Merge branch 'development' into fsfwexample/small-tweaks
This commit is contained in:
commit
70b4ca8753
7
CHANGELOG
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7
CHANGELOG
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@ -0,0 +1,7 @@
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## Changes from ASTP 0.0.1 to 0.0.2
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||||
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||||
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### FreeRTOS OSAL
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||||
|
||||
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
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a C file without issues
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@ -1,10 +1,11 @@
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||||
#ifndef FSFW_DEFAULTCFG_VERSION_H_
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#define FSFW_DEFAULTCFG_VERSION_H_
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||||
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||||
const char* const FSFW_VERSION_NAME = "fsfw";
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||||
const char* const FSFW_VERSION_NAME = "ASTP";
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||||
|
||||
#define FSFW_VERSION 0
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||||
#define FSFW_SUBVERSION 0
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||||
#define FSFW_REVISION 1
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||||
|
||||
|
||||
|
||||
|
||||
2
NOTICE
2
NOTICE
@ -4,6 +4,8 @@ The initial version of the Flight Software Framework was developed during
|
||||
the Flying Laptop Project by the Universität Stuttgart in coorporation
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with Airbus Defence and Space GmbH.
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|
||||
The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach.
|
||||
|
||||
Copyrights in the Flight Software Framework are retained by their contributors.
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||||
No copyright assignment is required to contribute to the Flight Software Framework.
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||||
|
||||
|
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161
README.md
161
README.md
@ -1,4 +1,159 @@
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Flight Software Framework (FSFW)
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======
|
||||
|
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# Flight Software Framework (FSFW)
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||||
|
||||
I want to be written!
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||||
The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
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automated systems like Satellites.
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||||
|
||||
The initial version of the Flight Software Framework was developed during
|
||||
the Flying Laptop Project by the University of Stuttgart in cooperation
|
||||
with Airbus Defence and Space GmbH.
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||||
|
||||
## Intended Use
|
||||
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||||
The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
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Therefore, a mode and health system provides control over the states of the software and the controlled devices.
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||||
In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well.
|
||||
|
||||
The recommended hardware is a microprocessor with more than 2 MB of RAM and 1 MB of non-volatile Memory.
|
||||
For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC.
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||||
|
||||
|
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## Structure
|
||||
|
||||
The general structure is driven by the usage of interfaces provided by objects. The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
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The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
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||||
This simplifies the instantiation of objects and allows the usage of some standard containers.
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||||
Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that.
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||||
The fsfw uses Run-time type information.
|
||||
Exceptions are not allowed.
|
||||
|
||||
### Failure Handling
|
||||
|
||||
Functions should return a defined ReturnValue_t to signal to the caller that something is gone wrong.
|
||||
Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
|
||||
The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
|
||||
|
||||
### OSAL
|
||||
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. A independent OSAL called "host" is currently not finished. This aims to be running on windows as well.
|
||||
The OSAL provides periodic tasks, message queues, clocks and Semaphores as well as Mutexes.
|
||||
|
||||
### Core Components
|
||||
|
||||
Clock:
|
||||
* This is a class of static functions that can be used at anytime
|
||||
* Leap Seconds must be set if any time conversions from UTC to other times is used
|
||||
|
||||
ObjectManager (must be created):
|
||||
|
||||
* The component which handles all references. All SystemObjects register at this component.
|
||||
* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
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||||
* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
|
||||
A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
|
||||
|
||||
``` c++
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template <typename T> T* ObjectManagerIF::get( object_id_t id )
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|
||||
```
|
||||
* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
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||||
By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
|
||||
|
||||
Event Manager:
|
||||
|
||||
* Component which allows routing of events
|
||||
* Other objects can subscribe to specific events, ranges of events or all events of an object.
|
||||
* Subscriptions can be done during runtime but should be done during initialization
|
||||
* Amounts of allowed subscriptions must be configured by setting this parameters:
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||||
|
||||
``` c++
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||||
namespace fsfwconfig {
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||||
//! Configure the allocated pool sizes for the event manager.
