merged mueller master
This commit is contained in:
commit
053e5f6e92
3
.gitmodules
vendored
3
.gitmodules
vendored
@ -13,3 +13,6 @@
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|||||||
[submodule "thirdparty/lwgps"]
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[submodule "thirdparty/lwgps"]
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path = thirdparty/lwgps
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path = thirdparty/lwgps
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url = https://github.com/rmspacefish/lwgps.git
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url = https://github.com/rmspacefish/lwgps.git
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[submodule "fsfw_hal"]
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path = fsfw_hal
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url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw_hal.git
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@ -40,6 +40,7 @@ set(TARGET_NAME ${CMAKE_PROJECT_NAME})
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set(LIB_FSFW_NAME fsfw)
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set(LIB_FSFW_NAME fsfw)
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set(LIB_ETL_NAME etl)
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set(LIB_ETL_NAME etl)
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set(LIB_CSP_NAME libcsp)
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set(LIB_CSP_NAME libcsp)
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set(LIB_FSFW_HAL_NAME fsfw_hal)
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set(LIB_LWGPS_NAME lwgps)
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set(LIB_LWGPS_NAME lwgps)
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set(THIRD_PARTY_FOLDER thirdparty)
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set(THIRD_PARTY_FOLDER thirdparty)
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@ -50,6 +51,7 @@ set(TEST_PATH test/testtasks)
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set(LINUX_PATH linux)
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set(LINUX_PATH linux)
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set(COMMON_PATH common)
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set(COMMON_PATH common)
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set(FSFW_HAL_LIB_PATH fsfw_hal)
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set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
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set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
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set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
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set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
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set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
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set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
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@ -68,10 +70,12 @@ if(TGT_BSP)
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set(FSFW_CONFIG_PATH "fsfwconfig")
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set(FSFW_CONFIG_PATH "fsfwconfig")
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set(ADD_LINUX_FILES TRUE)
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set(ADD_LINUX_FILES TRUE)
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set(ADD_CSP_LIB TRUE)
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set(ADD_CSP_LIB TRUE)
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set(FSFW_HAL_ADD_LINUX ON)
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endif()
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endif()
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if(${TGT_BSP} MATCHES "arm/raspberrypi")
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if(${TGT_BSP} MATCHES "arm/raspberrypi")
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add_definitions(-DRASPBERRY_PI)
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add_definitions(-DRASPBERRY_PI)
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set(FSFW_HAL_ADD_RASPBERRY_PI ON)
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endif()
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endif()
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if(${TGT_BSP} MATCHES "arm/q7s")
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if(${TGT_BSP} MATCHES "arm/q7s")
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@ -113,6 +117,7 @@ add_subdirectory(${BSP_PATH})
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add_subdirectory(${FSFW_PATH})
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add_subdirectory(${FSFW_PATH})
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add_subdirectory(${MISSION_PATH})
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add_subdirectory(${MISSION_PATH})
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add_subdirectory(${TEST_PATH})
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add_subdirectory(${TEST_PATH})
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add_subdirectory(${FSFW_HAL_LIB_PATH})
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add_subdirectory(${COMMON_PATH})
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add_subdirectory(${COMMON_PATH})
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################################################################################
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################################################################################
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@ -126,6 +131,7 @@ target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_FSFW_NAME}
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${LIB_FSFW_NAME}
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${LIB_OS_NAME}
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${LIB_OS_NAME}
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${LIB_LWGPS_NAME}
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${LIB_LWGPS_NAME}
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${LIB_FSFW_HAL_NAME}
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)
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)
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if(ADD_ETL_LIB)
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if(ADD_ETL_LIB)
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@ -11,13 +11,8 @@
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#include <mission/core/GenericFactory.h>
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#include <mission/core/GenericFactory.h>
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#include <mission/utility/TmFunnel.h>
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#include <mission/utility/TmFunnel.h>
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#ifdef LINUX
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#include <fsfw/osal/common/UdpTcPollingTask.h>
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#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
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#include <fsfw/osal/common/UdpTmTcBridge.h>
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#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
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#elif WIN32
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#include <fsfw/osal/windows/TcWinUdpPollingTask.h>
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#include <fsfw/osal/windows/TmTcWinUdpBridge.h>
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#endif
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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@ -45,17 +40,9 @@ void ObjectFactory::produce(){
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Factory::setStaticFrameworkObjectIds();
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Factory::setStaticFrameworkObjectIds();
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ObjectFactory::produceGenericObjects();
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ObjectFactory::produceGenericObjects();
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#ifdef LINUX
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new UdpTmTcBridge(objects::UDP_BRIDGE,
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new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
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objects::CCSDS_PACKET_DISTRIBUTOR,
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objects::CCSDS_PACKET_DISTRIBUTOR,
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objects::TM_STORE, objects::TC_STORE);
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objects::TM_STORE, objects::TC_STORE);
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new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
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new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
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#elif WIN32
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new TmTcWinUdpBridge(objects::UDP_BRIDGE,
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objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
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objects::TC_STORE);
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new TcWinUdpPollingTask(objects::UDP_POLLING_TASK,
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objects::UDP_BRIDGE);
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#endif
