Fprime with FreeRTOS on STM32F7 board

[ec21b1006]

Hello fprime community,
I am currently working on building my own flight software using fprime with FreeRTOS on STM32F769NIH6 MCU. Previously, I was able to achieve the same and wrote LEOPS of a cubesat with Zephyr RTOS. There I had to create my own Drv components like ZephyrTime, ZephyrUartDriver, ZephyrTcpDriver, etc. Till now I have followed this (https://github.com/fprime-community/fprime-freertos.git)[https://github.com/fprime-community/fprime-freertos.git] repo's Section1 where i was able to compile FreeRTOS-Kernel for Linux Platform. I have few questions regarding which direction I should proceed.

• Do i have to do the same(creating separate Drv components) with FreeRTOS if yes then, Do i use FreeRTOS-Kernel or i can use the files produced by STM32CubeMX for my project (chosen middleware as FreeRTOS) ?
• Are there any similar projects or someone has achieved this. It would be great if you can share your approach ??

Currently i am doing fprime-util generate stm32f7 I have wrote a toolchain(.cmake) file where i am giving my BSP path. I am pasting it below:

set(CMAKE_SYSTEM_NAME "Generic")
set(CMAKE_SYSTEM_PROCESSOR arm)
# set(CMAKE_CROSSCOMPILING 1)
set(FPRIME_PLATFORM "stm32f7")
# enable the _WORKS flags to force local search on compiler
# set(CMAKE_C_COMPILER_WORKS 1)
# set(CMAKE_CXX_COMPILER_WORKS 1)
set(CMAKE_ASM_COMPILER_WORKS 1)
set(CMAKE_TRY_COMPILE_TARGET_TYPE "STATIC_LIBRARY")

# Heaps of work here setting compiler flags for arm toolchain !!!!!!!!!!!!!!!
set(CMAKE_C_COMPILER "/user/Documents/arm-gnu-toolchain-14.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-gcc")
set(CMAKE_ASM_COMPILER "/user/Documents/arm-gnu-toolchain-14.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-gcc")
set(CMAKE_CXX_COMPILER "/user/Documents/arm-gnu-toolchain-14.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-g++")

SET(STM32_BSP_PATH "/home/user/fsw_development/fprime-env/fprime-tutorial-math-component/fprime-freertos/BSP/STM32F769NIH6_freeRTOS" CACHE PATH "Path to STM32 BSP")
set(MCU_LINKER_SCRIPT ${STM32_BSP_PATH}/STM32F769XX_FLASH.ld)

#Setting linker options https://gcc.gnu.org/onlinedocs/gcc/Link-Options.html#Link-Options:~:text=%2Dllibrary,%2Dl%20library
#-T Use script as the linker script.
#-l<library> Search the library named library when linking.
#
#-Wl,option Pass option as an option to the linker.
#--specs, https://launchpadlibrarian.net/287100883/readme.txt
#-m ARM options: https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html
set(STM32_LD  "-T${MCU_LINKER_SCRIPT} \
    -mcpu=cortex-m7 \
    -mthumb \
    -mfpu=fpv5-sp-d16 \
    -mfloat-abi=hard \
    -Wl,-Map=${CMAKE_PROJECT_NAME}.map \
    --specs=nosys.specs \
    -Wl,--start-group \
    -lc \
    -lm \
    -lstdc++ \
    -lsupc++ \
    -Wl,--end-group") 
set(COMPILER_COMMON_FLAGS
    "-fdata-sections -ffunction-sections \
    -DUSE_HAL_DRIVER \
    -DTGT_OS_TYPE_FREERTOS \
    -mcpu=cortex-m7 \
    -mthumb \
    -mfpu=fpv5-sp-d16 \
    -mfloat-abi=hard \
    -DSTM32F769xx \
    --specs=nano.specs -Wl,--gc-sections"
    )    
set(CMAKE_C_FLAGS
    "${COMPILER_COMMON_FLAGS} \
    -std=c99"
    )  
set(CMAKE_CXX_FLAGS
    "${COMPILER_COMMON_FLAGS} \
    -std=c++14 \
    -fno-rtti \
    -fno-exceptions \
    -fno-threadsafe-statics"
    )
set(CMAKE_EXE_LINKER_FLAGS ${STM32_LD})


# STEP 4: Specify paths to root of toolchain package, for searching for
#         libraries, executables, etc.
# set(CMAKE_FIND_ROOT_PATH  "/workspaces/fprime/gcc-arm-none-eabi-10.3-2021.10/")
set(CMAKE_FIND_ROOT_PATH  NEVER)

# DO NOT EDIT: F prime searches the host for programs, not the cross
# compile toolchain
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# DO NOT EDIT: F prime searches for libs, includes, and packages in the
# toolchain when cross-compiling.
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

The error i am currently having while generating is

CMake Error at fprime/cmake/target/build.cmake:80 (message):
  MathDeployment_Top depends on Svc_LinuxTimer, which is unavailable for
  platform stm32f7

I doubt if i am following the correct approach too. I have also seen this repo (https://github.com/MelbourneSpaceProgram/acrux-flight-software/tree/feat/osal)[https://github.com/MelbourneSpaceProgram/acrux-flight-software/tree/feat/osal] but while building this it throws several error related to exit.c:65: undefined reference to `_exit'

[ps-kamlesh]

hi @ec21b1006

were you able to make progress on this? If yes, then could you please share the steps in brief?

[ec21b1006]

Hi @ps-kamlesh
Yes i was able to port fprime+freertos onto the stm32f769i_disco board. If you wanna discuss, kindly message on www.linkedin.com/in/manas-narayan-bb1723232