diff --git a/.gitignore b/.gitignore index f6adc50a..2ccfca61 100644 --- a/.gitignore +++ b/.gitignore @@ -2,8 +2,21 @@ _obj _bin _dep +Debug +Debug* +Release +Release* +MinSizeRel +MinSizeRel* +RelWithDebInfo +RelWithDebInfo* + .settings .metadata .project .cproject __pycache__ + +!misc/eclipse/**/.cproject +!misc/eclipse/**/.project +/eive_obsw cmake debug/ diff --git a/.gitmodules b/.gitmodules index 8b5921a8..6f538287 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,12 +1,21 @@ [submodule "etl"] - path = etl + path = thirdparty/etl url = https://github.com/ETLCPP/etl.git -[submodule "tmtc"] - path = tmtc - url = https://git.ksat-stuttgart.de/Robin.Mueller/tmtc.git [submodule "arduino"] path = arduino url = https://egit.irs.uni-stuttgart.de/eive/eive_arduino_interface.git [submodule "fsfw"] path = fsfw url = https://egit.irs.uni-stuttgart.de/eive/fsfw.git +[submodule "tmtc"] + path = tmtc + url = https://egit.irs.uni-stuttgart.de/eive/eive_tmtc.git +[submodule "thirdparty/lwgps"] + path = thirdparty/lwgps + url = https://github.com/rmspacefish/lwgps.git +[submodule "fsfw_hal"] + path = fsfw_hal + url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw_hal.git +[submodule "generators/modgen"] + path = generators/modgen + url = https://git.ksat-stuttgart.de/source/modgen.git diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 00000000..6e4eb527 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,228 @@ +################################################################################ +# CMake support for the EIVE OBSW +# +# Developed in an effort to replace Make with a modern build system. +# +# Author: R. Mueller +################################################################################ + +################################################################################ +# Pre-Project preparation +################################################################################ +cmake_minimum_required(VERSION 3.13) + +# set(CMAKE_VERBOSE TRUE) + +set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake") + +option(ADD_ETL_LIB "Add ETL library" ON) +if(NOT OS_FSFW) + set(OS_FSFW host CACHE STRING "OS for the FSFW.") +endif() + +# Perform steps like loading toolchain files where applicable. +include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake) +pre_project_config() + +# Project Name +project(eive_obsw ASM C CXX) + +################################################################################ +# Pre-Sources preparation +################################################################################ + +# Specify the C++ standard +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED True) + +# Set names and variables +set(TARGET_NAME ${CMAKE_PROJECT_NAME}) +set(LIB_FSFW_NAME fsfw) +set(LIB_ETL_NAME etl) +set(LIB_CSP_NAME libcsp) +set(LIB_FSFW_HAL_NAME fsfw_hal) +set(LIB_LWGPS_NAME lwgps) +set(THIRD_PARTY_FOLDER thirdparty) + +# Set path names +set(FSFW_PATH fsfw) +set(MISSION_PATH mission) +set(TEST_PATH test/testtasks) +set(LINUX_PATH linux) +set(COMMON_PATH common) + +set(FSFW_HAL_LIB_PATH fsfw_hal) +set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp) +set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl) +set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps) + +set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF) +set(ADD_LINUX_FILES TRUE) + +# Analyse different OS and architecture/target options, determine BSP_PATH, +# display information about compiler etc. +include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake) +pre_source_hw_os_config() + +if(TGT_BSP) + if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi") + set(ROOT_CONFIG_FOLDER TRUE) + set(FSFW_CONFIG_PATH "fsfwconfig") + set(ADD_LINUX_FILES TRUE) + set(ADD_CSP_LIB TRUE) + set(FSFW_HAL_ADD_LINUX ON) + endif() + + if(${TGT_BSP} MATCHES "arm/raspberrypi") + add_definitions(-DRASPBERRY_PI) + set(FSFW_HAL_ADD_RASPBERRY_PI ON) + endif() + + if(${TGT_BSP} MATCHES "arm/q7s") + add_definitions(-DXIPHOS_Q7S) + endif() +else() + # Required by FSFW library + set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig") +endif() +# Set for lwgps library +set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config") + +################################################################################ +# Executable and Sources +################################################################################ + +# Add executable +add_executable(${TARGET_NAME}) + +# Add subdirectories +if(ROOT_CONFIG_FOLDER) + add_subdirectory(${FSFW_CONFIG_PATH}) +endif() + +if(ADD_CSP_LIB) + add_subdirectory(${CSP_LIB_PATH}) +endif() + +if(ADD_ETL_LIB) + add_subdirectory(${ETL_LIB_PATH}) +endif() + +if(ADD_LINUX_FILES) + add_subdirectory(${LINUX_PATH}) +endif() + +add_subdirectory(${LWGPS_LIB_PATH}) +add_subdirectory(${BSP_PATH}) +add_subdirectory(${FSFW_PATH}) +add_subdirectory(${MISSION_PATH}) +add_subdirectory(${TEST_PATH}) +add_subdirectory(${FSFW_HAL_LIB_PATH}) +add_subdirectory(${COMMON_PATH}) + +################################################################################ +# Post-Sources preparation +################################################################################ + +set_property(CACHE OS_FSFW PROPERTY STRINGS host linux) + +# Add libraries for all sources. +target_link_libraries(${TARGET_NAME} PRIVATE + ${LIB_FSFW_NAME} + ${LIB_OS_NAME} + ${LIB_LWGPS_NAME} + ${LIB_FSFW_HAL_NAME} +) + +if(ADD_ETL_LIB) + target_link_libraries(${TARGET_NAME} PRIVATE + ${LIB_ETL_NAME} + ) +endif() + +if(ADD_CSP_LIB) + target_link_libraries(${TARGET_NAME} PRIVATE + ${LIB_CSP_NAME} + ) +endif() + +# Add include paths for all sources. +target_include_directories(${TARGET_NAME} PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR} + ${FSFW_CONFIG_PATH} +) + + +if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + set(WARNING_FLAGS + -Wall + -Wextra + -Wimplicit-fallthrough=1 + -Wno-unused-parameter + -Wno-psabi + ) + + # Remove unused sections. + target_compile_options(${TARGET_NAME} PRIVATE + "-ffunction-sections" + "-fdata-sections" + ) + + # Removed unused sections. + target_link_options(${TARGET_NAME} PRIVATE + "-Wl,--gc-sections" + ) + +elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC") + set(COMPILER_FLAGS "/permissive-") +endif() + +if(CMAKE_VERBOSE) + message(STATUS "Warning flags: ${WARNING_FLAGS}") +endif() + + +# Compile options for all sources. +target_compile_options(${TARGET_NAME} PRIVATE + ${WARNING_FLAGS} +) + +if(${CMAKE_CROSSCOMPILING}) + include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake) + post_source_hw_os_config() +endif() + +if(NOT CMAKE_SIZE) + set(CMAKE_SIZE size) + if(WIN32) + set(FILE_SUFFIX ".exe") + endif() +endif() + +if(TGT_BSP) + set(TARGET_STRING "Target BSP: ${TGT_BSP}") +else() + set(TARGET_STRING "Target BSP: Hosted") +endif() + +string(CONCAT POST_BUILD_COMMENT + "Build directory: ${CMAKE_BINARY_DIR}\n" + "Target OSAL: ${OS_FSFW}\n" + "Target Build Type: ${CMAKE_BUILD_TYPE}\n" + "${TARGET_STRING}" +) + +add_custom_command( + TARGET ${TARGET_NAME} + POST_BUILD + COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX} + COMMENT ${POST_BUILD_COMMENT} +) + +include (${CMAKE_SCRIPT_PATH}/BuildType.cmake) +set_build_type() + + + + + diff --git a/Makefile b/Makefile index 04a263ef..b1ccd741 100644 --- a/Makefile +++ b/Makefile @@ -13,7 +13,7 @@ SHELL = /bin/sh # Chip & board used for compilation # (can be overriden by adding CHIP=chip and BOARD=board to the command-line) -BOARD_FILE_ROOT = bsp_linux +BOARD_FILE_ROOT = bsp_q7s BOARD = linux OS_FSFW = linux CUSTOM_DEFINES += -D$(OS_FSFW) @@ -25,6 +25,7 @@ MISSION_PATH = mission CONFIG_PATH = fsfwconfig TEST_PATH = test UNITTEST_PATH = unittest +LIBCSP_PATH = libcsp # Board specific paths BSP_PATH = $(BOARD_FILE_ROOT) @@ -113,7 +114,7 @@ INCLUDES := # Directories where $(directoryname).mk files should be included from SUBDIRS := $(FRAMEWORK_PATH) $(TEST_PATH) $(BSP_PATH) $(UNITTEST_PATH)\ - $(CONFIG_PATH) $(MISSION_PATH) + $(CONFIG_PATH) $(MISSION_PATH) $(LIBCSP_PATH) # INCLUDES += framework/test/catch2 # ETL library include. @@ -278,7 +279,7 @@ cleanbin: -rm -rf $(BUILDPATH)/$(OUTPUT_FOLDER) # Build target configuration -release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION) +release: OPTIMIZATION = -O2 $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION) release: LINK_TIME_OPTIMIZATION = -flto release: TARGET = Release release: OPTIMIZATION_MESSAGE = On with Link Time Optimization diff --git a/Makefile-Hosted b/Makefile-Hosted index bb56fec5..3a93f625 100644 --- a/Makefile-Hosted +++ b/Makefile-Hosted @@ -15,14 +15,14 @@ CUSTOM_DEFINES := # Chip & board used for compilation # (can be overriden by adding CHIP=chip and BOARD=board to the command-line) -BOARD_FILE_ROOT = hosted +BOARD_FILE_ROOT = bsp_hosted BOARD = host -OS_FSFW = host -CUSTOM_DEFINES += -D$(OS_FSFW) +DETECTED_OS := # Copied from stackoverflow, can be used to differentiate between Windows # and Linux ifeq ($(OS),Windows_NT) + DETECTED_OS = WINDOWS CUSTOM_DEFINES += -DWIN32 ifeq ($(PROCESSOR_ARCHITEW6432),AMD64) CUSTOM_DEFINES += -DAMD64 @@ -55,6 +55,14 @@ else endif endif +ifeq (${DETECTED_OS}, WINDOWS) +OS_FSFW = host +else +OS_FSFW = linux +endif + +CUSTOM_DEFINES += -D$(OS_FSFW) + # General folder paths FRAMEWORK_PATH = fsfw MISSION_PATH = mission @@ -179,10 +187,10 @@ $(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE))) # VPATH += mission/pus/ -ifeq ($(DETECTED_OS), LINUX) -CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp -CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp -endif +#ifeq ($(DETECTED_OS), LINUX) +#CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp +#CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp +#endif # All C Sources included by .mk files are assigned here # Add the objects to sources so dependency handling works @@ -227,7 +235,6 @@ DEAD_CODE_REMOVAL = -Wl,--gc-sections # Link time is larger and size of object files can not be retrieved # but resulting binary is smaller. Could be used in mission/deployment build # Requires -ffunction-section in linker call -LINK_TIME_OPTIMIZATION = -flto OPTIMIZATION += $(PROTOTYPE_OPTIMIZATION) endif @@ -261,12 +268,12 @@ ASFLAGS = -Wall -g $(OPTIMIZATION) $(I_INCLUDES) -D__ASSEMBLY__ # LINK_INCLUDES specify the path to used libraries and the linker script # LINK_LIBRARIES link HCC and HAL library and enable float support LDFLAGS := -g3 -pthread $(DEAD_CODE_REMOVAL) $(OPTIMIZATION) - -LINK_INCLUDES := - LINK_LIBRARIES := + ifeq ($(OS),Windows_NT) LINK_LIBRARIES += -lwsock32 -lws2_32 +else +LINK_LIBRARIES += -lrt endif # Gnu Coverage Tools Flags @@ -309,7 +316,10 @@ all: executable # Build target configuration release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION) +# Problematic on MinGW +ifneq ($(OS),Windows_NT) release: LINK_TIME_OPTIMIZATION = -flto +endif release: TARGET = Release release: OPTIMIZATION_MESSAGE = On with Link Time Optimization release: DEBUG_LEVEL = -g0 diff --git a/README.md b/README.md index 71f7860e..38df4443 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@ Target systems: -* OBC +* OBC with Linux OS * Xiphos Q7S * Based on Zynq-7020 SoC (xc7z020clg484-2) * Dual-core ARM Cortex-A9 @@ -12,56 +12,157 @@ Target systems: * Artix-7 FPGA (85K pogrammable logic cells) * Datasheet at https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S&fileid=340648 * Also a lot of informatin about the Q7S can be found on the xiphos trac platform: https://trac.xiphos.com/trac/eive-q7/wiki/Q7RevB -* Linux OS - * Built with Yocto 2.5 + * Linux OS built with Yocto 2.5 * Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git * Host System * Generic software components which are not dependant on hardware can also - be run. All host code is contained in the hosted folder + be run on a host system. All host code is contained in the `bsp_hosted` folder * Tested for Linux (Ubuntu 20.04) and Windows 10 +* Raspberry Pi + * EIVE OBC can be built for Raspberry Pi as well (either directly on Raspberry Pi or by installing a cross compiler) +The steps in the primary README are related to the main OBC target Q7S. +The CMake build system can be used to generate build systems as well (see helper scripts in `cmake/scripts`: + +- Linux (Raspberry Pi): See special section below. +- Linux Host: Uses the `bsp_hosted` BSP folder and the CMake Unix Makefiles generator. +- Windows Host: Uses the `bsp_hosted` BSP folder, the CMake MinGW Makefiles generator and MSYS2. ## Setting up development environment + +### Installing Vivado the the Xilinx development tools + +It's also possible to perform debugging with a normal Eclipse installation by installing +the TCF plugin. Still, it is necessary to install Vivado to get the toolchain for generating +C++ applications. Alternatively you can download the toolchain +[from the cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S/Toolchain&fileid=422486). + * Install Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html. - Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer + Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer. + * Install settings. In the Devices selection, it is sufficient to pick SoC → Zynq-7000:
-
+ +
+ +
+ +
+ * For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf -* Add path of linux cross-compiler to environment variables SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin -* Install make (only on windows, SDK on Linux can use the make installed with the SDK) +* Add path of linux cross-compiler to permanent environment variables (`.profile` file in Linux): + `\SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin` + or set up path each time before debugging. -### Installing make on Windows -1. Install NodeJS LTS -2. Install xpm - -```sh -npm install --global xpm -``` +### Installing CMake and MSYS2 on Windows -3. Install Windows build tools (after installation also linux commands like mkdir can be used from windows) +1. Install [MSYS2](https://www.msys2.org/) and [CMake](https://cmake.org/download/) first. -```sh -xpm install --global @xpack-dev-tools/windows-build-tools@latest -``` +2. Open the MinGW64 console. It is recommended to set up aliases in `.bashrc` to navigate to the + software repository quickly + +3. Run the following commands in MinGW64 -## Building the software + ```sh + pacman -Syuuu + ``` + + It is recommended to install the full base development toolchain + + ```sh + pacman -S base-devel + ``` + + It is also possible to only install required packages + + ```sh + pacman -S mingw-w64-x86_64-cmake mingw-w64-x86_64-make mingw-w64-x86_64-gcc mingw-w64-x86_64-gdb python3 + ``` + +### Installing CMake on Linux + +1. Run the following command + + ```sh + sudo apt-get install cmake + ```` + +## Getting the Q7S system root + +It is necessary to copy the Q7S system root to your local development machine for libraries +like `libgpio`. You can find the system root [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S/Toolchain&fileid=422486). Download it and unzip it somewhere in the Xilinx installation folder. + +Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path. + +## Building the software with CMake + +When using Windows, run theses steps in MSYS2. 1. Clone the repository with -```sh -git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git -``` + + ```sh + git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git + ``` 2. Update all the submodules -```sh -git submodule init -git submodule sync -git submodule update -``` -3. Open Xilinx SDK 2018.2 -4. Import project + ```sh + git submodule init + git submodule sync + git submodule update + ``` + +3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version`. + It is recommended to run the shell script `win_path_helper_xilinx_tools.sh` in `cmake/scripts/Q7S` + or to set up the [PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path) + in the `.profile` file. + +4. Run the CMake configuration to create the build system in a `Debug` folder. + Navigate into the `eive_obsw` folder first. + + ```sh + cd cmake/scripts/Q7S + ./create_cmake_debug.sh + cd ../../.. + ``` + + This will invoke a Python script which in turn invokes CMake with the correct + arguments to configure CMake for Q7S cross-compilation. + +5. Build the software with + ```sh + cd Debug + cmake --build . -j + ``` + +## Setting up default Eclipse for Q7S projects - TCF agent + +The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S. + +1. Install the TCF agent plugin in Eclipse from the [releases](https://www.eclipse.org/tcf/downloads.php). Go to Help → Install New Software and use the download page, for example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it. + +2. Go to Window → Perspective → Open Perspective and open the **Target Explorer Perspective**. + Here, the Q7S should show up if the local port forwarding was set up as explained previously. Please note that you have to connect to `localhost` and port `1534` with port forwaring set up. + +3. A launch configuration was provided, but it might be necessary to adapt it for your own needs. Alternatively: + + - Create a new **TCF Remote Application** by pressing the cogs button at the top or going to Run → Debug Configurations → Remote Application and creating a new one there. + + - Set up the correct image in the main tab (it might be necessary to send the image to the Q7S manually once) and file transfer properties + + - It is also recommended to link the correct Eclipse project. + +After that, comfortable remote debugging should be possible with the Debug button. + +A build configuration and a shell helper script has been provided to set up the path variables and +build the Q7S binary on Windows, but a launch configuration needs to be newly created because the +IP address and path settings differ from machine to machine. + +## Building in Xilinx SDK 2018.2 + +1. Open Xilinx SDK 2018.2 +2. Import project * File → Import → C/C++ → Existing Code as Makefile Project -5. Set build command. Replace \ with either debug or release. +3. Set build command. Replace \ with either debug or release. * When on Linux right click project → Properties → C/C++ Build → Set build command to `make -j` * -j causes the compiler to use all available cores * The target is used to either compile the debug or the optimized release build. @@ -70,153 +171,189 @@ git submodule update * Target name: all * Uncheck "Same as the target name" * Uncheck "Use builder settings" - * As build command type: `make -j WINDOWS=1` -6. Run build command by double clicking the created target or by right clicking + * As build command type: `cmake --build .` + * In the Behaviour tab, you can enable build acceleration +4. Run build command by double clicking the created target or by right clicking the project folder and selecting Build Project. -## Debugging the software (when workstation is directly conncected to Q7S) -1. Assign static IP address to Q7S - * Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user maunal chapter 10.3) - * Baudrate 115200 - * Login to Q7S: - * user: root - * pw: root - * Set IP address and netmask with - - ```sh +## TCF-Agent + +1. On reboot, some steps have to be taken on the Q7S. Set static IP address and netmask + + ```sh ifconfig eth0 192.168.133.10 ifconfig eth0 netmask 255.255.255.0 ``` -2. Connect Q7S to workstation via ethernet -3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S - * When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation - is 192.168.133.2 -4. Run tcf-agent on Q7S - * Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually - - ```sh - git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git - cd org.eclipse.tcf.agent/agent - make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1 - ``` +2. `tcfagent` application should run automatically but this can be checked with + ```sh + systemctl status tcfagent + ``` - * Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S - - ```sh - cd obj/GNU/Linux/arm/Debug - scp agent root@192.168.133.10:/tmp - ``` - - * On Q7S - ```sh - cd /tmp - chmod +x agent - ``` - - * Run agent - ```sh - ./agent - ``` - -5. In Xilinx SDK 2018.2 right click on project → Debug As → Debug Configurations -6. Right click Xilinx C/C++ applicaton (System Debugger) → New → -7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent -8. Click New -9. Give connection a name -10. Set Host to static IP address of Q7S. e.g. 192.168.133.10 -11. Test connection (This ensures the TCF Agent is running on the Q7S) -12. Select Application tab - * Project Name: eive_obsw - * Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel) - * Remote File Path: /tmp/eive_obsw.elf +3. If the agent is not running, check whether `agent` is located inside `usr/bin`. + You can run it manually there. To perform auto-start on boot, have a look at the start-up + application section. ## Debugging the software via Flatsat PC + Open SSH connection to flatsat PC: -```` + +```sh +ssh eive@flatsat.eive.absatvirt.lw +``` + +or + +```sh ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -```` -To access the console of the Q7S run the following: +``` + +or + +```sh +ssh eive@192.168.199.227 +``` + +If the static IP address of the Q7S has already been set, +you can access it with ssh + +```sh +ssh root@192.168.133.10 +``` + +If this has not been done yet, you can access the serial +console of the Q7S like this to set it + ```sh picocom -b 115200 /dev/ttyUSB0 ``` + +If the serial port is blocked for some reason, you can kill +the process using it with `q7s_kill`. + +You can use `AltGr` + `X` to exit the picocom session. + To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig on the Q7S serial console. -```` + +```sh ifconfig -```` +``` + Set IP address and netmask with -```` + +```sh ifconfig eth0 192.168.133.10 ifconfig eth0 netmask 255.255.255.0 -```` -To launch application from Xilinx SDK setup port fowarding on the localhost. -```` -ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -```` +``` + +To launch application from Xilinx SDK setup port fowarding on the development machine +(not on the flatsat!) + +```sh +ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash +``` + This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10. +This needs to be done every time, so it is recommended to create an alias to do this quickly. -Note: When now setting up a debug session in the Xilinx SDK, the host must be set to localhost instead of the IP address - of the Q7S. +Note: When now setting up a debug session in the Xilinx SDK, the host must be set to localhost instead of the IP address of the Q7S. +## Transfering files via SCP + +To transfer files from the local machine to the Q7S, use port forwarding + +```sh +ssh -L 1535:192.168.133.10:22 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 +``` + +Then you can copy an `example` file like this + +```sh +scp -P 1535 example root@localhost:/tmp +``` + +Copying a file from Q7S to flatsat PC +```` +scp -P 22 root@192.168.133.10:/tmp/kernel-config /tmp +```` + +From a windows machine files can be copied with putty tools +```` +pscp -scp -P 22 eive@192.168.199.227:/example-file +```` + +## Launching an application at start-up -## Launching an application after boot Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds two xdi images). -Note: It is not possible to modify the current loaded root partition. +Note: It is not possible to modify the currently loaded root partition, e.g. creating directories. To do this, +the parition needs to be mounted. + 1. Disable write protection of the desired root partition -```` -writeprotect 0 0 0 # unlocks nominal image on nor-flash 0 -```` + + ```sh + writeprotect 0 0 0 # unlocks nominal image on nor-flash 0 + ``` + 2. Mount the root partition -```` -xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0 -```` -3. Copy the executable to /bin/usr + + ```sh + xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0 + ``` + The mounted partition will be located inside the `/tmp` folder + +3. Copy the executable to `/usr/bin` + 4. Make sure the permissions to execute the application are set -```` -chmod +x application -```` + ```sh + chmod +x application + ``` + 5. Create systemd service in /lib/systemd/system. The following shows an example service. -```` -cat > example.service -[Unit] -Description=Example Service -StartLimitIntervalSec=0 + ```sh + cat > example.service + [Unit] + Description=Example Service + StartLimitIntervalSec=0 -[Service] -Type=simple -Restart=always -RestartSec=1 -User=root -ExecStart=/usr/bin/application + [Service] + Type=simple + Restart=always + RestartSec=1 + User=root + ExecStart=/usr/bin/application -[Install] -WantedBy=multi-user.target -```` + [Install] + WantedBy=multi-user.target + ``` 6. Enable the service. This is normally done with systemctl enable. However, this is not possible when the service is created for a mounted root partition. Therefore create a symlink as follows. -```` -ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service' -```` + ```sh + ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service' + ``` + 7. The modified root partition is written back when the partion is locked again. -```` -writeprotect 0 0 1 -```` + ```sh + writeprotect 0 0 1 + ``` 8. Now verify the application start by booting from the modified image -```` -xsc_boot_copy 0 0 -```` + ```sh + xsc_boot_copy 0 0 + ```` + 9. After booting verify if the service is running -```` -systemctl status example -```` + ```sh + systemctl status example + ``` More detailed information about the used q7s commands can be found in the Q7S user manual. ### Bringing up CAN -```` -ip link set can0 down -ip link set can0 type can loopback off -ip link set can0 up type can bitrate 1000000 -```` + + ```sh + ip link set can0 down + ip link set can0 type can loopback off + ip link set can0 up type can bitrate 1000000 + ``` + Following command sends 8 bytes to device with id 99 (for petalinux) ```` cansend can0 -i99 99 88 77 11 33 11 22 99 @@ -293,17 +430,6 @@ a permanent solution). If running the script before executing the binary does not help or an warning is issue that the soft real time value is invalid, the hard real-time limit of the system might not be high enough (see step 1). -## Building and running the software on a host system - -The host build can be built with following command - -```sh -make -f Makefile-Hosted all -j -``` - -If compiling on Windows, it is recommended to supply `WINDOWS=1` . -A release build can be built by using the `mission` target. - ## Flight Software Framework (FSFW) An EIVE fork of the FSFW is submodules into this repository. @@ -323,3 +449,134 @@ git merge upstream/master Alternatively, changes from other upstreams (forks) and branches can be merged like that in the same way. + +## PCDU + +Connect to serial console of P60 Dock +```` +picocom -b 500000 /dev/ttyUSBx +```` +General information +```` +cmp ident +```` +List parameter table: +x values: 1,2 or 4 +```` +param list x +```` +Table 4 lists HK parameters +Changing parameters +First switch to table where parameter shall be changed (here table id is 1) +```` +p60-dock # param mem 1 +p60-dock # param set out_en[0] 1 +p60-dock # param get out_en[0] +GET out_en[0] = 1 +```` + +## Debugging the software (when workstation is directly conncected to Q7S) + +1. Assign static IP address to Q7S + * Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user maunal chapter 10.3) + * Baudrate 115200 + * Login to Q7S: + * user: root + * pw: root + +2. Connect Q7S to workstation via ethernet +3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S + * When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation + is 192.168.133.2 + +4. Run tcf-agent on Q7S + + * Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually + + ```sh + git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git + cd org.eclipse.tcf.agent/agent + make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1 + ``` + + * Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S + + ```sh + cd obj/GNU/Linux/arm/Debug + scp agent root@192.168.133.10:/tmp + ``` + + * On Q7S + ```sh + cd /tmp + chmod +x agent + ``` + + * Run agent + ```sh + ./agent + ``` + +5. In Xilinx SDK 2018.2 right click on project → Debug As → Debug Configurations +6. Right click Xilinx C/C++ applicaton (System Debugger) → New → +7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent +8. Click New +9. Give connection a name +10. Set Host to static IP address of Q7S. e.g. 192.168.133.10 +11. Test connection (This ensures the TCF Agent is running on the Q7S) +12. Select Application tab + * Project Name: eive_obsw + * Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel) + * Remote File Path: /tmp/eive_obsw.elf + +## Libgpiod + +Detect all gpio device files: +```` +gpiodetect +```` +Get info about a specific gpio group: +```` +gpioinfo +```` +The following sets the gpio 18 from gpio group gpiochip7 to high level. +```` +gpioset gpiochip7 18=1 +```` +Setting the gpio to low. +```` +gpioset gpiochip7 18=0 +```` +Show options for setting gpios. +```` +gpioset -h +```` +To get the state of a gpio: +```` +gpioget +```` +Example to get state: +gpioget gpiochip7 14 + +## Running the EIVE OBSW on a Raspberry Pi + +Special section for running the EIVE OBSW on the Raspberry Pi. +The Raspberry Pi build uses the `bsp_rpi` BSP folder, and a very similar cross-compiler. + +For running the software on a Raspberry Pi, it is recommended to follow the steps specified in +[the fsfw example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/mueller/master/doc/README-rpi.md#top) +and using the TCF agent to have a similar set-up process also required for the Q7S. +You should run the following command first on your Raspberry Pi + +```sh +sudo apt-get install gpiod libgpiod-dev +``` + +to install the required GPIO libraries before cloning the system root folder. + +## Special notes on Eclipse + +When using Eclipse, there are two special build variables in the project properties +→ C/C++ Build → Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set +the sysroot path in those variables to get any additional includes like `gpiod.h` in the +Eclipse indexer. \ No newline at end of file diff --git a/bsp_hosted/CMakeLists.txt b/bsp_hosted/CMakeLists.txt new file mode 100644 index 00000000..7171d9d7 --- /dev/null +++ b/bsp_hosted/CMakeLists.txt @@ -0,0 +1,10 @@ +target_sources(${TARGET_NAME} PUBLIC + InitMission.cpp + main.cpp + ObjectFactory.cpp +) + +add_subdirectory(fsfwconfig) +add_subdirectory(boardconfig) + + diff --git a/bsp_hosted/InitMission.cpp b/bsp_hosted/InitMission.cpp new file mode 100644 index 00000000..06bc5646 --- /dev/null +++ b/bsp_hosted/InitMission.cpp @@ -0,0 +1,159 @@ +#include "InitMission.h" +#include "ObjectFactory.h" + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#ifdef LINUX +ServiceInterfaceStream sif::debug("DEBUG"); +ServiceInterfaceStream sif::info("INFO"); +ServiceInterfaceStream sif::warning("WARNING"); +ServiceInterfaceStream sif::error("ERROR", false, false, true); +#else +ServiceInterfaceStream sif::debug("DEBUG", true); +ServiceInterfaceStream sif::info("INFO", true); +ServiceInterfaceStream sif::warning("WARNING", true); +ServiceInterfaceStream sif::error("ERROR", true, false, true); +#endif + +ObjectManagerIF *objectManager = nullptr; + +void initmission::initMission() { + sif::info << "Building global objects.." << std::endl; + /* Instantiate global object manager and also create all objects */ + objectManager = new ObjectManager(ObjectFactory::produce); + sif::info << "Initializing all objects.." << std::endl; + objectManager->initialize(); + + /* This function creates and starts all tasks */ + initTasks(); +} + +void initmission::initTasks() { + TaskFactory* factory = TaskFactory::instance(); + if(factory == nullptr) { + /* Should never happen ! */ + return; + } +#if OBSW_PRINT_MISSED_DEADLINES == 1 + void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline; +#else + void (*missedDeadlineFunc) (void) = nullptr; +#endif + + /* TMTC Distribution */ + PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( + "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + ReturnValue_t result = tmTcDistributor->addComponent( + objects::CCSDS_PACKET_DISTRIBUTOR); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "Object add component failed" << std::endl; + } + result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "Object add component failed" << std::endl; + } + result = tmTcDistributor->addComponent(objects::TM_FUNNEL); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Object add component failed" << std::endl; + } + + /* UDP bridge */ + PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask( + "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + result = udpBridgeTask->addComponent(objects::UDP_BRIDGE); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Add component UDP Unix Bridge failed" << std::endl; + } + PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask( + "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); + result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Add component UDP Polling failed" << std::endl; + } + + /* PUS Services */ + PeriodicTaskIF* pusVerification = factory->createPeriodicTask( + "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); + result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "Object add component failed" << std::endl; + } + + PeriodicTaskIF* pusEvents = factory->createPeriodicTask( + "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); + result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); + if(result != HasReturnvaluesIF::RETURN_OK){ + initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING); + } + + PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask( + "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); + result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS); + } + result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT); + } + + PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask( + "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); + result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT); + } + result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT); + } + result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS); + } + + PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask( + "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); + result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST); + } + + PeriodicTaskIF* testTask = factory->createPeriodicTask( + "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); +#if OBSW_ADD_TEST_CODE == 1 + result = testTask->addComponent(objects::TEST_TASK); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); + } +#endif /* OBSW_ADD_TEST_CODE == 1 */ + + sif::info << "Starting tasks.." << std::endl; + tmTcDistributor->startTask(); + udpBridgeTask->startTask(); + udpPollingTask->startTask(); + + pusVerification->startTask(); + pusEvents->startTask(); + pusHighPrio->startTask(); + pusMedPrio->startTask(); + pusLowPrio->startTask(); + +#if OBSW_ADD_TEST_CODE == 1 + testTask->startTask(); +#endif /* OBSW_ADD_TEST_CODE == 1 */ + + sif::info << "Tasks started.." << std::endl; +} diff --git a/hosted/InitMission.h b/bsp_hosted/InitMission.h similarity index 85% rename from hosted/InitMission.h rename to bsp_hosted/InitMission.h index 5ecf9e41..01c72008 100644 --- a/hosted/InitMission.h +++ b/bsp_hosted/InitMission.h @@ -1,7 +1,7 @@ #ifndef BSP_LINUX_INITMISSION_H_ #define BSP_LINUX_INITMISSION_H_ -namespace InitMission { +namespace initmission { void initMission(); void initTasks(); }; diff --git a/bsp_linux/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp similarity index 70% rename from bsp_linux/ObjectFactory.cpp rename to bsp_hosted/ObjectFactory.cpp index a0f82887..f3d7591d 100644 --- a/bsp_linux/ObjectFactory.cpp +++ b/bsp_hosted/ObjectFactory.cpp @@ -1,20 +1,27 @@ #include "ObjectFactory.h" -#include #include +#include #include #include #include #include -#include -#include -#include #include #include -void Factory::setStaticFrameworkObjectIds() { +#include +#include + +#include + + +#if OBSW_ADD_TEST_CODE == 1 +#include +#endif + +void Factory::setStaticFrameworkObjectIds(){ PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; PusServiceBase::packetDestination = objects::TM_FUNNEL; @@ -29,14 +36,13 @@ void Factory::setStaticFrameworkObjectIds() { TmPacketStored::timeStamperId = objects::TIME_STAMPER; } - - void ObjectFactory::produce(){ Factory::setStaticFrameworkObjectIds(); ObjectFactory::produceGenericObjects(); - new TmTcUnixUdpBridge(objects::UDP_BRIDGE, - objects::CCSDS_PACKET_DISTRIBUTOR, - objects::TM_STORE, objects::TC_STORE); - new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE); + new UdpTmTcBridge(objects::UDP_BRIDGE, + objects::CCSDS_PACKET_DISTRIBUTOR, + objects::TM_STORE, objects::TC_STORE); + new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE); + } diff --git a/bsp_linux/ObjectFactory.h b/bsp_hosted/ObjectFactory.h similarity index 100% rename from bsp_linux/ObjectFactory.h rename to bsp_hosted/ObjectFactory.h diff --git a/bsp_hosted/boardconfig/CMakeLists.txt b/bsp_hosted/boardconfig/CMakeLists.txt new file mode 100644 index 00000000..c32b326d --- /dev/null +++ b/bsp_hosted/boardconfig/CMakeLists.txt @@ -0,0 +1,10 @@ +target_sources(${TARGET_NAME} PRIVATE + print.c +) + +target_include_directories(${TARGET_NAME} PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) + + + diff --git a/bsp_linux/boardconfig/etl_profile.h b/bsp_hosted/boardconfig/etl_profile.h similarity index 100% rename from bsp_linux/boardconfig/etl_profile.h rename to bsp_hosted/boardconfig/etl_profile.h diff --git a/bsp_linux/boardconfig/gcov.h b/bsp_hosted/boardconfig/gcov.h similarity index 100% rename from bsp_linux/boardconfig/gcov.h rename to bsp_hosted/boardconfig/gcov.h diff --git a/hosted/boardconfig/print.c b/bsp_hosted/boardconfig/print.c similarity index 99% rename from hosted/boardconfig/print.c rename to bsp_hosted/boardconfig/print.c index f409ee1b..f35f9447 100644 --- a/hosted/boardconfig/print.c +++ b/bsp_hosted/boardconfig/print.c @@ -1,4 +1,5 @@ #include "print.h" + #include void printChar(const char* character, bool errStream) { diff --git a/bsp_hosted/boardconfig/print.h b/bsp_hosted/boardconfig/print.h new file mode 100644 index 00000000..84798490 --- /dev/null +++ b/bsp_hosted/boardconfig/print.h @@ -0,0 +1,8 @@ +#ifndef BSP_HOSTED_BOARDCONFIG_PRINT_H_ +#define BSP_HOSTED_BOARDCONFIG_PRINT_H_ + +#include + +void printChar(const char* character, bool errStream); + +#endif /* BSP_HOSTED_BOARDCONFIG_PRINT_H_ */ diff --git a/hosted/hosted.mk b/bsp_hosted/bsp_hosted.mk similarity index 76% rename from hosted/hosted.mk rename to bsp_hosted/bsp_hosted.mk index 8bd29bc1..9595ffbf 100644 --- a/hosted/hosted.mk +++ b/bsp_hosted/bsp_hosted.mk @@ -7,4 +7,5 @@ CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c) CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp) CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c) -INCLUDES += $(CURRENTPATH)/boardconfig \ No newline at end of file +INCLUDES += $(CURRENTPATH)/boardconfig +INCLUDES += $(CURRENTPATH)/fsfwconfig \ No newline at end of file diff --git a/hosted/comIF/ArduinoComIF.cpp b/bsp_hosted/comIF/ArduinoComIF.cpp similarity index 97% rename from hosted/comIF/ArduinoComIF.cpp rename to bsp_hosted/comIF/ArduinoComIF.cpp index 11555f55..2db293e6 100644 --- a/hosted/comIF/ArduinoComIF.cpp +++ b/bsp_hosted/comIF/ArduinoComIF.cpp @@ -8,6 +8,8 @@ // This only works on Linux #ifdef LINUX #include +#include +#include #elif WIN32 #include #include @@ -255,7 +257,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, encodedLen = sizeof(sendBuffer) - remainingLen; #ifdef LINUX - ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen); + ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen); if (writtenlen < 0) { //we could try to find out what happened... return RETURN_FAILED; @@ -286,7 +288,7 @@ void ArduinoComIF::handleSerialPortRx() { rxBuffer.writeData(dataFromSerial, bytesRead); - uint8_t dataReceivedSoFar[rxBuffer.maxSize()]; + uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()]; uint32_t dataLenReceivedSoFar = 0; @@ -296,11 +298,11 @@ void ArduinoComIF::handleSerialPortRx() { //look for STX size_t firstSTXinRawData = 0; while ((firstSTXinRawData < dataLenReceivedSoFar) - && (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) { + && (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) { firstSTXinRawData++; } - if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) { + if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) { //there is no STX in our data, throw it away... rxBuffer.deleteData(dataLenReceivedSoFar); return; diff --git a/hosted/comIF/ArduinoComIF.h b/bsp_hosted/comIF/ArduinoComIF.h similarity index 100% rename from hosted/comIF/ArduinoComIF.h rename to bsp_hosted/comIF/ArduinoComIF.h diff --git a/hosted/comIF/ArduinoCookie.cpp b/bsp_hosted/comIF/ArduinoCookie.cpp similarity index 83% rename from hosted/comIF/ArduinoCookie.cpp rename to bsp_hosted/comIF/ArduinoCookie.cpp index 7d9a9f3c..bc698720 100644 --- a/hosted/comIF/ArduinoCookie.cpp +++ b/bsp_hosted/comIF/ArduinoCookie.cpp @@ -1,4 +1,4 @@ -#include "ArduinoCookie.h" +#include ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize) : diff --git a/hosted/comIF/ArduinoCookie.h b/bsp_hosted/comIF/ArduinoCookie.h similarity index 100% rename from hosted/comIF/ArduinoCookie.h rename to bsp_hosted/comIF/ArduinoCookie.h diff --git a/bsp_hosted/comIF/CMakeLists.txt b/bsp_hosted/comIF/CMakeLists.txt new file mode 100644 index 00000000..eb416f75 --- /dev/null +++ b/bsp_hosted/comIF/CMakeLists.txt @@ -0,0 +1,8 @@ +target_sources(${TARGET_NAME} PUBLIC + ArduinoComIF.cpp + ArduinoCookie.cpp +) + + + + diff --git a/bsp_hosted/fsfwconfig/CMakeLists.txt b/bsp_hosted/fsfwconfig/CMakeLists.txt new file mode 100644 index 00000000..a906098f --- /dev/null +++ b/bsp_hosted/fsfwconfig/CMakeLists.txt @@ -0,0 +1,10 @@ +target_sources(${TARGET_NAME} PRIVATE + ipc/MissionMessageTypes.cpp +) + +target_include_directories(${TARGET_NAME} PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) + + + diff --git a/hosted/fsfwconfig/FSFWConfig.h b/bsp_hosted/fsfwconfig/FSFWConfig.h similarity index 54% rename from hosted/fsfwconfig/FSFWConfig.h rename to bsp_hosted/fsfwconfig/FSFWConfig.h index ea86152c..e3def8fe 100644 --- a/hosted/fsfwconfig/FSFWConfig.h +++ b/bsp_hosted/fsfwconfig/FSFWConfig.h @@ -1,25 +1,27 @@ #ifndef CONFIG_FSFWCONFIG_H_ #define CONFIG_FSFWCONFIG_H_ -#include #include +#include -//! Used to determine whether C++ ostreams are used -//! Those can lead to code bloat. -#define FSFW_CPP_OSTREAM_ENABLED 1 +//! Used to determine whether C++ ostreams are used which can increase +//! the binary size significantly. If this is disabled, +//! the C stdio functions can be used alternatively +#define FSFW_CPP_OSTREAM_ENABLED 1 -//! Reduced printout to further decrese code size -//! Be careful, this also turns off most diagnostic prinouts! -#define FSFW_REDUCED_PRINTOUT 0 +//! More FSFW related printouts depending on level. Useful for development. +#define FSFW_VERBOSE_LEVEL 1 -//! Can be used to enable debugging printouts for developing the FSFW -#define FSFW_DEBUGGING 0 +//! Can be used to completely disable printouts, even the C stdio ones. +#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0 + #define FSFW_DISABLE_PRINTOUT 0 +#endif -//! Defines the FIFO depth of each commanding service base which -//! also determines how many commands a CSB service can handle in one cycle -//! simulataneously. This will increase the required RAM for -//! each CSB service ! -#define FSFW_CSB_FIFO_DEPTH 6 +//! Can be used to disable the ANSI color sequences for C stdio. +#define FSFW_COLORED_OUTPUT 1 + +//! Can be used to disable the ANSI color sequences for C stdio. +#define FSFW_COLORED_OUTPUT 1 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one, //! additional output which requires the translation files translateObjects @@ -27,18 +29,19 @@ #define FSFW_OBJ_EVENT_TRANSLATION 0 #if FSFW_OBJ_EVENT_TRANSLATION == 1 -#define FSFW_DEBUG_OUTPUT 1 //! Specify whether info events are printed too. #define FSFW_DEBUG_INFO 1 -#include -#include +#include "objects/translateObjects.h" +#include "events/translateEvents.h" #else -#define FSFW_DEBUG_OUTPUT 0 #endif //! When using the newlib nano library, C99 support for stdio facilities //! will not be provided. This define should be set to 1 if this is the case. -#define FSFW_NO_C99_IO 1 +#define FSFW_NO_C99_IO 1 + +//! Specify whether a special mode store is used for Subsystem components. +#define FSFW_USE_MODESTORE 0 namespace fsfwconfig { //! Default timestamp size. The default timestamp will be an eight byte CDC @@ -49,6 +52,14 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8; 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; + +//! Defines the FIFO depth of each commanding service base which +//! also determines how many commands a CSB service can handle in one cycle +//! simulataneously. This will increase the required RAM for +//! each CSB service ! +static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6; + +static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124; } #endif /* CONFIG_FSFWCONFIG_H_ */ diff --git a/bsp_hosted/fsfwconfig/OBSWConfig.h b/bsp_hosted/fsfwconfig/OBSWConfig.h new file mode 100644 index 00000000..5996e3a2 --- /dev/null +++ b/bsp_hosted/fsfwconfig/OBSWConfig.h @@ -0,0 +1,32 @@ +/** + * @brief This file can be used to add preprocessor define for conditional + * code inclusion exclusion or various other project constants and + * properties in one place. + */ +#ifndef CONFIG_OBSWCONFIG_H_ +#define CONFIG_OBSWCONFIG_H_ + +#include "commonConfig.h" + +#define OBSW_ADD_TEST_CODE 1 + +/* These defines should be disabled for mission code but are useful for +debugging. */ +#define OBSW_VEBOSE_LEVEL 1 + +#ifdef __cplusplus + +#include "objects/systemObjectList.h" +#include "events/subsystemIdRanges.h" +#include "returnvalues/classIds.h" + +namespace config { +#endif + +/* Add mission configuration flags here */ + +#ifdef __cplusplus +} +#endif + +#endif /* CONFIG_OBSWCONFIG_H_ */ diff --git a/hosted/fsfwconfig/OBSWVersion.h b/bsp_hosted/fsfwconfig/OBSWVersion.h similarity index 79% rename from hosted/fsfwconfig/OBSWVersion.h rename to bsp_hosted/fsfwconfig/OBSWVersion.h index e1afa204..980b6965 100644 --- a/hosted/fsfwconfig/OBSWVersion.h +++ b/bsp_hosted/fsfwconfig/OBSWVersion.h @@ -3,8 +3,8 @@ const char* const SW_NAME = "eive"; -#define SW_VERSION 0 -#define SW_SUBVERSION 2 +#define SW_VERSION 1 +#define SW_SUBVERSION 0 #define SW_SUBSUBVERSION 0 diff --git a/bsp_hosted/fsfwconfig/devices/gpioIds.h b/bsp_hosted/fsfwconfig/devices/gpioIds.h new file mode 100644 index 00000000..df49c0b7 --- /dev/null +++ b/bsp_hosted/fsfwconfig/devices/gpioIds.h @@ -0,0 +1,59 @@ +#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_ +#define FSFWCONFIG_DEVICES_GPIOIDS_H_ + +#include + +namespace gpioIds { + enum gpioId_t { + HEATER_0, + HEATER_1, + HEATER_2, + HEATER_3, + HEATER_4, + HEATER_5, + HEATER_6, + HEATER_7, + DEPLSA1, + DEPLSA2, + + MGM_0_LIS3_CS, + MGM_1_RM3100_CS, + GYRO_0_ADIS_CS, + GYRO_1_L3G_CS, + GYRO_2_L3G_CS, + MGM_2_LIS3_CS, + MGM_3_RM3100_CS, + + TEST_ID_0, + TEST_ID_1, + + RTD_IC3, + RTD_IC4, + RTD_IC5, + RTD_IC6, + RTD_IC7, + RTD_IC8, + RTD_IC9, + RTD_IC10, + RTD_IC11, + RTD_IC12, + RTD_IC13, + RTD_IC14, + RTD_IC15, + RTD_IC16, + RTD_IC17, + RTD_IC18, + + SPI_MUX_BIT_1, + SPI_MUX_BIT_2, + SPI_MUX_BIT_3, + SPI_MUX_BIT_4, + SPI_MUX_BIT_5, + SPI_MUX_BIT_6 + }; +} + + + + +#endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */ diff --git a/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h b/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h new file mode 100644 index 00000000..09bdf568 --- /dev/null +++ b/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h @@ -0,0 +1,58 @@ +#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ +#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ + +#include + +namespace pcduSwitches { + /* Switches are uint8_t datatype and go from 0 to 255 */ + enum switcherList { + Q7S, + PAYLOAD_PCDU_CH1, + RW, + TCS_BOARD_8V_HEATER_IN, + SUS_REDUNDANT, + DEPLOYMENT_MECHANISM, + PAYLOAD_PCDU_CH6, + ACS_BOARD_SIDE_B, + PAYLOAD_CAMERA, + TCS_BOARD_3V3, + SYRLINKS, + STAR_TRACKER, + MGT, + SUS_NOMINAL, + SOLAR_CELL_EXP, + PLOC, + ACS_BORAD_SIDE_A, + NUMBER_OF_SWITCHES + }; + + static const uint8_t ON = 1; + static const uint8_t OFF = 0; + + /* Output states after reboot of the PDUs */ + static const uint8_t INIT_STATE_Q7S = ON; + static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF; + static const uint8_t INIT_STATE_RW = OFF; +#if TE0720 == 1 + /* Because the TE0720 is not connected to the PCDU, this switch is always on */ + static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON; +#else + static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF; +#endif + static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF; + static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF; + static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF; + static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF; + static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF; + static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF; + static const uint8_t INIT_STATE_SYRLINKS = OFF; + static const uint8_t INIT_STATE_STAR_TRACKER = OFF; + static const uint8_t INIT_STATE_MGT = OFF; + static const uint8_t INIT_STATE_SUS_NOMINAL = OFF; + static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF; + static const uint8_t INIT_STATE_PLOC = OFF; + static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF; +} + + +#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */ diff --git a/hosted/fsfwconfig/events/subsystemIdRanges.h b/bsp_hosted/fsfwconfig/events/subsystemIdRanges.h similarity index 90% rename from hosted/fsfwconfig/events/subsystemIdRanges.h rename to bsp_hosted/fsfwconfig/events/subsystemIdRanges.h index 2255b345..51534f60 100644 --- a/hosted/fsfwconfig/events/subsystemIdRanges.h +++ b/bsp_hosted/fsfwconfig/events/subsystemIdRanges.h @@ -10,7 +10,7 @@ */ namespace SUBSYSTEM_ID { enum: uint8_t { - SUBSYSTE_ID_START = FW_SUBSYSTEM_ID_RANGE, + SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE, PUS_SERVICE_2, PUS_SERVICE_3, PUS_SERVICE_5, @@ -18,6 +18,7 @@ enum: uint8_t { PUS_SERVICE_8, PUS_SERVICE_23, MGM_LIS3MDL, + MGM_RM3100, DUMMY_DEVICE, }; diff --git a/bsp_hosted/fsfwconfig/fsfwconfig.mk b/bsp_hosted/fsfwconfig/fsfwconfig.mk new file mode 100644 index 00000000..53cb0fc7 --- /dev/null +++ b/bsp_hosted/fsfwconfig/fsfwconfig.mk @@ -0,0 +1,7 @@ +CXXSRC += $(wildcard $(CURRENTPATH)/cdatapool/*.cpp) +CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp) +CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp) +CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp) +CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp) + +INCLUDES += $(CURRENTPATH) \ No newline at end of file diff --git a/hosted/fsfwconfig/ipc/MissionMessageTypes.cpp b/bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp similarity index 75% rename from hosted/fsfwconfig/ipc/MissionMessageTypes.cpp rename to bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp index b91abcd3..36ef1b73 100644 --- a/hosted/fsfwconfig/ipc/MissionMessageTypes.cpp +++ b/bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp @@ -1,5 +1,5 @@ +#include "MissionMessageTypes.h" #include -#include void messagetypes::clearMissionMessage(CommandMessage* message) { switch(message->getMessageType()) { diff --git a/hosted/fsfwconfig/ipc/MissionMessageTypes.h b/bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h similarity index 95% rename from hosted/fsfwconfig/ipc/MissionMessageTypes.h rename to bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h index 832d8e58..7e3c448f 100644 --- a/hosted/fsfwconfig/ipc/MissionMessageTypes.h +++ b/bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h @@ -11,7 +11,7 @@ class CommandMessage; * * @param message Generic Command Message */ -namespace messagetypes{ +namespace messagetypes { enum MESSAGE_TYPE { MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT, }; diff --git a/bsp_hosted/fsfwconfig/objects/systemObjectList.h b/bsp_hosted/fsfwconfig/objects/systemObjectList.h new file mode 100644 index 00000000..d7a1abd7 --- /dev/null +++ b/bsp_hosted/fsfwconfig/objects/systemObjectList.h @@ -0,0 +1,50 @@ +#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ +#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ + +#include + +// The objects will be instantiated in the ID order +namespace objects { + enum sourceObjects: uint32_t { + /* First Byte 0x50-0x52 reserved for PUS Services **/ + CCSDS_PACKET_DISTRIBUTOR = 0x50000100, + PUS_PACKET_DISTRIBUTOR = 0x50000200, + UDP_BRIDGE = 0x50000300, + UDP_POLLING_TASK = 0x50000400, + + PUS_SERVICE_3 = 0x51000300, + PUS_SERVICE_5 = 0x51000400, + PUS_SERVICE_6 = 0x51000500, + PUS_SERVICE_8 = 0x51000800, + PUS_SERVICE_23 = 0x51002300, + PUS_SERVICE_201 = 0x51020100, + + TM_FUNNEL = 0x52000002, + + /* Test Task */ + + TEST_TASK = 0x42694269, + DUMMY_INTERFACE = 0xCAFECAFE, + DUMMY_HANDLER = 0x4400AFFE, + + /* 0x44 ('D') for device handlers */ + P60DOCK_HANDLER = 0x44000001, + PDU1_HANDLER = 0x44000002, + PDU2_HANDLER = 0x44000003, + ACU_HANDLER = 0x44000004, + TMP1075_HANDLER_1 = 0x44000005, + TMP1075_HANDLER_2 = 0x44000006, + MGM_0_LIS3_HANDLER = 0x4400007, + MGM_1_RM3100_HANDLER = 0x44000008, + MGM_2_LIS3_HANDLER = 0x44000009, + MGM_3_RM3100_HANDLER = 0x44000010, + GYRO_0_ADIS_HANDLER = 0x44000011, + GYRO_1_L3G_HANDLER = 0x44000012, + GYRO_2_L3G_HANDLER = 0x44000013, + + /* 0x49 ('I') for Communication Interfaces **/ + ARDUINO_COM_IF = 0x49000001 + }; +} + +#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */ diff --git a/hosted/fsfwconfig/returnvalues/classIds.h b/bsp_hosted/fsfwconfig/returnvalues/classIds.h similarity index 93% rename from hosted/fsfwconfig/returnvalues/classIds.h rename to bsp_hosted/fsfwconfig/returnvalues/classIds.h index f6427a1f..21371c15 100644 --- a/hosted/fsfwconfig/returnvalues/classIds.h +++ b/bsp_hosted/fsfwconfig/returnvalues/classIds.h @@ -11,7 +11,8 @@ namespace CLASS_ID { enum { MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT, - MGM_LIS3MDL + MGM_LIS3MDL, + MGM_RM3100 }; } diff --git a/bsp_hosted/fsfwconfig/tmtc/apid.h b/bsp_hosted/fsfwconfig/tmtc/apid.h new file mode 100644 index 00000000..ee2fc7c4 --- /dev/null +++ b/bsp_hosted/fsfwconfig/tmtc/apid.h @@ -0,0 +1,19 @@ +#ifndef FSFWCONFIG_TMTC_APID_H_ +#define FSFWCONFIG_TMTC_APID_H_ + +#include + +/** + * Application Process Definition: entity, uniquely identified by an + * application process ID (APID), capable of generating telemetry source + * packets and receiving telecommand packets + * + * SOURCE APID: 0x73 / 115 / s + * APID is a 11 bit number + */ +namespace apid { + static const uint16_t EIVE_OBSW = 0x65; +} + + +#endif /* FSFWCONFIG_TMTC_APID_H_ */ diff --git a/bsp_hosted/fsfwconfig/tmtc/pusIds.h b/bsp_hosted/fsfwconfig/tmtc/pusIds.h new file mode 100644 index 00000000..a2dd7575 --- /dev/null +++ b/bsp_hosted/fsfwconfig/tmtc/pusIds.h @@ -0,0 +1,23 @@ +#ifndef CONFIG_TMTC_PUSIDS_HPP_ +#define CONFIG_TMTC_PUSIDS_HPP_ + +namespace pus { +enum Ids{ + PUS_SERVICE_1 = 1, + PUS_SERVICE_2 = 2, + PUS_SERVICE_3 = 3, + PUS_SERVICE_3_PSB = 3, + PUS_SERVICE_5 = 5, + PUS_SERVICE_6 = 6, + PUS_SERVICE_8 = 8, + PUS_SERVICE_9 = 9, + PUS_SERVICE_17 = 17, + PUS_SERVICE_19 = 19, + PUS_SERVICE_20 = 20, + PUS_SERVICE_23 = 23, + PUS_SERVICE_200 = 200, + PUS_SERVICE_201 = 201, +}; +}; + +#endif /* CONFIG_TMTC_PUSIDS_HPP_ */ diff --git a/hosted/main.cpp b/bsp_hosted/main.cpp similarity index 88% rename from hosted/main.cpp rename to bsp_hosted/main.cpp index e5ca6d02..4fa1eb04 100644 --- a/hosted/main.cpp +++ b/bsp_hosted/main.cpp @@ -1,7 +1,7 @@ -#include -#include -#include +#include "InitMission.h" +#include +#include #include #ifdef WIN32 @@ -24,7 +24,7 @@ int main(void) << SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; - InitMission::initMission(); + initmission::initMission(); for(;;) { // suspend main thread by sleeping it. diff --git a/bsp_linux/InitMission.cpp b/bsp_linux/InitMission.cpp deleted file mode 100644 index cf84ab0d..00000000 --- a/bsp_linux/InitMission.cpp +++ /dev/null @@ -1,159 +0,0 @@ -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -// This is configured for linux without \cr -#ifdef LINUX -ServiceInterfaceStream sif::debug("DEBUG"); -ServiceInterfaceStream sif::info("INFO"); -ServiceInterfaceStream sif::warning("WARNING"); -ServiceInterfaceStream sif::error("ERROR", false, false, true); -#else -ServiceInterfaceStream sif::debug("DEBUG", true); -ServiceInterfaceStream sif::info("INFO", true); -ServiceInterfaceStream sif::warning("WARNING", true); -ServiceInterfaceStream sif::error("ERROR", true, false, true); -#endif - -ObjectManagerIF *objectManager = nullptr; - -//Initialize Data Pool -DataPool dataPool(nullptr); - -void InitMission::initMission() { - sif::info << "Building global objects.." << std::endl; - /* Instantiate global object manager and also create all objects */ - objectManager = new ObjectManager(ObjectFactory::produce); - sif::info << "Initializing all objects.." << std::endl; - objectManager->initialize(); - - /* This function creates and starts all tasks */ - initTasks(); -} - -void InitMission::initTasks(){ - /* TMTC Distribution */ - PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()-> - createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, - 0.100, nullptr); - ReturnValue_t result = TmTcDistributor->addComponent( - objects::CCSDS_PACKET_DISTRIBUTOR); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - result = TmTcDistributor->addComponent(objects::TM_FUNNEL); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "Object add component failed" << std::endl; - } - - /* UDP bridge */ - PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask( - "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, - 0.2, nullptr); - result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "Add component UDP Unix Bridge failed" << std::endl; - } - PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()-> - createPeriodicTask("UDP_POLLING", 80, - PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr); - result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "Add component UDP Polling failed" << std::endl; - } - - /* PUS Services */ - PeriodicTaskIF* PusVerification = TaskFactory::instance()-> - createPeriodicTask("PUS_VERIF_1", 40, - PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr); - result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); - if(result != HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - PeriodicTaskIF* PusEvents = TaskFactory::instance()-> - createPeriodicTask("PUS_VERIF_1", 60, - PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr); - result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); - if(result != HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - PeriodicTaskIF* PusHighPrio = TaskFactory::instance()-> - createPeriodicTask("PUS_HIGH_PRIO", 50, - PeriodicTaskIF::MINIMUM_STACK_SIZE, - 0.200, nullptr); - result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - PeriodicTaskIF* PusMedPrio = TaskFactory::instance()-> - createPeriodicTask("PUS_HIGH_PRIO", 40, - PeriodicTaskIF::MINIMUM_STACK_SIZE, - 0.8, nullptr); - result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - PeriodicTaskIF* PusLowPrio = TaskFactory::instance()-> - createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, - 1.6, nullptr); - result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - -#if ADD_TEST_CODE == 1 - FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()-> - createFixedTimeslotTask("PST_TEST_TASK", 10, - PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); - result = pst::pollingSequenceTestFunction(TestTimeslotTask); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "InitMission::createTasks: Test PST initialization " - << "failed!" << std::endl; - } -#endif - - //Main thread sleep - sif::info << "Starting tasks.." << std::endl; - TmTcDistributor->startTask(); - UdpBridgeTask->startTask(); - UdpPollingTask->startTask(); - - PusVerification->startTask(); - PusEvents->startTask(); - PusHighPrio->startTask(); - PusMedPrio->startTask(); - PusLowPrio->startTask(); -#if ADD_TEST_CODE == 1 - TestTimeslotTask->startTask(); -#endif - sif::info << "Tasks started.." << std::endl; -} diff --git a/bsp_linux/bsp_linux.mk b/bsp_linux/bsp_linux.mk deleted file mode 100644 index f7f9a469..00000000 --- a/bsp_linux/bsp_linux.mk +++ /dev/null @@ -1,4 +0,0 @@ -CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp) -CSRC += $(wildcard $(CURRENTPATH)/*.c) - -CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c) \ No newline at end of file diff --git a/bsp_linux/comIF/ArduinoComIF.cpp b/bsp_linux/comIF/ArduinoComIF.cpp deleted file mode 100644 index ffc59b47..00000000 --- a/bsp_linux/comIF/ArduinoComIF.cpp +++ /dev/null @@ -1,324 +0,0 @@ -#include "ArduinoCookie.h" -#include "ArduinoComIF.h" - -#include -#include -#include -#include -#include -#include -#include - -#include - -ArduinoCommInterface::ArduinoCommInterface(object_id_t setObjectId, - const char *serialDevice) : - spiMap(MAX_NUMBER_OF_SPI_DEVICES), rxBuffer( - MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true), SystemObject(setObjectId) { - initialized = false; - serialPort = ::open("/dev/ttyUSB0", O_RDWR); - - if (serialPort < 0) { - //configuration error - printf("Error %i from open: %s\n", errno, strerror(errno)); - return; - } - - struct termios tty; - memset(&tty, 0, sizeof tty); - - // Read in existing settings, and handle any error - if (tcgetattr(serialPort, &tty) != 0) { - printf("Error %i from tcgetattr: %s\n", errno, strerror(errno)); - return; - } - - tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity - tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication - tty.c_cflag |= CS8; // 8 bits per byte - tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - tty.c_lflag &= ~ICANON; //Disable Canonical Mode - tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars) - tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed - tty.c_cc[VTIME] = 0; // Non Blocking - tty.c_cc[VMIN] = 0; - - cfsetispeed(&tty, B9600); //Baudrate - - if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { - //printf("Error %i from tcsetattr: %s\n", errno, strerror(errno)); - return; - } - - initialized = true; - -} - -ArduinoCommInterface::~ArduinoCommInterface() { - ::close(serialPort); -} - -ReturnValue_t ArduinoCommInterface::open(Cookie **cookie, uint32_t address, - uint32_t maxReplyLen) { - //This is a hack, will be gone with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19 - switch ((address >> 8) & 0xff) { - case 0: - *cookie = new ArduinoCookie(ArduinoCookie::SPI, address, maxReplyLen); - spiMap.insert(address, (ArduinoCookie*) *cookie); //Yes, I *do* know that it is an ArduinoSpiCookie, I just new'd it - break; - default: - return HasReturnvaluesIF::RETURN_FAILED; - } - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t ArduinoCommInterface::reOpen(Cookie *cookie, uint32_t address, - uint32_t maxReplyLen) { - //too lazy right now will be irrelevant with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19 - return HasReturnvaluesIF::RETURN_FAILED; -} - -void ArduinoCommInterface::close(Cookie *cookie) { - //too lazy as well, find the correct Map, delete it there, then the cookie... -} - -ReturnValue_t ArduinoCommInterface::sendMessage(Cookie *cookie, uint8_t *data, - uint32_t len) { - ArduinoCookie *arduinoCookie = dynamic_cast(cookie); - if (arduinoCookie == NULL) { - return INVALID_COOKIE_TYPE; - } - - return sendMessage(arduinoCookie->command, arduinoCookie->address, data, - len); -} - -ReturnValue_t ArduinoCommInterface::getSendSuccess(Cookie *cookie) { - return RETURN_OK; -} - -ReturnValue_t ArduinoCommInterface::requestReceiveMessage(Cookie *cookie) { - return RETURN_OK; -} - -ReturnValue_t ArduinoCommInterface::readReceivedMessage(Cookie *cookie, - uint8_t **buffer, uint32_t *size) { - - handleSerialPortRx(); - - ArduinoCookie *arduinoCookie = dynamic_cast(cookie); - if (arduinoCookie == NULL) { - return INVALID_COOKIE_TYPE; - } - - *buffer = arduinoCookie->replyBuffer; - *size = arduinoCookie->receivedDataLen; - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t ArduinoCommInterface::setAddress(Cookie *cookie, - uint32_t address) { - //not implemented - return RETURN_FAILED; -} - -uint32_t ArduinoCommInterface::getAddress(Cookie *cookie) { - //not implemented - return 0; -} - -ReturnValue_t ArduinoCommInterface::setParameter(Cookie *cookie, - uint32_t parameter) { - //not implemented - return RETURN_FAILED; -} - -uint32_t ArduinoCommInterface::getParameter(Cookie *cookie) { - //not implemented - return 0; -} - -ReturnValue_t ArduinoCommInterface::sendMessage(uint8_t command, - uint8_t address, const uint8_t *data, size_t dataLen) { - if (dataLen > UINT16_MAX) { - return TOO_MUCH_DATA; - } - - //being conservative here - uint8_t sendBuffer[(dataLen + 6) * 2 + 2]; - - sendBuffer[0] = DleEncoder::STX; - - uint8_t *currentPosition = sendBuffer + 1; - size_t remainingLen = sizeof(sendBuffer) - 1; - uint32_t encodedLen; - - ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition, - remainingLen, &encodedLen, false); - if (result != RETURN_OK) { - return result; - } - currentPosition += encodedLen; - remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen - - result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, - &encodedLen, false); - if (result != RETURN_OK) { - return result; - } - currentPosition += encodedLen; - remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen - - uint8_t temporaryBuffer[2]; - - //note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much... - temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above - temporaryBuffer[1] = dataLen; - - result = DleEncoder::encode(temporaryBuffer, 2, currentPosition, - remainingLen, &encodedLen, false); - if (result != RETURN_OK) { - return result; - } - currentPosition += encodedLen; - remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen - - //encoding the actual data - result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, - &encodedLen, false); - if (result != RETURN_OK) { - return result; - } - currentPosition += encodedLen; - remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen - - uint16_t crc = CRC::crc16ccitt(&command, 1); - crc = CRC::crc16ccitt(&address, 1, crc); - //fortunately the length is still there - crc = CRC::crc16ccitt(temporaryBuffer, 2, crc); - crc = CRC::crc16ccitt(data, dataLen, crc); - - temporaryBuffer[0] = crc >> 8; - temporaryBuffer[1] = crc; - - result = DleEncoder::encode(temporaryBuffer, 2, currentPosition, - remainingLen, &encodedLen, false); - if (result != RETURN_OK) { - return result; - } - currentPosition += encodedLen; - remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen - - if (remainingLen > 0) { - *currentPosition = DleEncoder::ETX; - } - remainingLen -= 1; - - encodedLen = sizeof(sendBuffer) - remainingLen; - - ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen); - if (writtenlen < 0) { - //we could try to find out what happened... - return RETURN_FAILED; - } - if (writtenlen != encodedLen) { - //the OS failed us, we do not try to block until everything is written, as - //we can not block the whole system here - return RETURN_FAILED; - } - return RETURN_OK; -} - -void ArduinoCommInterface::handleSerialPortRx() { - uint32_t availableSpace = rxBuffer.availableWriteSpace(); - - uint8_t dataFromSerial[availableSpace]; - - ssize_t bytesRead = read(serialPort, dataFromSerial, - sizeof(dataFromSerial)); - - if (bytesRead < 0) { - return; - } - - rxBuffer.writeData(dataFromSerial, bytesRead); - - uint8_t dataReceivedSoFar[rxBuffer.maxSize()]; - - uint32_t dataLenReceivedSoFar = 0; - - rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, - &dataLenReceivedSoFar); - - //look for STX - size_t firstSTXinRawData = 0; - while ((firstSTXinRawData < dataLenReceivedSoFar) - && (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) { - firstSTXinRawData++; - } - - if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) { - //there is no STX in our data, throw it away... - rxBuffer.deleteData(dataLenReceivedSoFar); - return; - } - - uint8_t packet[MAX_PACKET_SIZE]; - uint32_t packetLen; - - uint32_t readSize; - - ReturnValue_t result = DleEncoder::decode( - dataReceivedSoFar + firstSTXinRawData, - dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet, - sizeof(packet), &packetLen); - - size_t toDelete = firstSTXinRawData; - if (result == HasReturnvaluesIF::RETURN_OK) { - handlePacket(packet, packetLen); - - //after handling the packet, we can delete it from the raw stream, it has been copied to packet - toDelete += readSize; - } - - //remove Data which was processed - rxBuffer.deleteData(toDelete); -} - -void ArduinoCommInterface::handlePacket(uint8_t *packet, size_t packetLen) { - uint16_t crc = CRC::crc16ccitt(packet, packetLen); - if (crc != 0) { - //CRC error - return; - } - - uint8_t command = packet[0]; - uint8_t address = packet[1]; - - uint16_t size = (packet[2] << 8) + packet[3]; - - if (size != packetLen - 6) { - //Invalid Length - return; - } - - switch (command) { - case ArduinoCookie::SPI: { - ArduinoCookie **itsComplicated; - ReturnValue_t result = spiMap.find(address, &itsComplicated); - if (result != RETURN_OK) { - //we do no know this address - return; - } - ArduinoCookie *theActualCookie = *itsComplicated; - if (packetLen > theActualCookie->maxReplySize + 6) { - packetLen = theActualCookie->maxReplySize + 6; - } - memcpy(theActualCookie->replyBuffer, packet + 4, packetLen - 6); - theActualCookie->receivedDataLen = packetLen - 6; - } - break; - default: - return; - } -} diff --git a/bsp_linux/comIF/ArduinoComIF.h b/bsp_linux/comIF/ArduinoComIF.h deleted file mode 100644 index 9ab166de..00000000 --- a/bsp_linux/comIF/ArduinoComIF.h +++ /dev/null @@ -1,73 +0,0 @@ -//#ifndef MISSION_ARDUINOCOMMINTERFACE_H_ -//#define MISSION_ARDUINOCOMMINTERFACE_H_ -// -//#include -//#include -//#include -//#include -//#include -//#include -// -//#include "../../framework/objectmanager/SystemObject.h" -//#include "ArduinoCookie.h" -// -////Forward declaration, so users don't peek -//class ArduinoCookie; -// -//class ArduinoComIF: public SystemObject, -// public DeviceCommunicationIF { -//public: -// static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8; -// static const uint8_t MAX_PACKET_SIZE = 64; -// -// static const uint8_t COMMAND_INVALID = -1; -// static const uint8_t COMMAND_SPI = 1; -// -// ArduinoComIF(object_id_t setObjectId, const char *serialDevice); -// virtual ~ArduinoComIF(); -// -// virtual ReturnValue_t open(Cookie **cookie, uint32_t address, -// uint32_t maxReplyLen); -// -// virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address, -// uint32_t maxReplyLen); -// -// virtual void close(Cookie *cookie); -// -// //SHOULDDO can data be const? -// virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data, -// uint32_t len); -// -// virtual ReturnValue_t getSendSuccess(Cookie *cookie); -// -// virtual ReturnValue_t requestReceiveMessage(Cookie *cookie); -// -// virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer, -// uint32_t *size); -// -// virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address); -// -// virtual uint32_t getAddress(Cookie *cookie); -// -// virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter); -// -// virtual uint32_t getParameter(Cookie *cookie); -//private: -// //remembering if the initialization in the ctor worked -// //if not, all calls are disabled -// bool initialized; -// int serialPort; -// //used to know where to put the data if a reply is received -// FixedMap spiMap; -// -// SimpleRingBuffer rxBuffer; -// -// ReturnValue_t sendMessage(uint8_t command, uint8_t address, -// const uint8_t *data, size_t dataLen); -// -// void handleSerialPortRx(); -// -// void handlePacket(uint8_t *packet, size_t packetLen); -//}; -// -//#endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */ diff --git a/bsp_linux/comIF/ArduinoCookie.cpp b/bsp_linux/comIF/ArduinoCookie.cpp deleted file mode 100644 index d7e81192..00000000 --- a/bsp_linux/comIF/ArduinoCookie.cpp +++ /dev/null @@ -1,12 +0,0 @@ -//#include -// -//ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address, -// size_t maxReplySize) : -// command(protocol), address(address), receivedDataLen(0), maxReplySize( -// maxReplySize) { -// replyBuffer = new uint8_t[maxReplySize]; -//} -// -//ArduinoCookie::~ArduinoCookie() { -// delete[] replyBuffer; -//} diff --git a/bsp_linux/comIF/ArduinoCookie.h b/bsp_linux/comIF/ArduinoCookie.h deleted file mode 100644 index 64eed4ad..00000000 --- a/bsp_linux/comIF/ArduinoCookie.h +++ /dev/null @@ -1,25 +0,0 @@ -//#ifndef MISSION_ARDUINO_ARDUINOCOOKIE_H_ -//#define MISSION_ARDUINO_ARDUINOCOOKIE_H_ -// -//#include -// -//#include -//#include -// -//class ArduinoCookie: public Cookie { -//public: -// enum Protocol_t { -// INVALID = 0, SPI = 1 -// }; -// ArduinoCookie(Protocol_t protocol, uint8_t address, size_t maxReplySize); -// virtual ~ArduinoCookie(); -// -// uint8_t command; -// uint8_t address; -// uint8_t *replyBuffer; -// size_t receivedDataLen; -// size_t maxReplySize; -// -//}; -// -//#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */ diff --git a/bsp_q7s/CMakeLists.txt b/bsp_q7s/CMakeLists.txt new file mode 100644 index 00000000..e567628e --- /dev/null +++ b/bsp_q7s/CMakeLists.txt @@ -0,0 +1,14 @@ +target_sources(${TARGET_NAME} PUBLIC + InitMission.cpp + main.cpp + ObjectFactory.cpp +) + +add_subdirectory(boardconfig) +add_subdirectory(comIF) +add_subdirectory(devices) +add_subdirectory(boardtest) +add_subdirectory(gpio) + + + diff --git a/bsp_q7s/InitMission.cpp b/bsp_q7s/InitMission.cpp new file mode 100644 index 00000000..3fe0ba0c --- /dev/null +++ b/bsp_q7s/InitMission.cpp @@ -0,0 +1,205 @@ +#include "InitMission.h" +#include "ObjectFactory.h" +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* This is configured for linux without CR */ +#ifdef LINUX +ServiceInterfaceStream sif::debug("DEBUG"); +ServiceInterfaceStream sif::info("INFO"); +ServiceInterfaceStream sif::warning("WARNING"); +ServiceInterfaceStream sif::error("ERROR", false, false, true); +#else +ServiceInterfaceStream sif::debug("DEBUG", true); +ServiceInterfaceStream sif::info("INFO", true); +ServiceInterfaceStream sif::warning("WARNING", true); +ServiceInterfaceStream sif::error("ERROR", true, false, true); +#endif + +ObjectManagerIF *objectManager = nullptr; + +void initmission::initMission() { + sif::info << "Building global objects.." << std::endl; + /* Instantiate global object manager and also create all objects */ + objectManager = new ObjectManager(ObjectFactory::produce); + sif::info << "Initializing all objects.." << std::endl; + objectManager->initialize(); + + /* This function creates and starts all tasks */ + initTasks(); +} + +void initmission::initTasks() { + TaskFactory* factory = TaskFactory::instance(); + if(factory == nullptr) { + /* Should never happen ! */ + return; + } +#if OBSW_PRINT_MISSED_DEADLINES == 1 + void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline; +#else + void (*missedDeadlineFunc) (void) = nullptr; +#endif + + /* TMTC Distribution */ + PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( + "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + ReturnValue_t result = tmTcDistributor->addComponent( + objects::CCSDS_PACKET_DISTRIBUTOR); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR); + } + result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR); + } + result = tmTcDistributor->addComponent(objects::TM_FUNNEL); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL); + } + + /* UDP bridge */ + PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask( + "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + result = udpBridgeTask->addComponent(objects::UDP_BRIDGE); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE); + } + PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask( + "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); + result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK); + } + + /* PUS Services */ + PeriodicTaskIF* pusVerification = factory->createPeriodicTask( + "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); + result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION); + } + + PeriodicTaskIF* pusEvents = factory->createPeriodicTask( + "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); + result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING); + } + + PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask( + "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); + result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS); + } + result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT); + } + + PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask( + "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); + result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT); + } + result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING); + if(result!=HasReturnvaluesIF::RETURN_OK){ + sif::error << "Object add component failed" << std::endl; + } + result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT); + } + result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS); + } + + PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask( + "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); + result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST); + } + + //TODO: Add handling of missed deadlines + /* Polling Sequence Table Default */ +#if Q7S_ADD_SPI_TEST == 0 + FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask( + "PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, + missedDeadlineFunc); + result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; + } +#endif + +#if TE0720 == 0 + FixedTimeslotTaskIF* gomSpacePstTask = factory-> + createFixedTimeslotTask("GS_PST_TASK", 50, + PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, missedDeadlineFunc); + result = pst::gomspacePstInit(gomSpacePstTask); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; + } +#endif + +#if OBSW_ADD_TEST_CODE == 1 + PeriodicTaskIF* testTask = factory->createPeriodicTask( + "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc); + result = testTask->addComponent(objects::TEST_TASK); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); + } + +#if Q7S_ADD_SPI_TEST == 1 + result = testTask->addComponent(objects::SPI_TEST); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST); + } +#endif +#endif /* OBSW_ADD_TEST_CODE == 1 */ +#if TE0720 == 1 && TEST_LIBGPIOD == 1 + result = testTask->addComponent(objects::LIBGPIOD_TEST); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST); + } +#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */ + + sif::info << "Starting tasks.." << std::endl; + tmTcDistributor->startTask(); + udpBridgeTask->startTask(); + udpPollingTask->startTask(); + +#if TE0720 == 0 + gomSpacePstTask->startTask(); +#endif + +#if Q7S_ADD_SPI_TEST == 0 + pollingSequenceTableTaskDefault->startTask(); +#endif + + pusVerification->startTask(); + pusEvents->startTask(); + pusHighPrio->startTask(); + pusMedPrio->startTask(); + pusLowPrio->startTask(); + +#if OBSW_ADD_TEST_CODE == 1 + testTask->startTask(); +#endif + sif::info << "Tasks started.." << std::endl; +} diff --git a/bsp_q7s/InitMission.h b/bsp_q7s/InitMission.h new file mode 100644 index 00000000..568b26b5 --- /dev/null +++ b/bsp_q7s/InitMission.h @@ -0,0 +1,9 @@ +#ifndef BSP_Q7S_INITMISSION_H_ +#define BSP_Q7S_INITMISSION_H_ + +namespace initmission { +void initMission(); +void initTasks(); +}; + +#endif /* BSP_Q7S_INITMISSION_H_ */ diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp new file mode 100644 index 00000000..5519b84b --- /dev/null +++ b/bsp_q7s/ObjectFactory.cpp @@ -0,0 +1,439 @@ +#include "ObjectFactory.h" +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +/* UDP server includes */ +#include +#include +#include + +#if TEST_LIBGPIOD == 1 +#include +#endif + +void Factory::setStaticFrameworkObjectIds() { + PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; + PusServiceBase::packetDestination = objects::TM_FUNNEL; + + CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR; + CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL; + + TmFunnel::downlinkDestination = objects::UDP_BRIDGE; + // No storage object for now. + TmFunnel::storageDestination = objects::NO_OBJECT; + + LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING; + + VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; + TmPacketBase::timeStamperId = objects::TIME_STAMPER; +} + + + +void ObjectFactory::produce(){ + Factory::setStaticFrameworkObjectIds(); + ObjectFactory::produceGenericObjects(); + +#if TE0720 == 1 + I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1, + TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0")); + I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2, + TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0")); +#else + I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1, + TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1")); + I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2, + TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1")); +#endif + LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF); + + /* Communication interfaces */ + new CspComIF(objects::CSP_COM_IF); + new I2cComIF(objects::I2C_COM_IF); + new UartComIF(objects::UART_COM_IF); +#if Q7S_ADD_SPI_TEST == 0 + new SpiComIF(objects::SPI_COM_IF, gpioComIF); +#endif + + /* Temperature sensors */ + Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler( + objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, + i2cCookieTmp1075tcs1); + tmp1075Handler_1->setStartUpImmediately(); + Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler( + objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, + i2cCookieTmp1075tcs2); + tmp1075Handler_2->setStartUpImmediately(); + + GpioCookie* heaterGpiosCookie = new GpioCookie; + +#if TE0720 == 0 + CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, + addresses::P60DOCK); + CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, + addresses::PDU1); + CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, + addresses::PDU2); + CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, + addresses::ACU); + /* Device Handler */ + P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, + objects::CSP_COM_IF, p60DockCspCookie); + PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, + objects::CSP_COM_IF, pdu1CspCookie); + PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, + objects::CSP_COM_IF, pdu2CspCookie); + ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, + objects::CSP_COM_IF, acuCspCookie); + new PCDUHandler(objects::PCDU_HANDLER, 50); + + /** + * Setting PCDU devices to mode normal immediately after start up because PCDU is always + * running. + */ + /** For now this needs to be commented out because there is no PCDU connected to the OBC */ +// p60dockhandler->setModeNormal(); +// pdu1handler->setModeNormal(); +// pdu2handler->setModeNormal(); +// acuhandler->setModeNormal(); + (void) p60dockhandler; + (void) pdu1handler; + (void) pdu2handler; + (void) acuhandler; + +#if OBSW_ADD_ACS_BOARD == 1 + GpioCookie* gpioCookieAcsBoard = new GpioCookie(); + GpiodRegular* gpio = nullptr; + gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_1_ADIS"), + gpio::OUT, gpio::HIGH); + gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); + gpio = new GpiodRegular(std::string("gpiochip5"), 7, std::string("CS_GYRO_2_L3G"), + gpio::OUT, gpio::HIGH); + gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); + gpio = new GpiodRegular(std::string("gpiochip5"), 3, std::string("CS_GYRO_3_L3G"), + gpio::OUT, gpio::HIGH); + gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio); + + gpio = new GpiodRegular(std::string("gpiochip5"), 5, std::string("CS_MGM_0_LIS3_A"), + gpio::OUT, gpio::HIGH); + gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); + + gpio = new GpiodRegular(std::string("gpiochip5"), 17, std::string("CS_MGM_1_RM3100_A"), + gpio::OUT, gpio::HIGH); + gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); + + gpio = new GpiodRegular(std::string("gpiochip6"), 0, std::string("CS_MGM_2_LIS3_B"), + gpio::OUT, gpio::HIGH); + gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); + + gpio = new GpiodRegular(std::string("gpiochip5"), 10, std::string("CS_MGM_3_RM3100_B"), + gpio::OUT, gpio::HIGH); + gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); + + gpioComIF->addGpios(gpioCookieAcsBoard); + + std::string spiDev = "/dev/spidev2.0"; + SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, + MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); + auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER, + objects::SPI_COM_IF, spiCookie); + mgmLis3Handler->setStartUpImmediately(); + + spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev, + MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); + auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER, + objects::SPI_COM_IF, spiCookie); + mgmLis3Handler2->setStartUpImmediately(); + + spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, + RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); + auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER, + objects::SPI_COM_IF, spiCookie); + mgmRm3100Handler->setStartUpImmediately(); + + spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, + L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); + auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, + spiCookie); + gyroL3gHandler->setStartUpImmediately(); +#endif + + /* Pin H2-11 on stack connector */ + GpiodRegular* gpioConfigHeater0 = new GpiodRegular(std::string("gpiochip7"), 6, + std::string("Heater0"), gpio::OUT, 0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0); + + /* Pin H2-12 on stack connector */ + GpiodRegular* gpioConfigHeater1 = new GpiodRegular(std::string("gpiochip7"), 12, + std::string("Heater1"), gpio::OUT, 0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1); + + /* Pin H2-13 on stack connector */ + GpiodRegular* gpioConfigHeater2 = new GpiodRegular(std::string("gpiochip7"), 7, + std::string("Heater2"), gpio::OUT, 0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2); + + GpiodRegular* gpioConfigHeater3 = new GpiodRegular(std::string("gpiochip7"), 5, + std::string("Heater3"), gpio::OUT, 0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3); + + GpiodRegular* gpioConfigHeater4 = new GpiodRegular(std::string("gpiochip7"), 3, + std::string("Heater4"), gpio::OUT, 0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4); + + GpiodRegular* gpioConfigHeater5 = new GpiodRegular(std::string("gpiochip7"), 0, + std::string("Heater5"), gpio::OUT, 0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5); + + GpiodRegular* gpioConfigHeater6 = new GpiodRegular(std::string("gpiochip7"), 1, + std::string("Heater6"), gpio::OUT, 0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6); + + GpiodRegular* gpioConfigHeater7 = new GpiodRegular(std::string("gpiochip7"), 11, + std::string("Heater7"), gpio::OUT, 0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7); + + new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, + objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN); + + GpioCookie* solarArrayDeplCookie = new GpioCookie; + + GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(std::string("gpiochip7"), 4, + std::string("DeplSA1"), gpio::OUT, 0); + solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0); + GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(std::string("gpiochip7"), 2, + std::string("DeplSA2"), gpio::OUT, 0); + solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1); + + //TODO: Find out burn time. For now set to 1000 ms. + new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF, + solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM, + gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000); + + UartCookie* syrlinksUartCookie = new UartCookie( + std::string("/dev/ttyUL0"), 38400, SYRLINKS::MAX_REPLY_SIZE); + syrlinksUartCookie->setParityEven(); + + SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, + objects::UART_COM_IF, syrlinksUartCookie); + syrlinksHkHandler->setModeNormal(); + +#if Q7S_ADD_RTD_DEVICES == 1 + GpioCookie* rtdGpioCookie = new GpioCookie; + + gpioCallbacks::initTcsBoardDecoder(gpioComIF); + GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC3, gpioRtdIc3); + GpioCallback* gpioRtdIc4 = new GpioCallback(std::string("Chip select RTD IC4"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC4, gpioRtdIc4); + GpioCallback* gpioRtdIc5 = new GpioCallback(std::string("Chip select RTD IC5"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC5, gpioRtdIc5); + GpioCallback* gpioRtdIc6 = new GpioCallback(std::string("Chip select RTD IC6"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC6, gpioRtdIc6); + GpioCallback* gpioRtdIc7 = new GpioCallback(std::string("Chip select RTD IC7"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC7, gpioRtdIc7); + GpioCallback* gpioRtdIc8 = new GpioCallback(std::string("Chip select RTD IC8"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC8, gpioRtdIc8); + GpioCallback* gpioRtdIc9 = new GpioCallback(std::string("Chip select RTD IC9"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC9, gpioRtdIc9); + GpioCallback* gpioRtdIc10 = new GpioCallback(std::string("Chip select RTD IC10"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC10, gpioRtdIc10); + GpioCallback* gpioRtdIc11 = new GpioCallback(std::string("Chip select RTD IC11"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC11, gpioRtdIc11); + GpioCallback* gpioRtdIc12 = new GpioCallback(std::string("Chip select RTD IC12"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC12, gpioRtdIc12); + GpioCallback* gpioRtdIc13 = new GpioCallback(std::string("Chip select RTD IC13"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC13, gpioRtdIc13); + GpioCallback* gpioRtdIc14 = new GpioCallback(std::string("Chip select RTD IC14"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC14, gpioRtdIc14); + GpioCallback* gpioRtdIc15 = new GpioCallback(std::string("Chip select RTD IC15"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC15, gpioRtdIc15); + GpioCallback* gpioRtdIc16 = new GpioCallback(std::string("Chip select RTD IC16"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC16, gpioRtdIc16); + GpioCallback* gpioRtdIc17 = new GpioCallback(std::string("Chip select RTD IC17"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC17, gpioRtdIc17); + GpioCallback* gpioRtdIc18 = new GpioCallback(std::string("Chip select RTD IC18"), gpio::OUT, 1, + &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + rtdGpioCookie->addGpio(gpioIds::RTD_IC18, gpioRtdIc18); + + gpioComIF->addGpios(rtdGpioCookie); + + SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18, + std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, + spi::SpiModes::MODE_1, 2000000); + + Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId + Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0); + Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF, spiRtdIc5, 0); + Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF, spiRtdIc6, 0); + Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF, spiRtdIc7, 0); + Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF, spiRtdIc8, 0); + Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF, spiRtdIc9, 0); + Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10, objects::SPI_COM_IF, spiRtdIc10, 0); + Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11, objects::SPI_COM_IF, spiRtdIc11, 0); + Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12, objects::SPI_COM_IF, spiRtdIc12, 0); + Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13, objects::SPI_COM_IF, spiRtdIc13, 0); + Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14, objects::SPI_COM_IF, spiRtdIc14, 0); + Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15, objects::SPI_COM_IF, spiRtdIc15, 0); + Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0); + Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0); + Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0); +// rtdIc10->setStartUpImmediately(); +// rtdIc4->setStartUpImmediately(); + + (void) rtdIc3; + (void) rtdIc4; + (void) rtdIc5; + (void) rtdIc6; + (void) rtdIc7; + (void) rtdIc8; + (void) rtdIc9; + (void) rtdIc10; + (void) rtdIc11; + (void) rtdIc12; + (void) rtdIc13; + (void) rtdIc14; + (void) rtdIc15; + (void) rtdIc16; + (void) rtdIc17; + (void) rtdIc18; + +#endif /* Q7S_ADD_RTD_DEVICES == 1 */ + +#endif /* TE0720 == 0 */ + + new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE, + objects::TC_STORE); + new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE); + + I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, + std::string("/dev/i2c-0")); + IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); + imtqHandler->setStartUpImmediately(); + +#if TE0720 == 1 && TEST_LIBGPIOD == 1 + /* Configure MIO0 as input */ + GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0, + std::string("MIO0"), gpio::IN, 0); + GpioCookie* gpioCookie = new GpioCookie; + gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0); + new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie); +#elif TE0720 == 1 + /* Configuration for MIO0 on TE0720-03-1CFA */ + GpiodRegular gpioConfigForDummyHeater(std::string("gpiochip0"), 0, + std::string("Heater0"), gpio::OUT, 0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater); + new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, + objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN); +#endif + +#if Q7S_ADD_SPI_TEST == 1 + new SpiTestClass(objects::SPI_TEST, gpioComIF); +#endif +} diff --git a/bsp_q7s/ObjectFactory.h b/bsp_q7s/ObjectFactory.h new file mode 100644 index 00000000..38ec0e9e --- /dev/null +++ b/bsp_q7s/ObjectFactory.h @@ -0,0 +1,9 @@ +#ifndef BSP_Q7S_OBJECTFACTORY_H_ +#define BSP_Q7S_OBJECTFACTORY_H_ + +namespace ObjectFactory { +void setStatics(); +void produce(); +}; + +#endif /* BSP_Q7S_OBJECTFACTORY_H_ */ diff --git a/bsp_q7s/boardconfig/CMakeLists.txt b/bsp_q7s/boardconfig/CMakeLists.txt new file mode 100644 index 00000000..c32b326d --- /dev/null +++ b/bsp_q7s/boardconfig/CMakeLists.txt @@ -0,0 +1,10 @@ +target_sources(${TARGET_NAME} PRIVATE + print.c +) + +target_include_directories(${TARGET_NAME} PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) + + + diff --git a/hosted/boardconfig/etl_profile.h b/bsp_q7s/boardconfig/etl_profile.h similarity index 100% rename from hosted/boardconfig/etl_profile.h rename to bsp_q7s/boardconfig/etl_profile.h diff --git a/hosted/boardconfig/gcov.h b/bsp_q7s/boardconfig/gcov.h similarity index 100% rename from hosted/boardconfig/gcov.h rename to bsp_q7s/boardconfig/gcov.h diff --git a/bsp_linux/boardconfig/print.c b/bsp_q7s/boardconfig/print.c similarity index 81% rename from bsp_linux/boardconfig/print.c rename to bsp_q7s/boardconfig/print.c index f409ee1b..c501e0b7 100644 --- a/bsp_linux/boardconfig/print.c +++ b/bsp_q7s/boardconfig/print.c @@ -1,4 +1,4 @@ -#include "print.h" +#include #include void printChar(const char* character, bool errStream) { diff --git a/bsp_linux/boardconfig/print.h b/bsp_q7s/boardconfig/print.h similarity index 100% rename from bsp_linux/boardconfig/print.h rename to bsp_q7s/boardconfig/print.h diff --git a/bsp_q7s/boardconfig/q7s_config.h b/bsp_q7s/boardconfig/q7s_config.h new file mode 100644 index 00000000..782ecf4f --- /dev/null +++ b/bsp_q7s/boardconfig/q7s_config.h @@ -0,0 +1,13 @@ +#ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ +#define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ + +#define Q7S_ADD_RTD_DEVICES 0 + +/* Only one of those 2 should be enabled! */ +/* Add code for ACS board */ +#define OBSW_ADD_ACS_BOARD 0 +#define Q7S_ADD_SPI_TEST 0 + + + +#endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */ diff --git a/bsp_q7s/boardtest/CMakeLists.txt b/bsp_q7s/boardtest/CMakeLists.txt new file mode 100644 index 00000000..0599b73f --- /dev/null +++ b/bsp_q7s/boardtest/CMakeLists.txt @@ -0,0 +1,6 @@ +target_sources(${TARGET_NAME} PRIVATE +) + + + + diff --git a/bsp_q7s/bsp_q7s.mk b/bsp_q7s/bsp_q7s.mk new file mode 100644 index 00000000..93bfdc78 --- /dev/null +++ b/bsp_q7s/bsp_q7s.mk @@ -0,0 +1,6 @@ +CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp) +CXXSRC += $(wildcard $(CURRENTPATH)/comIF/cookies/*.cpp) +CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp) +CSRC += $(wildcard $(CURRENTPATH)/*.c) + +CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c) \ No newline at end of file diff --git a/bsp_q7s/comIF/CMakeLists.txt b/bsp_q7s/comIF/CMakeLists.txt new file mode 100644 index 00000000..0599b73f --- /dev/null +++ b/bsp_q7s/comIF/CMakeLists.txt @@ -0,0 +1,6 @@ +target_sources(${TARGET_NAME} PRIVATE +) + + + + diff --git a/bsp_q7s/devices/CMakeLists.txt b/bsp_q7s/devices/CMakeLists.txt new file mode 100644 index 00000000..9e6fb793 --- /dev/null +++ b/bsp_q7s/devices/CMakeLists.txt @@ -0,0 +1,4 @@ +target_sources(${TARGET_NAME} PRIVATE + HeaterHandler.cpp + SolarArrayDeploymentHandler.cpp +) diff --git a/bsp_q7s/devices/HeaterHandler.cpp b/bsp_q7s/devices/HeaterHandler.cpp new file mode 100644 index 00000000..21a4a3f4 --- /dev/null +++ b/bsp_q7s/devices/HeaterHandler.cpp @@ -0,0 +1,370 @@ +#include "HeaterHandler.h" +#include +#include +#include +#include + +HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_, + CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) : + SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_), + mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_), + actionHelper(this, nullptr) { + commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize, + MessageQueueMessage::MAX_MESSAGE_SIZE); +} + +HeaterHandler::~HeaterHandler() { +} + +ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) { + + if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) { + readCommandQueue(); + handleActiveCommands(); + return RETURN_OK; + } + return RETURN_OK; +} + +ReturnValue_t HeaterHandler::initialize() { + ReturnValue_t result = SystemObject::initialize(); + if (result != RETURN_OK) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + result = initializeHeaterMap(); + if (result != RETURN_OK) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + gpioInterface = objectManager->get(gpioDriverId); + if (gpioInterface == nullptr) { + sif::error << "HeaterHandler::initialize: Invalid Gpio interface." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + result = gpioInterface->addGpios(dynamic_cast(gpioCookie)); + if (result != RETURN_OK) { + sif::error << "HeaterHandler::initialize: Failed to initialize Gpio interface" << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + IPCStore = objectManager->get(objects::IPC_STORE); + if (IPCStore == nullptr) { + sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + if(mainLineSwitcherObjectId != objects::NO_OBJECT) { + mainLineSwitcher = objectManager->get(mainLineSwitcherObjectId); + if (mainLineSwitcher == nullptr) { + sif::error << "HeaterHandler::initialize: Main line switcher failed to fetch object" + << "from object ID." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + } + + result = actionHelper.initialize(commandQueue); + if (result != RETURN_OK) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + return RETURN_OK; +} + +ReturnValue_t HeaterHandler::initializeHeaterMap(){ + HeaterCommandInfo_t heaterCommandInfo; + for(switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) { + std::pair status = heaterMap.emplace(switchNr, heaterCommandInfo); + if (status.second == false) { + sif::error << "HeaterHandler::initializeHeaterMap: Failed to initialize heater map" + << std::endl; + return RETURN_FAILED; + } + } + return RETURN_OK; +} + +void HeaterHandler::setInitialSwitchStates() { + for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) { + switchStates[switchNr] = OFF; + } +} + +void HeaterHandler::readCommandQueue() { + CommandMessage command; + ReturnValue_t result = commandQueue->receiveMessage(&command); + if (result != RETURN_OK) { + return; + } + + result = actionHelper.handleActionMessage(&command); + if (result == RETURN_OK) { + return; + } +} + +ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, + MessageQueueId_t commandedBy, const uint8_t* data, size_t size) { + ReturnValue_t result; + if (actionId != SWITCH_HEATER) { + result = COMMAND_NOT_SUPPORTED; + } else { + switchNr_t switchNr = *data; + HeaterMapIter heaterMapIter = heaterMap.find(switchNr); + if (heaterMapIter != heaterMap.end()) { + if (heaterMapIter->second.active) { + return COMMAND_ALREADY_WAITING; + } + heaterMapIter->second.action = *(data + 1); + heaterMapIter->second.active = true; + heaterMapIter->second.replyQueue = commandedBy; + } + else { + sif::error << "HeaterHandler::executeAction: Invalid switchNr" << std::endl; + return INVALID_SWITCH_NR; + } + result = RETURN_OK; + } + return result; +} + + +void HeaterHandler::sendSwitchCommand(uint8_t switchNr, + ReturnValue_t onOff) const { + + ReturnValue_t result; + store_address_t storeAddress; + uint8_t commandData[2]; + + switch(onOff) { + case PowerSwitchIF::SWITCH_ON: + commandData[0] = switchNr; + commandData[1] = SET_SWITCH_ON; + break; + case PowerSwitchIF::SWITCH_OFF: + commandData[0] = switchNr; + commandData[1] = SET_SWITCH_OFF; + break; + default: + sif::error << "HeaterHandler::sendSwitchCommand: Invalid switch request" + << std::endl; + break; + } + + result = IPCStore->addData(&storeAddress, commandData, sizeof(commandData)); + if (result == RETURN_OK) { + CommandMessage message; + ActionMessage::setCommand(&message, SWITCH_HEATER, storeAddress); + /* Send heater command to own command queue */ + result = commandQueue->sendMessage(commandQueue->getId(), &message, 0); + if (result != RETURN_OK) { + sif::debug << "HeaterHandler::sendSwitchCommand: Failed to send switch" + << "message" << std::endl; + } + } +} + +void HeaterHandler::handleActiveCommands(){ + + HeaterMapIter heaterMapIter = heaterMap.begin(); + for (; heaterMapIter != heaterMap.end(); heaterMapIter++) { + if (heaterMapIter->second.active) { + switch(heaterMapIter->second.action) { + case SET_SWITCH_ON: + handleSwitchOnCommand(heaterMapIter); + break; + case SET_SWITCH_OFF: + handleSwitchOffCommand(heaterMapIter); + break; + default: + sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded" + << std::endl; + break; + } + } + } +} + +void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) { + + ReturnValue_t result = RETURN_OK; + switchNr_t switchNr; + + /* Check if command waits for main switch being set on and whether the timeout has expired */ + if (heaterMapIter->second.waitMainSwitchOn + && heaterMapIter->second.mainSwitchCountdown.hasTimedOut()) { + //TODO - This requires the initiation of an FDIR procedure + triggerEvent(MAIN_SWITCH_TIMEOUT); + sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout" + << std::endl; + heaterMapIter->second.active = false; + heaterMapIter->second.waitMainSwitchOn = false; + if (heaterMapIter->second.replyQueue != commandQueue->getId()) { + actionHelper.finish(false, heaterMapIter->second.replyQueue, + heaterMapIter->second.action, MAIN_SWITCH_SET_TIMEOUT ); + } + return; + } + + switchNr = heaterMapIter->first; + /* Check state of main line switch */ + ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch); + if (mainSwitchState == PowerSwitchIF::SWITCH_ON) { + if (!checkSwitchState(switchNr)) { + gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr); + result = gpioInterface->pullHigh(gpioId); + if (result != RETURN_OK) { + sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id " + << gpioId << " high" << std::endl; + triggerEvent(GPIO_PULL_HIGH_FAILED, result); + } + else { + switchStates[switchNr] = ON; + } + } + else { + triggerEvent(SWITCH_ALREADY_ON, switchNr); + } + /* There is no need to send action finish replies if the sender was the + * HeaterHandler itself. */ + if (heaterMapIter->second.replyQueue != commandQueue->getId()) { + if(result == RETURN_OK) { + actionHelper.finish(true, heaterMapIter->second.replyQueue, + heaterMapIter->second.action, result); + } + else { + actionHelper.finish(false, heaterMapIter->second.replyQueue, + heaterMapIter->second.action, result); + } + + } + heaterMapIter->second.active = false; + heaterMapIter->second.waitMainSwitchOn = false; + } + else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF + && heaterMapIter->second.waitMainSwitchOn) { + /* Just waiting for the main switch being set on */ + return; + } + else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) { + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, + PowerSwitchIF::SWITCH_ON); + heaterMapIter->second.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs()); + heaterMapIter->second.waitMainSwitchOn = true; + } + else { + sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of" + << " main line switch" << std::endl; + if (heaterMapIter->second.replyQueue != commandQueue->getId()) { + actionHelper.finish(false, heaterMapIter->second.replyQueue, + heaterMapIter->second.action, mainSwitchState); + } + heaterMapIter->second.active = false; + } +} + +void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) { + ReturnValue_t result = RETURN_OK; + switchNr_t switchNr = heaterMapIter->first; + /* Check whether switch is already off */ + if (checkSwitchState(switchNr)) { + gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr); + result = gpioInterface->pullLow(gpioId); + if (result != RETURN_OK) { + sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" + << gpioId << " low" << std::endl; + triggerEvent(GPIO_PULL_LOW_FAILED, result); + } + else { + switchStates[switchNr] = OFF; + /* When all switches are off, also main line switch will be turned off */ + if (allSwitchesOff()) { + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); + } + } + } + else { + sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl; + triggerEvent(SWITCH_ALREADY_OFF, switchNr); + } + if (heaterMapIter->second.replyQueue != NO_COMMANDER) { + /* Report back switch command reply if necessary */ + if(result == HasReturnvaluesIF::RETURN_OK) { + actionHelper.finish(true, heaterMapIter->second.replyQueue, + heaterMapIter->second.action, result); + } + else { + actionHelper.finish(false, heaterMapIter->second.replyQueue, + heaterMapIter->second.action, result); + } + } + heaterMapIter->second.active = false; +} + +bool HeaterHandler::checkSwitchState(int switchNr) { + return switchStates[switchNr]; +} + +bool HeaterHandler::allSwitchesOff() { + bool allSwitchesOrd = false; + /* Or all switches. As soon one switch is on, allSwitchesOrd will be true */ + for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) { + allSwitchesOrd = allSwitchesOrd || switchStates[switchNr]; + } + return !allSwitchesOrd; +} + +gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) { + gpioId_t gpioId = 0xFFFF; + switch(switchNr) { + case heaterSwitches::HEATER_0: + gpioId = gpioIds::HEATER_0; + break; + case heaterSwitches::HEATER_1: + gpioId = gpioIds::HEATER_1; + break; + case heaterSwitches::HEATER_2: + gpioId = gpioIds::HEATER_2; + break; + case heaterSwitches::HEATER_3: + gpioId = gpioIds::HEATER_3; + break; + case heaterSwitches::HEATER_4: + gpioId = gpioIds::HEATER_4; + break; + case heaterSwitches::HEATER_5: + gpioId = gpioIds::HEATER_5; + break; + case heaterSwitches::HEATER_6: + gpioId = gpioIds::HEATER_6; + break; + case heaterSwitches::HEATER_7: + gpioId = gpioIds::HEATER_7; + break; + default: + sif::error << "HeaterHandler::getGpioIdFromSwitchNr: Unknown heater switch number" + << std::endl; + break; + } + return gpioId; +} + +MessageQueueId_t HeaterHandler::getCommandQueue() const { + return commandQueue->getId(); +} + +void HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) const { +} + +ReturnValue_t HeaterHandler::getSwitchState( uint8_t switchNr ) const { + return 0; +} + +ReturnValue_t HeaterHandler::getFuseState( uint8_t fuseNr ) const { + return 0; +} + +uint32_t HeaterHandler::getSwitchDelayMs(void) const { + return 0; +} diff --git a/bsp_q7s/devices/HeaterHandler.h b/bsp_q7s/devices/HeaterHandler.h new file mode 100644 index 00000000..8969ebd9 --- /dev/null +++ b/bsp_q7s/devices/HeaterHandler.h @@ -0,0 +1,177 @@ +#ifndef MISSION_DEVICES_HEATERHANDLER_H_ +#define MISSION_DEVICES_HEATERHANDLER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/** + * @brief This class intends the control of heaters. + * + * @author J. Meier + */ +class HeaterHandler: public ExecutableObjectIF, + public PowerSwitchIF, + public SystemObject, + public HasActionsIF { +public: + + /** Device command IDs */ + static const DeviceCommandId_t SWITCH_HEATER = 0x0; + + HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF * gpioCookie, + object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch); + + virtual ~HeaterHandler(); + + virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; + + virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override; + virtual void sendFuseOnCommand(uint8_t fuseNr) const override; + /** + * @brief This function will be called from the Heater object to check + * the current switch state. + */ + virtual ReturnValue_t getSwitchState( uint8_t switchNr ) const override; + virtual ReturnValue_t getFuseState( uint8_t fuseNr ) const override; + virtual uint32_t getSwitchDelayMs(void) const override; + + virtual MessageQueueId_t getCommandQueue() const override; + virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, + const uint8_t* data, size_t size) override; + virtual ReturnValue_t initialize() override; + +private: + + static const uint8_t INTERFACE_ID = CLASS_ID::HEATER_HANDLER; + + static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); + static const ReturnValue_t INIT_FAILED = MAKE_RETURN_CODE(0xA2); + static const ReturnValue_t INVALID_SWITCH_NR = MAKE_RETURN_CODE(0xA3); + static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4); + static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5); + + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER; + static const Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW); + static const Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW); + static const Event SWITCH_ALREADY_ON = MAKE_EVENT(2, severity::LOW); + static const Event SWITCH_ALREADY_OFF = MAKE_EVENT(3, severity::LOW); + static const Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(4, severity::LOW); + + static const MessageQueueId_t NO_COMMANDER = 0; + + enum SwitchState : bool { + ON = true, + OFF = false + }; + + + /** + * @brief Struct holding information about a heater command to execute. + * + * @param action The action to perform. + * @param replyQueue The queue of the commander to which status replies + * will be sent. + * @param active True if command is waiting for execution, otherwise false. + * @param waitSwitchOn True if the command is waiting for the main switch being set on. + * @param mainSwitchCountdown Sets timeout to wait for main switch being set on. + */ + typedef struct HeaterCommandInfo { + uint8_t action; + MessageQueueId_t replyQueue; + bool active = false; + bool waitMainSwitchOn = false; + Countdown mainSwitchCountdown; + } HeaterCommandInfo_t; + + enum SwitchAction { + SET_SWITCH_OFF, + SET_SWITCH_ON + }; + + using switchNr_t = uint8_t; + using HeaterMap = std::unordered_map; + using HeaterMapIter = HeaterMap::iterator; + + HeaterMap heaterMap; + + bool switchStates[heaterSwitches::NUMBER_OF_SWITCHES]; + + /** Size of command queue */ + size_t cmdQueueSize = 20; + + /** + * The object ID of the GPIO driver which enables and disables the + * heaters. + */ + object_id_t gpioDriverId; + + CookieIF * gpioCookie; + + GpioIF* gpioInterface = nullptr; + + /** Queue to receive messages from other objects. */ + MessageQueueIF* commandQueue = nullptr; + + object_id_t mainLineSwitcherObjectId; + + /** Switch number of the heater power supply switch */ + uint8_t mainLineSwitch; + + /** + * Power switcher object which controls the 8V main line of the heater + * logic on the TCS board. + */ + PowerSwitchIF *mainLineSwitcher = nullptr; + + ActionHelper actionHelper; + + StorageManagerIF *IPCStore = nullptr; + + void readCommandQueue(); + + /** + * @brief Returns the state of a switch (ON - true, or OFF - false). + * @param switchNr The number of the switch to check. + */ + bool checkSwitchState(int switchNr); + + /** + * @brief Returns the ID of the GPIO related to a heater identified by the switch number + * which is defined in the heaterSwitches list. + */ + gpioId_t getGpioIdFromSwitchNr(int switchNr); + + /** + * @brief This function runs commands waiting for execution. + */ + void handleActiveCommands(); + + ReturnValue_t initializeHeaterMap(); + + /** + * @brief Sets all switches to OFF. + */ + void setInitialSwitchStates(); + + void handleSwitchOnCommand(HeaterMapIter heaterMapIter); + + void handleSwitchOffCommand(HeaterMapIter heaterMapIter); + + /** + * @brief Checks if all switches are off. + * @return True if all switches are off, otherwise false. + */ + bool allSwitchesOff(); + +}; + +#endif /* MISSION_DEVICES_HEATERHANDLER_H_ */ diff --git a/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp b/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp new file mode 100644 index 00000000..25be3927 --- /dev/null +++ b/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp @@ -0,0 +1,201 @@ +#include "SolarArrayDeploymentHandler.h" + +#include +#include + +#include +#include + + +SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_, + object_id_t gpioDriverId_, CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, + uint8_t mainLineSwitch_, gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs) : + SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_), + mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_), + deplSA1(deplSA1), deplSA2(deplSA2), burnTimeMs(burnTimeMs), actionHelper(this, nullptr) { + commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize, + MessageQueueMessage::MAX_MESSAGE_SIZE); +} + +SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() { +} + +ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) { + + if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) { + handleStateMachine(); + return RETURN_OK; + } + return RETURN_OK; +} + +ReturnValue_t SolarArrayDeploymentHandler::initialize() { + ReturnValue_t result = SystemObject::initialize(); + if (result != RETURN_OK) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + gpioInterface = objectManager->get(gpioDriverId); + if (gpioInterface == nullptr) { + sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface." + << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + result = gpioInterface->addGpios(dynamic_cast(gpioCookie)); + if (result != RETURN_OK) { + sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface" + << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + if (mainLineSwitcherObjectId != objects::NO_OBJECT) { + mainLineSwitcher = objectManager->get(mainLineSwitcherObjectId); + if (mainLineSwitcher == nullptr) { + sif::error + << "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object" + << "from object ID." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + } + + result = actionHelper.initialize(commandQueue); + if (result != RETURN_OK) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + return RETURN_OK; +} + +void SolarArrayDeploymentHandler::handleStateMachine() { + switch (stateMachine) { + case WAIT_ON_DELOYMENT_COMMAND: + readCommandQueue(); + break; + case SWITCH_8V_ON: + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON); + mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs()); + stateMachine = WAIT_ON_8V_SWITCH; + break; + case WAIT_ON_8V_SWITCH: + performWaitOn8VActions(); + break; + case SWITCH_DEPL_GPIOS: + switchDeploymentTransistors(); + break; + case WAIT_ON_DEPLOYMENT_FINISH: + handleDeploymentFinish(); + break; + case WAIT_FOR_MAIN_SWITCH_OFF: + if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) { + stateMachine = WAIT_ON_DELOYMENT_COMMAND; + } else if (mainSwitchCountdown.hasTimedOut()) { + triggerEvent(MAIN_SWITCH_OFF_TIMEOUT); + sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main" + << " switch off" << std::endl; + stateMachine = WAIT_ON_DELOYMENT_COMMAND; + } + break; + default: + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl; + break; + } +} + +void SolarArrayDeploymentHandler::performWaitOn8VActions() { + if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) { + stateMachine = SWITCH_DEPL_GPIOS; + } else { + if (mainSwitchCountdown.hasTimedOut()) { + triggerEvent(MAIN_SWITCH_ON_TIMEOUT); + actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, + MAIN_SWITCH_TIMEOUT_FAILURE); + stateMachine = WAIT_ON_DELOYMENT_COMMAND; + } + } +} + +void SolarArrayDeploymentHandler::switchDeploymentTransistors() { + ReturnValue_t result = RETURN_OK; + result = gpioInterface->pullHigh(deplSA1); + if (result != RETURN_OK) { + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" + " array deployment switch 1 high " << std::endl; + /* If gpio switch high failed, state machine is reset to wait for a command reinitiating + * the deployment sequence. */ + stateMachine = WAIT_ON_DELOYMENT_COMMAND; + triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED); + actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, + SWITCHING_DEPL_SA2_FAILED); + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); + } + result = gpioInterface->pullHigh(deplSA2); + if (result != RETURN_OK) { + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" + " array deployment switch 2 high " << std::endl; + stateMachine = WAIT_ON_DELOYMENT_COMMAND; + triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED); + actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, + SWITCHING_DEPL_SA2_FAILED); + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); + } + deploymentCountdown.setTimeout(burnTimeMs); + stateMachine = WAIT_ON_DEPLOYMENT_FINISH; +} + +void SolarArrayDeploymentHandler::handleDeploymentFinish() { + ReturnValue_t result = RETURN_OK; + if (deploymentCountdown.hasTimedOut()) { + actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK); + result = gpioInterface->pullLow(deplSA1); + if (result != RETURN_OK) { + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" + " array deployment switch 1 low " << std::endl; + } + result = gpioInterface->pullLow(deplSA2); + if (result != RETURN_OK) { + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" + " array deployment switch 2 low " << std::endl; + } + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); + mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs()); + stateMachine = WAIT_FOR_MAIN_SWITCH_OFF; + } +} + +void SolarArrayDeploymentHandler::readCommandQueue() { + CommandMessage command; + ReturnValue_t result = commandQueue->receiveMessage(&command); + if (result != RETURN_OK) { + return; + } + + result = actionHelper.handleActionMessage(&command); + if (result == RETURN_OK) { + return; + } +} + +ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId, + MessageQueueId_t commandedBy, const uint8_t* data, size_t size) { + ReturnValue_t result; + if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) { + sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in" + << "waiting-on-command-state" << std::endl; + return DEPLOYMENT_ALREADY_EXECUTING; + } + if (actionId != DEPLOY_SOLAR_ARRAYS) { + sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command" + << std::endl; + result = COMMAND_NOT_SUPPORTED; + } else { + stateMachine = SWITCH_8V_ON; + rememberCommanderId = commandedBy; + result = RETURN_OK; + } + return result; +} + +MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const { + return commandQueue->getId(); +} diff --git a/bsp_q7s/devices/SolarArrayDeploymentHandler.h b/bsp_q7s/devices/SolarArrayDeploymentHandler.h new file mode 100644 index 00000000..5e573128 --- /dev/null +++ b/bsp_q7s/devices/SolarArrayDeploymentHandler.h @@ -0,0 +1,158 @@ +#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ +#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/** + * @brief This class is used to control the solar array deployment. + * + * @author J. Meier + */ +class SolarArrayDeploymentHandler: public ExecutableObjectIF, + public SystemObject, + public HasReturnvaluesIF, + public HasActionsIF { +public: + + static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5; + + /** + * @brief constructor + * + * @param setObjectId The object id of the SolarArrayDeploymentHandler. + * @param gpioDriverId The id of the gpio com if. + * @param gpioCookie GpioCookie holding information about the gpios used to switch the + * transistors. + * @param mainLineSwitcherObjectId The object id of the object responsible for switching + * the 8V power source. This is normally the PCDU. + * @param mainLineSwitch The id of the main line switch. This is defined in + * powerSwitcherList.h. + * @param deplSA1 gpioId of the GPIO controlling the deployment 1 transistor. + * @param deplSA2 gpioId of the GPIO controlling the deployment 2 transistor. + * @param burnTimeMs Time duration the power will be applied to the burn wires. + */ + SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId, + CookieIF * gpioCookie, object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch, + gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs); + + virtual ~SolarArrayDeploymentHandler(); + + virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; + + virtual MessageQueueId_t getCommandQueue() const override; + virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, + const uint8_t* data, size_t size) override; + virtual ReturnValue_t initialize() override; + +private: + + static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER; + static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0); + static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1); + static const ReturnValue_t MAIN_SWITCH_TIMEOUT_FAILURE = MAKE_RETURN_CODE(0xA2); + static const ReturnValue_t SWITCHING_DEPL_SA1_FAILED = MAKE_RETURN_CODE(0xA3); + static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4); + + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER; + static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW); + static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW); + static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH); + static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH); + static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH); + + + enum StateMachine { + WAIT_ON_DELOYMENT_COMMAND, + SWITCH_8V_ON, + WAIT_ON_8V_SWITCH, + SWITCH_DEPL_GPIOS, + WAIT_ON_DEPLOYMENT_FINISH, + WAIT_FOR_MAIN_SWITCH_OFF + }; + + StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND; + + /** + * This countdown is used to check if the PCDU sets the 8V line on in the intended time. + */ + Countdown mainSwitchCountdown; + + /** + * This countdown is used to wait for the burn wire being successful cut. + */ + Countdown deploymentCountdown; + + + /** + * The message queue id of the component commanding an action will be stored in this variable. + * This is necessary to send later the action finish replies. + */ + MessageQueueId_t rememberCommanderId = 0; + + /** Size of command queue */ + size_t cmdQueueSize = 20; + + /** The object ID of the GPIO driver which switches the deployment transistors */ + object_id_t gpioDriverId; + + CookieIF * gpioCookie; + + /** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */ + object_id_t mainLineSwitcherObjectId; + + /** Switch number of the 8V power switch */ + uint8_t mainLineSwitch; + + gpioId_t deplSA1; + gpioId_t deplSA2; + + GpioIF* gpioInterface = nullptr; + + /** Time duration switches are active to cut the burn wire */ + uint32_t burnTimeMs; + + /** Queue to receive messages from other objects. */ + MessageQueueIF* commandQueue = nullptr; + + /** + * After initialization this pointer will hold the reference to the main line switcher object. + */ + PowerSwitchIF *mainLineSwitcher = nullptr; + + ActionHelper actionHelper; + + void readCommandQueue(); + + /** + * @brief This function performs actions dependent on the current state. + */ + void handleStateMachine(); + + /** + * @brief This function polls the 8V switch state and changes the state machine when the + * switch has been enabled. + */ + void performWaitOn8VActions(); + + /** + * @brief This functions handles the switching of the solar array deployment transistors. + */ + void switchDeploymentTransistors(); + + /** + * @brief This function performs actions to finish the deployment. Essentially switches + * are turned of after the burn time has expired. + */ + void handleDeploymentFinish(); +}; + +#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */ diff --git a/bsp_q7s/gpio/CMakeLists.txt b/bsp_q7s/gpio/CMakeLists.txt new file mode 100644 index 00000000..dd657546 --- /dev/null +++ b/bsp_q7s/gpio/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${TARGET_NAME} PRIVATE + gpioCallbacks.cpp +) diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp new file mode 100644 index 00000000..086e6469 --- /dev/null +++ b/bsp_q7s/gpio/gpioCallbacks.cpp @@ -0,0 +1,221 @@ +#include "gpioCallbacks.h" +#include + +#include +#include +#include + + +namespace gpioCallbacks { + +GpioIF* gpioComInterface; + +void initTcsBoardDecoder(GpioIF* gpioComIF) { + + ReturnValue_t result; + + if (gpioComIF == nullptr) { + sif::debug << "initTcsBoardDecoder: Invalid gpioComIF" << std::endl; + return; + } + + gpioComInterface = gpioComIF; + + GpioCookie* spiMuxGpios = new GpioCookie; + /** + * Initial values of the spi mux gpios can all be set to an arbitrary value expect for spi mux + * bit 1. Setting spi mux bit 1 to high will pull all decoder outputs to high voltage level. + */ + GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("gpiochip7"), 13, + std::string("SPI Mux Bit 1"), gpio::OUT, 1); + spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1); + GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("gpiochip7"), 14, + std::string("SPI Mux Bit 2"), gpio::OUT, 0); + spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2); + GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("gpiochip7"), 15, + std::string("SPI Mux Bit 3"), gpio::OUT, 0); + spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3); + GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("gpiochip7"), 16, + std::string("SPI Mux Bit 4"), gpio::OUT, 0); + spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4); + GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("gpiochip7"), 17, + std::string("SPI Mux Bit 5"), gpio::OUT, 0); + spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5); + GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("gpiochip7"), 18, + std::string("SPI Mux Bit 6"), gpio::OUT, 0); + spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6); + + result = gpioComInterface->addGpios(spiMuxGpios); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "initTcsBoardDecoder: Failed to add mux bit gpios to gpioComIF" + << std::endl; + return; + } +} + +void tcsBoardDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, + void* args) { + + if (gpioComInterface == nullptr) { + sif::debug << "tcsBoardDecoderCallback: No gpioComIF specified. Call initTcsBoardDecoder " + << "to specify gpioComIF" << std::endl; + return; + } + + /* Read is not supported by the callback function */ + if (gpioOp == gpio::GpioOperation::READ) { + return; + } + + if (value == 1) { + /* This will pull all 16 decoder outputs to high */ + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); + } + else if (value == 0) { + switch (gpioId) { + case(gpioIds::RTD_IC3): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC4): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC5): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC6): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC7): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC8): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC9): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC10): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC11): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC12): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC13): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC14): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC15): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC16): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC17): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + break; + } + case(gpioIds::RTD_IC18): { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + break; + } + default: + sif::debug << "tcsBoardDecoderCallback: Invalid gpioid " << gpioId << std::endl; + } + } + else { + sif::debug << "tcsBoardDecoderCallback: Invalid value. Must be 0 or 1" << std::endl; + } +} + +} diff --git a/bsp_q7s/gpio/gpioCallbacks.h b/bsp_q7s/gpio/gpioCallbacks.h new file mode 100644 index 00000000..845127fb --- /dev/null +++ b/bsp_q7s/gpio/gpioCallbacks.h @@ -0,0 +1,23 @@ +#ifndef LINUX_GPIO_GPIOCALLBACKS_H_ +#define LINUX_GPIO_GPIOCALLBACKS_H_ + +#include +#include + + +namespace gpioCallbacks { + + /** + * @brief This function initializes the GPIOs used to control the SN74LVC138APWR decoders on + * the TCS Board. + */ + void initTcsBoardDecoder(GpioIF* gpioComIF); + + /** + * @brief This function implements the decoding to multiply gpios by using the two decoder + * chips SN74LVC138APWR on the TCS board. + */ + void tcsBoardDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args); +} + +#endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */ diff --git a/bsp_linux/main.cpp b/bsp_q7s/main.cpp similarity index 79% rename from bsp_linux/main.cpp rename to bsp_q7s/main.cpp index 5f6be8db..b087e315 100644 --- a/bsp_linux/main.cpp +++ b/bsp_q7s/main.cpp @@ -1,5 +1,4 @@ #include "InitMission.h" - #include #include @@ -14,15 +13,15 @@ int main(void) { std::cout << "-- EIVE OBSW --" << std::endl; - std::cout << "-- Compiled for Linux " << " --" << std::endl; + std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl; std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; - InitMission::initMission(); + initmission::initMission(); for(;;) { - // suspend main thread by sleeping it. + /* Suspend main thread by sleeping it. */ TaskFactory::delayTask(5000); } } diff --git a/bsp_rpi/CMakeLists.txt b/bsp_rpi/CMakeLists.txt new file mode 100644 index 00000000..da35633d --- /dev/null +++ b/bsp_rpi/CMakeLists.txt @@ -0,0 +1,14 @@ +target_sources(${TARGET_NAME} PUBLIC + InitMission.cpp + main.cpp + ObjectFactory.cpp +) + +add_subdirectory(boardconfig) +add_subdirectory(boardtest) +add_subdirectory(gpio) + + + + + diff --git a/bsp_rpi/InitMission.cpp b/bsp_rpi/InitMission.cpp new file mode 100644 index 00000000..40c38e6c --- /dev/null +++ b/bsp_rpi/InitMission.cpp @@ -0,0 +1,177 @@ +#include "InitMission.h" +#include "ObjectFactory.h" + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +ServiceInterfaceStream sif::debug("DEBUG"); +ServiceInterfaceStream sif::info("INFO"); +ServiceInterfaceStream sif::warning("WARNING"); +ServiceInterfaceStream sif::error("ERROR"); + +ObjectManagerIF *objectManager = nullptr; + +void initmission::initMission() { + sif::info << "Building global objects.." << std::endl; + /* Instantiate global object manager and also create all objects */ + objectManager = new ObjectManager(ObjectFactory::produce); + sif::info << "Initializing all objects.." << std::endl; + objectManager->initialize(); + + /* This function creates and starts all tasks */ + initTasks(); +} + +void initmission::initTasks() { + TaskFactory* factory = TaskFactory::instance(); + if(factory == nullptr) { + /* Should never happen ! */ + return; + } +#if OBSW_PRINT_MISSED_DEADLINES == 1 + void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline; +#else + void (*missedDeadlineFunc) (void) = nullptr; +#endif + + /* TMTC Distribution */ + PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( + "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + ReturnValue_t result = tmTcDistributor->addComponent( + objects::CCSDS_PACKET_DISTRIBUTOR); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "Object add component failed" << std::endl; + } + result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "Object add component failed" << std::endl; + } + result = tmTcDistributor->addComponent(objects::TM_FUNNEL); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Object add component failed" << std::endl; + } + + /* UDP bridge */ + PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask( + "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + result = udpBridgeTask->addComponent(objects::UDP_BRIDGE); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Add component UDP Unix Bridge failed" << std::endl; + } + PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask( + "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); + result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Add component UDP Polling failed" << std::endl; + } + + /* PUS Services */ + PeriodicTaskIF* pusVerification = factory->createPeriodicTask( + "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); + result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "Object add component failed" << std::endl; + } + + PeriodicTaskIF* pusEvents = factory->createPeriodicTask( + "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); + result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); + if(result != HasReturnvaluesIF::RETURN_OK){ + initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING); + } + + PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask( + "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); + result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS); + } + result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT); + } + + PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask( + "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); + result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT); + } + result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT); + } + result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS); + } + + PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask( + "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); + result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST); + } + +#if RPI_TEST_ACS_BOARD == 1 + FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask( + "ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc); + result = pst::pollingSequenceAcsTest(acsTask); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl; + } +#endif /* RPI_TEST_ACS_BOARD == 1 */ + + PeriodicTaskIF* testTask = factory->createPeriodicTask( + "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); +#if OBSW_ADD_TEST_CODE == 1 + result = testTask->addComponent(objects::TEST_TASK); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); + } +#endif /* OBSW_ADD_TEST_CODE == 1 */ +#if RPI_ADD_SPI_TEST == 1 + result = testTask->addComponent(objects::SPI_TEST); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST); + } +#endif /* RPI_ADD_SPI_TEST == 1 */ +#if RPI_ADD_GPIO_TEST == 1 + result = testTask->addComponent(objects::LIBGPIOD_TEST); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST); + } +#endif /* RPI_ADD_GPIO_TEST == 1 */ + + sif::info << "Starting tasks.." << std::endl; + tmTcDistributor->startTask(); + udpBridgeTask->startTask(); + udpPollingTask->startTask(); + + pusVerification->startTask(); + pusEvents->startTask(); + pusHighPrio->startTask(); + pusMedPrio->startTask(); + pusLowPrio->startTask(); + +#if OBSW_ADD_TEST_CODE == 1 + testTask->startTask(); +#endif /* OBSW_ADD_TEST_CODE == 1 */ + +#if RPI_TEST_ACS_BOARD == 1 + acsTask->startTask(); +#endif /* RPI_TEST_ACS_BOARD == 1 */ + sif::info << "Tasks started.." << std::endl; +} diff --git a/bsp_linux/InitMission.h b/bsp_rpi/InitMission.h similarity index 85% rename from bsp_linux/InitMission.h rename to bsp_rpi/InitMission.h index 5ecf9e41..01c72008 100644 --- a/bsp_linux/InitMission.h +++ b/bsp_rpi/InitMission.h @@ -1,7 +1,7 @@ #ifndef BSP_LINUX_INITMISSION_H_ #define BSP_LINUX_INITMISSION_H_ -namespace InitMission { +namespace initmission { void initMission(); void initTasks(); }; diff --git a/bsp_rpi/ObjectFactory.cpp b/bsp_rpi/ObjectFactory.cpp new file mode 100644 index 00000000..960abfe6 --- /dev/null +++ b/bsp_rpi/ObjectFactory.cpp @@ -0,0 +1,125 @@ +#include "ObjectFactory.h" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +/* UDP server includes */ +#include +#include + +#include +#include +#include +#include +#include + +void Factory::setStaticFrameworkObjectIds() { + PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; + PusServiceBase::packetDestination = objects::TM_FUNNEL; + + CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR; + CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL; + + TmFunnel::downlinkDestination = objects::UDP_BRIDGE; + // No storage object for now. + TmFunnel::storageDestination = objects::NO_OBJECT; + + LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT; + + VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; + TmPacketStored::timeStamperId = objects::TIME_STAMPER; +} + + + +void ObjectFactory::produce(){ + Factory::setStaticFrameworkObjectIds(); + ObjectFactory::produceGenericObjects(); + + new UdpTmTcBridge(objects::UDP_BRIDGE, + objects::CCSDS_PACKET_DISTRIBUTOR, + objects::TM_STORE, objects::TC_STORE); + new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE); + + GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF); + +#if RPI_ADD_SPI_TEST == 1 + new SpiTestClass(objects::SPI_TEST, gpioIF); +#endif + +#if RPI_LOOPBACK_TEST_GPIO == 1 + GpioCookie* gpioCookieLoopback = new GpioCookie(); + /* Loopback pins. Adapt according to setup */ + gpioId_t gpioIdSender = gpioIds::TEST_ID_0; + int bcmPinSender = 26; + gpioId_t gpioIdReader = gpioIds::TEST_ID_1; + int bcmPinReader = 16; + gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER", + gpio::Direction::OUT, 0); + gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER", + gpio::Direction::IN, 0); + new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback); +#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */ + + new SpiComIF(objects::SPI_COM_IF, gpioIF); + +#if RPI_TEST_ACS_BOARD == 1 + + GpioCookie* gpioCookieAcsBoard = new GpioCookie(); + gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, + "MGM_0_LIS3", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN, + "MGM_1_RM3100", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, + "MGM_2_LIS3", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN, + "MGM_3_RM3100", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN, + "GYRO_0_ADIS", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, + "GYRO_1_L3G", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN, + "GYRO_2_L3G", gpio::Direction::OUT, 1); + gpioIF->addGpios(gpioCookieAcsBoard); + + std::string spiDev = "/dev/spidev0.0"; + SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, + MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); + auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER, + objects::SPI_COM_IF, spiCookie); + mgmLis3Handler->setStartUpImmediately(); + + spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, + RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); + auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER, + objects::SPI_COM_IF, spiCookie); + mgmRm3100Handler->setStartUpImmediately(); + + spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, + L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); + auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, + spiCookie); + gyroL3gHandler->setStartUpImmediately(); + +#endif /* RPI_TEST_ACS_BOARD == 1 */ +} diff --git a/hosted/ObjectFactory.h b/bsp_rpi/ObjectFactory.h similarity index 100% rename from hosted/ObjectFactory.h rename to bsp_rpi/ObjectFactory.h diff --git a/bsp_rpi/boardconfig/CMakeLists.txt b/bsp_rpi/boardconfig/CMakeLists.txt new file mode 100644 index 00000000..c32b326d --- /dev/null +++ b/bsp_rpi/boardconfig/CMakeLists.txt @@ -0,0 +1,10 @@ +target_sources(${TARGET_NAME} PRIVATE + print.c +) + +target_include_directories(${TARGET_NAME} PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) + + + diff --git a/bsp_rpi/boardconfig/etl_profile.h b/bsp_rpi/boardconfig/etl_profile.h new file mode 100644 index 00000000..c35ffb46 --- /dev/null +++ b/bsp_rpi/boardconfig/etl_profile.h @@ -0,0 +1,38 @@ +///\file + +/****************************************************************************** +The MIT License(MIT) + +Embedded Template Library. +https://github.com/ETLCPP/etl +https://www.etlcpp.com + +Copyright(c) 2019 jwellbelove + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files(the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and / or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions : + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +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 AND NONINFRINGEMENT.IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +******************************************************************************/ +#ifndef __ETL_PROFILE_H__ +#define __ETL_PROFILE_H__ + +#define ETL_CHECK_PUSH_POP + +#define ETL_CPP11_SUPPORTED 1 +#define ETL_NO_NULLPTR_SUPPORT 0 + +#endif diff --git a/bsp_rpi/boardconfig/gcov.h b/bsp_rpi/boardconfig/gcov.h new file mode 100644 index 00000000..491d24c6 --- /dev/null +++ b/bsp_rpi/boardconfig/gcov.h @@ -0,0 +1,14 @@ +#ifndef LINUX_GCOV_H_ +#define LINUX_GCOV_H_ +#include + +#ifdef GCOV +extern "C" void __gcov_flush(); +#else +void __gcov_flush() { + sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if " + "coverage information is desired.\n" << std::flush; +} +#endif + +#endif /* LINUX_GCOV_H_ */ diff --git a/bsp_rpi/boardconfig/print.c b/bsp_rpi/boardconfig/print.c new file mode 100644 index 00000000..c501e0b7 --- /dev/null +++ b/bsp_rpi/boardconfig/print.c @@ -0,0 +1,14 @@ +#include +#include + +void printChar(const char* character, bool errStream) { + if(errStream) { + putc(*character, stderr); + return; + } + putc(*character, stdout); +} + + + + diff --git a/hosted/boardconfig/print.h b/bsp_rpi/boardconfig/print.h similarity index 100% rename from hosted/boardconfig/print.h rename to bsp_rpi/boardconfig/print.h diff --git a/bsp_rpi/boardconfig/rpi_config.h b/bsp_rpi/boardconfig/rpi_config.h new file mode 100644 index 00000000..a9f4fd9f --- /dev/null +++ b/bsp_rpi/boardconfig/rpi_config.h @@ -0,0 +1,24 @@ +#ifndef BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ +#define BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ + +#include + +#define RPI_ADD_GPIO_TEST 0 +#define RPI_LOOPBACK_TEST_GPIO 0 + +/* Only one of those 2 should be enabled! */ +#define RPI_ADD_SPI_TEST 0 +#define RPI_TEST_ACS_BOARD 0 + +/* Adapt these values accordingly */ +namespace gpio { +static constexpr uint8_t MGM_0_BCM_PIN = 0; +static constexpr uint8_t MGM_1_BCM_PIN = 1; +static constexpr uint8_t MGM_2_BCM_PIN = 17; +static constexpr uint8_t MGM_3_BCM_PIN = 27; +static constexpr uint8_t GYRO_0_BCM_PIN = 5; +static constexpr uint8_t GYRO_1_BCM_PIN = 6; +static constexpr uint8_t GYRO_2_BCM_PIN = 4; +} + +#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */ diff --git a/bsp_rpi/boardtest/CMakeLists.txt b/bsp_rpi/boardtest/CMakeLists.txt new file mode 100644 index 00000000..0599b73f --- /dev/null +++ b/bsp_rpi/boardtest/CMakeLists.txt @@ -0,0 +1,6 @@ +target_sources(${TARGET_NAME} PRIVATE +) + + + + diff --git a/bsp_rpi/gpio/CMakeLists.txt b/bsp_rpi/gpio/CMakeLists.txt new file mode 100644 index 00000000..b816684d --- /dev/null +++ b/bsp_rpi/gpio/CMakeLists.txt @@ -0,0 +1,8 @@ +target_sources(${TARGET_NAME} PUBLIC +) + + + + + + diff --git a/bsp_rpi/main.cpp b/bsp_rpi/main.cpp new file mode 100644 index 00000000..8eea768c --- /dev/null +++ b/bsp_rpi/main.cpp @@ -0,0 +1,28 @@ +#include "InitMission.h" +#include + +#include + +#include + +/** + * @brief This is the main program and entry point for the Raspberry Pi. + * @return + */ +int main(void) +{ + std::cout << "-- EIVE OBSW --" << std::endl; + std::cout << "-- Compiled for Linux (Raspberry Pi) --" << std::endl; + std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "." + << SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl; + std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; + + initmission::initMission(); + + for(;;) { + /* Suspend main thread by sleeping it. */ + TaskFactory::delayTask(5000); + } +} + + diff --git a/cmake/BuildType.cmake b/cmake/BuildType.cmake new file mode 100644 index 00000000..e078e5c7 --- /dev/null +++ b/cmake/BuildType.cmake @@ -0,0 +1,45 @@ +function(set_build_type) + +message(STATUS "Used build generator: ${CMAKE_GENERATOR}") + +# Set a default build type if none was specified +set(DEFAULT_BUILD_TYPE "RelWithDebInfo") +if(EXISTS "${CMAKE_SOURCE_DIR}/.git") + set(DEFAULT_BUILD_TYPE "Debug") +endif() + +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + message(STATUS + "Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified." + ) + set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE + STRING "Choose the type of build." FORCE + ) + # Set the possible values of build type for cmake-gui + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS + "Debug" "Release" "MinSizeRel" "RelWithDebInfo" + ) +endif() + +if(${CMAKE_BUILD_TYPE} MATCHES "Debug") + message(STATUS + "Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}" + ) +elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo") + message(STATUS + "Building Release (Debug) application with " + "flags: ${CMAKE_C_FLAGS_RELWITHDEBINFO}" + ) +elseif(${CMAKE_BUILD_TYPE} MATCHES "MinSizeRel") + message(STATUS + "Building Release (Size) application with " + "flags: ${CMAKE_C_FLAGS_MINSIZEREL}" + ) +else() + message(STATUS + "Building Release (Speed) application with " + "flags: ${CMAKE_C_FLAGS_RELEASE}" + ) +endif() + +endfunction() diff --git a/cmake/HardwareOsPostConfig.cmake b/cmake/HardwareOsPostConfig.cmake new file mode 100644 index 00000000..73a8d8b1 --- /dev/null +++ b/cmake/HardwareOsPostConfig.cmake @@ -0,0 +1,62 @@ +function(post_source_hw_os_config) + +if(LINK_LWIP) + message(STATUS "Linking against ${LIB_LWIP_NAME} lwIP library") + if(LIB_LWIP_NAME) + target_link_libraries(${TARGET_NAME} PUBLIC + ${LIB_LWIP_NAME} + ) + else() + message(WARNING "lwIP library name not set!") + endif() +endif() + +if(LINK_HAL) + message(STATUS "Linking against ${LIB_HAL_NAME} HAL library") + if(LIB_HAL_NAME) + target_link_libraries(${TARGET_NAME} PUBLIC + ${LIB_HAL_NAME} + ) + else() + message(WARNING "HAL library name not set!") + endif() +endif() + +if(LINKER_SCRIPT) + target_link_options(${TARGET_NAME} PRIVATE + -T${LINKER_SCRIPT} + ) +endif() + +set(C_FLAGS "" CACHE INTERNAL "C flags") + +set(C_DEFS "" + CACHE INTERNAL + "C Defines" +) + +set(CXX_FLAGS ${C_FLAGS}) +set(CXX_DEFS ${C_DEFS}) + +if(CMAKE_VERBOSE) + message(STATUS "C Flags: ${C_FLAGS}") + message(STATUS "CXX Flags: ${CXX_FLAGS}") + message(STATUS "C Defs: ${C_DEFS}") + message(STATUS "CXX Defs: ${CXX_DEFS}") +endif() + +# Generator expression. Can be used to set different C, CXX and ASM flags. +target_compile_options(${TARGET_NAME} PRIVATE + $<$:${C_DEFS} ${C_FLAGS}> + $<$:${CXX_DEFS} ${CXX_FLAGS}> + $<$:${ASM_FLAGS}> +) + +add_custom_command( + TARGET ${TARGET_NAME} + POST_BUILD + COMMAND ${CMAKE_OBJCOPY} -O binary ${TARGET_NAME} ${TARGET_NAME}.bin + COMMENT "Generating binary file ${CMAKE_PROJECT_NAME}.bin.." +) + +endfunction() \ No newline at end of file diff --git a/cmake/HardwareOsPreConfig.cmake b/cmake/HardwareOsPreConfig.cmake new file mode 100644 index 00000000..ab5c16fd --- /dev/null +++ b/cmake/HardwareOsPreConfig.cmake @@ -0,0 +1,70 @@ +function(pre_source_hw_os_config) + +# FreeRTOS +if(${OS_FSFW} MATCHES freertos) + message(FATAL_ERROR "No FreeRTOS support implemented yet.") +# RTEMS +elseif(${OS_FSFW} STREQUAL rtems) + add_definitions(-DRTEMS) + message(FATAL_ERROR "No RTEMS support implemented yet.") +elseif(${OS_FSFW} STREQUAL linux) + add_definitions(-DUNIX -DLINUX) + find_package(Threads REQUIRED) +# Hosted +else() + set(BSP_PATH "bsp_hosted") + if(WIN32) + add_definitions(-DWIN32) + elseif(UNIX) + find_package(Threads REQUIRED) + add_definitions(-DUNIX -DLINUX) + endif() +endif() + +# Cross-compile information +if(CMAKE_CROSSCOMPILING) + # set(CMAKE_VERBOSE TRUE) + + message(STATUS "Cross-compiling for ${TGT_BSP} target") + message(STATUS "Cross-compile gcc: ${CMAKE_C_COMPILER}") + message(STATUS "Cross-compile g++: ${CMAKE_CXX_COMPILER}") + + if(CMAKE_VERBOSE) + message(STATUS "Cross-compile linker: ${CMAKE_LINKER}") + message(STATUS "Cross-compile size utility: ${CMAKE_SIZE}") + message(STATUS "Cross-compile objcopy utility: ${CMAKE_OBJCOPY}") + message(STATUS "Cross-compile ranlib utility: ${CMAKE_RANLIB}") + message(STATUS "Cross-compile ar utility: ${CMAKE_AR}") + message(STATUS "Cross-compile nm utility: ${CMAKE_NM}") + message(STATUS "Cross-compile strip utility: ${CMAKE_STRIP}") + message(STATUS + "Cross-compile assembler: ${CMAKE_ASM_COMPILER} " + "-x assembler-with-cpp" + ) + message(STATUS "ABI flags: ${ABI_FLAGS}") + message(STATUS "Custom linker script: ${LINKER_SCRIPT}") + endif() + + set_property(CACHE TGT_BSP + PROPERTY STRINGS + "arm/q7s" "arm/raspberrypi" + ) +endif() + + +if(TGT_BSP) + if (${TGT_BSP} MATCHES "arm/raspberrypi") + set(BSP_PATH "bsp_rpi") + elseif(${TGT_BSP} MATCHES "arm/q7s") + set(BSP_PATH "bsp_q7s") + else() + message(WARNING "CMake not configured for this target!") + message(FATAL_ERROR "Target: ${TGT_BSP}!") + endif() +else() + set(BSP_PATH "bsp_hosted") +endif() + +set(BSP_PATH ${BSP_PATH} PARENT_SCOPE) + +endfunction() \ No newline at end of file diff --git a/cmake/PreProjectConfig.cmake b/cmake/PreProjectConfig.cmake new file mode 100644 index 00000000..f54da048 --- /dev/null +++ b/cmake/PreProjectConfig.cmake @@ -0,0 +1,59 @@ +function(pre_project_config) + +# Basic input sanitization +if(DEFINED TGT_BSP) + if(${TGT_BSP} MATCHES "arm/raspberrypi" AND NOT ${OS_FSFW} MATCHES linux) + message(STATUS "FSFW OSAL invalid for specified target BSP ${TGT_BSP}!") + message(STATUS "Setting valid OS_FSFW: linux") + set(OS_FSFW "linux") + endif() +endif() + +# Disable compiler checks for cross-compiling. +if(${OS_FSFW} STREQUAL linux AND TGT_BSP) + + if(${TGT_BSP} MATCHES "arm/q7s") + set(CMAKE_TOOLCHAIN_FILE + "${CMAKE_SCRIPT_PATH}/Q7SCrossCompileConfig.cmake" + PARENT_SCOPE + ) + elseif (${TGT_BSP} MATCHES "arm/raspberrypi") + if(NOT DEFINED ENV{RASPBIAN_ROOTFS}) + if(NOT DEFINED RASPBIAN_ROOTFS) + message(WARNING "No RASPBIAN_ROOTFS environmental or CMake variable set!") + set(ENV{RASPBIAN_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs") + else() + set(ENV{RASPBIAN_ROOTFS} "${RASPBIAN_ROOTFS}") + endif() + else() + message(STATUS + "RASPBIAN_ROOTFS from environmental variables used: $ENV{RASPBIAN_ROOTFS}" + ) + endif() + + if(NOT DEFINED ENV{RASPBERRY_VERSION}) + if(NOT RASPBERRY_VERSION) + message(STATUS "No RASPBERRY_VERSION specified, setting to 4") + set(RASPBERRY_VERSION "4" CACHE STRING "Raspberry Pi version") + else() + message(STATUS "Setting RASPBERRY_VERSION to ${RASPBERRY_VERSION}") + set(RASPBERRY_VERSION ${RASPBERRY_VERSION} CACHE STRING "Raspberry Pi version") + set(ENV{RASPBERRY_VERSION} ${RASPBERRY_VERSION}) + endif() + else() + message(STATUS + "RASPBERRY_VERSION from environmental variables used: " + "$ENV{RASPBERRY_VERSION}" + ) + endif() + + set(CMAKE_TOOLCHAIN_FILE + "${CMAKE_SCRIPT_PATH}/RPiCrossCompileConfig.cmake" + PARENT_SCOPE + ) + else() + message(WARNING "Target BSP (TGT_BSP) ${TGT_BSP} unknown!") + endif() +endif() + +endfunction() \ No newline at end of file diff --git a/cmake/Q7SCrossCompileConfig.cmake b/cmake/Q7SCrossCompileConfig.cmake new file mode 100644 index 00000000..2c5bd4e9 --- /dev/null +++ b/cmake/Q7SCrossCompileConfig.cmake @@ -0,0 +1,88 @@ +# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command + +if(NOT DEFINED ENV{Q7S_SYSROOT}) +# message(FATAL_ERROR +# "Define the Q7S_ROOTFS variable to " +# "point to the raspbian rootfs." +# ) +else() + set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}") +endif() + +if(NOT DEFINED ENV{CROSS_COMPILE}) + set(CROSS_COMPILE "arm-linux-gnueabihf") + message(STATUS + "No CROSS_COMPILE environmental variable set, using default ARM linux " + "cross compiler name ${CROSS_COMPILE}" + ) +else() + set(CROSS_COMPILE "$ENV{CROSS_COMPILE}") + message(STATUS + "Using environmental variable CROSS_COMPILE as cross-compiler: " + "$ENV{CROSS_COMPILE}" + ) +endif() + +message(STATUS "Using sysroot path: ${SYSROOT_PATH}") + +set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc") +set(CROSS_COMPILE_CXX "${CROSS_COMPILE}-g++") +set(CROSS_COMPILE_LD "${CROSS_COMPILE}-ld") +set(CROSS_COMPILE_AR "${CROSS_COMPILE}-ar") +set(CROSS_COMPILE_RANLIB "${CROSS_COMPILE}-ranlib") +set(CROSS_COMPILE_STRIP "${CROSS_COMPILE}-strip") +set(CROSS_COMPILE_NM "${CROSS_COMPILE}-nm") +set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy") +set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size") + +# At the very least, cross compile gcc and g++ have to be set! +find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED) +find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED) + +set(CMAKE_CROSSCOMPILING TRUE) +set(CMAKE_SYSROOT "${SYSROOT_PATH}") + +# Define name of the target system +set(CMAKE_SYSTEM_NAME "Linux") +set(CMAKE_SYSTEM_PROCESSOR "armv7") + +# Define the compiler +set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC}) +set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX}) + +# List of library dirs where LD has to look. Pass them directly through gcc. +set(LIB_DIRS + "${SYSROOT_PATH}/usr/include" + "${SYSROOT_PATH}/usr/include/linux" + "${SYSROOT_PATH}/usr/lib" + "${SYSROOT_PATH}/lib" + "${SYSROOT_PATH}" + "${SYSROOT_PATH}/usr/lib/arm-xiphos-linux-gnueabi" +) +# You can additionally check the linker paths if you add the +# flags ' -Xlinker --verbose' +set(COMMON_FLAGS "-I${SYSROOT_PATH}/usr/lib") +foreach(LIB ${LIB_DIRS}) + set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}") +endforeach() + +set(CMAKE_PREFIX_PATH + "${CMAKE_PREFIX_PATH}" + # "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}" +) + +set(CMAKE_C_FLAGS + "-mcpu=cortex-a9 -mfpu=neon-vfpv3 -mfloat-abi=hard ${COMMON_FLAGS} -lgpiod" + CACHE STRING "C flags for Q7S" +) +set(CMAKE_CXX_FLAGS + "${CMAKE_C_FLAGS}" + CACHE STRING "CPP flags for Q7S" +) + +# search for programs in the build host directories +set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) +# for libraries and headers in the target directories +set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) +set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) +set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY) diff --git a/cmake/RPiCrossCompileConfig.cmake b/cmake/RPiCrossCompileConfig.cmake new file mode 100644 index 00000000..e1b4cce3 --- /dev/null +++ b/cmake/RPiCrossCompileConfig.cmake @@ -0,0 +1,146 @@ +# Based on https://github.com/Pro/raspi-toolchain but rewritten completely. + +# Adapted for the FSFW Example +if(NOT $ENV{RASPBERRY_VERSION}) + message(STATUS "Raspberry Pi version not specified, setting version 4!") + set(RASPBERRY_VERSION 4) +else() + set(RASPBERRY_VERSION $ENV{RASPBERRY_VERSION}) +endif() + + +# RASPBIAN_ROOTFS should point to the local directory which contains all the +# libraries and includes from the target raspi. +# The following command can be used to do this, replace and the +# local accordingly: +# rsync -vR --progress -rl --delete-after --safe-links pi@:/{lib,usr,opt/vc/lib} +# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the +# application CMakeLists.txt before loading the toolchain file. + +# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command + +if(NOT DEFINED ENV{RASPBIAN_ROOTFS}) + message(FATAL_ERROR + "Define the RASPBIAN_ROOTFS variable to " + "point to the raspbian rootfs." + ) +else() + set(SYSROOT_PATH "$ENV{RASPBIAN_ROOTFS}") +endif() + +if(NOT DEFINED ENV{CROSS_COMPILE}) + set(CROSS_COMPILE "arm-linux-gnueabihf") + message(STATUS + "No CROSS_COMPILE environmental variable set, using default ARM linux " + "cross compiler name ${CROSS_COMPILE}" + ) +else() + set(CROSS_COMPILE "$ENV{CROSS_COMPILE}") + message(STATUS + "Using environmental variable CROSS_COMPILE as cross-compiler: " + "$ENV{CROSS_COMPILE}" + ) +endif() + +message(STATUS "Using sysroot path: ${SYSROOT_PATH}") + +set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc") +set(CROSS_COMPILE_CXX "${CROSS_COMPILE}-g++") +set(CROSS_COMPILE_LD "${CROSS_COMPILE}-ld") +set(CROSS_COMPILE_AR "${CROSS_COMPILE}-ar") +set(CROSS_COMPILE_RANLIB "${CROSS_COMPILE}-ranlib") +set(CROSS_COMPILE_STRIP "${CROSS_COMPILE}-strip") +set(CROSS_COMPILE_NM "${CROSS_COMPILE}-nm") +set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy") +set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size") + +# At the very least, cross compile gcc and g++ have to be set! +find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED) +find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED) + +set(CMAKE_CROSSCOMPILING TRUE) +set(CMAKE_SYSROOT "${SYSROOT_PATH}") + +# Define name of the target system +set(CMAKE_SYSTEM_NAME "Linux") +if(RASPBERRY_VERSION VERSION_GREATER 1) + set(CMAKE_SYSTEM_PROCESSOR "armv7") +else() + set(CMAKE_SYSTEM_PROCESSOR "arm") +endif() + +# Define the compiler +set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC}) +set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX}) + +# List of library dirs where LD has to look. Pass them directly through gcc. +# LD_LIBRARY_PATH is not evaluated by arm-*-ld +set(LIB_DIRS + "/opt/cross-pi-gcc/arm-linux-gnueabihf/lib" + "/opt/cross-pi-gcc/lib" + "${SYSROOT_PATH}/opt/vc/lib" + "${SYSROOT_PATH}/lib/${CROSS_COMPILE}" + "${SYSROOT_PATH}/usr/local/lib" + "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}" + "${SYSROOT_PATH}/usr/lib" + "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/blas" + "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/lapack" +) +# You can additionally check the linker paths if you add the +# flags ' -Xlinker --verbose' +set(COMMON_FLAGS "-I${SYSROOT_PATH}/usr/include") +foreach(LIB ${LIB_DIRS}) + set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}") +endforeach() + +set(CMAKE_PREFIX_PATH + "${CMAKE_PREFIX_PATH}" + "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}" +) + +if(RASPBERRY_VERSION VERSION_GREATER 3) + set(CMAKE_C_FLAGS + "-mcpu=cortex-a72 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" + CACHE STRING "CPP flags for Raspberry PI 4" + ) + set(CMAKE_CXX_FLAGS + "${CMAKE_C_FLAGS}" + CACHE STRING "C flags for Raspberry PI 4" + ) +elseif(RASPBERRY_VERSION VERSION_GREATER 2) + set(CMAKE_C_FLAGS + "-mcpu=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" + CACHE STRING "C flags for Raspberry PI 3" + ) + set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" + CACHE STRING "CPP flags for Raspberry PI 3" + ) +elseif(RASPBERRY_VERSION VERSION_GREATER 1) + set(CMAKE_C_FLAGS + "-mcpu=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" + CACHE STRING "C flags for Raspberry PI 2" + ) + set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" + CACHE STRING "CPP flags for Raspberry PI 2" + ) +else() + set(CMAKE_C_FLAGS + "-mcpu=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard ${COMMON_FLAGS}" + CACHE STRING "C flags for Raspberry PI 1 B+ Zero" + ) + set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" + CACHE STRING "CPP flags for Raspberry PI 1 B+ Zero" + ) +endif() + +set(CMAKE_FIND_ROOT_PATH + "${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}" +) + + +# search for programs in the build host directories +set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) +# for libraries and headers in the target directories +set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) +set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) +set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY) diff --git a/cmake/scripts/.idea/inspectionProfiles/profiles_settings.xml b/cmake/scripts/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 00000000..105ce2da --- /dev/null +++ b/cmake/scripts/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/cmake/scripts/.idea/misc.xml b/cmake/scripts/.idea/misc.xml new file mode 100644 index 00000000..d56657ad --- /dev/null +++ b/cmake/scripts/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/cmake/scripts/.idea/modules.xml b/cmake/scripts/.idea/modules.xml new file mode 100644 index 00000000..bb83e262 --- /dev/null +++ b/cmake/scripts/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/cmake/scripts/.idea/scripts.iml b/cmake/scripts/.idea/scripts.iml new file mode 100644 index 00000000..d0876a78 --- /dev/null +++ b/cmake/scripts/.idea/scripts.iml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/cmake/scripts/.idea/vcs.xml b/cmake/scripts/.idea/vcs.xml new file mode 100644 index 00000000..c2365ab1 --- /dev/null +++ b/cmake/scripts/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/cmake/scripts/.idea/workspace.xml b/cmake/scripts/.idea/workspace.xml new file mode 100644 index 00000000..70a189f3 --- /dev/null +++ b/cmake/scripts/.idea/workspace.xml @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1609084345199 + + + + + + + + + + + + \ No newline at end of file diff --git a/cmake/scripts/Host/create_cmake_debug_cfg.sh b/cmake/scripts/Host/create_cmake_debug_cfg.sh new file mode 100644 index 00000000..23c74de0 --- /dev/null +++ b/cmake/scripts/Host/create_cmake_debug_cfg.sh @@ -0,0 +1,27 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "create_cmake_cfg.sh not found in upper directories!" + exit 1 +fi + +build_generator="" +build_dir="Debug-Host" +os_fsfw="host" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l"${build_dir}" diff --git a/cmake/scripts/Host/create_cmake_release_cfg.sh b/cmake/scripts/Host/create_cmake_release_cfg.sh new file mode 100644 index 00000000..19ae5b32 --- /dev/null +++ b/cmake/scripts/Host/create_cmake_release_cfg.sh @@ -0,0 +1,27 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "create_cmake_cfg.sh not found in upper directories!" + exit 1 +fi + +build_generator="" +os_fsfw="host" +build_dir="Release-Host" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -l"${build_dir}" diff --git a/cmake/scripts/Host/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/Host/create_cmake_relwithdeb_cfg.sh new file mode 100644 index 00000000..f9321e69 --- /dev/null +++ b/cmake/scripts/Host/create_cmake_relwithdeb_cfg.sh @@ -0,0 +1,26 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "create_cmake_cfg.sh not found in upper directories!" + exit 1 +fi + +build_generator="" +os_fsfw="host" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" diff --git a/cmake/scripts/Host/create_cmake_size_cfg.sh b/cmake/scripts/Host/create_cmake_size_cfg.sh new file mode 100644 index 00000000..6a3cbe60 --- /dev/null +++ b/cmake/scripts/Host/create_cmake_size_cfg.sh @@ -0,0 +1,26 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "create_cmake_cfg.sh not found in upper directories!" + exit 1 +fi + +build_generator="" +os_fsfw="host" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size" \ No newline at end of file diff --git a/cmake/scripts/Linux/create_cmake_debug_cfg.sh b/cmake/scripts/Linux/create_cmake_debug_cfg.sh new file mode 100755 index 00000000..1f75c12a --- /dev/null +++ b/cmake/scripts/Linux/create_cmake_debug_cfg.sh @@ -0,0 +1,25 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "create_cmake_cfg.sh not found in upper directories!" + exit 1 +fi + +build_generator="Unix Makefiles" +os_fsfw="linux" +builddir="Debug-Linux" + +echo "Running command (without the leading +):" +set -x # Print command +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" +# Use this if commands are added which should not be printed +# set +x diff --git a/cmake/scripts/Linux/create_cmake_release_cfg.sh b/cmake/scripts/Linux/create_cmake_release_cfg.sh new file mode 100755 index 00000000..ffd85ae7 --- /dev/null +++ b/cmake/scripts/Linux/create_cmake_release_cfg.sh @@ -0,0 +1,25 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "create_cmake_cfg.sh not found in upper directories!" + exit 1 +fi + +build_generator="Unix Makefiles" +os_fsfw="linux" +builddir="Release-Linux" + +echo "Running command (without the leading +):" +set -x # Print command +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" +# Use this if commands are added which should not be printed +# set +x diff --git a/cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh new file mode 100755 index 00000000..31376322 --- /dev/null +++ b/cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh @@ -0,0 +1,25 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "create_cmake_cfg.sh not found in upper directories!" + exit 1 +fi + +build_generator="Unix Makefiles" +os_fsfw="linux" +builddir="RelWithDeb-Linux" + +echo "Running command (without the leading +):" +set -x # Print command +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" +# Use this if commands are added which should not be printed +# set +x diff --git a/cmake/scripts/Linux/create_cmake_size_cfg.sh b/cmake/scripts/Linux/create_cmake_size_cfg.sh new file mode 100755 index 00000000..d4500d6d --- /dev/null +++ b/cmake/scripts/Linux/create_cmake_size_cfg.sh @@ -0,0 +1,20 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "create_cmake_cfg.sh not found in upper directories!" + exit 1 +fi + +build_generator="Unix Makefiles" +os_fsfw="linux" + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size" diff --git a/cmake/scripts/Q7S/create_cmake_debug_cfg.sh b/cmake/scripts/Q7S/create_cmake_debug_cfg.sh new file mode 100755 index 00000000..7f6753ac --- /dev/null +++ b/cmake/scripts/Q7S/create_cmake_debug_cfg.sh @@ -0,0 +1,27 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "cmake_build_config.py not found in upper directories!" + exit 1 +fi + +os_fsfw="linux" +tgt_bsp="arm/q7s" +build_generator="" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" diff --git a/cmake/scripts/Q7S/create_cmake_release_cfg.sh b/cmake/scripts/Q7S/create_cmake_release_cfg.sh new file mode 100755 index 00000000..6048a1c6 --- /dev/null +++ b/cmake/scripts/Q7S/create_cmake_release_cfg.sh @@ -0,0 +1,27 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "cmake_build_config.py not found in upper directories!" + exit 1 +fi + +os_fsfw="linux" +tgt_bsp="arm/q7s" +build_generator="" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" diff --git a/cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh new file mode 100755 index 00000000..346067cd --- /dev/null +++ b/cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh @@ -0,0 +1,27 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "cmake_build_config.py not found in upper directories!" + exit 1 +fi + +os_fsfw="linux" +tgt_bsp="arm/q7s" +build_generator="" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}" diff --git a/cmake/scripts/Q7S/unix_path_helper.sh b/cmake/scripts/Q7S/unix_path_helper.sh new file mode 100644 index 00000000..296bfdd8 --- /dev/null +++ b/cmake/scripts/Q7S/unix_path_helper.sh @@ -0,0 +1,6 @@ +#!/bin/sh +export PATH=$PATH:"/opt/Xilinx/SDK/2018.2/gnu/aarch32/lin/gcc-arm-linux-gnueabi/bin" +export CROSS_COMPILE="arm-linux-gnueabihf" + +export Q7S_SYSROOT="$HOME/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi" + diff --git a/cmake/scripts/Q7S/win_path_helper_xilinx_tools.sh b/cmake/scripts/Q7S/win_path_helper_xilinx_tools.sh new file mode 100644 index 00000000..a8352331 --- /dev/null +++ b/cmake/scripts/Q7S/win_path_helper_xilinx_tools.sh @@ -0,0 +1,5 @@ +#!/bin/sh +export PATH=$PATH:"/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin" +export CROSS_COMPILE="arm-linux-gnueabihf" + +export Q7S_SYSROOT="/c/Users/${USER}/Documents/EIVE/cortexa9hf-neon-xiphos-linux-gnueabi" diff --git a/cmake/scripts/RPi/create_cmake_debug_cfg.sh b/cmake/scripts/RPi/create_cmake_debug_cfg.sh new file mode 100755 index 00000000..d0ec5d76 --- /dev/null +++ b/cmake/scripts/RPi/create_cmake_debug_cfg.sh @@ -0,0 +1,29 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "cmake_build_config.py not found in upper directories!" + exit 1 +fi + +os_fsfw="linux" +tgt_bsp="arm/raspberrypi" +build_generator="" +build_dir="Debug-RPi" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \ + -l"${build_dir}" diff --git a/cmake/scripts/RPi/create_cmake_release_cfg.sh b/cmake/scripts/RPi/create_cmake_release_cfg.sh new file mode 100755 index 00000000..4eb9b38a --- /dev/null +++ b/cmake/scripts/RPi/create_cmake_release_cfg.sh @@ -0,0 +1,29 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "cmake_build_config.py not found in upper directories!" + exit 1 +fi + +os_fsfw="linux" +tgt_bsp="arm/raspberrypi" +build_generator="" +build_dir="Release-RPi" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \ + -l"${build_dir}" diff --git a/cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh new file mode 100755 index 00000000..de7651a7 --- /dev/null +++ b/cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh @@ -0,0 +1,29 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "cmake_build_config.py not found in upper directories!" + exit 1 +fi + +os_fsfw="linux" +tgt_bsp="arm/raspberrypi" +build_generator="" +build_dir="RelWithDeb-RPi" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}" \ + -l"${build_dir}" diff --git a/cmake/scripts/RPi/create_cmake_size_cfg.sh b/cmake/scripts/RPi/create_cmake_size_cfg.sh new file mode 100755 index 00000000..f7bad84e --- /dev/null +++ b/cmake/scripts/RPi/create_cmake_size_cfg.sh @@ -0,0 +1,27 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "cmake_build_config.py not found in upper directories!" + exit 1 +fi + +os_fsfw="linux" +tgt_bsp="arm/raspberrypi" +build_generator="" +if [ "${OS}" = "Windows_NT" ]; then + build_generator="MinGW Makefiles" +# Could be other OS but this works for now. +else + build_generator="Unix Makefiles" +fi + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size" -t "${tgt_bsp}" diff --git a/cmake/scripts/RPi/rpi_path_helper.sh b/cmake/scripts/RPi/rpi_path_helper.sh new file mode 100644 index 00000000..95044281 --- /dev/null +++ b/cmake/scripts/RPi/rpi_path_helper.sh @@ -0,0 +1,24 @@ +#!/bin/sh +# This script can be used to set the path to the cross-compile toolchain +# A default path is set if the path is not supplied via command line +if [ $# -eq 1 ];then + export PATH=$PATH:"$1" +else + # TODO: make version configurable via shell argument + export PATH=$PATH:"/opt/cross-pi-gcc/bin" + export CROSS_COMPILE="arm-linux-gnueabihf" + export RASPBERRY_VERSION="4" + export RASPBIAN_ROOTFS="${HOME}/raspberrypi/rootfs" +fi + +# It is also recommended to set up a custom shell script to perform the +# sysroot synchronization so that any software is built with the library and +# headers of the Raspberry Pi. This can for example be dome with the rsync +# command. +# The following command can be used, and the local +# need to be set accordingly. + +# rsync -vR --progress -rl --delete-after --safe-links pi@:/{lib,usr,opt/vc/lib} + +# It is recommended to use $HOME/raspberrypi/rootfs as the rootfs path, +# so the default RASPBIAN_ROOTFS variable set in the CMakeLists.txt is correct. diff --git a/cmake/scripts/RPi/rpi_path_helper_win.sh b/cmake/scripts/RPi/rpi_path_helper_win.sh new file mode 100644 index 00000000..2b590e92 --- /dev/null +++ b/cmake/scripts/RPi/rpi_path_helper_win.sh @@ -0,0 +1,22 @@ +#!/bin/sh +# This script can be used to set the path to the cross-compile toolchain +# A default path is set if the path is not supplied via command line +if [ $# -eq 1 ];then + export PATH=$PATH:"$1" +else + # TODO: make version configurable via shell argument + export PATH=$PATH:"/c/SysGCC/raspberry/bin" + export CROSS_COMPILE="arm-linux-gnueabihf" + export RASPBERRY_VERSION="4" + export RASPBIAN_ROOTFS="/c/Users//raspberrypi/rootfs" +fi + +# It is also recommended to set up a custom shell script to perform the +# sysroot synchronization so that any software is built with the library and +# headers of the Raspberry Pi. This can for example be dome with the rsync +# command. +# The following command can be used, and the local +# need to be set accordingly. + +# rsync -vR --progress -rl --delete-after --safe-links pi@:/{lib,usr,opt/vc/lib} + diff --git a/cmake/scripts/cmake_build_config.py b/cmake/scripts/cmake_build_config.py new file mode 100644 index 00000000..32b560f6 --- /dev/null +++ b/cmake/scripts/cmake_build_config.py @@ -0,0 +1,119 @@ +#!/usr/bin/env python3 +""" +@brief CMake configuration helper +@details +This script was written to have a portable way to perform the CMake configuration with various parameters on +different OSes. It was first written for the FSFW Example, but could be adapted to be more generic +in the future. + +Run cmake_build_config.py --help to get more information. +""" +import os +import sys +import argparse +import shutil + + +def main(): + print("-- Python CMake build configurator utility --") + + print("Parsing command line arguments..") + parser = argparse.ArgumentParser(description="Processing arguments for CMake build configuration.") + parser.add_argument("-o", "--osal", type=str, choices=["freertos", "linux", "rtems", "host"], + help="FSFW OSAL. Valid arguments: host, linux, rtems, freertos") + parser.add_argument("-b", "--buildtype", type=str, choices=["debug", "release", "size", "reldeb"], + help="CMake build type. Valid arguments: debug, release, size, reldeb (Release with Debug " + "Information)", default="debug") + parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.") + parser.add_argument("-g", "--generator", type=str, help="CMake Generator") + parser.add_argument("-d", "--defines", + help="Additional custom defines passed to CMake (supply without -D prefix!)", + nargs="*", type=str) + parser.add_argument("-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine") + + args = parser.parse_args() + + print("Determining source location..") + source_location = determine_source_location() + print(f"Determined source location: {source_location}") + + print("Building cmake configuration command..") + + if args.osal is None: + print("No FSFW OSAL specified, setting to default (host)..") + osal = "host" + else: + osal = args.osal + + if args.generator is None: + generator_cmake_arg = "" + else: + generator_cmake_arg = f"-G \"{args.generator}\"" + + if args.buildtype == "debug": + cmake_build_type = "Debug" + elif args.buildtype == "release": + cmake_build_type = "Release" + elif args.buildtype == "size": + cmake_build_type = "MinSizeRel" + else: + cmake_build_type = "RelWithDebInfo" + + if args.target_bsp is not None: + cmake_target_cfg_cmd = f"-DTGT_BSP=\"{args.target_bsp}\"" + else: + cmake_target_cfg_cmd = "" + + build_folder = cmake_build_type + if args.builddir is not None: + build_folder = args.builddir + + build_path = source_location + os.path.sep + build_folder + if os.path.isdir(build_path): + remove_old_dir = input(f"{build_folder} folder already exists. Remove old directory? [y/n]: ") + if str(remove_old_dir).lower() in ["yes", "y", 1]: + remove_old_dir = True + else: + build_folder = determine_new_folder() + build_path = source_location + os.path.sep + build_folder + remove_old_dir = False + if remove_old_dir: + shutil.rmtree(build_path) + os.chdir(source_location) + os.mkdir(build_folder) + print(f"Navigating into build directory: {build_path}") + os.chdir(build_folder) + + cmake_command = f"cmake {generator_cmake_arg} -DOS_FSFW=\"{osal}\" " \ + f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} {source_location}" + # Remove redundant spaces + cmake_command = ' '.join(cmake_command.split()) + print("Running CMake command: ") + print(f"\" {cmake_command} \"") + os.system(cmake_command) + print("-- CMake configuration done. --") + + +def determine_source_location() -> str: + index = 0 + while not os.path.isdir("fsfw"): + index += 1 + os.chdir("..") + if index >= 5: + print("Error: Could not find source directory (determined by looking for fsfw folder!)") + sys.exit(1) + return os.getcwd() + + +def determine_new_folder() -> str: + new_folder = input(f"Use different folder name? [y/n]: ") + if str(new_folder).lower() in ["yes", "y", 1]: + new_folder_name = input("New folder name: ") + return new_folder_name + else: + print("Aborting configuration.") + sys.exit(0) + + +if __name__ == "__main__": + main() diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt new file mode 100644 index 00000000..9040988f --- /dev/null +++ b/common/CMakeLists.txt @@ -0,0 +1 @@ +add_subdirectory(config) diff --git a/common/config/CMakeLists.txt b/common/config/CMakeLists.txt new file mode 100644 index 00000000..f38f2c50 --- /dev/null +++ b/common/config/CMakeLists.txt @@ -0,0 +1,3 @@ +target_include_directories(${TARGET_NAME} PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR} +) \ No newline at end of file diff --git a/common/config/OBSWVersion.h b/common/config/OBSWVersion.h new file mode 100644 index 00000000..548363f2 --- /dev/null +++ b/common/config/OBSWVersion.h @@ -0,0 +1,10 @@ +#ifndef COMMON_CONFIG_OBSWVERSION_H_ +#define COMMON_CONFIG_OBSWVERSION_H_ + +const char* const SW_NAME = "eive"; + +#define SW_VERSION 1 +#define SW_SUBVERSION 1 +#define SW_SUBSUBVERSION 0 + +#endif /* COMMON_CONFIG_OBSWVERSION_H_ */ diff --git a/common/config/commonConfig.h b/common/config/commonConfig.h new file mode 100644 index 00000000..6c5cb4c4 --- /dev/null +++ b/common/config/commonConfig.h @@ -0,0 +1,7 @@ +#ifndef COMMON_CONFIG_COMMONCONFIG_H_ +#define COMMON_CONFIG_COMMONCONFIG_H_ + +#define OBSW_ADD_LWGPS_TEST 0 + + +#endif /* COMMON_CONFIG_COMMONCONFIG_H_ */ diff --git a/common/config/lwgps_opts.h b/common/config/lwgps_opts.h new file mode 100644 index 00000000..20632d6f --- /dev/null +++ b/common/config/lwgps_opts.h @@ -0,0 +1,44 @@ +/** + * \file lwgps_opts_template.h + * \brief LwGPS configuration file + */ + +/* + * Copyright (c) 2020 Tilen MAJERLE + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, + * publish, distribute, sublicense, and/or sell copies of the Software, + * and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * 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 + * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT + * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR + * OTHER DEALINGS IN THE SOFTWARE. + * + * This file is part of LwGPS - Lightweight GPS NMEA parser library. + * + * Author: Tilen MAJERLE + * Version: v2.1.0 + */ +#ifndef LWGPS_HDR_OPTS_H +#define LWGPS_HDR_OPTS_H + +/* Rename this file to "lwgps_opts.h" for your application */ + +/* + * Open "include/lwgps/lwgps_opt.h" and + * copy & replace here settings you want to change values + */ + +#endif /* LWGPS_HDR_OPTS_H */ diff --git a/doc/Q7S-user-manual.pdf b/doc/Q7S-user-manual.pdf new file mode 100644 index 00000000..70ab7bb4 Binary files /dev/null and b/doc/Q7S-user-manual.pdf differ diff --git a/doc/img/vivado-edition.png b/doc/img/vivado-edition.png new file mode 100644 index 00000000..c34051f3 Binary files /dev/null and b/doc/img/vivado-edition.png differ diff --git a/doc/img/vivado-hl-design.png b/doc/img/vivado-hl-design.png new file mode 100644 index 00000000..3603f8cb Binary files /dev/null and b/doc/img/vivado-hl-design.png differ diff --git a/etl b/etl deleted file mode 160000 index f6ce3f59..00000000 --- a/etl +++ /dev/null @@ -1 +0,0 @@ -Subproject commit f6ce3f59bd9da826817d79947165991ca8655b22 diff --git a/fsfw b/fsfw index 113397c6..5273ffa7 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 113397c6c6ae4c46341f4880710e4e4d9b6e7630 +Subproject commit 5273ffa721dd83634ebbcc37c4646752f0bea20f diff --git a/fsfw_hal b/fsfw_hal new file mode 160000 index 00000000..14fe3257 --- /dev/null +++ b/fsfw_hal @@ -0,0 +1 @@ +Subproject commit 14fe32572d62db9d19707dc1f9bb6fecb1993b73 diff --git a/fsfwconfig/CMakeLists.txt b/fsfwconfig/CMakeLists.txt new file mode 100644 index 00000000..87ddea03 --- /dev/null +++ b/fsfwconfig/CMakeLists.txt @@ -0,0 +1,11 @@ +target_sources(${TARGET_NAME} PRIVATE + ipc/MissionMessageTypes.cpp + pollingsequence/pollingSequenceFactory.cpp +) + +target_include_directories(${TARGET_NAME} PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) + + + diff --git a/fsfwconfig/FSFWConfig.h b/fsfwconfig/FSFWConfig.h index fe97ee6e..097f8aaf 100644 --- a/fsfwconfig/FSFWConfig.h +++ b/fsfwconfig/FSFWConfig.h @@ -1,25 +1,26 @@ -#ifndef FSFWCONFIG_FSFWCONFIG_H_ -#define FSFWCONFIG_FSFWCONFIG_H_ +#ifndef CONFIG_FSFWCONFIG_H_ +#define CONFIG_FSFWCONFIG_H_ -#include #include +#include -//! Used to determine whether C++ ostreams are used -//! Those can lead to code bloat. -#define FSFW_CPP_OSTREAM_ENABLED 1 +//! Used to determine whether C++ ostreams are used which can increase +//! the binary size significantly. If this is disabled, +//! the C stdio functions can be used alternatively +#define FSFW_CPP_OSTREAM_ENABLED 1 -//! Reduced printout to further decrese code size -//! Be careful, this also turns off most diagnostic prinouts! -#define FSFW_REDUCED_PRINTOUT 0 +//! More FSFW related printouts depending on level. Useful for development. +#define FSFW_VERBOSE_LEVEL 1 -//! Can be used to enable debugging printouts for developing the FSFW -#define FSFW_DEBUGGING 0 +//! Can be used to completely disable printouts, even the C stdio ones. +#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0 + #define FSFW_DISABLE_PRINTOUT 0 +#endif -//! Defines the FIFO depth of each commanding service base which -//! also determines how many commands a CSB service can handle in one cycle -//! simulataneously. This will increase the required RAM for -//! each CSB service ! -#define FSFW_CSB_FIFO_DEPTH 6 +#define FSFW_USE_PUS_C_TELEMETRY 1 + +//! Can be used to disable the ANSI color sequences for C stdio. +#define FSFW_COLORED_OUTPUT 1 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one, //! additional output which requires the translation files translateObjects @@ -27,28 +28,44 @@ #define FSFW_OBJ_EVENT_TRANSLATION 0 #if FSFW_OBJ_EVENT_TRANSLATION == 1 -#define FSFW_DEBUG_OUTPUT 1 //! Specify whether info events are printed too. #define FSFW_DEBUG_INFO 1 -#include -#include +#include "objects/translateObjects.h" +#include "events/translateEvents.h" #else -#define FSFW_DEBUG_OUTPUT 0 #endif //! When using the newlib nano library, C99 support for stdio facilities //! will not be provided. This define should be set to 1 if this is the case. -#define FSFW_NO_C99_IO 1 +#define FSFW_NO_C99_IO 1 + +//! Specify whether a special mode store is used for Subsystem components. +#define FSFW_USE_MODESTORE 0 + +//! Defines if the real time scheduler for linux should be used. +//! If set to 0, this will also disable priority settings for linux +//! as most systems will not allow to set nice values without privileges +//! For embedded linux system set this to 1. +//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run +#define FSFW_USE_REALTIME_FOR_LINUX 1 namespace fsfwconfig { //! Default timestamp size. The default timestamp will be an eight byte CDC //! short timestamp. -static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8; +static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7; //! 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; + +//! Defines the FIFO depth of each commanding service base which +//! also determines how many commands a CSB service can handle in one cycle +//! simulataneously. This will increase the required RAM for +//! each CSB service ! +static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6; + +static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124; } -#endif /* FSFWCONFIG_FSFWCONFIG_H_ */ +#endif /* CONFIG_FSFWCONFIG_H_ */ diff --git a/fsfwconfig/OBSWConfig.h b/fsfwconfig/OBSWConfig.h index 6d181093..f3f7cda3 100644 --- a/fsfwconfig/OBSWConfig.h +++ b/fsfwconfig/OBSWConfig.h @@ -6,9 +6,48 @@ #ifndef FSFWCONFIG_OBSWCONFIG_H_ #define FSFWCONFIG_OBSWCONFIG_H_ -#define OBSW_ADD_TEST_CODE 0 +#ifdef RASPBERRY_PI +#include +#elif defined(XIPHOS_Q7S) +#include +#endif +#include "commonConfig.h" +#include "OBSWVersion.h" -// Define not used yet, PUS stack and TMTC tasks are always started -#define ADD_PUS_STACK 1 +/* These defines should be disabled for mission code but are useful for +debugging. */ +#define OBSW_VERBOSE_LEVEL 1 +#define OBSW_PRINT_MISSED_DEADLINES 1 +#define OBSW_ADD_TEST_CODE 1 +#define TEST_LIBGPIOD 0 + +#define TE0720 0 + +#define P60DOCK_DEBUG 0 +#define PDU1_DEBUG 0 +#define PDU2_DEBUG 0 +#define ACU_DEBUG 0 +#define SYRLINKS_DEBUG 0 +#define IMQT_DEBUG 1 + +#include "OBSWVersion.h" + +/* Can be used to switch device to NORMAL mode immediately */ +#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1 + +#ifdef __cplusplus + +#include "objects/systemObjectList.h" +#include "events/subsystemIdRanges.h" +#include "returnvalues/classIds.h" + +namespace config { +#endif + +/* Add mission configuration flags here */ + +#ifdef __cplusplus +} +#endif #endif /* FSFWCONFIG_OBSWCONFIG_H_ */ diff --git a/fsfwconfig/OBSWVersion.h b/fsfwconfig/OBSWVersion.h deleted file mode 100644 index d76b65c9..00000000 --- a/fsfwconfig/OBSWVersion.h +++ /dev/null @@ -1,13 +0,0 @@ -#ifndef FSFWCONFIG_OBSWVERSION_H_ -#define FSFWCONFIG_OBSWVERSION_H_ - -//! TODO: Think of a cool name for the software releases. -const char* const SW_NAME = "eive"; - -#define SW_VERSION 0 -#define SW_SUBVERSION 2 -#define SW_SUBSUBVERSION 0 - - - -#endif /* FSFWCONFIG_OBSWVERSION_H_ */ diff --git a/fsfwconfig/cdatapool/dataPoolInit.cpp b/fsfwconfig/cdatapool/dataPoolInit.cpp deleted file mode 100644 index fd536af5..00000000 --- a/fsfwconfig/cdatapool/dataPoolInit.cpp +++ /dev/null @@ -1,5 +0,0 @@ -#include - -void datapool::dataPoolInit(std::map* poolMap) { - -} diff --git a/fsfwconfig/cdatapool/dataPoolInit.h b/fsfwconfig/cdatapool/dataPoolInit.h deleted file mode 100644 index f97fe7a3..00000000 --- a/fsfwconfig/cdatapool/dataPoolInit.h +++ /dev/null @@ -1,13 +0,0 @@ -#ifndef FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_ -#define FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_ - -#include - -namespace datapool{ - void dataPoolInit(std::map* poolMap); - - enum datapoolvariables { - NO_PARAMETER = 0, - }; -} -#endif /* FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_ */ diff --git a/fsfwconfig/devices/logicalAddresses.cpp b/fsfwconfig/devices/addresses.cpp similarity index 52% rename from fsfwconfig/devices/logicalAddresses.cpp rename to fsfwconfig/devices/addresses.cpp index a6f0aa15..38877737 100644 --- a/fsfwconfig/devices/logicalAddresses.cpp +++ b/fsfwconfig/devices/addresses.cpp @@ -4,7 +4,7 @@ * \date 06.11.2019 */ -#include +#include "addresses.h" diff --git a/fsfwconfig/devices/addresses.h b/fsfwconfig/devices/addresses.h new file mode 100644 index 00000000..4974834d --- /dev/null +++ b/fsfwconfig/devices/addresses.h @@ -0,0 +1,64 @@ +#ifndef FSFWCONFIG_DEVICES_ADDRESSES_H_ +#define FSFWCONFIG_DEVICES_ADDRESSES_H_ + +#include +#include +#include + +namespace addresses { + /* Logical addresses have uint32_t datatype */ + enum logicalAddresses: address_t { + PCDU, + + MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER, + MGM_1_RM3100 = objects::MGM_1_RM3100_HANDLER, + MGM_2_LIS3 = objects::MGM_2_LIS3_HANDLER, + MGM_3_RM3100 = objects::MGM_3_RM3100_HANDLER, + + GYRO_0_ADIS = objects::GYRO_0_ADIS_HANDLER, + GYRO_1_L3G = objects::GYRO_1_L3G_HANDLER, + GYRO_2_L3G = objects::GYRO_2_L3G_HANDLER, + + /* Dummy and Test Addresses */ + DUMMY_ECHO = 129, + DUMMY_GPS0 = 130, + DUMMY_GPS1 = 131, + }; + + enum i2cAddresses: address_t { + IMTQ = 16, + TMP1075_TCS_1 = 72, + TMP1075_TCS_2 = 73, + }; + + enum spiAddresses: address_t { + RTD_IC3, + RTD_IC4, + RTD_IC5, + RTD_IC6, + RTD_IC7, + RTD_IC8, + RTD_IC9, + RTD_IC10, + RTD_IC11, + RTD_IC12, + RTD_IC13, + RTD_IC14, + RTD_IC15, + RTD_IC16, + RTD_IC17, + RTD_IC18 + }; + + /* Addresses of devices supporting the CSP protocol */ + enum cspAddresses: uint8_t { + P60DOCK = 4, + ACU = 2, + PDU1 = 3, + /* PDU2 occupies X4 slot of P60Dock */ + PDU2 = 6 + }; +} + + +#endif /* FSFWCONFIG_DEVICES_ADDRESSES_H_ */ diff --git a/fsfwconfig/devices/gpioIds.h b/fsfwconfig/devices/gpioIds.h new file mode 100644 index 00000000..ac999152 --- /dev/null +++ b/fsfwconfig/devices/gpioIds.h @@ -0,0 +1,59 @@ +#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_ +#define FSFWCONFIG_DEVICES_GPIOIDS_H_ + +#include + +namespace gpioIds { + enum gpioId_t { + HEATER_0, + HEATER_1, + HEATER_2, + HEATER_3, + HEATER_4, + HEATER_5, + HEATER_6, + HEATER_7, + DEPLSA1, + DEPLSA2, + + MGM_0_LIS3_CS, + MGM_1_RM3100_CS, + GYRO_0_ADIS_CS, + GYRO_1_L3G_CS, + GYRO_2_L3G_CS, + MGM_2_LIS3_CS, + MGM_3_RM3100_CS, + + TEST_ID_0, + TEST_ID_1, + + RTD_IC3, + RTD_IC4, + RTD_IC5, + RTD_IC6, + RTD_IC7, + RTD_IC8, + RTD_IC9, + RTD_IC10, + RTD_IC11, + RTD_IC12, + RTD_IC13, + RTD_IC14, + RTD_IC15, + RTD_IC16, + RTD_IC17, + RTD_IC18, + + SPI_MUX_BIT_1, + SPI_MUX_BIT_2, + SPI_MUX_BIT_3, + SPI_MUX_BIT_4, + SPI_MUX_BIT_5, + SPI_MUX_BIT_6 + }; +} + + + + +#endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */ diff --git a/fsfwconfig/devices/heaterSwitcherList.h b/fsfwconfig/devices/heaterSwitcherList.h new file mode 100644 index 00000000..eeb59068 --- /dev/null +++ b/fsfwconfig/devices/heaterSwitcherList.h @@ -0,0 +1,20 @@ +#ifndef FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ +#define FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ + +namespace heaterSwitches { + enum switcherList: uint8_t { + HEATER_0, + HEATER_1, + HEATER_2, + HEATER_3, + HEATER_4, + HEATER_5, + HEATER_6, + HEATER_7, + NUMBER_OF_SWITCHES + }; +} + + + +#endif /* FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ */ diff --git a/fsfwconfig/devices/logicalAddresses.h b/fsfwconfig/devices/logicalAddresses.h deleted file mode 100644 index 922c9ce1..00000000 --- a/fsfwconfig/devices/logicalAddresses.h +++ /dev/null @@ -1,26 +0,0 @@ -/** - * \file logicalAddresses.cpp - * - * \date 07.11.2019 - */ - -#ifndef FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_ -#define FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_ -#include -#include -#include - -namespace addresses { - /* Logical addresses have uint32_t datatype */ - enum logicalAddresses: address_t { - PCDU, - - /* Dummy and Test Addresses */ - DUMMY_ECHO = 129, - DUMMY_GPS0 = 130, - DUMMY_GPS1 = 131, - }; -} - - -#endif /* FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_ */ diff --git a/fsfwconfig/devices/powerSwitcherList.cpp b/fsfwconfig/devices/powerSwitcherList.cpp deleted file mode 100644 index a7603185..00000000 --- a/fsfwconfig/devices/powerSwitcherList.cpp +++ /dev/null @@ -1,10 +0,0 @@ -/** - * @file switcherList.cpp - * - * @date 28.11.2019 - */ - -#include - - - diff --git a/fsfwconfig/devices/powerSwitcherList.h b/fsfwconfig/devices/powerSwitcherList.h index 98f7af8d..b8e3f89f 100644 --- a/fsfwconfig/devices/powerSwitcherList.h +++ b/fsfwconfig/devices/powerSwitcherList.h @@ -1,21 +1,57 @@ -/** - * @file switcherList.h - * - * @date 28.11.2019 - */ - #ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ #define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ -namespace switches { +#include + +namespace pcduSwitches { /* Switches are uint8_t datatype and go from 0 to 255 */ enum switcherList { - PCDU, - GPS0, - GPS1, - DUMMY = 129 + Q7S, + PAYLOAD_PCDU_CH1, + RW, + TCS_BOARD_8V_HEATER_IN, + SUS_REDUNDANT, + DEPLOYMENT_MECHANISM, + PAYLOAD_PCDU_CH6, + ACS_BOARD_SIDE_B, + PAYLOAD_CAMERA, + TCS_BOARD_3V3, + SYRLINKS, + STAR_TRACKER, + MGT, + SUS_NOMINAL, + SOLAR_CELL_EXP, + PLOC, + ACS_BORAD_SIDE_A, + NUMBER_OF_SWITCHES }; + static const uint8_t ON = 1; + static const uint8_t OFF = 0; + + /* Output states after reboot of the PDUs */ + static const uint8_t INIT_STATE_Q7S = ON; + static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF; + static const uint8_t INIT_STATE_RW = OFF; +#if TE0720 == 1 + /* Because the TE0720 is not connected to the PCDU, this switch is always on */ + static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON; +#else + static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF; +#endif + static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF; + static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF; + static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF; + static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF; + static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF; + static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF; + static const uint8_t INIT_STATE_SYRLINKS = OFF; + static const uint8_t INIT_STATE_STAR_TRACKER = OFF; + static const uint8_t INIT_STATE_MGT = OFF; + static const uint8_t INIT_STATE_SUS_NOMINAL = OFF; + static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF; + static const uint8_t INIT_STATE_PLOC = OFF; + static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF; } diff --git a/fsfwconfig/devices/spi.h b/fsfwconfig/devices/spi.h new file mode 100644 index 00000000..55271a40 --- /dev/null +++ b/fsfwconfig/devices/spi.h @@ -0,0 +1,27 @@ +#ifndef FSFWCONFIG_DEVICES_SPI_H_ +#define FSFWCONFIG_DEVICES_SPI_H_ + +#include +#include + +/** + * SPI configuration will be contained here to let the device handlers remain independent + * of SPI specific properties. + */ +namespace spi { + +/* Default values, changing them is not supported for now */ +static constexpr uint32_t DEFAULT_LIS3_SPEED = 3'900'000; +static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3; + +static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000; +static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3; + +static constexpr uint32_t DEFAULT_L3G_SPEED = 3'900'000; +static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3; + +} + + + +#endif /* FSFWCONFIG_DEVICES_SPI_H_ */ diff --git a/fsfwconfig/events/subsystemIdRanges.h b/fsfwconfig/events/subsystemIdRanges.h index ece990b2..b2e9aaac 100644 --- a/fsfwconfig/events/subsystemIdRanges.h +++ b/fsfwconfig/events/subsystemIdRanges.h @@ -17,7 +17,11 @@ enum: uint8_t { PUS_SERVICE_6, PUS_SERVICE_8, PUS_SERVICE_23, - MGM_LIS3MDL + MGM_LIS3MDL, + MGM_RM3100, + PCDU_HANDLER, + HEATER_HANDLER, + SA_DEPL_HANDLER }; } diff --git a/fsfwconfig/objects/systemObjectList.h b/fsfwconfig/objects/systemObjectList.h index 3b5717fb..110b5c17 100644 --- a/fsfwconfig/objects/systemObjectList.h +++ b/fsfwconfig/objects/systemObjectList.h @@ -2,10 +2,15 @@ #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ #include +#include // The objects will be instantiated in the ID order namespace objects { enum sourceObjects: uint32_t { + /* 0x53 reserved for FSFW */ + FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION, + FW_ADDRESS_END = TIME_STAMPER, + /* First Byte 0x50-0x52 reserved for PUS Services **/ CCSDS_PACKET_DISTRIBUTOR = 0x50000100, PUS_PACKET_DISTRIBUTOR = 0x50000200, @@ -19,17 +24,70 @@ namespace objects { PUS_SERVICE_23 = 0x51002300, PUS_SERVICE_201 = 0x51020100, - TIME_STAMPER = 0x52000001, TM_FUNNEL = 0x52000002, - /* Test Task */ - - TEST_TASK = 0x42694269, - DUMMY_INTERFACE = 0xCAFECAFE, - DUMMY_HANDLER = 0x4400AFFE, - /* 0x49 ('I') for Communication Interfaces **/ - ARDUINO_COM_IF = 0x49000001 + ARDUINO_COM_IF = 0x49000001, + CSP_COM_IF = 0x49000002, + I2C_COM_IF = 0x49000003, + UART_COM_IF = 0x49000004, + SPI_COM_IF = 0x49000005, + + /* 0x47 ('G') for Gpio Interfaces */ + GPIO_IF = 0x47000001, + + /* 0x44 ('D') for device handlers */ + P60DOCK_HANDLER = 0x44000001, + PDU1_HANDLER = 0x44000002, + PDU2_HANDLER = 0x44000003, + ACU_HANDLER = 0x44000004, + TMP1075_HANDLER_1 = 0x44000005, + TMP1075_HANDLER_2 = 0x44000006, + MGM_0_LIS3_HANDLER = 0x44000007, + MGM_1_RM3100_HANDLER = 0x44000008, + MGM_2_LIS3_HANDLER = 0x44000009, + MGM_3_RM3100_HANDLER = 0x44000010, + GYRO_0_ADIS_HANDLER = 0x44000011, + GYRO_1_L3G_HANDLER = 0x44000012, + GYRO_2_L3G_HANDLER = 0x44000013, + + IMTQ_HANDLER = 0x44000014, + + /* Custom device handler */ + PCDU_HANDLER = 0x44001000, + SOLAR_ARRAY_DEPL_HANDLER = 0x44001001, + SYRLINKS_HK_HANDLER = 0x44001002, + + /* 0x54 ('T') for thermal objects */ + HEATER_HANDLER = 0x54000003, + /** + * Not yet specified which pt1000 will measure which device/location in the satellite. + * Therefore object ids are named according to the IC naming of the RTDs in the schematic. + */ + RTD_IC3 = 0x54000004, + RTD_IC4 = 0x54000005, + RTD_IC5 = 0x54000006, + RTD_IC6 = 0x54000007, + RTD_IC7 = 0x54000008, + RTD_IC8 = 0x54000009, + RTD_IC9 = 0x5400000A, + RTD_IC10 = 0x5400000B, + RTD_IC11 = 0x5400000C, + RTD_IC12 = 0x5400000D, + RTD_IC13 = 0x5400000E, + RTD_IC14 = 0x5400000F, + RTD_IC15 = 0x5400001F, + RTD_IC16 = 0x5400002F, + RTD_IC17 = 0x5400003F, + RTD_IC18 = 0x5400004F, + + /* 0x54 ('T') for test handlers */ + TEST_TASK = 0x54694269, + LIBGPIOD_TEST = 0x54123456, + SPI_TEST = 0x54000010, + DUMMY_INTERFACE = 0x5400CAFE, + DUMMY_HANDLER = 0x5400AFFE, + P60DOCK_TEST_TASK = 0x00005060 }; } diff --git a/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp b/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp deleted file mode 100644 index 22c00034..00000000 --- a/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp +++ /dev/null @@ -1,30 +0,0 @@ -#include -#include -#include -#include -#include -#include - -ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) -{ - /* Length of a communication cycle */ - uint32_t length = thisSequence->getPeriodMs(); - - thisSequence->addSlot(objects::DUMMY_HANDLER, - length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::DUMMY_HANDLER, - length * 0.25, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::DUMMY_HANDLER, - length * 0.5, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::DUMMY_HANDLER, - length * 0.75, DeviceHandlerIF::GET_READ); - - if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { - return HasReturnvaluesIF::RETURN_OK; - } - else { - sif::error << "PollingSequence::initialize has errors!" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; - } -} - diff --git a/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp new file mode 100644 index 00000000..02e6b625 --- /dev/null +++ b/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -0,0 +1,291 @@ +#include "pollingSequenceFactory.h" +#include +#include +#include +#include +#include +#include + + +ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) +{ + /* Length of a communication cycle */ + uint32_t length = thisSequence->getPeriodMs(); + + thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + +#if Q7S_ADD_RTD_DEVICES == 1 + thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC5, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC6, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC7, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC8, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC9, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC10, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC11, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC12, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC13, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC14, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC15, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC16, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC17, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION); +#endif /* Q7S_ADD_RTD_DEVICES */ + + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + + thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE); + +#if Q7S_ADD_RTD_DEVICES == 1 + thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC5, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC6, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC7, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC8, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC9, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC10, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC11, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC12, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC13, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC14, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC15, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC16, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC17, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE); +#endif /* Q7S_ADD_RTD_DEVICES */ + + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); + + thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE); + +#if Q7S_ADD_RTD_DEVICES == 1 + thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC5, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC6, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC7, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC8, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC9, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC10, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC11, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC12, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC13, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC14, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC15, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC16, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC17, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); +#endif /* Q7S_ADD_RTD_DEVICES */ + + thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ); + +#if Q7S_ADD_RTD_DEVICES == 1 + thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC5, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC6, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC7, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC8, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC9, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC10, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC11, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC12, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC13, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC14, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC15, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC16, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC17, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ); +#endif /* Q7S_ADD_RTD_DEVICES */ + + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); + + thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ); + +#if Q7S_ADD_RTD_DEVICES == 1 + thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC5, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC6, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC7, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC8, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC9, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC10, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC11, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC12, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC13, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC14, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC15, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC16, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ); +#endif /* Q7S_ADD_RTD_DEVICES */ + + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); + + if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { + return HasReturnvaluesIF::RETURN_OK; + } + + sif::error << "PollingSequence::initialize has errors!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; +} + +ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){ + uint32_t length = thisSequence->getPeriodMs(); + + thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0, DeviceHandlerIF::PERFORM_OPERATION); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0.2, DeviceHandlerIF::SEND_WRITE); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0.4, DeviceHandlerIF::GET_WRITE); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0.6, DeviceHandlerIF::SEND_READ); + + thisSequence->addSlot(objects::P60DOCK_HANDLER, + length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::PDU1_HANDLER, + length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::PDU2_HANDLER, + length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::ACU_HANDLER, + length * 0.8, DeviceHandlerIF::GET_READ); + +#if OBSW_ADD_ACS_BOARD == 1 +// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, +// DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, +// DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4, +// DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, +// DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8, +// DeviceHandlerIF::GET_READ); +// +// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, +// DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2, +// DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4, +// DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, +// DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8, +// DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8, + DeviceHandlerIF::GET_READ); + +// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, +// DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2, +// DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4, +// DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, +// DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8, +// DeviceHandlerIF::GET_READ); +#endif + + if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Initialization of GomSpace PST failed" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) { + uint32_t length = thisSequence->getPeriodMs(); + + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8, + DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8, + DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8, + DeviceHandlerIF::GET_READ); + if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Initialization of ACS Board PST failed" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/fsfwconfig/pollingsequence/PollingSequenceFactory.h b/fsfwconfig/pollingsequence/pollingSequenceFactory.h similarity index 76% rename from fsfwconfig/pollingsequence/PollingSequenceFactory.h rename to fsfwconfig/pollingsequence/pollingSequenceFactory.h index b6cc2f1e..09dd7242 100644 --- a/fsfwconfig/pollingsequence/PollingSequenceFactory.h +++ b/fsfwconfig/pollingsequence/pollingSequenceFactory.h @@ -1,5 +1,6 @@ #ifndef POLLINGSEQUENCEFACTORY_H_ #define POLLINGSEQUENCEFACTORY_H_ + #include class FixedTimeslotTaskIF; @@ -26,6 +27,15 @@ namespace pst { /* 0.4 second period init*/ ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence); +/** + * @brief This function creates the PST for all gomspace devices. They are + * scheduled in a separate PST because the gomspace library uses + * blocking calls when requesting data from devices. + */ +ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence); + +ReturnValue_t pollingSequenceAcsTest(FixedTimeslotTaskIF* thisSequence); } + #endif /* POLLINGSEQUENCEINIT_H_ */ diff --git a/fsfwconfig/returnvalues/classIds.h b/fsfwconfig/returnvalues/classIds.h index b5835c84..93349596 100644 --- a/fsfwconfig/returnvalues/classIds.h +++ b/fsfwconfig/returnvalues/classIds.h @@ -11,7 +11,15 @@ namespace CLASS_ID { enum { MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT, - MGM_LIS3MDL + MGM_LIS3MDL, + MGM_RM3100, + LINUX_LIBGPIO_IF, + LINUX_SPI_COM_IF, + PCDU_HANDLER, + HEATER_HANDLER, + SA_DEPL_HANDLER, + SYRLINKS_HANDLER, + IMTQ_HANDLER, }; } diff --git a/fsfwconfig/tmtc/apid.h b/fsfwconfig/tmtc/apid.h index ee2fc7c4..00aabee1 100644 --- a/fsfwconfig/tmtc/apid.h +++ b/fsfwconfig/tmtc/apid.h @@ -1,14 +1,14 @@ #ifndef FSFWCONFIG_TMTC_APID_H_ #define FSFWCONFIG_TMTC_APID_H_ -#include +#include /** * Application Process Definition: entity, uniquely identified by an * application process ID (APID), capable of generating telemetry source * packets and receiving telecommand packets * - * SOURCE APID: 0x73 / 115 / s + * EIVE APID: 0x65 / 101 / e * APID is a 11 bit number */ namespace apid { diff --git a/fsfwconfig/tmtc/tmTcSize.h b/fsfwconfig/tmtc/tmTcSize.h deleted file mode 100644 index c3c83d31..00000000 --- a/fsfwconfig/tmtc/tmTcSize.h +++ /dev/null @@ -1,10 +0,0 @@ -#ifndef FSFWCONFIG_TMTC_TMTCSIZE_H_ -#define FSFWCONFIG_TMTC_TMTCSIZE_H_ - -#include - -namespace tmtcsize { -static const uint32_t MAX_TM_PACKET = 50; -} - -#endif /* FSFWCONFIG_TMTC_TMTCSIZE_H_ */ diff --git a/generators/modgen b/generators/modgen new file mode 160000 index 00000000..5ed4a2ae --- /dev/null +++ b/generators/modgen @@ -0,0 +1 @@ +Subproject commit 5ed4a2ae59e90c3763616bdaf41eb3317e849100 diff --git a/hosted/InitMission.cpp b/hosted/InitMission.cpp deleted file mode 100644 index 8bee1b2e..00000000 --- a/hosted/InitMission.cpp +++ /dev/null @@ -1,159 +0,0 @@ -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -// This is configured for linux without \cr -#ifdef LINUX -ServiceInterfaceStream sif::debug("DEBUG"); -ServiceInterfaceStream sif::info("INFO"); -ServiceInterfaceStream sif::warning("WARNING"); -ServiceInterfaceStream sif::error("ERROR", false, false, true); -#else -ServiceInterfaceStream sif::debug("DEBUG", true); -ServiceInterfaceStream sif::info("INFO", true); -ServiceInterfaceStream sif::warning("WARNING", true); -ServiceInterfaceStream sif::error("ERROR", true, false, true); -#endif - -ObjectManagerIF *objectManager = nullptr; - -//Initialize Data Pool -DataPool dataPool(nullptr); - -void InitMission::initMission() { - sif::info << "Building global objects.." << std::endl; - /* Instantiate global object manager and also create all objects */ - objectManager = new ObjectManager(ObjectFactory::produce); - sif::info << "Initializing all objects.." << std::endl; - objectManager->initialize(); - - /* This function creates and starts all tasks */ - initTasks(); -} - -void InitMission::initTasks(){ - /* TMTC Distribution */ - PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()-> - createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, - 0.100, nullptr); - ReturnValue_t result = TmTcDistributor->addComponent( - objects::CCSDS_PACKET_DISTRIBUTOR); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - result = TmTcDistributor->addComponent(objects::TM_FUNNEL); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "Object add component failed" << std::endl; - } - - /* UDP bridge */ - PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask( - "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, - 0.2, nullptr); - result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "Add component UDP Unix Bridge failed" << std::endl; - } - PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()-> - createPeriodicTask("UDP_POLLING", 80, - PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr); - result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "Add component UDP Polling failed" << std::endl; - } - - /* PUS Services */ - PeriodicTaskIF* PusVerification = TaskFactory::instance()-> - createPeriodicTask("PUS_VERIF_1", 40, - PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr); - result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); - if(result != HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - PeriodicTaskIF* PusEvents = TaskFactory::instance()-> - createPeriodicTask("PUS_VERIF_1", 60, - PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr); - result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); - if(result != HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - PeriodicTaskIF* PusHighPrio = TaskFactory::instance()-> - createPeriodicTask("PUS_HIGH_PRIO", 50, - PeriodicTaskIF::MINIMUM_STACK_SIZE, - 0.200, nullptr); - result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - PeriodicTaskIF* PusMedPrio = TaskFactory::instance()-> - createPeriodicTask("PUS_HIGH_PRIO", 40, - PeriodicTaskIF::MINIMUM_STACK_SIZE, - 0.8, nullptr); - result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - PeriodicTaskIF* PusLowPrio = TaskFactory::instance()-> - createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, - 1.6, nullptr); - result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); - if(result!=HasReturnvaluesIF::RETURN_OK){ - sif::error << "Object add component failed" << std::endl; - } - - -#if OBSW_ADD_TEST_CODE == 1 - FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()-> - createFixedTimeslotTask("PST_TEST_TASK", 10, - PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); - result = pst::pollingSequenceTestFunction(TestTimeslotTask); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "InitMission::createTasks: Test PST initialization " - << "failed!" << std::endl; - } -#endif - - //Main thread sleep - sif::info << "Starting tasks.." << std::endl; - TmTcDistributor->startTask(); - UdpBridgeTask->startTask(); - UdpPollingTask->startTask(); - - PusVerification->startTask(); - PusEvents->startTask(); - PusHighPrio->startTask(); - PusMedPrio->startTask(); - PusLowPrio->startTask(); -#if OBSW_ADD_TEST_CODE == 1 - TestTimeslotTask->startTask(); -#endif - sif::info << "Tasks started.." << std::endl; -} diff --git a/hosted/ObjectFactory.cpp b/hosted/ObjectFactory.cpp deleted file mode 100644 index 09c69082..00000000 --- a/hosted/ObjectFactory.cpp +++ /dev/null @@ -1,61 +0,0 @@ -#include "ObjectFactory.h" - -#include -#include -#include -#include - -#include -#include - -#include -#include - -#ifdef LINUX -#include -#include -#elif WIN32 -#include -#include -#endif - -#include - - -#if OBSW_ADD_TEST_CODE == 1 -#include -#endif - -void Factory::setStaticFrameworkObjectIds(){ - PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; - PusServiceBase::packetDestination = objects::TM_FUNNEL; - - CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR; - CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL; - - TmFunnel::downlinkDestination = objects::UDP_BRIDGE; - // No storage object for now. - TmFunnel::storageDestination = objects::NO_OBJECT; - - VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; - TmPacketStored::timeStamperId = objects::TIME_STAMPER; -} - -void ObjectFactory::produce(){ - Factory::setStaticFrameworkObjectIds(); - ObjectFactory::produceGenericObjects(); - -#ifdef LINUX - new TmTcUnixUdpBridge(objects::UDP_BRIDGE, - objects::CCSDS_PACKET_DISTRIBUTOR, - objects::TM_STORE, objects::TC_STORE); - new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE); -#elif WIN32 - new TmTcWinUdpBridge(objects::UDP_BRIDGE, - objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE, - objects::TC_STORE); - new TcWinUdpPollingTask(objects::UDP_POLLING_TASK, - objects::UDP_BRIDGE); -#endif - -} diff --git a/hosted/fsfwconfig/OBSWConfig.h b/hosted/fsfwconfig/OBSWConfig.h deleted file mode 100644 index 9e11424b..00000000 --- a/hosted/fsfwconfig/OBSWConfig.h +++ /dev/null @@ -1,14 +0,0 @@ -/** - * @brief This file can be used to add preprocessor define for conditional - * code inclusion exclusion or various other project constants and - * properties in one place. - */ -#ifndef CONFIG_OBSWCONFIG_H_ -#define CONFIG_OBSWCONFIG_H_ - -#define ADD_TEST_FOLDER 1 - -// Define not used yet, PUS stack and TMTC tasks are always started -#define ADD_PUS_STACK 1 - -#endif /* CONFIG_OBSWCONFIG_H_ */ diff --git a/hosted/fsfwconfig/fsfwconfig.mk b/hosted/fsfwconfig/fsfwconfig.mk deleted file mode 100644 index 105c3fba..00000000 --- a/hosted/fsfwconfig/fsfwconfig.mk +++ /dev/null @@ -1,15 +0,0 @@ -CXXSRC += $(wildcard $(CURRENTPATH)/cdatapool/*.cpp) -CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp) -CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp) -CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp) -CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp) - -INCLUDES += $(CURRENTPATH) -INCLUDES += $(CURRENTPATH)/objects -INCLUDES += $(CURRENTPATH)/ipc -INCLUDES += $(CURRENTPATH)/pollingsequence -INCLUDES += $(CURRENTPATH)/returnvalues -INCLUDES += $(CURRENTPATH)/tmtc -INCLUDES += $(CURRENTPATH)/events -INCLUDES += $(CURRENTPATH)/devices -INCLUDES += $(CURRENTPATH)/cdatapool \ No newline at end of file diff --git a/linux/CMakeLists.txt b/linux/CMakeLists.txt new file mode 100644 index 00000000..7e6d1f35 --- /dev/null +++ b/linux/CMakeLists.txt @@ -0,0 +1,4 @@ +add_subdirectory(csp) +add_subdirectory(uart) +add_subdirectory(utility) +add_subdirectory(boardtest) diff --git a/linux/archive/gpio/CMakeLists.txt b/linux/archive/gpio/CMakeLists.txt new file mode 100644 index 00000000..9b20b35e --- /dev/null +++ b/linux/archive/gpio/CMakeLists.txt @@ -0,0 +1,12 @@ +target_sources(${TARGET_NAME} PUBLIC + GpioCookie.cpp + LinuxLibgpioIF.cpp +) + +target_link_libraries(${TARGET_NAME} PUBLIC + gpiod +) + + + + diff --git a/linux/archive/gpio/GpioCookie.cpp b/linux/archive/gpio/GpioCookie.cpp new file mode 100644 index 00000000..c729502b --- /dev/null +++ b/linux/archive/gpio/GpioCookie.cpp @@ -0,0 +1,34 @@ +#include "GpioCookie.h" +#include + +GpioCookie::GpioCookie() { +} + +ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig){ + if (gpioConfig == nullptr) { + sif::debug << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + auto gpioMapIter = gpioMap.find(gpioId); + if(gpioMapIter == gpioMap.end()) { + auto statusPair = gpioMap.emplace(gpioId, gpioConfig); + if (statusPair.second == false) { +#if FSFW_VERBOSE_LEVEL >= 1 + sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << + " to GPIO map" << std::endl; +#endif + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; + } +#if FSFW_VERBOSE_LEVEL >= 1 + sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl; +#endif + return HasReturnvaluesIF::RETURN_FAILED; +} + +GpioMap GpioCookie::getGpioMap() const { + return gpioMap; +} + +GpioCookie::~GpioCookie() {} diff --git a/linux/archive/gpio/GpioCookie.h b/linux/archive/gpio/GpioCookie.h new file mode 100644 index 00000000..3f8531ee --- /dev/null +++ b/linux/archive/gpio/GpioCookie.h @@ -0,0 +1,39 @@ +#ifndef LINUX_GPIO_GPIOCOOKIE_H_ +#define LINUX_GPIO_GPIOCOOKIE_H_ + +#include "GpioIF.h" +#include "gpioDefinitions.h" +#include +#include + +/** + * @brief Cookie for the GpioIF. Allows the GpioIF to determine which + * GPIOs to initialize and whether they should be configured as in- or + * output. + * @details One GpioCookie can hold multiple GPIO configurations. To add a new + * GPIO configuration to a GpioCookie use the GpioCookie::addGpio + * function. + * + * @author J. Meier + */ +class GpioCookie: public CookieIF { +public: + + GpioCookie(); + + virtual ~GpioCookie(); + + ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig); + /** + * @brief Get map with registered GPIOs. + */ + GpioMap getGpioMap() const; + +private: + /** + * Returns a copy of the internal GPIO map. + */ + GpioMap gpioMap; +}; + +#endif /* LINUX_GPIO_GPIOCOOKIE_H_ */ diff --git a/linux/archive/gpio/GpioIF.h b/linux/archive/gpio/GpioIF.h new file mode 100644 index 00000000..75feb3ce --- /dev/null +++ b/linux/archive/gpio/GpioIF.h @@ -0,0 +1,54 @@ +#ifndef LINUX_GPIO_GPIOIF_H_ +#define LINUX_GPIO_GPIOIF_H_ + +#include "gpioDefinitions.h" +#include +#include + +class GpioCookie; + +/** + * @brief This class defines the interface for objects requiring the control + * over GPIOs. + * @author J. Meier + */ +class GpioIF : public HasReturnvaluesIF { +public: + + virtual ~GpioIF() {}; + + /** + * @brief Called by the GPIO using object. + * @param cookie Cookie specifying informations of the GPIOs required + * by a object. + */ + virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0; + + /** + * @brief By implementing this function a child must provide the + * functionality to pull a certain GPIO to high logic level. + * + * @param gpioId A unique number which specifies the GPIO to drive. + * @return Returns RETURN_OK for success. This should never return RETURN_FAILED. + */ + virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0; + + /** + * @brief By implementing this function a child must provide the + * functionality to pull a certain GPIO to low logic level. + * + * @param gpioId A unique number which specifies the GPIO to drive. + */ + virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0; + + /** + * @brief This function requires a child to implement the functionality to read the state of + * an ouput or input gpio. + * + * @param gpioId A unique number which specifies the GPIO to read. + * @param gpioState State of GPIO will be written to this pointer. + */ + virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0; +}; + +#endif /* LINUX_GPIO_GPIOIF_H_ */ diff --git a/linux/archive/gpio/LinuxLibgpioIF.cpp b/linux/archive/gpio/LinuxLibgpioIF.cpp new file mode 100644 index 00000000..64ee2982 --- /dev/null +++ b/linux/archive/gpio/LinuxLibgpioIF.cpp @@ -0,0 +1,299 @@ +#include "LinuxLibgpioIF.h" +#include "GpioCookie.h" + +#include +#include + +#include +#include +#include + + +LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) { +} + +LinuxLibgpioIF::~LinuxLibgpioIF() { +} + +ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) { + ReturnValue_t result; + if(gpioCookie == nullptr) { + sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl; + return RETURN_FAILED; + } + + GpioMap mapToAdd = gpioCookie->getGpioMap(); + + /* Check whether this ID already exists in the map and remove duplicates */ + result = checkForConflicts(mapToAdd); + if (result != RETURN_OK){ + return result; + } + + result = configureGpios(mapToAdd); + if (result != RETURN_OK) { + return RETURN_FAILED; + } + + /* Register new GPIOs in gpioMap */ + gpioMap.insert(mapToAdd.begin(), mapToAdd.end()); + + return RETURN_OK; +} + +ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { + for(auto& gpioConfig: mapToAdd) { + switch(gpioConfig.second->gpioType) { + case(gpio::GpioTypes::NONE): { + return GPIO_INVALID_INSTANCE; + } + case(gpio::GpioTypes::GPIOD_REGULAR): { + GpiodRegular* regularGpio = dynamic_cast(gpioConfig.second); + if(regularGpio == nullptr) { + return GPIO_INVALID_INSTANCE; + } + configureRegularGpio(gpioConfig.first, regularGpio); + break; + } + case(gpio::GpioTypes::CALLBACK): { + auto gpioCallback = dynamic_cast(gpioConfig.second); + if(gpioCallback->callback == nullptr) { + return GPIO_INVALID_INSTANCE; + } + gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE, + gpioCallback->initValue, gpioCallback->callbackArgs); + } + } + } + return RETURN_OK; +} + +ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) { + std::string chipname; + unsigned int lineNum; + struct gpiod_chip *chip; + gpio::Direction direction; + std::string consumer; + struct gpiod_line *lineHandle; + int result = 0; + + chipname = regularGpio->chipname; + chip = gpiod_chip_open_by_name(chipname.c_str()); + if (!chip) { + sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip " + << chipname << ". Gpio ID: " << gpioId << std::endl; + return RETURN_FAILED; + } + + lineNum = regularGpio->lineNum; + lineHandle = gpiod_chip_get_line(chip, lineNum); + if (!lineHandle) { + sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id " + << gpioId << std::endl; + gpiod_chip_close(chip); + return RETURN_FAILED; + } + + direction = regularGpio->direction; + consumer = regularGpio->consumer; + /* Configure direction and add a description to the GPIO */ + switch (direction) { + case(gpio::OUT): { + result = gpiod_line_request_output(lineHandle, consumer.c_str(), + regularGpio->initValue); + if (result < 0) { + sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum << + " from GPIO instance with ID: " << gpioId << std::endl; + gpiod_line_release(lineHandle); + return RETURN_FAILED; + } + break; + } + case(gpio::IN): { + result = gpiod_line_request_input(lineHandle, consumer.c_str()); + if (result < 0) { + sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " + << lineNum << " from GPIO instance with ID: " << gpioId << std::endl; + gpiod_line_release(lineHandle); + return RETURN_FAILED; + } + break; + } + default: { + sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" + << std::endl; + return GPIO_INVALID_INSTANCE; + } + + } + /** + * Write line handle to GPIO configuration instance so it can later be used to set or + * read states of GPIOs. + */ + regularGpio->lineHandle = lineHandle; + return RETURN_OK; +} + +ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) { + gpioMapIter = gpioMap.find(gpioId); + if (gpioMapIter == gpioMap.end()) { + sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl; + return UNKNOWN_GPIO_ID; + } + + if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) { + return driveGpio(gpioId, dynamic_cast(gpioMapIter->second), 1); + } + else { + auto gpioCallback = dynamic_cast(gpioMapIter->second); + if(gpioCallback->callback == nullptr) { + return GPIO_INVALID_INSTANCE; + } + gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, + 1, gpioCallback->callbackArgs); + } + return GPIO_TYPE_FAILURE; +} + +ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) { + gpioMapIter = gpioMap.find(gpioId); + if (gpioMapIter == gpioMap.end()) { + sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl; + return UNKNOWN_GPIO_ID; + } + + if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) { + return driveGpio(gpioId, dynamic_cast(gpioMapIter->second), 0); + } + else { + auto gpioCallback = dynamic_cast(gpioMapIter->second); + if(gpioCallback->callback == nullptr) { + return GPIO_INVALID_INSTANCE; + } + gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, + 0, gpioCallback->callbackArgs); + } + return GPIO_TYPE_FAILURE; +} + +ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, + GpiodRegular* regularGpio, unsigned int logicLevel) { + if(regularGpio == nullptr) { + return GPIO_TYPE_FAILURE; + } + + int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel); + if (result < 0) { + sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId << + " to logic level " << logicLevel << std::endl; + return DRIVE_GPIO_FAILURE; + } + + return RETURN_OK; +} + +ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { + gpioMapIter = gpioMap.find(gpioId); + if (gpioMapIter == gpioMap.end()){ + sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl; + return UNKNOWN_GPIO_ID; + } + + if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) { + GpiodRegular* regularGpio = dynamic_cast(gpioMapIter->second); + if(regularGpio == nullptr) { + return GPIO_TYPE_FAILURE; + } + *gpioState = gpiod_line_get_value(regularGpio->lineHandle); + } + else { + + } + + + return RETURN_OK; +} + +ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){ + ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + for(auto& gpioConfig: mapToAdd) { + switch(gpioConfig.second->gpioType) { + case(gpio::GpioTypes::GPIOD_REGULAR): { + auto regularGpio = dynamic_cast(gpioConfig.second); + if(regularGpio == nullptr) { + return GPIO_TYPE_FAILURE; + } + /* Check for conflicts and remove duplicates if necessary */ + result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd); + if(result != HasReturnvaluesIF::RETURN_OK) { + status = result; + } + break; + } + case(gpio::GpioTypes::CALLBACK): { + auto callbackGpio = dynamic_cast(gpioConfig.second); + if(callbackGpio == nullptr) { + return GPIO_TYPE_FAILURE; + } + /* Check for conflicts and remove duplicates if necessary */ + result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd); + if(result != HasReturnvaluesIF::RETURN_OK) { + status = result; + } + break; + } + default: { + + } + } + } + return status; +} + + +ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck, + GpiodRegular* gpioToCheck, GpioMap& mapToAdd) { + /* Cross check with private map */ + gpioMapIter = gpioMap.find(gpioIdToCheck); + if(gpioMapIter != gpioMap.end()) { + if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIOD_REGULAR) { + sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different " + "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl; + mapToAdd.erase(gpioIdToCheck); + return HasReturnvaluesIF::RETURN_OK; + } + auto ownRegularGpio = dynamic_cast(gpioMapIter->second); + if(ownRegularGpio == nullptr) { + return GPIO_TYPE_FAILURE; + } + + /* Remove element from map to add because a entry for this GPIO + already exists */ + sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition" + << " detected. Duplicate will be removed from map to add." << std::endl; + mapToAdd.erase(gpioIdToCheck); + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck, + GpioCallback *callbackGpio, GpioMap& mapToAdd) { + /* Cross check with private map */ + gpioMapIter = gpioMap.find(gpioIdToCheck); + if(gpioMapIter != gpioMap.end()) { + if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) { + sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different " + "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl; + mapToAdd.erase(gpioIdToCheck); + return HasReturnvaluesIF::RETURN_OK; + } + + /* Remove element from map to add because a entry for this GPIO + already exists */ + sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition" + << " detected. Duplicate will be removed from map to add." << std::endl; + mapToAdd.erase(gpioIdToCheck); + } + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/linux/archive/gpio/LinuxLibgpioIF.h b/linux/archive/gpio/LinuxLibgpioIF.h new file mode 100644 index 00000000..a5015999 --- /dev/null +++ b/linux/archive/gpio/LinuxLibgpioIF.h @@ -0,0 +1,77 @@ +#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_ +#define LINUX_GPIO_LINUXLIBGPIOIF_H_ + +#include +#include +#include + +class GpioCookie; + +/** + * @brief This class implements the GpioIF for a linux based system. The + * implementation is based on the libgpiod lib which requires linux 4.8 + * or higher. + * @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux + * 2019.1. + */ +class LinuxLibgpioIF : public GpioIF, public SystemObject { +public: + + static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF; + + static constexpr ReturnValue_t UNKNOWN_GPIO_ID = + HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1); + static constexpr ReturnValue_t DRIVE_GPIO_FAILURE = + HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2); + static constexpr ReturnValue_t GPIO_TYPE_FAILURE = + HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3); + static constexpr ReturnValue_t GPIO_INVALID_INSTANCE = + HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4); + + LinuxLibgpioIF(object_id_t objectId); + virtual ~LinuxLibgpioIF(); + + ReturnValue_t addGpios(GpioCookie* gpioCookie) override; + ReturnValue_t pullHigh(gpioId_t gpioId) override; + ReturnValue_t pullLow(gpioId_t gpioId) override; + ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override; + +private: + /* Holds the information and configuration of all used GPIOs */ + GpioMap gpioMap; + GpioMapIter gpioMapIter; + + /** + * @brief This functions drives line of a GPIO specified by the GPIO ID. + * + * @param gpioId The GPIO ID of the GPIO to drive. + * @param logiclevel The logic level to set. O or 1. + */ + ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel); + + ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio); + + /** + * @brief This function checks if GPIOs are already registered and whether + * there exists a conflict in the GPIO configuration. E.g. the + * direction. + * + * @param mapToAdd The GPIOs which shall be added to the gpioMap. + * + * @return RETURN_OK if successful, otherwise RETURN_FAILED + */ + ReturnValue_t checkForConflicts(GpioMap& mapToAdd); + + ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio, + GpioMap& mapToAdd); + ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio, + GpioMap& mapToAdd); + + /** + * @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd. + */ + ReturnValue_t configureGpios(GpioMap& mapToAdd); + +}; + +#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */ diff --git a/linux/archive/gpio/gpioDefinitions.h b/linux/archive/gpio/gpioDefinitions.h new file mode 100644 index 00000000..66c0b005 --- /dev/null +++ b/linux/archive/gpio/gpioDefinitions.h @@ -0,0 +1,98 @@ +#ifndef LINUX_GPIO_GPIODEFINITIONS_H_ +#define LINUX_GPIO_GPIODEFINITIONS_H_ + +#include +#include + +using gpioId_t = uint16_t; + +namespace gpio { + +enum Levels { + LOW = 0, + HIGH = 1 +}; + +enum Direction { + IN = 0, + OUT = 1 +}; + +enum GpioOperation { + READ, + WRITE +}; + +enum GpioTypes { + NONE, + GPIOD_REGULAR, + CALLBACK +}; + +static constexpr gpioId_t NO_GPIO = -1; +} + +/** + * @brief Struct containing information about the GPIO to use. This is + * required by the libgpiod to access and drive a GPIO. + * @param chipname String of the chipname specifying the group which contains the GPIO to + * access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on + * the linux command line. + * @param lineNum The offset of the GPIO within the GPIO group. + * @param consumer Name of the consumer. Simply a description of the GPIO configuration. + * @param direction Specifies whether the GPIO should be used as in- or output. + * @param initValue Defines the initial state of the GPIO when configured as output. + * Only required for output GPIOs. + * @param lineHandle The handle returned by gpiod_chip_get_line will be later written to this + * pointer. + */ +class GpioBase { +public: + + GpioBase() = default; + + GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, + int initValue): + gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {} + + virtual~ GpioBase() {}; + + /* Can be used to cast GpioBase to a concrete child implementation */ + gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; + std::string consumer; + gpio::Direction direction = gpio::Direction::IN; + int initValue = 0; +}; + +class GpiodRegular: public GpioBase { +public: + GpiodRegular(): GpioBase(gpio::GpioTypes::GPIOD_REGULAR, std::string(), + gpio::Direction::IN, 0) {}; + + GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_, + gpio::Direction direction_, int initValue_): + GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_), + chipname(chipname_), lineNum(lineNum_) {} + std::string chipname; + int lineNum = 0; + struct gpiod_line* lineHandle = nullptr; +}; + +class GpioCallback: public GpioBase { +public: + GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_, + void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args), + void* callbackArgs): + GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_), + callback(callback), callbackArgs(callbackArgs) {} + + void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp, + int value, void* args) = nullptr; + void* callbackArgs = nullptr; +}; + + +using GpioMap = std::unordered_map; +using GpioMapIter = GpioMap::iterator; + +#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */ diff --git a/linux/boardtest/CMakeLists.txt b/linux/boardtest/CMakeLists.txt new file mode 100644 index 00000000..0fa4e322 --- /dev/null +++ b/linux/boardtest/CMakeLists.txt @@ -0,0 +1,10 @@ +target_sources(${TARGET_NAME} PRIVATE + LibgpiodTest.cpp + I2cTestClass.cpp + SpiTestClass.cpp + UartTestClass.cpp +) + + + + diff --git a/linux/boardtest/I2cTestClass.cpp b/linux/boardtest/I2cTestClass.cpp new file mode 100644 index 00000000..66c16b33 --- /dev/null +++ b/linux/boardtest/I2cTestClass.cpp @@ -0,0 +1,8 @@ +#include + +I2cTestClass::I2cTestClass(object_id_t objectId): TestTask(objectId) { +} + +ReturnValue_t I2cTestClass::performPeriodicAction() { + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/linux/boardtest/I2cTestClass.h b/linux/boardtest/I2cTestClass.h new file mode 100644 index 00000000..172a7f71 --- /dev/null +++ b/linux/boardtest/I2cTestClass.h @@ -0,0 +1,17 @@ +#ifndef LINUX_BOARDTEST_I2CTESTCLASS_H_ +#define LINUX_BOARDTEST_I2CTESTCLASS_H_ + +#include + +class I2cTestClass: public TestTask { +public: + I2cTestClass(object_id_t objectId); + + ReturnValue_t performPeriodicAction() override; +private: + +}; + + + +#endif /* LINUX_BOARDTEST_I2CTESTCLASS_H_ */ diff --git a/linux/boardtest/LibgpiodTest.cpp b/linux/boardtest/LibgpiodTest.cpp new file mode 100644 index 00000000..d085671a --- /dev/null +++ b/linux/boardtest/LibgpiodTest.cpp @@ -0,0 +1,99 @@ +#include "LibgpiodTest.h" + +#include +#include +#include +#include + +LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, + GpioCookie* gpioCookie): + TestTask(objectId) { + + gpioInterface = objectManager->get(gpioIfobjectId); + if (gpioInterface == nullptr) { + sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl; + } + gpioInterface->addGpios(gpioCookie); + testCase = TestCases::LOOPBACK; +} + +LibgpiodTest::~LibgpiodTest() { +} + +ReturnValue_t LibgpiodTest::performPeriodicAction() { + int gpioState; + ReturnValue_t result; + + switch(testCase) { + case(TestCases::READ): { + result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState); + if (result != RETURN_OK) { + sif::debug << "LibgpiodTest::performPeriodicAction: Failed to read gpio " + << std::endl; + return RETURN_FAILED; + } + else { + sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState + << std::endl; + } + break; + } + case(TestCases::LOOPBACK): { + break; + } + } + + + return RETURN_OK; +} + +ReturnValue_t LibgpiodTest::performOneShotAction() { + int gpioState; + ReturnValue_t result; + + switch(testCase) { + case(TestCases::READ): { + break; + } + case(TestCases::LOOPBACK): { + result = gpioInterface->pullHigh(gpioIds::TEST_ID_0); + if(result == HasReturnvaluesIF::RETURN_OK) { + sif::info << "LibgpiodTest::performOneShotAction: " + "GPIO pulled high successfully for loopback test" << std::endl; + } + else { + sif::warning << "LibgpiodTest::performOneShotAction: Could not pull GPIO high!" + << std::endl; + return HasReturnvaluesIF::RETURN_OK; + } + result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState); + if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) { + sif::info << "LibgpiodTest::performOneShotAction: " + "GPIO state read successfully and is high" << std::endl; + } + else { + sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not high!" + << std::endl; + return HasReturnvaluesIF::RETURN_OK; + } + + result = gpioInterface->pullLow(gpioIds::TEST_ID_0); + if(result == HasReturnvaluesIF::RETURN_OK) { + sif::info << "LibgpiodTest::performOneShotAction: " + "GPIO pulled low successfully for loopback test" << std::endl; + } + result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState); + if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) { + sif::info << "LibgpiodTest::performOneShotAction: " + "GPIO state read successfully and is low" << std::endl; + } + else { + sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not low!" + << std::endl; + return HasReturnvaluesIF::RETURN_OK; + } + break; + } + } + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/linux/boardtest/LibgpiodTest.h b/linux/boardtest/LibgpiodTest.h new file mode 100644 index 00000000..a18c618e --- /dev/null +++ b/linux/boardtest/LibgpiodTest.h @@ -0,0 +1,33 @@ +#ifndef TEST_TESTTASKS_LIBGPIODTEST_H_ +#define TEST_TESTTASKS_LIBGPIODTEST_H_ + +#include "TestTask.h" +#include +#include +#include + +/** + * @brief Test for the GPIO read implementation of the LinuxLibgpioIF. + * @author J. Meier + */ +class LibgpiodTest: public TestTask { +public: + enum TestCases { + READ = 0, + LOOPBACK = 1 + }; + + TestCases testCase; + + LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie); + virtual ~LibgpiodTest(); + +protected: + ReturnValue_t performOneShotAction() override; + ReturnValue_t performPeriodicAction() override; + +private: + GpioIF* gpioInterface; +}; + +#endif /* TEST_TESTTASKS_LIBGPIODTEST_H_ */ diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp new file mode 100644 index 00000000..387c7eb5 --- /dev/null +++ b/linux/boardtest/SpiTestClass.cpp @@ -0,0 +1,505 @@ +#include "SpiTestClass.h" + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include + + +SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId), +gpioIF(gpioIF) { + if(gpioIF == nullptr) { + sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl; + } + testMode = TestModes::GYRO_L3GD20H; + spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data()); + spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data()); +} + +ReturnValue_t SpiTestClass::performOneShotAction() { + switch(testMode) { + case(TestModes::NONE): { + break; + } + case(TestModes::MGM_LIS3MDL): { + performLis3MdlTest(mgm2Lis3mdlChipSelect); + break; + } + case(TestModes::MGM_RM3100): { + performRm3100Test(mgm3Rm3100ChipSelect); + break; + } + case(TestModes::GYRO_L3GD20H): { + performL3gTest(gyro1L3gd20ChipSelect); + break; + } + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t SpiTestClass::performPeriodicAction() { + return HasReturnvaluesIF::RETURN_OK; +} + +void SpiTestClass::performRm3100Test(uint8_t mgmId) { + /* Configure all SPI chip selects and pull them high */ + acsInit(); + + /* Adapt accordingly */ + if(mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) { + sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl; + } + gpioId_t currentGpioId = 0; + uint8_t chipSelectPin = mgmId; + if(chipSelectPin == mgm1Rm3100ChipSelect) { + currentGpioId = gpioIds::MGM_1_RM3100_CS; + } + else { + currentGpioId = gpioIds::MGM_3_RM3100_CS; + } + uint32_t rm3100speed = 976'000; + uint8_t rm3100revidReg = 0x36; + spi::SpiModes rm3100mode = spi::SpiModes::MODE_3; + +#ifdef RASPBERRY_PI + std::string deviceName = "/dev/spidev0.0"; +#else + std::string deviceName = "/dev/spidev2.0"; +#endif + int fileDescriptor = 0; + + + UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, + "SpiComIF::initializeInterface: "); + if(fileHelper.getOpenResult()) { + sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!" + << std::endl; + return; + } + setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed); + + uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg); + sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) << + std::endl; + + /* Write configuration to CMM register */ + writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75); + uint8_t cmmRegister = readRm3100Register(fileDescriptor , currentGpioId, 0x01); + sif::info << "SpiTestClass::performRm3100Test: CMM register value: " << + std::hex << "0x" << static_cast(cmmRegister) << std::dec << std::endl; + + /* Read the cycle count registers */ + uint8_t cycleCountsRaw[6]; + readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6); + + uint16_t cycleCountX = cycleCountsRaw[0] << 8 | cycleCountsRaw[1]; + uint16_t cycleCountY = cycleCountsRaw[2] << 8 | cycleCountsRaw[3]; + uint16_t cycleCountZ = cycleCountsRaw[4] << 8 | cycleCountsRaw[5]; + + sif::info << "Cycle count X: " << cycleCountX << std::endl; + sif::info << "Cycle count Y: " << cycleCountY << std::endl; + sif::info << "Cycle count z: " << cycleCountZ << std::endl; + + writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x95); + uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B); + sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " << + std::hex << "0x" << static_cast(tmrcReg) << std::dec << std::endl; + + TaskFactory::delayTask(10); + uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34); + sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" << + std::bitset<8>(statusReg) << std::endl; + /* This means that data is not ready */ + if((statusReg & 0b1000'0000) == 0) { + sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl; + TaskFactory::delayTask(10); + uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34); + if((statusReg & 0b1000'0000) == 0) { + return; + } + } + + uint32_t rm3100DefaultCycleCout = 0xC8; + /* Gain scales lineary with cycle count and is 38 for cycle count 100 */ + float rm3100Gain = rm3100DefaultCycleCout / 100.0 * 38.0; + float scaleFactor = 1 / rm3100Gain; + uint8_t rawValues[9]; + readMultipleRegisters(fileDescriptor, currentGpioId, 0x24, rawValues, 9); + + /* The sensor generates 24 bit signed values */ + int32_t rawX = ((rawValues[0] << 24) | (rawValues[1] << 16) | (rawValues[2] << 8)) >> 8; + int32_t rawY = ((rawValues[3] << 24) | (rawValues[4] << 16) | (rawValues[5] << 8)) >> 8; + int32_t rawZ = ((rawValues[6] << 24) | (rawValues[7] << 16) | (rawValues[8] << 8)) >> 8; + + float fieldStrengthX = rawX * scaleFactor; + float fieldStrengthY = rawY * scaleFactor; + float fieldStrengthZ = rawZ * scaleFactor; + + sif::info << "RM3100 measured field strenghts in microtesla:" << std::endl; + sif::info << "Field Strength X: " << fieldStrengthX << " \xC2\xB5T" << std::endl; + sif::info << "Field Strength Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl; + sif::info << "Field Strength Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl; +} + +void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) { + /* Configure all SPI chip selects and pull them high */ + acsInit(); + + /* Adapt accordingly */ + if(lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) { + sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl; + } + gpioId_t currentGpioId = 0; + uint8_t chipSelectPin = lis3Id; + uint8_t whoAmIReg = 0b0000'1111; + uint8_t whoAmIRegExpectedVal = 0b0011'1101; + if(chipSelectPin == mgm0Lis3mdlChipSelect) { + currentGpioId = gpioIds::MGM_0_LIS3_CS; + } + else { + currentGpioId = gpioIds::MGM_2_LIS3_CS; + } + uint32_t spiSpeed = 3'900'000; + spi::SpiModes spiMode = spi::SpiModes::MODE_3; +#ifdef RASPBERRY_PI + std::string