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Merge pull request 'Update FSFW from Upstream' (#27) from mueller/update-from-upstream into develop

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Reviewed-on: #27
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Robin Müller 2022-05-17 10:06:58 +02:00
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# Changed from ASTP 1.1.0 to 1.2.0
## API Changes
### FSFW Architecture
- New src folder which contains all source files except the HAL, contributed code and test code
- External and internal API mostly stayed the same
- Folder names are now all smaller case: internalError was renamed to internalerror and
FreeRTOS was renamed to freertos
- Warning if optional headers are used but the modules was not added to the source files to compile
### HAL
- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
made using it more complicated than necessary
## Bugfixes
### FreeRTOS QueueMapManager
- Fixed a bug which causes the first generated Queue ID to be invalid
## Enhancements
### FSFW Architecture
- See API changes chapter. This change will keep the internal API consistent in the future
# Changes from ASTP 1.0.0 to 1.1.0
## API Changes
### PUS
- Added PUS C support
- SUBSYSTEM_IDs added for PUS Services
- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
### ObjectManager
- ObjectManager is now a singelton
### Configuration
- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which
need to be specified in FSFWConfig.h
### CMake
- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
## Bugfixes
- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
- TCP server fixes
## Enhancements
### FreeRTOS Queue Handles
- Fixed an internal issue how FreeRTOS MessageQueues were handled
### Linux OSAL
- Better printf error messages
### CMake
- Check for C++11 as mininimum required Version
### Debug Output
- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
# Changes from ASTP 0.0.1 to 1.0.0
### Host OSAL
- Bugfix in MessageQueue, which caused the sender not to be set properly
### FreeRTOS OSAL
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
a C file without issues
### PUS Services
- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
- The same is possible for the event reporting service (PUS5)
- PUS Health Service added, which allows to command and retrieve health via PUS packets
### EnhancedControllerBase
- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
### Local Pool
- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
bucket number of the pools per page and the number of pages are passed to the ctor instead of
two ctor arguments and a template parameter
### Parameter Service
- The API of the parameter service has been changed to prevent inconsistencies
between documentation and actual code and to clarify usage.
- The parameter ID now consists of:
1. Domain ID (1 byte)
2. Unique Identifier (1 byte)
3. Linear Index (2 bytes)
The linear index can be used for arrays as well as matrices.
The parameter load command now explicitely expects the ECSS PTC and PFC
information as well as the rows and column number. Rows and column will
default to one, which is equivalent to one scalar parameter (the most
important use-case)
### File System Interface
- A new interfaces specifies the functions for a software object which exposes the file system of
a given hardware to use message based file handling (e.g. PUS commanding)
### Internal Error Reporter
- The new internal error reporter uses the local data pools. The pool IDs for
the exisiting three error values and the new error set will be hardcoded for
now, the the constructor for the internal error reporter just takes an object
ID for now.
### Device Handler Base
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
that DHB users adapt their polling sequence tables to perform this step. This steps allows for
a clear distinction between operation and communication steps
- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
- getTransitionDelayMs is now an abstract method
### DeviceHandlerIF
- Typo for UNKNOWN_DEVICE_REPLY
### Events
- makeEvent function: Now takes three input parameters instead of two and
allows setting a unique ID. Event.cpp source file removed, functions now
defined in header directly. Namespaces renamed. Functions declared `constexpr`
now
### Commanding Service Base
- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each
CSB instance. This variable has to be set in the FSFWConfig.h file
### Service Interface
- Proper printf support contained in ServiceInterfacePrinter.h
- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration.
Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts.
For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h.
For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded.
If this is not the case, everything should work as usual.
### ActionHelper and ActionMessage
- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit
information whether to report a success or failure message instead of deriving it implicitely
from returnvalue
### PUS Parameter Service 20
Added PUS parameter service 20 (only custom subservices available).

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Change Log
=======
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v5.0.0]
## Changes
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
compiler supports it
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
name clashes with Windows defines.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Devicehandlers: Periodic printout is run-time configurable now
- `oneShotAction` flag in the `TestTask` class is not static anymore
- Major update for version handling, using `git describe` to fetch version information with git.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
- Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
manually now. Those should not change too often and only a small subset is needed
- Separate folder for easier update and for distinction
- LICENSE file included
- use `int` for version numbers to allow unset or uninitialized version
- Initialize Version object with numbers set to -1
- Instead of hardcoding the git hash, it is now retrieved from git
- `Version` now allows specifying additional version information like the git SHA1 hash and the
versions since the last tag
- Additional information is set to the last part of the git describe output for `FSFW_VERSION` now.
- Version still need to be hand-updated if the FSFW is not included as a submodule for now.
- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
creation call. It allows passing context information and an arbitrary user argument into
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
### HAL
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
name clashes with Windows defines.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
### Time
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
- `timeval` to `TimeOfDay_t`
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
- Moved the statics used by Clock in ClockCommon.cpp to this file
- Better check for leap seconds
- Added Unittests for Clock (only getter)
### Power
- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
also specify a `ReturnValue_t` return type
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
`turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
## Removed
- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
datapools have been implemented.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
## Additions
- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
can make good use of it and it usually makes the code faster and/or smaller.
After some more research:
Enabling LTO will actually cause the compiler to only produce thin LTO by adding
`-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
because if an application linking against the FSFW does not use LTO, there can be compile
issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
can be seen in the multiple CMake issues for it:
- https://gitlab.kitware.com/cmake/cmake/-/issues/22913,
- https://gitlab.kitware.com/cmake/cmake/-/issues/16808,
- https://gitlab.kitware.com/cmake/cmake/-/issues/21696
Easiest solution for now: Keep this option OFF by default.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
inside `fsfw/version.h`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
(ETL) dependency.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
- Added ETL dependency and improved library dependency management
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- New typedef for switcher type
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- `Subsystem`: New API to add table and sequence entries
## Fixed
- TCP TMTC Server: `MutexGuard` was not created properly in
`TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
Is not currently used right now but might be used in the future
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
- Move some CMake directives further up top so they are not ignored
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
- Small bugfix in STM32 HAL for SPI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
configuration fails, the function will exit prematurely with a dedicated error code
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/602
# [v4.0.0]
## Additions
- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
allow sending of CFDP packets to the CCSDS handlers.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
- added virtual function to print datasets
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
- doSendRead Hook
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
- Dockumentation for DHB
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
### HAL additions
- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
- uio Mapper
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
## Changes
- Applied the `clang-format` auto-formatter to all source code
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
- Updated Catch2 to v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
- Changed CI to use prebuilt docker image
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
## Bugfix
- CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
- Fix for build regression in Catch2 v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
- Fix in unittest which failed on CI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
- Fix in helper script
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
## API Changes
- Aforementioned changes to existing TMTC stack
## Known bugs
-
# [v3.0.1]
## API Changes
*
## Bugfixes
* Version number was not updated for v3.0.0 #542
## Enhancement
*
## Known bugs
*
# [v3.0.0]
## API Changes
#### TCP Socket Changes
* Keep Open TCP Implementation #496
* The socket will now kept open after disconnect. This allows reconnecting.
* Only one connection is allowed
* No internal influence but clients need to change their Code.
### GPIO IF
* Add feature to open GPIO by line name #506
### Bitutil
* Unittests for Op Divider and Bitutility #510
### Filesystem IF changed
* Filesystem Base Interface: Use IF instead of void pointer #511
### STM32
* STM32 SPI Updates #518
## Bugfixes
* Small bugfix for LIS3 handler #504
* Spelling fixed for function names #509
* CMakeLists fixes #517
* Out of bound reads and writes in unittests #519
* Bug in TmPacketStoredPusC (#478)
* Windows ifdef fixed #529
## Enhancement
* FSFW.h.in more default values #491
* Minor updates for PUS services #498
* HasReturnvaluesIF naming for parameter #499
* Tests can now be built as part of FSFW and versioning moved to CMake #500
* Added integration test code #508
* More printouts for rejected TC packets #505
* Arrayprinter format improvements #514
* Adding code for CI with docker and jenkins #520
* Added new function in SerializeAdapter #513
* Enables simple deSerialize if you keep track of the buffer position yourself
* `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
* Unittest helper scripts has a new Parameter to open the coverage html in the webrowser #525
* ``'-o', '--open', Open coverage data in webbrowser``
* Documentation updated. Sphinx Documentation can now be build with python script #526
## Known bugs
* Version number was not updated for v3.0.0 #542
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
# [v2.0.0]
## API Changes
### File Structure changed to fit more common structure
* See pull request (#445)
* HAL is now part of the main project
* **See Instructions below:**
#### Instruction how to update existing / user code
* Changes in `#include`:
* Rename `internalError` in includes to `internalerror`
* Rename `fsfw/hal` to `fsfw_hal`
* Rename `fsfw/tests` to `fsfw_tests`
* Rename `osal/FreeRTOS` to `osal/freertos`
* Changes in `CMakeLists.txt`:
* Rename `OS_FSFW` to `FSFW_OSAL`
* Changes in `DleEncoder.cpp`
* Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
### Removed osal/linux/Timer (#486)
* Was redundant to timemanager/Countdown
#### Instruction how to update existing / user code
* Use timemanager/Countdown instead
## Bugfixes
### TM Stack
* Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
#### Host OSAL / FreeRTOS
* QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
#### Events
* Event output is now consistent (#447)
#### DLE Encoder
* Fixed possible out of bounds access in DLE Encoder (#492)
## Enhancment
* HAL as major new feature, also includes three MEMS devicehandlers as part of #481
* Linux HAL updates (#456)
* FreeRTOS Header cleaning update and Cmake tweaks (#442)
* Printer updates (#453)
* New returnvalue for for empty PST (#485)
* TMTC Bridge: Increase limit of packets stored (#484)
## Known bugs
* Bug in TmPacketStoredPusC (#478)
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
# [v1.2.0]
## API Changes
### FSFW Architecture
- New src folder which contains all source files except the HAL, contributed code and test code
- External and internal API mostly stayed the same
- Folder names are now all smaller case: internalError was renamed to internalerror and
FreeRTOS was renamed to freertos
- Warning if optional headers are used but the modules was not added to the source files to compile
### HAL
- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
made using it more complicated than necessary
## Bugfixes
### FreeRTOS QueueMapManager
- Fixed a bug which causes the first generated Queue ID to be invalid
## Enhancements
### FSFW Architecture
- See API changes chapter. This change will keep the internal API consistent in the future
# [v1.1.0]
## API Changes
### PUS
- Added PUS C support
- SUBSYSTEM_IDs added for PUS Services
- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
### ObjectManager
- ObjectManager is now a singelton
### Configuration
- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which
need to be specified in FSFWConfig.h
### CMake
- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
## Bugfixes
- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
- TCP server fixes
## Enhancements
### FreeRTOS Queue Handles
- Fixed an internal issue how FreeRTOS MessageQueues were handled
### Linux OSAL
- Better printf error messages
### CMake
- Check for C++11 as mininimum required Version
### Debug Output
- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
# Changes from ASTP 0.0.1 to 1.0.0
### Host OSAL
- Bugfix in MessageQueue, which caused the sender not to be set properly
### FreeRTOS OSAL
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
a C file without issues
### PUS Services
- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
- The same is possible for the event reporting service (PUS5)
- PUS Health Service added, which allows to command and retrieve health via PUS packets
### EnhancedControllerBase
- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
### Local Pool
- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
bucket number of the pools per page and the number of pages are passed to the ctor instead of
two ctor arguments and a template parameter
### Parameter Service
- The API of the parameter service has been changed to prevent inconsistencies
between documentation and actual code and to clarify usage.
- The parameter ID now consists of:
1. Domain ID (1 byte)
2. Unique Identifier (1 byte)
3. Linear Index (2 bytes)
The linear index can be used for arrays as well as matrices.
The parameter load command now explicitely expects the ECSS PTC and PFC
information as well as the rows and column number. Rows and column will
default to one, which is equivalent to one scalar parameter (the most
important use-case)
### File System Interface
- A new interfaces specifies the functions for a software object which exposes the file system of
a given hardware to use message based file handling (e.g. PUS commanding)
### Internal Error Reporter
- The new internal error reporter uses the local data pools. The pool IDs for
the exisiting three error values and the new error set will be hardcoded for
now, the the constructor for the internal error reporter just takes an object
ID for now.
### Device Handler Base
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
that DHB users adapt their polling sequence tables to perform this step. This steps allows for
a clear distinction between operation and communication steps
- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
- getTransitionDelayMs is now an abstract method
### DeviceHandlerIF
- Typo for UNKNOWN_DEVICE_REPLY
### Events
- makeEvent function: Now takes three input parameters instead of two and
allows setting a unique ID. Event.cpp source file removed, functions now
defined in header directly. Namespaces renamed. Functions declared `constexpr`
now
### Commanding Service Base
- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each
CSB instance. This variable has to be set in the FSFWConfig.h file
### Service Interface
- Proper printf support contained in ServiceInterfacePrinter.h
- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration.
Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts.
For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h.
For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded.
If this is not the case, everything should work as usual.
### ActionHelper and ActionMessage
- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit
information whether to report a success or failure message instead of deriving it implicitely
from returnvalue
### PUS Parameter Service 20
Added PUS parameter service 20 (only custom subservices available).

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cmake_minimum_required(VERSION 3.13) cmake_minimum_required(VERSION 3.13)
set(FSFW_VERSION 2) set(MSG_PREFIX "fsfw |")
set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0) # Add the cmake folder so the FindSphinx module is found
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
list(APPEND CMAKE_MODULE_PATH
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
# ##############################################################################
# Version file handling #
# ##############################################################################
set(FSFW_VERSION_IF_GIT_FAILS 4)
set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
set(FSFW_REVISION_IF_GIT_FAILS 0)
set(FSFW_GIT_VER_HANDLING_OK FALSE)
# Version handling
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
message(STATUS "${MSG_PREFIX} Determining version information with git")
include(FsfwHelpers)
determine_version_with_git("--exclude" "docker_*")
if(GIT_INFO)
set(FSFW_GIT_INFO
${GIT_INFO}
CACHE STRING "Version information retrieved with git describe")
list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
if(NOT FSFW_VERSION)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_SUBVERSION)
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_REVISION)
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(FSFW_GIT_VER_HANDLING_OK TRUE)
else()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
endif()
endif()
if(NOT FSFW_GIT_VER_HANDLING_OK)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME}
VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(
FATAL_ERROR
"${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
endif()
set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
set(FSFW_ETL_LIB_NAME etl)
set(FSFW_ETL_LIB_MAJOR_VERSION
20
CACHE STRING "ETL library major version requirement")
set(FSFW_ETL_LIB_VERSION
${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
CACHE STRING "ETL library exact version requirement")
set(FSFW_ETL_LINK_TARGET etl::etl)
set(FSFW_CATCH2_LIB_MAJOR_VERSION
3
CACHE STRING "Catch2 library major version requirement")
set(FSFW_CATCH2_LIB_VERSION
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
CACHE STRING "Catch2 library exact version requirement")
# Keep this off by default for now. See PR:
# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
# keeping this on by default is problematic
option(
FSFW_ENABLE_IPO
"Enable interprocedural optimization or link-time optimization if available"
OFF)
if(FSFW_ENABLE_IPO)
include(CheckIPOSupported)
check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
if(NOT IPO_SUPPORTED)
message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
endif()
endif()
option(FSFW_GENERATE_SECTIONS option(FSFW_GENERATE_SECTIONS
"Generate function and data sections. Required to remove unused code" ON "Generate function and data sections. Required to remove unused code" ON)
)
if(FSFW_GENERATE_SECTIONS) if(FSFW_GENERATE_SECTIONS)
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON) option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
endif() endif()
option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF) option(FSFW_BUILD_UNITTESTS
"Build unittest binary in addition to static library" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON) option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
endif() endif()
@ -34,75 +128,109 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
# Contrib sources # Contrib sources
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF) option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(LIB_FSFW_NAME fsfw)
set(FSFW_TEST_TGT fsfw-tests) set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)
add_library(${LIB_FSFW_NAME}) add_library(${LIB_FSFW_NAME})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
TRUE)
endif()
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
message(STATUS "Building the FSFW unittests in addition to the static library") message(
STATUS
"${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
)
# Check whether the user has already installed Catch2 first # Check whether the user has already installed Catch2 first
find_package(Catch2 3) find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
# Not installed, so use FetchContent to download and provide Catch2 # Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND) if(NOT Catch2_FOUND)
message(
STATUS
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
)
include(FetchContent) include(FetchContent)
FetchContent_Declare( FetchContent_Declare(
Catch2 Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG v3.0.0-preview3 GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
)
FetchContent_MakeAvailable(Catch2) list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif() endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg) set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h) configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h) configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
configure_file(tests/src/fsfw_tests/unit/testcfg/OBSWConfig.h.in OBSWConfig.h) tests/TestsConfig.h)
project(${FSFW_TEST_TGT} CXX C) project(${FSFW_TEST_TGT} CXX C)
add_executable(${FSFW_TEST_TGT}) add_executable(${FSFW_TEST_TGT})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
TRUE)
endif()
if(FSFW_TESTS_GEN_COV) if(FSFW_TESTS_GEN_COV)
message(STATUS "Generating coverage data for the library") message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
message(STATUS "Targets linking against ${LIB_FSFW_NAME} " message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
"will be compiled with coverage data as well" "will be compiled with coverage data as well")
)
include(FetchContent)
FetchContent_Declare(
cmake-modules
GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
)
FetchContent_MakeAvailable(cmake-modules)
set(CMAKE_BUILD_TYPE "Debug") set(CMAKE_BUILD_TYPE "Debug")
list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
include(CodeCoverage) include(CodeCoverage)
endif() endif()
endif() endif()
message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
# Check whether the user has already installed ETL first
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
# Not installed, so use FetchContent to download and provide etl
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
message(
STATUS
"No ETL installation was found with find_package. Installing and providing "
"etl with FindPackage")
include(FetchContent)
FetchContent_Declare(
${FSFW_ETL_LIB_NAME}
GIT_REPOSITORY https://github.com/ETLCPP/etl
GIT_TAG ${FSFW_ETL_LIB_VERSION})
list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
endif()
# The documentation for FetchContent recommends declaring all the dependencies
# before making them available. We make all declared dependency available here
# after their declaration
if(FSFW_FETCH_CONTENT_TARGETS)
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
if(TARGET ${FSFW_ETL_LIB_NAME})
add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
endif()
if(TARGET Catch2)
# Fixes regression -preview4, to be confirmed in later releases Related
# GitHub issue: https://github.com/catchorg/Catch2/issues/2417
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif()
endif()
set(FSFW_CORE_INC_PATH "inc") set(FSFW_CORE_INC_PATH "inc")
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos) set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
# Configure Files # For configure files
target_include_directories(${LIB_FSFW_NAME} PRIVATE target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
${CMAKE_CURRENT_BINARY_DIR} target_include_directories(${LIB_FSFW_NAME}
) INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_CURRENT_BINARY_DIR}
)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 11)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
endif()
# Backwards comptability # Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL) if(OS_FSFW AND NOT FSFW_OSAL)
message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW") message(
WARNING
"${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
set(FSFW_OSAL OS_FSFW) set(FSFW_OSAL OS_FSFW)
endif() endif()
@ -110,16 +238,14 @@ if(NOT FSFW_OSAL)
message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS") message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
# Assume host OS and autodetermine from OS_FSFW # Assume host OS and autodetermine from OS_FSFW
if(UNIX) if(UNIX)
set(FSFW_OSAL "linux" set(FSFW_OSAL
CACHE STRING "linux"
"OS abstraction layer used in the FSFW" CACHE STRING "OS abstraction layer used in the FSFW")
)
elseif(WIN32) elseif(WIN32)
set(FSFW_OSAL "host" set(FSFW_OSAL
CACHE STRING "OS abstraction layer used in the FSFW" "host"
) CACHE STRING "OS abstraction layer used in the FSFW")
endif() endif()
endif() endif()
set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST) set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
@ -133,29 +259,25 @@ elseif(FSFW_OSAL MATCHES linux)
elseif(FSFW_OSAL MATCHES freertos) elseif(FSFW_OSAL MATCHES freertos)
set(FSFW_OS_NAME "FreeRTOS") set(FSFW_OS_NAME "FreeRTOS")
set(FSFW_OSAL_FREERTOS ON) set(FSFW_OSAL_FREERTOS ON)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
${LIB_OS_NAME}
)
elseif(FSFW_OSAL STREQUAL rtems) elseif(FSFW_OSAL STREQUAL rtems)
set(FSFW_OS_NAME "RTEMS") set(FSFW_OS_NAME "RTEMS")
set(FSFW_OSAL_RTEMS ON) set(FSFW_OSAL_RTEMS ON)
else() else()
message(WARNING message(
"Invalid operating system for FSFW specified! Setting to host.." WARNING
"${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
) )
set(FSFW_OS_NAME "Host") set(FSFW_OS_NAME "Host")
set(OS_FSFW "host") set(OS_FSFW "host")
endif() endif()
if(FSFW_BUILD_UNITTESTS) configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h) configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
else()
configure_file(src/fsfw/FSFW.h.in FSFW.h)
configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h)
endif()
message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.") message(
STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
)
add_subdirectory(src) add_subdirectory(src)
add_subdirectory(tests) add_subdirectory(tests)
@ -163,6 +285,9 @@ if(FSFW_ADD_HAL)
add_subdirectory(hal) add_subdirectory(hal)
endif() endif()
add_subdirectory(contrib) add_subdirectory(contrib)
if(FSFW_BUILD_DOCS)
add_subdirectory(docs)
endif()
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
if(FSFW_TESTS_GEN_COV) if(FSFW_TESTS_GEN_COV)
@ -170,93 +295,86 @@ if(FSFW_BUILD_UNITTESTS)
include(CodeCoverage) include(CodeCoverage)
# Remove quotes. # Remove quotes.
separate_arguments(COVERAGE_COMPILER_FLAGS separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}" "${COVERAGE_COMPILER_FLAGS}")
)
# Add compile options manually, we don't want coverage for Catch2 # Add compile options manually, we don't want coverage for Catch2
target_compile_options(${FSFW_TEST_TGT} PRIVATE target_compile_options(${FSFW_TEST_TGT}
"${COVERAGE_COMPILER_FLAGS}" PRIVATE "${COVERAGE_COMPILER_FLAGS}")
) target_compile_options(${LIB_FSFW_NAME}
target_compile_options(${LIB_FSFW_NAME} PRIVATE PRIVATE "${COVERAGE_COMPILER_FLAGS}")
"${COVERAGE_COMPILER_FLAGS}"
)
# Exclude directories here # Exclude directories here
if(WIN32) if(WIN32)
set(GCOVR_ADDITIONAL_ARGS set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
"--exclude-throw-branches" "--exclude-unreachable-branches")
"--exclude-unreachable-branches" set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
)
set(COVERAGE_EXCLUDES
"/c/msys64/mingw64/*"
)
elseif(UNIX) elseif(UNIX)
set(COVERAGE_EXCLUDES set(COVERAGE_EXCLUDES
"/usr/include/*" "/usr/bin/*" "Catch2/*" "/usr/include/*"
"/usr/local/include/*" "*/fsfw_tests/*" "/usr/bin/*"
"Catch2/*"
"/usr/local/include/*"
"*/fsfw_tests/*"
"*/catch2-src/*" "*/catch2-src/*"
) "*/fsfw_hal/*")
endif() endif()
target_link_options(${FSFW_TEST_TGT} PRIVATE target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-fprofile-arcs -ftest-coverage)
-ftest-coverage target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
) -ftest-coverage)
target_link_options(${LIB_FSFW_NAME} PRIVATE # Need to specify this as an interface, otherwise there will the compile
-fprofile-arcs # issues
-ftest-coverage target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
) -ftest-coverage)
# Need to specify this as an interface, otherwise there will the compile issues
target_link_options(${LIB_FSFW_NAME} INTERFACE
-fprofile-arcs
-ftest-coverage
)
if(WIN32) if(WIN32)
setup_target_for_coverage_gcovr_html( setup_target_for_coverage_gcovr_html(
NAME ${FSFW_TEST_TGT}_coverage NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
EXECUTABLE ${FSFW_TEST_TGT} DEPENDENCIES ${FSFW_TEST_TGT})
DEPENDENCIES ${FSFW_TEST_TGT}
)
else() else()
setup_target_for_coverage_lcov( setup_target_for_coverage_lcov(
NAME ${FSFW_TEST_TGT}_coverage NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
EXECUTABLE ${FSFW_TEST_TGT} DEPENDENCIES ${FSFW_TEST_TGT})
DEPENDENCIES ${FSFW_TEST_TGT}
)
endif() endif()
endif() endif()
endif() endif()
target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME}) target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
${LIB_FSFW_NAME})
endif() endif()
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
# If this is not given, we include the default configuration and emit a warning. # this is not given, we include the default configuration and emit a warning.
if(NOT FSFW_CONFIG_PATH) if(NOT FSFW_CONFIG_PATH)
message(WARNING "Flight Software Framework configuration path not set!")
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig) set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..") if(NOT FSFW_BUILD_DOCS)
message(
WARNING
"${MSG_PREFIX} Flight Software Framework configuration path not set")
message(
WARNING
"${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
endif()
add_subdirectory(${DEF_CONF_PATH}) add_subdirectory(${DEF_CONF_PATH})
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH}) set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
endif() endif()
# FSFW might be part of a possibly complicated folder structure, so we # FSFW might be part of a possibly complicated folder structure, so we extract
# extract the absolute path of the fsfwconfig folder. # the absolute path of the fsfwconfig folder.
if(IS_ABSOLUTE ${FSFW_CONFIG_PATH}) if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH}) set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
else() else()
get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR} BASE_DIR ${CMAKE_SOURCE_DIR})
)
endif() endif()
foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS}) foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
if(IS_ABSOLUTE ${INCLUDE_PATH}) if(IS_ABSOLUTE ${INCLUDE_PATH})
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}") set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
else() else()
get_filename_component(CURR_ABS_INC_PATH get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}) ${CMAKE_SOURCE_DIR})
endif() endif()
if(CMAKE_VERBOSE) if(CMAKE_VERBOSE)
@ -274,20 +392,34 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-Wimplicit-fallthrough=1 -Wimplicit-fallthrough=1
-Wno-unused-parameter -Wno-unused-parameter
-Wno-psabi -Wno-psabi
-Wduplicated-cond # check for duplicate conditions
-Wduplicated-branches # check for duplicate branches
-Wlogical-op # Search for bitwise operations instead of logical
-Wnull-dereference # Search for NULL dereference
-Wundef # Warn if undefind marcos are used
-Wformat=2 # Format string problem detection
-Wformat-overflow=2 # Formatting issues in printf
-Wformat-truncation=2 # Formatting issues in printf
-Wformat-security # Search for dangerous printf operations
-Wstrict-overflow=3 # Warn if integer overflows might happen
-Warray-bounds=2 # Some array bounds violations will be found
-Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-Wcast-qual # Warn if the constness is cast away
-Wstringop-overflow=4
# -Wstack-protector # Emits a few false positives for low level access
# -Wconversion # Creates many false positives -Warith-conversion # Use
# with Wconversion to find more implicit conversions -fanalyzer # Should
# be used to look through problems
) )
endif() endif()
if(FSFW_GENERATE_SECTIONS) if(FSFW_GENERATE_SECTIONS)
target_compile_options(${LIB_FSFW_NAME} PRIVATE target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
"-ffunction-sections" "-fdata-sections")
"-fdata-sections"
)
endif() endif()
if(FSFW_REMOVE_UNUSED_CODE) if(FSFW_REMOVE_UNUSED_CODE)
target_link_options(${LIB_FSFW_NAME} PRIVATE target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
"Wl,--gc-sections"
)
endif() endif()
if(FSFW_WARNING_SHADOW_LOCAL_GCC) if(FSFW_WARNING_SHADOW_LOCAL_GCC)
@ -301,41 +433,31 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
endif() endif()
# Required include paths to compile the FSFW # Required include paths to compile the FSFW
target_include_directories(${LIB_FSFW_NAME} INTERFACE target_include_directories(
${CMAKE_SOURCE_DIR} ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_CONFIG_PATH_ABSOLUTE} ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
${FSFW_CORE_INC_PATH}
${FSFW_ADD_INC_PATHS_ABS}
)
# Includes path required to compile FSFW itself as well # Includes path required to compile FSFW itself as well We assume that the
# We assume that the fsfwconfig folder uses include relative to the project # fsfwconfig folder uses include relative to the project root here!
# root here! target_include_directories(
target_include_directories(${LIB_FSFW_NAME} PRIVATE ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
${CMAKE_SOURCE_DIR} ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_CORE_INC_PATH}
${FSFW_ADD_INC_PATHS_ABS}
)
target_compile_options(${LIB_FSFW_NAME} PRIVATE target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
${FSFW_WARNING_FLAGS} ${COMPILER_FLAGS})
${COMPILER_FLAGS}
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
${FSFW_ADDITIONAL_LINK_LIBS} ${FSFW_ADDITIONAL_LINK_LIBS})
)
string(CONCAT POST_BUILD_COMMENT string(
CONCAT
POST_BUILD_COMMENT
"######################################################################\n" "######################################################################\n"
"Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, " "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
"Target OSAL: ${FSFW_OS_NAME}\n" "Target OSAL: ${FSFW_OS_NAME}\n"
"######################################################################\n" "######################################################################\n")
)
add_custom_command( add_custom_command(
TARGET ${LIB_FSFW_NAME} TARGET ${LIB_FSFW_NAME}
POST_BUILD POST_BUILD
COMMENT ${POST_BUILD_COMMENT} COMMENT ${POST_BUILD_COMMENT})
)

