Cross compile to FreeRTOS

[rawinza555]

Hi, I have found this [https://github.com//issues/7](FreeRTOS discussion).

The next step of my project is to change the board from Raspberry Pi to STM32 based MCU. since the discussion was dated back in 2018 and the framework was a little bit different from current version, would you mind pointing out the difference? For example, since mk/configs/builds/builds.mk is no longer there, where to add build target? All I know is that I need to config a compiler and make several of the OS Layer code.

[timcanham]

We've made a few attempts to get F Prime to run on FreeRTOS, and the problem has been trying to get a board with a mature BSP rather than the FreeRTOS API itself. I looked into it, and it looks straightforward. If you have a board to test it with, perhaps we can create an fprime-freertos repo that has the CMAKE platform and toolchain files.

[rawinza555]

I'm down to work on this. I have a nucleo144 with STM32H7 that I intended to use for early development phase on MCU. The end goal is to eventually port them to Endurosat OBC that run on the same cortex M7.

Mind you though that I'm a totally noob when it comes to microcontroller in general. The only microcontroller I have worked on so far is an arduino. So it might take me a while to figure things out. I just have a shear will to see it through the end.

[rawinza555]

I was getting distracted with other works but I finally have time to start looking into this. I have forked fprime repo and I will be using that to work on porting Ref to Nucleo-H743ZI2 with freeRTOS (I vaguely remember my colleague suggestion on using Chibi OS. I will probably look into that too.)

I have followed the porting guide and downloaded gcc-arm-none-eabi. I believe this is the right compiler because pretty much any project with stm32 that is built with make/cmake use this compiler. I believe I can still use Linux's standard type here. I managed to get a BSP for the board by using CubeMX. The problem is I'm kind of lost on what to do next with these to build a hardware driver and OS layer stuff.

[LeStarch]

Check the C standard library as implemented as part of FreeRTOS. Sometimes the OS implementation is incomplete and don't include strnlen.

[LeStarch]

If it does not include this, it is fairly simple to include your own as part of the OS integration.

[rawinza555]

@LeStarch Thanks! I ended up implementing strnlen, similar to what @timcanham did with vxworks. That solves one problem. However, I'm now stuck at this.

[ 18%] Building CXX object F-Prime/Fw/Cmd/CMakeFiles/Fw_Cmd.dir/CmdResponsePortAc.cpp.obj
   17 | #define fileIdFs "Assert file \"%s\": Line: %d "
      |                  ^
/home/rawinza555/fprime/Fw/Types/Assert.cpp:66:59: note: in expansion of macro 'fileIdFs'
   66 |                 (void)snprintf((char*)destBuffer,buffSize,fileIdFs "%d %d %d %d %d %d",file,lineNo,
      |                                                           ^~~~~~~~
/home/rawinza555/fprime/Fw/Types/Assert.cpp:66:85: note: format string is defined here
   66 | printf((char*)destBuffer,buffSize,fileIdFs "%d %d %d %d %d %d",file,lineNo,
      |                                                            ~^
      |                                                             |
      |                                                             int
      |                                                            %ld
/home/rawinza555/fprime/Ref/build-fprime-automatic-stm32/F-Prime/Fw/Cmd/CmdResponsePortAc.cpp: In member function 'void Fw::OutputCmdResponsePort::invoke(U32, U32, Fw::CommandResponse)':
/home/rawinza555/fprime/Ref/build-fprime-automatic-stm32/F-Prime/Fw/Cmd/CmdResponsePortAc.cpp:140:74: error: call of overloaded 'serialize(NATIVE_INT_TYPE)' is ambiguous
  140 |     status = _buffer.serialize(static_cast<NATIVE_INT_TYPE>(response));
      |                                                                      ^