deviceName = "/dev/spidev0.0"; +#else + std::string deviceName = "/dev/spidev2.0"; +#endif + int fileDescriptor = 0; + + UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, + "SpiComIF::initializeInterface: "); + if(fileHelper.getOpenResult()) { + sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!" + << std::endl; + return; + } + setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); + spiTransferStruct.delay_usecs = 0; + + uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false); + sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" << + std::bitset<8>(whoAmIRegVal) << std::endl; + if(whoAmIRegVal != whoAmIRegExpectedVal) { + sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!" + << std::endl; + } + +} + + +void SpiTestClass::performL3gTest(uint8_t l3gId) { + /* Configure all SPI chip selects and pull them high */ + acsInit(); + + l3gId = gyro2L3gd20ChipSelect; + + /* Adapt accordingly */ + if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro2L3gd20ChipSelect) { + sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl; + } + gpioId_t currentGpioId = 0; + uint8_t chipSelectPin = l3gId; + uint8_t whoAmIReg = 0b0000'1111; + uint8_t whoAmIRegExpectedVal = 0b1101'0111; + + if(chipSelectPin == gyro1L3gd20ChipSelect) { + currentGpioId = gpioIds::GYRO_1_L3G_CS; + } + else { + currentGpioId = gpioIds::GYRO_2_L3G_CS; + } + uint32_t spiSpeed = 3'900'000; + spi::SpiModes spiMode = spi::SpiModes::MODE_3; +#ifdef RASPBERRY_PI + std::string deviceName = "/dev/spidev0.0"; +#else + std::string deviceName = "/dev/spidev2.0"; +#endif + int fileDescriptor = 0; + + UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, + "SpiComIF::initializeInterface: "); + if(fileHelper.getOpenResult()) { + sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!" + << std::endl; + return; + } + setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); + uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false); + sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" << + std::bitset<8>(whoAmIRegVal) << std::endl; + if(whoAmIRegVal != whoAmIRegExpectedVal) { + sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" << + std::endl; + } + + uint8_t ctrlReg1Addr = 0b0010'0000; + { + uint8_t commandRegs[5]; + commandRegs[0] = 0b0000'1111; + commandRegs[1] = 0x0; + commandRegs[2] = 0x0; + /* Configure big endian data format */ + commandRegs[3] = 0b0100'0000; + commandRegs[4] = 0x0; + writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs, + sizeof(commandRegs)); + uint8_t readRegs[5]; + readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs, + sizeof(readRegs)); + for(uint8_t idx = 0; idx < sizeof(readRegs); idx++) { + if(readRegs[idx] != commandRegs[0]) { + sif::warning << "SpiTestClass::performL3gTest: Read control register " << + static_cast(idx + 1) << " not equal to configured value" << std::endl; + } + } + } + + uint8_t readOutBuffer[14]; + readMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readOutBuffer, + sizeof(readOutBuffer)); + + uint8_t statusReg = readOutBuffer[7]; + sif::info << "SpiTestClass::performL3gTest: Status Register 0b" << + std::bitset<8>(statusReg) << std::endl; + + uint16_t l3gRange = 245; + float scaleFactor = static_cast(l3gRange) / INT16_MAX; + /* The sensor spits out little endian */ + int16_t angVelocRawX = (readOutBuffer[8] << 8) | readOutBuffer[9]; + int16_t angVelocRawY = (readOutBuffer[10] << 8) | readOutBuffer[11]; + int16_t angVelocRawZ = (readOutBuffer[12] << 8) | readOutBuffer[13]; + + float angVelocX = scaleFactor * angVelocRawX; + float angVelocY = scaleFactor * angVelocRawY; + float angVelocZ = scaleFactor * angVelocRawZ; + + sif::info << "Angular velocities for the L3GD20H in degrees per second:" << std::endl; + sif::info << "X: " << angVelocX << std::endl; + sif::info << "Y: " << angVelocY << std::endl; + sif::info << "Z: " << angVelocZ << std::endl; + +} + +void SpiTestClass::acsInit() { + GpioCookie* gpioCookie = new GpioCookie(); + GpiodRegular* gpio = nullptr; +#ifdef RASPBERRY_PI + std::string rpiGpioName = "gpiochip0"; + gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", + gpio::Direction::OUT, 1); + gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); + + gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100", + gpio::Direction::OUT, 1); + gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); + + gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS", + gpio::Direction::OUT, 1); + gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); + + gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G", + gpio::Direction::OUT, 1); + gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); + + gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G", + gpio::Direction::OUT, 1); + gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio); + + gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3", + gpio::Direction::OUT, 1); + gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); + + gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100", + gpio::Direction::OUT, 1); + gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); +#elif defined(XIPHOS_Q7S) + std::string q7sGpioName5 = "gpiochip5"; + std::string q7sGpioName6 = "gpiochip6"; + + gpio = new GpiodRegular(q7sGpioName5, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", + gpio::Direction::OUT, gpio::HIGH); + gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); + + gpio = new GpiodRegular(q7sGpioName5, mgm1Rm3100ChipSelect, "MGM_1_RM3100", + gpio::Direction::OUT, gpio::HIGH); + gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); + + gpio = new GpiodRegular(q7sGpioName5, gyro0AdisChipSelect, "GYRO_0_ADIS", + gpio::Direction::OUT, gpio::HIGH); + gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); + + gpio = new GpiodRegular(q7sGpioName5, gyro1L3gd20ChipSelect, "GYRO_1_L3G", + gpio::Direction::OUT, gpio::HIGH); + gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); + + gpio = new GpiodRegular(q7sGpioName5, gyro2L3gd20ChipSelect, "GYRO_2_L3G", + gpio::Direction::OUT, gpio::HIGH); + gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio); + + gpio = new GpiodRegular(q7sGpioName6, mgm2Lis3mdlChipSelect, "MGM_2_LIS3", + gpio::Direction::OUT, gpio::HIGH); + gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); + + gpio = new GpiodRegular(q7sGpioName5, mgm3Rm3100ChipSelect, "MGM_3_RM3100", + gpio::Direction::OUT, gpio::HIGH); + gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); +#endif + if(gpioIF != nullptr) { + gpioIF->addGpios(gpioCookie); + } +} + +void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) { + int mode_test = SPI_MODE_3; + int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test);//reinterpret_cast(&mode)); + if(retval != 0) { + utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!"); + } + + retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed); + if(retval != 0) { + utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!"); + } +} + +void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) { + spiTransferStruct.len = 2; + sendBuffer[0] = reg; + sendBuffer[1] = value; + + if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { + gpioIF->pullLow(chipSelect); + } + int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); + if(retval < 0) { + utility::handleIoctlError("SpiTestClass::writeRegister: Write failed"); + } + if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { + gpioIF->pullHigh(chipSelect); + } +} + +void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value, + bool autoIncrement) { + if(autoIncrement) { + reg |= STM_AUTO_INCR_MASK; + } + writeRegister(fd, chipSelect, reg, value); +} + +void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, + uint8_t *values, size_t len) { + if(values == nullptr) { + return; + } + + reg |= STM_AUTO_INCR_MASK; + /* Clear read mask */ + reg &= ~STM_READ_MASK; + writeMultipleRegisters(fd, chipSelect, reg, values, len); + +} + +void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, + uint8_t *values, size_t len) { + if(values == nullptr) { + return; + } + + sendBuffer[0] = reg; + std::memcpy(sendBuffer.data() + 1, values, len); + spiTransferStruct.len = len + 1; + + if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { + gpioIF->pullLow(chipSelect); + } + int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); + if(retval < 0) { + utility::handleIoctlError("SpiTestClass::readRegister: Read failed"); + } + if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { + gpioIF->pullHigh(chipSelect); + } +} + +uint8_t SpiTestClass::readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg) { + return readStmRegister(fd, chipSelect, reg, false); +} + + +void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply, + size_t len) { + reg |= STM_AUTO_INCR_MASK; + readMultipleRegisters(fd, chipSelect, reg, reply, len); +} + +void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply, + size_t len) { + if(reply == nullptr) { + return; + } + + spiTransferStruct.len = len + 1; + sendBuffer[0] = reg | STM_READ_MASK; + + for(uint8_t idx = 0; idx < len ; idx ++) { + sendBuffer[idx + 1] = 0; + } + + if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { + gpioIF->pullLow(chipSelect); + } + int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); + if(retval < 0) { + utility::handleIoctlError("SpiTestClass::readRegister: Read failed"); + } + if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { + gpioIF->pullHigh(chipSelect); + } + std::memcpy(reply, recvBuffer.data() + 1, len); +} + +uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, + bool autoIncrement) { + reg |= STM_READ_MASK; + if(autoIncrement) { + reg |= STM_AUTO_INCR_MASK; + } + return readRegister(fd, chipSelect, reg); +} + + +uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) { + spiTransferStruct.len = 2; + sendBuffer[0] = reg; + sendBuffer[1] = 0; + + if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { + gpioIF->pullLow(chipSelect); + } + int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); + if(retval < 0) { + utility::handleIoctlError("SpiTestClass::readRegister: Read failed"); + } + if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { + gpioIF->pullHigh(chipSelect); + } + return recvBuffer[1]; +} diff --git a/linux/boardtest/SpiTestClass.h b/linux/boardtest/SpiTestClass.h new file mode 100644 index 00000000..f93eb9c2 --- /dev/null +++ b/linux/boardtest/SpiTestClass.h @@ -0,0 +1,87 @@ +#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_ +#define LINUX_BOARDTEST_SPITESTCLASS_H_ + +#include +#include +#include + +#include + +class SpiTestClass: public TestTask { +public: + enum TestModes { + NONE, + MGM_LIS3MDL, + MGM_RM3100, + GYRO_L3GD20H, + }; + + TestModes testMode; + + SpiTestClass(object_id_t objectId, GpioIF* gpioIF); + + ReturnValue_t performOneShotAction() override; + ReturnValue_t performPeriodicAction() override; +private: + + GpioIF* gpioIF; + + std::array recvBuffer; + std::array sendBuffer; + struct spi_ioc_transfer spiTransferStruct = {}; + + void performRm3100Test(uint8_t mgmId); + void performLis3MdlTest(uint8_t lis3Id); + void performL3gTest(uint8_t l3gId); + + /* ACS board specific code which pulls all GPIOs high */ + void acsInit(); + + /* ACS board specific variables */ +#ifdef RASPBERRY_PI + uint8_t mgm0Lis3mdlChipSelect = 0; + uint8_t mgm1Rm3100ChipSelect = 1; + uint8_t gyro0AdisChipSelect = 5; + uint8_t gyro1L3gd20ChipSelect = 6; + uint8_t gyro2L3gd20ChipSelect = 4; + uint8_t mgm2Lis3mdlChipSelect = 17; + uint8_t mgm3Rm3100ChipSelect = 27; +#elif defined(XIPHOS_Q7S) + uint8_t mgm0Lis3mdlChipSelect = 5; + uint8_t mgm1Rm3100ChipSelect = 17; + uint8_t gyro0AdisResetLine = 20; + uint8_t gyro0AdisChipSelect = 21; + uint8_t gyro1L3gd20ChipSelect = 10; + uint8_t gyro2L3gd20ChipSelect = 3; + uint8_t mgm2Lis3mdlChipSelect = 0; + uint8_t mgm3Rm3100ChipSelect = 23; +#endif + + static constexpr uint8_t STM_READ_MASK = 0b1000'0000; + static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK; + static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000; + + void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed); + + void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value, + bool autoIncrement); + void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values, + size_t len); + void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values, + size_t len); + void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value); + + uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg); + uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement); + uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg); + void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply, + size_t len); + void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, + uint8_t* reply, size_t len); + +}; + + + + +#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */ diff --git a/linux/boardtest/UartTestClass.cpp b/linux/boardtest/UartTestClass.cpp new file mode 100644 index 00000000..dc9f79c3 --- /dev/null +++ b/linux/boardtest/UartTestClass.cpp @@ -0,0 +1,8 @@ +#include + +UartTestClass::UartTestClass(object_id_t objectId): TestTask(objectId) { +} + +ReturnValue_t UartTestClass::performPeriodicAction() { + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/linux/boardtest/UartTestClass.h b/linux/boardtest/UartTestClass.h new file mode 100644 index 00000000..406d2af5 --- /dev/null +++ b/linux/boardtest/UartTestClass.h @@ -0,0 +1,15 @@ +#ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_ +#define LINUX_BOARDTEST_UARTTESTCLASS_H_ + +#include + +class UartTestClass: public TestTask { +public: + UartTestClass(object_id_t objectId); + + ReturnValue_t performPeriodicAction() override; +private: + +}; + +#endif /* LINUX_BOARDTEST_UARTTESTCLASS_H_ */ diff --git a/linux/csp/CMakeLists.txt b/linux/csp/CMakeLists.txt new file mode 100644 index 00000000..b5b2768e --- /dev/null +++ b/linux/csp/CMakeLists.txt @@ -0,0 +1,8 @@ +target_sources(${TARGET_NAME} PUBLIC + CspComIF.cpp + CspCookie.cpp +) + + + + diff --git a/linux/csp/CspComIF.cpp b/linux/csp/CspComIF.cpp new file mode 100644 index 00000000..1798b152 --- /dev/null +++ b/linux/csp/CspComIF.cpp @@ -0,0 +1,256 @@ +#include "CspComIF.h" +#include "CspCookie.h" + +#include +#include +#include + +CspComIF::CspComIF(object_id_t objectId) : + SystemObject(objectId) { +} + +CspComIF::~CspComIF() { +} + +ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) { + if(cookie == nullptr) { + return NULLPOINTER; + } + + CspCookie* cspCookie = dynamic_cast(cookie); + if(cspCookie == nullptr) { + return NULLPOINTER; + } + + /* Perform CAN and CSP initialization only once */ + if(cspDeviceMap.empty()){ + /* Define the memory to allocate for the CSP stack */ + int buf_count = 10; + int buf_size = 300; + /* Init CSP and CSP buffer system */ + if (csp_init(cspOwnAddress) != CSP_ERR_NONE + || csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) { + sif::error << "Failed to init CSP\r\n" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + int promisc = 0; // Set filter mode on + csp_iface_t *csp_if_ptr = &csp_if; + csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc); + + /* Set default route and start router */ + uint8_t address = CSP_DEFAULT_ROUTE; + uint8_t netmask = 0; + uint8_t mac = CSP_NODE_MAC; + int result = csp_rtable_set(address, netmask, csp_if_ptr, mac); + if(result != CSP_ERR_NONE){ + sif::error << "Failed to add can interface to router table" + << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + /* Start the route task */ + unsigned int task_stack_size = 500; + unsigned int priority = 0; + result = csp_route_start_task(task_stack_size, priority); + if(result != CSP_ERR_NONE){ + sif::error << "Failed to start csp route task" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + } + + uint8_t cspAddress = cspCookie->getCspAddress(); + uint16_t maxReplyLength = cspCookie->getMaxReplyLength(); + if(cspDeviceMap.find(cspAddress) == cspDeviceMap.end()){ + /* Insert device information in CSP map */ + cspDeviceMap.emplace(cspAddress, vectorBuffer(maxReplyLength)); + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::sendMessage(CookieIF *cookie, + const uint8_t * sendData, size_t sendLen) { + int result; + if(cookie == NULL){ + return HasReturnvaluesIF::RETURN_FAILED; + } + CspCookie* cspCookie = dynamic_cast (cookie); + if(cspCookie == NULL){ + return HasReturnvaluesIF::RETURN_FAILED; + } + + /* Extract csp port and bytes to query from command buffer */ + uint8_t cspPort; + uint16_t querySize; + result = getPortAndQuerySize(&sendData, &sendLen, &cspPort, &querySize); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + uint8_t cspAddress = cspCookie->getCspAddress(); + switch(cspPort) { + case(Ports::CSP_PING): { + initiatePingRequest(cspAddress, querySize); + break; + } + case(Ports::CSP_REBOOT): { + csp_reboot(cspAddress); + break; + } + case(Ports::P60_PORT_GNDWDT_RESET): + case(Ports::P60_PORT_RPARAM): { + /* No CSP fixed port was selected. Send data to the specified port and + * wait for querySize number of bytes */ + result = cspTransfer(cspAddress, cspPort, sendData, sendLen, + querySize); + if(result != HasReturnvaluesIF::RETURN_OK){ + return HasReturnvaluesIF::RETURN_FAILED; + } + replySize = querySize; + break; + } + default: + sif::error << "CspComIF: Invalid port specified" << std::endl; + break; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::getSendSuccess(CookieIF *cookie) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::requestReceiveMessage(CookieIF *cookie, + size_t requestLen) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::readReceivedMessage(CookieIF *cookie, + uint8_t** buffer, size_t* size) { + if(cookie == NULL){ + return HasReturnvaluesIF::RETURN_FAILED; + } + CspCookie* cspCookie = dynamic_cast (cookie); + if(cspCookie == NULL){ + return HasReturnvaluesIF::RETURN_FAILED; + } + + uint8_t cspAddress = cspCookie->getCspAddress(); + + *buffer = cspDeviceMap[cspAddress].data(); + *size = replySize; + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, + const uint8_t* cmdBuffer, int cmdLen, uint16_t querySize) { + + uint32_t timeout_ms = 1000; + uint16_t bytesRead = 0; + int32_t expectedSize = (int32_t)querySize; + vectorBufferIter iter = cspDeviceMap.find(cspAddress); + if(iter == cspDeviceMap.end()){ + sif::error << "CSP device with address " << cspAddress << " no found in" + << " device map" << std::endl; + } + uint8_t* replyBuffer = iter->second.data(); + + csp_conn_t * conn = csp_connect(CSP_PRIO_HIGH, cspAddress, cspPort, 0, + CSP_O_NONE); + + csp_packet_t* commandPacket = (csp_packet_t*)csp_buffer_get(cmdLen); + if (commandPacket == NULL) { + sif::error << "CspComIF::cspTransfer: Failed to get memory for a csp packet from the csp " + << "stack" << std::endl; + csp_close(conn); + return RETURN_FAILED; + } + + memcpy(commandPacket->data, cmdBuffer, cmdLen); + commandPacket->length = cmdLen; + + if (!csp_send(conn, commandPacket, timeout_ms)) { + csp_buffer_free(commandPacket); + sif::error << "CspComIF::cspTransfer: Failed to send csp packet" << std::endl; + csp_close(conn); + return RETURN_FAILED; + } + + /* Return when no reply is expected */ + if (expectedSize == 0) { + return RETURN_OK; + } + + csp_packet_t * reply; + reply = csp_read(conn, timeout_ms); + if (reply == NULL) { + sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl; + csp_close(conn); + return RETURN_FAILED; + } + memcpy(replyBuffer, reply->data, reply->length); + expectedSize = expectedSize - reply->length; + bytesRead += reply->length; + csp_buffer_free(reply); + while (expectedSize > 0) { + reply = csp_read(conn, timeout_ms); + if (reply == NULL) { + sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl; + csp_close(conn); + return RETURN_FAILED; + } + if ((reply->length + bytesRead) > iter->second.size()) { + sif::error << "CspComIF::cspTransfer: Reply buffer to short" << std::endl; + csp_buffer_free(reply); + csp_close(conn); + return RETURN_FAILED; + } + memcpy(replyBuffer + bytesRead, reply->data, reply->length); + expectedSize = expectedSize - reply->length; + bytesRead += reply->length; + csp_buffer_free(reply); + } + + if(expectedSize != 0){ + sif::error << "CspComIF::cspTransfer: Received more bytes than requested" << std::endl; + sif::debug << "CspComIF::cspTransfer: Received bytes: " << bytesRead << std::endl; + csp_close(conn); + return RETURN_FAILED; + } + + csp_close(conn); + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CspComIF::getPortAndQuerySize(const uint8_t** sendData, + size_t* sendLen, uint8_t* cspPort, uint16_t* querySize) { + ReturnValue_t result = SerializeAdapter::deSerialize(cspPort, sendData, + sendLen, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "CspComIF: Failed to deserialize CSP port from command " + << "buffer" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + SerializeAdapter::deSerialize(querySize, sendData, sendLen, + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "CspComIF: Failed to deserialize querySize from command " + << "buffer" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} + +void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize){ + uint32_t timeout_ms = 500; + uint32_t replyTime = csp_ping(cspAddress, timeout_ms, querySize, + CSP_O_NONE); + sif::info << "Ping address: " << cspAddress << ", reply after " + << replyTime << " ms" << std::endl; + /* Store reply time in reply buffer * */ + uint8_t* replyBuffer = cspDeviceMap[cspAddress].data(); + memcpy(replyBuffer, &replyTime, sizeof(replyTime)); + replySize = sizeof(replyTime); +} diff --git a/linux/csp/CspComIF.h b/linux/csp/CspComIF.h new file mode 100644 index 00000000..4b8d323b --- /dev/null +++ b/linux/csp/CspComIF.h @@ -0,0 +1,89 @@ +#ifndef LINUX_CSP_CSPCOMIF_H_ +#define LINUX_CSP_CSPCOMIF_H_ + +#include +#include +#include +#include + +#include +#include + +/** + * @brief This class serves as the communication interface to devices + * supporting the CSP protocol. As physical layer can0 is used + * in this implementation. + * @author J. Meier + */ +class CspComIF: public DeviceCommunicationIF, public SystemObject { +public: + CspComIF(object_id_t objectId); + virtual ~CspComIF(); + + ReturnValue_t initializeInterface(CookieIF * cookie) override; + ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData, + size_t sendLen) override; + ReturnValue_t getSendSuccess(CookieIF *cookie) override; + ReturnValue_t requestReceiveMessage(CookieIF *cookie, + size_t requestLen) override; + ReturnValue_t readReceivedMessage(CookieIF *cookie, + uint8_t **readData, size_t *readLen) override; + +private: + + /** + * @brief This function initiates the CSP transfer. + * + * @param cspAddress The CSP address of the target device. + * @param cspPort The port of the target device. + * @param timeout The timeout to wait for csp_send and csp_read + * functions. Specifies how long the functions wait + * for a successful operation. + * @param cmdBuffer The data to send. + * @param cmdLen The number of bytes to send. + * @param querySize The size of the requested message. + */ + ReturnValue_t cspTransfer(uint8_t cspAddress, uint8_t cspPort, + const uint8_t* cmdBuffer, int cmdLen, uint16_t querySize); + + enum Ports { + CSP_PING = 1, + CSP_REBOOT = 4, + P60_PORT_RPARAM = 7, + P60_PORT_GNDWDT_RESET = 9 + }; + + + typedef uint8_t node_t; + using vectorBuffer = std::vector; + using VectorBufferMap = std::unordered_map; + using vectorBufferIter = VectorBufferMap::iterator; + + /* In this map assigns reply buffers to a CSP device */ + VectorBufferMap cspDeviceMap; + + uint16_t replySize = 0; + + /* This is the CSP address of the OBC. */ + node_t cspOwnAddress = 1; + + /* Interface struct for csp protocol stack */ + csp_iface_t csp_if; + + char canInterface[5] = "can0"; + int bitrate = 1000; + + /** + * @brief Function to extract the csp port and the query size from the + * command buffer. + */ + ReturnValue_t getPortAndQuerySize(const uint8_t** sendData, size_t* sendLen, + uint8_t* cspPort, uint16_t* querySize); + + /** + * @brief This function initiates the ping request. + */ + void initiatePingRequest(uint8_t cspAddress, uint16_t querySize); +}; + +#endif /* LINUX_CSP_CSPCOMIF_H_ */ diff --git a/linux/csp/CspCookie.cpp b/linux/csp/CspCookie.cpp new file mode 100644 index 00000000..18cfabd2 --- /dev/null +++ b/linux/csp/CspCookie.cpp @@ -0,0 +1,16 @@ +#include "CspCookie.h" + +CspCookie::CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_) : + maxReplyLength(maxReplyLength_), cspAddress(cspAddress_) { +} + +CspCookie::~CspCookie() { +} + +uint16_t CspCookie::getMaxReplyLength(){ + return maxReplyLength; +} + +uint8_t CspCookie::getCspAddress(){ + return cspAddress; +} diff --git a/linux/csp/CspCookie.h b/linux/csp/CspCookie.h new file mode 100644 index 00000000..4514c257 --- /dev/null +++ b/linux/csp/CspCookie.h @@ -0,0 +1,27 @@ +#ifndef LINUX_CSP_CSPCOOKIE_H_ +#define LINUX_CSP_CSPCOOKIE_H_ + +#include +#include + +/** + * @brief This is the cookie for devices supporting the CSP (CubeSat Space + * Protocol). + * @author J. Meier + */ +class CspCookie: public CookieIF { +public: + + CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_); + virtual ~CspCookie(); + + uint16_t getMaxReplyLength(); + uint8_t getCspAddress(); + +private: + + uint16_t maxReplyLength; + uint8_t cspAddress; +}; + +#endif /* LINUX_CSP_CSPCOOKIE_H_ */ diff --git a/linux/uart/CMakeLists.txt b/linux/uart/CMakeLists.txt new file mode 100644 index 00000000..7b503d02 --- /dev/null +++ b/linux/uart/CMakeLists.txt @@ -0,0 +1,8 @@ +target_sources(${TARGET_NAME} PUBLIC + UartComIF.cpp + UartCookie.cpp +) + + + + diff --git a/linux/uart/UartComIF.cpp b/linux/uart/UartComIF.cpp new file mode 100644 index 00000000..79470a45 --- /dev/null +++ b/linux/uart/UartComIF.cpp @@ -0,0 +1,368 @@ +#include "UartComIF.h" + +#include +#include + +#include +#include +#include +#include + +UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){ +} + +UartComIF::~UartComIF() {} + +ReturnValue_t UartComIF::initializeInterface(CookieIF * cookie) { + + std::string deviceFile; + UartDeviceMapIter uartDeviceMapIter; + + if(cookie == nullptr) { + return NULLPOINTER; + } + + UartCookie* uartCookie = dynamic_cast(cookie); + if (uartCookie == nullptr) { + sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl; + return NULLPOINTER; + } + + deviceFile = uartCookie->getDeviceFile(); + + uartDeviceMapIter = uartDeviceMap.find(deviceFile); + if(uartDeviceMapIter == uartDeviceMap.end()) { + int fileDescriptor = configureUartPort(uartCookie); + if (fileDescriptor < 0) { + return RETURN_FAILED; + } + size_t maxReplyLen = uartCookie->getMaxReplyLen(); + UartElements_t uartElements = {fileDescriptor, std::vector(maxReplyLen), 0}; + std::pair status = uartDeviceMap.emplace(deviceFile, uartElements); + if (status.second == false) { + sif::debug << "UartComIF::initializeInterface: Failed to insert device " << deviceFile + << "to Uart device map" << std::endl; + return RETURN_FAILED; + } + } + else { + sif::debug << "UartComIF::initializeInterface: Uart device " << deviceFile << "already in " + << "use" << std::endl; + return RETURN_FAILED; + } + + return RETURN_OK; +} + +int UartComIF::configureUartPort(UartCookie* uartCookie) { + + struct termios options; + + std::string deviceFile = uartCookie->getDeviceFile(); + int fd = open(deviceFile.c_str(), O_RDWR); + + if (fd < 0) { + sif::debug << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with" + << " error code " << errno << strerror(errno) << std::endl; + return fd; + } + + /* Read in existing settings */ + if(tcgetattr(fd, &options) != 0) { + sif::debug << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: " + << strerror(errno) << std::endl; + return fd; + } + + setParityOptions(&options, uartCookie); + setStopBitOptions(&options, uartCookie); + setDatasizeOptions(&options, uartCookie); + setFixedOptions(&options); + + /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */ + options.c_cc[VTIME] = 0; + options.c_cc[VMIN] = 0; + + configureBaudrate(&options, uartCookie); + + /* Save option settings */ + if (tcsetattr(fd, TCSANOW, &options) != 0) { + sif::debug << "UartComIF::configureUartPort: Failed to set options with error " << errno + << ": " << strerror(errno); + return fd; + } + return fd; +} + +void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) { + /* Clear parity bit */ + options->c_cflag &= ~PARENB; + switch (uartCookie->getParity()) { + case Parity::EVEN: + options->c_cflag |= PARENB; + options->c_cflag &= ~PARODD; + break; + case Parity::ODD: + options->c_cflag |= PARENB; + options->c_cflag |= PARODD; + break; + default: + break; + } +} + +void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) { + /* Clear stop field. Sets stop bit to one bit */ + options->c_cflag &= ~CSTOPB; + switch (uartCookie->getStopBits()) { + case StopBits::TWO_STOP_BITS: + options->c_cflag |= CSTOPB; + break; + default: + break; + } +} + +void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) { + /* Clear size bits */ + options->c_cflag &= ~CSIZE; + switch (uartCookie->getBitsPerWord()) { + case 5: + options->c_cflag |= CS5; + break; + case 6: + options->c_cflag |= CS6; + break; + case 7: + options->c_cflag |= CS7; + break; + case 8: + options->c_cflag |= CS8; + break; + default: + sif::debug << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl; + break; + } +} + +void UartComIF::setFixedOptions(struct termios* options) { + /* Disable RTS/CTS hardware flow control */ + options->c_cflag &= ~CRTSCTS; + /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */ + options->c_cflag |= CREAD | CLOCAL; + /* Disable canonical mode */ + options->c_lflag &= ~ICANON; + /* Disable echo */ + options->c_lflag &= ~ECHO; + /* Disable erasure */ + options->c_lflag &= ~ECHOE; + /* Disable new-line echo */ + options->c_lflag &= ~ECHONL; + /* Disable interpretation of INTR, QUIT and SUSP */ + options->c_lflag &= ~ISIG; + /* Turn off s/w flow ctrl */ + options->c_iflag &= ~(IXON | IXOFF | IXANY); + /* Disable any special handling of received bytes */ + options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); + /* Prevent special interpretation of output bytes (e.g. newline chars) */ + options->c_oflag &= ~OPOST; + /* Prevent conversion of newline to carriage return/line feed */ + options->c_oflag &= ~ONLCR; +} + +void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) { + switch (uartCookie->getBaudrate()) { + case 50: + cfsetispeed(options, B50); + cfsetospeed(options, B50); + break; + case 75: + cfsetispeed(options, B75); + cfsetospeed(options, B75); + break; + case 110: + cfsetispeed(options, B110); + cfsetospeed(options, B110); + break; + case 134: + cfsetispeed(options, B134); + cfsetospeed(options, B134); + break; + case 150: + cfsetispeed(options, B150); + cfsetospeed(options, B150); + break; + case 200: + cfsetispeed(options, B200); + cfsetospeed(options, B200); + break; + case 300: + cfsetispeed(options, B300); + cfsetospeed(options, B300); + break; + case 600: + cfsetispeed(options, B600); + cfsetospeed(options, B600); + break; + case 1200: + cfsetispeed(options, B1200); + cfsetospeed(options, B1200); + break; + case 1800: + cfsetispeed(options, B1800); + cfsetospeed(options, B1800); + break; + case 2400: + cfsetispeed(options, B2400); + cfsetospeed(options, B2400); + break; + case 4800: + cfsetispeed(options, B4800); + cfsetospeed(options, B4800); + break; + case 9600: + cfsetispeed(options, B9600); + cfsetospeed(options, B9600); + break; + case 19200: + cfsetispeed(options, B19200); + cfsetospeed(options, B19200); + break; + case 38400: + cfsetispeed(options, B38400); + cfsetospeed(options, B38400); + break; + case 57600: + cfsetispeed(options, B57600); + cfsetospeed(options, B57600); + break; + case 115200: + cfsetispeed(options, B115200); + cfsetospeed(options, B115200); + break; + case 230400: + cfsetispeed(options, B230400); + cfsetospeed(options, B230400); + break; + case 460800: + cfsetispeed(options, B460800); + cfsetospeed(options, B460800); + break; + default: + sif::debug << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; + break; + } +} + +ReturnValue_t UartComIF::sendMessage(CookieIF *cookie, + const uint8_t *sendData, size_t sendLen) { + + int fd; + std::string deviceFile; + UartDeviceMapIter uartDeviceMapIter; + + if(sendData == nullptr) { + sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl; + return RETURN_FAILED; + } + + if(sendLen == 0) { + return RETURN_OK; + } + + UartCookie* uartCookie = dynamic_cast(cookie); + if(uartCookie == nullptr) { + sif::debug << "UartComIF::sendMessasge: Invalid Uart Cookie!" << std::endl; + return NULLPOINTER; + } + + deviceFile = uartCookie->getDeviceFile(); + uartDeviceMapIter = uartDeviceMap.find(deviceFile); + if (uartDeviceMapIter == uartDeviceMap.end()) { + sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in uart map" + << std::endl; + return RETURN_FAILED; + } + + fd = uartDeviceMapIter->second.fileDescriptor; + + if (write(fd, sendData, sendLen) != (int)sendLen) { + sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno + << ": Error description: " << strerror(errno) << std::endl; + return RETURN_FAILED; + } + + return RETURN_OK; +} + +ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) { + return RETURN_OK; +} + +ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, + size_t requestLen) { + + int fd; + std::string deviceFile; + UartDeviceMapIter uartDeviceMapIter; + uint8_t* bufferPtr; + + if(requestLen == 0) { + return RETURN_OK; + } + + UartCookie* uartCookie = dynamic_cast(cookie); + if(uartCookie == nullptr) { + sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl; + return NULLPOINTER; + } + + deviceFile = uartCookie->getDeviceFile(); + uartDeviceMapIter = uartDeviceMap.find(deviceFile); + if (uartDeviceMapIter == uartDeviceMap.end()) { + sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile + << " not in uart map" << std::endl; + return RETURN_FAILED; + } + + fd = uartDeviceMapIter->second.fileDescriptor; + bufferPtr = uartDeviceMapIter->second.replyBuffer.data(); + int bytesRead = read(fd, bufferPtr, requestLen); + if (bytesRead != static_cast(requestLen)) { + sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead + << " of " << requestLen << " bytes" << std::endl; + return RETURN_FAILED; + } + else { + uartDeviceMapIter->second.replyLen = bytesRead; + } + + return RETURN_OK; +} + +ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie, + uint8_t **buffer, size_t* size) { + + std::string deviceFile; + UartDeviceMapIter uartDeviceMapIter; + + UartCookie* uartCookie = dynamic_cast(cookie); + if(uartCookie == nullptr) { + sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl; + return NULLPOINTER; + } + + deviceFile = uartCookie->getDeviceFile(); + uartDeviceMapIter = uartDeviceMap.find(deviceFile); + if (uartDeviceMapIter == uartDeviceMap.end()) { + sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile + << " not in uart map" << std::endl; + return RETURN_FAILED; + } + + *buffer = uartDeviceMapIter->second.replyBuffer.data(); + *size = uartDeviceMapIter->second.replyLen; + + return RETURN_OK; +} + diff --git a/linux/uart/UartComIF.h b/linux/uart/UartComIF.h new file mode 100644 index 00000000..9dd854da --- /dev/null +++ b/linux/uart/UartComIF.h @@ -0,0 +1,94 @@ +#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_ +#define BSP_Q7S_COMIF_UARTCOMIF_H_ + +#include +#include + +#include +#include + +#include "UartCookie.h" + +/** + * @brief This is the communication interface to access serial ports on linux based operating + * systems. + * + * @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/ + * operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode + * + * @author J. Meier + */ +class UartComIF: public DeviceCommunicationIF, public SystemObject { +public: + UartComIF(object_id_t objectId); + + virtual ~UartComIF(); + + ReturnValue_t initializeInterface(CookieIF * cookie) override; + ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData, + size_t sendLen) override; + ReturnValue_t getSendSuccess(CookieIF *cookie) override; + ReturnValue_t requestReceiveMessage(CookieIF *cookie, + size_t requestLen) override; + ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, + size_t *size) override; + +private: + + using UartDeviceFile_t = std::string; + + typedef struct UartElements { + int fileDescriptor; + std::vector replyBuffer; + /** Number of bytes read will be written to this variable */ + size_t replyLen; + } UartElements_t; + + using UartDeviceMap = std::unordered_map; + using UartDeviceMapIter = UartDeviceMap::iterator; + + /** + * The uart devie map stores informations of initialized uart ports. + */ + UartDeviceMap uartDeviceMap; + + /** + * @brief This function opens and configures a uart device by using the information stored + * in the uart cookie. + * @param uartCookie Pointer to uart cookie with information about the uart. Contains the + * uart device file, baudrate, parity, stopbits etc. + * @return The file descriptor of the configured uart. + */ + int configureUartPort(UartCookie* uartCookie); + + /** + * @brief This function adds the parity settings to the termios options struct. + * + * @param options Pointer to termios options struct which will be modified to enable or disable + * parity checking. + * @param uartCookie Pointer to uart cookie containing the information about the desired + * parity settings. + * + */ + void setParityOptions(struct termios* options, UartCookie* uartCookie); + + void setStopBitOptions(struct termios* options, UartCookie* uartCookie); + + /** + * @brief This function sets options which are not configurable by the uartCookie. + */ + void setFixedOptions(struct termios* options); + + /** + * @brief With this function the datasize settings are added to the termios options struct. + */ + void setDatasizeOptions(struct termios* options, UartCookie* uartCookie); + + /** + * @brief This functions adds the baudrate specified in the uartCookie to the termios options + * struct. + */ + void configureBaudrate(struct termios* options, UartCookie* uartCookie); +}; + +#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */ diff --git a/linux/uart/UartCookie.cpp b/linux/uart/UartCookie.cpp new file mode 100644 index 00000000..b8149388 --- /dev/null +++ b/linux/uart/UartCookie.cpp @@ -0,0 +1,63 @@ +#include "UartCookie.h" + +#include + +UartCookie::UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen) : + deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen) { +} + +UartCookie::~UartCookie() {} + +uint32_t UartCookie::getBaudrate() const { + return baudrate; +} + +size_t UartCookie::getMaxReplyLen() const { + return maxReplyLen; +} + +std::string UartCookie::getDeviceFile() const { + return deviceFile; +} + +void UartCookie::setParityOdd() { + parity = Parity::ODD; +} + +void UartCookie::setParityEven() { + parity = Parity::EVEN; +} + +Parity UartCookie::getParity() const { + return parity; +} + +void UartCookie::setBitsPerWord(uint8_t 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 { + return bitsPerWord; +} + +StopBits UartCookie::getStopBits() const { + return stopBits; +} + +void UartCookie::setTwoStopBits() { + stopBits = StopBits::TWO_STOP_BITS; +} + +void UartCookie::setOneStopBit() { + stopBits = StopBits::ONE_STOP_BIT; +} diff --git a/linux/uart/UartCookie.h b/linux/uart/UartCookie.h new file mode 100644 index 00000000..59004719 --- /dev/null +++ b/linux/uart/UartCookie.h @@ -0,0 +1,81 @@ +#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_ +#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_ + +#include +#include + +enum class Parity { + NONE, + EVEN, + ODD +}; + +enum class StopBits { + ONE_STOP_BIT, + TWO_STOP_BITS +}; + +/** + * @brief Cookie for the UartComIF. There are many options available to configure the uart driver. + * The constructor only requests for common options like the baudrate. Other options can + * be set by member functions. + * + * @author J. Meier + */ +class UartCookie: public CookieIF { +public: + + /** + * @brief Constructor for the uart cookie. + * @param deviceFile The device file specifying the uart to use. E.g. "/dev/ttyPS1". + * @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50, + * 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. + * + * @details Default configuration: No parity + * 8 databits (number of bits transfered with one uart frame) + * One stop bit + * + * + */ + UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen); + + virtual ~UartCookie(); + + uint32_t getBaudrate() const; + size_t getMaxReplyLen() const; + std::string getDeviceFile() const; + Parity getParity() const; + uint8_t getBitsPerWord() const; + StopBits getStopBits() const; + + /** + * Functions two enable parity checking. + */ + void setParityOdd(); + void setParityEven(); + + /** + * Function two set number of bits per UART frame. + */ + void setBitsPerWord(uint8_t bitsPerWord_); + + /** + * Function to specify the number of stopbits. + */ + void setTwoStopBits(); + void setOneStopBit(); + + +private: + + std::string deviceFile; + uint32_t baudrate; + size_t maxReplyLen = 0; + Parity parity = Parity::NONE; + uint8_t bitsPerWord = 8; + StopBits stopBits = StopBits::ONE_STOP_BIT; +}; + +#endif diff --git a/linux/utility/CMakeLists.txt b/linux/utility/CMakeLists.txt new file mode 100644 index 00000000..45a7edcc --- /dev/null +++ b/linux/utility/CMakeLists.txt @@ -0,0 +1,6 @@ +target_sources(${TARGET_NAME} PUBLIC +) + + + + diff --git a/misc/archive/GPIORPi.cpp b/misc/archive/GPIORPi.cpp new file mode 100644 index 00000000..74b67a42 --- /dev/null +++ b/misc/archive/GPIORPi.cpp @@ -0,0 +1,36 @@ +#include "GPIORPi.h" +#include + +#include +#include + +ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, + std::string consumer, gpio::Direction direction, int initValue) { + if(cookie == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } + + GpiodRegular config; + /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users + will not need this */ + config.chipname = "gpiochip0"; + + config.consumer = consumer; + config.direction = direction; + config.initValue = initValue; + + /* Sanity check for the BCM pins before assigning it */ + if(bcmPin > 27) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl; +#else + sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + return HasReturnvaluesIF::RETURN_FAILED; + } + config.lineNum = bcmPin; + cookie->addGpio(gpioId, config); + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/misc/archive/GPIORPi.h b/misc/archive/GPIORPi.h new file mode 100644 index 00000000..a2c11879 --- /dev/null +++ b/misc/archive/GPIORPi.h @@ -0,0 +1,26 @@ +#ifndef BSP_RPI_GPIO_GPIORPI_H_ +#define BSP_RPI_GPIO_GPIORPI_H_ + +#include +#include + +class GpioCookie; + +namespace gpio { + +/** + * Create a GpioConfig_t. This function does a sanity check on the BCM pin number and fails if the + * BCM pin is invalid. + * @param cookie Adds the configuration to this cookie directly + * @param gpioId ID which identifies the GPIO configuration + * @param bcmPin Raspberry Pi BCM pin + * @param consumer Information string + * @param direction GPIO direction + * @param initValue Intial value for output pins, 0 for low, 1 for high + * @return + */ +ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, + std::string consumer, gpio::Direction direction, int initValue); +} + +#endif /* BSP_RPI_GPIO_GPIORPI_H_ */ diff --git a/misc/archive/RPiGPIO.cpp b/misc/archive/RPiGPIO.cpp new file mode 100644 index 00000000..7ffb024c --- /dev/null +++ b/misc/archive/RPiGPIO.cpp @@ -0,0 +1,123 @@ +#include "RPiGPIO.h" + +#include +#include +#include +#include +#include + + +int RPiGPIO::enablePin(int pin) { + char buffer[BUFFER_MAX]; + ssize_t bytes_written; + int fd; + + fd = open("/sys/class/gpio/export", O_WRONLY); + if (fd == -1) { + sif::error << "Failed to open export of pin " << pin << " for writing!" << std::endl; + return -1; + } + + bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin); + write(fd, buffer, bytes_written); + close(fd); + return 0; +} + +int RPiGPIO::disablePin(int pin) { + char buffer[BUFFER_MAX]; + ssize_t bytes_written; + int fd; + + fd = open("/sys/class/gpio/unexport", O_WRONLY); + if (fd == -1) { + sif::error << "Failed to open unexport of pin " << pin << " for writing!" << std::endl; + return -1; + } + + bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin); + write(fd, buffer, bytes_written); + close(fd); + return(0); +} + +int RPiGPIO::pinDirection(int pin, Directions dir) { + + char path[DIRECTION_MAX]; + + snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin); + int fd = open(path, O_WRONLY); + if (fd == -1) { + sif::error << "Failed to open gpio " << pin << " direction for writing!" << std::endl; + return -1; + } + + int result = 0; + if(dir == Directions::IN) { + result = write(fd, "in", IN_WRITE_SIZE); + } + else { + result = write(fd, "out", OUT_WRITE_SIZE); + } + + if (result != 0) { + sif::error << "Failed to set direction!" << std::endl; + return -2; + } + + close(fd); + return 0; +} + +int RPiGPIO::readPin(int pin) { + char path[VALUE_MAX]; + char value_str[3]; + + snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin); + int fd = open(path, O_RDONLY); + if (fd == -1) { + sif::error << "RPiGPIO::readPin: Failed to open GPIO pin " << pin << "!" << std::endl; + return -1; + } + + if (read(fd, value_str, 3) == -1) { + sif::error << "Failed to read value!" << std::endl; + return -1; + } + + close(fd); + char* endPtr = nullptr; + + return strtol(value_str, &endPtr, 10); +} + +int RPiGPIO::writePin(int pin, States state) { + + char path[VALUE_MAX]; + int fd; + + snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin); + fd = open(path, O_WRONLY); + if (fd == -1) { + sif::error << "RPiGPIO::writePin: Failed to open GPIO pin " << pin << "!" << std::endl; + return -1; + } + + int result = 0; + if(state == States::LOW) { + result = write(fd, "0", 1); + } + else { + result = write(fd, "1", 1); + } + + + if (result != 0) { + sif::error << "Failed to write pin " << pin << " value to " << static_cast(state) + << "!" << std::endl; + return -1; + } + + close(fd); + return 0; +} diff --git a/misc/archive/RPiGPIO.h b/misc/archive/RPiGPIO.h new file mode 100644 index 00000000..400a37d8 --- /dev/null +++ b/misc/archive/RPiGPIO.h @@ -0,0 +1,41 @@ +#ifndef BSP_RPI_BOARDTEST_RPIGPIO_H_ +#define BSP_RPI_BOARDTEST_RPIGPIO_H_ + +#include + +/** + * @brief Really simple C++ GPIO wrapper for the Raspberry Pi, using the sysfs interface. + * Use BCM pins notation (https://pinout.xyz/#) + * + */ +class RPiGPIO { +public: + enum Directions { + IN = 0, + OUT = 1 + }; + + enum States { + LOW = 0, + HIGH = 1 + }; + + static int enablePin(int pin); + static int disablePin(int pin); + static int pinDirection(int pin, Directions dir); + static int readPin(int pin); + static int writePin(int pin, States state); + +private: + + + static constexpr uint8_t BUFFER_MAX = 3; + static constexpr uint8_t DIRECTION_MAX = 35; + static constexpr uint8_t VALUE_MAX = 30; + + static constexpr uint8_t IN_WRITE_SIZE = 3; + static constexpr uint8_t OUT_WRITE_SIZE = 4; +}; + + +#endif /* BSP_RPI_BOARDTEST_RPIGPIO_H_ */ diff --git a/misc/eclipse/.cproject b/misc/eclipse/.cproject new file mode 100644 index 00000000..6caf4a08 --- /dev/null +++ b/misc/eclipse/.cproject @@ -0,0 +1,881 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + make + -f Makefile-Hosted -j16 + hardclean + true + true + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/misc/eclipse/.project b/misc/eclipse/.project new file mode 100644 index 00000000..059a5c19 --- /dev/null +++ b/misc/eclipse/.project @@ -0,0 +1,27 @@ + + + eive_obsw + + + + + + org.eclipse.cdt.managedbuilder.core.genmakebuilder + full,incremental, + + + + + org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder + full,incremental, + + + + + + org.eclipse.cdt.core.cnature + org.eclipse.cdt.core.ccnature + org.eclipse.cdt.managedbuilder.core.managedBuildNature + org.eclipse.cdt.managedbuilder.core.ScannerConfigNature + + diff --git a/misc/eclipse/Host/eive-linux-host-debug-cmake.launch b/misc/eclipse/Host/eive-linux-host-debug-cmake.launch new file mode 100644 index 00000000..268bdf33 --- /dev/null +++ b/misc/eclipse/Host/eive-linux-host-debug-cmake.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/misc/eclipse/Host/eive-linux-host-release-cmake.launch b/misc/eclipse/Host/eive-linux-host-release-cmake.launch new file mode 100644 index 00000000..f2647a4f --- /dev/null +++ b/misc/eclipse/Host/eive-linux-host-release-cmake.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/misc/eclipse/Host/eive-mingw-debug-cmake.launch b/misc/eclipse/Host/eive-mingw-debug-cmake.launch new file mode 100644 index 00000000..d31b97e9 --- /dev/null +++ b/misc/eclipse/Host/eive-mingw-debug-cmake.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/misc/eclipse/Host/eive-mingw-release-cmake.launch b/misc/eclipse/Host/eive-mingw-release-cmake.launch new file mode 100644 index 00000000..75471411 --- /dev/null +++ b/misc/eclipse/Host/eive-mingw-release-cmake.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/misc/eclipse/make/.cproject b/misc/eclipse/make/.cproject new file mode 100644 index 00000000..6a50d831 --- /dev/null +++ b/misc/eclipse/make/.cproject @@ -0,0 +1,257 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/misc/eclipse/make/.project b/misc/eclipse/make/.project new file mode 100644 index 00000000..906c567f --- /dev/null +++ b/misc/eclipse/make/.project @@ -0,0 +1,27 @@ + + + eive_obsw + + + + + + org.eclipse.cdt.managedbuilder.core.genmakebuilder + clean,full,incremental, + + + + + org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder + full,incremental, + + + + + + org.eclipse.cdt.core.cnature + org.eclipse.cdt.core.ccnature + org.eclipse.cdt.managedbuilder.core.managedBuildNature + org.eclipse.cdt.managedbuilder.core.ScannerConfigNature + + diff --git a/mission/CMakeLists.txt b/mission/CMakeLists.txt new file mode 100644 index 00000000..9cb18749 --- /dev/null +++ b/mission/CMakeLists.txt @@ -0,0 +1,3 @@ +add_subdirectory(core) +add_subdirectory(devices) +add_subdirectory(utility) diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp new file mode 100644 index 00000000..7d889993 --- /dev/null +++ b/mission/controller/ThermalController.cpp @@ -0,0 +1,49 @@ +#include "ThermalController.h" +#include + +ThermalController::ThermalController(object_id_t objectId): + ExtendedControllerBase(objectId, objects::NO_OBJECT), + thermalControllerSet(objectId) { +} + +ReturnValue_t ThermalController::handleCommandMessage( + CommandMessage *message) { + return HasReturnvaluesIF::RETURN_OK; +} + +void ThermalController::performControlOperation() { + +} + +void ThermalController::handleChangedDataset(sid_t sid, + store_address_t storeId) { + if(sid == sid_t(TSensorDefinitions::ObjIds::TEST_HKB_HANDLER, + TSensorDefinitions::THERMAL_SENSOR_SET_ID)) { + sif::info << "Update registered!" << std::endl; + } +} + +ReturnValue_t ThermalController::initializeAfterTaskCreation() { + ReturnValue_t result = + ExtendedControllerBase::initializeAfterTaskCreation(); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "ThermalController::initializeAfterTaskCreation: Base" + << " class initialization failed!" << std::endl; + } + HasLocalDataPoolIF* testHkbHandler = objectManager->get( + TSensorDefinitions::ObjIds::TEST_HKB_HANDLER); + if(testHkbHandler == nullptr) { + sif::warning << "ThermalController::initializeAfterTaskCreation: Test" + << " HKB Handler invalid!" << std::endl; + } + // Test normal notifications without data packet first. + testHkbHandler->getHkManagerHandle()->subscribeForSetUpdateMessages( + TSensorDefinitions::THERMAL_SENSOR_SET_ID, + this->getObjectId(), commandQueue->getId(), false); + return result; +} + +ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, + Submode_t submode, uint32_t *msToReachTheMode) { + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h new file mode 100644 index 00000000..67c5b24a --- /dev/null +++ b/mission/controller/ThermalController.h @@ -0,0 +1,33 @@ +#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_ +#define MISSION_CONTROLLER_THERMALCONTROLLER_H_ + +#include +#include "ctrldefinitions/ThermalCtrlPackets.h" + + +class ThermalController: public ExtendedControllerBase { +public: + ThermalController(object_id_t objectId); +private: + + // TODO: Add stubs for thermal components. Each device / assembly with one + // or multiple redundant sensors will have a thermal component. + + /** ExtendedControllerBase overrides */ + virtual ReturnValue_t handleCommandMessage( + CommandMessage *message) override; + + virtual void performControlOperation() override; + + virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, + uint32_t *msToReachTheMode) override; + + ReturnValue_t initializeAfterTaskCreation() override; + + void handleChangedDataset(sid_t sid, store_address_t storeId) override; + + ThermalCtrl::ThermalControllerTemperatureSet thermalControllerSet; +}; + + +#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */ diff --git a/mission/core/CMakeLists.txt b/mission/core/CMakeLists.txt new file mode 100644 index 00000000..5d088e48 --- /dev/null +++ b/mission/core/CMakeLists.txt @@ -0,0 +1,5 @@ +target_sources(${TARGET_NAME} PUBLIC + GenericFactory.cpp +) + + diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp index 5305dc82..2fcb4450 100644 --- a/mission/core/GenericFactory.cpp +++ b/mission/core/GenericFactory.cpp @@ -1,7 +1,9 @@ #include "GenericFactory.h" -#include -#include -#include + +#include + +#include +#include #include #include @@ -9,6 +11,8 @@ #include #include #include +#include +#include #include #include #include @@ -19,37 +23,37 @@ #include #include +#if OBSW_ADD_TEST_CODE == 1 + #include +#endif void ObjectFactory::produceGenericObjects() { /* Framework objects */ new EventManager(objects::EVENT_MANAGER); new HealthTable(objects::HEALTH_TABLE); - new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 0, 0, 0); + new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER); new TimeStamper(objects::TIME_STAMPER); { - static constexpr uint8_t NUMBER_OF_POOLS = 5; - const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024}; - const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5}; - new PoolManager(objects::TC_STORE, element_sizes, - n_elements); + PoolManager::LocalPoolConfig poolCfg = { + {100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024} + }; + new PoolManager(objects::TC_STORE, poolCfg); } { - static constexpr uint8_t NUMBER_OF_POOLS = 5; - const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024}; - const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5}; - new PoolManager(objects::TM_STORE, element_sizes, - n_elements); + PoolManager::LocalPoolConfig poolCfg = { + {100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024} + }; + new PoolManager(objects::TM_STORE, poolCfg); } { - static constexpr uint8_t NUMBER_OF_POOLS = 6; - const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512, - 1024, 2048, 4096}; - const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5}; - new PoolManager(objects::IPC_STORE, element_sizes, - n_elements); + PoolManager::LocalPoolConfig poolCfg = { + { 100, 16 }, { 100, 32 }, { 100, 64 }, + { 100, 128 }, { 50, 256 }, { 50, 512 }, { 50, 1024 }, { 10, 2048 } + }; + new PoolManager(objects::IPC_STORE, poolCfg); } new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR); @@ -62,17 +66,21 @@ void ObjectFactory::produceGenericObjects() { /* PUS stack */ new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, - apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL); + apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL, 20); new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10); + new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, + apid::EIVE_OBSW, pus::PUS_SERVICE_3); new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::EIVE_OBSW, pus::PUS_SERVICE_5, 50); new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, - apid::EIVE_OBSW, pus::PUS_SERVICE_8, 3, 10); + apid::EIVE_OBSW, pus::PUS_SERVICE_8, 3, 60); new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_9); new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW, pus::PUS_SERVICE_17); + new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::EIVE_OBSW, + pus::PUS_SERVICE_20); new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_200); diff --git a/mission/devices/ACUHandler.cpp b/mission/devices/ACUHandler.cpp new file mode 100644 index 00000000..3d5d82e8 --- /dev/null +++ b/mission/devices/ACUHandler.cpp @@ -0,0 +1,268 @@ +#include "ACUHandler.h" +#include "OBSWConfig.h" + +ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : + GomspaceDeviceHandler(objectId, comIF, comCookie, ACU::MAX_CONFIGTABLE_ADDRESS, + ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_REPLY_SIZE, &acuHkTableDataset), acuHkTableDataset( + this) { +} + +ACUHandler::~ACUHandler() { +} + +ReturnValue_t ACUHandler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + *id = GOMSPACE::REQUEST_HK_TABLE; + return buildCommandFromCommand(*id, NULL, 0); +} + +void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) { + + parseHkTableReply(packet); + handleDeviceTM(&acuHkTableDataset, id, true); + +#if OBSW_ENHANCED_PRINTOUT == 1 && ACU_DEBUG == 1 + acuHkTableDataset.read(); + float temperatureC_1 = acuHkTableDataset.temperature1.value * 0.1; + float temperatureC_2 = acuHkTableDataset.temperature2.value * 0.1; + float temperatureC_3 = acuHkTableDataset.temperature3.value * 0.1; + sif::info << "ACU: Temperature 1: " << temperatureC_1 << " °C" << std::endl; + sif::info << "ACU: Temperature 2: " << temperatureC_2 << " °C" << std::endl; + sif::info << "ACU: Temperature 3: " << temperatureC_3 << " °C" << std::endl; + sif::info << "ACU: Ground Watchdog Timer Count: " + << acuHkTableDataset.wdtCntGnd.value << std::endl; + sif::info << "ACU: Ground watchdog timer, seconds left before reboot: " + << acuHkTableDataset.wdtGndLeft.value << std::endl; + acuHkTableDataset.commit(); +#endif +} + +void ACUHandler::parseHkTableReply(const uint8_t *packet) { + uint16_t dataOffset = 0; + acuHkTableDataset.read(); + dataOffset += 12; + acuHkTableDataset.currentInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.currentInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.currentInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.currentInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.currentInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.currentInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + acuHkTableDataset.voltageInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.voltageInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.voltageInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.voltageInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.voltageInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.voltageInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + acuHkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + acuHkTableDataset.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.temperature3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + acuHkTableDataset.mpptMode = *(packet + dataOffset); + dataOffset += 3; + + acuHkTableDataset.vboostInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.vboostInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.vboostInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.vboostInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.vboostInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.vboostInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + acuHkTableDataset.powerInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.powerInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.powerInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.powerInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.powerInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.powerInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + acuHkTableDataset.dac0Enable = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.dac1Enable = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.dac2Enable = *(packet + dataOffset); + dataOffset += 3; + + acuHkTableDataset.dacRawChannelVal0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.dacRawChannelVal1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.dacRawChannelVal2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.dacRawChannelVal3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.dacRawChannelVal4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.dacRawChannelVal5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + acuHkTableDataset.bootCause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + acuHkTableDataset.bootcnt = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + acuHkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + acuHkTableDataset.resetCause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + acuHkTableDataset.mpptTime = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + /* +12 because here starts the second csp packet */ + dataOffset += 2 + 12; + + acuHkTableDataset.mpptPeriod = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + acuHkTableDataset.device0 = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device1 = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device2 = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device3 = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device4 = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device5 = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device6 = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device7 = *(packet + dataOffset); + dataOffset += 3; + + acuHkTableDataset.device0Status = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device1Status = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device2Status = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device3Status = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device4Status = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device5Status = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device6Status = *(packet + dataOffset); + dataOffset += 3; + acuHkTableDataset.device7Status = *(packet + dataOffset); + dataOffset += 3; + + acuHkTableDataset.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + acuHkTableDataset.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + + acuHkTableDataset.commit(); +} + +ReturnValue_t ACUHandler::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + + localDataPoolMap.emplace(P60System::ACU_CURRENT_IN_CHANNEL0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_CURRENT_IN_CHANNEL1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_CURRENT_IN_CHANNEL2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_CURRENT_IN_CHANNEL3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_CURRENT_IN_CHANNEL4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_CURRENT_IN_CHANNEL5, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_VOLTAGE_IN_CHANNEL0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VOLTAGE_IN_CHANNEL1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VOLTAGE_IN_CHANNEL2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VOLTAGE_IN_CHANNEL3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VOLTAGE_IN_CHANNEL4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VOLTAGE_IN_CHANNEL5, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VBAT, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_TEMPERATURE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_TEMPERATURE_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_TEMPERATURE_3, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_MPPT_MODE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_VBOOST_CHANNEL0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VBOOST_CHANNEL1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VBOOST_CHANNEL2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VBOOST_CHANNEL3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VBOOST_CHANNEL4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_VBOOST_CHANNEL5, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_POWER_CHANNEL0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_POWER_CHANNEL1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_POWER_CHANNEL2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_POWER_CHANNEL3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_POWER_CHANNEL4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_POWER_CHANNEL5, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_DAC_EN_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DAC_EN_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DAC_EN_2, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_DAC_RAW_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DAC_RAW_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DAC_RAW_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DAC_RAW_3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DAC_RAW_4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DAC_RAW_5, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_BOOTCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_BOOTCNT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_UPTIME, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_RESET_CAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_MPPT_TIME, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_MPPT_PERIOD, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_DEVICE_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_5, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_7, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_DEVICE_0_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_1_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_2_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_3_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_4_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_5_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_6_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_DEVICE_7_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::ACU_WDT_CNT_GND, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::ACU_WDT_GND_LEFT, new PoolEntry( { 0 })); + + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/mission/devices/ACUHandler.h b/mission/devices/ACUHandler.h new file mode 100644 index 00000000..8ab32a24 --- /dev/null +++ b/mission/devices/ACUHandler.h @@ -0,0 +1,39 @@ +#ifndef MISSION_DEVICES_ACUHANDLER_H_ +#define MISSION_DEVICES_ACUHANDLER_H_ + +#include "GomspaceDeviceHandler.h" +#include + +/** + * @brief Handler for the ACU from Gomspace. Monitors and controls the battery charging via + * the solar panels. + */ +class ACUHandler: public GomspaceDeviceHandler { +public: + ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie); + virtual ~ACUHandler(); + + virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + +protected: + + virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override; + + /** + * @brief As soon as the device is in MODE_NORMAL, this function is executed periodically. + */ + virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override; + +private: + + ACU::HkTableDataset acuHkTableDataset; + + /** + * @brief Function extracts the hk table information from the received csp packet and stores + * the values in the acuHkTableDataset. + */ + void parseHkTableReply(const uint8_t *packet); +}; + +#endif /* MISSION_DEVICES_ACUHANDLER_H_ */ diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt new file mode 100644 index 00000000..6e8518b0 --- /dev/null +++ b/mission/devices/CMakeLists.txt @@ -0,0 +1,18 @@ +target_sources(${TARGET_NAME} PUBLIC + GPSHandler.cpp + GyroL3GD20Handler.cpp + MGMHandlerLIS3MDL.cpp + MGMHandlerRM3100.cpp + GomspaceDeviceHandler.cpp + Tmp1075Handler.cpp + PCDUHandler.cpp + P60DockHandler.cpp + PDU1Handler.cpp + PDU2Handler.cpp + ACUHandler.cpp + SyrlinksHkHandler.cpp + Max31865PT1000Handler.cpp + IMTQHandler.cpp +) + + diff --git a/mission/devices/GPSHandler.cpp b/mission/devices/GPSHandler.cpp new file mode 100644 index 00000000..e53ce347 --- /dev/null +++ b/mission/devices/GPSHandler.cpp @@ -0,0 +1,57 @@ +#include "GPSHandler.h" + +GPSHandler::GPSHandler(object_id_t objectId, object_id_t deviceCommunication, + CookieIF *comCookie): + DeviceHandlerBase(objectId, deviceCommunication, comCookie) { +} + +GPSHandler::~GPSHandler() {} + +void GPSHandler::doStartUp() { + +} + +void GPSHandler::doShutDown() { + +} + +ReturnValue_t GPSHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GPSHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GPSHandler::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len, + DeviceCommandId_t *foundId, size_t *foundLen) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GPSHandler::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) { + return HasReturnvaluesIF::RETURN_OK; +} + +uint32_t GPSHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { + return 5000; +} + +ReturnValue_t GPSHandler::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + return HasReturnvaluesIF::RETURN_OK; +} + +void GPSHandler::fillCommandAndReplyMap() { + +} + +void GPSHandler::modeChanged() { + +} diff --git a/mission/devices/GPSHandler.h b/mission/devices/GPSHandler.h new file mode 100644 index 00000000..01a13591 --- /dev/null +++ b/mission/devices/GPSHandler.h @@ -0,0 +1,41 @@ +#ifndef MISSION_DEVICES_GPSHANDLER_H_ +#define MISSION_DEVICES_GPSHANDLER_H_ + +#include + +class GPSHandler: public DeviceHandlerBase { +public: + GPSHandler(object_id_t objectId, object_id_t deviceCommunication, + CookieIF* comCookie); + virtual ~GPSHandler(); + +protected: + + /* DeviceHandlerBase overrides */ + ReturnValue_t buildTransitionDeviceCommand( + DeviceCommandId_t *id) override; + void doStartUp() override; + void doShutDown() override; + ReturnValue_t buildNormalDeviceCommand( + DeviceCommandId_t *id) override; + ReturnValue_t buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) override; + ReturnValue_t scanForReply(const uint8_t *start, size_t len, + DeviceCommandId_t *foundId, size_t *foundLen) override; + ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) override; + + void fillCommandAndReplyMap() override; + void modeChanged() override; + uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, + LocalDataPoolManager &poolManager) override; + +private: + +}; + + + +#endif /* MISSION_DEVICES_GPSHANDLER_H_ */ diff --git a/mission/devices/GomspaceDeviceHandler.cpp b/mission/devices/GomspaceDeviceHandler.cpp new file mode 100644 index 00000000..44ede8b7 --- /dev/null +++ b/mission/devices/GomspaceDeviceHandler.cpp @@ -0,0 +1,397 @@ +#include +#include + +GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie, uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress, + uint16_t hkTableReplySize, LocalPoolDataSetBase* hkTableDataset) : + DeviceHandlerBase(objectId, comIF, comCookie), maxConfigTableAddress(maxConfigTableAddress), + maxHkTableAddress(maxHkTableAddress), hkTableReplySize(hkTableReplySize), hkTableDataset(hkTableDataset) { + if (comCookie == NULL) { + sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie" + << std::endl; + } + if (hkTableDataset == NULL) { + sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid hk table data set" + << std::endl; + } +} + +GomspaceDeviceHandler::~GomspaceDeviceHandler() { +} + + +void GomspaceDeviceHandler::doStartUp(){ +} + +void GomspaceDeviceHandler::doShutDown(){ + +} + +ReturnValue_t GomspaceDeviceHandler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::buildTransitionDeviceCommand( + DeviceCommandId_t * id){ + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t * commandData, + size_t commandDataLen) { + ReturnValue_t result; + switch(deviceCommand) { + case(GOMSPACE::PING): { + result = generatePingCommand(commandData, commandDataLen); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + break; + } + case(GOMSPACE::REBOOT): { + generateRebootCommand(); + break; + } + case(GOMSPACE::PARAM_SET):{ + result = generateSetParamCommand(commandData, commandDataLen); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + break; + } + case(GOMSPACE::PARAM_GET):{ + result = generateGetParamCommand(commandData, commandDataLen); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + break; + } + case(GOMSPACE::GNDWDT_RESET): { + result = generateResetWatchdogCmd(); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + break; + } + case(GOMSPACE::REQUEST_HK_TABLE): { + result = generateRequestFullHkTableCmd(hkTableReplySize); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + break; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_OK; +} + +void GomspaceDeviceHandler::fillCommandAndReplyMap(){ + this->insertInCommandAndReplyMap(GOMSPACE::PING, 3); + this->insertInCommandMap(GOMSPACE::REBOOT); + this->insertInCommandAndReplyMap(GOMSPACE::PARAM_SET, 3); + this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3); + this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3); + this->insertInCommandMap(GOMSPACE::GNDWDT_RESET); +} + +ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start, + size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) { + switch(rememberCommandId) { + case(GOMSPACE::PING): + *foundId = GOMSPACE::PING; + *foundLen = PING_REPLY_SIZE; + rememberCommandId = GOMSPACE::NONE; + break; + case(GOMSPACE::PARAM_GET): { + *foundId = GOMSPACE::PARAM_GET; + *foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH; + rememberCommandId = GOMSPACE::NONE; + break; + } + case(GOMSPACE::PARAM_SET): { + *foundId = GOMSPACE::PARAM_SET; + *foundLen = rememberRequestedSize; + rememberCommandId = GOMSPACE::NONE; + break; + } + case(GOMSPACE::REQUEST_HK_TABLE): { + *foundId = GOMSPACE::REQUEST_HK_TABLE; + *foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH; + rememberCommandId = GOMSPACE::NONE; + break; + } + default: + return IGNORE_REPLY_DATA; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) { + switch(id) { + case(GOMSPACE::PING): { + SerializeElement replyTime = *packet; + handleDeviceTM(&replyTime, id, true); + break; + } + case(GOMSPACE::PARAM_GET): { + // -2 to subtract address size from gomspace parameter reply packet + uint16_t payloadLength = (*(packet + 2) << 8 | *(packet + 3)) - 2; + if(payloadLength > sizeof(uint32_t)){ + sif::error << "GomspaceDeviceHandler: PARAM_GET: Invalid payload " + << "size in reply" << std::endl; + return INVALID_PAYLOAD_SIZE; + } + uint8_t tempPayloadBuffer[payloadLength]; + /* Extract information from received data */ + CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength); + size_t size = GOMSPACE::GS_HDR_LENGTH + payloadLength; + ReturnValue_t result = cspGetParamReply.deSerialize(&packet, &size, + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to deserialize get parameter" + << "reply" << std::endl; + return result; + } + uint8_t action = cspGetParamReply.getAction(); + uint8_t tableId = cspGetParamReply.getTableId(); + uint16_t address = cspGetParamReply.getAddress(); + /* Pack relevant information into a tm packet */ + ParamReply paramReply(action, tableId, address, payloadLength, + tempPayloadBuffer); + handleDeviceTM(¶mReply, id, true); + break; + } + case(GOMSPACE::PARAM_SET): { + /* When setting a parameter, the p60dock sends back the state of the + * operation */ + if(*packet != PARAM_SET_OK){ + return HasReturnvaluesIF::RETURN_FAILED; + } + break; + } + case(GOMSPACE::REQUEST_HK_TABLE): { + letChildHandleHkReply(id, packet); + break; + } + default: + break; + } + return HasReturnvaluesIF::RETURN_OK; +} + +void GomspaceDeviceHandler::setNormalDatapoolEntriesInvalid(){ + +} + +ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand( + const uint8_t * commandData, size_t commandDataLen) { + SetParamMessageUnpacker setParamMessageUnpacker; + ReturnValue_t result = setParamMessageUnpacker.deSerialize(&commandData, + &commandDataLen, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to deserialize set parameter " + "message" << std::endl; + return result; + } + /* Get and check address */ + uint16_t address = setParamMessageUnpacker.getAddress(); + if(address > maxConfigTableAddress){ + sif::error << "GomspaceDeviceHandler: Invalid address for set parameter " + << "action" << std::endl; + return INVALID_ADDRESS; + } + uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM; + uint16_t seq = 0; + uint16_t total = 0; + /* CSP reply only contains the transaction state */ + uint16_t querySize = 1; + const uint8_t* parameterPtr = setParamMessageUnpacker.getParameter(); + uint8_t parameterSize = setParamMessageUnpacker.getParameterSize(); + uint16_t payloadlength = sizeof(address) + parameterSize; + + /* Generate command for CspComIF */ + CspSetParamCommand setParamCmd(querySize, payloadlength, checksum, seq, + total, address, parameterPtr, parameterSize); + size_t cspPacketLen = 0; + uint8_t* buffer = cspPacket; + result = setParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket), + SerializeIF::Endianness::BIG); + + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to serialize command for " + << "CspComIF" << std::endl; + return result; + } + if(cspPacketLen > MAX_PACKET_LEN){ + sif::error << "GomspaceDeviceHandler: Invalid length of set parameter " + "command" << std::endl; + return PACKET_TOO_LONG; + } + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; + rememberRequestedSize = querySize; + rememberCommandId = GOMSPACE::PARAM_SET; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::generateGetParamCommand( + const uint8_t * commandData, size_t commandDataLen){ + ReturnValue_t result; + /* Unpack the received action message */ + GetParamMessageUnpacker getParamMessage; + result = getParamMessage.deSerialize(&commandData, &commandDataLen, + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Failed to deserialize message to extract information " + "from get parameter message" << std::endl; + return result; + } + /* Get an check table id to read from */ + uint8_t tableId = getParamMessage.getTableId(); + if(tableId != CONFIG_TABLE_ID && tableId != HK_TABLE_ID){ + sif::error << "GomspaceDeviceHandler: Invalid table id in get parameter" + " message" << std::endl; + return INVALID_TABLE_ID; + } + /* Get and check address */ + uint16_t address = getParamMessage.getAddress(); + if(address > maxHkTableAddress && tableId == HK_TABLE_ID){ + sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from " + << "housekeeping table" << std::endl; + return INVALID_ADDRESS; + } + if(address > maxConfigTableAddress && tableId == CONFIG_TABLE_ID){ + sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from " + << "configuration table" << std::endl; + return INVALID_ADDRESS; + } + uint16_t length = sizeof(address); + uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM; + uint16_t seq = 0; + uint16_t total = 0; + uint8_t parameterSize = getParamMessage.getParameterSize(); + if(parameterSize > sizeof(uint32_t)) { + sif::error << "GomspaceDeviceHandler: GET_PARAM: Invalid parameter " + << "size" << std::endl; + return INVALID_PARAM_SIZE; + } + uint16_t querySize = parameterSize + GOMSPACE::GS_HDR_LENGTH; + + /* Generate the CSP command to send to the P60 Dock */ + CspGetParamCommand getParamCmd(querySize, tableId, length, + checksum, seq, total, address); + size_t cspPacketLen = 0; + uint8_t* buffer = cspPacket; + result = getParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket), + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to serialize command to " + << "get parameter" << std::endl; + } + if(cspPacketLen > MAX_PACKET_LEN){ + sif::error << "GomspaceDeviceHandler: Received invalid get parameter " + "command" << std::endl; + return PACKET_TOO_LONG; + } + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; + rememberRequestedSize = querySize; + rememberCommandId = GOMSPACE::PARAM_GET; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::generatePingCommand( + const uint8_t * commandData, size_t commandDataLen) { + CspPingCommand cspPingCommand(commandData, commandDataLen); + size_t cspPacketLen = 0; + uint8_t* buffer = cspPacket; + ReturnValue_t result = cspPingCommand.serialize(&buffer, &cspPacketLen, + sizeof(cspPacket), + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to serialize ping command" + << std::endl; + return result; + } + if(cspPacketLen > MAX_PACKET_LEN){ + sif::error << "GomspaceDeviceHandler: Received invalid ping message" + << std::endl; + return PACKET_TOO_LONG; + } + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; + rememberCommandId = GOMSPACE::PING; + return HasReturnvaluesIF::RETURN_OK; +} + +void GomspaceDeviceHandler::generateRebootCommand(){ + uint8_t cspPort = GOMSPACE::REBOOT_PORT; + uint16_t querySize = 0; + *cspPacket = GOMSPACE::REBOOT_PORT; + *(cspPacket + 1) = querySize; + size_t cspPacketLen = sizeof(cspPort) + sizeof(cspPacketLen); + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; +} + +ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd(){ + WatchdogResetCommand watchdogResetCommand; + size_t cspPacketLen = 0; + uint8_t* buffer = cspPacket; + ReturnValue_t result = watchdogResetCommand.serialize(&buffer, + &cspPacketLen, sizeof(cspPacket), SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler: Failed to serialize watchdog reset " + << "command" << std::endl; + return result; + } + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; + rememberRequestedSize = 0; // No bytes will be queried with the ground + // watchdog command. + rememberCommandId = GOMSPACE::GNDWDT_RESET; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GomspaceDeviceHandler::generateRequestFullHkTableCmd(uint16_t hkTableReplySize) { + + uint16_t querySize = hkTableReplySize; + uint8_t tableId = HK_TABLE_ID; + RequestFullTableCommand requestFullTableCommand(querySize, tableId); + + size_t cspPacketLen = 0; + uint8_t* buffer = cspPacket; + ReturnValue_t result = requestFullTableCommand.serialize(&buffer, + &cspPacketLen, sizeof(cspPacket), SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "GomspaceDeviceHandler::generateRequestFullHkTableCmd Failed to serialize " + "full table request command " << std::endl; + return result; + } + rawPacket = cspPacket; + rawPacketLen = cspPacketLen; + rememberRequestedSize = querySize; + rememberCommandId = GOMSPACE::REQUEST_HK_TABLE; + return RETURN_OK; +} + +uint32_t GomspaceDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, + Mode_t modeTo) { + return 0; +} + +LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) { + if(sid == hkTableDataset->getSid()) { + return hkTableDataset; + } + else { + return nullptr; + } +} + +void GomspaceDeviceHandler::setModeNormal() { + mode = MODE_NORMAL; +} diff --git a/mission/devices/GomspaceDeviceHandler.h b/mission/devices/GomspaceDeviceHandler.h new file mode 100644 index 00000000..81c62502 --- /dev/null +++ b/mission/devices/GomspaceDeviceHandler.h @@ -0,0 +1,132 @@ +#ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ +#define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ + +#include +#include + +/** + * @brief This is the device handler class for all gomspace devices. + * + * @details All gomspace devices are similar with respect to commanding. Thus + * most of the functionality to command a gomspace device can be + * accommodated in one class. For device specific functions, a new + * class could be created by inheriting from the GomspaceDeviceHandler. + */ +class GomspaceDeviceHandler: public DeviceHandlerBase { +public: + + static const ReturnValue_t PACKET_TOO_LONG = MAKE_RETURN_CODE(0xE0); + static const ReturnValue_t INVALID_TABLE_ID = MAKE_RETURN_CODE(0xE1); + static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0xE2); + static const ReturnValue_t INVALID_PARAM_SIZE = MAKE_RETURN_CODE(0xE3); + static const ReturnValue_t INVALID_PAYLOAD_SIZE = MAKE_RETURN_CODE(0xE4); + static const ReturnValue_t UNKNOWN_REPLY_ID = MAKE_RETURN_CODE(0xE5); + + /** + * @brief Constructor + * + * @param maxConfigTableAddress The maximum memory address of the configu- + * ration table of a gomspace device. + * @param maxHkTableAddress The maximum memory address of a value in the + * houskeeping (telemetry) table of a gomspace + * device. + */ + GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie, uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress, + uint16_t hkTableReplySize, LocalPoolDataSetBase* hkTableDataset); + virtual ~GomspaceDeviceHandler(); + + /** + * @brief This function can be used to set a gomspace device to normal mode immediately after + * object creation. + */ + void setModeNormal(); + +protected: + + static const uint8_t MAX_PACKET_LEN = 36; + static const uint8_t PARAM_SET_OK = 1; + static const uint8_t PING_REPLY_SIZE = 2; + static const uint8_t CONFIG_TABLE_ID = 1; + static const uint8_t HK_TABLE_ID = 4; + + uint8_t rememberRequestedSize = 0; + uint8_t rememberCommandId = GOMSPACE::NONE; + uint8_t cspPacket[MAX_PACKET_LEN]; + + uint16_t maxConfigTableAddress; + uint16_t maxHkTableAddress; + + /** The size of the reply following a full hk table request.*/ + uint16_t hkTableReplySize; + + LocalPoolDataSetBase* hkTableDataset = nullptr; + + void doStartUp() override; + void doShutDown() override; + virtual 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; + void setNormalDatapoolEntriesInvalid() override; + uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; + /** + * @brief The command to generate a request to receive the full housekeeping table is device + * specific. Thus the child has to build this command. + */ + virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize); + + /** + * @brief Because housekeeping tables are device specific the handling of the reply is + * given to the child class. + * @param id The id of the command which initiates the full table request. + * @param packet Pointer to the reply containing the hk table. + */ + virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) = 0; + + virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; + +private: + + /** + * @brief Function to generate the command to set a parameter. Command + * will be sent to the ComIF over the rawPacket buffer. + */ + ReturnValue_t generateSetParamCommand(const uint8_t * commandData, + size_t commandDataLen); + + /** + * @brief Function to generate the command to get a parameter from a + * gomspace device. Command will be sent to the ComIF over the + * rawPacket buffer. + */ + ReturnValue_t generateGetParamCommand(const uint8_t * commandData, + size_t commandDataLen); + + /** + * @brief Function to generate the ping command for the ComIF. + */ + ReturnValue_t generatePingCommand(const uint8_t * commandData, + size_t commandDataLen); + + /** + * @brief Function to generate the command to reboot a gomspace device + * via the ComIF. + */ + void generateRebootCommand(); + + /** + * @brief Function to generate the command to force a ground watchdog + * reset in a gomspace device. + */ + ReturnValue_t generateResetWatchdogCmd(); + +}; + +#endif /* MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ */ diff --git a/mission/devices/GyroL3GD20Handler.cpp b/mission/devices/GyroL3GD20Handler.cpp new file mode 100644 index 00000000..850be83c --- /dev/null +++ b/mission/devices/GyroL3GD20Handler.cpp @@ -0,0 +1,260 @@ +#include "GyroL3GD20Handler.h" +#include + +#include + +GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, + CookieIF *comCookie): + DeviceHandlerBase(objectId, deviceCommunication, comCookie), + dataset(this) { +#if OBSW_VERBOSE_LEVEL >= 1 + debugDivider = new PeriodicOperationDivider(5); +#endif +} + +GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {} + +void GyroHandlerL3GD20H::doStartUp() { + if(internalState == InternalState::NONE) { + internalState = InternalState::CONFIGURE; + } + + if(internalState == InternalState::CONFIGURE) { + if(commandExecuted) { + internalState = InternalState::CHECK_REGS; + commandExecuted = false; + } + } + + if(internalState == InternalState::CHECK_REGS) { + if(commandExecuted) { + internalState = InternalState::NORMAL; +#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 + setMode(MODE_NORMAL); +#else + setMode(_MODE_TO_ON); +#endif + commandExecuted = false; + } + } +} + +void GyroHandlerL3GD20H::doShutDown() { + setMode(_MODE_POWER_DOWN); +} + +ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) { + switch(internalState) { + case(InternalState::NONE): + case(InternalState::NORMAL): { + return HasReturnvaluesIF::RETURN_OK; + } + case(InternalState::CONFIGURE): { + *id = L3GD20H::CONFIGURE_CTRL_REGS; + uint8_t command [5]; + command[0] = L3GD20H::CTRL_REG_1_VAL; + command[1] = L3GD20H::CTRL_REG_2_VAL; + command[2] = L3GD20H::CTRL_REG_3_VAL; + command[3] = L3GD20H::CTRL_REG_4_VAL; + command[4] = L3GD20H::CTRL_REG_5_VAL; + return buildCommandFromCommand(*id, command, 5); + } + case(InternalState::CHECK_REGS): { + *id = L3GD20H::READ_REGS; + return buildCommandFromCommand(*id, nullptr, 0); + } + default: + /* Might be a configuration error. */ + sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown " + << "internal state!" << std::endl; + return HasReturnvaluesIF::RETURN_OK; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) { + *id = L3GD20H::READ_REGS; + return buildCommandFromCommand(*id, nullptr, 0); +} + +ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) { + switch(deviceCommand) { + case(L3GD20H::READ_REGS): { + commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | + L3GD20H::READ_MASK; + + std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN); + rawPacket = commandBuffer; + rawPacketLen = L3GD20H::READ_LEN + 1; + break; + } + case(L3GD20H::CONFIGURE_CTRL_REGS): { + commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK; + if(commandData == nullptr or commandDataLen != 5) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + ctrlReg1Value = commandData[0]; + ctrlReg2Value = commandData[1]; + ctrlReg3Value = commandData[2]; + ctrlReg4Value = commandData[3]; + ctrlReg5Value = commandData[4]; + + bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1; + bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0; + + if(not fsH and not fsL) { + scaleFactor = static_cast(L3GD20H::RANGE_DPS_00) / INT16_MAX; + } + else if(not fsH and fsL) { + scaleFactor = static_cast(L3GD20H::RANGE_DPS_01) / INT16_MAX; + } + else { + scaleFactor = static_cast(L3GD20H::RANGE_DPS_11) / INT16_MAX; + } + + commandBuffer[1] = ctrlReg1Value; + commandBuffer[2] = ctrlReg2Value; + commandBuffer[3] = ctrlReg3Value; + commandBuffer[4] = ctrlReg4Value; + commandBuffer[5] = ctrlReg5Value; + + rawPacket = commandBuffer; + rawPacketLen = 6; + break; + } + case(L3GD20H::READ_CTRL_REGS): { + commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | + L3GD20H::READ_MASK; + + std::memset(commandBuffer + 1, 0, 5); + rawPacket = commandBuffer; + rawPacketLen = 6; + break; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len, + DeviceCommandId_t *foundId, size_t *foundLen) { + /* For SPI, the ID will always be the one of the last sent command. */ + *foundId = this->getPendingCommand(); + *foundLen = this->rawPacketLen; + + /* Data with SPI Interface has always this answer */ + if (start[0] == 0b11111111) { + return HasReturnvaluesIF::RETURN_OK; + } + return DeviceHandlerIF::INVALID_DATA; +} + +ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + switch(id) { + case(L3GD20H::CONFIGURE_CTRL_REGS): { + commandExecuted = true; + break; + } + case(L3GD20H::READ_CTRL_REGS): { + if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and + packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and + packet[5] == ctrlReg5Value) { + commandExecuted = true; + } + else { + /* Attempt reconfiguration. */ + internalState = InternalState::CONFIGURE; + return DeviceHandlerIF::DEVICE_REPLY_INVALID; + } + break; + } + case(L3GD20H::READ_REGS): { + if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and + packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and + packet[5] != ctrlReg5Value) { + return DeviceHandlerIF::DEVICE_REPLY_INVALID; + } + else { + if(internalState == InternalState::CHECK_REGS) { + commandExecuted = true; + } + } + + statusReg = packet[L3GD20H::STATUS_IDX]; + + float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 | + packet[L3GD20H::OUT_X_L]) * scaleFactor; + float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 | + packet[L3GD20H::OUT_Y_L]) * scaleFactor; + float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 | + packet[L3GD20H::OUT_Z_L]) * scaleFactor; + + int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; + float temperature = 25.0 + temperaturOffset; +#if OBSW_VERBOSE_LEVEL >= 1 + if(debugDivider->checkAndIncrement()) { + /* Set terminal to utf-8 if there is an issue with micro printout. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" << + std::endl; + sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl; + sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl; + sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl; +#else + sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n"); + sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX); + sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY); + sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ); +#endif + } +#endif + + PoolReadGuard readSet(&dataset); + if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { + dataset.angVelocX = angVelocX; + dataset.angVelocY = angVelocY; + dataset.angVelocZ = angVelocZ; + dataset.temperature = temperature; + dataset.setValidity(true, true); + } + break; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return result; +} + + +uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) { + return 10000; +} + +ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, + new PoolEntry({0.0})); + localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, + new PoolEntry({0.0})); + localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, + new PoolEntry({0.0})); + localDataPoolMap.emplace(L3GD20H::TEMPERATURE, + new PoolEntry({0.0})); + return HasReturnvaluesIF::RETURN_OK; +} + +void GyroHandlerL3GD20H::fillCommandAndReplyMap() { + insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset); + insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1); + insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1); +} + +void GyroHandlerL3GD20H::modeChanged() { + internalState = InternalState::NONE; +} diff --git a/mission/devices/GyroL3GD20Handler.h b/mission/devices/GyroL3GD20Handler.h new file mode 100644 index 00000000..442e28f8 --- /dev/null +++ b/mission/devices/GyroL3GD20Handler.h @@ -0,0 +1,80 @@ +#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_ +#define MISSION_DEVICES_GYROL3GD20HANDLER_H_ + +#include "devicedefinitions/GyroL3GD20Definitions.h" +#include + +#include +#include + + +/** + * @brief Device Handler for the L3GD20H gyroscope sensor + * (https://www.st.com/en/mems-and-sensors/l3gd20h.html) + * @details + * Advanced documentation: + * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro + * + * Data is read big endian with the smallest possible range of 245 degrees per second. + */ +class GyroHandlerL3GD20H: public DeviceHandlerBase { +public: + GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, + CookieIF* comCookie); + virtual ~GyroHandlerL3GD20H(); + +protected: + + /* DeviceHandlerBase overrides */ + ReturnValue_t buildTransitionDeviceCommand( + DeviceCommandId_t *id) override; + void doStartUp() override; + void doShutDown() override; + ReturnValue_t buildNormalDeviceCommand( + DeviceCommandId_t *id) override; + ReturnValue_t buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) override; + ReturnValue_t scanForReply(const uint8_t *start, size_t len, + DeviceCommandId_t *foundId, size_t *foundLen) override; + ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) override; + + void fillCommandAndReplyMap() override; + void modeChanged() override; + uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, + LocalDataPoolManager &poolManager) override; + +private: + GyroPrimaryDataset dataset; + + enum class InternalState { + NONE, + CONFIGURE, + CHECK_REGS, + NORMAL + }; + InternalState internalState = InternalState::NONE; + bool commandExecuted = false; + + uint8_t statusReg = 0; + + uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL; + uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL; + uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL; + uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL; + uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL; + + uint8_t commandBuffer[L3GD20H::READ_LEN + 1]; + + float scaleFactor = static_cast(L3GD20H::RANGE_DPS_00) / INT16_MAX; + +#if OBSW_VERBOSE_LEVEL >= 1 + PeriodicOperationDivider* debugDivider = nullptr; +#endif +}; + + + +#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */ diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp new file mode 100644 index 00000000..0c1b1d1e --- /dev/null +++ b/mission/devices/IMTQHandler.cpp @@ -0,0 +1,216 @@ +#include "IMTQHandler.h" + +#include +#include +#include +#include + +IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : + DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this) { + if (comCookie == NULL) { + sif::error << "IMTQHandler: Invalid com cookie" << std::endl; + } +} + +IMTQHandler::~IMTQHandler() { +} + + +void IMTQHandler::doStartUp(){ + if(mode == _MODE_START_UP){ + //TODO: Set to MODE_ON again + setMode(MODE_NORMAL); + } +} + +void IMTQHandler::doShutDown(){ + +} + +ReturnValue_t IMTQHandler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + *id = IMTQ::GET_ENG_HK_DATA; + return buildCommandFromCommand(*id, NULL, 0); +} + +ReturnValue_t IMTQHandler::buildTransitionDeviceCommand( + DeviceCommandId_t * id){ + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t IMTQHandler::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t * commandData, + size_t commandDataLen) { + switch(deviceCommand) { + case(IMTQ::GET_ENG_HK_DATA): { + commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA; + rawPacket = commandBuffer; + rawPacketLen = 1; + return RETURN_OK; + } + case(IMTQ::START_ACTUATION_DIPOLE): { + /* IMTQ expects low byte first */ + commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE; + commandBuffer[1] = *(commandData + 1); + commandBuffer[2] = *(commandData); + commandBuffer[3] = *(commandData + 3); + commandBuffer[4] = *(commandData + 2); + commandBuffer[5] = *(commandData + 5); + commandBuffer[6] = *(commandData + 4); + commandBuffer[7] = *(commandData + 7); + commandBuffer[8] = *(commandData + 6); + rawPacket = commandBuffer; + rawPacketLen = 9; + return RETURN_OK; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; +} + +void IMTQHandler::fillCommandAndReplyMap() { + this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset, + IMTQ::SIZE_ENG_HK_DATA_REPLY, false, true, IMTQ::SIZE_ENG_HK_DATA_REPLY); +} + +ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start, + size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) { + + ReturnValue_t result = RETURN_OK; + + switch(*start) { + case(IMTQ::CC::GET_ENG_HK_DATA): + *foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY; + *foundId = IMTQ::GET_ENG_HK_DATA; + break; + default: + sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << std::endl; + result = IGNORE_REPLY_DATA; + break; + } + + return result; +} + +ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) { + + ReturnValue_t result = RETURN_OK; + + result = parseStatusByte(packet); + + if (result != RETURN_OK) { + return result; + } + + switch (id) { + case (IMTQ::GET_ENG_HK_DATA): + fillEngHkDataset(packet); + break; + default: { + sif::debug << "IMTQHandler::interpretDeviceReply: Unknown device reply id" << std::endl; + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } + } + + return RETURN_OK; +} + +ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) { + uint8_t cmdErrorField = *(packet + 1) & 0xF; + switch (cmdErrorField) { + case 0: + return RETURN_OK; + case 1: + return REJECTED_WITHOUT_REASON; + case 2: + return INVALID_COMMAND_CODE; + case 3: + return PARAMETER_MISSING; + case 4: + return PARAMETER_INVALID; + case 5: + return CC_UNAVAILABLE; + case 7: + return INTERNAL_PROCESSING_ERROR; + default: + sif::error << "IMTQHandler::parseStatusByte: CMD Error field contains unknown error code " + << cmdErrorField << std::endl; + return CMD_ERR_UNKNOWN; + } +} + +void IMTQHandler::fillEngHkDataset(const uint8_t* packet) { + uint8_t offset = 2; + engHkDataset.digitalVoltageMv = *(packet + offset + 1) | *(packet + offset); + offset += 2; + engHkDataset.analogVoltageMv = *(packet + offset + 1) | *(packet + offset); + offset += 2; + engHkDataset.digitalCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001; + offset += 2; + engHkDataset.analogCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001; + offset += 2; + engHkDataset.coilXcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001; + offset += 2; + engHkDataset.coilYcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001; + offset += 2; + engHkDataset.coilZcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001; + offset += 2; + engHkDataset.coilXTemperature = (*(packet + offset + 1) | *(packet + offset)); + offset += 2; + engHkDataset.coilYTemperature = (*(packet + offset + 1) | *(packet + offset)); + offset += 2; + engHkDataset.coilZTemperature = (*(packet + offset + 1) | *(packet + offset)); + offset += 2; + engHkDataset.mcuTemperature = (*(packet + offset + 1) | *(packet + offset)); + +#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1 + sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl; + sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl; + sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentA << " A" << std::endl; + sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentA << " A" << std::endl; + sif::info << "IMTQ coil X current: " << engHkDataset.coilXcurrentA << " A" << std::endl; + sif::info << "IMTQ coil Y current: " << engHkDataset.coilYcurrentA << " A" << std::endl; + sif::info << "IMTQ coil Z current: " << engHkDataset.coilZcurrentA << " A" << std::endl; + sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C" + << std::endl; + sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C" + << std::endl; + sif::info << "IMTQ coil Z temperature: " << engHkDataset.coilZTemperature << " °C" + << std::endl; + sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C" + << std::endl; +#endif +} + +void IMTQHandler::setNormalDatapoolEntriesInvalid(){ + +} + +uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){ + return 500; +} + +ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) { + + localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::ANALOG_VOLTAGE_MV, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry( { 0 })); + + return HasReturnvaluesIF::RETURN_OK; +} + +void IMTQHandler::setModeNormal() { + mode = MODE_NORMAL; +} + diff --git a/mission/devices/IMTQHandler.h b/mission/devices/IMTQHandler.h new file mode 100644 index 00000000..2e2a7612 --- /dev/null +++ b/mission/devices/IMTQHandler.h @@ -0,0 +1,77 @@ +#ifndef MISSION_DEVICES_IMTQHANDLER_H_ +#define MISSION_DEVICES_IMTQHANDLER_H_ + +#include +#include +#include + +/** + * @brief This is the device handler for the ISIS Magnetorquer iMTQ. + * + * @author J. Meier + */ +class IMTQHandler: public DeviceHandlerBase { +public: + + IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie); + virtual ~IMTQHandler(); + + /** + * @brief Sets mode to MODE_NORMAL. Can be used for debugging. + */ + void setModeNormal(); + +protected: + 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; + void setNormalDatapoolEntriesInvalid() override; + uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + +private: + + static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER; + + static const ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0xA0); + static const ReturnValue_t PARAMETER_MISSING = MAKE_RETURN_CODE(0xA1); + static const ReturnValue_t PARAMETER_INVALID = MAKE_RETURN_CODE(0xA2); + static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(0xA3); + static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(0xA4); + static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5); + static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6); + + + IMTQ::EngHkDataset engHkDataset; + + uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE]; + + /** + * @brief Each reply contains a status byte giving information about a request. This function + * parses this byte and returns the associated failure message. + * + * @param packet Pointer to the received message containing the status byte. + * + * @return The return code derived from the received status byte. + */ + ReturnValue_t parseStatusByte(const uint8_t* packet); + + /** + * @brief This function fills the engineering housekeeping dataset with the received data. + + * @param packet Pointer to the received data. + * + */ + void fillEngHkDataset(const uint8_t* packet); +}; + +#endif /* MISSION_DEVICES_IMTQHANDLER_H_ */ diff --git a/mission/devices/MGMHandlerLIS3MDL.cpp b/mission/devices/MGMHandlerLIS3MDL.cpp index 099f0da4..15f6e325 100644 --- a/mission/devices/MGMHandlerLIS3MDL.cpp +++ b/mission/devices/MGMHandlerLIS3MDL.cpp @@ -1,13 +1,21 @@ +#include #include "MGMHandlerLIS3MDL.h" +#include + MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, object_id_t deviceCommunication, CookieIF* comCookie): - DeviceHandlerBase(objectId, deviceCommunication, comCookie) { - registers[0] = 0x00; - registers[1] = 0x00; - registers[2] = 0x00; - registers[3] = 0x00; - registers[4] = 0x00; + DeviceHandlerBase(objectId, deviceCommunication, comCookie), + dataset(this) { +#if OBSW_VERBOSE_LEVEL >= 1 + debugDivider = new PeriodicOperationDivider(5); +#endif + /* Set to default values right away. */ + registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; + registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; + registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; + registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; + registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; } @@ -17,30 +25,34 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() { void MGMHandlerLIS3MDL::doStartUp() { switch (internalState) { - case STATE_NONE: - internalState = STATE_FIRST_CONTACT; + case(InternalState::STATE_NONE): { + internalState = InternalState::STATE_FIRST_CONTACT; break; - - case STATE_FIRST_CONTACT: - internalState = STATE_SETUP; - break; - - case STATE_SETUP: - internalState = STATE_CHECK_REGISTERS; - break; - - case STATE_CHECK_REGISTERS: - if (setupMGM() == RETURN_OK) { - for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) { - if (registers[i - 1] != commandBuffer[i]) { - break; - } - } - setMode(_MODE_TO_ON); + } + case(InternalState::STATE_FIRST_CONTACT): { + /* Will be set by checking device ID (WHO AM I register) */ + if(commandExecuted) { + commandExecuted = false; + internalState = InternalState::STATE_SETUP; } - break; - + } + case(InternalState::STATE_SETUP): { + internalState = InternalState::STATE_CHECK_REGISTERS; + break; + } + case(InternalState::STATE_CHECK_REGISTERS): { + /* Set up cached registers which will be used to configure the MGM. */ + if(commandExecuted) { + commandExecuted = false; +#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 + setMode(MODE_NORMAL); +#else + setMode(_MODE_TO_ON); +#endif + } + break; + } default: break; } @@ -54,91 +66,117 @@ void MGMHandlerLIS3MDL::doShutDown() { ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand( DeviceCommandId_t *id) { switch (internalState) { - case STATE_FIRST_CONTACT: + case(InternalState::STATE_NONE): + case(InternalState::STATE_NORMAL): { + return HasReturnvaluesIF::RETURN_OK; + } + case(InternalState::STATE_FIRST_CONTACT): { *id = MGMLIS3MDL::IDENTIFY_DEVICE; break; - - case STATE_SETUP: + } + case(InternalState::STATE_SETUP): { *id = MGMLIS3MDL::SETUP_MGM; break; - - case STATE_CHECK_REGISTERS: - *id = MGMLIS3MDL::READALL_MGM; + } + case(InternalState::STATE_CHECK_REGISTERS): { + *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; break; + } + default: { + /* might be a configuration error. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" << + std::endl; +#else + sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n"); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ + return HasReturnvaluesIF::RETURN_OK; + } - default: - break; } return buildCommandFromCommand(*id, NULL, 0); } uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) { - command |= (1 << MGMLIS3MDL::RW_BIT); - if (continuousCom == true) { - command |= (1 << MGMLIS3MDL::MS_BIT); - } - return command; + command |= (1 << MGMLIS3MDL::RW_BIT); + if (continuousCom == true) { + command |= (1 << MGMLIS3MDL::MS_BIT); + } + return command; } uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) { - command &= ~(1 << MGMLIS3MDL::RW_BIT); - if (continuousCom == true) { - command |= (1 << MGMLIS3MDL::MS_BIT); - } - return command; + command &= ~(1 << MGMLIS3MDL::RW_BIT); + if (continuousCom == true) { + command |= (1 << MGMLIS3MDL::MS_BIT); + } + return command; } -ReturnValue_t MGMHandlerLIS3MDL::setupMGM() { +void MGMHandlerLIS3MDL::setupMgm() { - registers[0] = (1 << MGMLIS3MDL::TEMP_EN) | (1 << MGMLIS3MDL::OM1) - | (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1) - | (1 << MGMLIS3MDL::DO2); - registers[1] = 0; - registers[2] = 0; - registers[3] = (1 << MGMLIS3MDL::OMZ1); - registers[4] = 0; - - return prepareCtrlRegisterWrite(); + registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; + registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; + registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; + registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; + registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; + prepareCtrlRegisterWrite(); } ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand( - DeviceCommandId_t *id) { - //defines CommandID of MGM in normal operation and build command from command - *id = MGMLIS3MDL::READALL_MGM; - return buildCommandFromCommand(*id, NULL, 0); + DeviceCommandId_t *id) { + // Data/config register will be read in an alternating manner. + if(communicationStep == CommunicationStep::DATA) { + *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; + communicationStep = CommunicationStep::TEMPERATURE; + return buildCommandFromCommand(*id, NULL, 0); + } + else { + *id = MGMLIS3MDL::READ_TEMPERATURE; + communicationStep = CommunicationStep::DATA; + return buildCommandFromCommand(*id, NULL, 0); + } + } ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand( DeviceCommandId_t deviceCommand, const uint8_t *commandData, - size_t commandDataLen) { - lastSentCommand = deviceCommand; + size_t commandDataLen) { switch(deviceCommand) { - case(MGMLIS3MDL::READALL_MGM): { + case(MGMLIS3MDL::READ_CONFIG_AND_DATA): { std::memset(commandBuffer, 0, sizeof(commandBuffer)); - commandBuffer[0] = readCommand(0, true); + commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true); rawPacket = commandBuffer; - rawPacketLen = sizeof(commandBuffer); + rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1; + return RETURN_OK; + } + case(MGMLIS3MDL::READ_TEMPERATURE): { + std::memset(commandBuffer, 0, 3); + commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true); + + rawPacket = commandBuffer; + rawPacketLen = 3; + return RETURN_OK; + } + case(MGMLIS3MDL::IDENTIFY_DEVICE): { + return identifyDevice(); + } + case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): { + return enableTemperatureSensor(commandData, commandDataLen); + } + case(MGMLIS3MDL::SETUP_MGM): { + setupMgm(); return HasReturnvaluesIF::RETURN_OK; - case(MGMLIS3MDL::IDENTIFY_DEVICE): { - return identifyDevice(); - } - case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): { - return enableTemperatureSensor(commandData, commandDataLen); - } - case(MGMLIS3MDL::SETUP_MGM): { - return setupMGM(); - } - case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { - return setOperatingMode(commandData, commandDataLen); - } - default: - lastSentCommand = DeviceHandlerIF::NO_COMMAND; - return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; - } - } - return HasReturnvaluesIF::RETURN_FAILED; + } + case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { + return setOperatingMode(commandData, commandDataLen); + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; } ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() { @@ -153,209 +191,271 @@ ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() { } ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start, - size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { - *foundLen = len; - if (len == MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1) { - *foundLen = len; - *foundId = MGMLIS3MDL::READALL_MGM; - //WHO AM I test - if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) { - return DeviceHandlerIF::INVALID_DATA; - } + size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { + *foundLen = len; + if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) { + *foundLen = len; + *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA; + // Check validity by checking config registers + if (start[1] != registers[0] or start[2] != registers[1] or + start[3] != registers[2] or start[4] != registers[3] or + start[5] != registers[4]) { +#if OBSW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl; +#else + sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n"); +#endif +#endif + return DeviceHandlerIF::INVALID_DATA; + } + if(mode == _MODE_START_UP) { + commandExecuted = true; + } - } else if (len == MGMLIS3MDL::SETUP_REPLY) { - *foundLen = len; - *foundId = MGMLIS3MDL::SETUP_MGM; - } else if (len == SINGLE_COMMAND_ANSWER_LEN) { - *foundLen = len; - *foundId = lastSentCommand; - } else { + } + else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) { + *foundLen = len; + *foundId = MGMLIS3MDL::READ_TEMPERATURE; + } + else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) { + *foundLen = len; + *foundId = MGMLIS3MDL::SETUP_MGM; + } + else if (len == SINGLE_COMMAND_ANSWER_LEN) { + *foundLen = len; + *foundId = getPendingCommand(); + if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) { + if(start[1] != MGMLIS3MDL::DEVICE_ID) { +#if OBSW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl; +#else + sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n"); +#endif +#endif + return DeviceHandlerIF::INVALID_DATA; + } - return DeviceHandlerIF::INVALID_DATA; - } + if(mode == _MODE_START_UP) { + commandExecuted = true; + } + } + } + else { + return DeviceHandlerIF::INVALID_DATA; + } - // Data with SPI Interface has always this answer - if (start[0] == 0b11111111) { - return RETURN_OK; - } - else { - return DeviceHandlerIF::INVALID_DATA; - } + /* Data with SPI Interface always has this answer */ + if (start[0] == 0b11111111) { + return RETURN_OK; + } + else { + return DeviceHandlerIF::INVALID_DATA; + } } ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id, - const uint8_t *packet) { + const uint8_t *packet) { - switch (id) { - case MGMLIS3MDL::IDENTIFY_DEVICE: { - break; - } - case MGMLIS3MDL::SETUP_MGM: { - break; - } - case MGMLIS3MDL::READALL_MGM: { - // TODO: Store configuration and sensor values in new local datasets. - registers[0] = *(packet + 33); - registers[1] = *(packet + 34); - registers[2] = *(packet + 35); - registers[3] = *(packet + 36); - registers[4] = *(packet + 37); + switch (id) { + case MGMLIS3MDL::IDENTIFY_DEVICE: { + break; + } + case MGMLIS3MDL::SETUP_MGM: { + break; + } + case MGMLIS3MDL::READ_CONFIG_AND_DATA: { + // TODO: Store configuration in new local datasets. - uint8_t reg2_value = *(packet + 34); - uint8_t scale = getFullScale(®2_value); - float sensitivityFactor = getSensitivityFactor(scale); + uint8_t scale = getFullScale(registers[2]); + float sensitivityFactor = getSensitivityFactor(scale); - int16_t x_value_raw; - int16_t y_value_raw; - int16_t z_value_raw; - int16_t temp_value_raw; - //size_t size = 2; - uint8_t *accessBuffer; - accessBuffer = const_cast(packet + 41); + int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ; + int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ; + int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ; - x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); - accessBuffer += 2; - y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); - accessBuffer += 2; - z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); - accessBuffer += 2; + /* Target value in microtesla */ + float mgmX = static_cast(mgmMeasurementRawX) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + float mgmY = static_cast(mgmMeasurementRawY) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + float mgmZ = static_cast(mgmMeasurementRawZ) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; - temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); +#if OBSW_VERBOSE_LEVEL >= 1 + if(debugDivider->checkAndIncrement()) { + /* Set terminal to utf-8 if there is an issue with micro printout. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "MGMHandlerLIS3: Magnetic field strength in" + " microtesla:" << std::endl; + sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl; + sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl; + sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl; +#else + sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); + sif::printInfo("X: %f " "\xC2\xB5" "T\n", mgmX); + sif::printInfo("Y: %f " "\xC2\xB5" "T\n", mgmY); + sif::printInfo("Z: %f " "\xC2\xB5" "T\n", mgmZ); +#endif + } +#endif + PoolReadGuard readHelper(&dataset); + if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { + dataset.fieldStrengthX = mgmX; + dataset.fieldStrengthY = mgmY; + dataset.fieldStrengthZ = mgmZ; + dataset.setValidity(true, true); + } + break; + } - float x_value = static_cast(x_value_raw) * sensitivityFactor; - float y_value = static_cast(y_value_raw) * sensitivityFactor; - float z_value = static_cast(z_value_raw) * sensitivityFactor; - float temp_value = 25.0 + ((static_cast(temp_value_raw)) / 8.0); + case MGMLIS3MDL::READ_TEMPERATURE: { + int16_t tempValueRaw = packet[2] << 8 | packet[1]; + float tempValue = 25.0 + ((static_cast(tempValueRaw)) / 8.0); +#if OBSW_VERBOSE_LEVEL >= 1 + if(debugDivider->check()) { + /* Set terminal to utf-8 if there is an issue with micro printout. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " \xC2\xB0" << "C" << + std::endl; +#else + sif::printInfo("MGMHandlerLIS3: Temperature: %f" "\xC2\xB0" "C\n"); +#endif + } +#endif + ReturnValue_t result = dataset.read(); + if(result == HasReturnvaluesIF::RETURN_OK) { + dataset.temperature = tempValue; + dataset.commit(); + } + break; + } - break; - } + default: { + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } - default: { - return DeviceHandlerIF::UNKNOW_DEVICE_REPLY; - } - - } - return RETURN_OK; + } + return RETURN_OK; } -uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) { - bool FS0 = false; - bool FS1 = false; - if ((*reg2 >> 5) == 1) - FS0 = true; - if ((*reg2 >> 6) == 1) - FS1 = true; - if ((FS0 == true) && (FS1 == true)) - return 16; - else if ((FS0 == false) && (FS1 == true)) - return 12; - else if ((FS0 == true) && (FS1 == false)) - return 8; - else - return 4; +uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) { + bool FS0 = false; + bool FS1 = false; + if ((ctrlRegister2 >> 5) == 1) + FS0 = true; + if ((ctrlRegister2 >> 6) == 1) + FS1 = true; + if ((FS0 == true) && (FS1 == true)) + return 16; + else if ((FS0 == false) && (FS1 == true)) + return 12; + else if ((FS0 == true) && (FS1 == false)) + return 8; + else + return 4; } float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) { - return (float) scale / (INT16_MAX); + return (float) scale / (INT16_MAX); } ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor( - const uint8_t *commandData, size_t commandDataLen) { - triggerEvent(CHANGE_OF_SETUP_PARAMETER); - uint32_t size = 2; - commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1); - if (commandDataLen > 1) { - return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; - } - switch (*commandData) { - case (MGMLIS3MDL::ON): - commandBuffer[1] = registers[0] | (1 << 7); - break; + const uint8_t *commandData, size_t commandDataLen) { + triggerEvent(CHANGE_OF_SETUP_PARAMETER); + uint32_t size = 2; + commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1); + if (commandDataLen > 1) { + return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; + } + switch (*commandData) { + case (MGMLIS3MDL::ON): { + commandBuffer[1] = registers[0] | (1 << 7); + break; + } + case (MGMLIS3MDL::OFF): { + commandBuffer[1] = registers[0] & ~(1 << 7); + break; + } + default: + return INVALID_COMMAND_PARAMETER; + } + registers[0] = commandBuffer[1]; - case (MGMLIS3MDL::OFF): - commandBuffer[1] = registers[0] & ~(1 << 7); - break; + rawPacket = commandBuffer; + rawPacketLen = size; - default: - return INVALID_COMMAND_PARAMETER; - break; - } - registers[0] = commandBuffer[1]; - - rawPacket = commandBuffer; - rawPacketLen = size; - - return RETURN_OK; + return RETURN_OK; } ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData, - size_t commandDataLen) { - triggerEvent(CHANGE_OF_SETUP_PARAMETER); - if (commandDataLen != 1) { - return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; - } + size_t commandDataLen) { + triggerEvent(CHANGE_OF_SETUP_PARAMETER); + if (commandDataLen != 1) { + return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; + } - switch (commandData[0]) { - case MGMLIS3MDL::LOW: - registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0)); - registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0)); - break; - case MGMLIS3MDL::MEDIUM: - registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0); - registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0); - break; + switch (commandData[0]) { + case MGMLIS3MDL::LOW: + registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0)); + registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0)); + break; + case MGMLIS3MDL::MEDIUM: + registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0); + registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0); + break; - case MGMLIS3MDL::HIGH: - registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0)); - registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0)); - break; + case MGMLIS3MDL::HIGH: + registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0)); + registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0)); + break; - case MGMLIS3MDL::ULTRA: - registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0); - registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0); - break; - default: - break; - } + case MGMLIS3MDL::ULTRA: + registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0); + registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0); + break; + default: + break; + } - return prepareCtrlRegisterWrite(); + return prepareCtrlRegisterWrite(); } void MGMHandlerLIS3MDL::fillCommandAndReplyMap() { - /* - * Regarding ArduinoBoard: - * Actually SPI answers directly, but as commanding ArduinoBoard the - * communication could be delayed - * SPI always has to be triggered, so there could be no periodic answer of - * the device, the device has to asked with a command, so periodic is zero. - * - * We dont read single registers, we just expect special - * reply from he Readall_MGM - */ - insertInCommandAndReplyMap(MGMLIS3MDL::READALL_MGM, 1); - insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1); - insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1); - insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1); - insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1); + /* + * Regarding ArduinoBoard: + * Actually SPI answers directly, but as commanding ArduinoBoard the + * communication could be delayed + * SPI always has to be triggered, so there could be no periodic answer of + * the device, the device has to asked with a command, so periodic is zero. + * + * We dont read single registers, we just expect special + * reply from he Readall_MGM + */ + insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset); + insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1); } ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() { + commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true); - commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true); + for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) { + commandBuffer[i + 1] = registers[i]; + } + rawPacket = commandBuffer; + rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1; - for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) { - commandBuffer[i + 1] = registers[i]; - } - rawPacket = commandBuffer; - rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS; - - // We dont have to check if this is working because we just did it - return RETURN_OK; -} - -void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() { - // TODO: use new distributed datapools here. + /* We dont have to check if this is working because we just did it */ + return RETURN_OK; } void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { @@ -363,9 +463,25 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { } uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) { - return 5000; + return 20000; } void MGMHandlerLIS3MDL::modeChanged(void) { - internalState = STATE_NONE; + internalState = InternalState::STATE_NONE; +} + +ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, + new PoolEntry({0.0})); + return HasReturnvaluesIF::RETURN_OK; +} + +void MGMHandlerLIS3MDL::performOperationHook() { } diff --git a/mission/devices/MGMHandlerLIS3MDL.h b/mission/devices/MGMHandlerLIS3MDL.h index eaac4381..fc998f46 100644 --- a/mission/devices/MGMHandlerLIS3MDL.h +++ b/mission/devices/MGMHandlerLIS3MDL.h @@ -1,9 +1,13 @@ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ -#include #include "devicedefinitions/MGMHandlerLIS3Definitions.h" -#include + +#include +#include + +#include +#include /** * @brief Device handler object for the LIS3MDL 3-axis magnetometer @@ -14,134 +18,150 @@ */ class MGMHandlerLIS3MDL: public DeviceHandlerBase { public: - static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL; - static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL; - //Notifies a command to change the setup parameters - static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, SEVERITY::LOW); + enum class CommunicationStep { + DATA, + TEMPERATURE + }; - MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication, - CookieIF* comCookie); - virtual ~MGMHandlerLIS3MDL(); + static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL; + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL; + //Notifies a command to change the setup parameters + static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW); + + MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication, + CookieIF* comCookie); + virtual ~MGMHandlerLIS3MDL(); protected: - /** DeviceHandlerBase overrides */ - virtual void doShutDown() override; - virtual void doStartUp() override; - virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; - virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; - virtual ReturnValue_t buildCommandFromCommand( - DeviceCommandId_t deviceCommand, const uint8_t *commandData, - size_t commandDataLen) override; - virtual ReturnValue_t buildTransitionDeviceCommand( - DeviceCommandId_t *id) override; - virtual ReturnValue_t buildNormalDeviceCommand( - DeviceCommandId_t *id) override; - virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len, - DeviceCommandId_t *foundId, size_t *foundLen) override; - virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, - const uint8_t *packet) override; - virtual void fillCommandAndReplyMap() override; - virtual void modeChanged(void) override; - void setNormalDatapoolEntriesInvalid() override; + /** DeviceHandlerBase overrides */ + void doShutDown() override; + void doStartUp() override; + void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; + uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; + ReturnValue_t buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) override; + ReturnValue_t buildTransitionDeviceCommand( + DeviceCommandId_t *id) override; + ReturnValue_t buildNormalDeviceCommand( + DeviceCommandId_t *id) override; + ReturnValue_t scanForReply(const uint8_t *start, size_t len, + DeviceCommandId_t *foundId, size_t *foundLen) override; + ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) override; + void fillCommandAndReplyMap() override; + void modeChanged(void) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, + LocalDataPoolManager &poolManager) override; private: - /*------------------------------------------------------------------------*/ - /* Device specific commands and variables */ - /*------------------------------------------------------------------------*/ - /** - * Sets the read bit for the command - * @param single command to set the read-bit at - * @param boolean to select a continuous read bit, default = false - */ - uint8_t readCommand(uint8_t command, bool continuousCom = false); + MGMLIS3MDL::MgmPrimaryDataset dataset; - /** - * Sets the write bit for the command - * @param single command to set the write-bit at - * @param boolean to select a continuous write bit, default = false - */ - uint8_t writeCommand(uint8_t command, bool continuousCom = false); + /*------------------------------------------------------------------------*/ + /* Device specific commands and variables */ + /*------------------------------------------------------------------------*/ + /** + * Sets the read bit for the command + * @param single command to set the read-bit at + * @param boolean to select a continuous read bit, default = false + */ + uint8_t readCommand(uint8_t command, bool continuousCom = false); - /** - * This Method gets the full scale for the measurement range - * e.g.: +- 4 gauss. See p.25 datasheet. - * @return The ReturnValue does not contain the sign of the value - */ - uint8_t getFullScale(uint8_t *reg2); + /** + * Sets the write bit for the command + * @param single command to set the write-bit at + * @param boolean to select a continuous write bit, default = false + */ + uint8_t writeCommand(uint8_t command, bool continuousCom = false); - /** - * The 16 bit value needs to be divided by the full range of a 16bit value - * and then multiplied with the current scale of the MGM. - * This factor returns the factor required to achieve this with - * one multiplication. - * - * @param scale is the return value of the getFulscale Method - * @return Multiplication factor to get the sensor value from raw data. - */ - float getSensitivityFactor(uint8_t scale); + /** + * This Method gets the full scale for the measurement range + * e.g.: +- 4 gauss. See p.25 datasheet. + * @return The ReturnValue does not contain the sign of the value + */ + uint8_t getFullScale(uint8_t ctrlReg2); - /** - * This Command detects the device ID - */ - ReturnValue_t identifyDevice(); + /** + * The 16 bit value needs to be divided by the full range of a 16bit value + * and then multiplied with the current scale of the MGM. + * This factor returns the factor required to achieve this with + * one multiplication. + * + * @param scale is the return value of the getFulscale Method + * @return Multiplication factor to get the sensor value from raw data. + */ + float getSensitivityFactor(uint8_t scale); - virtual ReturnValue_t setupMGM(); + /** + * This Command detects the device ID + */ + ReturnValue_t identifyDevice(); - /*------------------------------------------------------------------------*/ - /* Non normal commands */ - /*------------------------------------------------------------------------*/ - /** - * Enables/Disables the integrated Temperaturesensor - * @param commandData On or Off - * @param length of the commandData: has to be 1 - */ - virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, - size_t commandDataLen); + virtual void setupMgm(); - /** - * Sets the accuracy of the measurement of the axis. The noise is changing. - * @param commandData LOW, MEDIUM, HIGH, ULTRA - * @param length of the command, has to be 1 - */ - virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, - size_t commandDataLen); + /*------------------------------------------------------------------------*/ + /* Non normal commands */ + /*------------------------------------------------------------------------*/ + /** + * Enables/Disables the integrated Temperaturesensor + * @param commandData On or Off + * @param length of the commandData: has to be 1 + */ + virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, + size_t commandDataLen); + + /** + * Sets the accuracy of the measurement of the axis. The noise is changing. + * @param commandData LOW, MEDIUM, HIGH, ULTRA + * @param length of the command, has to be 1 + */ + virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, + size_t commandDataLen); - //Length a sindgle command SPI answer - static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; + //Length a sindgle command SPI answer + static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; - //Single SPIcommand has 2 bytes, first for adress, second for content - size_t singleComandSize = 2; - //has the size for all adresses of the lis3mdl + the continous write bit - uint8_t commandBuffer[MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1]; + //Single SPIcommand has 2 bytes, first for adress, second for content + size_t singleComandSize = 2; + //has the size for all adresses of the lis3mdl + the continous write bit + uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1]; - /** - * We want to save the registers we set, so we dont have to read the - * registers when we want to change something. - * --> everytime we change set a register we have to save it - */ - uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS]; + /** + * We want to save the registers we set, so we dont have to read the + * registers when we want to change something. + * --> everytime we change set a register we have to save it + */ + uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS]; - /** - * As this is a SPI Device, we get the Answer of the last sent command in - * the next read cycle, so we could check the command for identification. - */ - DeviceCommandId_t lastSentCommand = DeviceHandlerIF::NO_COMMAND; + uint8_t statusRegister = 0; - /** - * We always update all registers together, so this method updates - * the rawpacket and rawpacketLen, so we just manipulate the local - * saved register - * - */ - ReturnValue_t prepareCtrlRegisterWrite(); + /** + * We always update all registers together, so this method updates + * the rawpacket and rawpacketLen, so we just manipulate the local + * saved register + * + */ + ReturnValue_t prepareCtrlRegisterWrite(); - enum InternalState { - STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS - }; + enum class InternalState { + STATE_NONE, + STATE_FIRST_CONTACT, + STATE_SETUP, + STATE_CHECK_REGISTERS, + STATE_NORMAL + }; - InternalState internalState = STATE_NONE; + InternalState internalState = InternalState::STATE_NONE; + CommunicationStep communicationStep = CommunicationStep::DATA; + bool commandExecuted = false; + +#if OBSW_VERBOSE_LEVEL >= 1 + PeriodicOperationDivider* debugDivider; +#endif + + void performOperationHook() override; }; diff --git a/mission/devices/MGMHandlerRM3100.cpp b/mission/devices/MGMHandlerRM3100.cpp index fbcb578d..4fd654d3 100644 --- a/mission/devices/MGMHandlerRM3100.cpp +++ b/mission/devices/MGMHandlerRM3100.cpp @@ -1,4 +1,7 @@ +#include #include "MGMHandlerRM3100.h" + +#include #include #include #include @@ -6,40 +9,355 @@ MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication, CookieIF* comCookie): - DeviceHandlerBase(objectId, deviceCommunication, comCookie) { + DeviceHandlerBase(objectId, deviceCommunication, comCookie), + primaryDataset(this) { +#if OBSW_VERBOSE_LEVEL >= 1 + debugDivider = new PeriodicOperationDivider(5); +#endif } MGMHandlerRM3100::~MGMHandlerRM3100() {} -ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand( - DeviceCommandId_t *id) { - return RETURN_OK; -} - void MGMHandlerRM3100::doStartUp() { + switch(internalState) { + case(InternalState::NONE): { + internalState = InternalState::CONFIGURE_CMM; + break; + } + case(InternalState::CONFIGURE_CMM): { + internalState = InternalState::READ_CMM; + break; + } + case(InternalState::READ_CMM): { + if(commandExecuted) { + internalState = InternalState::STATE_CONFIGURE_TMRC; + } + break; + } + case(InternalState::STATE_CONFIGURE_TMRC): { + if(commandExecuted) { + internalState = InternalState::STATE_READ_TMRC; + } + break; + } + case(InternalState::STATE_READ_TMRC): { + if(commandExecuted) { + internalState = InternalState::NORMAL; +#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 + setMode(MODE_NORMAL); +#else + setMode(_MODE_TO_ON); +#endif + } + break; + } + default: { + break; + } + } } void MGMHandlerRM3100::doShutDown() { + setMode(_MODE_POWER_DOWN); } -ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand( - DeviceCommandId_t *id) { - return RETURN_OK; +ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand( + DeviceCommandId_t *id) { + switch(internalState) { + case(InternalState::NONE): + case(InternalState::NORMAL): { + return HasReturnvaluesIF::RETURN_OK; + } + case(InternalState::CONFIGURE_CMM): { + *id = RM3100::CONFIGURE_CMM; + break; + } + case(InternalState::READ_CMM): { + *id = RM3100::READ_CMM; + break; + } + case(InternalState::STATE_CONFIGURE_TMRC): { + *id = RM3100::CONFIGURE_TMRC; + break; + } + case(InternalState::STATE_READ_TMRC): { + *id = RM3100::READ_TMRC; + break; + } + default: + /* Might be a configuration error. */ + sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" << + std::endl; + return HasReturnvaluesIF::RETURN_OK; + } + + return buildCommandFromCommand(*id, nullptr, 0); } ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand( - DeviceCommandId_t deviceCommand, const uint8_t *commandData, - size_t commandDataLen) { - return RETURN_OK; + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) { + switch(deviceCommand) { + case(RM3100::CONFIGURE_CMM): { + commandBuffer[0] = RM3100::CMM_REGISTER; + commandBuffer[1] = RM3100::CMM_VALUE; + rawPacket = commandBuffer; + rawPacketLen = 2; + break; + } + case(RM3100::READ_CMM): { + commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK; + commandBuffer[1] = 0; + rawPacket = commandBuffer; + rawPacketLen = 2; + break; + } + case(RM3100::CONFIGURE_TMRC): { + return handleTmrcConfigCommand(deviceCommand, commandData, + commandDataLen); + } + case(RM3100::READ_TMRC): { + commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK; + commandBuffer[1] = 0; + rawPacket = commandBuffer; + rawPacketLen = 2; + break; + } + case(RM3100::CONFIGURE_CYCLE_COUNT): { + return handleCycleCountConfigCommand(deviceCommand, commandData, + commandDataLen); + } + case(RM3100::READ_CYCLE_COUNT): { + commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK; + std::memset(commandBuffer + 1, 0, 6); + rawPacket = commandBuffer; + rawPacketLen = 7; + break; + } + case(RM3100::READ_DATA): { + commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK; + std::memset(commandBuffer + 1, 0, 9); + rawPacketLen = 10; + break; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return RETURN_OK; +} + +ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand( + DeviceCommandId_t *id) { + *id = RM3100::READ_DATA; + return buildCommandFromCommand(*id, nullptr, 0); } ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId, - size_t *foundLen) { - return RETURN_OK; + size_t *foundLen) { + + /* For SPI, ID will always be the one of the last sent command. */ + *foundId = this->getPendingCommand(); + *foundLen = len; + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t MGMHandlerRM3100::interpretDeviceReply( - DeviceCommandId_t id, const uint8_t *packet) { - return RETURN_OK; + DeviceCommandId_t id, const uint8_t *packet) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + switch(id) { + case(RM3100::CONFIGURE_CMM): + case(RM3100::CONFIGURE_CYCLE_COUNT): + case(RM3100::CONFIGURE_TMRC): { + /* We can only check whether write was successful with read operation. */ + if(mode == _MODE_START_UP) { + commandExecuted = true; + } + break; + } + case(RM3100::READ_CMM): { + uint8_t cmmValue = packet[1]; + /* We clear the seventh bit in any case + * because this one is zero sometimes for some reason */ + bitutil::bitClear(&cmmValue, 6); + if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) { + commandExecuted = true; + } + else { + /* Attempt reconfiguration. */ + internalState = InternalState::CONFIGURE_CMM; + return DeviceHandlerIF::DEVICE_REPLY_INVALID; + } + break; + } + case(RM3100::READ_TMRC): { + if(packet[1] == tmrcRegValue) { + commandExecuted = true; + /* Reading TMRC was commanded. Trigger event to inform ground. */ + if(mode != _MODE_START_UP) { + triggerEvent(tmrcSet, tmrcRegValue, 0); + } + } + else { + /* Attempt reconfiguration. */ + internalState = InternalState::STATE_CONFIGURE_TMRC; + return DeviceHandlerIF::DEVICE_REPLY_INVALID; + } + break; + } + case(RM3100::READ_CYCLE_COUNT): { + uint16_t cycleCountX = packet[1] << 8 | packet[2]; + uint16_t cycleCountY = packet[3] << 8 | packet[4]; + uint16_t cycleCountZ = packet[5] << 8 | packet[6]; + if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or + cycleCountZ != cycleCountRegValueZ) { + return DeviceHandlerIF::DEVICE_REPLY_INVALID; + } + /* Reading TMRC was commanded. Trigger event to inform ground. */ + if(mode != _MODE_START_UP) { + uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY; + triggerEvent(cycleCountersSet, eventParam1, cycleCountZ); + } + break; + } + case(RM3100::READ_DATA): { + result = handleDataReadout(packet); + break; + } + default: + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } + + return result; +} + +ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, + const uint8_t *commandData, size_t commandDataLen) { + if(commandData == nullptr) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + // Set cycle count + if(commandDataLen == 2) { + handleCycleCommand(true, commandData, commandDataLen); + } + else if(commandDataLen == 6) { + handleCycleCommand(false, commandData, commandDataLen); + } + else { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE; + std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2); + std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2); + std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2); + rawPacketLen = 7; + rawPacket = commandBuffer; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue, + const uint8_t *commandData, size_t commandDataLen) { + RM3100::CycleCountCommand command(oneCycleValue); + ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen, + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + + /* Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." */ + if(command.cycleCountX > 450 ) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + cycleCountRegValueX = command.cycleCountX; + cycleCountRegValueY = command.cycleCountY; + cycleCountRegValueZ = command.cycleCountZ; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand( + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) { + if(commandData == nullptr) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + if(commandDataLen != 1) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + commandBuffer[0] = RM3100::TMRC_REGISTER; + commandBuffer[1] = commandData[1]; + rawPacketLen = 2; + rawPacket = commandBuffer; + return HasReturnvaluesIF::RETURN_OK; +} + +void MGMHandlerRM3100::fillCommandAndReplyMap() { + insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1); + insertInCommandAndReplyMap(RM3100::READ_CMM, 1); + + insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1); + insertInCommandAndReplyMap(RM3100::READ_TMRC, 1); + + insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1); + insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1); + + insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset); +} + +void MGMHandlerRM3100::modeChanged(void) { + internalState = InternalState::NONE; +} + +ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry({0.0})); + localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry({0.0})); + localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry({0.0})); + return HasReturnvaluesIF::RETURN_OK; +} + +uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) { + return 10000; +} + +ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) { + /* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift + * trickery here to calculate the raw values first */ + int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8; + int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8; + int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8; + + /* Now scale to physical value in microtesla */ + float fieldStrengthX = fieldStrengthRawX * scaleFactorX; + float fieldStrengthY = fieldStrengthRawY * scaleFactorX; + float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; + +#if OBSW_VERBOSE_LEVEL >= 1 + if(debugDivider->checkAndIncrement()) { + sif::info << "MGMHandlerRM3100: Magnetic field strength in" + " microtesla:" << std::endl; + /* Set terminal to utf-8 if there is an issue with micro printout. */ + sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl; + sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl; + sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl; + } +#endif + + /* TODO: Sanity check on values */ + PoolReadGuard readGuard(&primaryDataset); + if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) { + primaryDataset.fieldStrengthX = fieldStrengthX; + primaryDataset.fieldStrengthY = fieldStrengthY; + primaryDataset.fieldStrengthZ = fieldStrengthZ; + primaryDataset.setValidity(true, true); + } + return RETURN_OK; } diff --git a/mission/devices/MGMHandlerRM3100.h b/mission/devices/MGMHandlerRM3100.h index d2081fa1..ce107637 100644 --- a/mission/devices/MGMHandlerRM3100.h +++ b/mission/devices/MGMHandlerRM3100.h @@ -4,8 +4,32 @@ #include "devicedefinitions/MGMHandlerRM3100Definitions.h" #include +#include + +#if OBSW_VERBOSE_LEVEL >= 1 +#include +#endif + +/** + * @brief Device Handler for the RM3100 geomagnetic magnetometer sensor + * (https://www.pnicorp.com/rm3100/) + * @details + * Advanced documentation: + * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM + */ class MGMHandlerRM3100: public DeviceHandlerBase { public: + static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100; + + //! P1: TMRC value which was set, P2: 0 + static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, + 0x00, severity::INFO); + + //! P1: First two bytes new Cycle Count X + //! P1: Second two bytes new Cycle Count Y + //! P2: New cycle count Z + static constexpr Event cycleCountersSet = event::makeEvent( + SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO); MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication, CookieIF* comCookie); @@ -14,26 +38,68 @@ public: protected: /* DeviceHandlerBase overrides */ - virtual ReturnValue_t buildTransitionDeviceCommand( + ReturnValue_t buildTransitionDeviceCommand( DeviceCommandId_t *id) override; - virtual void doStartUp() override; - virtual void doShutDown() override; - virtual ReturnValue_t buildNormalDeviceCommand( + void doStartUp() override; + void doShutDown() override; + ReturnValue_t buildNormalDeviceCommand( DeviceCommandId_t *id) override; - virtual ReturnValue_t buildCommandFromCommand( + ReturnValue_t buildCommandFromCommand( DeviceCommandId_t deviceCommand, const uint8_t *commandData, size_t commandDataLen) override; - virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len, + ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId, size_t *foundLen) override; - virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, + ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override; + void fillCommandAndReplyMap() override; + void modeChanged(void) override; + uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, + LocalDataPoolManager &poolManager) override; + private: - enum InternalState { - STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS + enum class InternalState { + NONE, + CONFIGURE_CMM, + READ_CMM, + // The cycle count states are propably not going to be used because + // the default cycle count will be used. + STATE_CONFIGURE_CYCLE_COUNT, + STATE_READ_CYCLE_COUNT, + STATE_CONFIGURE_TMRC, + STATE_READ_TMRC, + NORMAL }; - InternalState internalState = InternalState::STATE_NONE; + InternalState internalState = InternalState::NONE; + bool commandExecuted = false; + RM3100::Rm3100PrimaryDataset primaryDataset; + + uint8_t commandBuffer[10]; + uint8_t commandBufferLen = 0; + + uint8_t cmmRegValue = RM3100::CMM_VALUE; + uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE; + uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE; + uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE; + uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE; + float scaleFactorX = 1 / RM3100::DEFAULT_GAIN; + float scaleFactorY = 1 / RM3100::DEFAULT_GAIN; + float scaleFactorZ = 1 / RM3100::DEFAULT_GAIN; + + 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); + + ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, + const uint8_t *commandData,size_t commandDataLen); + + ReturnValue_t handleDataReadout(const uint8_t* packet); +#if OBSW_VERBOSE_LEVEL >= 1 + PeriodicOperationDivider* debugDivider; +#endif }; #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */ diff --git a/mission/devices/Max31865PT1000Handler.cpp b/mission/devices/Max31865PT1000Handler.cpp new file mode 100644 index 00000000..c6d98c0a --- /dev/null +++ b/mission/devices/Max31865PT1000Handler.cpp @@ -0,0 +1,358 @@ +#include "Max31865PT1000Handler.h" + +#include +#include + +Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId, + object_id_t comIF, CookieIF *comCookie, uint8_t switchId): + DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId), + sensorDataset(this), sensorDatasetSid(sensorDataset.getSid()) { +#if OBSW_VERBOSE_LEVEL >= 1 + debugDivider = new PeriodicOperationDivider(10); +#endif +} + +Max31865PT1000Handler::~Max31865PT1000Handler() { +} + +void Max31865PT1000Handler::doStartUp() { + if(internalState == InternalState::NONE) { + internalState = InternalState::WARMUP; + Clock::getUptime(&startTime); + } + + if(internalState == InternalState::WARMUP) { + dur_millis_t timeNow = 0; + Clock::getUptime(&timeNow); + if(timeNow - startTime >= 100) { + internalState = InternalState::CONFIGURE; + } + } + + if(internalState == InternalState::CONFIGURE) { + if(commandExecuted) { + internalState = InternalState::REQUEST_CONFIG; + commandExecuted = false; + } + } + + if(internalState == InternalState::REQUEST_CONFIG) { + if (commandExecuted) { + setMode(MODE_ON); + setMode(MODE_NORMAL); + commandExecuted = false; + internalState = InternalState::RUNNING; + } + } +} + +void Max31865PT1000Handler::doShutDown() { + commandExecuted = false; + setMode(MODE_OFF); +} + +ReturnValue_t Max31865PT1000Handler::buildNormalDeviceCommand( + DeviceCommandId_t *id) { + if(internalState == InternalState::RUNNING) { + *id = Max31865Definitions::REQUEST_RTD; + return buildCommandFromCommand(*id, nullptr, 0); + } + else if(internalState == InternalState::REQUEST_FAULT_BYTE) { + *id = Max31865Definitions::REQUEST_FAULT_BYTE; + return buildCommandFromCommand(*id, nullptr, 0); + } + else { + return DeviceHandlerBase::NOTHING_TO_SEND; + } +} + +ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand( + DeviceCommandId_t *id) { + switch(internalState) { + case(InternalState::NONE): + case(InternalState::WARMUP): + case(InternalState::RUNNING): + return DeviceHandlerBase::NOTHING_TO_SEND; + case(InternalState::CONFIGURE): { + *id = Max31865Definitions::CONFIG_CMD; + uint8_t config[1] = {DEFAULT_CONFIG}; + return buildCommandFromCommand(*id, config, 1); + } + case(InternalState::REQUEST_CONFIG): { + *id = Max31865Definitions::REQUEST_CONFIG; + return buildCommandFromCommand(*id, nullptr, 0); + } + + default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "Max31865PT1000Handler: Invalid internal state" << std::endl; +#else + sif::printError("Max31865PT1000Handler: Invalid internal state\n"); +#endif + return HasReturnvaluesIF::RETURN_FAILED; + } +} + +ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) { + switch(deviceCommand) { + case(Max31865Definitions::CONFIG_CMD) : { + commandBuffer[0] = static_cast(Max31865Definitions::CONFIG_CMD); + if(commandDataLen == 1) { + commandBuffer[1] = commandData[0]; + DeviceHandlerBase::rawPacketLen = 2; + DeviceHandlerBase::rawPacket = commandBuffer.data(); + return HasReturnvaluesIF::RETURN_OK; + } + else { + return DeviceHandlerIF::NO_COMMAND_DATA; + } + } + case(Max31865Definitions::REQUEST_CONFIG): { + commandBuffer[0] = 0x00; // dummy byte + commandBuffer[1] = static_cast( + Max31865Definitions::REQUEST_CONFIG); + DeviceHandlerBase::rawPacketLen = 2; + DeviceHandlerBase::rawPacket = commandBuffer.data(); + return HasReturnvaluesIF::RETURN_OK; + } + case(Max31865Definitions::REQUEST_RTD): { + commandBuffer[0] = static_cast( + Max31865Definitions::REQUEST_RTD); + // two dummy bytes + commandBuffer[1] = 0x00; + commandBuffer[2] = 0x00; + DeviceHandlerBase::rawPacketLen = 3; + DeviceHandlerBase::rawPacket = commandBuffer.data(); + return HasReturnvaluesIF::RETURN_OK; + } + case(Max31865Definitions::REQUEST_FAULT_BYTE): { + commandBuffer[0] = static_cast( + Max31865Definitions::REQUEST_FAULT_BYTE); + commandBuffer[1] = 0x00; + DeviceHandlerBase::rawPacketLen = 2; + DeviceHandlerBase::rawPacket = commandBuffer.data(); + return HasReturnvaluesIF::RETURN_OK; + } + default: + //Unknown DeviceCommand + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } +} + +void Max31865PT1000Handler::fillCommandAndReplyMap() { + insertInCommandAndReplyMap(Max31865Definitions::CONFIG_CMD, 3); + insertInCommandAndReplyMap(Max31865Definitions::REQUEST_CONFIG, 3); + insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3, + &sensorDataset); + insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3); +} + +ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, + size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) { + size_t rtdReplySize = 3; + size_t configReplySize = 2; + + if(remainingSize == rtdReplySize and + internalState == InternalState::RUNNING) { + *foundId = Max31865Definitions::REQUEST_RTD; + *foundLen = rtdReplySize; + } + + if(remainingSize == configReplySize) { + if(internalState == InternalState::CONFIGURE) { + commandExecuted = true; + *foundLen = configReplySize; + *foundId = Max31865Definitions::CONFIG_CMD; + } + else if(internalState == InternalState::REQUEST_FAULT_BYTE) { + *foundId = Max31865Definitions::REQUEST_FAULT_BYTE; + *foundLen = 2; + internalState = InternalState::RUNNING; + } + else { + *foundId = Max31865Definitions::REQUEST_CONFIG; + *foundLen = configReplySize; + } + } + + return RETURN_OK; +} + +ReturnValue_t Max31865PT1000Handler::interpretDeviceReply( + DeviceCommandId_t id, const uint8_t *packet) { + switch(id) { + case(Max31865Definitions::REQUEST_CONFIG): { + if(packet[1] != DEFAULT_CONFIG) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + // it propably would be better if we at least try one restart.. + sif::error << "Max31865PT1000Handler: Invalid configuration reply!" << std::endl; +#else + sif::printError("Max31865PT1000Handler: Invalid configuration reply!\n"); +#endif + return HasReturnvaluesIF::RETURN_OK; + } + // set to true for invalid configs too for now. + if(internalState == InternalState::REQUEST_CONFIG) { + commandExecuted = true; + } + else if(internalState == InternalState::RUNNING) { + // we should propably generate a telemetry with the config byte + // as payload here. + } + break; + } + case(Max31865Definitions::REQUEST_RTD): { + // first bit of LSB reply byte is the fault bit + uint8_t faultBit = packet[2] & 0b0000'0001; + if(faultBit == 1) { + // Maybe we should attempt to restart it? + if(faultByte == 0) { + internalState = InternalState::REQUEST_FAULT_BYTE; + } + } + + // RTD value consists of last seven bits of the LSB reply byte and + // the MSB reply byte + uint16_t adcCode = ((packet[1] << 8) | packet[2]) >> 1; + // do something with rtd value, will propably be stored in + // dataset. + float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX; + + // calculate approximation + float approxTemp = adcCode / 32.0 - 256.0; + +#if OBSW_VERBOSE_LEVEL >= 1 + if(debugDivider->checkAndIncrement()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "Max31865PT1000Handler::interpretDeviceReply: Measured " + << "resistance is " << rtdValue << " Ohms." << std::endl; + sif::info << "Approximated temperature is " << approxTemp << " °C" + << std::endl; +#else + sif::printInfo("Max31865PT1000Handler::interpretDeviceReply: Measured resistance is %f" + " Ohms.\n", rtdValue); + sif::printInfo("Approximated temperature is %f C\n", approxTemp); +#endif + sensorDataset.setChanged(true); + } +#endif + + ReturnValue_t result = sensorDataset.read(); + if(result != HasReturnvaluesIF::RETURN_OK) { + // Configuration error +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!" + << std::endl; +#else + sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!\n"); +#endif + return result; + } + + if(not sensorDataset.isValid()) { + sensorDataset.temperatureCelcius.setValid(true); + } + + sensorDataset.temperatureCelcius = approxTemp; + + result = sensorDataset.commit(); + + if(result != HasReturnvaluesIF::RETURN_OK) { + // Configuration error +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::debug << "Max31865PT1000Handler::interpretDeviceReply: " + "Error commiting dataset!" << std::endl; +#else + sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: " + "Error commiting dataset!\n"); +#endif + return result; + } + + break; + } + case(Max31865Definitions::REQUEST_FAULT_BYTE): { + faultByte = packet[1]; +#if OBSW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "Max31865PT1000Handler::interpretDeviceReply: Fault byte" + " is: 0b" << std::bitset<8>(faultByte) << std::endl; +#else + sif::printInfo("Max31865PT1000Handler::interpretDeviceReply: Fault byte" + " is: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(faultByte)); +#endif +#endif + ReturnValue_t result = sensorDataset.read(); + if(result != HasReturnvaluesIF::RETURN_OK) { + // Configuration error +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::debug << "Max31865PT1000Handler::interpretDeviceReply: " + "Error reading dataset!" << std::endl; +#else + sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: " + "Error reading dataset!\n"); +#endif + return result; + } + sensorDataset.errorByte.setValid(true); + sensorDataset.errorByte = faultByte; + if(faultByte != 0) { + sensorDataset.temperatureCelcius.setValid(false); + } + + result = sensorDataset.commit(); + if(result != HasReturnvaluesIF::RETURN_OK) { + // Configuration error +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::debug << "Max31865PT1000Handler::interpretDeviceReply: " + "Error commiting dataset!" << std::endl; +#else + sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: " + "Error commiting dataset!\n"); +#endif + return result; + } + + break; + } + default: + break; + } + return HasReturnvaluesIF::RETURN_OK; +} + +void Max31865PT1000Handler::debugInterface(uint8_t positionTracker, + object_id_t objectId, uint32_t parameter) { +} + +uint32_t Max31865PT1000Handler::getTransitionDelayMs( + Mode_t modeFrom, Mode_t modeTo) { + return 5000; +} + +ReturnValue_t Max31865PT1000Handler::getSwitches( + const uint8_t **switches, uint8_t *numberOfSwitches) { + return DeviceHandlerBase::NO_SWITCH; +} + +void Max31865PT1000Handler::doTransition(Mode_t modeFrom, + Submode_t subModeFrom) { + DeviceHandlerBase::doTransition(modeFrom, subModeFrom); +} + +ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) { + localDataPoolMap.emplace(Max31865Definitions::PoolIds::TEMPERATURE_C, + new PoolEntry({0}, 1, true)); + localDataPoolMap.emplace(Max31865Definitions::PoolIds::FAULT_BYTE, + new PoolEntry({0})); + poolManager.subscribeForPeriodicPacket(sensorDatasetSid, + false, 4.0, false); + return HasReturnvaluesIF::RETURN_OK; +} + +void Max31865PT1000Handler::modeChanged() { + internalState = InternalState::NONE; +} diff --git a/mission/devices/Max31865PT1000Handler.h b/mission/devices/Max31865PT1000Handler.h new file mode 100644 index 00000000..19780df2 --- /dev/null +++ b/mission/devices/Max31865PT1000Handler.h @@ -0,0 +1,104 @@ +#ifndef MISSION_DEVICES_MAX31865PT1000HANDLER_H_ +#define MISSION_DEVICES_MAX31865PT1000HANDLER_H_ + +#include + +#include +#include + +#include +#include +#include "devicedefinitions/Max31865Definitions.h" + +/** + * @brief Device Handler for the thermal sensors + * @details + * Documentation of devices: + * MAX31865 RTD converter: + * https://datasheets.maximintegrated.com/en/ds/MAX31865.pdf + * Pt1000 platinum resistance thermometers OMEGA F2020-1000-1/3B: + * https://br.omega.com/omegaFiles/temperature/pdf/F1500_F2000_F4000.pdf + * + * The thermal sensor values are measured using the MAX31865 RTD converter IC + * which creates digital values from the measured resistance of the Pt1000 + * devices which can be read with the SPI interface. + * Refer to the SOURCE system schematic for the exact setup and number + * of devices. + * + * @author R. Mueller + * @ingroup devices + */ +class Max31865PT1000Handler: public DeviceHandlerBase { +public: + Max31865PT1000Handler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie, uint8_t switchId); + virtual~ Max31865PT1000Handler(); + + // Configuration in 8 digit code: + // 1. 1 for V_BIAS enabled, 0 for disabled + // 2. 1 for Auto-conversion, 0 for off + // 3. 1 for 1-shot enabled, 0 for disabled + // 4. 1 for 3-wire disabled, 0 for disabled + // 5./6. Fault detection: 00 for no action, 01 for automatic delay, 1 + // 0 for run fault detection with manual delay, + // 11 for finish fault detection with manual delay + // 7. Fault status: 1 for auto-clear, 0 for auto-clear off + // 8. 1 for 50 Hz filter, 0 for 60 Hz filter (noise rejection filter) + static constexpr uint8_t DEFAULT_CONFIG = 0b11000001; + + static constexpr float RTD_RREF_PT1000 = 4000.0; //!< Ohm + static constexpr float RTD_RESISTANCE0_PT1000 = 1000.0; //!< Ohm +protected: + /* DeviceHandlerBase abstract function implementation */ + void doStartUp() override; + void doShutDown() override; + ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override; + ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override; + ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, + const uint8_t * commandData, size_t commandDataLen) override; + void fillCommandAndReplyMap() 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 getSwitches(const uint8_t **switches, + uint8_t *numberOfSwitches) override; + + void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; + + void debugInterface(uint8_t positionTracker = 0, + object_id_t objectId = 0, uint32_t parameter = 0) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + void modeChanged() override; + +private: + const uint8_t switchId; + + enum class InternalState { + NONE, + WARMUP, + CONFIGURE, + REQUEST_CONFIG, + RUNNING, + REQUEST_FAULT_BYTE + }; + + InternalState internalState = InternalState::NONE; + bool commandExecuted = false; + + dur_millis_t startTime = 0; + uint8_t faultByte = 0; + std::array commandBuffer { 0 }; + + Max31865Definitions::Max31865Set sensorDataset; + sid_t sensorDatasetSid; + +#if OBSW_VERBOSE_LEVEL >= 1 + PeriodicOperationDivider* debugDivider; +#endif +}; + +#endif /* MISSION_DEVICES_MAX31865PT1000HANDLER_H_ */ + diff --git a/mission/devices/P60DockHandler.cpp b/mission/devices/P60DockHandler.cpp new file mode 100644 index 00000000..e34f96c2 --- /dev/null +++ b/mission/devices/P60DockHandler.cpp @@ -0,0 +1,388 @@ +#include "P60DockHandler.h" +#include "OBSWConfig.h" + +P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : + GomspaceDeviceHandler(objectId, comIF, comCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS, + P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE, &p60dockHkTableDataset), p60dockHkTableDataset( + this) { +} + +P60DockHandler::~P60DockHandler() { +} + +ReturnValue_t P60DockHandler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + *id = GOMSPACE::REQUEST_HK_TABLE; + return buildCommandFromCommand(*id, NULL, 0); +} + +void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) { + + parseHkTableReply(packet); + /** + * Hk table will be sent to the commander if hk table request was not triggered by the + * P60DockHandler itself. + */ + handleDeviceTM(&p60dockHkTableDataset, id, true); + +#if OBSW_VERBOSE_LEVEL >= 1 && P60DOCK_DEBUG == 1 + p60dockHkTableDataset.read(); + + float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1; + sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl; + temperatureC = p60dockHkTableDataset.temperature2.value * 0.1; + sif::info << "P60 Dock: Temperature 2: " << temperatureC << " °C" << std::endl; + sif::info << "P60 Dock: Watchdog Timer seconds left before reboot: " + << p60dockHkTableDataset.wdtGndLeft << " seconds" << std::endl; + sif::info << "P60 Dock: CSP 1, pings left before reboot: " + << (int) p60dockHkTableDataset.wdtCspLeft1.value << std::endl; + sif::info << "P60 Dock: CSP 2, pings left before reboot: " + << (int) p60dockHkTableDataset.wdtCspLeft1.value << std::endl; + + p60dockHkTableDataset.commit(); +#endif + +} + +void P60DockHandler::parseHkTableReply(const uint8_t *packet) { + uint16_t dataOffset = 0; + p60dockHkTableDataset.read(); + /** + * Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table + * address. + */ + dataOffset += 12; + p60dockHkTableDataset.currentAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentPdu1Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentX3IdleVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentPdu2Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentAcuVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentPdu1Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentX3IdleVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentPdu2Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentStackVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentStack3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentStack5V = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentGS3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.currentGS5V = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + p60dockHkTableDataset.voltageAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltageAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltagePdu1Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltageX3IdleVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltagePdu2Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltageAcuVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltagePdu1Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltageX3IdleVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltagePdu2Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltageStackVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltageStack3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltageStack5V = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.voltageGS3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + p60dockHkTableDataset.outputEnableStateAcuVcc = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStatePdu1Vcc = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStateX3IdleVcc = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStatePdu2Vcc = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStateAcuVbat = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStatePdu1Vbat = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStateX3IdleVbat = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStatePdu2Vbat = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStateStackVbat = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStateStack3V3 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStateStack5V = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStateGS3V3 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.outputEnableStateGS5V = *(packet + dataOffset); + dataOffset += 3; + + p60dockHkTableDataset.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + p60dockHkTableDataset.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + p60dockHkTableDataset.bootCount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + p60dockHkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + p60dockHkTableDataset.resetcause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.battMode = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.heaterOn = *(packet + dataOffset); + /* + 13 because here begins a new gomspace csp data field */ + dataOffset += 13; + p60dockHkTableDataset.converter5VStatus = *(packet + dataOffset); + dataOffset += 3; + + p60dockHkTableDataset.latchupsAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsPdu1Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsX3IdleVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsPdu2Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsAcuVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsPdu1Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsX3IdleVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsPdu2Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsStackVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsStack3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsStack5V = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.latchupsGS3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + p60dockHkTableDataset.vbatVoltageValue = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.vccCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.batteryCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.batteryVoltage = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + p60dockHkTableDataset.batteryTemperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.batteryTemperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + p60dockHkTableDataset.device0 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device1 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device2 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device3 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device4 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device5 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device6 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device7 = *(packet + dataOffset); + dataOffset += 3; + + p60dockHkTableDataset.device0Status = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device1Status = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device2Status = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device3Status = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device4Status = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device5Status = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device6Status = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.device7Status = *(packet + dataOffset); + dataOffset += 3; + + p60dockHkTableDataset.dearmStatus = *(packet + dataOffset); + dataOffset += 3; + + p60dockHkTableDataset.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + p60dockHkTableDataset.wdtCntI2c = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + p60dockHkTableDataset.wdtCntCan = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + p60dockHkTableDataset.wdtCntCsp1 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + p60dockHkTableDataset.wdtCntCsp2 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + + p60dockHkTableDataset.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + p60dockHkTableDataset.wdtI2cLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + p60dockHkTableDataset.wdtCanLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + /* +16 because here begins a new gomspace csp packet */ + dataOffset += 16; + + p60dockHkTableDataset.wdtCspLeft1 = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.wdtCspLeft2 = *(packet + dataOffset); + dataOffset += 3; + + p60dockHkTableDataset.batteryChargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.batteryDischargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + p60dockHkTableDataset.ant6Depl = *(packet + dataOffset); + dataOffset += 3; + p60dockHkTableDataset.ar6Depl = *(packet + dataOffset); + + p60dockHkTableDataset.commit(); +} + +ReturnValue_t P60DockHandler::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_ACU_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_PDU1_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_X3_IDLE_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_PDU2_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_ACU_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_PDU1_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_X3_IDLE_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_PDU2_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_STACK_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_STACK_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_STACK_5V, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_GS3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_GS5V, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_ACU_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_PDU1_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_X3_IDLE_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_PDU2_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_ACU_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_PDU1_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_X3_IDLE_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_PDU2_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_STACK_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_STACK_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_STACK_5V, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_GS3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_GS5V, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_ACU_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_PDU1_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_PDU2_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_ACU_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_PDU1_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_PDU2_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_STACK_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_STACK_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_STACK_5V, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_GS3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_GS5V, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_TEMPERATURE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_TEMPERATURE_2, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_BOOT_CAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_BOOT_CNT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_UPTIME, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_RESETCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_BATT_MODE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_HEATER_ON, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_CONV_5V_ENABLE_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_ACU_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_PDU1_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_X3_IDLE_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_PDU2_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_ACU_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_PDU1_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_X3_IDLE_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_PDU2_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_STACK_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_STACK_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_STACK_5V, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_GS3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_GS5V, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_VBAT_VALUE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_VCC_CURRENT_VALUE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_BATTERY_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_BATTERY_VOLTAGE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_BATTERY_TEMPERATURE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_BATTERY_TEMPERATURE_2, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_5, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_7, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_0_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_1_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_2_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_3_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_4_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_5_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_6_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_7_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_DEARM_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_GND, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_I2C, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_CAN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_CSP_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_CSP_2, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_WDT_GND_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_WDT_I2C_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_WDT_CAN_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_WDT_CSP_LEFT_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_WDT_CSP_LEFT_2, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_BATT_CHARGE_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_BATT_DISCHARGE_CURRENT, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::P60DOCK_ANT6_DEPL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::P60DOCK_AR6_DEPL, new PoolEntry( { 0 })); + + + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/mission/devices/P60DockHandler.h b/mission/devices/P60DockHandler.h new file mode 100644 index 00000000..6326e407 --- /dev/null +++ b/mission/devices/P60DockHandler.h @@ -0,0 +1,39 @@ +#ifndef MISSION_DEVICES_P60DOCKHANDLER_H_ +#define MISSION_DEVICES_P60DOCKHANDLER_H_ + +#include "GomspaceDeviceHandler.h" +#include + + +/** + * @brief Device handler for the P60Dock. The P60Dock serves as carrier for the ACU, PDU1 and + * PDU2. Via the P60Dock each of these modules can be turned on and off individually. + */ +class P60DockHandler: public GomspaceDeviceHandler { +public: + P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie); + virtual ~P60DockHandler(); + + virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + +protected: + + /** + * @brief As soon as the device is in MODE_NORMAL, this function is executed periodically. + */ + virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override; + + virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override; + +private: + P60Dock::HkTableDataset p60dockHkTableDataset; + + /** + * @brief Function extracts the hk table information from the received csp packet and stores + * the values in the p60dockHkTableDataset. + */ + void parseHkTableReply(const uint8_t *packet); +}; + +#endif /* MISSION_DEVICES_P60DOCKHANDLER_H_ */ diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp new file mode 100644 index 00000000..5812c8bf --- /dev/null +++ b/mission/devices/PCDUHandler.cpp @@ -0,0 +1,504 @@ +#include "PCDUHandler.h" +#include +#include + +#include + +#include +#include + + +PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) : + SystemObject(setObjectId), poolManager(this, nullptr), pdu2HkTableDataset(this), pdu1HkTableDataset( + this), cmdQueueSize(cmdQueueSize) { + + commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize, + MessageQueueMessage::MAX_MESSAGE_SIZE); +} + +PCDUHandler::~PCDUHandler() { +} + +ReturnValue_t PCDUHandler::performOperation(uint8_t counter) { + + if (counter == DeviceHandlerIF::PERFORM_OPERATION) { + readCommandQueue(); + return RETURN_OK; + } + + return RETURN_OK; +} + +ReturnValue_t PCDUHandler::initialize() { + + ReturnValue_t result; + + IPCStore = objectManager->get(objects::IPC_STORE); + if (IPCStore == nullptr) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + result = poolManager.initialize(commandQueue); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + + /* Subscribing for housekeeping table update messages of the PDU2 */ + HasLocalDataPoolIF* pdu2Handler = objectManager->get(objects::PDU2_HANDLER); + if(pdu2Handler == nullptr) { + sif::error << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl; + return RETURN_FAILED; + } + result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage( + PDU2::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true); + if (result != RETURN_OK) { + sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from " + << "PDU2Handler" << std::endl; + return result; + } + + /* Subscribing for housekeeping table update messages of the PDU1 */ + HasLocalDataPoolIF* pdu1Handler = objectManager->get(objects::PDU1_HANDLER); + if(pdu1Handler == nullptr) { + sif::error << "PCDUHandler::initialize: Invalid pdu1Handler" << std::endl; + return RETURN_FAILED; + } + result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage( + PDU1::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true); + if (result != RETURN_OK) { + sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from " + << "PDU1Handler" << std::endl; + return result; + } + + return RETURN_OK; +} + +void PCDUHandler::initializeSwitchStates() { + switchStates[pcduSwitches::Q7S] = pcduSwitches::INIT_STATE_Q7S; + switchStates[pcduSwitches::PAYLOAD_PCDU_CH1] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1; + switchStates[pcduSwitches::RW] = pcduSwitches::INIT_STATE_RW; + switchStates[pcduSwitches::TCS_BOARD_8V_HEATER_IN] = pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN; + switchStates[pcduSwitches::SUS_REDUNDANT] = pcduSwitches::INIT_STATE_SUS_REDUNDANT; + switchStates[pcduSwitches::DEPLOYMENT_MECHANISM] = pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM; + switchStates[pcduSwitches::PAYLOAD_PCDU_CH6] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6; + switchStates[pcduSwitches::ACS_BOARD_SIDE_B] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B; + switchStates[pcduSwitches::PAYLOAD_CAMERA] = pcduSwitches::INIT_STATE_PAYLOAD_CAMERA; + switchStates[pcduSwitches::TCS_BOARD_3V3] = pcduSwitches::INIT_STATE_TCS_BOARD_3V3; + switchStates[pcduSwitches::SYRLINKS] = pcduSwitches::INIT_STATE_SYRLINKS; + switchStates[pcduSwitches::STAR_TRACKER] = pcduSwitches::INIT_STATE_STAR_TRACKER; + switchStates[pcduSwitches::MGT] = pcduSwitches::INIT_STATE_MGT; + switchStates[pcduSwitches::SUS_NOMINAL] = pcduSwitches::INIT_STATE_SUS_NOMINAL; + switchStates[pcduSwitches::SOLAR_CELL_EXP] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP; + switchStates[pcduSwitches::PLOC] = pcduSwitches::INIT_STATE_PLOC; + switchStates[pcduSwitches::ACS_BORAD_SIDE_A] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A; +} + +void PCDUHandler::readCommandQueue() { + ReturnValue_t result; + CommandMessage command; + + result = commandQueue->receiveMessage(&command); + if (result != RETURN_OK) { + return; + } + + result = poolManager.handleHousekeepingMessage(&command); + if (result == RETURN_OK) { + return; + } +} + +MessageQueueId_t PCDUHandler::getCommandQueue() const { + return commandQueue->getId(); +} + +void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId) { + + if (sid == sid_t(objects::PDU2_HANDLER, PDU2::HK_TABLE_DATA_SET_ID)) { + updateHkTableDataset(storeId, &pdu2HkTableDataset, &timeStampPdu2HkDataset); + updatePdu2SwitchStates(); + } + else if (sid == sid_t(objects::PDU1_HANDLER, PDU1::HK_TABLE_DATA_SET_ID)) { + updateHkTableDataset(storeId, &pdu1HkTableDataset, &timeStampPdu1HkDataset); + updatePdu1SwitchStates(); + } + else { + sif::error << "PCDUHandler::handleChangedDataset: Invalid sid" << std::endl; + } +} + +void PCDUHandler::updateHkTableDataset(store_address_t storeId, + LocalPoolDataSetBase* dataset, CCSDSTime::CDS_short* datasetTimeStamp) { + ReturnValue_t result; + + HousekeepingSnapshot packetUpdate(reinterpret_cast(datasetTimeStamp), + sizeof(CCSDSTime::CDS_short), dataset); + const uint8_t* packet_ptr = NULL; + size_t size; + result = IPCStore->getData(storeId, &packet_ptr, &size); + if (result != RETURN_OK) { + sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPCStore." + << std::endl; + } + dataset->read(); + result = packetUpdate.deSerialize(&packet_ptr, &size, SerializeIF::Endianness::MACHINE); + if (result != RETURN_OK) { + sif::error << "PCDUHandler::updateHkTableDataset: Failed to deserialize received packet " + "in hk table dataset"<< std::endl; + } + dataset->commit(); + result = IPCStore->deleteData(storeId); + if (result != RETURN_OK) { + sif::error << "PCDUHandler::updateHkTableDataset: Failed to delete data in IPCStore" + << std::endl; + } +} + +void PCDUHandler::updatePdu2SwitchStates() { + //TODO: pool read helper + if (pdu2HkTableDataset.read() == RETURN_OK) { + switchStates[pcduSwitches::Q7S] = pdu2HkTableDataset.outEnabledQ7S.value; + switchStates[pcduSwitches::PAYLOAD_PCDU_CH1] = pdu2HkTableDataset.outEnabledPlPCDUCh1.value; + switchStates[pcduSwitches::RW] = pdu2HkTableDataset.outEnabledReactionWheels.value; + switchStates[pcduSwitches::TCS_BOARD_8V_HEATER_IN] = pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value; + switchStates[pcduSwitches::SUS_REDUNDANT] = pdu2HkTableDataset.outEnabledSUSRedundant.value; + switchStates[pcduSwitches::DEPLOYMENT_MECHANISM] = pdu2HkTableDataset.outEnabledDeplMechanism.value; + switchStates[pcduSwitches::PAYLOAD_PCDU_CH6] = pdu2HkTableDataset.outEnabledPlPCDUCh6.value; + switchStates[pcduSwitches::ACS_BOARD_SIDE_B] = pdu2HkTableDataset.outEnabledAcsBoardSideB.value; + switchStates[pcduSwitches::PAYLOAD_CAMERA] = pdu2HkTableDataset.outEnabledPayloadCamera.value; + } + else { + sif::debug << "PCDUHandler::updatePdu2SwitchStates: Failed to read PDU2 Hk Dataset" + << std::endl; + } + pdu2HkTableDataset.commit(); +} + +void PCDUHandler::updatePdu1SwitchStates() { + if (pdu1HkTableDataset.read() == RETURN_OK) { + switchStates[pcduSwitches::TCS_BOARD_3V3] = pdu1HkTableDataset.voltageOutTCSBoard3V3.value; + switchStates[pcduSwitches::SYRLINKS] = pdu1HkTableDataset.voltageOutSyrlinks.value; + switchStates[pcduSwitches::STAR_TRACKER] = pdu1HkTableDataset.voltageOutStarTracker.value; + switchStates[pcduSwitches::MGT] = pdu1HkTableDataset.voltageOutMGT.value; + switchStates[pcduSwitches::SUS_NOMINAL] = pdu1HkTableDataset.voltageOutSUSNominal.value; + switchStates[pcduSwitches::SOLAR_CELL_EXP] = pdu1HkTableDataset.voltageOutSolarCellExp.value; + switchStates[pcduSwitches::PLOC] = pdu1HkTableDataset.voltageOutPLOC.value; + switchStates[pcduSwitches::ACS_BORAD_SIDE_A] = pdu1HkTableDataset.voltageOutACSBoardSideA.value; + } + else { + sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl; + } + pdu1HkTableDataset.commit(); +} + +LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { + return &poolManager; +} + +void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const { + + ReturnValue_t result; + uint16_t memoryAddress; + size_t parameterValueSize = sizeof(uint8_t); + uint8_t parameterValue; + GomspaceDeviceHandler* pdu; + + switch (switchNr) { + case pcduSwitches::TCS_BOARD_8V_HEATER_IN: + memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN; + pdu = objectManager->get(objects::PDU2_HANDLER); + break; + case pcduSwitches::DEPLOYMENT_MECHANISM: + memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM; + pdu = objectManager->get(objects::PDU2_HANDLER); + break; + default: + sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl; + return; + } + + switch (onOff) { + case PowerSwitchIF::SWITCH_ON: + parameterValue = 1; + break; + case PowerSwitchIF::SWITCH_OFF: + parameterValue = 0; + break; + default: + sif::error << "PCDUHandler::sendSwitchCommand: Invalid state commanded" << std::endl; + return; + } + + GomspaceSetParamMessage setParamMessage(memoryAddress, ¶meterValue, parameterValueSize); + + size_t serializedLength = 0; + uint8_t command[4]; + uint8_t* commandPtr = command; + size_t maxSize = sizeof(command); + setParamMessage.serialize(&commandPtr, &serializedLength, maxSize, + SerializeIF::Endianness::BIG); + + store_address_t storeAddress; + result = IPCStore->addData(&storeAddress, command,sizeof(command)); + + CommandMessage message; + ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress); + + result = commandQueue->sendMessage(pdu->getCommandQueue(), &message, 0); + if (result != RETURN_OK) { + sif::debug << "PCDUHandler::sendSwitchCommand: Failed to send message to PDU Handler" + << std::endl; + } +} + +void PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) const { + +} + +ReturnValue_t PCDUHandler::getSwitchState( uint8_t switchNr ) const { + if (switchNr >= pcduSwitches::NUMBER_OF_SWITCHES) { + sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl; + return RETURN_FAILED; + } + if (switchStates[switchNr] == 1) { + return PowerSwitchIF::SWITCH_ON; + } + else { + return PowerSwitchIF::SWITCH_OFF; + } +} + +ReturnValue_t PCDUHandler::getFuseState( uint8_t fuseNr ) const { + return RETURN_OK; +} + +uint32_t PCDUHandler::getSwitchDelayMs(void) const { + return 20000; +} + +object_id_t PCDUHandler::getObjectId() const { + return SystemObject::getObjectId(); +} + +ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, + LocalDataPoolManager &poolManager) { + + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_Q7S, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_RW, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_SUS_REDUNDANT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_Q7S, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_RW, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, + new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CONV_EN_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CONV_EN_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CONV_EN_3, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_Q7S, new PoolEntry( { + pcduSwitches::INIT_STATE_Q7S })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry( { + pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1 })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW, new PoolEntry( { + pcduSwitches::INIT_STATE_RW })); +#if TE0720 == 1 + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry( { 1 })); +#else + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry( {pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN})); +#endif + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_SUS_REDUNDANT, new PoolEntry( { + pcduSwitches::INIT_STATE_SUS_REDUNDANT })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, new PoolEntry( { + pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, new PoolEntry( { + pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6 })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_ACS_BOARD_SIDE_B, new PoolEntry( { + pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_CAMERA, new PoolEntry( { + pcduSwitches::INIT_STATE_PAYLOAD_CAMERA })); + + localDataPoolMap.emplace(P60System::PDU2_BOOTCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_BOOTCNT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_UPTIME, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_RESETCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_BATT_MODE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_Q7S, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_RW, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_SUS_REDUNDANT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_DEPLOYMENT_MECHANISM, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_ACS_BOARD_SIDE_B, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_CAMERA, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_DEVICE_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_5, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_7, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_DEVICE_0_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_1_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_2_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_3_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_4_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_5_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_6_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_7_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_GND, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_I2C, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_CAN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_CSP1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_CSP2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_GND_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_I2C_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CAN_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CSP_LEFT1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CSP_LEFT2, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_3, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_BOOTCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_BOOTCNT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_UPTIME, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_RESETCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_BATT_MODE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_DEVICE_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_5, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_7, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_DEVICE_0_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_1_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_2_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_3_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_4_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_5_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_6_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_7_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_GND, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_I2C, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CAN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CSP1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CSP2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_GND_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_I2C_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CAN_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CSP_LEFT1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CSP_LEFT2, new PoolEntry( { 0 })); + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t PCDUHandler::initializeAfterTaskCreation() { + + if(executingTask != nullptr) { + pstIntervalMs = executingTask->getPeriodMs(); + } + this->poolManager.initializeAfterTaskCreation(); + + initializeSwitchStates(); + + return HasReturnvaluesIF::RETURN_OK; +} + +uint32_t PCDUHandler::getPeriodicOperationFrequency() const { + return pstIntervalMs; +} + +void PCDUHandler::setTaskIF(PeriodicTaskIF* task){ + executingTask = task; +} + +LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) { + if (sid == pdu2HkTableDataset.getSid()) { + return &pdu2HkTableDataset; + } else { + sif::error << "PCDUHandler::getDataSetHandle: Invalid sid" << std::endl; + return nullptr; + } +} diff --git a/mission/devices/PCDUHandler.h b/mission/devices/PCDUHandler.h new file mode 100644 index 00000000..566e1d9c --- /dev/null +++ b/mission/devices/PCDUHandler.h @@ -0,0 +1,121 @@ +#ifndef MISSION_DEVICES_PCDUHANDLER_H_ +#define MISSION_DEVICES_PCDUHANDLER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +/** + * @brief The PCDUHandler provides a compact interface to handle all devices related to the + * control of power. This is necessary because the fsfw manages all power related + * functionalities via one power object. This includes for example the switch on and off + * of devices. + */ +class PCDUHandler: public PowerSwitchIF, + public HasLocalDataPoolIF, + public SystemObject, + public ExecutableObjectIF { +public: + + PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20); + virtual ~PCDUHandler(); + + virtual ReturnValue_t initialize() override; + virtual ReturnValue_t performOperation(uint8_t counter) override; + virtual void handleChangedDataset(sid_t sid, store_address_t storeId = + storeId::INVALID_STORE_ADDRESS); + + virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override; + virtual void sendFuseOnCommand(uint8_t fuseNr) const override; + virtual ReturnValue_t getSwitchState( uint8_t switchNr ) const override; + virtual ReturnValue_t getFuseState( uint8_t fuseNr ) const override; + virtual uint32_t getSwitchDelayMs(void) const override; + virtual object_id_t getObjectId() const override; + virtual LocalDataPoolManager* getHkManagerHandle() override; + + virtual MessageQueueId_t getCommandQueue() const override; + virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + virtual uint32_t getPeriodicOperationFrequency() const override; + virtual ReturnValue_t initializeAfterTaskCreation() override; + virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; + virtual void setTaskIF(PeriodicTaskIF* task_); + +private: + + uint32_t pstIntervalMs = 0; + + /** Housekeeping manager. Handles updates of local pool variables. */ + LocalDataPoolManager poolManager; + + /** + * The dataset holding the hk table of PDU2. This dataset is a copy of the PDU2 HK dataset + * of the PDU2Handler. Each time the PDU2Handler updates his HK dataset, a copy is sent + * to this object via a HousekeepingMessage. + */ + PDU2::PDU2HkTableDataset pdu2HkTableDataset; + /** The timeStamp of the current pdu2HkTableDataset */ + CCSDSTime::CDS_short timeStampPdu2HkDataset; + + /** Hk table dataset of PDU1 */ + PDU1::PDU1HkTableDataset pdu1HkTableDataset; + /** The timeStamp of the current pdu1HkTableDataset */ + CCSDSTime::CDS_short timeStampPdu1HkDataset; + + uint8_t switchStates[pcduSwitches::NUMBER_OF_SWITCHES]; + /** + * Pointer to the IPCStore. + * This caches the pointer received from the objectManager in the constructor. + */ + StorageManagerIF *IPCStore = nullptr; + + /** + * Message queue to communicate with other objetcs. Used for example to receive + * local pool messages from ACU, PDU1 and PDU2. + */ + MessageQueueIF* commandQueue = nullptr; + + size_t cmdQueueSize; + + PeriodicTaskIF* executingTask = nullptr; + + void readCommandQueue(); + + /** + * @brief This function sets all switchStates to the initial switch configuration of the + * two PDUs after reboot. + */ + void initializeSwitchStates(); + + /** + * @brief Updates all switchStates related to the PDU2. + * Function is called each time a new hk dataset has been received from the PDU2Handler. + */ + void updatePdu2SwitchStates(); + + /** + * @brief Updates all switchStates related to the PDU1. Called each time the PDU1Handler + * sends a new hk dataset. + */ + void updatePdu1SwitchStates(); + + /** + * @brief In case of an update snapshot message this function handles the update of the + * local dataset. + * @param storeId Storage id of updated dataset. + * @param dataset Pointer to the local dataset. + * @param datasetTimeStamp Pointer to a variable which will hold the timestamp of the updated + * dataset. + */ + void updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset, + CCSDSTime::CDS_short* datasetTimeStamp); +}; + +#endif /* MISSION_DEVICES_PCDUHANDLER_H_ */ diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp new file mode 100644 index 00000000..5a6d62cb --- /dev/null +++ b/mission/devices/PDU1Handler.cpp @@ -0,0 +1,293 @@ +#include "PDU1Handler.h" +#include +#include + +PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : + GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS, + PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset), pdu1HkTableDataset( + this) { +} + +PDU1Handler::~PDU1Handler() { +} + +ReturnValue_t PDU1Handler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + *id = GOMSPACE::REQUEST_HK_TABLE; + return buildCommandFromCommand(*id, NULL, 0); +} + +void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) { + + parseHkTableReply(packet); + handleDeviceTM(&pdu1HkTableDataset, id, true); + +#if OBSW_VERBOSE_LEVEL >= 1 && PDU1_DEBUG == 1 + pdu1HkTableDataset.read(); + sif::info << "PDU1 VCC: " << pdu1HkTableDataset.vcc << " mV" << std::endl; + float vbat = pdu1HkTableDataset.vbat.value * 0.1; + sif::info << "PDU1 VBAT: " << vbat << std::endl; + float temperatureC = pdu1HkTableDataset.temperature.value * 0.1; + sif::info << "PDU1 Temperature: " << temperatureC << " °C" << std::endl; + sif::info << "PDU1 csp1 watchdog pings before reboot: " + << unsigned(pdu1HkTableDataset.csp1WatchdogPingsLeft.value) << std::endl; + sif::info << "PDU1 csp2 watchdog pings before reboot: " + << unsigned(pdu1HkTableDataset.csp2WatchdogPingsLeft.value) << std::endl; + pdu1HkTableDataset.commit(); +#endif +} + +void PDU1Handler::parseHkTableReply(const uint8_t *packet) { + uint16_t dataOffset = 0; + pdu1HkTableDataset.read(); + /* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table + * address. */ + dataOffset += 12; + pdu1HkTableDataset.currentOutTCSBoard3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutSyrlinks = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutStarTracker = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutMGT = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutSUSNominal = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutSolarCellExp = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutPLOC = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutACSBoardSideA = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutChannel8 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu1HkTableDataset.voltageOutTCSBoard3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutSyrlinks = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutStarTracker = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutMGT = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutSUSNominal = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutSolarCellExp = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutPLOC = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutACSBoardSideA = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutChannel8 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu1HkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.temperature = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu1HkTableDataset.converterEnable1 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.converterEnable2 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.converterEnable3 = *(packet + dataOffset); + dataOffset += 3; + + pdu1HkTableDataset.outEnabledTCSBoard3V3 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledSyrlinks = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledStarTracker = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledMGT = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledSUSNominal = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledSolarCellExp = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledPLOC = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledAcsBoardSideA = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledChannel8 = *(packet + dataOffset); + dataOffset += 3; + + pdu1HkTableDataset.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.bootcount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.resetcause = *(packet + dataOffset + 1) << 8 | *(packet + dataOffset); + dataOffset += 4; + pdu1HkTableDataset.battMode = *(packet + dataOffset); + /* +10 because here begins the second gomspace csp packet */ + dataOffset += 3 + 10; + + pdu1HkTableDataset.latchupsTcsBoard3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsSyrlinks = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsStarTracker = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsMgt = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsSusNominal = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsSolarCellExp = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsPloc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsAcsBoardSideA = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsChannel8 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu1HkTableDataset.device0 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device1 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device2 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device3 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device4 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device5 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device6 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device7 = *(packet + dataOffset); + dataOffset += 3; + + pdu1HkTableDataset.device0Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device1Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device2Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device3Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device4Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device5Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device6Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device7Status = *(packet + dataOffset); + dataOffset += 3; + + pdu1HkTableDataset.gndWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.i2cWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.canWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.csp1WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.csp2WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.groundWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.i2cWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.canWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.csp1WatchdogPingsLeft = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset); + + pdu1HkTableDataset.commit(); + pdu1HkTableDataset.setChanged(true); +} + +ReturnValue_t PDU1Handler::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_3, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_BOOTCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_BOOTCNT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_UPTIME, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_RESETCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_BATT_MODE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_DEVICE_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_5, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_7, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_DEVICE_0_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_1_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_2_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_3_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_4_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_5_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_6_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_7_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_GND, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_I2C, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CAN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CSP1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CSP2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_GND_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_I2C_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CAN_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CSP_LEFT1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CSP_LEFT2, new PoolEntry( { 0 })); + + return HasReturnvaluesIF::RETURN_OK; +} + diff --git a/mission/devices/PDU1Handler.h b/mission/devices/PDU1Handler.h new file mode 100644 index 00000000..ed22a6ef --- /dev/null +++ b/mission/devices/PDU1Handler.h @@ -0,0 +1,43 @@ +#ifndef MISSION_DEVICES_PDU1Handler_H_ +#define MISSION_DEVICES_PDU1Handler_H_ + +#include "GomspaceDeviceHandler.h" +#include + +/** + * @brief This is the device handler for the PDU1. + * + * @details The PDU1 controls the + * power supply of the following devices: + * TCS Board, 3.3V, channel 0 + * Syrlinks, 12V, channel 1 + * Star Tracker, 5V, channel 2 + * MGT, 5V, channel 3 + * SUS 1-6 Nominal, 3.3V, channel 4 + * Solar cell experiment, 5V, channel 5 + * PLOC, 12V, channel 6 + * ACS 3.3V for Side A group, channel 7 + * Unoccupied, 5V, channel 8 + */ +class PDU1Handler: public GomspaceDeviceHandler { +public: + PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie); + virtual ~PDU1Handler(); + + virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; +protected: + /** + * @brief In MODE_NORMAL, a command will be built periodically by this function. + */ + virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override; + virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override; + +private: + /** Dataset for the housekeeping table of the PDU1 */ + PDU1::PDU1HkTableDataset pdu1HkTableDataset; + + void parseHkTableReply(const uint8_t *packet); +}; + +#endif /* MISSION_DEVICES_PDU1Handler_H_ */ diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp new file mode 100644 index 00000000..eaeb00bb --- /dev/null +++ b/mission/devices/PDU2Handler.cpp @@ -0,0 +1,325 @@ +#include "PDU2Handler.h" +#include +#include + +PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : + GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS, + PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset), pdu2HkTableDataset( + this) { +} + +PDU2Handler::~PDU2Handler() { +} + +ReturnValue_t PDU2Handler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + *id = GOMSPACE::REQUEST_HK_TABLE; + return buildCommandFromCommand(*id, NULL, 0); +} + +void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) { + + parseHkTableReply(packet); + /** + * Hk table will be sent to the commander if hk table request was not triggered by the + * PDU2Handler itself. + */ + handleDeviceTM(&pdu2HkTableDataset, id, true); + +#if OBSW_VERBOSE_LEVEL >= 1 && PDU2_DEBUG == 1 + pdu2HkTableDataset.read(); + sif::info << "PDU2 Q7S current voltage: " << pdu2HkTableDataset.voltageOutQ7S << " mV" << std::endl; + sif::info << "PDU2 VCC: " << pdu2HkTableDataset.vcc << " mV" << std::endl; + float vbat = pdu2HkTableDataset.vbat.value * 0.1; + sif::info << "PDU2 VBAT: " << vbat << std::endl; + float temperatureC = pdu2HkTableDataset.temperature.value * 0.1; + sif::info << "PDU2 Temperature: " << temperatureC << " °C" << std::endl; + sif::info << "PDU2 Q7S enable state: " << unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl; + sif::info << "PDU2 Payload PCDU channel 1 enable state: " + << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl; + sif::info << "PDU2 reaction wheels enable state: " + << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl; + sif::info << "PDU2 TCS Board 8V heater input enable state: " + << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl; + sif::info << "PDU2 redundant SUS group enable state: " + << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl; + sif::info << "PDU2 deployment mechanism enable state: " + << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl; + sif::info << "PDU2 PCDU channel 6 enable state: " + << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl; + sif::info << "PDU2 ACS board side B enable state: " + << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl; + sif::info << "PDU2 payload camera enable state: " + << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl; + sif::info << "PDU2 uptime: " << pdu2HkTableDataset.uptime << " seconds" << std::endl; + sif::info << "PDU2 battery mode: " << unsigned(pdu2HkTableDataset.battMode.value) << std::endl; + sif::info << "PDU2 ground watchdog reboots: " << pdu2HkTableDataset.gndWdtReboots << std::endl; + sif::info << "PDU2 ground watchdog timer seconds left: " + << pdu2HkTableDataset.groundWatchdogSecondsLeft << " seconds" << std::endl; + sif::info << "PDU2 csp1 watchdog pings before reboot: " + << unsigned(pdu2HkTableDataset.csp1WatchdogPingsLeft.value) << std::endl; + sif::info << "PDU2 csp2 watchdog pings before reboot: " + << unsigned(pdu2HkTableDataset.csp2WatchdogPingsLeft.value) << std::endl; + pdu2HkTableDataset.commit(); +#endif +} + +void PDU2Handler::parseHkTableReply(const uint8_t *packet) { + uint16_t dataOffset = 0; + pdu2HkTableDataset.read(); + /** + * Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table + * address. + */ + dataOffset += 12; + pdu2HkTableDataset.currentOutQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.currentOutPayloadPCDUCh1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.currentOutReactionWheels = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.currentOutTCSBoardHeaterIn = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.currentOutSUSRedundant = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.currentOutDeplMechanism = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.currentOutPayloadPCDUCh6 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.currentOutACSBoardSideB = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.currentOutPayloadCamera = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu2HkTableDataset.voltageOutQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.voltageOutPayloadPCDUCh1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.voltageOutReactionWheels = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.voltageOutTCSBoardHeaterIn = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.voltageOutSUSRedundant = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.voltageOutDeplMechanism = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.voltageOutPayloadPCDUCh6 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.voltageOutACSBoardSideB = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.voltageOutPayloadCamera = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu2HkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.temperature = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu2HkTableDataset.converterEnable1 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.converterEnable2 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.converterEnable3 = *(packet + dataOffset); + dataOffset += 3; + + pdu2HkTableDataset.outEnabledQ7S = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.outEnabledPlPCDUCh1 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.outEnabledReactionWheels = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.outEnabledTCSBoardHeaterIn = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.outEnabledSUSRedundant = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.outEnabledDeplMechanism = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.outEnabledPlPCDUCh6 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.outEnabledAcsBoardSideB = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.outEnabledPayloadCamera = *(packet + dataOffset); + dataOffset += 3; + + pdu2HkTableDataset.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.bootcount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.resetcause = *(packet + dataOffset + 1) << 8 | *(packet + dataOffset); + dataOffset += 4; + pdu2HkTableDataset.battMode = *(packet + dataOffset); + /* +10 because here begins the second gomspace csp packet */ + dataOffset += 3 + 10; + + pdu2HkTableDataset.latchupsQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.latchupsPayloadPcduCh1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.latchupsRw = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.latchupsTcsBoardHeaterIn = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.latchupsSusRedundant = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.latchupsDeplMenchanism = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.latchupsPayloadPcduCh6 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.latchupsAcsBoardSideB = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu2HkTableDataset.latchupsPayloadCamera = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu2HkTableDataset.device0 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device1 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device2 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device3 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device4 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device5 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device6 = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device7 = *(packet + dataOffset); + dataOffset += 3; + + pdu2HkTableDataset.device0Status = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device1Status = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device2Status = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device3Status = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device4Status = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device5Status = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device6Status = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.device7Status = *(packet + dataOffset); + dataOffset += 3; + + pdu2HkTableDataset.gndWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.i2cWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.canWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.csp1WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.csp2WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.groundWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.i2cWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.canWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu2HkTableDataset.csp1WatchdogPingsLeft = *(packet + dataOffset); + dataOffset += 3; + pdu2HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset); + + pdu2HkTableDataset.commit(); + pdu2HkTableDataset.setChanged(true); +} + +ReturnValue_t PDU2Handler::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_Q7S, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_RW, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_SUS_REDUNDANT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_Q7S, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_RW, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CONV_EN_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CONV_EN_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_CONV_EN_3, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_Q7S, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW, new PoolEntry( { 0 })); +#if TE0720 == 1 + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry( { 1 })); +#else + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); +#endif + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_SUS_REDUNDANT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_ACS_BOARD_SIDE_B, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_CAMERA, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_BOOTCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_BOOTCNT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_UPTIME, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_RESETCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_BATT_MODE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_Q7S, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_RW, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_SUS_REDUNDANT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_DEPLOYMENT_MECHANISM, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_ACS_BOARD_SIDE_B, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_CAMERA, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_DEVICE_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_5, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_7, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_DEVICE_0_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_1_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_2_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_3_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_4_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_5_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_6_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_DEVICE_7_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_GND, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_I2C, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_CAN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_CSP1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_CSP2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_GND_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_I2C_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CAN_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CSP_LEFT1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU2_WDT_CSP_LEFT2, new PoolEntry( { 0 })); + + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/mission/devices/PDU2Handler.h b/mission/devices/PDU2Handler.h new file mode 100644 index 00000000..ee30a12f --- /dev/null +++ b/mission/devices/PDU2Handler.h @@ -0,0 +1,44 @@ +#ifndef MISSION_DEVICES_PDU2HANDLER_H_ +#define MISSION_DEVICES_PDU2HANDLER_H_ + +#include "GomspaceDeviceHandler.h" +#include + +/** + * @brief This is the device handler for the PDU2. + * + * @details The PDU2 controls the + * power supply of the following devices: + * Xiphos Q7S, 8V, channel 0 + * Reaction wheels 5V, channel 2 + * TCS Board heater input, 8V, channel 3 + * SUS 8-12 Redundant, 3.3V, channel 4 + * Deployment mechanism, 8V, channel 5 + * P/L PCDU, Battery voltage (Vnominal = 14.8V), channel 1 and channel 6 + * ACS Board (Gyro, MGMs, GPS), 3.3V channel 7 + * Payload Camera, 8V, channel 8 + */ +class PDU2Handler: public GomspaceDeviceHandler { +public: + PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie); + virtual ~PDU2Handler(); + + virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + +protected: + /** + * @brief As soon as the device is in MODE_NORMAL, this function is executed periodically. + */ + virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override; + virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override; + +private: + + /** Dataset for the housekeeping table of the PDU2 */ + PDU2::PDU2HkTableDataset pdu2HkTableDataset; + + void parseHkTableReply(const uint8_t *packet); +}; + +#endif /* MISSION_DEVICES_PDU2HANDLER_H_ */ diff --git a/mission/devices/SyrlinksHkHandler.cpp b/mission/devices/SyrlinksHkHandler.cpp new file mode 100644 index 00000000..bab5e551 --- /dev/null +++ b/mission/devices/SyrlinksHkHandler.cpp @@ -0,0 +1,463 @@ +#include +#include +#include +#include +#include + +SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : + DeviceHandlerBase(objectId, comIF, comCookie), rxDataset(this), txDataset(this) { + if (comCookie == NULL) { + sif::error << "SyrlinksHkHandler: Invalid com cookie" << std::endl; + } +} + +SyrlinksHkHandler::~SyrlinksHkHandler() { +} + + +void SyrlinksHkHandler::doStartUp(){ + if(mode == _MODE_START_UP){ + setMode(MODE_ON); + } +} + +void SyrlinksHkHandler::doShutDown(){ + +} + +ReturnValue_t SyrlinksHkHandler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + switch (nextCommand) { + case(SYRLINKS::READ_RX_STATUS_REGISTERS): + *id = SYRLINKS::READ_RX_STATUS_REGISTERS; + nextCommand = SYRLINKS::READ_TX_STATUS; + break; + case(SYRLINKS::READ_TX_STATUS): + *id = SYRLINKS::READ_TX_STATUS; + nextCommand = SYRLINKS::READ_TX_WAVEFORM; + break; + case(SYRLINKS::READ_TX_WAVEFORM): + *id = SYRLINKS::READ_TX_WAVEFORM; + nextCommand = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE; + break; + case(SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE): + *id = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE; + nextCommand = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE; + break; + case(SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE): + *id = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE; + nextCommand = SYRLINKS::READ_RX_STATUS_REGISTERS; + break; + default: + sif::debug << "SyrlinksHkHandler::buildNormalDeviceCommand: rememberCommandId has invalid" + << "command id" << std::endl; + break; + } + return buildCommandFromCommand(*id, NULL, 0); +} + +ReturnValue_t SyrlinksHkHandler::buildTransitionDeviceCommand( + DeviceCommandId_t * id){ + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t * commandData, + size_t commandDataLen) { + switch(deviceCommand) { + case(SYRLINKS::RESET_UNIT): { + resetCommand.copy(reinterpret_cast(commandBuffer), resetCommand.size(), 0); + rawPacketLen = resetCommand.size(); + rawPacket = commandBuffer; + return RETURN_OK; + } + case(SYRLINKS::SET_TX_MODE_STANDBY): { + setTxModeStandby.copy(reinterpret_cast(commandBuffer), setTxModeStandby.size(), 0); + rawPacketLen = setTxModeStandby.size(); + rawPacket = commandBuffer; + return RETURN_OK; + } + case(SYRLINKS::SET_TX_MODE_MODULATION): { + setTxModeModulation.copy(reinterpret_cast(commandBuffer), setTxModeModulation.size(), 0); + rawPacketLen = setTxModeModulation.size(); + rawPacket = commandBuffer; + return RETURN_OK; + } + case(SYRLINKS::SET_TX_MODE_CW): { + setTxModeCw.copy(reinterpret_cast(commandBuffer), setTxModeCw.size(), 0); + rawPacketLen = setTxModeCw.size(); + rawPacket = commandBuffer; + return RETURN_OK; + } + case(SYRLINKS::READ_RX_STATUS_REGISTERS): { + readRxStatusRegCommand.copy(reinterpret_cast(commandBuffer), readRxStatusRegCommand.size(), 0); + rawPacketLen = readRxStatusRegCommand.size(); + rawPacket = commandBuffer; + return RETURN_OK; + } + case(SYRLINKS::READ_TX_STATUS): { + readTxStatus.copy(reinterpret_cast(commandBuffer), readTxStatus.size(), 0); + rawPacketLen = readTxStatus.size(); + rememberCommandId = SYRLINKS::READ_TX_STATUS; + rawPacket = commandBuffer; + return RETURN_OK; + } + case(SYRLINKS::READ_TX_WAVEFORM): { + readTxWaveform.copy(reinterpret_cast(commandBuffer), readTxStatus.size(), 0); + rawPacketLen = readTxWaveform.size(); + rememberCommandId = SYRLINKS::READ_TX_WAVEFORM; + rawPacket = commandBuffer; + return RETURN_OK; + } + case(SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE): { + readTxAgcValueHighByte.copy(reinterpret_cast(commandBuffer), readTxStatus.size(), 0); + rawPacketLen = readTxAgcValueHighByte.size(); + rememberCommandId = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE; + rawPacket = commandBuffer; + return RETURN_OK; + } + case(SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE): { + readTxAgcValueLowByte.copy(reinterpret_cast(commandBuffer), readTxStatus.size(), 0); + rawPacketLen = readTxAgcValueLowByte.size(); + rememberCommandId = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE; + rawPacket = commandBuffer; + return RETURN_OK; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; +} + +void SyrlinksHkHandler::fillCommandAndReplyMap() { + this->insertInCommandAndReplyMap(SYRLINKS::RESET_UNIT, 1, nullptr, SYRLINKS::ACK_SIZE, false, + true, SYRLINKS::ACK_REPLY); + this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_STANDBY, 1, nullptr, SYRLINKS::ACK_SIZE, + false, true, SYRLINKS::ACK_REPLY); + this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_MODULATION, 1, nullptr, + SYRLINKS::ACK_SIZE, false, true, SYRLINKS::ACK_REPLY); + this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_CW, 1, nullptr, SYRLINKS::ACK_SIZE, + false, true, SYRLINKS::ACK_REPLY); + this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_STATUS, 1, &txDataset, + SYRLINKS::READ_ONE_REGISTER_REPLY_SIE); + this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_WAVEFORM, 1, &txDataset, + SYRLINKS::READ_ONE_REGISTER_REPLY_SIE); + this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE, 1, &txDataset, + SYRLINKS::READ_ONE_REGISTER_REPLY_SIE); + this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE, 1, &txDataset, + SYRLINKS::READ_ONE_REGISTER_REPLY_SIE); + this->insertInCommandAndReplyMap(SYRLINKS::READ_RX_STATUS_REGISTERS, 1, &rxDataset, + SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE); +} + +ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t *start, + size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) { + + ReturnValue_t result = RETURN_OK; + + if(*start != '<') { + sif::error << "SyrlinksHkHandler::scanForReply: Missing start frame character" << std::endl; + return MISSING_START_FRAME_CHARACTER; + } + + switch(*(start + 1)) { + case('A'): + *foundLen = SYRLINKS::ACK_SIZE; + *foundId = SYRLINKS::ACK_REPLY; + break; + case('E'): + *foundLen = SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE; + *foundId = SYRLINKS::READ_RX_STATUS_REGISTERS; + break; + case('R'): + *foundId = rememberCommandId; + *foundLen = SYRLINKS::READ_ONE_REGISTER_REPLY_SIE; + break; + default: + sif::error << "SyrlinksHkHandler::scanForReply: Unknown reply identifier" << std::endl; + result = IGNORE_REPLY_DATA; + break; + } + + return result; +} + +ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) { + + ReturnValue_t result; + + switch (id) { + case (SYRLINKS::ACK_REPLY): + result = verifyReply(packet, SYRLINKS::ACK_SIZE); + if (result != RETURN_OK) { + sif::error << "SyrlinksHkHandler::interpretDeviceReply: Acknowledgement reply has " + "invalid crc" << std::endl; + return CRC_FAILURE; + } + result = parseReplyStatus(reinterpret_cast(packet + SYRLINKS::MESSAGE_HEADER_SIZE)); + if (result != RETURN_OK) { + return result; + } + break; + case(SYRLINKS::READ_RX_STATUS_REGISTERS): + result = verifyReply(packet, SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE); + if (result != RETURN_OK) { + sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read rx status registers reply " + << "has invalid crc" << std::endl; + return CRC_FAILURE; + } + parseRxStatusRegistersReply(packet); + break; + case(SYRLINKS::READ_TX_STATUS): + result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE); + if (result != RETURN_OK) { + sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx status reply " + << "has invalid crc" << std::endl; + return CRC_FAILURE; + } + parseTxStatusReply(packet); + break; + case(SYRLINKS::READ_TX_WAVEFORM): + result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE); + if (result != RETURN_OK) { + sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx waveform reply " + << "has invalid crc" << std::endl; + return CRC_FAILURE; + } + parseTxWaveformReply(packet); + break; + case(SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE): + result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE); + if (result != RETURN_OK) { + sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx AGC high byte reply " + << "has invalid crc" << std::endl; + return CRC_FAILURE; + } + parseAgcHighByte(packet); + break; + case(SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE): + result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE); + if (result != RETURN_OK) { + sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx AGC low byte reply " + << "has invalid crc" << std::endl; + return CRC_FAILURE; + } + parseAgcLowByte(packet); + break; + default: { + sif::debug << "SyrlinksHkHandler::interpretDeviceReply: Unknown device reply id" + << std::endl; + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } + } + + return RETURN_OK; +} + +LocalPoolDataSetBase* SyrlinksHkHandler::getDataSetHandle(sid_t sid) { + if (sid == rxDataset.getSid()) { + return &rxDataset; + } + else if (sid== txDataset.getSid()) { + return &txDataset; + } + else { + sif::error << "SyrlinksHkHandler::getDataSetHandle: Invalid sid" << std::endl; + return nullptr; + } +} + +std::string SyrlinksHkHandler::convertUint16ToHexString(uint16_t intValue) { + std::stringstream stream; + stream << std::setfill('0') << std::setw(4) << std::hex << std::uppercase << intValue; + return stream.str(); +} + +uint8_t SyrlinksHkHandler::convertHexStringToUint8(const char* twoChars) { + uint32_t value; + std::string hexString(twoChars, 2); + std::stringstream stream; + stream << std::hex << hexString; + stream >> value; + return static_cast(value); +} + +uint16_t SyrlinksHkHandler::convertHexStringToUint16(const char* fourChars) { + uint16_t value = 0; + value = convertHexStringToUint8(fourChars) << 8 | convertHexStringToUint8(fourChars+2); + return value; +} + +uint32_t SyrlinksHkHandler::convertHexStringToUint32(const char* characters, uint8_t numberOfChars) { + + uint32_t value = 0; + + switch (numberOfChars) { + case 6: + value = convertHexStringToUint8(characters) << 16 + | convertHexStringToUint8(characters + 2) << 8 + | convertHexStringToUint8(characters + 4); + return value; + case 8: + value = convertHexStringToUint8(characters) << 24 + | convertHexStringToUint8(characters + 2) << 16 + | convertHexStringToUint8(characters + 4) << 8 + | convertHexStringToUint8(characters + 4); + return value; + default: + sif::debug << "SyrlinksHkHandler::convertHexStringToUint32: Invalid number of characters. " + << "Must be either 6 or 8" << std::endl; + return 0; + } +} + +ReturnValue_t SyrlinksHkHandler::parseReplyStatus(const char* status) { + switch (*status) { + case '0': + return RETURN_OK; + case '1': + sif::debug << "SyrlinksHkHandler::parseReplyStatus: Uart faming or parity error" + << std::endl; + return UART_FRAMIN_OR_PARITY_ERROR_ACK; + case '2': + sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad character detected" << std::endl; + return BAD_CHARACTER_ACK; + case '3': + sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad parameter value (unexpected value " + << "detected" << std::endl; + return BAD_PARAMETER_VALUE_ACK; + case '4': + sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad end of frame" << std::endl; + return BAD_END_OF_FRAME_ACK; + case '5': + sif::debug << "SyrlinksHkHandler::parseReplyStatus: Unknown command id or attempt to access" + << " a protected register" << std::endl; + return UNKNOWN_COMMAND_ID_ACK; + case '6': + sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad CRC" << std::endl; + return BAD_CRC_ACK; + default: + sif::debug << "SyrlinksHkHandler::parseReplyStatus: Status reply contains an invalid " + << "status id" << std::endl; + return RETURN_FAILED; + } +} + +ReturnValue_t SyrlinksHkHandler::verifyReply(const uint8_t* packet, uint8_t size) { + int result = 0; + /* Calculate crc from received packet */ + uint16_t crc = CRC::crc16ccitt(packet, size - SYRLINKS::SIZE_CRC_AND_TERMINATION, + CRC_INITIAL_VALUE); + std::string recalculatedCrc = convertUint16ToHexString(crc); + + const char* startOfCrc = reinterpret_cast(packet + size - SYRLINKS::SIZE_CRC_AND_TERMINATION); + const char* endOfCrc = reinterpret_cast(packet + size - 1); + + std::string replyCrc(startOfCrc, endOfCrc); + + result = recalculatedCrc.compare(replyCrc); + if (result != 0) { + return RETURN_FAILED; + } + return RETURN_OK; +} + +void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) { + PoolReadGuard readHelper(&rxDataset); + uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE; + rxDataset.rxStatus = convertHexStringToUint8(reinterpret_cast(packet + offset)); + offset += 2; + rxDataset.rxSensitivity = convertHexStringToUint32(reinterpret_cast(packet + offset), 6); + offset += 6; + rxDataset.rxFrequencyShift = convertHexStringToUint32(reinterpret_cast(packet + offset), 6); + offset += 6; + rxDataset.rxIqPower = convertHexStringToUint16(reinterpret_cast(packet + offset)); + offset += 4; + rxDataset.rxAgcValue = convertHexStringToUint16(reinterpret_cast(packet + offset)); + offset += 4; + offset += 2; // reserved register + rxDataset.rxDemodEb= convertHexStringToUint32(reinterpret_cast(packet + offset), 6); + offset += 6; + rxDataset.rxDemodN0= convertHexStringToUint32(reinterpret_cast(packet + offset), 6); + offset += 6; + rxDataset.rxDataRate = convertHexStringToUint8(reinterpret_cast(packet + offset)); + +#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1 + sif::info << "Syrlinks RX Status: 0x" << std::hex << (unsigned int)rxDataset.rxStatus.value << std::endl; + sif::info << "Syrlinks RX Sensitivity: " << std::dec << rxDataset.rxSensitivity << std::endl; + sif::info << "Syrlinks RX Frequency Shift: " << rxDataset.rxFrequencyShift << std::endl; + sif::info << "Syrlinks RX IQ Power: " << rxDataset.rxIqPower << std::endl; + sif::info << "Syrlinks RX AGC Value: " << rxDataset.rxAgcValue << std::endl; + sif::info << "Syrlinks RX Demod Eb: " << rxDataset.rxDemodEb << std::endl; + sif::info << "Syrlinks RX Demod N0: " << rxDataset.rxDemodN0 << std::endl; + sif::info << "Syrlinks RX Datarate: " << (unsigned int)rxDataset.rxDataRate.value << std::endl; +#endif +} + +void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) { + PoolReadGuard readHelper(&txDataset); + uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE; + txDataset.txStatus = convertHexStringToUint8(reinterpret_cast(packet + offset)); +#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1 + sif::info << "Syrlinks TX Status: 0x" << std::hex << (unsigned int) txDataset.txStatus.value + << std::endl; +#endif +} + +void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) { + PoolReadGuard readHelper(&txDataset); + uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE; + txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast(packet + offset)); +#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1 + sif::info << "Syrlinks TX Waveform: 0x" << std::hex << (unsigned int) txDataset.txWaveform.value + << std::endl; +#endif +} + +void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) { + PoolReadGuard readHelper(&txDataset); + uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE; + txDataset.txAgcValue = agcValueHighByte << 8 | convertHexStringToUint8(reinterpret_cast(packet + offset)); +#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1 + sif::info << "Syrlinks TX AGC Value: " << txDataset.txAgcValue << std::endl; +#endif +} + +void SyrlinksHkHandler::parseAgcHighByte(const uint8_t* packet) { + PoolReadGuard readHelper(&txDataset); + uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE; + agcValueHighByte = convertHexStringToUint8(reinterpret_cast(packet + offset)); +} + +void SyrlinksHkHandler::setNormalDatapoolEntriesInvalid(){ + +} + +uint32_t SyrlinksHkHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){ + return 500; +} + +ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) { + + localDataPoolMap.emplace(SYRLINKS::RX_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(SYRLINKS::RX_SENSITIVITY, new PoolEntry( { 0 })); + localDataPoolMap.emplace(SYRLINKS::RX_FREQUENCY_SHIFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(SYRLINKS::RX_IQ_POWER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(SYRLINKS::RX_AGC_VALUE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_EB, new PoolEntry( { 0 })); + localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_N0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(SYRLINKS::RX_DATA_RATE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(SYRLINKS::TX_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(SYRLINKS::TX_WAVEFORM, new PoolEntry( { 0 })); + localDataPoolMap.emplace(SYRLINKS::TX_AGC_VALUE, new PoolEntry( { 0 })); + + return HasReturnvaluesIF::RETURN_OK; +} + +void SyrlinksHkHandler::setModeNormal() { + mode = MODE_NORMAL; +} + diff --git a/mission/devices/SyrlinksHkHandler.h b/mission/devices/SyrlinksHkHandler.h new file mode 100644 index 00000000..c194fd18 --- /dev/null +++ b/mission/devices/SyrlinksHkHandler.h @@ -0,0 +1,178 @@ +#ifndef MISSION_DEVICES_SYRLINKSHKHANDLER_H_ +#define MISSION_DEVICES_SYRLINKSHKHANDLER_H_ + +#include +#include +#include + +/** + * @brief This is the device handler for the syrlinks transceiver. It handles the command + * transmission and reading of housekeeping data via the housekeeping interface. The + * transmission of telemetry and the reception of telecommands is handled by an additional + * class. + * + * @author J. Meier + */ +class SyrlinksHkHandler: public DeviceHandlerBase { +public: + + SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie); + virtual ~SyrlinksHkHandler(); + + /** + * @brief Sets mode to MODE_NORMAL. Can be used for debugging. + */ + void setModeNormal(); + +protected: + 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; + void setNormalDatapoolEntriesInvalid() override; + uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; + +private: + + static const uint8_t INTERFACE_ID = CLASS_ID::SYRLINKS_HANDLER; + + static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0); + static const ReturnValue_t UART_FRAMIN_OR_PARITY_ERROR_ACK = MAKE_RETURN_CODE(0xA1); + static const ReturnValue_t BAD_CHARACTER_ACK = MAKE_RETURN_CODE(0xA2); + static const ReturnValue_t BAD_PARAMETER_VALUE_ACK = MAKE_RETURN_CODE(0xA3); + static const ReturnValue_t BAD_END_OF_FRAME_ACK = MAKE_RETURN_CODE(0xA4); + static const ReturnValue_t UNKNOWN_COMMAND_ID_ACK = MAKE_RETURN_CODE(0xA5); + static const ReturnValue_t BAD_CRC_ACK = MAKE_RETURN_CODE(0xA6); + static const ReturnValue_t REPLY_WRONG_SIZE = MAKE_RETURN_CODE(0xA7); + static const ReturnValue_t MISSING_START_FRAME_CHARACTER = MAKE_RETURN_CODE(0xA8); + + static const uint8_t CRC_INITIAL_VALUE = 0x0; + + std::string resetCommand = ""; + std::string readRxStatusRegCommand = ""; + std::string setTxModeStandby = ""; + /** W - write, 04 - 4 bytes in data field, 01 - value, 40 register to write value */ + std::string setTxModeModulation = ""; + std::string setTxModeCw = ""; + std::string readTxStatus = ""; + std::string readTxWaveform = ""; + std::string readTxAgcValueHighByte = ""; + std::string readTxAgcValueLowByte = ""; + + /** + * In some cases it is not possible to extract from the received reply the information about + * the associated command. This variable is thus used to remember the command id. + */ + DeviceCommandId_t rememberCommandId = SYRLINKS::NONE; + + SYRLINKS::RxDataset rxDataset; + SYRLINKS::TxDataset txDataset; + + uint8_t agcValueHighByte; + + uint8_t commandBuffer[SYRLINKS::MAX_COMMAND_SIZE]; + + /** + * This object is used to store the id of the next command to execute. This controls the + * read out of multiple registers which can not be fetched with one single command. + */ + DeviceCommandId_t nextCommand = SYRLINKS::READ_RX_STATUS_REGISTERS; + + /** + * @brief This function converts an uint16_t into its hexadecimal string representation. + * + * @param intValue The value to convert. + * + * @return An std::string object containing the hex representation of intValue. + */ + std::string convertUint16ToHexString(uint16_t intValue); + + /** + * @brief This function converts a hex number represented by to chars to an 8-bit integer. + * + * @param twoChars Pointer to the two characters representing the hex value. + * + * @details E.g. when twoChars points to an array with the two characters "A5" then the function + * will return 0xA5. + * @return The converted integer. + */ + uint8_t convertHexStringToUint8(const char* twoChars); + + /** + * @brief This function converts a hex number represented by 4 chars to an uint16_t. + * + * @param Pointer to the fourCharacters representing the 16-bit integer. + * + * @return The uint16_t result. + */ + uint16_t convertHexStringToUint16(const char* fourChars); + + /** + * @brief Function converts a hex number represented by 6 or 8 characters to an uint32_t. + * + * @param characters Pointer to the hex characters array. + * @param numberOfChars Number of characters representing the hex value. Must be 6 or 8. + * + * @return The uint32_t value. + */ + uint32_t convertHexStringToUint32(const char* characters, uint8_t numberOfChars); + + /** + * @brief This function parses the status reply + * @param status Pointer to the status information. + * + * @details Some commands reply with a status message giving information about the preceding + * command transmission and/or execution was successful. + */ + ReturnValue_t parseReplyStatus(const char* status); + + /** + * @brief Function verifies the received reply from the syrlinks by recalculating and + * comparing the crc. + * + * @param packet Pointer to the received reply. + * @param size Size of the whole packet including the crc and the packet termination + * character '>'. + * + * @return RETURN_OK if successful, otherwise RETURN_FAILED. + */ + ReturnValue_t verifyReply(const uint8_t* packet, uint8_t size); + + /** + * @brief This function extracts the data from a rx status registers reply and writes the + * information to the status registers dataset. + * @param packet Pointer to the reply packet. + */ + void parseRxStatusRegistersReply(const uint8_t* packet); + + /** + * @brief This function writes the read tx status register to the txStatusDataset. + * @param packet Pointer to the received packet. + */ + void parseTxStatusReply(const uint8_t* packet); + + /** + * @brief This function writes the received waveform configuration to the txDataset. + */ + void parseTxWaveformReply(const uint8_t* packet); + + /** + * @brief The agc value is split over two registers. The parse agc functions are used to get + * the values from the received reply and write them into the txDataset. + */ + void parseAgcLowByte(const uint8_t* packet); + void parseAgcHighByte(const uint8_t* packet); +}; + +#endif /* MISSION_DEVICES_SYRLINKSHKHANDLER_H_ */ diff --git a/mission/devices/Tmp1075Handler.cpp