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

This commit is contained in:
Robin Müller 2021-09-26 22:47:09 +02:00
parent 57d03bbd92 36607c8764
commit 6e3f690852
31 changed files with 363 additions and 177 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

64
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
View File

@ -26,7 +26,8 @@ enum GpioOperation {
enum GpioTypes {
NONE,
GPIO_REGULAR,
GPIO_REGULAR_BY_CHIP,
GPIO_REGULAR_BY_LABEL,
CALLBACK
};
@ -68,28 +69,57 @@ public:
int initValue = 0;
};
class GpiodRegular: public GpioBase {
class GpiodRegularBase: public GpioBase {
public:
GpiodRegular() :
GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
lineNum(lineNum) {
}
;
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) :
GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
chipname(chipname_), lineNum(lineNum_) {
}
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
chipname(chipname_), lineNum(lineNum_) {
}
std::string chipname;
int lineNum = 0;
struct gpiod_line* lineHandle = nullptr;
};
class GpiodRegularByChip: public GpiodRegularBase {
public:
GpiodRegularByChip() :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
std::string(), gpio::Direction::IN, gpio::LOW, 0) {
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
consumer_, direction_, initValue_, lineNum_),
chipname(chipname_){
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
chipname(chipname_) {
}
std::string chipname;
};
class GpiodRegularByLabel: public GpiodRegularBase {
public:
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
direction_, initValue_, lineNum_),
label(label_) {
}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
label(label_) {
}
std::string label;
};
class GpioCallback: public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,

4
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -1,7 +1,9 @@
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "GyroL3GD20Handler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cmath>
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelayMs):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),

2
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -5,6 +5,8 @@
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
#include <cmath>
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),

19
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -89,9 +89,16 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
break;
}
default:
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
// Might be a configuration error
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" <<
std::endl;
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state" << std::endl;
#else
sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state\n");
#endif
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -342,12 +349,18 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:" << std::endl;
/* Set terminal to utf-8 if there is an issue with micro printout. */
sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
#else
sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
sif::printInfo("X: %f uT\n", fieldStrengthX);
sif::printInfo("Y: %f uT\n", fieldStrengthY);
sif::printInfo("Z: %f uT\n", fieldStrengthZ);
#endif
}
#endif

127
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -20,7 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
if(gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
return RETURN_FAILED;
}
@ -45,16 +45,25 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) {
auto& gpioType = gpioConfig.second->gpioType;
switch(gpioType) {
case(gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE;
}
case(gpio::GpioTypes::GPIO_REGULAR): {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureRegularGpio(gpioConfig.first, regularGpio);
configureGpioByChip(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByLabel(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::CALLBACK): {
@ -70,41 +79,59 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
std::string chipname;
ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
GpiodRegularByLabel &gpioByLabel) {
std::string& label = gpioByLabel.label;
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "label: " + label;
return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput);
}
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
GpiodRegularByChip &gpioByChip) {
std::string& chipname = gpioByChip.chipname;
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "chipname: " + chipname;
return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput);
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) {
unsigned int lineNum;
struct gpiod_chip *chip;
gpio::Direction direction;
std::string consumer;
struct gpiod_line *lineHandle;
int result = 0;
chipname = regularGpio->chipname;
chip = gpiod_chip_open_by_name(chipname.c_str());
if (!chip) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
lineNum = regularGpio->lineNum;
lineNum = regularGpio.lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
", chipname: " << chipname << std::endl;
sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
", " << failOutput << std::endl;
sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
gpiod_chip_close(chip);
return RETURN_FAILED;
}
direction = regularGpio->direction;
consumer = regularGpio->consumer;
direction = regularGpio.direction;
consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case(gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
regularGpio->initValue);
regularGpio.initValue);
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
" from GPIO instance with ID: " << gpioId << std::endl;
@ -134,7 +161,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
* Write line handle to GPIO configuration instance so it can later be used to set or
* read states of GPIOs.
*/
regularGpio->lineHandle = lineHandle;
regularGpio.lineHandle = lineHandle;
return RETURN_OK;
}
@ -145,8 +172,14 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
auto gpioType = gpioMapIter->second->gpioType;
if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::HIGH);
}
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@ -167,8 +200,14 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
auto& gpioType = gpioMapIter->second->gpioType;
if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::LOW);
}
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@ -183,12 +222,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
}
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
GpiodRegular* regularGpio, unsigned int logicLevel) {
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
if (result < 0) {
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
" to logic level " << logicLevel << std::endl;
@ -204,9 +239,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
auto gpioType = gpioMapIter->second->gpioType;
if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
@ -225,13 +261,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::GPIO_REGULAR): {
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Check for conflicts and remove duplicates if necessary */
result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
@ -259,17 +296,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck);
if(gpioMapIter != gpioMap.end()) {
if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
auto& gpioType = gpioMapIter->second->gpioType;
if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(ownRegularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}

