Implemented mower service, fixed all warnings, enabled all warnings, enable treat warning as error

Author: ClemensElflein

CMakeLists.txt

@@ -54,6 +54,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/services/power_service/power_service.cpp
         src/services/emergency_service/emergency_service.cpp
         src/services/diff_drive_service/diff_drive_service.cpp
+        src/services/mower_service/mower_service.cpp
         # BQ2567 driver
         src/drivers/bq_2576/bq_2576.cpp
         # VESC driver
@@ -85,6 +86,7 @@ target_add_service(${CMAKE_PROJECT_NAME} ImuService ${CMAKE_CURRENT_SOURCE_DIR}/
 target_add_service(${CMAKE_PROJECT_NAME} PowerService ${CMAKE_CURRENT_SOURCE_DIR}/services/power_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} EmergencyService ${CMAKE_CURRENT_SOURCE_DIR}/services/emergency_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} DiffDriveService ${CMAKE_CURRENT_SOURCE_DIR}/services/diff_drive_service.json)
+target_add_service(${CMAKE_PROJECT_NAME} MowerService ${CMAKE_CURRENT_SOURCE_DIR}/services/mower_service.json)
 
 set_target_properties(${CMAKE_PROJECT_NAME}
         PROPERTIES SUFFIX ".elf")

boards/XCORE/board_ex.h

@@ -46,8 +46,10 @@
     mii_write(&ETHD1, 0x00, 0x2A05);           \
   } while (0)
 
-#define EEPROM_DEVICE_ADDRESS 0b1010011
-#define CARRIER_EEPROM_DEVICE_ADDRESS 0b1010000
+// eeprom address = 0b1010011
+#define EEPROM_DEVICE_ADDRESS 0x53
+// carrier eeprom address = 0b1010000
+#define CARRIER_EEPROM_DEVICE_ADDRESS 0x50
 
 // Define the fallback IP settings for this board (if DHCP fails)
 // 10.0.0.254

cmake/gcc-arm-none-eabi.cmake

@@ -27,7 +27,7 @@ add_compile_definitions(CORTEX_USE_FPU=TRUE)
 set(TARGET_FLAGS "-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard -fomit-frame-pointer -falign-functions=16 -mthumb -fno-common -flto")
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Wpedantic -fdata-sections -ffunction-sections")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror -Wpedantic -fdata-sections -ffunction-sections")
 if(CMAKE_BUILD_TYPE MATCHES Debug)
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O0 -g3 -DDEBUG_BUILD")
 endif()

ext/ChibiOS_21.11.3/ext/lwip/src/api/api_msg.c

@@ -830,7 +830,7 @@ netconn_free(struct netconn *conn)
 static void
 netconn_drain(struct netconn *conn)
 {
-  void *mem;
+  void *mem = NULL;
 
   /* This runs when mbox and netconn are marked as closed,
      so we don't need to lock against rx packets */

ext/ChibiOS_21.11.3/ext/lwip/src/api/tcpip.c

@@ -126,7 +126,7 @@ tcpip_timeouts_mbox_fetch(sys_mbox_t *mbox, void **msg)
 static void
 tcpip_thread(void *arg)
 {
-  struct tcpip_msg *msg;
+  struct tcpip_msg *msg = NULL;
   LWIP_UNUSED_ARG(arg);
 
   LWIP_MARK_TCPIP_THREAD();

ext/xbot_framework

@@ -22,8 +22,10 @@
 #include "services/imu_service/imu_service.hpp"
 #include "services/power_service/power_service.hpp"
 #include "services/diff_drive_service/diff_drive_service.hpp"
+#include "services/mower_service/mower_service.hpp"
 EmergencyService emergency_service{1};
 DiffDriveService diff_drive{2};
+MowerService mower_service{3};
 ImuService imu_service{4};
 PowerService power_service{5};
 
@@ -75,7 +77,7 @@ int main(void) {
     while (1)
       ;
   }
-  lwipthread_opts_t lwipconf_opts = {0};
+  lwipthread_opts_t lwipconf_opts{};
   lwipconf_opts.addrMode = NET_ADDRESS_DHCP;
   lwipconf_opts.address = 0;
   lwipconf_opts.gateway = 0;
@@ -91,6 +93,7 @@ int main(void) {
   imu_service.start();
   power_service.start();
   diff_drive.start();
+  mower_service.start();
 
   // Subscribe to global events and dispatch to our services
   event_listener_t event_listener;

main.cpp

@@ -33,6 +33,7 @@ fd_set socket_set;
 using namespace xbot::service;
 
 void runIo(void* arg) {
+  (void)arg;
   while (true) {
     packet::PacketPtr packet = nullptr;
 

portable/Io.cpp

@@ -10,7 +10,7 @@ bool xbot::service::mutex::initialize(MutexPtr mutex) {
   return true;
 }
 
-void xbot::service::mutex::deinitialize(MutexPtr mutex) {}
+void xbot::service::mutex::deinitialize(MutexPtr mutex) { (void)mutex; }
 
 void xbot::service::mutex::lockMutex(MutexPtr mutex) { chMtxLock(mutex); }
 

portable/mutex.cpp

@@ -5,6 +5,7 @@
 
 bool xbot::service::queue::initialize(QueuePtr queue, size_t queue_length,
                                       void* buffer, size_t buffer_size) {
+  (void)queue_length;
   chMBObjectInit(queue, static_cast<msg_t*>(buffer),
                  buffer_size / sizeof(msg_t));
   return true;
@@ -26,4 +27,4 @@ bool xbot::service::queue::queuePushItem(QueuePtr queue, void* item) {
                          TIME_IMMEDIATE) == MSG_OK;
 }
 
-void xbot::service::queue::deinitialize(QueuePtr queue) {}
+void xbot::service::queue::deinitialize(QueuePtr queue) { (void)queue; }