b/mission/devices/Tmp1075Handler.cpp new file mode 100644 index 00000000..a84f5597 --- /dev/null +++ b/mission/devices/Tmp1075Handler.cpp @@ -0,0 +1,145 @@ +#include +#include +#include + +Tmp1075Handler::Tmp1075Handler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie) : + DeviceHandlerBase(objectId, comIF, comCookie), dataset( + this) { + if (comCookie == NULL) { + sif::error << "Tmp1075Handler: Invalid com cookie" << std::endl; + } +} + +Tmp1075Handler::~Tmp1075Handler() { +} + + +void Tmp1075Handler::doStartUp(){ + if(mode == _MODE_START_UP){ + setMode(MODE_ON); + } +} + +void Tmp1075Handler::doShutDown(){ + +} + +ReturnValue_t Tmp1075Handler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + + if(communicationStep == CommunicationStep::START_ADC_CONVERSION) { + *id = TMP1075::START_ADC_CONVERSION; + communicationStep = CommunicationStep::GET_TEMPERATURE; + return buildCommandFromCommand(*id, NULL, 0); + } + else { + *id = TMP1075::GET_TEMP; + communicationStep = CommunicationStep::START_ADC_CONVERSION; + return buildCommandFromCommand(*id, NULL, 0); + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t Tmp1075Handler::buildTransitionDeviceCommand( + DeviceCommandId_t * id){ + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t Tmp1075Handler::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t * commandData, + size_t commandDataLen) { + switch(deviceCommand) { + case(TMP1075::START_ADC_CONVERSION): { + std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); + prepareAdcConversionCommand(); + rawPacket = cmdBuffer; + rawPacketLen = TMP1075::CFGR_CMD_SIZE; + return RETURN_OK; + } + case(TMP1075::GET_TEMP): { + std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); + prepareGetTempCommand(); + rawPacket = cmdBuffer; + rawPacketLen = TMP1075::POINTER_REG_SIZE; + rememberCommandId = TMP1075::GET_TEMP; + return RETURN_OK; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; +} + +void Tmp1075Handler::fillCommandAndReplyMap(){ + this->insertInCommandMap(TMP1075::START_ADC_CONVERSION); + this->insertInCommandAndReplyMap(TMP1075::GET_TEMP, 1, &dataset, + TMP1075::GET_TEMP_REPLY_SIZE); +} + +ReturnValue_t Tmp1075Handler::scanForReply(const uint8_t *start, + size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) { + switch(rememberCommandId) { + case(TMP1075::GET_TEMP): + *foundId = TMP1075::GET_TEMP; + *foundLen = TMP1075::GET_TEMP_REPLY_SIZE; + rememberCommandId = TMP1075::NONE; + break; + default: + return IGNORE_REPLY_DATA; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t Tmp1075Handler::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) { + switch (id) { + case TMP1075::GET_TEMP: { + int16_t tempValueRaw = 0; + tempValueRaw = packet[0] << 4 | packet[1] >> 4; + float tempValue = ((static_cast(tempValueRaw)) * 0.0625); +#if OBSW_VERBOSE_LEVEL >= 1 + sif::info << "Tmp1075 with object id: 0x" << std::hex << getObjectId() + << ": Temperature: " << tempValue<< " °C" + << std::endl; +#endif + ReturnValue_t result = dataset.read(); + if(result == HasReturnvaluesIF::RETURN_OK) { + dataset.temperatureCelcius = tempValue; + dataset.commit(); + } + break; + } + + default: { + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } + + } + return HasReturnvaluesIF::RETURN_OK; +} + +void Tmp1075Handler::setNormalDatapoolEntriesInvalid(){ + +} + +void Tmp1075Handler::prepareAdcConversionCommand(){ + cmdBuffer[0] = TMP1075::CFGR_ADDR; + cmdBuffer[1] = TMP1075::ONE_SHOT_MODE >> 8; + cmdBuffer[2] = TMP1075::ONE_SHOT_MODE & 0xFF; +} + +void Tmp1075Handler::prepareGetTempCommand(){ + cmdBuffer[0] = TMP1075::TEMP_REG_ADDR; +} + +uint32_t Tmp1075Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){ + return 500; +} + +ReturnValue_t Tmp1075Handler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) { + localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075_1, new PoolEntry( { 0.0 })); + return HasReturnvaluesIF::RETURN_OK; +} + diff --git a/mission/devices/Tmp1075Handler.h b/mission/devices/Tmp1075Handler.h new file mode 100644 index 00000000..190ac47f --- /dev/null +++ b/mission/devices/Tmp1075Handler.h @@ -0,0 +1,68 @@ +#ifndef MISSION_DEVICES_TMP1075HANDLER_H_ +#define MISSION_DEVICES_TMP1075HANDLER_H_ + +#include +#include + +/** + * @brief This is the device handler class for the tmp1075 temperature sensor. + * + * @details The tmp1075 communicates via I2C. After the address byte and the + * read and write bit, a pointer address must be sent to the device. + * This pointer address is stored in the pointer register of the + * tmp1075 and defines to which address following data bytes will + * be written or from which address data will be read. + * + * @author J. Meier + */ +class Tmp1075Handler: public DeviceHandlerBase { +public: + + Tmp1075Handler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie); + virtual ~Tmp1075Handler(); + +protected: + 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; + void setNormalDatapoolEntriesInvalid() override; + uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + +private: + + /** + * @brief Function fills cmdBuffer with command to start the adc + * conversion for a new temperature value. + */ + void prepareAdcConversionCommand(); + + void prepareGetTempCommand(); + + enum class CommunicationStep { + START_ADC_CONVERSION, + GET_TEMPERATURE + }; + + TMP1075::Tmp1075Dataset dataset; + + static const uint8_t MAX_CMD_LEN = 3; + + uint8_t rememberRequestedSize = 0; + uint8_t rememberCommandId = TMP1075::NONE; + uint8_t cmdBuffer[MAX_CMD_LEN]; + CommunicationStep communicationStep = + CommunicationStep::START_ADC_CONVERSION; +}; + +#endif /* MISSION_DEVICES_TMP1075HANDLER_H_ */ diff --git a/mission/devices/devicedefinitions/GomSpacePackets.h b/mission/devices/devicedefinitions/GomSpacePackets.h new file mode 100644 index 00000000..d410a3af --- /dev/null +++ b/mission/devices/devicedefinitions/GomSpacePackets.h @@ -0,0 +1,466 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_ + +#include +#include +#include +#include +#include + + +/** + * @brief This class can be used to generated the command for the CspComIF + * to reset the watchdog in a gomspace device. + */ +class WatchdogResetCommand : public SerialLinkedListAdapter { +public: + + WatchdogResetCommand() { + setLinks(); + } + +private: + WatchdogResetCommand(const WatchdogResetCommand &command); + void setLinks() { + setStart(&cspPort); + cspPort.setNext(&querySize); + querySize.setNext(&magic); + } + SerializeElement cspPort = GOMSPACE::P60_PORT_GNDWDT_RESET; + SerializeElement querySize = 1; + /* Sending 0x78 to port 9 of a gomspace device resets the ground watchdog */ + SerializeElement magic = 0x78; +}; + + +/** + * @brief A serial linked list adapter implementation to generate ping + * commands for devices supporting the CSP protocol. This command can + * be sent to the CspComIF which will send out the ping request. + * + * @details A ping request simply sends back the received data provided by the + * data buffer. cspPort and querySize are only informations required + * by the CspComI and other than the data array not physically + * transmitted to the target device. + */ +class CspPingCommand : public SerialLinkedListAdapter { +public: + /** + * @brief Constructor + * + * @param querySize_ The size of bytes replied by the ping request. + * Amounts to the number of bytes send. + * @param data_ Pointer to data which should be sent to the device. + * All data will be sent back by the ping target. + */ + CspPingCommand(const uint8_t* data_, uint16_t querySize_) : + querySize(querySize_), data(data_, querySize_) { + setLinks(); + } + +private: + CspPingCommand(const CspPingCommand &command); + void setLinks() { + setStart(&cspPort); + cspPort.setNext(&querySize); + querySize.setNext(&data); + } + SerializeElement cspPort = GOMSPACE::PING_PORT; + SerializeElement querySize; + SerializeElement> data; +}; + + +/** + * @brief A serial linked list adapter implementation of the gs_rparam_query_t + * struct defined in rparam.h. Can be used to build the message to set + * a parameter in gomspace devices. + * + * @note cspPort and querySize will not be sent with the CSP packet to the + * gomspace device but are required for the CspComIF to get the port + * and the size to query. + */ +class CspSetParamCommand : public SerialLinkedListAdapter { +public: + + CspSetParamCommand(uint16_t querySize_, uint16_t payloadlength_, + uint16_t checksum_, uint16_t seq_, uint16_t total_, uint16_t addr_, + const uint8_t* parameter_, uint8_t parameterCount_) : + querySize(querySize_), payloadlength( + payloadlength_), checksum(checksum_), seq(seq_), total( + total_), addr(addr_), parameter(parameter_, parameterCount_) { + setLinks(); + } + +private: + CspSetParamCommand(const CspSetParamCommand &command); + void setLinks() { + setStart(&cspPort); + cspPort.setNext(&querySize); + querySize.setNext(&action); + action.setNext(&tableId); + tableId.setNext(&payloadlength); + payloadlength.setNext(&checksum); + checksum.setNext(&seq); + seq.setNext(&total); + total.setNext(&addr); + addr.setNext(¶meter); + } + SerializeElement cspPort = GOMSPACE::PARAM_PORT; + /* Only a parameter will be set. No data will be queried with this command */ + SerializeElement querySize; + SerializeElement action = 0xFF; // param set + /* We will never set a parameter in a table other than the configuration + * table */ + SerializeElement tableId = 1; + SerializeElement payloadlength; + SerializeElement checksum; + SerializeElement seq; + SerializeElement total; + SerializeElement addr; + SerializeElement> parameter; +}; + + +/** + * @brief This class can be used to generate a get param command for the + * gomspace devices which will be sent to the device communication + * interface object. + * + * @note cspPort and querySize only serve as information for the CspComIF + * and will not be transmitted physically to the target device. + */ +class CspGetParamCommand : public SerialLinkedListAdapter { +public: + /* The size of the header of a gomspace CSP packet. */ + static const uint8_t GS_HDR_LENGTH = 12; + + CspGetParamCommand(uint16_t querySize_, uint8_t tableId_, + uint16_t addresslength_, uint16_t checksum_, uint16_t seq_, + uint16_t total_, uint16_t addr_) : + querySize(querySize_), tableId(tableId_), addresslength( + addresslength_), checksum(checksum_), seq(seq_), total( + total_), addr(addr_) { + fixedValuesInit(); + setLinks(); + } + +private: + CspGetParamCommand(const CspGetParamCommand &command); + void setLinks() { + setStart(&cspPort); + cspPort.setNext(&querySize); + querySize.setNext(&action); + action.setNext(&tableId); + tableId.setNext(&addresslength); + addresslength.setNext(&checksum); + checksum.setNext(&seq); + seq.setNext(&total); + total.setNext(&addr); + } + void fixedValuesInit(){ + cspPort.entry = GOMSPACE::PARAM_PORT; + } + SerializeElement cspPort; + SerializeElement querySize; // size of bytes to query + /* Following information will also be physically transmitted to the target + * device*/ + SerializeElement action = 0x00; // get param + SerializeElement tableId; + SerializeElement addresslength; + SerializeElement checksum; + SerializeElement seq; + SerializeElement total; + SerializeElement addr; +}; + + +/** + * @brief This class can be used to generate a get param command for the + * gomspace devices which will be sent to the device communication + * interface object. + * + * @note cspPort and querySize only serve as information for the CspComIF + * and will not be transmitted physically to the target device. + */ +class RequestFullTableCommand : public SerialLinkedListAdapter { +public: + + RequestFullTableCommand(uint16_t querySize_, uint8_t tableId_) : + querySize(querySize_), tableId(tableId_) { + setLinks(); + } + +private: + RequestFullTableCommand(const RequestFullTableCommand &command); + void setLinks() { + setStart(&cspPort); + cspPort.setNext(&querySize); + querySize.setNext(&action); + action.setNext(&tableId); + tableId.setNext(&addresslength); + addresslength.setNext(&checksum); + checksum.setNext(&seq); + seq.setNext(&total); + } + SerializeElement cspPort = GOMSPACE::PARAM_PORT; + /** Size of bytes to query (size of csp header + size of table) */ + SerializeElement querySize; + /* Following information will also be physically transmitted to the target + * device*/ + SerializeElement action = 0x00; // get param + SerializeElement tableId; + /* Size of address. Set to 0 to get full table */ + SerializeElement addresslength = 0; + SerializeElement checksum = GOMSPACE::IGNORE_CHECKSUM; + SerializeElement seq = 0; + SerializeElement total = 0; +}; + + +/** + * @brief This class can be used to deserialize replies from gomspace devices + * and extract the relevant data. + */ +class CspGetParamReply : public SerialLinkedListAdapter { +public: + /** + * @brief Constructor + * + * @param payloadBuffer Pointer to a buffer to store the payload data of + * the CSP packet. + * @param payloadBufferSz The size of the payload buffer where the payload + * data will be stored. + */ + CspGetParamReply(uint8_t* payloadBuffer_, uint8_t payloadBufferSz_) : + payload(payloadBuffer_, payloadBufferSz_) { + setLinks(); + } + + uint8_t getAction(){ + return action; + } + + uint8_t getTableId(){ + return tableId; + } + + uint16_t getLength(){ + return length; + } + + uint16_t getAddress(){ + return addr; + } + +private: + CspGetParamReply(const CspGetParamReply &reply); + void setLinks() { + setStart(&action); + action.setNext(&tableId); + tableId.setNext(&length); + length.setNext(&checksum); + checksum.setNext(&seq); + seq.setNext(&total); + total.setNext(&addr); + addr.setNext(&payload); + } + + SerializeElement action; + SerializeElement tableId; + SerializeElement length; //length of address field + payload data + SerializeElement checksum; + SerializeElement seq; + SerializeElement total; + SerializeElement addr; + SerializeElement> payload; +}; + + +/** + * @brief This class generates telemetry packets containing data from + * CSP get-parameter-replies. + */ +class ParamReply : public SerialLinkedListAdapter { +public: + /** + * @brief Constructor + * + * @param payloadBuffer Pointer to a buffer to store the payload data of + * the CSP packet. + * @param payloadBufferSz The size of the payload buffer where the payload + * data will be stored. + */ + ParamReply(uint8_t action_, uint8_t tableId_, uint16_t addr_, + uint16_t payloadLength_, uint8_t* payloadBuffer_) : + action(action_), tableId(tableId_), addr(addr_), payloadLength( + payloadLength_), payload(payloadBuffer_, payloadLength) { + setLinks(); + } + +private: + ParamReply(const CspGetParamReply &reply); + void setLinks() { + setStart(&action); + action.setNext(&tableId); + tableId.setNext(&addr); + addr.setNext(&payloadLength); + payloadLength.setNext(&payload); + } + SerializeElement action; + SerializeElement tableId; + SerializeElement addr; + SerializeElement payloadLength; + SerializeElement> payload; +}; + + +/** + * @brief This class generates the reply containing data from a full housekeeping table request + * of the PDU2. + */ +class Pdu2FullTableReply : public SerialLinkedListAdapter { +public: + /** + * @brief Constructor + * + * @param action_ The command which triggered the full table request. + * @param tableId_ The id of the requested table. + * @param tableDataset_ The dataset holding the table data. + */ + Pdu2FullTableReply(uint8_t action_, uint8_t tableId_, SerializeIF* tableDataset_) : + action(action_), tableId(tableId_), dataset(tableDataset_) { + setLinks(); + } + +private: + Pdu2FullTableReply(const Pdu2FullTableReply &reply); + void setLinks() { + setStart(&action); + action.setNext(&tableId); + tableId.setNext(&dataset); + } + SerializeElement action; + SerializeElement tableId; + LinkedElement dataset; +}; + + +/** + * @brief This class helps to unpack information from an action message + * to set a parameter in gomspace devices. The action message can be + * for example received from the PUS Service 8. + */ +class SetParamMessageUnpacker: public SerialLinkedListAdapter { +public: + /* Largest parameter is a uint32_t */ + static const uint32_t MAX_SIZE = 4; + + SetParamMessageUnpacker() { + setLinks(); + } + + uint16_t getAddress() { + return address; + } + + uint8_t* getParameter() { + return parameter->front(); + } + + uint8_t getParameterSize(){ + return parameter->size; + } + +private: + void setLinks() { + setStart(&address); + address.setNext(¶meter); + } + SetParamMessageUnpacker(const SetParamMessageUnpacker &message); + SerializeElement address; + SerializeElement> parameter; +}; + + +/** + * @brief This class generates a message which can be sent to the GomspaceDeviceHandler to + * command a parameter change. + * + * @details Structure of set parameter command: + * | memory address | size of parameter value | parameter value | + */ +class GomspaceSetParamMessage : public SerialLinkedListAdapter { +public: + + /* The size of the largest parameter */ + static const uint8_t MAX_SIZE = 4; + + /** + * @brief Constructor + * + * @param memoryAddress The address of the parameter to change in the configuration table. + * @param parameterValue Pointer to the parameter value to set. + * @param parameterSize The size of the parameter. + * + */ + GomspaceSetParamMessage(uint16_t memoryAddress, const uint8_t* parameterValue, + uint8_t parameterSize) : + memoryAddress(memoryAddress), parameterValueBuffer(parameterValue, parameterSize, true) { + setLinks(); + } + +private: + GomspaceSetParamMessage(const GomspaceSetParamMessage &reply); + void setLinks() { + setStart(&memoryAddress); + memoryAddress.setNext(¶meterValueBuffer); + } + SerializeElement memoryAddress; + /** + * Parameter can be uint8_t, uint16_t or uint32_t. Thus max size of parameterValueBuffer is + * four bytes. + */ + SerializeElement> parameterValueBuffer; +}; + + +/** + * @brief This class helps to unpack information from an action message + * to get a parameter from gomspace devices. The action message can be + * for example received from the PUS Service 8. + */ +class GetParamMessageUnpacker: public SerialLinkedListAdapter { +public: + + GetParamMessageUnpacker() { + setLinks(); + } + + uint8_t getTableId() { + return tableId; + } + + uint16_t getAddress() { + return address; + } + + uint8_t getParameterSize(){ + return parameterSize; + } + + +private: + GetParamMessageUnpacker(const GetParamMessageUnpacker &message); + void setLinks() { + setStart(&tableId); + tableId.setNext(&address); + address.setNext(¶meterSize); + } + SerializeElement tableId; + SerializeElement address; //The memory address offset within the table + /* The size of the requested value (e.g. temperature is a uint16_t value) */ + SerializeElement parameterSize; +}; + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_ */ diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h new file mode 100644 index 00000000..4600ecc7 --- /dev/null +++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h @@ -0,0 +1,1206 @@ +/* + * GomspaceDefinitions.h + * + * @brief This file holds all definitions specific for devices from gomspace. + * @date 20.12.2020 + * @author J. Meier + */ + +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ + +#include +#include +#include +#include + +namespace GOMSPACE{ + static const uint16_t IGNORE_CHECKSUM = 0xbb0; + /** The size of the header of a gomspace CSP packet. */ + static const uint8_t GS_HDR_LENGTH = 12; + /** CSP port to ping gomspace devices. */ + static const uint8_t PING_PORT = 1; + static const uint8_t REBOOT_PORT = 4; + /** CSP port of gomspace devices to request or set parameters */ + static const uint8_t PARAM_PORT = 7; + static const uint8_t P60_PORT_GNDWDT_RESET = 9; + + /* Device commands are derived from the rparam.h of the gomspace lib */ + static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND] + static const DeviceCommandId_t NONE = 0x2; // Set when no command is pending + static const DeviceCommandId_t REBOOT = 0x4; //!< [EXPORT] : [COMMAND] + static const DeviceCommandId_t GNDWDT_RESET = 0x9; //!< [EXPORT] : [COMMAND] + static const DeviceCommandId_t PARAM_GET = 0x00; //!< [EXPORT] : [COMMAND] + static const DeviceCommandId_t PARAM_SET = 0xFF; //!< [EXPORT] : [COMMAND] + static const DeviceCommandId_t REQUEST_HK_TABLE = 0x10; //!< [EXPORT] : [COMMAND] +} + +namespace P60System { + enum P60SytemPoolIds: lp_id_t { + P60DOCK_CURRENT_ACU_VCC, + P60DOCK_CURRENT_PDU1_VCC, + P60DOCK_CURRENT_X3_IDLE_VCC, + P60DOCK_CURRENT_PDU2_VCC, + P60DOCK_CURRENT_ACU_VBAT, + P60DOCK_CURRENT_PDU1_VBAT, + P60DOCK_CURRENT_X3_IDLE_VBAT, + P60DOCK_CURRENT_PDU2_VBAT, + P60DOCK_CURRENT_STACK_VBAT, + P60DOCK_CURRENT_STACK_3V3, + P60DOCK_CURRENT_STACK_5V, + P60DOCK_CURRENT_GS3V3, + P60DOCK_CURRENT_GS5V, + P60DOCK_VOLTAGE_ACU_VCC, + P60DOCK_VOLTAGE_PDU1_VCC, + P60DOCK_VOLTAGE_X3_IDLE_VCC, + P60DOCK_VOLTAGE_PDU2_VCC, + P60DOCK_VOLTAGE_ACU_VBAT, + P60DOCK_VOLTAGE_PDU1_VBAT, + P60DOCK_VOLTAGE_X3_IDLE_VBAT, + P60DOCK_VOLTAGE_PDU2_VBAT, + P60DOCK_VOLTAGE_STACK_VBAT, + P60DOCK_VOLTAGE_STACK_3V3, + P60DOCK_VOLTAGE_STACK_5V, + P60DOCK_VOLTAGE_GS3V3, + P60DOCK_VOLTAGE_GS5V, + P60DOCK_OUTPUTENABLE_ACU_VCC, + P60DOCK_OUTPUTENABLE_PDU1_VCC, + P60DOCK_OUTPUTENABLE_X3_IDLE_VCC, + P60DOCK_OUTPUTENABLE_PDU2_VCC, + P60DOCK_OUTPUTENABLE_ACU_VBAT, + P60DOCK_OUTPUTENABLE_PDU1_VBAT, + P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT, + P60DOCK_OUTPUTENABLE_PDU2_VBAT, + P60DOCK_OUTPUTENABLE_STACK_VBAT, + P60DOCK_OUTPUTENABLE_STACK_3V3, + P60DOCK_OUTPUTENABLE_STACK_5V, + P60DOCK_OUTPUTENABLE_GS3V3, + P60DOCK_OUTPUTENABLE_GS5V, + P60DOCK_TEMPERATURE_1, + P60DOCK_TEMPERATURE_2, + P60DOCK_BOOT_CAUSE, + P60DOCK_BOOT_CNT, + P60DOCK_UPTIME, + P60DOCK_RESETCAUSE, + P60DOCK_BATT_MODE, + P60DOCK_HEATER_ON, + P60DOCK_CONV_5V_ENABLE_STATUS, + P60DOCK_LATCHUP_ACU_VCC, + P60DOCK_LATCHUP_PDU1_VCC, + P60DOCK_LATCHUP_X3_IDLE_VCC, + P60DOCK_LATCHUP_PDU2_VCC, + P60DOCK_LATCHUP_ACU_VBAT, + P60DOCK_LATCHUP_PDU1_VBAT, + P60DOCK_LATCHUP_X3_IDLE_VBAT, + P60DOCK_LATCHUP_PDU2_VBAT, + P60DOCK_LATCHUP_STACK_VBAT, + P60DOCK_LATCHUP_STACK_3V3, + P60DOCK_LATCHUP_STACK_5V, + P60DOCK_LATCHUP_GS3V3, + P60DOCK_LATCHUP_GS5V, + P60DOCK_VBAT_VALUE, + P60DOCK_VCC_CURRENT_VALUE, + P60DOCK_BATTERY_CURRENT, + P60DOCK_BATTERY_VOLTAGE, + P60DOCK_BATTERY_TEMPERATURE_1, + P60DOCK_BATTERY_TEMPERATURE_2, + P60DOCK_DEVICE_0, + P60DOCK_DEVICE_1, + P60DOCK_DEVICE_2, + P60DOCK_DEVICE_3, + P60DOCK_DEVICE_4, + P60DOCK_DEVICE_5, + P60DOCK_DEVICE_6, + P60DOCK_DEVICE_7, + P60DOCK_DEVICE_0_STATUS, + P60DOCK_DEVICE_1_STATUS, + P60DOCK_DEVICE_2_STATUS, + P60DOCK_DEVICE_3_STATUS, + P60DOCK_DEVICE_4_STATUS, + P60DOCK_DEVICE_5_STATUS, + P60DOCK_DEVICE_6_STATUS, + P60DOCK_DEVICE_7_STATUS, + P60DOCK_DEVICE_TYPE_GROUP, + P60DOCK_DEVICE_STATUS_GROUP, + P60DOCK_DEARM_STATUS, + P60DOCK_WDT_CNT_GND, + P60DOCK_WDT_CNT_I2C, + P60DOCK_WDT_CNT_CAN, + P60DOCK_WDT_CNT_CSP_1, + P60DOCK_WDT_CNT_CSP_2, + P60DOCK_WDT_GND_LEFT, + P60DOCK_WDT_I2C_LEFT, + P60DOCK_WDT_CAN_LEFT, + P60DOCK_WDT_CSP_LEFT_1, + P60DOCK_WDT_CSP_LEFT_2, + P60DOCK_BATT_CHARGE_CURRENT, + P60DOCK_BATT_DISCHARGE_CURRENT, + P60DOCK_ANT6_DEPL, + P60DOCK_AR6_DEPL, + + PDU1_CURRENT_OUT_TCS_BOARD_3V3, + PDU1_CURRENT_OUT_SYRLINKS, + PDU1_CURRENT_OUT_STAR_TRACKER, + PDU1_CURRENT_OUT_MGT, + PDU1_CURRENT_OUT_SUS_NOMINAL, + PDU1_CURRENT_OUT_SOLAR_CELL_EXP, + PDU1_CURRENT_OUT_PLOC, + PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A, + PDU1_CURRENT_OUT_CHANNEL8, + PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, + PDU1_VOLTAGE_OUT_SYRLINKS, + PDU1_VOLTAGE_OUT_STAR_TRACKER, + PDU1_VOLTAGE_OUT_MGT, + PDU1_VOLTAGE_OUT_SUS_NOMINAL, + PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, + PDU1_VOLTAGE_OUT_PLOC, + PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A, + PDU1_VOLTAGE_OUT_CHANNEL8, + PDU1_VCC, + PDU1_VBAT, + PDU1_TEMPERATURE, + PDU1_CONV_EN_1, + PDU1_CONV_EN_2, + PDU1_CONV_EN_3, + PDU1_OUT_EN_TCS_BOARD_3V3, + PDU1_OUT_EN_SYRLINKS, + PDU1_OUT_EN_STAR_TRACKER, + PDU1_OUT_EN_MGT, + PDU1_OUT_EN_SUS_NOMINAL, + PDU1_OUT_EN_SOLAR_CELL_EXP, + PDU1_OUT_EN_PLOC, + PDU1_OUT_EN_ACS_BOARD_SIDE_A, + PDU1_OUT_EN_CHANNEL8, + PDU1_BOOTCAUSE, + PDU1_BOOTCNT, + PDU1_UPTIME, + PDU1_RESETCAUSE, + PDU1_BATT_MODE, + PDU1_LATCHUP_TCS_BOARD_3V3, + PDU1_LATCHUP_SYRLINKS, + PDU1_LATCHUP_STAR_TRACKER, + PDU1_LATCHUP_MGT, + PDU1_LATCHUP_SUS_NOMINAL, + PDU1_LATCHUP_SOLAR_CELL_EXP, + PDU1_LATCHUP_PLOC, + PDU1_LATCHUP_ACS_BOARD_SIDE_A, + PDU1_LATCHUP_CHANNEL8, + PDU1_DEVICE_0, + PDU1_DEVICE_1, + PDU1_DEVICE_2, + PDU1_DEVICE_3, + PDU1_DEVICE_4, + PDU1_DEVICE_5, + PDU1_DEVICE_6, + PDU1_DEVICE_7, + PDU1_DEVICE_0_STATUS, + PDU1_DEVICE_1_STATUS, + PDU1_DEVICE_2_STATUS, + PDU1_DEVICE_3_STATUS, + PDU1_DEVICE_4_STATUS, + PDU1_DEVICE_5_STATUS, + PDU1_DEVICE_6_STATUS, + PDU1_DEVICE_7_STATUS, + PDU1_WDT_CNT_GND, + PDU1_WDT_CNT_I2C, + PDU1_WDT_CNT_CAN, + PDU1_WDT_CNT_CSP1, + PDU1_WDT_CNT_CSP2, + PDU1_WDT_GND_LEFT, + PDU1_WDT_I2C_LEFT, + PDU1_WDT_CAN_LEFT, + PDU1_WDT_CSP_LEFT1, + PDU1_WDT_CSP_LEFT2, + + /** PDU2 Ids */ + PDU2_CURRENT_OUT_Q7S, + PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, + PDU2_CURRENT_OUT_RW, + PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, + PDU2_CURRENT_OUT_SUS_REDUNDANT, + PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, + PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, + PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, + PDU2_CURRENT_OUT_PAYLOAD_CAMERA, + PDU2_VOLTAGE_OUT_Q7S, + PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, + PDU2_VOLTAGE_OUT_RW, + PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, + PDU2_VOLTAGE_OUT_SUS_REDUNDANT, + PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, + PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, + PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, + PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, + PDU2_VCC, + PDU2_VBAT, + PDU2_TEMPERATURE, + PDU2_CONV_EN_1, + PDU2_CONV_EN_2, + PDU2_CONV_EN_3, + PDU2_OUT_EN_Q7S, + PDU2_OUT_EN_PAYLOAD_PCDU_CH1, + PDU2_OUT_EN_RW, + PDU2_OUT_EN_TCS_BOARD_HEATER_IN, + PDU2_OUT_EN_SUS_REDUNDANT, + PDU2_OUT_EN_DEPLOYMENT_MECHANISM, + PDU2_OUT_EN_PAYLOAD_PCDU_CH6, + PDU2_OUT_EN_ACS_BOARD_SIDE_B, + PDU2_OUT_EN_PAYLOAD_CAMERA, + PDU2_BOOTCAUSE, + PDU2_BOOTCNT, + PDU2_UPTIME, + PDU2_RESETCAUSE, + PDU2_BATT_MODE, + PDU2_LATCHUP_Q7S, + PDU2_LATCHUP_PAYLOAD_PCDU_CH1, + PDU2_LATCHUP_RW, + PDU2_LATCHUP_TCS_BOARD_HEATER_IN, + PDU2_LATCHUP_SUS_REDUNDANT, + PDU2_LATCHUP_DEPLOYMENT_MECHANISM, + PDU2_LATCHUP_PAYLOAD_PCDU_CH6, + PDU2_LATCHUP_ACS_BOARD_SIDE_B, + PDU2_LATCHUP_PAYLOAD_CAMERA, + PDU2_DEVICE_0, + PDU2_DEVICE_1, + PDU2_DEVICE_2, + PDU2_DEVICE_3, + PDU2_DEVICE_4, + PDU2_DEVICE_5, + PDU2_DEVICE_6, + PDU2_DEVICE_7, + PDU2_DEVICE_0_STATUS, + PDU2_DEVICE_1_STATUS, + PDU2_DEVICE_2_STATUS, + PDU2_DEVICE_3_STATUS, + PDU2_DEVICE_4_STATUS, + PDU2_DEVICE_5_STATUS, + PDU2_DEVICE_6_STATUS, + PDU2_DEVICE_7_STATUS, + PDU2_WDT_CNT_GND, + PDU2_WDT_CNT_I2C, + PDU2_WDT_CNT_CAN, + PDU2_WDT_CNT_CSP1, + PDU2_WDT_CNT_CSP2, + PDU2_WDT_GND_LEFT, + PDU2_WDT_I2C_LEFT, + PDU2_WDT_CAN_LEFT, + PDU2_WDT_CSP_LEFT1, + PDU2_WDT_CSP_LEFT2, + + /** ACU Ids */ + ACU_CURRENT_IN_CHANNEL0, + ACU_CURRENT_IN_CHANNEL1, + ACU_CURRENT_IN_CHANNEL2, + ACU_CURRENT_IN_CHANNEL3, + ACU_CURRENT_IN_CHANNEL4, + ACU_CURRENT_IN_CHANNEL5, + ACU_VOLTAGE_IN_CHANNEL0, + ACU_VOLTAGE_IN_CHANNEL1, + ACU_VOLTAGE_IN_CHANNEL2, + ACU_VOLTAGE_IN_CHANNEL3, + ACU_VOLTAGE_IN_CHANNEL4, + ACU_VOLTAGE_IN_CHANNEL5, + ACU_VCC, + ACU_VBAT, + ACU_TEMPERATURE_1, + ACU_TEMPERATURE_2, + ACU_TEMPERATURE_3, + ACU_MPPT_MODE, + ACU_VBOOST_CHANNEL0, + ACU_VBOOST_CHANNEL1, + ACU_VBOOST_CHANNEL2, + ACU_VBOOST_CHANNEL3, + ACU_VBOOST_CHANNEL4, + ACU_VBOOST_CHANNEL5, + ACU_POWER_CHANNEL0, + ACU_POWER_CHANNEL1, + ACU_POWER_CHANNEL2, + ACU_POWER_CHANNEL3, + ACU_POWER_CHANNEL4, + ACU_POWER_CHANNEL5, + ACU_DAC_EN_0, + ACU_DAC_EN_1, + ACU_DAC_EN_2, + ACU_DAC_RAW_0, + ACU_DAC_RAW_1, + ACU_DAC_RAW_2, + ACU_DAC_RAW_3, + ACU_DAC_RAW_4, + ACU_DAC_RAW_5, + ACU_BOOTCAUSE, + ACU_BOOTCNT, + ACU_UPTIME, + ACU_RESET_CAUSE, + ACU_MPPT_TIME, + ACU_MPPT_PERIOD, + ACU_DEVICE_0, + ACU_DEVICE_1, + ACU_DEVICE_2, + ACU_DEVICE_3, + ACU_DEVICE_4, + ACU_DEVICE_5, + ACU_DEVICE_6, + ACU_DEVICE_7, + ACU_DEVICE_0_STATUS, + ACU_DEVICE_1_STATUS, + ACU_DEVICE_2_STATUS, + ACU_DEVICE_3_STATUS, + ACU_DEVICE_4_STATUS, + ACU_DEVICE_5_STATUS, + ACU_DEVICE_6_STATUS, + ACU_DEVICE_7_STATUS, + ACU_WDT_CNT_GND, + ACU_WDT_GND_LEFT + }; +} + + +namespace P60Dock { + + /** Max reply size reached when requesting full hk table */ + static const uint16_t MAX_REPLY_LENGTH = 407; + + static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408; + static const uint16_t MAX_HKTABLE_ADDRESS = 187; + static const uint16_t HK_TABLE_SIZE = 188; + + static const uint8_t HK_TABLE_DATA_SET_ID = 0x3; + static const uint8_t HK_TABLE_ENTRIES = 100; + + /** + * Requesting the full housekeeping table from the P60 dock will generate a reply comprising + * 402 bytes of data. + */ + static const uint16_t HK_TABLE_REPLY_SIZE = 407; + + /** + * @brief This class defines a dataset for the hk table of the P60 Dock. + */ + class HkTableDataset: + public StaticLocalDataSet { + public: + + HkTableDataset(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, HK_TABLE_DATA_SET_ID) { + } + + HkTableDataset(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, HK_TABLE_DATA_SET_ID)) { + } + + /** Measured output currents */ + lp_var_t currentAcuVcc = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_ACU_VCC, this); + lp_var_t currentPdu1Vcc = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_PDU1_VCC, this); + lp_var_t currentX3IdleVcc = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_X3_IDLE_VCC, this); + lp_var_t currentPdu2Vcc = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_PDU2_VCC, this); + lp_var_t currentAcuVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_ACU_VBAT, this); + lp_var_t currentPdu1Vbat = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_PDU1_VBAT, this); + lp_var_t currentX3IdleVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_X3_IDLE_VBAT, this); + lp_var_t currentPdu2Vbat = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_PDU2_VBAT, this); + lp_var_t currentStackVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_STACK_VBAT, this); + lp_var_t currentStack3V3 = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_STACK_3V3, this); + lp_var_t currentStack5V = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_STACK_5V, this); + lp_var_t currentGS3V3 = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_GS3V3, this); + lp_var_t currentGS5V = lp_var_t(sid.objectId, + P60System::P60DOCK_CURRENT_GS5V, this); + + /** Measured output voltages */ + lp_var_t voltageAcuVcc = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_ACU_VCC, this); + lp_var_t voltagePdu1Vcc = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_PDU1_VCC, this); + lp_var_t voltageX3IdleVcc = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_X3_IDLE_VCC, this); + lp_var_t voltagePdu2Vcc = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_PDU2_VCC, this); + lp_var_t voltageAcuVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_ACU_VBAT, this); + lp_var_t voltagePdu1Vbat = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_PDU1_VBAT, this); + lp_var_t voltageX3IdleVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_X3_IDLE_VBAT, this); + lp_var_t voltagePdu2Vbat = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_PDU2_VBAT, this); + lp_var_t voltageStackVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_STACK_VBAT, this); + lp_var_t voltageStack3V3 = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_STACK_3V3, this); + lp_var_t voltageStack5V = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_STACK_5V, this); + lp_var_t voltageGS3V3 = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_GS3V3, this); + lp_var_t voltageGS5V = lp_var_t(sid.objectId, + P60System::P60DOCK_VOLTAGE_GS5V, this); + + /** Output enable states */ + lp_var_t outputEnableStateAcuVcc = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_ACU_VCC, this); + lp_var_t outputEnableStatePdu1Vcc = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_PDU1_VCC, this); + lp_var_t outputEnableStateX3IdleVcc = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VCC, this); + lp_var_t outputEnableStatePdu2Vcc = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_PDU2_VCC, this); + lp_var_t outputEnableStateAcuVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_ACU_VBAT, this); + lp_var_t outputEnableStatePdu1Vbat = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_PDU1_VBAT, this); + lp_var_t outputEnableStateX3IdleVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT, this); + lp_var_t outputEnableStatePdu2Vbat = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_PDU2_VBAT, this); + lp_var_t outputEnableStateStackVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_STACK_VBAT, this); + lp_var_t outputEnableStateStack3V3 = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_STACK_3V3, this); + lp_var_t outputEnableStateStack5V = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_STACK_5V, this); + lp_var_t outputEnableStateGS3V3 = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_GS3V3, this); + lp_var_t outputEnableStateGS5V = lp_var_t(sid.objectId, + P60System::P60DOCK_OUTPUTENABLE_GS5V, this); + + lp_var_t temperature1 = lp_var_t(sid.objectId, + P60System::P60DOCK_TEMPERATURE_1, this); + lp_var_t temperature2 = lp_var_t(sid.objectId, + P60System::P60DOCK_TEMPERATURE_2, this); + + lp_var_t bootcause = lp_var_t(sid.objectId, + P60System::P60DOCK_BOOT_CAUSE, this); + lp_var_t bootCount = lp_var_t(sid.objectId, + P60System::P60DOCK_BOOT_CNT, this); + lp_var_t uptime = lp_var_t(sid.objectId, + P60System::P60DOCK_UPTIME, this); + lp_var_t resetcause = lp_var_t(sid.objectId, + P60System::P60DOCK_RESETCAUSE, this); + lp_var_t battMode = lp_var_t(sid.objectId, + P60System::P60DOCK_BATT_MODE, this); + /** Battery heater control only possible on BP4 packs */ + lp_var_t heaterOn = lp_var_t(sid.objectId, + P60System::P60DOCK_HEATER_ON, this); + lp_var_t converter5VStatus = lp_var_t(sid.objectId, + P60System::P60DOCK_CONV_5V_ENABLE_STATUS, this); + + /** Number of detected latchups on each output channel */ + lp_var_t latchupsAcuVcc = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_ACU_VCC, this); + lp_var_t latchupsPdu1Vcc = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_PDU1_VCC, this); + lp_var_t latchupsX3IdleVcc = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_X3_IDLE_VCC, this); + lp_var_t latchupsPdu2Vcc = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_PDU2_VCC, this); + lp_var_t latchupsAcuVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_ACU_VBAT, this); + lp_var_t latchupsPdu1Vbat = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_PDU1_VBAT, this); + lp_var_t latchupsX3IdleVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_X3_IDLE_VBAT, this); + lp_var_t latchupsPdu2Vbat = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_PDU2_VBAT, this); + lp_var_t latchupsStackVbat = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_STACK_VBAT, this); + lp_var_t latchupsStack3V3 = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_STACK_3V3, this); + lp_var_t latchupsStack5V = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_STACK_5V, this); + lp_var_t latchupsGS3V3 = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_GS3V3, this); + lp_var_t latchupsGS5V = lp_var_t(sid.objectId, + P60System::P60DOCK_LATCHUP_GS5V, this); + + lp_var_t vbatVoltageValue = lp_var_t(sid.objectId, + P60System::P60DOCK_VBAT_VALUE, this); + lp_var_t vccCurrent = lp_var_t(sid.objectId, + P60System::P60DOCK_VCC_CURRENT_VALUE, this); + lp_var_t batteryCurrent = lp_var_t(sid.objectId, + P60System::P60DOCK_BATTERY_CURRENT, this); + lp_var_t batteryVoltage = lp_var_t(sid.objectId, + P60System::P60DOCK_BATTERY_VOLTAGE, this); + + lp_var_t batteryTemperature1 = lp_var_t(sid.objectId, + P60System::P60DOCK_BATTERY_TEMPERATURE_1, this); + lp_var_t batteryTemperature2 = lp_var_t(sid.objectId, + P60System::P60DOCK_BATTERY_TEMPERATURE_2, this); + + lp_var_t device0 = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_0, this); + lp_var_t device1 = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_1, this); + lp_var_t device2 = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_2, this); + lp_var_t device3 = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_3, this); + lp_var_t device4 = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_4, this); + lp_var_t device5 = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_5, this); + lp_var_t device6 = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_6, this); + lp_var_t device7 = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_7, this); + + lp_var_t device0Status = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_0_STATUS, this); + lp_var_t device1Status = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_1_STATUS, this); + lp_var_t device2Status = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_2_STATUS, this); + lp_var_t device3Status = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_3_STATUS, this); + lp_var_t device4Status = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_4_STATUS, this); + lp_var_t device5Status = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_5_STATUS, this); + lp_var_t device6Status = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_6_STATUS, this); + lp_var_t device7Status = lp_var_t(sid.objectId, + P60System::P60DOCK_DEVICE_7_STATUS, this); + + lp_var_t dearmStatus = lp_var_t(sid.objectId, + P60System::P60DOCK_DEARM_STATUS, this); + + /** Number of reboots due to gnd, i2c, csp watchdog timeout */ + lp_var_t wdtCntGnd = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_CNT_GND, this); + lp_var_t wdtCntI2c = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_CNT_I2C, this); + lp_var_t wdtCntCan = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_CNT_CAN, this); + lp_var_t wdtCntCsp1 = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_CNT_CSP_1, this); + lp_var_t wdtCntCsp2 = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_CNT_CSP_2, this); + + lp_var_t wdtGndLeft = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_GND_LEFT, this); + lp_var_t wdtI2cLeft = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_I2C_LEFT, this); + lp_var_t wdtCanLeft = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_CAN_LEFT, this); + lp_var_t wdtCspLeft1 = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_CSP_LEFT_1, this); + lp_var_t wdtCspLeft2 = lp_var_t(sid.objectId, + P60System::P60DOCK_WDT_CSP_LEFT_2, this); + lp_var_t batteryChargeCurrent = lp_var_t(sid.objectId, + P60System::P60DOCK_BATT_CHARGE_CURRENT, this); + lp_var_t batteryDischargeCurrent = lp_var_t(sid.objectId, + P60System::P60DOCK_BATT_DISCHARGE_CURRENT, this); + lp_var_t ant6Depl = lp_var_t(sid.objectId, + P60System::P60DOCK_ANT6_DEPL, this); + lp_var_t ar6Depl = lp_var_t(sid.objectId, + P60System::P60DOCK_AR6_DEPL, this); + }; +} + + +/** + * @brief Constants common for both PDU1 and PDU2. + */ +namespace PDU{ + /** When retrieving full configuration parameter table */ + static const uint16_t MAX_REPLY_LENGTH = 318; + static const uint16_t MAX_CONFIGTABLE_ADDRESS = 316; + static const uint16_t MAX_HKTABLE_ADDRESS = 141; + /** The size of the csp reply containing the housekeeping table data */ + static const uint16_t HK_TABLE_REPLY_SIZE = 303; + static const uint8_t HK_TABLE_ENTRIES = 73; +} + + +namespace PDU1 { + static const uint32_t HK_TABLE_DATA_SET_ID = 0x1; // hk table has table id 4 + /** + * Addresses within configuration table to enable or disable output channels. Refer also to + * gs-man-nanopower-p60-pdu-200.pdf on page 16. + */ + static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3 = 0x48; + static const uint16_t CONFIG_ADDRESS_OUT_EN_SYRLINKS = 0x49; + static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x50; + static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x51; + static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x52; + static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x53; + static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x54; + static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x55; + static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x56; + + /** + * @brief This class defines a dataset for the hk table of the PDU1. + */ + class PDU1HkTableDataset : + public StaticLocalDataSet { + public: + + PDU1HkTableDataset(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, HK_TABLE_DATA_SET_ID) { + } + + PDU1HkTableDataset(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, HK_TABLE_DATA_SET_ID)) { + } + + /** Measured output currents */ + lp_var_t currentOutTCSBoard3V3 = lp_var_t(sid.objectId, + P60System::PDU1_CURRENT_OUT_TCS_BOARD_3V3, this); + lp_var_t currentOutSyrlinks = lp_var_t(sid.objectId, + P60System::PDU1_CURRENT_OUT_SYRLINKS, this); + lp_var_t currentOutStarTracker = lp_var_t(sid.objectId, + P60System::PDU1_CURRENT_OUT_STAR_TRACKER, this); + lp_var_t currentOutMGT = lp_var_t(sid.objectId, + P60System::PDU1_CURRENT_OUT_MGT, this); + lp_var_t currentOutSUSNominal = lp_var_t(sid.objectId, + P60System::PDU1_CURRENT_OUT_SUS_NOMINAL, this); + lp_var_t currentOutSolarCellExp = lp_var_t(sid.objectId, + P60System::PDU1_CURRENT_OUT_SOLAR_CELL_EXP, this); + lp_var_t currentOutPLOC = lp_var_t(sid.objectId, + P60System::PDU1_CURRENT_OUT_PLOC, this); + lp_var_t currentOutACSBoardSideA = lp_var_t(sid.objectId, + P60System::PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A, this); + lp_var_t currentOutChannel8 = lp_var_t(sid.objectId, + P60System::PDU1_CURRENT_OUT_CHANNEL8, this); + /** Measured voltage of output channels */ + lp_var_t voltageOutTCSBoard3V3 = lp_var_t(sid.objectId, + P60System::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, this); + lp_var_t voltageOutSyrlinks = lp_var_t(sid.objectId, + P60System::PDU1_VOLTAGE_OUT_SYRLINKS, this); + lp_var_t voltageOutStarTracker = lp_var_t(sid.objectId, + P60System::PDU1_VOLTAGE_OUT_STAR_TRACKER, this); + lp_var_t voltageOutMGT = lp_var_t(sid.objectId, + P60System::PDU1_VOLTAGE_OUT_MGT, this); + lp_var_t voltageOutSUSNominal = lp_var_t(sid.objectId, + P60System::PDU1_VOLTAGE_OUT_SUS_NOMINAL, this); + lp_var_t voltageOutSolarCellExp = lp_var_t(sid.objectId, + P60System::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, this); + lp_var_t voltageOutPLOC = lp_var_t(sid.objectId, + P60System::PDU1_VOLTAGE_OUT_PLOC, this); + lp_var_t voltageOutACSBoardSideA = lp_var_t(sid.objectId, + P60System::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A, this); + lp_var_t voltageOutChannel8 = lp_var_t(sid.objectId, + P60System::PDU1_VOLTAGE_OUT_CHANNEL8, this); + /** Measured VCC */ + lp_var_t vcc = lp_var_t(sid.objectId, + P60System::PDU1_VCC, this); + /** Measured VBAT */ + lp_var_t vbat = lp_var_t(sid.objectId, + P60System::PDU1_VBAT, this); + lp_var_t temperature = lp_var_t(sid.objectId, + P60System::PDU1_TEMPERATURE, this); + /** Output converter enable status */ + lp_var_t converterEnable1 = lp_var_t(sid.objectId, + P60System::PDU1_CONV_EN_1, this); + lp_var_t converterEnable2 = lp_var_t(sid.objectId, + P60System::PDU1_CONV_EN_2, this); + lp_var_t converterEnable3 = lp_var_t(sid.objectId, + P60System::PDU1_CONV_EN_3, this); + + /** Output channels enable status */ + lp_var_t outEnabledTCSBoard3V3 = lp_var_t(sid.objectId, + P60System::PDU1_OUT_EN_TCS_BOARD_3V3, this); + lp_var_t outEnabledSyrlinks = lp_var_t(sid.objectId, + P60System::PDU1_OUT_EN_SYRLINKS, this); + lp_var_t outEnabledStarTracker = lp_var_t(sid.objectId, + P60System::PDU1_OUT_EN_STAR_TRACKER, this); + lp_var_t outEnabledMGT = lp_var_t(sid.objectId, + P60System::PDU1_OUT_EN_MGT, this); + lp_var_t outEnabledSUSNominal = lp_var_t(sid.objectId, + P60System::PDU1_OUT_EN_SUS_NOMINAL, this); + lp_var_t outEnabledSolarCellExp = lp_var_t(sid.objectId, + P60System::PDU1_OUT_EN_SOLAR_CELL_EXP, this); + lp_var_t outEnabledPLOC = lp_var_t(sid.objectId, + P60System::PDU1_OUT_EN_PLOC, this); + lp_var_t outEnabledAcsBoardSideA = lp_var_t(sid.objectId, + P60System::PDU1_OUT_EN_ACS_BOARD_SIDE_A, this); + lp_var_t outEnabledChannel8 = lp_var_t(sid.objectId, + P60System::PDU1_OUT_EN_CHANNEL8, this); + lp_var_t bootcause = lp_var_t(sid.objectId, + P60System::PDU1_BOOTCAUSE, this); + /** Number of reboots */ + lp_var_t bootcount = lp_var_t(sid.objectId, + P60System::PDU1_BOOTCNT, this); + /** Uptime in seconds */ + lp_var_t uptime = lp_var_t(sid.objectId, + P60System::PDU1_UPTIME, this); + lp_var_t resetcause = lp_var_t(sid.objectId, + P60System::PDU1_RESETCAUSE, this); + /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */ + lp_var_t battMode = lp_var_t(sid.objectId, + P60System::PDU1_BATT_MODE, this); + + /** Number of detected latchups on each output channel */ + lp_var_t latchupsTcsBoard3V3 = lp_var_t(sid.objectId, + P60System::PDU1_LATCHUP_TCS_BOARD_3V3, this); + lp_var_t latchupsSyrlinks = lp_var_t(sid.objectId, + P60System::PDU1_LATCHUP_SYRLINKS, this); + lp_var_t latchupsStarTracker = lp_var_t(sid.objectId, + P60System::PDU1_LATCHUP_STAR_TRACKER, this); + lp_var_t latchupsMgt = lp_var_t(sid.objectId, + P60System::PDU1_LATCHUP_MGT, this); + lp_var_t latchupsSusNominal = lp_var_t(sid.objectId, + P60System::PDU1_LATCHUP_SUS_NOMINAL, this); + lp_var_t latchupsSolarCellExp = lp_var_t(sid.objectId, + P60System::PDU1_LATCHUP_SOLAR_CELL_EXP, this); + lp_var_t latchupsPloc = lp_var_t(sid.objectId, + P60System::PDU1_LATCHUP_PLOC, this); + lp_var_t latchupsAcsBoardSideA = lp_var_t(sid.objectId, + P60System::PDU1_LATCHUP_ACS_BOARD_SIDE_A, this); + lp_var_t latchupsChannel8 = lp_var_t(sid.objectId, + P60System::PDU1_LATCHUP_CHANNEL8, this); + + /** + * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is + * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18. + */ + lp_var_t device0 = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_0, this); + lp_var_t device1 = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_1, this); + lp_var_t device2 = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_2, this); + lp_var_t device3 = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_3, this); + lp_var_t device4 = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_4, this); + lp_var_t device5 = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_5, this); + lp_var_t device6 = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_6, this); + lp_var_t device7 = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_7, this); + /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */ + lp_var_t device0Status = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_0_STATUS, this); + lp_var_t device1Status = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_1_STATUS, this); + lp_var_t device2Status = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_2_STATUS, this); + lp_var_t device3Status = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_3_STATUS, this); + lp_var_t device4Status = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_4_STATUS, this); + lp_var_t device5Status = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_5_STATUS, this); + lp_var_t device6Status = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_6_STATUS, this); + lp_var_t device7Status = lp_var_t(sid.objectId, + P60System::PDU1_DEVICE_7_STATUS, this); + + /** Number of reboots triggered by the ground watchdog */ + lp_var_t gndWdtReboots = lp_var_t(sid.objectId, + P60System::PDU1_WDT_CNT_GND, this); + /** Number of reboots triggered through the I2C watchdog. Not relevant for EIVE. */ + lp_var_t i2cWdtReboots = lp_var_t(sid.objectId, + P60System::PDU1_WDT_CNT_I2C, this); + /** Number of reboots triggered through the CAN watchdog */ + lp_var_t canWdtReboots = lp_var_t(sid.objectId, + P60System::PDU1_WDT_CNT_CAN, this); + /** Number of reboots triggered through the CSP watchdog */ + lp_var_t csp1WdtReboots = lp_var_t(sid.objectId, + P60System::PDU1_WDT_CNT_CSP1, this); + lp_var_t csp2WdtReboots = lp_var_t(sid.objectId, + P60System::PDU1_WDT_CNT_CSP2, this); + /** Ground watchdog remaining seconds before rebooting */ + lp_var_t groundWatchdogSecondsLeft = lp_var_t(sid.objectId, + P60System::PDU1_WDT_GND_LEFT, this); + /** I2C watchdog remaining seconds before rebooting. Not relevant for EIVE. */ + lp_var_t i2cWatchdogSecondsLeft = lp_var_t(sid.objectId, + P60System::PDU1_WDT_I2C_LEFT, this); + /** CAN watchdog remaining seconds before rebooting. */ + lp_var_t canWatchdogSecondsLeft = lp_var_t(sid.objectId, + P60System::PDU1_WDT_CAN_LEFT, this); + /** CSP watchdogs remaining pings before rebooting. */ + lp_var_t csp2WatchdogPingsLeft = lp_var_t(sid.objectId, + P60System::PDU1_WDT_CSP_LEFT1, this); + lp_var_t csp1WatchdogPingsLeft = lp_var_t(sid.objectId, + P60System::PDU1_WDT_CSP_LEFT2, this); + }; +} + + +namespace PDU2 { + static const uint32_t HK_TABLE_DATA_SET_ID = 0x2; + /** + * Addresses within configuration table to enable or disable output channels. Refer also to + * gs-man-nanopower-p60-pdu-200.pdf on page 16. + */ + static const uint16_t CONFIG_ADDRESS_OUT_EN_Q7S = 0x48; + static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1 = 0x49; + static const uint16_t CONFIG_ADDRESS_OUT_EN_RW = 0x4A; + static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN = 0x4B; + static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT = 0x4C; + static const uint16_t CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM = 0x4D; + static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC = 0x4E; + static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B = 0x4F; + static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x50; + + /** + * @brief This class defines a dataset for the hk table of the PDU2. + */ + class PDU2HkTableDataset: + public StaticLocalDataSet { + public: + + PDU2HkTableDataset(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, HK_TABLE_DATA_SET_ID) { + } + + PDU2HkTableDataset(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, HK_TABLE_DATA_SET_ID)) { + } + + /** Measured output currents */ + lp_var_t currentOutQ7S = lp_var_t(sid.objectId, + P60System::PDU2_CURRENT_OUT_Q7S, this); + lp_var_t currentOutPayloadPCDUCh1 = lp_var_t(sid.objectId, + P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, this); + lp_var_t currentOutReactionWheels = lp_var_t(sid.objectId, + P60System::PDU2_CURRENT_OUT_RW, this); + lp_var_t currentOutTCSBoardHeaterIn = lp_var_t(sid.objectId, + P60System::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, this); + lp_var_t currentOutSUSRedundant = lp_var_t(sid.objectId, + P60System::PDU2_CURRENT_OUT_SUS_REDUNDANT, this); + lp_var_t currentOutDeplMechanism = lp_var_t(sid.objectId, + P60System::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, this); + lp_var_t currentOutPayloadPCDUCh6 = lp_var_t(sid.objectId, + P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, this); + lp_var_t currentOutACSBoardSideB = lp_var_t(sid.objectId, + P60System::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, this); + lp_var_t currentOutPayloadCamera = lp_var_t(sid.objectId, + P60System::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, this); + /** Measured voltage of output channels */ + lp_var_t voltageOutQ7S = lp_var_t(sid.objectId, + P60System::PDU2_VOLTAGE_OUT_Q7S, this); + lp_var_t voltageOutPayloadPCDUCh1 = lp_var_t(sid.objectId, + P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, this); + lp_var_t voltageOutReactionWheels = lp_var_t(sid.objectId, + P60System::PDU2_VOLTAGE_OUT_RW, this); + lp_var_t voltageOutTCSBoardHeaterIn = lp_var_t(sid.objectId, + P60System::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, this); + lp_var_t voltageOutSUSRedundant = lp_var_t(sid.objectId, + P60System::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, this); + lp_var_t voltageOutDeplMechanism = lp_var_t(sid.objectId, + P60System::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, this); + lp_var_t voltageOutPayloadPCDUCh6 = lp_var_t(sid.objectId, + P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, this); + lp_var_t voltageOutACSBoardSideB = lp_var_t(sid.objectId, + P60System::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, this); + lp_var_t voltageOutPayloadCamera = lp_var_t(sid.objectId, + P60System::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, this); + /** Measured VCC */ + lp_var_t vcc = lp_var_t(sid.objectId, + P60System::PDU2_VCC, this); + /** Measured VBAT */ + lp_var_t vbat = lp_var_t(sid.objectId, + P60System::PDU2_VBAT, this); + lp_var_t temperature = lp_var_t(sid.objectId, + P60System::PDU2_TEMPERATURE, this); + /** Output converter enable status */ + lp_var_t converterEnable1 = lp_var_t(sid.objectId, + P60System::PDU2_CONV_EN_1, this); + lp_var_t converterEnable2 = lp_var_t(sid.objectId, + P60System::PDU2_CONV_EN_2, this); + lp_var_t converterEnable3 = lp_var_t(sid.objectId, + P60System::PDU2_CONV_EN_3, this); + /** Output channels enable status */ + lp_var_t outEnabledQ7S = lp_var_t(sid.objectId, + P60System::PDU2_OUT_EN_Q7S, this); + lp_var_t outEnabledPlPCDUCh1 = lp_var_t(sid.objectId, + P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, this); + lp_var_t outEnabledReactionWheels = lp_var_t(sid.objectId, + P60System::PDU2_OUT_EN_RW, this); + lp_var_t outEnabledTCSBoardHeaterIn = lp_var_t(sid.objectId, + P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, this); + lp_var_t outEnabledSUSRedundant = lp_var_t(sid.objectId, + P60System::PDU2_OUT_EN_SUS_REDUNDANT, this); + lp_var_t outEnabledDeplMechanism = lp_var_t(sid.objectId, + P60System::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, this); + lp_var_t outEnabledPlPCDUCh6 = lp_var_t(sid.objectId, + P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, this); + lp_var_t outEnabledAcsBoardSideB = lp_var_t(sid.objectId, + P60System::PDU2_OUT_EN_ACS_BOARD_SIDE_B, this); + lp_var_t outEnabledPayloadCamera = lp_var_t(sid.objectId, + P60System::PDU2_OUT_EN_PAYLOAD_CAMERA, this); + + lp_var_t bootcause = lp_var_t(sid.objectId, + P60System::PDU2_BOOTCAUSE, this); + /** Number of reboots */ + lp_var_t bootcount = lp_var_t(sid.objectId, + P60System::PDU2_BOOTCNT, this); + /** Uptime in seconds */ + lp_var_t uptime = lp_var_t(sid.objectId, + P60System::PDU2_UPTIME, this); + lp_var_t resetcause = lp_var_t(sid.objectId, + P60System::PDU2_RESETCAUSE, this); + /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */ + lp_var_t battMode = lp_var_t(sid.objectId, + P60System::PDU2_BATT_MODE, this); + + /** Number of detected latchups on each output channel */ + lp_var_t latchupsQ7S = lp_var_t(sid.objectId, + P60System::PDU2_LATCHUP_Q7S, this); + lp_var_t latchupsPayloadPcduCh1 = lp_var_t(sid.objectId, + P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH1, this); + lp_var_t latchupsRw = lp_var_t(sid.objectId, + P60System::PDU2_LATCHUP_RW, this); + lp_var_t latchupsTcsBoardHeaterIn = lp_var_t(sid.objectId, + P60System::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, this); + lp_var_t latchupsSusRedundant = lp_var_t(sid.objectId, + P60System::PDU2_LATCHUP_SUS_REDUNDANT, this); + lp_var_t latchupsDeplMenchanism = lp_var_t(sid.objectId, + P60System::PDU2_LATCHUP_DEPLOYMENT_MECHANISM, this); + lp_var_t latchupsPayloadPcduCh6 = lp_var_t(sid.objectId, + P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH6, this); + lp_var_t latchupsAcsBoardSideB = lp_var_t(sid.objectId, + P60System::PDU2_LATCHUP_ACS_BOARD_SIDE_B, this); + lp_var_t latchupsPayloadCamera = lp_var_t(sid.objectId, + P60System::PDU2_LATCHUP_PAYLOAD_CAMERA, this); + + /** + * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is + * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18. + */ + lp_var_t device0 = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_0, this); + lp_var_t device1 = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_1, this); + lp_var_t device2 = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_2, this); + lp_var_t device3 = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_3, this); + lp_var_t device4 = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_4, this); + lp_var_t device5 = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_5, this); + lp_var_t device6 = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_6, this); + lp_var_t device7 = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_7, this); + /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */ + lp_var_t device0Status = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_0_STATUS, this); + lp_var_t device1Status = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_1_STATUS, this); + lp_var_t device2Status = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_2_STATUS, this); + lp_var_t device3Status = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_3_STATUS, this); + lp_var_t device4Status = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_4_STATUS, this); + lp_var_t device5Status = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_5_STATUS, this); + lp_var_t device6Status = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_6_STATUS, this); + lp_var_t device7Status = lp_var_t(sid.objectId, + P60System::PDU2_DEVICE_7_STATUS, this); + + /** Number of reboots triggered by the ground watchdog */ + lp_var_t gndWdtReboots = lp_var_t(sid.objectId, + P60System::PDU2_WDT_CNT_GND, this); + /** Number of reboots triggered through the I2C watchdog. Not relevant for EIVE. */ + lp_var_t i2cWdtReboots = lp_var_t(sid.objectId, + P60System::PDU2_WDT_CNT_I2C, this); + /** Number of reboots triggered through the CAN watchdog */ + lp_var_t canWdtReboots = lp_var_t(sid.objectId, + P60System::PDU2_WDT_CNT_CAN, this); + /** Number of reboots triggered through the CSP watchdog */ + lp_var_t csp1WdtReboots = lp_var_t(sid.objectId, + P60System::PDU2_WDT_CNT_CSP1, this); + lp_var_t csp2WdtReboots = lp_var_t(sid.objectId, + P60System::PDU2_WDT_CNT_CSP2, this); + /** Ground watchdog remaining seconds before rebooting */ + lp_var_t groundWatchdogSecondsLeft = lp_var_t(sid.objectId, + P60System::PDU2_WDT_GND_LEFT, this); + /** I2C watchdog remaining seconds before rebooting. Not relevant for EIVE. */ + lp_var_t i2cWatchdogSecondsLeft = lp_var_t(sid.objectId, + P60System::PDU2_WDT_I2C_LEFT, this); + /** CAN watchdog remaining seconds before rebooting. */ + lp_var_t canWatchdogSecondsLeft = lp_var_t(sid.objectId, + P60System::PDU2_WDT_CAN_LEFT, this); + /** CSP watchdog remaining pings before rebooting. */ + lp_var_t csp1WatchdogPingsLeft = lp_var_t(sid.objectId, + P60System::PDU2_WDT_CSP_LEFT1, this); + lp_var_t csp2WatchdogPingsLeft = lp_var_t(sid.objectId, + P60System::PDU2_WDT_CSP_LEFT2, this); + }; +} + + +namespace ACU { + + static const uint32_t HK_TABLE_DATA_SET_ID = 0x4; + + /* When receiving full housekeeping (telemetry) table */ + static const uint16_t MAX_REPLY_LENGTH = 262; + static const uint16_t MAX_CONFIGTABLE_ADDRESS = 26; + static const uint16_t MAX_HKTABLE_ADDRESS = 120; + static const uint8_t HK_TABLE_ENTRIES = 64; + static const uint16_t HK_TABLE_REPLY_SIZE = 262; + + /** + * @brief This class defines a dataset for the hk table of the ACU. + */ + class HkTableDataset: + public StaticLocalDataSet { + public: + + HkTableDataset(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, HK_TABLE_DATA_SET_ID) { + } + + HkTableDataset(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, HK_TABLE_DATA_SET_ID)) { + } + + lp_var_t currentInChannel0 = lp_var_t(sid.objectId, + P60System::ACU_CURRENT_IN_CHANNEL0, this); + lp_var_t currentInChannel1 = lp_var_t(sid.objectId, + P60System::ACU_CURRENT_IN_CHANNEL1, this); + lp_var_t currentInChannel2 = lp_var_t(sid.objectId, + P60System::ACU_CURRENT_IN_CHANNEL2, this); + lp_var_t currentInChannel3 = lp_var_t(sid.objectId, + P60System::ACU_CURRENT_IN_CHANNEL3, this); + lp_var_t currentInChannel4 = lp_var_t(sid.objectId, + P60System::ACU_CURRENT_IN_CHANNEL4, this); + lp_var_t currentInChannel5 = lp_var_t(sid.objectId, + P60System::ACU_CURRENT_IN_CHANNEL5, this); + + lp_var_t voltageInChannel0 = lp_var_t(sid.objectId, + P60System::ACU_VOLTAGE_IN_CHANNEL0, this); + lp_var_t voltageInChannel1 = lp_var_t(sid.objectId, + P60System::ACU_VOLTAGE_IN_CHANNEL1, this); + lp_var_t voltageInChannel2 = lp_var_t(sid.objectId, + P60System::ACU_VOLTAGE_IN_CHANNEL2, this); + lp_var_t voltageInChannel3 = lp_var_t(sid.objectId, + P60System::ACU_VOLTAGE_IN_CHANNEL3, this); + lp_var_t voltageInChannel4 = lp_var_t(sid.objectId, + P60System::ACU_VOLTAGE_IN_CHANNEL4, this); + lp_var_t voltageInChannel5 = lp_var_t(sid.objectId, + P60System::ACU_VOLTAGE_IN_CHANNEL5, this); + + lp_var_t vcc = lp_var_t(sid.objectId, + P60System::ACU_VCC, this); + lp_var_t vbat = lp_var_t(sid.objectId, + P60System::ACU_VBAT, this); + + lp_var_t temperature1 = lp_var_t(sid.objectId, + P60System::ACU_TEMPERATURE_1, this); + lp_var_t temperature2 = lp_var_t(sid.objectId, + P60System::ACU_TEMPERATURE_2, this); + lp_var_t temperature3 = lp_var_t(sid.objectId, + P60System::ACU_TEMPERATURE_3, this); + + lp_var_t mpptMode = lp_var_t(sid.objectId, + P60System::ACU_MPPT_MODE, this); + + lp_var_t vboostInChannel0 = lp_var_t(sid.objectId, + P60System::ACU_VBOOST_CHANNEL0, this); + lp_var_t vboostInChannel1 = lp_var_t(sid.objectId, + P60System::ACU_VBOOST_CHANNEL1, this); + lp_var_t vboostInChannel2 = lp_var_t(sid.objectId, + P60System::ACU_VBOOST_CHANNEL2, this); + lp_var_t vboostInChannel3 = lp_var_t(sid.objectId, + P60System::ACU_VBOOST_CHANNEL3, this); + lp_var_t vboostInChannel4 = lp_var_t(sid.objectId, + P60System::ACU_VBOOST_CHANNEL4, this); + lp_var_t vboostInChannel5 = lp_var_t(sid.objectId, + P60System::ACU_VBOOST_CHANNEL5, this); + + lp_var_t powerInChannel0 = lp_var_t(sid.objectId, + P60System::ACU_POWER_CHANNEL0, this); + lp_var_t powerInChannel1 = lp_var_t(sid.objectId, + P60System::ACU_POWER_CHANNEL1, this); + lp_var_t powerInChannel2 = lp_var_t(sid.objectId, + P60System::ACU_POWER_CHANNEL2, this); + lp_var_t powerInChannel3 = lp_var_t(sid.objectId, + P60System::ACU_POWER_CHANNEL3, this); + lp_var_t powerInChannel4 = lp_var_t(sid.objectId, + P60System::ACU_POWER_CHANNEL4, this); + lp_var_t powerInChannel5 = lp_var_t(sid.objectId, + P60System::ACU_POWER_CHANNEL5, this); + + lp_var_t dac0Enable = lp_var_t(sid.objectId, + P60System::ACU_DAC_EN_0, this); + lp_var_t dac1Enable = lp_var_t(sid.objectId, + P60System::ACU_DAC_EN_1, this); + lp_var_t dac2Enable = lp_var_t(sid.objectId, + P60System::ACU_DAC_EN_2, this); + + lp_var_t dacRawChannelVal0 = lp_var_t(sid.objectId, + P60System::ACU_DAC_RAW_0, this); + lp_var_t dacRawChannelVal1 = lp_var_t(sid.objectId, + P60System::ACU_DAC_RAW_1, this); + lp_var_t dacRawChannelVal2 = lp_var_t(sid.objectId, + P60System::ACU_DAC_RAW_2, this); + lp_var_t dacRawChannelVal3 = lp_var_t(sid.objectId, + P60System::ACU_DAC_RAW_3, this); + lp_var_t dacRawChannelVal4 = lp_var_t(sid.objectId, + P60System::ACU_DAC_RAW_4, this); + lp_var_t dacRawChannelVal5 = lp_var_t(sid.objectId, + P60System::ACU_DAC_RAW_5, this); + + lp_var_t bootCause = lp_var_t(sid.objectId, + P60System::ACU_BOOTCAUSE, this); + lp_var_t bootcnt = lp_var_t(sid.objectId, + P60System::ACU_BOOTCNT, this); + lp_var_t uptime = lp_var_t(sid.objectId, + P60System::ACU_UPTIME, this); + lp_var_t resetCause = lp_var_t(sid.objectId, + P60System::ACU_RESET_CAUSE, this); + lp_var_t mpptTime = lp_var_t(sid.objectId, + P60System::ACU_MPPT_TIME, this); + lp_var_t mpptPeriod = lp_var_t(sid.objectId, + P60System::ACU_MPPT_PERIOD, this); + + lp_var_t device0 = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_0, this); + lp_var_t device1 = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_1, this); + lp_var_t device2 = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_2, this); + lp_var_t device3 = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_3, this); + lp_var_t device4 = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_4, this); + lp_var_t device5 = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_5, this); + lp_var_t device6 = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_6, this); + lp_var_t device7 = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_7, this); + + lp_var_t device0Status = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_0_STATUS, this); + lp_var_t device1Status = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_1_STATUS, this); + lp_var_t device2Status = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_2_STATUS, this); + lp_var_t device3Status = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_3_STATUS, this); + lp_var_t device4Status = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_4_STATUS, this); + lp_var_t device5Status = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_5_STATUS, this); + lp_var_t device6Status = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_6_STATUS, this); + lp_var_t device7Status = lp_var_t(sid.objectId, + P60System::ACU_DEVICE_7_STATUS, this); + + lp_var_t wdtCntGnd = lp_var_t(sid.objectId, + P60System::ACU_WDT_CNT_GND, this); + lp_var_t wdtGndLeft = lp_var_t(sid.objectId, + P60System::ACU_WDT_GND_LEFT, this); + }; +} + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ */ diff --git a/mission/devices/devicedefinitions/GyroL3GD20Definitions.h b/mission/devices/devicedefinitions/GyroL3GD20Definitions.h new file mode 100644 index 00000000..30669b1d --- /dev/null +++ b/mission/devices/devicedefinitions/GyroL3GD20Definitions.h @@ -0,0 +1,140 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ + +#include +#include +#include + +namespace L3GD20H { + +/* Actual size is 15 but we round up a bit */ +static constexpr size_t MAX_BUFFER_SIZE = 16; + +static constexpr uint8_t READ_MASK = 0b1000'0000; + +static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000; + +static constexpr uint8_t WHO_AM_I_REG = 0b0000'1111; +static constexpr uint8_t WHO_AM_I_VAL = 0b1101'0111; + +/*------------------------------------------------------------------------*/ +/* Control registers */ +/*------------------------------------------------------------------------*/ +static constexpr uint8_t CTRL_REG_1 = 0b0010'0000; +static constexpr uint8_t CTRL_REG_2 = 0b0010'0001; +static constexpr uint8_t CTRL_REG_3 = 0b0010'0010; +static constexpr uint8_t CTRL_REG_4 = 0b0010'0011; +static constexpr uint8_t CTRL_REG_5 = 0b0010'0100; + +/* Register 1 */ +static constexpr uint8_t SET_DR_1 = 1 << 7; +static constexpr uint8_t SET_DR_0 = 1 << 6; +static constexpr uint8_t SET_BW_1 = 1 << 5; +static constexpr uint8_t SET_BW_0 = 1 << 4; +static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3; +static constexpr uint8_t SET_Z_ENABLE = 1 << 2; +static constexpr uint8_t SET_X_ENABLE = 1 << 1; +static constexpr uint8_t SET_Y_ENABLE = 1; + +static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE | + SET_Y_ENABLE | SET_X_ENABLE; + +/* Register 2 */ +static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7; +static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6; +static constexpr uint8_t SET_HPM_1 = 1 << 5; +static constexpr uint8_t SET_HPM_0 = 1 << 4; +static constexpr uint8_t SET_HPCF_3 = 1 << 3; +static constexpr uint8_t SET_HPCF_2 = 1 << 2; +static constexpr uint8_t SET_HPCF_1 = 1 << 1; +static constexpr uint8_t SET_HPCF_0 = 1; + +static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000; + +/* Register 3 */ +static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000; + +/* Register 4 */ +static constexpr uint8_t SET_BNU = 1 << 7; +static constexpr uint8_t SET_BLE = 1 << 6; +static constexpr uint8_t SET_FS_1 = 1 << 5; +static constexpr uint8_t SET_FS_0 = 1 << 4; +static constexpr uint8_t SET_IMP_ENB = 1 << 3; +static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2; +static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1; +static constexpr uint8_t SET_SPI_IF_SELECT = 1; + +/* Enable big endian data format */ +static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE; + +/* Register 5 */ +static constexpr uint8_t SET_REBOOT_MEM = 1 << 7; +static constexpr uint8_t SET_FIFO_ENB = 1 << 6; + +static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000; + +/* Possible range values in degrees per second (DPS). */ +static constexpr uint16_t RANGE_DPS_00 = 245; +static constexpr uint16_t RANGE_DPS_01 = 500; +static constexpr uint16_t RANGE_DPS_11 = 2000; + +static constexpr uint8_t READ_START = CTRL_REG_1; +static constexpr size_t READ_LEN = 14; + +/* Indexing */ +static constexpr uint8_t REFERENCE_IDX = 6; +static constexpr uint8_t TEMPERATURE_IDX = 7; +static constexpr uint8_t STATUS_IDX = 8; +static constexpr uint8_t OUT_X_H = 9; +static constexpr uint8_t OUT_X_L = 10; +static constexpr uint8_t OUT_Y_H = 11; +static constexpr uint8_t OUT_Y_L = 12; +static constexpr uint8_t OUT_Z_H = 13; +static constexpr uint8_t OUT_Z_L = 14; + +/*------------------------------------------------------------------------*/ +/* Device Handler specific */ +/*------------------------------------------------------------------------*/ +static constexpr DeviceCommandId_t READ_REGS = 0; +static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1; +static constexpr DeviceCommandId_t READ_CTRL_REGS = 2; + +static constexpr uint32_t GYRO_DATASET_ID = READ_REGS; + +enum GyroPoolIds: lp_id_t { + ANG_VELOC_X, + ANG_VELOC_Y, + ANG_VELOC_Z, + TEMPERATURE +}; + +} + +class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> { +public: + + /** Constructor for data users like controllers */ + GyroPrimaryDataset(object_id_t mgmId): + StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) { + setAllVariablesReadOnly(); + } + + /* Angular velocities in degrees per second (DPS) */ + lp_var_t angVelocX = lp_var_t(sid.objectId, + L3GD20H::ANG_VELOC_X, this); + lp_var_t angVelocY = lp_var_t(sid.objectId, + L3GD20H::ANG_VELOC_Y, this); + lp_var_t angVelocZ = lp_var_t(sid.objectId, + L3GD20H::ANG_VELOC_Z, this); + lp_var_t temperature = lp_var_t(sid.objectId, + L3GD20H::TEMPERATURE, this); +private: + + friend class GyroHandlerL3GD20H; + /** Constructor for the data creator */ + GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner): + StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {} +}; + + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */ diff --git a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h new file mode 100644 index 00000000..23ff8b9a --- /dev/null +++ b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h @@ -0,0 +1,127 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ + +namespace IMTQ { + + static const DeviceCommandId_t NONE = 0x0; + static const DeviceCommandId_t GET_ENG_HK_DATA = 0x1; + static const DeviceCommandId_t START_ACTUATION_DIPOLE = 0x2; + + static const uint8_t GET_TEMP_REPLY_SIZE = 2; + static const uint8_t CFGR_CMD_SIZE = 3; + static const uint8_t POINTER_REG_SIZE = 1; + + static const uint32_t ENG_HK_DATA_SET_ID = GET_ENG_HK_DATA; + static const uint8_t SIZE_ENG_HK_COMMAND = 1; + static const uint8_t SIZE_ENG_HK_DATA_REPLY = 24; + + static const uint8_t MAX_REPLY_SIZE = SIZE_ENG_HK_DATA_REPLY; + static const uint8_t MAX_COMMAND_SIZE = 9; + + static const uint8_t POOL_ENTRIES = 11; + + /** + * Command code definitions. Each command or reply of an IMTQ request will begin with one of + * the following command codes. + */ + namespace CC { + static const uint8_t START_ACTUATION_DIPOLE = 0x6; + static const uint8_t SOFTWARE_RESET = 0xAA; + static const uint8_t GET_ENG_HK_DATA = 0x4A; + }; + + enum IMTQPoolIds: lp_id_t { + DIGITAL_VOLTAGE_MV, + ANALOG_VOLTAGE_MV, + DIGITAL_CURRENT_A, + ANALOG_CURRENT_A, + COIL_X_CURRENT_A, + COIL_Y_CURRENT_A, + COIL_Z_CURRENT_A, + COIL_X_TEMPERATURE, + COIL_Y_TEMPERATURE, + COIL_Z_TEMPERATURE, + MCU_TEMPERATURE + }; + +class EngHkDataset: + public StaticLocalDataSet { +public: + + EngHkDataset(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) { + } + + EngHkDataset(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) { + } + + lp_var_t digitalVoltageMv = lp_var_t(sid.objectId, + DIGITAL_VOLTAGE_MV, this); + lp_var_t analogVoltageMv = lp_var_t(sid.objectId, + ANALOG_VOLTAGE_MV, this); + lp_var_t digitalCurrentA = lp_var_t(sid.objectId, + DIGITAL_CURRENT_A, this); + lp_var_t analogCurrentA = lp_var_t(sid.objectId, + ANALOG_CURRENT_A, this); + lp_var_t coilXcurrentA = lp_var_t(sid.objectId, + COIL_X_CURRENT_A, this); + lp_var_t coilYcurrentA = lp_var_t(sid.objectId, + COIL_Y_CURRENT_A, this); + lp_var_t coilZcurrentA = lp_var_t(sid.objectId, + COIL_Z_CURRENT_A, this); + /** All temperatures in [°C] */ + lp_var_t coilXTemperature = lp_var_t(sid.objectId, + COIL_X_TEMPERATURE, this); + lp_var_t coilYTemperature = lp_var_t(sid.objectId, + COIL_Y_TEMPERATURE, this); + lp_var_t coilZTemperature = lp_var_t(sid.objectId, + COIL_Z_TEMPERATURE, this); + lp_var_t mcuTemperature = lp_var_t(sid.objectId, + MCU_TEMPERATURE, this); +}; + +/** + * @brief This class can be used to ease the generation of an action message commanding the + * IMTQHandler to configure the magnettorquer with the desired dipoles. + * + * @details Deserialize the packet, write the deserialized data to the ipc store and store the + * the ipc store address in the action message. + */ +class CommandDipolePacket : public SerialLinkedListAdapter { +public: + + CommandDipolePacket() { + setLinks(); + } + +private: + + /** + * @brief Constructor + * + * @param xDipole The dipole of the x coil in 10^-4*Am^2 + * @param yDipole The dipole of the y coil in 10^-4*Am^2 + * @param zDipole The dipole of the z coil in 10^-4*Am^2 + * @param duration The duration in milliseconds the dipole will be generated by the coils. + * When set to 0, the dipole will be generated until a new dipole actuation + * command is sent. + */ + CommandDipolePacket(uint16_t xDipole, uint16_t yDipole, uint16_t zDipole, uint16_t duration) : + xDipole(xDipole), yDipole(yDipole), zDipole(zDipole), duration(duration) { + } + void setLinks() { + setStart(&xDipole); + xDipole.setNext(&yDipole); + yDipole.setNext(&zDipole); + zDipole.setNext(&duration); + } + SerializeElement xDipole; + SerializeElement yDipole; + SerializeElement zDipole; + SerializeElement duration; +}; +} + + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ */ diff --git a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h b/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h index 388b11e2..b8b2463d 100644 --- a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h +++ b/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h @@ -1,6 +1,9 @@ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ +#include +#include +#include #include namespace MGMLIS3MDL { @@ -12,61 +15,76 @@ enum opMode { LOW, MEDIUM, HIGH, ULTRA }; -static const DeviceCommandId_t SETUP_MGM = 0x00; -static const DeviceCommandId_t READALL_MGM = 0x01; -static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02; -static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03; -static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04; +/* Actually 15, we just round up a bit */ +static constexpr size_t MAX_BUFFER_SIZE = 16; -//Number of all control registers +static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100; + +static const DeviceCommandId_t SETUP_MGM = 0x00; +static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01; +static const DeviceCommandId_t READ_TEMPERATURE = 0x02; +static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03; +static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04; +static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05; + +/* Number of all control registers */ static const uint8_t NR_OF_CTRL_REGISTERS = 5; -//Number of registers in the MGM +/* Number of registers in the MGM */ static const uint8_t NR_OF_REGISTERS = 19; -//Total number of adresses for all registers +/* Total number of adresses for all registers */ static const uint8_t TOTAL_NR_OF_ADRESSES = 52; -static const uint8_t SETUP_REPLY = 6; +static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14; +static const uint8_t TEMPERATURE_REPLY_LEN = 3; +static const uint8_t SETUP_REPLY_LEN = 6; /*------------------------------------------------------------------------*/ /* Register adresses */ /*------------------------------------------------------------------------*/ -// Register adress returns identifier of device with default 0b00111101 +/* Register adress returns identifier of device with default 0b00111101 */ static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111; static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device -//Register adress to access register 1 +/* Register adress to access register 1 */ static const uint8_t CTRL_REG1 = 0b00100000; -//Register adress to access register 2 +/* Register adress to access register 2 */ static const uint8_t CTRL_REG2 = 0b00100001; -//Register adress to access register 3 +/* Register adress to access register 3 */ static const uint8_t CTRL_REG3 = 0b00100010; -//Register adress to access register 4 +/* Register adress to access register 4 */ static const uint8_t CTRL_REG4 = 0b00100011; -//Register adress to access register 5 +/* Register adress to access register 5 */ static const uint8_t CTRL_REG5 = 0b00100100; -//Register adress to access status register +/* Register adress to access status register */ +static const uint8_t STATUS_REG_IDX = 8; static const uint8_t STATUS_REG = 0b00100111; - //Register adress to access low byte of x-axis +/* Register adress to access low byte of x-axis */ +static const uint8_t X_LOWBYTE_IDX = 9; static const uint8_t X_LOWBYTE = 0b00101000; -//Register adress to access high byte of x-axis +/* Register adress to access high byte of x-axis */ +static const uint8_t X_HIGHBYTE_IDX = 10; static const uint8_t X_HIGHBYTE = 0b00101001; -//Register adress to access low byte of y-axis +/* Register adress to access low byte of y-axis */ +static const uint8_t Y_LOWBYTE_IDX = 11; static const uint8_t Y_LOWBYTE = 0b00101010; -//Register adress to access high byte of y-axis +/* Register adress to access high byte of y-axis */ +static const uint8_t Y_HIGHBYTE_IDX = 12; static const uint8_t Y_HIGHBYTE = 0b00101011; -//Register adress to access low byte of z-axis +/* Register adress to access low byte of z-axis */ +static const uint8_t Z_LOWBYTE_IDX = 13; static const uint8_t Z_LOWBYTE = 0b00101100; -//Register adress to access high byte of z-axis +/* Register adress to access high byte of z-axis */ +static const uint8_t Z_HIGHBYTE_IDX = 14; static const uint8_t Z_HIGHBYTE = 0b00101101; -//Register adress to access low byte of temperature sensor +/* Register adress to access low byte of temperature sensor */ static const uint8_t TEMP_LOWBYTE = 0b00101110; -//Register adress to access high byte of temperature sensor +/* Register adress to access high byte of temperature sensor */ static const uint8_t TEMP_HIGHBYTE = 0b00101111; /*------------------------------------------------------------------------*/ -/* Initialize Setup Register set bits +/* Initialize Setup Register set bits */ /*------------------------------------------------------------------------*/ /* General transfer bits */ // Read=1 / Write=0 Bit @@ -84,6 +102,8 @@ 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 OM1 = 6; // XY operating mode bit 6 static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1 +static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) | + (1 << DO0) | (1 << DO1) | (1 << DO2); /* CTRL_REG2 bits */ //reset configuration registers and user registers @@ -91,6 +111,7 @@ static const uint8_t SOFT_RST = 2; static const uint8_t REBOOT = 3; //reboot memory content 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 CTRL_REG2_DEFAULT = 0; /* CTRL_REG3 bits */ static const uint8_t MD0 = 0; //Operating mode bit 0 @@ -98,18 +119,48 @@ static const uint8_t MD1 = 1; //Operating mode bit 1 //SPI serial interface mode selection enabled = 3-wire-mode static const uint8_t SIM = 2; static const uint8_t LP = 5; //low-power mode +static const uint8_t CTRL_REG3_DEFAULT = 0; /* CTRL_REG4 bits */ //big/little endian data selection enabled = MSb at lower adress static const uint8_t BLE = 1; 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 CTRL_REG4_DEFAULT = (1 << OMZ1); /* CTRL_REG5 bits */ static const uint8_t BDU = 6; //Block data update static const uint8_t FAST_READ = 7; //Fast read enabled = 1 +static const uint8_t CTRL_REG5_DEFAULT = 0; + +static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA; + +enum MgmPoolIds: lp_id_t { + FIELD_STRENGTH_X, + FIELD_STRENGTH_Y, + FIELD_STRENGTH_Z, + TEMPERATURE_CELCIUS +}; + +class MgmPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> { +public: + MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner): + StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {} + + MgmPrimaryDataset(object_id_t mgmId): + StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {} + + lp_var_t fieldStrengthX = lp_var_t(sid.objectId, + FIELD_STRENGTH_X, this); + lp_var_t fieldStrengthY = lp_var_t(sid.objectId, + FIELD_STRENGTH_Y, this); + lp_var_t fieldStrengthZ = lp_var_t(sid.objectId, + FIELD_STRENGTH_Z, this); + lp_var_t temperature = lp_var_t(sid.objectId, + TEMPERATURE_CELCIUS, this); +}; + } - #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */ diff --git a/mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h b/mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h index 5bf9e8b3..2856c170 100644 --- a/mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h +++ b/mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h @@ -1,8 +1,130 @@ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ +#include +#include +#include +#include +#include + namespace RM3100 { +/* Actually 10, we round up a little bit */ +static constexpr size_t MAX_BUFFER_SIZE = 12; + +static constexpr uint8_t READ_MASK = 0b1000'0000; + +/*----------------------------------------------------------------------------*/ +/* CMM Register */ +/*----------------------------------------------------------------------------*/ +static constexpr uint8_t SET_CMM_CMZ = 1 << 6; +static constexpr uint8_t SET_CMM_CMY = 1 << 5; +static constexpr uint8_t SET_CMM_CMX = 1 << 4; +static constexpr uint8_t SET_CMM_DRDM = 1 << 2; +static constexpr uint8_t SET_CMM_START = 1; +static constexpr uint8_t CMM_REGISTER = 0x01; + +static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | + SET_CMM_DRDM | SET_CMM_START; + +/*----------------------------------------------------------------------------*/ +/* Cycle count register */ +/*----------------------------------------------------------------------------*/ +// Default value (200) +static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8; + +static constexpr float DEFAULT_GAIN = static_cast(CYCLE_COUNT_VALUE) / + 100 * 38; +static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04; + +/*----------------------------------------------------------------------------*/ +/* TMRC register */ +/*----------------------------------------------------------------------------*/ +static constexpr uint8_t TMRC_150HZ_VALUE = 0x94; +static constexpr uint8_t TMRC_75HZ_VALUE = 0x95; +static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96; + +static constexpr uint8_t TMRC_REGISTER = 0x0B; +static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_75HZ_VALUE; + +static constexpr uint8_t MEASUREMENT_REG_START = 0x24; +static constexpr uint8_t BIST_REGISTER = 0x33; +static constexpr uint8_t DATA_READY_VAL = 0b1000'0000; +static constexpr uint8_t STATUS_REGISTER = 0x34; +static constexpr uint8_t REVID_REGISTER = 0x36; + +// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM) +static constexpr uint16_t RANGE = 800; + +static constexpr DeviceCommandId_t READ_DATA = 0; + +static constexpr DeviceCommandId_t CONFIGURE_CMM = 1; +static constexpr DeviceCommandId_t READ_CMM = 2; + +static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3; +static constexpr DeviceCommandId_t READ_TMRC = 4; + +static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5; +static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6; + +class CycleCountCommand: public SerialLinkedListAdapter { +public: + CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) { + setLinks(oneCycleCount); + } + + ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + Endianness streamEndianness) override { + ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, + size, streamEndianness); + if(oneCycleCount) { + cycleCountY = cycleCountX; + cycleCountZ = cycleCountX; + } + return result; + } + + SerializeElement cycleCountX; + SerializeElement cycleCountY; + SerializeElement cycleCountZ; + +private: + void setLinks(bool oneCycleCount) { + setStart(&cycleCountX); + if(not oneCycleCount) { + cycleCountX.setNext(&cycleCountY); + cycleCountY.setNext(&cycleCountZ); + } + } + + bool oneCycleCount; +}; + +static constexpr uint32_t MGM_DATASET_ID = READ_DATA; + +enum MgmPoolIds: lp_id_t { + FIELD_STRENGTH_X, + FIELD_STRENGTH_Y, + FIELD_STRENGTH_Z, +}; + +class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> { +public: + Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner): + StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {} + + Rm3100PrimaryDataset(object_id_t mgmId): + StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {} + + // Field strengths in micro Tesla. + lp_var_t fieldStrengthX = lp_var_t(sid.objectId, + FIELD_STRENGTH_X, this); + lp_var_t fieldStrengthY = lp_var_t(sid.objectId, + FIELD_STRENGTH_Y, this); + lp_var_t fieldStrengthZ = lp_var_t(sid.objectId, + FIELD_STRENGTH_Z, this); +}; + } diff --git a/mission/devices/devicedefinitions/Max31865Definitions.h b/mission/devices/devicedefinitions/Max31865Definitions.h new file mode 100644 index 00000000..d21f41e4 --- /dev/null +++ b/mission/devices/devicedefinitions/Max31865Definitions.h @@ -0,0 +1,54 @@ +#ifndef MISSION_DEVICES_DEVICEPACKETS_THERMALSENSORPACKET_H_ +#define MISSION_DEVICES_DEVICEPACKETS_THERMALSENSORPACKET_H_ + +#include +#include +#include +#include + +namespace Max31865Definitions { + +enum PoolIds: lp_id_t { + TEMPERATURE_C, + FAULT_BYTE +}; + +static constexpr DeviceCommandId_t CONFIG_CMD = 0x80; +static constexpr DeviceCommandId_t REQUEST_CONFIG = 0x00; +static constexpr DeviceCommandId_t REQUEST_RTD = 0x01; +static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = 0x07; + +static constexpr uint32_t MAX31865_SET_ID = REQUEST_RTD; + +static constexpr size_t MAX_REPLY_SIZE = 5; + +class Max31865Set: + public StaticLocalDataSet { +public: + /** + * Constructor used by owner and data creators like device handlers. + * @param owner + * @param setId + */ + Max31865Set(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, MAX31865_SET_ID) { + } + + /** + * Constructor used by data users like controllers. + * @param sid + */ + Max31865Set(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, MAX31865_SET_ID)) { + } + + lp_var_t temperatureCelcius = lp_var_t(sid.objectId, + PoolIds::TEMPERATURE_C, this); + lp_var_t errorByte = lp_var_t(sid.objectId, + PoolIds::FAULT_BYTE, this); +}; + +} + +#endif /* MISSION_DEVICES_DEVICEPACKETS_THERMALSENSORPACKET_H_ */ + diff --git a/mission/devices/devicedefinitions/SyrlinksDefinitions.h b/mission/devices/devicedefinitions/SyrlinksDefinitions.h new file mode 100644 index 00000000..7aa75b99 --- /dev/null +++ b/mission/devices/devicedefinitions/SyrlinksDefinitions.h @@ -0,0 +1,101 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_ + + +namespace SYRLINKS { + + static const DeviceCommandId_t NONE = 0x0; + static const DeviceCommandId_t RESET_UNIT = 0x01; + /** Reads out all status registers */ + static const DeviceCommandId_t READ_RX_STATUS_REGISTERS = 0x02; + /** Sets Tx mode to standby */ + static const DeviceCommandId_t SET_TX_MODE_STANDBY = 0x03; + /** Starts transmission mode. Only reached when clock signal is applying to the data tx input */ + static const DeviceCommandId_t SET_TX_MODE_MODULATION = 0x04; + /** Sends out a single carrier wave for testing purpose */ + static const DeviceCommandId_t SET_TX_MODE_CW = 0x05; + static const DeviceCommandId_t ACK_REPLY = 0x06; + static const DeviceCommandId_t READ_TX_STATUS = 0x07; + static const DeviceCommandId_t READ_TX_WAVEFORM = 0x08; + static const DeviceCommandId_t READ_TX_AGC_VALUE_HIGH_BYTE = 0x09; + static const DeviceCommandId_t READ_TX_AGC_VALUE_LOW_BYTE = 0x0A; + + /** Size of a simple transmission success response */ + static const uint8_t ACK_SIZE = 11; + static const uint8_t SIZE_CRC_AND_TERMINATION = 5; + /** The size of the header with the message identifier and the payload size field */ + static const uint8_t MESSAGE_HEADER_SIZE = 5; + /** Size of reply to an rx status registers request */ + static const uint8_t RX_STATUS_REGISTERS_REPLY_SIZE = 49; + static const uint8_t READ_ONE_REGISTER_REPLY_SIE = 13; + + static const uint8_t RX_DATASET_ID = 0x1; + static const uint8_t TX_DATASET_ID = 0x2; + + static const size_t MAX_REPLY_SIZE = RX_STATUS_REGISTERS_REPLY_SIZE; + static const size_t MAX_COMMAND_SIZE = 15; + + static const size_t CRC_FIELD_SIZE = 4; + + static const uint8_t RX_DATASET_SIZE = 8; + static const uint8_t TX_DATASET_SIZE = 3; + + enum SyrlinksPoolIds: lp_id_t { + RX_STATUS, + RX_SENSITIVITY, + RX_FREQUENCY_SHIFT, + RX_IQ_POWER, + RX_AGC_VALUE, + RX_DEMOD_EB, + RX_DEMOD_N0, + RX_DATA_RATE, + TX_STATUS, + TX_CONV_DIFF, + TX_CONV_FILTER, + TX_WAVEFORM, + TX_PCM_INDEX, + TX_AGC_VALUE, + }; + +class RxDataset: public StaticLocalDataSet { +public: + + RxDataset(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, RX_DATASET_ID) { + } + + RxDataset(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, RX_DATASET_ID)) { + } + + lp_var_t rxStatus = lp_var_t(sid.objectId, RX_STATUS, this); + lp_var_t rxSensitivity = lp_var_t(sid.objectId, RX_SENSITIVITY, this); + lp_var_t rxFrequencyShift = lp_var_t(sid.objectId, RX_FREQUENCY_SHIFT, this); + lp_var_t rxIqPower = lp_var_t(sid.objectId, RX_IQ_POWER, this); + lp_var_t rxAgcValue = lp_var_t(sid.objectId, RX_AGC_VALUE, this); + lp_var_t rxDemodEb = lp_var_t(sid.objectId, RX_DEMOD_EB, this); + lp_var_t rxDemodN0 = lp_var_t(sid.objectId, RX_DEMOD_N0, this); + lp_var_t rxDataRate = lp_var_t(sid.objectId, RX_DATA_RATE, this); +}; + + +class TxDataset: public StaticLocalDataSet { +public: + + TxDataset(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, TX_DATASET_ID) { + } + + TxDataset(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, TX_DATASET_ID)) { + } + + lp_var_t txStatus = lp_var_t(sid.objectId, TX_STATUS, this); + lp_var_t txWaveform = lp_var_t(sid.objectId, TX_WAVEFORM, this); + lp_var_t txAgcValue = lp_var_t(sid.objectId, TX_AGC_VALUE, this); +}; + +} + + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_ */ diff --git a/mission/devices/devicedefinitions/Tmp1075Definitions.h b/mission/devices/devicedefinitions/Tmp1075Definitions.h new file mode 100644 index 00000000..603260ac --- /dev/null +++ b/mission/devices/devicedefinitions/Tmp1075Definitions.h @@ -0,0 +1,47 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_ + +namespace TMP1075 { + static const uint8_t TEMP_REG_ADDR = 0x0; + static const uint8_t CFGR_ADDR = 0x1; + + /* Writing this information to the configuration register sets the tmp1075 + * to shutdown mode and starts a single temperature conversion */ + static const uint16_t ONE_SHOT_MODE = 0x8100; + + static const DeviceCommandId_t NONE = 0x0; // Set when no command is pending + static const DeviceCommandId_t GET_TEMP = 0x1; + static const DeviceCommandId_t START_ADC_CONVERSION = 0x2; + + static const uint8_t GET_TEMP_REPLY_SIZE = 2; + static const uint8_t CFGR_CMD_SIZE = 3; + static const uint8_t POINTER_REG_SIZE = 1; + + static const uint32_t TMP1075_DATA_SET_ID = GET_TEMP; + + static const uint8_t MAX_REPLY_LENGTH = GET_TEMP_REPLY_SIZE; + + enum Tmp1075PoolIds: lp_id_t { + TEMPERATURE_C_TMP1075_1, + TEMPERATURE_C_TMP1075_2 + }; + +class Tmp1075Dataset: + public StaticLocalDataSet { +public: + + Tmp1075Dataset(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, TMP1075_DATA_SET_ID) { + } + + Tmp1075Dataset(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, TMP1075_DATA_SET_ID)) { + } + + lp_var_t temperatureCelcius = lp_var_t(sid.objectId, + TEMPERATURE_C_TMP1075_1, this); +}; +} + + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_ */ diff --git a/mission/utility/CMakeLists.txt b/mission/utility/CMakeLists.txt new file mode 100644 index 00000000..4847dddd --- /dev/null +++ b/mission/utility/CMakeLists.txt @@ -0,0 +1,5 @@ +target_sources(${TARGET_NAME} PUBLIC + TmFunnel.cpp +) + + diff --git a/mission/utility/InitMission.h b/mission/utility/InitMission.h new file mode 100644 index 00000000..b4a83a1e --- /dev/null +++ b/mission/utility/InitMission.h @@ -0,0 +1,22 @@ +#ifndef MISSION_UTILITY_INITMISSION_H_ +#define MISSION_UTILITY_INITMISSION_H_ + +#include +#include + +namespace initmission { + +void printAddObjectError(const char* name, object_id_t objectId) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "InitMission::printAddError: Adding object " << name << " with object ID 0x" + << std::hex << std::setfill('0') << std::setw(8) << objectId + << " failed!" << std::dec << std::endl; +#else + sif::printError("InitMission::printAddError: Adding object %s with object ID 0x%08x failed!\n" , + name, objectId); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +} + +} + +#endif /* MISSION_UTILITY_INITMISSION_H_ */ diff --git a/mission/utility/TmFunnel.cpp b/mission/utility/TmFunnel.cpp index 263aff8d..a567cbd9 100644 --- a/mission/utility/TmFunnel.cpp +++ b/mission/utility/TmFunnel.cpp @@ -1,7 +1,7 @@ #include -#include #include #include +#include #include object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT; @@ -50,7 +50,7 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) { if(result != HasReturnvaluesIF::RETURN_OK){ return result; } - TmPacketBase packet(packetData); + TmPacketPusC packet(packetData); packet.setPacketSequenceCount(this->sourceSequenceCount); sourceSequenceCount++; sourceSequenceCount = sourceSequenceCount % diff --git a/test/test.mk b/test/test.mk deleted file mode 100644 index 701ec2d1..00000000 --- a/test/test.mk +++ /dev/null @@ -1,3 +0,0 @@ -CXXSRC += $(wildcard $(CURRENTPATH)/testdevices/*.cpp) -CXXSRC += $(wildcard $(CURRENTPATH)/testinterfaces/*.cpp) -CXXSRC += $(wildcard $(CURRENTPATH)/testtasks/*.cpp) \ No newline at end of file diff --git a/test/testtasks/CMakeLists.txt b/test/testtasks/CMakeLists.txt new file mode 100644 index 00000000..8d8a17c1 --- /dev/null +++ b/test/testtasks/CMakeLists.txt @@ -0,0 +1,7 @@ +target_sources(${TARGET_NAME} PUBLIC + TestTask.cpp +) + +target_include_directories(${TARGET_NAME} PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) \ No newline at end of file diff --git a/test/testtasks/MutextestTask.cpp b/test/testtasks/MutextestTask.cpp deleted file mode 100644 index 325d0029..00000000 --- a/test/testtasks/MutextestTask.cpp +++ /dev/null @@ -1,41 +0,0 @@ -/* - * MutextestTask.cpp - * - * Created on: 19.07.2018 - * Author: mohr - */ - -#include - -#include - -MutexIF * MutextestTask::mutex = nullptr; - -MutextestTask::MutextestTask(const char *name, object_id_t setObjectId) : - SystemObject(setObjectId), name(name), locked(false) { - if (mutex == NULL) { - mutex = MutexFactory::instance()->createMutex(); - } -} - -ReturnValue_t MutextestTask::performOperation(uint8_t operationCode) { - if (!locked){ - sif::info << name << ": locking..." << std::endl; - ReturnValue_t result = mutex->lockMutex(MutexIF::BLOCKING); - sif::info << name << ": locked with " << (int) result << std::endl; - if (result == HasReturnvaluesIF::RETURN_OK){ - locked = true; - } - } else { - sif::info << name << ": releasing" << std::endl; - mutex->unlockMutex(); - locked = false; - } - - return HasReturnvaluesIF::RETURN_OK; -} - -MutextestTask::~MutextestTask() { -// TODO Auto-generated destructor stub -} - diff --git a/test/testtasks/MutextestTask.h b/test/testtasks/MutextestTask.h deleted file mode 100644 index 14b81028..00000000 --- a/test/testtasks/MutextestTask.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * MutextestTask.h - * - * Created on: 19.07.2018 - * Author: mohr - */ - -#ifndef MISSION_MUTEXTESTTASK_H_ -#define MISSION_MUTEXTESTTASK_H_ - -#include -#include -#include - -/** - * Start two of them with a little time difference and different periods to see mutex in action - */ - -class MutextestTask: public SystemObject, public ExecutableObjectIF { -public: - - virtual ReturnValue_t performOperation(uint8_t operationCode = 0); - - MutextestTask(const char *name, object_id_t setObjectId); - virtual ~MutextestTask(); -private: - static MutexIF *mutex; - const char * name; - bool locked; -}; - -#endif /* MISSION_MUTEXTESTTASK_H_ */ diff --git a/test/testtasks/TestTask.cpp b/test/testtasks/TestTask.cpp index e6fb8457..88a5d13e 100644 --- a/test/testtasks/TestTask.cpp +++ b/test/testtasks/TestTask.cpp @@ -1,4 +1,6 @@ -#include +#include "TestTask.h" +#include + #include #include #include @@ -8,65 +10,109 @@ #include #include -bool TestTask::oneShotAction = true; -MutexIF* TestTask::testLock = nullptr; TestTask::TestTask(object_id_t objectId_): - SystemObject(objectId_), testMode(testModes::A) { - if(testLock == nullptr) { - testLock = MutexFactory::instance()->createMutex(); - } - IPCStore = objectManager->get(objects::IPC_STORE); +SystemObject(objectId_), testMode(testModes::A) { + IPCStore = objectManager->get(objects::IPC_STORE); } TestTask::~TestTask() { } ReturnValue_t TestTask::performOperation(uint8_t operationCode) { - ReturnValue_t result = RETURN_OK; - sif::info << "Hallo EIVE!" << std::endl; - testLock ->lockMutex(MutexIF::TimeoutType::WAITING, 20); - if(oneShotAction) { - // Add code here which should only be run once - performOneShotAction(); - oneShotAction = false; - } - testLock->unlockMutex(); + ReturnValue_t result = RETURN_OK; - // Add code here which should only be run once per performOperation - performPeriodicAction(); + if(oneShotAction) { + /* Add code here which should only be run once */ + performOneShotAction(); + oneShotAction = false; + } - // Add code here which should only be run on alternating cycles. - if(testMode == testModes::A) { - performActionA(); - testMode = testModes::B; - } - else if(testMode == testModes::B) { - performActionB(); - testMode = testModes::A; - } - return result; + /* Add code here which should only be run once per performOperation */ + performPeriodicAction(); + + /* Add code here which should only be run on alternating cycles. */ + if(testMode == testModes::A) { + performActionA(); + testMode = testModes::B; + } + else if(testMode == testModes::B) { + performActionB(); + testMode = testModes::A; + } + return result; } +#include +#include + +/** + * @brief Dummy data from GPS receiver. Will be replaced witgh hyperion data later. + */ +const char +gps_rx_data[] = "" + "$GPRMC,183729,A,3907.356,N,12102.482,W,000.0,360.0,080301,015.5,E*6F\r\n" + "$GPRMB,A,,,,,,,,,,,,V*71\r\n" + "$GPGGA,183730,3907.356,N,12102.482,W,1,05,1.6,646.4,M,-24.1,M,,*75\r\n" + "$GPGSA,A,3,02,,,07,,09,24,26,,,,,1.6,1.6,1.0*3D\r\n" + "$GPGSV,2,1,08,02,43,088,38,04,42,145,00,05,11,291,00,07,60,043,35*71\r\n" + "$GPGSV,2,2,08,08,02,145,00,09,46,303,47,24,16,178,32,26,18,231,43*77\r\n" + "$PGRME,22.0,M,52.9,M,51.0,M*14\r\n" + "$GPGLL,3907.360,N,12102.481,W,183730,A*33\r\n" + "$PGRMZ,2062,f,3*2D\r\n" + "$PGRMM,WGS84*06\r\n" + "$GPBOD,,T,,M,,*47\r\n" + "$GPRTE,1,1,c,0*07\r\n" + "$GPRMC,183731,A,3907.482,N,12102.436,W,000.0,360.0,080301,015.5,E*67\r\n" + "$GPRMB,A,,,,,,,,,,,,V*71\r\n"; + +const char hyperion_gps_data[] = "" + "$GNGGA,173225.998892,4908.5596,N,00906.2765,E,1,05,2.1,215.0,M,48.2,M,,0000*74\r\n" + "$GNGLL,4908.5596,N,00906.2765,E,173225.998892,A,A*7F\r\n" + "$GPGSA,A,3,18,16,26,31,20,,,,,,,,3.2,2.1,2.4*3C\r\n" + "$GNRMC,173225.998892,A,4908.5596,N,00906.2765,E,000.0,040.7,270221,,,A*4F\r\n" + "$GNVTG,040.7,T,,M,000.0,N,000.0,K,A*10\r\n" + "$GNZDA,173225.998892,27,02,2021,00,00*75\r\n"; + ReturnValue_t TestTask::performOneShotAction() { - // Everything here will only be performed once. +#if OBSW_ADD_TEST_CODE == 1 + //performLwgpsTest(); +#endif return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t TestTask::performPeriodicAction() { - ReturnValue_t result = RETURN_OK; - return result; + ReturnValue_t result = RETURN_OK; + return result; } ReturnValue_t TestTask::performActionA() { - ReturnValue_t result = RETURN_OK; - // Add periodically executed code here - return result; + ReturnValue_t result = RETURN_OK; + /* Add periodically executed code here */ + return result; } ReturnValue_t TestTask::performActionB() { - ReturnValue_t result = RETURN_OK; - // Add periodically executed code here - return result; + ReturnValue_t result = RETURN_OK; + /* Add periodically executed code here */ + return result; +} + +void TestTask::performLwgpsTest() { + /* Everything here will only be performed once. */ + sif::info << "Processing sample GPS output.." << std::endl; + + lwgps_t gpsStruct; + sif::info << "Size of GPS struct: " << sizeof(gpsStruct) << std::endl; + lwgps_init(&gpsStruct); + + /* Process all input data */ + lwgps_process(&gpsStruct, hyperion_gps_data, strlen(hyperion_gps_data)); + + /* Print messages */ + printf("Valid status: %d\n", gpsStruct.is_valid); + printf("Latitude: %f degrees\n", gpsStruct.latitude); + printf("Longitude: %f degrees\n", gpsStruct.longitude); + printf("Altitude: %f meters\n", gpsStruct.altitude); } diff --git a/test/testtasks/TestTask.h b/test/testtasks/TestTask.h index 24e62af1..e2e8db48 100644 --- a/test/testtasks/TestTask.h +++ b/test/testtasks/TestTask.h @@ -48,9 +48,10 @@ protected: private: // Actually, to be really thread-safe, a mutex should be used as well // Let's keep it simple for now. - static bool oneShotAction; - static MutexIF* testLock; + bool oneShotAction = true; StorageManagerIF* IPCStore; + + void performLwgpsTest(); }; diff --git a/thirdparty/etl b/thirdparty/etl new file mode 160000 index 00000000..ae06e641 --- /dev/null +++ b/thirdparty/etl @@ -0,0 +1 @@ +Subproject commit ae06e6417702b770c49289c9e7162cb3f4a5a217 diff --git a/thirdparty/libcsp/CMakeLists.txt b/thirdparty/libcsp/CMakeLists.txt new file mode 100644 index 00000000..5c9f7677 --- /dev/null +++ b/thirdparty/libcsp/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.13) + +set(LIB_CSP_NAME libcsp) + +add_library(${LIB_CSP_NAME}) + +add_subdirectory(src) +add_subdirectory(include) + +target_include_directories(${LIB_CSP_NAME} PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR} +) \ No newline at end of file diff --git a/thirdparty/libcsp/bindings/python/libcsp/__init__.py b/thirdparty/libcsp/bindings/python/libcsp/__init__.py new file mode 100644 index 00000000..39de36b5 --- /dev/null +++ b/thirdparty/libcsp/bindings/python/libcsp/__init__.py @@ -0,0 +1,6 @@ +import sys + +if sys.version_info >= (3, 0): + from libcsp_py3 import * +else: + from libcsp_py2 import * diff --git a/thirdparty/libcsp/doc/example.rst b/thirdparty/libcsp/doc/example.rst new file mode 100644 index 00000000..b82a055e --- /dev/null +++ b/thirdparty/libcsp/doc/example.rst @@ -0,0 +1,123 @@ +Client and server example +========================= + +The following examples show the initialization of the protocol stack and examples of client/server code. + +Initialization Sequence +----------------------- + +This code initializes the CSP buffer system, device drivers and router core. The example uses the CAN interface function csp_can_tx but the initialization is similar for other interfaces. The loopback interface does not require any explicit initialization. + +.. code-block:: c + + #include + #include + + /* CAN configuration struct for SocketCAN interface "can0" */ + struct csp_can_config can_conf = {.ifc = "can0"}; + + /* Init buffer system with 10 packets of maximum 320 bytes each */ + csp_buffer_init(10, 320); + + /* Init CSP with address 1 */ + csp_init(1); + + /* Init the CAN interface with hardware filtering */ + csp_can_init(CSP_CAN_MASKED, &can_conf) + + /* Setup default route to CAN interface */ + csp_route_set(CSP_DEFAULT_ROUTE, &csp_can_tx, CSP_HOST_MAC); + + /* Start router task with 500 word stack, OS task priority 1 */ + csp_route_start_task(500, 1); + +Server +------ + +This example shows how to create a server task that listens for incoming connections. CSP should be initialized before starting this task. Note the use of `csp_service_handler()` as the default branch in the port switch case. The service handler will automatically reply to ICMP-like requests, such as pings and buffer status requests. + +.. code-block:: c + + void csp_task(void *parameters) { + /* Create socket without any socket options */ + csp_socket_t *sock = csp_socket(CSP_SO_NONE); + + /* Bind all ports to socket */ + csp_bind(sock, CSP_ANY); + + /* Create 10 connections backlog queue */ + csp_listen(sock, 10); + + /* Pointer to current connection and packet */ + csp_conn_t *conn; + csp_packet_t *packet; + + /* Process incoming connections */ + while (1) { + /* Wait for connection, 10000 ms timeout */ + if ((conn = csp_accept(sock, 10000)) == NULL) + continue; + + /* Read packets. Timout is 1000 ms */ + while ((packet = csp_read(conn, 1000)) != NULL) { + switch (csp_conn_dport(conn)) { + case MY_PORT: + /* Process packet here */ + default: + /* Let the service handler reply pings, buffer use, etc. */ + csp_service_handler(conn, packet); + break; + } + } + + /* Close current connection, and handle next */ + csp_close(conn); + } + } + +Client +------ + +This example shows how to allocate a packet buffer, connect to another host and send the packet. CSP should be initialized before calling this function. RDP, XTEA, HMAC and CRC checksums can be enabled per connection, by setting the connection option to a bitwise OR of any combination of `CSP_O_RDP`, `CSP_O_XTEA`, `CSP_O_HMAC` and `CSP_O_CRC`. + +.. code-block:: c + + int send_packet(void) { + + /* Get packet buffer for data */ + csp_packet_t *packet = csp_buffer_get(data_size); + if (packet == NULL) { + /* Could not get buffer element */ + printf("Failed to get buffer element\\n"); + return -1; + } + + /* Connect to host HOST, port PORT with regular UDP-like protocol and 1000 ms timeout */ + csp_conn_t *conn = csp_connect(CSP_PRIO_NORM, HOST, PORT, 1000, CSP_O_NONE); + if (conn == NULL) { + /* Connect failed */ + printf("Connection failed\\n"); + /* Remember to free packet buffer */ + csp_buffer_free(packet); + return -1; + } + + /* Copy message to packet */ + char *msg = "HELLO"; + strcpy(packet->data, msg); + + /* Set packet length */ + packet->length = strlen(msg); + + /* Send packet */ + if (!csp_send(conn, packet, 1000)) { + /* Send failed */ + printf("Send failed\\n"); + csp_buffer_free(packet); + } + + /* Close connection */ + csp_close(conn); + + return 0 + } diff --git a/thirdparty/libcsp/doc/history.rst b/thirdparty/libcsp/doc/history.rst new file mode 100644 index 00000000..ad064873 --- /dev/null +++ b/thirdparty/libcsp/doc/history.rst @@ -0,0 +1,17 @@ +History +======= + +The idea was developed by a group of students from Aalborg University in 2008. In 2009 the main developer started working for GomSpace, and CSP became integrated into the GomSpace products. The protocol is based on a 32-bit header containing both transport, network and MAC-layer information. It's implementation is designed for, but not limited to, embedded systems such as the 8-bit AVR microprocessor and the 32-bit ARM and AVR from Atmel. The implementation is written in C and is currently ported to run on FreeRTOS and POSIX and pthreads based operating systems like Linux and BSD. The three letter acronym CSP was originally an abbreviation for CAN Space Protocol because the first MAC-layer driver was written for CAN-bus. Now the physical layer has extended to include spacelink, I2C and RS232, the name was therefore extended to the more general CubeSat Space Protocol without changing the abbreviation. + +Satellites using CSP +-------------------- + +This is the known list of satellites or organisations that uses CSP. + + * GomSpace GATOSS GOMX-1 + * AAUSAT-3 + * EgyCubeSat + * EuroLuna + * NUTS + * Hawaiian Space Flight Laboratory + * GomSpace GOMX-3 diff --git a/thirdparty/libcsp/doc/interfaces.rst b/thirdparty/libcsp/doc/interfaces.rst new file mode 100644 index 00000000..5a80325c --- /dev/null +++ b/thirdparty/libcsp/doc/interfaces.rst @@ -0,0 +1,95 @@ +CSP Interfaces +============== + +This is an example of how to implement a new layer-2 interface in CSP. The example is going to show how to create a `csp_if_fifo`, using a set of [named pipes](http://en.wikipedia.org/wiki/Named_pipe). The complete interface example code can be found in `examples/fifo.c`. For an example of a fragmenting interface, see the CAN interface in `src/interfaces/csp_if_can.c`. + +CSP interfaces are declared in a `csp_iface_t` structure, which sets the interface nexthop function and name. A maximum transmission unit can also be set, which forces CSP to drop outgoing packets above a certain size. The fifo interface is defined as: + +.. code-block:: c + + #include + #include + + csp_iface_t csp_if_fifo = { + .name = "fifo", + .nexthop = csp_fifo_tx, + .mtu = BUF_SIZE, + }; + +Outgoing traffic +---------------- + +The nexthop function takes a pointer to a CSP packet and a timeout as parameters. All outgoing packets that are routed to the interface are passed to this function: + +.. code-block:: c + + int csp_fifo_tx(csp_packet_t *packet, uint32_t timeout) { + write(tx_channel, &packet->length, packet->length + sizeof(uint32_t) + sizeof(uint16_t)); + csp_buffer_free(packet); + return 1; + } + +In the fifo interface, we simply transmit the header, length field and data using a write to the fifo. CSP does not dictate the wire format, so other interfaces may decide to e.g. ignore the length field if the physical layer provides start/stop flags. + +_Important notice: If the transmission succeeds, the interface must free the packet and return 1. If transmission fails, the nexthop function should return 0 and not free the packet, to allow retransmissions by the caller._ + +Incoming traffic +---------------- + +The interface also needs to receive incoming packets and pass it to the CSP protocol stack. In the fifo interface, this is handled by a thread that blocks on the incoming fifo and waits for packets: + +.. code-block:: c + + void * fifo_rx(void * parameters) { + csp_packet_t *buf = csp_buffer_get(BUF_SIZE); + /* Wait for packet on fifo */ + while (read(rx_channel, &buf->length, BUF_SIZE) > 0) { + csp_qfifo_write(buf, &csp_if_fifo, NULL); + buf = csp_buffer_get(BUF_SIZE); + } + } + +A new CSP buffer is preallocated with csp_buffer_get(). When data is received, the packet is passed to CSP using `csp_qfifo_write()` and a new buffer is allocated for the next packet. In addition to the received packet, `csp_qfifo_write()` takes two additional arguments: + +.. code-block:: c + + void csp_qfifo_write(csp_packet_t *packet, csp_iface_t *interface, CSP_BASE_TYPE *pxTaskWoken); + +The calling interface must be passed in `interface` to avoid routing loops. Furthermore, `pxTaskWoken` must be set to a non-NULL value if the packet is received in an interrupt service routine. If the packet is received in task context, NULL must be passed. 'pxTaskWoken' only applies to FreeRTOS systems, and POSIX system should always set the value to NULL. + +`csp_qfifo_write` will either accept the packet or free the packet buffer, so the interface must never free the packet after passing it to CSP. + +Initialization +-------------- + +In order to initialize the interface, and make it available to the router, use the following function found in `csp/csp_interface.h`: + +.. code-block:: c + + csp_route_add_if(&csp_if_fifo); + +This actually happens automatically if you try to call `csp_route_add()` with an interface that is unknown to the router. This may however be removed in the future, in order to ensure that all interfaces are initialised before configuring the routing table. The reason is, that some products released in the future may ship with an empty routing table, which is then configured by a routing protocol rather than a static configuration. + +In order to setup a manual static route, use the following example where the default route is set to the fifo interface: + +.. code-block:: c + + csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_fifo, CSP_NODE_MAC); + +All outgoing traffic except loopback, is now passed to the fifo interface's nexthop function. + +Building the example +-------------------- + +The fifo examples can be compiled with: + +.. code-block:: bash + + % gcc csp_if_fifo.c -o csp_if_fifo -I/include -L/build -lcsp -lpthread -lrt + +The two named pipes are created with: + +.. code-block:: bash + + % mkfifo server_to_client client_to_server + diff --git a/thirdparty/libcsp/doc/libcsp.rst b/thirdparty/libcsp/doc/libcsp.rst new file mode 100644 index 00000000..f866015f --- /dev/null +++ b/thirdparty/libcsp/doc/libcsp.rst @@ -0,0 +1,21 @@ +.. CSP Documentation master file. + +.. _libcsp: + +********************** +CubeSat Space Protocol +********************** + +.. toctree:: + :maxdepth: 3 + + ../README + history + structure + interfaces + memory + protocolstack + topology + mtu + example + diff --git a/thirdparty/libcsp/doc/memory.rst b/thirdparty/libcsp/doc/memory.rst new file mode 100644 index 00000000..4e38d711 --- /dev/null +++ b/thirdparty/libcsp/doc/memory.rst @@ -0,0 +1,28 @@ +How CSP uses memory +=================== + +CSP has been written for small microprocessor systems. The way memory is handled is therefore a tradeoff between the amount used and the code efficiency. This section tries to give some answers to what the memory is used for and how it it used. The primary memory blocks in use by CSP is: + + * Routing table + * Ports table + * Connection table + * Buffer pool + * Interface list + +Tables +------ +The reason for using tables for the routes, ports and connections is speed. When a new packet arrives the core of CSP needs to do a quick lookup in the connection so see if it can find an existing connection to which the packet matches. If this is not found, it will take a lookup in the ports table to see if there are any applications listening on the incoming port number. Another argument of using tables are pre-allocation. The linker will reserve an area of the memory for which the routes and connections can be stored. This avoid an expensive `malloc()` call during initialization of CSP, and practically costs zero CPU instructions. The downside of using tables are the wasted memory used by unallocated ports and connections. For the routing table the argumentation is the same, pre-allocation is better than calling `malloc()`. + +Buffer Pool +----------- + +The buffer handling system can be compiled for either static allocation or a one-time dynamic allocation of the main memory block. After this, the buffer system is entirely self-contained. All allocated elements are of the same size, so the buffer size must be chosen to be able to handle the maximum possible packet length. The buffer pool uses a queue to store pointers to free buffer elements. First of all, this gives a very quick method to get the next free element since the dequeue is an O(1) operation. Furthermore, since the queue is a protected operating system primitive, it can be accessed from both task-context and interrupt-context. The `csp_buffer_get` version is for task-context and `csp_buffer_get_isr` is for interrupt-context. Using fixed size buffer elements that are preallocated is again a question of speed and safety. + + +A basic concept of the buffer system is called Zero-Copy. This means that from userspace to the kernel-driver, the buffer is never copied from one buffer to another. This is a big deal for a small microprocessor, where a call to `memcpy()` can be very expensive. In practice when data is inserted into a packet, it is shifted a certain number of bytes in order to allow for a packet header to be prepended at the lower layers. This also means that there is a strict contract between the layers, which data can be modified and where. The buffer object is normally casted to a `csp_packet_t`, but when its given to an interface on the MAC layer it's casted to a `csp_i2c_frame_t` for example. + +Interface list +-------------- + +The interface list is a simple single-ended linked list of references to the interface specification structures. These structures are static const and allocated by the linker. The pointer to this data is inserted into the list one time during setup of the interface. Each entry in the routing table has a direct pointer to the interface element, thereby avoiding list lookup, but the list is needed in order for the dynamic route configuration to know which interfaces are available. + diff --git a/thirdparty/libcsp/doc/mtu.rst b/thirdparty/libcsp/doc/mtu.rst new file mode 100644 index 00000000..27753300 --- /dev/null +++ b/thirdparty/libcsp/doc/mtu.rst @@ -0,0 +1,19 @@ +Maximum Transfer Unit +===================== + +There are two things limiting the MTU of CSP. + + 1. The pre-allocated buffer pool’s allocation size + 2. The link layer protocol. + +So let’s assume that you have made a protocol called KISS with a MTU of 256. The 256 is the total amount of data that you can put into the CSP-packet. However, you need to take the overhead of the link layer into account. Typically this could consist of a length field and/or a start/stop flag. So the actual frame size on the link layer would for example be 256 bytes of data + 2 bytes sync flag + 2 bytes length field. + +This requires a buffer allocation of at lest 256 + 2 + 2. However, the CSP packet itself has some reserved bytes in the beginning of the packet (which you can see in csp.h) - so the recommended buffer allocation size is MAX MTU + 16 bytes. In this case the max MTU would be 256. + +If you try to pass data which is longer than the MTU, the chance is that you will also make a buffer overflow in the CSP buffer pool. However, lets assume that you have two interfaces one with an MTU of 200 bytes and another with an MTU of 100 bytes. In this case you might successfully transfer 150 bytes over the first interface, but the packet will be rejected once it comes to the second interface. + +If you want to increase your MTU of a specific link layer, it is up to the link layer protocol to implement its own fragmentation protocol. A good example is CAN-bus which only allows a frame size of 8 bytes. libcsp have a small protocol for this called the “CAN fragmentation protocol" or CFP for short. This allows data of much larger size to be transferred over the CAN bus. + +Okay, but what if you want to transfer 1000 bytes, and the network maximum MTU is 256? Well, since CSP does not include streaming sockets, only packet’s. Somebody will have to split that data up into chunks. It might be that you application have special knowledge about the datatype you are transmitting, and that it makes sense to split the 1000 byte content into 10 chunks of 100 byte status messages. This, application layer delimitation might be good if you have a situation with packet loss, because your receiver could still make good usage of the partially delivered chunks. + +But, what if you just want 1000 bytes transmitted, and you don’t care about the fragmentation unit, and also don’t want the hassle of writing the fragmentation code yourself? - In this case, libcsp now features a new (still experimental) feature called SFP (small fragmentation protocol) designed to work on the application layer. For this purpose you will not use csp_send and csp_recv, but csp_sfp_send and csp_sfp_recv. This will split your data into chunks of a certain size, enumerate them and transfer over a given connection. If a chunk is missing the SFP client will abort the reception, because SFP does not provide retransmission. If you wish to also have retransmission and orderly delivery you will have to open an RDP connection and send your SFP message to that connection. diff --git a/thirdparty/libcsp/doc/protocolstack.rst b/thirdparty/libcsp/doc/protocolstack.rst new file mode 100644 index 00000000..365aabbe --- /dev/null +++ b/thirdparty/libcsp/doc/protocolstack.rst @@ -0,0 +1,54 @@ +The Protocol Stack +================== + +The CSP protocol stack includes functionality on all layers of the TCP/IP model: + +Layer 1: Drivers +---------------- + +Lib CSP is not designed for any specific processor or hardware peripheral, but yet these drivers are required in order to work. The intention of LibCSP is not to provide CAN, I2C or UART drivers for all platforms, however some drivers has been included for some platforms. If you do not find your platform supported, it is quite simple to add a driver that conforms to the CSP interfaces. For example the I2C driver just requires three functions: `init`, `send` and `recv`. For good stability and performance interrupt driven drivers are preferred in favor of polled drivers. Where applicable also DMA usage is recommended. + +Layer 2: MAC interfaces +----------------------- + +CSP has interfaces for I2C, CAN, RS232 (KISS) and Loopback. The layer 2 protocol software defines a frame-format that is suitable for the media. CSP can be easily extended with implementations for even more links. For example a radio-link and IP-networks. The file `csp_interface.h` declares the rx and tx functions needed in order to define a network interface in CSP. During initialisation of CSP each interface will be inserted into a linked list of interfaces that is available to the router. In cases where link-layer addresses are required, such as I2C, the routing table supports specifying next-hop link-layer address directly. This avoids the need to implement an address resolution protocol to translate CSP addresses to I2C addresses. + +Layer 3: Network Router +----------------------- + +The router core is the backbone of the CSP implementation. The router works by looking at a 32-bit CSP header which contains the delivery and source address together with port numbers for the connection. Each router supports both local delivery and forwarding of frames to another destination. Frames will never exit the router on the same interface that they arrives at, this concept is called split horizon, and helps prevent routing loops. + +The main purpose of the router is to accept incoming packets and deliver them to the right message queue. Therefore, in order to listen on a port-number on the network, a task must create a socket and call the accept() call. This will make the task block and wait for incoming traffic, just like a web-server or similar. When an incoming connection is opened, the task is woken. Depending on the task-priority, the task can even preempt another task and start execution immediately. + +There is no routing protocol for automatic route discovery, all routing tables are pre-programmed into the subsystems. The table itself contains a separate route to each of the possible 32 nodes in the network and the additional default route. This means that the overall topology must be decided before putting sub-systems together, as explained in the `topology.md` file. However CSP has an extension on port zero CMP (CSP management protocol), which allows for over-the-network routing table configuration. This has the advantage that default routes could be changed if for example the primary radio fails, and the secondary should be used instead. + +Layer 4: Transport Layer +------------------------ + +LibCSP implements two different Transport Layer protocols, they are called UDP (unreliable datagram protocol) and RDP (reliable datagram protocol). The name UDP has not been chosen to be an exact replica of the UDP (user datagram protocol) known from the TCP/IP model, but they have certain similarities. + +The most important thing to notice is that CSP is entirely a datagram service. There is no stream based service like TCP. A datagram is defined a block of data with a specified size and structure. This block enters the transport layer as a single datagram and exits the transport layer in the other end as a single datagram. CSP preserves this structure all the way to the physical layer for I2C, KISS and Loopback interfaces are used. The CAN-bus interface has to fragment the datagram into CAN-frames of 8 bytes, however only a fully completed datagram will arrive at the receiver. + +UDP +^^^ + +UDP uses a simple transmission model without implicit hand-shaking dialogues for guaranteeing reliability, ordering, or data integrity. Thus, UDP provides an unreliable service and datagrams may arrive out of order, appear duplicated, or go missing without notice. UDP assumes that error checking and correction is either not necessary or performed in the application, avoiding the overhead of such processing at the network interface level. Time-sensitive applications often use UDP because dropping packets is preferable to waiting for delayed packets, which may not be an option in a real-time system. + +UDP is very practical to implement request/reply based communication where a single packet forms the request and a single packet forms the reply. In this case a typical request and wait protocol is used between the client and server, which will simply return an error if a reply is not received within a specified time limit. An error would normally lead to a retransmission of the request from the user or operator which sent the request. + +While UDP is very simple, it also has some limitations. Normally a human in the loop is a good thing when operating the satellite over UDP. But when it comes to larger file transfers, the human becomes the bottleneck. When a high-speed file transfer is initiated data acknowledgment should be done automatically in order to speed up the transfer. This is where the RDP protocol can help. + +RDP +^^^ +CSP provides a transport layer extension called RDP (reliable datagram protocol) which is an implementation of RFC908 and RFC1151. RDP provides a few additional features: + + * Three-way handshake + * Flow Control + * Data-buffering + * Packet re-ordering + * Retransmission + * Windowing + * Extended Acknowledgment + +For more information on this, please refer to RFC908. + diff --git a/thirdparty/libcsp/doc/structure.rst b/thirdparty/libcsp/doc/structure.rst new file mode 100644 index 00000000..4c9b515c --- /dev/null +++ b/thirdparty/libcsp/doc/structure.rst @@ -0,0 +1,27 @@ +Structure +========= +The Cubesat Space Protocol library is structured as shown in the following table: + +============================= ========================================================================= +**Folder** **Description** +============================= ========================================================================= +libcsp/include/csp Main include files +libcsp/include/csp/arch Architecture include files +libcsp/include/csp/interfaces Interface include files +libcsp/include/csp/drivers Drivers include files +libcsp/src Main modules for CSP: io, router, connections, services +libcsp/src/interfaces Interface modules for CAN, I2C, KISS, LOOP and ZMQHUB +libcsp/src/drivers/can Driver for CAN +libcsp/src/drivers/usart Driver for USART +libcsp/src/arch/freertos FreeRTOS architecture module +libcsp/src/arch/macosx Mac OS X architecture module +libcsp/src/arch/posix Posix architecture module +libcsp/src/arch/windows Windows architecture module +libcsp/src/rtable Routing table module +libcsp/transport Transport module, UDP and RDP +libcsp/crypto Crypto module +libcsp/utils Utilities +libcsp/bindings/python Python wrapper for libcsp +libcsp/examples CSP examples (source code) +libasf/doc The doc folder contains the source code for this documentation +============================= ========================================================================= diff --git a/thirdparty/libcsp/doc/topology.rst b/thirdparty/libcsp/doc/topology.rst new file mode 100644 index 00000000..e629c29e --- /dev/null +++ b/thirdparty/libcsp/doc/topology.rst @@ -0,0 +1,26 @@ +Network Topology +================ + +CSP uses a network oriented terminology similar to what is known from the Internet and the TCP/IP model. A CSP network can be configured for several different topologies. The most common topology is to create two segments, one for the Satellite and one for the Ground-Station. + +.. code-block:: none + + I2C BUS + _______________________________ + / | | | \ + +---+ +---+ +---+ +---+ +---+ + |OBC| |COM| |EPS| |PL1| |PL2| Nodes 0 - 7 (Space segment) + +---+ +---+ +---+ +---+ +---+ + ^ + | Radio + v + +---+ +----+ + |TNC| ------- | PC | Nodes 8 - 15 (Ground segment) + +---+ USB +----+ + + Node 9 Node 10 + +The address range, from 0 to 15, has been segmented into two equal size segments. This allows for easy routing in the network. All addresses starting with binary 1 is on the ground-segment, and all addresses starting with 0 is on the space segment. From CSP v1.0 the address space has been increased to 32 addresses, 0 to 31. But for legacy purposes, the old 0 to 15 is still used in most products. + +The network is configured using static routes initialised at boot-up of each sub-system. This means that the basic routing table must be assigned compile-time of each subsystem. However each node supports assigning an individual route to every single node in the network and can be changed run-time. This means that the network topology can be easily reconfigured after startup. + diff --git a/thirdparty/libcsp/examples/csp_if_fifo.c b/thirdparty/libcsp/examples/csp_if_fifo.c new file mode 100644 index 00000000..136fc3aa --- /dev/null +++ b/thirdparty/libcsp/examples/csp_if_fifo.c @@ -0,0 +1,165 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include + +#include +#include + +#define TYPE_SERVER 1 +#define TYPE_CLIENT 2 +#define PORT 10 +#define BUF_SIZE 250 + +pthread_t rx_thread; +int rx_channel, tx_channel; + +int csp_fifo_tx(csp_iface_t *ifc, csp_packet_t *packet, uint32_t timeout); + +csp_iface_t csp_if_fifo = { + .name = "fifo", + .nexthop = csp_fifo_tx, + .mtu = BUF_SIZE, +}; + +int csp_fifo_tx(csp_iface_t *ifc, csp_packet_t *packet, uint32_t timeout) { + /* Write packet to fifo */ + if (write(tx_channel, &packet->length, packet->length + sizeof(uint32_t) + sizeof(uint16_t)) < 0) + printf("Failed to write frame\r\n"); + csp_buffer_free(packet); + return CSP_ERR_NONE; +} + +void * fifo_rx(void * parameters) { + csp_packet_t *buf = csp_buffer_get(BUF_SIZE); + /* Wait for packet on fifo */ + while (read(rx_channel, &buf->length, BUF_SIZE) > 0) { + csp_qfifo_write(buf, &csp_if_fifo, NULL); + buf = csp_buffer_get(BUF_SIZE); + } + + return NULL; +} + +int main(int argc, char **argv) { + + int me, other, type; + const char *message = "Testing CSP"; + const char *rx_channel_name; + const char *tx_channel_name; + csp_socket_t *sock; + csp_conn_t *conn; + csp_packet_t *packet; + + /* Run as either server or client */ + if (argc != 2) { + printf("usage: %s \r\n", argv[0]); + return -1; + } + + /* Set type */ + if (strcmp(argv[1], "server") == 0) { + me = 1; + other = 2; + tx_channel_name = "server_to_client"; + rx_channel_name = "client_to_server"; + type = TYPE_SERVER; + } else if (strcmp(argv[1], "client") == 0) { + me = 2; + other = 1; + tx_channel_name = "client_to_server"; + rx_channel_name = "server_to_client"; + type = TYPE_CLIENT; + } else { + printf("Invalid type. Must be either 'server' or 'client'\r\n"); + return -1; + } + + /* Init CSP and CSP buffer system */ + if (csp_init(me) != CSP_ERR_NONE || csp_buffer_init(10, 300) != CSP_ERR_NONE) { + printf("Failed to init CSP\r\n"); + return -1; + } + + tx_channel = open(tx_channel_name, O_RDWR); + if (tx_channel < 0) { + printf("Failed to open TX channel\r\n"); + return -1; + } + + rx_channel = open(rx_channel_name, O_RDWR); + if (rx_channel < 0) { + printf("Failed to open RX channel\r\n"); + return -1; + } + + /* Start fifo RX task */ + pthread_create(&rx_thread, NULL, fifo_rx, NULL); + + /* Set default route and start router */ + csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_fifo, CSP_NODE_MAC); + csp_route_start_task(0, 0); + + /* Create socket and listen for incoming connections */ + if (type == TYPE_SERVER) { + sock = csp_socket(CSP_SO_NONE); + csp_bind(sock, PORT); + csp_listen(sock, 5); + } + + /* Super loop */ + while (1) { + if (type == TYPE_SERVER) { + /* Process incoming packet */ + conn = csp_accept(sock, 1000); + if (conn) { + packet = csp_read(conn, 0); + if (packet) + printf("Received: %s\r\n", packet->data); + csp_buffer_free(packet); + csp_close(conn); + } + } else { + /* Send a new packet */ + packet = csp_buffer_get(strlen(message)); + if (packet) { + strcpy((char *) packet->data, message); + packet->length = strlen(message); + + conn = csp_connect(CSP_PRIO_NORM, other, PORT, 1000, CSP_O_NONE); + printf("Sending: %s\r\n", message); + if (!conn || !csp_send(conn, packet, 1000)) + return -1; + csp_close(conn); + } + sleep(1); + } + } + + close(rx_channel); + close(tx_channel); + + return 0; +} diff --git a/thirdparty/libcsp/examples/csp_if_fifo_windows.c b/thirdparty/libcsp/examples/csp_if_fifo_windows.c new file mode 100644 index 00000000..5b360709 --- /dev/null +++ b/thirdparty/libcsp/examples/csp_if_fifo_windows.c @@ -0,0 +1,225 @@ +#include +#include +#include +#include +#include +#undef interface + +#include +#include + +#define PIPE_BUFSIZE 1024 + +#define TYPE_SERVER 1 +#define TYPE_CLIENT 2 +#define PORT 10 +#define BUF_SIZE 250 + + +static LPCTSTR pipeName = TEXT("\\\\.