0
FSFWVersion.h.in Normal file
View File

109
README.md
View File

@ -11,9 +11,15 @@ with Airbus Defence and Space GmbH.
## Quick facts ## Quick facts
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. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 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. Therefore,
a mode and health system provides control over the states of the software and the controlled devices.
In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well.
The FSFW provides abstraction layers for operating systems to provide a uniform operating system abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is also very useful for developers to implement the same application logic on different operating systems with a uniform interface. The FSFW provides abstraction layers for operating systems to provide a uniform operating system
abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
also very useful for developers to implement the same application logic on different operating
systems with a uniform interface.
Currently, the FSFW provides the following OSALs: Currently, the FSFW provides the following OSALs:
@ -42,9 +48,31 @@ There are some functions like `printChar` which are different depending on the t
and need to be implemented by the mission developer. and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have A template configuration folder was provided and can be copied into the project root to have
a starting point. The [configuration section](doc/README-config.md#top) provides more specific a starting point. The [configuration section](docs/README-config.md#top) provides more specific
information about the possible options. information about the possible options.
## Prerequisites
The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
installed and provided by the build system unless the correction version was installed.
The current recommended version can be found inside the fsfw `CMakeLists.txt` file or by using
`ccmake` and looking up the `FSFW_ETL_LIB_MAJOR_VERSION` variable.
You can install the ETL library like this. On Linux, it might be necessary to add `sudo` before
the install call:
```cpp
git clone https://github.com/ETLCPP/etl
cd etl
git checkout <currentRecommendedVersion>
mkdir build && cd build
cmake ..
cmake --install .
```
It is recommended to install `20.27.2` or newer for the package version handling of
ETL to work.
## Adding the library ## Adding the library
The following steps show how to add and use FSFW components. It is still recommended to The following steps show how to add and use FSFW components. It is still recommended to
@ -72,7 +100,7 @@ add and link against the FSFW library in general.
4. Link against the FSFW library 4. Link against the FSFW library
```cmake ```cmake
target_link_libraries(<YourProjectName> PRIVATE fsfw) target_link_libraries(${YourProjectName} PRIVATE fsfw)
``` ```
5. It should now be possible use the FSFW as a static library from the user code. 5. It should now be possible use the FSFW as a static library from the user code.
@ -83,6 +111,19 @@ The FSFW also has unittests which use the [Catch2 library](https://github.com/ca
These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE` These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE`
from your project `CMakeLists.txt` file or from the command line. from your project `CMakeLists.txt` file or from the command line.
You can install the Catch2 library, which prevents the build system to avoid re-downloading
the dependency if the unit tests are completely rebuilt. The current recommended version
can be found inside the fsfw `CMakeLists.txt` file or by using `ccmake` and looking up
the `FSFW_CATCH2_LIB_VERSION` variable.
```sh
git clone https://github.com/catchorg/Catch2.git
cd Catch2
git checkout <currentRecommendedVersion>
cmake -Bbuild -H. -DBUILD_TESTING=OFF
sudo cmake --build build/ --target install
```
The fsfw-tests binary will be built as part of the static library and dropped alongside it. The fsfw-tests binary will be built as part of the static library and dropped alongside it.
If the unittests are built, the library and the tests will be built with coverage information by If the unittests are built, the library and the tests will be built with coverage information by
default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`. default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
@ -91,7 +132,7 @@ You can use the following commands inside the `fsfw` folder to set up the build
```sh ```sh
mkdir build-Unittest && cd build-Unittest mkdir build-Unittest && cd build-Unittest
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host .. cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
``` ```
You can also use `-DFSFW_OSAL=linux` on Linux systems. You can also use `-DFSFW_OSAL=linux` on Linux systems.
@ -107,16 +148,58 @@ cmake --build . -- fsfw-tests_coverage -j
The `coverage.py` script located in the `script` folder can also be used to do this conveniently. The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
## Building the documentations
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
```sh
sudo apt-get install doxygen graphviz
```
And the following Python packages
```sh
python3 -m pip install sphinx breathe
```
You can set up a documentation build system using the following commands
```sh
mkdir build-docs && cd build-docs
cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
```
Then you can generate the documentation using
```sh
cmake --build . -j
```
You can find the generated documentation inside the `docs/sphinx` folder inside the build
folder. Simply open the `index.html` in the webbrowser of your choice.
The `helper.py` script located in the script` folder can also be used to create, build
and open the documentation conveniently. Try `helper.py -h for more information.
## Formatting the sources
The formatting is done by the `clang-format` tool. The configuration is contained within the
`.clang-format` file in the repository root. As long as `clang-format` is installed, you
can run the `apply-clang-format.sh` helper script to format all source files consistently.
## Index ## Index
[1. High-level overview](doc/README-highlevel.md#top) <br> [1. High-level overview](docs/README-highlevel.md#top) <br>
[2. Core components](doc/README-core.md#top) <br> [2. Core components](docs/README-core.md#top) <br>
[3. Configuration](doc/README-config.md#top) <br> [3. Configuration](docs/README-config.md#top) <br>
[4. OSAL overview](doc/README-osal.md#top) <br> [4. OSAL overview](docs/README-osal.md#top) <br>
[5. PUS services](doc/README-pus.md#top) <br> [5. PUS services](docs/README-pus.md#top) <br>
[6. Device Handler overview](doc/README-devicehandlers.md#top) <br> [6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
[7. Controller overview](doc/README-controllers.md#top) <br> [7. Controller overview](docs/README-controllers.md#top) <br>
[8. Local Data Pools](doc/README-localpools.md#top) <br> [8. Local Data Pools](docs/README-localpools.md#top) <br>

8
automation/Dockerfile
View File

@ -5,4 +5,10 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise #tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
RUN git clone https://github.com/catchorg/Catch2.git && \
cd Catch2 && \
git checkout v3.0.0-preview5 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install

43
automation/Jenkinsfile vendored
View File

@ -1,28 +1,17 @@
pipeline { pipeline {
agent any
environment { environment {
BUILDDIR = 'build-unittests' BUILDDIR = 'build-tests'
}
agent {
docker { image 'fsfw-ci:d2'}
} }
stages { stages {
stage('Create Docker') { stage('Clean') {
agent {
dockerfile {
dir 'automation'
additionalBuildArgs '--no-cache'
reuseNode true
}
}
steps { steps {
sh 'rm -rf $BUILDDIR' sh 'rm -rf $BUILDDIR'
} }
} }
stage('Configure') { stage('Configure') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR) {
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..' sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
@ -30,38 +19,20 @@ pipeline {
} }
} }
stage('Build') { stage('Build') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR) {
sh 'cmake --build . -j' sh 'cmake --build . -j4'
} }
} }
} }
stage('Unittests') { stage('Unittests') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR) {
sh 'cmake --build . -- fsfw-tests_coverage -j' sh 'cmake --build . -- fsfw-tests_coverage -j4'
} }
} }
} }
stage('Valgrind') { stage('Valgrind') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR) {
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'

13
cmake/FindSphinx.cmake Normal file
View File

@ -0,0 +1,13 @@
# Look for an executable called sphinx-build
find_program(SPHINX_EXECUTABLE
NAMES sphinx-build
DOC "Path to sphinx-build executable")
include(FindPackageHandleStandardArgs)
# Handle standard arguments to find_package like REQUIRED and QUIET
find_package_handle_standard_args(
Sphinx
"Failed to find sphinx-build executable"
SPHINX_EXECUTABLE
)

28
cmake/FsfwHelpers.cmake Normal file
View File

@ -0,0 +1,28 @@
# Determines the git version with git describe and returns it by setting
# the GIT_INFO list in the parent scope. The list has the following entries
# 1. Full version string
# 2. Major version
# 3. Minor version
# 4. Revision
# 5. git SHA hash and commits since tag
function(determine_version_with_git)
include(GetGitRevisionDescription)
git_describe(VERSION ${ARGN})
string(FIND ${VERSION} "." VALID_VERSION)
if(VALID_VERSION EQUAL -1)
message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
return()
endif()
# Parse the version information into pieces.
string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" _VERSION_MAJOR "${VERSION}")
string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
set(GIT_INFO ${VERSION})
list(APPEND GIT_INFO ${_VERSION_MAJOR})
list(APPEND GIT_INFO ${_VERSION_MINOR})
list(APPEND GIT_INFO ${_VERSION_PATCH})
list(APPEND GIT_INFO ${VERSION_SHA1})
set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
message(STATUS "${MSG_PREFIX} Set git version info into GIT_INFO from the git tag ${VERSION}")
endfunction()

7
cmake/cmake-modules/README.md Normal file
View File

@ -0,0 +1,7 @@
The files in the `bilke` folder were manually copy and pasted from the
[cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
this because only a small subset of its provided functions are needed.
The files in the `rpavlik` folder were manually copy and pasted from the
[cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
this because only a small subset of its provided functions are needed.

719
cmake/cmake-modules/bilke/CodeCoverage.cmake Normal file
View File

@ -0,0 +1,719 @@
# Copyright (c) 2012 - 2017, Lars Bilke
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without modification,
# are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its contributors
# may be used to endorse or promote products derived from this software without
# specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# CHANGES:
#
# 2012-01-31, Lars Bilke
# - Enable Code Coverage
#
# 2013-09-17, Joakim Söderberg
# - Added support for Clang.
# - Some additional usage instructions.
#
# 2016-02-03, Lars Bilke
# - Refactored functions to use named parameters
#
# 2017-06-02, Lars Bilke
# - Merged with modified version from github.com/ufz/ogs
#
# 2019-05-06, Anatolii Kurotych
# - Remove unnecessary --coverage flag
#
# 2019-12-13, FeRD (Frank Dana)
# - Deprecate COVERAGE_LCOVR_EXCLUDES and COVERAGE_GCOVR_EXCLUDES lists in favor
# of tool-agnostic COVERAGE_EXCLUDES variable, or EXCLUDE setup arguments.
# - CMake 3.4+: All excludes can be specified relative to BASE_DIRECTORY
# - All setup functions: accept BASE_DIRECTORY, EXCLUDE list
# - Set lcov basedir with -b argument
# - Add automatic --demangle-cpp in lcovr, if 'c++filt' is available (can be
# overridden with NO_DEMANGLE option in setup_target_for_coverage_lcovr().)
# - Delete output dir, .info file on 'make clean'
# - Remove Python detection, since version mismatches will break gcovr
# - Minor cleanup (lowercase function names, update examples...)
#
# 2019-12-19, FeRD (Frank Dana)
# - Rename Lcov outputs, make filtered file canonical, fix cleanup for targets
#
# 2020-01-19, Bob Apthorpe
# - Added gfortran support
#
# 2020-02-17, FeRD (Frank Dana)
# - Make all add_custom_target()s VERBATIM to auto-escape wildcard characters
# in EXCLUDEs, and remove manual escaping from gcovr targets
#
# 2021-01-19, Robin Mueller
# - Add CODE_COVERAGE_VERBOSE option which will allow to print out commands which are run
# - Added the option for users to set the GCOVR_ADDITIONAL_ARGS variable to supply additional
# flags to the gcovr command
#
# 2020-05-04, Mihchael Davis
# - Add -fprofile-abs-path to make gcno files contain absolute paths
# - Fix BASE_DIRECTORY not working when defined
# - Change BYPRODUCT from folder to index.html to stop ninja from complaining about double defines
#
# 2021-05-10, Martin Stump
# - Check if the generator is multi-config before warning about non-Debug builds
#
# 2022-02-22, Marko Wehle
# - Change gcovr output from -o <filename> for --xml <filename> and --html <filename> output respectively.
# This will allow for Multiple Output Formats at the same time by making use of GCOVR_ADDITIONAL_ARGS, e.g. GCOVR_ADDITIONAL_ARGS "--txt".
#
# USAGE:
#
# 1. Copy this file into your cmake modules path.
#
# 2. Add the following line to your CMakeLists.txt (best inside an if-condition
# using a CMake option() to enable it just optionally):
# include(CodeCoverage)
#
# 3. Append necessary compiler flags for all supported source files:
# append_coverage_compiler_flags()
# Or for specific target:
# append_coverage_compiler_flags_to_target(YOUR_TARGET_NAME)
#
# 3.a (OPTIONAL) Set appropriate optimization flags, e.g. -O0, -O1 or -Og
#
# 4. If you need to exclude additional directories from the report, specify them
# using full paths in the COVERAGE_EXCLUDES variable before calling
# setup_target_for_coverage_*().
# Example:
# set(COVERAGE_EXCLUDES
# '${PROJECT_SOURCE_DIR}/src/dir1/*'
# '/path/to/my/src/dir2/*')
# Or, use the EXCLUDE argument to setup_target_for_coverage_*().
# Example:
# setup_target_for_coverage_lcov(
# NAME coverage
# EXECUTABLE testrunner
# EXCLUDE "${PROJECT_SOURCE_DIR}/src/dir1/*" "/path/to/my/src/dir2/*")
#
# 4.a NOTE: With CMake 3.4+, COVERAGE_EXCLUDES or EXCLUDE can also be set
# relative to the BASE_DIRECTORY (default: PROJECT_SOURCE_DIR)
# Example:
# set(COVERAGE_EXCLUDES "dir1/*")
# setup_target_for_coverage_gcovr_html(
# NAME coverage
# EXECUTABLE testrunner
# BASE_DIRECTORY "${PROJECT_SOURCE_DIR}/src"
# EXCLUDE "dir2/*")
#
# 5. Use the functions described below to create a custom make target which
# runs your test executable and produces a code coverage report.
#
# 6. Build a Debug build:
# cmake -DCMAKE_BUILD_TYPE=Debug ..
# make
# make my_coverage_target
#
include(CMakeParseArguments)
option(CODE_COVERAGE_VERBOSE "Verbose information" FALSE)
# Check prereqs
find_program( GCOV_PATH gcov )
find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl)
find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
find_program( CPPFILT_PATH NAMES c++filt )
if(NOT GCOV_PATH)
message(FATAL_ERROR "gcov not found! Aborting...")
endif() # NOT GCOV_PATH
get_property(LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
list(GET LANGUAGES 0 LANG)
if("${CMAKE_${LANG}_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
if("${CMAKE_${LANG}_COMPILER_VERSION}" VERSION_LESS 3)
message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
endif()
elseif(NOT CMAKE_COMPILER_IS_GNUCXX)
if("${CMAKE_Fortran_COMPILER_ID}" MATCHES "[Ff]lang")
# Do nothing; exit conditional without error if true
elseif("${CMAKE_Fortran_COMPILER_ID}" MATCHES "GNU")
# Do nothing; exit conditional without error if true
else()
message(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
endif()
endif()
set(COVERAGE_COMPILER_FLAGS "-g -fprofile-arcs -ftest-coverage"
CACHE INTERNAL "")
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag(-fprofile-abs-path HAVE_fprofile_abs_path)
if(HAVE_fprofile_abs_path)
set(COVERAGE_COMPILER_FLAGS "${COVERAGE_COMPILER_FLAGS} -fprofile-abs-path")
endif()
endif()
set(CMAKE_Fortran_FLAGS_COVERAGE
${COVERAGE_COMPILER_FLAGS}
CACHE STRING "Flags used by the Fortran compiler during coverage builds."
FORCE )
set(CMAKE_CXX_FLAGS_COVERAGE
${COVERAGE_COMPILER_FLAGS}
CACHE STRING "Flags used by the C++ compiler during coverage builds."
FORCE )
set(CMAKE_C_FLAGS_COVERAGE
${COVERAGE_COMPILER_FLAGS}
CACHE STRING "Flags used by the C compiler during coverage builds."
FORCE )
set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
""
CACHE STRING "Flags used for linking binaries during coverage builds."
FORCE )
set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
""
CACHE STRING "Flags used by the shared libraries linker during coverage builds."
FORCE )
mark_as_advanced(
CMAKE_Fortran_FLAGS_COVERAGE
CMAKE_CXX_FLAGS_COVERAGE
CMAKE_C_FLAGS_COVERAGE
CMAKE_EXE_LINKER_FLAGS_COVERAGE
CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
if(NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG))
message(WARNING "Code coverage results with an optimised (non-Debug) build may be misleading")
endif() # NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG)
if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_Fortran_COMPILER_ID STREQUAL "GNU")
link_libraries(gcov)
endif()
# Defines a target for running and collection code coverage information
# Builds dependencies, runs the given executable and outputs reports.
# NOTE! The executable should always have a ZERO as exit code otherwise
# the coverage generation will not complete.
#
# setup_target_for_coverage_lcov(
# NAME testrunner_coverage # New target name
# EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
# DEPENDENCIES testrunner # Dependencies to build first
# BASE_DIRECTORY "../" # Base directory for report
# # (defaults to PROJECT_SOURCE_DIR)
# EXCLUDE "src/dir1/*" "src/dir2/*" # Patterns to exclude (can be relative
# # to BASE_DIRECTORY, with CMake 3.4+)
# NO_DEMANGLE # Don't demangle C++ symbols
# # even if c++filt is found
# )
function(setup_target_for_coverage_lcov)
set(options NO_DEMANGLE)
set(oneValueArgs BASE_DIRECTORY NAME)
set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES LCOV_ARGS GENHTML_ARGS)
cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
if(NOT LCOV_PATH)
message(FATAL_ERROR "lcov not found! Aborting...")
endif() # NOT LCOV_PATH
if(NOT GENHTML_PATH)
message(FATAL_ERROR "genhtml not found! Aborting...")
endif() # NOT GENHTML_PATH
# Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
if(DEFINED Coverage_BASE_DIRECTORY)
get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
else()
set(BASEDIR ${PROJECT_SOURCE_DIR})
endif()
# Collect excludes (CMake 3.4+: Also compute absolute paths)
set(LCOV_EXCLUDES "")
foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_LCOV_EXCLUDES})
if(CMAKE_VERSION VERSION_GREATER 3.4)
get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
endif()
list(APPEND LCOV_EXCLUDES "${EXCLUDE}")
endforeach()
list(REMOVE_DUPLICATES LCOV_EXCLUDES)
# Conditional arguments
if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
set(GENHTML_EXTRA_ARGS "--demangle-cpp")
endif()
# Setting up commands which will be run to generate coverage data.
# Cleanup lcov
set(LCOV_CLEAN_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -directory .
-b ${BASEDIR} --zerocounters
)
# Create baseline to make sure untouched files show up in the report
set(LCOV_BASELINE_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -c -i -d . -b
${BASEDIR} -o ${Coverage_NAME}.base
)
# Run tests
set(LCOV_EXEC_TESTS_CMD
${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
)
# Capturing lcov counters and generating report
set(LCOV_CAPTURE_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --directory . -b
${BASEDIR} --capture --output-file ${Coverage_NAME}.capture
)
# add baseline counters
set(LCOV_BASELINE_COUNT_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -a ${Coverage_NAME}.base
-a ${Coverage_NAME}.capture --output-file ${Coverage_NAME}.total
)
# filter collected data to final coverage report
set(LCOV_FILTER_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --remove
${Coverage_NAME}.total ${LCOV_EXCLUDES} --output-file ${Coverage_NAME}.info
)
# Generate HTML output
set(LCOV_GEN_HTML_CMD
${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS} -o
${Coverage_NAME} ${Coverage_NAME}.info
)
if(CODE_COVERAGE_VERBOSE)
message(STATUS "Executed command report")
message(STATUS "Command to clean up lcov: ")
string(REPLACE ";" " " LCOV_CLEAN_CMD_SPACED "${LCOV_CLEAN_CMD}")
message(STATUS "${LCOV_CLEAN_CMD_SPACED}")
message(STATUS "Command to create baseline: ")
string(REPLACE ";" " " LCOV_BASELINE_CMD_SPACED "${LCOV_BASELINE_CMD}")
message(STATUS "${LCOV_BASELINE_CMD_SPACED}")
message(STATUS "Command to run the tests: ")
string(REPLACE ";" " " LCOV_EXEC_TESTS_CMD_SPACED "${LCOV_EXEC_TESTS_CMD}")
message(STATUS "${LCOV_EXEC_TESTS_CMD_SPACED}")
message(STATUS "Command to capture counters and generate report: ")
string(REPLACE ";" " " LCOV_CAPTURE_CMD_SPACED "${LCOV_CAPTURE_CMD}")
message(STATUS "${LCOV_CAPTURE_CMD_SPACED}")
message(STATUS "Command to add baseline counters: ")
string(REPLACE ";" " " LCOV_BASELINE_COUNT_CMD_SPACED "${LCOV_BASELINE_COUNT_CMD}")
message(STATUS "${LCOV_BASELINE_COUNT_CMD_SPACED}")
message(STATUS "Command to filter collected data: ")
string(REPLACE ";" " " LCOV_FILTER_CMD_SPACED "${LCOV_FILTER_CMD}")
message(STATUS "${LCOV_FILTER_CMD_SPACED}")
message(STATUS "Command to generate lcov HTML output: ")
string(REPLACE ";" " " LCOV_GEN_HTML_CMD_SPACED "${LCOV_GEN_HTML_CMD}")
message(STATUS "${LCOV_GEN_HTML_CMD_SPACED}")
endif()
# Setup target
add_custom_target(${Coverage_NAME}
COMMAND ${LCOV_CLEAN_CMD}
COMMAND ${LCOV_BASELINE_CMD}
COMMAND ${LCOV_EXEC_TESTS_CMD}
COMMAND ${LCOV_CAPTURE_CMD}
COMMAND ${LCOV_BASELINE_COUNT_CMD}
COMMAND ${LCOV_FILTER_CMD}
COMMAND ${LCOV_GEN_HTML_CMD}
# Set output files as GENERATED (will be removed on 'make clean')
BYPRODUCTS
${Coverage_NAME}.base
${Coverage_NAME}.capture
${Coverage_NAME}.total
${Coverage_NAME}.info
${Coverage_NAME}/index.html
WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
DEPENDS ${Coverage_DEPENDENCIES}
VERBATIM # Protect arguments to commands
COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report."
)
# Show where to find the lcov info report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ;
COMMENT "Lcov code coverage info report saved in ${Coverage_NAME}.info."
)
# Show info where to find the report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ;
COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
)
endfunction() # setup_target_for_coverage_lcov
# Defines a target for running and collection code coverage information
# Builds dependencies, runs the given executable and outputs reports.
# NOTE! The executable should always have a ZERO as exit code otherwise
# the coverage generation will not complete.
#
# setup_target_for_coverage_gcovr_xml(
# NAME ctest_coverage # New target name
# EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
# DEPENDENCIES executable_target # Dependencies to build first
# BASE_DIRECTORY "../" # Base directory for report
# # (defaults to PROJECT_SOURCE_DIR)
# EXCLUDE "src/dir1/*" "src/dir2/*" # Patterns to exclude (can be relative
# # to BASE_DIRECTORY, with CMake 3.4+)
# )
# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
# GCVOR command.
function(setup_target_for_coverage_gcovr_xml)
set(options NONE)
set(oneValueArgs BASE_DIRECTORY NAME)
set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
if(NOT GCOVR_PATH)
message(FATAL_ERROR "gcovr not found! Aborting...")
endif() # NOT GCOVR_PATH
# Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
if(DEFINED Coverage_BASE_DIRECTORY)
get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
else()
set(BASEDIR ${PROJECT_SOURCE_DIR})
endif()
# Collect excludes (CMake 3.4+: Also compute absolute paths)
set(GCOVR_EXCLUDES "")
foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
if(CMAKE_VERSION VERSION_GREATER 3.4)
get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
endif()
list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
endforeach()
list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
# Combine excludes to several -e arguments
set(GCOVR_EXCLUDE_ARGS "")
foreach(EXCLUDE ${GCOVR_EXCLUDES})
list(APPEND GCOVR_EXCLUDE_ARGS "-e")
list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
endforeach()
# Set up commands which will be run to generate coverage data
# Run tests
set(GCOVR_XML_EXEC_TESTS_CMD
${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
)
# Running gcovr
set(GCOVR_XML_CMD
${GCOVR_PATH} --xml ${Coverage_NAME}.xml -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
)
if(CODE_COVERAGE_VERBOSE)
message(STATUS "Executed command report")
message(STATUS "Command to run tests: ")
string(REPLACE ";" " " GCOVR_XML_EXEC_TESTS_CMD_SPACED "${GCOVR_XML_EXEC_TESTS_CMD}")
message(STATUS "${GCOVR_XML_EXEC_TESTS_CMD_SPACED}")
message(STATUS "Command to generate gcovr XML coverage data: ")
string(REPLACE ";" " " GCOVR_XML_CMD_SPACED "${GCOVR_XML_CMD}")
message(STATUS "${GCOVR_XML_CMD_SPACED}")
endif()
add_custom_target(${Coverage_NAME}
COMMAND ${GCOVR_XML_EXEC_TESTS_CMD}
COMMAND ${GCOVR_XML_CMD}
BYPRODUCTS ${Coverage_NAME}.xml
WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
DEPENDS ${Coverage_DEPENDENCIES}
VERBATIM # Protect arguments to commands
COMMENT "Running gcovr to produce Cobertura code coverage report."
)
# Show info where to find the report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ;
COMMENT "Cobertura code coverage report saved in ${Coverage_NAME}.xml."
)
endfunction() # setup_target_for_coverage_gcovr_xml
# Defines a target for running and collection code coverage information
# Builds dependencies, runs the given executable and outputs reports.
# NOTE! The executable should always have a ZERO as exit code otherwise
# the coverage generation will not complete.
#
# setup_target_for_coverage_gcovr_html(
# NAME ctest_coverage # New target name
# EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
# DEPENDENCIES executable_target # Dependencies to build first
# BASE_DIRECTORY "../" # Base directory for report
# # (defaults to PROJECT_SOURCE_DIR)
# EXCLUDE "src/dir1/*" "src/dir2/*" # Patterns to exclude (can be relative
# # to BASE_DIRECTORY, with CMake 3.4+)
# )
# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
# GCVOR command.
function(setup_target_for_coverage_gcovr_html)
set(options NONE)
set(oneValueArgs BASE_DIRECTORY NAME)
set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
if(NOT GCOVR_PATH)
message(FATAL_ERROR "gcovr not found! Aborting...")
endif() # NOT GCOVR_PATH
# Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
if(DEFINED Coverage_BASE_DIRECTORY)
get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
else()
set(BASEDIR ${PROJECT_SOURCE_DIR})
endif()
# Collect excludes (CMake 3.4+: Also compute absolute paths)
set(GCOVR_EXCLUDES "")
foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
if(CMAKE_VERSION VERSION_GREATER 3.4)
get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
endif()
list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
endforeach()
list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
# Combine excludes to several -e arguments
set(GCOVR_EXCLUDE_ARGS "")
foreach(EXCLUDE ${GCOVR_EXCLUDES})
list(APPEND GCOVR_EXCLUDE_ARGS "-e")
list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
endforeach()
# Set up commands which will be run to generate coverage data
# Run tests
set(GCOVR_HTML_EXEC_TESTS_CMD
${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
)
# Create folder
set(GCOVR_HTML_FOLDER_CMD
${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/${Coverage_NAME}
)
# Running gcovr
set(GCOVR_HTML_CMD
${GCOVR_PATH} --html ${Coverage_NAME}/index.html --html-details -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
)
if(CODE_COVERAGE_VERBOSE)
message(STATUS "Executed command report")
message(STATUS "Command to run tests: ")
string(REPLACE ";" " " GCOVR_HTML_EXEC_TESTS_CMD_SPACED "${GCOVR_HTML_EXEC_TESTS_CMD}")
message(STATUS "${GCOVR_HTML_EXEC_TESTS_CMD_SPACED}")
message(STATUS "Command to create a folder: ")
string(REPLACE ";" " " GCOVR_HTML_FOLDER_CMD_SPACED "${GCOVR_HTML_FOLDER_CMD}")
message(STATUS "${GCOVR_HTML_FOLDER_CMD_SPACED}")
message(STATUS "Command to generate gcovr HTML coverage data: ")
string(REPLACE ";" " " GCOVR_HTML_CMD_SPACED "${GCOVR_HTML_CMD}")
message(STATUS "${GCOVR_HTML_CMD_SPACED}")
endif()
add_custom_target(${Coverage_NAME}
COMMAND ${GCOVR_HTML_EXEC_TESTS_CMD}
COMMAND ${GCOVR_HTML_FOLDER_CMD}
COMMAND ${GCOVR_HTML_CMD}
BYPRODUCTS ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html # report directory
WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
DEPENDS ${Coverage_DEPENDENCIES}
VERBATIM # Protect arguments to commands
COMMENT "Running gcovr to produce HTML code coverage report."
)
# Show info where to find the report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ;
COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
)
endfunction() # setup_target_for_coverage_gcovr_html
# Defines a target for running and collection code coverage information
# Builds dependencies, runs the given executable and outputs reports.
# NOTE! The executable should always have a ZERO as exit code otherwise
# the coverage generation will not complete.
#
# setup_target_for_coverage_fastcov(
# NAME testrunner_coverage # New target name
# EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
# DEPENDENCIES testrunner # Dependencies to build first
# BASE_DIRECTORY "../" # Base directory for report
# # (defaults to PROJECT_SOURCE_DIR)
# EXCLUDE "src/dir1/" "src/dir2/" # Patterns to exclude.
# NO_DEMANGLE # Don't demangle C++ symbols
# # even if c++filt is found
# SKIP_HTML # Don't create html report
# POST_CMD perl -i -pe s!${PROJECT_SOURCE_DIR}/!!g ctest_coverage.json # E.g. for stripping source dir from file paths
# )
function(setup_target_for_coverage_fastcov)
set(options NO_DEMANGLE SKIP_HTML)
set(oneValueArgs BASE_DIRECTORY NAME)
set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES FASTCOV_ARGS GENHTML_ARGS POST_CMD)
cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
if(NOT FASTCOV_PATH)
message(FATAL_ERROR "fastcov not found! Aborting...")
endif()
if(NOT Coverage_SKIP_HTML AND NOT GENHTML_PATH)
message(FATAL_ERROR "genhtml not found! Aborting...")
endif()
# Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
if(Coverage_BASE_DIRECTORY)
get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
else()
set(BASEDIR ${PROJECT_SOURCE_DIR})
endif()
# Collect excludes (Patterns, not paths, for fastcov)
set(FASTCOV_EXCLUDES "")
foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_FASTCOV_EXCLUDES})
list(APPEND FASTCOV_EXCLUDES "${EXCLUDE}")
endforeach()
list(REMOVE_DUPLICATES FASTCOV_EXCLUDES)
# Conditional arguments
if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
set(GENHTML_EXTRA_ARGS "--demangle-cpp")
endif()
# Set up commands which will be run to generate coverage data
set(FASTCOV_EXEC_TESTS_CMD ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS})
set(FASTCOV_CAPTURE_CMD ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
--search-directory ${BASEDIR}
--process-gcno
--output ${Coverage_NAME}.json
--exclude ${FASTCOV_EXCLUDES}
--exclude ${FASTCOV_EXCLUDES}
)
set(FASTCOV_CONVERT_CMD ${FASTCOV_PATH}
-C ${Coverage_NAME}.json --lcov --output ${Coverage_NAME}.info
)
if(Coverage_SKIP_HTML)
set(FASTCOV_HTML_CMD ";")
else()
set(FASTCOV_HTML_CMD ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS}
-o ${Coverage_NAME} ${Coverage_NAME}.info
)
endif()
set(FASTCOV_POST_CMD ";")
if(Coverage_POST_CMD)
set(FASTCOV_POST_CMD ${Coverage_POST_CMD})
endif()
if(CODE_COVERAGE_VERBOSE)
message(STATUS "Code coverage commands for target ${Coverage_NAME} (fastcov):")
message(" Running tests:")
string(REPLACE ";" " " FASTCOV_EXEC_TESTS_CMD_SPACED "${FASTCOV_EXEC_TESTS_CMD}")
message(" ${FASTCOV_EXEC_TESTS_CMD_SPACED}")
message(" Capturing fastcov counters and generating report:")
string(REPLACE ";" " " FASTCOV_CAPTURE_CMD_SPACED "${FASTCOV_CAPTURE_CMD}")
message(" ${FASTCOV_CAPTURE_CMD_SPACED}")
message(" Converting fastcov .json to lcov .info:")
string(REPLACE ";" " " FASTCOV_CONVERT_CMD_SPACED "${FASTCOV_CONVERT_CMD}")
message(" ${FASTCOV_CONVERT_CMD_SPACED}")
if(NOT Coverage_SKIP_HTML)
message(" Generating HTML report: ")
string(REPLACE ";" " " FASTCOV_HTML_CMD_SPACED "${FASTCOV_HTML_CMD}")
message(" ${FASTCOV_HTML_CMD_SPACED}")
endif()
if(Coverage_POST_CMD)
message(" Running post command: ")
string(REPLACE ";" " " FASTCOV_POST_CMD_SPACED "${FASTCOV_POST_CMD}")
message(" ${FASTCOV_POST_CMD_SPACED}")
endif()
endif()
# Setup target
add_custom_target(${Coverage_NAME}
# Cleanup fastcov
COMMAND ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
--search-directory ${BASEDIR}
--zerocounters
COMMAND ${FASTCOV_EXEC_TESTS_CMD}
COMMAND ${FASTCOV_CAPTURE_CMD}
COMMAND ${FASTCOV_CONVERT_CMD}
COMMAND ${FASTCOV_HTML_CMD}
COMMAND ${FASTCOV_POST_CMD}
# Set output files as GENERATED (will be removed on 'make clean')
BYPRODUCTS
${Coverage_NAME}.info
${Coverage_NAME}.json
${Coverage_NAME}/index.html # report directory
WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
DEPENDS ${Coverage_DEPENDENCIES}
VERBATIM # Protect arguments to commands
COMMENT "Resetting code coverage counters to zero. Processing code coverage counters and generating report."
)
set(INFO_MSG "fastcov code coverage info report saved in ${Coverage_NAME}.info and ${Coverage_NAME}.json.")
if(NOT Coverage_SKIP_HTML)
string(APPEND INFO_MSG " Open ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html in your browser to view the coverage report.")
endif()
# Show where to find the fastcov info report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E echo ${INFO_MSG}
)
endfunction() # setup_target_for_coverage_fastcov
function(append_coverage_compiler_flags)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}")
endfunction() # append_coverage_compiler_flags
# Setup coverage for specific library
function(append_coverage_compiler_flags_to_target name)
target_compile_options(${name}
PRIVATE ${COVERAGE_COMPILER_FLAGS})
endfunction()