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}
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}
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@ -137,6 +137,7 @@ void initmission::initTasks() {
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//TODO: Add handling of missed deadlines
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//TODO: Add handling of missed deadlines
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/* Polling Sequence Table Default */
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/* Polling Sequence Table Default */
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#if Q7S_ADD_SPI_TEST == 0
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FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
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FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
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"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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missedDeadlineFunc);
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missedDeadlineFunc);
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@ -144,6 +145,7 @@ void initmission::initTasks() {
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if (result != HasReturnvaluesIF::RETURN_OK) {
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
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sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
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}
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}
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#endif
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#if TE0720 == 0
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#if TE0720 == 0
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FixedTimeslotTaskIF* gomSpacePstTask = factory->
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FixedTimeslotTaskIF* gomSpacePstTask = factory->
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@ -155,13 +157,20 @@ void initmission::initTasks() {
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}
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}
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#endif
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#endif
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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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"GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
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#if OBSW_ADD_TEST_CODE == 1
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#if OBSW_ADD_TEST_CODE == 1
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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
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result = testTask->addComponent(objects::TEST_TASK);
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result = testTask->addComponent(objects::TEST_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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}
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}
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#if Q7S_ADD_SPI_TEST == 1
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result = testTask->addComponent(objects::SPI_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
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}
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#endif
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if TE0720 == 1 && TEST_LIBGPIOD == 1
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#if TE0720 == 1 && TEST_LIBGPIOD == 1
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result = testTask->addComponent(objects::LIBGPIOD_TEST);
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result = testTask->addComponent(objects::LIBGPIOD_TEST);
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@ -178,7 +187,10 @@ void initmission::initTasks() {
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#if TE0720 == 0
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#if TE0720 == 0
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gomSpacePstTask->startTask();
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gomSpacePstTask->startTask();
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#endif
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#endif
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#if Q7S_ADD_SPI_TEST == 0
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pollingSequenceTableTaskDefault->startTask();
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pollingSequenceTableTaskDefault->startTask();
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#endif
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pusVerification->startTask();
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pusVerification->startTask();
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pusEvents->startTask();
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pusEvents->startTask();
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@ -186,6 +198,8 @@ void initmission::initTasks() {
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pusMedPrio->startTask();
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pusMedPrio->startTask();
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pusLowPrio->startTask();
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pusLowPrio->startTask();
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#if OBSW_ADD_TEST_CODE == 1
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testTask->startTask();
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testTask->startTask();
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#endif
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sif::info << "Tasks started.." << std::endl;
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sif::info << "Tasks started.." << std::endl;
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}
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}
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@ -5,6 +5,7 @@
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#include <devices/gpioIds.h>
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#include <devices/gpioIds.h>
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#include <tmtc/pusIds.h>
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#include <tmtc/pusIds.h>
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#include <devices/powerSwitcherList.h>
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#include <devices/powerSwitcherList.h>
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#include <devices/spi.h>
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#include <bsp_q7s/devices/HeaterHandler.h>
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#include <bsp_q7s/devices/HeaterHandler.h>
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#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
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#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
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@ -21,6 +22,9 @@
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#include <mission/devices/IMTQHandler.h>
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#include <mission/devices/IMTQHandler.h>
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#include <mission/devices/devicedefinitions/Max31865Definitions.h>
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#include <mission/devices/devicedefinitions/Max31865Definitions.h>
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#include <mission/devices/SyrlinksHkHandler.h>
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#include <mission/devices/SyrlinksHkHandler.h>
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#include <mission/devices/MGMHandlerLIS3MDL.h>
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#include <mission/devices/MGMHandlerRM3100.h>
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#include <mission/devices/GyroL3GD20Handler.h>
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|
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#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
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#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
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#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
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#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
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@ -28,25 +32,26 @@
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|
|
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#include <linux/csp/CspCookie.h>
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#include <linux/csp/CspCookie.h>
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#include <linux/csp/CspComIF.h>
|
#include <linux/csp/CspComIF.h>
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#include <linux/i2c/I2cCookie.h>
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|
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#include <linux/i2c/I2cComIF.h>
|
|
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#include <linux/gpio/LinuxLibgpioIF.h>
|
|
||||||
#include <linux/gpio/GpioCookie.h>
|
|
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#include <linux/uart/UartComIF.h>
|
#include <linux/uart/UartComIF.h>
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#include <linux/uart/UartCookie.h>
|
#include <linux/uart/UartCookie.h>
|
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#include <linux/spi/SpiComIF.h>