\\pipe\\CSP_Pipe"); + +static HANDLE pipe = INVALID_HANDLE_VALUE; + +unsigned WINAPI fifo_rx(void *); +unsigned WINAPI pipe_listener(void *); + +void printError(void); + +int csp_fifo_tx(csp_packet_t *packet, uint32_t timeout); + +csp_iface_t csp_if_fifo = { + .name = "fifo", + .nexthop = csp_fifo_tx, + .mtu = BUF_SIZE, +}; + +int csp_fifo_tx(csp_packet_t *packet, uint32_t timeout) { + printf("csp_fifo_tx tid: %lu\n", GetCurrentThreadId()); + DWORD expectedSent = packet->length + sizeof(uint32_t) + sizeof(uint16_t); + DWORD actualSent; + /* Write packet to fifo */ + if( !WriteFile(pipe, &packet->length, expectedSent, &actualSent, NULL) + || actualSent != expectedSent ) { + printError(); + } + + csp_buffer_free(packet); + return CSP_ERR_NONE; +} + + +int main(int argc, char *argv[]) { + int me, other, type; + char *message = "Testing CSP"; + csp_socket_t *sock = NULL; + csp_conn_t *conn = NULL; + csp_packet_t *packet = NULL; + + /* Run as either server or client */ + if (argc != 2) { + printf("usage: server \r\n"); + return -1; + } + + /* Set type */ + if (strcmp(argv[1], "server") == 0) { + me = 1; + other = 2; + type = TYPE_SERVER; + } else if (strcmp(argv[1], "client") == 0) { + me = 2; + other = 1; + type = TYPE_CLIENT; + } else { + printf("Invalid type. Must be either 'server' or 'client'\r\n"); + return -1; + } + + /* Init CSP and CSP buffer system */ + if (csp_init(me) != CSP_ERR_NONE || csp_buffer_init(10, 300) != CSP_ERR_NONE) { + printf("Failed to init CSP\r\n"); + return -1; + } + + if( type == TYPE_SERVER ) { + _beginthreadex(NULL, 0, pipe_listener, NULL, 0, 0); + } else { + pipe = CreateFile( + pipeName, + GENERIC_READ | GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + 0, + NULL); + if( pipe == INVALID_HANDLE_VALUE ) { + printError(); + return -1; + } + } + + /* Set default route and start router */ + csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_fifo, CSP_NODE_MAC); + csp_route_start_task(0, 0); + + /* Create socket and listen for incoming connections */ + if (type == TYPE_SERVER) { + sock = csp_socket(CSP_SO_NONE); + csp_bind(sock, PORT); + csp_listen(sock, 5); + } + + /* Super loop */ + while (1) { + if (type == TYPE_SERVER) { + /* Process incoming packet */ + conn = csp_accept(sock, 1000); + if (conn) { + packet = csp_read(conn, 0); + if (packet) + printf("Received: %s\r\n", packet->data); + csp_buffer_free(packet); + csp_close(conn); + } + } else { + /* Send a new packet */ + packet = csp_buffer_get(strlen(message)); + if (packet) { + strcpy((char *) packet->data, message); + packet->length = strlen(message); + + conn = csp_connect(CSP_PRIO_NORM, other, PORT, 1000, CSP_O_NONE); + printf("Sending: %s\r\n", message); + if (!conn || !csp_send(conn, packet, 1000)) + return -1; + csp_close(conn); + Sleep(1000); + } + } + } + + return 0; +} + +void printError(void) { + LPTSTR messageBuffer = NULL; + DWORD errorCode = GetLastError(); + DWORD formatMessageRet; + formatMessageRet = FormatMessage( + FORMAT_MESSAGE_ALLOCATE_BUFFER | + FORMAT_MESSAGE_FROM_SYSTEM | + FORMAT_MESSAGE_IGNORE_INSERTS, + NULL, + errorCode, + MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), + (LPTSTR)&messageBuffer, + 0, + NULL); + + if( !formatMessageRet ) { + wprintf(L"FormatMessage error, code: %lu\n", GetLastError()); + return; + } + + printf("%s\n", messageBuffer); + LocalFree(messageBuffer); +} + +unsigned WINAPI pipe_listener(void *parameters) { + while(1) { + HANDLE pipe = CreateNamedPipe( + pipeName, + PIPE_ACCESS_DUPLEX, + PIPE_TYPE_MESSAGE | PIPE_READMODE_MESSAGE | PIPE_WAIT, + PIPE_UNLIMITED_INSTANCES, + PIPE_BUFSIZE, + PIPE_BUFSIZE, + 0, + NULL); + BOOL clientConnected; + if( pipe == INVALID_HANDLE_VALUE ) { + printf("Error creating named pipe. Code %lu\n", GetLastError()); + return -1; + } + + // True if client connects *after* server called ConnectNamedPipe + // or *between* CreateNamedPipe and ConnectNamedPipe + clientConnected = + ConnectNamedPipe(pipe, NULL) ? TRUE : GetLastError()==ERROR_PIPE_CONNECTED; + printf("Client connected!\n"); + + if( !clientConnected ) { + printf("Failure while listening for clients. Code %lu\n", GetLastError()); + CloseHandle(pipe); + return -1; + } + printf("Create client thread\n"); + _beginthreadex(NULL, 0, fifo_rx, (PVOID)pipe, 0, 0); + } + + return 0; +} + +unsigned WINAPI fifo_rx(void *handle) { + printf("fifo_rx tid: %lu\n", GetCurrentThreadId()); + HANDLE pipe = (HANDLE) handle; + csp_packet_t *buf = csp_buffer_get(BUF_SIZE); + DWORD bytesRead; + BOOL readSuccess; + + while(1) { + readSuccess = + ReadFile(pipe, &buf->length, BUF_SIZE, &bytesRead, NULL); + if( !readSuccess || bytesRead == 0 ) { + csp_buffer_free(buf); + printError(); + break; + } + csp_qfifo_write(buf, &csp_if_fifo, NULL); + buf = csp_buffer_get(BUF_SIZE); + } + printf("Closing pipe to client\n"); + CloseHandle(pipe); + + return 0; +} diff --git a/thirdparty/libcsp/examples/kiss.c b/thirdparty/libcsp/examples/kiss.c new file mode 100644 index 00000000..c95eb2aa --- /dev/null +++ b/thirdparty/libcsp/examples/kiss.c @@ -0,0 +1,151 @@ +/** + * Build this example on linux with: + * ./waf configure --enable-examples --enable-if-kiss --with-driver-usart=linux --enable-crc32 clean build + */ + +#include +#include +#include + +#include +#include + +#define PORT 10 +#define MY_ADDRESS 1 + +#define SERVER_TIDX 0 +#define CLIENT_TIDX 1 +#define USART_HANDLE 0 + +CSP_DEFINE_TASK(task_server) { + int running = 1; + csp_socket_t *socket = csp_socket(CSP_SO_NONE); + csp_conn_t *conn; + csp_packet_t *packet; + csp_packet_t *response; + + response = csp_buffer_get(sizeof(csp_packet_t) + 2); + if( response == NULL ) { + fprintf(stderr, "Could not allocate memory for response packet!\n"); + return CSP_TASK_RETURN; + } + response->data[0] = 'O'; + response->data[1] = 'K'; + response->length = 2; + + csp_bind(socket, CSP_ANY); + csp_listen(socket, 5); + + printf("Server task started\r\n"); + + while(running) { + if( (conn = csp_accept(socket, 10000)) == NULL ) { + continue; + } + + while( (packet = csp_read(conn, 100)) != NULL ) { + switch( csp_conn_dport(conn) ) { + case PORT: + if( packet->data[0] == 'q' ) + running = 0; + csp_buffer_free(packet); + csp_send(conn, response, 1000); + break; + default: + csp_service_handler(conn, packet); + break; + } + } + + csp_close(conn); + } + + csp_buffer_free(response); + + return CSP_TASK_RETURN; +} + +CSP_DEFINE_TASK(task_client) { + + char outbuf = 'q'; + char inbuf[3] = {0}; + int pingResult; + + for(int i = 50; i <= 200; i+= 50) { + pingResult = csp_ping(MY_ADDRESS, 1000, 100, CSP_O_NONE); + printf("Ping with payload of %d bytes, took %d ms\n", i, pingResult); + csp_sleep_ms(1000); + } + csp_ps(MY_ADDRESS, 1000); + csp_sleep_ms(1000); + csp_memfree(MY_ADDRESS, 1000); + csp_sleep_ms(1000); + csp_buf_free(MY_ADDRESS, 1000); + csp_sleep_ms(1000); + csp_uptime(MY_ADDRESS, 1000); + csp_sleep_ms(1000); + + csp_transaction(0, MY_ADDRESS, PORT, 1000, &outbuf, 1, inbuf, 2); + printf("Quit response from server: %s\n", inbuf); + + return CSP_TASK_RETURN; +} + +int main(int argc, char **argv) { + csp_debug_toggle_level(CSP_PACKET); + csp_debug_toggle_level(CSP_INFO); + + csp_buffer_init(10, 300); + csp_init(MY_ADDRESS); + + struct usart_conf conf; + +#if defined(CSP_WINDOWS) + conf.device = argc != 2 ? "COM4" : argv[1]; + conf.baudrate = CBR_9600; + conf.databits = 8; + conf.paritysetting = NOPARITY; + conf.stopbits = ONESTOPBIT; + conf.checkparity = FALSE; +#elif defined(CSP_POSIX) + conf.device = argc != 2 ? "/dev/ttyUSB0" : argv[1]; + conf.baudrate = 500000; +#elif defined(CSP_MACOSX) + conf.device = argc != 2 ? "/dev/tty.usbserial-FTSM9EGE" : argv[1]; + conf.baudrate = 115200; +#endif + + /* Run USART init */ + usart_init(&conf); + + /* Setup CSP interface */ + static csp_iface_t csp_if_kiss; + static csp_kiss_handle_t csp_kiss_driver; + csp_kiss_init(&csp_if_kiss, &csp_kiss_driver, usart_putc, usart_insert, "KISS"); + + /* Setup callback from USART RX to KISS RS */ + void my_usart_rx(uint8_t * buf, int len, void * pxTaskWoken) { + csp_kiss_rx(&csp_if_kiss, buf, len, pxTaskWoken); + } + usart_set_callback(my_usart_rx); + + csp_route_set(MY_ADDRESS, &csp_if_kiss, CSP_NODE_MAC); + csp_route_start_task(0, 0); + + csp_conn_print_table(); + csp_route_print_table(); + csp_route_print_interfaces(); + + csp_thread_handle_t handle_server; + csp_thread_create(task_server, "SERVER", 1000, NULL, 0, &handle_server); + csp_thread_handle_t handle_client; + csp_thread_create(task_client, "CLIENT", 1000, NULL, 0, &handle_client); + + /* Wait for program to terminate (ctrl + c) */ + while(1) { + csp_sleep_ms(1000000); + } + + return 0; + +} diff --git a/thirdparty/libcsp/examples/python_bindings_example_client.py b/thirdparty/libcsp/examples/python_bindings_example_client.py new file mode 100644 index 00000000..123ce36e --- /dev/null +++ b/thirdparty/libcsp/examples/python_bindings_example_client.py @@ -0,0 +1,42 @@ +#!/usr/bin/python + +# libcsp must be build with at least these options to run this example client: +# ./waf distclean configure build --enable-bindings --enable-crc32 --enable-rdp --enable-if-zmq --with-driver-usart=linux --enable-if-kiss --enable-xtea --enable-if-can --enable-can-socketcan --enable-hmac --enable-examples + +# Can be run from root of libcsp like this: +# LD_LIBRARY_PATH=build PYTHONPATH=bindings/python:build python examples/python_bindings_example_client.py +# + +import os +import time +import libcsp as csp + + +if __name__ == "__main__": + + csp.buffer_init(10, 300) + csp.init(28) + csp.zmqhub_init(28, "localhost") + csp.rtable_set(27, 5, "ZMQHUB") + csp.route_start_task() + + ## allow router task startup + time.sleep(1) + + ## cmp_ident + (rc, host, model, rev, date, time) = csp.cmp_ident(27) + if rc == csp.CSP_ERR_NONE: + print (host, model, rev, date, time) + else: + print ("error in cmp_ident, rc=%i" % (rc)) + + ## transaction + outbuf = bytearray().fromhex('01') + inbuf = bytearray(1) + print ("using csp_transaction to send a single byte") + if csp.transaction(0, 27, 10, 1000, outbuf, inbuf) < 1: + print ("csp_transaction failed") + else: + print ("got reply, data=" + ''.join('{:02x}'.format(x) for x in inbuf)) + + diff --git a/thirdparty/libcsp/examples/python_bindings_example_client_can.py b/thirdparty/libcsp/examples/python_bindings_example_client_can.py new file mode 100644 index 00000000..ec796572 --- /dev/null +++ b/thirdparty/libcsp/examples/python_bindings_example_client_can.py @@ -0,0 +1,30 @@ +#!/usr/bin/python + +# libcsp must be build with at least these options to run this example client: +# ./waf distclean configure build --enable-bindings --enable-crc32 --enable-rdp --enable-if-zmq --with-driver-usart=linux --enable-if-kiss --enable-xtea --enable-if-can --enable-can-socketcan --enable-hmac --enable-examples + +# Can be run from root of libcsp like this: +# LD_LIBRARY_PATH=build PYTHONPATH=bindings/python:build python examples/python_bindings_example_client.py +# + +import os +import time +import libcsp as csp + + +if __name__ == "__main__": + + csp.buffer_init(10, 300) + csp.init(28) + csp.can_socketcan_init("can0") + csp.rtable_set(4, 5, "CAN") + csp.route_start_task() + + ## allow router task startup + time.sleep(1) + + + node = 4 + if csp.ping(node) < 0: + print ("Unable to ping node %d"%(node)) + diff --git a/thirdparty/libcsp/examples/python_bindings_example_server.py b/thirdparty/libcsp/examples/python_bindings_example_server.py new file mode 100644 index 00000000..3cf3f5da --- /dev/null +++ b/thirdparty/libcsp/examples/python_bindings_example_server.py @@ -0,0 +1,72 @@ +#!/usr/bin/python + +# libcsp must be build with at least these options to run this example server: +# ./waf distclean configure build --enable-bindings --enable-crc32 --enable-rdp --enable-if-zmq --with-driver-usart=linux --enable-if-kiss --enable-xtea --enable-if-can --enable-can-socketcan --enable-hmac --enable-examples + +# Can be run from root of libcsp like this: +# LD_LIBRARY_PATH=build PYTHONPATH=bindings/python:build python examples/python_bindings_example_server.py +# + +import os +import time +import sys +import libcsp as csp +import subprocess + +if __name__ == "__main__": + + # start a zmqproxy to transport messages to and from the client + zmqp = subprocess.Popen('build/zmqproxy') + + # init csp + csp.buffer_init(10, 300) + csp.init(27) + csp.zmqhub_init(27, "localhost") + csp.rtable_set(28, 5, "ZMQHUB") + csp.route_start_task() + + # set identity + csp.set_hostname("test_service") + csp.set_model("bindings") + csp.set_revision("1.2.3") + + # and read it back + print (csp.get_hostname()) + print (csp.get_model()) + print (csp.get_revision()) + + # start listening for packets... + sock = csp.socket() + csp.bind(sock, csp.CSP_ANY) + csp.listen(sock) + while True: + conn = csp.accept(sock) + if not conn: + continue + + print ("connection: source=%i:%i, dest=%i:%i" % (csp.conn_src(conn), + csp.conn_sport(conn), + csp.conn_dst(conn), + csp.conn_dport(conn))) + + while True: + packet = csp.read(conn) + if not packet: + break + + if csp.conn_dport(conn) == 10: + data = bytearray(csp.packet_get_data(packet)) + length = csp.packet_get_length(packet) + print ("got packet, len=" + str(length) + ", data=" + ''.join('{:02x}'.format(x) for x in data)) + + data[0] = data[0] + 1 + reply_packet = csp.buffer_get(1) + if reply_packet: + csp.packet_set_data(reply_packet, data) + csp.sendto_reply(packet, reply_packet, csp.CSP_O_NONE) + + csp.buffer_free(packet) + else: + csp.service_handler(conn, packet) + csp.close(conn) + diff --git a/thirdparty/libcsp/examples/simple.c b/thirdparty/libcsp/examples/simple.c new file mode 100644 index 00000000..b996f8c1 --- /dev/null +++ b/thirdparty/libcsp/examples/simple.c @@ -0,0 +1,200 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +#include + +/* Using un-exported header file. + * This is allowed since we are still in libcsp */ +#include + +/** Example defines */ +#define MY_ADDRESS 1 // Address of local CSP node +#define MY_PORT 10 // Port to send test traffic to + +CSP_DEFINE_TASK(task_server) { + + /* Create socket without any socket options */ + csp_socket_t *sock = csp_socket(CSP_SO_NONE); + + /* Bind all ports to socket */ + csp_bind(sock, CSP_ANY); + + /* Create 10 connections backlog queue */ + csp_listen(sock, 10); + + /* Pointer to current connection and packet */ + csp_conn_t *conn; + csp_packet_t *packet; + + /* Process incoming connections */ + while (1) { + + /* Wait for connection, 10000 ms timeout */ + if ((conn = csp_accept(sock, 10000)) == NULL) + continue; + + /* Read packets. Timout is 100 ms */ + while ((packet = csp_read(conn, 100)) != NULL) { + switch (csp_conn_dport(conn)) { + case MY_PORT: + /* Process packet here */ + printf("Packet received on MY_PORT: %s\r\n", (char *) packet->data); + csp_buffer_free(packet); + break; + + default: + /* Let the service handler reply pings, buffer use, etc. */ + csp_service_handler(conn, packet); + break; + } + } + + /* Close current connection, and handle next */ + csp_close(conn); + + } + + return CSP_TASK_RETURN; + +} + +CSP_DEFINE_TASK(task_client) { + + csp_packet_t * packet; + csp_conn_t * conn; + + while (1) { + + /** + * Try ping + */ + + csp_sleep_ms(1000); + + int result = csp_ping(MY_ADDRESS, 100, 100, CSP_O_NONE); + printf("Ping result %d [ms]\r\n", result); + + csp_sleep_ms(1000); + + /** + * Try data packet to server + */ + + /* Get packet buffer for data */ + packet = csp_buffer_get(100); + if (packet == NULL) { + /* Could not get buffer element */ + printf("Failed to get buffer element\n"); + return CSP_TASK_RETURN; + } + + /* Connect to host HOST, port PORT with regular UDP-like protocol and 1000 ms timeout */ + conn = csp_connect(CSP_PRIO_NORM, MY_ADDRESS, MY_PORT, 1000, CSP_O_NONE); + if (conn == NULL) { + /* Connect failed */ + printf("Connection failed\n"); + /* Remember to free packet buffer */ + csp_buffer_free(packet); + return CSP_TASK_RETURN; + } + + /* Copy dummy data to packet */ + const char *msg = "Hello World"; + strcpy((char *) packet->data, msg); + + /* Set packet length */ + packet->length = strlen(msg); + + /* Send packet */ + if (!csp_send(conn, packet, 1000)) { + /* Send failed */ + printf("Send failed\n"); + csp_buffer_free(packet); + } + + /* Close connection */ + csp_close(conn); + + } + + return CSP_TASK_RETURN; +} + +int main(int argc, char * argv[]) { + + /** + * Initialise CSP, + * No physical interfaces are initialised in this example, + * so only the loopback interface is registered. + */ + + /* Init buffer system with 10 packets of maximum 300 bytes each */ + printf("Initialising CSP\r\n"); + csp_buffer_init(5, 300); + + /* Init CSP with address MY_ADDRESS */ + csp_init(MY_ADDRESS); + + /* Start router task with 500 word stack, OS task priority 1 */ + csp_route_start_task(500, 1); + + /* Enable debug output from CSP */ + if ((argc > 1) && (strcmp(argv[1], "-v") == 0)) { + printf("Debug enabed\r\n"); + csp_debug_toggle_level(3); + csp_debug_toggle_level(4); + + printf("Conn table\r\n"); + csp_conn_print_table(); + + printf("Route table\r\n"); + csp_route_print_table(); + + printf("Interfaces\r\n"); + csp_route_print_interfaces(); + + } + + /** + * Initialise example threads, using pthreads. + */ + + /* Server */ + printf("Starting Server task\r\n"); + csp_thread_handle_t handle_server; + csp_thread_create(task_server, "SERVER", 1000, NULL, 0, &handle_server); + + /* Client */ + printf("Starting Client task\r\n"); + csp_thread_handle_t handle_client; + csp_thread_create(task_client, "SERVER", 1000, NULL, 0, &handle_client); + + /* Wait for execution to end (ctrl+c) */ + while(1) { + csp_sleep_ms(100000); + } + + return 0; + +} diff --git a/thirdparty/libcsp/examples/zmqproxy.c b/thirdparty/libcsp/examples/zmqproxy.c new file mode 100644 index 00000000..5e259579 --- /dev/null +++ b/thirdparty/libcsp/examples/zmqproxy.c @@ -0,0 +1,82 @@ +#include +#include +#include +#include +#include +#include +#include + +static void * task_capture(void *ctx) { + + /* Subscriber (RX) */ + void *subscriber = zmq_socket(ctx, ZMQ_SUB); + assert(zmq_connect(subscriber, "tcp://localhost:7000") == 0); + assert(zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0) == 0); + + while (1) { + zmq_msg_t msg; + zmq_msg_init_size(&msg, 1024); + + /* Receive data */ + if (zmq_msg_recv(&msg, subscriber, 0) < 0) { + zmq_msg_close(&msg); + csp_log_error("ZMQ: %s\r\n", zmq_strerror(zmq_errno())); + continue; + } + + int datalen = zmq_msg_size(&msg); + if (datalen < 5) { + csp_log_warn("ZMQ: Too short datalen: %u\r\n", datalen); + while(zmq_msg_recv(&msg, subscriber, ZMQ_NOBLOCK) > 0) + zmq_msg_close(&msg); + continue; + } + + /* Create new csp packet */ + csp_packet_t * packet = malloc(1024); + if (packet == NULL) { + zmq_msg_close(&msg); + continue; + } + + /* Copy the data from zmq to csp */ + char * satidptr = ((char *) &packet->id) - 1; + memcpy(satidptr, zmq_msg_data(&msg), datalen); + packet->length = datalen - 4 - 1; + + printf("Input: Src %u, Dst %u, Dport %u, Sport %u, Pri %u, Flags 0x%02X, Size %"PRIu16"\r\n", + packet->id.src, packet->id.dst, packet->id.dport, + packet->id.sport, packet->id.pri, packet->id.flags, packet->length); + + free(packet); + zmq_msg_close(&msg); + } +} + +int main(int argc, char ** argv) { + + /** + * ZMQ PROXY + */ + void * ctx = zmq_ctx_new(); + assert(ctx); + + void *frontend = zmq_socket(ctx, ZMQ_XSUB); + assert(frontend); + assert(zmq_bind (frontend, "tcp://*:6000") == 0); + + void *backend = zmq_socket(ctx, ZMQ_XPUB); + assert(backend); + assert(zmq_bind(backend, "tcp://*:7000") == 0); + + pthread_t capworker; + pthread_create(&capworker, NULL, task_capture, ctx); + + printf("Starting ZMQproxy\r\n"); + zmq_proxy(frontend, backend, NULL); + + printf("Closing ZMQproxy\r\n"); + zmq_ctx_destroy(ctx); + return 0; + +} diff --git a/thirdparty/libcsp/include/CMakeLists.txt b/thirdparty/libcsp/include/CMakeLists.txt new file mode 100644 index 00000000..196e26f3 --- /dev/null +++ b/thirdparty/libcsp/include/CMakeLists.txt @@ -0,0 +1,9 @@ +target_include_directories(${LIB_CSP_NAME} PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR} +) + +target_include_directories(${LIB_CSP_NAME} INTERFACE + ${CMAKE_CURRENT_SOURCE_DIR} +) + + diff --git a/thirdparty/libcsp/include/csp/arch/csp_clock.h b/thirdparty/libcsp/include/csp/arch/csp_clock.h new file mode 100644 index 00000000..3c19c887 --- /dev/null +++ b/thirdparty/libcsp/include/csp/arch/csp_clock.h @@ -0,0 +1,60 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_CLOCK_H_ +#define _CSP_CLOCK_H_ + +/** + @file + + Clock API. +*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/** + Cross-platform timestamp. +*/ +typedef struct { + //! Seconds + uint32_t tv_sec; + //! Nano-seconds. + uint32_t tv_nsec; +} csp_timestamp_t; + +/** + Get time - must be implemented by the user. +*/ +__attribute__((weak)) extern void clock_get_time(csp_timestamp_t * time); + +/** + Set time - must be implemented by the user. +*/ +__attribute__((weak)) extern void clock_set_time(csp_timestamp_t * time); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_CLOCK_H_ diff --git a/thirdparty/libcsp/include/csp/arch/csp_malloc.h b/thirdparty/libcsp/include/csp/arch/csp_malloc.h new file mode 100644 index 00000000..12602d1b --- /dev/null +++ b/thirdparty/libcsp/include/csp/arch/csp_malloc.h @@ -0,0 +1,39 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_MALLOC_H_ +#define _CSP_MALLOC_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include + +void * csp_malloc(size_t size); +void csp_free(void * ptr); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_MALLOC_H_ diff --git a/thirdparty/libcsp/include/csp/arch/csp_queue.h b/thirdparty/libcsp/include/csp/arch/csp_queue.h new file mode 100644 index 00000000..3156c05e --- /dev/null +++ b/thirdparty/libcsp/include/csp/arch/csp_queue.h @@ -0,0 +1,49 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_QUEUE_H_ +#define _CSP_QUEUE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_QUEUE_FULL 0 +#define CSP_QUEUE_ERROR 0 +#define CSP_QUEUE_OK 1 +typedef void * csp_queue_handle_t; + +#include +#include + +csp_queue_handle_t csp_queue_create(int length, size_t item_size); +void csp_queue_remove(csp_queue_handle_t queue); +int csp_queue_enqueue(csp_queue_handle_t handle, void *value, uint32_t timeout); +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken); +int csp_queue_dequeue(csp_queue_handle_t handle, void *buf, uint32_t timeout); +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void * buf, CSP_BASE_TYPE * task_woken); +int csp_queue_size(csp_queue_handle_t handle); +int csp_queue_size_isr(csp_queue_handle_t handle); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_QUEUE_H_ diff --git a/thirdparty/libcsp/include/csp/arch/csp_semaphore.h b/thirdparty/libcsp/include/csp/arch/csp_semaphore.h new file mode 100644 index 00000000..c8068da2 --- /dev/null +++ b/thirdparty/libcsp/include/csp/arch/csp_semaphore.h @@ -0,0 +1,109 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_SEMAPHORE_H_ +#define _CSP_SEMAPHORE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include + +/* POSIX interface */ +#if defined(CSP_POSIX) + +#include +#include + +#define CSP_SEMAPHORE_OK 1 +#define CSP_SEMAPHORE_ERROR 2 +#define CSP_MUTEX_OK CSP_SEMAPHORE_OK +#define CSP_MUTEX_ERROR CSP_SEMAPHORE_ERROR + +typedef sem_t csp_bin_sem_handle_t; +typedef pthread_mutex_t csp_mutex_t; + +#endif // CSP_POSIX + +/* MAC OS X interface */ +#if defined(CSP_MACOSX) + +#include +#include "posix/pthread_queue.h" + +#define CSP_SEMAPHORE_OK PTHREAD_QUEUE_OK +#define CSP_SEMAPHORE_ERROR PTHREAD_QUEUE_EMPTY +#define CSP_MUTEX_OK CSP_SEMAPHORE_OK +#define CSP_MUTEX_ERROR CSP_SEMAPHORE_ERROR + +typedef pthread_queue_t * csp_bin_sem_handle_t; +typedef pthread_queue_t * csp_mutex_t; + +#endif // CSP_MACOSX + +#if defined(CSP_WINDOWS) + +#include +#undef interface + +#define CSP_SEMAPHORE_OK 1 +#define CSP_SEMAPHORE_ERROR 2 +#define CSP_MUTEX_OK CSP_SEMAPHORE_OK +#define CSP_MUTEX_ERROR CSP_SEMAPHORE_ERROR + +typedef HANDLE csp_bin_sem_handle_t; +typedef HANDLE csp_mutex_t; + +#endif + +/* FreeRTOS interface */ +#if defined(CSP_FREERTOS) + +#include +#include + +#define CSP_SEMAPHORE_OK pdPASS +#define CSP_SEMAPHORE_ERROR pdFAIL +#define CSP_MUTEX_OK CSP_SEMAPHORE_OK +#define CSP_MUTEX_ERROR CSP_SEMAPHORE_ERROR + +typedef xSemaphoreHandle csp_bin_sem_handle_t; +typedef xSemaphoreHandle csp_mutex_t; + +#endif // CSP_FREERTOS + +int csp_mutex_create(csp_mutex_t * mutex); +int csp_mutex_remove(csp_mutex_t * mutex); +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout); +int csp_mutex_unlock(csp_mutex_t * mutex); +int csp_bin_sem_create(csp_bin_sem_handle_t * sem); +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem); +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout); +int csp_bin_sem_post(csp_bin_sem_handle_t * sem); +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_SEMAPHORE_H_ diff --git a/thirdparty/libcsp/include/csp/arch/csp_system.h b/thirdparty/libcsp/include/csp/arch/csp_system.h new file mode 100644 index 00000000..c6c0e5af --- /dev/null +++ b/thirdparty/libcsp/include/csp/arch/csp_system.h @@ -0,0 +1,74 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_SYSTEM_H_ +#define _CSP_SYSTEM_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define COLOR_MASK_COLOR 0x0F +#define COLOR_MASK_MODIFIER 0xF0 + +typedef enum { + /* Colors */ + COLOR_RESET = 0xF0, + COLOR_BLACK = 0x01, + COLOR_RED = 0x02, + COLOR_GREEN = 0x03, + COLOR_YELLOW = 0x04, + COLOR_BLUE = 0x05, + COLOR_MAGENTA = 0x06, + COLOR_CYAN = 0x07, + COLOR_WHITE = 0x08, + /* Modifiers */ + COLOR_NORMAL = 0x0F, + COLOR_BOLD = 0x10, + COLOR_UNDERLINE = 0x20, + COLOR_BLINK = 0x30, + COLOR_HIDE = 0x40, +} csp_color_t; + +/** + * Writes out a task list into a pre-allocate buffer, + * use csp_sys_tasklist_size to get sizeof buffer to allocate + * @param out pointer to output buffer + * @return + */ +int csp_sys_tasklist(char * out); + +/** + * @return Size of tasklist buffer to allocate for the csp_sys_tasklist call + */ +int csp_sys_tasklist_size(void); + +uint32_t csp_sys_memfree(void); +int csp_sys_reboot(void); +int csp_sys_shutdown(void); +void csp_sys_set_color(csp_color_t color); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_SYSTEM_H_ diff --git a/thirdparty/libcsp/include/csp/arch/csp_thread.h b/thirdparty/libcsp/include/csp/arch/csp_thread.h new file mode 100644 index 00000000..3c6ea171 --- /dev/null +++ b/thirdparty/libcsp/include/csp/arch/csp_thread.h @@ -0,0 +1,100 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_THREAD_H_ +#define _CSP_THREAD_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +/* POSIX interface */ +#if defined(CSP_POSIX) || defined(CSP_MACOSX) + +#include +#include + +#define csp_thread_exit() pthread_exit(NULL) + +typedef pthread_t csp_thread_handle_t; +typedef void * csp_thread_return_t; + +#define CSP_DEFINE_TASK(task_name) csp_thread_return_t task_name(void * param) +#define CSP_TASK_RETURN NULL + +#define csp_sleep_ms(time_ms) usleep(time_ms * 1000); + +#endif // CSP_POSIX + +/* Windows interface */ +#if defined(CSP_WINDOWS) + +#include +#undef interface +#include + +#define csp_thread_exit() _endthreadex(0) + +typedef HANDLE csp_thread_handle_t; +typedef unsigned int csp_thread_return_t; + +#define CSP_DEFINE_TASK(task_name) csp_thread_return_t __attribute__((stdcall)) task_name(void * param) +#define CSP_TASK_RETURN 0 + +#define csp_sleep_ms(time_ms) Sleep(time_ms); + +#endif // CSP_WINDOWS + +/* FreeRTOS interface */ +#if defined(CSP_FREERTOS) + +#include +#include + +#if INCLUDE_vTaskDelete +#define csp_thread_exit() vTaskDelete(NULL) +#else +#define csp_thread_exit() +#endif + +typedef xTaskHandle csp_thread_handle_t; +typedef void csp_thread_return_t; + +#define CSP_DEFINE_TASK(task_name) csp_thread_return_t task_name(void * param) +#define CSP_TASK_RETURN + +#define csp_sleep_ms(time_ms) vTaskDelay(time_ms / portTICK_RATE_MS); + +#endif // CSP_FREERTOS + +#ifndef CSP_WINDOWS +int csp_thread_create(csp_thread_return_t (* routine)(void *), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle); +#else +int csp_thread_create(csp_thread_return_t (* routine)(void *)__attribute__((stdcall)), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle); +#endif + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_THREAD_H_ diff --git a/thirdparty/libcsp/include/csp/arch/csp_time.h b/thirdparty/libcsp/include/csp/arch/csp_time.h new file mode 100644 index 00000000..aa72ab8f --- /dev/null +++ b/thirdparty/libcsp/include/csp/arch/csp_time.h @@ -0,0 +1,57 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_TIME_H_ +#define _CSP_TIME_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +/* Blackfin/x86 on Linux */ +#if defined(CSP_POSIX) + +#include +#include +#include + +#endif // CSP_POSIX + +/* AVR/ARM on FreeRTOS */ +#if defined(CSP_FREERTOS) + +#include +#include + +#endif // CSP_FREERTOS + +uint32_t csp_get_ms(void); +uint32_t csp_get_ms_isr(void); +uint32_t csp_get_s(void); +uint32_t csp_get_s_isr(void); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_TIME_H_ diff --git a/thirdparty/libcsp/include/csp/arch/posix/pthread_queue.h b/thirdparty/libcsp/include/csp/arch/posix/pthread_queue.h new file mode 100644 index 00000000..44ef596e --- /dev/null +++ b/thirdparty/libcsp/include/csp/arch/posix/pthread_queue.h @@ -0,0 +1,118 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _PTHREAD_QUEUE_H_ +#define _PTHREAD_QUEUE_H_ + +/** + @file + + Queue implemented using pthread locks and conds. + + Inspired by c-pthread-queue by Matthew Dickinson: http://code.google.com/p/c-pthread-queue/ +*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include + +#include + +/** + Queue error codes. + @{ +*/ +/** + General error code - something went wrong. +*/ +#define PTHREAD_QUEUE_ERROR CSP_QUEUE_ERROR +/** + Queue is empty - cannot extract element. +*/ +#define PTHREAD_QUEUE_EMPTY CSP_QUEUE_ERROR +/** + Queue is full - cannot insert element. +*/ +#define PTHREAD_QUEUE_FULL CSP_QUEUE_ERROR +/** + Ok - no error. +*/ +#define PTHREAD_QUEUE_OK CSP_QUEUE_OK +/** @{ */ + +/** + Queue handle. +*/ +typedef struct pthread_queue_s { + //! Memory area. + void * buffer; + //! Memory size. + int size; + //! Item/element size. + int item_size; + //! Items/elements in queue. + int items; + //! Insert point. + int in; + //! Extract point. + int out; + //! Lock. + pthread_mutex_t mutex; + //! Wait because queue is full (insert). + pthread_cond_t cond_full; + //! Wait because queue is empty (extract). + pthread_cond_t cond_empty; +} pthread_queue_t; + +/** + Create queue. +*/ +pthread_queue_t * pthread_queue_create(int length, size_t item_size); + +/** + Delete queue. +*/ +void pthread_queue_delete(pthread_queue_t * q); + +/** + Enqueue/insert element. +*/ +int pthread_queue_enqueue(pthread_queue_t * queue, void * value, uint32_t timeout); + +/** + Dequeue/extract element. +*/ +int pthread_queue_dequeue(pthread_queue_t * queue, void * buf, uint32_t timeout); + +/** + Return number of elements in the queue. +*/ +int pthread_queue_items(pthread_queue_t * queue); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _PTHREAD_QUEUE_H_ + diff --git a/thirdparty/libcsp/include/csp/crypto/csp_hmac.h b/thirdparty/libcsp/include/csp/crypto/csp_hmac.h new file mode 100644 index 00000000..8c3f5d6a --- /dev/null +++ b/thirdparty/libcsp/include/csp/crypto/csp_hmac.h @@ -0,0 +1,73 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_HMAC_H_ +#define _CSP_HMAC_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_HMAC_LENGTH 4 + +/** + * Append HMAC to packet + * @param packet Pointer to packet + * @param include_header use header in hmac calculation (this will not modify the flags field) + * @return 0 on success, negative on failure + */ +int csp_hmac_append(csp_packet_t * packet, bool include_header); + +/** + * Verify HMAC of packet + * @param packet Pointer to packet + * @param include_header use header in hmac calculation (this will not modify the flags field) + * @return 0 on success, negative on failure + */ +int csp_hmac_verify(csp_packet_t * packet, bool include_header); + +/** + * Calculate HMAC on buffer + * + * This function is used by append/verify but cal also be called separately. + * @param key HMAC key + * @param keylen HMAC key length + * @param data pointer to data + * @param datalen lehgth of data + * @param hmac output HMAC calculation (CSP_HMAC_LENGTH) + * @return 0 on success, negative on failure + */ +int csp_hmac_memory(const uint8_t * key, uint32_t keylen, const uint8_t * data, uint32_t datalen, uint8_t * hmac); + +/** + * Save a copy of the key string for use by the append/verify functions + * @param key HMAC key + * @param keylen HMAC key length + * @return Always returns 0 + */ +int csp_hmac_set_key(char * key, uint32_t keylen); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_HMAC_H_ diff --git a/thirdparty/libcsp/include/csp/crypto/csp_sha1.h b/thirdparty/libcsp/include/csp/crypto/csp_sha1.h new file mode 100644 index 00000000..aa7e7a0d --- /dev/null +++ b/thirdparty/libcsp/include/csp/crypto/csp_sha1.h @@ -0,0 +1,81 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_SHA1_H_ +#define _CSP_SHA1_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* The SHA1 block and message digest size in bytes */ +#define SHA1_BLOCKSIZE 64 +#define SHA1_DIGESTSIZE 20 + +/** + SHA1 state structure +*/ +typedef struct { + //! Internal SHA1 state. + uint64_t length; + //! Internal SHA1 state. + uint32_t state[5]; + //! Internal SHA1 state. + uint32_t curlen; + //! Internal SHA1 state. + uint8_t buf[SHA1_BLOCKSIZE]; +} csp_sha1_state; + +/** + * Initialize the hash state + * @param sha1 The hash state you wish to initialize + */ +void csp_sha1_init(csp_sha1_state * sha1); + +/** + * Process a block of memory though the hash + * @param sha1 The hash state + * @param in The data to hash + * @param inlen The length of the data (octets) + */ +void csp_sha1_process(csp_sha1_state * sha1, const uint8_t * in, uint32_t inlen); + +/** + * Terminate the hash to get the digest + * @param sha1 The hash state + * @param out [out] The destination of the hash (20 bytes) + */ +void csp_sha1_done(csp_sha1_state * sha1, uint8_t * out); + +/** + * Calculate SHA1 hash of block of memory. + * @param msg Pointer to message buffer + * @param len Length of message + * @param sha1 Pointer to SHA1 output buffer. Must be 20 bytes or more! + */ +void csp_sha1_memory(const uint8_t * msg, uint32_t len, uint8_t * hash); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_SHA1_H_ diff --git a/thirdparty/libcsp/include/csp/crypto/csp_xtea.h b/thirdparty/libcsp/include/csp/crypto/csp_xtea.h new file mode 100644 index 00000000..f740b8d5 --- /dev/null +++ b/thirdparty/libcsp/include/csp/crypto/csp_xtea.h @@ -0,0 +1,52 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_XTEA_H_ +#define _CSP_XTEA_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_XTEA_IV_LENGTH 8 + +/** + * XTEA encrypt byte array + * @param plain Pointer to plain text + * @param len Length of plain text + * @param iv Initialization vector + */ +int csp_xtea_encrypt(uint8_t * plain, const uint32_t len, uint32_t iv[2]); + +/** + * Decrypt XTEA encrypted byte array + * @param cipher Pointer to cipher text + * @param len Length of plain text + * @param iv Initialization vector + */ +int csp_xtea_decrypt(uint8_t * cipher, const uint32_t len, uint32_t iv[2]); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_XTEA_H_ diff --git a/thirdparty/libcsp/include/csp/csp.h b/thirdparty/libcsp/include/csp/csp.h new file mode 100644 index 00000000..6962195b --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp.h @@ -0,0 +1,545 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_H_ +#define _CSP_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes */ +#include + +#include + +/* CSP includes */ +#include "csp_types.h" +#include "csp_platform.h" +#include "csp_error.h" +#include "csp_debug.h" +#include "csp_buffer.h" +#include "csp_rtable.h" +#include "csp_iflist.h" + +/** csp_init + * Start up the can-space protocol + * @param my_node_address The CSP node address + */ +int csp_init(uint8_t my_node_address); + +/** csp_set_address + * Set the systems own address + * @param addr The new address of the system + */ +void csp_set_address(uint8_t addr); + +/** csp_get_address + * Get the systems own address + * @return The current address of the system + */ +uint8_t csp_get_address(void); + +/** csp_set_hostname + * Set subsystem hostname. + * This function takes a pointer to a string, which should remain static + * @param hostname Hostname to set + */ +void csp_set_hostname(const char *hostname); + +/** csp_get_hostname + * Get current subsystem hostname. + * @return Pointer to char array with current hostname. + */ +const char *csp_get_hostname(void); + +/** csp_set_model + * Set subsystem model name. + * This function takes a pointer to a string, which should remain static + * @param model Model name to set + */ +void csp_set_model(const char *model); + +/** csp_get_model + * Get current model name. + * @return Pointer to char array with current model name. + */ +const char *csp_get_model(void); + +/** csp_set_revision + * Set subsystem revision. This can be used to override the CMP revision field. + * This function takes a pointer to a string, which should remain static + * @param revision Revision name to set + */ +void csp_set_revision(const char *revision); + +/** csp_get_revision + * Get subsystem revision. + * @return Pointer to char array with software revision. + */ +const char *csp_get_revision(void); + +/** csp_socket + * Create CSP socket endpoint + * @param opts Socket options + * @return Pointer to socket on success, NULL on failure + */ +csp_socket_t *csp_socket(uint32_t opts); + +/** + * Wait for a new connection on a socket created by csp_socket + * @param socket Socket to accept connections on + * @param timeout use CSP_MAX_DELAY for infinite timeout + * @return Return pointer to csp_conn_t or NULL if timeout was reached + */ +csp_conn_t *csp_accept(csp_socket_t *socket, uint32_t timeout); + +/** + * Read data from a connection + * This fuction uses the RX queue of a connection to receive a packet + * If no packet is available and a timeout has been specified + * The call will block. + * Do NOT call this from ISR + * @param conn pointer to connection + * @param timeout timeout in ms, use CSP_MAX_DELAY for infinite blocking time + * @return Returns pointer to csp_packet_t, which you MUST free yourself, either by calling csp_buffer_free() or reusing the buffer for a new csp_send. + */ +csp_packet_t *csp_read(csp_conn_t *conn, uint32_t timeout); + +/** + * Send a packet on an already established connection + * @param conn pointer to connection + * @param packet pointer to packet, + * @param timeout a timeout to wait for TX to complete. NOTE: not all underlying drivers supports flow-control. + * @return returns 1 if successful and 0 otherwise. you MUST free the frame yourself if the transmission was not successful. + */ +int csp_send(csp_conn_t *conn, csp_packet_t *packet, uint32_t timeout); + +/** + * Send a packet on an already established connection, and change the default priority of the connection + * + * @note When using this function, the priority of the connection will change. If you need to change it back + * use another call to csp_send_prio, or ensure that all packets sent on a given connection is using send_prio call. + * + * @param prio csp priority + * @param conn pointer to connection + * @param packet pointer to packet, + * @param timeout a timeout to wait for TX to complete. NOTE: not all underlying drivers supports flow-control. + * @return returns 1 if successful and 0 otherwise. you MUST free the frame yourself if the transmission was not successful. + */ +int csp_send_prio(uint8_t prio, csp_conn_t *conn, csp_packet_t *packet, uint32_t timeout); + +/** + * Perform an entire request/reply transaction + * Copies both input buffer and reply to output buffeer. + * Also makes the connection and closes it again + * @param prio CSP Prio + * @param dest CSP Dest + * @param port CSP Port + * @param timeout timeout in ms + * @param outbuf pointer to outgoing data buffer + * @param outlen length of request to send + * @param inbuf pointer to incoming data buffer + * @param inlen length of expected reply, -1 for unknown size (note inbuf MUST be large enough) + * @return Return 1 or reply size if successful, 0 if error or incoming length does not match or -1 if timeout was reached + */ +int csp_transaction(uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void *outbuf, int outlen, void *inbuf, int inlen); + +/** + * Perform an entire request/reply transaction + * Copies both input buffer and reply to output buffeer. + * Also makes the connection and closes it again + * @param prio CSP Prio + * @param dest CSP Dest + * @param port CSP Port + * @param timeout timeout in ms + * @param outbuf pointer to outgoing data buffer + * @param outlen length of request to send + * @param inbuf pointer to incoming data buffer + * @param inlen length of expected reply, -1 for unknown size (note inbuf MUST be large enough) + * @param opts Connection options. + * @return Return 1 or reply size if successful, 0 if error or incoming length does not match or -1 if timeout was reached + */ +int csp_transaction2(uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void *outbuf, int outlen, void *inbuf, int inlen, uint32_t opts); + +/** + * Use an existing connection to perform a transaction, + * This is only possible if the next packet is on the same port and destination! + * @param conn pointer to connection structure + * @param timeout timeout in ms + * @param outbuf pointer to outgoing data buffer + * @param outlen length of request to send + * @param inbuf pointer to incoming data buffer + * @param inlen length of expected reply, -1 for unknown size (note inbuf MUST be large enough) + * @return + */ +int csp_transaction_persistent(csp_conn_t *conn, uint32_t timeout, void *outbuf, int outlen, void *inbuf, int inlen); + +/** + * Read data from a connection-less server socket + * This fuction uses the socket directly to receive a frame + * If no packet is available and a timeout has been specified the call will block. + * Do NOT call this from ISR + * @return Returns pointer to csp_packet_t, which you MUST free yourself, either by calling csp_buffer_free() or reusing the buffer for a new csp_send. + */ +csp_packet_t *csp_recvfrom(csp_socket_t *socket, uint32_t timeout); + +/** + * Send a packet without previously opening a connection + * @param prio CSP_PRIO_x + * @param dest destination node + * @param dport destination port + * @param src_port source port + * @param opts CSP_O_x + * @param packet pointer to packet + * @param timeout timeout used by interfaces with blocking send + * @return -1 if error (you must free packet), 0 if OK (you must discard pointer) + */ +int csp_sendto(uint8_t prio, uint8_t dest, uint8_t dport, uint8_t src_port, uint32_t opts, csp_packet_t *packet, uint32_t timeout); + +/** + * Send a packet as a direct reply to the source of an incoming packet, + * but still without holding an entire connection + * @param request_packet pointer to packet to reply to + * @param reply_packet actual reply data + * @param opts CSP_O_x + * @param timeout timeout used by interfaces with blocking send + * @return -1 if error (you must free packet), 0 if OK (you must discard pointer) + */ +int csp_sendto_reply(csp_packet_t * request_packet, csp_packet_t * reply_packet, uint32_t opts, uint32_t timeout); + +/** csp_connect + * Used to establish outgoing connections + * This function searches the port table for free slots and finds an unused + * connection from the connection pool + * There is no handshake in the CSP protocol + * @param prio Connection priority. + * @param dest Destination address. + * @param dport Destination port. + * @param timeout Timeout in ms. + * @param opts Connection options. + * @return a pointer to a new connection or NULL + */ +csp_conn_t *csp_connect(uint8_t prio, uint8_t dest, uint8_t dport, uint32_t timeout, uint32_t opts); + +/** csp_close + * Closes a given connection and frees buffers used. + * @param conn pointer to connection structure + * @return CSP_ERR_NONE if connection was closed. Otherwise, an err code is returned. + */ +int csp_close(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return destination port of an incoming connection + */ +int csp_conn_dport(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return source port of an incoming connection + */ +int csp_conn_sport(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return destination address of an incoming connection + */ +int csp_conn_dst(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return source address of an incoming connection + */ +int csp_conn_src(csp_conn_t *conn); + +/** + * @param conn pointer to connection structure + * @return flags field of an incoming connection + */ +int csp_conn_flags(csp_conn_t *conn); + +/** + * Set socket to listen for incoming connections + * @param socket Socket to enable listening on + * @param conn_queue_length Lenght of backlog connection queue + * @return 0 on success, -1 on error. + */ +int csp_listen(csp_socket_t *socket, size_t conn_queue_length); + +/** + * Bind port to socket + * @param socket Socket to bind port to + * @param port Port number to bind + * @return 0 on success, -1 on error. + */ +int csp_bind(csp_socket_t *socket, uint8_t port); + +/** + * Start the router task. + * @param task_stack_size The number of portStackType to allocate. This only affects FreeRTOS systems. + * @param priority The OS task priority of the router + */ +int csp_route_start_task(unsigned int task_stack_size, unsigned int priority); + +/** + * Call the router worker function manually (without the router task) + * This must be run inside a loop or called periodically for the csp router to work. + * Use this function instead of calling and starting the router task. + * @param timeout max blocking time + * @return -1 if no packet was processed, 0 otherwise + */ +int csp_route_work(uint32_t timeout); + +/** + * Start the bridge task. + * @param task_stack_size The number of portStackType to allocate. This only affects FreeRTOS systems. + * @param priority The OS task priority of the router + * @param _if_a pointer to first side + * @param _if_b pointer to second side + * @return CSP_ERR type + */ +int csp_bridge_start(unsigned int task_stack_size, unsigned int task_priority, csp_iface_t * _if_a, csp_iface_t * _if_b); + +/** + * Enable promiscuous mode packet queue + * This function is used to enable promiscuous mode for the router. + * If enabled, a copy of all incoming packets are placed in a queue + * that can be read with csp_promisc_get(). Not all interface drivers + * support promiscuous mode. + * + * @param buf_size Size of buffer for incoming packets + */ +int csp_promisc_enable(unsigned int buf_size); + +/** + * Disable promiscuous mode. + * If the queue was initialised prior to this, it can be re-enabled + * by calling promisc_enable(0) + */ +void csp_promisc_disable(void); + +/** + * Get packet from promiscuous mode packet queue + * Returns the first packet from the promiscuous mode packet queue. + * The queue is FIFO, so the returned packet is the oldest one + * in the queue. + * + * @param timeout Timeout in ms to wait for a new packet + */ +csp_packet_t *csp_promisc_read(uint32_t timeout); + +/** + * Send multiple packets using the simple fragmentation protocol + * CSP will add total size and offset to all packets + * This can be read by the client using the csp_sfp_recv, if the CSP_FFRAG flag is set + * @param conn pointer to connection + * @param data pointer to data to send + * @param totalsize size of data to send + * @param mtu maximum transfer unit + * @param timeout timeout in ms to wait for csp_send() + * @return 0 if OK, -1 if ERR + */ +int csp_sfp_send(csp_conn_t * conn, const void * data, int totalsize, int mtu, uint32_t timeout); + +/** + * Same as csp_sfp_send but with option to supply your own memcpy function. + * This is usefull if you wish to send data stored in flash memory or another location + * @param conn pointer to connection + * @param data pointer to data to send + * @param totalsize size of data to send + * @param mtu maximum transfer unit + * @param timeout timeout in ms to wait for csp_send() + * @param memcpyfcn, pointer to memcpy function + * @return 0 if OK, -1 if ERR + */ +int csp_sfp_send_own_memcpy(csp_conn_t * conn, const void * data, int totalsize, int mtu, uint32_t timeout, void * (*memcpyfcn)(void *, const void *, size_t)); + +/** + * This is the counterpart to the csp_sfp_send function + * @param conn pointer to active conn, on which you expect to receive sfp packed data + * @param dataout pointer to NULL pointer, whill be overwritten with malloc pointer + * @param datasize actual size of received data + * @param timeout timeout in ms to wait for csp_recv() + * @return 0 if OK, -1 if ERR + */ +int csp_sfp_recv(csp_conn_t * conn, void ** dataout, int * datasize, uint32_t timeout); + +/** + * This is the counterpart to the csp_sfp_send function + * @param conn pointer to active conn, on which you expect to receive sfp packed data + * @param dataout pointer to NULL pointer, whill be overwritten with malloc pointer + * @param datasize actual size of received data + * @param timeout timeout in ms to wait for csp_recv() + * @param first_packet This is a pointer to the first SFP packet (previously received with csp_read) + * @return 0 if OK, -1 if ERR + */ +int csp_sfp_recv_fp(csp_conn_t * conn, void ** dataout, int * datasize, uint32_t timeout, csp_packet_t * first_packet); + +/** + * If the given packet is a service-request (that is uses one of the csp service ports) + * it will be handled according to the CSP service handler. + * This function will either use the packet buffer or delete it, + * so this function is typically called in the last "default" clause of + * a switch/case statement in a csp_listener task. + * In order to listen to csp service ports, bind your listener to the CSP_ANY port. + * This function may only be called from task context. + * @param conn Pointer to the new connection + * @param packet Pointer to the first packet, obtained by using csp_read() + */ +void csp_service_handler(csp_conn_t *conn, csp_packet_t *packet); + +/** + * Send a single ping/echo packet + * @param node node id + * @param timeout timeout in ms + * @param size size of packet to transmit + * @param conn_options csp connection options + * @return >0 = Echo time in ms, -1 = ERR + */ +int csp_ping(uint8_t node, uint32_t timeout, unsigned int size, uint8_t conn_options); + +/** + * Send a single ping/echo packet without waiting for reply + * @param node node id + */ +void csp_ping_noreply(uint8_t node); + +/** + * Request process list. + * @note This is only available for FreeRTOS systems + * @param node node id + * @param timeout timeout in ms + */ +void csp_ps(uint8_t node, uint32_t timeout); + +/** + * Request amount of free memory + * @param node node id + * @param timeout timeout in ms + */ +void csp_memfree(uint8_t node, uint32_t timeout); + +/** + * Request number of free buffer elements + * @param node node id + * @param timeout timeout in ms + */ +void csp_buf_free(uint8_t node, uint32_t timeout); + +/** + * Reboot subsystem + * @param node node id + */ +void csp_reboot(uint8_t node); + +/** + * Shutdown subsystem + * @param node node id + */ +void csp_shutdown(uint8_t node); + +/** + * Request subsystem uptime + * @param node node id + * @param timeout timeout in ms + */ +void csp_uptime(uint8_t node, uint32_t timeout); + +/** + * Set RDP options + * @param window_size Window size + * @param conn_timeout_ms Connection timeout in ms + * @param packet_timeout_ms Packet timeout in ms + * @param delayed_acks Enable/disable delayed acknowledgements + * @param ack_timeout Acknowledgement timeout when delayed ACKs is enabled + * @param ack_delay_count Send acknowledgement for every ack_delay_count packets + */ +void csp_rdp_set_opt(unsigned int window_size, unsigned int conn_timeout_ms, + unsigned int packet_timeout_ms, unsigned int delayed_acks, + unsigned int ack_timeout, unsigned int ack_delay_count); + +/** + * Get RDP options + * @param window_size Window size + * @param conn_timeout_ms Connection timeout in ms + * @param packet_timeout_ms Packet timeout in ms + * @param delayed_acks Enable/disable delayed acknowledgements + * @param ack_timeout Acknowledgement timeout when delayed ACKs is enabled + * @param ack_delay_count Send acknowledgement for every ack_delay_count packets + */ +void csp_rdp_get_opt(unsigned int *window_size, unsigned int *conn_timeout_ms, + unsigned int *packet_timeout_ms, unsigned int *delayed_acks, + unsigned int *ack_timeout, unsigned int *ack_delay_count); + +/** + * Set XTEA key + * @param key Pointer to key array + * @param keylen Length of key + * @return 0 if key was successfully set, -1 otherwise + */ +int csp_xtea_set_key(char *key, uint32_t keylen); + +/** + * Set HMAC key + * @param key Pointer to key array + * @param keylen Length of key + * @return 0 if key was successfully set, -1 otherwise + */ +int csp_hmac_set_key(char *key, uint32_t keylen); + +/** + * Print connection table + */ +void csp_conn_print_table(void); +int csp_conn_print_table_str(char * str_buf, int str_size); + +/** + * Print buffer usage table + */ +void csp_buffer_print_table(void); + +/** + * Hex dump to stdout + */ +void csp_hex_dump(const char *desc, void *addr, int len); + +#ifdef __AVR__ +typedef uint32_t csp_memptr_t; +#else +typedef void * csp_memptr_t; +#endif + +typedef csp_memptr_t (*csp_memcpy_fnc_t)(csp_memptr_t, const csp_memptr_t, size_t); +void csp_cmp_set_memcpy(csp_memcpy_fnc_t fnc); + +/** + * Set csp_debug hook function + * @param f Hook function + */ +#include +typedef void (*csp_debug_hook_func_t)(csp_debug_level_t level, const char *format, va_list args); +void csp_debug_hook_set(csp_debug_hook_func_t f); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_H_ diff --git a/thirdparty/libcsp/include/csp/csp_autoconfig.h b/thirdparty/libcsp/include/csp/csp_autoconfig.h new file mode 100644 index 00000000..703f3754 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_autoconfig.h @@ -0,0 +1,48 @@ +/* + * csp_autoconfig.h + * + * Created on: 20.11.2020 + * Author: jakob + */ + +#ifndef GOMSPACE_LIBCSP_INCLUDE_CSP_CSP_AUTOCONFIG_H_ +#define GOMSPACE_LIBCSP_INCLUDE_CSP_CSP_AUTOCONFIG_H_ + +#define ENABLE_NANOPOWER2_CLIENT 1 +#define GIT_REV "unknown" +/* #undef CSP_FREERTOS */ +#define CSP_POSIX 1 +/* #undef CSP_WINDOWS */ +/* #undef CSP_MACOSX */ +#define HAVE_LIBZMQ 1 +#define CSP_DEBUG 1 +#define CSP_USE_RDP 1 +#define CSP_USE_CRC32 1 +#define CSP_USE_HMAC 1 +#define CSP_USE_XTEA 1 +#define CSP_USE_PROMISC 1 +#define CSP_USE_QOS 1 +/* #undef CSP_USE_DEDUP */ +/* #undef CSP_USE_INIT_SHUTDOWN */ +#define CSP_USE_CAN 1 +/* #define CSP_USE_I2C 1 */ +/* #define CSP_USE_KISS 1 */ +/* #define CSP_USE_ZMQHUB 1 */ +#define CSP_CONN_MAX 10 +#define CSP_CONN_QUEUE_LENGTH 100 +#define CSP_FIFO_INPUT 100 +#define CSP_MAX_BIND_PORT 31 +#define CSP_RDP_MAX_WINDOW 20 +#define CSP_PADDING_BYTES 8 +#define CSP_CONNECTION_SO 64 +#define CSP_LOG_LEVEL_DEBUG 1 +#define CSP_LOG_LEVEL_INFO 1 +#define CSP_LOG_LEVEL_WARN 1 +#define CSP_LOG_LEVEL_ERROR 1 +#define CSP_LITTLE_ENDIAN 1 +/* #undef CSP_BIG_ENDIAN */ +#define CSP_HAVE_STDBOOL_H 1 +/* #define CSP_HAVE_LIBSOCKETCAN 1 */ +#define LIBCSP_VERSION "1.5" + +#endif /* GOMSPACE_LIBCSP_INCLUDE_CSP_CSP_AUTOCONFIG_H_ */ diff --git a/thirdparty/libcsp/include/csp/csp_buffer.h b/thirdparty/libcsp/include/csp/csp_buffer.h new file mode 100644 index 00000000..9ed6df77 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_buffer.h @@ -0,0 +1,92 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_BUFFER_H_ +#define _CSP_BUFFER_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Start the buffer handling system + * You must specify the number for buffers and the size. All buffers are fixed + * size so you must specify the size of your largest buffer. + * + * @param count Number of buffers to allocate + * @param size Buffer size in bytes. + * + * @return CSP_ERR_NONE if malloc() succeeded, CSP_ERR message otherwise. + */ +int csp_buffer_init(int count, int size); + +/** + * Get a reference to a free buffer. This function can only be called + * from task context. + * + * @param size Specify what data-size you will put in the buffer + * @return pointer to a free csp_packet_t or NULL if out of memory + */ +void * csp_buffer_get(size_t size); + +/** + * Get a reference to a free buffer. This function can only be called + * from interrupt context. + * + * @param buf_size Specify what data-size you will put in the buffer + * @return pointer to a free csp_packet_t or NULL if out of memory + */ +void * csp_buffer_get_isr(size_t buf_size); + +/** + * Free a buffer after use. + * @param packet pointer to memory area, must be acquired by csp_buffer_get(). + */ +void csp_buffer_free(void *packet); + +/** + * Free a buffer after use in ISR context. + * @param packet pointer to memory area, must be acquired by csp_buffer_get(). + */ +void csp_buffer_free_isr(void *packet); + +/** + * Clone an existing packet and increase/decrease cloned packet size. + * @param buffer Existing buffer to clone. + */ +void * csp_buffer_clone(void *buffer); + +/** + * Return how many buffers that are currently free. + * @return number of free buffers + */ +int csp_buffer_remaining(void); + +/** + * Return the size of the CSP buffers + * @return size of CSP buffers + */ +int csp_buffer_size(void); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_BUFFER_H_ */ diff --git a/thirdparty/libcsp/include/csp/csp_cmp.h b/thirdparty/libcsp/include/csp/csp_cmp.h new file mode 100644 index 00000000..114a8eab --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_cmp.h @@ -0,0 +1,189 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_CMP_H_ +#define _CSP_CMP_H_ + +/** + @file + CSP management protocol (CMP). +*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include + +/** + CMP type. + @{ +*/ +/** + CMP request. +*/ +#define CSP_CMP_REQUEST 0x00 +/** + CMP reply. +*/ +#define CSP_CMP_REPLY 0xff +/**@}*/ + +/** + CMP requests. + @{ +*/ +/** + CMP request codes. +*/ +/** + Request identification, compile time, revision, name. +*/ +#define CSP_CMP_IDENT 1 +/** + Set/configure routing. +*/ +#define CSP_CMP_ROUTE_SET 2 +/** + Request interface statistics. +*/ +#define CSP_CMP_IF_STATS 3 +/** + Peek/read data from memory. +*/ +#define CSP_CMP_PEEK 4 +/** + Poke/write data from memory. +*/ +#define CSP_CMP_POKE 5 +/** + Get/set clock. +*/ +#define CSP_CMP_CLOCK 6 +/**@}*/ + +/** + CMP identification - max revision length. +*/ +#define CSP_CMP_IDENT_REV_LEN 20 +/** + CMP identification - max date length. +*/ +#define CSP_CMP_IDENT_DATE_LEN 12 +/** + CMP identification - max time length. +*/ +#define CSP_CMP_IDENT_TIME_LEN 9 + +/** + CMP interface statistics - max interface name length. +*/ +#define CSP_CMP_ROUTE_IFACE_LEN 11 + +/** + CMP peek/read memeory - max read length. +*/ +#define CSP_CMP_PEEK_MAX_LEN 200 + +/** + CMP poke/write memeory - max write length. +*/ +#define CSP_CMP_POKE_MAX_LEN 200 + +/** + CSP management protocol description. +*/ +struct csp_cmp_message { + //! CMP request type. + uint8_t type; + //! CMP request code. + uint8_t code; + union { + struct { + char hostname[CSP_HOSTNAME_LEN]; + char model[CSP_MODEL_LEN]; + char revision[CSP_CMP_IDENT_REV_LEN]; + char date[CSP_CMP_IDENT_DATE_LEN]; + char time[CSP_CMP_IDENT_TIME_LEN]; + } ident; + struct { + uint8_t dest_node; + uint8_t next_hop_mac; + char interface[CSP_CMP_ROUTE_IFACE_LEN]; + } route_set; + struct __attribute__((__packed__)) { + char interface[CSP_CMP_ROUTE_IFACE_LEN]; + uint32_t tx; + uint32_t rx; + uint32_t tx_error; + uint32_t rx_error; + uint32_t drop; + uint32_t autherr; + uint32_t frame; + uint32_t txbytes; + uint32_t rxbytes; + uint32_t irq; + } if_stats; + struct { + uint32_t addr; + uint8_t len; + char data[CSP_CMP_PEEK_MAX_LEN]; + } peek; + struct { + uint32_t addr; + uint8_t len; + char data[CSP_CMP_POKE_MAX_LEN]; + } poke; + csp_timestamp_t clock; + }; +} __attribute__ ((packed)); + +/** + Macro for calculating size of management message. +*/ +#define CMP_SIZE(_memb) (sizeof(((struct csp_cmp_message *)0)->_memb) + sizeof(uint8_t) + sizeof(uint8_t)) + +/** + Generic send management message request. +*/ +int csp_cmp(uint8_t node, uint32_t timeout, uint8_t code, int membsize, struct csp_cmp_message *msg); + +/** + Macro for defining management handling function. +*/ +#define CMP_MESSAGE(_code, _memb) \ +static inline int csp_cmp_##_memb(uint8_t node, uint32_t timeout, struct csp_cmp_message *msg) { \ + return csp_cmp(node, timeout, _code, CMP_SIZE(_memb), msg); \ +} + +CMP_MESSAGE(CSP_CMP_IDENT, ident) +CMP_MESSAGE(CSP_CMP_ROUTE_SET, route_set) +CMP_MESSAGE(CSP_CMP_IF_STATS, if_stats) +CMP_MESSAGE(CSP_CMP_PEEK, peek) +CMP_MESSAGE(CSP_CMP_POKE, poke) +CMP_MESSAGE(CSP_CMP_CLOCK, clock) + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_CMP_H_ diff --git a/thirdparty/libcsp/include/csp/csp_crc32.h b/thirdparty/libcsp/include/csp/csp_crc32.h new file mode 100644 index 00000000..a474eaf8 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_crc32.h @@ -0,0 +1,63 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_CRC32_H_ +#define _CSP_CRC32_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Generate precomputed CRC32 table + */ +void csp_crc32_gentab(void); + +/** + * Append CRC32 checksum to packet + * @param packet Packet to append checksum + * @param include_header use header in calculation (this will not modify the flags field) + * @return 0 on success, -1 on error + */ +int csp_crc32_append(csp_packet_t * packet, bool include_header); + +/** + * Verify CRC32 checksum on packet + * @param packet Packet to verify + * @param include_header use header in calculation (this will not modify the flags field) + * @return 0 if checksum is valid, -1 otherwise + */ +int csp_crc32_verify(csp_packet_t * packet, bool include_header); + +/** + * Calculate checksum for a given memory area + * @param data pointer to memory + * @param length length of memory to do checksum on + * @return return uint32_t checksum + */ +uint32_t csp_crc32_memory(const uint8_t * data, uint32_t length); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_CRC32_H_ */ diff --git a/thirdparty/libcsp/include/csp/csp_debug.h b/thirdparty/libcsp/include/csp/csp_debug.h new file mode 100644 index 00000000..64429d49 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_debug.h @@ -0,0 +1,150 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_DEBUG_H_ +#define _CSP_DEBUG_H_ + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** Debug levels */ +typedef enum { + CSP_ERROR = 0, + CSP_WARN = 1, + CSP_INFO = 2, + CSP_BUFFER = 3, + CSP_PACKET = 4, + CSP_PROTOCOL = 5, + CSP_LOCK = 6, +} csp_debug_level_t; + +/* Extract filename component from path */ +#define BASENAME(_file) ((strrchr(_file, '/') ? : (strrchr(_file, '\\') ? : _file)) + 1) + +/* Implement csp_assert_fail_action to override default failure action */ +extern void __attribute__((weak)) csp_assert_fail_action(const char *assertion, const char *file, int line); + +#ifndef NDEBUG + #define csp_assert(exp) \ + do { \ + if (!(exp)) { \ + const char *assertion = #exp; \ + const char *file = BASENAME(__FILE__); \ + int line = __LINE__; \ + printf("\E[1;31m[%02" PRIu8 "] Assertion \'%s\' failed in %s:%d\E[0m\r\n", \ + csp_get_address(), assertion, file, line); \ + if (csp_assert_fail_action) \ + csp_assert_fail_action(assertion, file, line); \ + } \ + } while (0) +#else + #define csp_assert(...) do {} while (0) +#endif + +#ifdef __AVR__ + #include + #include + #define CONSTSTR(data) PSTR(data) + #undef printf + #undef sscanf + #undef scanf + #undef sprintf + #undef snprintf + #define printf(s, ...) printf_P(PSTR(s), ## __VA_ARGS__) + #define sscanf(buf, s, ...) sscanf_P(buf, PSTR(s), ## __VA_ARGS__) + #define scanf(s, ...) scanf_P(PSTR(s), ## __VA_ARGS__) + #define sprintf(buf, s, ...) sprintf_P(buf, PSTR(s), ## __VA_ARGS__) + #define snprintf(buf, size, s, ...) snprintf_P(buf, size, PSTR(s), ## __VA_ARGS__) +#else + #define CONSTSTR(data) data +#endif + +#ifdef CSP_DEBUG + #define csp_debug(level, format, ...) do { do_csp_debug(level, CONSTSTR(format), ##__VA_ARGS__); } while(0) +#else + #define csp_debug(...) do {} while (0) +#endif + +#ifdef CSP_LOG_LEVEL_ERROR + #define csp_log_error(format, ...) csp_debug(CSP_ERROR, format, ##__VA_ARGS__) +#else + #define csp_log_error(...) do {} while (0) +#endif + +#ifdef CSP_LOG_LEVEL_WARN + #define csp_log_warn(format, ...) csp_debug(CSP_WARN, format, ##__VA_ARGS__) +#else + #define csp_log_warn(...) do {} while (0) +#endif + +#ifdef CSP_LOG_LEVEL_INFO + #define csp_log_info(format, ...) csp_debug(CSP_INFO, format, ##__VA_ARGS__) +#else + #define csp_log_info(...) do {} while (0) +#endif + +#ifdef CSP_LOG_LEVEL_DEBUG + #define csp_log_buffer(format, ...) csp_debug(CSP_BUFFER, format, ##__VA_ARGS__) + #define csp_log_packet(format, ...) csp_debug(CSP_PACKET, format, ##__VA_ARGS__) + #define csp_log_protocol(format, ...) csp_debug(CSP_PROTOCOL, format, ##__VA_ARGS__) + #define csp_log_lock(format, ...) csp_debug(CSP_LOCK, format, ##__VA_ARGS__) +#else + #define csp_log_buffer(...) do {} while (0) + #define csp_log_packet(...) do {} while (0) + #define csp_log_protocol(...) do {} while (0) + #define csp_log_lock(...) do {} while (0) +#endif + +/** + * This function should not be used directly, use csp_log_() macro instead + * @param level + * @param format + */ +void do_csp_debug(csp_debug_level_t level, const char *format, ...); + +/** + * Toggle debug level on/off + * @param level Level to toggle + */ +void csp_debug_toggle_level(csp_debug_level_t level); + +/** + * Set debug level + * @param level Level to set + * @param value New level value + */ +void csp_debug_set_level(csp_debug_level_t level, bool value); + +/** + * Get current debug level value + * @param level Level value to get + * @return Level value + */ +int csp_debug_get_level(csp_debug_level_t level); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_DEBUG_H_ diff --git a/thirdparty/libcsp/include/csp/csp_endian.h b/thirdparty/libcsp/include/csp/csp_endian.h new file mode 100644 index 00000000..e63a73c2 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_endian.h @@ -0,0 +1,170 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_ENDIAN_H_ +#define _CSP_ENDIAN_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/** + * Convert 16-bit integer from host byte order to network byte order + * @param h16 Host byte order 16-bit integer + */ +uint16_t csp_hton16(uint16_t h16); + +/** + * Convert 16-bit integer from host byte order to host byte order + * @param n16 Network byte order 16-bit integer + */ +uint16_t csp_ntoh16(uint16_t n16); + +/** + * Convert 32-bit integer from host byte order to network byte order + * @param h32 Host byte order 32-bit integer + */ +uint32_t csp_hton32(uint32_t h32); + +/** + * Convert 32-bit integer from host byte order to host byte order + * @param n32 Network byte order 32-bit integer + */ +uint32_t csp_ntoh32(uint32_t n32); + +/** + * Convert 64-bit integer from host byte order to network byte order + * @param h64 Host byte order 64-bit integer + */ +uint64_t csp_hton64(uint64_t h64); + +/** + * Convert 64-bit integer from host byte order to host byte order + * @param n64 Network byte order 64-bit integer + */ +uint64_t csp_ntoh64(uint64_t n64); + +/** + * Convert 16-bit integer from host byte order to big endian byte order + * @param h16 Host byte order 16-bit integer + */ +uint16_t csp_htobe16(uint16_t h16); + +/** + * Convert 16-bit integer from host byte order to little endian byte order + * @param h16 Host byte order 16-bit integer + */ +uint16_t csp_htole16(uint16_t h16); + +/** + * Convert 16-bit integer from big endian byte order to little endian byte order + * @param be16 Big endian byte order 16-bit integer + */ +uint16_t csp_betoh16(uint16_t be16); + +/** + * Convert 16-bit integer from little endian byte order to host byte order + * @param le16 Little endian byte order 16-bit integer + */ +uint16_t csp_letoh16(uint16_t le16); + +/** + * Convert 32-bit integer from host byte order to big endian byte order + * @param h32 Host byte order 32-bit integer + */ +uint32_t csp_htobe32(uint32_t h32); + +/** + * Convert 32-bit integer from little endian byte order to host byte order + * @param h32 Host byte order 32-bit integer + */ +uint32_t csp_htole32(uint32_t h32); + +/** + * Convert 32-bit integer from big endian byte order to host byte order + * @param be32 Big endian byte order 32-bit integer + */ +uint32_t csp_betoh32(uint32_t be32); + +/** + * Convert 32-bit integer from little endian byte order to host byte order + * @param le32 Little endian byte order 32-bit integer + */ +uint32_t csp_letoh32(uint32_t le32); + +/** + * Convert 64-bit integer from host byte order to big endian byte order + * @param h64 Host byte order 64-bit integer + */ +uint64_t csp_htobe64(uint64_t h64); + +/** + * Convert 64-bit integer from host byte order to little endian byte order + * @param h64 Host byte order 64-bit integer + */ +uint64_t csp_htole64(uint64_t h64); + +/** + * Convert 64-bit integer from big endian byte order to host byte order + * @param be64 Big endian byte order 64-bit integer + */ +uint64_t csp_betoh64(uint64_t be64); + +/** + * Convert 64-bit integer from little endian byte order to host byte order + * @param le64 Little endian byte order 64-bit integer + */ +uint64_t csp_letoh64(uint64_t le64); + +/** + * Convert float from host to network byte order + * @param f Float in host order + * @return Float in network order + */ +float csp_htonflt(float f); + +/** + * Convert float from network to host byte order + * @param f Float in network order + * @return Float in host order + */ +float csp_ntohflt(float f); + +/** + * Convert double from host to network byte order + * @param d Double in host order + * @return Double in network order + */ +double csp_htondbl(double d); + +/** + * Convert double from network to host order + * @param d Double in network order + * @return Double in host order + */ +double csp_ntohdbl(double d); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_ENDIAN_H_ diff --git a/thirdparty/libcsp/include/csp/csp_error.h b/thirdparty/libcsp/include/csp/csp_error.h new file mode 100644 index 00000000..31866607 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_error.h @@ -0,0 +1,50 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_ERROR_H_ +#define _CSP_ERROR_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_ERR_NONE 0 /* No error */ +#define CSP_ERR_NOMEM -1 /* Not enough memory */ +#define CSP_ERR_INVAL -2 /* Invalid argument */ +#define CSP_ERR_TIMEDOUT -3 /* Operation timed out */ +#define CSP_ERR_USED -4 /* Resource already in use */ +#define CSP_ERR_NOTSUP -5 /* Operation not supported */ +#define CSP_ERR_BUSY -6 /* Device or resource busy */ +#define CSP_ERR_ALREADY -7 /* Connection already in progress */ +#define CSP_ERR_RESET -8 /* Connection reset */ +#define CSP_ERR_NOBUFS -9 /* No more buffer space available */ +#define CSP_ERR_TX -10 /* Transmission failed */ +#define CSP_ERR_DRIVER -11 /* Error in driver layer */ +#define CSP_ERR_AGAIN -12 /* Resource temporarily unavailable */ + +#define CSP_ERR_HMAC -100 /* HMAC failed */ +#define CSP_ERR_XTEA -101 /* XTEA failed */ +#define CSP_ERR_CRC32 -102 /* CRC32 failed */ + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_ERROR_H_ diff --git a/thirdparty/libcsp/include/csp/csp_iflist.h b/thirdparty/libcsp/include/csp/csp_iflist.h new file mode 100644 index 00000000..55875657 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_iflist.h @@ -0,0 +1,56 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_IFLIST_H_ +#define CSP_IFLIST_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Add interface to list + * @param ifc Pointer to interface to add + */ +void csp_iflist_add(csp_iface_t *ifc); + +/** + * Lookup interface by name + * @param name String with interface name + * @return Pointer to interface or NULL if not found + */ +csp_iface_t * csp_iflist_get_by_name(const char *name); + +/** + * Print list of interfaces to stdout + */ +void csp_iflist_print(void); + +/** + * Return list of registered interfaces. + */ +csp_iface_t * csp_iflist_get(void); + +#ifdef __cplusplus +} +#endif +#endif /* CSP_IFLIST_H_ */ diff --git a/thirdparty/libcsp/include/csp/csp_interface.h b/thirdparty/libcsp/include/csp/csp_interface.h new file mode 100644 index 00000000..8f04bee3 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_interface.h @@ -0,0 +1,54 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_INTERFACE_H_ +#define _CSP_INTERFACE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/** + * Inputs a new packet into the system + * This function is called from interface drivers ISR to route and accept packets. + * But it can also be called from a task, provided that the pxTaskWoken parameter is NULL! + * + * EXTREMELY IMPORTANT: + * pxTaskWoken arg must ALWAYS be NULL if called from task, + * and ALWAYS be NON NULL if called from ISR! + * If this condition is met, this call is completely thread-safe + * + * This function is fire and forget, it returns void, meaning + * that a packet will always be either accepted or dropped + * so the memory will always be freed. + * + * @param packet A pointer to the incoming packet + * @param interface A pointer to the incoming interface TX function. + * @param pxTaskWoken This must be a pointer a valid variable if called from ISR or NULL otherwise! + */ +void csp_qfifo_write(csp_packet_t *packet, csp_iface_t *interface, CSP_BASE_TYPE *pxTaskWoken); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_INTERFACE_H_ diff --git a/thirdparty/libcsp/include/csp/csp_platform.h b/thirdparty/libcsp/include/csp/csp_platform.h new file mode 100644 index 00000000..b33292e9 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_platform.h @@ -0,0 +1,56 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_PLATFORM_H_ +#define _CSP_PLATFORM_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/* Set OS */ +#if defined(CSP_POSIX) || defined(CSP_WINDOWS) || defined(CSP_MACOSX) + #define CSP_BASE_TYPE int + #define CSP_MAX_DELAY (UINT32_MAX) + #define CSP_INFINITY (UINT32_MAX) + #define CSP_DEFINE_CRITICAL(lock) static csp_bin_sem_handle_t lock + #define CSP_INIT_CRITICAL(lock) ({(csp_bin_sem_create(&lock) == CSP_SEMAPHORE_OK) ? CSP_ERR_NONE : CSP_ERR_NOMEM;}) + #define CSP_ENTER_CRITICAL(lock) do { csp_bin_sem_wait(&lock, CSP_MAX_DELAY); } while(0) + #define CSP_EXIT_CRITICAL(lock) do { csp_bin_sem_post(&lock); } while(0) +#elif defined(CSP_FREERTOS) + #include "FreeRTOS.h" + #define CSP_BASE_TYPE portBASE_TYPE + #define CSP_MAX_DELAY portMAX_DELAY + #define CSP_INFINITY portMAX_DELAY + #define CSP_DEFINE_CRITICAL(lock) + #define CSP_INIT_CRITICAL(lock) ({CSP_ERR_NONE;}) + #define CSP_ENTER_CRITICAL(lock) do { portENTER_CRITICAL(); } while (0) + #define CSP_EXIT_CRITICAL(lock) do { portEXIT_CRITICAL(); } while (0) +#else + #error "OS must be either CSP_POSIX, CSP_MACOSX, CSP_FREERTOS OR CSP_WINDOWS" +#endif + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_PLATFORM_H_ diff --git a/thirdparty/libcsp/include/csp/csp_rtable.h b/thirdparty/libcsp/include/csp/csp_rtable.h new file mode 100644 index 00000000..34cd18e2 --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_rtable.h @@ -0,0 +1,149 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_RTABLE_H_ +#define CSP_RTABLE_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#define CSP_NODE_MAC 0xFF +#define CSP_ROUTE_COUNT (CSP_ID_HOST_MAX + 2) +#define CSP_ROUTE_TABLE_SIZE 5 * CSP_ROUTE_COUNT + +/** + * Find outgoing interface in routing table + * @param id Destination node + * @return pointer to outgoing interface or NULL + */ +csp_iface_t * csp_rtable_find_iface(uint8_t id); + +/** + * Find MAC address associated with node + * @param id Destination node + * @return MAC address + */ +uint8_t csp_rtable_find_mac(uint8_t id); + +/** + * Setup routing entry + * @param node Host + * @param mask Number of bits in netmask + * @param ifc Interface + * @param mac MAC address + * @return CSP error type + */ +int csp_rtable_set(uint8_t node, uint8_t mask, csp_iface_t *ifc, uint8_t mac); + +/** + * Print routing table to stdout + */ +void csp_rtable_print(void); + + +/** + * Load the routing table from a buffer + * (deprecated, please use new csp_rtable_load) + * + * Warning: + * The table will be RAW from memory and contains direct pointers, not interface names. + * Therefore it's very important that a saved routing table is deleted after a firmware update + * + * @param route_table_in pointer to routing table buffer + */ +void csp_route_table_load(uint8_t route_table_in[CSP_ROUTE_TABLE_SIZE]); + +/** + * Save the routing table to a buffer + * (deprecated, please use new csp_rtable_save) + * + * Warning: + * The table will be RAW from memory and contains direct pointers, not interface names. + * Therefore it's very important that a saved routing table is deleted after a firmware update + * + * @param route_table_out pointer to routing table buffer + */ +void csp_route_table_save(uint8_t route_table_out[CSP_ROUTE_TABLE_SIZE]); + +/** + * Save routing table as a string to a buffer, which can be parsed + * again by csp_rtable_load. + * @param buffer pointer to buffer + * @param maxlen length of buffer + * @return length of saved string + */ +int csp_rtable_save(char * buffer, int maxlen); + +/** + * Load routing table from a string in the format + * %u/%u %s %u + * - Address + * - Netmask + * - Ifname + * - Mac Address (this field is optional) + * An example routing string is "0/0 I2C, 8/2 KISS" + * The string must be \0 null terminated + * @param buffer Pointer to string + */ +void csp_rtable_load(const char * buffer); + +/** + * Check string for valid routing table + * @param buffer Pointer to string + * @return number of valid entries found + */ +int csp_rtable_check(const char * buffer); + +/** + * Clear routing table: + * This could be done before load to ensure an entire clean table is loaded. + */ +void csp_rtable_clear(void); + +/** + * Setup routing entry to single node + * (deprecated, please use csp_rtable_set) + * + * @param node Host + * @param ifc Interface + * @param mac MAC address + * @return CSP error type + */ +#define csp_route_set(node, ifc, mac) csp_rtable_set(node, CSP_ID_HOST_SIZE, ifc, mac) + +/** + * Print routing table + * (deprecated, please use csp_rtable_print) + */ +#define csp_route_print_table() csp_rtable_print(); + +/** + * Print list of interfaces + * (deprecated, please use csp_iflist_print) + */ +#define csp_route_print_interfaces() csp_iflist_print(); + +#ifdef __cplusplus +} +#endif +#endif /* CSP_RTABLE_H_ */ diff --git a/thirdparty/libcsp/include/csp/csp_types.h b/thirdparty/libcsp/include/csp/csp_types.h new file mode 100644 index 00000000..a9cc28cd --- /dev/null +++ b/thirdparty/libcsp/include/csp/csp_types.h @@ -0,0 +1,235 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_TYPES_H_ +#define CSP_TYPES_H_ + +#include +#include // -> CSP_HAVE_X defines +#ifdef CSP_HAVE_STDBOOL_H +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/* Make bool for compilers without stdbool.h */ +#ifndef CSP_HAVE_STDBOOL_H +#define bool int +#define false 0 +#define true !false +#endif + +/** + * RESERVED PORTS (SERVICES) + */ + +enum csp_reserved_ports_e { + CSP_CMP = 0, + CSP_PING = 1, + CSP_PS = 2, + CSP_MEMFREE = 3, + CSP_REBOOT = 4, + CSP_BUF_FREE = 5, + CSP_UPTIME = 6, + CSP_ANY = (CSP_MAX_BIND_PORT + 1), + CSP_PROMISC = (CSP_MAX_BIND_PORT + 2) +}; + +typedef enum { + CSP_PRIO_CRITICAL = 0, + CSP_PRIO_HIGH = 1, + CSP_PRIO_NORM = 2, + CSP_PRIO_LOW = 3, +} csp_prio_t; + +#define CSP_PRIORITIES (1 << CSP_ID_PRIO_SIZE) + +#ifdef CSP_USE_QOS +#define CSP_RX_QUEUE_LENGTH (CSP_CONN_QUEUE_LENGTH / CSP_PRIORITIES) +#define CSP_ROUTE_FIFOS CSP_PRIORITIES +#define CSP_RX_QUEUES CSP_PRIORITIES +#else +#define CSP_RX_QUEUE_LENGTH CSP_CONN_QUEUE_LENGTH +#define CSP_ROUTE_FIFOS 1 +#define CSP_RX_QUEUES 1 +#endif + +/** Size of bit-fields in CSP header */ +#define CSP_ID_PRIO_SIZE 2 +#define CSP_ID_HOST_SIZE 5 +#define CSP_ID_PORT_SIZE 6 +#define CSP_ID_FLAGS_SIZE 8 + +#define CSP_HEADER_BITS (CSP_ID_PRIO_SIZE + 2 * CSP_ID_HOST_SIZE + 2 * CSP_ID_PORT_SIZE + CSP_ID_FLAGS_SIZE) +#define CSP_HEADER_LENGTH (CSP_HEADER_BITS / 8) + +#if CSP_HEADER_BITS != 32 && __GNUC__ +#error "Header length must be 32 bits" +#endif + +/** Highest number to be entered in field */ +#define CSP_ID_PRIO_MAX ((1 << (CSP_ID_PRIO_SIZE)) - 1) +#define CSP_ID_HOST_MAX ((1 << (CSP_ID_HOST_SIZE)) - 1) +#define CSP_ID_PORT_MAX ((1 << (CSP_ID_PORT_SIZE)) - 1) +#define CSP_ID_FLAGS_MAX ((1 << (CSP_ID_FLAGS_SIZE)) - 1) + +/** Identifier field masks */ +#define CSP_ID_PRIO_MASK ((uint32_t) CSP_ID_PRIO_MAX << (CSP_ID_FLAGS_SIZE + 2 * CSP_ID_PORT_SIZE + 2 * CSP_ID_HOST_SIZE)) +#define CSP_ID_SRC_MASK ((uint32_t) CSP_ID_HOST_MAX << (CSP_ID_FLAGS_SIZE + 2 * CSP_ID_PORT_SIZE + 1 * CSP_ID_HOST_SIZE)) +#define CSP_ID_DST_MASK ((uint32_t) CSP_ID_HOST_MAX << (CSP_ID_FLAGS_SIZE + 2 * CSP_ID_PORT_SIZE)) +#define CSP_ID_DPORT_MASK ((uint32_t) CSP_ID_PORT_MAX << (CSP_ID_FLAGS_SIZE + 1 * CSP_ID_PORT_SIZE)) +#define CSP_ID_SPORT_MASK ((uint32_t) CSP_ID_PORT_MAX << (CSP_ID_FLAGS_SIZE)) +#define CSP_ID_FLAGS_MASK ((uint32_t) CSP_ID_FLAGS_MAX << (0)) + +#define CSP_ID_CONN_MASK (CSP_ID_SRC_MASK | CSP_ID_DST_MASK | CSP_ID_DPORT_MASK | CSP_ID_SPORT_MASK) + +/** + CSP identifier. +*/ +typedef union { + //! Entire identifier. + uint32_t ext; + //! Individual fields. + struct __attribute__((__packed__)) { +#if defined(CSP_BIG_ENDIAN) && !defined(CSP_LITTLE_ENDIAN) + unsigned int pri : CSP_ID_PRIO_SIZE; + unsigned int src : CSP_ID_HOST_SIZE; + unsigned int dst : CSP_ID_HOST_SIZE; + unsigned int dport : CSP_ID_PORT_SIZE; + unsigned int sport : CSP_ID_PORT_SIZE; + unsigned int flags : CSP_ID_FLAGS_SIZE; +#elif defined(CSP_LITTLE_ENDIAN) && !defined(CSP_BIG_ENDIAN) + unsigned int flags : CSP_ID_FLAGS_SIZE; + unsigned int sport : CSP_ID_PORT_SIZE; + unsigned int dport : CSP_ID_PORT_SIZE; + unsigned int dst : CSP_ID_HOST_SIZE; + unsigned int src : CSP_ID_HOST_SIZE; + unsigned int pri : CSP_ID_PRIO_SIZE; +#else +#error "Must define one of CSP_BIG_ENDIAN or CSP_LITTLE_ENDIAN in csp_platform.h" +#endif + }; +} csp_id_t; + +/** Broadcast address */ +#define CSP_BROADCAST_ADDR CSP_ID_HOST_MAX + +/** Default routing address */ +#define CSP_DEFAULT_ROUTE (CSP_ID_HOST_MAX + 1) + +/** CSP Flags */ +#define CSP_FRES1 0x80 // Reserved for future use +#define CSP_FRES2 0x40 // Reserved for future use +#define CSP_FRES3 0x20 // Reserved for future use +#define CSP_FFRAG 0x10 // Use fragmentation +#define CSP_FHMAC 0x08 // Use HMAC verification +#define CSP_FXTEA 0x04 // Use XTEA encryption +#define CSP_FRDP 0x02 // Use RDP protocol +#define CSP_FCRC32 0x01 // Use CRC32 checksum + +/** CSP Socket options */ +#define CSP_SO_NONE 0x0000 // No socket options +#define CSP_SO_RDPREQ 0x0001 // Require RDP +#define CSP_SO_RDPPROHIB 0x0002 // Prohibit RDP +#define CSP_SO_HMACREQ 0x0004 // Require HMAC +#define CSP_SO_HMACPROHIB 0x0008 // Prohibit HMAC +#define CSP_SO_XTEAREQ 0x0010 // Require XTEA +#define CSP_SO_XTEAPROHIB 0x0020 // Prohibit HMAC +#define CSP_SO_CRC32REQ 0x0040 // Require CRC32 +#define CSP_SO_CRC32PROHIB 0x0080 // Prohibit CRC32 +#define CSP_SO_CONN_LESS 0x0100 // Enable Connection Less mode +#define CSP_SO_INTERNAL_LISTEN 0x1000 // Internal flag: listen called on socket + +/** CSP Connect options */ +#define CSP_O_NONE CSP_SO_NONE // No connection options +#define CSP_O_RDP CSP_SO_RDPREQ // Enable RDP +#define CSP_O_NORDP CSP_SO_RDPPROHIB // Disable RDP +#define CSP_O_HMAC CSP_SO_HMACREQ // Enable HMAC +#define CSP_O_NOHMAC CSP_SO_HMACPROHIB // Disable HMAC +#define CSP_O_XTEA CSP_SO_XTEAREQ // Enable XTEA +#define CSP_O_NOXTEA CSP_SO_XTEAPROHIB // Disable XTEA +#define CSP_O_CRC32 CSP_SO_CRC32REQ // Enable CRC32 +#define CSP_O_NOCRC32 CSP_SO_CRC32PROHIB // Disable CRC32 + +/** + * CSP PACKET STRUCTURE + * Note: This structure is constructed to fit + * with all interface frame types in order to + * have buffer reuse + */ +typedef struct __attribute__((__packed__)) { + uint8_t padding[CSP_PADDING_BYTES]; /**< Interface dependent padding */ + uint16_t length; /**< Length field must be just before CSP ID */ + csp_id_t id; /**< CSP id must be just before data */ + union { + uint8_t data[0]; /**< This just points to the rest of the buffer, without a size indication. */ + uint16_t data16[0]; /**< The data 16 and 32 types makes it easy to reference an integer (properly aligned) */ + uint32_t data32[0]; /**< without the compiler warning about strict aliasing rules. */ + }; +} csp_packet_t; + +/** Interface TX function */ +struct csp_iface_s; +typedef int (*nexthop_t)(struct csp_iface_s * interface, csp_packet_t *packet, uint32_t timeout); + +/** Interface struct */ +typedef struct csp_iface_s { + const char *name; /**< Interface name (keep below 10 bytes) */ + void * driver; /**< Pointer to interface handler structure */ + nexthop_t nexthop; /**< Next hop function */ + uint16_t mtu; /**< Maximum Transmission Unit of interface */ + uint8_t split_horizon_off; /**< Disable the route-loop prevention on if */ + uint32_t tx; /**< Successfully transmitted packets */ + uint32_t rx; /**< Successfully received packets */ + uint32_t tx_error; /**< Transmit errors */ + uint32_t rx_error; /**< Receive errors */ + uint32_t drop; /**< Dropped packets */ + uint32_t autherr; /**< Authentication errors */ + uint32_t frame; /**< Frame format errors */ + uint32_t txbytes; /**< Transmitted bytes */ + uint32_t rxbytes; /**< Received bytes */ + uint32_t irq; /**< Interrupts */ + struct csp_iface_s *next; /**< Next interface */ +} csp_iface_t; + +/** + * This define must be equal to the size of the packet overhead in csp_packet_t. + * It is used in csp_buffer_get() to check the allocated buffer size against + * the required buffer size. + */ +#define CSP_BUFFER_PACKET_OVERHEAD (sizeof(csp_packet_t) - sizeof(((csp_packet_t *)0)->data)) + +/** Forward declaration of socket and connection structures */ +typedef struct csp_conn_s csp_socket_t; +typedef struct csp_conn_s csp_conn_t; + +#define CSP_HOSTNAME_LEN 20 +#define CSP_MODEL_LEN 30 + +/* CSP_REBOOT magic values */ +#define CSP_REBOOT_MAGIC 0x80078007 +#define CSP_REBOOT_SHUTDOWN_MAGIC 0xD1E5529A + +#ifdef __cplusplus +} +#endif +#endif /* CSP_TYPES_H_ */ diff --git a/thirdparty/libcsp/include/csp/drivers/can_socketcan.h b/thirdparty/libcsp/include/csp/drivers/can_socketcan.h new file mode 100644 index 00000000..0963b414 --- /dev/null +++ b/thirdparty/libcsp/include/csp/drivers/can_socketcan.h @@ -0,0 +1,22 @@ +/* + * can_socketcan.h + * + * Created on: Feb 6, 2017 + * Author: johan + */ + +#ifndef LIB_CSP_INCLUDE_CSP_DRIVERS_CAN_SOCKETCAN_H_ +#define LIB_CSP_INCLUDE_CSP_DRIVERS_CAN_SOCKETCAN_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc); + +#ifdef __cplusplus +} +#endif +#endif /* LIB_CSP_INCLUDE_CSP_DRIVERS_CAN_SOCKETCAN_H_ */ diff --git a/thirdparty/libcsp/include/csp/drivers/i2c.h b/thirdparty/libcsp/include/csp/drivers/i2c.h new file mode 100644 index 00000000..3cf605ee --- /dev/null +++ b/thirdparty/libcsp/include/csp/drivers/i2c.h @@ -0,0 +1,120 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/** + * @file + * Common I2C interface, + * This file is derived from the Gomspace I2C driver, + * + */ + +#ifndef I2C_H_ +#define I2C_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * The return value of the driver is a bit strange, + * It should return E_NO_ERR if successfull and the value is -1 + */ +#define E_NO_ERR -1 + +/** + * Maximum transfer length on I2C + */ +#define I2C_MTU 256 + +/** + I2C device modes + @{ +*/ +/** + I2C Master mode. +*/ +#define I2C_MASTER 0 +/** + I2C Slave mode. +*/ +#define I2C_SLAVE 1 +/**@}*/ + +/** + Data structure for I2C frames. + This structs fits on top of #csp_packet_t, removing the need for copying data. +*/ +typedef struct __attribute__((packed)) i2c_frame_s { + //! Not used by CSP + uint8_t padding; + //! Not used by CSP - cleared before Tx + uint8_t retries; + //! Not used by CSP + uint32_t reserved; + //! Destination address + uint8_t dest; + //! Not used by CSP - cleared before Tx + uint8_t len_rx; + //! Length of \a data part + uint16_t len; + //! CSP data + uint8_t data[I2C_MTU]; +} i2c_frame_t; + +/** + Callback for receiving data. + + @param[in] frame received I2C frame + @param[out] pxTaskWoken can be set, if context switch is required due to received data. +*/ +typedef void (*i2c_callback_t) (i2c_frame_t * frame, void * pxTaskWoken); + +/** + Initialise the I2C driver + + Functions is called by csp_i2c_init(). + + @param handle Which I2C bus (if more than one exists) + @param mode I2C device mode. Must be either I2C_MASTER or I2C_SLAVE + @param addr Own slave address + @param speed Bus speed in kbps + @param queue_len_tx Length of transmit queue + @param queue_len_rx Length of receive queue + @param callback If this value is set, the driver will call this function instead of using an RX queue + @return Error code +*/ +int i2c_init(int handle, int mode, uint8_t addr, uint16_t speed, int queue_len_tx, int queue_len_rx, i2c_callback_t callback); + +/** + User I2C transmit function. + + Called by CSP, when sending message over I2C. + + @param handle Handle to the device + @param frame Pointer to I2C frame + @param timeout Ticks to wait + @return Error code +*/ +int i2c_send(int handle, i2c_frame_t * frame, uint16_t timeout); + +#ifdef __cplusplus +} +#endif +#endif diff --git a/thirdparty/libcsp/include/csp/drivers/usart.h b/thirdparty/libcsp/include/csp/drivers/usart.h new file mode 100644 index 00000000..d2da8448 --- /dev/null +++ b/thirdparty/libcsp/include/csp/drivers/usart.h @@ -0,0 +1,107 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/** + * @file + * Common USART interface, + * This file is derived from the Gomspace USART driver, + * the main difference is the assumption that only one USART will be present on a PC + */ + +#ifndef USART_H_ +#define USART_H_ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** + Usart configuration, to be used with the usart_init call. +*/ +struct usart_conf { + //! USART device. + const char *device; + //! bits per second. + uint32_t baudrate; + //! Number of data bits. + uint8_t databits; + //! Number of stop bits. + uint8_t stopbits; + //! Parity setting. + uint8_t paritysetting; + //! Enable parity checking (Windows only). + uint8_t checkparity; +}; + +/** + Initialise UART with the usart_conf data structure + @param[in] conf full configuration structure +*/ +void usart_init(struct usart_conf *conf); + +/** + In order to catch incoming chars use the callback. + Only one callback per interface. + @param[in] handle usart[0,1,2,3] + @param[in] callback function pointer +*/ +typedef void (*usart_callback_t) (uint8_t *buf, int len, void *pxTaskWoken); + +/** + Set callback for receiving data. +*/ +void usart_set_callback(usart_callback_t callback); + +/** + Insert a character to the RX buffer of a usart + + @param[in] c character to insert + @param[out] pxTaskWoken can be set, if context switch is required due to received data. +*/ +void usart_insert(char c, void *pxTaskWoken); + +/** + Polling putchar (stdin). + + @param[in] c Character to transmit +*/ +void usart_putc(char c); + +/** + Send char buffer on UART (stdout). + + @param[in] buf Pointer to data + @param[in] len Length of data +*/ +void usart_putstr(char *buf, int len); + +/** + Buffered getchar (stdin). + + @return Character received +*/ +char usart_getc(void); + +#ifdef __cplusplus +} +#endif +#endif /* USART_H_ */ diff --git a/thirdparty/libcsp/include/csp/interfaces/csp_if_can.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_can.h new file mode 100644 index 00000000..229671f2 --- /dev/null +++ b/thirdparty/libcsp/include/csp/interfaces/csp_if_can.h @@ -0,0 +1,76 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IF_CAN_H_ +#define _CSP_IF_CAN_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include +#include + +/* CAN header macros */ +#define CFP_HOST_SIZE 5 +#define CFP_TYPE_SIZE 1 +#define CFP_REMAIN_SIZE 8 +#define CFP_ID_SIZE 10 + +/* Macros for extracting header fields */ +#define CFP_FIELD(id,rsiz,fsiz) ((uint32_t)((uint32_t)((id) >> (rsiz)) & (uint32_t)((1 << (fsiz)) - 1))) +#define CFP_SRC(id) CFP_FIELD(id, CFP_HOST_SIZE + CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE, CFP_HOST_SIZE) +#define CFP_DST(id) CFP_FIELD(id, CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE, CFP_HOST_SIZE) +#define CFP_TYPE(id) CFP_FIELD(id, CFP_REMAIN_SIZE + CFP_ID_SIZE, CFP_TYPE_SIZE) +#define CFP_REMAIN(id) CFP_FIELD(id, CFP_ID_SIZE, CFP_REMAIN_SIZE) +#define CFP_ID(id) CFP_FIELD(id, 0, CFP_ID_SIZE) + +/* Macros for building CFP headers */ +#define CFP_MAKE_FIELD(id,fsiz,rsiz) ((uint32_t)(((id) & (uint32_t)((uint32_t)(1 << (fsiz)) - 1)) << (rsiz))) +#define CFP_MAKE_SRC(id) CFP_MAKE_FIELD(id, CFP_HOST_SIZE, CFP_HOST_SIZE + CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE) +#define CFP_MAKE_DST(id) CFP_MAKE_FIELD(id, CFP_HOST_SIZE, CFP_TYPE_SIZE + CFP_REMAIN_SIZE + CFP_ID_SIZE) +#define CFP_MAKE_TYPE(id) CFP_MAKE_FIELD(id, CFP_TYPE_SIZE, CFP_REMAIN_SIZE + CFP_ID_SIZE) +#define CFP_MAKE_REMAIN(id) CFP_MAKE_FIELD(id, CFP_REMAIN_SIZE, CFP_ID_SIZE) +#define CFP_MAKE_ID(id) CFP_MAKE_FIELD(id, CFP_ID_SIZE, 0) + +/* Mask to uniquely separate connections */ +#define CFP_ID_CONN_MASK (CFP_MAKE_SRC((uint32_t)(1 << CFP_HOST_SIZE) - 1) | \ + CFP_MAKE_DST((uint32_t)(1 << CFP_HOST_SIZE) - 1) | \ + CFP_MAKE_ID((uint32_t)(1 << CFP_ID_SIZE) - 1)) + +/** + Default Maximum Transmission Unit (MTU) for CSP over CAN. + Maximum value is 2042 bytes. +*/ +#define CSP_CAN_MTU 256 + +int csp_can_rx(csp_iface_t *interface, uint32_t id, const uint8_t * data, uint8_t dlc, CSP_BASE_TYPE *task_woken); +int csp_can_tx(csp_iface_t *interface, csp_packet_t *packet, uint32_t timeout); + +/* Must be implemented by the driver */ +int csp_can_tx_frame(csp_iface_t *interface, uint32_t id, const uint8_t * data, uint8_t dlc); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_IF_CAN_H_ */ diff --git a/thirdparty/libcsp/include/csp/interfaces/csp_if_i2c.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_i2c.h new file mode 100644 index 00000000..c2169843 --- /dev/null +++ b/thirdparty/libcsp/include/csp/interfaces/csp_if_i2c.h @@ -0,0 +1,51 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IF_I2C_H_ +#define _CSP_IF_I2C_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include +#include +#include + +extern csp_iface_t csp_if_i2c; + +/** + * Capture I2C RX events for CSP + * @param opt_addr local i2c address + * @param handle which i2c device to use + * @param speed interface speed in kHz (normally 100 or 400) + * @return csp_error.h code + */ +int csp_i2c_init(uint8_t opt_addr, int handle, int speed); + +void csp_i2c_rx(i2c_frame_t * frame, void * pxTaskWoken); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_IF_I2C_H_ */ diff --git a/thirdparty/libcsp/include/csp/interfaces/csp_if_kiss.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_kiss.h new file mode 100644 index 00000000..f164cad1 --- /dev/null +++ b/thirdparty/libcsp/include/csp/interfaces/csp_if_kiss.h @@ -0,0 +1,110 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IF_KISS_H_ +#define _CSP_IF_KISS_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include +#include + +/** + * The KISS interface relies on the USART callback in order to parse incoming + * messaged from the serial interface. The USART callback however does not + * support passing the handle number of the responding USART, so you need to implement + * a USART callback for each handle and then call kiss_rx subsequently. + * + * In order to initialize the KISS interface. Fist call kiss_init() and then + * setup your usart to call csp_kiss_rx when new data is available. + * + * When a byte is not a part of a kiss packet, it will be returned to your + * usart driver using the usart_insert funtion that you provide. + * + * @param csp_iface pointer to interface + * @param buf pointer to incoming data + * @param len length of incoming data + * @param pxTaskWoken NULL if task context, pointer to variable if ISR + */ +void csp_kiss_rx(csp_iface_t * interface, uint8_t *buf, int len, void *pxTaskWoken); + +/** + * The putc function is used by the kiss interface to send + * a string of data to the serial port. This function must + * be implemented by the user, and passed to the kiss + * interface through the kiss_init function. + * @param buf byte to push + */ +typedef void (*csp_kiss_putc_f)(char buf); + +/** + * The characters not accepted by the kiss interface, are discarded + * using this function, which must be implemented by the user + * and passed through the kiss_init function. + * + * This reject function is typically used to display ASCII strings + * sent over the serial port, which are not in KISS format. Such as + * debugging information. + * + * @param c rejected character + * @param pxTaskWoken NULL if task context, pointer to variable if ISR + */ +typedef void (*csp_kiss_discard_f)(char c, void *pxTaskWoken); + +typedef enum { + KISS_MODE_NOT_STARTED, + KISS_MODE_STARTED, + KISS_MODE_ESCAPED, + KISS_MODE_SKIP_FRAME, +} kiss_mode_e; + +/** + * This structure should be statically allocated by the user + * and passed to the kiss interface during the init function + * no member information should be changed + */ +typedef struct csp_kiss_handle_s { + //! Put character on usart (tx). + csp_kiss_putc_f kiss_putc; + //! Discard - not KISS data (rx). + csp_kiss_discard_f kiss_discard; + //! Internal KISS state. + unsigned int rx_length; + //! Internal KISS state. + kiss_mode_e rx_mode; + //! Internal KISS state. + unsigned int rx_first; + //! Not used. + volatile unsigned char *rx_cbuf; + //! Internal KISS state. + csp_packet_t * rx_packet; +} csp_kiss_handle_t; + +void csp_kiss_init(csp_iface_t * csp_iface, csp_kiss_handle_t * csp_kiss_handle, csp_kiss_putc_f kiss_putc_f, csp_kiss_discard_f kiss_discard_f, const char * name); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_IF_KISS_H_ */ diff --git a/thirdparty/libcsp/include/csp/interfaces/csp_if_lo.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_lo.h new file mode 100644 index 00000000..793c45ac --- /dev/null +++ b/thirdparty/libcsp/include/csp/interfaces/csp_if_lo.h @@ -0,0 +1,38 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IF_LO_H_ +#define _CSP_IF_LO_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/* CSP includes */ +#include +#include + +extern csp_iface_t csp_if_lo; + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_IF_LO_H_ diff --git a/thirdparty/libcsp/include/csp/interfaces/csp_if_zmqhub.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_zmqhub.h new file mode 100644 index 00000000..f9ab43bf --- /dev/null +++ b/thirdparty/libcsp/include/csp/interfaces/csp_if_zmqhub.h @@ -0,0 +1,26 @@ +#ifndef CSP_IF_ZMQHUB_H_ +#define CSP_IF_ZMQHUB_H_ + +#include + +extern csp_iface_t csp_if_zmqhub; + +/** + * Setup ZMQ interface + * @param addr only receive messages matching this address (255 means all) + * @param host Pointer to string containing zmqproxy host + * @return CSP_ERR + */ +int csp_zmqhub_init(uint8_t addr, const char * host); + +/** + * Setup ZMQ interface + * @param addr only receive messages matching this address (255 means all) + * @param publisher_endpoint Pointer to string containing zmqproxy publisher endpoint + * @param subscriber_endpoint Pointer to string containing zmqproxy subscriber endpoint + * @return CSP_ERR + */ +int csp_zmqhub_init_w_endpoints(uint8_t addr, const char * publisher_url, + const char * subscriber_url); + +#endif /* CSP_IF_ZMQHUB_H_ */ diff --git a/thirdparty/libcsp/libcsp.mk b/thirdparty/libcsp/libcsp.mk new file mode 100644 index 00000000..febffad7 --- /dev/null +++ b/thirdparty/libcsp/libcsp.mk @@ -0,0 +1,12 @@ +CSRC += $(wildcard $(CURRENTPATH)/src/drivers/can/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/interfaces/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/rtable/csp_rtable_cidr.c) +CSRC += $(wildcard $(CURRENTPATH)/src/crypto/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/arch/posix/*.c) +CSRC += $(wildcard $(CURRENTPATH)/src/transport/*.c) + +INCLUDES += $(CURRENTPATH)/include +INCLUDES += $(CURRENTPATH)/include/csp +INCLUDES += $(CURRENTPATH)/include/csp/crypto +INCLUDES += $(CURRENTPATH) \ No newline at end of file diff --git a/thirdparty/libcsp/src/CMakeLists.txt b/thirdparty/libcsp/src/CMakeLists.txt new file mode 100644 index 00000000..39c67877 --- /dev/null +++ b/thirdparty/libcsp/src/CMakeLists.txt @@ -0,0 +1,27 @@ +target_sources(${LIB_CSP_NAME} PRIVATE + csp_bridge.c + csp_buffer.c + csp_conn.c + csp_crc32.c + csp_debug.c + csp_dedup.c + csp_endian.c + csp_hex_dump.c + csp_iflist.c + csp_io.c + csp_port.c + csp_promisc.c + csp_qfifo.c + csp_route.c + csp_service_handler.c + csp_services.c + csp_sfp.c +) + +add_subdirectory(drivers) +add_subdirectory(crypto) +add_subdirectory(interfaces) +add_subdirectory(rtable) +add_subdirectory(transport) +add_subdirectory(arch) + diff --git a/thirdparty/libcsp/src/arch/CMakeLists.txt b/thirdparty/libcsp/src/arch/CMakeLists.txt new file mode 100644 index 00000000..aa0e4ca6 --- /dev/null +++ b/thirdparty/libcsp/src/arch/CMakeLists.txt @@ -0,0 +1,3 @@ +add_subdirectory(posix) + + diff --git a/thirdparty/libcsp/src/arch/freertos/csp_malloc.c b/thirdparty/libcsp/src/arch/freertos/csp_malloc.c new file mode 100644 index 00000000..97e5c8f4 --- /dev/null +++ b/thirdparty/libcsp/src/arch/freertos/csp_malloc.c @@ -0,0 +1,33 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* FreeRTOS includes */ +#include + +void * csp_malloc(size_t size) { + return pvPortMalloc(size); +} + +void csp_free(void *ptr) { + vPortFree(ptr); +} diff --git a/thirdparty/libcsp/src/arch/freertos/csp_queue.c b/thirdparty/libcsp/src/arch/freertos/csp_queue.c new file mode 100644 index 00000000..44efd0eb --- /dev/null +++ b/thirdparty/libcsp/src/arch/freertos/csp_queue.c @@ -0,0 +1,66 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include + +/* FreeRTOS includes */ +#include +#include + +/* CSP includes */ +#include + +#include + +csp_queue_handle_t csp_queue_create(int length, size_t item_size) { + return xQueueCreate(length, item_size); +} + +void csp_queue_remove(csp_queue_handle_t queue) { + vQueueDelete(queue); +} + +int csp_queue_enqueue(csp_queue_handle_t handle, void * value, uint32_t timeout) { + if (timeout != CSP_MAX_DELAY) + timeout = timeout / portTICK_RATE_MS; + return xQueueSendToBack(handle, value, timeout); +} + +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken) { + return xQueueSendToBackFromISR(handle, value, task_woken); +} + +int csp_queue_dequeue(csp_queue_handle_t handle, void * buf, uint32_t timeout) { + if (timeout != CSP_MAX_DELAY) + timeout = timeout / portTICK_RATE_MS; + return xQueueReceive(handle, buf, timeout); +} + +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void * buf, CSP_BASE_TYPE * task_woken) { + return xQueueReceiveFromISR(handle, buf, task_woken); +} + +int csp_queue_size(csp_queue_handle_t handle) { + return uxQueueMessagesWaiting(handle); +} + +int csp_queue_size_isr(csp_queue_handle_t handle) { + return uxQueueMessagesWaitingFromISR(handle); +} diff --git a/thirdparty/libcsp/src/arch/freertos/csp_semaphore.c b/thirdparty/libcsp/src/arch/freertos/csp_semaphore.c new file mode 100644 index 00000000..b91757e5 --- /dev/null +++ b/thirdparty/libcsp/src/arch/freertos/csp_semaphore.c @@ -0,0 +1,96 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* FreeRTOS includes */ +#include +#include + +/* CSP includes */ +#include + +#include +#include +#include + +int csp_mutex_create(csp_mutex_t * mutex) { + *mutex = xSemaphoreCreateMutex(); + if (*mutex) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_mutex_remove(csp_mutex_t * mutex) { + return csp_bin_sem_remove(mutex); +} + +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout) { + return csp_bin_sem_wait(mutex, timeout); +} + +int csp_mutex_unlock(csp_mutex_t * mutex) { + return csp_bin_sem_post(mutex); +} + +int csp_bin_sem_create(csp_bin_sem_handle_t * sem) { + vSemaphoreCreateBinary(*sem); + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem) { + if ((sem != NULL) && (*sem != NULL)) { + csp_queue_remove(*sem); + } + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout) { + csp_log_lock("Wait: %p", sem); + if (timeout != CSP_MAX_DELAY) + timeout = timeout / portTICK_RATE_MS; + if (xSemaphoreTake(*sem, timeout) == pdPASS) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_post(csp_bin_sem_handle_t * sem) { + csp_log_lock("Post: %p", sem); + if (xSemaphoreGive(*sem) == pdPASS) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken) { + csp_log_lock("Post: %p", sem); + if (xSemaphoreGiveFromISR(*sem, task_woken) == pdPASS) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + diff --git a/thirdparty/libcsp/src/arch/freertos/csp_system.c b/thirdparty/libcsp/src/arch/freertos/csp_system.c new file mode 100644 index 00000000..a81c84b4 --- /dev/null +++ b/thirdparty/libcsp/src/arch/freertos/csp_system.c @@ -0,0 +1,139 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +#include +#include + +#include + +int csp_sys_tasklist(char * out) { +#if (tskKERNEL_VERSION_MAJOR < 8) + vTaskList((signed portCHAR *) out); +#else + vTaskList(out); +#endif + return CSP_ERR_NONE; +} + +int csp_sys_tasklist_size(void) { + return 40 * uxTaskGetNumberOfTasks(); +} + +uint32_t csp_sys_memfree(void) { + + uint32_t total = 0, max = UINT32_MAX, size; + void * pmem; + + /* If size_t is less than 32 bits, start with 10 KiB */ + size = sizeof(uint32_t) > sizeof(size_t) ? 