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Boost Software License - Version 1.0 - August 17th, 2003
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute,
execute, and transmit the Software, and to prepare derivative works of the
Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
a source language processor.
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, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.

284
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# - Returns a version string from Git
#
# These functions force a re-configure on each git commit so that you can
# trust the values of the variables in your build system.
#
# get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
#
# Returns the refspec and sha hash of the current head revision
#
# git_describe(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe on the source tree, and adjusting
# the output so that it tests false if an error occurs.
#
# git_describe_working_tree(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe on the working tree (--dirty option),
# and adjusting the output so that it tests false if an error occurs.
#
# git_get_exact_tag(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe --exact-match on the source tree,
# and adjusting the output so that it tests false if there was no exact
# matching tag.
#
# git_local_changes(<var>)
#
# Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
# Uses the return code of "git diff-index --quiet HEAD --".
# Does not regard untracked files.
#
# Requires CMake 2.6 or newer (uses the 'function' command)
#
# Original Author:
# 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
# http://academic.cleardefinition.com
#
# Copyright 2009-2013, Iowa State University.
# Copyright 2013-2020, Ryan Pavlik
# Copyright 2013-2020, Contributors
# SPDX-License-Identifier: BSL-1.0
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
if(__get_git_revision_description)
return()
endif()
set(__get_git_revision_description YES)
# We must run the following at "include" time, not at function call time,
# to find the path to this module rather than the path to a calling list file
get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
# Function _git_find_closest_git_dir finds the next closest .git directory
# that is part of any directory in the path defined by _start_dir.
# The result is returned in the parent scope variable whose name is passed
# as variable _git_dir_var. If no .git directory can be found, the
# function returns an empty string via _git_dir_var.
#
# Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
# neither foo nor bar contain a file/directory .git. This wil return
# C:/bla/.git
#
function(_git_find_closest_git_dir _start_dir _git_dir_var)
set(cur_dir "${_start_dir}")
set(git_dir "${_start_dir}/.git")
while(NOT EXISTS "${git_dir}")
# .git dir not found, search parent directories
set(git_previous_parent "${cur_dir}")
get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
if(cur_dir STREQUAL git_previous_parent)
# We have reached the root directory, we are not in git
set(${_git_dir_var}
""
PARENT_SCOPE)
return()
endif()
set(git_dir "${cur_dir}/.git")
endwhile()
set(${_git_dir_var}
"${git_dir}"
PARENT_SCOPE)
endfunction()
function(get_git_head_revision _refspecvar _hashvar)
_git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
else()
set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
endif()
if(NOT "${GIT_DIR}" STREQUAL "")
file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
"${GIT_DIR}")
if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
# We've gone above the CMake root dir.
set(GIT_DIR "")
endif()
endif()
if("${GIT_DIR}" STREQUAL "")
set(${_refspecvar}
"GITDIR-NOTFOUND"
PARENT_SCOPE)
set(${_hashvar}
"GITDIR-NOTFOUND"
PARENT_SCOPE)
return()
endif()
# Check if the current source dir is a git submodule or a worktree.
# In both cases .git is a file instead of a directory.
#
if(NOT IS_DIRECTORY ${GIT_DIR})
# The following git command will return a non empty string that
# points to the super project working tree if the current
# source dir is inside a git submodule.
# Otherwise the command will return an empty string.
#
execute_process(
COMMAND "${GIT_EXECUTABLE}" rev-parse
--show-superproject-working-tree
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT "${out}" STREQUAL "")
# If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
file(READ ${GIT_DIR} submodule)
string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
${submodule})
string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
ABSOLUTE)
set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
else()
# GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
file(READ ${GIT_DIR} worktree_ref)
# The .git directory contains a path to the worktree information directory
# inside the parent git repo of the worktree.
#
string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
${worktree_ref})
string(STRIP ${git_worktree_dir} git_worktree_dir)
_git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
endif()
else()
set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
endif()
set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
if(NOT EXISTS "${GIT_DATA}")
file(MAKE_DIRECTORY "${GIT_DATA}")
endif()
if(NOT EXISTS "${HEAD_SOURCE_FILE}")
return()
endif()
set(HEAD_FILE "${GIT_DATA}/HEAD")
configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
"${GIT_DATA}/grabRef.cmake" @ONLY)
include("${GIT_DATA}/grabRef.cmake")
set(${_refspecvar}
"${HEAD_REF}"
PARENT_SCOPE)
set(${_hashvar}
"${HEAD_HASH}"
PARENT_SCOPE)
endfunction()
function(git_describe _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
get_git_head_revision(refspec hash)
if(NOT GIT_FOUND)
set(${_var}
"GIT-NOTFOUND"
PARENT_SCOPE)
return()
endif()
if(NOT hash)
set(${_var}
"HEAD-HASH-NOTFOUND"
PARENT_SCOPE)
return()
endif()
# TODO sanitize
#if((${ARGN}" MATCHES "&&") OR
# (ARGN MATCHES "||") OR
# (ARGN MATCHES "\\;"))
# message("Please report the following error to the project!")
# message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
#endif()
#message(STATUS "Arguments to execute_process: ${ARGN}")
execute_process(
COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
RESULT_VARIABLE res
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT res EQUAL 0)
set(out "${out}-${res}-NOTFOUND")
endif()
set(${_var}
"${out}"
PARENT_SCOPE)
endfunction()
function(git_describe_working_tree _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
if(NOT GIT_FOUND)
set(${_var}
"GIT-NOTFOUND"
PARENT_SCOPE)
return()
endif()
execute_process(
COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
RESULT_VARIABLE res
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT res EQUAL 0)
set(out "${out}-${res}-NOTFOUND")
endif()
set(${_var}
"${out}"
PARENT_SCOPE)
endfunction()
function(git_get_exact_tag _var)
git_describe(out --exact-match ${ARGN})
set(${_var}
"${out}"
PARENT_SCOPE)
endfunction()
function(git_local_changes _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
get_git_head_revision(refspec hash)
if(NOT GIT_FOUND)
set(${_var}
"GIT-NOTFOUND"
PARENT_SCOPE)
return()
endif()
if(NOT hash)
set(${_var}
"HEAD-HASH-NOTFOUND"
PARENT_SCOPE)
return()
endif()
execute_process(
COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
RESULT_VARIABLE res
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(res EQUAL 0)
set(${_var}
"CLEAN"
PARENT_SCOPE)
else()
set(${_var}
"DIRTY"
PARENT_SCOPE)
endif()
endfunction()

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#
# Internal file for GetGitRevisionDescription.cmake
#
# Requires CMake 2.6 or newer (uses the 'function' command)
#
# Original Author:
# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
# http://academic.cleardefinition.com
# Iowa State University HCI Graduate Program/VRAC
#
# Copyright 2009-2012, Iowa State University
# Copyright 2011-2015, Contributors
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
# SPDX-License-Identifier: BSL-1.0
set(HEAD_HASH)
file(READ "@HEAD_FILE@" HEAD_CONTENTS LIMIT 1024)
string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
if(HEAD_CONTENTS MATCHES "ref")
# named branch
string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
if(EXISTS "@GIT_DIR@/${HEAD_REF}")
configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
else()
configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
set(HEAD_HASH "${CMAKE_MATCH_1}")
endif()
endif()
else()
# detached HEAD
configure_file("@GIT_DIR@/HEAD" "@GIT_DATA@/head-ref" COPYONLY)
endif()
if(NOT HEAD_HASH)
file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
string(STRIP "${HEAD_HASH}" HEAD_HASH)
endif()

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@ -0,0 +1,26 @@
Copyright (c) <year> <owner>. All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

23
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@ -0,0 +1,23 @@
Boost Software License - Version 1.0 - August 17th, 2003
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute, execute,
and transmit the Software, and to prepare derivative works of the Software,
and to permit third-parties to whom the Software is furnished to do so, all
subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer, must
be included in all copies of the Software, in whole or in part, and all derivative
works of the Software, unless such copies or derivative works are solely in
the form of machine-executable object code generated by a source language
processor.
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, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

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@ -0,0 +1,23 @@
Boost Software License - Version 1.0 - August 17th, 2003
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute,
execute, and transmit the Software, and to prepare derivative works of the
Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
a source language processor.
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, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.

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/_build

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# This is based on this excellent posting provided by Sy:
# https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/
find_package(Doxygen REQUIRED)
find_package(Sphinx REQUIRED)
get_target_property(LIB_FSFW_PUBLIC_HEADER_DIRS ${LIB_FSFW_NAME} INTERFACE_INCLUDE_DIRECTORIES)
# TODO: Add HAL as well
file(GLOB_RECURSE LIB_FSFW_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/src/*.h)
file(GLOB_RECURSE RST_DOC_FILES ${PROJECT_SOURCE_DIR}/docs/*.rst)
set(DOXYGEN_INPUT_DIR ${PROJECT_SOURCE_DIR}/src)
set(DOXYGEN_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen)
set(DOXYGEN_INDEX_FILE ${DOXYGEN_OUTPUT_DIR}/xml/index.xml)
set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
set(DOXYFILE_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
# Replace variables inside @@ with the current values
configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
# Doxygen won't create this for us
file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR})
# Only regenerate Doxygen when the Doxyfile or public headers change
add_custom_command(
OUTPUT ${DOXYGEN_INDEX_FILE}
DEPENDS ${LIB_FSFW_PUBLIC_HEADERS}
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
COMMENT "Generating docs"
VERBATIM
)
# Nice named target so we can run the job easily
add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR})
set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
set(SPHINX_INDEX_FILE ${SPHINX_BUILD}/index.html)
# Only regenerate Sphinx when:
# - Doxygen has rerun
# - Our doc files have been updated
# - The Sphinx config has been updated
add_custom_command(
OUTPUT ${SPHINX_INDEX_FILE}
COMMAND
${SPHINX_EXECUTABLE} -b html
# Tell Breathe where to find the Doxygen output
-Dbreathe_projects.fsfw=${DOXYGEN_OUTPUT_DIR}/xml
${SPHINX_SOURCE} ${SPHINX_BUILD}
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
DEPENDS
# Other docs files you want to track should go here (or in some variable)
${RST_DOC_FILES}
${DOXYGEN_INDEX_FILE}
MAIN_DEPENDENCY ${SPHINX_SOURCE}/conf.py
COMMENT "Generating documentation with Sphinx"
)
# Nice named target so we can run the job easily
add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})
# Add an install target to install the docs
include(GNUInstallDirs)
install(DIRECTORY ${SPHINX_BUILD}
DESTINATION ${CMAKE_INSTALL_DOCDIR})

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INPUT = "@DOXYGEN_INPUT_DIR@"
RECURSIVE = YES
OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"
GENERATE_XML = YES

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# Minimal makefile for Sphinx documentation
#
# You can set these variables from the command line, and also
# from the environment for the first two.
SPHINXOPTS ?=
SPHINXBUILD ?= sphinx-build
SOURCEDIR = .
BUILDDIR = _build
# Put it first so that "make" without argument is like "make help".
help:
@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
.PHONY: help Makefile
# Catch-all target: route all unknown targets to Sphinx using the new
# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
%: Makefile
@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

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@ -31,7 +31,9 @@ cohesive pool variables. These sets simply iterator over the list of variables a
`read` and `commit` functions of each variable. The following diagram shows the `read` and `commit` functions of each variable. The following diagram shows the
high-level architecture of the local data pools. high-level architecture of the local data pools.
<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br> .. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
An example is shown for using the local data pools with a Gyroscope. An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken For example, the following code shows an implementation to access data from a Gyroscope taken

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API
====
.. toctree::
:maxdepth: 4
api/objectmanager
api/task
api/ipc
api/returnvalue
api/event
api/modes
api/health
api/action
api/devicehandler
api/controller

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Action Module API
=================
``ActionHelper``
-----------------
.. doxygenclass:: ActionHelper
:members:
``HasActionsIF``
-----------------
.. doxygenclass:: HasActionsIF
:members:
:protected-members:

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Controller API
=================
``ControllerBase``
-------------------------
.. doxygenclass:: ControllerBase
:members:
:protected-members:
``ExtendedControllerBase``
-----------------------------
.. doxygenclass:: ExtendedControllerBase
:members:
:protected-members:

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Device Handler Base API
=========================
``DeviceHandlerBase``
-----------------------
.. doxygenclass:: DeviceHandlerBase
:members:
:protected-members:
``DeviceHandlerIF``
-----------------------
.. doxygenclass:: DeviceHandlerIF
:members:
:protected-members:

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.. _eventapi:
Event API
============
.. doxygenfile:: Event.h

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Health API
===========
``HasHealthIF``
------------------
.. doxygenclass:: HasHealthIF
:members:
:protected-members:

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IPC Module API
=================
``MessageQueueIF``
-------------------
.. doxygenclass:: MessageQueueIF
:members:
:protected-members:

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Modes API
=========
``HasModesIF``
---------------
.. doxygenclass:: HasModesIF
:members:
:protected-members:

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Object Manager API
=========================
``SystemObject``
--------------------
.. doxygenclass:: SystemObject
:members:
:protected-members:
``ObjectManager``
-----------------------
.. doxygenclass:: ObjectManager
:members:
:protected-members:
``SystemObjectIF``
--------------------
.. doxygenclass:: SystemObjectIF
:members:
:protected-members:
``ObjectManagerIF``
-----------------------
.. doxygenclass:: ObjectManagerIF
:members:
:protected-members:

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.. _retvalapi:
Returnvalue API
==================
.. doxygenfile:: HasReturnvaluesIF.h
.. _fwclassids:
.. doxygenfile:: FwClassIds.h

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Task API
=========
``ExecutableObjectIF``
-----------------------
.. doxygenclass:: ExecutableObjectIF
:members:

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# Configuration file for the Sphinx documentation builder.
#
# This file only contains a selection of the most common options. For a full
# list see the documentation:
# https://www.sphinx-doc.org/en/master/usage/configuration.html
# -- Path setup --------------------------------------------------------------
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
#
# import os
# import sys
# sys.path.insert(0, os.path.abspath('.'))
# -- Project information -----------------------------------------------------
project = 'Flight Software Framework'
copyright = '2021, Institute of Space Systems (IRS)'
author = 'Institute of Space Systems (IRS)'
# The full version, including alpha/beta/rc tags
release = '2.0.1'
# -- General configuration ---------------------------------------------------
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = [ "breathe" ]
breathe_default_project = "fsfw"
# Add any paths that contain templates here, relative to this directory.
templates_path = ['_templates']
# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This pattern also affects html_static_path and html_extra_path.
exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
# -- Options for HTML output -------------------------------------------------
# The theme to use for HTML and HTML Help pages. See the documentation for
# a list of builtin themes.
#
html_theme = 'alabaster'
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = []

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Configuring the FSFW
=====================
The FSFW can be configured via the ``fsfwconfig`` folder. A template folder has been provided in
``misc/defaultcfg`` to have a starting point for this. The folder should be added
to the include path. The primary configuration file is the ``FSFWConfig.h`` folder. Some
of the available options will be explained in more detail here.
Auto-Translation of Events
----------------------------
The FSFW allows the automatic translation of events, which allows developers to track triggered
events directly via console output. Using this feature requires:
1. ``FSFW_OBJ_EVENT_TRANSLATION`` set to 1 in the configuration file.
2. Special auto-generated translation files which translate event IDs and object IDs into
human readable strings. These files can be generated using the
`fsfwgen Python scripts <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen>`_.
3. The generated translation files for the object IDs should be named ``translatesObjects.cpp``
and ``translateObjects.h`` and should be copied to the ``fsfwconfig/objects`` folder
4. The generated translation files for the event IDs should be named ``translateEvents.cpp`` and
``translateEvents.h`` and should be copied to the ``fsfwconfig/events`` folder
An example implementations of these translation file generators can be found as part
of the `SOURCE project here <https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/develop/generators>`_
or the `FSFW example <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/generators>`_
Configuring the Event Manager
----------------------------------
The number of allowed subscriptions can be modified with the following
parameters:
.. code-block:: cpp
namespace fsfwconfig {
//! Configure the allocated pool sizes for the event manager.
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;
}

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Controllers
=============

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.. _core:
Core Modules
=============
The core modules provide the most important functionalities of the Flight Software Framework.
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
Object Manager
---------------
- Must be created during program startup
- The component which handles all references. All :cpp:class:`SystemObject`\s register at this
component.
- All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
framework objects.
- A reference to an object can be retrieved by calling the ``get`` function of
:cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
A ``nullptr`` check of the returning pointer must be done. This function is based on
run-time type information.
.. code-block:: cpp
template <typename T> T* ObjectManagerIF::get(object_id_t id);
- A typical way to create all objects on startup is a handing a static produce function to the
ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
produce function will be called and all :cpp:class:`SystemObject`\s 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 can be configured in ``FSFWConfig.h``
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.
- 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`` folder

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.. _dhb-prim-doc:
Device Handlers
==================
Device handler components represent, control and monitor equipment, for example sensors or actuators
of a spacecraft or the payload.
Most device handlers have the same common functionality or
requirements, which are fulfilled by implementing certain interfaces:
- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
- The handler needs to communicate with the physical device via a dedicated
communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
- The handler has housekeeping data which has to be exposed to the operator and/or other software
components: :cpp:class:`HasLocalDataPoolIF`
- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
also implements :cpp:class:`HasParametersIF`
- The handler has health states, for example to indicate a broken device:
:cpp:class:`HasHealthIF`
- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
but that it is not periodically polling data from the
physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
The device handler base therefore provides abstractions for a lot of common
functionality, which can potentially avoid high amounts or logic and code duplication.
Template Device Handler Base File
----------------------------------
This is an example template device handler header file with all necessary
functions implemented:
.. code-block:: cpp
#ifndef __TESTDEVICEHANDLER_H_
#define __TESTDEVICEHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class TestDeviceHandler: DeviceHandlerBase {
public:
TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
private:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
};
#endif /* __TESTDEVICEHANDLER_H_ */
and the respective source file with sensible default return values:
.. code-block:: cpp
#include "TestDeviceHandler.h"
TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
: DeviceHandlerBase(objectId, comIF, cookie) {}
void TestDeviceHandler::doStartUp() {}
void TestDeviceHandler::doShutDown() {}
ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
void TestDeviceHandler::fillCommandAndReplyMap() {}
ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 10000;
}
ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}

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Getting Started
================
Getting started
----------------
The `Hosted FSFW example`_ provides a good starting point and a demo to see the FSFW capabilities.
It is recommended to get started by building and playing around with the demo application.
There are also other examples provided for all OSALs using the popular embedded platforms
Raspberry Pi, Beagle Bone Black and STM32H7.
Generally, the FSFW is included in a project by providing
a configuration folder, building the static library and linking against it.
There are some functions like ``printChar`` which are different depending on the target architecture
and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have
a starting point. The [configuration section](docs/README-config.md#top) provides more specific
information about the possible options.
Prerequisites
-------------------
The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
installed and provided by the build system unless the correction version was installed.
The current recommended version can be found inside the fsfw ``CMakeLists.txt`` file or by using
``ccmake`` and looking up the ``FSFW_ETL_LIB_MAJOR_VERSION`` variable.
You can install the ETL library like this. On Linux, it might be necessary to add ``sudo`` before
the install call:
.. code-block:: console
git clone https://github.com/ETLCPP/etl
cd etl
git checkout <currentRecommendedVersion>
mkdir build && cd build
cmake ..
cmake --install .
It is recommended to install ``20.27.2`` or newer for the package version handling of
ETL to work.
Adding the library
-------------------
The following steps show how to add and use FSFW components. It is still recommended to
try out the example mentioned above to get started, but the following steps show how to
add and link against the FSFW library in general.
1. Add this repository as a submodule
.. code-block:: console
git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
2. Add the following directive inside the uppermost ``CMakeLists.txt`` file of your project
.. code-block:: cmake
add_subdirectory(fsfw)
3. Make sure to provide a configuration folder and supply the path to that folder with
the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
It is also necessary to provide the `printChar` function. You can find an example
implementation for a hosted build
`here <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c>`_.
4. Link against the FSFW library
.. code-block:: cmake
target_link_libraries(<YourProjectName> PRIVATE fsfw)
5. It should now be possible use the FSFW as a static library from the user code.
Building the unittests
-------------------------
The FSFW also has unittests which use the `Catch2 library`_.
These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
from your project `CMakeLists.txt` file or from the command line.
You can install the Catch2 library, which prevents the build system to avoid re-downloading
the dependency if the unit tests are completely rebuilt. The current recommended version
can be found inside the fsfw ``CMakeLists.txt`` file or by using ``ccmake`` and looking up
the ``FSFW_CATCH2_LIB_VERSION`` variable.
.. code-block:: console
git clone https://github.com/catchorg/Catch2.git
cd Catch2
git checkout <currentRecommendedVersion>
cmake -Bbuild -H. -DBUILD_TESTING=OFF
sudo cmake --build build/ --target install
The fsfw-tests binary will be built as part of the static library and dropped alongside it.
If the unittests are built, the library and the tests will be built with coverage information by
default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
You can use the following commands inside the ``fsfw`` folder to set up the build system
.. code-block:: console
mkdir build-tests && cd build-tests
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
Coverage data in HTML format can be generated using the `Code coverage`_ CMake module.
To build the unittests, run them and then generare the coverage data in this format,
the following command can be used inside the build directory after the build system was set up
.. code-block:: console
cmake --build . -- fsfw-tests_coverage -j
The ``helper.py`` script located in the ``script`` folder can also be used to create, build
and open the unittests conveniently. Try ``helper.py -h`` for more information.
Building the documentation
----------------------------
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
.. code-block:: console
sudo apt-get install doxygen graphviz
And the following Python packages
.. code-block:: console
python3 -m pip install sphinx breathe
You can set up a documentation build system using the following commands
.. code-block:: bash
mkdir build-docs && cd build-docs
cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
Then you can generate the documentation using
.. code-block:: bash
cmake --build . -j
You can find the generated documentation inside the ``docs/sphinx`` folder inside the build
folder. Simply open the ``index.html`` in the webbrowser of your choice.
The ``helper.py`` script located in the ``script`` folder can also be used to create, build
and open the documentation conveniently. Try ``helper.py -h`` for more information.
Formatting the source
-----------------------
The formatting is done by the ``clang-format`` tool. The configuration is contained within the
``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
.. _`Catch2 library`: https://github.com/catchorg/Catch2
.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