|
|
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#include <linux/spi/SpiCookie.h>
|
#include <fsfw_hal/linux/i2c/I2cCookie.h>
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|
#include <fsfw_hal/linux/i2c/I2cComIF.h>
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|
#include <fsfw_hal/linux/spi/SpiCookie.h>
|
||||||
|
#include <fsfw_hal/linux/spi/SpiComIF.h>
|
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|
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
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|
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||||
|
|
||||||
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
||||||
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
||||||
#include <fsfw/tmtcservices/PusServiceBase.h>
|
#include <fsfw/tmtcservices/PusServiceBase.h>
|
||||||
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
||||||
|
|
||||||
|
/* UDP server includes */
|
||||||
|
#include <fsfw/osal/common/UdpTmTcBridge.h>
|
||||||
#include <fsfw/osal/common/UdpTcPollingTask.h>
|
#include <fsfw/osal/common/UdpTcPollingTask.h>
|
||||||
|
#include <linux/boardtest/SpiTestClass.h>
|
||||||
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
|
||||||
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
|
||||||
#include <fsfw/tmtcservices/PusServiceBase.h>
|
|
||||||
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
|
||||||
|
|
||||||
#if TEST_LIBGPIOD == 1
|
#if TEST_LIBGPIOD == 1
|
||||||
#include <linux/boardtest/LibgpiodTest.h>
|
#include <linux/boardtest/LibgpiodTest.h>
|
||||||
@ -92,7 +97,21 @@ void ObjectFactory::produce(){
|
|||||||
new CspComIF(objects::CSP_COM_IF);
|
new CspComIF(objects::CSP_COM_IF);
|
||||||
new I2cComIF(objects::I2C_COM_IF);
|
new I2cComIF(objects::I2C_COM_IF);
|
||||||
new UartComIF(objects::UART_COM_IF);
|
new UartComIF(objects::UART_COM_IF);
|
||||||
|
#if Q7S_ADD_SPI_TEST == 0
|
||||||
new SpiComIF(objects::SPI_COM_IF, gpioComIF);
|
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
|
#if TE0720 == 0
|
||||||
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
|
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
|
||||||
@ -123,19 +142,68 @@ void ObjectFactory::produce(){
|
|||||||
// pdu1handler->setModeNormal();
|
// pdu1handler->setModeNormal();
|
||||||
// pdu2handler->setModeNormal();
|
// pdu2handler->setModeNormal();
|
||||||
// acuhandler->setModeNormal();
|
// acuhandler->setModeNormal();
|
||||||
#endif
|
(void) p60dockhandler;
|
||||||
/* Temperature sensors */
|
(void) pdu1handler;
|
||||||
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
|
(void) pdu2handler;
|
||||||
objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
|
(void) acuhandler;
|
||||||
i2cCookieTmp1075tcs1);
|
|
||||||
tmp1075Handler_1->setStartUpImmediately();
|
#if OBSW_ADD_ACS_BOARD == 1
|
||||||
Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
|
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
||||||
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
|
GpiodRegular* gpio = nullptr;
|
||||||
i2cCookieTmp1075tcs2);
|
gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_1_ADIS"),
|
||||||
tmp1075Handler_2->setStartUpImmediately();
|
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
|
||||||
|
|
||||||
GpioCookie* heaterGpiosCookie = new GpioCookie;
|
|
||||||
#if TE0720 == 0
|
|
||||||
/* Pin H2-11 on stack connector */
|
/* Pin H2-11 on stack connector */
|
||||||
GpiodRegular* gpioConfigHeater0 = new GpiodRegular(std::string("gpiochip7"), 6,
|
GpiodRegular* gpioConfigHeater0 = new GpiodRegular(std::string("gpiochip7"), 6,
|
||||||
std::string("Heater0"), gpio::OUT, 0);
|
std::string("Heater0"), gpio::OUT, 0);
|
||||||
@ -196,6 +264,7 @@ void ObjectFactory::produce(){
|
|||||||
objects::UART_COM_IF, syrlinksUartCookie);
|
objects::UART_COM_IF, syrlinksUartCookie);
|
||||||
syrlinksHkHandler->setModeNormal();
|
syrlinksHkHandler->setModeNormal();
|
||||||
|
|
||||||
|
#if Q7S_ADD_SPI_TEST == 0
|
||||||
GpioCookie* rtdGpioCookie = new GpioCookie;
|
GpioCookie* rtdGpioCookie = new GpioCookie;
|
||||||
|
|
||||||
gpioCallbacks::initTcsBoardDecoder(gpioComIF);
|
gpioCallbacks::initTcsBoardDecoder(gpioComIF);
|
||||||
@ -318,17 +387,19 @@ void ObjectFactory::produce(){
|
|||||||
// rtdIc10->setStartUpImmediately();
|
// rtdIc10->setStartUpImmediately();
|
||||||
// rtdIc4->setStartUpImmediately();
|
// rtdIc4->setStartUpImmediately();
|
||||||
|
|
||||||
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
|
#endif /* Q7S_ADD_SPI_TEST == 0 */
|
||||||
std::string("/dev/i2c-0"));
|
|
||||||
IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
|
|
||||||
imtqHandler->setStartUpImmediately();
|
|
||||||
|
|
||||||
#endif
|
#endif /* TE0720 == 0 */
|
||||||
|
|
||||||
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
|
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
|
||||||
objects::TC_STORE);
|
objects::TC_STORE);
|
||||||
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
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
|
#if TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||||
/* Configure MIO0 as input */
|
/* Configure MIO0 as input */
|
||||||
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
|
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
|
||||||
@ -344,4 +415,8 @@ void ObjectFactory::produce(){
|
|||||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
||||||
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
|
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
#if Q7S_ADD_SPI_TEST == 1
|
||||||
|
new SpiTestClass(objects::SPI_TEST, gpioComIF);
|
||||||
|
#endif
|
||||||
}
|
}
|
||||||
|
11
bsp_q7s/boardconfig/q7s_config.h
Normal file
11
bsp_q7s/boardconfig/q7s_config.h
Normal file
@ -0,0 +1,11 @@
|
|||||||
|
#ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
|
||||||
|
#define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
|
||||||
|
|
||||||
|
/* 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_ */
|
@ -2,7 +2,7 @@
|
|||||||
#include <fsfwconfig/devices/powerSwitcherList.h>
|
#include <fsfwconfig/devices/powerSwitcherList.h>
|
||||||
#include <fsfw/ipc/QueueFactory.h>
|
#include <fsfw/ipc/QueueFactory.h>
|
||||||
#include <devices/gpioIds.h>
|
#include <devices/gpioIds.h>
|
||||||
#include <linux/gpio/GpioCookie.h>
|
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||||
|
|
||||||
HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
|
HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
|
||||||
CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :
|
CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :
|
||||||
|
@ -10,7 +10,7 @@
|
|||||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||||
#include <fsfw/devicehandlers/CookieIF.h>
|
#include <fsfw/devicehandlers/CookieIF.h>
|
||||||
#include <fsfw/timemanager/Countdown.h>
|
#include <fsfw/timemanager/Countdown.h>
|
||||||
#include <linux/gpio/GpioIF.h>
|
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||||
#include <unordered_map>
|
#include <unordered_map>
|
||||||
|
|
||||||
/**
|
/**
|
||||||
|
@ -3,7 +3,7 @@
|
|||||||
#include <devices/powerSwitcherList.h>
|
#include <devices/powerSwitcherList.h>
|
||||||
#include <devices/gpioIds.h>
|
#include <devices/gpioIds.h>
|
||||||
|
|
||||||
#include <linux/gpio/GpioCookie.h>
|
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||||
#include <fsfw/ipc/QueueFactory.h>
|
#include <fsfw/ipc/QueueFactory.h>
|
||||||
|
|
||||||
|
|
||||||
|
@ -1,8 +1,6 @@
|
|||||||
#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
||||||
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
||||||
|
|
||||||
#include <linux/gpio/GpioIF.h>
|
|
||||||
|
|
||||||
#include <fsfw/objectmanager/SystemObject.h>
|
#include <fsfw/objectmanager/SystemObject.h>
|
||||||
#include <fsfw/tasks/ExecutableObjectIF.h>
|
#include <fsfw/tasks/ExecutableObjectIF.h>
|
||||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||||
@ -11,7 +9,7 @@
|
|||||||
#include <fsfw/devicehandlers/CookieIF.h>
|
#include <fsfw/devicehandlers/CookieIF.h>
|
||||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||||
#include <fsfw/timemanager/Countdown.h>
|
#include <fsfw/timemanager/Countdown.h>
|
||||||
|
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||||
#include <unordered_map>
|
#include <unordered_map>
|
||||||
|
|
||||||
/**
|
/**
|
||||||
|
@ -1,7 +1,8 @@
|
|||||||
#include <bsp_q7s/gpio/gpioCallbacks.h>
|
#include "gpioCallbacks.h"
|
||||||
#include <fsfwconfig/devices/gpioIds.h>
|
#include <devices/gpioIds.h>
|
||||||
#include <linux/gpio/LinuxLibgpioIF.h>
|
|
||||||
#include <linux/gpio/GpioCookie.h>
|
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||||
|
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||||
|
|
||||||
|
|
||||||
|
@ -1,8 +1,8 @@
|
|||||||
#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
|
#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
|
||||||
#define LINUX_GPIO_GPIOCALLBACKS_H_
|
#define LINUX_GPIO_GPIOCALLBACKS_H_
|
||||||
|
|
||||||
#include <linux/gpio/gpioDefinitions.h>
|
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
|
||||||
#include <linux/gpio/GpioIF.h>
|
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||||
|
|
||||||
|
|
||||||
namespace gpioCallbacks {
|
namespace gpioCallbacks {
|
||||||
|
@ -3,13 +3,9 @@
|
|||||||
|
|
||||||
#include <fsfwconfig/objects/systemObjectList.h>
|
#include <fsfwconfig/objects/systemObjectList.h>
|
||||||
#include <fsfwconfig/OBSWConfig.h>
|
#include <fsfwconfig/OBSWConfig.h>
|
||||||
<<<<<<< HEAD
|
#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
|
||||||
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
|
|
||||||
|
|
||||||
=======
|
|
||||||
>>>>>>> develop
|
|
||||||
#include <mission/utility/InitMission.h>
|
#include <mission/utility/InitMission.h>
|
||||||
|
|
||||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||||
@ -17,10 +13,6 @@
|
|||||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||||
#include <fsfw/tasks/PeriodicTaskIF.h>
|
#include <fsfw/tasks/PeriodicTaskIF.h>
|
||||||
#include <fsfw/tasks/TaskFactory.h>
|
#include <fsfw/tasks/TaskFactory.h>
|
||||||
<<<<<<< HEAD
|
|
||||||
=======
|
|
||||||
#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
|
|
||||||
>>>>>>> develop
|
|
||||||
|
|
||||||
#include <iostream>
|
#include <iostream>
|
||||||
|
|
||||||
@ -124,8 +116,6 @@ void initmission::initTasks() {
|
|||||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
||||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||||
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
|
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
|
||||||
<<<<<<< HEAD
|
|
||||||
=======
|
|
||||||
}
|
}
|
||||||
|
|
||||||
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
|
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
|
||||||
@ -135,24 +125,6 @@ void initmission::initTasks() {
|
|||||||
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
|
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, 1.0, missedDeadlineFunc);
|
|
||||||
result = pst::pollingSequenceAcsTest(acsTask);
|
|
||||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
|
||||||
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
|
|
||||||
>>>>>>> develop
|
|
||||||
}
|
|
||||||
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
|
||||||
|
|
||||||
<<<<<<< HEAD
|
|
||||||
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
|
#if RPI_TEST_ACS_BOARD == 1
|
||||||
FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
|
FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
|
||||||
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
|
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
|
||||||
@ -188,34 +160,6 @@ void initmission::initTasks() {
|
|||||||
udpBridgeTask->startTask();
|
udpBridgeTask->startTask();
|
||||||
udpPollingTask->startTask();
|
udpPollingTask->startTask();
|
||||||
|
|
||||||
=======
|
|
||||||
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();
|
|
||||||
|
|
||||||
>>>>>>> develop
|
|
||||||
pusVerification->startTask();
|
pusVerification->startTask();
|
||||||
pusEvents->startTask();
|
pusEvents->startTask();
|
||||||
pusHighPrio->startTask();
|
pusHighPrio->startTask();
|
||||||
|
@ -1,26 +1,4 @@
|
|||||||
#include "ObjectFactory.h"
|
#include "ObjectFactory.h"
|
||||||
#include <bsp_rpi/gpio/GPIORPi.h>
|
|
||||||
<<<<<<< HEAD
|
|
||||||
|
|
||||||
#include <objects/systemObjectList.h>
|
|
||||||
#include <devices/addresses.h>
|
|
||||||
#include <devices/gpioIds.h>
|
|
||||||
#include <OBSWConfig.h>
|
|
||||||
#include <tmtc/apid.h>
|
|
||||||
#include <tmtc/pusIds.h>
|
|
||||||
|
|
||||||
#include <linux/boardtest/LibgpiodTest.h>
|
|
||||||
#include <linux/boardtest/SpiTestClass.h>
|
|
||||||
#include <linux/gpio/GpioCookie.h>
|
|
||||||
#include <linux/gpio/LinuxLibgpioIF.h>
|
|
||||||
|
|
||||||
#include <linux/spi/SpiCookie.h>
|
|
||||||
|
|
||||||
#include <mission/core/GenericFactory.h>
|
|
||||||
#include <mission/utility/TmFunnel.h>
|
|
||||||
#include <mission/devices/MGMHandlerLIS3MDL.h>
|
|
||||||
|
|
||||||
=======
|
|
||||||
|
|
||||||
#include <fsfwconfig/objects/systemObjectList.h>
|
#include <fsfwconfig/objects/systemObjectList.h>
|
||||||
#include <fsfwconfig/devices/addresses.h>
|
#include <fsfwconfig/devices/addresses.h>
|
||||||
@ -32,30 +10,28 @@
|
|||||||
|
|
||||||
#include <linux/boardtest/LibgpiodTest.h>
|
#include <linux/boardtest/LibgpiodTest.h>
|
||||||
#include <linux/boardtest/SpiTestClass.h>
|
#include <linux/boardtest/SpiTestClass.h>
|
||||||
#include <linux/gpio/GpioCookie.h>
|
|
||||||
#include <linux/gpio/LinuxLibgpioIF.h>
|
|
||||||
#include <linux/spi/SpiCookie.h>
|
|
||||||
#include <linux/spi/SpiComIF.h>
|
|
||||||
|
|
||||||
|
#include <mission/devices/GyroL3GD20Handler.h>
|
||||||
#include <mission/core/GenericFactory.h>
|
#include <mission/core/GenericFactory.h>
|
||||||
#include <mission/utility/TmFunnel.h>
|
#include <mission/utility/TmFunnel.h>
|
||||||
#include <mission/devices/MGMHandlerLIS3MDL.h>
|
#include <mission/devices/MGMHandlerLIS3MDL.h>
|
||||||
#include <mission/devices/MGMHandlerRM3100.h>
|
#include <mission/devices/MGMHandlerRM3100.h>
|
||||||
|
|
||||||
>>>>>>> develop
|
|
||||||
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
||||||
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
||||||
#include <fsfw/tmtcservices/PusServiceBase.h>
|
#include <fsfw/tmtcservices/PusServiceBase.h>
|
||||||
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
|
|
||||||
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
||||||
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
|
|
||||||
#include <fsfw/tasks/TaskFactory.h>
|
#include <fsfw/tasks/TaskFactory.h>
|
||||||
<<<<<<< HEAD
|
|
||||||
#include <linux/spi/SpiComIF.h>
|
|
||||||
=======
|
|
||||||
#include <mission/devices/GyroL3GD20Handler.h>
|
|
||||||
|
|
||||||
>>>>>>> develop
|
/* UDP server includes */
|
||||||
|
#include <fsfw/osal/common/UdpTmTcBridge.h>
|
||||||
|
#include <fsfw/osal/common/UdpTcPollingTask.h>
|
||||||
|
|
||||||
|
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||||
|
#include <fsfw_hal/linux/rpi/GpioRPi.h>
|
||||||
|
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||||
|
#include <fsfw_hal/linux/spi/SpiCookie.h>
|
||||||
|
#include <fsfw_hal/linux/spi/SpiComIF.h>
|
||||||
|
|
||||||
void Factory::setStaticFrameworkObjectIds() {
|
void Factory::setStaticFrameworkObjectIds() {
|
||||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||||
@ -80,10 +56,10 @@ void ObjectFactory::produce(){
|
|||||||
Factory::setStaticFrameworkObjectIds();
|
Factory::setStaticFrameworkObjectIds();
|
||||||
ObjectFactory::produceGenericObjects();
|
ObjectFactory::produceGenericObjects();
|
||||||
|
|
||||||
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
|
new UdpTmTcBridge(objects::UDP_BRIDGE,
|
||||||
objects::CCSDS_PACKET_DISTRIBUTOR,
|
objects::CCSDS_PACKET_DISTRIBUTOR,
|
||||||
objects::TM_STORE, objects::TC_STORE);
|
objects::TM_STORE, objects::TC_STORE);
|
||||||
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||||
|
|
||||||
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||||
|
|
||||||
@ -125,14 +101,6 @@ void ObjectFactory::produce(){
|
|||||||
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
|
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
|
||||||
"GYRO_2_L3G", gpio::Direction::OUT, 1);
|
"GYRO_2_L3G", gpio::Direction::OUT, 1);
|
||||||
gpioIF->addGpios(gpioCookieAcsBoard);
|
gpioIF->addGpios(gpioCookieAcsBoard);
|
||||||
<<<<<<< HEAD
|
|
||||||
|
|
||||||
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
|
|
||||||
gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000);
|
|
||||||
auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
|
|
||||||
objects::SPI_COM_IF, spiCookie);
|
|
||||||
mgmHandler->setStartUpImmediately();
|
|
||||||
=======
|
|
||||||
|
|
||||||
std::string spiDev = "/dev/spidev0.0";
|
std::string spiDev = "/dev/spidev0.0";
|
||||||
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
|
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
|
||||||
@ -152,7 +120,6 @@ void ObjectFactory::produce(){
|
|||||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||||
spiCookie);
|
spiCookie);
|
||||||
gyroL3gHandler->setStartUpImmediately();
|
gyroL3gHandler->setStartUpImmediately();
|
||||||
>>>>>>> develop
|
|
||||||
|
|
||||||
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
||||||
}
|
}
|
||||||
|
@ -1,5 +1,4 @@
|
|||||||
target_sources(${TARGET_NAME} PUBLIC
|
target_sources(${TARGET_NAME} PUBLIC
|
||||||
GPIORPi.cpp
|
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
|
6
cmake/scripts/Q7S/unix_path_helper.sh
Normal file
6
cmake/scripts/Q7S/unix_path_helper.sh
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
#!/bin/sh
|
||||||
|
export PATH=$PATH:"/opt/Xilinx/SDK/2018.2/gnu/aarch32/lin/gcc-arm-linux-gnueabi/bin"
|
||||||
|
export CROSS_COMPILE="arm-linux-gnueabihf"
|
||||||
|
|
||||||
|
export Q7S_SYSROOT="$HOME/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"
|
||||||
|
|
@ -2,4 +2,4 @@
|
|||||||
export PATH=$PATH:"/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
|
export PATH=$PATH:"/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
|
||||||
export CROSS_COMPILE="arm-linux-gnueabihf"
|
export CROSS_COMPILE="arm-linux-gnueabihf"
|
||||||
|
|
||||||
export Q7S_SYSROOT="/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/arm-linux-gnueabihf/libc"
|
export Q7S_SYSROOT="/c/Users/${USER}/Documents/EIVE/cortexa9hf-neon-xiphos-linux-gnueabi"
|
||||||
|
@ -26,6 +26,9 @@ def main():
|
|||||||
"Information)", default="debug")
|
"Information)", default="debug")
|
||||||
parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.")
|
parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.")
|
||||||
parser.add_argument("-g", "--generator", type=str, help="CMake Generator")
|
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")
|
parser.add_argument("-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine")
|
||||||
|
|
||||||
args = parser.parse_args()
|
args = parser.parse_args()
|
||||||
|
10
common/config/OBSWVersion.h
Normal file
10
common/config/OBSWVersion.h
Normal file
@ -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_ */
|
@ -8,6 +8,8 @@
|
|||||||
|
|
||||||
#ifdef RASPBERRY_PI
|
#ifdef RASPBERRY_PI
|
||||||
#include <rpi_config.h>
|
#include <rpi_config.h>
|
||||||
|
#elif defined(XIPHOS_Q7S)
|
||||||
|
#include <q7s_config.h>
|
||||||
#endif
|
#endif
|
||||||