In file included from /home/rawinza555/fprime/Ref/build-fprime-automatic-stm32/F-Prime/Fw/Cmd/CmdResponsePortAc.cpp:3:
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:52:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(U8)'
   52 |             SerializeStatus serialize(U8 val); //!< serialize 8-bit unsigned int
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:53:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(I8)'
   53 |             SerializeStatus serialize(I8 val); //!< serialize 8-bit signed int
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:56:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(U16)'
   56 |             SerializeStatus serialize(U16 val); //!< serialize 16-bit unsigned int
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:57:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(I16)'
   57 |             SerializeStatus serialize(I16 val); //!< serialize 16-bit signed int
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:60:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(U32)'
   60 |             SerializeStatus serialize(U32 val); //!< serialize 32-bit unsigned int
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:61:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(I32)'
   61 |             SerializeStatus serialize(I32 val); //!< serialize 32-bit signed int
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:64:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(U64)'
   64 |             SerializeStatus serialize(U64 val); //!< serialize 64-bit unsigned int
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:65:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(I64)'
   65 |             SerializeStatus serialize(I64 val); //!< serialize 64-bit signed int
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:67:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(F32)'
   67 |             SerializeStatus serialize(F32 val); //!< serialize 32-bit floating point
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:69:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(F64)'
   69 |             SerializeStatus serialize(F64 val); //!< serialize 64-bit floating point
      |                             ^~~~~~~~~
/home/rawinza555/fprime/Fw/Types/Serializable.hpp:71:29: note: candidate: 'Fw::SerializeStatus Fw::SerializeBufferBase::serialize(bool)'
   71 |             SerializeStatus serialize(bool val); //!< serialize boolean
      |                             ^~~~~~~~~
make[3]: *** [F-Prime/Fw/Cmd/CMakeFiles/Fw_Cmd.dir/build.make:170: F-Prime/Fw/Cmd/CMakeFiles/Fw_Cmd.dir/CmdResponsePortAc.cpp.obj] Error 1
make[2]: *** [CMakeFiles/Makefile2:2459: F-Prime/Fw/Cmd/CMakeFiles/Fw_Cmd.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:9660: Ref/Top/CMakeFiles/Ref.dir/rule] Error 2
make: *** [Makefile:3173: Ref] Error 2
[ERROR] CMake erred with return code 2

What should I do to fix this?

[LeStarch]

Here you may need to follow the same pattern as seen here: https://github.com/fprime-community/fprime-arduino/blob/a18eed0da9346ebef8ac26d073e026399311f8d4/fprime-arduino/ArduinoTypes/StandardTypes.hpp#L5

[LeStarch]

Here we have specified explicit 32 bit versions of the two native types.

[rawinza555]

Not sure if this is a place to ask this question but I'm not sure if and how thread joining is being used in F'? Since there is no task joining in freeRTOS, if it's not necessary then I could just skip it entirely.

[timcanham]

If a particular OS port doesn't support a feature, we typically just provide an empty function, possibly with a pass status, to satisfy the higher layers. It's also typical for embedded systems that you don't have transient threads where you have to deal with starting and joining, so it's not a big deal to not implement it.

[LeStarch]

The only explicit place threads joins are used is in the exit function of topology. Thus it likely isn't super critical.

[rawinza555]

Thx guys!

On the related note, I see that F' doesn't have function for task suspend and resume because there is no support on these features from pthreads. However, freeRTOS has APIs for these twos. I'm wondering if I were to use them on F', would there be any use of those functions in the current F' framework? If not, then I'm probably going to leave it like that for now.

[timcanham]

It actually wouldn't be a bad idea to add them. Other RTOSes have those functions. Why don't you do a PR with the new functions?

[rawinza555]

@timcanham Will do once I test everything. There are more for me to do, especially with getting time and the drivers for STM32.

[rawinza555]

I'm a little bit confused on message queue.

Am I right to assume that either of the two would work here?
I totally forgot to check queuecommon.cpp. one of the receive function is the one in queuecommon that call another receive() function in queue.cpp

My remaining question is how crucial to the framework is to find the actual size of the message. With freeRTOS, the return of queue receive API doesn't provide the actual size of the message.

