- miosix
script: script:
- cppcheck --version
- ./scripts/linter.py --cppcheck src - ./scripts/linter.py --cppcheck src
format: format:
stage: lint stage: lint
tags:
- miosix
script: script:
- clang-tidy --version
- clang-format --version
- ./scripts/linter.py --format src - ./scripts/linter.py --format src
copyright: copyright:
stage: lint stage: lint
tags:
- miosix
script: script:
- /usr/bin/python3 --version
- ./scripts/linter.py --copyright src - ./scripts/linter.py --copyright src
find: find:
stage: lint stage: lint
tags:
- miosix
script: script:
- /usr/bin/python3 --version
- ./scripts/linter.py --find src - ./scripts/linter.py --find src
# Stage build
build-debug:
stage: build
script:
- cmake --version
- ccache --version
- ninja --version
- ./sbs build --debug
build-release:
stage: build
script:
- cmake --version
- ccache --version
- ninja --version
- ./sbs build
logdecoder:
stage: build
script:
- g++ --version
- cd scripts/logdecoder
- make
# Stage test
test:
stage: test
script:
- ./sbs test
# Stage documentation # Stage documentation
pages: pages:
...@@ -98,6 +97,7 @@ pages: ...@@ -98,6 +97,7 @@ pages:
only: only:
- main - main
script: script:
- doxygen --version
- doxygen doc/Doxyfile - doxygen doc/Doxyfile
- mv doc/output/html public - mv doc/output/html public
artifacts: artifacts:
......
.idea/.gitignore deleted 100644 → 0
View file @ dfb56cfd
# Default ignored files
/shelf/
/workspace.xml
# Datasource local storage ignored files
/dataSources/
/dataSources.local.xml
# Editor-based HTTP Client requests
/httpRequests/
.idea/.name deleted 100644 → 0
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SkywardBoardcore
.idea/cmake.xml deleted 100644 → 0
View file @ dfb56cfd
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CMakeSharedSettings">
<configurations>
<configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_TOOLCHAIN_FILE=$CMakeProjectDir$/libs/miosix-kernel/miosix/_tools/toolchain.cmake -GNinja" />
<configuration PROFILE_NAME="Release" ENABLED="true" CONFIG_NAME="Release" GENERATION_OPTIONS="-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_TOOLCHAIN_FILE=$CMakeProjectDir$/libs/miosix-kernel/miosix/_tools/toolchain.cmake -GNinja" />
</configurations>
</component>
</project>
.idea/codeStyles/Project.xml deleted 100644 → 0
View file @ dfb56cfd
<component name="ProjectCodeStyleConfiguration">
<code_scheme name="Project" version="173">
<clangFormatSettings>
<option name="ENABLED" value="true" />
</clangFormatSettings>
</code_scheme>
</component>
.idea/codeStyles/codeStyleConfig.xml deleted 100644 → 0
View file @ dfb56cfd
<component name="ProjectCodeStyleConfiguration">
<state>
<option name="USE_PER_PROJECT_SETTINGS" value="true" />
</state>
</component>
.idea/misc.xml deleted 100644 → 0
View file @ dfb56cfd
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
<component name="CidrRootsConfiguration">
<sourceRoots>
<file path="$PROJECT_DIR$/src" />
</sourceRoots>
<excludeRoots>
<file path="$PROJECT_DIR$/build" />
<file path="$PROJECT_DIR$/libs" />
</excludeRoots>
</component>
</project>
.idea/modules.xml deleted 100644 → 0
View file @ dfb56cfd
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/skyward-boardcore.iml" filepath="$PROJECT_DIR$/.idea/skyward-boardcore.iml" />
</modules>
</component>
</project>
.idea/skyward-boardcore.iml deleted 100644 → 0
View file @ dfb56cfd
<?xml version="1.0" encoding="UTF-8"?>
<module classpath="CMake" type="CPP_MODULE" version="4" />
.idea/vcs.xml deleted 100644 → 0
View file @ dfb56cfd
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$" vcs="Git" />
<mapping directory="$PROJECT_DIR$/libs/Catch2" vcs="Git" />
<mapping directory="$PROJECT_DIR$/libs/eigen" vcs="Git" />
<mapping directory="$PROJECT_DIR$/libs/fmt" vcs="Git" />
<mapping directory="$PROJECT_DIR$/libs/mavlink_skyward_lib" vcs="Git" />
<mapping directory="$PROJECT_DIR$/libs/miosix-kernel" vcs="Git" />
<mapping directory="$PROJECT_DIR$/libs/miosix-kernel/miosix/_examples/datalogger/tscpp" vcs="Git" />
<mapping directory="$PROJECT_DIR$/libs/mxgui" vcs="Git" />
<mapping directory="$PROJECT_DIR$/libs/tscpp" vcs="Git" />
</component>
</project>
.vscode/c_cpp_properties.json
View file @ a5d69eeb
This diff is collapsed.
.vscode/settings.json
View file @ a5d69eeb
...@@ -154,6 +154,7 @@ ...@@ -154,6 +154,7 @@
"cyaw", "cyaw",
"DATABUS", "DATABUS",
"datasheet", "datasheet",
"Davide",
"deleteme", "deleteme",
"DMEIE", "DMEIE",
"Doxyfile", "Doxyfile",
...@@ -228,6 +229,8 @@ ...@@ -228,6 +229,8 @@
"mavlinkdriver", "mavlinkdriver",
"MEKF", "MEKF",
"microcontrollers", "microcontrollers",
"Microstep",
"Microsteps",
"MINC", "MINC",
"miosix", "miosix",
"mkdir", "mkdir",
...@@ -272,6 +275,7 @@ ...@@ -272,6 +275,7 @@
"Riccardo", "Riccardo",
"RQCP", "RQCP",
"RXCRCR", "RXCRCR",
"Rssi",
"RXIRQ", "RXIRQ",
"RXNE", "RXNE",
"RXNEIE", "RXNEIE",
......
CMakeLists.txt
View file @ a5d69eeb
This diff is collapsed.
README.md
View file @ a5d69eeb
<div align="center"> <div align="center">
<img src="https://avatars2.githubusercontent.com/u/8077370?s=200&v=4" alt="Skyward" width="200"></a> <img src="https://avatars2.githubusercontent.com/u/8077370?s=200&v=4" alt="Skyward Experimental Rocketry" width="200"></a>
<h2>Skyward Boardcore</h2> <h1>Skyward Boardcore</h1>
<a href="https://git.skywarder.eu/avn/swd/skyward-boardcore/-/pipelines"><img src="https://git.skywarder.eu/avn/swd/skyward-boardcore/badges/main/pipeline.svg"></a> <a href="https://git.skywarder.eu/avn/swd/skyward-boardcore/-/pipelines"><img src="https://git.skywarder.eu/avn/swd/skyward-boardcore/badges/main/pipeline.svg"></a>
</div> </div>
Boardcore is a framework for developing and building rockets software for custom boards with Miosix. Boardcore is a C++14 rocket software framework targeting custom embedded boards designed by Skyward Experimental Rocketry.
[Miosix](https://miosix.org/) is a lightweight OS for embedded developing which provides support for basic things such as Threads, GPIO, Time and many other. You can find our fork of the kernel here: [skyward/miosix-kernel](https://git.skywarder.eu/avn/swd/miosix-kernel) Boardcore runs on top of [Miosix](https://miosix.org/), a lightweight operating system for microcontrollers. It implements a POSIX-like API, the C standard library and the C++ standard library. It also provides a pre-emptive scheduler (among others) and a custom concurrency API with support for Threads and synchronization primitives.
A FAT32 filesystem, a serial port driver, platform timers and General Purpose I/O functionalities (GPIO) are also exposed through a custom API.
Building is made with [SBS](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/Skyward-Build-System-(SBS)), which was created to easily compile and reuse code for different boards. We maintain a fork of the Miosix OS to fit our needs: [skyward/miosix-kernel](https://git.skywarder.eu/avn/swd/miosix-kernel)
The project is built with the CMake build system. We also have our own script that is built on top of CMake, to automate compilation and deployment to different hardware targets, [SBS](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/Skyward-Build-System-(SBS)).
## Content ## Content
| Path | Description | | Path | Description |
| ---------------- | ----------------------------------------------------------- | | ---------------- | ----------------------------------------------------------- |
| src/shared/ | Objects, drivers and other stuff written by us | | src/bsps/ | Board Support Packages (BSP) |
| src/entrypoints/ | Each file here is a 'main' | | src/shared/ | Device drivers and general-purpose classes/utilities |
| src/tests/ | Contains the 'main' of every test | | src/entrypoints/ | Entry points for general tasks (e.g. calibration) |
| build/ | Compiled binaries that can be flashed on a target board | | src/tests/ | Entry points for on-device unit testing |
| libs/ | External libs (Miosix kernel and others as a git submodule) | | build/ | Build output directory |
| scripts/ | Some tools (e.g. script for flashing on the boards) | | libs/ | External libraries (git submodules) |
| scripts/ | Various tools and utilities (e.g. linting, log decoder) |
In the main folder you will find **CMakeLists.txt** which is used to configure the build system.
## Getting Started ## Getting Started
### Dependencies ### Dependencies
* CMake The following are required to build the project:
* Git * `CMake` 3.25
* Miosix Toolchain * `Git`
* `Miosix` Toolchain
You will also need the following tools for linting and formatting:
* `Python3`
* `Cppcheck 2.7`
* `ClangFormat 18`
Also, Ccache, Ninja, OpenOCD, Cppcheck, clang-format and pre-commit are recommended for a better experience. We also recommend to install `Ccache`, `Ninja`, `OpenOCD`, and `pre-commit` for a smoother development experience.
### Cloning the repo ### Cloning the repo
Clone this repo with the `--recursive` option. Clone the repository with the `--recursive` option:
```sh ```sh
git clone --recursive https://git.skywarder.eu/avn/swd/skyward-boardcore.git git clone --recursive https://git.skywarder.eu/avn/swd/skyward-boardcore.git
cd skyward-boardcore cd skyward-boardcore
...@@ -43,14 +51,14 @@ cd skyward-boardcore ...@@ -43,14 +51,14 @@ cd skyward-boardcore
## Building ## Building
You can build everything using the SBS script: Using the SBS script is the recommended way to build the project. When called with no arguments, it will build all targets:
```sh ```sh
./sbs ./sbs
``` ```
The build system will start building all the targets (entrypoints and tests). Depending on how many targets there are, this operation may take several minutes. If you installed ccache, subsequent runs will be much faster. This may take a while depending on how many targets there are. If `ccache` is installed, it will be used to cache intermediate compilation artifacts to speed-up incremental builds.
Or you can use directly CMake: Alternatively, you can build with CMake commands:
```sh ```sh
mkdir build mkdir build
cd build cd build
...@@ -60,7 +68,7 @@ cmake --build . ...@@ -60,7 +68,7 @@ cmake --build .
## Documentation ## Documentation
The code is documented with Doxygen, check it [here](http://avn.pages.skywarder.eu/swd/skyward-boardcore). The code is documented with Doxygen, check it out [here](http://avn.pages.skywarder.eu/swd/skyward-boardcore).
## Contributing ## Contributing
...@@ -72,8 +80,8 @@ pre-commit install ...@@ -72,8 +80,8 @@ pre-commit install
## What's next? ## What's next?
In the [Wiki](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/home) you will find some first-steps **guides** (configuring the IDE, building a firmware, etc.) as well as the **coding guidelines** and some **best practices** we adopt. You can find first-step **guides** in the [Wiki](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/home) (configuring the IDE, building examples, etc.) as well our **code guidelines** and **best practices** that we follow.
If you want to contribute to this repository, please read [Git Workflow](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/Git-Workflow). If you want to contribute to this repository, please read our [Git Workflow](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/Git-Workflow).
If you just want to start messing around, try [this](https://git.skywarder.eu/avn/swd/skyward-boardcore/-/wikis/LED-Blink). If you want to start messing around with the code, check out the [LED blink guide](https://git.skywarder.eu/avn/swd/skyward-boardcore/-/wikis/LED-Blink).
cmake/boardcore-host.cmake
View file @ a5d69eeb
...@@ -19,7 +19,8 @@ ...@@ -19,7 +19,8 @@
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE. # THE SOFTWARE.
add_library(boardcore-host STATIC EXCLUDE_FROM_ALL # Boardcore source files used when compiling for host
set(BOARDCORE_HOST_SRC
# Debug # Debug
${SBS_BASE}/src/shared/utils/Debug.cpp ${SBS_BASE}/src/shared/utils/Debug.cpp
${SBS_BASE}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp ${SBS_BASE}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
...@@ -28,12 +29,15 @@ add_library(boardcore-host STATIC EXCLUDE_FROM_ALL ...@@ -28,12 +29,15 @@ add_library(boardcore-host STATIC EXCLUDE_FROM_ALL
# Actuators # Actuators
${SBS_BASE}/src/shared/actuators/Servo/Servo.cpp ${SBS_BASE}/src/shared/actuators/Servo/Servo.cpp
# Drivers
${SBS_BASE}/src/shared/drivers/timer/TimestampTimer.cpp
# Events # Events
${SBS_BASE}/src/shared/events/EventBroker.cpp ${SBS_BASE}/src/shared/events/EventBroker.cpp
# Algorithms
${SBS_BASE}/src/shared/algorithms/MEA/MEA.cpp
${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp
${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
${SBS_BASE}/src/shared/algorithms/Propagator/Propagator.cpp
# Logger # Logger
${SBS_BASE}/src/shared/logger/Logger.cpp ${SBS_BASE}/src/shared/logger/Logger.cpp
...@@ -52,9 +56,18 @@ add_library(boardcore-host STATIC EXCLUDE_FROM_ALL ...@@ -52,9 +56,18 @@ add_library(boardcore-host STATIC EXCLUDE_FROM_ALL
${SBS_BASE}/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp ${SBS_BASE}/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
${SBS_BASE}/src/shared/utils/Stats/Stats.cpp ${SBS_BASE}/src/shared/utils/Stats/Stats.cpp
${SBS_BASE}/src/shared/utils/TestUtils/TestHelper.cpp ${SBS_BASE}/src/shared/utils/TestUtils/TestHelper.cpp
${SBS_BASE}/src/shared/utils/Registry/RegistryFrontend.cpp
${SBS_BASE}/src/shared/utils/Registry/RegistrySerializer.cpp
${SBS_BASE}/src/shared/utils/DependencyManager/DependencyManager.cpp
) )
add_library(SkywardBoardcore::Boardcore::host ALIAS boardcore-host)
target_include_directories(boardcore-host PUBLIC ${SBS_BASE}/src/shared) # Create a library specific for host builds
add_library(boardcore-host STATIC EXCLUDE_FROM_ALL ${BOARDCORE_HOST_SRC})
# Only one include directory for Boardcore!
target_include_directories(boardcore-host PUBLIC ${BOARDCORE_PATH}/src/shared)
# Link libraries
target_link_libraries(boardcore-host PUBLIC target_link_libraries(boardcore-host PUBLIC
Miosix::Miosix::host Miosix::Miosix::host
TSCPP::TSCPP TSCPP::TSCPP
...@@ -63,3 +76,6 @@ target_link_libraries(boardcore-host PUBLIC ...@@ -63,3 +76,6 @@ target_link_libraries(boardcore-host PUBLIC
Catch2::Catch2 Catch2::Catch2
Mavlink::Mavlink Mavlink::Mavlink
) )
# Create a nice alias for the library
add_library(Skyward::Boardcore::host ALIAS boardcore-host)
\ No newline at end of file
cmake/boardcore.cmake
View file @ a5d69eeb
...@@ -19,112 +19,158 @@ ...@@ -19,112 +19,158 @@
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE. # THE SOFTWARE.
include(dependencies) # Load in BOARDCORE_PATH the project path if not already defined
if (NOT DEFINED BOARDCORE_PATH)
include(boardcore-host) cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH BOARDCORE_PATH)
endif()
foreach(OPT_BOARD ${BOARDS}) # Include dependencies and board list
set(BOARDCORE_LIBRARY boardcore-${OPT_BOARD}) include(${BOARDCORE_PATH}/cmake/dependencies.cmake)
add_library(${BOARDCORE_LIBRARY} STATIC EXCLUDE_FROM_ALL include(${BOARDCORE_PATH}/cmake/boardcore-host.cmake)
include(${BOARDCORE_PATH}/cmake/boards.cmake)
# Boardcore source files
set(BOARDCORE_SRC
# Actuators # Actuators
${SBS_BASE}/src/shared/actuators/HBridge/HBridge.cpp ${BOARDCORE_PATH}/src/shared/actuators/HBridge/HBridge.cpp
${SBS_BASE}/src/shared/actuators/Servo/Servo.cpp ${BOARDCORE_PATH}/src/shared/actuators/Servo/Servo.cpp
${BOARDCORE_PATH}/src/shared/actuators/stepper/Stepper.cpp
${BOARDCORE_PATH}/src/shared/actuators/stepper/StepperPWM.cpp
# Algorithms # Algorithms
${SBS_BASE}/src/shared/algorithms/ADA/ADA.cpp ${BOARDCORE_PATH}/src/shared/algorithms/ADA/ADA.cpp
${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakes.cpp ${BOARDCORE_PATH}/src/shared/algorithms/MEA/MEA.cpp
${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp ${BOARDCORE_PATH}/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp
${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp ${BOARDCORE_PATH}/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
${SBS_BASE}/src/shared/algorithms/NAS/NAS.cpp ${BOARDCORE_PATH}/src/shared/algorithms/NAS/NAS.cpp
${SBS_BASE}/src/shared/algorithms/NAS/StateInitializer.cpp ${BOARDCORE_PATH}/src/shared/algorithms/NAS/StateInitializer.cpp
${SBS_BASE}/src/shared/algorithms/Propagator/Propagator.cpp
${SBS_BASE}/src/shared/algorithms/Follower/Follower.cpp
# Debug # Debug
${SBS_BASE}/src/shared/utils/Debug.cpp ${BOARDCORE_PATH}/src/shared/utils/Debug.cpp
${SBS_BASE}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp ${BOARDCORE_PATH}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
${SBS_BASE}/src/shared/diagnostic/PrintLogger.cpp ${BOARDCORE_PATH}/src/shared/diagnostic/PrintLogger.cpp
# Drivers # Drivers
${SBS_BASE}/src/shared/drivers/AD5204/AD5204.cpp ${BOARDCORE_PATH}/src/shared/drivers/AD5204/AD5204.cpp
${SBS_BASE}/src/shared/drivers/adc/InternalADC.cpp ${BOARDCORE_PATH}/src/shared/drivers/adc/InternalADC.cpp
${SBS_BASE}/src/shared/drivers/canbus/CanDriver/CanDriver.cpp ${BOARDCORE_PATH}/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
${SBS_BASE}/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp ${BOARDCORE_PATH}/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
${SBS_BASE}/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp ${BOARDCORE_PATH}/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
${SBS_BASE}/src/shared/drivers/interrupt/external_interrupts.cpp ${BOARDCORE_PATH}/src/shared/drivers/dma/DMA.cpp
${SBS_BASE}/src/shared/drivers/timer/PWM.cpp ${BOARDCORE_PATH}/src/shared/drivers/dma/DMADefs.cpp
${SBS_BASE}/src/shared/drivers/timer/TimestampTimer.cpp ${BOARDCORE_PATH}/src/shared/drivers/interrupt/external_interrupts.cpp
${SBS_BASE}/src/shared/drivers/runcam/Runcam.cpp ${BOARDCORE_PATH}/src/shared/drivers/timer/PWM.cpp
${SBS_BASE}/src/shared/drivers/spi/SPITransaction.cpp ${BOARDCORE_PATH}/src/shared/drivers/timer/CountedPWM.cpp
${SBS_BASE}/src/shared/drivers/usart/USART.cpp ${BOARDCORE_PATH}/src/shared/drivers/runcam/Runcam.cpp
${SBS_BASE}/src/shared/drivers/i2c/I2CDriver-f4.cpp ${BOARDCORE_PATH}/src/shared/drivers/spi/SPITransaction.cpp
${SBS_BASE}/src/shared/drivers/i2c/I2CDriver-f7.cpp ${BOARDCORE_PATH}/src/shared/drivers/usart/USART.cpp
${SBS_BASE}/src/shared/drivers/i2c/I2C.cpp ${BOARDCORE_PATH}/src/shared/drivers/i2c/I2CDriver-f4.cpp
${BOARDCORE_PATH}/src/shared/drivers/i2c/I2CDriver-f7.cpp
${BOARDCORE_PATH}/src/shared/drivers/i2c/I2C.cpp
${BOARDCORE_PATH}/src/shared/drivers/WIZ5500/WIZ5500.cpp
${BOARDCORE_PATH}/src/shared/drivers/DipSwitch/DipSwitch.cpp
# Events # Events
${SBS_BASE}/src/shared/events/EventBroker.cpp ${BOARDCORE_PATH}/src/shared/events/EventBroker.cpp
# Logger # Logger
${SBS_BASE}/src/shared/logger/Logger.cpp ${BOARDCORE_PATH}/src/shared/logger/Logger.cpp
# Radio # Radio
${SBS_BASE}/src/shared/radio/gamma868/Gamma868.cpp ${BOARDCORE_PATH}/src/shared/radio/gamma868/Gamma868.cpp
${SBS_BASE}/src/shared/radio/Xbee/APIFrameParser.cpp ${BOARDCORE_PATH}/src/shared/radio/Xbee/APIFrameParser.cpp
${SBS_BASE}/src/shared/radio/Xbee/Xbee.cpp ${BOARDCORE_PATH}/src/shared/radio/Xbee/Xbee.cpp
${SBS_BASE}/src/shared/radio/SX1278/SX1278Fsk.cpp ${BOARDCORE_PATH}/src/shared/radio/SX1278/SX1278Fsk.cpp
${SBS_BASE}/src/shared/radio/SX1278/SX1278Lora.cpp ${BOARDCORE_PATH}/src/shared/radio/SX1278/SX1278Lora.cpp
${SBS_BASE}/src/shared/radio/SX1278/SX1278Common.cpp ${BOARDCORE_PATH}/src/shared/radio/SX1278/SX1278Common.cpp
${SBS_BASE}/src/shared/radio/SX1278/Ebyte.cpp
# Scheduler # Scheduler
${SBS_BASE}/src/shared/scheduler/TaskScheduler.cpp ${BOARDCORE_PATH}/src/shared/scheduler/TaskScheduler.cpp
# Sensors # Sensors
${SBS_BASE}/src/shared/sensors/ADS1118/ADS1118.cpp ${BOARDCORE_PATH}/src/shared/sensors/ADS1118/ADS1118.cpp
${SBS_BASE}/src/shared/sensors/ADS131M04/ADS131M04.cpp ${BOARDCORE_PATH}/src/shared/sensors/ADS131M04/ADS131M04.cpp
${SBS_BASE}/src/shared/sensors/BME280/BME280.cpp ${BOARDCORE_PATH}/src/shared/sensors/ADS131M08/ADS131M08.cpp
${SBS_BASE}/src/shared/sensors/BME280/BME280I2C.cpp ${BOARDCORE_PATH}/src/shared/sensors/BME280/BME280.cpp
${SBS_BASE}/src/shared/sensors/BMP280/BMP280.cpp ${BOARDCORE_PATH}/src/shared/sensors/BME280/BME280I2C.cpp
${SBS_BASE}/src/shared/sensors/BMP280/BMP280I2C.cpp ${BOARDCORE_PATH}/src/shared/sensors/BMP280/BMP280.cpp
${SBS_BASE}/src/shared/sensors/BMX160/BMX160.cpp ${BOARDCORE_PATH}/src/shared/sensors/BMP280/BMP280I2C.cpp
${SBS_BASE}/src/shared/sensors/BMX160/BMX160WithCorrection.cpp ${BOARDCORE_PATH}/src/shared/sensors/BMX160/BMX160.cpp
${SBS_BASE}/src/shared/sensors/HX711/HX711.cpp ${BOARDCORE_PATH}/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
${SBS_BASE}/src/shared/sensors/LIS3MDL/LIS3MDL.cpp ${BOARDCORE_PATH}/src/shared/sensors/H3LIS331DL/H3LIS331DL.cpp
${SBS_BASE}/src/shared/sensors/LIS331HH/LIS331HH.cpp ${BOARDCORE_PATH}/src/shared/sensors/HX711/HX711.cpp
${SBS_BASE}/src/shared/sensors/MAX6675/MAX6675.cpp ${BOARDCORE_PATH}/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
${SBS_BASE}/src/shared/sensors/MAX31855/MAX31855.cpp ${BOARDCORE_PATH}/src/shared/sensors/LIS331HH/LIS331HH.cpp
${SBS_BASE}/src/shared/sensors/MBLoadCell/MBLoadCell.cpp ${BOARDCORE_PATH}/src/shared/sensors/LPS331AP/LPS331AP.cpp
${SBS_BASE}/src/shared/sensors/MPU9250/MPU9250.cpp ${BOARDCORE_PATH}/src/shared/sensors/MAX6675/MAX6675.cpp
${SBS_BASE}/src/shared/sensors/MS5803/MS5803.cpp ${BOARDCORE_PATH}/src/shared/sensors/MAX31855/MAX31855.cpp
${SBS_BASE}/src/shared/sensors/MS5803/MS5803I2C.cpp ${BOARDCORE_PATH}/src/shared/sensors/MAX31856/MAX31856.cpp
${SBS_BASE}/src/shared/sensors/SensorManager.cpp ${BOARDCORE_PATH}/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