#include "commonConfig.h"
|
#include "commonConfig.h"
|
||||||
#include "OBSWVersion.h"
|
#include "OBSWVersion.h"
|
||||||
@ -32,8 +34,6 @@ debugging. */
|
|||||||
|
|
||||||
/* Can be used to switch device to NORMAL mode immediately */
|
/* Can be used to switch device to NORMAL mode immediately */
|
||||||
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
|
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
|
||||||
/* Can be used for low-level debugging of the SPI bus */
|
|
||||||
#define FSFW_LINUX_SPI_WIRETAPPING 0
|
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
|
|
||||||
|
@ -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 1
|
|
||||||
#define SW_SUBVERSION 0
|
|
||||||
#define SW_SUBSUBVERSION 0
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#endif /* FSFWCONFIG_OBSWVERSION_H_ */
|
|
@ -1,7 +1,7 @@
|
|||||||
#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
|
#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
|
||||||
#define FSFWCONFIG_DEVICES_GPIOIDS_H_
|
#define FSFWCONFIG_DEVICES_GPIOIDS_H_
|
||||||
|
|
||||||
#include <linux/gpio/GpioIF.h>
|
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||||
|
|
||||||
namespace gpioIds {
|
namespace gpioIds {
|
||||||
enum gpioId_t {
|
enum gpioId_t {
|
||||||
|
@ -2,7 +2,7 @@
|
|||||||
#define FSFWCONFIG_DEVICES_SPI_H_
|
#define FSFWCONFIG_DEVICES_SPI_H_
|
||||||
|
|
||||||
#include <cstdint>
|
#include <cstdint>
|
||||||
#include <linux/spi/spiDefinitions.h>
|
#include <fsfw_hal/linux/spi/spiDefinitions.h>
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* SPI configuration will be contained here to let the device handlers remain independent
|
* SPI configuration will be contained here to let the device handlers remain independent
|
||||||
|
@ -43,7 +43,7 @@ namespace objects {
|
|||||||
ACU_HANDLER = 0x44000004,
|
ACU_HANDLER = 0x44000004,
|
||||||
TMP1075_HANDLER_1 = 0x44000005,
|
TMP1075_HANDLER_1 = 0x44000005,
|
||||||
TMP1075_HANDLER_2 = 0x44000006,
|
TMP1075_HANDLER_2 = 0x44000006,
|
||||||
MGM_0_LIS3_HANDLER = 0x4400007,
|
MGM_0_LIS3_HANDLER = 0x44000007,
|
||||||
MGM_1_RM3100_HANDLER = 0x44000008,
|
MGM_1_RM3100_HANDLER = 0x44000008,
|
||||||
MGM_2_LIS3_HANDLER = 0x44000009,
|
MGM_2_LIS3_HANDLER = 0x44000009,
|
||||||
MGM_3_RM3100_HANDLER = 0x44000010,
|
MGM_3_RM3100_HANDLER = 0x44000010,
|
||||||
@ -56,7 +56,7 @@ namespace objects {
|
|||||||
/* Custom device handler */
|
/* Custom device handler */
|
||||||
PCDU_HANDLER = 0x44001000,
|
PCDU_HANDLER = 0x44001000,
|
||||||
SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
|
SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
|
||||||
SYRLINKS_HK_HANDLER = 0x44000009,
|
SYRLINKS_HK_HANDLER = 0x44001002,
|
||||||
|
|
||||||
/* 0x54 ('T') for thermal objects */
|
/* 0x54 ('T') for thermal objects */
|
||||||
HEATER_HANDLER = 0x54000003,
|
HEATER_HANDLER = 0x54000003,
|
||||||
|
@ -1,5 +1,5 @@
|
|||||||
#include "pollingSequenceFactory.h"
|
#include "pollingSequenceFactory.h"
|
||||||
|
#include <OBSWConfig.h>
|
||||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||||
@ -176,6 +176,52 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
|
|||||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||||
length * 0.8, DeviceHandlerIF::GET_READ);
|
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) {
|
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
|
||||||
sif::error << "Initialization of GomSpace PST failed" << std::endl;
|
sif::error << "Initialization of GomSpace PST failed" << std::endl;
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
@ -1,8 +1,4 @@
|
|||||||
add_subdirectory(gpio)
|
|
||||||
add_subdirectory(i2c)
|
|
||||||
add_subdirectory(csp)
|
add_subdirectory(csp)
|
||||||
add_subdirectory(spi)
|
|
||||||
add_subdirectory(uart)
|
add_subdirectory(uart)
|
||||||
add_subdirectory(utility)
|
add_subdirectory(utility)
|
||||||
add_subdirectory(boardtest)
|
add_subdirectory(boardtest)
|
||||||
|
|
||||||
|
@ -7,6 +7,12 @@
|
|||||||
using gpioId_t = uint16_t;
|
using gpioId_t = uint16_t;
|
||||||
|
|
||||||
namespace gpio {
|
namespace gpio {
|
||||||
|
|
||||||
|
enum Levels {
|
||||||
|
LOW = 0,
|
||||||
|
HIGH = 1
|
||||||
|
};
|
||||||
|
|
||||||
enum Direction {
|
enum Direction {
|
||||||
IN = 0,
|
IN = 0,
|
||||||
OUT = 1
|
OUT = 1
|
@ -2,8 +2,8 @@
|
|||||||
#define TEST_TESTTASKS_LIBGPIODTEST_H_
|
#define TEST_TESTTASKS_LIBGPIODTEST_H_
|
||||||
|
|
||||||
#include "TestTask.h"
|
#include "TestTask.h"
|
||||||
#include <linux/gpio/GpioIF.h>
|
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||||
#include <linux/gpio/GpioCookie.h>
|
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||||
#include <fsfw/objectmanager/SystemObject.h>
|
#include <fsfw/objectmanager/SystemObject.h>
|
||||||
|
|
||||||
/**
|
/**
|
||||||
|
@ -7,9 +7,10 @@
|
|||||||
#include <fsfw/tasks/TaskFactory.h>
|
#include <fsfw/tasks/TaskFactory.h>
|
||||||
#include <fsfw/timemanager/Stopwatch.h>
|
#include <fsfw/timemanager/Stopwatch.h>
|
||||||
|
|
||||||
#include <linux/gpio/gpioDefinitions.h>
|
#include <fsfw_hal/linux/utility.h>
|
||||||
#include <linux/gpio/GpioCookie.h>
|
#include <fsfw_hal/linux/UnixFileGuard.h>
|
||||||
#include <linux/utility/Utility.h>
|
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
|
||||||
|
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||||
|
|
||||||
#include <linux/spi/spidev.h>
|
#include <linux/spi/spidev.h>
|
||||||
#include <fcntl.h>
|
#include <fcntl.h>
|
||||||
@ -20,7 +21,7 @@
|
|||||||
|
|
||||||
|
|
||||||
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
|
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
|
||||||
gpioIF(gpioIF) {
|
gpioIF(gpioIF) {
|
||||||
if(gpioIF == nullptr) {
|
if(gpioIF == nullptr) {
|
||||||
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
|
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
|
||||||
}
|
}
|
||||||
@ -35,11 +36,11 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
|
|||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case(TestModes::MGM_LIS3MDL): {
|
case(TestModes::MGM_LIS3MDL): {
|
||||||
performLis3MdlTest(mgm0Lis3ChipSelect);
|
performLis3MdlTest(mgm2Lis3mdlChipSelect);
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case(TestModes::MGM_RM3100): {
|
case(TestModes::MGM_RM3100): {
|
||||||
performRm3100Test(mgm1Rm3100ChipSelect);
|
performRm3100Test(mgm3Rm3100ChipSelect);
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case(TestModes::GYRO_L3GD20H): {
|
case(TestModes::GYRO_L3GD20H): {
|
||||||
@ -77,12 +78,12 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
|
|||||||
#ifdef RASPBERRY_PI
|
#ifdef RASPBERRY_PI
|
||||||
std::string deviceName = "/dev/spidev0.0";
|
std::string deviceName = "/dev/spidev0.0";
|
||||||
#else
|
#else
|
||||||
std::string deviceName = "placeholder";
|
std::string deviceName = "/dev/spidev2.0";
|
||||||
#endif
|
#endif
|
||||||
int fileDescriptor = 0;
|
int fileDescriptor = 0;
|
||||||
|
|
||||||
|
|
||||||
utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
|
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR,
|
||||||
"SpiComIF::initializeInterface: ");
|
"SpiComIF::initializeInterface: ");
|
||||||
if(fileHelper.getOpenResult()) {
|
if(fileHelper.getOpenResult()) {
|
||||||
sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
|
sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
|
||||||
@ -159,13 +160,14 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
|
|||||||
acsInit();
|
acsInit();
|
||||||
|
|
||||||
/* Adapt accordingly */
|
/* Adapt accordingly */
|
||||||
if(lis3Id != mgm0Lis3ChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
|
if(lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
|
||||||
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
|
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
|
||||||
}
|
}
|
||||||
gpioId_t currentGpioId = 0;
|
gpioId_t currentGpioId = 0;
|
||||||
uint8_t chipSelectPin = lis3Id;
|
uint8_t chipSelectPin = lis3Id;
|
||||||
uint8_t whoAmIReg = 0b0000'1111;
|
uint8_t whoAmIReg = 0b0000'1111;
|
||||||
if(chipSelectPin == mgm0Lis3ChipSelect) {
|
uint8_t whoAmIRegExpectedVal = 0b0011'1101;
|
||||||
|
if(chipSelectPin == mgm0Lis3mdlChipSelect) {
|
||||||
currentGpioId = gpioIds::MGM_0_LIS3_CS;
|
currentGpioId = gpioIds::MGM_0_LIS3_CS;
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
@ -176,11 +178,11 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
|
|||||||
#ifdef RASPBERRY_PI
|
#ifdef RASPBERRY_PI
|
||||||
std::string deviceName = "/dev/spidev0.0";
|
std::string deviceName = "/dev/spidev0.0";
|
||||||
#else
|
#else
|
||||||
std::string deviceName = "placeholder";
|
std::string deviceName = "/dev/spidev2.0";
|
||||||
#endif
|
#endif
|
||||||
int fileDescriptor = 0;
|
int fileDescriptor = 0;
|
||||||
|
|
||||||
utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
|
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR,
|
||||||
"SpiComIF::initializeInterface: ");
|
"SpiComIF::initializeInterface: ");
|
||||||
if(fileHelper.getOpenResult()) {
|
if(fileHelper.getOpenResult()) {
|
||||||
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
|
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
|
||||||
@ -188,10 +190,15 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||||
|
spiTransferStruct.delay_usecs = 0;
|
||||||
|
|
||||||
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
|
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
|
||||||
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
|
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
|
||||||
std::bitset<8>(whoAmIRegVal) << std::endl;
|
std::bitset<8>(whoAmIRegVal) << std::endl;
|
||||||
|
if(whoAmIRegVal != whoAmIRegExpectedVal) {
|
||||||
|
sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!"
