Merge branch 'main' into gjiang/finish_arducam_driver

Author: tangerine238

CMakeLists.txt

@@ -15,6 +15,11 @@ elseif(${CMAKE_BUILD_TYPE} MATCHES HIL)
 elseif(${CMAKE_BUILD_TYPE} MATCHES Test)
     include(${CMAKE_SOURCE_DIR}/cmake/fetch_googletest.cmake)
     set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchain_linux_gcc.cmake)
+elseif(${CMAKE_BUILD_TYPE} MATCHES Examples)
+    if(NOT EXISTS ${CMAKE_BINARY_DIR}/toolchain)
+        include(${CMAKE_SOURCE_DIR}/cmake/download_arm_toolchain.cmake)
+    endif()
+    set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchain_arm_none_eabi.cmake)
 else()
     message(FATAL_ERROR "Invalid build type: ${CMAKE_BUILD_TYPE}")
 endif()
@@ -46,6 +51,12 @@ if(${CMAKE_BUILD_TYPE} MATCHES Test)
     add_subdirectory(test)
 endif()
 
+if (${CMAKE_BUILD_TYPE} MATCHES Examples)
+    set (CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
+    enable_language (C ASM)
+    add_subdirectory (obc)
+endif()
+
 # Build tiny-aes and lib-correct libs
 add_subdirectory(libs)
 

README.md

@@ -192,6 +192,40 @@ cmake --build .
 ctest --verbose
 ```
 
+#### **Example files**
+From the top-level directory, run the following to build the example source file.
+```
+mkdir build_examples && cd build_examples
+cmake .. -DCMAKE_BUILD_TYPE=Examples -DEXAMPLE_TYPE=[EXAMPLE_TO_BE_COMPILED]
+cmake --build .
+```
+Options for `EXAMPLE_TYPE` include:
+
+- `DMA_SPI` - for `dma_spi_demo`
+- `FRAM_PERSIST` - for `test_app_fram_persist`
+- `FRAM_SPI` - for `test_app_fram_spi`
+- `LM75BD` - for `test_app_lm75bd`
+- `MPU6050` - for `test_app_mpu6050`
+- `RE_SD` - for `test_app_reliance_sd`
+- `RTC`- for `test_app_rtc`
+- `UART_RX` - for `test_app_uart_rx`
+- `UART_TX` - for `test_app_uart_tx`
+- `VN100` - for `vn100_demo`
+- `CC1120_SPI` - for `test_app_cc1120_spi`
+- `ADC` - for `test_app_adc`
+
+Instructions on how to add examples:
+
+- Decide on a code for the example, the code must only contain uppercase letters, numbers and/or `_` referred to as `EXAMPLE_ID` from now on
+- Add the code and destination above to the list of examples in the form to the `README.md`: `EXAMPLE_ID` - for `example_name`
+- Add the following to the `OBC/CMakeLists.txt` above the comment that says `# ADD MORE EXAMPLES ABOVE THIS COMMENT`
+```
+elseif(${EXAMPLE_TYPE} MATCHES EXAMPLE_ID)
+	add_executable(${OUT_FILE_NAME} path_to_main_file_in_example)
+```
+  Where `path_to_main_file_in_example` is relative to the project root, see `OBC/CMakeLists.txt` for examples
+- Add the `EXAMPLE_ID` to the `.github/workflows/obc_examples.yml` above the comment that starts with `# ADD NEW EXAMPLES ABOVE THIS LINE`
+
 ### Flashing
 To flash the RM46 (our microcontroller), we use Uniflash. Open Uniflash and select the appropriate device and connection.
