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Separate FreeRTOS from HAL #319

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Merged
altrup merged 9 commits into from
Mar 26, 2025
Merged

Separate FreeRTOS from HAL #319

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816fd68
Seperate FreeRTOS from HalCoGen
altrup Feb 12, 2025
9077f72
Replicated changes for all revisions and ground station
altrup Mar 1, 2025
062967d
Fix FreeRTOS.h include error
altrup Mar 1, 2025
8b68bad
Merge branch 'main' into eric/seperate_hal_and_freertos
altrup Mar 1, 2025
1441e72
Fix HalCoGen invalid settings errors
altrup Mar 1, 2025
833dd54
Merge branch 'eric/seperate_hal_and_freertos' of https://github.com/U…
altrup Mar 1, 2025
a26534f
Remove unnecessary comment
altrup Mar 22, 2025
9e7b744
Merge branch 'main' into eric/seperate_hal_and_freertos
altrup Mar 22, 2025
a958e19
Change HAL_LIB to COMMON_LIB
altrup Mar 22, 2025
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8 changes: 8 additions & 0 deletions obc/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,10 @@ target_link_libraries(${OUT_FILE_NAME} PRIVATE
${HAL_LIB_OPTIMIZE}
$<TARGET_OBJECTS:${HAL_LIB_NO_OPTIMIZE}>
)
target_link_libraries(${OUT_FILE_NAME} PRIVATE
${FREERTOS_LIB_OPTIMIZE}
$<TARGET_OBJECTS:${FREERTOS_LIB_NO_OPTIMIZE}>
)

# Generate .bin for the app
string(CONCAT commentStr "Generating " ${BIN_FILE_NAME})
Expand Down Expand Up @@ -232,6 +236,10 @@ target_link_libraries(debug-tool.out PRIVATE
${HAL_LIB_OPTIMIZE}
$<TARGET_OBJECTS:${HAL_LIB_NO_OPTIMIZE}>
)
target_link_libraries(debug-tool.out PRIVATE
${FREERTOS_LIB_OPTIMIZE}
$<TARGET_OBJECTS:${FREERTOS_LIB_NO_OPTIMIZE}>
)


if (${BOARD_TYPE} MATCHES RM46_LAUNCHPAD)
Expand Down
74 changes: 36 additions & 38 deletions obc/shared/hal/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@ cmake_minimum_required(VERSION 3.15)
include(cmake/board_lib_defs.cmake)

set(RM46_LAUNCHPAD_HAL_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/common/os_required_fns.c
${CMAKE_CURRENT_SOURCE_DIR}/common/rti_weak.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/adc.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/can.c
Expand All @@ -14,16 +13,6 @@ set(RM46_LAUNCHPAD_HAL_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/het.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/i2c.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/notification.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_assert.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_croutine.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_event_groups.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_heap.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_list.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_port.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_portasm.s
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_queue.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_tasks.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_timer.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/pinmux.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/sci.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/spi.c
Expand All @@ -41,11 +30,9 @@ set(RM46_LAUNCHPAD_HAL_SOURCES
set(RM46_LAUNCHPAD_NO_OPTIMIZE_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/sys_selftest.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/sys_startup.c
${CMAKE_CURRENT_SOURCE_DIR}/launchpad/source/os_mpu_wrappers.c
)

set(OBC_REV1_HAL_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/common/os_required_fns.c
${CMAKE_CURRENT_SOURCE_DIR}/common/rti_weak.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/adc.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/can.c
Expand All @@ -56,16 +43,6 @@ set(OBC_REV1_HAL_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/het.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/i2c.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/notification.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_assert.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_croutine.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_event_groups.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_heap.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_list.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_port.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_portasm.s
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_queue.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_tasks.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_timer.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/pinmux.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/sci.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/spi.c
Expand All @@ -83,11 +60,9 @@ set(OBC_REV1_HAL_SOURCES
set(OBC_REV1_NO_OPTIMIZE_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/sys_selftest.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/sys_startup.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev1/source/os_mpu_wrappers.c
)

