cfs-freertos

This is a skeleton cFS flight distribution comprising cFE, OSAL, and PSP with support for FreeRTOS.

This is a work in progress.

Building cFS

Fetch any git submodules:

git pull
git submodule update --init --recursive

On a Linux host computer:

docker-compose run mps2 bash

Then, inside the Ubuntu 18.04 docker container:

make

The relevant cmake configuration files are identified in mps2_defs/.

Running in QEMU

Emulate in QEMU:

qemu-system-arm \
    -machine mps2-an385 \
    -monitor null \
    -semihosting \
    --semihosting-config enable=on,target=native \
    -kernel ./build-mps2/cortex-m3/default_mps2/mps2/core-mps2 \
    -serial stdio \
    -nographic \
    -gdb tcp::5555 \
    -S

Debug in gdb:

arm-none-eabi-gdb-py \
    --ex "target extended-remote localhost:5555" \
    -x ./apps/bsp-arm-mps2-an385/scripts/gdb/debug.gdbinit \
    -q ./build-mps2/cortex-m3/default_mps2/mps2/core-mps2

Bootstrapping on a Linux host computer

The toolchain is separately installed in the Docker container but it can also be useful to have certain host binaries available on the host computer. The gcc cross toolchain for ARM is installed like so:

export CFS_PROJECT_PATH=/opt/cfs-freertos

mkdir -p ${CFS_PROJECT_PATH}/toolchain

wget -qO- https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/gcc-arm-none-eabi-9-2019-q4-major-x86_64-linux.tar.bz2 | tar xvj -C ${CFS_PROJECT_PATH}/toolchain/

export PATH="${PATH}:${CFS_PROJECT_PATH}/toolchain/gcc-arm-none-eabi-9-2019-q4-major/bin"

You also need to install Docker and docker-compose.