 #### **RM46 Launchpad:**

cmake/toolchain_arm_none_eabi.cmake

@@ -37,7 +37,8 @@ set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 add_compile_options(-mcpu=cortex-r4 -march=armv7-r -mtune=cortex-r4 -marm -mfpu=vfpv3-d16)
 
 # Common flags
-add_compile_options(-Wall -Wextra -Werror -Wno-unused-parameter -fstack-protector-strong -fstack-usage -fdump-ipa-cgraph -MMD)
+# NOTE: -Werror is defined in obc/CMakeLists.txt
+add_compile_options(-Wall -Wextra -Wno-unused-parameter -fstack-protector-strong -fstack-usage -fdump-ipa-cgraph -MMD)
 
 # Conditional flag for C code
 add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)

obc/CMakeLists.txt

@@ -5,6 +5,9 @@ include(${CMAKE_SOURCE_DIR}/cmake/obc_build_options.cmake)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/shared/hal/cmake/board_lib_defs.cmake)
 
+# Load setup-specific definitions
+include(${CMAKE_SOURCE_DIR}/obc/shared/config/peripheral_config_definitions.cmake)
+
 set(LD_DIR_PATH "${CMAKE_CURRENT_SOURCE_DIR}/shared/hal/common/ld")
 set(APP_LINKER_SCRIPT "${CMAKE_CURRENT_SOURCE_DIR}/shared/hal/common/ld/app_link.ld")
 set(BL_LINKER_SCRIPT "${CMAKE_CURRENT_SOURCE_DIR}/shared/hal/common/ld/bl_link.ld")
@@ -28,7 +31,52 @@ endif()
 # Pass the address to the linker
 add_link_options(-Wl,--defsym,CUSTOM_START_ADDRESS=${CUSTOM_START_ADDRESS})
 
-add_executable(OBC-firmware.out app/app_main.c)
+# Select main for build
+if(${CMAKE_BUILD_TYPE} MATCHES OBC)
+    set(OUT_FILE_NAME OBC-firmware.out)
+    set(BIN_FILE_NAME OBC-firmware.bin)
+  add_compile_options(-Werror) # TODO: Move this back to download_arm_toolchain once all examples warnings are fixed
+	add_executable(${OUT_FILE_NAME} app/app_main.c)
+elseif(${CMAKE_BUILD_TYPE} MATCHES Examples)
+    set(OUT_FILE_NAME OBC-firmware-${EXAMPLE_TYPE}.out)
+    set(BIN_FILE_NAME OBC-firmware-${EXAMPLE_TYPE}.bin)
+	if (${EXAMPLE_TYPE} MATCHES DMA_SPI)
+		add_executable(${OUT_FILE_NAME} examples/dma_spi_demo/main.c)
+	elseif(${EXAMPLE_TYPE} MATCHES FRAM_PERSIST)
+		add_executable(${OUT_FILE_NAME} examples/test_app_fram_persist/main.c)
+	elseif(${EXAMPLE_TYPE} MATCHES FRAM_SPI)
+		add_executable(${OUT_FILE_NAME} examples/test_app_fram_spi/main.c)
+	elseif(${EXAMPLE_TYPE} MATCHES LM75BD)
+		add_executable(${OUT_FILE_NAME} examples/test_app_lm75bd/main.c)
+	elseif(${EXAMPLE_TYPE} MATCHES MPU6050)
+		add_executable(${OUT_FILE_NAME} examples/test_app_mpu6050/main.c examples/test_app_mpu6050/source/mpu6050.c)
+		target_include_directories (${OUT_FILE_NAME} PRIVATE examples/test_app_mpu6050/include)
+	elseif(${EXAMPLE_TYPE} MATCHES RE_SD)
+		add_executable(${OUT_FILE_NAME} examples/test_app_reliance_edge_sd/main.c)
+	elseif(${EXAMPLE_TYPE} MATCHES RTC)
+		add_executable(${OUT_FILE_NAME} examples/test_app_rtc/main.c)
+	elseif(${EXAMPLE_TYPE} MATCHES UART_RX)
+		add_executable(${OUT_FILE_NAME} examples/test_app_uart_rx/main.c)
+	elseif(${EXAMPLE_TYPE} MATCHES UART_TX)
+		add_executable(${OUT_FILE_NAME} examples/test_app_uart_tx/main.c)