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.. _highlevel:
High-level overview
===================
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.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
Failure Handling
-----------------
Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
``fsfwconfig`` folder.
OSAL
------------
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
The :ref:`OSAL README <osal>` provides more detailed information on provided components
and how to use them.
Core Components
----------------
The FSFW has following core components. More detailed informations can be found in the
:ref:`core component section <core>`:
1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
with fixed timeslots
2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
to the object handles.
3. Static Stores: Different stores are provided to store data of variable size (like telecommands
or small telemetry) in a pool structure without using dynamic memory allocation.
These pools are allocated up front.
4. Clock: This module provided common time related functions
5. EventManager: This module allows routing of events generated by `SystemObjects`
6. HealthTable: A component which stores the health states of objects
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 ``misc/defaultcfg/fsfwconfig/objects``
inside the function ``Factory::setStaticFrameworkObjectIds``.
Events
----------------
Events are tied to objects. EventIds can be generated by calling the
:ref:`macro MAKE_EVENT <eventapi>` or the function :cpp:func:`event::makeEvent`.
This works analog to the returnvalues. Every object that needs own Event IDs has to get a
unique ``SUBSYSTEM_ID``. Every :cpp:class:`SystemObject` can call
:cpp:func:`SystemObject::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 via Messages through Queues.
Those queues are created by calling the singleton ``QueueFactory::instance()->create`` which
will create `MessageQueue` instances for the used OSAL.
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.
TMTC Communication
~~~~~~~~~~~~~~~~~~~
The FSFW provides some components to facilitate TMTC handling via the PUS commands.
For example, a UDP or TCP PUS server socket can be opened on a specific port using the
files located in ``osal/common``. The FSFW example uses this functionality to allow sending
telecommands and receiving telemetry using the
`TMTC commander application <https://github.com/robamu-org/tmtccmd>`_.
Simple commands like the PUS Service 17 ping service can be tested by simply running the
``tmtc_client_cli.py`` or ``tmtc_client_gui.py`` utility in
the `example tmtc folder <https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc>`_
while the `fsfw_example` application is running.
More generally, any class responsible for handling incoming telecommands and sending telemetry
can implement the generic ``TmTcBridge`` class located in ``tmtcservices``. Many applications
also use a dedicated polling task for reading telecommands which passes telecommands
to the ``TmTcBridge`` implementation.
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 has to be provided by the user.
An example can be found in the ``timemanager`` folder, which uses ``CCSDSTime::CDS_short``.
Device Handlers
--------------------------
DeviceHandlers are another important 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 device handler (DH) can be tested on different hardware.
The DH has mechanisms to monitor the communication with the physical device which allow
for FDIR reaction. Device Handlers can be created by implementing ``DeviceHandlerBase``.
A standard FDIR component for the DH will be created automatically but can
be overwritten by the user. More information on DeviceHandlers can be found in the
related :ref:`documentation section <dhb-prim-doc>`.
Modes and Health
--------------------
The two interfaces ``HasModesIF`` and ``HasHealthIF`` provide access for commanding and monitoring
of components. On-board mode management is implement in hierarchy system.
- Device handlers 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 top level subsystem components
- The top level subsystem components are used to group assemblies, controllers and device handlers.
For example, a spacecraft can have a atttitude control subsystem and a power subsystem.
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.

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.. Flight Software Framework documentation master file, created by
sphinx-quickstart on Tue Nov 30 10:56:03 2021.
You can adapt this file completely to your liking, but it should at least
contain the root `toctree` directive.
Flight Software Framework (FSFW) documentation
================================================
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
automated systems like Satellites.
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.
Quick facts
---------------
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.
Therefore, a mode and health system provides control over the states of the software and the
controlled devices. In addition, a simple mechanism of event based fault detection, isolation and
recovery is implemented as well.
The FSFW provides abstraction layers for operating systems to provide a uniform operating system
abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
also very useful for developers to implement the same application logic on different operating
systems with a uniform interface.
Currently, the FSFW provides the following OSALs:
- Linux
- Host
- FreeRTOS
- RTEMS
The recommended hardware is a microprocessor with more than 1 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. The ``fsfw`` was also successfully run on the
STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
satellite mission Flying Laptop.
Index
-------
.. toctree::
:maxdepth: 2
:caption: Contents:
getting_started
highlevel
core
config
osal
pus
devicehandlers
controllers
localpools
api
Indices and tables
==================
* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`

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Local Data Pools
=========================================
The following text is targeted towards mission software developers which would like
to use the local data pools provided by the FSFW to store data like sensor values so they can be
used by other software objects like controllers as well. If a custom class should have a local
pool which can be used by other software objects as well, following steps have to be performed:
1. Create a ``LocalDataPoolManager`` member object in the custom class
2. Implement the ``HasLocalDataPoolIF`` with specifies the interface between the local pool
manager and the class owning the local pool.
The local data pool manager is also able to process housekeeping service requests in form
of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
variables and datasets and process notifications and snapshots coming from other objects.
The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
while the later two are related to data consumers like controllers only acting on data change
detected by the data creator instead of checking the data manually each cycle. Two important
framework classes ``DeviceHandlerBase`` and ``ExtendedControllerBase`` already perform the two steps
shown above so the steps required are altered slightly.
Storing and Accessing pool data
-------------------------------------
The pool manager is responsible for thread-safe access of the pool data, but the actual
access to the pool data from the point of view of a mission software developer happens via proxy
classes like pool variable classes. These classes store a copy
of the pool variable with the matching datatype and copy the actual data from the local pool
on a ``read`` call. Changed variables can then be written to the local pool with a ``commit`` call.
The ``read`` and ``commit`` calls are thread-safe and can be called concurrently from data creators
and data consumers. Generally, a user will create a dataset class which in turn groups all
cohesive pool variables. These sets simply iterator over the list of variables and call the
``read`` and ``commit`` functions of each variable. The following diagram shows the
high-level architecture of the local data pools.
.. image:: ../docs/images/PoolArchitecture.png
:alt: Pool Architecture
An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken
from the SOURCE CubeSat project:
.. code-block:: cpp
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
/**
* Constructor for data users
* @param gyroId
*/
GyroPrimaryDataset(object_id_t gyroId):
StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
setAllVariablesReadOnly();
}
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_X, this);
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Y, this);
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Z, this);
private:
friend class GyroHandler;
/**
* Constructor for data creator
* @param hkOwner
*/
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
};
There is a public constructor for users which sets all variables to read-only and there is a
constructor for the GyroHandler data creator by marking it private and declaring the ``GyroHandler``
as a friend class. Both the atittude controller and the ``GyroHandler`` can now
use the same class definition to access the pool variables with ``read`` and ``commit`` semantics
in a thread-safe way. Generally, each class requiring access will have the set class as a member
class. The data creator will also be generally a ``DeviceHandlerBase`` subclass and some additional
steps are necessary to expose the set for housekeeping purposes.
Using the local data pools in a ``DeviceHandlerBase`` subclass
--------------------------------------------------------------
It is very common to store data generated by devices like a sensor into a pool which can
then be used by other objects. Therefore, the ``DeviceHandlerBase`` already has a
local pool. Using the aforementioned example, the ``GyroHandler`` will now have the set class
as a member:
.. code-block:: cpp
class GyroHandler: ... {
public:
...
private:
...
GyroPrimaryDataset gyroData;
...
};
The constructor used for the creators expects the owner class as a parameter, so we initialize
the object in the `GyroHandler` constructor like this:
.. code-block:: cpp
GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie, uint8_t switchId):
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
gyroData(this) {}
We need to assign the set to a reply ID used in the ``DeviceHandlerBase``.
The combination of the ``GyroHandler`` object ID and the reply ID will be the 64-bit structure ID
``sid_t`` and is used to globally identify the set, for example when requesting housekeeping data or
generating update messages. We need to assign our custom set class in some way so that the local
pool manager can access the custom data sets as well.
By default, the ``getDataSetHandle`` will take care of this tasks. The default implementation for a
``DeviceHandlerBase`` subclass will use the internal command map to retrieve
a handle to a dataset from a given reply ID. Therefore,
we assign the set in the ``fillCommandAndReplyMap`` function:
.. code-block:: cpp
void GyroHandler::fillCommandAndReplyMap() {
...
this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
...
}
Now, we need to create the actual pool entries as well, using the ``initializeLocalDataPool``
function. Here, we also immediately subscribe for periodic housekeeping packets
with an interval of 4 seconds. They are still disabled in this example and can be enabled
with a housekeeping service command.
.. code-block:: cpp
ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
new PoolEntry<uint8_t>({0}));
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
Now, if we receive some sensor data and converted them into the right format,
we can write it into the pool like this, using a guard class to ensure the set is commited back
in any case:
.. code-block:: cpp
PoolReadGuard readHelper(&gyroData);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if(not gyroData.isValid()) {
gyroData.setValidity(true, true);
}
gyroData.angVelocityX = angularVelocityX;
gyroData.angVelocityY = angularVelocityY;
gyroData.angVelocityZ = angularVelocityZ;
}
The guard class will commit the changed data on destruction automatically.
Using the local data pools in a ``ExtendedControllerBase`` subclass
----------------------------------------------------------------------
Coming soon

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@ECHO OFF
pushd %~dp0
REM Command file for Sphinx documentation
if "%SPHINXBUILD%" == "" (
set SPHINXBUILD=sphinx-build
)
set SOURCEDIR=.
set BUILDDIR=_build
if "%1" == "" goto help
%SPHINXBUILD% >NUL 2>NUL
if errorlevel 9009 (
echo.
echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
echo.installed, then set the SPHINXBUILD environment variable to point
echo.to the full path of the 'sphinx-build' executable. Alternatively you
echo.may add the Sphinx directory to PATH.
echo.
echo.If you don't have Sphinx installed, grab it from
echo.http://sphinx-doc.org/
exit /b 1
)
%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
goto end
:help
%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
:end
popd

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.. _osal:
Operating System Abstraction Layer (OSAL)
============================================
Some specific information on the provided OSALs are provided.
Linux
-------
This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
and real-time functionalities. For most UNIX systems, this is done by adding ``-lrt`` and
``-lpthread`` to the linked libraries in the compilation process. The CMake build support provided
will do this automatically for the ``fsfw`` target. It should be noted that most UNIX systems need
to be configured specifically to allow the real-time functionalities required by the FSFW.
Hosted OSAL
-------------------
This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be
implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the
FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike
the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation).
Cross-platform serial port (USB) support might be added soon.
FreeRTOS OSAL
------------------
FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and
adding the ``FreeRTOSConfig.h`` file location to the include path. This OSAL has only been tested
extensively with the pre-emptive scheduler configuration so far but it should in principle also be
possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme.
When using newlib (nano), it is also recommended to add ``#define configUSE_NEWLIB_REENTRANT`` to
the FreeRTOS configuration file to ensure thread-safety.
When using this OSAL, developers also need to provide an implementation for the
``vRequestContextSwitchFromISR`` function. This has been done because the call to request a context
switch from an ISR is generally located in the ``portmacro.h`` header and is different depending on
the target architecture or device.
RTEMS OSAL
---------------
The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
TCP/IP socket abstraction
------------------------------
The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets
have been imlemented. This is very useful to test TMTC handling either on the host computer
directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending
TMTC packets via Ethernet.
Example Applications
----------------------
There are example applications available for each OSAL
- `Hosted OSAL <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted>`_
- `Linux OSAL for MCUs <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu>`_
- `FreeRTOS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-freertos>`_
- `RTEMS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-rtems>`_

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PUS Services
==============

9
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@ -3,7 +3,14 @@ cmake_minimum_required(VERSION 3.13)
# Can also be changed by upper CMakeLists.txt file # Can also be changed by upper CMakeLists.txt file
find_library(LIB_FSFW_NAME fsfw REQUIRED) find_library(LIB_FSFW_NAME fsfw REQUIRED)
option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Required gpiod library" OFF) option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
# On by default for now because I did not have an issue including and compiling those files
# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
# 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_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF) option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON) option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

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add_subdirectory(devicehandlers) add_subdirectory(devicehandlers)
add_subdirectory(common) add_subdirectory(common)
if(FSFW_HAL_ADD_LINUX) if(UNIX)
add_subdirectory(linux) add_subdirectory(linux)
endif() endif()

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#include "fsfw_hal/common/gpio/GpioCookie.h" #include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
GpioCookie::GpioCookie() { GpioCookie::GpioCookie() {}
}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) { ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
if (gpioConfig == nullptr) { if (gpioConfig == nullptr) {
@ -14,13 +14,13 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
auto gpioMapIter = gpioMap.find(gpioId); auto gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter == gpioMap.end()) { if (gpioMapIter == gpioMap.end()) {
auto statusPair = gpioMap.emplace(gpioId, gpioConfig); auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
if (statusPair.second == false) { if (statusPair.second == false) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
" to GPIO map" << std::endl; << std::endl;
#else #else
sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId); sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
#endif #endif
@ -39,12 +39,10 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
GpioMap GpioCookie::getGpioMap() const { GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
return gpioMap;
}
GpioCookie::~GpioCookie() { GpioCookie::~GpioCookie() {
for(auto& config: gpioMap) { for (auto& config : gpioMap) {
delete(config.second); delete (config.second);
} }
} }

13
hal/src/fsfw_hal/common/gpio/GpioCookie.h
View File

@ -1,12 +1,12 @@
#ifndef COMMON_GPIO_GPIOCOOKIE_H_ #ifndef COMMON_GPIO_GPIOCOOKIE_H_
#define COMMON_GPIO_GPIOCOOKIE_H_ #define COMMON_GPIO_GPIOCOOKIE_H_
#include "GpioIF.h"
#include "gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "GpioIF.h"
#include "gpioDefinitions.h"
/** /**
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which * @brief Cookie for the GpioIF. Allows the GpioIF to determine which
* GPIOs to initialize and whether they should be configured as in- or * GPIOs to initialize and whether they should be configured as in- or
@ -17,9 +17,8 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class GpioCookie: public CookieIF { class GpioCookie : public CookieIF {
public: public:
GpioCookie(); GpioCookie();
virtual ~GpioCookie(); virtual ~GpioCookie();
@ -31,7 +30,7 @@ public:
*/ */
GpioMap getGpioMap() const; GpioMap getGpioMap() const;
private: private:
/** /**
* Returns a copy of the internal GPIO map. * Returns a copy of the internal GPIO map.
*/ */

10
hal/src/fsfw_hal/common/gpio/GpioIF.h
View File

@ -1,9 +1,10 @@
#ifndef COMMON_GPIO_GPIOIF_H_ #ifndef COMMON_GPIO_GPIOIF_H_
#define COMMON_GPIO_GPIOIF_H_ #define COMMON_GPIO_GPIOIF_H_
#include "gpioDefinitions.h"
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "gpioDefinitions.h"
class GpioCookie; class GpioCookie;
@ -13,9 +14,8 @@ class GpioCookie;
* @author J. Meier * @author J. Meier
*/ */
class GpioIF : public HasReturnvaluesIF { class GpioIF : public HasReturnvaluesIF {
public: public:
virtual ~GpioIF(){};
virtual ~GpioIF() {};
/** /**
* @brief Called by the GPIO using object. * @brief Called by the GPIO using object.

127
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
View File

@ -1,29 +1,19 @@
#ifndef COMMON_GPIO_GPIODEFINITIONS_H_ #ifndef COMMON_GPIO_GPIODEFINITIONS_H_
#define COMMON_GPIO_GPIODEFINITIONS_H_ #define COMMON_GPIO_GPIODEFINITIONS_H_
#include <map>
#include <string> #include <string>
#include <unordered_map> #include <unordered_map>
#include <map>
using gpioId_t = uint16_t; using gpioId_t = uint16_t;
namespace gpio { namespace gpio {
enum Levels: uint8_t { enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
LOW = 0,
HIGH = 1,
NONE = 99
};
enum Direction: uint8_t { enum class Direction : int { IN = 0, OUT = 1 };
IN = 0,
OUT = 1
};
enum GpioOperation { enum class GpioOperation { READ, WRITE };
READ,
WRITE
};
enum class GpioTypes { enum class GpioTypes {
NONE, NONE,
@ -35,10 +25,10 @@ enum class GpioTypes {
static constexpr gpioId_t NO_GPIO = -1; static constexpr gpioId_t NO_GPIO = -1;
using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value, using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args); void* args);
} } // namespace gpio
/** /**
* @brief Struct containing information about the GPIO to use. This is * @brief Struct containing information about the GPIO to use. This is
@ -55,15 +45,14 @@ using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::L
* pointer. * pointer.
*/ */
class GpioBase { class GpioBase {
public: public:
GpioBase() = default; GpioBase() = default;
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue): gpio::Levels initValue)
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {} : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
virtual~ GpioBase() {}; virtual ~GpioBase(){};
// Can be used to cast GpioBase to a concrete child implementation // Can be used to cast GpioBase to a concrete child implementation
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
@ -72,59 +61,53 @@ public:
gpio::Levels initValue = gpio::Levels::NONE; gpio::Levels initValue = gpio::Levels::NONE;
}; };
class GpiodRegularBase: public GpioBase { class GpiodRegularBase : public GpioBase {
public: public:
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue, int lineNum): gpio::Levels initValue, int lineNum)
GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) { : GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
}
// line number will be configured at a later point for the open by line name configuration // line number will be configured at a later point for the open by line name configuration
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) { gpio::Levels initValue)
} : GpioBase(gpioType, consumer, direction, initValue) {}
int lineNum = 0; int lineNum = 0;
struct gpiod_line* lineHandle = nullptr; struct gpiod_line* lineHandle = nullptr;
}; };
class GpiodRegularByChip: public GpiodRegularBase { class GpiodRegularByChip : public GpiodRegularBase {
public: public:
GpiodRegularByChip() : GpiodRegularByChip()
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
std::string(), gpio::Direction::IN, gpio::LOW, 0) { gpio::Levels::LOW, 0) {}
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_, GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_) : gpio::Direction direction_, gpio::Levels initValue_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, direction_, initValue_,
consumer_, direction_, initValue_, lineNum_), lineNum_),
chipname(chipname_){ chipname(chipname_) {}
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) : GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
gpio::Direction::IN, gpio::LOW, lineNum_), gpio::Levels::LOW, lineNum_),
chipname(chipname_) { chipname(chipname_) {}
}
std::string chipname; std::string chipname;
}; };
class GpiodRegularByLabel: public GpiodRegularBase { class GpiodRegularByLabel : public GpiodRegularBase {
public: public:
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_, GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_) : gpio::Direction direction_, gpio::Levels initValue_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, direction_, initValue_,
direction_, initValue_, lineNum_), lineNum_),
label(label_) { label(label_) {}
}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) : GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
gpio::Direction::IN, gpio::LOW, lineNum_), gpio::Levels::LOW, lineNum_),
label(label_) { label(label_) {}
}
std::string label; std::string label;
}; };
@ -134,34 +117,34 @@ public:
* line name. This line name can be set in the device tree and must be unique. Otherwise * line name. This line name can be set in the device tree and must be unique. Otherwise
* the driver will open the first line with the given name. * the driver will open the first line with the given name.
*/ */
class GpiodRegularByLineName: public GpiodRegularBase { class GpiodRegularByLineName : public GpiodRegularBase {
public: public:
GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_, GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
gpio::Levels initValue_) : gpio::Levels initValue_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
initValue_), lineName(lineName_) { initValue_),
} lineName(lineName_) {}
GpiodRegularByLineName(std::string lineName_, std::string consumer_) : GpiodRegularByLineName(std::string lineName_, std::string consumer_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
gpio::Direction::IN, gpio::LOW), lineName(lineName_) { gpio::Levels::LOW),
} lineName(lineName_) {}
std::string lineName; std::string lineName;
}; };
class GpioCallback: public GpioBase { class GpioCallback : public GpioBase {
public: public:
GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_, GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
gpio::gpio_cb_t callback, void* callbackArgs): gpio::gpio_cb_t callback, void* callbackArgs)
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_), : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback), callbackArgs(callbackArgs) {} callback(callback),
callbackArgs(callbackArgs) {}
gpio::gpio_cb_t callback = nullptr; gpio::gpio_cb_t callback = nullptr;
void* callbackArgs = nullptr; void* callbackArgs = nullptr;
}; };
using GpioMap = std::map<gpioId_t, GpioBase*>; using GpioMap = std::map<gpioId_t, GpioBase*>;
using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>; using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
using GpioMapIter = GpioMap::iterator; using GpioMapIter = GpioMap::iterator;

7
hal/src/fsfw_hal/common/spi/spiCommon.h
View File

@ -5,12 +5,7 @@
namespace spi { namespace spi {
enum SpiModes: uint8_t { enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
MODE_0,
MODE_1,
MODE_2,
MODE_3
};
} }

138
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -1,39 +1,35 @@
#include "GyroL3GD20Handler.h" #include "GyroL3GD20Handler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cmath> #include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelayMs): CookieIF *comCookie, uint32_t transitionDelayMs)
DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs), dataset(this) { transitionDelayMs(transitionDelayMs),
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 dataset(this) {}
debugDivider = new PeriodicOperationDivider(3);
#endif
}
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {} GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
void GyroHandlerL3GD20H::doStartUp() { void GyroHandlerL3GD20H::doStartUp() {
if(internalState == InternalState::NONE) { if (internalState == InternalState::NONE) {
internalState = InternalState::CONFIGURE; internalState = InternalState::CONFIGURE;
} }
if(internalState == InternalState::CONFIGURE) { if (internalState == InternalState::CONFIGURE) {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::CHECK_REGS; internalState = InternalState::CHECK_REGS;
commandExecuted = false; commandExecuted = false;
} }
} }
if(internalState == InternalState::CHECK_REGS) { if (internalState == InternalState::CHECK_REGS) {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::NORMAL; internalState = InternalState::NORMAL;
if(goNormalModeImmediately) { if (goNormalModeImmediately) {
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
} } else {
else {
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
} }
commandExecuted = false; commandExecuted = false;
@ -41,19 +37,17 @@ void GyroHandlerL3GD20H::doStartUp() {
} }
} }
void GyroHandlerL3GD20H::doShutDown() { void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) { ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch(internalState) { switch (internalState) {
case(InternalState::NONE): case (InternalState::NONE):
case(InternalState::NORMAL): { case (InternalState::NORMAL): {
return NOTHING_TO_SEND; return NOTHING_TO_SEND;
} }
case(InternalState::CONFIGURE): { case (InternalState::CONFIGURE): {
*id = L3GD20H::CONFIGURE_CTRL_REGS; *id = L3GD20H::CONFIGURE_CTRL_REGS;
uint8_t command [5]; uint8_t command[5];
command[0] = L3GD20H::CTRL_REG_1_VAL; command[0] = L3GD20H::CTRL_REG_1_VAL;
command[1] = L3GD20H::CTRL_REG_2_VAL; command[1] = L3GD20H::CTRL_REG_2_VAL;
command[2] = L3GD20H::CTRL_REG_3_VAL; command[2] = L3GD20H::CTRL_REG_3_VAL;
@ -61,7 +55,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
command[4] = L3GD20H::CTRL_REG_5_VAL; command[4] = L3GD20H::CTRL_REG_5_VAL;
return buildCommandFromCommand(*id, command, 5); return buildCommandFromCommand(*id, command, 5);
} }
case(InternalState::CHECK_REGS): { case (InternalState::CHECK_REGS): {
*id = L3GD20H::READ_REGS; *id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0); return buildCommandFromCommand(*id, nullptr, 0);
} }
@ -69,9 +63,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
/* Might be a configuration error. */ /* Might be a configuration error. */
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: " sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!" << std::endl; "Unknown internal state!"
<< std::endl;
#else #else
sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: " sif::printDebug(
"GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!\n"); "Unknown internal state!\n");
#endif #endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -84,20 +80,20 @@ ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id
return buildCommandFromCommand(*id, nullptr, 0); return buildCommandFromCommand(*id, nullptr, 0);
} }
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand( ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
DeviceCommandId_t deviceCommand, const uint8_t *commandData, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
switch(deviceCommand) { switch (deviceCommand) {
case(L3GD20H::READ_REGS): { case (L3GD20H::READ_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK; commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN); std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = L3GD20H::READ_LEN + 1; rawPacketLen = L3GD20H::READ_LEN + 1;
break; break;
} }
case(L3GD20H::CONFIGURE_CTRL_REGS): { case (L3GD20H::CONFIGURE_CTRL_REGS): {
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK; commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
if(commandData == nullptr or commandDataLen != 5) { if (commandData == nullptr or commandDataLen != 5) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
@ -110,13 +106,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1; bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0; bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
if(not fsH and not fsL) { if (not fsH and not fsL) {
sensitivity = L3GD20H::SENSITIVITY_00; sensitivity = L3GD20H::SENSITIVITY_00;
} } else if (not fsH and fsL) {
else if(not fsH and fsL) {
sensitivity = L3GD20H::SENSITIVITY_01; sensitivity = L3GD20H::SENSITIVITY_01;
} } else {
else {
sensitivity = L3GD20H::SENSITIVITY_11; sensitivity = L3GD20H::SENSITIVITY_11;
} }
@ -130,9 +124,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
rawPacketLen = 6; rawPacketLen = 6;
break; break;
} }
case(L3GD20H::READ_CTRL_REGS): { case (L3GD20H::READ_CTRL_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, 5); std::memset(commandBuffer + 1, 0, 5);
rawPacket = commandBuffer; rawPacket = commandBuffer;
@ -157,32 +150,30 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) { const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) { switch (id) {
case(L3GD20H::CONFIGURE_CTRL_REGS): { case (L3GD20H::CONFIGURE_CTRL_REGS): {
commandExecuted = true; commandExecuted = true;
break; break;
} }
case(L3GD20H::READ_CTRL_REGS): { case (L3GD20H::READ_CTRL_REGS): {
if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
packet[5] == ctrlReg5Value) { packet[5] == ctrlReg5Value) {
commandExecuted = true; commandExecuted = true;
} } else {
else {
// Attempt reconfiguration // Attempt reconfiguration
internalState = InternalState::CONFIGURE; internalState = InternalState::CONFIGURE;
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
break; break;
} }
case(L3GD20H::READ_REGS): { case (L3GD20H::READ_REGS): {
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
packet[5] != ctrlReg5Value) { packet[5] != ctrlReg5Value) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} } else {
else { if (internalState == InternalState::CHECK_REGS) {
if(internalState == InternalState::CHECK_REGS) {
commandExecuted = true; commandExecuted = true;
} }
} }
@ -198,8 +189,8 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset; float temperature = 25.0 + temperaturOffset;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 if (periodicPrintout) {
if(debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
/* Set terminal to utf-8 if there is an issue with micro printout. */ /* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
@ -213,31 +204,28 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
sif::printInfo("Z: %f\n", angVelocZ); sif::printInfo("Z: %f\n", angVelocZ);
#endif #endif
} }
#endif }
PoolReadGuard readSet(&dataset); PoolReadGuard readSet(&dataset);
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if(std::abs(angVelocX) < this->absLimitX) { if (std::abs(angVelocX) < this->absLimitX) {
dataset.angVelocX = angVelocX; dataset.angVelocX = angVelocX;
dataset.angVelocX.setValid(true); dataset.angVelocX.setValid(true);
} } else {
else {
dataset.angVelocX.setValid(false); dataset.angVelocX.setValid(false);
} }
if(std::abs(angVelocY) < this->absLimitY) { if (std::abs(angVelocY) < this->absLimitY) {
dataset.angVelocY = angVelocY; dataset.angVelocY = angVelocY;
dataset.angVelocY.setValid(true); dataset.angVelocY.setValid(true);
} } else {
else {
dataset.angVelocY.setValid(false); dataset.angVelocY.setValid(false);
} }
if(std::abs(angVelocZ) < this->absLimitZ) { if (std::abs(angVelocZ) < this->absLimitZ) {
dataset.angVelocZ = angVelocZ; dataset.angVelocZ = angVelocZ;
dataset.angVelocZ.setValid(true); dataset.angVelocZ.setValid(true);
} } else {
else {
dataset.angVelocZ.setValid(false); dataset.angVelocZ.setValid(false);
} }
@ -252,17 +240,14 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
return result; return result;
} }
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) { uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelayMs; return this->transitionDelayMs;
} }
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
this->goNormalModeImmediately = true;
}
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool( ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
@ -276,12 +261,15 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1); insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
} }
void GyroHandlerL3GD20H::modeChanged() { void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
internalState = InternalState::NONE;
}
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) { void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
this->absLimitX = limitX; this->absLimitX = limitX;
this->absLimitY = limitY; this->absLimitY = limitY;
this->absLimitZ = limitZ; this->absLimitZ = limitZ;
} }
void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

49
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
View File

@ -1,12 +1,11 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_ #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_ #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include "fsfw/FSFW.h"
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h> #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
/** /**
* @brief Device Handler for the L3GD20H gyroscope sensor * @brief Device Handler for the L3GD20H gyroscope sensor
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html) * (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@ -16,12 +15,14 @@
* *
* Data is read big endian with the smallest possible range of 245 degrees per second. * Data is read big endian with the smallest possible range of 245 degrees per second.
*/ */
class GyroHandlerL3GD20H: public DeviceHandlerBase { class GyroHandlerL3GD20H : public DeviceHandlerBase {
public: public:
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
CookieIF* comCookie, uint32_t transitionDelayMs); uint32_t transitionDelayMs);
virtual ~GyroHandlerL3GD20H(); virtual ~GyroHandlerL3GD20H();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/** /**
* Set the absolute limit for the values on the axis in degrees per second. * Set the absolute limit for the values on the axis in degrees per second.
* The dataset values will be marked as invalid if that limit is exceeded * The dataset values will be marked as invalid if that limit is exceeded
@ -35,22 +36,18 @@ public:
* @brief Configure device handler to go to normal mode immediately * @brief Configure device handler to go to normal mode immediately
*/ */
void setToGoToNormalMode(bool enable); void setToGoToNormalMode(bool enable);
protected:
protected:
/* DeviceHandlerBase overrides */ /* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand( ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
DeviceCommandId_t *id) override;
void doStartUp() override; void doStartUp() override;
void doShutDown() override; void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand( ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
DeviceCommandId_t *id) override; ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override; size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
DeviceCommandId_t *foundId, size_t *foundLen) override; size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
const uint8_t *packet) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
void modeChanged() override; void modeChanged() override;
@ -58,7 +55,7 @@ protected:
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
uint32_t transitionDelayMs = 0; uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset; GyroPrimaryDataset dataset;
@ -66,12 +63,7 @@ private:
float absLimitY = L3GD20H::RANGE_DPS_00; float absLimitY = L3GD20H::RANGE_DPS_00;
float absLimitZ = L3GD20H::RANGE_DPS_00; float absLimitZ = L3GD20H::RANGE_DPS_00;
enum class InternalState { enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
NONE,
CONFIGURE,
CHECK_REGS,
NORMAL
};
InternalState internalState = InternalState::NONE; InternalState internalState = InternalState::NONE;
bool commandExecuted = false; bool commandExecuted = false;
@ -89,11 +81,8 @@ private:
// Set default value // Set default value
float sensitivity = L3GD20H::SENSITIVITY_00; float sensitivity = L3GD20H::SENSITIVITY_00;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 bool periodicPrintout = false;
PeriodicOperationDivider* debugDivider = nullptr; PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
#endif
}; };
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */ #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

249
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -1,58 +1,49 @@
#include "MgmLIS3MDLHandler.h" #include "MgmLIS3MDLHandler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
#include <cmath> #include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication, MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelay): CookieIF *comCookie, uint32_t transitionDelay)
DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this), transitionDelay(transitionDelay) { dataset(this),
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 transitionDelay(transitionDelay) {
debugDivider = new PeriodicOperationDivider(3);
#endif
// Set to default values right away // Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
}
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
} }
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
void MgmLIS3MDLHandler::doStartUp() { void MgmLIS3MDLHandler::doStartUp() {
switch (internalState) { switch (internalState) {
case(InternalState::STATE_NONE): { case (InternalState::STATE_NONE): {
internalState = InternalState::STATE_FIRST_CONTACT; internalState = InternalState::STATE_FIRST_CONTACT;
break; break;
} }
case(InternalState::STATE_FIRST_CONTACT): { case (InternalState::STATE_FIRST_CONTACT): {
/* Will be set by checking device ID (WHO AM I register) */ /* Will be set by checking device ID (WHO AM I register) */
if(commandExecuted) { if (commandExecuted) {
commandExecuted = false; commandExecuted = false;
internalState = InternalState::STATE_SETUP; internalState = InternalState::STATE_SETUP;
} }
break; break;
} }
case(InternalState::STATE_SETUP): { case (InternalState::STATE_SETUP): {
internalState = InternalState::STATE_CHECK_REGISTERS; internalState = InternalState::STATE_CHECK_REGISTERS;
break; break;
} }
case(InternalState::STATE_CHECK_REGISTERS): { case (InternalState::STATE_CHECK_REGISTERS): {
/* Set up cached registers which will be used to configure the MGM. */ /* Set up cached registers which will be used to configure the MGM. */
if(commandExecuted) { if (commandExecuted) {
commandExecuted = false; commandExecuted = false;
if(goToNormalMode) { if (goToNormalMode) {
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
} } else {
else {
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
} }
} }
@ -61,43 +52,38 @@ void MgmLIS3MDLHandler::doStartUp() {
default: default:
break; break;
} }
} }
void MgmLIS3MDLHandler::doShutDown() { void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand( ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
DeviceCommandId_t *id) {
switch (internalState) { switch (internalState) {
case(InternalState::STATE_NONE): case (InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): { case (InternalState::STATE_NORMAL): {
return DeviceHandlerBase::NOTHING_TO_SEND; return DeviceHandlerBase::NOTHING_TO_SEND;
} }
case(InternalState::STATE_FIRST_CONTACT): { case (InternalState::STATE_FIRST_CONTACT): {
*id = MGMLIS3MDL::IDENTIFY_DEVICE; *id = MGMLIS3MDL::IDENTIFY_DEVICE;
break; break;
} }
case(InternalState::STATE_SETUP): { case (InternalState::STATE_SETUP): {
*id = MGMLIS3MDL::SETUP_MGM; *id = MGMLIS3MDL::SETUP_MGM;
break; break;
} }
case(InternalState::STATE_CHECK_REGISTERS): { case (InternalState::STATE_CHECK_REGISTERS): {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA; *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
break; break;
} }
default: { default: {
/* might be a configuration error. */ /* might be a configuration error. */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" << sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
std::endl; << std::endl;
#else #else
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n"); sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
} }
return buildCommandFromCommand(*id, NULL, 0); return buildCommandFromCommand(*id, NULL, 0);
} }
@ -119,7 +105,6 @@ uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
} }
void MgmLIS3MDLHandler::setupMgm() { void MgmLIS3MDLHandler::setupMgm() {
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@ -129,27 +114,24 @@ void MgmLIS3MDLHandler::setupMgm() {
prepareCtrlRegisterWrite(); prepareCtrlRegisterWrite();
} }
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand( ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
DeviceCommandId_t *id) {
// Data/config register will be read in an alternating manner. // Data/config register will be read in an alternating manner.
if(communicationStep == CommunicationStep::DATA) { if (communicationStep == CommunicationStep::DATA) {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA; *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
communicationStep = CommunicationStep::TEMPERATURE; communicationStep = CommunicationStep::TEMPERATURE;
return buildCommandFromCommand(*id, NULL, 0); return buildCommandFromCommand(*id, NULL, 0);
} } else {
else {
*id = MGMLIS3MDL::READ_TEMPERATURE; *id = MGMLIS3MDL::READ_TEMPERATURE;
communicationStep = CommunicationStep::DATA; communicationStep = CommunicationStep::DATA;
return buildCommandFromCommand(*id, NULL, 0); return buildCommandFromCommand(*id, NULL, 0);
} }
} }
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand( ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
DeviceCommandId_t deviceCommand, const uint8_t *commandData, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
switch(deviceCommand) { switch (deviceCommand) {
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): { case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
std::memset(commandBuffer, 0, sizeof(commandBuffer)); std::memset(commandBuffer, 0, sizeof(commandBuffer));
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true); commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
@ -157,7 +139,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1; rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
return RETURN_OK; return RETURN_OK;
} }
case(MGMLIS3MDL::READ_TEMPERATURE): { case (MGMLIS3MDL::READ_TEMPERATURE): {
std::memset(commandBuffer, 0, 3); std::memset(commandBuffer, 0, 3);
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true); commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
@ -165,17 +147,17 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
rawPacketLen = 3; rawPacketLen = 3;
return RETURN_OK; return RETURN_OK;
} }
case(MGMLIS3MDL::IDENTIFY_DEVICE): { case (MGMLIS3MDL::IDENTIFY_DEVICE): {
return identifyDevice(); return identifyDevice();
} }
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): { case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
return enableTemperatureSensor(commandData, commandDataLen); return enableTemperatureSensor(commandData, commandDataLen);
} }
case(MGMLIS3MDL::SETUP_MGM): { case (MGMLIS3MDL::SETUP_MGM): {
setupMgm(); setupMgm();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
return setOperatingMode(commandData, commandDataLen); return setOperatingMode(commandData, commandDataLen);
} }
default: default:
@ -195,16 +177,15 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len; *foundLen = len;
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) { if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len; *foundLen = len;
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA; *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
// Check validity by checking config registers // Check validity by checking config registers
if (start[1] != registers[0] or start[2] != registers[1] or if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
start[3] != registers[2] or start[4] != registers[3] or start[4] != registers[3] or start[5] != registers[4]) {
start[5] != registers[4]) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl; sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
@ -214,57 +195,51 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
#endif #endif
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
if(mode == _MODE_START_UP) { if (mode == _MODE_START_UP) {
commandExecuted = true; commandExecuted = true;
} }
} } else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
*foundLen = len; *foundLen = len;
*foundId = MGMLIS3MDL::READ_TEMPERATURE; *foundId = MGMLIS3MDL::READ_TEMPERATURE;
} } else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
*foundLen = len; *foundLen = len;
*foundId = MGMLIS3MDL::SETUP_MGM; *foundId = MGMLIS3MDL::SETUP_MGM;
} } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len; *foundLen = len;
*foundId = getPendingCommand(); *foundId = getPendingCommand();
if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) { if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
if(start[1] != MGMLIS3MDL::DEVICE_ID) { if (start[1] != MGMLIS3MDL::DEVICE_ID) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: " sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
"Device identification failed!" << std::endl; "Device identification failed!"
<< std::endl;
#else #else
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: " sif::printWarning(
"MGMHandlerLIS3MDL::scanForReply: "
"Device identification failed!\n"); "Device identification failed!\n");
#endif #endif
#endif #endif
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
if(mode == _MODE_START_UP) { if (mode == _MODE_START_UP) {
commandExecuted = true; commandExecuted = true;
} }
} }
} } else {
else {
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
/* Data with SPI Interface always has this answer */ /* Data with SPI Interface always has this answer */
if (start[0] == 0b11111111) { if (start[0] == 0b11111111) {
return RETURN_OK; return RETURN_OK;
} } else {
else {
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
} }
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
const uint8_t *packet) {
switch (id) { switch (id) {
case MGMLIS3MDL::IDENTIFY_DEVICE: { case MGMLIS3MDL::IDENTIFY_DEVICE: {
break; break;
@ -276,26 +251,27 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
// TODO: Store configuration in new local datasets. // TODO: Store configuration in new local datasets.
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2])); float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawX =
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ; packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawY =
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ; packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawZ =
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ; 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 float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 if (periodicPrintout) {
if(debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Magnetic field strength in" sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" << std::endl; " microtesla:"
<< std::endl;
sif::info << "X: " << mgmX << " uT" << std::endl; sif::info << "X: " << mgmX << " uT" << std::endl;
sif::info << "Y: " << mgmY << " uT" << std::endl; sif::info << "Y: " << mgmY << " uT" << std::endl;
sif::info << "Z: " << mgmZ << " uT" << std::endl; sif::info << "Z: " << mgmZ << " uT" << std::endl;
@ -306,30 +282,28 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
sif::printInfo("Z: %f uT\n", mgmZ); sif::printInfo("Z: %f uT\n", mgmZ);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
} }
#endif /* OBSW_VERBOSE_LEVEL >= 1 */ }
PoolReadGuard readHelper(&dataset); PoolReadGuard readHelper(&dataset);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if(std::abs(mgmX) < absLimitX) { if (std::abs(mgmX) < absLimitX) {
dataset.fieldStrengthX = mgmX; dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthX.setValid(true); dataset.fieldStrengthX.setValid(true);
} } else {
else {
dataset.fieldStrengthX.setValid(false); dataset.fieldStrengthX.setValid(false);
} }
if(std::abs(mgmY) < absLimitY) { if (std::abs(mgmY) < absLimitY) {
dataset.fieldStrengthY = mgmY; dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthY.setValid(true); dataset.fieldStrengthY.setValid(true);
} } else {
else {
dataset.fieldStrengthY.setValid(false); dataset.fieldStrengthY.setValid(false);
} }
if(std::abs(mgmZ) < absLimitZ) { if (std::abs(mgmZ) < absLimitZ) {
dataset.fieldStrengthZ = mgmZ; dataset.fieldStrengthZ = mgmZ;
dataset.fieldStrengthZ.setValid(true); dataset.fieldStrengthZ.setValid(true);
} } else {
else {
dataset.fieldStrengthZ.setValid(false); dataset.fieldStrengthZ.setValid(false);
} }
} }
@ -339,18 +313,18 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
case MGMLIS3MDL::READ_TEMPERATURE: { case MGMLIS3MDL::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1]; int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0); float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 if (periodicPrintout) {
if(debugDivider->check()) { if (debugDivider.check()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
std::endl;
#else #else
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
#endif #endif
} }
#endif }
ReturnValue_t result = dataset.read(); ReturnValue_t result = dataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperature = tempValue; dataset.temperature = tempValue;
dataset.commit(); dataset.commit();
} }
@ -360,7 +334,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
default: { default: {
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
} }
} }
return RETURN_OK; return RETURN_OK;
} }
@ -380,17 +353,17 @@ MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2)
} }
float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) { float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
switch(sens) { switch (sens) {
case(MGMLIS3MDL::GAUSS_4): { case (MGMLIS3MDL::GAUSS_4): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS; return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
} }
case(MGMLIS3MDL::GAUSS_8): { case (MGMLIS3MDL::GAUSS_8): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS; return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
} }
case(MGMLIS3MDL::GAUSS_12): { case (MGMLIS3MDL::GAUSS_12): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS; return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
} }
case(MGMLIS3MDL::GAUSS_16): { case (MGMLIS3MDL::GAUSS_16): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS; return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
} }
default: { default: {
@ -400,9 +373,8 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
} }
} }
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor( size_t commandDataLen) {
const uint8_t *commandData, size_t commandDataLen) {
triggerEvent(CHANGE_OF_SETUP_PARAMETER); triggerEvent(CHANGE_OF_SETUP_PARAMETER);
uint32_t size = 2; uint32_t size = 2;
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1); commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
@ -471,9 +443,7 @@ void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1); insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
} }
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
this->goToNormalMode = enable;
}
ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() { ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true); commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
@ -489,27 +459,19 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
} }
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) { uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
return transitionDelay;
}
void MgmLIS3MDLHandler::modeChanged(void) { void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
internalState = InternalState::STATE_NONE;
}
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool( ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
new PoolEntry<float>({0.0})); localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
new PoolEntry<float>({0.0})); localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -518,3 +480,8 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
this->absLimitY = yLimit; this->absLimitY = yLimit;
this->absLimitZ = zLimit; this->absLimitZ = zLimit;
} }
void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

53
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
View File

@ -1,11 +1,10 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "fsfw/FSFW.h"
#include "events/subsystemIdRanges.h"
#include "devicedefinitions/MgmLIS3HandlerDefs.h" #include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
class PeriodicOperationDivider; class PeriodicOperationDivider;
@ -18,22 +17,20 @@ class PeriodicOperationDivider;
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
* @author L. Loidold, R. Mueller * @author L. Loidold, R. Mueller
*/ */
class MgmLIS3MDLHandler: public DeviceHandlerBase { class MgmLIS3MDLHandler : public DeviceHandlerBase {
public: public:
enum class CommunicationStep { enum class CommunicationStep { DATA, TEMPERATURE };
DATA,
TEMPERATURE
};
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL; static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
//Notifies a command to change the setup parameters // Notifies a command to change the setup parameters
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW); static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie, MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay); uint32_t transitionDelay);
virtual ~MgmLIS3MDLHandler(); virtual ~MgmLIS3MDLHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/** /**
* Set the absolute limit for the values on the axis in microtesla. The dataset values will * Set the absolute limit for the values on the axis in microtesla. The dataset values will
* be marked as invalid if that limit is exceeded * be marked as invalid if that limit is exceeded
@ -44,22 +41,18 @@ public:
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit); void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
void setToGoToNormalMode(bool enable); void setToGoToNormalMode(bool enable);
protected: protected:
/** DeviceHandlerBase overrides */ /** DeviceHandlerBase overrides */
void doShutDown() override; void doShutDown() override;
void doStartUp() override; void doStartUp() override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand( ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override; size_t commandDataLen) override;
ReturnValue_t buildTransitionDeviceCommand( ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
DeviceCommandId_t *id) override; ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand( ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
DeviceCommandId_t *id) override; size_t *foundLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
/** /**
* This implementation is tailored towards space applications and will flag values larger * This implementation is tailored towards space applications and will flag values larger
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
@ -67,16 +60,15 @@ protected:
* @param packet * @param packet
* @return * @return
*/ */
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
const uint8_t *packet) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
void modeChanged(void) override; void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
MGMLIS3MDL::MgmPrimaryDataset dataset; MGMLIS3MDL::MgmPrimaryDataset dataset;
//Length a single command SPI answer // Length a single command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
uint32_t transitionDelay; uint32_t transitionDelay;
@ -159,16 +151,14 @@ private:
* @param commandData On or Off * @param commandData On or Off
* @param length of the commandData: has to be 1 * @param length of the commandData: has to be 1
*/ */
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
size_t commandDataLen);
/** /**
* Sets the accuracy of the measurement of the axis. The noise is changing. * Sets the accuracy of the measurement of the axis. The noise is changing.
* @param commandData LOW, MEDIUM, HIGH, ULTRA * @param commandData LOW, MEDIUM, HIGH, ULTRA
* @param length of the command, has to be 1 * @param length of the command, has to be 1
*/ */
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
size_t commandDataLen);
/** /**
* We always update all registers together, so this method updates * We always update all registers together, so this method updates
@ -178,9 +168,8 @@ private:
*/ */
ReturnValue_t prepareCtrlRegisterWrite(); ReturnValue_t prepareCtrlRegisterWrite();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 bool periodicPrintout = false;
PeriodicOperationDivider* debugDivider; PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
#endif
}; };
#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */ #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

190
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -1,52 +1,47 @@
#include "MgmRM3100Handler.h" #include "MgmRM3100Handler.h"
#include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/devicehandlers/DeviceHandlerMessage.h" #include "fsfw/devicehandlers/DeviceHandlerMessage.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/objectmanager/SystemObjectIF.h" #include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, CookieIF *comCookie, uint32_t transitionDelay)
object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay): : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
primaryDataset(this), transitionDelay(transitionDelay) { transitionDelay(transitionDelay) {}
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
}
MgmRM3100Handler::~MgmRM3100Handler() {} MgmRM3100Handler::~MgmRM3100Handler() {}
void MgmRM3100Handler::doStartUp() { void MgmRM3100Handler::doStartUp() {
switch(internalState) { switch (internalState) {
case(InternalState::NONE): { case (InternalState::NONE): {
internalState = InternalState::CONFIGURE_CMM; internalState = InternalState::CONFIGURE_CMM;
break; break;
} }
case(InternalState::CONFIGURE_CMM): { case (InternalState::CONFIGURE_CMM): {
internalState = InternalState::READ_CMM; internalState = InternalState::READ_CMM;
break; break;
} }
case(InternalState::READ_CMM): { case (InternalState::READ_CMM): {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC; internalState = InternalState::STATE_CONFIGURE_TMRC;
} }
break; break;
} }
case(InternalState::STATE_CONFIGURE_TMRC): { case (InternalState::STATE_CONFIGURE_TMRC): {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::STATE_READ_TMRC; internalState = InternalState::STATE_READ_TMRC;
} }
break; break;
} }
case(InternalState::STATE_READ_TMRC): { case (InternalState::STATE_READ_TMRC): {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::NORMAL; internalState = InternalState::NORMAL;
if(goToNormalModeAtStartup) { if (goToNormalModeAtStartup) {
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
} } else {
else {
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
} }
} }
@ -58,33 +53,30 @@ void MgmRM3100Handler::doStartUp() {
} }
} }
void MgmRM3100Handler::doShutDown() { void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand( ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
DeviceCommandId_t *id) {
size_t commandLen = 0; size_t commandLen = 0;
switch(internalState) { switch (internalState) {
case(InternalState::NONE): case (InternalState::NONE):
case(InternalState::NORMAL): { case (InternalState::NORMAL): {
return NOTHING_TO_SEND; return NOTHING_TO_SEND;
} }
case(InternalState::CONFIGURE_CMM): { case (InternalState::CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM; *id = RM3100::CONFIGURE_CMM;
break; break;
} }
case(InternalState::READ_CMM): { case (InternalState::READ_CMM): {
*id = RM3100::READ_CMM; *id = RM3100::READ_CMM;
break; break;
} }
case(InternalState::STATE_CONFIGURE_TMRC): { case (InternalState::STATE_CONFIGURE_TMRC): {
commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE; commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
commandLen = 1; commandLen = 1;
*id = RM3100::CONFIGURE_TMRC; *id = RM3100::CONFIGURE_TMRC;
break; break;
} }
case(InternalState::STATE_READ_TMRC): { case (InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC; *id = RM3100::READ_TMRC;
break; break;
} }
@ -93,9 +85,11 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
// Might be a configuration error // Might be a configuration error
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: " sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state" << std::endl; "Unknown internal state"
<< std::endl;
#else #else
sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: " sif::printWarning(
"MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state\n"); "Unknown internal state\n");
#endif #endif
#endif #endif
@ -106,43 +100,44 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
} }
ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) { const uint8_t *commandData,
switch(deviceCommand) { size_t commandDataLen) {
case(RM3100::CONFIGURE_CMM): { switch (deviceCommand) {
case (RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER; commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE; commandBuffer[1] = RM3100::CMM_VALUE;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
break; break;
} }
case(RM3100::READ_CMM): { case (RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK; commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0; commandBuffer[1] = 0;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
break; break;
} }
case(RM3100::CONFIGURE_TMRC): { case (RM3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen); return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
} }
case(RM3100::READ_TMRC): { case (RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK; commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0; commandBuffer[1] = 0;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
break; break;
} }
case(RM3100::CONFIGURE_CYCLE_COUNT): { case (RM3100::CONFIGURE_CYCLE_COUNT): {
return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen); return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
} }
case(RM3100::READ_CYCLE_COUNT): { case (RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK; commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 6); std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 7; rawPacketLen = 7;
break; break;
} }
case(RM3100::READ_DATA): { case (RM3100::READ_DATA): {
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK; commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 9); std::memset(commandBuffer + 1, 0, 9);
rawPacketLen = 10; rawPacketLen = 10;
@ -154,16 +149,13 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand( ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
DeviceCommandId_t *id) {
*id = RM3100::READ_DATA; *id = RM3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0); return buildCommandFromCommand(*id, nullptr, 0);
} }
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
size_t len, DeviceCommandId_t *foundId, DeviceCommandId_t *foundId, size_t *foundLen) {
size_t *foundLen) {
// For SPI, ID will always be the one of the last sent command // For SPI, ID will always be the one of the last sent command
*foundId = this->getPendingCommand(); *foundId = this->getPendingCommand();
*foundLen = len; *foundLen = len;
@ -172,62 +164,60 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) { switch (id) {
case(RM3100::CONFIGURE_CMM): case (RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT): case (RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): { case (RM3100::CONFIGURE_TMRC): {
// We can only check whether write was successful with read operation // We can only check whether write was successful with read operation
if(mode == _MODE_START_UP) { if (mode == _MODE_START_UP) {
commandExecuted = true; commandExecuted = true;
} }
break; break;
} }
case(RM3100::READ_CMM): { case (RM3100::READ_CMM): {
uint8_t cmmValue = packet[1]; uint8_t cmmValue = packet[1];
// We clear the seventh bit in any case // We clear the seventh bit in any case
// because this one is zero sometimes for some reason // because this one is zero sometimes for some reason
bitutil::bitClear(&cmmValue, 6); bitutil::clear(&cmmValue, 6);
if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) { if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
commandExecuted = true; commandExecuted = true;
} } else {
else {
// Attempt reconfiguration // Attempt reconfiguration
internalState = InternalState::CONFIGURE_CMM; internalState = InternalState::CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
break; break;
} }
case(RM3100::READ_TMRC): { case (RM3100::READ_TMRC): {
if(packet[1] == tmrcRegValue) { if (packet[1] == tmrcRegValue) {
commandExecuted = true; commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground // Reading TMRC was commanded. Trigger event to inform ground
if(mode != _MODE_START_UP) { if (mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0); triggerEvent(tmrcSet, tmrcRegValue, 0);
} }
} } else {
else {
// Attempt reconfiguration // Attempt reconfiguration
internalState = InternalState::STATE_CONFIGURE_TMRC; internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
break; break;
} }
case(RM3100::READ_CYCLE_COUNT): { case (RM3100::READ_CYCLE_COUNT): {
uint16_t cycleCountX = packet[1] << 8 | packet[2]; uint16_t cycleCountX = packet[1] << 8 | packet[2];
uint16_t cycleCountY = packet[3] << 8 | packet[4]; uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6]; uint16_t cycleCountZ = packet[5] << 8 | packet[6];
if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or if (cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
cycleCountZ != cycleCountRegValueZ) { cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
// Reading TMRC was commanded. Trigger event to inform ground // Reading TMRC was commanded. Trigger event to inform ground
if(mode != _MODE_START_UP) { if (mode != _MODE_START_UP) {
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY; uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ); triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
} }
break; break;
} }
case(RM3100::READ_DATA): { case (RM3100::READ_DATA): {
result = handleDataReadout(packet); result = handleDataReadout(packet);
break; break;
} }
@ -239,19 +229,18 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
} }
ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) { const uint8_t *commandData,
if(commandData == nullptr) { size_t commandDataLen) {
if (commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
// Set cycle count // Set cycle count
if(commandDataLen == 2) { if (commandDataLen == 2) {
handleCycleCommand(true, commandData, commandDataLen); handleCycleCommand(true, commandData, commandDataLen);
} } else if (commandDataLen == 6) {
else if(commandDataLen == 6) {
handleCycleCommand(false, commandData, commandDataLen); handleCycleCommand(false, commandData, commandDataLen);
} } else {
else {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
@ -264,21 +253,21 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
const uint8_t *commandData, size_t commandDataLen) { size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue); RM3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen, ReturnValue_t result =
SerializeIF::Endianness::BIG); command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
// Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
if(command.cycleCountX > 450 ) { if (command.cycleCountX > 450) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) { if (not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
@ -289,8 +278,9 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
} }
ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) { const uint8_t *commandData,
if(commandData == nullptr or commandDataLen != 1) { size_t commandDataLen) {
if (commandData == nullptr or commandDataLen != 1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
@ -315,12 +305,10 @@ void MgmRM3100Handler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset); insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
} }
void MgmRM3100Handler::modeChanged(void) { void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
internalState = InternalState::NONE;
}
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool( ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
@ -331,9 +319,7 @@ uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelay; return this->transitionDelay;
} }
void MgmRM3100Handler::setToGoToNormalMode(bool enable) { void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
goToNormalModeAtStartup = enable;
}
ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
// Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift // Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
@ -347,11 +333,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
float fieldStrengthY = fieldStrengthRawY * scaleFactorX; float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 if (periodicPrintout) {
if(debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in" sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:" << std::endl; " microtesla:"
<< std::endl;
sif::info << "X: " << fieldStrengthX << " uT" << std::endl; sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
@ -362,11 +349,11 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
sif::printInfo("Z: %f uT\n", fieldStrengthZ); sif::printInfo("Z: %f uT\n", fieldStrengthZ);
#endif #endif
} }
#endif }
// TODO: Sanity check on values? // TODO: Sanity check on values?
PoolReadGuard readGuard(&primaryDataset); PoolReadGuard readGuard(&primaryDataset);
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX; primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY; primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ; primaryDataset.fieldStrengthZ = fieldStrengthZ;
@ -374,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
} }
return RETURN_OK; return RETURN_OK;
} }
void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

53
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
View File

@ -1,13 +1,9 @@
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_ #ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_ #define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "fsfw/FSFW.h"
#include "devicedefinitions/MgmRM3100HandlerDefs.h" #include "devicedefinitions/MgmRM3100HandlerDefs.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h" #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
/** /**
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor * @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
@ -16,42 +12,40 @@
* Flight manual: * Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
*/ */
class MgmRM3100Handler: public DeviceHandlerBase { class MgmRM3100Handler : public DeviceHandlerBase {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100; static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0 //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
0x00, severity::INFO);
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y //! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z //! P2: New cycle count Z
static constexpr Event cycleCountersSet = event::makeEvent( static constexpr Event cycleCountersSet =
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO); event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
CookieIF* comCookie, uint32_t transitionDelay); uint32_t transitionDelay);
virtual ~MgmRM3100Handler(); virtual ~MgmRM3100Handler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/** /**
* Configure device handler to go to normal mode after startup immediately * Configure device handler to go to normal mode after startup immediately
* @param enable * @param enable
*/ */
void setToGoToNormalMode(bool enable); void setToGoToNormalMode(bool enable);
protected: protected:
/* DeviceHandlerBase overrides */ /* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand( ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
DeviceCommandId_t *id) override;
void doStartUp() override; void doStartUp() override;
void doShutDown() override; void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override; ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
const uint8_t *commandData, size_t commandDataLen) override; size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
DeviceCommandId_t *foundId, size_t *foundLen) override; size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override; ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
@ -60,8 +54,7 @@ protected:
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
enum class InternalState { enum class InternalState {
NONE, NONE,
CONFIGURE_CMM, CONFIGURE_CMM,
@ -94,17 +87,17 @@ private:
uint32_t transitionDelay; uint32_t transitionDelay;
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen); const uint8_t *commandData, size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
const uint8_t *commandData,size_t commandDataLen); size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t* packet); ReturnValue_t handleDataReadout(const uint8_t *packet);
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
PeriodicOperationDivider* debugDivider; bool periodicPrintout = false;
#endif PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
}; };
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */ #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

42
hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
View File

@ -3,6 +3,7 @@
#include <fsfw/datapoollocal/StaticLocalDataSet.h> #include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint> #include <cstdint>
namespace L3GD20H { namespace L3GD20H {
@ -36,8 +37,8 @@ static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
static constexpr uint8_t SET_X_ENABLE = 1 << 1; static constexpr uint8_t SET_X_ENABLE = 1 << 1;
static constexpr uint8_t SET_Y_ENABLE = 1; static constexpr uint8_t SET_Y_ENABLE = 1;
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE | static constexpr uint8_t CTRL_REG_1_VAL =
SET_Y_ENABLE | SET_X_ENABLE; SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
/* Register 2 */ /* Register 2 */
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7; static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