${SBS_BASE}/src/shared/sensors/SensorSampler.cpp ${BOARDCORE_PATH}/src/shared/sensors/MPU9250/MPU9250.cpp
${SBS_BASE}/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp ${BOARDCORE_PATH}/src/shared/sensors/MS5803/MS5803.cpp
${SBS_BASE}/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp ${BOARDCORE_PATH}/src/shared/sensors/MS5803/MS5803I2C.cpp
${SBS_BASE}/src/shared/sensors/VN100/VN100.cpp ${BOARDCORE_PATH}/src/shared/sensors/RotatedIMU/RotatedIMU.cpp
${SBS_BASE}/src/shared/sensors/LIS2MDL/LIS2MDL.cpp ${BOARDCORE_PATH}/src/shared/sensors/SensorManager.cpp
${BOARDCORE_PATH}/src/shared/sensors/SensorSampler.cpp
${BOARDCORE_PATH}/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
${BOARDCORE_PATH}/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
${BOARDCORE_PATH}/src/shared/sensors/Vectornav/VNCommonSerial.cpp
${BOARDCORE_PATH}/src/shared/sensors/Vectornav/VN100/VN100Serial.cpp
${BOARDCORE_PATH}/src/shared/sensors/Vectornav/VN100/VN100Spi.cpp
${BOARDCORE_PATH}/src/shared/sensors/Vectornav/VN300/VN300.cpp
${BOARDCORE_PATH}/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
${BOARDCORE_PATH}/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
${BOARDCORE_PATH}/src/shared/sensors/LPS22DF/LPS22DF.cpp
${BOARDCORE_PATH}/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
${BOARDCORE_PATH}/src/shared/sensors/ND015X/ND015D.cpp
${BOARDCORE_PATH}/src/shared/sensors/ND015X/ND015A.cpp
# Calibration # Calibration
${SBS_BASE}/src/shared/sensors/calibration/BiasCalibration/BiasCalibration.cpp ${BOARDCORE_PATH}/src/shared/sensors/calibration/BiasCalibration/BiasCalibration.cpp
${SBS_BASE}/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp ${BOARDCORE_PATH}/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp
${SBS_BASE}/src/shared/sensors/calibration/SixParameterCalibration/SixParameterCalibration.cpp ${BOARDCORE_PATH}/src/shared/sensors/calibration/SixParameterCalibration/SixParameterCalibration.cpp
${SBS_BASE}/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp ${BOARDCORE_PATH}/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp
# Correction # Correction
${SBS_BASE}/src/shared/sensors/correction/BiasCorrector/BiasCorrector.cpp ${BOARDCORE_PATH}/src/shared/sensors/correction/BiasCorrector/BiasCorrector.cpp
${SBS_BASE}/src/shared/sensors/correction/SixParametersCorrector/SixParametersCorrector.cpp ${BOARDCORE_PATH}/src/shared/sensors/correction/SixParametersCorrector/SixParametersCorrector.cpp
# Utils # Utils
${SBS_BASE}/src/shared/utils/AeroUtils/AeroUtils.cpp ${BOARDCORE_PATH}/src/shared/utils/AeroUtils/AeroUtils.cpp
${SBS_BASE}/src/shared/utils/ButtonHandler/ButtonHandler.cpp ${BOARDCORE_PATH}/src/shared/utils/ButtonHandler/ButtonHandler.cpp
${SBS_BASE}/src/shared/utils/PinObserver/PinObserver.cpp ${BOARDCORE_PATH}/src/shared/utils/PinObserver/PinObserver.cpp
${SBS_BASE}/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp ${BOARDCORE_PATH}/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
${SBS_BASE}/src/shared/utils/Stats/Stats.cpp ${BOARDCORE_PATH}/src/shared/utils/Stats/Stats.cpp
${SBS_BASE}/src/shared/utils/TestUtils/TestHelper.cpp ${BOARDCORE_PATH}/src/shared/utils/TestUtils/TestHelper.cpp
${BOARDCORE_PATH}/src/shared/utils/Registry/RegistryFrontend.cpp
${BOARDCORE_PATH}/src/shared/utils/Registry/RegistrySerializer.cpp
${BOARDCORE_PATH}/src/shared/utils/Registry/Backend/FileBackend.cpp
${BOARDCORE_PATH}/src/shared/utils/DependencyManager/DependencyManager.cpp
) )
add_library(SkywardBoardcore::Boardcore::${OPT_BOARD} ALIAS ${BOARDCORE_LIBRARY})
target_include_directories(${BOARDCORE_LIBRARY} PUBLIC ${SBS_BASE}/src/shared) # Creates the Skyward::Boardcore::${BOARD_NAME} library
target_link_libraries(${BOARDCORE_LIBRARY} PUBLIC function(add_boardcore_library BOARD_OPTIONS_FILE)
Miosix::Miosix::${OPT_BOARD} # Get board options
include(${BOARD_OPTIONS_FILE})