+	elseif(${EXAMPLE_TYPE} MATCHES VN100)
+		add_executable(${OUT_FILE_NAME} examples/vn100_demo/test_binary_reading/main.c)
+    elseif(${EXAMPLE_TYPE} MATCHES ADC)
+		add_executable(${OUT_FILE_NAME} examples/test_app_adc/main.c)
+  elseif(${EXAMPLE_TYPE} MATCHES CC1120_SPI)
+    add_executable(${OUT_FILE_NAME} examples/test_app_cc1120_spi/main.c examples/test_app_cc1120_spi/cc1120_spi_tests.c)
+    target_include_directories (${OUT_FILE_NAME} PRIVATE examples/test_app_cc1120_spi)
+  elseif(${EXAMPLE_TYPE} MATCHES RS)
+    add_executable(${OUT_FILE_NAME} examples/test_app_rs/main.c)
+
+  # ADD MORE EXAMPLES ABOVE THIS COMMENT
+	else ()
+		message (FATAL_ERROR "Invalid example type: ${EXAMPLE_TYPE} ")
+	endif()
+else()
+	message (FATAL_ERROR "Invalid build type: ${CMAKE_BUILD_TYPE}")
+endif()
+
 add_executable(OBC-bl.out)
 add_executable(debug-tool.out)
 
@@ -37,16 +85,16 @@ add_subdirectory(shared/config)
 add_subdirectory(shared/hal)
 
 # Application
-target_link_options(OBC-firmware.out PRIVATE
+target_link_options(${OUT_FILE_NAME} PRIVATE
     -specs=nosys.specs
     -Wl,-Map=OBC-firmware.map -T${APP_LINKER_SCRIPT}
     -Wl,--print-memory-usage
     -Wl,-L${LD_DIR_PATH}
 )
 
-target_compile_options(OBC-firmware.out PRIVATE ${TARGET_OPTIMIZATION_FLAGS})
+target_compile_options(${OUT_FILE_NAME} PRIVATE ${TARGET_OPTIMIZATION_FLAGS})
 
-target_compile_definitions(OBC-firmware.out PRIVATE
+target_compile_definitions(${OUT_FILE_NAME} PRIVATE
     ${BOARD_TYPE}
     LOG_DEFAULT_OUTPUT_LOCATION=${LOG_DEFAULT_OUTPUT_LOCATION}
     LOG_DEFAULT_LEVEL=${LOG_DEFAULT_LEVEL}
@@ -57,6 +105,7 @@ target_compile_definitions(OBC-firmware.out PRIVATE
     OBC_UART_BAUD_RATE=${OBC_UART_BAUD_RATE}
     CSDC_DEMO_ENABLED=${CSDC_DEMO_ENABLED}
     ENABLE_TASK_STATS_COLLECTOR=${ENABLE_TASK_STATS_COLLECTOR}
+    ${PERIPHERAL_CONFIG}
 )
 
 # Determine the root of the repository
@@ -69,7 +118,7 @@ execute_process(
 # Set the SOURCE_PATH using the detected REPO_ROOT
 add_compile_definitions(SOURCE_PATH="${REPO_ROOT}/")
 
-target_include_directories(OBC-firmware.out PUBLIC
+target_include_directories(${OUT_FILE_NAME} PUBLIC
     ${CMAKE_BINARY_DIR}/toolchain/arm-none-eabi/include
 )
 
@@ -80,7 +129,7 @@ add_subdirectory(app/sys)
 add_subdirectory(app/drivers)
 add_subdirectory(app/reliance_edge)
 
-target_link_libraries(OBC-firmware.out PRIVATE
+target_link_libraries(${OUT_FILE_NAME} PRIVATE
     tiny-aes
     lib-correct
     obc-gs-interface
@@ -92,8 +141,9 @@ target_link_libraries(OBC-firmware.out PRIVATE
 )
 
 # Generate .bin for the app
+string(CONCAT commentStr "Generating " ${BIN_FILE_NAME})
 add_custom_command(
-    OUTPUT OBC-firmware.bin
+    OUTPUT ${BIN_FILE_NAME}
     COMMAND toolchain/bin/arm-none-eabi-objcopy -O binary --only-section=.intvecs
                                                                      --only-section=.kernelTEXT
                                                                      --only-section=.text
@@ -103,16 +153,16 @@ add_custom_command(
