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Merge remote-tracking branch 'eive/eive/develop' into mueller/master

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This commit is contained in:
Robin Müller
2022-02-20 18:34:25 +01:00
parent 67a79c505a c20bf31d5d
commit 45dc16170b
31 changed files with 235 additions and 261 deletions
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1
hal/CMakeLists.txt
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@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr
# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
# but CMake is able to determine whether this library is installed with find_library.
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)

20
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
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@ -11,7 +11,7 @@ namespace gpio {
enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
enum Direction : uint8_t { IN = 0, OUT = 1 };
enum Direction : uint8_t { DIR_IN = 0, DIR_OUT = 1 };
enum GpioOperation { READ, WRITE };
@ -20,7 +20,7 @@ enum class GpioTypes {
GPIO_REGULAR_BY_CHIP,
GPIO_REGULAR_BY_LABEL,
GPIO_REGULAR_BY_LINE_NAME,
CALLBACK
TYPE_CALLBACK
};
static constexpr gpioId_t NO_GPIO = -1;
@ -57,7 +57,7 @@ class GpioBase {
// Can be used to cast GpioBase to a concrete child implementation
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
std::string consumer;
gpio::Direction direction = gpio::Direction::IN;
gpio::Direction direction = gpio::Direction::DIR_IN;
gpio::Levels initValue = gpio::Levels::NONE;
};
@ -79,8 +79,8 @@ class GpiodRegularBase : public GpioBase {
class GpiodRegularByChip : public GpiodRegularBase {
public:
GpiodRegularByChip()
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
gpio::LOW, 0) {}
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(),
gpio::Direction::DIR_IN, gpio::LOW, 0) {}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_)
@ -89,7 +89,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
chipname(chipname_) {}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::DIR_IN,
gpio::LOW, lineNum_),
chipname(chipname_) {}
@ -105,7 +105,7 @@ class GpiodRegularByLabel : public GpiodRegularBase {
label(label_) {}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::DIR_IN,
gpio::LOW, lineNum_),
label(label_) {}
@ -126,8 +126,8 @@ class GpiodRegularByLineName : public GpiodRegularBase {
lineName(lineName_) {}
GpiodRegularByLineName(std::string lineName_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
gpio::LOW),
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
gpio::Direction::DIR_IN, gpio::LOW),
lineName(lineName_) {}
std::string lineName;
@ -137,7 +137,7 @@ class GpioCallback : public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
gpio::gpio_cb_t callback, void* callbackArgs)
: GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
: GpioBase(gpio::GpioTypes::TYPE_CALLBACK, consumer, direction_, initValue_),
callback(callback),
callbackArgs(callbackArgs) {}

2
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -10,7 +10,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
transitionDelayMs(transitionDelayMs),
dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
debugDivider = new PeriodicOperationDivider(10);
#endif
}

8
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
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@ -13,7 +13,7 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
dataset(this),
transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
debugDivider = new PeriodicOperationDivider(10);
#endif
// Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
@ -264,7 +264,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
int16_t mgmMeasurementRawZ =
packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
/* Target value in microtesla */
// Target value in microtesla
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
@ -462,7 +462,9 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
return RETURN_OK;
}
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }

2
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -12,7 +12,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
primaryDataset(this),
transitionDelay(transitionDelay) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
debugDivider = new PeriodicOperationDivider(10);
#endif
}

2
hal/src/fsfw_hal/linux/CMakeLists.txt
View File

@ -9,7 +9,9 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
)
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
add_subdirectory(spi)
add_subdirectory(i2c)
add_subdirectory(uart)

14
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
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@ -74,7 +74,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
configureGpioByLineName(gpioConfig.first, *regularGpio);
break;
}
case (gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::TYPE_CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
@ -161,11 +161,11 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case (gpio::OUT): {
case (gpio::DIR_OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
break;
}
case (gpio::IN): {
case (gpio::DIR_IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str());
break;
}
@ -326,7 +326,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
}
break;
}
case (gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::TYPE_CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE;
@ -366,13 +366,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) {
eraseDuplicateDifferentType = true;
}
break;
}
case (gpio::GpioTypes::CALLBACK): {
if (gpioType != gpio::GpioTypes::CALLBACK) {
case (gpio::GpioTypes::TYPE_CALLBACK): {
if (gpioType != gpio::GpioTypes::TYPE_CALLBACK) {
eraseDuplicateDifferentType = true;
}
}

26
hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
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@ -1,4 +1,13 @@
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "I2cComIF.h"
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/utility.h"
#if FSFW_HAL_I2C_WIRETAPPING == 1
#include "fsfw/globalfunctions/arrayprinter.h"
#endif
#include <errno.h>
#include <fcntl.h>
@ -8,11 +17,6 @@
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/utility.h"
I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
I2cComIF::~I2cComIF() {}
@ -112,6 +116,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
#if FSFW_HAL_I2C_WIRETAPPING == 1
sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
arrayprinter::print(sendData, sendLen);
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -176,6 +185,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
return HasReturnvaluesIF::RETURN_FAILED;
}
#if FSFW_HAL_I2C_WIRETAPPING == 1
sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
arrayprinter::print(replyBuffer, requestLen);
#endif
i2cDeviceMapIter->second.replyLen = requestLen;
return HasReturnvaluesIF::RETURN_OK;
}

2
hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
View File

@ -7,7 +7,7 @@
ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction,
int initValue) {
gpio::Levels initValue) {
if (cookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

3
hal/src/fsfw_hal/linux/rpi/GpioRPi.h
View File

@ -21,7 +21,8 @@ namespace gpio {
* @return
*/
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue);
std::string consumer, gpio::Direction direction,
gpio::Levels initValue);
} // namespace gpio
#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

44
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
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@ -269,6 +269,50 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
break;
case 500000:
cfsetispeed(options, B500000);
cfsetospeed(options, B500000);
break;
case 576000:
cfsetispeed(options, B576000);
cfsetospeed(options, B576000);
break;
case 921600:
cfsetispeed(options, B921600);
cfsetospeed(options, B921600);
break;
case 1000000:
cfsetispeed(options, B1000000);
cfsetospeed(options, B1000000);
break;
case 1152000:
cfsetispeed(options, B1152000);
cfsetospeed(options, B1152000);
break;
case 1500000:
cfsetispeed(options, B1500000);
cfsetospeed(options, B1500000);
break;
case 2000000:
cfsetispeed(options, B2000000);
cfsetospeed(options, B2000000);
break;
case 2500000:
cfsetispeed(options, B2500000);
cfsetospeed(options, B2500000);
break;
case 3000000:
cfsetispeed(options, B3000000);
cfsetospeed(options, B3000000);
break;
case 3500000:
cfsetispeed(options, B3500000);
cfsetospeed(options, B3500000);
break;
case 4000000:
cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000);
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;

2
hal/src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -1,4 +1,4 @@
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "UartCookie.h"
#include <fsfw/serviceinterface.h>