set(OBC_REV2_HAL_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/common/os_required_fns.c
${CMAKE_CURRENT_SOURCE_DIR}/common/rti_weak.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/adc.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/can.c
Expand All @@ -98,16 +73,6 @@ set(OBC_REV2_HAL_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/het.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/i2c.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/notification.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_assert.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_croutine.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_event_groups.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_heap.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_list.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_port.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_portasm.s
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_queue.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_tasks.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_timer.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/pinmux.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/sci.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/spi.c
Expand All @@ -125,9 +90,28 @@ set(OBC_REV2_HAL_SOURCES
set(OBC_REV2_NO_OPTIMIZE_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/sys_selftest.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/sys_startup.c
${CMAKE_CURRENT_SOURCE_DIR}/obc_rev2/source/os_mpu_wrappers.c
)

set(FREERTOS_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/common/os_required_fns.c
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_assert.c
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_croutine.c
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_event_groups.c
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_heap.c
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_list.c
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_port.c
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_portasm.s
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_queue.c
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_tasks.c
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_timer.c
)

set(FREERTOS_NO_OPTIMIZE_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/freertos/source/os_mpu_wrappers.c
)

set(FREERTOS_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/freertos/include)

if (${BOARD_TYPE} MATCHES RM46_LAUNCHPAD)
set(HAL_SOURCES ${RM46_LAUNCHPAD_HAL_SOURCES})
set(HAL_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/launchpad/include)
Expand All @@ -145,23 +129,37 @@ else()
endif()

add_library(${HAL_LIB_OPTIMIZE} STATIC)
target_include_directories(${HAL_LIB_OPTIMIZE} PUBLIC ${HAL_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/common)
target_include_directories(${HAL_LIB_OPTIMIZE} PUBLIC ${FREERTOS_INCLUDE_DIRS} ${HAL_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/common)
add_library(${FREERTOS_LIB_OPTIMIZE} STATIC)
target_include_directories(${FREERTOS_LIB_OPTIMIZE} PUBLIC ${FREERTOS_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/common)
target_link_libraries(${FREERTOS_LIB_OPTIMIZE} PUBLIC ${HAL_LIB_OPTIMIZE})

target_sources(${HAL_LIB_OPTIMIZE} PUBLIC ${HAL_SOURCES})
target_sources(${FREERTOS_LIB_OPTIMIZE} PUBLIC ${FREERTOS_SOURCES})

if (DEBUG MATCHES 1)
target_compile_options(${HAL_LIB_OPTIMIZE} PRIVATE -O0)
target_compile_options(${FREERTOS_LIB_OPTIMIZE} PRIVATE -O0)
else()
target_compile_options(${HAL_LIB_OPTIMIZE} PRIVATE -O2)
target_compile_options(${FREERTOS_LIB_OPTIMIZE} PRIVATE -O2)
endif()

# Higher optimization levels on some hal files will break firmware for some reason
# Compile them with no optimizations
add_library(${HAL_LIB_NO_OPTIMIZE} OBJECT)
target_include_directories(${HAL_LIB_NO_OPTIMIZE} PUBLIC ${HAL_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/common)
target_include_directories(${HAL_LIB_NO_OPTIMIZE} PUBLIC ${FREERTOS_INCLUDE_DIRS} ${HAL_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/common)
add_library(${FREERTOS_LIB_NO_OPTIMIZE} OBJECT)
target_include_directories(${FREERTOS_LIB_NO_OPTIMIZE} PUBLIC ${FREERTOS_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/common)

target_sources(${HAL_LIB_NO_OPTIMIZE} PUBLIC ${NO_OPTIMIZE_SOURCES})
target_compile_definitions(${HAL_LIB_NO_OPTIMIZE} PRIVATE
ENABLE_TASK_STATS_COLLECTOR=${ENABLE_TASK_STATS_COLLECTOR}
)
target_sources(${FREERTOS_LIB_NO_OPTIMIZE} PUBLIC ${FREERTOS_NO_OPTIMIZE_SOURCES})
target_compile_definitions(${FREERTOS_LIB_NO_OPTIMIZE} PRIVATE
ENABLE_TASK_STATS_COLLECTOR=${ENABLE_TASK_STATS_COLLECTOR}
)

if (DEBUG MATCHES 1)
target_compile_options(${HAL_LIB_NO_OPTIMIZE} PRIVATE -O0 -g -gdwarf-3 -gstrict-dwarf)
Expand Down
12 changes: 7 additions & 5 deletions obc/shared/hal/cmake/board_lib_defs.cmake
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@@ -1,14 +1,16 @@
cmake_minimum_required(VERSION 3.15)

