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Author SHA1 Message Date
7795fecfcb fix for CMakeLists.txt 2025-01-07 10:46:53 +01:00
9361af02c4 small typo 2024-12-18 11:55:31 +01:00
842a3b1b03 Update and clean up HK and Local Pool Modules 2024-12-17 15:42:00 +01:00
12 changed files with 39 additions and 71 deletions

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@ -26,7 +26,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Added
- FreeRTOS monotonic clock which is not subjected to time jumps of the system clock
- add CFDP subsystem ID
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
- `PusTmZcWriter` now exposes API to set message counter field.

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@ -210,7 +210,6 @@ inline ReturnValue_t PoolVariable<T>::readWithoutLock() {
}
this->value = *(poolEntry->getDataPtr());
this->valid = poolEntry->getValid();
return returnvalue::OK;
}
@ -242,7 +241,6 @@ ReturnValue_t PoolVariable<T>::commitWithoutLock() {
}
*(poolEntry->getDataPtr()) = this->value;
poolEntry->setValid(this->valid);
return returnvalue::OK;
}

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@ -5,28 +5,28 @@
#include "fwSubsystemIdRanges.h"
using EventId_t = uint16_t;
using EventSeverity_t = uint8_t;
using GroupId_t = uint16_t;
using UniqueEventId_t = uint16_t;
using UniqueEventId_t = uint8_t;
namespace severity {
enum Severity : EventSeverity_t { INFO = 0, LOW = 1, MEDIUM = 2, HIGH = 3 };
enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 };
} // namespace severity
#define MAKE_EVENT(id, severity) (((severity) << 30) | (SUBSYSTEM_ID << 16) | id)
#define MAKE_EVENT(id, severity) (((severity) << 16) + (SUBSYSTEM_ID * 100) + (id))
typedef uint32_t Event;
namespace event {
constexpr UniqueEventId_t getEventId(Event event) { return (event & 0xFFFF); }
constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 30) & 0b11); }
constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
constexpr Event makeEvent(GroupId_t groupId, UniqueEventId_t uniqueEventId,
constexpr Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId,
EventSeverity_t eventSeverity) {
return (eventSeverity << 30) | (groupId << 16) | uniqueEventId;
return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
}
} // namespace event

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@ -5,7 +5,6 @@
#include "FreeRTOS.h"
#include "fsfw/globalfunctions/timevalOperations.h"
#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
#include "fsfw/osal/freertos/Timekeeper.h"
#include "task.h"
@ -48,8 +47,8 @@ ReturnValue_t Clock::getClock(timeval* time) {
}
ReturnValue_t Clock::getClockMonotonic(timeval* time) {
*time = Timekeeper::instance()->getMonotonicClockOffset() + getUptime();
return returnvalue::OK;
// TODO: I don't actually know if the timekeeper is monotonic..
return getClock_timeval(time);
}
ReturnValue_t Clock::getUptime(timeval* uptime) {
@ -59,7 +58,7 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
}
timeval Clock::getUptime() {
TickType_t ticksSinceStart = Timekeeper::instance()->getTicks();
TickType_t ticksSinceStart = xTaskGetTickCount();
return Timekeeper::ticksToTimeval(ticksSinceStart);
}

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@ -17,13 +17,7 @@ Timekeeper* Timekeeper::instance() {
return myinstance;
}
void Timekeeper::setOffset(const timeval& offset) {
if (not monotonicClockInitialized) {
this->monotonicClockOffset = offset;
monotonicClockInitialized = true;
}
this->offset = offset;
}
void Timekeeper::setOffset(const timeval& offset) { this->offset = offset; }
timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
timeval uptime;
@ -39,7 +33,3 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
}
TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); }
const timeval Timekeeper::getMonotonicClockOffset() const {
return monotonicClockOffset;
}

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@ -18,14 +18,9 @@ class Timekeeper {
Timekeeper();
timeval offset;
// Set when offset is initialized the first time
timeval monotonicClockOffset;
bool monotonicClockInitialized = false;
static Timekeeper* myinstance;
void setMonotonicClockOffset(const timeval& monotonicClockOffset);
public:
static Timekeeper* instance();
virtual ~Timekeeper();
@ -39,7 +34,6 @@ class Timekeeper {
const timeval& getOffset() const;
void setOffset(const timeval& offset);
const timeval getMonotonicClockOffset() const;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */

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@ -44,7 +44,7 @@ ReturnValue_t Service5EventReporting::performService() {
}
ReturnValue_t Service5EventReporting::generateEventReport(EventMessage message) {
EventReport report(message.getEvent(), message.getReporter(), message.getParameter1(),
EventReport report(message.getEventId(), message.getReporter(), message.getParameter1(),
message.getParameter2());
storeHelper.preparePacket(psbParams.serviceId, message.getSeverity(), tmHelper.sendCounter);
storeHelper.setSourceDataSerializable(report);