[Joshua-Anderson]

I believe the size of the received message is important. For things like serialized queues where the object type is variable being able to lookup the actual size of the queued message is useful. Even if freeRTOS doesn't expose the actual message size you could always serialize it as the first byte in the queue message.

[timcanham]

Bingo! You beat me to it. I would make it a 32-bit or 16-bit integer, since there hypothetically could be large messages.

[rawinza555]

I have updated my code in my repo. I have added OS layer file that call freertos API and try to make a deployment that blink a onboard LED, similar to what @LeStarch did on his arduino cross compiler. Since freeRTOS doesn't have a file system, I am using baremetal for file system for now.

after running -fprime-util generate stm32 , this error shows up.

-- Adding executable: STM32Blink_exe
-- 	Found topologyapp: STM32Blink in /home/rawinza555/fprime/STM32Blink/Top/STM32BlinkTopologyAppAi.xml
-- Configuring incomplete, errors occurred!
  Cannot add target-level dependencies to non-existent target "Svc_RTOSTime".
See also "/home/rawinza555/fprime/STM32Blink/build-fprime-automatic-stm32/CMakeFiles/CMakeOutput.log".

See also "/home/rawinza555/fprime/STM32Blink/build-fprime-automatic-stm32/CMakeFiles/CMakeError.log".
  The add_dependencies works for top-level logical targets created by the
  add_executable, add_library, or add_custom_target commands.  If you want to
  add file-level dependencies see the DEPENDS option of the add_custom_target
  and add_custom_command commands.
Call Stack (most recent call first):
  /home/rawinza555/fprime/Svc/RTOSTime/CMakeLists.txt:18 (add_stm32_dependency)


[ERROR] CMake erred with return code 1. Partial build cache remains. Run purge to clean-up.

I am trying to something similar to the arduino cmake toolchain by creating a cmake function and then have a component's cmake call that function for linking the libraries. I want to do it this way because there are lots of components and OS layer stuff that would need to be linked to the board's BSP and freeRTOS API. I'm sure I misunderstand something big here but I'm not quite sure on how to fix it.

[rawinza555]

I'm not sure if I'm supposed to do this but I decided to use MOD_DEP to link the BSP to the components. I have updated the repo and now I am able to generate but it stuck at build with these errors.

/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: CMakeFiles/STM32Blink_exe.dir/Topology.cpp.obj: in function `Os::Log::~Log()':
Topology.cpp:(.text._ZN2Os3LogD2Ev[_ZN2Os3LogD5Ev]+0x20): undefined reference to `vtable for Os::Log'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: CMakeFiles/STM32Blink_exe.dir/Topology.cpp.obj: in function `__static_initialization_and_destruction_0(int, int)':
Topology.cpp:(.text._Z41__static_initialization_and_destruction_0ii+0x30): undefined reference to `Os::Log::Log()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: CMakeFiles/STM32Blink_exe.dir/Main.cpp.obj: in function `run1cycle()':
Main.cpp:(.text._Z9run1cyclev+0xe): undefined reference to `Os::Task::delay(unsigned long)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_Types.a(EightyCharString.cpp.obj): in function `Fw::EightyCharString::length() const':
EightyCharString.cpp:(.text._ZNK2Fw16EightyCharString6lengthEv+0x10): undefined reference to `strnlen(char const*, int)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_Types.a(EightyCharString.cpp.obj): in function `Fw::EightyCharString::serialize(Fw::SerializeBufferBase&) const':
EightyCharString.cpp:(.text._ZNK2Fw16EightyCharString9serializeERNS_19SerializeBufferBaseE+0x12): undefined reference to `strnlen(char const*, int)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_TlmChan.a(TlmChanComponentAc.cpp.obj): in function `Svc::TlmChanComponentBase::TlmChanComponentBase(char const*)':
TlmChanComponentAc.cpp:(.text._ZN3Svc20TlmChanComponentBaseC2EPKc+0xbe): undefined reference to `Os::Mutex::Mutex()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_TlmChan.a(TlmChanComponentAc.cpp.obj): in function `Svc::TlmChanComponentBase::~TlmChanComponentBase()':
TlmChanComponentAc.cpp:(.text._ZN3Svc20TlmChanComponentBaseD2Ev+0x16): undefined reference to `Os::Mutex::~Mutex()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_TlmChan.a(TlmChanComponentAc.cpp.obj): in function `Svc::TlmChanComponentBase::lock()':
TlmChanComponentAc.cpp:(.text._ZN3Svc20TlmChanComponentBase4lockEv+0x10): undefined reference to `Os::Mutex::lock()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_TlmChan.a(TlmChanComponentAc.cpp.obj): in function `Svc::TlmChanComponentBase::unLock()':
TlmChanComponentAc.cpp:(.text._ZN3Svc20TlmChanComponentBase6unLockEv+0x10): undefined reference to `Os::Mutex::unLock()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_GroundInterface.a(GroundInterfaceComponentAc.cpp.obj): in function `Svc::GroundInterfaceComponentBase::GroundInterfaceComponentBase(char const*)':
GroundInterfaceComponentAc.cpp:(.text._ZN3Svc28GroundInterfaceComponentBaseC2EPKc+0x174): undefined reference to `Os::Mutex::Mutex()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_GroundInterface.a(GroundInterfaceComponentAc.cpp.obj): in function `Svc::GroundInterfaceComponentBase::~GroundInterfaceComponentBase()':
GroundInterfaceComponentAc.cpp:(.text._ZN3Svc28GroundInterfaceComponentBaseD2Ev+0x16): undefined reference to `Os::Mutex::~Mutex()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_GroundInterface.a(GroundInterfaceComponentAc.cpp.obj): in function `Svc::GroundInterfaceComponentBase::lock()':
GroundInterfaceComponentAc.cpp:(.text._ZN3Svc28GroundInterfaceComponentBase4lockEv+0x10): undefined reference to `Os::Mutex::lock()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_GroundInterface.a(GroundInterfaceComponentAc.cpp.obj): in function `Svc::GroundInterfaceComponentBase::unLock()':
GroundInterfaceComponentAc.cpp:(.text._ZN3Svc28GroundInterfaceComponentBase6unLockEv+0x10): undefined reference to `Os::Mutex::unLock()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_FatalHandler.a(FatalHandlerComponentLinuxImpl.cpp.obj): in function `Svc::FatalHandlerComponentImpl::FatalReceive_handler(long, unsigned long)':
FatalHandlerComponentLinuxImpl.cpp:(.text._ZN3Svc25FatalHandlerComponentImpl20FatalReceive_handlerElm+0x38): undefined reference to `Os::Task::delay(unsigned long)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_CmdDispatcher.a(CommandDispatcherComponentAc.cpp.obj): in function `Svc::CommandDispatcherComponentBase::CommandDispatcherComponentBase(char const*)':
CommandDispatcherComponentAc.cpp:(.text._ZN3Svc30CommandDispatcherComponentBaseC2EPKc+0x1a4): undefined reference to `Os::Mutex::Mutex()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_CmdDispatcher.a(CommandDispatcherComponentAc.cpp.obj): in function `Svc::CommandDispatcherComponentBase::~CommandDispatcherComponentBase()':
CommandDispatcherComponentAc.cpp:(.text._ZN3Svc30CommandDispatcherComponentBaseD2Ev+0x18): undefined reference to `Os::Mutex::~Mutex()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_CmdDispatcher.a(CommandDispatcherComponentAc.cpp.obj): in function `Svc::CommandDispatcherComponentBase::lock()':
CommandDispatcherComponentAc.cpp:(.text._ZN3Svc30CommandDispatcherComponentBase4lockEv+0x12): undefined reference to `Os::Mutex::lock()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_CmdDispatcher.a(CommandDispatcherComponentAc.cpp.obj): in function `Svc::CommandDispatcherComponentBase::unLock()':
CommandDispatcherComponentAc.cpp:(.text._ZN3Svc30CommandDispatcherComponentBase6unLockEv+0x12): undefined reference to `Os::Mutex::unLock()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_Log.a(LogString.cpp.obj): in function `Fw::LogStringArg::length() const':
LogString.cpp:(.text._ZNK2Fw12LogStringArg6lengthEv+0x10): undefined reference to `strnlen(char const*, int)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_Log.a(LogString.cpp.obj): in function `Fw::LogStringArg::serialize(Fw::SerializeBufferBase&) const':
LogString.cpp:(.text._ZNK2Fw12LogStringArg9serializeERNS_19SerializeBufferBaseE+0x16): undefined reference to `strnlen(char const*, int)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: LogString.cpp:(.text._ZNK2Fw12LogStringArg9serializeERNS_19SerializeBufferBaseE+0x2e): undefined reference to `strnlen(char const*, int)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_Log.a(TextLogString.cpp.obj): in function `Fw::TextLogString::length() const':
TextLogString.cpp:(.text._ZNK2Fw13TextLogString6lengthEv+0x12): undefined reference to `strnlen(char const*, int)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_Log.a(TextLogString.cpp.obj): in function `Fw::TextLogString::serialize(Fw::SerializeBufferBase&) const':
TextLogString.cpp:(.text._ZNK2Fw13TextLogString9serializeERNS_19SerializeBufferBaseE+0x14): undefined reference to `strnlen(char const*, int)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_Cmd.a(CmdString.cpp.obj):CmdString.cpp:(.text._ZNK2Fw12CmdStringArg6lengthEv+0x10): more undefined references to `strnlen(char const*, int)' follow
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_CompQueued.a(QueuedComponentBase.cpp.obj): in function `Fw::QueuedComponentBase::QueuedComponentBase(char const*)':
QueuedComponentBase.cpp:(.text._ZN2Fw19QueuedComponentBaseC2EPKc+0x20): undefined reference to `Os::Queue::Queue()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_CompQueued.a(QueuedComponentBase.cpp.obj): in function `Fw::QueuedComponentBase::~QueuedComponentBase()':
QueuedComponentBase.cpp:(.text._ZN2Fw19QueuedComponentBaseD2Ev+0x14): undefined reference to `Os::Queue::~Queue()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_CompQueued.a(ActiveComponentBase.cpp.obj): in function `Fw::ActiveComponentBase::ActiveComponentBase(char const*)':