|
||||||
|
<< std::endl;
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -222,11 +229,11 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
|
|||||||
#ifdef RASPBERRY_PI
|
#ifdef RASPBERRY_PI
|
||||||
std::string deviceName = "/dev/spidev0.0";
|
std::string deviceName = "/dev/spidev0.0";
|
||||||
#else
|
#else
|
||||||
std::string deviceName = "placeholder";
|
std::string deviceName = "/dev/spidev2.0";
|
||||||
#endif
|
#endif
|
||||||
int fileDescriptor = 0;
|
int fileDescriptor = 0;
|
||||||
|
|
||||||
utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
|
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR,
|
||||||
"SpiComIF::initializeInterface: ");
|
"SpiComIF::initializeInterface: ");
|
||||||
if(fileHelper.getOpenResult()) {
|
if(fileHelper.getOpenResult()) {
|
||||||
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
|
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
|
||||||
@ -258,8 +265,8 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
|
|||||||
sizeof(readRegs));
|
sizeof(readRegs));
|
||||||
for(uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
|
for(uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
|
||||||
if(readRegs[idx] != commandRegs[0]) {
|
if(readRegs[idx] != commandRegs[0]) {
|
||||||
sif::warning << "SpiTestClass::performL3gTest: Read control register" <<
|
sif::warning << "SpiTestClass::performL3gTest: Read control register " <<
|
||||||
static_cast<int>(idx + 1) << "not equal to configured value" << std::endl;
|
static_cast<int>(idx + 1) << " not equal to configured value" << std::endl;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -292,42 +299,68 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
|
|||||||
|
|
||||||
void SpiTestClass::acsInit() {
|
void SpiTestClass::acsInit() {
|
||||||
GpioCookie* gpioCookie = new GpioCookie();
|
GpioCookie* gpioCookie = new GpioCookie();
|
||||||
|
GpiodRegular* gpio = nullptr;
|
||||||
|
#ifdef RASPBERRY_PI
|
||||||
std::string rpiGpioName = "gpiochip0";
|
std::string rpiGpioName = "gpiochip0";
|
||||||
{
|
gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
|
||||||
GpiodRegular gpio(rpiGpioName, mgm0Lis3ChipSelect, "MGM_0_LIS3",
|
gpio::Direction::OUT, 1);
|
||||||
gpio::Direction::OUT, 1);
|
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
|
||||||
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, &gpio);
|
|
||||||
}
|
gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
|
||||||
{
|
gpio::Direction::OUT, 1);
|
||||||
GpiodRegular gpio(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
|
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
|
||||||
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);
|
||||||
GpiodRegular gpio(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
|
|
||||||
gpio::Direction::OUT, 1);
|
gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
|
||||||
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, &gpio);
|
gpio::Direction::OUT, 1);
|
||||||
}
|
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
|
||||||
{
|
|
||||||
GpiodRegular gpio(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
|
gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
|
||||||
gpio::Direction::OUT, 1);
|
gpio::Direction::OUT, 1);
|
||||||
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, &gpio);
|
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
|
||||||
}
|
|
||||||
{
|
gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
|
||||||
GpiodRegular gpio(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
|
gpio::Direction::OUT, 1);
|
||||||
gpio::Direction::OUT, 1);
|
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
|
||||||
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, &gpio);
|
|
||||||
}
|
gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
|
||||||
{
|
gpio::Direction::OUT, 1);
|
||||||
GpiodRegular gpio(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
|
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
|
||||||
gpio::Direction::OUT, 1);
|
#elif defined(XIPHOS_Q7S)
|
||||||
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, &gpio);
|
std::string q7sGpioName5 = "gpiochip5";
|
||||||
}
|
std::string q7sGpioName6 = "gpiochip6";
|
||||||
{
|
|
||||||
GpiodRegular gpio(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
|
gpio = new GpiodRegular(q7sGpioName5, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
|
||||||
gpio::Direction::OUT, 1);
|
gpio::Direction::OUT, gpio::HIGH);
|
||||||
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, &gpio);
|
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) {
|
if(gpioIF != nullptr) {
|
||||||
gpioIF->addGpios(gpioCookie);
|
gpioIF->addGpios(gpioCookie);
|
||||||
}
|
}
|
||||||
|
@ -1,8 +1,8 @@
|
|||||||
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
|
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
|
||||||
#define LINUX_BOARDTEST_SPITESTCLASS_H_
|
#define LINUX_BOARDTEST_SPITESTCLASS_H_
|
||||||
|
|
||||||
#include <linux/gpio/GpioIF.h>
|
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||||
#include <linux/spi/SpiCookie.h>
|
#include <fsfw_hal/linux/spi/SpiCookie.h>
|
||||||
#include <test/testtasks/TestTask.h>
|
#include <test/testtasks/TestTask.h>
|
||||||
|
|
||||||
#include <vector>
|
#include <vector>
|
||||||
@ -38,13 +38,24 @@ private:
|
|||||||
void acsInit();
|
void acsInit();
|
||||||
|
|
||||||
/* ACS board specific variables */
|
/* ACS board specific variables */
|
||||||
uint8_t mgm0Lis3ChipSelect = 0;
|
#ifdef RASPBERRY_PI
|
||||||
|
uint8_t mgm0Lis3mdlChipSelect = 0;
|
||||||
uint8_t mgm1Rm3100ChipSelect = 1;
|
uint8_t mgm1Rm3100ChipSelect = 1;
|
||||||
uint8_t gyro0AdisChipSelect = 5;
|
uint8_t gyro0AdisChipSelect = 5;
|
||||||
uint8_t gyro1L3gd20ChipSelect = 6;
|
uint8_t gyro1L3gd20ChipSelect = 6;
|
||||||
uint8_t gyro2L3gd20ChipSelect = 4;
|
uint8_t gyro2L3gd20ChipSelect = 4;
|
||||||
uint8_t mgm2Lis3mdlChipSelect = 17;
|
uint8_t mgm2Lis3mdlChipSelect = 17;
|
||||||
uint8_t mgm3Rm3100ChipSelect = 27;
|
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 STM_READ_MASK = 0b1000'0000;
|
||||||
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
|
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
|
||||||
|
@ -1,8 +0,0 @@
|
|||||||
target_sources(${TARGET_NAME} PUBLIC
|
|
||||||
I2cComIF.cpp
|
|
||||||
I2cCookie.cpp
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,196 +0,0 @@
|
|||||||
#include "I2cComIF.h"
|
|
||||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
|
||||||
#include <unistd.h>
|
|
||||||
#include <fcntl.h>
|
|
||||||
#include <sys/ioctl.h>
|
|
||||||
#include <linux/i2c-dev.h>
|
|
||||||
#include <errno.h>
|
|
||||||
#include <linux/utility/Utility.h>
|
|
||||||
|
|
||||||
#include <cstring>
|
|
||||||
|
|
||||||
|
|
||||||
I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
|
|
||||||
}
|
|
||||||
|
|
||||||
I2cComIF::~I2cComIF() {}
|
|
||||||
|
|
||||||
ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
|
|
||||||
|
|
||||||
address_t i2cAddress;
|
|
||||||
std::string deviceFile;
|
|
||||||
|
|
||||||
if(cookie == nullptr) {
|
|
||||||
sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
|
|
||||||
return NULLPOINTER;
|
|
||||||
}
|
|
||||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
|
||||||
if(i2cCookie == nullptr) {
|
|
||||||
sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
|
|
||||||
return NULLPOINTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
i2cAddress = i2cCookie->getAddress();
|
|
||||||
|
|
||||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
|
||||||
if(i2cDeviceMapIter == i2cDeviceMap.end()) {
|
|
||||||
size_t maxReplyLen = i2cCookie->getMaxReplyLen();
|
|
||||||
I2cInstance_t i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
|
|
||||||
auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
|
|
||||||
if (not statusPair.second) {
|
|
||||||
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