@ -104,40 +105,29 @@ static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS; static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
enum GyroPoolIds: lp_id_t { enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
ANG_VELOC_X,
ANG_VELOC_Y,
ANG_VELOC_Z,
TEMPERATURE
};
} } // namespace L3GD20H
class GyroPrimaryDataset: public StaticLocalDataSet<5> {
public:
class GyroPrimaryDataset : public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */ /** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId): GyroPrimaryDataset(object_id_t mgmId)
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) { : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
setAllVariablesReadOnly(); setAllVariablesReadOnly();
} }
/* Angular velocities in degrees per second (DPS) */ /* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
L3GD20H::ANG_VELOC_X, this); lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
L3GD20H::ANG_VELOC_Y, this); lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
L3GD20H::TEMPERATURE, this);
private:
private:
friend class GyroHandlerL3GD20H; friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */ /** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner): GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {} : StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
}; };
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

75
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
View File

@ -1,26 +1,18 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h> #include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint> #include <cstdint>
namespace MGMLIS3MDL { namespace MGMLIS3MDL {
enum Set { enum Set { ON, OFF };
ON, OFF enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
};
enum OpMode {
LOW, MEDIUM, HIGH, ULTRA
};
enum Sensitivies: uint8_t { enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
GAUSS_4 = 4,
GAUSS_8 = 8,
GAUSS_12 = 12,
GAUSS_16 = 16
};
/* Actually 15, we just round up a bit */ /* Actually 15, we just round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16; static constexpr size_t MAX_BUFFER_SIZE = 16;
@ -114,65 +106,58 @@ static const uint8_t DO2 = 4; // Output data rate bit 4
static const uint8_t OM0 = 5; // XY operating mode bit 5 static const uint8_t OM0 = 5; // XY operating mode bit 5
static const uint8_t OM1 = 6; // XY operating mode bit 6 static const uint8_t OM1 = 6; // XY operating mode bit 6
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1 static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) | static const uint8_t CTRL_REG1_DEFAULT =
(1 << DO0) | (1 << DO1) | (1 << DO2); (1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
/* CTRL_REG2 bits */ /* CTRL_REG2 bits */
//reset configuration registers and user registers // reset configuration registers and user registers
static const uint8_t SOFT_RST = 2; static const uint8_t SOFT_RST = 2;
static const uint8_t REBOOT = 3; //reboot memory content static const uint8_t REBOOT = 3; // reboot memory content
static const uint8_t FSO = 5; //full-scale selection bit 5 static const uint8_t FSO = 5; // full-scale selection bit 5
static const uint8_t FS1 = 6; //full-scale selection bit 6 static const uint8_t FS1 = 6; // full-scale selection bit 6
static const uint8_t CTRL_REG2_DEFAULT = 0; static const uint8_t CTRL_REG2_DEFAULT = 0;
/* CTRL_REG3 bits */ /* CTRL_REG3 bits */
static const uint8_t MD0 = 0; //Operating mode bit 0 static const uint8_t MD0 = 0; // Operating mode bit 0
static const uint8_t MD1 = 1; //Operating mode bit 1 static const uint8_t MD1 = 1; // Operating mode bit 1
//SPI serial interface mode selection enabled = 3-wire-mode // SPI serial interface mode selection enabled = 3-wire-mode
static const uint8_t SIM = 2; static const uint8_t SIM = 2;
static const uint8_t LP = 5; //low-power mode static const uint8_t LP = 5; // low-power mode
static const uint8_t CTRL_REG3_DEFAULT = 0; static const uint8_t CTRL_REG3_DEFAULT = 0;
/* CTRL_REG4 bits */ /* CTRL_REG4 bits */
//big/little endian data selection enabled = MSb at lower adress // big/little endian data selection enabled = MSb at lower adress
static const uint8_t BLE = 1; static const uint8_t BLE = 1;
static const uint8_t OMZ0 = 2; //Z operating mode bit 2 static const uint8_t OMZ0 = 2; // Z operating mode bit 2
static const uint8_t OMZ1 = 3; //Z operating mode bit 3 static const uint8_t OMZ1 = 3; // Z operating mode bit 3
static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1); static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
/* CTRL_REG5 bits */ /* CTRL_REG5 bits */
static const uint8_t BDU = 6; //Block data update static const uint8_t BDU = 6; // Block data update
static const uint8_t FAST_READ = 7; //Fast read enabled = 1 static const uint8_t FAST_READ = 7; // Fast read enabled = 1
static const uint8_t CTRL_REG5_DEFAULT = 0; static const uint8_t CTRL_REG5_DEFAULT = 0;
static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA; static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
enum MgmPoolIds: lp_id_t { enum MgmPoolIds : lp_id_t {
FIELD_STRENGTH_X, FIELD_STRENGTH_X,
FIELD_STRENGTH_Y, FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z, FIELD_STRENGTH_Z,
TEMPERATURE_CELCIUS TEMPERATURE_CELCIUS
}; };
class MgmPrimaryDataset: public StaticLocalDataSet<4> { class MgmPrimaryDataset : public StaticLocalDataSet<4> {
public: public:
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner): MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
MgmPrimaryDataset(object_id_t mgmId): MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
FIELD_STRENGTH_X, this); lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
FIELD_STRENGTH_Y, this); lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
TEMPERATURE_CELCIUS, this);
}; };
} } // namespace MGMLIS3MDL
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

50
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
View File

@ -1,10 +1,11 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h> #include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serialize/SerialLinkedListAdapter.h> #include <fsfw/serialize/SerialLinkedListAdapter.h>
#include <cstdint> #include <cstdint>
namespace RM3100 { namespace RM3100 {
@ -24,8 +25,8 @@ static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
static constexpr uint8_t SET_CMM_START = 1; static constexpr uint8_t SET_CMM_START = 1;
static constexpr uint8_t CMM_REGISTER = 0x01; static constexpr uint8_t CMM_REGISTER = 0x01;
static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | static constexpr uint8_t CMM_VALUE =
SET_CMM_DRDM | SET_CMM_START; SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
/* Cycle count register */ /* Cycle count register */
@ -33,8 +34,7 @@ static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
// Default value (200) // Default value (200)
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8; static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
100 * 38;
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04; static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
@ -67,17 +67,16 @@ static constexpr DeviceCommandId_t READ_TMRC = 4;
static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5; static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6; static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> { class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
public: public:
CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) { CycleCountCommand(bool oneCycleCount = true) : oneCycleCount(oneCycleCount) {
setLinks(oneCycleCount); setLinks(oneCycleCount);
} }
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override { Endianness streamEndianness) override {
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, size, streamEndianness);
size, streamEndianness); if (oneCycleCount) {
if(oneCycleCount) {
cycleCountY = cycleCountX; cycleCountY = cycleCountX;
cycleCountZ = cycleCountX; cycleCountZ = cycleCountX;
} }
@ -88,10 +87,10 @@ public:
SerializeElement<uint16_t> cycleCountY; SerializeElement<uint16_t> cycleCountY;
SerializeElement<uint16_t> cycleCountZ; SerializeElement<uint16_t> cycleCountZ;
private: private:
void setLinks(bool oneCycleCount) { void setLinks(bool oneCycleCount) {
setStart(&cycleCountX); setStart(&cycleCountX);
if(not oneCycleCount) { if (not oneCycleCount) {
cycleCountX.setNext(&cycleCountY); cycleCountX.setNext(&cycleCountY);
cycleCountY.setNext(&cycleCountZ); cycleCountY.setNext(&cycleCountZ);
} }
@ -102,31 +101,24 @@ private:
static constexpr uint32_t MGM_DATASET_ID = READ_DATA; static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
enum MgmPoolIds: lp_id_t { enum MgmPoolIds : lp_id_t {
FIELD_STRENGTH_X, FIELD_STRENGTH_X,
FIELD_STRENGTH_Y, FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z, FIELD_STRENGTH_Z,
}; };
class Rm3100PrimaryDataset: public StaticLocalDataSet<3> { class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
public: public:
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner): Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
Rm3100PrimaryDataset(object_id_t mgmId): Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
// Field strengths in micro Tesla. // Field strengths in micro Tesla.
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
FIELD_STRENGTH_X, this); lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Z, this);
}; };
} } // namespace RM3100
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

20
hal/src/fsfw_hal/linux/CMakeLists.txt
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@ -4,10 +4,22 @@ endif()
target_sources(${LIB_FSFW_NAME} PRIVATE target_sources(${LIB_FSFW_NAME} PRIVATE
UnixFileGuard.cpp UnixFileGuard.cpp
CommandExecutor.cpp
utility.cpp utility.cpp
) )
add_subdirectory(gpio) if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
add_subdirectory(spi) if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(i2c) add_subdirectory(gpio)
add_subdirectory(uart) endif()
add_subdirectory(uart)
# Adding those does not really make sense on Apple systems which
# are generally host systems. It won't even compile as the headers
# are missing
if(NOT APPLE)
add_subdirectory(i2c)
add_subdirectory(spi)
endif()
endif()
add_subdirectory(uio)

207
hal/src/fsfw_hal/linux/CommandExecutor.cpp Normal file
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@ -0,0 +1,207 @@
#include "CommandExecutor.h"
#include <unistd.h>
#include <cstring>
#include "fsfw/container/DynamicFIFO.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/serviceinterface.h"
CommandExecutor::CommandExecutor(const size_t maxSize) : readVec(maxSize) {
waiter.events = POLLIN;
}
ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
if (state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmd = command;
this->blocking = blocking;
this->printOutput = printOutput;
if (state == States::IDLE) {
state = States::COMMAND_LOADED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::execute() {
if (state == States::IDLE) {
return NO_COMMAND_LOADED_OR_PENDING;
} else if (state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmdFile = popen(currentCmd.c_str(), "r");
if (currentCmdFile == nullptr) {
lastError = errno;
return HasReturnvaluesIF::RETURN_FAILED;
}
if (blocking) {
ReturnValue_t result = executeBlocking();
state = States::IDLE;
return result;
} else {
currentFd = fileno(currentCmdFile);
waiter.fd = currentFd;
}
state = States::PENDING;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::close() {
if (state == States::PENDING) {
// Attempt to close process, irrespective of if it is running or not
if (currentCmdFile != nullptr) {
pclose(currentCmdFile);
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::printLastError(std::string funcName) const {
if (lastError != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << funcName << " pclose failed with code " << lastError << ": "
<< strerror(lastError) << std::endl;
#else
sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
strerror(lastError));
#endif
}
}
void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
DynamicFIFO<uint16_t>* sizesFifo) {
this->ringBuffer = ringBuffer;
this->sizesFifo = sizesFifo;
}
ReturnValue_t CommandExecutor::check(bool& replyReceived) {
if (blocking) {
return HasReturnvaluesIF::RETURN_OK;
}
switch (state) {
case (States::IDLE):
case (States::COMMAND_LOADED): {
return NO_COMMAND_LOADED_OR_PENDING;
}
case (States::PENDING): {
break;
}
}
int result = poll(&waiter, 1, 0);
switch (result) {
case (0): {
return HasReturnvaluesIF::RETURN_OK;
break;
}
case (1): {
if (waiter.revents & POLLIN) {
ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
if (readBytes == 0) {
// Should not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecutor::check: No bytes read "
"after poll event.."
<< std::endl;
#else
sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
#endif
break;
} else if (readBytes > 0) {
replyReceived = true;
if (printOutput) {
// It is assumed the command output is line terminated
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << currentCmd << " | " << readVec.data();
#else
sif::printInfo("%s | %s", currentCmd, readVec.data());
#endif
}
if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
}
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(readBytes);
}
}
} else {
// Should also not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
<< std::endl;
#else
sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
#endif
}
}
if (waiter.revents & POLLERR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecuter::check: Poll error" << std::endl;
#else
sif::printWarning("CommandExecuter::check: Poll error\n");
#endif
return COMMAND_ERROR;
}
if (waiter.revents & POLLHUP) {
result = pclose(currentCmdFile);
ReturnValue_t retval = EXECUTION_FINISHED;
if (result != 0) {
lastError = result;
retval = HasReturnvaluesIF::RETURN_FAILED;
}
state = States::IDLE;
currentCmdFile = nullptr;
currentFd = 0;
return retval;
}
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::reset() {
CommandExecutor::close();
currentCmdFile = nullptr;
currentFd = 0;
state = States::IDLE;
}
int CommandExecutor::getLastError() const {
// See:
// https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
return WEXITSTATUS(this->lastError);
}
CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
ReturnValue_t CommandExecutor::executeBlocking() {
while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
std::string output(readVec.data());
if (printOutput) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << currentCmd << " | " << output;
#else
sif::printInfo("%s | %s", currentCmd, output);
#endif
}
if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
}
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(output.size());
}
}
}
int result = pclose(currentCmdFile);
if (result != 0) {
lastError = result;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

129
hal/src/fsfw_hal/linux/CommandExecutor.h Normal file
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@ -0,0 +1,129 @@
#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#include <poll.h>
#include <string>
#include <vector>
#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
class SimpleRingBuffer;
template <typename T>
class DynamicFIFO;
/**
* @brief Helper class to execute shell commands in blocking and non-blocking mode
* @details
* This class is able to execute processes by using the Linux popen call. It also has the
* capability of writing the read output of a process into a provided ring buffer.
*
* The executor works by first loading the command which should be executed and specifying
* whether it should be executed blocking or non-blocking. After that, execution can be started
* with the execute command. In blocking mode, the execute command will block until the command
* has finished
*/
class CommandExecutor {
public:
enum class States { IDLE, COMMAND_LOADED, PENDING };
static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
//! [EXPORT] : [COMMENT] Execution of the current command has finished
static constexpr ReturnValue_t EXECUTION_FINISHED =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
//! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
//! to load another command but a command is still pending
static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
//! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
//! [EXPORT] : [COMMENT] Command execution failed
static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
//! [EXPORT] : [COMMENT]
static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
/**
* Constructor. Is initialized with maximum size of internal buffer to read data from the
* executed process.
* @param maxSize
*/
CommandExecutor(const size_t maxSize);
/**
* Load a new command which should be executed
* @param command
* @param blocking
* @param printOutput
* @return
*/
ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
/**
* Execute the loaded command.
* @return
* - In blocking mode, it will return RETURN_FAILED if
* the result of the system call was not 0. The error value can be accessed using
* getLastError
* - In non-blocking mode, this call will start
* the execution and then return RETURN_OK
*/
ReturnValue_t execute();
/**
* Only used in non-blocking mode. Checks the currently running command.
* @param bytesRead Will be set to the number of bytes read, if bytes have been read
* @return
* - BYTES_READ if bytes have been read from the executing process. It is recommended to call
* check again after this
* - RETURN_OK execution is pending, but no bytes have been read from the executing process
* - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
* - EXECUTION_FINISHED if the process was executed successfully
* - NO_COMMAND_LOADED_OR_PENDING self-explanatory
* - COMMAND_ERROR internal poll error
*/
ReturnValue_t check(bool& replyReceived);
/**
* Abort the current command. Should normally not be necessary, check can be used to find
* out whether command execution was successful
* @return RETURN_OK
*/
ReturnValue_t close();
States getCurrentState() const;
int getLastError() const;
void printLastError(std::string funcName) const;
/**
* Assign a ring buffer and a FIFO which will be filled by the executor with the output
* read from the started process
* @param ringBuffer
* @param sizesFifo
*/
void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
/**
* Reset the executor. This calls close internally and then reset the state machine so new
* commands can be loaded and executed
*/
void reset();
private:
std::string currentCmd;
bool blocking = true;
FILE* currentCmdFile = nullptr;
int currentFd = 0;
bool printOutput = true;
std::vector<char> readVec;
struct pollfd waiter {};
SimpleRingBuffer* ringBuffer = nullptr;
DynamicFIFO<uint16_t>* sizesFifo = nullptr;
States state = States::IDLE;
int lastError = 0;
ReturnValue_t executeBlocking();
};
#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

25
hal/src/fsfw_hal/linux/UnixFileGuard.cpp
View File

@ -1,25 +1,26 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h" #include "fsfw_hal/linux/UnixFileGuard.h"
#include <cerrno> #include <cerrno>
#include <cstring> #include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags, UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
std::string diagnosticPrefix): std::string diagnosticPrefix)
fileDescriptor(fileDescriptor) { : fileDescriptor(fileDescriptor) {
if(fileDescriptor == nullptr) { if (fileDescriptor == nullptr) {
return; return;
} }
*fileDescriptor = open(device.c_str(), flags); *fileDescriptor = open(device.c_str(), flags);
if (*fileDescriptor < 0) { if (*fileDescriptor < 0) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << diagnosticPrefix << ": Opening device failed with error code " << sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
errno << ": " << strerror(errno) << std::endl; << strerror(errno) << std::endl;
#else #else
sif::printWarning("%s: Opening device failed with error code %d: %s\n", sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
diagnosticPrefix, errno, strerror(errno)); strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
openStatus = OPEN_FILE_FAILED; openStatus = OPEN_FILE_FAILED;
@ -27,11 +28,9 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
} }
UnixFileGuard::~UnixFileGuard() { UnixFileGuard::~UnixFileGuard() {
if(fileDescriptor != nullptr) { if (fileDescriptor != nullptr) {
close(*fileDescriptor); close(*fileDescriptor);
} }
} }
ReturnValue_t UnixFileGuard::getOpenResult() const { ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }
return openStatus;
}

15
hal/src/fsfw_hal/linux/UnixFileGuard.h
View File

@ -1,16 +1,14 @@
#ifndef LINUX_UTILITY_UNIXFILEGUARD_H_ #ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
#define LINUX_UTILITY_UNIXFILEGUARD_H_ #define LINUX_UTILITY_UNIXFILEGUARD_H_
#include <fcntl.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <unistd.h>
#include <string> #include <string>
#include <fcntl.h>
#include <unistd.h>
class UnixFileGuard { class UnixFileGuard {
public: public:
static constexpr int READ_WRITE_FLAG = O_RDWR; static constexpr int READ_WRITE_FLAG = O_RDWR;
static constexpr int READ_ONLY_FLAG = O_RDONLY; static constexpr int READ_ONLY_FLAG = O_RDONLY;
static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK; static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
@ -20,14 +18,13 @@ public:
UnixFileGuard(std::string device, int* fileDescriptor, int flags, UnixFileGuard(std::string device, int* fileDescriptor, int flags,
std::string diagnosticPrefix = ""); std::string diagnosticPrefix = "");
virtual~ UnixFileGuard(); virtual ~UnixFileGuard();
ReturnValue_t getOpenResult() const; ReturnValue_t getOpenResult() const;
private:
private:
int* fileDescriptor = nullptr; int* fileDescriptor = nullptr;
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK; ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
}; };
#endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */ #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

18
hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
View File

@ -1,12 +1,16 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
LinuxLibgpioIF.cpp
)
# This abstraction layer requires the gpiod library. You can install this library # This abstraction layer requires the gpiod library. You can install this library
# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
# to install the package before syncing the sysroot to your host computer. # to install the package before syncing the sysroot to your host computer.
find_library(LIB_GPIO gpiod REQUIRED) find_library(LIB_GPIO gpiod)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
message(STATUS "gpiod library not found, not linking against it")
else()
target_sources(${LIB_FSFW_NAME} PRIVATE
LinuxLibgpioIF.cpp
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${LIB_GPIO} ${LIB_GPIO}
) )
endif()

285
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -1,27 +1,28 @@
#include "LinuxLibgpioIF.h" #include "LinuxLibgpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h" #include <gpiod.h>
#include "fsfw_hal/common/gpio/GpioCookie.h" #include <unistd.h>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <utility> #include <utility>
#include <unistd.h>
#include <gpiod.h>
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) { #include "fsfw/serviceinterface/ServiceInterface.h"
} #include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
LinuxLibgpioIF::~LinuxLibgpioIF() { LinuxLibgpioIF::~LinuxLibgpioIF() {
for(auto& config: gpioMap) { for (auto& config : gpioMap) {
delete(config.second); delete (config.second);
} }
} }
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) { ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result; ReturnValue_t result;
if(gpioCookie == nullptr) { if (gpioCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl; sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -29,7 +30,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
/* Check whether this ID already exists in the map and remove duplicates */ /* Check whether this ID already exists in the map and remove duplicates */
result = checkForConflicts(mapToAdd); result = checkForConflicts(mapToAdd);
if (result != RETURN_OK){ if (result != RETURN_OK) {
return result; return result;
} }
@ -45,70 +46,76 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
} }
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for(auto& gpioConfig: mapToAdd) { ReturnValue_t result = RETURN_OK;
for (auto& gpioConfig : mapToAdd) {
auto& gpioType = gpioConfig.second->gpioType; auto& gpioType = gpioConfig.second->gpioType;
switch(gpioType) { switch (gpioType) {
case(gpio::GpioTypes::NONE): { case (gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): { case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
configureGpioByChip(gpioConfig.first, *regularGpio); result = configureGpioByChip(gpioConfig.first, *regularGpio);
break; break;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{ case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
configureGpioByLabel(gpioConfig.first, *regularGpio); result = configureGpioByLabel(gpioConfig.first, *regularGpio);
break; break;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{ case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
configureGpioByLineName(gpioConfig.first, *regularGpio); result = configureGpioByLineName(gpioConfig.first, *regularGpio);
break; break;
} }
case(gpio::GpioTypes::CALLBACK): { case (gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(gpioCallback->callback == nullptr) { if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE, gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
gpioCallback->initValue, gpioCallback->callbackArgs); gpioCallback->initValue, gpioCallback->callbackArgs);
} }
} }
if (result != RETURN_OK) {
return GPIO_INIT_FAILED;
} }
return RETURN_OK; }
return result;
} }
ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
GpiodRegularByLabel &gpioByLabel) { GpiodRegularByLabel& gpioByLabel) {
std::string& label = gpioByLabel.label; std::string& label = gpioByLabel.label;
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str()); struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
if (chip == nullptr) { if (chip == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio " sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl; << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
std::string failOutput = "label: " + label; std::string failOutput = "label: " + label;
return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput); return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
} }
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip) {
GpiodRegularByChip &gpioByChip) {
std::string& chipname = gpioByChip.chipname; std::string& chipname = gpioByChip.chipname;
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str()); struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
if (chip == nullptr) { if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " #if FSFW_CPP_OSTREAM_ENABLED == 1
<< chipname << ". Gpio ID: " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
<< ". Gpio ID: " << gpioId << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
std::string failOutput = "chipname: " + chipname; std::string failOutput = "chipname: " + chipname;
@ -116,13 +123,13 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
} }
ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
GpiodRegularByLineName &gpioByLineName) { GpiodRegularByLineName& gpioByLineName) {
std::string& lineName = gpioByLineName.lineName; std::string& lineName = gpioByLineName.lineName;
char chipname[MAX_CHIPNAME_LENGTH]; char chipname[MAX_CHIPNAME_LENGTH];
unsigned int lineOffset; unsigned int lineOffset;
int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, int result =
&lineOffset); gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
if (result != LINE_FOUND) { if (result != LINE_FOUND) {
parseFindeLineResult(result, lineName); parseFindeLineResult(result, lineName);
return RETURN_FAILED; return RETURN_FAILED;
@ -132,8 +139,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname); struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
if (chip == nullptr) { if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " #if FSFW_CPP_OSTREAM_ENABLED == 1
<< chipname << ". <Gpio ID: " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
<< ". <Gpio ID: " << gpioId << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
std::string failOutput = "line name: " + lineName; std::string failOutput = "line name: " + lineName;
@ -141,20 +150,23 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
} }
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip, ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput) { GpiodRegularBase& regularGpio,
std::string failOutput) {
unsigned int lineNum; unsigned int lineNum;
gpio::Direction direction; gpio::Direction direction;
std::string consumer; std::string consumer;
struct gpiod_line *lineHandle; struct gpiod_line* lineHandle;
int result = 0; int result = 0;
lineNum = regularGpio.lineNum; lineNum = regularGpio.lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum); lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) { if (!lineHandle) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl; sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
", " << failOutput << std::endl; << std::endl;
sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl; sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
#endif
gpiod_chip_close(chip); gpiod_chip_close(chip);
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -163,33 +175,35 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
consumer = regularGpio.consumer; consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */ /* Configure direction and add a description to the GPIO */
switch (direction) { switch (direction) {
case(gpio::OUT): { case (gpio::Direction::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(), result = gpiod_line_request_output(lineHandle, consumer.c_str(),
regularGpio.initValue); static_cast<int>(regularGpio.initValue));
break; break;
} }
case(gpio::IN): { case (gpio::Direction::IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str()); result = gpiod_line_request_input(lineHandle, consumer.c_str());
break; break;
} }
default: { default: {
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" #if FSFW_CPP_OSTREAM_ENABLED == 1
<< std::endl; sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
#endif
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
if (result < 0) { if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
lineNum << " from GPIO instance with ID: " << gpioId << std::endl; << " from GPIO instance with ID: " << gpioId << std::endl;
#else #else
sif::printError("LinuxLibgpioIF::configureRegularGpio: " sif::printError(
"Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId); "LinuxLibgpioIF::configureRegularGpio: "
"Failed to request line %d from GPIO instance with ID: %d\n",
lineNum, gpioId);
#endif #endif
gpiod_line_release(lineHandle); gpiod_line_release(lineHandle);
return RETURN_FAILED; return RETURN_FAILED;
} }
} }
/** /**
* Write line handle to GPIO configuration instance so it can later be used to set or * Write line handle to GPIO configuration instance so it can later be used to set or
@ -202,27 +216,28 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) { ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId); gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) { if (gpioMapIter == gpioMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
#endif
return UNKNOWN_GPIO_ID; return UNKNOWN_GPIO_ID;
} }
auto gpioType = gpioMapIter->second->gpioType; auto gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) { gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
return driveGpio(gpioId, *regularGpio, gpio::HIGH); return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
} } else {
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) { if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
gpio::Levels::HIGH, gpioCallback->callbackArgs); gpioCallback->callbackArgs);
return RETURN_OK; return RETURN_OK;
} }
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
@ -240,37 +255,38 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
} }
auto& gpioType = gpioMapIter->second->gpioType; auto& gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) { gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
return driveGpio(gpioId, *regularGpio, gpio::LOW); return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
} } else {
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) { if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
gpio::Levels::LOW, gpioCallback->callbackArgs); gpioCallback->callbackArgs);
return RETURN_OK; return RETURN_OK;
} }
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
GpiodRegularBase& regularGpio, gpio::Levels logicLevel) { gpio::Levels logicLevel) {
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel); int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
if (result < 0) { if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId << sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
" to logic level " << logicLevel << std::endl; << " to logic level " << static_cast<int>(logicLevel) << std::endl;
#else #else
sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to " sif::printWarning(
"logic level %d\n", gpioId, logicLevel); "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
"logic level %d\n",
gpioId, logicLevel);
#endif #endif
return DRIVE_GPIO_FAILURE; return DRIVE_GPIO_FAILURE;
} }
@ -280,7 +296,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
gpioMapIter = gpioMap.find(gpioId); gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()){ if (gpioMapIter == gpioMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
#else #else
@ -290,63 +306,60 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
} }
auto gpioType = gpioMapIter->second->gpioType; auto gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) { gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
*gpioState = gpiod_line_get_value(regularGpio->lineHandle); *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
} } else {
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) { if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
gpio::Levels::NONE, gpioCallback->callbackArgs); gpioCallback->callbackArgs);
return RETURN_OK; return RETURN_OK;
} }
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for(auto& gpioConfig: mapToAdd) { for (auto& gpioConfig : mapToAdd) {
switch(gpioConfig.second->gpioType) { switch (gpioConfig.second->gpioType) {
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): { case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
// Check for conflicts and remove duplicates if necessary // Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd); result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
status = result; status = result;
} }
break; break;
} }
case(gpio::GpioTypes::CALLBACK): { case (gpio::GpioTypes::CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second); auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(callbackGpio == nullptr) { if (callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
// Check for conflicts and remove duplicates if necessary // Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first, result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
gpioConfig.second->gpioType, mapToAdd); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result; status = result;
} }
break; break;
} }
default: { default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
<< std::endl;
#else #else
sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first); sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
#endif #endif
@ -358,38 +371,41 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
} }
ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck, ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
gpio::GpioTypes expectedType, GpioMap& mapToAdd) { gpio::GpioTypes expectedType,
GpioMap& mapToAdd) {
// Cross check with private map // Cross check with private map
gpioMapIter = gpioMap.find(gpioIdToCheck); gpioMapIter = gpioMap.find(gpioIdToCheck);
if(gpioMapIter != gpioMap.end()) { if (gpioMapIter != gpioMap.end()) {
auto& gpioType = gpioMapIter->second->gpioType; auto& gpioType = gpioMapIter->second->gpioType;
bool eraseDuplicateDifferentType = false; bool eraseDuplicateDifferentType = false;
switch(expectedType) { switch (expectedType) {
case(gpio::GpioTypes::NONE): { case (gpio::GpioTypes::NONE): {
break; break;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): { 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::CALLBACK) {
eraseDuplicateDifferentType = true; eraseDuplicateDifferentType = true;
} }
break; break;
} }
case(gpio::GpioTypes::CALLBACK): { case (gpio::GpioTypes::CALLBACK): {
if(gpioType != gpio::GpioTypes::CALLBACK) { if (gpioType != gpio::GpioTypes::CALLBACK) {
eraseDuplicateDifferentType = true; eraseDuplicateDifferentType = true;
} }
} }
} }
if(eraseDuplicateDifferentType) { if (eraseDuplicateDifferentType) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for " sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type " << gpioIdToCheck << "different GPIO type "
". Removing duplicate from map to add" << std::endl; << gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
#else #else
sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for " sif::printWarning(
"different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck); "LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type %d. Removing duplicate from map to add\n",
gpioIdToCheck);
#endif #endif
mapToAdd.erase(gpioIdToCheck); mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED; return GPIO_DUPLICATE_DETECTED;
@ -398,11 +414,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
// Remove element from map to add because a entry for this GPIO already exists // Remove element from map to add because a entry for this GPIO already exists
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO " sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
"definition with ID " << gpioIdToCheck << " detected. " << "definition with ID "
"Duplicate will be removed from map to add" << std::endl; << gpioIdToCheck << " detected. "
<< "Duplicate will be removed from map to add" << std::endl;
#else #else
sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition " sif::printWarning(
"with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck); "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
"with ID %d detected. Duplicate will be removed from map to add\n",
gpioIdToCheck);
#endif #endif
mapToAdd.erase(gpioIdToCheck); mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED; return GPIO_DUPLICATE_DETECTED;
@ -415,28 +434,32 @@ void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