11
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
View File

@ -6,6 +6,7 @@
#include <fsfw/objectmanager/SystemObject.h>
class GpioCookie;
class GpiodRegularIF;
/**
* @brief This class implements the GpioIF for a linux based system. The
@ -47,9 +48,13 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
gpio::Levels logicLevel);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput);
/**
* @brief This function checks if GPIOs are already registered and whether
@ -62,7 +67,7 @@ private:
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
GpioMap& mapToAdd);
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
GpioMap& mapToAdd);

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

@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
return HasReturnvaluesIF::RETURN_FAILED;
}
GpiodRegular* config = new GpiodRegular();
auto config = new GpiodRegularByChip();
/* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
will not need this */
config->chipname = "gpiochip0";

26
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -141,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if(sendLen > spiCookie->getMaxBufferSize()) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
"larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
"larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
"than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
@ -197,12 +197,26 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
if(gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#else
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
#endif
#endif
return result;
}
ReturnValue_t result = gpioComIF->pullLow(gpioId);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
#endif
#endif
return result;
}
gpioComIF->pullLow(gpioId);
}
/* Execute transfer */
@ -213,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
#if FSFW_HAL_SPI_WIRETAPPING == 1
performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
}
@ -384,11 +398,11 @@ GpioIF* SpiComIF::getGpioInterface() {
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
}
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
}

9
src/fsfw/FSFW.h.in
View File

@ -16,6 +16,15 @@
#cmakedefine FSFW_ADD_MONITORING
#cmakedefine FSFW_ADD_SGP4_PROPAGATOR
#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
#endif
// Can be used for low-level debugging of the SPI bus
#ifndef FSFW_HAL_SPI_WIRETAPPING
#define FSFW_HAL_SPI_WIRETAPPING 0
#endif
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */

2
src/fsfw/devicehandlers/AssemblyBase.h
View File

@ -7,7 +7,7 @@
/**
* @brief Base class to implement reconfiguration and failure handling for
* redundant devices by monitoring their modes health states.
* redundant devices by monitoring their modes and health states.
* @details
* Documentation: Dissertation Baetz p.156, 157.
*

7
src/fsfw/devicehandlers/DeviceCommunicationIF.h
View File

@ -85,9 +85,10 @@ public:
* Called by DHB in the GET_WRITE doGetWrite().
* Get send confirmation that the data in sendMessage() was sent successfully.
* @param cookie
* @return - @c RETURN_OK if data was sent successfull
* - Everything else triggers falure event with
* returnvalue as parameter 1
* @return
* - @c RETURN_OK if data was sent successfully but a reply is expected
* - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
* - Everything else to indicate failure
*/
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;

3
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -335,8 +335,7 @@ protected:
* - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
* have been set.
* - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
* be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
* to finish the command handling.
* be used if no reply is expected
* - Anything else triggers an event with the return code as a parameter as well as a
* step reply failed with the return code
*/

3
src/fsfw/devicehandlers/DeviceHandlerIF.h
View File

@ -120,7 +120,8 @@ public:
static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
//!< Used to indicate that this is a command-only command.
static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);

2
src/fsfw/events/fwSubsystemIdRanges.h
View File

@ -29,6 +29,8 @@ enum: uint8_t {
PUS_SERVICE_9 = 89,
PUS_SERVICE_17 = 97,
PUS_SERVICE_23 = 103,
MGM_LIS3MDL = 106,
MGM_RM3100 = 107,
FW_SUBSYSTEM_ID_RANGE
};