# Create a library for the board
set(BOARDCORE_LIB boardcore-${BOARD_NAME})
add_library(${BOARDCORE_LIB} STATIC EXCLUDE_FROM_ALL ${BOARDCORE_SRC})
# Only one include directory for Boardcore!
target_include_directories(${BOARDCORE_LIB} PUBLIC ${BOARDCORE_PATH}/src/shared)
# Define DEBUG when in Debug mode
target_compile_definitions(${BOARDCORE_LIB} PUBLIC $<$<CONFIG:Debug>:DEBUG>)
# Define NDEBUG when not in Debug mode
target_compile_definitions(${BOARDCORE_LIB} PUBLIC $<$<NOT:$<CONFIG:Debug>>:NDEBUG>)
# Link libraries
target_link_libraries(${BOARDCORE_LIB} PUBLIC
$<TARGET_OBJECTS:Miosix::Boot::${BOARD_NAME}>
$<LINK_GROUP:RESCAN,Miosix::Kernel::${BOARD_NAME},stdc++,c,m,gcc,atomic>
TSCPP::TSCPP TSCPP::TSCPP
Eigen3::Eigen Eigen3::Eigen
fmt::fmt-header-only fmt::fmt-header-only
...@@ -132,8 +178,23 @@ foreach(OPT_BOARD ${BOARDS}) ...@@ -132,8 +178,23 @@ foreach(OPT_BOARD ${BOARDS})
Mavlink::Mavlink Mavlink::Mavlink
) )
# Link MxGui only if supported by the target # Link MxGui if supported by the target
if(${OPT_BOARD} IN_LIST MXGUI_BOARDS) if(DEFINED MXGUI_BASE_BOARD_NAME)
target_link_libraries(${BOARDCORE_LIBRARY} PUBLIC Mxgui::Mxgui::${OPT_BOARD}) target_link_libraries(${BOARDCORE_LIB} PUBLIC MxGui::${MXGUI_BASE_BOARD_NAME})
elseif(TARGET MxGui::${BOARD_NAME})
target_link_libraries(${BOARDCORE_LIB} PUBLIC MxGui::${BOARD_NAME})
endif() endif()
# Create a nice alias for the library
add_library(Skyward::Boardcore::${BOARD_NAME} ALIAS ${BOARDCORE_LIB})
endfunction()
# Create the Miosix libraries for Boardcore custom boards
foreach(BOARD_OPTIONS_FILE ${BOARDCORE_BOARDS_OPTIONS_FILES})
add_miosix_libraries(${BOARD_OPTIONS_FILE})
endforeach()
# Create Boardcore library for each board
foreach(BOARD_OPTIONS_FILE ${MIOSIX_BOARDS_OPTIONS_FILES} ${BOARDCORE_BOARDS_OPTIONS_FILES})
add_boardcore_library(${BOARD_OPTIONS_FILE})
endforeach() endforeach()
cmake/boards.cmake 0 → 100644
View file @ a5d69eeb
# Copyright (c) 2023 Skyward Experimental Rocketry
# Authors: Alberto Nidasio
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
set(BOARDCORE_BOARDS_OPTIONS_FILES
${BOARDCORE_PATH}/src/bsps/stm32f205rc_ciuti/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_nokia/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_parafoil/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_death_stack_v1/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_death_stack_v2/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_death_stack_v3/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_pyxis_auxiliary/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_rig/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_con_rig/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f756zg_nucleo/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_automated_antennas/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_compute_unit/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_compute_unit_v2/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_compute_unit_v2/config/board_options_no_xram.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_gemini_gs/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_gemini_motor/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_death_stack_v4/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_rig_v2/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_conrig_v2/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_biscotto/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_motor/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_gs/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_lyra_cubesat/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_orion_biscotto/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_orion_engine/config/board_options.cmake
)
cmake/dependencies.cmake
View file @ a5d69eeb
...@@ -19,33 +19,34 @@ ...@@ -19,33 +19,34 @@
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE. # THE SOFTWARE.