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||||
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
|
||||
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
|
||||
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
Health Table:
|
||||
|
||||
* A component which holds every health state
|
||||
* Provides a thread safe way to access all health states without the need of message exchanges
|
||||
|
||||
Stores
|
||||
|
||||
* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can be exchanged with Stores. With this, only the store address must be exchanged in the message.
|
||||
* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
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||||
* All of them should use the Thread Safe Class storagemanager/PoolManager
|
||||
|
||||
Tasks
|
||||
|
||||
There are two different types of tasks:
|
||||
* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
|
||||
* FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
|
||||
|
||||
|
||||
### Static Ids in the framework
|
||||
|
||||
Some parts of the framework use a static routing address for communication.
|
||||
An example setup of ids can be found in the example config in "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()".
|
||||
|
||||
### Events
|
||||
|
||||
Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues.
|
||||
Every object that needs own EventIds has to get a unique SUBSYSTEM_ID.
|
||||
Every SystemObject can call triggerEvent from the parent class.
|
||||
Therefore, event messages contain the specific EventId and the objectId of the object that has triggered.
|
||||
|
||||
### Internal Communication
|
||||
|
||||
Components communicate mostly over Message through Queues.
|
||||
Those queues are created by calling the singleton QueueFactory::instance()->create().
|
||||
|
||||
### External Communication
|
||||
|
||||
The external communication with the mission control system is mostly up to the user implementation.
|
||||
The FSFW provides PUS Services which can be used to but don't need to be used.
|
||||
The services can be seen as a conversion from a TC to a message based communication and back.
|
||||
|
||||
#### CCSDS Frames, CCSDS Space Packets and PUS
|
||||
|
||||
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to distributed the packets to the corresponding services. Those can be found in tcdistribution.
|
||||
If Space Packets are used, a timestamper must be created.
|
||||
An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
|
||||
|
||||
#### DeviceHandling
|
||||
|
||||
DeviceHandlers are a core component of the FSFW.
|
||||
The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface.
|
||||
By separating the underlying Communication Interface with DeviceCommunicationIF, a DH can be tested on different hardware.
|
||||
The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction.
|
||||
A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
|
||||
|
||||
#### Modes, Health
|
||||
|
||||
The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
|
||||
On-board Mode Management is implement in hierarchy system.
|
||||
DeviceHandlers and Controllers are the lowest part of the hierarchy.
|
||||
The next layer are Assemblies. Those assemblies act as a component which handle redundancies of handlers.
|
||||
Assemblies share a common core with the next level which are the Subsystems.
|
||||
|
||||
Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes.
|
||||
The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded.
|
||||
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component.
|
||||
The target table is used to describe the state that is checked continuously by the subsystem.
|
||||
All of this allows System Modes to be generated as Subsystem object as well from the same database.
|
||||
This System contains list of subsystem modes in the transition and target tables.
|
||||
Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be commanded.
|
||||
|
||||
The health state represents if the component is able to perform its tasks.
|
||||
This can be used to signal the system to avoid using this component instead of a redundant one.
|
||||
The on-board FDIR uses the health state for isolation and recovery.
|
||||
|
||||
## Example config
|
||||
|
||||
A example config can be found in defaultcfg/fsfwconfig.
|
||||
|
||||
## Unit Tests
|
||||
|
||||
Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself.
|
||||
See README.md in the unittest Folder.
|
||||
@ -8,12 +8,12 @@
|
||||
//! Those can lead to code bloat.
|
||||
#define FSFW_CPP_OSTREAM_ENABLED 1
|
||||
|
||||
//! Reduced printout to further decrese code size
|
||||
//! Reduced printout to further decrease code size
|
||||
//! Be careful, this also turns off most diagnostic prinouts!
|
||||
#define FSFW_REDUCED_PRINTOUT 0
|
||||
#define FSFW_ENHANCED_PRINTOUT 0
|
||||
|
||||
//! Can be used to enable debugging printouts for developing the FSFW
|
||||
#define FSFW_DEBUGGING 0
|
||||
//! Can be used to enable additional debugging printouts for developing the FSFW
|
||||
#define FSFW_PRINT_VERBOSITY_LEVEL 0
|
||||
|
||||
//! Defines the FIFO depth of each commanding service base which
|
||||
//! also determines how many commands a CSB service can handle in one cycle
|
||||
@ -38,7 +38,10 @@
|
||||
|
||||
//! When using the newlib nano library, C99 support for stdio facilities
|
||||
//! will not be provided. This define should be set to 1 if this is the case.
|
||||
#define FSFW_NO_C99_IO 1
|
||||
#define FSFW_NO_C99_IO 1
|
||||
|
||||
//! Specify whether a special mode store is used for Subsystem components.
|
||||
#define FSFW_USE_MODESTORE 0
|
||||
|
||||
namespace fsfwconfig {
|
||||
//! Default timestamp size. The default timestamp will be an eight byte CDC
|
||||
|
||||
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logo/FSFW_Logo_V3.png
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Loading…
Reference in New Issue
Block a user