10000 : 1000000; + + while (1) { + pmem = pvPortMalloc(size + total); + if (pmem == NULL) { + max = size + total; + size = size / 2; + } else { + total += size; + if (total + size >= max) + size = size / 2; + vPortFree(pmem); + } + if (size < 32) break; + } + + return total; +} + +int csp_sys_reboot(void) { + + extern void __attribute__((weak)) cpu_set_reset_cause(unsigned int); + if (cpu_set_reset_cause) + cpu_set_reset_cause(1); + + extern void __attribute__((weak)) cpu_reset(void); + if (cpu_reset) { + cpu_reset(); + while (1); + } + + csp_log_error("Failed to reboot"); + + return CSP_ERR_INVAL; +} + +int csp_sys_shutdown(void) { + + extern void __attribute__((weak)) cpu_shutdown(void); + if (cpu_shutdown) { + cpu_shutdown(); + while (1); + } + + csp_log_error("Failed to shutdown"); + + return CSP_ERR_INVAL; +} + +void csp_sys_set_color(csp_color_t color) { + + unsigned int color_code, modifier_code; + switch (color & COLOR_MASK_COLOR) { + case COLOR_BLACK: + color_code = 30; break; + case COLOR_RED: + color_code = 31; break; + case COLOR_GREEN: + color_code = 32; break; + case COLOR_YELLOW: + color_code = 33; break; + case COLOR_BLUE: + color_code = 34; break; + case COLOR_MAGENTA: + color_code = 35; break; + case COLOR_CYAN: + color_code = 36; break; + case COLOR_WHITE: + color_code = 37; break; + case COLOR_RESET: + default: + color_code = 0; break; + } + + switch (color & COLOR_MASK_MODIFIER) { + case COLOR_BOLD: + modifier_code = 1; break; + case COLOR_UNDERLINE: + modifier_code = 2; break; + case COLOR_BLINK: + modifier_code = 3; break; + case COLOR_HIDE: + modifier_code = 4; break; + case COLOR_NORMAL: + default: + modifier_code = 0; break; + } + + printf("\033[%u;%um", modifier_code, color_code); +} diff --git a/thirdparty/libcsp/src/arch/freertos/csp_thread.c b/thirdparty/libcsp/src/arch/freertos/csp_thread.c new file mode 100644 index 00000000..af8296cd --- /dev/null +++ b/thirdparty/libcsp/src/arch/freertos/csp_thread.c @@ -0,0 +1,38 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_thread_create(csp_thread_return_t (* routine)(void *), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle) { +#if (tskKERNEL_VERSION_MAJOR >= 8) + portBASE_TYPE ret = xTaskCreate(routine, thread_name, stack_depth, parameters, priority, handle); +#else + portBASE_TYPE ret = xTaskCreate(routine, (signed char *) thread_name, stack_depth, parameters, priority, handle); +#endif + if (ret != pdTRUE) + return CSP_ERR_NOMEM; + return CSP_ERR_NONE; +} diff --git a/thirdparty/libcsp/src/arch/freertos/csp_time.c b/thirdparty/libcsp/src/arch/freertos/csp_time.c new file mode 100644 index 00000000..fd54a8cb --- /dev/null +++ b/thirdparty/libcsp/src/arch/freertos/csp_time.c @@ -0,0 +1,46 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include + +/* FreeRTOS includes */ +#include +#include + +/* CSP includes */ +#include + +#include + +uint32_t csp_get_ms(void) { + return (uint32_t)(xTaskGetTickCount() * (1000/configTICK_RATE_HZ)); +} + +uint32_t csp_get_ms_isr(void) { + return (uint32_t)(xTaskGetTickCountFromISR() * (1000/configTICK_RATE_HZ)); +} + +uint32_t csp_get_s(void) { + return (uint32_t)(xTaskGetTickCount()/configTICK_RATE_HZ); +} + +uint32_t csp_get_s_isr(void) { + return (uint32_t)(xTaskGetTickCountFromISR()/configTICK_RATE_HZ); +} diff --git a/thirdparty/libcsp/src/arch/macosx/csp_malloc.c b/thirdparty/libcsp/src/arch/macosx/csp_malloc.c new file mode 100644 index 00000000..95bb8cc7 --- /dev/null +++ b/thirdparty/libcsp/src/arch/macosx/csp_malloc.c @@ -0,0 +1,31 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +void * csp_malloc(size_t size) { + return malloc(size); +} + +void csp_free(void *ptr) { + free(ptr); +} + diff --git a/thirdparty/libcsp/src/arch/macosx/csp_queue.c b/thirdparty/libcsp/src/arch/macosx/csp_queue.c new file mode 100644 index 00000000..a2fb1b4f --- /dev/null +++ b/thirdparty/libcsp/src/arch/macosx/csp_queue.c @@ -0,0 +1,64 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* CSP includes */ +#include + +#include +#include + + +csp_queue_handle_t csp_queue_create(int length, size_t item_size) { + return pthread_queue_create(length, item_size); +} + +void csp_queue_remove(csp_queue_handle_t queue) { + return pthread_queue_delete(queue); +} + +int csp_queue_enqueue(csp_queue_handle_t handle, void *value, uint32_t timeout) { + return pthread_queue_enqueue(handle, value, timeout); +} + +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken) { + if (task_woken != NULL) + *task_woken = 0; + return csp_queue_enqueue(handle, value, 0); +} + +int csp_queue_dequeue(csp_queue_handle_t handle, void *buf, uint32_t timeout) { + return pthread_queue_dequeue(handle, buf, timeout); +} + +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void *buf, CSP_BASE_TYPE * task_woken) { + *task_woken = 0; + return csp_queue_dequeue(handle, buf, 0); +} + +int csp_queue_size(csp_queue_handle_t handle) { + return pthread_queue_items(handle); +} + +int csp_queue_size_isr(csp_queue_handle_t handle) { + return pthread_queue_items(handle); +} diff --git a/thirdparty/libcsp/src/arch/macosx/csp_semaphore.c b/thirdparty/libcsp/src/arch/macosx/csp_semaphore.c new file mode 100644 index 00000000..915447f3 --- /dev/null +++ b/thirdparty/libcsp/src/arch/macosx/csp_semaphore.c @@ -0,0 +1,105 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_mutex_create(csp_mutex_t * mutex) { + csp_log_lock("Mutex init: %p", mutex); + *mutex = pthread_queue_create(1, sizeof(int)); + if (mutex) { + int dummy = 0; + pthread_queue_enqueue(*mutex, &dummy, 0); + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_mutex_remove(csp_mutex_t * mutex) { + pthread_queue_delete(*mutex); + return CSP_SEMAPHORE_OK; +} + +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout) { + + int ret; + csp_log_lock("Wait: %p timeout %"PRIu32, mutex, timeout); + + if (timeout == CSP_INFINITY) { + /* TODO: fix this to be infinite */ + int dummy = 0; + if (pthread_queue_dequeue(*mutex, &dummy, timeout) == PTHREAD_QUEUE_OK) + ret = CSP_MUTEX_OK; + else + ret = CSP_MUTEX_ERROR; + } else { + int dummy = 0; + if (pthread_queue_dequeue(*mutex, &dummy, timeout) == PTHREAD_QUEUE_OK) + ret = CSP_MUTEX_OK; + else + ret = CSP_MUTEX_ERROR; + } + + return ret == CSP_MUTEX_ERROR ? CSP_SEMAPHORE_ERROR : CSP_SEMAPHORE_OK; +} + +int csp_mutex_unlock(csp_mutex_t * mutex) { + int dummy = 0; + if (pthread_queue_enqueue(*mutex, &dummy, 0) == PTHREAD_QUEUE_OK) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_create(csp_bin_sem_handle_t * sem) { + return csp_mutex_create(sem); +} + +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem) { + return csp_mutex_remove(sem); +} + +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout) { + return csp_mutex_lock(sem, timeout); +} + +int csp_bin_sem_post(csp_bin_sem_handle_t * sem) { + return csp_mutex_unlock(sem); +} + +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken) { + return csp_mutex_unlock(sem); +} diff --git a/thirdparty/libcsp/src/arch/macosx/csp_system.c b/thirdparty/libcsp/src/arch/macosx/csp_system.c new file mode 100644 index 00000000..834cb210 --- /dev/null +++ b/thirdparty/libcsp/src/arch/macosx/csp_system.c @@ -0,0 +1,99 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +#include +#include + +#include + +int csp_sys_tasklist(char * out) { + strcpy(out, "Tasklist not available on OSX"); + return CSP_ERR_NONE; +} + +int csp_sys_tasklist_size(void) { + return 100; +} + +uint32_t csp_sys_memfree(void) { + /* TODO: Fix memory free on OSX */ + uint32_t total = 0; + return total; +} + +int csp_sys_reboot(void) { + /* TODO: Fix reboot on OSX */ + csp_log_error("Failed to reboot"); + + return CSP_ERR_INVAL; +} + +int csp_sys_shutdown(void) { + /* TODO: Fix shutdown on OSX */ + csp_log_error("Failed to shutdown"); + + return CSP_ERR_INVAL; +} + +void csp_sys_set_color(csp_color_t color) { + + unsigned int color_code, modifier_code; + switch (color & COLOR_MASK_COLOR) { + case COLOR_BLACK: + color_code = 30; break; + case COLOR_RED: + color_code = 31; break; + case COLOR_GREEN: + color_code = 32; break; + case COLOR_YELLOW: + color_code = 33; break; + case COLOR_BLUE: + color_code = 34; break; + case COLOR_MAGENTA: + color_code = 35; break; + case COLOR_CYAN: + color_code = 36; break; + case COLOR_WHITE: + color_code = 37; break; + case COLOR_RESET: + default: + color_code = 0; break; + } + + switch (color & COLOR_MASK_MODIFIER) { + case COLOR_BOLD: + modifier_code = 1; break; + case COLOR_UNDERLINE: + modifier_code = 2; break; + case COLOR_BLINK: + modifier_code = 3; break; + case COLOR_HIDE: + modifier_code = 4; break; + case COLOR_NORMAL: + default: + modifier_code = 0; break; + } + + printf("\033[%u;%um", modifier_code, color_code); +} diff --git a/thirdparty/libcsp/src/arch/macosx/csp_thread.c b/thirdparty/libcsp/src/arch/macosx/csp_thread.c new file mode 100644 index 00000000..ed64856a --- /dev/null +++ b/thirdparty/libcsp/src/arch/macosx/csp_thread.c @@ -0,0 +1,31 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_thread_create(csp_thread_return_t (* routine)(void *), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle) { + return pthread_create(handle, NULL, routine, parameters); +} diff --git a/thirdparty/libcsp/src/arch/macosx/csp_time.c b/thirdparty/libcsp/src/arch/macosx/csp_time.c new file mode 100644 index 00000000..a53f27e6 --- /dev/null +++ b/thirdparty/libcsp/src/arch/macosx/csp_time.c @@ -0,0 +1,65 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +/* CSP includes */ +#include + +#include + +uint32_t csp_get_ms(void) { + struct timespec ts; + + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + ts.tv_sec = mts.tv_sec; + ts.tv_nsec = mts.tv_nsec; + + return (uint32_t)(ts.tv_sec*1000+ts.tv_nsec/1000000); +} + +uint32_t csp_get_ms_isr(void) { + return csp_get_ms(); +} + +uint32_t csp_get_s(void) { + struct timespec ts; + + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + ts.tv_sec = mts.tv_sec; + ts.tv_nsec = mts.tv_nsec; + + return (uint32_t)ts.tv_sec; +} + +uint32_t csp_get_s_isr(void) { + return csp_get_s(); +} diff --git a/thirdparty/libcsp/src/arch/macosx/pthread_queue.c b/thirdparty/libcsp/src/arch/macosx/pthread_queue.c new file mode 100644 index 00000000..c4ac8c1d --- /dev/null +++ b/thirdparty/libcsp/src/arch/macosx/pthread_queue.c @@ -0,0 +1,179 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* +Inspired by c-pthread-queue by Matthew Dickinson +http://code.google.com/p/c-pthread-queue/ +*/ + +#include +#include +#include +#include +#include +#include +#include + +/* CSP includes */ +#include + +pthread_queue_t * pthread_queue_create(int length, size_t item_size) { + + pthread_queue_t * q = malloc(sizeof(pthread_queue_t)); + + if (q != NULL) { + q->buffer = malloc(length*item_size); + if (q->buffer != NULL) { + q->size = length; + q->item_size = item_size; + q->items = 0; + q->in = 0; + q->out = 0; + if (pthread_mutex_init(&(q->mutex), NULL) || pthread_cond_init(&(q->cond_full), NULL) || pthread_cond_init(&(q->cond_empty), NULL)) { + free(q->buffer); + free(q); + q = NULL; + } + } else { + free(q); + q = NULL; + } + } + + return q; + +} + +void pthread_queue_delete(pthread_queue_t * q) { + + if (q == NULL) + return; + + free(q->buffer); + free(q); + + return; + +} + +int pthread_queue_enqueue(pthread_queue_t * queue, void * value, uint32_t timeout) { + + int ret; + + /* Calculate timeout */ + struct timespec ts; + + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + ts.tv_sec = mts.tv_sec; + ts.tv_nsec = mts.tv_nsec; + + uint32_t sec = timeout / 1000; + uint32_t nsec = (timeout - 1000 * sec) * 1000000; + + ts.tv_sec += sec; + + if (ts.tv_nsec + nsec > 1000000000) + ts.tv_sec++; + + ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000; + + /* Get queue lock */ + pthread_mutex_lock(&(queue->mutex)); + while (queue->items == queue->size) { + ret = pthread_cond_timedwait(&(queue->cond_full), &(queue->mutex), &ts); + if (ret != 0) { + pthread_mutex_unlock(&(queue->mutex)); + return PTHREAD_QUEUE_FULL; + } + } + + /* Coby object from input buffer */ + memcpy(queue->buffer+(queue->in * queue->item_size), value, queue->item_size); + queue->items++; + queue->in = (queue->in + 1) % queue->size; + pthread_mutex_unlock(&(queue->mutex)); + + /* Nofify blocked threads */ + pthread_cond_broadcast(&(queue->cond_empty)); + + return PTHREAD_QUEUE_OK; + +} + +int pthread_queue_dequeue(pthread_queue_t * queue, void * buf, uint32_t timeout) { + + int ret; + + /* Calculate timeout */ + struct timespec ts; + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + ts.tv_sec = mts.tv_sec; + ts.tv_nsec = mts.tv_nsec; + + uint32_t sec = timeout / 1000; + uint32_t nsec = (timeout - 1000 * sec) * 1000000; + + ts.tv_sec += sec; + + if (ts.tv_nsec + nsec > 1000000000) + ts.tv_sec++; + + ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000; + + /* Get queue lock */ + pthread_mutex_lock(&(queue->mutex)); + while (queue->items == 0) { + ret = pthread_cond_timedwait(&(queue->cond_empty), &(queue->mutex), &ts); + if (ret != 0) { + pthread_mutex_unlock(&(queue->mutex)); + return PTHREAD_QUEUE_EMPTY; + } + } + + /* Coby object to output buffer */ + memcpy(buf, queue->buffer+(queue->out * queue->item_size), queue->item_size); + queue->items--; + queue->out = (queue->out + 1) % queue->size; + pthread_mutex_unlock(&(queue->mutex)); + + /* Nofify blocked threads */ + pthread_cond_broadcast(&(queue->cond_full)); + + return PTHREAD_QUEUE_OK; + +} + +int pthread_queue_items(pthread_queue_t * queue) { + + pthread_mutex_lock(&(queue->mutex)); + int items = queue->items; + pthread_mutex_unlock(&(queue->mutex)); + + return items; + +} diff --git a/thirdparty/libcsp/src/arch/posix/CMakeLists.txt b/thirdparty/libcsp/src/arch/posix/CMakeLists.txt new file mode 100644 index 00000000..6bf13773 --- /dev/null +++ b/thirdparty/libcsp/src/arch/posix/CMakeLists.txt @@ -0,0 +1,9 @@ +target_sources(${LIB_CSP_NAME} PRIVATE + csp_malloc.c + csp_queue.c + csp_semaphore.c + csp_system.c + csp_thread.c + csp_time.c + pthread_queue.c +) diff --git a/thirdparty/libcsp/src/arch/posix/csp_malloc.c b/thirdparty/libcsp/src/arch/posix/csp_malloc.c new file mode 100644 index 00000000..95bb8cc7 --- /dev/null +++ b/thirdparty/libcsp/src/arch/posix/csp_malloc.c @@ -0,0 +1,31 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +void * csp_malloc(size_t size) { + return malloc(size); +} + +void csp_free(void *ptr) { + free(ptr); +} + diff --git a/thirdparty/libcsp/src/arch/posix/csp_queue.c b/thirdparty/libcsp/src/arch/posix/csp_queue.c new file mode 100644 index 00000000..a2fb1b4f --- /dev/null +++ b/thirdparty/libcsp/src/arch/posix/csp_queue.c @@ -0,0 +1,64 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* CSP includes */ +#include + +#include +#include + + +csp_queue_handle_t csp_queue_create(int length, size_t item_size) { + return pthread_queue_create(length, item_size); +} + +void csp_queue_remove(csp_queue_handle_t queue) { + return pthread_queue_delete(queue); +} + +int csp_queue_enqueue(csp_queue_handle_t handle, void *value, uint32_t timeout) { + return pthread_queue_enqueue(handle, value, timeout); +} + +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken) { + if (task_woken != NULL) + *task_woken = 0; + return csp_queue_enqueue(handle, value, 0); +} + +int csp_queue_dequeue(csp_queue_handle_t handle, void *buf, uint32_t timeout) { + return pthread_queue_dequeue(handle, buf, timeout); +} + +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void *buf, CSP_BASE_TYPE * task_woken) { + *task_woken = 0; + return csp_queue_dequeue(handle, buf, 0); +} + +int csp_queue_size(csp_queue_handle_t handle) { + return pthread_queue_items(handle); +} + +int csp_queue_size_isr(csp_queue_handle_t handle) { + return pthread_queue_items(handle); +} diff --git a/thirdparty/libcsp/src/arch/posix/csp_semaphore.c b/thirdparty/libcsp/src/arch/posix/csp_semaphore.c new file mode 100644 index 00000000..6829dec2 --- /dev/null +++ b/thirdparty/libcsp/src/arch/posix/csp_semaphore.c @@ -0,0 +1,164 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_mutex_create(csp_mutex_t * mutex) { + csp_log_lock("Mutex init: %p", mutex); + if (pthread_mutex_init(mutex, NULL) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_mutex_remove(csp_mutex_t * mutex) { + if (pthread_mutex_destroy(mutex) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout) { + + int ret; + struct timespec ts; + uint32_t sec, nsec; + + csp_log_lock("Wait: %p timeout %"PRIu32, mutex, timeout); + + if (timeout == CSP_INFINITY) { + ret = pthread_mutex_lock(mutex); + } else { + if (clock_gettime(CLOCK_REALTIME, &ts)) + return CSP_SEMAPHORE_ERROR; + + sec = timeout / 1000; + nsec = (timeout - 1000 * sec) * 1000000; + + ts.tv_sec += sec; + + if (ts.tv_nsec + nsec >= 1000000000) + ts.tv_sec++; + + ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000; + + ret = pthread_mutex_timedlock(mutex, &ts); + } + + if (ret != 0) + return CSP_SEMAPHORE_ERROR; + + return CSP_SEMAPHORE_OK; +} + +int csp_mutex_unlock(csp_mutex_t * mutex) { + if (pthread_mutex_unlock(mutex) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_create(csp_bin_sem_handle_t * sem) { + csp_log_lock("Semaphore init: %p", sem); + if (sem_init(sem, 0, 1) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} + +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem) { + if (sem_destroy(sem) == 0) + return CSP_SEMAPHORE_OK; + else + return CSP_SEMAPHORE_ERROR; +} + +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout) { + + int ret; + struct timespec ts; + uint32_t sec, nsec; + + csp_log_lock("Wait: %p timeout %"PRIu32, sem, timeout); + + if (timeout == CSP_INFINITY) { + ret = sem_wait(sem); + } else { + if (clock_gettime(CLOCK_REALTIME, &ts)) + return CSP_SEMAPHORE_ERROR; + + sec = timeout / 1000; + nsec = (timeout - 1000 * sec) * 1000000; + + ts.tv_sec += sec; + + if (ts.tv_nsec + nsec >= 1000000000) + ts.tv_sec++; + + ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000; + + ret = sem_timedwait(sem, &ts); + } + + if (ret != 0) + return CSP_SEMAPHORE_ERROR; + + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_post(csp_bin_sem_handle_t * sem) { + CSP_BASE_TYPE dummy = 0; + return csp_bin_sem_post_isr(sem, &dummy); +} + +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken) { + csp_log_lock("Post: %p", sem); + *task_woken = 0; + + int value; + sem_getvalue(sem, &value); + if (value > 0) + return CSP_SEMAPHORE_OK; + + if (sem_post(sem) == 0) { + return CSP_SEMAPHORE_OK; + } else { + return CSP_SEMAPHORE_ERROR; + } +} diff --git a/thirdparty/libcsp/src/arch/posix/csp_system.c b/thirdparty/libcsp/src/arch/posix/csp_system.c new file mode 100644 index 00000000..6c882c7c --- /dev/null +++ b/thirdparty/libcsp/src/arch/posix/csp_system.c @@ -0,0 +1,131 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +int csp_sys_tasklist(char * out) { + strcpy(out, "Tasklist not available on POSIX"); + return CSP_ERR_NONE; +} + +int csp_sys_tasklist_size(void) { + return 100; +} + +uint32_t csp_sys_memfree(void) { + uint32_t total = 0; + struct sysinfo info; + sysinfo(&info); + total = info.freeram * info.mem_unit; + return total; +} + +int csp_sys_reboot(void) { +#ifdef CSP_USE_INIT_SHUTDOWN + /* Let init(1) handle the reboot */ + int ret = system("reboot"); + (void) ret; /* Silence warning */ +#else + int magic = LINUX_REBOOT_CMD_RESTART; + + /* Sync filesystem before reboot */ + sync(); + reboot(magic); +#endif + + /* If reboot(2) returns, it is an error */ + csp_log_error("Failed to reboot: %s", strerror(errno)); + + return CSP_ERR_INVAL; +} + +int csp_sys_shutdown(void) { +#ifdef CSP_USE_INIT_SHUTDOWN + /* Let init(1) handle the shutdown */ + int ret = system("halt"); + (void) ret; /* Silence warning */ +#else + int magic = LINUX_REBOOT_CMD_HALT; + + /* Sync filesystem before reboot */ + sync(); + reboot(magic); +#endif + + /* If reboot(2) returns, it is an error */ + csp_log_error("Failed to shutdown: %s", strerror(errno)); + + return CSP_ERR_INVAL; +} + +void csp_sys_set_color(csp_color_t color) { + + unsigned int color_code, modifier_code; + switch (color & COLOR_MASK_COLOR) { + case COLOR_BLACK: + color_code = 30; break; + case COLOR_RED: + color_code = 31; break; + case COLOR_GREEN: + color_code = 32; break; + case COLOR_YELLOW: + color_code = 33; break; + case COLOR_BLUE: + color_code = 34; break; + case COLOR_MAGENTA: + color_code = 35; break; + case COLOR_CYAN: + color_code = 36; break; + case COLOR_WHITE: + color_code = 37; break; + case COLOR_RESET: + default: + color_code = 0; break; + } + + switch (color & COLOR_MASK_MODIFIER) { + case COLOR_BOLD: + modifier_code = 1; break; + case COLOR_UNDERLINE: + modifier_code = 2; break; + case COLOR_BLINK: + modifier_code = 3; break; + case COLOR_HIDE: + modifier_code = 4; break; + case COLOR_NORMAL: + default: + modifier_code = 0; break; + } + + printf("\033[%u;%um", modifier_code, color_code); +} diff --git a/thirdparty/libcsp/src/arch/posix/csp_thread.c b/thirdparty/libcsp/src/arch/posix/csp_thread.c new file mode 100644 index 00000000..3277d35d --- /dev/null +++ b/thirdparty/libcsp/src/arch/posix/csp_thread.c @@ -0,0 +1,55 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include + +#include + +int csp_thread_create(csp_thread_return_t (* routine)(void *), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle) { + pthread_attr_t attributes, *attr_ref; + int return_code; + + if( pthread_attr_init(&attributes) == 0 ) + { + unsigned int stack_size = PTHREAD_STACK_MIN;// use at least one memory page + + while(stack_size < stack_depth)// must reach at least the provided size + { + stack_size += PTHREAD_STACK_MIN;// keep memory page boundary (some systems may fail otherwise)) + } + attr_ref = &attributes; + + pthread_attr_setdetachstate(attr_ref, PTHREAD_CREATE_DETACHED);// do not waste memory on each call + pthread_attr_setstacksize(attr_ref, stack_size); + } + else + { + attr_ref = NULL; + } + return_code = pthread_create(handle, attr_ref, routine, parameters); + if( attr_ref != NULL ) pthread_attr_destroy(attr_ref); + + return return_code; +} diff --git a/thirdparty/libcsp/src/arch/posix/csp_time.c b/thirdparty/libcsp/src/arch/posix/csp_time.c new file mode 100644 index 00000000..c9677443 --- /dev/null +++ b/thirdparty/libcsp/src/arch/posix/csp_time.c @@ -0,0 +1,54 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include + +#include + +uint32_t csp_get_ms(void) { + struct timespec ts; + + if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) + return (uint32_t)(ts.tv_sec*1000+ts.tv_nsec/1000000); + else + return 0; +} + +uint32_t csp_get_ms_isr(void) { + return csp_get_ms(); +} + +uint32_t csp_get_s(void) { + struct timespec ts; + + if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) + return (uint32_t)ts.tv_sec; + else + return 0; +} + +uint32_t csp_get_s_isr(void) { + return csp_get_s(); +} diff --git a/thirdparty/libcsp/src/arch/posix/pthread_queue.c b/thirdparty/libcsp/src/arch/posix/pthread_queue.c new file mode 100644 index 00000000..e8b6d4ab --- /dev/null +++ b/thirdparty/libcsp/src/arch/posix/pthread_queue.c @@ -0,0 +1,243 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* +Inspired by c-pthread-queue by Matthew Dickinson +http://code.google.com/p/c-pthread-queue/ +*/ + +#include +#include +#include +#include +#include +#include +#include + +/* CSP includes */ +#include + +static inline int get_deadline(struct timespec *ts, uint32_t timeout_ms) +{ + int ret = clock_gettime(CLOCK_MONOTONIC, ts); + + if (ret < 0) { + return ret; + } + + uint32_t sec = timeout_ms / 1000; + uint32_t nsec = (timeout_ms - 1000 * sec) * 1000000; + + ts->tv_sec += sec; + + if (ts->tv_nsec + nsec >= 1000000000) { + ts->tv_sec++; + } + + ts->tv_nsec = (ts->tv_nsec + nsec) % 1000000000; + + return ret; +} + +static inline int init_cond_clock_monotonic(pthread_cond_t * cond) +{ + + int ret; + pthread_condattr_t attr; + + pthread_condattr_init(&attr); + ret = pthread_condattr_setclock(&attr, CLOCK_MONOTONIC); + + if (ret == 0) { + ret = pthread_cond_init(cond, &attr); + } + + pthread_condattr_destroy(&attr); + return ret; + +} + +pthread_queue_t * pthread_queue_create(int length, size_t item_size) { + + pthread_queue_t * q = malloc(sizeof(pthread_queue_t)); + + if (q != NULL) { + q->buffer = malloc(length*item_size); + if (q->buffer != NULL) { + q->size = length; + q->item_size = item_size; + q->items = 0; + q->in = 0; + q->out = 0; + if (pthread_mutex_init(&(q->mutex), NULL) || init_cond_clock_monotonic(&(q->cond_full)) || init_cond_clock_monotonic(&(q->cond_empty))) { + free(q->buffer); + free(q); + q = NULL; + } + } else { + free(q); + q = NULL; + } + } + + return q; + +} + +void pthread_queue_delete(pthread_queue_t * q) { + + if (q == NULL) + return; + + free(q->buffer); + free(q); + + return; + +} + + +static inline int wait_slot_available(pthread_queue_t * queue, struct timespec *ts) { + + int ret; + + while (queue->items == queue->size) { + + if (ts != NULL) { + ret = pthread_cond_timedwait(&(queue->cond_full), &(queue->mutex), ts); + } else { + ret = pthread_cond_wait(&(queue->cond_full), &(queue->mutex)); + } + + if (ret != 0 && errno != EINTR) { + return PTHREAD_QUEUE_FULL; //Timeout + } + } + + return PTHREAD_QUEUE_OK; + +} + +int pthread_queue_enqueue(pthread_queue_t * queue, void * value, uint32_t timeout) { + + int ret; + struct timespec ts; + struct timespec *pts = NULL; + + /* Calculate timeout */ + if (timeout != CSP_MAX_DELAY) { + if (get_deadline(&ts, timeout) != 0) { + return PTHREAD_QUEUE_ERROR; + } + pts = &ts; + } else { + pts = NULL; + } + + /* Get queue lock */ + pthread_mutex_lock(&(queue->mutex)); + + ret = wait_slot_available(queue, pts); + if (ret == PTHREAD_QUEUE_OK) { + /* Copy object from input buffer */ + memcpy(queue->buffer+(queue->in * queue->item_size), value, queue->item_size); + queue->items++; + queue->in = (queue->in + 1) % queue->size; + } + + pthread_mutex_unlock(&(queue->mutex)); + + if (ret == PTHREAD_QUEUE_OK) { + /* Nofify blocked threads */ + pthread_cond_broadcast(&(queue->cond_empty)); + } + + return ret; + +} + +static inline int wait_item_available(pthread_queue_t * queue, struct timespec *ts) { + + int ret; + + while (queue->items == 0) { + + if (ts != NULL) { + ret = pthread_cond_timedwait(&(queue->cond_empty), &(queue->mutex), ts); + } else { + ret = pthread_cond_wait(&(queue->cond_empty), &(queue->mutex)); + } + + if (ret != 0 && errno != EINTR) { + return PTHREAD_QUEUE_EMPTY; //Timeout + } + } + + return PTHREAD_QUEUE_OK; + +} + +int pthread_queue_dequeue(pthread_queue_t * queue, void * buf, uint32_t timeout) { + + int ret; + struct timespec ts; + struct timespec *pts; + + /* Calculate timeout */ + if (timeout != CSP_MAX_DELAY) { + if (get_deadline(&ts, timeout) != 0) { + return PTHREAD_QUEUE_ERROR; + } + pts = &ts; + } else { + pts = NULL; + } + + /* Get queue lock */ + pthread_mutex_lock(&(queue->mutex)); + + ret = wait_item_available(queue, pts); + if (ret == PTHREAD_QUEUE_OK) { + /* Coby object to output buffer */ + memcpy(buf, queue->buffer+(queue->out * queue->item_size), queue->item_size); + queue->items--; + queue->out = (queue->out + 1) % queue->size; + } + + pthread_mutex_unlock(&(queue->mutex)); + + if (ret == PTHREAD_QUEUE_OK) { + /* Nofify blocked threads */ + pthread_cond_broadcast(&(queue->cond_full)); + } + + return ret; + +} + +int pthread_queue_items(pthread_queue_t * queue) { + + pthread_mutex_lock(&(queue->mutex)); + int items = queue->items; + pthread_mutex_unlock(&(queue->mutex)); + + return items; + +} diff --git a/thirdparty/libcsp/src/arch/windows/README b/thirdparty/libcsp/src/arch/windows/README new file mode 100644 index 00000000..b97ce7f5 --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/README @@ -0,0 +1,18 @@ +This directory contains files specific to the windows port of libcsp. + +To compile and create a static library, execute: + + python waf configure --with-os=windows build + +from the root of this project. Note python must be in PATH. + +The build requirements are: + * Windows Vista SP1 + * A recent version of MinGW _or_ MinGW-w64 + * Windows API headers + * cPython 2.5 or newer + +What provides the Windows API headers depends on the development environment: +Using MinGW: Headers provided by w32api package. windows_glue.h header is needed because these headers do not declare condition variables. +Using MinGW-w64: Headers should be available in the default configuration. You may have to compile the distribution from source. windows_glue.h should not be needed. + diff --git a/thirdparty/libcsp/src/arch/windows/csp_malloc.c b/thirdparty/libcsp/src/arch/windows/csp_malloc.c new file mode 100644 index 00000000..4b301e49 --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/csp_malloc.c @@ -0,0 +1,9 @@ +#include + +void * csp_malloc(size_t size) { + return malloc(size); +} + +void csp_free(void * ptr) { + free(ptr); +} diff --git a/thirdparty/libcsp/src/arch/windows/csp_queue.c b/thirdparty/libcsp/src/arch/windows/csp_queue.c new file mode 100644 index 00000000..177f8fa9 --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/csp_queue.c @@ -0,0 +1,40 @@ +#include +#include +#include +#include "windows_queue.h" + +csp_queue_handle_t csp_queue_create(int length, size_t item_size) { + return windows_queue_create(length, item_size); +} + +void csp_queue_remove(csp_queue_handle_t queue) { + windows_queue_delete(queue); +} + +int csp_queue_enqueue(csp_queue_handle_t handle, void *value, uint32_t timeout) { + return windows_queue_enqueue(handle, value, timeout); +} + +int csp_queue_enqueue_isr(csp_queue_handle_t handle, void * value, CSP_BASE_TYPE * task_woken) { + if( task_woken != NULL ) + *task_woken = 0; + return windows_queue_enqueue(handle, value, 0); +} + +int csp_queue_dequeue(csp_queue_handle_t handle, void *buf, uint32_t timeout) { + return windows_queue_dequeue(handle, buf, timeout); +} + +int csp_queue_dequeue_isr(csp_queue_handle_t handle, void * buf, CSP_BASE_TYPE * task_woken) { + if( task_woken != NULL ) + *task_woken = 0; + return windows_queue_dequeue(handle, buf, 0); +} + +int csp_queue_size(csp_queue_handle_t handle) { + return windows_queue_items(handle); +} + +int csp_queue_size_isr(csp_queue_handle_t handle) { + return windows_queue_items(handle); +} diff --git a/thirdparty/libcsp/src/arch/windows/csp_semaphore.c b/thirdparty/libcsp/src/arch/windows/csp_semaphore.c new file mode 100644 index 00000000..aa69251e --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/csp_semaphore.c @@ -0,0 +1,74 @@ +#include +#include +#include + +int csp_mutex_create(csp_mutex_t * mutex) { + HANDLE mutexHandle = CreateMutex(NULL, FALSE, FALSE); + if( mutexHandle == NULL ) { + return CSP_MUTEX_ERROR; + } + *mutex = mutexHandle; + return CSP_MUTEX_OK; +} + +int csp_mutex_remove(csp_mutex_t * mutex) { + if( !CloseHandle(*mutex) ) { + return CSP_MUTEX_ERROR; + } + return CSP_MUTEX_OK; +} + +int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout) { + if(WaitForSingleObject(*mutex, timeout) == WAIT_OBJECT_0) { + return CSP_MUTEX_OK; + } + return CSP_MUTEX_ERROR; + +} + +int csp_mutex_unlock(csp_mutex_t * mutex) { + if( !ReleaseMutex(*mutex) ) { + return CSP_MUTEX_ERROR; + } + return CSP_MUTEX_OK; +} + +int csp_bin_sem_create(csp_bin_sem_handle_t * sem) { + HANDLE semHandle = CreateSemaphore(NULL, 1, 1, NULL); + if( semHandle == NULL ) { + return CSP_SEMAPHORE_ERROR; + } + *sem = semHandle; + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_remove(csp_bin_sem_handle_t * sem) { + if( !CloseHandle(*sem) ) { + return CSP_SEMAPHORE_ERROR; + } + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout) { + if( WaitForSingleObject(*sem, timeout) == WAIT_OBJECT_0 ) { + return CSP_SEMAPHORE_OK; + } + return CSP_SEMAPHORE_ERROR; + +} + +int csp_bin_sem_post(csp_bin_sem_handle_t * sem) { + if( !ReleaseSemaphore(*sem, 1, NULL) ) { + return CSP_SEMAPHORE_ERROR; + } + return CSP_SEMAPHORE_OK; +} + +int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken) { + if( task_woken != NULL ) { + *task_woken = 0; + } + return csp_bin_sem_post(sem); +} + + diff --git a/thirdparty/libcsp/src/arch/windows/csp_system.c b/thirdparty/libcsp/src/arch/windows/csp_system.c new file mode 100644 index 00000000..262c2052 --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/csp_system.c @@ -0,0 +1,60 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +#include +#include + +#include + +int csp_sys_tasklist(char * out) { + strcpy(out, "Tasklist not available on Windows"); + return CSP_ERR_NONE; +} + +uint32_t csp_sys_memfree(void) { + MEMORYSTATUSEX statex; + statex.dwLength = sizeof(statex); + GlobalMemoryStatusEx(&statex); + DWORDLONG freePhysicalMem = statex.ullAvailPhys; + size_t total = (size_t) freePhysicalMem; + return (uint32_t)total; +} + +int csp_sys_reboot(void) { + /* TODO: Fix reboot on Windows */ + csp_log_error("Failed to reboot"); + + return CSP_ERR_INVAL; +} + +int csp_sys_shutdown(void) { + /* TODO: Fix shutdown on Windows */ + csp_log_error("Failed to shutdown"); + + return CSP_ERR_INVAL; +} + +void csp_sys_set_color(csp_color_t color) { + /* TODO: Add Windows color output here */ +} diff --git a/thirdparty/libcsp/src/arch/windows/csp_thread.c b/thirdparty/libcsp/src/arch/windows/csp_thread.c new file mode 100644 index 00000000..ef46a948 --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/csp_thread.c @@ -0,0 +1,11 @@ +#include +#include +#include + +int csp_thread_create(csp_thread_return_t (* routine)(void *)__attribute__((stdcall)), const char * const thread_name, unsigned short stack_depth, void * parameters, unsigned int priority, csp_thread_handle_t * handle) { + HANDLE taskHandle = (HANDLE) _beginthreadex(NULL, stack_depth, routine, parameters, 0, 0); + if( taskHandle == 0 ) + return CSP_ERR_NOMEM; // Failure + *handle = taskHandle; + return CSP_ERR_NONE; +} diff --git a/thirdparty/libcsp/src/arch/windows/csp_time.c b/thirdparty/libcsp/src/arch/windows/csp_time.c new file mode 100644 index 00000000..618292ab --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/csp_time.c @@ -0,0 +1,20 @@ +#include +#include +#include + +uint32_t csp_get_ms(void) { + return (uint32_t)GetTickCount(); +} + +uint32_t csp_get_ms_isr(void) { + return csp_get_ms(); +} + +uint32_t csp_get_s(void) { + uint32_t time_ms = csp_get_ms(); + return time_ms/1000; +} + +uint32_t csp_get_s_isr(void) { + return csp_get_s(); +} diff --git a/thirdparty/libcsp/src/arch/windows/windows_glue.h b/thirdparty/libcsp/src/arch/windows/windows_glue.h new file mode 100644 index 00000000..6e0cf6db --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/windows_glue.h @@ -0,0 +1,23 @@ +#ifndef WINDOWS_GLUE_H +#define WINDOWS_GLUE_H + +#include +#undef interface + +#if (_WIN32_WINNT >= 0x0600) + +#define RTL_CONDITION_VARIABLE_INIT 0 +#define RTL_CONDITION_VARIABLE_LOCKMODE_SHARED 1 +#define CONDITION_VARIABLE_INIT RTL_CONDITION_VARIABLE_INIT +#define CONDITION_VARIABLE_LOCKMODE_SHARED RTL_CONDITION_VARIABLE_LOCKMODE_SHARED + +typedef PVOID RTL_CONDITION_VARIABLE; +typedef RTL_CONDITION_VARIABLE CONDITION_VARIABLE, *PCONDITION_VARIABLE; + +WINBASEAPI VOID WINAPI InitializeConditionVariable(PCONDITION_VARIABLE ConditionVariable); +WINBASEAPI WINBOOL WINAPI SleepConditionVariableCS(PCONDITION_VARIABLE ConditionVariable, PCRITICAL_SECTION CriticalSection, DWORD dwMilliseconds); +WINBASEAPI VOID WINAPI WakeAllConditionVariable(PCONDITION_VARIABLE ConditionVariable); +WINBASEAPI VOID WINAPI WakeConditionVariable(PCONDITION_VARIABLE ConditionVariable); + +#endif // _WIN#"_WINNT +#endif diff --git a/thirdparty/libcsp/src/arch/windows/windows_queue.c b/thirdparty/libcsp/src/arch/windows/windows_queue.c new file mode 100644 index 00000000..aa337dc8 --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/windows_queue.c @@ -0,0 +1,91 @@ +#include "windows_queue.h" +#include "windows_glue.h" +#include + +static int queueFull(windows_queue_t * queue) { + return queue->items == queue->size; +} + +static int queueEmpty(windows_queue_t * queue) { + return queue->items == 0; +} + +windows_queue_t * windows_queue_create(int length, size_t item_size) { + windows_queue_t *queue = (windows_queue_t*)malloc(sizeof(windows_queue_t)); + if(queue == NULL) + goto queue_malloc_failed; + + queue->buffer = malloc(length*item_size); + if(queue->buffer == NULL) + goto buffer_malloc_failed; + + queue->size = length; + queue->item_size = item_size; + queue->items = 0; + queue->head_idx = 0; + + InitializeCriticalSection(&(queue->mutex)); + InitializeConditionVariable(&(queue->cond_full)); + InitializeConditionVariable(&(queue->cond_empty)); + goto queue_init_success; + +buffer_malloc_failed: + free(queue); + queue = NULL; +queue_malloc_failed: +queue_init_success: + return queue; +} + +void windows_queue_delete(windows_queue_t * q) { + if(q==NULL) return; + DeleteCriticalSection(&(q->mutex)); + free(q->buffer); + free(q); +} + +int windows_queue_enqueue(windows_queue_t * queue, void * value, int timeout) { + int offset; + EnterCriticalSection(&(queue->mutex)); + while(queueFull(queue)) { + int ret = SleepConditionVariableCS(&(queue->cond_full), &(queue->mutex), timeout); + if( !ret ) { + LeaveCriticalSection(&(queue->mutex)); + return ret == WAIT_TIMEOUT ? WINDOWS_QUEUE_FULL : WINDOWS_QUEUE_ERROR; + } + } + offset = ((queue->head_idx+queue->items) % queue->size) * queue->item_size; + memcpy((unsigned char*)queue->buffer + offset, value, queue->item_size); + queue->items++; + + LeaveCriticalSection(&(queue->mutex)); + WakeAllConditionVariable(&(queue->cond_empty)); + return WINDOWS_QUEUE_OK; +} + +int windows_queue_dequeue(windows_queue_t * queue, void * buf, int timeout) { + EnterCriticalSection(&(queue->mutex)); + while(queueEmpty(queue)) { + int ret = SleepConditionVariableCS(&(queue->cond_empty), &(queue->mutex), timeout); + if( !ret ) { + LeaveCriticalSection(&(queue->mutex)); + return ret == WAIT_TIMEOUT ? WINDOWS_QUEUE_EMPTY : WINDOWS_QUEUE_ERROR; + } + } + memcpy(buf, (unsigned char*)queue->buffer+(queue->head_idx%queue->size*queue->item_size), queue->item_size); + queue->items--; + queue->head_idx = (queue->head_idx + 1) % queue->size; + + LeaveCriticalSection(&(queue->mutex)); + WakeAllConditionVariable(&(queue->cond_full)); + return WINDOWS_QUEUE_OK; +} + +int windows_queue_items(windows_queue_t * queue) { + int items; + EnterCriticalSection(&(queue->mutex)); + items = queue->items; + LeaveCriticalSection(&(queue->mutex)); + + return items; +} diff --git a/thirdparty/libcsp/src/arch/windows/windows_queue.h b/thirdparty/libcsp/src/arch/windows/windows_queue.h new file mode 100644 index 00000000..e6bc5423 --- /dev/null +++ b/thirdparty/libcsp/src/arch/windows/windows_queue.h @@ -0,0 +1,41 @@ +#ifndef _WINDOWS_QUEUE_H_ +#define _WINDOWS_QUEUE_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include "windows_glue.h" +#undef interface + +#include + +#define WINDOWS_QUEUE_ERROR CSP_QUEUE_ERROR +#define WINDOWS_QUEUE_EMPTY CSP_QUEUE_ERROR +#define WINDOWS_QUEUE_FULL CSP_QUEUE_ERROR +#define WINDOWS_QUEUE_OK CSP_QUEUE_OK + +typedef struct windows_queue_s { + void * buffer; + int size; + int item_size; + int items; + int head_idx; + CRITICAL_SECTION mutex; + CONDITION_VARIABLE cond_full; + CONDITION_VARIABLE cond_empty; +} windows_queue_t; + +windows_queue_t * windows_queue_create(int length, size_t item_size); +void windows_queue_delete(windows_queue_t * q); +int windows_queue_enqueue(windows_queue_t * queue, void * value, int timeout); +int windows_queue_dequeue(windows_queue_t * queue, void * buf, int timeout); +int windows_queue_items(windows_queue_t * queue); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _WINDOWS_QUEUE_H_ + diff --git a/thirdparty/libcsp/src/bindings/python/pycsp.c b/thirdparty/libcsp/src/bindings/python/pycsp.c new file mode 100644 index 00000000..f1009d1a --- /dev/null +++ b/thirdparty/libcsp/src/bindings/python/pycsp.c @@ -0,0 +1,1052 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#if PY_MAJOR_VERSION == 3 +#define IS_PY3 +#endif + +static int is_capsule_of_type(PyObject* capsule, const char* expected_type) { + const char* capsule_name = PyCapsule_GetName(capsule); + if (strcmp(capsule_name, expected_type) != 0) { + PyErr_Format( + PyExc_TypeError, + "capsule contains unexpected type, expected=%s, got=%s", + expected_type, capsule_name); // TypeError is thrown + return 0; + } + return 1; +} + +/** + * csp/csp.h + */ + +/* + * void csp_service_handler(csp_conn_t *conn, csp_packet_t *packet); + */ +static PyObject* pycsp_service_handler(PyObject *self, PyObject *args) { + PyObject* conn_capsule; + PyObject* packet_capsule; + if (!PyArg_ParseTuple(args, "OO", &conn_capsule, &packet_capsule)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(conn_capsule, "csp_conn_t") || + !is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_service_handler( + (csp_conn_t*)PyCapsule_GetPointer(conn_capsule, "csp_conn_t"), + (csp_packet_t*)PyCapsule_GetPointer(packet_capsule, "csp_packet_t")); + + Py_RETURN_NONE; +} + +/* + * int csp_init(uint8_t my_node_address); + */ +static PyObject* pycsp_init(PyObject *self, PyObject *args) { + uint8_t my_node_address; + if (!PyArg_ParseTuple(args, "b", &my_node_address)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_init(my_node_address)); +} + +/* + * void csp_set_hostname(const char *hostname); + */ +static PyObject* pycsp_set_hostname(PyObject *self, PyObject *args) { + char* hostname; + if (!PyArg_ParseTuple(args, "s", &hostname)) { + return NULL; // TypeError is thrown + } + + csp_set_hostname(hostname); + Py_RETURN_NONE; +} + +/* + * const char *csp_get_hostname(void); + */ +static PyObject* pycsp_get_hostname(PyObject *self, PyObject *args) { + return Py_BuildValue("s", csp_get_hostname()); +} + +/* + * void csp_set_model(const char *model); + */ +static PyObject* pycsp_set_model(PyObject *self, PyObject *args) { + char* model; + if (!PyArg_ParseTuple(args, "s", &model)) { + return NULL; // TypeError is thrown + } + + csp_set_model(model); + Py_RETURN_NONE; +} + +/* + * const char *csp_get_model(void); + */ +static PyObject* pycsp_get_model(PyObject *self, PyObject *args) { + return Py_BuildValue("s", csp_get_model()); +} + +/* + * void csp_set_revision(const char *revision); + */ +static PyObject* pycsp_set_revision(PyObject *self, PyObject *args) { + char* revision; + if (!PyArg_ParseTuple(args, "s", &revision)) { + return NULL; // TypeError is thrown + } + + csp_set_revision(revision); + Py_RETURN_NONE; +} + +/* + * const char *csp_get_revision(void); + */ +static PyObject* pycsp_get_revision(PyObject *self, PyObject *args) { + return Py_BuildValue("s", csp_get_revision()); +} + +/* + * csp_socket_t *csp_socket(uint32_t opts); + */ +static PyObject* pycsp_socket(PyObject *self, PyObject *args) { + uint32_t opts = CSP_SO_NONE; + if (!PyArg_ParseTuple(args, "|I", &opts)) { + return NULL; // TypeError is thrown + } + + return PyCapsule_New(csp_socket(opts), "csp_socket_t", NULL); +} + +/* + * csp_conn_t *csp_accept(csp_socket_t *socket, uint32_t timeout); + */ +static PyObject* pycsp_accept(PyObject *self, PyObject *args) { + PyObject* socket_capsule; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "O|I", &socket_capsule, &timeout)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(socket_capsule, "csp_socket_t")) { + return NULL; // TypeError is thrown + } + + void* socket = PyCapsule_GetPointer(socket_capsule, "csp_socket_t"); + csp_conn_t* conn = csp_accept((csp_socket_t*)socket, timeout); + if (conn == NULL) { + Py_RETURN_NONE; // because a capsule cannot contain a NULL-pointer + } + + return PyCapsule_New(conn, "csp_conn_t", NULL); +} + +/* + * csp_packet_t *csp_read(csp_conn_t *conn, uint32_t timeout); + */ +static PyObject* pycsp_read(PyObject *self, PyObject *args) { + PyObject* conn_capsule; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "O|I", &conn_capsule, &timeout)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + csp_packet_t* packet = csp_read((csp_conn_t*)conn, timeout); + if (packet == NULL) { + Py_RETURN_NONE; // because capsule cannot contain a NULL-pointer + } + + return PyCapsule_New(packet, "csp_packet_t", NULL); +} + +/* +* int csp_send(csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout) +*/ +static PyObject* pycsp_send(PyObject *self, PyObject *args) { + PyObject* conn_capsule; + PyObject* packet_capsule; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "OO|I", &conn_capsule, &packet_capsule, &timeout)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); + if (packet == NULL) { + Py_RETURN_NONE; + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + + int result = csp_send(conn, packet, timeout); + + return Py_BuildValue("i", result); +} + +/* + * int csp_transaction(uint8_t prio, uint8_t dest, uint8_t port, + * uint32_t timeout, void *outbuf, int outlen, + * void *inbuf, int inlen); + */ +static PyObject* pycsp_transaction(PyObject *self, PyObject *args) { + uint8_t prio; + uint8_t dest; + uint8_t port; + uint32_t timeout; + Py_buffer inbuf; + Py_buffer outbuf; + if (!PyArg_ParseTuple(args, "bbbIw*w*", &prio, &dest, &port, &timeout, &outbuf, &inbuf)) { + return NULL; // TypeError is thrown + } + + int result = csp_transaction(prio, dest, port, timeout, + outbuf.buf, outbuf.len, + inbuf.buf, inbuf.len); + + return Py_BuildValue("i", result); +} + +/* int csp_sendto(uint8_t prio, uint8_t dest, uint8_t dport, uint8_t src_port, uint32_t opts, csp_packet_t *packet, uint32_t timeout); */ +static PyObject* pycsp_sendto(PyObject *self, PyObject *args) { + uint8_t prio; + uint8_t dest; + uint8_t dport; + uint8_t src_port; + uint32_t opts; + PyObject* packet_capsule; + uint32_t timeout; + if (!PyArg_ParseTuple(args, "bbbbIOI", &prio, &dest, &dport, &src_port, &opts, &packet_capsule, &timeout)) { + Py_RETURN_NONE; + } + + void* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); + if (packet == NULL) { + Py_RETURN_NONE; + } + + return Py_BuildValue("i", csp_sendto(prio, + dest, + dport, + src_port, + opts, + (csp_packet_t*)packet, + timeout)); +} + + +/* + * int csp_sendto_reply(csp_packet_t * request_packet, + * csp_packet_t * reply_packet, + * uint32_t opts, uint32_t timeout); + */ +static PyObject* pycsp_sendto_reply(PyObject *self, PyObject *args) { + PyObject* request_packet_capsule; + PyObject* reply_packet_capsule; + uint32_t opts = CSP_O_NONE; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "OO|II", &request_packet_capsule, &reply_packet_capsule, &opts, &timeout)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(request_packet_capsule, "csp_packet_t") || + !is_capsule_of_type(reply_packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + void* request_packet = PyCapsule_GetPointer(request_packet_capsule, "csp_packet_t"); + void* reply_packet = PyCapsule_GetPointer(reply_packet_capsule, "csp_packet_t"); + + return Py_BuildValue("i", csp_sendto_reply((csp_packet_t*)request_packet, + (csp_packet_t*)reply_packet, + opts, + timeout)); +} + +/* + * csp_conn_t *csp_connect(uint8_t prio, uint8_t dest, uint8_t dport, uint32_t timeout, uint32_t opts); + */ +static PyObject* pycsp_connect(PyObject *self, PyObject *args) { + uint8_t prio; + uint8_t dest; + uint8_t dport; + uint32_t timeout; + uint32_t opts; + if (!PyArg_ParseTuple(args, "bbbII", &prio, &dest, &dport, &timeout, &opts)) { + return NULL; // TypeError is thrown + } + + csp_conn_t *conn = csp_connect(prio, dest, dport, timeout,opts); + + return PyCapsule_New(conn, "csp_conn_t", NULL); +} + +/* + * int csp_close(csp_conn_t *conn); + */ +static PyObject* pycsp_close(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void *conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_close((csp_conn_t*)conn)); +} + +/* + * int csp_conn_dport(csp_conn_t *conn); + */ +static PyObject* pycsp_conn_dport(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_conn_dport((csp_conn_t*)conn)); +} + +/* + * int csp_conn_sport(csp_conn_t *conn); + */ +static PyObject* pycsp_conn_sport(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_conn_sport((csp_conn_t*)conn)); +} + +/* int csp_conn_dst(csp_conn_t *conn); */ +static PyObject* pycsp_conn_dst(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_conn_dst((csp_conn_t*)conn)); +} + +/* + * int csp_conn_src(csp_conn_t *conn); + */ +static PyObject* pycsp_conn_src(PyObject *self, PyObject *conn_capsule) { + if (!is_capsule_of_type(conn_capsule, "csp_conn_t")) { + return NULL; // TypeError is thrown + } + + void* conn = PyCapsule_GetPointer(conn_capsule, "csp_conn_t"); + return Py_BuildValue("i", csp_conn_src((csp_conn_t*)conn)); +} + +/* int csp_listen(csp_socket_t *socket, size_t conn_queue_length); */ +static PyObject* pycsp_listen(PyObject *self, PyObject *args) { + PyObject* socket_capsule; + size_t conn_queue_len = 10; + if (!PyArg_ParseTuple(args, "O|n", &socket_capsule, &conn_queue_len)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(socket_capsule, "csp_socket_t")) { + return NULL; // TypeError is thrown + } + + void* sock = PyCapsule_GetPointer(socket_capsule, "csp_socket_t"); + return Py_BuildValue("i", csp_listen((csp_socket_t*)sock, conn_queue_len)); +} + +/* int csp_bind(csp_socket_t *socket, uint8_t port); */ +static PyObject* pycsp_bind(PyObject *self, PyObject *args) { + PyObject* socket_capsule; + uint8_t port; + if (!PyArg_ParseTuple(args, "Ob", &socket_capsule, &port)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(socket_capsule, "csp_socket_t")) { + return NULL; // TypeError is thrown + } + + void* sock = PyCapsule_GetPointer(socket_capsule, "csp_socket_t"); + return Py_BuildValue("i", csp_bind((csp_socket_t*)sock, port)); +} + +/* int csp_route_start_task(unsigned int task_stack_size, unsigned int priority); */ +static PyObject* pycsp_route_start_task(PyObject *self, PyObject *args) { + unsigned int priority = CSP_PRIO_NORM; + if (!PyArg_ParseTuple(args, "|I", &priority)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_route_start_task(0, priority)); +} + +/* + * int csp_ping(uint8_t node, uint32_t timeout, + * unsigned int size, uint8_t conn_options); + */ +static PyObject* pycsp_ping(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout = 500; + unsigned int size = 100; + uint8_t conn_options = CSP_O_NONE; + if (!PyArg_ParseTuple(args, "b|IIb", &node, &timeout, &size, &conn_options)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_ping(node, timeout, size, conn_options)); +} + +/* + * void csp_reboot(uint8_t node); + */ +static PyObject* pycsp_reboot(PyObject *self, PyObject *args) { + uint8_t node; + if (!PyArg_ParseTuple(args, "b", &node)) { + return NULL; // TypeError is thrown + } + + csp_reboot(node); + Py_RETURN_NONE; +} + +/* + * void csp_shutdown(uint8_t node); + */ +static PyObject* pycsp_shutdown(PyObject *self, PyObject *args) { + uint8_t node; + if (!PyArg_ParseTuple(args, "b", &node)) { + return NULL; // TypeError is thrown + } + + csp_shutdown(node); + Py_RETURN_NONE; +} + +/* + * void csp_rdp_set_opt(unsigned int window_size, + * unsigned int conn_timeout_ms, + * unsigned int packet_timeout_ms, + * unsigned int delayed_acks, + * unsigned int ack_timeout, + * unsigned int ack_delay_count); + */ +static PyObject* pycsp_rdp_set_opt(PyObject *self, PyObject *args) { + unsigned int window_size; + unsigned int conn_timeout_ms; + unsigned int packet_timeout_ms; + unsigned int delayed_acks; + unsigned int ack_timeout; + unsigned int ack_delay_count; + if (!PyArg_ParseTuple(args, "IIIIII", &window_size, &conn_timeout_ms, + &packet_timeout_ms, &delayed_acks, + &ack_timeout, &ack_delay_count)) { + return NULL; // TypeError is thrown + } +#ifdef CSP_USE_RDP + csp_rdp_set_opt(window_size, conn_timeout_ms, packet_timeout_ms, + delayed_acks, ack_timeout, ack_delay_count); +#endif + Py_RETURN_NONE; +} + +/* + * void csp_rdp_get_opt(unsigned int *window_size, + * unsigned int *conn_timeout_ms, + * unsigned int *packet_timeout_ms, + * unsigned int *delayed_acks, + * unsigned int *ack_timeout, + * unsigned int *ack_delay_count); + */ +static PyObject* pycsp_rdp_get_opt(PyObject *self, PyObject *args) { + + unsigned int window_size = 0; + unsigned int conn_timeout_ms = 0; + unsigned int packet_timeout_ms = 0; + unsigned int delayed_acks = 0; + unsigned int ack_timeout = 0; + unsigned int ack_delay_count = 0; +#ifdef CSP_USE_RDP + csp_rdp_get_opt(&window_size, + &conn_timeout_ms, + &packet_timeout_ms, + &delayed_acks, + &ack_timeout, + &ack_delay_count); +#endif + return Py_BuildValue("IIIIII", + window_size, + conn_timeout_ms, + packet_timeout_ms, + delayed_acks, + ack_timeout, + ack_delay_count); +} + + +/* + * + * int csp_xtea_set_key(char *key, uint32_t keylen); + */ +static PyObject* pycsp_xtea_set_key(PyObject *self, PyObject *args) { + char* key; + uint32_t keylen; + if (!PyArg_ParseTuple(args, "si", &key, &keylen)) { + return NULL; // TypeError is thrown + } + return Py_BuildValue("i", csp_xtea_set_key(key, keylen)); +} +/** + * csp/csp_rtable.h + */ + +/* + * int csp_rtable_set(uint8_t node, uint8_t mask, + * csp_iface_t *ifc, uint8_t mac); + */ +static PyObject* pycsp_rtable_set(PyObject *self, PyObject *args) { + uint8_t node; + uint8_t mask; + char* interface_name; + uint8_t mac = CSP_NODE_MAC; + if (!PyArg_ParseTuple(args, "bbs|b", &node, &mask, &interface_name, &mac)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_rtable_set(node, + mask, + csp_iflist_get_by_name(interface_name), + mac)); +} + +/* + * void csp_rtable_clear(void); + */ +static PyObject* pycsp_rtable_clear(PyObject *self, PyObject *args) { + csp_rtable_clear(); + Py_RETURN_NONE; +} + +/* +* int csp_rtable_check(const char * buffer) +*/ +static PyObject* pycsp_rtable_check(PyObject *self, PyObject *args) { + char* buffer; + if (!PyArg_ParseTuple(args, "s", &buffer)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_rtable_check(buffer)); +} + +/* +* void csp_rtable_load(const char * buffer) +*/ +static PyObject* pycsp_rtable_load(PyObject *self, PyObject *args) { + char* buffer; + if (!PyArg_ParseTuple(args, "s", &buffer)) { + return NULL; // TypeError is thrown + } + + csp_rtable_load(buffer); + Py_RETURN_NONE; +} + +/** + * csp/csp_buffer.h + */ + +/* + * int csp_buffer_init(int count, int size); + */ +static PyObject* pycsp_buffer_init(PyObject *self, PyObject *args) { + int count; + int size; + if (!PyArg_ParseTuple(args, "ii", &count, &size)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_buffer_init(count, size)); +} + +/* + * void * csp_buffer_get(size_t size); + */ +static PyObject* pycsp_buffer_get(PyObject *self, PyObject *args) { + size_t size; + if (!PyArg_ParseTuple(args, "n", &size)) { + return NULL; // TypeError is thrown + } + + void* packet = csp_buffer_get(size); + if (packet == NULL) { + Py_RETURN_NONE; + } + + return PyCapsule_New(packet, "csp_packet_t", NULL); +} +/* + * void csp_buffer_free(void *packet); + */ +static PyObject* pycsp_buffer_free(PyObject *self, PyObject *args) { + PyObject* packet_capsule; + if (!PyArg_ParseTuple(args, "O", &packet_capsule)) { + return NULL; // TypeError is thrown + } + + + if (!is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_buffer_free(PyCapsule_GetPointer(packet_capsule, "csp_packet_t")); + Py_RETURN_NONE; +} + +/* + * int csp_buffer_remaining(void); + */ +static PyObject* pycsp_buffer_remaining(PyObject *self, PyObject *args) { + return Py_BuildValue("i", csp_buffer_remaining()); +} + +/** + * csp/csp_cmp.h + */ + +/* + * static inline int csp_cmp_ident(uint8_t node, uint32_t timeout, + * struct csp_cmp_message *msg) + */ +static PyObject* pycsp_cmp_ident(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout = 500; + if (!PyArg_ParseTuple(args, "b|i", &node, &timeout)) { + return NULL; // TypeError is thrown + } + + struct csp_cmp_message msg; + int rc = csp_cmp_ident(node, timeout, &msg); + return Py_BuildValue("isssss", + rc, + msg.ident.hostname, + msg.ident.model, + msg.ident.revision, + msg.ident.date, + msg.ident.time); +} + +/* + * static inline int csp_cmp_route_set(uint8_t node, uint32_t timeout, + * struct csp_cmp_message *msg) + */ +static PyObject* pycsp_cmp_route_set(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout = 500; + uint8_t addr; + uint8_t mac; + char* ifstr; + if (!PyArg_ParseTuple(args, "bibbs", &node, &timeout, &addr, &mac, &ifstr)) { + return NULL; // TypeError is thrown + } + + struct csp_cmp_message msg; + msg.route_set.dest_node = addr; + msg.route_set.next_hop_mac = mac; + strncpy(msg.route_set.interface, ifstr, CSP_CMP_ROUTE_IFACE_LEN); + int rc = csp_cmp_route_set(node, timeout, &msg); + return Py_BuildValue("i", + rc); +} + +/* static inline int pycsp_cmp_peek(uint8_t node, uint32_t timeout, struct csp_cmp_message *msg); */ +static PyObject* pycsp_cmp_peek(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout; + uint8_t len; + uint32_t addr; + Py_buffer outbuf; + + if (!PyArg_ParseTuple(args, "biibw*", &node, &timeout, &addr, &len, &outbuf)) { + Py_RETURN_NONE; + } + + if (len > CSP_CMP_PEEK_MAX_LEN) { + len = CSP_CMP_PEEK_MAX_LEN; + } + struct csp_cmp_message msg; + msg.peek.addr = csp_hton32(addr); + msg.peek.len = len; + int rc = csp_cmp_peek(node, timeout, &msg); + if (rc != CSP_ERR_NONE) { + Py_RETURN_NONE; + } + memcpy(outbuf.buf, msg.peek.data, len); + outbuf.len = len; + + return Py_BuildValue("i", rc); +} + +/* static inline int pycsp_cmp_poke(uint8_t node, uint32_t timeout, struct csp_cmp_message *msg); */ +static PyObject* pycsp_cmp_poke(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout; + uint8_t len; + uint32_t addr; + Py_buffer inbuf; + + if (!PyArg_ParseTuple(args, "biibw*", &node, &timeout, &addr, &len, &inbuf)) { + Py_RETURN_NONE; + } + + if (len > CSP_CMP_POKE_MAX_LEN) { + len = CSP_CMP_POKE_MAX_LEN; + } + struct csp_cmp_message msg; + msg.poke.addr = csp_hton32(addr); + msg.poke.len = len; + memcpy(msg.poke.data, inbuf.buf, len); + int rc = csp_cmp_poke(node, timeout, &msg); + if (rc != CSP_ERR_NONE) { + Py_RETURN_NONE; + } + + return Py_BuildValue("i", rc); +} + +/* static inline int csp_cmp_clock(uint8_t node, uint32_t timeout, struct csp_cmp_message *msg); */ +static PyObject* pycsp_cmp_clock(PyObject *self, PyObject *args) { + uint8_t node; + uint32_t timeout; + uint32_t sec; + uint32_t nsec; + if (!PyArg_ParseTuple(args, "bIII", &node, &timeout, &sec, &nsec)) { + Py_RETURN_NONE; + } + + struct csp_cmp_message msg; + msg.clock.tv_sec = csp_hton32(sec); + msg.clock.tv_nsec = csp_hton32(nsec); + return Py_BuildValue("i", csp_cmp_clock(node, timeout, &msg)); +} + +/** + * csp/interfaces/csp_if_zmqhub.h + */ + +/* + * int csp_zmqhub_init(char addr, char * host); + */ +static PyObject* pycsp_zmqhub_init(PyObject *self, PyObject *args) { + char addr; + char* host; + if (!PyArg_ParseTuple(args, "bs", &addr, &host)) { + return NULL; // TypeError is thrown + } + + return Py_BuildValue("i", csp_zmqhub_init(addr, host)); +} + +/** + * csp/drivers/can_socketcan.h + */ + +/* + * csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc); + */ +static PyObject* pycsp_can_socketcan_init(PyObject *self, PyObject *args) +{ + char* ifc; + int bitrate = 1000000; + int promisc = 0; + + if (!PyArg_ParseTuple(args, "s|ii", &ifc, &bitrate, &promisc)) + { + return NULL; + } + + csp_can_socketcan_init(ifc, bitrate, promisc); + Py_RETURN_NONE; +} + + +/** + * csp/interfaces/csp_if_kiss.h + */ + +/* + * int csp_kiss_init(char addr, char * host); + */ +static PyObject* pycsp_kiss_init(PyObject *self, PyObject *args) { + char* device; + uint32_t baudrate = 500000; + uint32_t mtu = 512; + const char* if_name = "KISS"; + if (!PyArg_ParseTuple(args, "s|IIs", &device, &baudrate, &mtu, &if_name)) { + return NULL; // TypeError is thrown + } + + static csp_iface_t csp_if_kiss; + static csp_kiss_handle_t csp_kiss_driver; + csp_if_kiss.mtu = (uint16_t) mtu; + struct usart_conf conf = {.device = device, .baudrate = baudrate}; + csp_kiss_init(&csp_if_kiss, &csp_kiss_driver, usart_putc, usart_insert, if_name); + usart_init(&conf); + + void my_usart_rx(uint8_t * buf, int len, void * pxTaskWoken) { + csp_kiss_rx(&csp_if_kiss, buf, len, pxTaskWoken); + } + usart_set_callback(my_usart_rx); + + Py_RETURN_NONE; +} + +/** + * Helpers - accessing csp_packet_t members + */ +static PyObject* pycsp_packet_set_data(PyObject *self, PyObject *args) { + PyObject* packet_capsule; + Py_buffer data; + if (!PyArg_ParseTuple(args, "Ow*", &packet_capsule, &data)) { + return NULL; // TypeError is thrown + } + + if (!is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_packet_t* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); + + memcpy((char *)packet->data, data.buf, data.len); + packet->length = data.len; + + Py_RETURN_NONE; +} +static PyObject* pycsp_packet_get_data(PyObject *self, PyObject *packet_capsule) { + if (!is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_packet_t* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); +#ifdef IS_PY3 + return Py_BuildValue("y#", packet->data, packet->length); +#else + return Py_BuildValue("s#", packet->data, packet->length); +#endif +} + +static PyObject* pycsp_packet_get_length(PyObject *self, PyObject *packet_capsule) { + if (!is_capsule_of_type(packet_capsule, "csp_packet_t")) { + return NULL; // TypeError is thrown + } + + csp_packet_t* packet = PyCapsule_GetPointer(packet_capsule, "csp_packet_t"); + return Py_BuildValue("H", packet->length); +} + +static PyMethodDef methods[] = { + + /* csp/csp.h */ + {"service_handler", pycsp_service_handler, METH_VARARGS, ""}, + {"init", pycsp_init, METH_VARARGS, ""}, + {"set_hostname", pycsp_set_hostname, METH_VARARGS, ""}, + {"get_hostname", pycsp_get_hostname, METH_NOARGS, ""}, + {"set_model", pycsp_set_model, METH_VARARGS, ""}, + {"get_model", pycsp_get_model, METH_NOARGS, ""}, + {"set_revision", pycsp_set_revision, METH_VARARGS, ""}, + {"get_revision", pycsp_get_revision, METH_NOARGS, ""}, + {"socket", pycsp_socket, METH_VARARGS, ""}, + {"accept", pycsp_accept, METH_VARARGS, ""}, + {"read", pycsp_read, METH_VARARGS, ""}, + {"send", pycsp_send, METH_VARARGS, ""}, + {"transaction", pycsp_transaction, METH_VARARGS, ""}, + {"sendto_reply", pycsp_sendto_reply, METH_VARARGS, ""}, + {"sendto", pycsp_sendto, METH_VARARGS, ""}, + {"connect", pycsp_connect, METH_VARARGS, ""}, + {"close", pycsp_close, METH_O, ""}, + {"conn_dport", pycsp_conn_dport, METH_O, ""}, + {"conn_sport", pycsp_conn_sport, METH_O, ""}, + {"conn_dst", pycsp_conn_dst, METH_O, ""}, + {"conn_src", pycsp_conn_src, METH_O, ""}, + {"listen", pycsp_listen, METH_VARARGS, ""}, + {"bind", pycsp_bind, METH_VARARGS, ""}, + {"route_start_task", pycsp_route_start_task, METH_VARARGS, ""}, + {"ping", pycsp_ping, METH_VARARGS, ""}, + {"reboot", pycsp_reboot, METH_VARARGS, ""}, + {"shutdown", pycsp_shutdown, METH_VARARGS, ""}, + {"rdp_set_opt", pycsp_rdp_set_opt, METH_VARARGS, ""}, + {"rdp_get_opt", pycsp_rdp_get_opt, METH_NOARGS, ""}, + {"xtea_set_key", pycsp_xtea_set_key, METH_VARARGS, ""}, + + /* csp/csp_rtable.h */ + {"rtable_set", pycsp_rtable_set, METH_VARARGS, ""}, + {"rtable_clear", pycsp_rtable_clear, METH_NOARGS, ""}, + {"rtable_check", pycsp_rtable_check, METH_VARARGS, ""}, + {"rtable_load", pycsp_rtable_load, METH_VARARGS, ""}, + + /* csp/csp_buffer.h */ + {"buffer_init", pycsp_buffer_init, METH_VARARGS, ""}, + {"buffer_free", pycsp_buffer_free, METH_VARARGS, ""}, + {"buffer_get", pycsp_buffer_get, METH_VARARGS, ""}, + {"buffer_remaining", pycsp_buffer_remaining, METH_NOARGS, ""}, + + /* csp/csp_cmp.h */ + {"cmp_ident", pycsp_cmp_ident, METH_VARARGS, ""}, + {"cmp_route_set", pycsp_cmp_route_set, METH_VARARGS, ""}, + {"cmp_peek", pycsp_cmp_peek, METH_VARARGS, ""}, + {"cmp_poke", pycsp_cmp_poke, METH_VARARGS, ""}, + {"cmp_clock", pycsp_cmp_clock, METH_VARARGS, ""}, + + + /* csp/interfaces/csp_if_zmqhub.h */ + {"zmqhub_init", pycsp_zmqhub_init, METH_VARARGS, ""}, + {"kiss_init", pycsp_kiss_init, METH_VARARGS, ""}, + + /* csp/drivers/can_socketcan.h */ + {"can_socketcan_init", pycsp_can_socketcan_init, METH_VARARGS, ""}, + + /* helpers */ + {"packet_get_length", pycsp_packet_get_length, METH_O, ""}, + {"packet_get_data", pycsp_packet_get_data, METH_O, ""}, + {"packet_set_data", pycsp_packet_set_data, METH_VARARGS, ""}, + + /* sentinel */ + {NULL, NULL, 0, NULL} +}; + +#ifdef IS_PY3 +static struct PyModuleDef moduledef = { + PyModuleDef_HEAD_INIT, + "libcsp_py3", + NULL, + -1, + methods, + NULL, + NULL, + NULL, + NULL +}; +#endif + +#ifdef IS_PY3 +PyMODINIT_FUNC PyInit_libcsp_py3(void) { +#else + PyMODINIT_FUNC initlibcsp_py2(void) { +#endif + + PyObject* m; + +#ifdef IS_PY3 + m = PyModule_Create(&moduledef); +#else + m = Py_InitModule("libcsp_py2", methods); +#endif + /** + * csp/csp_types.h + */ + + /* RESERVED PORTS */ + PyModule_AddIntConstant(m, "CSP_CMP", CSP_CMP); + PyModule_AddIntConstant(m, "CSP_PING", CSP_PING); + PyModule_AddIntConstant(m, "CSP_PS", CSP_PS); + PyModule_AddIntConstant(m, "CSP_MEMFREE", CSP_MEMFREE); + PyModule_AddIntConstant(m, "CSP_REBOOT", CSP_REBOOT); + PyModule_AddIntConstant(m, "CSP_BUF_FREE", CSP_BUF_FREE); + PyModule_AddIntConstant(m, "CSP_UPTIME", CSP_UPTIME); + PyModule_AddIntConstant(m, "CSP_ANY", CSP_MAX_BIND_PORT + 1); + PyModule_AddIntConstant(m, "CSP_PROMISC", CSP_MAX_BIND_PORT + 2); + + /* PRIORITIES */ + PyModule_AddIntConstant(m, "CSP_PRIO_CRITICAL", CSP_PRIO_CRITICAL); + PyModule_AddIntConstant(m, "CSP_PRIO_HIGH", CSP_PRIO_HIGH); + PyModule_AddIntConstant(m, "CSP_PRIO_NORM", CSP_PRIO_NORM); + PyModule_AddIntConstant(m, "CSP_PRIO_LOW", CSP_PRIO_LOW); + + /* FLAGS */ + PyModule_AddIntConstant(m, "CSP_FFRAG", CSP_FFRAG); + PyModule_AddIntConstant(m, "CSP_FHMAC", CSP_FHMAC); + PyModule_AddIntConstant(m, "CSP_FXTEA", CSP_FXTEA); + PyModule_AddIntConstant(m, "CSP_FRDP", CSP_FRDP); + PyModule_AddIntConstant(m, "CSP_FCRC32", CSP_FCRC32); + + /* SOCKET OPTIONS */ + PyModule_AddIntConstant(m, "CSP_SO_NONE", CSP_SO_NONE); + PyModule_AddIntConstant(m, "CSP_SO_RDPREQ", CSP_SO_RDPREQ); + PyModule_AddIntConstant(m, "CSP_SO_RDPPROHIB", CSP_SO_RDPPROHIB); + PyModule_AddIntConstant(m, "CSP_SO_HMACREQ", CSP_SO_HMACREQ); + PyModule_AddIntConstant(m, "CSP_SO_HMACPROHIB", CSP_SO_HMACPROHIB); + PyModule_AddIntConstant(m, "CSP_SO_XTEAREQ", CSP_SO_XTEAREQ); + PyModule_AddIntConstant(m, "CSP_SO_XTEAPROHIB", CSP_SO_XTEAPROHIB); + PyModule_AddIntConstant(m, "CSP_SO_CRC32REQ", CSP_SO_CRC32REQ); + PyModule_AddIntConstant(m, "CSP_SO_CRC32PROHIB", CSP_SO_CRC32PROHIB); + PyModule_AddIntConstant(m, "CSP_SO_CONN_LESS", CSP_SO_CONN_LESS); + + /* CONNECT OPTIONS */ + PyModule_AddIntConstant(m, "CSP_O_NONE", CSP_O_NONE); + PyModule_AddIntConstant(m, "CSP_O_RDP", CSP_O_RDP); + PyModule_AddIntConstant(m, "CSP_O_NORDP", CSP_O_NORDP); + PyModule_AddIntConstant(m, "CSP_O_HMAC", CSP_O_HMAC); + PyModule_AddIntConstant(m, "CSP_O_NOHMAC", CSP_O_NOHMAC); + PyModule_AddIntConstant(m, "CSP_O_XTEA", CSP_O_XTEA); + PyModule_AddIntConstant(m, "CSP_O_NOXTEA", CSP_O_NOXTEA); + PyModule_AddIntConstant(m, "CSP_O_CRC32", CSP_O_CRC32); + PyModule_AddIntConstant(m, "CSP_O_NOCRC32", CSP_O_NOCRC32); + + + /** + * csp/csp_error.h + */ + + PyModule_AddIntConstant(m, "CSP_ERR_NONE", CSP_ERR_NONE); + PyModule_AddIntConstant(m, "CSP_ERR_NOMEM", CSP_ERR_NOMEM); + PyModule_AddIntConstant(m, "CSP_ERR_INVAL", CSP_ERR_INVAL); + PyModule_AddIntConstant(m, "CSP_ERR_TIMEDOUT", CSP_ERR_TIMEDOUT); + PyModule_AddIntConstant(m, "CSP_ERR_USED", CSP_ERR_USED); + PyModule_AddIntConstant(m, "CSP_ERR_NOTSUP", CSP_ERR_NOTSUP); + PyModule_AddIntConstant(m, "CSP_ERR_BUSY", CSP_ERR_BUSY); + PyModule_AddIntConstant(m, "CSP_ERR_ALREADY", CSP_ERR_ALREADY); + PyModule_AddIntConstant(m, "CSP_ERR_RESET", CSP_ERR_RESET); + PyModule_AddIntConstant(m, "CSP_ERR_NOBUFS", CSP_ERR_NOBUFS); + PyModule_AddIntConstant(m, "CSP_ERR_TX", CSP_ERR_TX); + PyModule_AddIntConstant(m, "CSP_ERR_DRIVER", CSP_ERR_DRIVER); + PyModule_AddIntConstant(m, "CSP_ERR_AGAIN", CSP_ERR_AGAIN); + PyModule_AddIntConstant(m, "CSP_ERR_HMAC", CSP_ERR_HMAC); + PyModule_AddIntConstant(m, "CSP_ERR_XTEA", CSP_ERR_XTEA); + PyModule_AddIntConstant(m, "CSP_ERR_CRC32", CSP_ERR_CRC32); + + /** + * csp/rtable.h + */ + PyModule_AddIntConstant(m, "CSP_NODE_MAC", CSP_NODE_MAC); + +#ifdef IS_PY3 + return m; +#endif + } + diff --git a/thirdparty/libcsp/src/crypto/CMakeLists.txt b/thirdparty/libcsp/src/crypto/CMakeLists.txt new file mode 100644 index 00000000..19cb878a --- /dev/null +++ b/thirdparty/libcsp/src/crypto/CMakeLists.txt @@ -0,0 +1,5 @@ +target_sources(${LIB_CSP_NAME} PRIVATE + csp_hmac.c + csp_sha1.c + csp_xtea.c +) diff --git a/thirdparty/libcsp/src/crypto/csp_hmac.c b/thirdparty/libcsp/src/crypto/csp_hmac.c new file mode 100644 index 00000000..ae7fbb00 --- /dev/null +++ b/thirdparty/libcsp/src/crypto/csp_hmac.c @@ -0,0 +1,202 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* Hash-based Message Authentication Code - based on code from libtom.org */ + +#include +#include +#include + +/* CSP includes */ +#include + +#include +#include + +#ifdef CSP_USE_HMAC + +#define HMAC_KEY_LENGTH 16 + +/* HMAC key */ +static uint8_t csp_hmac_key[HMAC_KEY_LENGTH]; + +/* HMAC state structure */ +typedef struct { + csp_sha1_state md; + uint8_t key[SHA1_BLOCKSIZE]; +} hmac_state; + +static int csp_hmac_init(hmac_state * hmac, const uint8_t * key, uint32_t keylen) { + uint32_t i; + uint8_t buf[SHA1_BLOCKSIZE]; + + /* NULL pointer and key check */ + if (!hmac || !key || keylen < 1) + return CSP_ERR_INVAL; + + /* Make sure we have a large enough key */ + if(keylen > SHA1_BLOCKSIZE) { + csp_sha1_memory(key, keylen, hmac->key); + if(SHA1_DIGESTSIZE < SHA1_BLOCKSIZE) + memset((hmac->key) + SHA1_DIGESTSIZE, 0, (size_t)(SHA1_BLOCKSIZE - SHA1_DIGESTSIZE)); + } else { + memcpy(hmac->key, key, (size_t)keylen); + if(keylen < SHA1_BLOCKSIZE) + memset((hmac->key) + keylen, 0, (size_t)(SHA1_BLOCKSIZE - keylen)); + } + + /* Create the initial vector */ + for(i = 0; i < SHA1_BLOCKSIZE; i++) + buf[i] = hmac->key[i] ^ 0x36; + + /* Prepend to the hash data */ + csp_sha1_init(&hmac->md); + csp_sha1_process(&hmac->md, buf, SHA1_BLOCKSIZE); + + return CSP_ERR_NONE; +} + +static int csp_hmac_process(hmac_state * hmac, const uint8_t * in, uint32_t inlen) { + + /* NULL pointer check */ + if (!hmac || !in) + return CSP_ERR_INVAL; + + /* Process data */ + csp_sha1_process(&hmac->md, in, inlen); + + return CSP_ERR_NONE; +} + +static int csp_hmac_done(hmac_state * hmac, uint8_t * out) { + + uint32_t i; + uint8_t buf[SHA1_BLOCKSIZE]; + uint8_t isha[SHA1_DIGESTSIZE]; + + if (!hmac || !out) + return CSP_ERR_INVAL; + + /* Get the hash of the first HMAC vector plus the data */ + csp_sha1_done(&hmac->md, isha); + + /* Create the second HMAC vector vector */ + for(i = 0; i < SHA1_BLOCKSIZE; i++) + buf[i] = hmac->key[i] ^ 0x5C; + + /* Now calculate the outer hash */ + csp_sha1_init(&hmac->md); + csp_sha1_process(&hmac->md, buf, SHA1_BLOCKSIZE); + csp_sha1_process(&hmac->md, isha, SHA1_DIGESTSIZE); + csp_sha1_done(&hmac->md, buf); + + /* Copy to output */ + for (i = 0; i < SHA1_DIGESTSIZE; i++) + out[i] = buf[i]; + + return CSP_ERR_NONE; +} + +int csp_hmac_memory(const uint8_t * key, uint32_t keylen, const uint8_t * data, uint32_t datalen, uint8_t * hmac) { + hmac_state state; + + /* NULL pointer check */ + if (!key || !data || !hmac) + return CSP_ERR_INVAL; + + /* Init HMAC state */ + if (csp_hmac_init(&state, key, keylen) != 0) + return CSP_ERR_INVAL; + + /* Process data */ + if (csp_hmac_process(&state, data, datalen) != 0) + return CSP_ERR_INVAL; + + /* Output HMAC */ + if (csp_hmac_done(&state, hmac) != 0) + return CSP_ERR_INVAL; + + return CSP_ERR_NONE; +} + +int csp_hmac_set_key(char * key, uint32_t keylen) { + + /* Use SHA1 as KDF */ + uint8_t hash[SHA1_DIGESTSIZE]; + csp_sha1_memory((uint8_t *)key, keylen, hash); + + /* Copy key */ + memcpy(csp_hmac_key, hash, HMAC_KEY_LENGTH); + + return CSP_ERR_NONE; + +} + +int csp_hmac_append(csp_packet_t * packet, bool include_header) { + + /* NULL pointer check */ + if (packet == NULL) + return CSP_ERR_INVAL; + + uint8_t hmac[SHA1_DIGESTSIZE]; + + /* Calculate HMAC */ + if (include_header) { + csp_hmac_memory(csp_hmac_key, HMAC_KEY_LENGTH, (uint8_t *) &packet->id, packet->length + sizeof(packet->id), hmac); + } else { + csp_hmac_memory(csp_hmac_key, HMAC_KEY_LENGTH, packet->data, packet->length, hmac); + } + + /* Truncate hash and copy to packet */ + memcpy(&packet->data[packet->length], hmac, CSP_HMAC_LENGTH); + packet->length += CSP_HMAC_LENGTH; + + return CSP_ERR_NONE; + +} + +int csp_hmac_verify(csp_packet_t * packet, bool include_header) { + + /* NULL pointer check */ + if (packet == NULL) + return CSP_ERR_INVAL; + + uint8_t hmac[SHA1_DIGESTSIZE]; + + /* Calculate HMAC */ + if (include_header) { + csp_hmac_memory(csp_hmac_key, HMAC_KEY_LENGTH, (uint8_t *) &packet->id, packet->length + sizeof(packet->id) - CSP_HMAC_LENGTH, hmac); + } else { + csp_hmac_memory(csp_hmac_key, HMAC_KEY_LENGTH, packet->data, packet->length - CSP_HMAC_LENGTH, hmac); + } + + /* Compare calculated HMAC with packet header */ + if (memcmp(&packet->data[packet->length] - CSP_HMAC_LENGTH, hmac, CSP_HMAC_LENGTH) != 0) { + /* HMAC failed */ + return CSP_ERR_HMAC; + } else { + /* Strip HMAC */ + packet->length -= CSP_HMAC_LENGTH; + return CSP_ERR_NONE; + } + +} + +#endif // CSP_USE_HMAC diff --git a/thirdparty/libcsp/src/crypto/csp_sha1.c b/thirdparty/libcsp/src/crypto/csp_sha1.c new file mode 100644 index 00000000..6c3920e9 --- /dev/null +++ b/thirdparty/libcsp/src/crypto/csp_sha1.c @@ -0,0 +1,217 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* Code originally from Python's SHA1 Module, who based it on libtom.org */ + +#include +#include + +/* CSP includes */ +#include + +#include + +#if defined(CSP_USE_HMAC) || defined(CSP_USE_XTEA) + +/* Rotate left macro */ +#define ROL(x,y) (((x) << (y)) | ((x) >> (32-y))) + +/* Endian Neutral macros that work on all platforms */ +#define STORE32H(x, y) do { (y)[0] = (uint8_t)(((x) >> 24) & 0xff); \ + (y)[1] = (uint8_t)(((x) >> 16) & 0xff); \ + (y)[2] = (uint8_t)(((x) >> 8) & 0xff); \ + (y)[3] = (uint8_t)(((x) >> 0) & 0xff); } while (0) + +#define LOAD32H(x, y) do { (x) = ((uint32_t)((y)[0] & 0xff) << 24) | \ + ((uint32_t)((y)[1] & 0xff) << 16) | \ + ((uint32_t)((y)[2] & 0xff) << 8) | \ + ((uint32_t)((y)[3] & 0xff) << 0); } while (0) + +#define STORE64H(x, y) do { (y)[0] = (uint8_t)(((x) >> 56) & 0xff); \ + (y)[1] = (uint8_t)(((x) >> 48) & 0xff); \ + (y)[2] = (uint8_t)(((x) >> 40) & 0xff); \ + (y)[3] = (uint8_t)(((x) >> 32) & 0xff); \ + (y)[4] = (uint8_t)(((x) >> 24) & 0xff); \ + (y)[5] = (uint8_t)(((x) >> 16) & 0xff); \ + (y)[6] = (uint8_t)(((x) >> 8) & 0xff); \ + (y)[7] = (uint8_t)(((x) >> 0) & 0xff); } while (0) + +#define MIN(x, y) (((x) < (y)) ? (x) : (y)) + +/* SHA1 macros */ +#define F0(x,y,z) (z ^ (x & (y ^ z))) +#define F1(x,y,z) (x ^ y ^ z) +#define F2(x,y,z) ((x & y) | (z & (x | y))) +#define F3(x,y,z) (x ^ y ^ z) + +#define FF_0(a, b, c, d, e, i) do {e = (ROL(a, 5) + F0(b,c,d) + e + W[i] + 0x5a827999UL); b = ROL(b, 30);} while (0) +#define FF_1(a, b, c, d, e, i) do {e = (ROL(a, 5) + F1(b,c,d) + e + W[i] + 0x6ed9eba1UL); b = ROL(b, 30);} while (0) +#define FF_2(a, b, c, d, e, i) do {e = (ROL(a, 5) + F2(b,c,d) + e + W[i] + 0x8f1bbcdcUL); b = ROL(b, 30);} while (0) +#define FF_3(a, b, c, d, e, i) do {e = (ROL(a, 5) + F3(b,c,d) + e + W[i] + 0xca62c1d6UL); b = ROL(b, 30);} while (0) + +static void csp_sha1_compress(csp_sha1_state * sha1, const uint8_t * buf) { + + uint32_t a, b, c, d, e, W[80], i; + + /* Copy the state into 512-bits into W[0..15] */ + for (i = 0; i < 16; i++) + LOAD32H(W[i], buf + (4*i)); + + /* Copy state */ + a = sha1->state[0]; + b = sha1->state[1]; + c = sha1->state[2]; + d = sha1->state[3]; + e = sha1->state[4]; + + /* Expand it */ + for (i = 16; i < 80; i++) + W[i] = ROL(W[i-3] ^ W[i-8] ^ W[i-14] ^ W[i-16], 1); + + /* Compress */ + i = 0; + + /* Round one */ + for (; i < 20;) { + FF_0(a, b, c, d, e, i++); + FF_0(e, a, b, c, d, i++); + FF_0(d, e, a, b, c, i++); + FF_0(c, d, e, a, b, i++); + FF_0(b, c, d, e, a, i++); + } + + /* Round two */ + for (; i < 40;) { + FF_1(a, b, c, d, e, i++); + FF_1(e, a, b, c, d, i++); + FF_1(d, e, a, b, c, i++); + FF_1(c, d, e, a, b, i++); + FF_1(b, c, d, e, a, i++); + } + + /* Round three */ + for (; i < 60;) { + FF_2(a, b, c, d, e, i++); + FF_2(e, a, b, c, d, i++); + FF_2(d, e, a, b, c, i++); + FF_2(c, d, e, a, b, i++); + FF_2(b, c, d, e, a, i++); + } + + /* Round four */ + for (; i < 80;) { + FF_3(a, b, c, d, e, i++); + FF_3(e, a, b, c, d, i++); + FF_3(d, e, a, b, c, i++); + FF_3(c, d, e, a, b, i++); + FF_3(b, c, d, e, a, i++); + } + + /* Store */ + sha1->state[0] += a; + sha1->state[1] += b; + sha1->state[2] += c; + sha1->state[3] += d; + sha1->state[4] += e; + +} + +void csp_sha1_init(csp_sha1_state * sha1) { + + sha1->state[0] = 0x67452301UL; + sha1->state[1] = 0xefcdab89UL; + sha1->state[2] = 0x98badcfeUL; + sha1->state[3] = 0x10325476UL; + sha1->state[4] = 0xc3d2e1f0UL; + sha1->curlen = 0; + sha1->length = 0; + +} + +void csp_sha1_process(csp_sha1_state * sha1, const uint8_t * in, uint32_t inlen) { + + uint32_t n; + while (inlen > 0) { + if (sha1->curlen == 0 && inlen >= SHA1_BLOCKSIZE) { + csp_sha1_compress(sha1, in); + sha1->length += SHA1_BLOCKSIZE * 8; + in += SHA1_BLOCKSIZE; + inlen -= SHA1_BLOCKSIZE; + } else { + n = MIN(inlen, (SHA1_BLOCKSIZE - sha1->curlen)); + memcpy(sha1->buf + sha1->curlen, in, (size_t)n); + sha1->curlen += n; + in += n; + inlen -= n; + if (sha1->curlen == SHA1_BLOCKSIZE) { + csp_sha1_compress(sha1, sha1->buf); + sha1->length += 8*SHA1_BLOCKSIZE; + sha1->curlen = 0; + } + } + } + +} + +void csp_sha1_done(csp_sha1_state * sha1, uint8_t * out) { + + uint32_t i; + + /* Increase the length of the message */ + sha1->length += sha1->curlen * 8; + + /* Append the '1' bit */ + sha1->buf[sha1->curlen++] = 0x80; + + /* If the length is currently above 56 bytes we append zeros + * then compress. Then we can fall back to padding zeros and length + * encoding like normal. + */ + if (sha1->curlen > 56) { + while (sha1->curlen < 64) + sha1->buf[sha1->curlen++] = 0; + csp_sha1_compress(sha1, sha1->buf); + sha1->curlen = 0; + } + + /* Pad up to 56 bytes of zeroes */ + while (sha1->curlen < 56) + sha1->buf[sha1->curlen++] = 0; + + /* Store length */ + STORE64H(sha1->length, sha1->buf + 56); + csp_sha1_compress(sha1, sha1->buf); + + /* Copy output */ + for (i = 0; i < 5; i++) + STORE32H(sha1->state[i], out + (4 * i)); + +} + +void csp_sha1_memory(const uint8_t * msg, uint32_t len, uint8_t * hash) { + + csp_sha1_state md; + csp_sha1_init(&md); + csp_sha1_process(&md, msg, len); + csp_sha1_done(&md, hash); + +} + +#endif // CSP_USE_HMAC diff --git a/thirdparty/libcsp/src/crypto/csp_xtea.c b/thirdparty/libcsp/src/crypto/csp_xtea.c new file mode 100644 index 00000000..718824d1 --- /dev/null +++ b/thirdparty/libcsp/src/crypto/csp_xtea.c @@ -0,0 +1,134 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* Simple implementation of XTEA in CTR mode */ + +#include +#include + +/* CSP includes */ +#include +#include +#include +#include + +#ifdef CSP_USE_XTEA + +#define XTEA_BLOCKSIZE 8 +#define XTEA_ROUNDS 32 +#define XTEA_KEY_LENGTH 16 + +/* XTEA key */ +static uint32_t csp_xtea_key[XTEA_KEY_LENGTH/sizeof(uint32_t)] __attribute__ ((aligned(sizeof(uint32_t)))); + +#define STORE32L(x, y) do { (y)[3] = (uint8_t)(((x) >> 24) & 0xff); \ + (y)[2] = (uint8_t)(((x) >> 16) & 0xff); \ + (y)[1] = (uint8_t)(((x) >> 8) & 0xff); \ + (y)[0] = (uint8_t)(((x) >> 0) & 0xff); } while (0) + +#define LOAD32L(x, y) do { (x) = ((uint32_t)((y)[3] & 0xff) << 24) | \ + ((uint32_t)((y)[2] & 0xff) << 16) | \ + ((uint32_t)((y)[1] & 0xff) << 8) | \ + ((uint32_t)((y)[0] & 0xff) << 0); } while (0) + +/* This function takes 64 bits of data in block and the 128 bits key in key */ +static inline void csp_xtea_encrypt_block(uint8_t *block, uint8_t const *key) { + + uint32_t i, v0, v1, delta = 0x9E3779B9, sum = 0, k[4]; + + LOAD32L(k[0], &key[0]); + LOAD32L(k[1], &key[4]); + LOAD32L(k[2], &key[8]); + LOAD32L(k[3], &key[12]); + + LOAD32L(v0, &block[0]); + LOAD32L(v1, &block[4]); + + for (i = 0; i < XTEA_ROUNDS; i++) { + v0 += (((v1 << 4) ^ (v1 >> 5)) + v1) ^ (sum + k[sum & 3]); + sum += delta; + v1 += (((v0 << 4) ^ (v0 >> 5)) + v0) ^ (sum + k[(sum >> 11) & 3]); + } + + STORE32L(v0, &block[0]); + STORE32L(v1, &block[4]); + +} + +static inline void csp_xtea_xor_byte(uint8_t * dst, uint8_t * src, uint32_t len) { + + unsigned int i; + for (i = 0; i < len; i++) + dst[i] ^= src[i]; + +} + +int csp_xtea_set_key(char * key, uint32_t keylen) { + + /* Use SHA1 as KDF */ + uint8_t hash[SHA1_DIGESTSIZE]; + csp_sha1_memory((uint8_t *)key, keylen, hash); + + /* Copy key */ + memcpy(csp_xtea_key, hash, XTEA_KEY_LENGTH); + + return CSP_ERR_NONE; + +} + +int csp_xtea_encrypt(uint8_t * plain, const uint32_t len, uint32_t iv[2]) { + + unsigned int i; + uint32_t stream[2]; + + uint32_t blocks = (len + XTEA_BLOCKSIZE - 1)/ XTEA_BLOCKSIZE; + uint32_t remain; + + /* Initialize stream */ + stream[0] = csp_htobe32(iv[0]); + stream[1] = csp_htobe32(iv[1]); + + for (i = 0; i < blocks; i++) { + /* Create stream */ + csp_xtea_encrypt_block((uint8_t *)stream, (uint8_t *)csp_xtea_key); + + /* Calculate remaining bytes */ + remain = len - i * XTEA_BLOCKSIZE; + + /* XOR plain text with stream to generate cipher text */ + csp_xtea_xor_byte(&plain[len - remain], (uint8_t *)stream, remain < XTEA_BLOCKSIZE ? remain : XTEA_BLOCKSIZE); + + /* Increment counter */ + stream[0] = csp_htobe32(iv[0]); + stream[1] = csp_htobe32(iv[1]++); + } + + return CSP_ERR_NONE; + +} + +int csp_xtea_decrypt(uint8_t * cipher, const uint32_t len, uint32_t iv[2]) { + + /* Since we use counter mode, we can reuse the encryption function */ + return csp_xtea_encrypt(cipher, len, iv); + +} + +#endif // CSP_USE_XTEA diff --git a/thirdparty/libcsp/src/csp_bridge.c b/thirdparty/libcsp/src/csp_bridge.c new file mode 100644 index 00000000..1c579a9f --- /dev/null +++ b/thirdparty/libcsp/src/csp_bridge.c @@ -0,0 +1,94 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include "csp_route.h" +#include "csp_qfifo.h" +#include "csp_io.h" +#include "csp_promisc.h" + +static csp_iface_t* if_a = NULL; +static csp_iface_t* if_b = NULL; + +static CSP_DEFINE_TASK(csp_bridge) { + + csp_qfifo_t input; + csp_packet_t * packet; + + /* Here there be bridging */ + while (1) { + + /* Get next packet to route */ + if (csp_qfifo_read(&input) != CSP_ERR_NONE) + continue; + + packet = input.packet; + + csp_log_packet("Input: Src %u, Dst %u, Dport %u, Sport %u, Pri %u, Flags 0x%02X, Size %"PRIu16, + packet->id.src, packet->id.dst, packet->id.dport, + packet->id.sport, packet->id.pri, packet->id.flags, packet->length); + + /* Here there be promiscuous mode */ +#ifdef CSP_USE_PROMISC + csp_promisc_add(packet); +#endif + + /* Find the opposing interface */ + csp_iface_t * ifout; + if (input.interface == if_a) { + ifout = if_b; + } else { + ifout = if_a; + } + + /* Send to the interface directly, no hassle */ + if (csp_send_direct(packet->id, packet, ifout, 0) != CSP_ERR_NONE) { + csp_log_warn("Router failed to send"); + csp_buffer_free(packet); + } + + /* Next message, please */ + continue; + + } + + return CSP_TASK_RETURN; + +} + +int csp_bridge_start(unsigned int task_stack_size, unsigned int task_priority, csp_iface_t * _if_a, csp_iface_t * _if_b) { + + /* Set static references to A/B side of bridge */ + if_a = _if_a; + if_b = _if_b; + + static csp_thread_handle_t handle; + int ret = csp_thread_create(csp_bridge, "BRIDGE", task_stack_size, NULL, task_priority, &handle); + + if (ret != 0) { + csp_log_error("Failed to start task"); + return CSP_ERR_NOMEM; + } + + return CSP_ERR_NONE; + +} diff --git a/thirdparty/libcsp/src/csp_buffer.c b/thirdparty/libcsp/src/csp_buffer.c new file mode 100644 index 00000000..8947f337 --- /dev/null +++ b/thirdparty/libcsp/src/csp_buffer.c @@ -0,0 +1,224 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include +#include +#include +#include +#include + +#ifndef CSP_BUFFER_ALIGN +#define CSP_BUFFER_ALIGN (sizeof(int *)) +#endif + +typedef struct csp_skbf_s { + unsigned int refcount; + void * skbf_addr; + char skbf_data[]; +} csp_skbf_t; + +static csp_queue_handle_t csp_buffers; +static char * csp_buffer_pool; +static unsigned int count, size; + +CSP_DEFINE_CRITICAL(csp_critical_lock); + +int csp_buffer_init(int buf_count, int buf_size) { + + unsigned int i; + csp_skbf_t * buf; + + count = buf_count; + size = buf_size + CSP_BUFFER_PACKET_OVERHEAD; + unsigned int skbfsize = (sizeof(csp_skbf_t) + size); + skbfsize = CSP_BUFFER_ALIGN * ((skbfsize + CSP_BUFFER_ALIGN - 1) / CSP_BUFFER_ALIGN); + unsigned int poolsize = count * skbfsize; + + csp_buffer_pool = csp_malloc(poolsize); + if (csp_buffer_pool == NULL) + goto fail_malloc; + + csp_buffers = csp_queue_create(count, sizeof(void *)); + if (!csp_buffers) + goto fail_queue; + + if (CSP_INIT_CRITICAL(csp_critical_lock) != CSP_ERR_NONE) + goto fail_critical; + + memset(csp_buffer_pool, 0, poolsize); + + for (i = 0; i < count; i++) { + + /* We have already taken care of pointer alignment since + * skbfsize is an integer multiple of sizeof(int *) + * but the explicit cast to a void * is still necessary + * to tell the compiler so. + */ + buf = (void *) &csp_buffer_pool[i * skbfsize]; + buf->refcount = 0; + buf->skbf_addr = buf; + + csp_queue_enqueue(csp_buffers, &buf, 0); + + } + + return CSP_ERR_NONE; + +fail_critical: + csp_queue_remove(csp_buffers); +fail_queue: + csp_free(csp_buffer_pool); +fail_malloc: + return CSP_ERR_NOMEM; + +} + +void *csp_buffer_get_isr(size_t buf_size) { + + csp_skbf_t * buffer = NULL; + CSP_BASE_TYPE task_woken = 0; + + if (buf_size + CSP_BUFFER_PACKET_OVERHEAD > size) + return NULL; + + csp_queue_dequeue_isr(csp_buffers, &buffer, &task_woken); + if (buffer == NULL) + return NULL; + + if (buffer != buffer->skbf_addr) + return NULL; + + buffer->refcount++; + return buffer->skbf_data; + +} + +void *csp_buffer_get(size_t buf_size) { + + csp_skbf_t * buffer = NULL; + + if (buf_size + CSP_BUFFER_PACKET_OVERHEAD > size) { + csp_log_error("Attempt to allocate too large block %u", buf_size); + return NULL; + } + + csp_queue_dequeue(csp_buffers, &buffer, 0); + if (buffer == NULL) { + csp_log_error("Out of buffers"); + return NULL; + } + + csp_log_buffer("GET: %p %p", buffer, buffer->skbf_addr); + + if (buffer != buffer->skbf_addr) { + csp_log_error("Corrupt CSP buffer"); + return NULL; + } + + buffer->refcount++; + return buffer->skbf_data; +} + +void csp_buffer_free_isr(void *packet) { + CSP_BASE_TYPE task_woken = 0; + if (!packet) + return; + + csp_skbf_t * buf = packet - sizeof(csp_skbf_t); + + if (((uintptr_t) buf % CSP_BUFFER_ALIGN) > 0) + return; + + if (buf->skbf_addr != buf) + return; + + if (buf->refcount == 0) { + return; + } else if (buf->refcount > 1) { + buf->refcount--; + return; + } else { + buf->refcount = 0; + csp_queue_enqueue_isr(csp_buffers, &buf, &task_woken); + } + +} + +void csp_buffer_free(void *packet) { + if (!packet) { + csp_log_error("Attempt to free null pointer"); + return; + } + + csp_skbf_t * buf = packet - sizeof(csp_skbf_t); + + if (((uintptr_t) buf % CSP_BUFFER_ALIGN) > 0) { + csp_log_error("FREE: Unaligned CSP buffer pointer %p", packet); + return; + } + + if (buf->skbf_addr != buf) { + csp_log_error("FREE: Invalid CSP buffer pointer %p", packet); + return; + } + + if (buf->refcount == 0) { + csp_log_error("FREE: Buffer already free %p", buf); + return; + } else if (buf->refcount > 1) { + buf->refcount--; + csp_log_error("FREE: Buffer %p in use by %u users", buf, buf->refcount); + return; + } else { + buf->refcount = 0; + csp_log_buffer("FREE: %p", buf); + csp_queue_enqueue(csp_buffers, &buf, 0); + } + +} + +void *csp_buffer_clone(void *buffer) { + + csp_packet_t *packet = (csp_packet_t *) buffer; + + if (!packet) + return NULL; + + csp_packet_t *clone = csp_buffer_get(packet->length); + + if (clone) + memcpy(clone, packet, size); + + return clone; + +} + +int csp_buffer_remaining(void) { + return csp_queue_size(csp_buffers); +} + +int csp_buffer_size(void) { + return size; +} diff --git a/thirdparty/libcsp/src/csp_conn.c b/thirdparty/libcsp/src/csp_conn.c new file mode 100644 index 00000000..7daa569d --- /dev/null +++ b/thirdparty/libcsp/src/csp_conn.c @@ -0,0 +1,498 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +/* CSP includes */ +#include +#include + +#include +#include +#include +#include +#include + +#include "csp_conn.h" +#include "transport/csp_transport.h" + +/* Static connection pool */ +static csp_conn_t arr_conn[CSP_CONN_MAX]; + +/* Connection pool lock */ +static csp_bin_sem_handle_t conn_lock; + +/* Source port */ +static uint8_t sport; + +/* Source port lock */ +static csp_bin_sem_handle_t sport_lock; + +void csp_conn_check_timeouts(void) { +#ifdef CSP_USE_RDP + int i; + for (i = 0; i < CSP_CONN_MAX; i++) + if (arr_conn[i].state == CONN_OPEN) + if (arr_conn[i].idin.flags & CSP_FRDP) + csp_rdp_check_timeouts(&arr_conn[i]); +#endif +} + +int csp_conn_get_rxq(int prio) { + +#ifdef CSP_USE_QOS + return prio; +#else + return 0; +#endif + +} + +int csp_conn_lock(csp_conn_t * conn, uint32_t timeout) { + + if (csp_mutex_lock(&conn->lock, timeout) != CSP_MUTEX_OK) + return CSP_ERR_TIMEDOUT; + + return CSP_ERR_NONE; + +} + +int csp_conn_unlock(csp_conn_t * conn) { + + csp_mutex_unlock(&conn->lock); + + return CSP_ERR_NONE; + +} + +int csp_conn_enqueue_packet(csp_conn_t * conn, csp_packet_t * packet) { + + if (!conn) + return CSP_ERR_INVAL; + + int rxq; + if (packet != NULL) { + rxq = csp_conn_get_rxq(packet->id.pri); + } else { + rxq = CSP_RX_QUEUES - 1; + } + + if (csp_queue_enqueue(conn->rx_queue[rxq], &packet, 0) != CSP_QUEUE_OK) { + csp_log_error("RX queue %p full with %u items", conn->rx_queue[rxq], csp_queue_size(conn->rx_queue[rxq])); + return CSP_ERR_NOMEM; + } + +#ifdef CSP_USE_QOS + int event = 0; + if (csp_queue_enqueue(conn->rx_event, &event, 0) != CSP_QUEUE_OK) { + csp_log_error("QOS event queue full"); + return CSP_ERR_NOMEM; + } +#endif + + return CSP_ERR_NONE; +} + +int csp_conn_init(void) { + + /* Initialize source port */ + srand(csp_get_ms()); + sport = (rand() % (CSP_ID_PORT_MAX - CSP_MAX_BIND_PORT)) + (CSP_MAX_BIND_PORT + 1); + + if (csp_bin_sem_create(&sport_lock) != CSP_SEMAPHORE_OK) { + csp_log_error("No more memory for sport semaphore"); + return CSP_ERR_NOMEM; + } + + int i, prio; + for (i = 0; i < CSP_CONN_MAX; i++) { + for (prio = 0; prio < CSP_RX_QUEUES; prio++) + arr_conn[i].rx_queue[prio] = csp_queue_create(CSP_RX_QUEUE_LENGTH, sizeof(csp_packet_t *)); + +#ifdef CSP_USE_QOS + arr_conn[i].rx_event = csp_queue_create(CSP_CONN_QUEUE_LENGTH, sizeof(int)); +#endif + arr_conn[i].state = CONN_CLOSED; + + if (csp_mutex_create(&arr_conn[i].lock) != CSP_MUTEX_OK) { + csp_log_error("Failed to create connection lock"); + return CSP_ERR_NOMEM; + } + +#ifdef CSP_USE_RDP + if (csp_rdp_allocate(&arr_conn[i]) != CSP_ERR_NONE) { + csp_log_error("Failed to create queues for RDP in csp_conn_init"); + return CSP_ERR_NOMEM; + } +#endif + } + + if (csp_bin_sem_create(&conn_lock) != CSP_SEMAPHORE_OK) { + csp_log_error("No more memory for conn semaphore"); + return CSP_ERR_NOMEM; + } + + return CSP_ERR_NONE; + +} + +csp_conn_t * csp_conn_find(uint32_t id, uint32_t mask) { + + /* Search for matching connection */ + int i; + csp_conn_t * conn; + id = (id & mask); + for (i = 0; i < CSP_CONN_MAX; i++) { + conn = &arr_conn[i]; + if ((conn->state != CONN_CLOSED) && (conn->type == CONN_CLIENT) && ((conn->idin.ext & mask) == id)) + return conn; + } + + return NULL; + +} + +static int csp_conn_flush_rx_queue(csp_conn_t * conn) { + + csp_packet_t * packet; + + int prio; + + /* Flush packet queues */ + for (prio = 0; prio < CSP_RX_QUEUES; prio++) { + while (csp_queue_dequeue(conn->rx_queue[prio], &packet, 0) == CSP_QUEUE_OK) + if (packet != NULL) + csp_buffer_free(packet); + } + + /* Flush event queue */ +#ifdef CSP_USE_QOS + int event; + while (csp_queue_dequeue(conn->rx_event, &event, 0) == CSP_QUEUE_OK); +#endif + + return CSP_ERR_NONE; + +} + +csp_conn_t * csp_conn_allocate(csp_conn_type_t type) { + + int i, j; + static uint8_t csp_conn_last_given = 0; + csp_conn_t * conn; + + if (csp_bin_sem_wait(&conn_lock, 100) != CSP_SEMAPHORE_OK) { + csp_log_error("Failed to lock conn array"); + return NULL; + } + + /* Search for free connection */ + i = csp_conn_last_given; + i = (i + 1) % CSP_CONN_MAX; + + for (j = 0; j < CSP_CONN_MAX; j++) { + conn = &arr_conn[i]; + if (conn->state == CONN_CLOSED) + break; + i = (i + 1) % CSP_CONN_MAX; + } + + if (conn->state == CONN_OPEN) { + csp_log_error("No more free connections"); + csp_bin_sem_post(&conn_lock); + return NULL; + } + + conn->idin.ext = 0; + conn->idout.ext = 0; + conn->socket = NULL; + conn->timestamp = 0; + conn->type = type; + conn->state = CONN_OPEN; + + csp_conn_last_given = i; + csp_bin_sem_post(&conn_lock); + + return conn; + +} + +csp_conn_t * csp_conn_new(csp_id_t idin, csp_id_t idout) { + + /* Allocate connection structure */ + csp_conn_t * conn = csp_conn_allocate(CONN_CLIENT); + + if (conn) { + /* No lock is needed here, because nobody else * + * has a reference to this connection yet. */ + conn->idin.ext = idin.ext; + conn->idout.ext = idout.ext; + conn->timestamp = csp_get_ms(); + + /* Ensure connection queue is empty */ + csp_conn_flush_rx_queue(conn); + } + + return conn; + +} + +int csp_close(csp_conn_t * conn) { + + if (conn == NULL) { + csp_log_error("NULL Pointer given to csp_close"); + return CSP_ERR_INVAL; + } + + if (conn->state == CONN_CLOSED) { + csp_log_protocol("Conn already closed"); + return CSP_ERR_NONE; + } + +#ifdef CSP_USE_RDP + /* Ensure RDP knows this connection is closing */ + if (conn->idin.flags & CSP_FRDP || conn->idout.flags & CSP_FRDP) + if (csp_rdp_close(conn) == CSP_ERR_AGAIN) + return CSP_ERR_NONE; +#endif + + /* Lock connection array while closing connection */ + if (csp_bin_sem_wait(&conn_lock, 100) != CSP_SEMAPHORE_OK) { + csp_log_error("Failed to lock conn array"); + return CSP_ERR_TIMEDOUT; + } + + /* Set to closed */ + conn->state = CONN_CLOSED; + + /* Ensure connection queue is empty */ + csp_conn_flush_rx_queue(conn); + + if (conn->socket && (conn->type == CONN_SERVER) && (conn->opts & (CSP_SO_CONN_LESS | CSP_SO_INTERNAL_LISTEN))) { + csp_queue_remove(conn->socket); + conn->socket = NULL; + } + + /* Reset RDP state */ +#ifdef CSP_USE_RDP + if (conn->idin.flags & CSP_FRDP) + csp_rdp_flush_all(conn); +#endif + + /* Unlock connection array */ + csp_bin_sem_post(&conn_lock); + + return CSP_ERR_NONE; +} + +csp_conn_t * csp_connect(uint8_t prio, uint8_t dest, uint8_t dport, uint32_t timeout, uint32_t opts) { + + /* Force options on all connections */ + opts |= CSP_CONNECTION_SO; + + /* Generate identifier */ + csp_id_t incoming_id, outgoing_id; + incoming_id.pri = prio; + incoming_id.dst = csp_get_address(); + incoming_id.src = dest; + incoming_id.sport = dport; + incoming_id.flags = 0; + outgoing_id.pri = prio; + outgoing_id.dst = dest; + outgoing_id.src = csp_get_address(); + outgoing_id.dport = dport; + outgoing_id.flags = 0; + + /* Set connection options */ + if (opts & CSP_O_NOCRC32) { + opts &= ~CSP_O_CRC32; + } + + if (opts & CSP_O_RDP) { +#ifdef CSP_USE_RDP + incoming_id.flags |= CSP_FRDP; + outgoing_id.flags |= CSP_FRDP; +#else + csp_log_error("Attempt to create RDP connection, but CSP was compiled without RDP support"); + return NULL; +#endif + } + + if (opts & CSP_O_HMAC) { +#ifdef CSP_USE_HMAC + outgoing_id.flags |= CSP_FHMAC; + incoming_id.flags |= CSP_FHMAC; +#else + csp_log_error("Attempt to create HMAC authenticated connection, but CSP was compiled without HMAC support"); + return NULL; +#endif + } + + if (opts & CSP_O_XTEA) { +#ifdef CSP_USE_XTEA + outgoing_id.flags |= CSP_FXTEA; + incoming_id.flags |= CSP_FXTEA; +#else + csp_log_error("Attempt to create XTEA encrypted connection, but CSP was compiled without XTEA support"); + return NULL; +#endif + } + + if (opts & CSP_O_CRC32) { +#ifdef CSP_USE_CRC32 + outgoing_id.flags |= CSP_FCRC32; + incoming_id.flags |= CSP_FCRC32; +#else + csp_log_error("Attempt to create CRC32 validated connection, but CSP was compiled without CRC32 support"); + return NULL; +#endif + } + + /* Find an unused ephemeral port */ + csp_conn_t * conn = NULL; + + /* Wait for sport lock - note that csp_conn_new(..) is called inside the lock! */ + if (csp_bin_sem_wait(&sport_lock, 1000) != CSP_SEMAPHORE_OK) + return NULL; + + const uint8_t start = sport; + while (++sport != start) { + if (sport > CSP_ID_PORT_MAX) + sport = CSP_MAX_BIND_PORT + 1; + + outgoing_id.sport = sport; + incoming_id.dport = sport; + + /* Match on destination port of _incoming_ identifier */ + if (csp_conn_find(incoming_id.ext, CSP_ID_DPORT_MASK) == NULL) { + /* Break - we found an unused ephemeral port + allocate connection while locked to mark port in use */ + conn = csp_conn_new(incoming_id, outgoing_id); + break; + } + } + + /* Post sport lock */ + csp_bin_sem_post(&sport_lock); + + if (conn == NULL) + return NULL; + + /* Set connection options */ + conn->opts = opts; + +#ifdef CSP_USE_RDP + /* Call Transport Layer connect */ + if (outgoing_id.flags & CSP_FRDP) { + /* If the transport layer has failed to connect + * deallocate connection structure again and return NULL */ + if (csp_rdp_connect(conn, timeout) != CSP_ERR_NONE) { + csp_close(conn); + return NULL; + } + } +#endif + + /* We have a successful connection */ + return conn; + +} + +inline int csp_conn_dport(csp_conn_t * conn) { + + return conn->idin.dport; + +} + +inline int csp_conn_sport(csp_conn_t * conn) { + + return conn->idin.sport; + +} + +inline int csp_conn_dst(csp_conn_t * conn) { + + return conn->idin.dst; + +} + +inline int csp_conn_src(csp_conn_t * conn) { + + return conn->idin.src; + +} + +inline int csp_conn_flags(csp_conn_t * conn) { + + return conn->idin.flags; + +} + +#ifdef CSP_DEBUG +void csp_conn_print_table(void) { + + int i; + csp_conn_t * conn; + + for (i = 0; i < CSP_CONN_MAX; i++) { + conn = &arr_conn[i]; + printf("[%02u %p] S:%u, %u -> %u, %u -> %u, sock: %p\r\n", + i, conn, conn->state, conn->idin.src, conn->idin.dst, + conn->idin.dport, conn->idin.sport, conn->socket); +#ifdef CSP_USE_RDP + if (conn->idin.flags & CSP_FRDP) + csp_rdp_conn_print(conn); +#endif + } +} + +int csp_conn_print_table_str(char * str_buf, int str_size) { + + int i, start = 0; + csp_conn_t * conn; + char buf[100]; + + /* Display up to 10 connections */ + if (CSP_CONN_MAX - 10 > 0) + start = CSP_CONN_MAX - 10; + + for (i = start; i < CSP_CONN_MAX; i++) { + conn = &arr_conn[i]; + snprintf(buf, sizeof(buf), "[%02u %p] S:%u, %u -> %u, %u -> %u, sock: %p\n", + i, conn, conn->state, conn->idin.src, conn->idin.dst, + conn->idin.dport, conn->idin.sport, conn->socket); + + strncat(str_buf, buf, str_size); + if ((str_size -= strlen(buf)) <= 0) + break; + } + + return CSP_ERR_NONE; +} +#endif + +const csp_conn_t * csp_conn_get_array(size_t * size) +{ + *size = CSP_CONN_MAX; + return arr_conn; +} diff --git a/thirdparty/libcsp/src/csp_conn.h b/thirdparty/libcsp/src/csp_conn.h new file mode 100644 index 00000000..3fa0ff52 --- /dev/null +++ b/thirdparty/libcsp/src/csp_conn.h @@ -0,0 +1,112 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_CONN_H_ +#define _CSP_CONN_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include + +#include +#include + +/** @brief Connection states */ +typedef enum { + CONN_CLOSED = 0, + CONN_OPEN = 1, +} csp_conn_state_t; + +/** @brief Connection types */ +typedef enum { + CONN_CLIENT = 0, + CONN_SERVER = 1, +} csp_conn_type_t; + +typedef enum { + RDP_CLOSED = 0, + RDP_SYN_SENT, + RDP_SYN_RCVD, + RDP_OPEN, + RDP_CLOSE_WAIT, +} csp_rdp_state_t; + +/** @brief RDP Connection header + * @note Do not try to pack this struct, the posix sem handle will stop working */ +typedef struct { + csp_rdp_state_t state; /**< Connection state */ + uint16_t snd_nxt; /**< The sequence number of the next segment that is to be sent */ + uint16_t snd_una; /**< The sequence number of the oldest unacknowledged segment */ + uint16_t snd_iss; /**< The initial send sequence number */ + uint16_t rcv_cur; /**< The sequence number of the last segment received correctly and in sequence */ + uint16_t rcv_irs; /**< The initial receive sequence number */ + uint16_t rcv_lsa; /**< The last sequence number acknowledged by the receiver */ + uint32_t window_size; + uint32_t conn_timeout; + uint32_t packet_timeout; + uint32_t delayed_acks; + uint32_t ack_timeout; + uint32_t ack_delay_count; + uint32_t ack_timestamp; + csp_bin_sem_handle_t tx_wait; + csp_queue_handle_t tx_queue; + csp_queue_handle_t rx_queue; +} csp_rdp_t; + +/** @brief Connection struct */ +struct csp_conn_s { + csp_conn_type_t type; /* Connection type (CONN_CLIENT or CONN_SERVER) */ + csp_conn_state_t state; /* Connection state (CONN_OPEN or CONN_CLOSED) */ + csp_mutex_t lock; /* Connection structure lock */ + csp_id_t idin; /* Identifier received */ + csp_id_t idout; /* Identifier transmitted */ +#ifdef CSP_USE_QOS + csp_queue_handle_t rx_event; /* Event queue for RX packets */ +#endif + csp_queue_handle_t rx_queue[CSP_RX_QUEUES]; /* Queue for RX packets */ + csp_queue_handle_t socket; /* Socket to be "woken" when first packet is ready */ + uint32_t timestamp; /* Time the connection was opened */ + uint32_t opts; /* Connection or socket options */ +#ifdef CSP_USE_RDP + csp_rdp_t rdp; /* RDP state */ +#endif +}; + +int csp_conn_lock(csp_conn_t * conn, uint32_t timeout); +int csp_conn_unlock(csp_conn_t * conn); +int csp_conn_enqueue_packet(csp_conn_t * conn, csp_packet_t * packet); +int csp_conn_init(void); +csp_conn_t * csp_conn_allocate(csp_conn_type_t type); +csp_conn_t * csp_conn_find(uint32_t id, uint32_t mask); +csp_conn_t * csp_conn_new(csp_id_t idin, csp_id_t idout); +void csp_conn_check_timeouts(void); +int csp_conn_get_rxq(int prio); + +const csp_conn_t * csp_conn_get_array(size_t * size); // for test purposes only! + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_CONN_H_ diff --git a/thirdparty/libcsp/src/csp_crc32.c b/thirdparty/libcsp/src/csp_crc32.c new file mode 100644 index 00000000..8bf2145f --- /dev/null +++ b/thirdparty/libcsp/src/csp_crc32.c @@ -0,0 +1,140 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +#include +#include + +#include + +#ifdef CSP_USE_CRC32 + +#ifdef __AVR__ +#include +static const uint32_t crc_tab[256] PROGMEM = { +#else +static const uint32_t crc_tab[256] = { +#endif + 0x00000000, 0xF26B8303, 0xE13B70F7, 0x1350F3F4, 0xC79A971F, 0x35F1141C, 0x26A1E7E8, 0xD4CA64EB, + 0x8AD958CF, 0x78B2DBCC, 0x6BE22838, 0x9989AB3B, 0x4D43CFD0, 0xBF284CD3, 0xAC78BF27, 0x5E133C24, + 0x105EC76F, 0xE235446C, 0xF165B798, 0x030E349B, 0xD7C45070, 0x25AFD373, 0x36FF2087, 0xC494A384, + 0x9A879FA0, 0x68EC1CA3, 0x7BBCEF57, 0x89D76C54, 0x5D1D08BF, 0xAF768BBC, 0xBC267848, 0x4E4DFB4B, + 0x20BD8EDE, 0xD2D60DDD, 0xC186FE29, 0x33ED7D2A, 0xE72719C1, 0x154C9AC2, 0x061C6936, 0xF477EA35, + 0xAA64D611, 0x580F5512, 0x4B5FA6E6, 0xB93425E5, 0x6DFE410E, 0x9F95C20D, 0x8CC531F9, 0x7EAEB2FA, + 0x30E349B1, 0xC288CAB2, 0xD1D83946, 0x23B3BA45, 0xF779DEAE, 0x05125DAD, 0x1642AE59, 0xE4292D5A, + 0xBA3A117E, 0x4851927D, 0x5B016189, 0xA96AE28A, 0x7DA08661, 0x8FCB0562, 0x9C9BF696, 0x6EF07595, + 0x417B1DBC, 0xB3109EBF, 0xA0406D4B, 0x522BEE48, 0x86E18AA3, 0x748A09A0, 0x67DAFA54, 0x95B17957, + 0xCBA24573, 0x39C9C670, 0x2A993584, 0xD8F2B687, 0x0C38D26C, 0xFE53516F, 0xED03A29B, 0x1F682198, + 0x5125DAD3, 0xA34E59D0, 0xB01EAA24, 0x42752927, 0x96BF4DCC, 0x64D4CECF, 0x77843D3B, 0x85EFBE38, + 0xDBFC821C, 0x2997011F, 0x3AC7F2EB, 0xC8AC71E8, 0x1C661503, 0xEE0D9600, 0xFD5D65F4, 0x0F36E6F7, + 0x61C69362, 0x93AD1061, 0x80FDE395, 0x72966096, 0xA65C047D, 0x5437877E, 0x4767748A, 0xB50CF789, + 0xEB1FCBAD, 0x197448AE, 0x0A24BB5A, 0xF84F3859, 0x2C855CB2, 0xDEEEDFB1, 0xCDBE2C45, 0x3FD5AF46, + 0x7198540D, 0x83F3D70E, 0x90A324FA, 0x62C8A7F9, 0xB602C312, 0x44694011, 0x5739B3E5, 0xA55230E6, + 0xFB410CC2, 0x092A8FC1, 0x1A7A7C35, 0xE811FF36, 0x3CDB9BDD, 0xCEB018DE, 0xDDE0EB2A, 0x2F8B6829, + 0x82F63B78, 0x709DB87B, 0x63CD4B8F, 0x91A6C88C, 0x456CAC67, 0xB7072F64, 0xA457DC90, 0x563C5F93, + 0x082F63B7, 0xFA44E0B4, 0xE9141340, 0x1B7F9043, 0xCFB5F4A8, 0x3DDE77AB, 0x2E8E845F, 0xDCE5075C, + 0x92A8FC17, 0x60C37F14, 0x73938CE0, 0x81F80FE3, 0x55326B08, 0xA759E80B, 0xB4091BFF, 0x466298FC, + 0x1871A4D8, 0xEA1A27DB, 0xF94AD42F, 0x0B21572C, 0xDFEB33C7, 0x2D80B0C4, 0x3ED04330, 0xCCBBC033, + 0xA24BB5A6, 0x502036A5, 0x4370C551, 0xB11B4652, 0x65D122B9, 0x97BAA1BA, 0x84EA524E, 0x7681D14D, + 0x2892ED69, 0xDAF96E6A, 0xC9A99D9E, 0x3BC21E9D, 0xEF087A76, 0x1D63F975, 0x0E330A81, 0xFC588982, + 0xB21572C9, 0x407EF1CA, 0x532E023E, 0xA145813D, 0x758FE5D6, 0x87E466D5, 0x94B49521, 0x66DF1622, + 0x38CC2A06, 0xCAA7A905, 0xD9F75AF1, 0x2B9CD9F2, 0xFF56BD19, 0x0D3D3E1A, 0x1E6DCDEE, 0xEC064EED, + 0xC38D26C4, 0x31E6A5C7, 0x22B65633, 0xD0DDD530, 0x0417B1DB, 0xF67C32D8, 0xE52CC12C, 0x1747422F, + 0x49547E0B, 0xBB3FFD08, 0xA86F0EFC, 0x5A048DFF, 0x8ECEE914, 0x7CA56A17, 0x6FF599E3, 0x9D9E1AE0, + 0xD3D3E1AB, 0x21B862A8, 0x32E8915C, 0xC083125F, 0x144976B4, 0xE622F5B7, 0xF5720643, 0x07198540, + 0x590AB964, 0xAB613A67, 0xB831C993, 0x4A5A4A90, 0x9E902E7B, 0x6CFBAD78, 0x7FAB5E8C, 0x8DC0DD8F, + 0xE330A81A, 0x115B2B19, 0x020BD8ED, 0xF0605BEE, 0x24AA3F05, 0xD6C1BC06, 0xC5914FF2, 0x37FACCF1, + 0x69E9F0D5, 0x9B8273D6, 0x88D28022, 0x7AB90321, 0xAE7367CA, 0x5C18E4C9, 0x4F48173D, 0xBD23943E, + 0xF36E6F75, 0x0105EC76, 0x12551F82, 0xE03E9C81, 0x34F4F86A, 0xC69F7B69, 0xD5CF889D, 0x27A40B9E, + 0x79B737BA, 0x8BDCB4B9, 0x988C474D, 0x6AE7C44E, 0xBE2DA0A5, 0x4C4623A6, 0x5F16D052, 0xAD7D5351 }; + +uint32_t csp_crc32_memory(const uint8_t * data, uint32_t length) { + uint32_t crc; + + crc = 0xFFFFFFFF; + while (length--) +#ifdef __AVR__ + crc = pgm_read_dword(&crc_tab[(crc ^ *data++) & 0xFFL]) ^ (crc >> 8); +#else + crc = crc_tab[(crc ^ *data++) & 0xFFL] ^ (crc >> 8); +#endif + + return (crc ^ 0xFFFFFFFF); +} + +int csp_crc32_append(csp_packet_t * packet, bool include_header) { + + uint32_t crc; + + /* NULL pointer check */ + if (packet == NULL) + return CSP_ERR_INVAL; + + /* Calculate CRC32, convert to network byte order */ + if (include_header) { + crc = csp_crc32_memory((uint8_t *) &packet->id, packet->length + sizeof(packet->id)); + } else { + crc = csp_crc32_memory(packet->data, packet->length); + } + crc = csp_hton32(crc); + + /* Copy checksum to packet */ + memcpy(&packet->data[packet->length], &crc, sizeof(uint32_t)); + packet->length += sizeof(uint32_t); + + return CSP_ERR_NONE; + +} + +int csp_crc32_verify(csp_packet_t * packet, bool include_header) { + + uint32_t crc; + + /* NULL pointer check */ + if (packet == NULL) + return CSP_ERR_INVAL; + + if (packet->length < sizeof(uint32_t)) + return CSP_ERR_INVAL; + + /* Calculate CRC32, convert to network byte order */ + if (include_header) { + crc = csp_crc32_memory((uint8_t *) &packet->id, packet->length + sizeof(packet->id) - sizeof(uint32_t)); + } else { + crc = csp_crc32_memory(packet->data, packet->length - sizeof(uint32_t)); + } + crc = csp_hton32(crc); + + /* Compare calculated checksum with packet header */ + if (memcmp(&packet->data[packet->length] - sizeof(uint32_t), &crc, sizeof(uint32_t)) != 0) { + /* CRC32 failed */ + return CSP_ERR_INVAL; + } else { + /* Strip CRC32 */ + packet->length -= sizeof(uint32_t); + return CSP_ERR_NONE; + } + +} + +#endif // CSP_USE_CRC32 diff --git a/thirdparty/libcsp/src/csp_debug.c b/thirdparty/libcsp/src/csp_debug.c new file mode 100644 index 00000000..2e710cb3 --- /dev/null +++ b/thirdparty/libcsp/src/csp_debug.c @@ -0,0 +1,133 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +#ifdef __AVR__ +#include +#endif + +/* CSP includes */ +#include + +#include + +/* Custom debug function */ +csp_debug_hook_func_t csp_debug_hook_func = NULL; + +/* Debug levels */ +static bool csp_debug_level_enabled[] = { + [CSP_ERROR] = true, + [CSP_WARN] = true, + [CSP_INFO] = false, + [CSP_BUFFER] = false, + [CSP_PACKET] = false, + [CSP_PROTOCOL] = false, + [CSP_LOCK] = false, +}; + +/* Some compilers do not support weak symbols, so this function + * can be used instead to set a custom debug hook */ +void csp_debug_hook_set(csp_debug_hook_func_t f) +{ + csp_debug_hook_func = f; +} + +void do_csp_debug(csp_debug_level_t level, const char *format, ...) +{ + int color = COLOR_RESET; + va_list args; + + /* Don't print anything if log level is disabled */ + if (level > CSP_LOCK || !csp_debug_level_enabled[level]) + return; + + switch(level) { + case CSP_INFO: + color = COLOR_GREEN | COLOR_BOLD; + break; + case CSP_ERROR: + color = COLOR_RED | COLOR_BOLD; + break; + case CSP_WARN: + color = COLOR_YELLOW | COLOR_BOLD; + break; + case CSP_BUFFER: + color = COLOR_MAGENTA; + break; + case CSP_PACKET: + color = COLOR_GREEN; + break; + case CSP_PROTOCOL: + color = COLOR_BLUE; + break; + case CSP_LOCK: + color = COLOR_CYAN; + break; + default: + return; + } + + va_start(args, format); + + /* If csp_debug_hook symbol is defined, pass on the message. + * Otherwise, just print with pretty colors ... */ + if (csp_debug_hook_func) { + csp_debug_hook_func(level, format, args); + } else { + csp_sys_set_color(color); +#ifdef __AVR__ + vfprintf_P(stdout, format, args); +#else + vprintf(format, args); +#endif + printf("\r\n"); + csp_sys_set_color(COLOR_RESET); + } + + va_end(args); +} + +void csp_debug_set_level(csp_debug_level_t level, bool value) +{ + if (level > CSP_LOCK) + return; + csp_debug_level_enabled[level] = value; +} + +int csp_debug_get_level(csp_debug_level_t level) +{ + if (level > CSP_LOCK) + return 0; + return csp_debug_level_enabled[level]; +} + +void csp_debug_toggle_level(csp_debug_level_t level) +{ + if (level > CSP_LOCK) { + printf("Max level is 6\r\n"); + return; + } + csp_debug_level_enabled[level] = (csp_debug_level_enabled[level]) ? false : true; + printf("Level %u: value %u\r\n", level, csp_debug_level_enabled[level]); +} diff --git a/thirdparty/libcsp/src/csp_dedup.c b/thirdparty/libcsp/src/csp_dedup.c new file mode 100644 index 00000000..d263c7a4 --- /dev/null +++ b/thirdparty/libcsp/src/csp_dedup.c @@ -0,0 +1,66 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +#include +#include +#include + +#include "csp_dedup.h" + +/* Check the last CSP_DEDUP_COUNT packets for duplicates */ +#define CSP_DEDUP_COUNT 16 + +/* Only consider packet a duplicate if received under CSP_DEDUP_WINDOW_MS ago */ +#define CSP_DEDUP_WINDOW_MS 1000 + +/* Store packet CRC's in a ringbuffer */ +static uint32_t csp_dedup_array[CSP_DEDUP_COUNT] = {}; +static uint32_t csp_dedup_timestamp[CSP_DEDUP_COUNT] = {}; +static int csp_dedup_in = 0; + +bool csp_dedup_is_duplicate(csp_packet_t *packet) +{ + /* Calculate CRC32 for packet */ + uint32_t crc = csp_crc32_memory((const uint8_t *) &packet->id, packet->length + sizeof(packet->id)); + + /* Check if we have received this packet before */ + for (int i = 0; i < CSP_DEDUP_COUNT; i++) { + + /* Check for match */ + if (crc == csp_dedup_array[i]) { + + /* Check the timestamp */ + if (csp_get_ms() < csp_dedup_timestamp[i] + CSP_DEDUP_WINDOW_MS) + return true; + } + } + + /* If not, insert packet into duplicate list */ + csp_dedup_array[csp_dedup_in] = crc; + csp_dedup_timestamp[csp_dedup_in] = csp_get_ms(); + csp_dedup_in = (csp_dedup_in + 1) % CSP_DEDUP_COUNT; + + return false; +} diff --git a/thirdparty/libcsp/src/csp_dedup.h b/thirdparty/libcsp/src/csp_dedup.h new file mode 100644 index 00000000..75a3f124 --- /dev/null +++ b/thirdparty/libcsp/src/csp_dedup.h @@ -0,0 +1,31 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_DEDUP_H_ +#define CSP_DEDUP_H_ + +/** + * Check for a duplicate packet + * @param packet pointer to packet + * @return false if not a duplicate, true if duplicate + */ +bool csp_dedup_is_duplicate(csp_packet_t *packet); + +#endif /* CSP_DEDUP_H_ */ diff --git a/thirdparty/libcsp/src/csp_endian.c b/thirdparty/libcsp/src/csp_endian.c new file mode 100644 index 00000000..6d0ef226 --- /dev/null +++ b/thirdparty/libcsp/src/csp_endian.c @@ -0,0 +1,204 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include + +/* CSP includes */ +#include +#include + +/* Convert 16-bit number from host byte order to network byte order */ +inline uint16_t __attribute__ ((__const__)) csp_hton16(uint16_t h16) { +#ifdef CSP_BIG_ENDIAN + return h16; +#else + return (((h16 & 0xff00) >> 8) | + ((h16 & 0x00ff) << 8)); +#endif +} + +/* Convert 16-bit number from network byte order to host byte order */ +inline uint16_t __attribute__ ((__const__)) csp_ntoh16(uint16_t n16) { + return csp_hton16(n16); +} + +/* Convert 32-bit number from host byte order to network byte order */ +inline uint32_t __attribute__ ((__const__)) csp_hton32(uint32_t h32) { +#ifdef CSP_BIG_ENDIAN + return h32; +#else + return (((h32 & 0xff000000) >> 24) | + ((h32 & 0x000000ff) << 24) | + ((h32 & 0x0000ff00) << 8) | + ((h32 & 0x00ff0000) >> 8)); +#endif +} + +/* Convert 32-bit number from network byte order to host byte order */ +inline uint32_t __attribute__ ((__const__)) csp_ntoh32(uint32_t n32) { + return csp_hton32(n32); +} + +/* Convert 64-bit number from host byte order to network byte order */ +inline uint64_t __attribute__ ((__const__)) csp_hton64(uint64_t h64) { +#ifdef CSP_BIG_ENDIAN + return h64; +#else + return (((h64 & 0xff00000000000000LL) >> 56) | + ((h64 & 0x00000000000000ffLL) << 56) | + ((h64 & 0x00ff000000000000LL) >> 40) | + ((h64 & 0x000000000000ff00LL) << 40) | + ((h64 & 0x0000ff0000000000LL) >> 24) | + ((h64 & 0x0000000000ff0000LL) << 24) | + ((h64 & 0x000000ff00000000LL) >> 8) | + ((h64 & 0x00000000ff000000LL) << 8)); +#endif +} + +/* Convert 64-bit number from host byte order to network byte order */ +inline uint64_t __attribute__ ((__const__)) csp_ntoh64(uint64_t n64) { + return csp_hton64(n64); +} + +/* Convert 16-bit number from host byte order to big endian byte order */ +inline uint16_t __attribute__ ((__const__)) csp_htobe16(uint16_t h16) { + return csp_hton16(h16); +} + +/* Convert 16-bit number from host byte order to little endian byte order */ +inline uint16_t __attribute__ ((__const__)) csp_htole16(uint16_t h16) { +#ifdef CSP_LITTLE_ENDIAN + return h16; +#else + return (((h16 & 0xff00) >> 8) | + ((h16 & 0x00ff) << 8)); +#endif +} + +/* Convert 16-bit number from big endian byte order to little endian byte order */ +inline uint16_t __attribute__ ((__const__)) csp_betoh16(uint16_t be16) { + return csp_ntoh16(be16); +} + +/* Convert 16-bit number from little endian byte order to host byte order */ +inline uint16_t __attribute__ ((__const__)) csp_letoh16(uint16_t le16) { + return csp_htole16(le16); +} + +/* Convert 32-bit number from host byte order to big endian byte order */ +inline uint32_t __attribute__ ((__const__)) csp_htobe32(uint32_t h32) { + return csp_hton32(h32); +} + +/* Convert 32-bit number from little endian byte order to host byte order */ +inline uint32_t __attribute__ ((__const__)) csp_htole32(uint32_t h32) { +#ifdef CSP_LITTLE_ENDIAN + return h32; +#else + return (((h32 & 0xff000000) >> 24) | + ((h32 & 0x000000ff) << 24) | + ((h32 & 0x0000ff00) << 8) | + ((h32 & 0x00ff0000) >> 8)); +#endif +} + +/* Convert 32-bit number from big endian byte order to host byte order */ +inline uint32_t __attribute__ ((__const__)) csp_betoh32(uint32_t be32) { + return csp_ntoh32(be32); +} + +/* Convert 32-bit number from little endian byte order to host byte order */ +inline uint32_t __attribute__ ((__const__)) csp_letoh32(uint32_t le32) { + return csp_htole32(le32); +} + +/* Convert 64-bit number from host byte order to big endian byte order */ +inline uint64_t __attribute__ ((__const__)) csp_htobe64(uint64_t h64) { + return csp_hton64(h64); +} + +/* Convert 64-bit number from host byte order to little endian byte order */ +inline uint64_t __attribute__ ((__const__)) csp_htole64(uint64_t h64) { +#ifdef CSP_LITTLE_ENDIAN + return h64; +#else + return (((h64 & 0xff00000000000000LL) >> 56) | + ((h64 & 0x00000000000000ffLL) << 56) | + ((h64 & 0x00ff000000000000LL) >> 40) | + ((h64 & 0x000000000000ff00LL) << 40) | + ((h64 & 0x0000ff0000000000LL) >> 24) | + ((h64 & 0x0000000000ff0000LL) << 24) | + ((h64 & 0x000000ff00000000LL) >> 8) | + ((h64 & 0x00000000ff000000LL) << 8)); +#endif +} + +/* Convert 64-bit number from big endian byte order to host byte order */ +inline uint64_t __attribute__ ((__const__)) csp_betoh64(uint64_t be64) { + return csp_ntoh64(be64); +} + +/* Convert 64-bit number from little endian byte order to host byte order */ +inline uint64_t __attribute__ ((__const__)) csp_letoh64(uint64_t le64) { + return csp_htole64(le64); +} + + +/* Convert float from host byte order to network byte order */ +inline float __attribute__ ((__const__)) csp_htonflt(float f) { +#ifdef CSP_BIG_ENDIAN + return f; +#else + union v { + float f; + uint32_t i; + }; + union v val; + val.f = f; + val.i = csp_hton32(val.i); + return val.f; +#endif +} + +/* Convert float from host byte order to network byte order */ +inline float __attribute__ ((__const__)) csp_ntohflt(float f) { + return csp_htonflt(f); +} + +/* Convert double from host byte order to network byte order */ +inline double __attribute__ ((__const__)) csp_htondbl(double d) { +#ifdef CSP_BIG_ENDIAN + return d; +#else + union v { + double d; + uint64_t i; + }; + union v val; + val.d = d; + val.i = csp_hton64(val.i); + return val.d; +#endif +} + +/* Convert float from host byte order to network byte order */ +inline double __attribute__ ((__const__)) csp_ntohdbl(double d) { + return csp_htondbl(d); +} diff --git a/thirdparty/libcsp/src/csp_hex_dump.c b/thirdparty/libcsp/src/csp_hex_dump.c new file mode 100644 index 00000000..af0a2660 --- /dev/null +++ b/thirdparty/libcsp/src/csp_hex_dump.c @@ -0,0 +1,55 @@ +#include +#include + +void csp_hex_dump (const char *desc, void *addr, int len) +{ + int i; + unsigned char buff[17]; + unsigned char *pc = (unsigned char*)addr; + + // Output description if given. + if (desc != NULL) + printf ("%s:\r\n", desc); + + if (len == 0) { + printf(" ZERO LENGTH\r\n"); + return; + } + if (len < 0) { + printf(" NEGATIVE LENGTH: %i\r\n",len); + return; + } + + // Process every byte in the data. + for (i = 0; i < len; i++) { + // Multiple of 16 means new line (with line offset). + + if ((i % 16) == 0) { + // Just don't print ASCII for the zeroth line. + if (i != 0) + printf (" %s\r\n", buff); + + // Output the offset. + printf (" %p ", addr + i); + } + + // Now the hex code for the specific character. + printf (" %02x", pc[i]); + + // And store a printable ASCII character for later. + if ((pc[i] < 0x20) || (pc[i] > 0x7e)) + buff[i % 16] = '.'; + else + buff[i % 16] = pc[i]; + buff[(i % 16) + 1] = '\0'; + } + + // Pad out last line if not exactly 16 characters. + while ((i % 16) != 0) { + printf (" "); + i++; + } + + // And print the final ASCII bit. + printf (" %s\r\n", buff); +} diff --git a/thirdparty/libcsp/src/csp_iflist.c b/thirdparty/libcsp/src/csp_iflist.c new file mode 100644 index 00000000..2bfef422 --- /dev/null +++ b/thirdparty/libcsp/src/csp_iflist.c @@ -0,0 +1,100 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +/* Interfaces are stored in a linked list*/ +static csp_iface_t * interfaces = NULL; + +csp_iface_t * csp_iflist_get_by_name(const char *name) { + csp_iface_t *ifc = interfaces; + while(ifc) { + if (strncmp(ifc->name, name, 10) == 0) + break; + ifc = ifc->next; + } + return ifc; +} + +void csp_iflist_add(csp_iface_t *ifc) { + + /* Add interface to pool */ + if (interfaces == NULL) { + /* This is the first interface to be added */ + interfaces = ifc; + ifc->next = NULL; + } else { + /* One or more interfaces were already added */ + csp_iface_t * i = interfaces; + while (i != ifc && i->next) + i = i->next; + + /* Insert interface last if not already in pool */ + if (i != ifc && i->next == NULL) { + i->next = ifc; + ifc->next = NULL; + } + } + +} + +csp_iface_t * csp_iflist_get(void) +{ + return interfaces; +} + +#ifdef CSP_DEBUG +static int csp_bytesize(char *buf, int len, unsigned long int n) { + char postfix; + double size; + + if (n >= 1048576) { + size = n/1048576.0; + postfix = 'M'; + } else if (n >= 1024) { + size = n/1024.; + postfix = 'K'; + } else { + size = n; + postfix = 'B'; + } + + return snprintf(buf, len, "%.1f%c", size, postfix); +} + +void csp_iflist_print(void) { + csp_iface_t * i = interfaces; + char txbuf[25], rxbuf[25]; + + while (i) { + csp_bytesize(txbuf, 25, i->txbytes); + csp_bytesize(rxbuf, 25, i->rxbytes); + printf("%-5s tx: %05"PRIu32" rx: %05"PRIu32" txe: %05"PRIu32" rxe: %05"PRIu32"\r\n" + " drop: %05"PRIu32" autherr: %05"PRIu32 " frame: %05"PRIu32"\r\n" + " txb: %"PRIu32" (%s) rxb: %"PRIu32" (%s)\r\n\r\n", + i->name, i->tx, i->rx, i->tx_error, i->rx_error, i->drop, + i->autherr, i->frame, i->txbytes, txbuf, i->rxbytes, rxbuf); + i = i->next; + } + +} +#endif + diff --git a/thirdparty/libcsp/src/csp_io.c b/thirdparty/libcsp/src/csp_io.c new file mode 100644 index 00000000..3d7f614a --- /dev/null +++ b/thirdparty/libcsp/src/csp_io.c @@ -0,0 +1,502 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +/* CSP includes */ +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include "csp_io.h" +#include "csp_port.h" +#include "csp_conn.h" +#include "csp_route.h" +#include "csp_promisc.h" +#include "csp_qfifo.h" +#include "transport/csp_transport.h" + +/** CSP address of this node */ +static uint8_t csp_my_address; + +/* Hostname, model and build revision */ +static const char *csp_hostname = NULL; +static const char *csp_model = NULL; +static const char *csp_revision = GIT_REV; + +#ifdef CSP_USE_PROMISC +extern csp_queue_handle_t csp_promisc_queue; +#endif + +void csp_set_address(uint8_t addr) +{ + csp_my_address = addr; +} + +uint8_t csp_get_address(void) +{ + return csp_my_address; +} + +void csp_set_hostname(const char *hostname) +{ + csp_hostname = hostname; +} + +const char *csp_get_hostname(void) +{ + return csp_hostname; +} + +void csp_set_model(const char *model) +{ + csp_model = model; +} + +const char *csp_get_model(void) +{ + return csp_model; +} + +void csp_set_revision(const char *revision) +{ + csp_revision = revision; +} + +const char *csp_get_revision(void) +{ + return csp_revision; +} + +int csp_init(unsigned char address) { + + int ret; + + /* Initialize CSP */ + csp_set_address(address); + + ret = csp_conn_init(); + if (ret != CSP_ERR_NONE) + return ret; + + ret = csp_port_init(); + if (ret != CSP_ERR_NONE) + return ret; + + ret = csp_qfifo_init(); + if (ret != CSP_ERR_NONE) + return ret; + + /* Loopback */ + csp_iflist_add(&csp_if_lo); + + /* Register loopback route */ + csp_route_set(csp_get_address(), &csp_if_lo, CSP_NODE_MAC); + + /* Also register loopback as default, until user redefines default route */ + csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_lo, CSP_NODE_MAC); + + return CSP_ERR_NONE; + +} + +csp_socket_t * csp_socket(uint32_t opts) { + + /* Validate socket options */ +#ifndef CSP_USE_RDP + if (opts & CSP_SO_RDPREQ) { + csp_log_error("Attempt to create socket that requires RDP, but CSP was compiled without RDP support"); + return NULL; + } +#endif + +#ifndef CSP_USE_XTEA + if (opts & CSP_SO_XTEAREQ) { + csp_log_error("Attempt to create socket that requires XTEA, but CSP was compiled without XTEA support"); + return NULL; + } +#endif + +#ifndef CSP_USE_HMAC + if (opts & CSP_SO_HMACREQ) { + csp_log_error("Attempt to create socket that requires HMAC, but CSP was compiled without HMAC support"); + return NULL; + } +#endif + +#ifndef CSP_USE_CRC32 + if (opts & CSP_SO_CRC32REQ) { + csp_log_error("Attempt to create socket that requires CRC32, but CSP was compiled without CRC32 support"); + return NULL; + } +#endif + + /* Drop packet if reserved flags are set */ + if (opts & ~(CSP_SO_RDPREQ | CSP_SO_XTEAREQ | CSP_SO_HMACREQ | CSP_SO_CRC32REQ | CSP_SO_CONN_LESS)) { + csp_log_error("Invalid socket option"); + return NULL; + } + + /* Use CSP buffers instead? */ + csp_socket_t * sock = csp_conn_allocate(CONN_SERVER); + if (sock == NULL) + return NULL; + + /* If connectionless, init the queue to a pre-defined size + * if not, the user must init the queue using csp_listen */ + if (opts & CSP_SO_CONN_LESS) { + sock->socket = csp_queue_create(CSP_CONN_QUEUE_LENGTH, sizeof(csp_packet_t *)); + if (sock->socket == NULL) { + csp_close(sock); + return NULL; + } + } else { + sock->socket = NULL; + } + sock->opts = opts; + + return sock; + +} + +csp_conn_t * csp_accept(csp_socket_t * sock, uint32_t timeout) { + + if (sock == NULL) + return NULL; + + if (sock->socket == NULL) + return NULL; + + csp_conn_t * conn; + if (csp_queue_dequeue(sock->socket, &conn, timeout) == CSP_QUEUE_OK) + return conn; + + return NULL; + +} + +csp_packet_t * csp_read(csp_conn_t * conn, uint32_t timeout) { + + csp_packet_t * packet = NULL; + + if (conn == NULL || conn->state != CONN_OPEN) + return NULL; + +#ifdef CSP_USE_QOS + int prio, event; + if (csp_queue_dequeue(conn->rx_event, &event, timeout) != CSP_QUEUE_OK) + return NULL; + + for (prio = 0; prio < CSP_RX_QUEUES; prio++) + if (csp_queue_dequeue(conn->rx_queue[prio], &packet, 0) == CSP_QUEUE_OK) + break; +#else + if (csp_queue_dequeue(conn->rx_queue[0], &packet, timeout) != CSP_QUEUE_OK) + return NULL; +#endif + +#ifdef CSP_USE_RDP + /* Packet read could trigger ACK transmission */ + if (conn->idin.flags & CSP_FRDP && conn->rdp.delayed_acks) + csp_rdp_check_ack(conn); + +#endif + + return packet; + +} + +int csp_send_direct(csp_id_t idout, csp_packet_t * packet, csp_iface_t * ifout, uint32_t timeout) { + + if (packet == NULL) { + csp_log_error("csp_send_direct called with NULL packet"); + goto err; + } + + if ((ifout == NULL) || (ifout->nexthop == NULL)) { + csp_log_error("No route to host: %#08x", idout.ext); + goto err; + } + + csp_log_packet("OUT: S %u, D %u, Dp %u, Sp %u, Pr %u, Fl 0x%02X, Sz %u VIA: %s", + idout.src, idout.dst, idout.dport, idout.sport, idout.pri, idout.flags, packet->length, ifout->name); + + /* Copy identifier to packet (before crc, xtea and hmac) */ + packet->id.ext = idout.ext; + +#ifdef CSP_USE_PROMISC + /* Loopback traffic is added to promisc queue by the router */ + if (idout.dst != csp_get_address() && idout.src == csp_get_address()) { + packet->id.ext = idout.ext; + csp_promisc_add(packet); + } +#endif + + /* Only encrypt packets from the current node */ + if (idout.src == csp_get_address()) { + /* Append HMAC */ + if (idout.flags & CSP_FHMAC) { +#ifdef CSP_USE_HMAC + /* Calculate and add HMAC (does not include header for backwards compatability with csp1.x) */ + if (csp_hmac_append(packet, false) != 0) { + /* HMAC append failed */ + csp_log_warn("HMAC append failed!"); + goto tx_err; + } +#else + csp_log_warn("Attempt to send packet with HMAC, but CSP was compiled without HMAC support. Discarding packet"); + goto tx_err; +#endif + } + + /* Append CRC32 */ + if (idout.flags & CSP_FCRC32) { +#ifdef CSP_USE_CRC32 + /* Calculate and add CRC32 (does not include header for backwards compatability with csp1.x) */ + if (csp_crc32_append(packet, false) != 0) { + /* CRC32 append failed */ + csp_log_warn("CRC32 append failed!"); + goto tx_err; + } +#else + csp_log_warn("Attempt to send packet with CRC32, but CSP was compiled without CRC32 support. Sending without CRC32r"); + idout.flags &= ~(CSP_FCRC32); +#endif + } + + if (idout.flags & CSP_FXTEA) { +#ifdef CSP_USE_XTEA + /* Create nonce */ + uint32_t nonce, nonce_n; + nonce = (uint32_t)rand(); + nonce_n = csp_hton32(nonce); + memcpy(&packet->data[packet->length], &nonce_n, sizeof(nonce_n)); + + /* Create initialization vector */ + uint32_t iv[2] = {nonce, 1}; + + /* Encrypt data */ + if (csp_xtea_encrypt(packet->data, packet->length, iv) != 0) { + /* Encryption failed */ + csp_log_warn("Encryption failed! Discarding packet"); + goto tx_err; + } + + packet->length += sizeof(nonce_n); +#else + csp_log_warn("Attempt to send XTEA encrypted packet, but CSP was compiled without XTEA support. Discarding packet"); + goto tx_err; +#endif + } + } + + /* Store length before passing to interface */ + uint16_t bytes = packet->length; + uint16_t mtu = ifout->mtu; + + if (mtu > 0 && bytes > mtu) + goto tx_err; + + if ((*ifout->nexthop)(ifout, packet, timeout) != CSP_ERR_NONE) + goto tx_err; + + ifout->tx++; + ifout->txbytes += bytes; + return CSP_ERR_NONE; + +tx_err: + ifout->tx_error++; +err: + return CSP_ERR_TX; + +} + +int csp_send(csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout) { + + int ret; + + if ((conn == NULL) || (packet == NULL) || (conn->state != CONN_OPEN)) { + csp_log_error("Invalid call to csp_send"); + return 0; + } + +#ifdef CSP_USE_RDP + if (conn->idout.flags & CSP_FRDP) { + if (csp_rdp_send(conn, packet, timeout) != CSP_ERR_NONE) { + csp_iface_t * ifout = csp_rtable_find_iface(conn->idout.dst); + if (ifout != NULL) + ifout->tx_error++; + csp_log_warn("RDP send failed!"); + return 0; + } + } +#endif + + csp_iface_t * ifout = csp_rtable_find_iface(conn->idout.dst); + ret = csp_send_direct(conn->idout, packet, ifout, timeout); + + return (ret == CSP_ERR_NONE) ? 