if (${BOARD_TYPE} MATCHES RM46_LAUNCHPAD)
set(HAL_LIB rm46-launchpad-hal)
set(COMMON_LIB rm46-launchpad-common)
elseif(${BOARD_TYPE} MATCHES OBC_REVISION_1)
set(HAL_LIB obc-rev1-hal)
set(COMMON_LIB obc-rev1-common)
elseif(${BOARD_TYPE} MATCHES OBC_REVISION_2)
set(HAL_LIB obc-rev2-hal)
set(COMMON_LIB obc-rev2-common)
else()
message(FATAL_ERROR "Invalid board type: ${BOARD_TYPE}")
endif()

set(HAL_LIB_OPTIMIZE ${HAL_LIB}-optimize)
set(HAL_LIB_NO_OPTIMIZE ${HAL_LIB}-no-optimize)
set(HAL_LIB_OPTIMIZE ${COMMON_LIB}-optimize)
set(HAL_LIB_NO_OPTIMIZE ${COMMON_LIB}-no-optimize)
set(FREERTOS_LIB_OPTIMIZE ${COMMON_LIB}-freertos-optimize)
set(FREERTOS_LIB_NO_OPTIMIZE ${COMMON_LIB}-freertos-no-optimize)
0 obc/shared/hal/launchpad/include/FreeRTOS.h → obc/shared/hal/freertos/include/FreeRTOS.h
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0 ...red/hal/obc_rev1/include/FreeRTOSConfig.h → ...red/hal/freertos/include/FreeRTOSConfig.h
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0 ...ed/hal/launchpad/include/os_StackMacros.h → ...red/hal/freertos/include/os_StackMacros.h
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0 ...hared/hal/launchpad/include/os_croutine.h → ...shared/hal/freertos/include/os_croutine.h
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0 ...d/hal/launchpad/include/os_event_groups.h → ...ed/hal/freertos/include/os_event_groups.h
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0 obc/shared/hal/launchpad/include/os_list.h → obc/shared/hal/freertos/include/os_list.h
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0 ...d/hal/launchpad/include/os_mpu_wrappers.h → ...ed/hal/freertos/include/os_mpu_wrappers.h
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0 ...hared/hal/launchpad/include/os_portable.h → ...shared/hal/freertos/include/os_portable.h
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0 ...ared/hal/launchpad/include/os_portmacro.h → ...hared/hal/freertos/include/os_portmacro.h
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0 ...hared/hal/launchpad/include/os_projdefs.h → ...shared/hal/freertos/include/os_projdefs.h
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0 obc/shared/hal/launchpad/include/os_queue.h → obc/shared/hal/freertos/include/os_queue.h
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0 obc/shared/hal/launchpad/include/os_semphr.h → obc/shared/hal/freertos/include/os_semphr.h
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0 obc/shared/hal/launchpad/include/os_task.h → obc/shared/hal/freertos/include/os_task.h
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0 obc/shared/hal/launchpad/include/os_timer.h → obc/shared/hal/freertos/include/os_timer.h
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0 obc/shared/hal/launchpad/source/os_assert.c → obc/shared/hal/freertos/source/os_assert.c
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0 ...shared/hal/launchpad/source/os_croutine.c → obc/shared/hal/freertos/source/os_croutine.c
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0 ...ed/hal/launchpad/source/os_event_groups.c → ...red/hal/freertos/source/os_event_groups.c
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0 obc/shared/hal/launchpad/source/os_heap.c → obc/shared/hal/freertos/source/os_heap.c
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0 obc/shared/hal/launchpad/source/os_list.c → obc/shared/hal/freertos/source/os_list.c
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0 ...ed/hal/launchpad/source/os_mpu_wrappers.c → ...red/hal/freertos/source/os_mpu_wrappers.c
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0 obc/shared/hal/launchpad/source/os_port.c → obc/shared/hal/freertos/source/os_port.c
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0 obc/shared/hal/launchpad/source/os_portasm.s → obc/shared/hal/freertos/source/os_portasm.s
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0 obc/shared/hal/launchpad/source/os_queue.c → obc/shared/hal/freertos/source/os_queue.c
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0 obc/shared/hal/launchpad/source/os_tasks.c → obc/shared/hal/freertos/source/os_tasks.c
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0 obc/shared/hal/launchpad/source/os_timer.c → obc/shared/hal/freertos/source/os_timer.c
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199 changes: 0 additions & 199 deletions obc/shared/hal/launchpad/include/FreeRTOSConfig.h
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