37
src/fsfw/globalfunctions/PeriodicOperationDivider.cpp
View File

@ -2,43 +2,42 @@
PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
bool resetAutomatically): resetAutomatically(resetAutomatically),
counter(divider), divider(divider) {
bool resetAutomatically): resetAutomatically(resetAutomatically),
counter(divider), divider(divider) {
}
bool PeriodicOperationDivider::checkAndIncrement() {
bool opNecessary = check();
if(opNecessary) {
if(resetAutomatically) {
counter = 0;
}
return opNecessary;
}
counter ++;
return opNecessary;
counter++;
bool opNecessary = check();
if(opNecessary) {
if(resetAutomatically) {
resetCounter();
}
}
return opNecessary;
}
bool PeriodicOperationDivider::check() {
if(counter >= divider) {
return true;
}
return false;
if(counter >= divider) {
return true;
}
return false;
}
void PeriodicOperationDivider::resetCounter() {
counter = 0;
counter = 0;
}
void PeriodicOperationDivider::setDivider(uint32_t newDivider) {
divider = newDivider;
divider = newDivider;
}
uint32_t PeriodicOperationDivider::getCounter() const {
return counter;
return counter;
}
uint32_t PeriodicOperationDivider::getDivider() const {
return divider;
return divider;
}

78
src/fsfw/globalfunctions/PeriodicOperationDivider.h
View File

@ -13,51 +13,51 @@
*/
class PeriodicOperationDivider {
public:
/**
* Initialize with the desired divider and specify whether the internal
* counter will be reset automatically.
* @param divider
* @param resetAutomatically
*/
PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
/**
* Initialize with the desired divider and specify whether the internal
* counter will be reset automatically.
* @param divider
* @param resetAutomatically
*/
PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
/**
* Check whether operation is necessary.
* If an operation is necessary and the class has been
* configured to be reset automatically, the counter will be reset.
*
* @return
* -@c true if the counter is larger or equal to the divider
* -@c false otherwise
*/
bool checkAndIncrement();
/**
* Check whether operation is necessary.
* If an operation is necessary and the class has been
* configured to be reset automatically, the counter will be reset.
*
* @return
* -@c true if the counter is larger or equal to the divider
* -@c false otherwise
*/
bool checkAndIncrement();
/**
* Checks whether an operation is necessary.
* This function will not increment the counter!
* @return
* -@c true if the counter is larger or equal to the divider
* -@c false otherwise
*/
bool check();
/**
* Checks whether an operation is necessary.
* This function will not increment the counter!
* @return
* -@c true if the counter is larger or equal to the divider
* -@c false otherwise
*/
bool check();
/**
* Can be used to reset the counter to 0 manually.
*/
void resetCounter();
uint32_t getCounter() const;
/**
* Can be used to reset the counter to 0 manually.
*/
void resetCounter();
uint32_t getCounter() const;
/**
* Can be used to set a new divider value.
* @param newDivider
*/
void setDivider(uint32_t newDivider);
uint32_t getDivider() const;
/**
* Can be used to set a new divider value.
* @param newDivider
*/
void setDivider(uint32_t newDivider);
uint32_t getDivider() const;
private:
bool resetAutomatically = true;
uint32_t counter = 0;
uint32_t divider = 0;
bool resetAutomatically = true;
uint32_t counter = 0;
uint32_t divider = 0;
};

10
src/fsfw/osal/common/TcpTmTcServer.cpp
View File

@ -1,8 +1,10 @@
#include "fsfw/osal/common/TcpTmTcServer.h"
#include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/tcpipHelpers.h"
#include "fsfw/platform.h"
#include "fsfw/FSFW.h"
#include "TcpTmTcServer.h"
#include "TcpTmTcBridge.h"
#include "tcpipHelpers.h"
#include "fsfw/container/SharedRingBuffer.h"
#include "fsfw/ipc/MessageQueueSenderIF.h"
#include "fsfw/ipc/MutexGuard.h"

6
src/fsfw/osal/linux/MessageQueue.cpp
View File

@ -285,10 +285,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "mq_send to: " << sendTo << " sent from "
<< sentFrom << "failed" << std::endl;
sif::warning << "mq_send to " << sendTo << " sent from "
<< sentFrom << " failed" << std::endl;
#else
sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
#endif
return DESTINATION_INVALID;
}

10
src/fsfw/pus/Service5EventReporting.cpp
View File

@ -41,8 +41,7 @@ ReturnValue_t Service5EventReporting::performService() {
}
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service5EventReporting::generateEventReport:"
" Too many events" << std::endl;
sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -64,8 +63,11 @@ ReturnValue_t Service5EventReporting::generateEventReport(
requestQueue->getDefaultDestination(),requestQueue->getId());
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service5EventReporting::generateEventReport:"
" Could not send TM packet" << std::endl;
sif::warning << "Service5EventReporting::generateEventReport: "
"Could not send TM packet" << std::endl;
#else
sif::printWarning("Service5EventReporting::generateEventReport: "
"Could not send TM packet\n");
#endif
}
return result;