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@ -17,13 +17,17 @@
*/
class EventReport : public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
public:
EventReport(Event event_, object_id_t objectId_, uint32_t parameter1_, uint32_t parameter2_)
: event(event_), objectId(objectId_), parameter1(parameter1_), parameter2(parameter2_) {}
EventReport(EventId_t reportId_, object_id_t objectId_, uint32_t parameter1_,
uint32_t parameter2_)
: reportId(reportId_),
objectId(objectId_),
parameter1(parameter1_),
parameter2(parameter2_) {}
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const override {
ReturnValue_t result =
SerializeAdapter::serialize(&event, buffer, size, maxSize, streamEndianness);
SerializeAdapter::serialize(&reportId, buffer, size, maxSize, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
@ -44,7 +48,7 @@ class EventReport : public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
size_t getSerializedSize() const override {
uint32_t size = 0;
size += SerializeAdapter::getSerializedSize(&event);
size += SerializeAdapter::getSerializedSize(&reportId);
size += SerializeAdapter::getSerializedSize(&objectId);
size += SerializeAdapter::getSerializedSize(&parameter1);
size += SerializeAdapter::getSerializedSize(&parameter2);
@ -57,7 +61,7 @@ class EventReport : public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
}
private:
Event event;
EventId_t reportId;
object_id_t objectId;
uint32_t parameter1;
uint32_t parameter2;

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@ -53,17 +53,17 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
#endif
if (printType == sif::PrintLevel::INFO_LEVEL) {
len += sprintf(bufferPosition + len, "INFO ");
len += sprintf(bufferPosition + len, "INFO");
}
if (printType == sif::PrintLevel::DEBUG_LEVEL) {
len += sprintf(bufferPosition + len, "DEBUG ");
len += sprintf(bufferPosition + len, "DEBUG");
}
if (printType == sif::PrintLevel::WARNING_LEVEL) {
len += sprintf(bufferPosition + len, "WARNING");
}
if (printType == sif::PrintLevel::ERROR_LEVEL) {
len += sprintf(bufferPosition + len, "ERROR ");
len += sprintf(bufferPosition + len, "ERROR");
}
#if FSFW_COLORED_OUTPUT == 1
@ -75,7 +75,7 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
/*
* Log current time to terminal if desired.
*/
len += sprintf(bufferPosition + len, " | %02lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
len += sprintf(bufferPosition + len, " | %lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
(unsigned long)now.minute, (unsigned long)now.second,
(unsigned long)now.usecond / 1000);

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@ -79,36 +79,22 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
}
if (healthHelper.healthTable->hasHealth(object)) {
switch (healthHelper.healthTable->getHealth(object)) {
case NEEDS_RECOVERY:
case FAULTY:
case PERMANENT_FAULTY:
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
SUBMODE_NONE);
break;
case HEALTHY:
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else {
if (healthHelper.healthTable->isFaulty(object)) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
SUBMODE_NONE);
} else {
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else {
if (healthHelper.healthTable->isCommandable(object)) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand);
}
break;
case EXTERNAL_CONTROL:
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else {
continue;
}
break;
default:
// This never happens
break;
}
}
} else {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand);

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@ -142,7 +142,7 @@ class TemperatureSensor : public AbstractTemperatureSensor {
deltaTime = (uptime.tv_sec + uptime.tv_usec / 1000000.) -
(uptimeOfOldTemperature.tv_sec + uptimeOfOldTemperature.tv_usec / 1000000.);
deltaTemp = oldTemperature - outputTemperature.value;
deltaTemp = oldTemperature - outputTemperature;
if (deltaTemp < 0) {
deltaTemp = -deltaTemp;
}
@ -160,13 +160,13 @@ class TemperatureSensor : public AbstractTemperatureSensor {
outputTemperature.setValid(PoolVariableIF::INVALID);
outputTemperature = thermal::INVALID_TEMPERATURE;
} else {
oldTemperature = outputTemperature.value;
oldTemperature = outputTemperature;
uptimeOfOldTemperature = uptime;
}
}
public:
float getTemperature() { return outputTemperature.value; }
float getTemperature() { return outputTemperature; }
bool isValid() { return outputTemperature.isValid(); }

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@ -192,8 +192,6 @@ class Clock {
static MutexIF *timeMutex;
static uint16_t leapSeconds;
static bool leapSecondsSet;
static bool monotonicClockInitialized;
static timeval monotonicClockOffset;
};
#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */