Header styles and file naming conventions; CMake ARM Linux musl Compiler

Co-authored-by: Gregory Wainer <[email protected]>

11 files changed, 241 insertions, 27 deletions

diff --git a/.gitignore b/.gitignore
index 3c243f0..18c75b1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,15 @@
-build/*
-Testing/*
+Testing/*

+.DS_Store

+.vagrant/*

+.idea/

+

+CMakeFiles/

+cmake_install.cmake

+CMakeCache.txt

+Makefile

+

+src/CMakeFiles

+src/cmake_install.cmake

+src/Makefile

+

+build/*

diff --git a/CMakeLists.txt b/CMakeLists.txt
index afe6539..5e3ed90 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,23 +1,49 @@
 cmake_minimum_required(VERSION 3.14)
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR ARM)
+set(CMAKE_BUILD_TYPE Debug)
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+
+# Set the cross-compiler for ARM32
+if(CMAKE_HOST_APPLE)
+    message(STATUS "Running on an Apple system")
+
+    # Apple Settings
+    # Musl has many targets, must select one
+    set(CMAKE_C_COMPILER /opt/homebrew/bin/arm-linux-musleabihf-gcc)
+    set(CMAKE_CXX_COMPILER /opt/homebrew/bin/arm-linux-musleabihf-g++)
+elseif(UNIX)
+    message(STATUS "Running on an Linux system")
+
+    # Linux Settings
+    # (arm-linux-musleabihf- is 32 bit, aarch64-linux... is the 64 bit version)
+    set(CMAKE_C_COMPILER arm-linux-musleabihf-gcc)
+    set(CMAKE_CXX_COMPILER arm-linux-musleabihf-g++)
+endif()
+
+# Set the architecture and flags
+set(CMAKE_C_FLAGS "-march=armv7-a+fp")
+set(CMAKE_CXX_FLAGS "-march=armv7-a+fp")
+
 project(Active-Drag-System CXX)
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror")
-include(CTest)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/out")
 
 add_subdirectory(src)
+
 if(BUILD_TESTING)
+    include(CTest)
+
     add_subdirectory(test)
-endif()
 
-include(FetchContent)
-FetchContent_Declare(
-  googletest
-  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
-)
+    include(FetchContent)
+    FetchContent_Declare(
+      googletest
+      URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+    )
 
-# For Windows: Prevent overriding the parent project's compiler/linker settings
-set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-FetchContent_MakeAvailable(googletest)
+    # For Windows: Prevent overriding the parent project's compiler/linker settings
+    set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+    FetchContent_MakeAvailable(googletest)
+endif()
 
diff --git a/LICENSE b/LICENSE
index a91bb02..13031c7 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2023 Rocketry@VT
+Copyright (c) 2023 Rocketry at Virginia Tech
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
diff --git a/README.md b/README.md
index eb36387..18ec6bc 100644
--- a/README.md
+++ b/README.md
@@ -1,13 +1,63 @@
 # Active Drag System (ADS)
-This is the main codebase for Rocketry at Virginia Tech's Active Drag System, also known coloquially as the ADS, for the 2023-2024 competition year. It runs primarily on a BeagleBone Black, and its goal is to autonomously control the ADS' deployment during flight.
+This is the main codebase for Rocketry at Virginia Tech's Active Drag System, also known colloquially as the ADS, for the 2023-2024 competition year. It runs primarily on a BeagleBone Black, and its goal is to autonomously control the ADS' deployment during flight.
 
 ## BUILD
+```shell
+vagrant up
+vagrant ssh
+cmake /vagrant
+cmake --build .
+```
+
+## BUILD Alternative (Windows)
+Enable WSL2 in windows
+Install Ubuntu 22 LTS from Windows Store
+```shell
+sudo apt update && upgrade
+sudo apt install build-essential cmake valgrind crossbuild-essential-armhf
+sudo apt install musl musl-tools
+```
+Then to actually build:
+```shell
 cmake -B build
 cmake --build build/
+```
+
+## BUILD Alternative (Mac)
+```shell
+brew install arm-linux-gnueabihf-binutils
+# This installs just the arm library, you can remove x86_64 if you want those too
+brew install FiloSottile/musl-cross/musl-cross --without-x86_64 --with-arm-hf
+```
+To check if installed correctly run:
+```shell
+ls /opt/homebrew/bin | grep "musl"
+```
+you should see:
+```shell
+arm-linux-musleabihf-gcc
+arm-linux-musleabihf-g++
+```
 
 ## RUN
-cd build && src/ads
+```shell
+scp -r src/ads [email protected]:~/
+ssh [email protected]
+./ads
+```
 
 ## TEST
-cd build && ctest
+```shell
+scp -r test/test_ads [email protected]:~/
+ssh [email protected]
+./test_ads
+```
+
+## GPIO Pins
+The GPIO number is calculated by taking the GPIO chip
+number, multiplying it by 32, and then adding the offset. For example,
+GPIO1_12 = (1 × 32) + 12 = GPIO 44.
 
+```shell
+/sys/class/gpio/gpio44 = GPIO1_12
+```
\ No newline at end of file
diff --git a/Vagrantfile b/Vagrantfile
new file mode 100644
index 0000000..7f542e1
--- /dev/null
+++ b/Vagrantfile
@@ -0,0 +1,31 @@
+#-----------------------------------------------------------------------

+$bootstrap = <<BOOTSTRAP

+export DEBIAN_FRONTEND=noninteractive

+apt-get update && apt-get upgrade

+

+# install base development tools

+apt-get -y install build-essential

+apt-get -y install cmake valgrind

+apt-get -y install crossbuild-essential-armhf

+apt-get -y install libboost-all-dev

+apt-get -y install libasio-dev

+wget https://musl.cc/arm-linux-musleabihf-cross.tgz

+tar -xzvf arm-linux-musleabihf-cross.tgz

+echo 'export PATH="\$PATH:/home/vagrant/arm-linux-musleabihf-cross/bin"' >> .bashrc

+rm -r arm-linux-musleabihf-cross.tgz

+

+BOOTSTRAP

+#-----------------------------------------------------------------------

+

+

+# Configuration

+Vagrant.configure("2") do |config|

+  config.vm.box = "debian/bullseye64"

+  config.vm.box_version = "11.20230615.1"

+

+  # (default timeout is 300 s)

+  config.vm.boot_timeout = 600

+

+  # set up the VM

+  config.vm.provision "shell", inline: $bootstrap

+end

diff --git a/bbb_setup.sh b/bbb_setup.sh
new file mode 100755
index 0000000..42e008d
--- /dev/null
+++ b/bbb_setup.sh
@@ -0,0 +1,33 @@
+#!/bin/sh
+
+# Change based upon device specifics
+IFACE_BB=enp0s20f0u5
+IFACE_SELF=wlan0
+EXE=ads
+
+echo "Compiling Executeables"
+vagrant up
+vagrant ssh << EOF
+    cmake /vagrant;
+    cmake --build .;
+    mkdir -p build
+    cp -r out/* /vagrant/build/
+EOF
+
+echo "Forwarding Traffic to Beaglebone"
+# Forwards all internet traffic requested by beaglebone to proper interface
+sudo sh -c "ip link set $IFACE_BB"
+sudo sh -c "dhclient $IFACE_BB"
+
+sudo sh -c "iptables --table nat --append POSTROUTING --out-interface $IFACE_SELF -j MASQUERADE"
+sudo sh -c "iptables --append FORWARD --in-interface $IFACE_BB -j ACCEPT"
+sudo sh -c "echo 1 > /proc/sys/net/ipv4/ip_forward"
+
+echo "Copying Executeables to Beaglebone"
+scp -r build/* [email protected]:~/;
+rm -r build
+
+echo "Running Main Program"
+ssh [email protected] /bin/bash << EOF
+    ./$EXE;
+EOF
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 95d2f15..ea820ce 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1 +1,14 @@
-add_executable (ads active-drag-system.cpp)
+add_executable(ads
+    active_drag_system.cpp
+)
+
+add_executable(pru1
+        pru1/sensors.cpp
+)
+
+add_executable(pru2
+        pru2/servos.cpp
+)
+
+target_link_options(pru1 PRIVATE -static)
+target_link_options(pru2 PRIVATE -static)
diff --git a/src/active-drag-system.cpp b/src/active-drag-system.cpp
deleted file mode 100644
index 2b76215..0000000
--- a/src/active-drag-system.cpp
+++ /dev/null
@@ -1,7 +0,0 @@
-#include <cstdlib>
-#include <iostream>
-
-int main() {
-    std::cout << "ADS Deployed!" << std::endl;
-    return EXIT_SUCCESS;
-}
diff --git a/src/active_drag_system.cpp b/src/active_drag_system.cpp
new file mode 100644
index 0000000..dce4f86
--- /dev/null
+++ b/src/active_drag_system.cpp
@@ -0,0 +1,32 @@
+/* 
+ * Author: Dawsyn Schraiber <[email protected]>
+ * Date:   09/02/2023
+ *
+ * MIT License
+ * 
+ * Copyright (c) 2023 Rocketry at Virginia Tech
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <iostream>
+
+int main(int argc, char *argv[]) {
+    std::cout << "ADS" << std::endl;
+}
diff --git a/src/pru1/sensors.cpp b/src/pru1/sensors.cpp
new file mode 100644
index 0000000..508387e
--- /dev/null
+++ b/src/pru1/sensors.cpp
@@ -0,0 +1,12 @@
+/* 
+ * Author: Gregory Wainer <[email protected]>
+ * Date:   10/14/2023
+ *
+ */
+
+#include <iostream>
+#include <string>
+
+int main(int argc, char *argv[]) {
+    std::cout << "PRU1" << std::endl;
+}
diff --git a/src/pru2/servos.cpp b/src/pru2/servos.cpp
new file mode 100644
index 0000000..ba71ce2
--- /dev/null
+++ b/src/pru2/servos.cpp
@@ -0,0 +1,11 @@
+/* 
+ * Author: Gregory Wainer <[email protected]>
+ * Date:   10/14/2023
+ *
+ */
+
+#include <iostream>
+
+int main(int argc, char* argv[]) {
+    std::cout << "PRU2" << std::endl;
+}