|
|
||||||
i2cAddress << "to I2C device " << "map" << std::endl;
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
|
|
||||||
"already in use" << std::endl;
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
|
|
||||||
const uint8_t *sendData, size_t sendLen) {
|
|
||||||
|
|
||||||
ReturnValue_t result;
|
|
||||||
int fd;
|
|
||||||
std::string deviceFile;
|
|
||||||
|
|
||||||
if(sendData == nullptr) {
|
|
||||||
sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
|
|
||||||
<< std::endl;
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
if(sendLen == 0) {
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
|
||||||
if(i2cCookie == nullptr) {
|
|
||||||
sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
|
|
||||||
return NULLPOINTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
address_t i2cAddress = i2cCookie->getAddress();
|
|
||||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
|
||||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
|
||||||
sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
|
|
||||||
<< "registered in i2cDeviceMap" << std::endl;
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
deviceFile = i2cCookie->getDeviceFile();
|
|
||||||
utility::UnixFileHelper fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
|
|
||||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
|
||||||
return fileHelper.getOpenResult();
|
|
||||||
}
|
|
||||||
result = openDevice(deviceFile, i2cAddress, &fd);
|
|
||||||
if (result != HasReturnvaluesIF::RETURN_OK){
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (write(fd, sendData, sendLen) != (int)sendLen) {
|
|
||||||
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
|
|
||||||
"device with error code " << errno << ". Error description: "
|
|
||||||
<< strerror(errno) << std::endl;
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
|
|
||||||
size_t requestLen) {
|
|
||||||
ReturnValue_t result;
|
|
||||||
int fd;
|
|
||||||
std::string deviceFile;
|
|
||||||
|
|
||||||
if (requestLen == 0) {
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
|
||||||
if(i2cCookie == nullptr) {
|
|
||||||
sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
|
|
||||||
i2cDeviceMapIter->second.replyLen = 0;
|
|
||||||
return NULLPOINTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
address_t i2cAddress = i2cCookie->getAddress();
|
|
||||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
|
||||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
|
||||||
sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
|
|
||||||
<< "registered in i2cDeviceMap" << std::endl;
|
|
||||||
i2cDeviceMapIter->second.replyLen = 0;
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
deviceFile = i2cCookie->getDeviceFile();
|
|
||||||
utility::UnixFileHelper fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
|
|
||||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
|
||||||
return fileHelper.getOpenResult();
|
|
||||||
}
|
|
||||||
result = openDevice(deviceFile, i2cAddress, &fd);
|
|
||||||
if (result != HasReturnvaluesIF::RETURN_OK){
|
|
||||||
i2cDeviceMapIter->second.replyLen = 0;
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
|
|
||||||
|
|
||||||
if (read(fd, replyBuffer, requestLen) != static_cast<int>(requestLen)) {
|
|
||||||
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
|
|
||||||
<< "device failed with error code " << errno <<". Description"
|
|
||||||
<< " of error: " << strerror(errno) << std::endl;
|
|
||||||
i2cDeviceMapIter->second.replyLen = 0;
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
i2cDeviceMapIter->second.replyLen = requestLen;
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
|
|
||||||
uint8_t **buffer, size_t* size) {
|
|
||||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
|
||||||
if(i2cCookie == nullptr) {
|
|
||||||
sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
|
|
||||||
return NULLPOINTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
address_t i2cAddress = i2cCookie->getAddress();
|
|
||||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
|
||||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
|
||||||
sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
|
|
||||||
<< "found in i2cDeviceMap" << std::endl;
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
*buffer = i2cDeviceMapIter->second.replyBuffer.data();
|
|
||||||
*size = i2cDeviceMapIter->second.replyLen;
|
|
||||||
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
|
|
||||||
address_t i2cAddress, int* fileDescriptor) {
|
|
||||||
|
|
||||||
if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
|
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
|
|
||||||
<< std::endl;
|
|
||||||
sif::warning << "Error description " << strerror(errno) << std::endl;
|
|
||||||
#else
|
|
||||||
sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
|
|
||||||
sif::printWarning("Error description: %s\n", strerror(errno));
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
@ -1,59 +0,0 @@
|
|||||||
#ifndef LINUX_I2C_I2COMIF_H_
|
|
||||||
#define LINUX_I2C_I2COMIF_H_
|
|
||||||
|
|
||||||
#include "I2cCookie.h"
|
|
||||||
#include <fsfw/objectmanager/SystemObject.h>
|
|
||||||
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
|
||||||
|
|
||||||
#include <unordered_map>
|
|
||||||
#include <vector>
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief This is the communication interface for i2c devices connected
|
|
||||||
* to a system running a linux OS.
|
|
||||||
*
|
|
||||||
* @author J. Meier
|
|
||||||
*/
|
|
||||||
class I2cComIF: public DeviceCommunicationIF, public SystemObject {
|
|
||||||
public:
|
|
||||||
I2cComIF(object_id_t objectId);
|
|
||||||
|
|
||||||
virtual ~I2cComIF();
|
|
||||||
|
|
||||||
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:
|
|
||||||
|
|
||||||
typedef struct I2cInstance {
|
|
||||||
std::vector<uint8_t> replyBuffer;
|
|
||||||
size_t replyLen;
|
|
||||||
} I2cInstance_t;
|
|
||||||
|
|
||||||
using I2cDeviceMap = std::unordered_map<address_t, I2cInstance_t>;
|
|
||||||
using I2cDeviceMapIter = I2cDeviceMap::iterator;
|
|
||||||
|
|
||||||
/* In this map all i2c devices will be registered with their address and
|
|
||||||
* the appropriate file descriptor will be stored */
|
|
||||||
I2cDeviceMap i2cDeviceMap;
|
|
||||||
I2cDeviceMapIter i2cDeviceMapIter;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief This function opens an I2C device and binds the opened file
|
|
||||||
* to a specific I2C address.
|
|
||||||
* @param deviceFile The name of the device file. E.g. i2c-0
|
|
||||||
* @param i2cAddress The address of the i2c slave device.
|
|
||||||
* @param fileDescriptor Pointer to device descriptor.
|
|
||||||
* @return RETURN_OK if successful, otherwise RETURN_FAILED.
|
|
||||||
*/
|
|
||||||
ReturnValue_t openDevice(std::string deviceFile,
|
|
||||||
address_t i2cAddress, int* fileDescriptor);
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif /* LINUX_I2C_I2COMIF_H_ */
|
|
@ -1,20 +0,0 @@
|
|||||||
#include "I2cCookie.h"
|
|
||||||
|
|
||||||
I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
|
|
||||||
std::string deviceFile_) :
|
|
||||||
i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
|
|
||||||
}
|
|
||||||
|
|
||||||
address_t I2cCookie::getAddress() const {
|
|
||||||
return i2cAddress;
|
|
||||||
}
|
|
||||||
|
|
||||||
size_t I2cCookie::getMaxReplyLen() const {
|
|
||||||
return maxReplyLen;
|
|
||||||
}
|
|
||||||
|
|
||||||
std::string I2cCookie::getDeviceFile() const {
|
|
||||||
return deviceFile;
|
|
||||||
}
|
|
||||||
|
|
||||||
I2cCookie::~I2cCookie() {}
|
|
@ -1,38 +0,0 @@
|
|||||||
#ifndef LINUX_I2C_I2CCOOKIE_H_
|
|
||||||
#define LINUX_I2C_I2CCOOKIE_H_
|
|
||||||
|
|
||||||
#include <fsfw/devicehandlers/CookieIF.h>
|
|
||||||
#include <string>
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Cookie for the i2cDeviceComIF.