                                                                      --only-section=.init_array
                                                                      --only-section=.fini_array
                                                                      --only-section=.data
-                                                                        OBC-firmware.out OBC-firmware.bin
+                                                                     ${OUT_FILE_NAME} ${BIN_FILE_NAME}
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-    DEPENDS OBC-firmware.out
-    COMMENT "Generating OBC-firmware.bin"
+    DEPENDS ${OUT_FILE_NAME}
+    COMMENT commentStr
 )
 
 add_custom_target(
     OBC-firmware_bin
     ALL
-    DEPENDS OBC-firmware.bin
+    DEPENDS ${BIN_FILE_NAME}
 )
 
 # Bootloader
@@ -135,6 +185,7 @@ target_compile_definitions(OBC-bl.out PRIVATE
     OBC_UART_BAUD_RATE=${OBC_UART_BAUD_RATE}
     CSDC_DEMO_ENABLED=${CSDC_DEMO_ENABLED}
     ENABLE_TASK_STATS_COLLECTOR=${ENABLE_TASK_STATS_COLLECTOR}
+    ${PERIPHERAL_CONFIG}
 )
 
 add_subdirectory(bl)
@@ -165,6 +216,7 @@ target_compile_definitions(debug-tool.out PRIVATE
     OBC_UART_BAUD_RATE=${OBC_UART_BAUD_RATE}
     CSDC_DEMO_ENABLED=${CSDC_DEMO_ENABLED}
     ENABLE_TASK_STATS_COLLECTOR=${ENABLE_TASK_STATS_COLLECTOR}
+    ${PERIPHERAL_CONFIG}
 )
 
 add_subdirectory(app/tools/interface_debug_tool)

obc/app/drivers/CMakeLists.txt

@@ -57,8 +57,8 @@ SET(SOURCES
     ${CMAKE_CURRENT_SOURCE_DIR}/vn100/vn100_binary_parsing.c
 )
 
-target_include_directories(OBC-firmware.out PUBLIC ${INCLUDES})
-target_sources(OBC-firmware.out PUBLIC ${SOURCES})
+target_include_directories(${OUT_FILE_NAME} PUBLIC ${INCLUDES})
+target_sources(${OUT_FILE_NAME} PUBLIC ${SOURCES})
 
 target_include_directories(debug-tool.out PUBLIC ${INCLUDES})
 target_sources(debug-tool.out PUBLIC ${SOURCES})

obc/app/hal/CMakeLists.txt

@@ -8,5 +8,5 @@ set(SOURCES
     ${CMAKE_CURRENT_SOURCE_DIR}/app_intvecs.s
 )
 
-target_include_directories(OBC-firmware.out PUBLIC ${INCLUDES})
-target_sources(OBC-firmware.out PUBLIC ${SOURCES})
+target_include_directories(${OUT_FILE_NAME} PUBLIC ${INCLUDES})
+target_sources(${OUT_FILE_NAME} PUBLIC ${SOURCES})

obc/app/modules/CMakeLists.txt

@@ -52,8 +52,8 @@ set(SOURCES
 
 )
 
-target_include_directories(OBC-firmware.out PUBLIC ${INCLUDES})
-target_sources(OBC-firmware.out PUBLIC ${SOURCES})
+target_include_directories(${OUT_FILE_NAME} PUBLIC ${INCLUDES})
+target_sources(${OUT_FILE_NAME} PUBLIC ${SOURCES})
 
 target_include_directories(debug-tool.out PUBLIC ${INCLUDES})
 target_sources(debug-tool.out PUBLIC ${SOURCES})

obc/app/modules/comms_link_mgr/comms_manager.c

@@ -294,8 +294,10 @@ void obcTaskFunctionCommsMgr(void *pvParameters) {
   comms_state_t commsState = *((comms_state_t *)pvParameters);
 
   initAllCc1120TxRxSemaphores();
-  LOG_IF_ERROR_CODE(cc1120Init());
 
+#ifdef CONFIG_CC1120
+  LOG_IF_ERROR_CODE(cc1120Init());
+#endif  // CONFIG_CC1120
   while (1) {
     comms_event_t queueMsg;