ActiveComponentBase.cpp:(.text._ZN2Fw19ActiveComponentBaseC2EPKc+0x20): undefined reference to `Os::Task::Task()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_CompQueued.a(ActiveComponentBase.cpp.obj): in function `Fw::ActiveComponentBase::~ActiveComponentBase()':
ActiveComponentBase.cpp:(.text._ZN2Fw19ActiveComponentBaseD2Ev+0x14): undefined reference to `Os::Task::~Task()'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libFw_CompQueued.a(ActiveComponentBase.cpp.obj): in function `Fw::ActiveComponentBase::start(long, long, long, long)':
ActiveComponentBase.cpp:(.text._ZN2Fw19ActiveComponentBase5startEllll+0x68): undefined reference to `Os::Task::start(Fw::StringBase const&, long, long, long, void (*)(void*), void*, long)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_Cycle.a(TimerVal.cpp.obj): in function `Svc::TimerVal::take()':
TimerVal.cpp:(.text._ZN3Svc8TimerVal4takeEv+0xe): undefined reference to `Os::IntervalTimer::getRawTime(Os::IntervalTimer::RawTime&)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libSvc_Cycle.a(TimerVal.cpp.obj): in function `Svc::TimerVal::diffUSec(Svc::TimerVal const&)':
TimerVal.cpp:(.text._ZN3Svc8TimerVal8diffUSecERKS0_+0x16): undefined reference to `Os::IntervalTimer::getDiffUsec(Os::IntervalTimer::RawTime const&, Os::IntervalTimer::RawTime const&)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libOs.a(QueueCommon.cpp.obj): in function `Os::Queue::send(Fw::SerializeBufferBase const&, long, Os::Queue::QueueBlocking)':
QueueCommon.cpp:(.text._ZN2Os5Queue4sendERKN2Fw19SerializeBufferBaseElNS0_13QueueBlockingE+0x34): undefined reference to `Os::Queue::send(unsigned char const*, long, long, Os::Queue::QueueBlocking)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libOs.a(QueueCommon.cpp.obj): in function `Os::Queue::receive(Fw::SerializeBufferBase&, long&, Os::Queue::QueueBlocking)':
QueueCommon.cpp:(.text._ZN2Os5Queue7receiveERN2Fw19SerializeBufferBaseERlNS0_13QueueBlockingE+0x46): undefined reference to `Os::Queue::receive(unsigned char*, long, long&, long&, Os::Queue::QueueBlocking)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libOs.a(QueueCommon.cpp.obj): in function `Os::Queue::create(Fw::StringBase const&, long, long)':
QueueCommon.cpp:(.text._ZN2Os5Queue6createERKN2Fw10StringBaseEll+0x3a): undefined reference to `Os::Queue::createInternal(Fw::StringBase const&, long, long)'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libNucleoH7_freeRTOS.a(usart.c.obj): in function `MX_USART3_UART_Init':
usart.c:(.text.MX_USART3_UART_Init+0x54): undefined reference to `Error_Handler'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: usart.c:(.text.MX_USART3_UART_Init+0x66): undefined reference to `Error_Handler'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: usart.c:(.text.MX_USART3_UART_Init+0x78): undefined reference to `Error_Handler'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: usart.c:(.text.MX_USART3_UART_Init+0x88): undefined reference to `Error_Handler'
/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: ../../lib/stm32/libNucleoH7_freeRTOS.a(usart.c.obj): in function `HAL_UART_MspInit':
usart.c:(.text.HAL_UART_MspInit+0x4a): undefined reference to `Error_Handler'
collect2: error: ld returned 1 exit status
make[3]: *** [STM32Blink/Top/CMakeFiles/STM32Blink_exe.dir/build.make:190: bin/stm32/STM32Blink] Error 1
make[2]: *** [CMakeFiles/Makefile2:9853: STM32Blink/Top/CMakeFiles/STM32Blink_exe.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:9746: STM32Blink/Top/CMakeFiles/STM32Blink.dir/rule] Error 2
make: *** [Makefile:3186: STM32Blink] Error 2
[ERROR] CMake erred with return code 2