case LINE_NOT_EXISTS: case LINE_NOT_EXISTS:
case LINE_ERROR: { case LINE_ERROR: {
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName << sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
" does not exist" << std::endl; << " does not exist" << std::endl;
break; break;
} }
default: { default: {
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line " sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name " << lineName << std::endl; "with name "
<< lineName << std::endl;
break; break;
} }
#else #else
case LINE_NOT_EXISTS: case LINE_NOT_EXISTS:
case LINE_ERROR: { case LINE_ERROR: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s " sif::printWarning(
"does not exist\n", lineName); "LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
"does not exist\n",
lineName);
break; break;
} }
default: { default: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line " sif::printWarning(
"with name %s\n", lineName); "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name %s\n",
lineName);
break; break;
} }
#endif #endif
} }
} }

19
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
View File

@ -1,9 +1,9 @@
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_ #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_ #define LINUX_GPIO_LINUXLIBGPIOIF_H_
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/FwClassIds.h" #include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h" #include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw/objectmanager/SystemObject.h"
class GpioCookie; class GpioCookie;
class GpiodRegularIF; class GpiodRegularIF;
@ -16,8 +16,7 @@ class GpiodRegularIF;
* The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1. * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
*/ */
class LinuxLibgpioIF : public GpioIF, public SystemObject { class LinuxLibgpioIF : public GpioIF, public SystemObject {
public: public:
static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO; static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID = static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@ -30,6 +29,8 @@ public:
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4); HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED = static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5); HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
static constexpr ReturnValue_t GPIO_INIT_FAILED =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
LinuxLibgpioIF(object_id_t objectId); LinuxLibgpioIF(object_id_t objectId);
virtual ~LinuxLibgpioIF(); virtual ~LinuxLibgpioIF();
@ -39,8 +40,7 @@ public:
ReturnValue_t pullLow(gpioId_t gpioId) override; ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override; ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private: private:
static const size_t MAX_CHIPNAME_LENGTH = 11; static const size_t MAX_CHIPNAME_LENGTH = 11;
static const int LINE_NOT_EXISTS = 0; static const int LINE_NOT_EXISTS = 0;
static const int LINE_ERROR = -1; static const int LINE_ERROR = -1;
@ -56,13 +56,11 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive. * @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1. * @param logiclevel The logic level to set. O or 1.
*/ */
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
gpio::Levels logicLevel);
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel); ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip); ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
ReturnValue_t configureGpioByLineName(gpioId_t gpioId, ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
GpiodRegularByLineName &gpioByLineName);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip, ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput); GpiodRegularBase& regularGpio, std::string failOutput);
@ -77,8 +75,7 @@ private:
*/ */
ReturnValue_t checkForConflicts(GpioMap& mapToAdd); ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
GpioMap& mapToAdd);
/** /**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd. * @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.

130
hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
View File

@ -1,114 +1,132 @@
#include "fsfw_hal/linux/i2c/I2cComIF.h" #include "I2cComIF.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h" #include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #if FSFW_HAL_I2C_WIRETAPPING == 1
#include "fsfw/globalfunctions/arrayprinter.h"
#endif
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>
#include <errno.h> #include <errno.h>
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <cstring> #include <cstring>
I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
}
I2cComIF::~I2cComIF() {} I2cComIF::~I2cComIF() {}
ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) { ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
address_t i2cAddress; address_t i2cAddress;
std::string deviceFile; std::string deviceFile;
if(cookie == nullptr) { if (cookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl; sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie); I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) { if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl; sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
i2cAddress = i2cCookie->getAddress(); i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if(i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
size_t maxReplyLen = i2cCookie->getMaxReplyLen(); size_t maxReplyLen = i2cCookie->getMaxReplyLen();
I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0}; I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance); auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
if (not statusPair.second) { if (not statusPair.second) {
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " << #if FSFW_CPP_OSTREAM_ENABLED == 1
i2cAddress << "to I2C device " << "map" << std::endl; sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
<< i2cAddress << "to I2C device "
<< "map" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress << #if FSFW_CPP_OSTREAM_ENABLED == 1
"already in use" << std::endl; sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
<< "already in use" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie, ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
const uint8_t *sendData, size_t sendLen) {
ReturnValue_t result; ReturnValue_t result;
int fd; int fd;
std::string deviceFile; std::string deviceFile;
if(sendData == nullptr) { if (sendData == nullptr) {
sif::error << "I2cComIF::sendMessage: Send Data is nullptr" #if FSFW_CPP_OSTREAM_ENABLED == 1
<< std::endl; sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
if(sendLen == 0) { if (sendLen == 0) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie); I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) { if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl; sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
address_t i2cAddress = i2cCookie->getAddress(); address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not " sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl; << "registered in i2cDeviceMap" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
deviceFile = i2cCookie->getDeviceFile(); deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage"); UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult(); return fileHelper.getOpenResult();
} }
result = openDevice(deviceFile, i2cAddress, &fd); result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
if (write(fd, sendData, sendLen) != (int)sendLen) { if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C " sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
"device with error code " << errno << ". Error description: " "device with error code "
<< strerror(errno) << std::endl; << errno << ". Error description: " << strerror(errno) << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; 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; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie, ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
size_t requestLen) {
ReturnValue_t result; ReturnValue_t result;
int fd; int fd;
std::string deviceFile; std::string deviceFile;
@ -118,8 +136,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
} }
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie); I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) { if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl; sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0; i2cDeviceMapIter->second.replyLen = 0;
return NULLPOINTER; return NULLPOINTER;
} }
@ -127,19 +147,21 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
address_t i2cAddress = i2cCookie->getAddress(); address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not " sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl; << "registered in i2cDeviceMap" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0; i2cDeviceMapIter->second.replyLen = 0;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
deviceFile = i2cCookie->getDeviceFile(); deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage"); UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult(); return fileHelper.getOpenResult();
} }
result = openDevice(deviceFile, i2cAddress, &fd); result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
i2cDeviceMapIter->second.replyLen = 0; i2cDeviceMapIter->second.replyLen = 0;
return result; return result;
} }
@ -150,33 +172,44 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
if (readLen != static_cast<int>(requestLen)) { if (readLen != static_cast<int>(requestLen)) {
#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C " sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
<< "device failed with error code " << errno <<". Description" << "device failed with error code " << errno << ". Description"
<< " of error: " << strerror(errno) << std::endl; << " of error: " << strerror(errno) << std::endl;
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
<< requestLen << " bytes" << std::endl; << " bytes" << std::endl;
#endif #endif
i2cDeviceMapIter->second.replyLen = 0; i2cDeviceMapIter->second.replyLen = 0;
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen << " bytes" << std::endl; #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
<< " bytes" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; 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; i2cDeviceMapIter->second.replyLen = requestLen;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie, ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
uint8_t **buffer, size_t* size) {
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie); I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) { if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl; sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
address_t i2cAddress = i2cCookie->getAddress(); address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not " sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
<< "found in i2cDeviceMap" << std::endl; << "found in i2cDeviceMap" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
*buffer = i2cDeviceMapIter->second.replyBuffer.data(); *buffer = i2cDeviceMapIter->second.replyBuffer.data();
@ -185,9 +218,8 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t I2cComIF::openDevice(std::string deviceFile, ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
address_t i2cAddress, int* fileDescriptor) { int* fileDescriptor) {
if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) { if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1

26
hal/src/fsfw_hal/linux/i2c/I2cComIF.h
View File

@ -1,13 +1,14 @@
#ifndef LINUX_I2C_I2COMIF_H_ #ifndef LINUX_I2C_I2COMIF_H_
#define LINUX_I2C_I2COMIF_H_ #define LINUX_I2C_I2COMIF_H_
#include "I2cCookie.h"
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <unordered_map> #include <unordered_map>
#include <vector> #include <vector>
#include "I2cCookie.h"
/** /**
* @brief This is the communication interface for I2C devices connected * @brief This is the communication interface for I2C devices connected
* to a system running a Linux OS. * to a system running a Linux OS.
@ -16,23 +17,19 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class I2cComIF: public DeviceCommunicationIF, public SystemObject { class I2cComIF : public DeviceCommunicationIF, public SystemObject {
public: public:
I2cComIF(object_id_t objectId); I2cComIF(object_id_t objectId);
virtual ~I2cComIF(); virtual ~I2cComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override; ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData, ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override; ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
size_t requestLen) override; ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private:
private:
struct I2cInstance { struct I2cInstance {
std::vector<uint8_t> replyBuffer; std::vector<uint8_t> replyBuffer;
size_t replyLen; size_t replyLen;
@ -54,8 +51,7 @@ private:
* @param fileDescriptor Pointer to device descriptor. * @param fileDescriptor Pointer to device descriptor.
* @return RETURN_OK if successful, otherwise RETURN_FAILED. * @return RETURN_OK if successful, otherwise RETURN_FAILED.
*/ */
ReturnValue_t openDevice(std::string deviceFile, ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
address_t i2cAddress, int* fileDescriptor);
}; };
#endif /* LINUX_I2C_I2COMIF_H_ */ #endif /* LINUX_I2C_I2COMIF_H_ */

18
hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
View File

@ -1,20 +1,12 @@
#include "fsfw_hal/linux/i2c/I2cCookie.h" #include "fsfw_hal/linux/i2c/I2cCookie.h"
I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
std::string deviceFile_) : : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}
i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
}
address_t I2cCookie::getAddress() const { address_t I2cCookie::getAddress() const { return i2cAddress; }
return i2cAddress;
}
size_t I2cCookie::getMaxReplyLen() const { size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }
return maxReplyLen;
}
std::string I2cCookie::getDeviceFile() const { std::string I2cCookie::getDeviceFile() const { return deviceFile; }
return deviceFile;
}
I2cCookie::~I2cCookie() {} I2cCookie::~I2cCookie() {}

12
hal/src/fsfw_hal/linux/i2c/I2cCookie.h
View File

@ -2,6 +2,7 @@
#define LINUX_I2C_I2CCOOKIE_H_ #define LINUX_I2C_I2CCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <string> #include <string>
/** /**
@ -9,9 +10,8 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class I2cCookie: public CookieIF { class I2cCookie : public CookieIF {
public: public:
/** /**
* @brief Constructor for the I2C cookie. * @brief Constructor for the I2C cookie.
* @param i2cAddress_ The i2c address of the target device. * @param i2cAddress_ The i2c address of the target device.
@ -19,8 +19,7 @@ public:
* target device. * target device.
* @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0". * @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
*/ */
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
std::string deviceFile_);
virtual ~I2cCookie(); virtual ~I2cCookie();
@ -28,8 +27,7 @@ public:
size_t getMaxReplyLen() const; size_t getMaxReplyLen() const;
std::string getDeviceFile() const; std::string getDeviceFile() const;
private: private:
address_t i2cAddress = 0; address_t i2cAddress = 0;
size_t maxReplyLen = 0; size_t maxReplyLen = 0;
std::string deviceFile; std::string deviceFile;

12
hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
View File

@ -1,14 +1,14 @@
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h" #include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include "fsfw/FSFW.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue) { std::string consumer, gpio::Direction direction,
if(cookie == nullptr) { gpio::Levels initValue) {
if (cookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -22,7 +22,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
config->initValue = initValue; config->initValue = initValue;
/* Sanity check for the BCM pins before assigning it */ /* Sanity check for the BCM pins before assigning it */
if(bcmPin > 27) { if (bcmPin > 27) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl; sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;

6
hal/src/fsfw_hal/linux/rpi/GpioRPi.h
View File

@ -2,6 +2,7 @@
#define BSP_RPI_GPIO_GPIORPI_H_ #define BSP_RPI_GPIO_GPIORPI_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "../../common/gpio/gpioDefinitions.h" #include "../../common/gpio/gpioDefinitions.h"
class GpioCookie; class GpioCookie;
@ -20,7 +21,8 @@ namespace gpio {
* @return * @return
*/ */
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, 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_ */ #endif /* BSP_RPI_GPIO_GPIORPI_H_ */

172
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -1,23 +1,23 @@
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/spi/SpiComIF.h" #include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <linux/spi/spidev.h>
#include <fcntl.h> #include <fcntl.h>
#include <unistd.h> #include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/ipc/MutexFactory.h>
#include <linux/spi/spidev.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <unistd.h>
#include <cerrno> #include <cerrno>
#include <cstring> #include <cstring>
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): #include "fsfw/FSFW.h"
SystemObject(objectId), gpioComIF(gpioComIF) { #include "fsfw_hal/linux/UnixFileGuard.h"
if(gpioComIF == nullptr) { #include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/utility.h"
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
: SystemObject(objectId), gpioComIF(gpioComIF) {
if (gpioComIF == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl; sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
@ -30,28 +30,30 @@ SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
spiMutex = MutexFactory::instance()->createMutex(); spiMutex = MutexFactory::instance()->createMutex();
} }
ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) { ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
int retval = 0; int retval = 0;
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
address_t spiAddress = spiCookie->getSpiAddress(); address_t spiAddress = spiCookie->getSpiAddress();
auto iter = spiDeviceMap.find(spiAddress); auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) { if (iter == spiDeviceMap.end()) {
size_t bufferSize = spiCookie->getMaxBufferSize(); size_t bufferSize = spiCookie->getMaxBufferSize();
SpiInstance spiInstance(bufferSize); SpiInstance spiInstance(bufferSize);
auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance); auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
if (not statusPair.second) { if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " << sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
spiAddress << "to SPI device map" << std::endl; << spiAddress << "to SPI device map" << std::endl;
#else #else
sif::printError("SpiComIF::initializeInterface: Failed to insert device with address " sif::printError(
"%lu to SPI device map\n", static_cast<unsigned long>(spiAddress)); "SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n",
static_cast<unsigned long>(spiAddress));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -59,8 +61,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
/* Now we emplaced the read buffer in the map, we still need to assign that location /* Now we emplaced the read buffer in the map, we still need to assign that location
to the SPI driver transfer struct */ to the SPI driver transfer struct */
spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data()); spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
} } else {
else {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl; sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
@ -73,7 +74,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
/* Pull CS high in any case to be sure that device is inactive */ /* Pull CS high in any case to be sure that device is inactive */
gpioId_t gpioId = spiCookie->getChipSelectPin(); gpioId_t gpioId = spiCookie->getChipSelectPin();
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId); gpioComIF->pullHigh(gpioId);
} }
@ -86,91 +87,94 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
int fileDescriptor = 0; int fileDescriptor = 0;
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR, UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface"); "SpiComIF::initializeInterface");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult(); return fileHelper.getOpenResult();
} }
/* These flags are rather uncommon */ /* These flags are rather uncommon */
if(params.threeWireSpi or params.noCs or params.csHigh) { if (params.threeWireSpi or params.noCs or params.csHigh) {
uint32_t currentMode = 0; uint32_t currentMode = 0;
retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode); retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!"); utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
} }
if(params.threeWireSpi) { if (params.threeWireSpi) {
currentMode |= SPI_3WIRE; currentMode |= SPI_3WIRE;
} }
if(params.noCs) { if (params.noCs) {
/* Some drivers like the Raspberry Pi ignore this flag in any case */ /* Some drivers like the Raspberry Pi ignore this flag in any case */
currentMode |= SPI_NO_CS; currentMode |= SPI_NO_CS;
} }
if(params.csHigh) { if (params.csHigh) {
currentMode |= SPI_CS_HIGH; currentMode |= SPI_CS_HIGH;
} }
/* Write adapted mode */ /* Write adapted mode */
retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode); retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!"); utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
} }
} }
if(params.lsbFirst) { if (params.lsbFirst) {
retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst); retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed"); utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
} }
} }
if(params.bitsPerWord != 8) { if (params.bitsPerWord != 8) {
retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord); retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: " utility::handleIoctlError(
"SpiComIF::initializeInterface: "
"Could not write bits per word!"); "Could not write bits per word!");
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) { ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
if(sendLen > spiCookie->getMaxBufferSize()) { if (sendLen > spiCookie->getMaxBufferSize()) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen << sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen
"larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl; << "larger than maximum buffer length " << spiCookie->getMaxBufferSize()
<< std::endl;
#else #else
sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger " sif::printWarning(
"than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen), "SpiComIF::sendMessage: Too much data sent, send length %lu larger "
"than maximum buffer length %lu!\n",
static_cast<unsigned long>(sendLen),
static_cast<unsigned long>(spiCookie->getMaxBufferSize())); static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return DeviceCommunicationIF::TOO_MUCH_DATA; return DeviceCommunicationIF::TOO_MUCH_DATA;
} }
if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) { if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
result = performRegularSendOperation(spiCookie, sendData, sendLen); result = performRegularSendOperation(spiCookie, sendData, sendLen);
} } else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
spi::send_callback_function_t sendFunc = nullptr; spi::send_callback_function_t sendFunc = nullptr;
void* funcArgs = nullptr; void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs); spiCookie->getCallback(&sendFunc, &funcArgs);
if(sendFunc != nullptr) { if (sendFunc != nullptr) {
result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs); result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
} }
} }
return result; return result;
} }
ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData, ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
size_t sendLen) { size_t sendLen) {
address_t spiAddress = spiCookie->getSpiAddress(); address_t spiAddress = spiCookie->getSpiAddress();
auto iter = spiDeviceMap.find(spiAddress); auto iter = spiDeviceMap.find(spiAddress);
if(iter != spiDeviceMap.end()) { if (iter != spiDeviceMap.end()) {
spiCookie->assignReadBuffer(iter->second.replyBuffer.data()); spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
} }
@ -180,7 +184,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
int fileDescriptor = 0; int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice(); std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage"); UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED; return OPENING_FILE_FAILED;
} }
spi::SpiModes spiMode = spi::SpiModes::MODE_0; spi::SpiModes spiMode = spi::SpiModes::MODE_0;
@ -194,7 +198,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
gpioId_t gpioId = spiCookie->getChipSelectPin(); gpioId_t gpioId = spiCookie->getChipSelectPin();
/* Pull SPI CS low. For now, no support for active high given */ /* Pull SPI CS low. For now, no support for active high given */
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs); result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) { if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
@ -207,7 +211,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
return result; return result;
} }
ReturnValue_t result = gpioComIF->pullLow(gpioId); ReturnValue_t result = gpioComIF->pullLow(gpioId);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl; sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
@ -220,24 +224,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
} }
/* Execute transfer */ /* Execute transfer */
if(fullDuplex) { if (fullDuplex) {
/* Initiate a full duplex SPI transfer. */ /* Initiate a full duplex SPI transfer. */
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle()); retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
if(retval < 0) { if (retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error."); utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED; result = FULL_DUPLEX_TRANSFER_FAILED;
} }
#if FSFW_HAL_SPI_WIRETAPPING == 1 #if FSFW_HAL_SPI_WIRETAPPING == 1
performSpiWiretapping(spiCookie); performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */ #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
} } else {
else {
/* We write with a blocking half-duplex transfer here */ /* We write with a blocking half-duplex transfer here */
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) { if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
std::endl;
#else #else
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n"); sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
@ -246,7 +248,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
} }
} }
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId); gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex(); result = spiMutex->unlockMutex();
if (result != RETURN_OK) { if (result != RETURN_OK) {
@ -259,43 +261,39 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
return result; return result;
} }
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) { ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
if(spiCookie->isFullDuplex()) { if (spiCookie->isFullDuplex()) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
return performHalfDuplexReception(spiCookie); return performHalfDuplexReception(spiCookie);
} }
ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) { ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
std::string device = spiCookie->getSpiDevice(); std::string device = spiCookie->getSpiDevice();
int fileDescriptor = 0; int fileDescriptor = 0;
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
"SpiComIF::requestReceiveMessage"); if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED; return OPENING_FILE_FAILED;
} }
uint8_t* rxBuf = nullptr; uint8_t* rxBuf = nullptr;
size_t readSize = spiCookie->getCurrentTransferSize(); size_t readSize = spiCookie->getCurrentTransferSize();
result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf); result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
gpioId_t gpioId = spiCookie->getChipSelectPin(); gpioId_t gpioId = spiCookie->getChipSelectPin();
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs); result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) { if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -306,7 +304,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
gpioComIF->pullLow(gpioId); gpioComIF->pullLow(gpioId);
} }
if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) { if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl; sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
@ -317,7 +315,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
result = HALF_DUPLEX_TRANSFER_FAILED; result = HALF_DUPLEX_TRANSFER_FAILED;
} }
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId); gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex(); result = spiMutex->unlockMutex();
if (result != RETURN_OK) { if (result != RETURN_OK) {
@ -331,14 +329,14 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
return result; return result;
} }
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) { ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
uint8_t* rxBuf = nullptr; uint8_t* rxBuf = nullptr;
ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf); ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
@ -349,17 +347,17 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
} }
MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) { MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
if(timeoutType != nullptr) { if (timeoutType != nullptr) {
*timeoutType = this->timeoutType; *timeoutType = this->timeoutType;
} }
if(timeoutMs != nullptr) { if (timeoutMs != nullptr) {
*timeoutMs = this->timeoutMs; *timeoutMs = this->timeoutMs;
} }
return spiMutex; return spiMutex;
} }
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) { void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return; return;
} }
size_t dataLen = spiCookie->getTransferStructHandle()->len; size_t dataLen = spiCookie->getTransferStructHandle()->len;
@ -378,12 +376,12 @@ void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
} }
ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) { ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
if(buffer == nullptr) { if (buffer == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
auto iter = spiDeviceMap.find(spiAddress); auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) { if (iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -391,18 +389,24 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
GpioIF* SpiComIF::getGpioInterface() { GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
return gpioComIF;
}
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) { void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode)); int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed"); utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
} }
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed); retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed"); utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
} }
// This updates the SPI clock default polarity. Only setting the mode does not update
// the line state, which can be an issue on mode switches because the clock line will
// switch the state after the chip select is pulled low
clockUpdateTransfer.len = 0;
retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
}
} }

38
hal/src/fsfw_hal/linux/spi/SpiComIF.h
View File

@ -1,16 +1,15 @@
#ifndef LINUX_SPI_SPICOMIF_H_ #ifndef LINUX_SPI_SPICOMIF_H_
#define LINUX_SPI_SPICOMIF_H_ #define LINUX_SPI_SPICOMIF_H_
#include "fsfw/FSFW.h" #include <unordered_map>
#include "spiDefinitions.h" #include <vector>
#include "returnvalues/classIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceCommunicationIF.h" #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h" #include "fsfw/objectmanager/SystemObject.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include <vector> #include "returnvalues/classIds.h"
#include <unordered_map> #include "spiDefinitions.h"
class SpiCookie; class SpiCookie;
@ -21,8 +20,8 @@ class SpiCookie;
* are contained in the SPI cookie. * are contained in the SPI cookie.
* @author R. Mueller * @author R. Mueller
*/ */
class SpiComIF: public DeviceCommunicationIF, public SystemObject { class SpiComIF : public DeviceCommunicationIF, public SystemObject {
public: public:
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI; static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t OPENING_FILE_FAILED = static constexpr ReturnValue_t OPENING_FILE_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0); HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
@ -35,14 +34,11 @@ public:
SpiComIF(object_id_t objectId, GpioIF* gpioComIF); SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
ReturnValue_t initializeInterface(CookieIF * cookie) override; ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData, ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
size_t sendLen) override; ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override; ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
/** /**
* @brief This function returns the mutex which can be used to protect the spi bus when * @brief This function returns the mutex which can be used to protect the spi bus when
@ -58,7 +54,7 @@ public:
* @param sendLen * @param sendLen
* @return * @return
*/ */
ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData, ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
size_t sendLen); size_t sendLen);
GpioIF* getGpioInterface(); GpioIF* getGpioInterface();
@ -67,10 +63,9 @@ public:
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
private: private:
struct SpiInstance { struct SpiInstance {
SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {} SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer; std::vector<uint8_t> replyBuffer;
}; };
@ -79,6 +74,7 @@ private:
MutexIF* spiMutex = nullptr; MutexIF* spiMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20; uint32_t timeoutMs = 20;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>; using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
using SpiDeviceMapIter = SpiDeviceMap::iterator; using SpiDeviceMapIter = SpiDeviceMap::iterator;

119
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
View File

@ -1,42 +1,41 @@
#include "fsfw_hal/linux/spi/SpiCookie.h" #include "SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode, : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, nullptr, nullptr) { spiSpeed, nullptr, nullptr) {}
}
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize, SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed): spi::SpiModes spiMode, uint32_t spiSpeed)
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) { : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
}
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void *args): spi::send_callback_function_t callback, void* args)
SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiMode, spiSpeed, callback, args) { spiSpeed, callback, args) {}
}
SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect, SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
spi::send_callback_function_t callback, void* args): uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev), : spiAddress(spiAddress),
comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed), chipSelectPin(chipSelect),
sendCallback(callback), callbackArgs(args) { spiDevice(spiDev),
} comIfMode(comIfMode),
maxSize(maxSize),
spiMode(spiMode),
spiSpeed(spiSpeed),
sendCallback(callback),
callbackArgs(args) {}
spi::SpiComIfModes SpiCookie::getComIfMode() const { spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
return this->comIfMode;
}
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed, void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters) const { UncommonParameters* parameters) const {
spiMode = this->spiMode; spiMode = this->spiMode;
spiSpeed = this->spiSpeed; spiSpeed = this->spiSpeed;
if(parameters != nullptr) { if (parameters != nullptr) {
parameters->threeWireSpi = uncommonParameters.threeWireSpi; parameters->threeWireSpi = uncommonParameters.threeWireSpi;
parameters->lsbFirst = uncommonParameters.lsbFirst; parameters->lsbFirst = uncommonParameters.lsbFirst;
parameters->noCs = uncommonParameters.noCs; parameters->noCs = uncommonParameters.noCs;
@ -45,41 +44,25 @@ void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
} }
} }
gpioId_t SpiCookie::getChipSelectPin() const { gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
return chipSelectPin;
}
size_t SpiCookie::getMaxBufferSize() const { size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
return maxSize;
}
address_t SpiCookie::getSpiAddress() const { address_t SpiCookie::getSpiAddress() const { return spiAddress; }
return spiAddress;
}
std::string SpiCookie::getSpiDevice() const { std::string SpiCookie::getSpiDevice() const { return spiDevice; }
return spiDevice;
}
void SpiCookie::setThreeWireSpi(bool enable) { void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
uncommonParameters.threeWireSpi = enable;
}
void SpiCookie::setLsbFirst(bool enable) { void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
uncommonParameters.lsbFirst = enable;
}
void SpiCookie::setNoCs(bool enable) { void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
uncommonParameters.noCs = enable;
}
void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) { void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
uncommonParameters.bitsPerWord = bitsPerWord; uncommonParameters.bitsPerWord = bitsPerWord;
} }
void SpiCookie::setCsHigh(bool enable) { void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
uncommonParameters.csHigh = enable;
}
void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) { void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
spiTransferStruct.cs_change = deselectCs; spiTransferStruct.cs_change = deselectCs;
@ -87,58 +70,40 @@ void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
} }
void SpiCookie::assignReadBuffer(uint8_t* rx) { void SpiCookie::assignReadBuffer(uint8_t* rx) {
if(rx != nullptr) { if (rx != nullptr) {
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx); spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
} }
} }
void SpiCookie::assignWriteBuffer(const uint8_t* tx) { void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
if(tx != nullptr) { if (tx != nullptr) {
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx); spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
} }
} }
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