file(GLOB KPATH ${SBS_BASE}/libs/miosix-kernel/miosix) # Miosix Kernel
if(NOT KPATH) include(${SBS_BASE}/libs/miosix-kernel/miosix/cmake/miosix.cmake EXCLUDE_FROM_ALL)
message(FATAL_ERROR "Kernel directory not found")
endif()
add_subdirectory(${KPATH} EXCLUDE_FROM_ALL)
include(${KPATH}/config/boards.cmake)
# Miosix Host
add_subdirectory(${SBS_BASE}/libs/miosix-host EXCLUDE_FROM_ALL) add_subdirectory(${SBS_BASE}/libs/miosix-host EXCLUDE_FROM_ALL)
set(KPATH ${KPATH} CACHE PATH "Path to kernel directory") # MxGui graphical library
add_subdirectory(${SBS_BASE}/libs/mxgui EXCLUDE_FROM_ALL) include(${SBS_BASE}/libs/mxgui/cmake/mxgui.cmake)
include(${SBS_BASE}/libs/mxgui/cmake/boards.cmake)
# Serialization library
add_subdirectory(${SBS_BASE}/libs/tscpp EXCLUDE_FROM_ALL) add_subdirectory(${SBS_BASE}/libs/tscpp EXCLUDE_FROM_ALL)
# Eigen library
set(CMAKE_BUILD_WITH_INSTALL_RPATH ON) set(CMAKE_BUILD_WITH_INSTALL_RPATH ON)
set(EIGEN_TEST_NOQT ON CACHE BOOL "Disable Qt support in unit tests") set(EIGEN_TEST_NOQT ON CACHE BOOL "Disable Qt support in unit tests")
set(CMAKE_Fortran_COMPILER NOTFOUND) set(CMAKE_Fortran_COMPILER NOTFOUND)
add_subdirectory(${SBS_BASE}/libs/eigen EXCLUDE_FROM_ALL) add_subdirectory(${SBS_BASE}/libs/eigen EXCLUDE_FROM_ALL)
target_compile_definitions(eigen INTERFACE EIGEN_MAX_ALIGN_BYTES=0) target_compile_definitions(eigen INTERFACE EIGEN_MAX_ALIGN_BYTES=0)
# Format library
add_subdirectory(${SBS_BASE}/libs/fmt EXCLUDE_FROM_ALL) add_subdirectory(${SBS_BASE}/libs/fmt EXCLUDE_FROM_ALL)
target_compile_definitions(fmt-header-only INTERFACE _GLIBCXX_USE_WCHAR_T FMT_UNICODE=0 FMT_STATIC_THOUSANDS_SEPARATOR=0) target_compile_definitions(fmt-header-only INTERFACE _GLIBCXX_USE_WCHAR_T FMT_UNICODE=0 FMT_STATIC_THOUSANDS_SEPARATOR=0)
target_compile_options(fmt-header-only INTERFACE -fno-math-errno) target_compile_options(fmt-header-only INTERFACE -fno-math-errno)
# Catch2 library
add_subdirectory(${SBS_BASE}/libs/Catch2 EXCLUDE_FROM_ALL) add_subdirectory(${SBS_BASE}/libs/Catch2 EXCLUDE_FROM_ALL)
list(APPEND CMAKE_MODULE_PATH ${SBS_BASE}/libs/Catch2/contrib) list(APPEND CMAKE_MODULE_PATH ${SBS_BASE}/libs/Catch2/contrib)
include(Catch) include(Catch)
# MavLink library
add_subdirectory(${SBS_BASE}/libs/mavlink-skyward-lib EXCLUDE_FROM_ALL) add_subdirectory(${SBS_BASE}/libs/mavlink-skyward-lib EXCLUDE_FROM_ALL)