4
src/fsfw/pus/Service8FunctionManagement.cpp
View File

@ -33,8 +33,8 @@ ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
if(tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData,
&tcDataLen, SerializeIF::Endianness::BIG);
// Can't fail, size was checked before
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
return checkInterfaceAndAcquireMessageQueue(id,objectId);
}

3
src/fsfw/returnvalues/FwClassIds.h
View File

@ -77,6 +77,9 @@ enum: uint8_t {
HAL_UART, //HURT
HAL_I2C, //HI2C
HAL_GPIO, //HGIO
FIXED_SLOT_TASK_IF, //FTIF
MGM_LIS3MDL, //MGMLIS3
MGM_RM3100, //MGMRM3100
FW_CLASS_ID_COUNT // [EXPORT] : [END]
};

3
src/fsfw/subsystem/SubsystemBase.h
View File

@ -62,7 +62,8 @@ protected:
struct ChildInfo {
MessageQueueId_t commandQueue;
Mode_t mode;
Submode_t submode;bool healthChanged;
Submode_t submode;
bool healthChanged;
};
Mode_t mode;

6
src/fsfw/tasks/FixedSlotSequence.cpp
View File

@ -1,4 +1,5 @@
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstdlib>
@ -92,10 +93,9 @@ void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
ReturnValue_t FixedSlotSequence::checkSequence() const {
if(slotList.empty()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FixedSlotSequence::checkSequence:"
<< " Slot list is empty!" << std::endl;
sif::warning << "FixedSlotSequence::checkSequence: Slot list is empty!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
}
if(customCheckFunction != nullptr) {

4
src/fsfw/tasks/FixedSlotSequence.h
View File

@ -2,7 +2,7 @@
#define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
#include "FixedSequenceSlot.h"
#include "../objectmanager/SystemObject.h"
#include "fsfw/objectmanager/SystemObject.h"
#include <set>
@ -136,6 +136,7 @@ public:
* @details
* Checks if timing is ok (must be ascending) and if all handlers were found.
* @return
* - SLOT_LIST_EMPTY if the slot list is empty
*/
ReturnValue_t checkSequence() const;
@ -147,6 +148,7 @@ public:
* The general check will be continued for now if the custom check function
* fails but a diagnostic debug output will be given.
* @param customCheckFunction
*
*/
void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));

5
src/fsfw/tasks/FixedTimeslotTaskIF.h
View File

@ -2,7 +2,8 @@
#define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
#include "PeriodicTaskIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/FwClassIds.h"
/**
* @brief Following the same principle as the base class IF.
@ -12,6 +13,8 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
public:
virtual ~FixedTimeslotTaskIF() {}
static constexpr ReturnValue_t SLOT_LIST_EMPTY = HasReturnvaluesIF::makeReturnCode(
CLASS_ID::FIXED_SLOT_TASK_IF, 0);
/**
* Add an object with a slot time and the execution step to the task.
* The execution step will be passed to the object (e.g. as an operation

26
src/fsfw/tmtcpacket/SpacePacketBase.cpp
View File

@ -3,8 +3,8 @@
#include <cstring>
SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
this->data = (SpacePacketPointer*) set_address;
SpacePacketBase::SpacePacketBase(const uint8_t* setAddress) {
this->data = reinterpret_cast<SpacePacketPointer*>(const_cast<uint8_t*>(setAddress));
}
SpacePacketBase::~SpacePacketBase() {
@ -15,10 +15,21 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
return (this->data->header.packet_id_h & 0b11100000) >> 5;
}
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
ReturnValue_t SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
if(data == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpacePacketBase::initSpacePacketHeader: Data pointer is invalid"
<< std::endl;
#else
sif::printWarning("SpacePacketBase::initSpacePacketHeader: Data pointer is invalid!\n");
#endif
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
//reset header to zero:
memset(data,0, sizeof(this->data->header) );
memset(data, 0, sizeof(this->data->header) );
//Set TC/TM bit.
data->header.packet_id_h = ((isTelecommand? 1 : 0)) << 4;
//Set secondaryHeader bit
@ -27,7 +38,7 @@ void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
//Always initialize as standalone packets.
data->header.sequence_control_h = 0b11000000;
setPacketSequenceCount(sequenceCount);
return HasReturnvaluesIF::RETURN_OK;
}
bool SpacePacketBase::isTelecommand( void ) {
@ -54,6 +65,11 @@ void SpacePacketBase::setAPID( uint16_t new_apid ) {
this->data->header.packet_id_l = ( new_apid & 0x00FF );
}
void SpacePacketBase::setSequenceFlags( uint8_t sequenceflags ) {
this->data->header.sequence_control_h &= 0x3F;
this->data->header.sequence_control_h |= sequenceflags << 6;
}
uint16_t SpacePacketBase::getPacketSequenceControl( void ) {
return ( (this->data->header.sequence_control_h) << 8 )
+ this->data->header.sequence_control_l;