void *args) {
this->comIfMode = spi::SpiComIfModes::CALLBACK; this->comIfMode = spi::SpiComIfModes::CALLBACK;
this->sendCallback = callback; this->sendCallback = callback;
this->callbackArgs = args; this->callbackArgs = args;
} }
void SpiCookie::setCallbackArgs(void *args) { void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
this->callbackArgs = args;
}
spi_ioc_transfer* SpiCookie::getTransferStructHandle() { spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
return &spiTransferStruct;
}
void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
this->halfDuplex = halfDuplex;
}
bool SpiCookie::isFullDuplex() const { bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
return not this->halfDuplex;
}
void SpiCookie::setTransferSize(size_t transferSize) { void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
spiTransferStruct.len = transferSize;
}
size_t SpiCookie::getCurrentTransferSize() const { size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
return spiTransferStruct.len;
}
void SpiCookie::setSpiSpeed(uint32_t newSpeed) { void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
this->spiSpeed = newSpeed;
}
void SpiCookie::setSpiMode(spi::SpiModes newMode) { void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
this->spiMode = newMode;
}
void SpiCookie::getCallback(spi::send_callback_function_t *callback, void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
void **args) {
*callback = this->sendCallback; *callback = this->sendCallback;
*args = this->callbackArgs; *args = this->callbackArgs;
} }

21
hal/src/fsfw_hal/linux/spi/SpiCookie.h
View File

@ -1,13 +1,12 @@
#ifndef LINUX_SPI_SPICOOKIE_H_ #ifndef LINUX_SPI_SPICOOKIE_H_
#define LINUX_SPI_SPICOOKIE_H_ #define LINUX_SPI_SPICOOKIE_H_
#include "spiDefinitions.h"
#include "../../common/gpio/gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
#include "../../common/gpio/gpioDefinitions.h"
#include "spiDefinitions.h"
/** /**
* @brief This cookie class is passed to the SPI communication interface * @brief This cookie class is passed to the SPI communication interface
* @details * @details
@ -19,8 +18,8 @@
* special requirements like expander slave select switching (e.g. GPIO or I2C expander) * special requirements like expander slave select switching (e.g. GPIO or I2C expander)
* or special timing related requirements. * or special timing related requirements.
*/ */
class SpiCookie: public CookieIF { class SpiCookie : public CookieIF {
public: public:
/** /**
* Each SPI device will have a corresponding cookie. The cookie is used by the communication * Each SPI device will have a corresponding cookie. The cookie is used by the communication
* interface and contains device specific information like the largest expected size to be * interface and contains device specific information like the largest expected size to be
@ -30,8 +29,8 @@ public:
* @param spiDev * @param spiDev
* @param maxSize * @param maxSize
*/ */
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed); spi::SpiModes spiMode, uint32_t spiSpeed);
/** /**
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@ -46,7 +45,7 @@ public:
*/ */
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize, SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback, spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
void *args); void* args);
/** /**
* Get the callback function * Get the callback function
@ -141,8 +140,8 @@ public:
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs); void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
spi_ioc_transfer* getTransferStructHandle(); spi_ioc_transfer* getTransferStructHandle();
private:
private:
/** /**
* Internal constructor which initializes every field * Internal constructor which initializes every field
* @param spiAddress * @param spiAddress
@ -178,6 +177,4 @@ private:
UncommonParameters uncommonParameters; UncommonParameters uncommonParameters;
}; };
#endif /* LINUX_SPI_SPICOOKIE_H_ */ #endif /* LINUX_SPI_SPICOOKIE_H_ */

21
hal/src/fsfw_hal/linux/spi/spiDefinitions.h
View File

@ -1,28 +1,25 @@
#ifndef LINUX_SPI_SPIDEFINITONS_H_ #ifndef LINUX_SPI_SPIDEFINITONS_H_
#define LINUX_SPI_SPIDEFINITONS_H_ #define LINUX_SPI_SPIDEFINITONS_H_
#include "../../common/gpio/gpioDefinitions.h"
#include "../../common/spi/spiCommon.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
#include <cstdint> #include <cstdint>
#include "../../common/gpio/gpioDefinitions.h"
#include "../../common/spi/spiCommon.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
class SpiCookie; class SpiCookie;
class SpiComIF; class SpiComIF;
namespace spi { namespace spi {
enum SpiComIfModes { enum SpiComIfModes { REGULAR, CALLBACK };
REGULAR,
CALLBACK
};
using send_callback_function_t = ReturnValue_t (*)(SpiComIF* comIf, SpiCookie* cookie,
const uint8_t* sendData, size_t sendLen,
void* args);
using send_callback_function_t = ReturnValue_t (*) (SpiComIF* comIf, SpiCookie *cookie, } // namespace spi
const uint8_t *sendData, size_t sendLen, void* args);
}
#endif /* LINUX_SPI_SPIDEFINITONS_H_ */ #endif /* LINUX_SPI_SPIDEFINITONS_H_ */

296
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -1,39 +1,40 @@
#include "UartComIF.h" #include "UartComIF.h"
#include "OBSWConfig.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstring>
#include <fcntl.h>
#include <errno.h> #include <errno.h>
#include <fcntl.h>
#include <termios.h> #include <termios.h>
#include <unistd.h> #include <unistd.h>
UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){ #include <cstring>
}
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/utility.h"
UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
UartComIF::~UartComIF() {} UartComIF::~UartComIF() {}
ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) { ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
if(cookie == nullptr) { if (cookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl; sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
int fileDescriptor = configureUartPort(uartCookie); int fileDescriptor = configureUartPort(uartCookie);
if (fileDescriptor < 0) { if (fileDescriptor < 0) {
return RETURN_FAILED; return RETURN_FAILED;
@ -42,14 +43,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0}; UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
auto status = uartDeviceMap.emplace(deviceFile, uartElements); auto status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) { if (status.second == false) {
sif::warning << "UartComIF::initializeInterface: Failed to insert device " << #if FSFW_CPP_OSTREAM_ENABLED == 1
deviceFile << "to UART device map" << std::endl; sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
<< "to UART device map" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
} } else {
else { #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile << sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
" already in use" << std::endl; << " already in use" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -57,12 +61,11 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
} }
int UartComIF::configureUartPort(UartCookie* uartCookie) { int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options = {}; struct termios options = {};
std::string deviceFile = uartCookie->getDeviceFile(); std::string deviceFile = uartCookie->getDeviceFile();
int flags = O_RDWR; int flags = O_RDWR;
if(uartCookie->getUartMode() == UartModes::CANONICAL) { if (uartCookie->getUartMode() == UartModes::CANONICAL) {
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
flags |= O_NONBLOCK; flags |= O_NONBLOCK;
@ -70,15 +73,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
int fd = open(deviceFile.c_str(), flags); int fd = open(deviceFile.c_str(), flags);
if (fd < 0) { if (fd < 0) {
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << #if FSFW_CPP_OSTREAM_ENABLED == 1
"with error code " << errno << strerror(errno) << std::endl; sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
<< "with error code " << errno << strerror(errno) << std::endl;
#endif
return fd; return fd;
} }
/* Read in existing settings */ /* Read in existing settings */
if(tcgetattr(fd, &options) != 0) { if (tcgetattr(fd, &options) != 0) {
sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: " #if FSFW_CPP_OSTREAM_ENABLED == 1
<< strerror(errno) << std::endl; sif::warning << "UartComIF::configureUartPort: Error " << errno
<< "from tcgetattr: " << strerror(errno) << std::endl;
#endif
return fd; return fd;
} }
@ -87,7 +94,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
setDatasizeOptions(&options, uartCookie); setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options); setFixedOptions(&options);
setUartMode(&options, *uartCookie); setUartMode(&options, *uartCookie);
if(uartCookie->getInputShouldBeFlushed()) { if (uartCookie->getInputShouldBeFlushed()) {
tcflush(fd, TCIFLUSH); tcflush(fd, TCIFLUSH);
} }
@ -99,8 +106,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
/* Save option settings */ /* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) { if (tcsetattr(fd, TCSANOW, &options) != 0) {
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << #if FSFW_CPP_OSTREAM_ENABLED == 1
errno << ": " << strerror(errno); sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
#endif
return fd; return fd;
} }
return fd; return fd;
@ -139,20 +148,22 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
/* Clear size bits */ /* Clear size bits */
options->c_cflag &= ~CSIZE; options->c_cflag &= ~CSIZE;
switch (uartCookie->getBitsPerWord()) { switch (uartCookie->getBitsPerWord()) {
case 5: case BitsPerWord::BITS_5:
options->c_cflag |= CS5; options->c_cflag |= CS5;
break; break;
case 6: case BitsPerWord::BITS_6:
options->c_cflag |= CS6; options->c_cflag |= CS6;
break; break;
case 7: case BitsPerWord::BITS_7:
options->c_cflag |= CS7; options->c_cflag |= CS7;
break; break;
case 8: case BitsPerWord::BITS_8:
options->c_cflag |= CS8; options->c_cflag |= CS8;
break; break;
default: default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl; sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
#endif
break; break;
} }
} }
@ -173,7 +184,7 @@ void UartComIF::setFixedOptions(struct termios* options) {
/* Turn off s/w flow ctrl */ /* Turn off s/w flow ctrl */
options->c_iflag &= ~(IXON | IXOFF | IXANY); options->c_iflag &= ~(IXON | IXOFF | IXANY);
/* Disable any special handling of received bytes */ /* Disable any special handling of received bytes */
options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
/* Prevent special interpretation of output bytes (e.g. newline chars) */ /* Prevent special interpretation of output bytes (e.g. newline chars) */
options->c_oflag &= ~OPOST; options->c_oflag &= ~OPOST;
/* Prevent conversion of newline to carriage return/line feed */ /* Prevent conversion of newline to carriage return/line feed */
@ -182,139 +193,194 @@ void UartComIF::setFixedOptions(struct termios* options) {
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) { void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
switch (uartCookie->getBaudrate()) { switch (uartCookie->getBaudrate()) {
case 50: case UartBaudRate::RATE_50:
cfsetispeed(options, B50); cfsetispeed(options, B50);
cfsetospeed(options, B50); cfsetospeed(options, B50);
break; break;
case 75: case UartBaudRate::RATE_75:
cfsetispeed(options, B75); cfsetispeed(options, B75);
cfsetospeed(options, B75); cfsetospeed(options, B75);
break; break;
case 110: case UartBaudRate::RATE_110:
cfsetispeed(options, B110); cfsetispeed(options, B110);
cfsetospeed(options, B110); cfsetospeed(options, B110);
break; break;
case 134: case UartBaudRate::RATE_134:
cfsetispeed(options, B134); cfsetispeed(options, B134);
cfsetospeed(options, B134); cfsetospeed(options, B134);
break; break;
case 150: case UartBaudRate::RATE_150:
cfsetispeed(options, B150); cfsetispeed(options, B150);
cfsetospeed(options, B150); cfsetospeed(options, B150);
break; break;
case 200: case UartBaudRate::RATE_200:
cfsetispeed(options, B200); cfsetispeed(options, B200);
cfsetospeed(options, B200); cfsetospeed(options, B200);
break; break;
case 300: case UartBaudRate::RATE_300:
cfsetispeed(options, B300); cfsetispeed(options, B300);
cfsetospeed(options, B300); cfsetospeed(options, B300);
break; break;
case 600: case UartBaudRate::RATE_600:
cfsetispeed(options, B600); cfsetispeed(options, B600);
cfsetospeed(options, B600); cfsetospeed(options, B600);
break; break;
case 1200: case UartBaudRate::RATE_1200:
cfsetispeed(options, B1200); cfsetispeed(options, B1200);
cfsetospeed(options, B1200); cfsetospeed(options, B1200);
break; break;
case 1800: case UartBaudRate::RATE_1800:
cfsetispeed(options, B1800); cfsetispeed(options, B1800);
cfsetospeed(options, B1800); cfsetospeed(options, B1800);
break; break;
case 2400: case UartBaudRate::RATE_2400:
cfsetispeed(options, B2400); cfsetispeed(options, B2400);
cfsetospeed(options, B2400); cfsetospeed(options, B2400);
break; break;
case 4800: case UartBaudRate::RATE_4800:
cfsetispeed(options, B4800); cfsetispeed(options, B4800);
cfsetospeed(options, B4800); cfsetospeed(options, B4800);
break; break;
case 9600: case UartBaudRate::RATE_9600:
cfsetispeed(options, B9600); cfsetispeed(options, B9600);
cfsetospeed(options, B9600); cfsetospeed(options, B9600);
break; break;
case 19200: case UartBaudRate::RATE_19200:
cfsetispeed(options, B19200); cfsetispeed(options, B19200);
cfsetospeed(options, B19200); cfsetospeed(options, B19200);
break; break;
case 38400: case UartBaudRate::RATE_38400:
cfsetispeed(options, B38400); cfsetispeed(options, B38400);
cfsetospeed(options, B38400); cfsetospeed(options, B38400);
break; break;
case 57600: case UartBaudRate::RATE_57600:
cfsetispeed(options, B57600); cfsetispeed(options, B57600);
cfsetospeed(options, B57600); cfsetospeed(options, B57600);
break; break;
case 115200: case UartBaudRate::RATE_115200:
cfsetispeed(options, B115200); cfsetispeed(options, B115200);
cfsetospeed(options, B115200); cfsetospeed(options, B115200);
break; break;
case 230400: case UartBaudRate::RATE_230400:
cfsetispeed(options, B230400); cfsetispeed(options, B230400);
cfsetospeed(options, B230400); cfsetospeed(options, B230400);
break; break;
case 460800: #ifndef __APPLE__
case UartBaudRate::RATE_460800:
cfsetispeed(options, B460800); cfsetispeed(options, B460800);
cfsetospeed(options, B460800); cfsetospeed(options, B460800);
break; break;
case UartBaudRate::RATE_500000:
cfsetispeed(options, B500000);
cfsetospeed(options, B500000);
break;
case UartBaudRate::RATE_576000:
cfsetispeed(options, B576000);
cfsetospeed(options, B576000);
break;
case UartBaudRate::RATE_921600:
cfsetispeed(options, B921600);
cfsetospeed(options, B921600);
break;
case UartBaudRate::RATE_1000000:
cfsetispeed(options, B1000000);
cfsetospeed(options, B1000000);
break;
case UartBaudRate::RATE_1152000:
cfsetispeed(options, B1152000);
cfsetospeed(options, B1152000);
break;
case UartBaudRate::RATE_1500000:
cfsetispeed(options, B1500000);
cfsetospeed(options, B1500000);
break;
case UartBaudRate::RATE_2000000:
cfsetispeed(options, B2000000);
cfsetospeed(options, B2000000);
break;
case UartBaudRate::RATE_2500000:
cfsetispeed(options, B2500000);
cfsetospeed(options, B2500000);
break;
case UartBaudRate::RATE_3000000:
cfsetispeed(options, B3000000);
cfsetospeed(options, B3000000);
break;
case UartBaudRate::RATE_3500000:
cfsetispeed(options, B3500000);
cfsetospeed(options, B3500000);
break;
case UartBaudRate::RATE_4000000:
cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000);
break;
#endif // ! __APPLE__
default: default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
break; break;
} }
} }
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie, ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
const uint8_t *sendData, size_t sendLen) {
int fd = 0; int fd = 0;
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
if(sendLen == 0) { if (sendLen == 0) {
return RETURN_OK; return RETURN_OK;
} }
if(sendData == nullptr) { if (sendData == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl; sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl; sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << #if FSFW_CPP_OSTREAM_ENABLED == 1
"not in UART map" << std::endl; sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
<< std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
fd = uartDeviceMapIter->second.fileDescriptor; fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != (int)sendLen) { if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << #if FSFW_CPP_OSTREAM_ENABLED == 1
errno << ": Error description: " << strerror(errno) << std::endl; sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
return RETURN_OK;
}
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) { ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl; sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
@ -322,23 +388,23 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) { if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
return RETURN_OK; return RETURN_OK;
} }
if (uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
<< " not in uart map" << std::endl; << " not in uart map" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
if (uartMode == UartModes::CANONICAL) { if (uartMode == UartModes::CANONICAL) {
return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen); return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
} } else if (uartMode == UartModes::NON_CANONICAL) {
else if (uartMode == UartModes::NON_CANONICAL) {
return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen); return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
} } else {
else {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
@ -356,7 +422,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
iter->second.replyLen = 0; iter->second.replyLen = 0;
do { do {
size_t allowedReadSize = 0; size_t allowedReadSize = 0;
if(currentBytesRead >= maxReplySize) { if (currentBytesRead >= maxReplySize) {
// Overflow risk. Emit warning, trigger event and break. If this happens, // Overflow risk. Emit warning, trigger event and break. If this happens,
// the reception buffer is not large enough or data is not polled often enough. // the reception buffer is not large enough or data is not polled often enough.
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
@ -364,56 +430,56 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!" sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl; << std::endl;
#else #else
sif::printWarning("UartComIF::requestReceiveMessage: " sif::printWarning(
"UartComIF::requestReceiveMessage: "
"Next read would cause overflow!"); "Next read would cause overflow!");
#endif #endif
#endif #endif
result = UART_RX_BUFFER_TOO_SMALL; result = UART_RX_BUFFER_TOO_SMALL;
break; break;
} } else {
else {
allowedReadSize = maxReplySize - currentBytesRead; allowedReadSize = maxReplySize - currentBytesRead;
} }
bytesRead = read(fd, bufferPtr, allowedReadSize); bytesRead = read(fd, bufferPtr, allowedReadSize);
if (bytesRead < 0) { if (bytesRead < 0) {
// EAGAIN: No data available in non-blocking mode // EAGAIN: No data available in non-blocking mode
if(errno != EAGAIN) { if (errno != EAGAIN) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
errno << ": " << strerror(errno) << std::endl; << strerror(errno) << std::endl;
#else #else
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
errno, strerror(errno)); strerror(errno));
#endif #endif
#endif #endif
return RETURN_FAILED; return RETURN_FAILED;
} }
} } else if (bytesRead > 0) {
else if(bytesRead > 0) {
iter->second.replyLen += bytesRead; iter->second.replyLen += bytesRead;
bufferPtr += bytesRead; bufferPtr += bytesRead;
currentBytesRead += bytesRead; currentBytesRead += bytesRead;
} }
currentReadCycles++; currentReadCycles++;
} while(bytesRead > 0 and currentReadCycles < maxReadCycles); } while (bytesRead > 0 and currentReadCycles < maxReadCycles);
return result; return result;
} }
ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDeviceMapIter &iter, ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen) { size_t requestLen) {
int fd = iter->second.fileDescriptor; int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data(); auto bufferPtr = iter->second.replyBuffer.data();
// Size check to prevent buffer overflow // Size check to prevent buffer overflow
if(requestLen > uartCookie.getMaxReplyLen()) { if (requestLen > uartCookie.getMaxReplyLen()) {
#if OBSW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!" sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl; << std::endl;
#else #else
sif::printWarning("UartComIF::requestReceiveMessage: " sif::printWarning(
"UartComIF::requestReceiveMessage: "
"Next read would cause overflow!"); "Next read would cause overflow!");
#endif #endif
#endif #endif
@ -422,11 +488,12 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
int bytesRead = read(fd, bufferPtr, requestLen); int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead < 0) { if (bytesRead < 0) {
return RETURN_FAILED; return RETURN_FAILED;
} } else if (bytesRead != static_cast<int>(requestLen)) {
else if (bytesRead != static_cast<int>(requestLen)) { if (uartCookie.isReplySizeFixed()) {
if(uartCookie.isReplySizeFixed()) { #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
" of " << requestLen << " bytes" << std::endl; << requestLen << " bytes" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
} }
@ -434,23 +501,25 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie, ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
uint8_t **buffer, size_t* size) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl; sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << #if FSFW_CPP_OSTREAM_ENABLED == 1
" not in uart map" << std::endl; sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
<< std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -463,17 +532,19 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) { ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) { if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor; int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIFLUSH); tcflush(fd, TCIFLUSH);
return RETURN_OK; return RETURN_OK;
@ -481,17 +552,19 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
return RETURN_FAILED; return RETURN_FAILED;
} }
ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) { ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) { if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor; int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCOFLUSH); tcflush(fd, TCOFLUSH);
return RETURN_OK; return RETURN_OK;
@ -499,17 +572,19 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
return RETURN_FAILED; return RETURN_FAILED;
} }
ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) { ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) { if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor; int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIOFLUSH); tcflush(fd, TCIOFLUSH);
return RETURN_OK; return RETURN_OK;
@ -517,13 +592,12 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
return RETURN_FAILED; return RETURN_FAILED;
} }
void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) { void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
UartModes uartMode = uartCookie.getUartMode(); UartModes uartMode = uartCookie.getUartMode();
if(uartMode == UartModes::NON_CANONICAL) { if (uartMode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */ /* Disable canonical mode */
options->c_lflag &= ~ICANON; options->c_lflag &= ~ICANON;
} } else if (uartMode == UartModes::CANONICAL) {
else if(uartMode == UartModes::CANONICAL) {
options->c_lflag |= ICANON; options->c_lflag |= ICANON;
} }
} }

32
hal/src/fsfw_hal/linux/uart/UartComIF.h
View File

@ -1,13 +1,14 @@
#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_ #ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
#define BSP_Q7S_COMIF_UARTCOMIF_H_ #define BSP_Q7S_COMIF_UARTCOMIF_H_
#include "UartCookie.h"
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <unordered_map> #include <unordered_map>
#include <vector> #include <vector>
#include "UartCookie.h"
/** /**
* @brief This is the communication interface to access serial ports on linux based operating * @brief This is the communication interface to access serial ports on linux based operating
* systems. * systems.
@ -17,8 +18,8 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class UartComIF: public DeviceCommunicationIF, public SystemObject { class UartComIF : public DeviceCommunicationIF, public SystemObject {
public: public:
static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART; static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
static constexpr ReturnValue_t UART_READ_FAILURE = static constexpr ReturnValue_t UART_READ_FAILURE =
@ -32,32 +33,28 @@ public:
virtual ~UartComIF(); virtual ~UartComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override; ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData, ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
size_t sendLen) override; ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override; ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
/** /**
* @brief This function discards all data received but not read in the UART buffer. * @brief This function discards all data received but not read in the UART buffer.
*/ */
ReturnValue_t flushUartRxBuffer(CookieIF *cookie); ReturnValue_t flushUartRxBuffer(CookieIF* cookie);
/** /**
* @brief This function discards all data in the transmit buffer of the UART driver. * @brief This function discards all data in the transmit buffer of the UART driver.
*/ */
ReturnValue_t flushUartTxBuffer(CookieIF *cookie); ReturnValue_t flushUartTxBuffer(CookieIF* cookie);
/** /**
* @brief This function discards both data in the transmit and receive buffer of the UART. * @brief This function discards both data in the transmit and receive buffer of the UART.
*/ */
ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie); ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
private:
private:
using UartDeviceFile_t = std::string; using UartDeviceFile_t = std::string;
struct UartElements { struct UartElements {
@ -119,7 +116,6 @@ private:
size_t requestLen); size_t requestLen);
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter, ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen); size_t requestLen);
}; };
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */ #endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

100
hal/src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -1,97 +1,51 @@
#include "fsfw_hal/linux/uart/UartCookie.h" #include "UartCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen): UartBaudRate baudrate, size_t maxReplyLen)
handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), : handlerId(handlerId),
baudrate(baudrate), maxReplyLen(maxReplyLen) { deviceFile(deviceFile),
} uartMode(uartMode),
baudrate(baudrate),
maxReplyLen(maxReplyLen) {}
UartCookie::~UartCookie() {} UartCookie::~UartCookie() {}
uint32_t UartCookie::getBaudrate() const { UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
return baudrate;
}
size_t UartCookie::getMaxReplyLen() const { size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
return maxReplyLen;
}
std::string UartCookie::getDeviceFile() const { std::string UartCookie::getDeviceFile() const { return deviceFile; }
return deviceFile;
}
void UartCookie::setParityOdd() { void UartCookie::setParityOdd() { parity = Parity::ODD; }
parity = Parity::ODD;
}
void UartCookie::setParityEven() { void UartCookie::setParityEven() { parity = Parity::EVEN; }
parity = Parity::EVEN;
}
Parity UartCookie::getParity() const { Parity UartCookie::getParity() const { return parity; }
return parity;
}
void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) { void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
switch(bitsPerWord_) {
case 5:
case 6:
case 7:
case 8:
break;
default:
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
return;
}
bitsPerWord = bitsPerWord_;
}
uint8_t UartCookie::getBitsPerWord() const { BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
return bitsPerWord;
}
StopBits UartCookie::getStopBits() const { StopBits UartCookie::getStopBits() const { return stopBits; }
return stopBits;
}
void UartCookie::setTwoStopBits() { void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
stopBits = StopBits::TWO_STOP_BITS;
}
void UartCookie::setOneStopBit() { void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
stopBits = StopBits::ONE_STOP_BIT;
}
UartModes UartCookie::getUartMode() const { UartModes UartCookie::getUartMode() const { return uartMode; }
return uartMode;
}
void UartCookie::setReadCycles(uint8_t readCycles) { void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
this->readCycles = readCycles;
}
void UartCookie::setToFlushInput(bool enable) { void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
this->flushInput = enable;
}
uint8_t UartCookie::getReadCycles() const { uint8_t UartCookie::getReadCycles() const { return readCycles; }
return readCycles;
}
bool UartCookie::getInputShouldBeFlushed() { bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
return this->flushInput;
}
object_id_t UartCookie::getHandlerId() const { object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
return this->handlerId;
}
void UartCookie::setNoFixedSizeReply() { void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
replySizeFixed = false;
}
bool UartCookie::isReplySizeFixed() { bool UartCookie::isReplySizeFixed() { return replySizeFixed; }
return replySizeFixed;
}

73
hal/src/fsfw_hal/linux/uart/UartCookie.h
View File

@ -6,20 +6,45 @@
#include <string> #include <string>
enum class Parity { enum class Parity { NONE, EVEN, ODD };
NONE,
EVEN,
ODD
};
enum class StopBits { enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
ONE_STOP_BIT,
TWO_STOP_BITS
};
enum class UartModes { enum class UartModes { CANONICAL, NON_CANONICAL };
CANONICAL,
NON_CANONICAL enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
enum class UartBaudRate {
RATE_50,
RATE_75,
RATE_110,
RATE_134,
RATE_150,
RATE_200,
RATE_300,
RATE_600,
RATE_1200,
RATE_1800,
RATE_2400,
RATE_4800,
RATE_9600,
RATE_19200,
RATE_38400,
RATE_57600,
RATE_115200,
RATE_230400,
RATE_460800,
RATE_500000,
RATE_576000,
RATE_921600,
RATE_1000000,
RATE_1152000,
RATE_1500000,
RATE_2000000,
RATE_2500000,
RATE_3000000,
RATE_3500000,
RATE_4000000
}; };
/** /**
@ -29,18 +54,15 @@ enum class UartModes {
* *
* @author J. Meier * @author J. Meier
*/ */
class UartCookie: public CookieIF { class UartCookie : public CookieIF {
public: public:
/** /**
* @brief Constructor for the uart cookie. * @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1" * @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1"
* @param uartMode Specify the UART mode. The canonical mode should be used if the * @param uartMode Specify the UART mode. The canonical mode should be used if the
* messages are separated by a delimited character like '\n'. See the * messages are separated by a delimited character like '\n'. See the
* termios documentation for more information * termios documentation for more information
* @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50, * @param baudrate The baudrate to use for input and output.
* 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
* 38400, 57600, 115200, 230400, 460800
* @param maxReplyLen The maximum size an object using this cookie expects * @param maxReplyLen The maximum size an object using this cookie expects
* @details * @details
* Default configuration: No parity * Default configuration: No parity
@ -48,15 +70,15 @@ public:
* One stop bit * One stop bit
*/ */
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen); UartBaudRate baudrate, size_t maxReplyLen);
virtual ~UartCookie(); virtual ~UartCookie();
uint32_t getBaudrate() const; UartBaudRate getBaudrate() const;
size_t getMaxReplyLen() const; size_t getMaxReplyLen() const;
std::string getDeviceFile() const; std::string getDeviceFile() const;
Parity getParity() const; Parity getParity() const;
uint8_t getBitsPerWord() const; BitsPerWord getBitsPerWord() const;
StopBits getStopBits() const; StopBits getStopBits() const;
UartModes getUartMode() const; UartModes getUartMode() const;
object_id_t getHandlerId() const; object_id_t getHandlerId() const;
@ -87,7 +109,7 @@ public:
/** /**
* Function two set number of bits per UART frame. * Function two set number of bits per UART frame.
*/ */
void setBitsPerWord(uint8_t bitsPerWord_); void setBitsPerWord(BitsPerWord bitsPerWord_);
/** /**
* Function to specify the number of stopbits. * Function to specify the number of stopbits.
@ -103,16 +125,15 @@ public:
bool isReplySizeFixed(); bool isReplySizeFixed();
private: private:
const object_id_t handlerId; const object_id_t handlerId;
std::string deviceFile; std::string deviceFile;
const UartModes uartMode; const UartModes uartMode;
bool flushInput = false; bool flushInput = false;
uint32_t baudrate; UartBaudRate baudrate;
size_t maxReplyLen = 0; size_t maxReplyLen = 0;
Parity parity = Parity::NONE; Parity parity = Parity::NONE;
uint8_t bitsPerWord = 8; BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
uint8_t readCycles = 1; uint8_t readCycles = 1;
StopBits stopBits = StopBits::ONE_STOP_BIT; StopBits stopBits = StopBits::ONE_STOP_BIT;
bool replySizeFixed = true; bool replySizeFixed = true;

3
hal/src/fsfw_hal/linux/uio/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(${LIB_FSFW_NAME} PUBLIC
UioMapper.cpp
)

86
hal/src/fsfw_hal/linux/uio/UioMapper.cpp Normal file
View File

@ -0,0 +1,86 @@
#include "UioMapper.h"
#include <fcntl.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include "fsfw/serviceinterface.h"
const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
const char UioMapper::MAP_SUBSTR[] = "/maps/map";
const char UioMapper::SIZE_FILE_PATH[] = "/size";
UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
UioMapper::~UioMapper() {}
ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int fd = open(uioFile.c_str(), O_RDWR);
if (fd < 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t size = 0;
result = getMapSize(&size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*address = static_cast<uint32_t*>(
mmap(NULL, size, static_cast<int>(permissions), MAP_SHARED, fd, mapNum * getpagesize()));
if (*address == MAP_FAILED) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
<< uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UioMapper::getMapSize(size_t* size) {
std::stringstream namestream;
namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum
<< SIZE_FILE_PATH;
FILE* fp;
fp = fopen(namestream.str().c_str(), "r");
if (fp == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
char hexstring[SIZE_HEX_STRING] = "";
int items = fscanf(fp, "%s", hexstring);
if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed with error code " << errno
<< " to read size "
"string from file "
<< namestream.str() << std::endl;
#endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t sizeTmp = 0;
items = sscanf(hexstring, "%x", &sizeTmp);
if (size != nullptr) {
*size = sizeTmp;
}
if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
<< "size of map" << mapNum << " to integer" << std::endl;
#endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED;
}
fclose(fp);
return HasReturnvaluesIF::RETURN_OK;
}

58
hal/src/fsfw_hal/linux/uio/UioMapper.h Normal file
View File

@ -0,0 +1,58 @@
#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#include <sys/mman.h>
#include <string>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief Class to help opening uio device files and mapping the physical addresses into the user
* address space.
*
* @author J. Meier
*/
class UioMapper {
public:
enum class Permissions : int {
READ_ONLY = PROT_READ,
WRITE_ONLY = PROT_WRITE,
READ_WRITE = PROT_READ | PROT_WRITE
};
/**
* @brief Constructor
*
* @param uioFile The device file of the uiO to open
* @param uioMap Number of memory map. Most UIO drivers have only one map which has than 0.
*/
UioMapper(std::string uioFile, int mapNum = 0);
virtual ~UioMapper();
/**
* @brief Maps the physical address into user address space and returns the mapped address
*
* @address The mapped user space address
* @permissions Specifies the read/write permissions of the address region
*/
ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions);
private:
static const char UIO_PATH_PREFIX[];
static const char MAP_SUBSTR[];
static const char SIZE_FILE_PATH[];
static constexpr int SIZE_HEX_STRING = 10;
std::string uioFile;
int mapNum = 0;
/**
* @brief Reads the map size from the associated sysfs size file
*
* @param size The read map size
*/
ReturnValue_t getMapSize(size_t* size);
};
#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */

15
hal/src/fsfw_hal/linux/utility.cpp
View File

@ -1,26 +1,23 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/utility.h" #include "fsfw_hal/linux/utility.h"
#include <cerrno> #include <cerrno>
#include <cstring> #include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
void utility::handleIoctlError(const char* const customPrintout) { void utility::handleIoctlError(const char* const customPrintout) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
if(customPrintout != nullptr) { if (customPrintout != nullptr) {
sif::warning << customPrintout << std::endl; sif::warning << customPrintout << std::endl;
} }
sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) << sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
std::endl;
#else #else
if(customPrintout != nullptr) { if (customPrintout != nullptr) {
sif::printWarning("%s\n", customPrintout); sif::printWarning("%s\n", customPrintout);
} }
sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno)); sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
} }

9
hal/src/fsfw_hal/stm32h7/definitions.h
View File

@ -2,6 +2,7 @@
#define FSFW_HAL_STM32H7_DEFINITIONS_H_ #define FSFW_HAL_STM32H7_DEFINITIONS_H_
#include <utility> #include <utility>
#include "stm32h7xx.h" #include "stm32h7xx.h"
namespace stm32h7 { namespace stm32h7 {
@ -11,15 +12,15 @@ namespace stm32h7 {
* and the second entry is the pin number * and the second entry is the pin number
*/ */
struct GpioCfg { struct GpioCfg {
GpioCfg(): port(nullptr), pin(0), altFnc(0) {}; GpioCfg() : port(nullptr), pin(0), altFnc(0){};
GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0): GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0)
port(port), pin(pin), altFnc(altFnc) {}; : port(port), pin(pin), altFnc(altFnc){};
GPIO_TypeDef* port; GPIO_TypeDef* port;
uint16_t pin; uint16_t pin;
uint8_t altFnc; uint8_t altFnc;
}; };
} } // namespace stm32h7
#endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */ #endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

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