1 : 0; + +} + +int csp_send_prio(uint8_t prio, csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout) { + conn->idout.pri = prio; + return csp_send(conn, packet, timeout); +} + +int csp_transaction_persistent(csp_conn_t * conn, uint32_t timeout, void * outbuf, int outlen, void * inbuf, int inlen) { + + int size = (inlen > outlen) ? inlen : outlen; + csp_packet_t * packet = csp_buffer_get(size); + if (packet == NULL) + return 0; + + /* Copy the request */ + if (outlen > 0 && outbuf != NULL) + memcpy(packet->data, outbuf, outlen); + packet->length = outlen; + + if (!csp_send(conn, packet, timeout)) { + csp_buffer_free(packet); + return 0; + } + + /* If no reply is expected, return now */ + if (inlen == 0) + return 1; + + packet = csp_read(conn, timeout); + if (packet == NULL) + return 0; + + if ((inlen != -1) && ((int)packet->length != inlen)) { + csp_log_error("Reply length %u expected %u", packet->length, inlen); + csp_buffer_free(packet); + return 0; + } + + memcpy(inbuf, packet->data, packet->length); + int length = packet->length; + csp_buffer_free(packet); + return length; + +} + +int csp_transaction(uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void * outbuf, int outlen, void * inbuf, int inlen) { + return csp_transaction2(prio, dest, port, timeout, outbuf, outlen, inbuf, inlen, 0); +} + +int csp_transaction2(uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void * outbuf, int outlen, void * inbuf, int inlen, uint32_t opts) { + + csp_conn_t * conn = csp_connect(prio, dest, port, 0, opts); + if (conn == NULL) + return 0; + + int status = csp_transaction_persistent(conn, timeout, outbuf, outlen, inbuf, inlen); + + csp_close(conn); + + return status; + +} + +csp_packet_t * csp_recvfrom(csp_socket_t * socket, uint32_t timeout) { + + if ((socket == NULL) || (!(socket->opts & CSP_SO_CONN_LESS))) + return NULL; + + csp_packet_t * packet = NULL; + csp_queue_dequeue(socket->socket, &packet, timeout); + + return packet; + +} + +int csp_sendto(uint8_t prio, uint8_t dest, uint8_t dport, uint8_t src_port, uint32_t opts, csp_packet_t * packet, uint32_t timeout) { + + packet->id.flags = 0; + + if (opts & CSP_O_RDP) { + csp_log_error("Attempt to create RDP packet on connection-less socket"); + return CSP_ERR_INVAL; + } + + if (opts & CSP_O_HMAC) { +#ifdef CSP_USE_HMAC + packet->id.flags |= CSP_FHMAC; +#else + csp_log_error("Attempt to create HMAC authenticated packet, but CSP was compiled without HMAC support"); + return CSP_ERR_NOTSUP; +#endif + } + + if (opts & CSP_O_XTEA) { +#ifdef CSP_USE_XTEA + packet->id.flags |= CSP_FXTEA; +#else + csp_log_error("Attempt to create XTEA encrypted packet, but CSP was compiled without XTEA support"); + return CSP_ERR_NOTSUP; +#endif + } + + if (opts & CSP_O_CRC32) { +#ifdef CSP_USE_CRC32 + packet->id.flags |= CSP_FCRC32; +#else + csp_log_error("Attempt to create CRC32 validated packet, but CSP was compiled without CRC32 support"); + return CSP_ERR_NOTSUP; +#endif + } + + packet->id.dst = dest; + packet->id.dport = dport; + packet->id.src = csp_get_address(); + packet->id.sport = src_port; + packet->id.pri = prio; + + csp_iface_t * ifout = csp_rtable_find_iface(dest); + if (csp_send_direct(packet->id, packet, ifout, timeout) != CSP_ERR_NONE) + return CSP_ERR_NOTSUP; + + return CSP_ERR_NONE; + +} + +int csp_sendto_reply(csp_packet_t * request_packet, csp_packet_t * reply_packet, uint32_t opts, uint32_t timeout) { + if (request_packet == NULL) + return CSP_ERR_INVAL; + + return csp_sendto(request_packet->id.pri, request_packet->id.src, request_packet->id.sport, request_packet->id.dport, opts, reply_packet, timeout); +} diff --git a/thirdparty/libcsp/src/csp_io.h b/thirdparty/libcsp/src/csp_io.h new file mode 100644 index 00000000..6ea8dfec --- /dev/null +++ b/thirdparty/libcsp/src/csp_io.h @@ -0,0 +1,47 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_IO_H_ +#define _CSP_IO_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include + +/** + * Function to transmit a frame without an existing connection structure. + * This function is used for stateless transmissions + * @param idout 32bit CSP identifier + * @param packet pointer to packet, + * @param ifout pointer to output interface + * @param timeout a timeout to wait for TX to complete. NOTE: not all underlying drivers supports flow-control. + * @return returns 1 if successful and 0 otherwise. you MUST free the frame yourself if the transmission was not successful. + */ +int csp_send_direct(csp_id_t idout, csp_packet_t * packet, csp_iface_t * ifout, uint32_t timeout); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_IO_H_ diff --git a/thirdparty/libcsp/src/csp_port.c b/thirdparty/libcsp/src/csp_port.c new file mode 100644 index 00000000..2a4ac2a9 --- /dev/null +++ b/thirdparty/libcsp/src/csp_port.c @@ -0,0 +1,105 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include +#include + +#include +#include +#include + +#include "csp_port.h" +#include "csp_conn.h" + +/* Allocation of ports */ +static csp_port_t ports[CSP_MAX_BIND_PORT + 2]; + +csp_socket_t * csp_port_get_socket(unsigned int port) { + + csp_socket_t * ret = NULL; + + if (port >= CSP_ANY) + return NULL; + + /* Match dport to socket or local "catch all" port number */ + if (ports[port].state == PORT_OPEN) + ret = ports[port].socket; + else if (ports[CSP_ANY].state == PORT_OPEN) + ret = ports[CSP_ANY].socket; + + return ret; + +} + +int csp_port_init(void) { + + memset(ports, PORT_CLOSED, sizeof(csp_port_t) * (CSP_MAX_BIND_PORT + 2)); + + return CSP_ERR_NONE; + +} + +int csp_listen(csp_socket_t * socket, size_t conn_queue_length) { + + if (socket == NULL) + return CSP_ERR_INVAL; + + socket->socket = csp_queue_create(conn_queue_length, sizeof(csp_conn_t *)); + if (socket->socket == NULL) + return CSP_ERR_NOMEM; + + socket->opts |= CSP_SO_INTERNAL_LISTEN; + + return CSP_ERR_NONE; + +} + +int csp_bind(csp_socket_t * socket, uint8_t port) { + + if (socket == NULL) + return CSP_ERR_INVAL; + + if (port > CSP_ANY) { + csp_log_error("Only ports from 0-%u (and CSP_ANY for default) are available for incoming ports", CSP_ANY); + return CSP_ERR_INVAL; + } + + /* Check if port number is valid */ + if (ports[port].state != PORT_CLOSED) { + csp_log_error("Port %d is already in use", port); + return CSP_ERR_USED; + } + + csp_log_info("Binding socket %p to port %u", socket, port); + + /* Save listener */ + ports[port].socket = socket; + ports[port].state = PORT_OPEN; + + return CSP_ERR_NONE; + +} + + diff --git a/thirdparty/libcsp/src/csp_port.h b/thirdparty/libcsp/src/csp_port.h new file mode 100644 index 00000000..d2ec06e9 --- /dev/null +++ b/thirdparty/libcsp/src/csp_port.h @@ -0,0 +1,55 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_PORT_H_ +#define _CSP_PORT_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include + +/** @brief Port states */ +typedef enum { + PORT_CLOSED = 0, + PORT_OPEN = 1, +} csp_port_state_t; + +/** @brief Port struct */ +typedef struct { + csp_port_state_t state; // Port state + csp_socket_t * socket; // New connections are added to this socket's conn queue +} csp_port_t; + +/** + * Init ports array + */ +int csp_port_init(void); + +csp_socket_t * csp_port_get_socket(unsigned int dport); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // _CSP_PORT_H_ diff --git a/thirdparty/libcsp/src/csp_promisc.c b/thirdparty/libcsp/src/csp_promisc.c new file mode 100644 index 00000000..5f156c33 --- /dev/null +++ b/thirdparty/libcsp/src/csp_promisc.c @@ -0,0 +1,82 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +#ifdef CSP_USE_PROMISC + +static csp_queue_handle_t csp_promisc_queue = NULL; +static int csp_promisc_enabled = 0; + +int csp_promisc_enable(unsigned int buf_size) { + + /* If queue already initialised */ + if (csp_promisc_queue != NULL) { + csp_promisc_enabled = 1; + return CSP_ERR_NONE; + } + + /* Create packet queue */ + csp_promisc_queue = csp_queue_create(buf_size, sizeof(csp_packet_t *)); + + if (csp_promisc_queue == NULL) + return CSP_ERR_INVAL; + + csp_promisc_enabled = 1; + return CSP_ERR_NONE; + +} + +void csp_promisc_disable(void) { + csp_promisc_enabled = 0; +} + +csp_packet_t * csp_promisc_read(uint32_t timeout) { + + if (csp_promisc_queue == NULL) + return NULL; + + csp_packet_t * packet = NULL; + csp_queue_dequeue(csp_promisc_queue, &packet, timeout); + + return packet; + +} + +void csp_promisc_add(csp_packet_t * packet) { + + if (csp_promisc_enabled == 0) + return; + + if (csp_promisc_queue != NULL) { + /* Make a copy of the message and queue it to the promiscuous task */ + csp_packet_t *packet_copy = csp_buffer_clone(packet); + if (packet_copy != NULL) { + if (csp_queue_enqueue(csp_promisc_queue, &packet_copy, 0) != CSP_QUEUE_OK) { + csp_log_error("Promiscuous mode input queue full"); + csp_buffer_free(packet_copy); + } + } + } + +} + +#endif diff --git a/thirdparty/libcsp/src/csp_promisc.h b/thirdparty/libcsp/src/csp_promisc.h new file mode 100644 index 00000000..be62edda --- /dev/null +++ b/thirdparty/libcsp/src/csp_promisc.h @@ -0,0 +1,30 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_PROMISC_H_ +#define CSP_PROMISC_H_ + +/** + * Add packet to promiscuous mode packet queue + * @param packet Packet to add to the queue + */ +void csp_promisc_add(csp_packet_t * packet); + +#endif /* CSP_PROMISC_H_ */ diff --git a/thirdparty/libcsp/src/csp_qfifo.c b/thirdparty/libcsp/src/csp_qfifo.c new file mode 100644 index 00000000..9329b2ca --- /dev/null +++ b/thirdparty/libcsp/src/csp_qfifo.c @@ -0,0 +1,149 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include "csp_qfifo.h" + +static csp_queue_handle_t qfifo[CSP_ROUTE_FIFOS]; +#ifdef CSP_USE_QOS +static csp_queue_handle_t qfifo_events; +#endif + +int csp_qfifo_init(void) { + int prio; + + /* Create router fifos for each priority */ + for (prio = 0; prio < CSP_ROUTE_FIFOS; prio++) { + if (qfifo[prio] == NULL) { + qfifo[prio] = csp_queue_create(CSP_FIFO_INPUT, sizeof(csp_qfifo_t)); + if (!qfifo[prio]) + return CSP_ERR_NOMEM; + } + } + +#ifdef CSP_USE_QOS + /* Create QoS fifo notification queue */ + qfifo_events = csp_queue_create(CSP_FIFO_INPUT, sizeof(int)); + if (!qfifo_events) + return CSP_ERR_NOMEM; +#endif + + return CSP_ERR_NONE; + +} + +int csp_qfifo_read(csp_qfifo_t * input) { + +#ifdef CSP_USE_QOS + int prio, found, event; + + /* Wait for packet in any queue */ + if (csp_queue_dequeue(qfifo_events, &event, FIFO_TIMEOUT) != CSP_QUEUE_OK) + return CSP_ERR_TIMEDOUT; + + /* Find packet with highest priority */ + found = 0; + for (prio = 0; prio < CSP_ROUTE_FIFOS; prio++) { + if (csp_queue_dequeue(qfifo[prio], input, 0) == CSP_QUEUE_OK) { + found = 1; + break; + } + } + + if (!found) { + csp_log_warn("Spurious wakeup: No packet found"); + return CSP_ERR_TIMEDOUT; + } +#else + if (csp_queue_dequeue(qfifo[0], input, FIFO_TIMEOUT) != CSP_QUEUE_OK) + return CSP_ERR_TIMEDOUT; +#endif + + return CSP_ERR_NONE; + +} + +void csp_qfifo_write(csp_packet_t * packet, csp_iface_t * interface, CSP_BASE_TYPE * pxTaskWoken) { + + int result; + + if (packet == NULL) { + if (pxTaskWoken == NULL) { // Only do logging in non-ISR context + csp_log_warn("csp_new packet called with NULL packet"); + } + return; + } else if (interface == NULL) { + if (pxTaskWoken == NULL) { // Only do logging in non-ISR context + csp_log_warn("csp_new packet called with NULL interface"); + } + if (pxTaskWoken == NULL) + csp_buffer_free(packet); + else + csp_buffer_free_isr(packet); + return; + } + + csp_qfifo_t queue_element; + queue_element.interface = interface; + queue_element.packet = packet; + +#ifdef CSP_USE_QOS + int fifo = packet->id.pri; +#else + int fifo = 0; +#endif + + if (pxTaskWoken == NULL) + result = csp_queue_enqueue(qfifo[fifo], &queue_element, 0); + else + result = csp_queue_enqueue_isr(qfifo[fifo], &queue_element, pxTaskWoken); + +#ifdef CSP_USE_QOS + static int event = 0; + + if (result == CSP_QUEUE_OK) { + if (pxTaskWoken == NULL) + csp_queue_enqueue(qfifo_events, &event, 0); + else + csp_queue_enqueue_isr(qfifo_events, &event, pxTaskWoken); + } +#endif + + if (result != CSP_QUEUE_OK) { + if (pxTaskWoken == NULL) { // Only do logging in non-ISR context + csp_log_warn("ERROR: Routing input FIFO is FULL. Dropping packet."); + } + interface->drop++; + if (pxTaskWoken == NULL) + csp_buffer_free(packet); + else + csp_buffer_free_isr(packet); + } + +} + +void csp_qfifo_wake_up(void) { + csp_qfifo_t queue_element; + queue_element.interface = NULL; + queue_element.packet = NULL; + csp_queue_enqueue(qfifo[0], &queue_element, 0); +} diff --git a/thirdparty/libcsp/src/csp_qfifo.h b/thirdparty/libcsp/src/csp_qfifo.h new file mode 100644 index 00000000..2910c48d --- /dev/null +++ b/thirdparty/libcsp/src/csp_qfifo.h @@ -0,0 +1,54 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef CSP_QFIFO_H_ +#define CSP_QFIFO_H_ + +#ifdef CSP_USE_RDP +#define FIFO_TIMEOUT 100 //! If RDP is enabled, the router needs to awake some times to check timeouts +#else +#define FIFO_TIMEOUT CSP_MAX_DELAY //! If no RDP, the router can sleep untill data arrives +#endif + +/** + * Init FIFO/QOS queues + * @return CSP_ERR type + */ +int csp_qfifo_init(void); + +typedef struct { + csp_iface_t * interface; + csp_packet_t * packet; +} csp_qfifo_t; + +/** + * Read next packet from router input queue + * @param input pointer to router queue item element + * @return CSP_ERR type + */ +int csp_qfifo_read(csp_qfifo_t * input); + +/** + * Wake up any task (e.g. router) waiting on messages. + * For testing. + */ +void csp_qfifo_wake_up(void); + +#endif /* CSP_QFIFO_H_ */ diff --git a/thirdparty/libcsp/src/csp_route.c b/thirdparty/libcsp/src/csp_route.c new file mode 100644 index 00000000..bc843577 --- /dev/null +++ b/thirdparty/libcsp/src/csp_route.c @@ -0,0 +1,346 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include +#include +#include + +#include +#include + +#include +#include + +#include "csp_port.h" +#include "csp_conn.h" +#include "csp_io.h" +#include "csp_promisc.h" +#include "csp_qfifo.h" +#include "csp_dedup.h" +#include "transport/csp_transport.h" + +/** + * Check supported packet options + * @param interface pointer to incoming interface + * @param packet pointer to packet + * @return CSP_ERR_NONE is all options are supported, CSP_ERR_NOTSUP if not + */ +static int csp_route_check_options(csp_iface_t *interface, csp_packet_t *packet) +{ +#ifndef CSP_USE_XTEA + /* Drop XTEA packets */ + if (packet->id.flags & CSP_FXTEA) { + csp_log_error("Received XTEA encrypted packet, but CSP was compiled without XTEA support. Discarding packet"); + interface->autherr++; + return CSP_ERR_NOTSUP; + } +#endif + +#ifndef CSP_USE_HMAC + /* Drop HMAC packets */ + if (packet->id.flags & CSP_FHMAC) { + csp_log_error("Received packet with HMAC, but CSP was compiled without HMAC support. Discarding packet"); + interface->autherr++; + return CSP_ERR_NOTSUP; + } +#endif + +#ifndef CSP_USE_RDP + /* Drop RDP packets */ + if (packet->id.flags & CSP_FRDP) { + csp_log_error("Received RDP packet, but CSP was compiled without RDP support. Discarding packet"); + interface->rx_error++; + return CSP_ERR_NOTSUP; + } +#endif + return CSP_ERR_NONE; +} + +/** + * Helper function to decrypt, check auth and CRC32 + * @param security_opts either socket_opts or conn_opts + * @param interface pointer to incoming interface + * @param packet pointer to packet + * @return -1 Missing feature, -2 XTEA error, -3 CRC error, -4 HMAC error, 0 = OK. + */ +static int csp_route_security_check(uint32_t security_opts, csp_iface_t * interface, csp_packet_t * packet) { + +#ifdef CSP_USE_XTEA + /* XTEA encrypted packet */ + if (packet->id.flags & CSP_FXTEA) { + /* Read nonce */ + uint32_t nonce; + memcpy(&nonce, &packet->data[packet->length - sizeof(nonce)], sizeof(nonce)); + nonce = csp_ntoh32(nonce); + packet->length -= sizeof(nonce); + + /* Create initialization vector */ + uint32_t iv[2] = {nonce, 1}; + + /* Decrypt data */ + if (csp_xtea_decrypt(packet->data, packet->length, iv) != 0) { + /* Decryption failed */ + csp_log_error("Decryption failed! Discarding packet"); + interface->autherr++; + return CSP_ERR_XTEA; + } + } else if (security_opts & CSP_SO_XTEAREQ) { + csp_log_warn("Received packet without XTEA encryption. Discarding packet"); + interface->autherr++; + return CSP_ERR_XTEA; + } +#endif + + /* CRC32 verified packet */ + if (packet->id.flags & CSP_FCRC32) { +#ifdef CSP_USE_CRC32 + if (packet->length < 4) + csp_log_error("Too short packet for CRC32, %u", packet->length); + /* Verify CRC32 (does not include header for backwards compatability with csp1.x) */ + if (csp_crc32_verify(packet, false) != 0) { + /* Checksum failed */ + csp_log_error("CRC32 verification error! Discarding packet"); + interface->rx_error++; + return CSP_ERR_CRC32; + } + } else if (security_opts & CSP_SO_CRC32REQ) { + csp_log_warn("Received packet without CRC32. Accepting packet"); +#else + /* Strip CRC32 field and accept the packet */ + csp_log_warn("Received packet with CRC32, but CSP was compiled without CRC32 support. Accepting packet"); + packet->length -= sizeof(uint32_t); +#endif + } + +#ifdef CSP_USE_HMAC + /* HMAC authenticated packet */ + if (packet->id.flags & CSP_FHMAC) { + /* Verify HMAC (does not include header for backwards compatability with csp1.x) */ + if (csp_hmac_verify(packet, false) != 0) { + /* HMAC failed */ + csp_log_error("HMAC verification error! Discarding packet"); + interface->autherr++; + return CSP_ERR_HMAC; + } + } else if (security_opts & CSP_SO_HMACREQ) { + csp_log_warn("Received packet without HMAC. Discarding packet"); + interface->autherr++; + return CSP_ERR_HMAC; + } +#endif + +#ifdef CSP_USE_RDP + /* RDP packet */ + if (!(packet->id.flags & CSP_FRDP)) { + if (security_opts & CSP_SO_RDPREQ) { + csp_log_warn("Received packet without RDP header. Discarding packet"); + interface->rx_error++; + return CSP_ERR_INVAL; + } + } +#endif + + return CSP_ERR_NONE; + +} + +int csp_route_work(uint32_t timeout) { + + csp_qfifo_t input; + csp_packet_t * packet; + csp_conn_t * conn; + csp_socket_t * socket; + +#ifdef CSP_USE_RDP + /* Check connection timeouts (currently only for RDP) */ + csp_conn_check_timeouts(); +#endif + + /* Get next packet to route */ + if (csp_qfifo_read(&input) != CSP_ERR_NONE) + return -1; + + packet = input.packet; + if (!packet) + return -1; + + csp_log_packet("INP: S %u, D %u, Dp %u, Sp %u, Pr %u, Fl 0x%02X, Sz %"PRIu16" VIA: %s", + packet->id.src, packet->id.dst, packet->id.dport, + packet->id.sport, packet->id.pri, packet->id.flags, packet->length, input.interface->name); + + /* Here there be promiscuous mode */ +#ifdef CSP_USE_PROMISC + csp_promisc_add(packet); +#endif + +#ifdef CSP_USE_DEDUP + /* Check for duplicates */ + if (csp_dedup_is_duplicate(packet)) { + /* Discard packet */ + csp_log_packet("Duplicate packet discarded"); + input.interface->drop++; + csp_buffer_free(packet); + return 0; + } +#endif + + /* Now we count the message (since its deduplicated) */ + input.interface->rx++; + input.interface->rxbytes += packet->length; + + /* If the message is not to me, route the message to the correct interface */ + if ((packet->id.dst != csp_get_address()) && (packet->id.dst != CSP_BROADCAST_ADDR)) { + + /* Find the destination interface */ + csp_iface_t * dstif = csp_rtable_find_iface(packet->id.dst); + + /* If the message resolves to the input interface, don't loop it back out */ + if ((dstif == NULL) || ((dstif == input.interface) && (input.interface->split_horizon_off == 0))) { + csp_buffer_free(packet); + return 0; + } + + /* Otherwise, actually send the message */ + if (csp_send_direct(packet->id, packet, dstif, 0) != CSP_ERR_NONE) { + csp_log_warn("Router failed to send"); + csp_buffer_free(packet); + } + + /* Next message, please */ + return 0; + } + + /* Discard packets with unsupported options */ + if (csp_route_check_options(input.interface, packet) != CSP_ERR_NONE) { + csp_buffer_free(packet); + return 0; + } + + /* The message is to me, search for incoming socket */ + socket = csp_port_get_socket(packet->id.dport); + + /* If the socket is connection-less, deliver now */ + if (socket && (socket->opts & CSP_SO_CONN_LESS)) { + if (csp_route_security_check(socket->opts, input.interface, packet) < 0) { + csp_buffer_free(packet); + return 0; + } + if (csp_queue_enqueue(socket->socket, &packet, 0) != CSP_QUEUE_OK) { + csp_log_error("Conn-less socket queue full"); + csp_buffer_free(packet); + return 0; + } + return 0; + } + + /* Search for an existing connection */ + conn = csp_conn_find(packet->id.ext, CSP_ID_CONN_MASK); + + /* If this is an incoming packet on a new connection */ + if (conn == NULL) { + + /* Reject packet if no matching socket is found */ + if (!socket) { + csp_buffer_free(packet); + return 0; + } + + /* Run security check on incoming packet */ + if (csp_route_security_check(socket->opts, input.interface, packet) < 0) { + csp_buffer_free(packet); + return 0; + } + + /* New incoming connection accepted */ + csp_id_t idout; + idout.pri = packet->id.pri; + idout.src = csp_get_address(); + + idout.dst = packet->id.src; + idout.dport = packet->id.sport; + idout.sport = packet->id.dport; + idout.flags = packet->id.flags; + + /* Create connection */ + conn = csp_conn_new(packet->id, idout); + + if (!conn) { + csp_log_error("No more connections available"); + csp_buffer_free(packet); + return 0; + } + + /* Store the socket queue and options */ + conn->socket = socket->socket; + conn->opts = socket->opts; + + /* Packet to existing connection */ + } else { + + /* Run security check on incoming packet */ + if (csp_route_security_check(conn->opts, input.interface, packet) < 0) { + csp_buffer_free(packet); + return 0; + } + + } + +#ifdef CSP_USE_RDP + /* Pass packet to RDP module */ + if (packet->id.flags & CSP_FRDP) { + csp_rdp_new_packet(conn, packet); + return 0; + } +#endif + + /* Pass packet to UDP module */ + csp_udp_new_packet(conn, packet); + return 0; +} + +static CSP_DEFINE_TASK(csp_task_router) { + + /* Here there be routing */ + while (1) { + csp_route_work(FIFO_TIMEOUT); + } + + return CSP_TASK_RETURN; + +} + +int csp_route_start_task(unsigned int task_stack_size, unsigned int priority) { + + static csp_thread_handle_t handle_router; + int ret = csp_thread_create(csp_task_router, "RTE", task_stack_size, NULL, priority, &handle_router); + + if (ret != 0) { + csp_log_error("Failed to start router task"); + return CSP_ERR_NOMEM; + } + + return CSP_ERR_NONE; + +} diff --git a/thirdparty/libcsp/src/csp_route.h b/thirdparty/libcsp/src/csp_route.h new file mode 100644 index 00000000..2a20f49f --- /dev/null +++ b/thirdparty/libcsp/src/csp_route.h @@ -0,0 +1,24 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_ROUTE_H_ +#define _CSP_ROUTE_H_ + +#endif // _CSP_ROUTE_H_ diff --git a/thirdparty/libcsp/src/csp_service_handler.c b/thirdparty/libcsp/src/csp_service_handler.c new file mode 100644 index 00000000..0090afc1 --- /dev/null +++ b/thirdparty/libcsp/src/csp_service_handler.c @@ -0,0 +1,334 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* CSP includes */ +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include "csp_route.h" + +#define CSP_RPS_MTU 196 + +/** + * The CSP CMP mempy function is used to, override the function used to + * read/write memory by peek and poke. + */ +#ifdef __AVR__ +static uint32_t wrap_32bit_memcpy(uint32_t to, const uint32_t from, size_t size) { + return (uint32_t) (uintptr_t) memcpy((void *) (uintptr_t) to, (const void *) (uintptr_t) from, size); +} +static csp_memcpy_fnc_t csp_cmp_memcpy_fnc = wrap_32bit_memcpy; +#else +static csp_memcpy_fnc_t csp_cmp_memcpy_fnc = (csp_memcpy_fnc_t) memcpy; +#endif + + +void csp_cmp_set_memcpy(csp_memcpy_fnc_t fnc) { + csp_cmp_memcpy_fnc = fnc; +} + +static int do_cmp_ident(struct csp_cmp_message *cmp) { + + /* Copy revision */ + strncpy(cmp->ident.revision, csp_get_revision(), CSP_CMP_IDENT_REV_LEN); + cmp->ident.revision[CSP_CMP_IDENT_REV_LEN - 1] = '\0'; + + /* Copy compilation date */ + strncpy(cmp->ident.date, __DATE__, CSP_CMP_IDENT_DATE_LEN); + cmp->ident.date[CSP_CMP_IDENT_DATE_LEN - 1] = '\0'; + + /* Copy compilation time */ + strncpy(cmp->ident.time, __TIME__, CSP_CMP_IDENT_TIME_LEN); + cmp->ident.time[CSP_CMP_IDENT_TIME_LEN - 1] = '\0'; + + /* Copy hostname */ + strncpy(cmp->ident.hostname, csp_get_hostname(), CSP_HOSTNAME_LEN); + cmp->ident.hostname[CSP_HOSTNAME_LEN - 1] = '\0'; + + /* Copy model name */ + strncpy(cmp->ident.model, csp_get_model(), CSP_MODEL_LEN); + cmp->ident.model[CSP_MODEL_LEN - 1] = '\0'; + + return CSP_ERR_NONE; + +} + +static int do_cmp_route_set(struct csp_cmp_message *cmp) { + + csp_iface_t *ifc = csp_iflist_get_by_name(cmp->route_set.interface); + if (ifc == NULL) + return CSP_ERR_INVAL; + + if (csp_route_set(cmp->route_set.dest_node, ifc, cmp->route_set.next_hop_mac) != CSP_ERR_NONE) + return CSP_ERR_INVAL; + + return CSP_ERR_NONE; + +} + +static int do_cmp_if_stats(struct csp_cmp_message *cmp) { + + csp_iface_t *ifc = csp_iflist_get_by_name(cmp->if_stats.interface); + if (ifc == NULL) + return CSP_ERR_INVAL; + + cmp->if_stats.tx = csp_hton32(ifc->tx); + cmp->if_stats.rx = csp_hton32(ifc->rx); + cmp->if_stats.tx_error = csp_hton32(ifc->tx_error); + cmp->if_stats.rx_error = csp_hton32(ifc->rx_error); + cmp->if_stats.drop = csp_hton32(ifc->drop); + cmp->if_stats.autherr = csp_hton32(ifc->autherr); + cmp->if_stats.frame = csp_hton32(ifc->frame); + cmp->if_stats.txbytes = csp_hton32(ifc->txbytes); + cmp->if_stats.rxbytes = csp_hton32(ifc->rxbytes); + cmp->if_stats.irq = csp_hton32(ifc->irq); + + return CSP_ERR_NONE; +} + +static int do_cmp_peek(struct csp_cmp_message *cmp) { + + cmp->peek.addr = csp_hton32(cmp->peek.addr); + if (cmp->peek.len > CSP_CMP_PEEK_MAX_LEN) + return CSP_ERR_INVAL; + + /* Dangerous, you better know what you are doing */ + csp_cmp_memcpy_fnc((csp_memptr_t) (uintptr_t) cmp->peek.data, (csp_memptr_t) (unsigned long) cmp->peek.addr, cmp->peek.len); + + return CSP_ERR_NONE; + +} + +static int do_cmp_poke(struct csp_cmp_message *cmp) { + + cmp->poke.addr = csp_hton32(cmp->poke.addr); + if (cmp->poke.len > CSP_CMP_POKE_MAX_LEN) + return CSP_ERR_INVAL; + + /* Extremely dangerous, you better know what you are doing */ + csp_cmp_memcpy_fnc((csp_memptr_t) (unsigned long) cmp->poke.addr, (csp_memptr_t) (uintptr_t) cmp->poke.data, cmp->poke.len); + + return CSP_ERR_NONE; + +} + +static int do_cmp_clock(struct csp_cmp_message *cmp) { + + cmp->clock.tv_sec = csp_ntoh32(cmp->clock.tv_sec); + cmp->clock.tv_nsec = csp_ntoh32(cmp->clock.tv_nsec); + + if ((cmp->clock.tv_sec != 0) && (clock_set_time != NULL)) { + clock_set_time(&cmp->clock); + } + + if (clock_get_time != NULL) { + clock_get_time(&cmp->clock); + } + + cmp->clock.tv_sec = csp_hton32(cmp->clock.tv_sec); + cmp->clock.tv_nsec = csp_hton32(cmp->clock.tv_nsec); + return CSP_ERR_NONE; + +} + +/* CSP Management Protocol handler */ +static int csp_cmp_handler(csp_conn_t * conn, csp_packet_t * packet) { + + int ret = CSP_ERR_INVAL; + struct csp_cmp_message * cmp = (struct csp_cmp_message *) packet->data; + + /* Ignore everything but requests */ + if (cmp->type != CSP_CMP_REQUEST) + return ret; + + switch (cmp->code) { + case CSP_CMP_IDENT: + ret = do_cmp_ident(cmp); + packet->length = CMP_SIZE(ident); + break; + + case CSP_CMP_ROUTE_SET: + ret = do_cmp_route_set(cmp); + packet->length = CMP_SIZE(route_set); + break; + + case CSP_CMP_IF_STATS: + ret = do_cmp_if_stats(cmp); + packet->length = CMP_SIZE(if_stats); + break; + + case CSP_CMP_PEEK: + ret = do_cmp_peek(cmp); + break; + + case CSP_CMP_POKE: + ret = do_cmp_poke(cmp); + break; + + case CSP_CMP_CLOCK: + ret = do_cmp_clock(cmp); + break; + + default: + ret = CSP_ERR_INVAL; + break; + } + + cmp->type = CSP_CMP_REPLY; + + return ret; +} + +void csp_service_handler(csp_conn_t * conn, csp_packet_t * packet) { + + switch (csp_conn_dport(conn)) { + + case CSP_CMP: + /* Pass to CMP handler */ + if (csp_cmp_handler(conn, packet) != CSP_ERR_NONE) { + csp_buffer_free(packet); + return; + } + break; + + case CSP_PING: + /* A ping means, just echo the packet, so no changes */ + csp_log_info("SERVICE: Ping received"); + break; + + case CSP_PS: { + /* Sanity check on request */ + if ((packet->length != 1) || (packet->data[0] != 0x55)) { + /* Sanity check failed */ + csp_buffer_free(packet); + /* Clear the packet, it has been freed */ + packet = NULL; + break; + } + /* Start by allocating just the right amount of memory */ + int task_list_size = csp_sys_tasklist_size(); + char * pslist = csp_malloc(task_list_size); + /* Check for malloc fail */ + if (pslist == NULL) { + /* Send out the data */ + strcpy((char *)packet->data, "Not enough memory"); + packet->length = strlen((char *)packet->data); + /* Break and let the default handling send packet */ + break; + } + + /* Retrieve the tasklist */ + csp_sys_tasklist(pslist); + int pslen = strnlen(pslist, task_list_size); + + /* Split the potentially very long string into packets */ + int i = 0; + while(i < pslen) { + + /* Allocate packet buffer, if need be */ + if (packet == NULL) + packet = csp_buffer_get(CSP_RPS_MTU); + if (packet == NULL) + break; + + /* Calculate length, either full MTU or the remainder */ + packet->length = (pslen - i > CSP_RPS_MTU) ? CSP_RPS_MTU : (pslen - i); + + /* Send out the data */ + memcpy(packet->data, &pslist[i], packet->length); + i += packet->length; + if (!csp_send(conn, packet, 0)) + csp_buffer_free(packet); + + /* Clear the packet reference when sent */ + packet = NULL; + + } + csp_free(pslist); + break; + } + + case CSP_MEMFREE: { + uint32_t total = csp_sys_memfree(); + + total = csp_hton32(total); + memcpy(packet->data, &total, sizeof(total)); + packet->length = sizeof(total); + + break; + } + + case CSP_REBOOT: { + uint32_t magic_word; + memcpy(&magic_word, packet->data, sizeof(magic_word)); + + magic_word = csp_ntoh32(magic_word); + + /* If the magic word is valid, reboot */ + if (magic_word == CSP_REBOOT_MAGIC) { + csp_sys_reboot(); + } else if (magic_word == CSP_REBOOT_SHUTDOWN_MAGIC) { + csp_sys_shutdown(); + } + + + + csp_buffer_free(packet); + return; + } + + case CSP_BUF_FREE: { + uint32_t size = csp_buffer_remaining(); + size = csp_hton32(size); + memcpy(packet->data, &size, sizeof(size)); + packet->length = sizeof(size); + break; + } + + case CSP_UPTIME: { + uint32_t time = csp_get_s(); + time = csp_hton32(time); + memcpy(packet->data, &time, sizeof(time)); + packet->length = sizeof(time); + break; + } + + default: + csp_buffer_free(packet); + return; + } + + if (packet != NULL) { + if (!csp_send(conn, packet, 0)) + csp_buffer_free(packet); + } + +} diff --git a/thirdparty/libcsp/src/csp_services.c b/thirdparty/libcsp/src/csp_services.c new file mode 100644 index 00000000..5392cb82 --- /dev/null +++ b/thirdparty/libcsp/src/csp_services.c @@ -0,0 +1,233 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +/* CSP includes */ +#include +#include +#include + +#include + +int csp_ping(uint8_t node, uint32_t timeout, unsigned int size, uint8_t conn_options) { + + unsigned int i; + uint32_t start, time, status = 0; + + /* Counter */ + start = csp_get_ms(); + + /* Open connection */ + csp_conn_t * conn = csp_connect(CSP_PRIO_NORM, node, CSP_PING, timeout, conn_options); + if (conn == NULL) + return -1; + + /* Prepare data */ + csp_packet_t * packet; + packet = csp_buffer_get(size); + if (packet == NULL) + goto out; + + /* Set data to increasing numbers */ + packet->length = size; + for (i = 0; i < size; i++) + packet->data[i] = i; + + /* Try to send frame */ + if (!csp_send(conn, packet, 0)) + goto out; + + /* Read incoming frame */ + packet = csp_read(conn, timeout); + if (packet == NULL) + goto out; + + /* Ensure that the data was actually echoed */ + for (i = 0; i < size; i++) + if (packet->data[i] != i % (0xff + 1)) + goto out; + + status = 1; + +out: + /* Clean up */ + if (packet != NULL) + csp_buffer_free(packet); + csp_close(conn); + + /* We have a reply */ + time = (csp_get_ms() - start); + + if (status) { + return time; + } else { + return -1; + } + +} + +void csp_ping_noreply(uint8_t node) { + + /* Prepare data */ + csp_packet_t * packet; + packet = csp_buffer_get(1); + + /* Check malloc */ + if (packet == NULL) + return; + + /* Open connection */ + csp_conn_t * conn = csp_connect(CSP_PRIO_NORM, node, CSP_PING, 0, 0); + if (conn == NULL) { + csp_buffer_free(packet); + return; + } + + packet->data[0] = 0x55; + packet->length = 1; + + printf("Ping ignore reply node %u.\r\n", (unsigned int) node); + + /* Try to send frame */ + if (!csp_send(conn, packet, 0)) + csp_buffer_free(packet); + + csp_close(conn); + +} + +void csp_reboot(uint8_t node) { + uint32_t magic_word = csp_hton32(CSP_REBOOT_MAGIC); + csp_transaction(CSP_PRIO_NORM, node, CSP_REBOOT, 0, &magic_word, sizeof(magic_word), NULL, 0); +} + +void csp_shutdown(uint8_t node) { + uint32_t magic_word = csp_hton32(CSP_REBOOT_SHUTDOWN_MAGIC); + csp_transaction(CSP_PRIO_NORM, node, CSP_REBOOT, 0, &magic_word, sizeof(magic_word), NULL, 0); +} + +void csp_ps(uint8_t node, uint32_t timeout) { + + /* Open connection */ + csp_conn_t * conn = csp_connect(CSP_PRIO_NORM, node, CSP_PS, 0, 0); + if (conn == NULL) + return; + + /* Prepare data */ + csp_packet_t * packet; + packet = csp_buffer_get(95); + + /* Check malloc */ + if (packet == NULL) + goto out; + + packet->data[0] = 0x55; + packet->length = 1; + + printf("PS node %u: \r\n", (unsigned int) node); + + /* Try to send frame */ + if (!csp_send(conn, packet, 0)) + goto out; + + while(1) { + + /* Read incoming frame */ + packet = csp_read(conn, timeout); + if (packet == NULL) + break; + + /* We have a reply, add our own NULL char */ + packet->data[packet->length] = 0; + printf("%s", packet->data); + + /* Each packet from csp_read must to be freed by user */ + csp_buffer_free(packet); + } + + printf("\r\n"); + + /* Clean up */ +out: + if (packet != NULL) + csp_buffer_free(packet); + csp_close(conn); + +} + +void csp_memfree(uint8_t node, uint32_t timeout) { + + uint32_t memfree; + + int status = csp_transaction(CSP_PRIO_NORM, node, CSP_MEMFREE, timeout, NULL, 0, &memfree, sizeof(memfree)); + if (status == 0) { + printf("Network error\r\n"); + return; + } + + /* Convert from network to host order */ + memfree = csp_ntoh32(memfree); + + printf("Free Memory at node %u is %"PRIu32" bytes\r\n", (unsigned int) node, memfree); + +} + +void csp_buf_free(uint8_t node, uint32_t timeout) { + + uint32_t size = 0; + + int status = csp_transaction(CSP_PRIO_NORM, node, CSP_BUF_FREE, timeout, NULL, 0, &size, sizeof(size)); + if (status == 0) { + printf("Network error\r\n"); + return; + } + size = csp_ntoh32(size); + printf("Free buffers at node %u is %"PRIu32"\r\n", (unsigned int) node, size); + +} + +void csp_uptime(uint8_t node, uint32_t timeout) { + + uint32_t uptime = 0; + + int status = csp_transaction(CSP_PRIO_NORM, node, CSP_UPTIME, timeout, NULL, 0, &uptime, sizeof(uptime)); + if (status == 0) { + printf("Network error\r\n"); + return; + } + uptime = csp_ntoh32(uptime); + printf("Uptime of node %u is %"PRIu32" s\r\n", (unsigned int) node, uptime); + +} + +int csp_cmp(uint8_t node, uint32_t timeout, uint8_t code, int membsize, struct csp_cmp_message * msg) { + msg->type = CSP_CMP_REQUEST; + msg->code = code; + int status = csp_transaction(CSP_PRIO_NORM, node, CSP_CMP, timeout, msg, membsize, msg, membsize); + if (status == 0) + return CSP_ERR_TIMEDOUT; + + return CSP_ERR_NONE; +} + diff --git a/thirdparty/libcsp/src/csp_sfp.c b/thirdparty/libcsp/src/csp_sfp.c new file mode 100644 index 00000000..96ef36e1 --- /dev/null +++ b/thirdparty/libcsp/src/csp_sfp.c @@ -0,0 +1,170 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include "csp_conn.h" + +typedef struct __attribute__((__packed__)) { + uint32_t offset; + uint32_t totalsize; +} sfp_header_t; + +/** + * SFP Headers: + * The following functions are helper functions that handles the extra SFP + * information that needs to be appended to all data packets. + */ +static sfp_header_t * csp_sfp_header_add(csp_packet_t * packet) { + sfp_header_t * header = (sfp_header_t *) &packet->data[packet->length]; + packet->length += sizeof(sfp_header_t); + memset(header, 0, sizeof(sfp_header_t)); + return header; +} + +static sfp_header_t * csp_sfp_header_remove(csp_packet_t * packet) { + sfp_header_t * header = (sfp_header_t *) &packet->data[packet->length-sizeof(sfp_header_t)]; + packet->length -= sizeof(sfp_header_t); + return header; +} + +int csp_sfp_send_own_memcpy(csp_conn_t * conn, const void * data, int totalsize, int mtu, uint32_t timeout, void * (*memcpyfcn)(void *, const void *, size_t)) { + + int count = 0; + while(count < totalsize) { + + /* Allocate packet */ + csp_packet_t * packet = csp_buffer_get(mtu); + if (packet == NULL) + return -1; + + /* Calculate sending size */ + int size = totalsize - count; + if (size > mtu) + size = mtu; + + /* Print debug */ + csp_debug(CSP_PROTOCOL, "Sending SFP at %x size %u", data + count, size); + + /* Copy data */ + (*memcpyfcn)(packet->data, data + count, size); + packet->length = size; + + /* Set fragment flag */ + conn->idout.flags |= CSP_FFRAG; + + /* Add SFP header */ + sfp_header_t * sfp_header = csp_sfp_header_add(packet); + sfp_header->totalsize = csp_hton32(totalsize); + sfp_header->offset = csp_hton32(count); + + /* Send data */ + if (!csp_send(conn, packet, timeout)) { + csp_buffer_free(packet); + return -1; + } + + /* Increment count */ + count += size; + + } + + return 0; + +} + +int csp_sfp_send(csp_conn_t * conn, const void * data, int totalsize, int mtu, uint32_t timeout) { + return csp_sfp_send_own_memcpy(conn, data, totalsize, mtu, timeout, &memcpy); +} + +int csp_sfp_recv_fp(csp_conn_t * conn, void ** dataout, int * datasize, uint32_t timeout, csp_packet_t * first_packet) { + + unsigned int last_byte = 0; + + *dataout = NULL; /* Allow caller to assume csp_free() can always be called when dataout is non-NULL */ + + /* Get first packet from user, or from connection */ + csp_packet_t * packet = NULL; + if (first_packet == NULL) { + packet = csp_read(conn, timeout); + if (packet == NULL) + return -1; + } else { + packet = first_packet; + } + + do { + + /* Check that SFP header is present */ + if ((packet->id.flags & CSP_FFRAG) == 0) { + csp_debug(CSP_ERROR, "Missing SFP header"); + csp_buffer_free(packet); + return -1; + } + + /* Read SFP header */ + sfp_header_t * sfp_header = csp_sfp_header_remove(packet); + sfp_header->offset = csp_ntoh32(sfp_header->offset); + sfp_header->totalsize = csp_ntoh32(sfp_header->totalsize); + + csp_debug(CSP_PROTOCOL, "SFP fragment %u/%u", sfp_header->offset + packet->length, sfp_header->totalsize); + + if (sfp_header->offset > last_byte + 1) { + csp_debug(CSP_ERROR, "SFP missing %u bytes", sfp_header->offset - last_byte); + csp_buffer_free(packet); + return -1; + } else { + last_byte = sfp_header->offset + packet->length; + } + + /* Allocate memory */ + if (*dataout == NULL) + *dataout = csp_malloc(sfp_header->totalsize); + if (*dataout == NULL) { + csp_debug(CSP_ERROR, "No dyn-memory for SFP fragment"); + csp_buffer_free(packet); + return -1; + } + + /* Copy data to output */ + *datasize = sfp_header->totalsize; + memcpy(*dataout + sfp_header->offset, packet->data, packet->length); + + if (sfp_header->offset + packet->length >= sfp_header->totalsize) { + csp_debug(CSP_PROTOCOL, "SFP complete"); + csp_buffer_free(packet); + return 0; + } else { + csp_buffer_free(packet); + } + + } while((packet = csp_read(conn, timeout)) != NULL); + + return -1; + +} + +int csp_sfp_recv(csp_conn_t * conn, void ** dataout, int * datasize, uint32_t timeout) { + return csp_sfp_recv_fp(conn, dataout, datasize, timeout, NULL); +} + diff --git a/thirdparty/libcsp/src/drivers/CMakeLists.txt b/thirdparty/libcsp/src/drivers/CMakeLists.txt new file mode 100644 index 00000000..e2dd440b --- /dev/null +++ b/thirdparty/libcsp/src/drivers/CMakeLists.txt @@ -0,0 +1 @@ +add_subdirectory(can) diff --git a/thirdparty/libcsp/src/drivers/can/CMakeLists.txt b/thirdparty/libcsp/src/drivers/can/CMakeLists.txt new file mode 100644 index 00000000..d291fccc --- /dev/null +++ b/thirdparty/libcsp/src/drivers/can/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${LIB_CSP_NAME} PRIVATE + can_socketcan.c +) diff --git a/thirdparty/libcsp/src/drivers/can/can_socketcan.c b/thirdparty/libcsp/src/drivers/can/can_socketcan.c new file mode 100644 index 00000000..94c6bdde --- /dev/null +++ b/thirdparty/libcsp/src/drivers/can/can_socketcan.c @@ -0,0 +1,201 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* SocketCAN driver */ +#include + +#include +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#ifdef CSP_HAVE_LIBSOCKETCAN +#include +#endif + +static struct can_socketcan_s { + int socket; + csp_iface_t interface; +} socketcan[1] = { + { + .interface = { + .name = "CAN", + .nexthop = csp_can_tx, + .mtu = CSP_CAN_MTU, + .driver = &socketcan[0], + }, + }, +}; + +static void * socketcan_rx_thread(void * parameters) +{ + struct can_frame frame; + int nbytes; + + while (1) { + /* Read CAN frame */ + nbytes = read(socketcan[0].socket, &frame, sizeof(frame)); + if (nbytes < 0) { + csp_log_error("read: %s", strerror(errno)); + continue; + } + + if (nbytes != sizeof(frame)) { + csp_log_warn("Read incomplete CAN frame"); + continue; + } + + /* Frame type */ + if (frame.can_id & (CAN_ERR_FLAG | CAN_RTR_FLAG) || !(frame.can_id & CAN_EFF_FLAG)) { + /* Drop error and remote frames */ + csp_log_warn("Discarding ERR/RTR/SFF frame"); + continue; + } + + /* Strip flags */ + frame.can_id &= CAN_EFF_MASK; + + /* Call RX callbacsp_can_rx_frameck */ + csp_can_rx(&socketcan[0].interface, frame.can_id, frame.data, frame.can_dlc, NULL); + } + + /* We should never reach this point */ + pthread_exit(NULL); +} + + +int csp_can_tx_frame(csp_iface_t *interface, uint32_t id, const uint8_t * data, uint8_t dlc) +{ + struct can_frame frame; + int i, tries = 0; + memset(&frame, 0, sizeof(frame)); + if (dlc > 8) + return -1; + + /* Copy identifier */ + frame.can_id = id | CAN_EFF_FLAG; + + /* Copy data to frame */ + for (i = 0; i < dlc; i++) + frame.data[i] = data[i]; + + /* Set DLC */ + frame.can_dlc = dlc; + + /* Send frame */ + while (write(socketcan[0].socket, &frame, sizeof(frame)) != sizeof(frame)) { + if (++tries < 1000 && errno == ENOBUFS) { + /* Wait 10 ms and try again */ + usleep(10000); + } else { + csp_log_error("write: %s", strerror(errno)); + break; + } + } + + return 0; +} + +csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc) +{ + struct ifreq ifr; + struct sockaddr_can addr; + pthread_t rx_thread; + + printf("-I-: Initiating CAN interface %s\n", ifc); + +#ifdef CSP_HAVE_LIBSOCKETCAN + /* Set interface up */ + if (bitrate > 0) { + can_do_stop(ifc); + can_set_bitrate(ifc, bitrate); + can_set_restart_ms(ifc, 100); + can_do_start(ifc); + } +#endif + + /* Create socket */ + if ((socketcan[0].socket = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) { + csp_log_error("socket: %s", strerror(errno)); + return NULL; + } + + /* Locate interface */ + strncpy(ifr.ifr_name, ifc, IFNAMSIZ - 1); + if (ioctl(socketcan[0].socket, SIOCGIFINDEX, &ifr) < 0) { + csp_log_error("ioctl: %s", strerror(errno)); + return NULL; + } + memset(&addr, 0, sizeof(addr)); + /* Bind the socket to CAN interface */ + addr.can_family = AF_CAN; + addr.can_ifindex = ifr.ifr_ifindex; + if (bind(socketcan[0].socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) { + csp_log_error("bind: %s", strerror(errno)); + return NULL; + } + + /* Set filter mode */ + if (promisc == 0) { + + struct can_filter filter; + filter.can_id = CFP_MAKE_DST(csp_get_address()); + filter.can_mask = CFP_MAKE_DST((1 << CFP_HOST_SIZE) - 1); + + if (setsockopt(socketcan[0].socket, SOL_CAN_RAW, CAN_RAW_FILTER, &filter, sizeof(filter)) < 0) { + csp_log_error("setsockopt: %s", strerror(errno)); + return NULL; + } + + } + + /* Create receive thread */ + if (pthread_create(&rx_thread, NULL, socketcan_rx_thread, NULL) != 0) { + csp_log_error("pthread_create: %s", strerror(errno)); + return NULL; + } + + csp_iflist_add(&socketcan[0].interface); + + return &socketcan[0].interface; +} diff --git a/thirdparty/libcsp/src/drivers/usart/usart_linux.c b/thirdparty/libcsp/src/drivers/usart/usart_linux.c new file mode 100644 index 00000000..c4ceeb27 --- /dev/null +++ b/thirdparty/libcsp/src/drivers/usart/usart_linux.c @@ -0,0 +1,254 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +int fd; +usart_callback_t usart_callback = NULL; + +static void *serial_rx_thread(void *vptr_args); + +int getbaud(int ifd) { + struct termios termAttr; + int inputSpeed = -1; + speed_t baudRate; + tcgetattr(ifd, &termAttr); + /* Get the input speed. */ + baudRate = cfgetispeed(&termAttr); + switch (baudRate) { + case B0: + inputSpeed = 0; + break; + case B50: + inputSpeed = 50; + break; + case B110: + inputSpeed = 110; + break; + case B134: + inputSpeed = 134; + break; + case B150: + inputSpeed = 150; + break; + case B200: + inputSpeed = 200; + break; + case B300: + inputSpeed = 300; + break; + case B600: + inputSpeed = 600; + break; + case B1200: + inputSpeed = 1200; + break; + case B1800: + inputSpeed = 1800; + break; + case B2400: + inputSpeed = 2400; + break; + case B4800: + inputSpeed = 4800; + break; + case B9600: + inputSpeed = 9600; + break; + case B19200: + inputSpeed = 19200; + break; + case B38400: + inputSpeed = 38400; + break; + case B57600: + inputSpeed = 57600; + break; + case B115200: + inputSpeed = 115200; + break; + case B230400: + inputSpeed = 230400; + break; +#ifndef CSP_MACOSX + case B460800: + inputSpeed = 460800; + break; + case B500000: + inputSpeed = 500000; + break; + case B576000: + inputSpeed = 576000; + break; + case B921600: + inputSpeed = 921600; + break; + case B1000000: + inputSpeed = 1000000; + break; + case B1152000: + inputSpeed = 1152000; + break; + case B1500000: + inputSpeed = 1500000; + break; + case B2000000: + inputSpeed = 2000000; + break; + case B2500000: + inputSpeed = 2500000; + break; + case B3000000: + inputSpeed = 3000000; + break; + case B3500000: + inputSpeed = 3500000; + break; + case B4000000: + inputSpeed = 4000000; + break; +#endif + } + + return inputSpeed; + +} + +void usart_init(struct usart_conf * conf) { + + struct termios options; + pthread_t rx_thread; + + fd = open(conf->device, O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (fd < 0) { + printf("Failed to open %s: %s\r\n", conf->device, strerror(errno)); + return; + } + + int brate = 0; + switch(conf->baudrate) { + case 4800: brate=B4800; break; + case 9600: brate=B9600; break; + case 19200: brate=B19200; break; + case 38400: brate=B38400; break; + case 57600: brate=B57600; break; + case 115200: brate=B115200; break; + case 230400: brate=B230400; break; +#ifndef CSP_MACOSX + case 460800: brate=B460800; break; + case 500000: brate=B500000; break; + case 576000: brate=B576000; break; + case 921600: brate=B921600; break; + case 1000000: brate=B1000000; break; + case 1152000: brate=B1152000; break; + case 1500000: brate=B1500000; break; + case 2000000: brate=B2000000; break; + case 2500000: brate=B2500000; break; + case 3000000: brate=B3000000; break; + case 3500000: brate=B3500000; break; + case 4000000: brate=B4000000; break; +#endif + default: + printf("Unsupported baudrate requested, defaulting to 500000, requested baudrate=%u\n", conf->baudrate); + brate=B500000; + break; + } + + tcgetattr(fd, &options); + cfsetispeed(&options, brate); + cfsetospeed(&options, brate); + options.c_cflag |= (CLOCAL | CREAD); + options.c_cflag &= ~PARENB; + options.c_cflag &= ~CSTOPB; + options.c_cflag &= ~CSIZE; + options.c_cflag |= CS8; + options.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + options.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON); + options.c_oflag &= ~(OCRNL | ONLCR | ONLRET | ONOCR | OFILL | OPOST); + options.c_cc[VTIME] = 0; + options.c_cc[VMIN] = 1; + tcsetattr(fd, TCSANOW, &options); + if (tcgetattr(fd, &options) == -1) + perror("error setting options"); + fcntl(fd, F_SETFL, 0); + + /* Flush old transmissions */ + if (tcflush(fd, TCIOFLUSH) == -1) + printf("Error flushing serial port - %s(%d).\n", strerror(errno), errno); + + if (pthread_create(&rx_thread, NULL, serial_rx_thread, NULL) != 0) + return; + +} + +void usart_set_callback(usart_callback_t callback) { + usart_callback = callback; +} + +void usart_insert(char c, void * pxTaskWoken) { + printf("%c", c); +} + +void usart_putstr(char * buf, int len) { + if (write(fd, buf, len) != len) + return; +} + +void usart_putc(char c) { + if (write(fd, &c, 1) != 1) + return; +} + +char usart_getc(void) { + char c; + if (read(fd, &c, 1) != 1) return 0; + return c; +} + +static void *serial_rx_thread(void *vptr_args) { + unsigned int length; + uint8_t * cbuf = malloc(100000); + + // Receive loop + while (1) { + length = read(fd, cbuf, 300); + if (length <= 0) { + perror("Error: "); + exit(1); + } + if (usart_callback) + usart_callback(cbuf, length, NULL); + } + return NULL; +} diff --git a/thirdparty/libcsp/src/drivers/usart/usart_windows.c b/thirdparty/libcsp/src/drivers/usart/usart_windows.c new file mode 100644 index 00000000..91ffe87d --- /dev/null +++ b/thirdparty/libcsp/src/drivers/usart/usart_windows.c @@ -0,0 +1,230 @@ +#include +#include +#include + +#include +#include + +static HANDLE portHandle = INVALID_HANDLE_VALUE; +static HANDLE rxThread = INVALID_HANDLE_VALUE; +static CRITICAL_SECTION txSection; +static LONG isListening = 0; +static usart_callback_t usart_callback = NULL; + +static void prvSendData(char *buf, int bufsz); +static int prvTryOpenPort(const char* intf); +static int prvTryConfigurePort(const struct usart_conf*); +static int prvTrySetPortTimeouts(void); +static const char* prvParityToStr(BYTE paritySetting); + +#ifdef CSP_DEBUG +static void prvPrintError(void) { + char *messageBuffer = NULL; + DWORD errorCode = GetLastError(); + DWORD formatMessageRet; + formatMessageRet = FormatMessageA( + FORMAT_MESSAGE_ALLOCATE_BUFFER | + FORMAT_MESSAGE_FROM_SYSTEM, + NULL, + errorCode, + MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), + (char*)&messageBuffer, + 0, + NULL); + + if( !formatMessageRet ) { + csp_log_error("FormatMessage error, code: %lu", GetLastError()); + return; + } + csp_log_error("%s", messageBuffer); + LocalFree(messageBuffer); +} +#endif + +#ifdef CSP_DEBUG +#define printError() prvPrintError() +#else +#define printError() do {} while(0) +#endif + +static int prvTryOpenPort(const char *intf) { + portHandle = CreateFileA( + intf, + GENERIC_READ|GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + 0, + NULL); + + if( portHandle == INVALID_HANDLE_VALUE ) { + DWORD errorCode = GetLastError(); + if( errorCode == ERROR_FILE_NOT_FOUND ) { + csp_log_error("Could not open serial port, because it didn't exist!"); + } + else + csp_log_error("Failure opening serial port! Code: %lu", errorCode); + return 1; + } + return 0; +} + +static int prvTryConfigurePort(const struct usart_conf * conf) { + DCB portSettings = {0}; + portSettings.DCBlength = sizeof(DCB); + if(!GetCommState(portHandle, &portSettings) ) { + csp_log_error("Could not get default settings for open COM port! Code: %lu", GetLastError()); + return -1; + } + portSettings.BaudRate = conf->baudrate; + portSettings.Parity = conf->paritysetting; + portSettings.StopBits = conf->stopbits; + portSettings.fParity = conf->checkparity; + portSettings.fBinary = TRUE; + portSettings.ByteSize = conf->databits; + if( !SetCommState(portHandle, &portSettings) ) { + csp_log_error("Error when setting COM port settings! Code:%lu", GetLastError()); + return 1; + } + + GetCommState(portHandle, &portSettings); + + csp_log_info("Port: %s, Baudrate: %lu, Data bits: %d, Stop bits: %d, Parity: %s", + conf->device, conf->baudrate, conf->databits, conf->stopbits, prvParityToStr(conf->paritysetting)); + return 0; +} + +static const char* prvParityToStr(BYTE paritySetting) { + static const char *parityStr[] = { + "None", + "Odd", + "Even", + "N/A" + }; + char const *resultStr = NULL; + + switch(paritySetting) { + case NOPARITY: + resultStr = parityStr[0]; + break; + case ODDPARITY: + resultStr = parityStr[1]; + break; + case EVENPARITY: + resultStr = parityStr[2]; + break; + default: + resultStr = parityStr[3]; + }; + return resultStr; +} + +static int prvTrySetPortTimeouts(void) { + COMMTIMEOUTS timeouts = {0}; + + if( !GetCommTimeouts(portHandle, &timeouts) ) { + csp_log_error("Error gettings current timeout settings"); + return 1; + } + + timeouts.ReadIntervalTimeout = 5; + timeouts.ReadTotalTimeoutMultiplier = 1; + timeouts.ReadTotalTimeoutConstant = 5; + timeouts.WriteTotalTimeoutMultiplier = 1; + timeouts.WriteTotalTimeoutConstant = 5; + + if(!SetCommTimeouts(portHandle, &timeouts)) { + csp_log_error("Error setting timeouts!"); + return 1; + } + + return 0; +} + +unsigned WINAPI prvRxTask(void* params) { + DWORD bytesRead; + DWORD eventStatus; + uint8_t recvBuffer[24]; + SetCommMask(portHandle, EV_RXCHAR); + + while(isListening) { + WaitCommEvent(portHandle, &eventStatus, NULL); + if( !(eventStatus & EV_RXCHAR) ) { + continue; + } + if( !ReadFile(portHandle, recvBuffer, 24, &bytesRead, NULL)) { + csp_log_warn("Error receiving data! Code: %lu", GetLastError()); + continue; + } + if( usart_callback != NULL ) + usart_callback(recvBuffer, (size_t)bytesRead, NULL); + } + return 0; +} + +static void prvSendData(char *buf, int bufsz) { + DWORD bytesTotal = 0; + DWORD bytesActual; + if( !WriteFile(portHandle, buf, bufsz-bytesTotal, &bytesActual, NULL) ) { + csp_log_error("Could not write data. Code: %lu", GetLastError()); + return; + } + if( !FlushFileBuffers(portHandle) ) { + csp_log_warn("Could not flush write buffer. Code: %lu", GetLastError()); + } +} + +void usart_shutdown(void) { + InterlockedExchange(&isListening, 0); + CloseHandle(portHandle); + portHandle = INVALID_HANDLE_VALUE; + if( rxThread != INVALID_HANDLE_VALUE ) { + WaitForSingleObject(rxThread, INFINITE); + rxThread = INVALID_HANDLE_VALUE; + } + DeleteCriticalSection(&txSection); +} + +void usart_listen(void) { + InterlockedExchange(&isListening, 1); + rxThread = (HANDLE)_beginthreadex(NULL, 0, &prvRxTask, NULL, 0, NULL); +} + +void usart_putstr(char* buf, int bufsz) { + EnterCriticalSection(&txSection); + prvSendData(buf, bufsz); + LeaveCriticalSection(&txSection); +} + +void usart_insert(char c, void *pxTaskWoken) { + /* redirect debug output to stdout */ + printf("%c", c); +} + +void usart_set_callback(usart_callback_t callback) { + usart_callback = callback; +} + +void usart_init(struct usart_conf * conf) { + if( prvTryOpenPort(conf->device) ) { + printError(); + return; + } + + if( prvTryConfigurePort(conf) ) { + printError(); + return; + } + + if( prvTrySetPortTimeouts() ) { + printError(); + return; + } + + InitializeCriticalSection(&txSection); + + /* Start receiver thread */ + usart_listen(); +} + + diff --git a/thirdparty/libcsp/src/interfaces/CMakeLists.txt b/thirdparty/libcsp/src/interfaces/CMakeLists.txt new file mode 100644 index 00000000..33f779e3 --- /dev/null +++ b/thirdparty/libcsp/src/interfaces/CMakeLists.txt @@ -0,0 +1,7 @@ +target_sources(${LIB_CSP_NAME} PRIVATE + csp_if_can_pbuf.c + csp_if_can.c + csp_if_i2c.c + csp_if_kiss.c + csp_if_lo.c +) diff --git a/thirdparty/libcsp/src/interfaces/csp_if_can.c b/thirdparty/libcsp/src/interfaces/csp_if_can.c new file mode 100644 index 00000000..5add8334 --- /dev/null +++ b/thirdparty/libcsp/src/interfaces/csp_if_can.c @@ -0,0 +1,279 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* CAN frames contains at most 8 bytes of data, so in order to transmit CSP + * packets larger than this, a fragmentation protocol is required. The CAN + * Fragmentation Protocol (CFP) header is designed to match the 29 bit CAN + * identifier. + * + * The CAN identifier is divided in these fields: + * src: 5 bits + * dst: 5 bits + * type: 1 bit + * remain: 8 bits + * identifier: 10 bits + * + * Source and Destination addresses must match the CSP packet. The type field + * is used to distinguish the first and subsequent frames in a fragmented CSP + * packet. Type is BEGIN (0) for the first fragment and MORE (1) for all other + * fragments. Remain indicates number of remaining fragments, and must be + * decremented by one for each fragment sent. The identifier field serves the + * same purpose as in the Internet Protocol, and should be an auto incrementing + * integer to uniquely separate sessions. + */ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "csp_if_can_pbuf.h" + +/* CFP Frame Types */ +enum cfp_frame_t { + CFP_BEGIN = 0, + CFP_MORE = 1 +}; + +int csp_can_rx(csp_iface_t *interface, uint32_t id, const uint8_t *data, uint8_t dlc, CSP_BASE_TYPE *task_woken) +{ + csp_can_pbuf_element_t *buf; + uint8_t offset; + + /* Random packet loss */ +#if 0 + int random = rand(); + if (random < RAND_MAX * 0.00005) { + csp_log_warn("Dropping frame"); + return; + } +#endif + + /* Bind incoming frame to a packet buffer */ + buf = csp_can_pbuf_find(id, CFP_ID_CONN_MASK); + + /* Check returned buffer */ + if (buf == NULL) { + if (CFP_TYPE(id) == CFP_BEGIN) { + buf = csp_can_pbuf_new(id, task_woken); + if (buf == NULL) { + //csp_log_warn("No available packet buffer for CAN"); + interface->rx_error++; + return CSP_ERR_NOMEM; + } + } else { + //csp_log_warn("Out of order id 0x%X remain %u", CFP_ID(id), CFP_REMAIN(id)); + interface->frame++; + return CSP_ERR_INVAL; + } + } + + /* Reset frame data offset */ + offset = 0; + + switch (CFP_TYPE(id)) { + + case CFP_BEGIN: + + /* Discard packet if DLC is less than CSP id + CSP length fields */ + if (dlc < sizeof(csp_id_t) + sizeof(uint16_t)) { + //csp_log_warn("Short BEGIN frame received"); + interface->frame++; + csp_can_pbuf_free(buf, task_woken); + break; + } + + /* Check for incomplete frame */ + if (buf->packet != NULL) { + /* Reuse the buffer */ + //csp_log_warn("Incomplete frame"); + interface->frame++; + } else { + /* Allocate memory for frame */ + if (task_woken == NULL) { + buf->packet = csp_buffer_get(interface->mtu); + } else { + buf->packet = csp_buffer_get_isr(interface->mtu); + } + if (buf->packet == NULL) { + //csp_log_error("Failed to get buffer for CSP_BEGIN packet"); + interface->frame++; + csp_can_pbuf_free(buf, task_woken); + break; + } + } + + /* Copy CSP identifier and length*/ + memcpy(&(buf->packet->id), data, sizeof(csp_id_t)); + buf->packet->id.ext = csp_ntoh32(buf->packet->id.ext); + memcpy(&(buf->packet->length), data + sizeof(csp_id_t), sizeof(uint16_t)); + buf->packet->length = csp_ntoh16(buf->packet->length); + + /* Reset RX count */ + buf->rx_count = 0; + + /* Set offset to prevent CSP header from being copied to CSP data */ + offset = sizeof(csp_id_t) + sizeof(uint16_t); + + /* Set remain field - increment to include begin packet */ + buf->remain = CFP_REMAIN(id) + 1; + + /* FALLTHROUGH */ + + case CFP_MORE: + + /* Check 'remain' field match */ + if (CFP_REMAIN(id) != buf->remain - 1) { + //csp_log_error("CAN frame lost in CSP packet"); + csp_can_pbuf_free(buf, task_woken); + interface->frame++; + break; + } + + /* Decrement remaining frames */ + buf->remain--; + + /* Check for overflow */ + if ((buf->rx_count + dlc - offset) > buf->packet->length) { + //csp_log_error("RX buffer overflow"); + interface->frame++; + csp_can_pbuf_free(buf, task_woken); + break; + } + + /* Copy dlc bytes into buffer */ + memcpy(&buf->packet->data[buf->rx_count], data + offset, dlc - offset); + buf->rx_count += dlc - offset; + + /* Check if more data is expected */ + if (buf->rx_count != buf->packet->length) + break; + + /* Data is available */ + csp_qfifo_write(buf->packet, interface, task_woken); + + /* Drop packet buffer reference */ + buf->packet = NULL; + + /* Free packet buffer */ + csp_can_pbuf_free(buf, task_woken); + + break; + + default: + //csp_log_warn("Received unknown CFP message type"); + csp_can_pbuf_free(buf, task_woken); + break; + + } + + return CSP_ERR_NONE; +} + +int csp_can_tx(csp_iface_t *interface, csp_packet_t *packet, uint32_t timeout) +{ + + /* CFP Identification number */ + static volatile int csp_can_frame_id = 0; + + /* Get local copy of the static frameid */ + int ident = csp_can_frame_id++; + + uint16_t tx_count; + uint8_t bytes, overhead, avail, dest; + uint8_t frame_buf[8]; + + /* Calculate overhead */ + overhead = sizeof(csp_id_t) + sizeof(uint16_t); + + /* Insert destination node mac address into the CFP destination field */ + dest = csp_rtable_find_mac(packet->id.dst); + if (dest == CSP_NODE_MAC) + dest = packet->id.dst; + + /* Create CAN identifier */ + uint32_t id = 0; + id |= CFP_MAKE_SRC(packet->id.src); + id |= CFP_MAKE_DST(dest); + id |= CFP_MAKE_ID(ident); + id |= CFP_MAKE_TYPE(CFP_BEGIN); + id |= CFP_MAKE_REMAIN((packet->length + overhead - 1) / 8); + + /* Calculate first frame data bytes */ + avail = 8 - overhead; + bytes = (packet->length <= avail) ? packet->length : avail; + + /* Copy CSP headers and data */ + uint32_t csp_id_be = csp_hton32(packet->id.ext); + uint16_t csp_length_be = csp_hton16(packet->length); + + memcpy(frame_buf, &csp_id_be, sizeof(csp_id_be)); + memcpy(frame_buf + sizeof(csp_id_be), &csp_length_be, sizeof(csp_length_be)); + memcpy(frame_buf + overhead, packet->data, bytes); + + /* Increment tx counter */ + tx_count = bytes; + + /* Send first frame */ + if (csp_can_tx_frame(interface, id, frame_buf, overhead + bytes)) { + //csp_log_warn("Failed to send CAN frame in csp_tx_can"); + interface->tx_error++; + return CSP_ERR_DRIVER; + } + + /* Send next frames if not complete */ + while (tx_count < packet->length) { + /* Calculate frame data bytes */ + bytes = (packet->length - tx_count >= 8) ? 8 : packet->length - tx_count; + + /* Prepare identifier */ + id = 0; + id |= CFP_MAKE_SRC(packet->id.src); + id |= CFP_MAKE_DST(dest); + id |= CFP_MAKE_ID(ident); + id |= CFP_MAKE_TYPE(CFP_MORE); + id |= CFP_MAKE_REMAIN((packet->length - tx_count - bytes + 7) / 8); + + /* Increment tx counter */ + tx_count += bytes; + + /* Send frame */ + if (csp_can_tx_frame(interface, id, packet->data + tx_count - bytes, bytes)) { + //csp_log_warn("Failed to send CAN frame in Tx callback"); + interface->tx_error++; + return CSP_ERR_DRIVER; + } + } + + csp_buffer_free(packet); + + return CSP_ERR_NONE; +} diff --git a/thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.c b/thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.c new file mode 100644 index 00000000..65f18de9 --- /dev/null +++ b/thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.c @@ -0,0 +1,77 @@ +/* + * csp_if_can_pbuf.c + * + * Created on: Feb 3, 2017 + * Author: johan + */ + +#include +#include "csp_if_can_pbuf.h" + +/* Number of packet buffer elements */ +#define PBUF_ELEMENTS CSP_CONN_MAX + +/* Buffer element timeout in ms */ +#define PBUF_TIMEOUT_MS 1000 + +static csp_can_pbuf_element_t csp_can_pbuf[PBUF_ELEMENTS] = {}; + +int csp_can_pbuf_free(csp_can_pbuf_element_t *buf, CSP_BASE_TYPE *task_woken) +{ + /* Free CSP packet */ + if (buf->packet != NULL) { + if (task_woken == NULL) { + csp_buffer_free(buf->packet); + } else { + csp_buffer_free_isr(buf->packet); + } + } + + /* Mark buffer element free */ + buf->packet = NULL; + buf->rx_count = 0; + buf->cfpid = 0; + buf->last_used = 0; + buf->remain = 0; + buf->state = BUF_FREE; + + return CSP_ERR_NONE; +} + +csp_can_pbuf_element_t *csp_can_pbuf_new(uint32_t id, CSP_BASE_TYPE *task_woken) +{ + uint32_t now = csp_get_ms(); + + for (int i = 0; i < PBUF_ELEMENTS; i++) { + + /* Perform cleanup in used pbufs */ + if (csp_can_pbuf[i].state == BUF_USED) { + if (now - csp_can_pbuf[i].last_used > PBUF_TIMEOUT_MS) + csp_can_pbuf_free(&csp_can_pbuf[i], task_woken); + } + + if (csp_can_pbuf[i].state == BUF_FREE) { + csp_can_pbuf[i].state = BUF_USED; + csp_can_pbuf[i].cfpid = id; + csp_can_pbuf[i].remain = 0; + csp_can_pbuf[i].last_used = now; + return &csp_can_pbuf[i]; + } + + } + + return NULL; + +} + +csp_can_pbuf_element_t *csp_can_pbuf_find(uint32_t id, uint32_t mask) +{ + for (int i = 0; i < PBUF_ELEMENTS; i++) { + if ((csp_can_pbuf[i].state == BUF_USED) && ((csp_can_pbuf[i].cfpid & mask) == (id & mask))) { + csp_can_pbuf[i].last_used = csp_get_ms(); + return &csp_can_pbuf[i]; + } + } + return NULL; +} + diff --git a/thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.h b/thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.h new file mode 100644 index 00000000..3e71c26c --- /dev/null +++ b/thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.h @@ -0,0 +1,31 @@ +/* + * csp_if_can_pbuf.h + * + * Created on: Feb 3, 2017 + * Author: johan + */ + +#ifndef LIB_CSP_SRC_INTERFACES_CSP_IF_CAN_PBUF_H_ +#define LIB_CSP_SRC_INTERFACES_CSP_IF_CAN_PBUF_H_ + +/* Packet buffers */ +typedef enum { + BUF_FREE = 0, /* Buffer element free */ + BUF_USED = 1, /* Buffer element used */ +} csp_can_pbuf_state_t; + +typedef struct { + uint16_t rx_count; /* Received bytes */ + uint32_t remain; /* Remaining packets */ + uint32_t cfpid; /* Connection CFP identification number */ + csp_packet_t *packet; /* Pointer to packet buffer */ + csp_can_pbuf_state_t state; /* Element state */ + uint32_t last_used; /* Timestamp in ms for last use of buffer */ +} csp_can_pbuf_element_t; + +int csp_can_pbuf_free(csp_can_pbuf_element_t *buf, CSP_BASE_TYPE *task_woken); +csp_can_pbuf_element_t *csp_can_pbuf_new(uint32_t id, CSP_BASE_TYPE *task_woken); +csp_can_pbuf_element_t *csp_can_pbuf_find(uint32_t id, uint32_t mask); +void csp_can_pbuf_cleanup(CSP_BASE_TYPE *task_woken); + +#endif /* LIB_CSP_SRC_INTERFACES_CSP_IF_CAN_PBUF_H_ */ diff --git a/thirdparty/libcsp/src/interfaces/csp_if_i2c.c b/thirdparty/libcsp/src/interfaces/csp_if_i2c.c new file mode 100644 index 00000000..c5d105df --- /dev/null +++ b/thirdparty/libcsp/src/interfaces/csp_if_i2c.c @@ -0,0 +1,116 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include + +#include +#include +#include +#include +#include +#include + +static int csp_i2c_handle = 0; + +int csp_i2c_tx(csp_iface_t * interface, csp_packet_t * packet, uint32_t timeout) { + + /* Cast the CSP packet buffer into an i2c frame */ + i2c_frame_t * frame = (i2c_frame_t *) packet; + + /* Insert destination node into the i2c destination field */ + if (csp_rtable_find_mac(packet->id.dst) == CSP_NODE_MAC) { + frame->dest = packet->id.dst; + } else { + frame->dest = csp_rtable_find_mac(packet->id.dst); + } + + /* Save the outgoing id in the buffer */ + packet->id.ext = csp_hton32(packet->id.ext); + + /* Add the CSP header to the I2C length field */ + frame->len += sizeof(packet->id); + frame->len_rx = 0; + + /* Some I2C drivers support X number of retries + * CSP don't care about this. If it doesn't work the first + * time, don'y use time on it. + */ + frame->retries = 0; + + /* enqueue the frame */ + if (i2c_send(csp_i2c_handle, frame, timeout) != E_NO_ERR) + return CSP_ERR_DRIVER; + + return CSP_ERR_NONE; + +} + +/** + * When a frame is received, cast it to a csp_packet + * and send it directly to the CSP new packet function. + * Context: ISR only + * @param frame + */ +void csp_i2c_rx(i2c_frame_t * frame, void * pxTaskWoken) { + + static csp_packet_t * packet; + + /* Validate input */ + if (frame == NULL) + return; + + if ((frame->len < 4) || (frame->len > I2C_MTU)) { + csp_if_i2c.frame++; + csp_buffer_free_isr(frame); + return; + } + + /* Strip the CSP header off the length field before converting to CSP packet */ + frame->len -= sizeof(csp_id_t); + + /* Convert the packet from network to host order */ + packet = (csp_packet_t *) frame; + packet->id.ext = csp_ntoh32(packet->id.ext); + + /* Receive the packet in CSP */ + csp_qfifo_write(packet, &csp_if_i2c, pxTaskWoken); + +} + +int csp_i2c_init(uint8_t addr, int handle, int speed) { + + /* Create i2c_handle */ + csp_i2c_handle = handle; + if (i2c_init(csp_i2c_handle, I2C_MASTER, addr, speed, 10, 10, csp_i2c_rx) != E_NO_ERR) + return CSP_ERR_DRIVER; + + /* Register interface */ + csp_iflist_add(&csp_if_i2c); + + return CSP_ERR_NONE; + +} + +/** Interface definition */ +csp_iface_t csp_if_i2c = { + .name = "I2C", + .nexthop = csp_i2c_tx, +}; diff --git a/thirdparty/libcsp/src/interfaces/csp_if_kiss.c b/thirdparty/libcsp/src/interfaces/csp_if_kiss.c new file mode 100644 index 00000000..fe5707f6 --- /dev/null +++ b/thirdparty/libcsp/src/interfaces/csp_if_kiss.c @@ -0,0 +1,260 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#define KISS_MTU 256 + +#define FEND 0xC0 +#define FESC 0xDB +#define TFEND 0xDC +#define TFESC 0xDD + +#define TNC_DATA 0x00 +#define TNC_SET_HARDWARE 0x06 +#define TNC_RETURN 0xFF + +static int kiss_lock_init = 0; +static csp_bin_sem_handle_t kiss_lock; + +/* Send a CSP packet over the KISS RS232 protocol */ +static int csp_kiss_tx(csp_iface_t * interface, csp_packet_t * packet, uint32_t timeout) { + + if (interface == NULL || interface->driver == NULL) + return CSP_ERR_DRIVER; + + /* Add CRC32 checksum */ + csp_crc32_append(packet, false); + + /* Save the outgoing id in the buffer */ + packet->id.ext = csp_hton32(packet->id.ext); + packet->length += sizeof(packet->id.ext); + + /* Lock */ + csp_bin_sem_wait(&kiss_lock, 1000); + + /* Transmit data */ + csp_kiss_handle_t * driver = interface->driver; + driver->kiss_putc(FEND); + driver->kiss_putc(TNC_DATA); + for (unsigned int i = 0; i < packet->length; i++) { + if (((unsigned char *) &packet->id.ext)[i] == FEND) { + ((unsigned char *) &packet->id.ext)[i] = TFEND; + driver->kiss_putc(FESC); + } else if (((unsigned char *) &packet->id.ext)[i] == FESC) { + ((unsigned char *) &packet->id.ext)[i] = TFESC; + driver->kiss_putc(FESC); + } + driver->kiss_putc(((unsigned char *) &packet->id.ext)[i]); + } + driver->kiss_putc(FEND); + + /* Free data */ + csp_buffer_free(packet); + + /* Unlock */ + csp_bin_sem_post(&kiss_lock); + + return CSP_ERR_NONE; +} + +/** + * When a frame is received, decode the kiss-stuff + * and eventually send it directly to the CSP new packet function. + */ +void csp_kiss_rx(csp_iface_t * interface, uint8_t * buf, int len, void * pxTaskWoken) { + + /* Driver handle */ + csp_kiss_handle_t * driver = interface->driver; + + while (len--) { + + /* Input */ + unsigned char inputbyte = *buf++; + + /* If packet was too long */ + if (driver->rx_length > interface->mtu) { + //csp_log_warn("KISS RX overflow"); + interface->rx_error++; + driver->rx_mode = KISS_MODE_NOT_STARTED; + driver->rx_length = 0; + } + + switch (driver->rx_mode) { + + case KISS_MODE_NOT_STARTED: + + /* Send normal chars back to usart driver */ + if (inputbyte != FEND) { + if (driver->kiss_discard != NULL) + driver->kiss_discard(inputbyte, pxTaskWoken); + break; + } + + /* Try to allocate new buffer */ + if (driver->rx_packet == NULL) { + if (pxTaskWoken == NULL) { + driver->rx_packet = csp_buffer_get(interface->mtu); + } else { + driver->rx_packet = csp_buffer_get_isr(interface->mtu); + } + } + + /* If no more memory, skip frame */ + if (driver->rx_packet == NULL) { + driver->rx_mode = KISS_MODE_SKIP_FRAME; + break; + } + + /* Start transfer */ + driver->rx_length = 0; + driver->rx_mode = KISS_MODE_STARTED; + driver->rx_first = 1; + break; + + case KISS_MODE_STARTED: + + /* Escape char */ + if (inputbyte == FESC) { + driver->rx_mode = KISS_MODE_ESCAPED; + break; + } + + /* End Char */ + if (inputbyte == FEND) { + + /* Accept message */ + if (driver->rx_length > 0) { + + /* Check for valid length */ + if (driver->rx_length < CSP_HEADER_LENGTH + sizeof(uint32_t)) { + //csp_log_warn("KISS short frame skipped, len: %u", driver->rx_length); + interface->rx_error++; + driver->rx_mode = KISS_MODE_NOT_STARTED; + break; + } + + /* Count received frame */ + interface->frame++; + + /* The CSP packet length is without the header */ + driver->rx_packet->length = driver->rx_length - CSP_HEADER_LENGTH; + + /* Convert the packet from network to host order */ + driver->rx_packet->id.ext = csp_ntoh32(driver->rx_packet->id.ext); + + /* Validate CRC */ + if (csp_crc32_verify(driver->rx_packet, false) != CSP_ERR_NONE) { + //csp_log_warn("KISS invalid crc frame skipped, len: %u", driver->rx_packet->length); + interface->rx_error++; + driver->rx_mode = KISS_MODE_NOT_STARTED; + break; + } + + /* Send back into CSP, notice calling from task so last argument must be NULL! */ + csp_qfifo_write(driver->rx_packet, interface, pxTaskWoken); + driver->rx_packet = NULL; + driver->rx_mode = KISS_MODE_NOT_STARTED; + break; + + } + + /* Break after the end char */ + break; + } + + /* Skip the first char after FEND which is TNC_DATA (0x00) */ + if (driver->rx_first) { + driver->rx_first = 0; + break; + } + + /* Valid data char */ + ((char *) &driver->rx_packet->id.ext)[driver->rx_length++] = inputbyte; + + break; + + case KISS_MODE_ESCAPED: + + /* Escaped escape char */ + if (inputbyte == TFESC) + ((char *) &driver->rx_packet->id.ext)[driver->rx_length++] = FESC; + + /* Escaped fend char */ + if (inputbyte == TFEND) + ((char *) &driver->rx_packet->id.ext)[driver->rx_length++] = FEND; + + /* Go back to started mode */ + driver->rx_mode = KISS_MODE_STARTED; + break; + + case KISS_MODE_SKIP_FRAME: + + /* Just wait for end char */ + if (inputbyte == FEND) + driver->rx_mode = KISS_MODE_NOT_STARTED; + + break; + + } + + } + +} + +void csp_kiss_init(csp_iface_t * csp_iface, csp_kiss_handle_t * csp_kiss_handle, csp_kiss_putc_f kiss_putc_f, csp_kiss_discard_f kiss_discard_f, const char * name) { + + /* Init lock only once */ + if (kiss_lock_init == 0) { + csp_bin_sem_create(&kiss_lock); + kiss_lock_init = 1; + } + + /* Register device handle as member of interface */ + csp_iface->driver = csp_kiss_handle; + csp_kiss_handle->kiss_discard = kiss_discard_f; + csp_kiss_handle->kiss_putc = kiss_putc_f; + csp_kiss_handle->rx_packet = NULL; + csp_kiss_handle->rx_mode = KISS_MODE_NOT_STARTED; + + /* Set default MTU if not given */ + if (csp_iface->mtu == 0) { + csp_iface->mtu = KISS_MTU; + } + + /* Setup other mandatories */ + csp_iface->nexthop = csp_kiss_tx; + csp_iface->name = name; + + /* Regsiter interface */ + csp_iflist_add(csp_iface); + +} diff --git a/thirdparty/libcsp/src/interfaces/csp_if_lo.c b/thirdparty/libcsp/src/interfaces/csp_if_lo.c new file mode 100644 index 00000000..f3e81b15 --- /dev/null +++ b/thirdparty/libcsp/src/interfaces/csp_if_lo.c @@ -0,0 +1,61 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* CSP includes */ +#include +#include +#include +#include + +#include +#include + +#include "../csp_route.h" + +/** + * Loopback interface transmit function + * @param packet Packet to transmit + * @param timeout Timout in ms + * @return 1 if packet was successfully transmitted, 0 on error + */ +static int csp_lo_tx(csp_iface_t * interface, csp_packet_t * packet, uint32_t timeout) { + + /* Drop packet silently if not destined for us. This allows + * blackhole routing addresses by setting their nexthop to + * the loopback interface. + */ + if (packet->id.dst != csp_get_address()) { + /* Consume and drop packet */ + csp_buffer_free(packet); + return CSP_ERR_NONE; + } + + /* Send back into CSP, notice calling from task so last argument must be NULL! */ + csp_qfifo_write(packet, &csp_if_lo, NULL); + + return CSP_ERR_NONE; + +} + +/* Interface definition */ +csp_iface_t csp_if_lo = { + .name = "LOOP", + .nexthop = csp_lo_tx, +}; diff --git a/thirdparty/libcsp/src/rtable/CMakeLists.txt b/thirdparty/libcsp/src/rtable/CMakeLists.txt new file mode 100644 index 00000000..101f4fb9 --- /dev/null +++ b/thirdparty/libcsp/src/rtable/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${LIB_CSP_NAME} PRIVATE + csp_rtable_cidr.c +) diff --git a/thirdparty/libcsp/src/rtable/csp_rtable_cidr.c b/thirdparty/libcsp/src/rtable/csp_rtable_cidr.c new file mode 100644 index 00000000..5758dc3c --- /dev/null +++ b/thirdparty/libcsp/src/rtable/csp_rtable_cidr.c @@ -0,0 +1,233 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include +#include +#include +#include + +/* Local typedef for routing table */ +typedef struct __attribute__((__packed__)) csp_rtable_s { + uint8_t address; + uint8_t netmask; + uint8_t mac; + csp_iface_t * interface; + struct csp_rtable_s * next; +} csp_rtable_t; + +/* Routing entries are stored in a linked list*/ +static csp_rtable_t * rtable = NULL; + +static csp_rtable_t * csp_rtable_find(uint8_t addr, uint8_t netmask, uint8_t exact) { + + /* Remember best result */ + csp_rtable_t * best_result = NULL; + uint8_t best_result_mask = 0; + + /* Start search */ + csp_rtable_t * i = rtable; + while(i) { + + /* Look for exact match */ + if (i->address == addr && i->netmask == netmask) { + best_result = i; + break; + } + + /* Try a CIDR netmask match */ + if (!exact) { + uint8_t hostbits = (1 << (CSP_ID_HOST_SIZE - i->netmask)) - 1; + uint8_t netbits = ~hostbits; + //printf("Netbits %x Hostbits %x\r\n", netbits, hostbits); + + /* Match network addresses */ + uint8_t net_a = i->address & netbits; + uint8_t net_b = addr & netbits; + //printf("A: %hhx, B: %hhx\r\n", net_a, net_b); + + /* We have a match */ + if (net_a == net_b) { + if (i->netmask >= best_result_mask) { + //printf("Match best result %u %u\r\n", best_result_mask, i->netmask); + best_result = i; + best_result_mask = i->netmask; + } + } + + } + + i = i->next; + + } + +#if 0 + if (best_result) + csp_debug(CSP_PACKET, "Using routing entry: %u/%u dev %s m:%u\r\n", best_result->address, best_result->netmask, best_result->interface->name, best_result->mac); +#endif + + return best_result; + +} + +void csp_rtable_clear(void) { + for (csp_rtable_t * i = rtable; (i);) { + void * freeme = i; + i = i->next; + csp_free(freeme); + } + rtable = NULL; + + /* Set loopback up again */ + csp_rtable_set(csp_get_address(), CSP_ID_HOST_SIZE, &csp_if_lo, CSP_NODE_MAC); + +} + +static int csp_rtable_parse(const char * buffer, int dry_run) { + + int valid_entries = 0; + + /* Copy string before running strtok */ + char * str = alloca(strlen(buffer) + 1); + memcpy(str, buffer, strlen(buffer) + 1); + + /* Get first token */ + str = strtok(str, ","); + + while ((str) && (strlen(str) > 1)) { + int address = 0, netmask = 0, mac = 255; + char name[10] = {}; + if (sscanf(str, "%u/%u %s %u", &address, &netmask, name, &mac) != 4) { + if (sscanf(str, "%u/%u %s", &address, &netmask, name) != 3) { + csp_log_error("Parse error %s", str); + return -1; + } + } + //printf("Parsed %u/%u %u %s\r\n", address, netmask, mac, name); + csp_iface_t * ifc = csp_iflist_get_by_name(name); + if (ifc) { + if (dry_run == 0) + csp_rtable_set(address, netmask, ifc, mac); + } else { + csp_log_error("Unknown interface %s", name); + return -1; + } + valid_entries++; + str = strtok(NULL, ","); + } + + return valid_entries; +} + +void csp_rtable_load(const char * buffer) { + csp_rtable_parse(buffer, 0); +} + +int csp_rtable_check(const char * buffer) { + return csp_rtable_parse(buffer, 1); +} + +int csp_rtable_save(char * buffer, int maxlen) { + int len = 0; + for (csp_rtable_t * i = rtable; (i); i = i->next) { + if (i->mac != CSP_NODE_MAC) { + len += snprintf(buffer + len, maxlen - len, "%u/%u %s %u, ", i->address, i->netmask, i->interface->name, i->mac); + } else { + len += snprintf(buffer + len, maxlen - len, "%u/%u %s, ", i->address, i->netmask, i->interface->name); + } + } + return len; +} + +csp_iface_t * csp_rtable_find_iface(uint8_t id) { + csp_rtable_t * entry = csp_rtable_find(id, CSP_ID_HOST_SIZE, 0); + if (entry == NULL) + return NULL; + return entry->interface; +} + +uint8_t csp_rtable_find_mac(uint8_t id) { + csp_rtable_t * entry = csp_rtable_find(id, CSP_ID_HOST_SIZE, 0); + if (entry == NULL) + return 255; + return entry->mac; +} + +int csp_rtable_set(uint8_t _address, uint8_t _netmask, csp_iface_t *ifc, uint8_t mac) { + + if (ifc == NULL) + return CSP_ERR_INVAL; + + /* Set default route in the old way */ + int address, netmask; + if (_address == CSP_DEFAULT_ROUTE) { + netmask = 0; + address = 0; + } else { + netmask = _netmask; + address = _address; + } + + /* Fist see if the entry exists */ + csp_rtable_t * entry = csp_rtable_find(address, netmask, 1); + + /* If not, create a new one */ + if (!entry) { + entry = csp_malloc(sizeof(csp_rtable_t)); + if (entry == NULL) + return CSP_ERR_NOMEM; + + entry->next = NULL; + /* Add entry to linked-list */ + if (rtable == NULL) { + /* This is the first interface to be added */ + rtable = entry; + } else { + /* One or more interfaces were already added */ + csp_rtable_t * i = rtable; + while (i->next) + i = i->next; + i->next = entry; + } + } + + /* Fill in the data */ + entry->address = address; + entry->netmask = netmask; + entry->interface = ifc; + entry->mac = mac; + + return CSP_ERR_NONE; +} + +#ifdef CSP_DEBUG +void csp_rtable_print(void) { + + for (csp_rtable_t * i = rtable; (i); i = i->next) { + if (i->mac == 255) { + printf("%u/%u %s\r\n", i->address, i->netmask, i->interface->name); + } else { + printf("%u/%u %s %u\r\n", i->address, i->netmask, i->interface->name, i->mac); + } + } + +} +#endif diff --git a/thirdparty/libcsp/src/rtable/csp_rtable_static.c b/thirdparty/libcsp/src/rtable/csp_rtable_static.c new file mode 100644 index 00000000..ea993027 --- /dev/null +++ b/thirdparty/libcsp/src/rtable/csp_rtable_static.c @@ -0,0 +1,128 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include + +/* Local typedef for routing table */ +typedef struct __attribute__((__packed__)) csp_rtable_s { + csp_iface_t * interface; + uint8_t mac; +} csp_rtable_t; + +/* Static storage context for routing table */ +static csp_rtable_t routes[CSP_ROUTE_COUNT] = {}; + +/** + * Find entry in static routing table + * This is done by table lookup with fallback to the default route + * The reason why the csp_rtable_t struct is not returned directly + * is that we wish to hide the storage format, mainly because of + * the alternative routing table storage (cidr). + * @param id Node + * @return pointer to found routing entry + */ +static csp_rtable_t * csp_rtable_find(uint8_t id) { + + if (routes[id].interface != NULL) { + return &routes[id]; + } else if (routes[CSP_DEFAULT_ROUTE].interface != NULL) { + return &routes[CSP_DEFAULT_ROUTE]; + } + return NULL; + +} + +csp_iface_t * csp_rtable_find_iface(uint8_t id) { + csp_rtable_t * route = csp_rtable_find(id); + if (route == NULL) + return NULL; + return route->interface; +} + +uint8_t csp_rtable_find_mac(uint8_t id) { + csp_rtable_t * route = csp_rtable_find(id); + if (route == NULL) + return 255; + return route->mac; +} + +void csp_rtable_clear(void) { + memset(routes, 0, sizeof(routes[0]) * CSP_ROUTE_COUNT); +} + +void csp_route_table_load(uint8_t route_table_in[CSP_ROUTE_TABLE_SIZE]) { + memcpy(routes, route_table_in, sizeof(routes[0]) * CSP_ROUTE_COUNT); +} + +void csp_route_table_save(uint8_t route_table_out[CSP_ROUTE_TABLE_SIZE]) { + memcpy(route_table_out, routes, sizeof(routes[0]) * CSP_ROUTE_COUNT); +} + +int csp_rtable_set(uint8_t node, uint8_t mask, csp_iface_t *ifc, uint8_t mac) { + + /* Don't add nothing */ + if (ifc == NULL) + return CSP_ERR_INVAL; + + /** + * Check if the interface has been added. + * + * NOTE: For future implementations, interfaces should call + * csp_route_add_if in its csp_if__init function, instead + * of registering at first route_set, in order to make the interface + * available to network based (CMP) route configuration. + */ + csp_iflist_add(ifc); + + /* Set route */ + if (node <= CSP_DEFAULT_ROUTE) { + routes[node].interface = ifc; + routes[node].mac = mac; + } else { + csp_log_error("Failed to set route: invalid node id %u", node); + return CSP_ERR_INVAL; + } + + return CSP_ERR_NONE; + +} + +void csp_rtable_load(const char * buffer) { +} + +int csp_rtable_check(const char * buffer) { + return -1; +} + +#ifdef CSP_DEBUG +void csp_rtable_print(void) { + int i; + printf("Node Interface Address\r\n"); + for (i = 0; i < CSP_DEFAULT_ROUTE; i++) + if (routes[i].interface != NULL) + printf("%4u %-9s %u\r\n", i, + routes[i].interface->name, + routes[i].mac == CSP_NODE_MAC ? i : routes[i].mac); + printf(" * %-9s %u\r\n", routes[CSP_DEFAULT_ROUTE].interface->name, routes[CSP_DEFAULT_ROUTE].mac); + +} +#endif diff --git a/thirdparty/libcsp/src/transport/CMakeLists.txt b/thirdparty/libcsp/src/transport/CMakeLists.txt new file mode 100644 index 00000000..c509b755 --- /dev/null +++ b/thirdparty/libcsp/src/transport/CMakeLists.txt @@ -0,0 +1,4 @@ +target_sources(${LIB_CSP_NAME} PRIVATE + csp_rdp.c + csp_udp.c +) diff --git a/thirdparty/libcsp/src/transport/csp_rdp.c b/thirdparty/libcsp/src/transport/csp_rdp.c new file mode 100644 index 00000000..e19968e2 --- /dev/null +++ b/thirdparty/libcsp/src/transport/csp_rdp.c @@ -0,0 +1,1102 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* + * This is a implementation of the seq/ack handling taken from the Reliable Datagram Protocol (RDP) + * For more information read RFC 908/1151. The implementation has been extended to include support for + * delayed acknowledgments, to improve performance over half-duplex links. + */ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include "../csp_port.h" +#include "../csp_conn.h" +#include "../csp_io.h" +#include "csp_transport.h" + +#ifdef CSP_USE_RDP + +#define RDP_SYN 0x01 +#define RDP_ACK 0x02 +#define RDP_EAK 0x04 +#define RDP_RST 0x08 + +static uint32_t csp_rdp_window_size = 4; +static uint32_t csp_rdp_conn_timeout = 10000; +static uint32_t csp_rdp_packet_timeout = 1000; +static uint32_t csp_rdp_delayed_acks = 1; +static uint32_t csp_rdp_ack_timeout = 1000 / 4; +static uint32_t csp_rdp_ack_delay_count = 4 / 2; + +/* Used for queue calls */ +static CSP_BASE_TYPE pdTrue = 1; + +typedef struct __attribute__((__packed__)) { + /* The timestamp is placed in the padding bytes */ + uint8_t padding[CSP_PADDING_BYTES - 2 * sizeof(uint32_t)]; + uint32_t quarantine; // EACK quarantine period + uint32_t timestamp; // Time the message was sent + uint16_t length; // Length field must be just before CSP ID + csp_id_t id; // CSP id must be just before data + uint8_t data[]; // This just points to the rest of the buffer, without a size indication. +} rdp_packet_t; + +typedef struct __attribute__((__packed__)) { + union __attribute__((__packed__)) { + uint8_t flags; + struct __attribute__((__packed__)) { +#if defined(CSP_BIG_ENDIAN) && !defined(CSP_LITTLE_ENDIAN) + unsigned int res : 4; + unsigned int syn : 1; + unsigned int ack : 1; + unsigned int eak : 1; + unsigned int rst : 1; +#elif defined(CSP_LITTLE_ENDIAN) && !defined(CSP_BIG_ENDIAN) + unsigned int rst : 1; + unsigned int eak : 1; + unsigned int ack : 1; + unsigned int syn : 1; + unsigned int res : 4; +#else + #error "Must define one of CSP_BIG_ENDIAN or CSP_LITTLE_ENDIAN in csp_platform.h" +#endif + }; + }; + uint16_t seq_nr; + uint16_t ack_nr; +} rdp_header_t; + +/** + * RDP Headers: + * The following functions are helper functions that handles the extra RDP + * information that needs to be appended to all data packets. + */ +static rdp_header_t * csp_rdp_header_add(csp_packet_t * packet) { + rdp_header_t * header = (rdp_header_t *) &packet->data[packet->length]; + packet->length += sizeof(rdp_header_t); + memset(header, 0, sizeof(rdp_header_t)); + return header; +} + +static rdp_header_t * csp_rdp_header_remove(csp_packet_t * packet) { + rdp_header_t * header = (rdp_header_t *) &packet->data[packet->length-sizeof(rdp_header_t)]; + packet->length -= sizeof(rdp_header_t); + return header; +} + +static rdp_header_t * csp_rdp_header_ref(csp_packet_t * packet) { + rdp_header_t * header = (rdp_header_t *) &packet->data[packet->length-sizeof(rdp_header_t)]; + return header; +} + +/* Functions for comparing wrapping sequence numbers and timestamps */ + +/* Return 1 if seq is between start and end (both inclusive) */ +static inline int csp_rdp_seq_between(uint16_t seq, uint16_t start, uint16_t end) { + return (uint16_t)(end - start) >= (uint16_t)(seq - start); +} + +/* Return 1 if seq is before cmp */ +static inline int csp_rdp_seq_before(uint16_t seq, uint16_t cmp) { + return (int16_t)(seq - cmp) < 0; +} + +/* Return 1 if seq is after cmp */ +static inline int csp_rdp_seq_after(uint16_t seq, uint16_t cmp) { + return csp_rdp_seq_before(cmp, seq); +} + +/* Return 1 if time is between start and end (both inclusive) */ +static inline int csp_rdp_time_between(uint32_t time, uint32_t start, uint32_t end) { + return (uint32_t)(end - start) >= (uint32_t)(time - start); +} + +/* Return 1 if time is before cmp */ +static inline int csp_rdp_time_before(uint32_t time, uint32_t cmp) { + return (int32_t)(time - cmp) < 0; +} + +/* Return 1 if time is after cmp */ +static inline int csp_rdp_time_after(uint32_t time, uint32_t cmp) { + return csp_rdp_time_before(cmp, time); +} + +/** + * CONTROL MESSAGES + * The following function is used to send empty messages, + * with ACK, SYN or RST flag. + */ +static int csp_rdp_send_cmp(csp_conn_t * conn, csp_packet_t * packet, int flags, int seq_nr, int ack_nr) { + + csp_id_t idout; + + /* Generate message */ + if (!packet) { + packet = csp_buffer_get(20); + if (!packet) + return CSP_ERR_NOMEM; + packet->length = 0; + } + + /* Add RDP header */ + rdp_header_t * header = csp_rdp_header_add(packet); + header->seq_nr = csp_hton16(seq_nr); + header->ack_nr = csp_hton16(ack_nr); + header->ack = (flags & RDP_ACK) ? 1 : 0; + header->eak = (flags & RDP_EAK) ? 1 : 0; + header->syn = (flags & RDP_SYN) ? 1 : 0; + header->rst = (flags & RDP_RST) ? 1 : 0; + + /* Send copy to tx_queue, before sending packet to IF */ + if (flags & RDP_SYN) { + rdp_packet_t * rdp_packet = csp_buffer_clone(packet); + if (rdp_packet == NULL) return CSP_ERR_NOMEM; + rdp_packet->timestamp = csp_get_ms(); + if (csp_queue_enqueue(conn->rdp.tx_queue, &rdp_packet, 0) != CSP_QUEUE_OK) + csp_buffer_free(rdp_packet); + } + + /* Send control messages with high priority */ + idout = conn->idout; + idout.pri = conn->idout.pri < CSP_PRIO_HIGH ? conn->idout.pri : CSP_PRIO_HIGH; + + /* Send packet to IF */ + csp_iface_t * ifout = csp_rtable_find_iface(idout.dst); + if (csp_send_direct(idout, packet, ifout, 0) != CSP_ERR_NONE) { + csp_log_error("INTERFACE ERROR: not possible to send"); + csp_buffer_free(packet); + return CSP_ERR_BUSY; + } + + /* Update last ACK time stamp */ + if (flags & RDP_ACK) { + conn->rdp.rcv_lsa = ack_nr; + conn->rdp.ack_timestamp = csp_get_ms(); + } + + return CSP_ERR_NONE; + +} + +/** + * EXTENDED ACKNOWLEDGEMENTS + * The following function sends an extended ACK packet + */ +static int csp_rdp_send_eack(csp_conn_t * conn) { + + /* Allocate message */ + csp_packet_t * packet_eack = csp_buffer_get(100); + if (packet_eack == NULL) return CSP_ERR_NOMEM; + packet_eack->length = 0; + + /* Loop through RX queue */ + int i, count; + csp_packet_t * packet; + count = csp_queue_size(conn->rdp.rx_queue); + for (i = 0; i < count; i++) { + + if (csp_queue_dequeue_isr(conn->rdp.rx_queue, &packet, &pdTrue) != CSP_QUEUE_OK) { + csp_log_error("Cannot dequeue from rx_queue in queue deliver"); + break; + } + + /* Add seq nr to EACK packet */ + rdp_header_t * header = csp_rdp_header_ref(packet); + packet_eack->data16[packet_eack->length/sizeof(uint16_t)] = csp_hton16(header->seq_nr); + packet_eack->length += sizeof(uint16_t); + csp_log_protocol("Added EACK nr %u", header->seq_nr); + + /* Requeue */ + csp_queue_enqueue_isr(conn->rdp.rx_queue, &packet, &pdTrue); + + } + + return csp_rdp_send_cmp(conn, packet_eack, RDP_ACK | RDP_EAK, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + +} + + +/** + * SYN Packet + * The following function sends a SYN packet + */ +static int csp_rdp_send_syn(csp_conn_t * conn) { + + /* Allocate message */ + csp_packet_t * packet = csp_buffer_get(100); + if (packet == NULL) return CSP_ERR_NOMEM; + + /* Generate contents */ + packet->data32[0] = csp_hton32(csp_rdp_window_size); + packet->data32[1] = csp_hton32(csp_rdp_conn_timeout); + packet->data32[2] = csp_hton32(csp_rdp_packet_timeout); + packet->data32[3] = csp_hton32(csp_rdp_delayed_acks); + packet->data32[4] = csp_hton32(csp_rdp_ack_timeout); + packet->data32[5] = csp_hton32(csp_rdp_ack_delay_count); + packet->length = 6 * sizeof(uint32_t); + + return csp_rdp_send_cmp(conn, packet, RDP_SYN, conn->rdp.snd_iss, 0); + +} + +static inline int csp_rdp_receive_data(csp_conn_t * conn, csp_packet_t * packet) { + + /* Remove RDP header before passing to userspace */ + csp_rdp_header_remove(packet); + + /* Enqueue data */ + if (csp_conn_enqueue_packet(conn, packet) < 0) { + csp_log_warn("Conn RX buffer full"); + return CSP_ERR_NOBUFS; + } + + return CSP_ERR_NONE; + +} + +static inline void csp_rdp_rx_queue_flush(csp_conn_t * conn) { + + /* Loop through RX queue */ + int i, count; + csp_packet_t * packet; + +front: + count = csp_queue_size(conn->rdp.rx_queue); + for (i = 0; i < count; i++) { + + if (csp_queue_dequeue_isr(conn->rdp.rx_queue, &packet, &pdTrue) != CSP_QUEUE_OK) { + csp_log_error("Cannot dequeue from rx_queue in queue deliver"); + break; + } + + rdp_header_t * header = csp_rdp_header_ref(packet); + csp_log_protocol("RX Queue deliver matching Element, seq %u", header->seq_nr); + + /* If the matching packet was found: */ + if (header->seq_nr == (uint16_t)(conn->rdp.rcv_cur + 1)) { + csp_log_protocol("Deliver seq %u", header->seq_nr); + csp_rdp_receive_data(conn, packet); + conn->rdp.rcv_cur++; + /* Loop from first element again */ + goto front; + + /* Otherwise, requeue */ + } else { + csp_queue_enqueue_isr(conn->rdp.rx_queue, &packet, &pdTrue); + } + + } + +} + +static inline bool csp_rdp_seq_in_rx_queue(csp_conn_t * conn, uint16_t seq_nr) { + + /* Loop through RX queue */ + int i, count; + rdp_packet_t * packet; + count = csp_queue_size(conn->rdp.rx_queue); + for (i = 0; i < count; i++) { + + if (csp_queue_dequeue_isr(conn->rdp.rx_queue, &packet, &pdTrue) != CSP_QUEUE_OK) { + csp_log_error("Cannot dequeue from rx_queue in queue exists"); + break; + } + + csp_queue_enqueue_isr(conn->rdp.rx_queue, &packet, &pdTrue); + + rdp_header_t * header = csp_rdp_header_ref((csp_packet_t *) packet); + csp_log_protocol("RX Queue exists matching Element, seq %u", header->seq_nr); + + /* If the matching packet was found, deliver */ + if (header->seq_nr == seq_nr) { + csp_log_protocol("We have a match"); + return true; + } + + } + + return false; + +} + +static inline int csp_rdp_rx_queue_add(csp_conn_t * conn, csp_packet_t * packet, uint16_t seq_nr) { + + if (csp_rdp_seq_in_rx_queue(conn, seq_nr)) + return CSP_QUEUE_ERROR; + return csp_queue_enqueue_isr(conn->rdp.rx_queue, &packet, &pdTrue); + +} + +static void csp_rdp_flush_eack(csp_conn_t * conn, csp_packet_t * eack_packet) { + + /* Loop through TX queue */ + int i, j, count; + rdp_packet_t * packet; + count = csp_queue_size(conn->rdp.tx_queue); + for (i = 0; i < count; i++) { + + if (csp_queue_dequeue(conn->rdp.tx_queue, &packet, 0) != CSP_QUEUE_OK) { + csp_log_error("Cannot dequeue from tx_queue in flush EACK"); + break; + } + + rdp_header_t * header = csp_rdp_header_ref((csp_packet_t *) packet); + csp_log_protocol("EACK compare element, time %u, seq %u", packet->timestamp, csp_ntoh16(header->seq_nr)); + + /* Look for this element in EACKs */ + int match = 0; + for (j = 0; j < (int)((eack_packet->length - sizeof(rdp_header_t)) / sizeof(uint16_t)); j++) { + if (csp_ntoh16(eack_packet->data16[j]) == csp_ntoh16(header->seq_nr)) + match = 1; + + /* Enable this if you want EACK's to trigger retransmission */ + if (csp_ntoh16(eack_packet->data16[j]) > csp_ntoh16(header->seq_nr)) { + uint32_t time_now = csp_get_ms(); + if (csp_rdp_time_after(time_now, packet->quarantine)) { + packet->timestamp = time_now - conn->rdp.packet_timeout - 1; + packet->quarantine = time_now + conn->rdp.packet_timeout / 2; + } + } + } + + if (match == 0) { + /* If not found, put back on tx queue */ + csp_queue_enqueue(conn->rdp.tx_queue, &packet, 0); + } else { + /* Found, free */ + csp_log_protocol("TX Element %u freed", csp_ntoh16(header->seq_nr)); + csp_buffer_free(packet); + } + + } + +} + +static inline bool csp_rdp_should_ack(csp_conn_t * conn) { + + /* If delayed ACKs are not used, always ACK */ + if (!conn->rdp.delayed_acks) { + return true; + } + + /* ACK if time since last ACK is greater than ACK timeout */ + uint32_t time_now = csp_get_ms(); + if (csp_rdp_time_after(time_now, conn->rdp.ack_timestamp + conn->rdp.ack_timeout)) + return true; + + /* ACK if number of unacknowledged packets is greater than delay count */ + if (csp_rdp_seq_after(conn->rdp.rcv_cur, conn->rdp.rcv_lsa + conn->rdp.ack_delay_count)) + return true; + + return false; + +} + +void csp_rdp_flush_all(csp_conn_t * conn) { + + if ((conn == NULL) || conn->rdp.tx_queue == NULL) { + csp_log_error("Null pointer passed to rdp flush all"); + return; + } + + rdp_packet_t * packet; + + /* Empty TX queue */ + while (csp_queue_dequeue_isr(conn->rdp.tx_queue, &packet, &pdTrue) == CSP_QUEUE_OK) { + if (packet != NULL) { + csp_log_protocol("RDP %p: Flush TX Element, time %u, seq %u", conn, packet->timestamp, csp_ntoh16(csp_rdp_header_ref((csp_packet_t *) packet)->seq_nr)); + csp_buffer_free(packet); + } + } + + /* Empty RX queue */ + while (csp_queue_dequeue_isr(conn->rdp.rx_queue, &packet, &pdTrue) == CSP_QUEUE_OK) { + if (packet != NULL) { + csp_log_protocol("RDP %p: Flush RX Element, time %u, seq %u", conn, packet->timestamp, csp_ntoh16(csp_rdp_header_ref((csp_packet_t *) packet)->seq_nr)); + csp_buffer_free(packet); + } + } + +} + + +int csp_rdp_check_ack(csp_conn_t * conn) { + + /* Check all RX queues for spare capacity */ + int prio, avail = 1; + for (prio = 0; prio < CSP_RX_QUEUES; prio++) { + if (CSP_RX_QUEUE_LENGTH - csp_queue_size(conn->rx_queue[prio]) <= 2 * (int32_t)conn->rdp.window_size) { + avail = 0; + break; + } + } + + /* If more space available, only send after ack timeout or immediately if delay_acks is zero */ + if (avail && csp_rdp_should_ack(conn)) + csp_rdp_send_cmp(conn, NULL, RDP_ACK, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + + return CSP_ERR_NONE; + +} + +static inline bool csp_rdp_is_conn_ready_for_tx(csp_conn_t * conn) +{ + // Check Tx window (messages waiting for acks) + if (csp_rdp_seq_after(conn->rdp.snd_nxt, conn->rdp.snd_una + conn->rdp.window_size - 1)) { + return false; + } + return true; +} + +/** + * This function must be called with regular intervals for the + * RDP protocol to work as expected. This takes care of closing + * stale connections and retransmitting traffic. A good place to + * call this function is from the CSP router task. + */ +void csp_rdp_check_timeouts(csp_conn_t * conn) { + + rdp_packet_t * packet; + + /** + * CONNECTION TIMEOUT: + * Check that connection has not timed out inside the network stack + * */ + uint32_t time_now = csp_get_ms(); + if (conn->socket != NULL) { + if (csp_rdp_time_after(time_now, conn->timestamp + conn->rdp.conn_timeout)) { + csp_log_warn("RDP %p: Found a lost connection (now: %u, ts: %u, to: %u), closing now", + conn, time_now, conn->timestamp, conn->rdp.conn_timeout); + csp_close(conn); + return; + } + } + + /** + * CLOSE-WAIT TIMEOUT: + * After waiting a while in CLOSE-WAIT, the connection should be closed. + */ + if (conn->rdp.state == RDP_CLOSE_WAIT) { + if (csp_rdp_time_after(time_now, conn->timestamp + conn->rdp.conn_timeout)) { + csp_log_protocol("RDP %p: CLOSE_WAIT timeout", conn); + csp_close(conn); + } + return; + } + + /** + * MESSAGE TIMEOUT: + * Check each outgoing message for TX timeout + */ + int i, count; + count = csp_queue_size(conn->rdp.tx_queue); + for (i = 0; i < count; i++) { + + if ((csp_queue_dequeue_isr(conn->rdp.tx_queue, &packet, &pdTrue) != CSP_QUEUE_OK) || packet == NULL) { + csp_log_warn("Cannot dequeue from tx_queue in check timeout"); + break; + } + + /* Get header */ + rdp_header_t * header = csp_rdp_header_ref((csp_packet_t *) packet); + + /* If acked, do not retransmit */ + if (csp_rdp_seq_before(csp_ntoh16(header->seq_nr), conn->rdp.snd_una)) { + csp_log_protocol("TX Element Free, time %u, seq %u, una %u", packet->timestamp, csp_ntoh16(header->seq_nr), conn->rdp.snd_una); + csp_buffer_free(packet); + continue; + } + + /* Check timestamp and retransmit if needed */ + if (csp_rdp_time_after(time_now, packet->timestamp + conn->rdp.packet_timeout)) { + csp_log_protocol("TX Element timed out, retransmitting seq %u", csp_ntoh16(header->seq_nr)); + + /* Update to latest outgoing ACK */ + header->ack_nr = csp_hton16(conn->rdp.rcv_cur); + + /* Send copy to tx_queue */ + packet->timestamp = csp_get_ms(); + csp_packet_t * new_packet = csp_buffer_clone(packet); + csp_iface_t * ifout = csp_rtable_find_iface(conn->idout.dst); + if (csp_send_direct(conn->idout, new_packet, ifout, 0) != CSP_ERR_NONE) { + csp_log_warn("Retransmission failed"); + csp_buffer_free(new_packet); + } + + } + + /* Requeue the TX element */ + csp_queue_enqueue_isr(conn->rdp.tx_queue, &packet, &pdTrue); + + } + + /** + * ACK TIMEOUT: + * Check ACK timeouts, if we have unacknowledged segments + */ + if (conn->rdp.delayed_acks) { + csp_rdp_check_ack(conn); + } + + /* Wake user task if connection is open and additional Tx can be done */ + if ((conn->rdp.state == RDP_OPEN) && csp_rdp_is_conn_ready_for_tx(conn)) { + csp_log_protocol("RDP %p: Wake Tx task (check timeouts)", conn); + csp_bin_sem_post(&conn->rdp.tx_wait); + } +} + +void csp_rdp_new_packet(csp_conn_t * conn, csp_packet_t * packet) { + + /* Get RX header and convert to host byte-order */ + rdp_header_t * rx_header = csp_rdp_header_ref(packet); + rx_header->ack_nr = csp_ntoh16(rx_header->ack_nr); + rx_header->seq_nr = csp_ntoh16(rx_header->seq_nr); + + csp_log_protocol("RDP %p: Received in S %u: syn %u, ack %u, eack %u, " + "rst %u, seq_nr %5u, ack_nr %5u, packet_len %u (%u)", + conn, conn->rdp.state, rx_header->syn, rx_header->ack, rx_header->eak, + rx_header->rst, rx_header->seq_nr, rx_header->ack_nr, + packet->length, packet->length - sizeof(rdp_header_t)); + + /* If a RESET was received. */ + if (rx_header->rst) { + + if (rx_header->ack) { + /* Store current ack'ed sequence number */ + conn->rdp.snd_una = rx_header->ack_nr + 1; + } + + if (conn->rdp.state == RDP_CLOSE_WAIT || conn->rdp.state == RDP_CLOSED) { + csp_log_protocol("RDP %p: RST received in CLOSE_WAIT or CLOSED. Now closing connection", conn); + goto discard_close; + } else { + csp_log_protocol("RDP %p: Got RESET in state %u", conn, conn->rdp.state); + + if (rx_header->seq_nr == (uint16_t)(conn->rdp.rcv_cur + 1)) { + csp_log_protocol("RDP %p: RESET in sequence, no more data incoming, reply with RESET", conn); + conn->rdp.state = RDP_CLOSE_WAIT; + conn->timestamp = csp_get_ms(); + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + goto discard_close; + } else { + csp_log_protocol("RDP %p: RESET out of sequence, keep connection open", conn); + goto discard_open; + } + } + } + + /* The BIG FAT switch (state-machine) */ + switch(conn->rdp.state) { + + /** + * STATE == CLOSED + */ + case RDP_CLOSED: { + + /* No SYN flag set while in closed. Inform by sending back RST */ + if (!rx_header->syn) { + csp_log_protocol("Not SYN received in CLOSED state. Discarding packet"); + csp_rdp_send_cmp(conn, NULL, RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + goto discard_close; + } + + csp_log_protocol("RDP: SYN-Received"); + + /* Setup TX seq. */ + conn->rdp.snd_iss = (uint16_t)rand(); + conn->rdp.snd_nxt = conn->rdp.snd_iss + 1; + conn->rdp.snd_una = conn->rdp.snd_iss; + + /* Store RX seq. */ + conn->rdp.rcv_cur = rx_header->seq_nr; + conn->rdp.rcv_irs = rx_header->seq_nr; + conn->rdp.rcv_lsa = rx_header->seq_nr; + + /* Store RDP options */ + conn->rdp.window_size = csp_ntoh32(packet->data32[0]); + conn->rdp.conn_timeout = csp_ntoh32(packet->data32[1]); + conn->rdp.packet_timeout = csp_ntoh32(packet->data32[2]); + conn->rdp.delayed_acks = csp_ntoh32(packet->data32[3]); + conn->rdp.ack_timeout = csp_ntoh32(packet->data32[4]); + conn->rdp.ack_delay_count = csp_ntoh32(packet->data32[5]); + csp_log_protocol("RDP: Window Size %u, conn timeout %u, packet timeout %u", + conn->rdp.window_size, conn->rdp.conn_timeout, conn->rdp.packet_timeout); + csp_log_protocol("RDP: Delayed acks: %u, ack timeout %u, ack each %u packet", + conn->rdp.delayed_acks, conn->rdp.ack_timeout, conn->rdp.ack_delay_count); + + /* Connection accepted */ + conn->rdp.state = RDP_SYN_RCVD; + + /* Send SYN/ACK */ + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_SYN, conn->rdp.snd_iss, conn->rdp.rcv_irs); + + goto discard_open; + + } + break; + + /** + * STATE == SYN-SENT + */ + case RDP_SYN_SENT: { + + /* First check SYN/ACK */ + if (rx_header->syn && rx_header->ack) { + + conn->rdp.rcv_cur = rx_header->seq_nr; + conn->rdp.rcv_irs = rx_header->seq_nr; + conn->rdp.rcv_lsa = rx_header->seq_nr - 1; + conn->rdp.snd_una = rx_header->ack_nr + 1; + conn->rdp.ack_timestamp = csp_get_ms(); + conn->rdp.state = RDP_OPEN; + + csp_log_protocol("RDP: NP: Connection OPEN"); + + /* Send ACK */ + csp_rdp_send_cmp(conn, NULL, RDP_ACK, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + + /* Wake TX task */ + csp_log_protocol("RDP %p: Wake Tx task (ack)", conn); + csp_bin_sem_post(&conn->rdp.tx_wait); + + goto discard_open; + } + + /* If there was no SYN in the reply, our SYN message hit an already open connection + * This is handled by sending a RST. + * Normally this would be followed up by a new connection attempt, however + * we don't have a method for signaling this to the user space. + */ + if (rx_header->ack) { + csp_log_error("Half-open connection found, sending RST"); + csp_rdp_send_cmp(conn, NULL, RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + csp_log_protocol("RDP %p: Wake Tx task (rst)", conn); + csp_bin_sem_post(&conn->rdp.tx_wait); + + goto discard_open; + } + + /* Otherwise we have an invalid command, such as a SYN reply to a SYN command, + * indicating simultaneous connections, which is not possible in the way CSP + * reserves some ports for server and some for clients. + */ + csp_log_error("Invalid reply to SYN request"); + goto discard_close; + + } + break; + + /** + * STATE == OPEN + */ + case RDP_SYN_RCVD: + case RDP_OPEN: + { + + /* SYN or !ACK is invalid */ + if (rx_header->syn || !rx_header->ack) { + if (rx_header->seq_nr != conn->rdp.rcv_irs) { + csp_log_error("Invalid SYN or no ACK, resetting!"); + goto discard_close; + } else { + csp_log_protocol("Ignoring duplicate SYN packet!"); + goto discard_open; + } + } + + /* Check sequence number */ + if (!csp_rdp_seq_between(rx_header->seq_nr, conn->rdp.rcv_cur + 1, conn->rdp.rcv_cur + conn->rdp.window_size * 2)) { + csp_log_protocol("Invalid sequence number! %"PRIu16" not between %"PRIu16" and %"PRIu16, + rx_header->seq_nr, conn->rdp.rcv_cur + 1, conn->rdp.rcv_cur + 1 + conn->rdp.window_size * 2); + /* If duplicate SYN received, send another SYN/ACK */ + if (conn->rdp.state == RDP_SYN_RCVD) + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_SYN, conn->rdp.snd_iss, conn->rdp.rcv_irs); + /* If duplicate data packet received, send EACK back */ + if (conn->rdp.state == RDP_OPEN) + csp_rdp_send_eack(conn); + + goto discard_open; + } + + /* Check ACK number */ + if (!csp_rdp_seq_between(rx_header->ack_nr, conn->rdp.snd_una - 1 - (conn->rdp.window_size * 2), conn->rdp.snd_nxt - 1)) { + csp_log_error("Invalid ACK number! %u not between %u and %u", + rx_header->ack_nr, conn->rdp.snd_una - 1 - (conn->rdp.window_size * 2), conn->rdp.snd_nxt - 1); + goto discard_open; + } + + /* Check SYN_RCVD ACK */ + if (conn->rdp.state == RDP_SYN_RCVD) { + if (rx_header->ack_nr != conn->rdp.snd_iss) { + csp_log_error("SYN-RCVD: Wrong ACK number"); + goto discard_close; + } + csp_log_protocol("RDP: NC: Connection OPEN"); + conn->rdp.state = RDP_OPEN; + + /* If a socket is set, this message is the first in a new connection + * so the connection must be queued to the socket. */ + if (conn->socket != NULL) { + + /* Try queueing */ + if (csp_queue_enqueue(conn->socket, &conn, 0) == CSP_QUEUE_FULL) { + csp_log_error("ERROR socket cannot accept more connections"); + goto discard_close; + } + + /* Ensure that this connection will not be posted to this socket again + * and remember that the connection handle has been passed to userspace + * by setting the socket = NULL */ + conn->socket = NULL; + } + + } + + /* Store current ack'ed sequence number */ + conn->rdp.snd_una = rx_header->ack_nr + 1; + + /* We have an EACK */ + if (rx_header->eak) { + if (packet->length > sizeof(rdp_header_t)) + csp_rdp_flush_eack(conn, packet); + goto discard_open; + } + + /* If no data, return here */ + if (packet->length <= sizeof(rdp_header_t)) + goto discard_open; + + /* If message is not in sequence, send EACK and store packet */ + if (rx_header->seq_nr != (uint16_t)(conn->rdp.rcv_cur + 1)) { + if (csp_rdp_rx_queue_add(conn, packet, rx_header->seq_nr) != CSP_QUEUE_OK) { + csp_log_protocol("Duplicate sequence number"); + csp_rdp_check_ack(conn); + goto discard_open; + } + csp_rdp_send_eack(conn); + goto accepted_open; + } + + /* Store sequence number before stripping RDP header */ + uint16_t seq_nr = rx_header->seq_nr; + + /* Receive data */ + if (csp_rdp_receive_data(conn, packet) != CSP_ERR_NONE) + goto discard_open; + + /* Update last received packet */ + conn->rdp.rcv_cur = seq_nr; + + /* Only ACK the message if there is room for a full window in the RX buffer. + * Unacknowledged segments are ACKed by csp_rdp_check_timeouts when the buffer is + * no longer full. */ + csp_rdp_check_ack(conn); + + /* Flush RX queue */ + csp_rdp_rx_queue_flush(conn); + + goto accepted_open; + + } + break; + + case RDP_CLOSE_WAIT: + + /* Ignore SYN or !ACK */ + if (rx_header->syn || !rx_header->ack) { + csp_log_protocol("Invalid SYN or no ACK in CLOSE-WAIT"); + goto discard_open; + } + + /* Check ACK number */ + if (!csp_rdp_seq_between(rx_header->ack_nr, conn->rdp.snd_una - 1 - (conn->rdp.window_size * 2), conn->rdp.snd_nxt - 1)) { + csp_log_error("Invalid ACK number! %u not between %u and %u", + rx_header->ack_nr, conn->rdp.snd_una - 1 - (conn->rdp.window_size * 2), conn->rdp.snd_nxt - 1); + goto discard_open; + } + + /* Store current ack'ed sequence number */ + conn->rdp.snd_una = rx_header->ack_nr + 1; + + /* Send back a reset */ + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + + goto discard_open; + + default: + csp_log_error("RDP: ERROR default state!"); + goto discard_close; + } + +discard_close: + /* If user-space has received the connection handle, wake it up, + * by sending a NULL pointer, user-space should close connection */ + if (conn->socket == NULL) { + csp_log_protocol("RDP %p: Waiting for userspace to close", conn); + csp_conn_enqueue_packet(conn, NULL); + } else { + csp_close(conn); + } + +discard_open: + csp_buffer_free(packet); +accepted_open: + return; + +} + +int csp_rdp_connect(csp_conn_t * conn, uint32_t timeout) { + + int retry = 1; + + conn->rdp.window_size = csp_rdp_window_size; + conn->rdp.conn_timeout = csp_rdp_conn_timeout; + conn->rdp.packet_timeout = csp_rdp_packet_timeout; + conn->rdp.delayed_acks = csp_rdp_delayed_acks; + conn->rdp.ack_timeout = csp_rdp_ack_timeout; + conn->rdp.ack_delay_count = csp_rdp_ack_delay_count; + conn->rdp.ack_timestamp = csp_get_ms(); + +retry: + csp_log_protocol("RDP %p: Active connect, conn state %u", conn, conn->rdp.state); + + if (conn->rdp.state == RDP_OPEN) { + csp_log_error("RDP %p: Connection already open", conn); + return CSP_ERR_ALREADY; + } + + /* Randomize ISS */ + conn->rdp.snd_iss = (uint16_t)rand(); + + conn->rdp.snd_nxt = conn->rdp.snd_iss + 1; + conn->rdp.snd_una = conn->rdp.snd_iss; + + csp_log_protocol("RDP %p: AC: Sending SYN", conn); + + /* Ensure semaphore is busy, so router task can release it */ + csp_bin_sem_wait(&conn->rdp.tx_wait, 0); + + /* Send SYN message */ + conn->rdp.state = RDP_SYN_SENT; + if (csp_rdp_send_syn(conn) != CSP_ERR_NONE) + goto error; + + /* Wait for router task to release semaphore */ + csp_log_protocol("RDP %p: AC: Waiting for SYN/ACK reply...", conn); + int result = csp_bin_sem_wait(&conn->rdp.tx_wait, conn->rdp.conn_timeout); + + if (result == CSP_SEMAPHORE_OK) { + if (conn->rdp.state == RDP_OPEN) { + csp_log_protocol("RDP %p: AC: Connection OPEN", conn); + return CSP_ERR_NONE; + } else if(conn->rdp.state == RDP_SYN_SENT) { + if (retry) { + csp_log_warn("RDP %p: Half-open connection detected, RST sent, now retrying", conn); + csp_rdp_flush_all(conn); + retry = 0; + goto retry; + } else { + csp_log_error("RDP %p: Connection stayed half-open, even after RST and retry!", conn); + goto error; + } + } + } else { + csp_log_protocol("RDP %p: AC: Connection Failed", conn); + goto error; + } + +error: + conn->rdp.state = RDP_CLOSE_WAIT; + return CSP_ERR_TIMEDOUT; + +} + +int csp_rdp_send(csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout) { + + if (conn->rdp.state != RDP_OPEN) { + csp_log_error("RDP: ERROR cannot send, connection reset"); + return CSP_ERR_RESET; + } + + while ((conn->rdp.state == RDP_OPEN) && (csp_rdp_is_conn_ready_for_tx(conn) == false)) { + csp_log_protocol("RDP %p: Waiting for window update before sending seq %u", conn, conn->rdp.snd_nxt); + if ((csp_bin_sem_wait(&conn->rdp.tx_wait, conn->rdp.conn_timeout)) != CSP_SEMAPHORE_OK) { + csp_log_error("RDP %p: Timeout during send", conn); + return CSP_ERR_TIMEDOUT; + } + } + + if (conn->rdp.state != RDP_OPEN) { + csp_log_error("RDP: ERROR cannot send, connection reset"); + return CSP_ERR_RESET; + } + + /* Add RDP header */ + rdp_header_t * tx_header = csp_rdp_header_add(packet); + tx_header->ack_nr = csp_hton16(conn->rdp.rcv_cur); + tx_header->seq_nr = csp_hton16(conn->rdp.snd_nxt); + tx_header->ack = 1; + + /* Send copy to tx_queue */ + rdp_packet_t * rdp_packet = csp_buffer_clone(packet); + if (rdp_packet == NULL) { + csp_log_error("Failed to allocate packet buffer"); + return CSP_ERR_NOMEM; + } + + rdp_packet->timestamp = csp_get_ms(); + rdp_packet->quarantine = 0; + if (csp_queue_enqueue(conn->rdp.tx_queue, &rdp_packet, 0) != CSP_QUEUE_OK) { + csp_log_error("No more space in RDP retransmit queue"); + csp_buffer_free(rdp_packet); + return CSP_ERR_NOBUFS; + } + + csp_log_protocol("RDP: Sending in S %u: syn %u, ack %u, eack %u, " + "rst %u, seq_nr %5u, ack_nr %5u, packet_len %u (%u)", + conn->rdp.state, tx_header->syn, tx_header->ack, tx_header->eak, + tx_header->rst, csp_ntoh16(tx_header->seq_nr), csp_ntoh16(tx_header->ack_nr), + packet->length, packet->length - sizeof(rdp_header_t)); + + conn->rdp.snd_nxt++; + return CSP_ERR_NONE; + +} + +int csp_rdp_allocate(csp_conn_t * conn) { + + csp_log_protocol("RDP: Creating RDP queues for conn %p", conn); + + /* Set initial state */ + conn->rdp.state = RDP_CLOSED; + conn->rdp.conn_timeout = csp_rdp_conn_timeout; + conn->rdp.packet_timeout = csp_rdp_packet_timeout; + + /* Create a binary semaphore to wait on for tasks */ + if (csp_bin_sem_create(&conn->rdp.tx_wait) != CSP_SEMAPHORE_OK) { + csp_log_error("Failed to initialize semaphore"); + return CSP_ERR_NOMEM; + } + + /* Create TX queue */ + conn->rdp.tx_queue = csp_queue_create(CSP_RDP_MAX_WINDOW, sizeof(csp_packet_t *)); + if (conn->rdp.tx_queue == NULL) { + csp_log_error("Failed to create TX queue for conn"); + csp_bin_sem_remove(&conn->rdp.tx_wait); + return CSP_ERR_NOMEM; + } + + /* Create RX queue */ + conn->rdp.rx_queue = csp_queue_create(CSP_RDP_MAX_WINDOW * 2, sizeof(csp_packet_t *)); + if (conn->rdp.rx_queue == NULL) { + csp_log_error("Failed to create RX queue for conn"); + csp_bin_sem_remove(&conn->rdp.tx_wait); + csp_queue_remove(conn->rdp.tx_queue); + return CSP_ERR_NOMEM; + } + + return CSP_ERR_NONE; + +} + +/** + * @note This function may only be called from csp_close, and is therefore + * without any checks for null pointers. + */ +int csp_rdp_close(csp_conn_t * conn) { + + if (conn->rdp.state == RDP_CLOSED) + return CSP_ERR_NONE; + + /* If message is open, send reset */ + if (conn->rdp.state != RDP_CLOSE_WAIT) { + conn->rdp.state = RDP_CLOSE_WAIT; + conn->timestamp = csp_get_ms(); + csp_rdp_send_cmp(conn, NULL, RDP_ACK | RDP_RST, conn->rdp.snd_nxt, conn->rdp.rcv_cur); + csp_log_protocol("RDP %p: Close, sent RST", conn); + csp_bin_sem_post(&conn->rdp.tx_wait); // wake up any pendng Tx + return CSP_ERR_AGAIN; + } + + csp_log_protocol("RDP %p: Close in CLOSE_WAIT, now closing", conn); + conn->rdp.state = RDP_CLOSED; + return CSP_ERR_NONE; + +} + +/** + * RDP Set socket options + * Controls important parameters of the RDP protocol. + * These settings will be applied to all new outgoing connections. + * The settings are global, so be sure no other task are conflicting with your settings. + */ +void csp_rdp_set_opt(unsigned int window_size, unsigned int conn_timeout_ms, + unsigned int packet_timeout_ms, unsigned int delayed_acks, + unsigned int ack_timeout, unsigned int ack_delay_count) { + csp_rdp_window_size = window_size; + csp_rdp_conn_timeout = conn_timeout_ms; + csp_rdp_packet_timeout = packet_timeout_ms; + csp_rdp_delayed_acks = delayed_acks; + csp_rdp_ack_timeout = ack_timeout; + csp_rdp_ack_delay_count = ack_delay_count; +} + +void csp_rdp_get_opt(unsigned int * window_size, unsigned int * conn_timeout_ms, + unsigned int * packet_timeout_ms, unsigned int * delayed_acks, + unsigned int * ack_timeout, unsigned int * ack_delay_count) { + + if (window_size) + *window_size = csp_rdp_window_size; + if (conn_timeout_ms) + *conn_timeout_ms = csp_rdp_conn_timeout; + if (packet_timeout_ms) + *packet_timeout_ms = csp_rdp_packet_timeout; + if (delayed_acks) + *delayed_acks = csp_rdp_delayed_acks; + if (ack_timeout) + *ack_timeout = csp_rdp_ack_timeout; + if (ack_delay_count) + *ack_delay_count = csp_rdp_ack_delay_count; +} + +#ifdef CSP_DEBUG +void csp_rdp_conn_print(csp_conn_t * conn) { + + if (conn == NULL) + return; + + printf("\tRDP: State %"PRIu16", rcv %"PRIu16", snd %"PRIu16", win %"PRIu32"\r\n", + conn->rdp.state, conn->rdp.rcv_cur, conn->rdp.snd_una, conn->rdp.window_size); + +} +#endif + +#endif diff --git a/thirdparty/libcsp/src/transport/csp_transport.h b/thirdparty/libcsp/src/transport/csp_transport.h new file mode 100644 index 00000000..7fcda3dc --- /dev/null +++ b/thirdparty/libcsp/src/transport/csp_transport.h @@ -0,0 +1,46 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _CSP_TRANSPORT_H_ +#define _CSP_TRANSPORT_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/** ARRIVING SEGMENT */ +void csp_udp_new_packet(csp_conn_t * conn, csp_packet_t * packet); +void csp_rdp_new_packet(csp_conn_t * conn, csp_packet_t * packet); + +/** RDP: USER REQUESTS */ +int csp_rdp_connect(csp_conn_t * conn, uint32_t timeout); +int csp_rdp_allocate(csp_conn_t * conn); +int csp_rdp_close(csp_conn_t * conn); +void csp_rdp_conn_print(csp_conn_t * conn); +int csp_rdp_send(csp_conn_t * conn, csp_packet_t * packet, uint32_t timeout); +int csp_rdp_check_ack(csp_conn_t * conn); +void csp_rdp_check_timeouts(csp_conn_t * conn); +void csp_rdp_flush_all(csp_conn_t * conn); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* _CSP_TRANSPORT_H_ */ diff --git a/thirdparty/libcsp/src/transport/csp_udp.c b/thirdparty/libcsp/src/transport/csp_udp.c new file mode 100644 index 00000000..61732703 --- /dev/null +++ b/thirdparty/libcsp/src/transport/csp_udp.c @@ -0,0 +1,49 @@ +/* +Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include +#include +#include "../csp_port.h" +#include "../csp_conn.h" +#include "csp_transport.h" + +void csp_udp_new_packet(csp_conn_t * conn, csp_packet_t * packet) { + + /* Enqueue */ + if (csp_conn_enqueue_packet(conn, packet) < 0) { + csp_log_error("Connection buffer queue full!"); + csp_buffer_free(packet); + return; + } + + /* Try to queue up the new connection pointer */ + if (conn->socket != NULL) { + if (csp_queue_enqueue(conn->socket, &conn, 0) != CSP_QUEUE_OK) { + csp_log_warn("Warning socket connection queue full"); + csp_close(conn); + return; + } + + /* Ensure that this connection will not be posted to this socket again */ + conn->socket = NULL; + } + +} + diff --git a/thirdparty/libcsp/utils/cfpsplit.py b/thirdparty/libcsp/utils/cfpsplit.py new file mode 100644 index 00000000..9a350e3e --- /dev/null +++ b/thirdparty/libcsp/utils/cfpsplit.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +# Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +# Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +# Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) +# +# This library is free software; you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation; either +# version 2.1 of the License, or (at your option) any later version. +# +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public +# License along with this library; if not, write to the Free Software +# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + +# Split CFP header in protocol fields + +import sys + +def usage(): + print("usage: cfpsplit.py HEADER") + +def main(): + try: + hdr = sys.argv[1] + except: + usage() + sys.exit(-1) + + try: + hdrhex = int(hdr, 16) + except: + print("HEADER must be in hexadecimal format") + sys.exit(-1) + + if hdrhex > 0x1fffffff: + print("HEADER is not a valid CFP header") + sys.exit(-1) + + print("Source: {0}".format((hdrhex >> 24) & 0x1f)) + print("Destination: {0}".format((hdrhex >> 19) & 0x1f)) + print("Type: {0}".format("MORE" if ((hdrhex >> 18) & 0x01) else "BEGIN")) + print("Remain: {0}".format((hdrhex >> 10) & 0xff)) + print("Identifier: {0}".format((hdrhex >> 0) & 0x3ff)) + +if __name__ == "__main__": + main() diff --git a/thirdparty/libcsp/utils/cspsplit.py b/thirdparty/libcsp/utils/cspsplit.py new file mode 100644 index 00000000..f4ed942f --- /dev/null +++ b/thirdparty/libcsp/utils/cspsplit.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +# Cubesat Space Protocol - A small network-layer protocol designed for Cubesats +# Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com) +# Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk) +# +# This library is free software; you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation; either +# version 2.1 of the License, or (at your option) any later version. +# +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public +# License along with this library; if not, write to the Free Software +# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + +# Split CSP header in protocol fields + +import sys + +def usage(): + print("usage: cspsplit.py HEADER") + +def main(): + try: + hdr = sys.argv[1] + except: + usage() + sys.exit(-1) + + try: + hdrhex = int(hdr, 16) + except: + print("HEADER must be in hexadecimal format") + sys.exit(-1) + + print("Priotity: {0}".format((hdrhex >> 30) & 0x03)) + print("Source: {0}".format((hdrhex >> 25) & 0x1f)) + print("Destination: {0}".format((hdrhex >> 20) & 0x1f)) + print("Destination port: {0}".format((hdrhex >> 14) & 0x3f)) + print("Source port: {0}".format((hdrhex >> 8) & 0x3f)) + print("HMAC: {0}".format("Yes" if ((hdrhex >> 3) & 0x01) else "No")) + print("XTEA: {0}".format("Yes" if ((hdrhex >> 2) & 0x01) else "No")) + print("RDP: {0}".format("Yes" if ((hdrhex >> 1) & 0x01) else "No")) + print("CRC32: {0}".format("Yes" if ((hdrhex >> 0) & 0x01) else "No")) + +if __name__ == "__main__": + main() diff --git a/thirdparty/lwgps b/thirdparty/lwgps new file mode 160000 index 00000000..3dbfe390 --- /dev/null +++ b/thirdparty/lwgps @@ -0,0 +1 @@ +Subproject commit 3dbfe390a6784ebc723d3907062cf883c8cf85cd diff --git a/tmtc b/tmtc index 3fc71f90..7cc06ef0 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 3fc71f9094e8fb670942f0c29a9dea0b6e03d17f +Subproject commit 7cc06ef0e0882d286bab8156ca756e0211e5ebae