11
src/fsfw/tmtcpacket/SpacePacketBase.h
View File

@ -2,6 +2,8 @@
#define FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#include "ccsds_header.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstddef>
/**
@ -82,7 +84,7 @@ public:
*/
bool isTelecommand( void );
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
ReturnValue_t initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
uint16_t apid, uint16_t sequenceCount = 0);
/**
* The CCSDS header provides a secondary header flag (the fifth-highest bit),
@ -109,6 +111,13 @@ public:
* ignored.
*/
void setAPID( uint16_t setAPID );
/**
* Sets the sequence flags of a packet, which are bit 17 and 18 in the space packet header.
* @param The sequence flags to set
*/
void setSequenceFlags( uint8_t sequenceflags );
/**
* Returns the CCSDS packet sequence control field, which are the third and
* the fourth byte of the CCSDS primary header.

8
src/fsfw/tmtcpacket/pus/tm/TmPacketPusC.cpp
View File

@ -53,11 +53,14 @@ uint8_t* TmPacketPusC::getPacketTimeRaw() const{
}
void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
ReturnValue_t TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
uint8_t subservice, uint16_t packetSubcounter, uint16_t destinationId,
uint8_t timeRefField) {
//Set primary header:
initSpacePacketHeader(false, true, apid);
ReturnValue_t result = initSpacePacketHeader(false, true, apid);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
//Set data Field Header:
//First, set to zero.
memset(&tmData->dataField, 0, sizeof(tmData->dataField));
@ -76,6 +79,7 @@ void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
timeStamper->addTimeStamp(tmData->dataField.time,
sizeof(tmData->dataField.time));
}
return HasReturnvaluesIF::RETURN_OK;
}
void TmPacketPusC::setSourceDataSize(uint16_t size) {

2
src/fsfw/tmtcpacket/pus/tm/TmPacketPusC.h
View File

@ -100,7 +100,7 @@ protected:
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
ReturnValue_t initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
uint16_t packetSubcounter, uint16_t destinationId = 0, uint8_t timeRefField = 0);
/**

44
src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusC.cpp
View File

@ -43,27 +43,55 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
return;
}
size_t sourceDataSize = 0;
if (content != NULL) {
if (content != nullptr) {
sourceDataSize += content->getSerializedSize();
}
if (header != NULL) {
if (header != nullptr) {
sourceDataSize += header->getSerializedSize();
}
uint8_t *p_data = NULL;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(getPacketMinimumSize() + sourceDataSize), &p_data);
uint8_t *pData = nullptr;
size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress, sizeToReserve, &pData);
if (returnValue != store->RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
switch(returnValue) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
case(StorageManagerIF::DATA_STORAGE_FULL): {
sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
"size " << sizeToReserve << std::endl;
break;
}
case(StorageManagerIF::DATA_TOO_LARGE): {
sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Data with size " <<
sizeToReserve << " too large" << std::endl;
break;
}
#else
case(StorageManagerIF::DATA_STORAGE_FULL): {
sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
"size %d\n", sizeToReserve);
break;
}
case(StorageManagerIF::DATA_TOO_LARGE): {
sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Data with size "
"%d too large\n", sizeToReserve);
break;
}
#endif
#endif
}
TmPacketStoredBase::checkAndReportLostTm();
return;
}
setData(p_data);
setData(pData);
initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
uint8_t *putDataHere = getSourceData();
size_t size = 0;
if (header != NULL) {
if (header != nullptr) {
header->serialize(&putDataHere, &size, sourceDataSize,
SerializeIF::Endianness::BIG);
}
if (content != NULL) {
if (content != nullptr) {
content->serialize(&putDataHere, &size, sourceDataSize,
SerializeIF::Endianness::BIG);
}

2
src/fsfw/tmtcservices/TmTcBridge.h
View File

@ -19,7 +19,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
public:
static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;
static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;