What's the common source of these error messages?
Also, anyone know how to link the startup and linker script in F'? I kind of have a general idea on how to do it in make and cmake but I don't know what's what in F'.

[rawinza555]

Fixed. I use the wrong name in OS/CMakeLists. Now I can start debugging the OS layer stuff.

[timcanham]

This usually means you haven't linked in the OS layer for your FreeRTOS port. You have to implement those functions. What we've been doing is keeping a set of sub-repos here with OS ports. You can create a sub-repo there and follow the pattern for the other ports. Then other people can take advantage of your work. From the thread, it looks like you were starting to write those adaptation classes.

[rawinza555]

I am trying to transfer my repo to fprime-community but it seems like I don't have a permission to do that.

[timcanham]

I created a repo for you and made you a maintainer:

https://github.com/fprime-community/fprime-freertos

[rawinza555]

Done! I have updated the repo with what I have so far.

[rawinza555]

Another quick question. For task creation function in FreeRTOS here, it requires the pointer to the task entry function TaskFunction_t pxTaskCode as one of the input arguments. What could I use here? Is there a way to somehow get this from identifier or the string name of the task?

[timcanham]

@rawinza555: The function signature for the Os::Task::start() call includes the task entry function:

TaskStatus start(const Fw::StringBase &name, taskRoutine routine, void* arg, NATIVE_UINT_TYPE priority = TASK_DEFAULT, NATIVE_UINT_TYPE stackSize = TASK_DEFAULT,  NATIVE_UINT_TYPE cpuAffinity = TASK_DEFAULT, NATIVE_UINT_TYPE identifier = TASK_DEFAULT);

See the taskRoutine argument. You should be able to pass this to the FreeRTOS function.

[rawinza555]

Routine seem to work. Thx!

[rawinza555]

So I tried to build the target again and these error messages shows up

[ 98%] Linking CXX executable ../../bin/stm32/STM32Blink
                 from /home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/CMSIS/Include/core_cm7.h:162,
                 from /home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h743xx.h:224,
                 from /home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h7xx.h:124,
                 from /home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h:30,
                 from /home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h:29,
                 from /home/rawinza555/fprime/NucleoH7_freeRTOS/Core/Inc/stm32h7xx_hal_conf.h:246,
                 from /home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h:30,
                 from /home/rawinza555/fprime/NucleoH7_freeRTOS/Core/Inc/main.h:31,
                 from /home/rawinza555/fprime/NucleoH7_freeRTOS/Core/Inc/usart.h:28,
                 from /home/rawinza555/fprime/STM32Blink/STM32SerialDriver/STM32SerialDriverComponentImpl.hpp:17,
                 from /home/rawinza555/fprime/STM32Blink/Top/Components.hpp:23,
                 from /home/rawinza555/fprime/STM32Blink/Top/Main.cpp:5:
/home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/CMSIS/Include/cmsis_gcc.h: In function 'void __cmsis_start()':
/home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/CMSIS/Include/cmsis_gcc.h:146:31: warning: type 'const __cmsis_start()::__copy_table_t' with no linkage used to declare variable 'const __cmsis_start()::__copy_table_t __copy_table_start__' with linkage
  146 |   extern const __copy_table_t __copy_table_start__;
      |                               ^~~~~~~~~~~~~~~~~~~~
/home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/CMSIS/Include/cmsis_gcc.h:147:31: warning: type 'const __cmsis_start()::__copy_table_t' with no linkage used to declare variable 'const __cmsis_start()::__copy_table_t __copy_table_end__' with linkage
  147 |   extern const __copy_table_t __copy_table_end__;
      |                               ^~~~~~~~~~~~~~~~~~
/home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/CMSIS/Include/cmsis_gcc.h:148:31: warning: type 'const __cmsis_start()::__zero_table_t' with no linkage used to declare variable 'const __cmsis_start()::__zero_table_t __zero_table_start__' with linkage
  148 |   extern const __zero_table_t __zero_table_start__;
      |                               ^~~~~~~~~~~~~~~~~~~~
/home/rawinza555/fprime/NucleoH7_freeRTOS/Drivers/CMSIS/Include/cmsis_gcc.h:149:31: warning: type 'const __cmsis_start()::__zero_table_t' with no linkage used to declare variable 'const __cmsis_start()::__zero_table_t __zero_table_end__' with linkage
  149 |   extern const __zero_table_t __zero_table_end__;
      |                               ^~~~~~~~~~~~~~~~~~
Error running link command: Permission denied
make[3]: *** [STM32Blink/Top/CMakeFiles/STM32Blink_exe.dir/build.make:192: bin/stm32/STM32Blink] Error 2
make[2]: *** [CMakeFiles/Makefile2:9855: STM32Blink/Top/CMakeFiles/STM32Blink_exe.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:9747: STM32Blink/Top/CMakeFiles/STM32Blink.dir/rule] Error 2
make: *** [Makefile:3186: STM32Blink] Error 2

It seems like I might have done something wrong with including the linker script NucleoH7_freeRTOS/STM32H743ZITx_FLASH.ld and/or startup script NucleoH7_freeRTOS/startup_stm32h743xx.s

[LeStarch]

@rawinza555 I think it is the following line:

https://github.com/fprime-community/fprime-freertos/blob/c1a6fc93cb70f82961975c13f942c53210c26397/cmake/toolchain/stm32.cmake#L56

[LeStarch]

Note, it needs to contain an executable:

set(CMAKE_CXX_LINK_EXECUTABLE "/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/arm-none-eabi-ld ${STM32_BSP_PATH}/STM32H743ZITx_FLASH.ld -o <TARGET> <OBJECTS> <LINK_LIBRARIES>")

Here I just guessed that "/home/rawinza555/gcc-arm-none-eabi-10.3-2021.07/bin/arm-none-eabi-ld" is the right path to your linker.

[rawinza555]

I managed to get everything compiled and get an executable.

A few follow up questions.

1. How can I change the file extension? I need .hex or .elf so I can flash it into the board to test it out.
2. How do you guys normally debugging when you put F' on an MCU? Like in R Pi if there's any segmentation fault, I can see the error message and figure out how to fix it via gdb.

[rawinza555]

So, I managed to get hex file and flash it to the Nucleo board and it does nothing. I'm kind of lost. I've never been debugging anything like this before. You guys got any recommended resources or have any common cause that would result in something like this? For example, how to pinpoint whether it was the toolchain, the way FreeRTOS API is called for the OS layer functions or just I didn't set up the main.cpp correctly.

[timcanham]

Did you try attaching with a debugger and step through?

[rawinza555]

There's a debugger in STM32CubeIDE that I'm trying to use. My plan is with that, I can go line by line through the code to see what's wrong. Right now I'm setting it up so that I can use cubeIDE to work with F'. Will keep you guys posted.

[rawinza555]

Turned out I don't need the actual F' to be in the CubeIDE to use its debugger. I managed to probed in. What I found is that there's only one thread being created and it seems to stuck on something in main so at least it's not a bootloader issue.

[daniel-digby]

Hi @rawinza555, can you please list out the steps you followed to probe the running code within the CubeIDE.

We have a build setup following these discussions on a STM32H743ZI2 and are able to flash our output binary to the board using stm-flash but are struggling to determine if it's actually running.

We'd like to use the CubeIDE to verify but are unable to work out how to load the project in, as our project executable is deeply nested in our FPrime repository under /Ref/build-artifacts/FreeRTOS/bin/Ref

[rawinza555]

It's been a while. I was busy with other projects until now. I believe the problem is that I didn't include startup file into the cmake (Found this by accident. I had a separate project with stm32 using cmake and I forgot to add the startup file there and the exact thing happen). It make sense. The debugger shows the line of the code, the code compiled successfully and flashed but it doesn't even start and I can't even step over the code.

Normally I have to add the startup file (startup_stm32h743xx.s) as one of the source for add_executable(). How can I do it here?

[LeStarch]

Add it to your source files list before you call add_executable()

set(SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Top/Main.cpp"
<path to>/startup_stm32h743xx.s
)

[LeStarch]

Also add "ASM" to your project language list. You may need some ASM cmake settings too. I assume you added them to the toolchain file, but if not, ask back here and we can help you get that done!

[BillYJT]

Hi!

This is Bill from the Melbourne Space Program. So we have been on a similar mission trying to get fprime running with FreeRTOS on a STM board.
We have been following the fprime porting guideline, this thread, and rawinza's repo, and we get to a point where we managed to get an error-free build and are able to flash it onto the STM board. However, when we probe in using OpenOCD+GDB, the board seems to be stuck at some entry function called "binary_Ref_bin_start()" and just does nothing.

At this point, we are quite lost. And we as a student organization unfortunately don't have too much embedded dev experience. This thread stopped a year ago so I am wondering if there has been any further development. Also, some setup in rawinza's repo also seems outdated with the migration from xml to fpp... So I am hoping we could get some pointers from you guys. And it would be even better if you could help us take a look at our setup, which is on this branch of our fork.

Thanks a lot in advance for your help! Also please let me know if you would like me to open a new thread for the discussion to avoid bloating this thread.