|
|
||||||
*
|
|
||||||
* @author J. Meier
|
|
||||||
*/
|
|
||||||
class I2cCookie: public CookieIF {
|
|
||||||
public:
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Constructor for the I2C cookie.
|
|
||||||
* @param i2cAddress_ The i2c address of the target device.
|
|
||||||
* @param maxReplyLen_ The maximum expected length of a reply from the
|
|
||||||
* target device.
|
|
||||||
* @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
|
|
||||||
*/
|
|
||||||
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
|
|
||||||
std::string deviceFile_);
|
|
||||||
|
|
||||||
virtual ~I2cCookie();
|
|
||||||
|
|
||||||
address_t getAddress() const;
|
|
||||||
size_t getMaxReplyLen() const;
|
|
||||||
std::string getDeviceFile() const;
|
|
||||||
|
|
||||||
private:
|
|
||||||
|
|
||||||
address_t i2cAddress = 0;
|
|
||||||
size_t maxReplyLen = 0;
|
|
||||||
std::string deviceFile;
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif /* LINUX_I2C_I2CCOOKIE_H_ */
|
|
@ -1,8 +0,0 @@
|
|||||||
target_sources(${TARGET_NAME} PUBLIC
|
|
||||||
SpiComIF.cpp
|
|
||||||
SpiCookie.cpp
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,321 +0,0 @@
|
|||||||
#include "SpiComIF.h"
|
|
||||||
#include <OBSWConfig.h>
|
|
||||||
|
|
||||||
#include <linux/utility/Utility.h>
|
|
||||||
#include <linux/spi/SpiCookie.h>
|
|
||||||
|
|
||||||
#include <fsfw/ipc/MutexFactory.h>
|
|
||||||
#include <fsfw/ipc/MutexGuard.h>
|
|
||||||
#include <fsfw/globalfunctions/arrayprinter.h>
|
|
||||||
|
|
||||||
#include <linux/spi/spidev.h>
|
|
||||||
#include <fcntl.h>
|
|
||||||
#include <unistd.h>
|
|
||||||
#include <sys/ioctl.h>
|
|
||||||
|
|
||||||
#include <cerrno>
|
|
||||||
#include <cstring>
|
|
||||||
|
|
||||||
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(objectId),
|
|
||||||
gpioComIF(gpioComIF) {
|
|
||||||
if(gpioComIF == nullptr) {
|
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
|
|
||||||
#else
|
|
||||||
sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
|
||||||
}
|
|
||||||
|
|
||||||
spiMutex = MutexFactory::instance()->createMutex();
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
|
|
||||||
int retval = 0;
|
|
||||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
|
||||||
if(spiCookie == nullptr) {
|
|
||||||
return NULLPOINTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
address_t spiAddress = spiCookie->getSpiAddress();
|
|
||||||
|
|
||||||
auto iter = spiDeviceMap.find(spiAddress);
|
|
||||||
if(iter == spiDeviceMap.end()) {
|
|
||||||
size_t bufferSize = spiCookie->getMaxBufferSize();
|
|
||||||
SpiInstance spiInstance = {std::vector<uint8_t>(bufferSize)};
|
|
||||||
auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
|
|
||||||
if (not statusPair.second) {
|
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
|
|
||||||
spiAddress << "to SPI device map" << std::endl;
|
|
||||||
#else
|
|
||||||
sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
|
|
||||||
"%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
/* Now we emplaced the read buffer in the map, we still need to assign that location
|
|
||||||
to the SPI driver transfer struct */
|
|
||||||
spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
|
|
||||||
#else
|
|
||||||
sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Pull CS high in any case to be sure that device is inactive */
|
|
||||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
|
||||||
if(gpioId != gpio::NO_GPIO) {
|
|
||||||
gpioComIF->pullHigh(gpioId);
|
|
||||||
}
|
|
||||||
|
|
||||||
size_t spiSpeed = 0;
|
|
||||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
|
||||||
|
|
||||||
SpiCookie::UncommonParameters params;
|
|
||||||
spiCookie->getSpiParameters(spiMode, spiSpeed, ¶ms);
|
|
||||||
|
|
||||||
int fileDescriptor = 0;
|
|
||||||
utility::UnixFileHelper fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
|
|
||||||
"SpiComIF::initializeInterface: ");
|
|
||||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
|
||||||
return fileHelper.getOpenResult();
|
|
||||||
}
|
|
||||||
|
|
||||||
/* These flags are rather uncommon */
|
|
||||||
if(params.threeWireSpi or params.noCs or params.csHigh) {
|
|
||||||
uint32_t currentMode = 0;
|
|
||||||
retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, ¤tMode);
|
|
||||||
if(retval != 0) {
|
|
||||||
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
|
|
||||||
}
|
|
||||||
|
|
||||||
if(params.threeWireSpi) {
|
|
||||||
currentMode |= SPI_3WIRE;
|
|
||||||
}
|
|
||||||
if(params.noCs) {
|
|
||||||
/* Some drivers like the Raspberry Pi ignore this flag in any case */
|
|
||||||
currentMode |= SPI_NO_CS;
|
|
||||||
}
|
|
||||||
if(params.csHigh) {
|
|
||||||
currentMode |= SPI_CS_HIGH;
|
|
||||||
}
|
|
||||||
/* Write adapted mode */
|
|
||||||
retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, ¤tMode);
|
|
||||||
if(retval != 0) {
|
|
||||||
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if(params.lsbFirst) {
|
|
||||||
retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, ¶ms.lsbFirst);
|
|
||||||
if(retval != 0) {
|
|
||||||
utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if(params.bitsPerWord != 8) {
|
|
||||||
retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, ¶ms.bitsPerWord);
|
|
||||||
if(retval != 0) {
|
|
||||||
utility::handleIoctlError("SpiComIF::initializeInterface: "
|
|
||||||
"Could not write bits per word!");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
|
|
||||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
|
||||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
|
||||||
int retval = 0;
|
|
||||||
|
|
||||||
if(spiCookie == nullptr) {
|
|
||||||
return NULLPOINTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
if(sendLen > spiCookie->getMaxBufferSize()) {
|
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
|
|
||||||
"larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
|
|
||||||
#else
|
|
||||||
sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
|
|
||||||
"than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
|
|
||||||
static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
|
||||||
return DeviceCommunicationIF::TOO_MUCH_DATA;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/* Prepare transfer */
|
|
||||||
int fileDescriptor = 0;
|
|
||||||
std::string device = spiCookie->getSpiDevice();
|
|
||||||
utility::UnixFileHelper fileHelper(device, &fileDescriptor, O_RDWR,
|
|
||||||
"SpiComIF::sendMessage: ");
|
|
||||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
|
||||||
return OPENING_FILE_FAILED;
|
|
||||||
}
|
|
||||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
|
||||||
uint32_t spiSpeed = 0;
|
|
||||||
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
|
||||||
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
|
||||||
spiCookie->assignWriteBuffer(sendData);
|
|
||||||
spiCookie->assignTransferSize(sendLen);
|
|
||||||
|
|
||||||
bool fullDuplex = spiCookie->isFullDuplex();
|
|
||||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
|
||||||
|
|
||||||
/* GPIO access is mutex protected */
|
|
||||||
MutexGuard(spiMutex, timeoutType, timeoutMs);
|
|
||||||
|
|
||||||
/* Pull SPI CS low. For now, no support for active high given */
|
|
||||||
if(gpioId != gpio::NO_GPIO) {
|
|
||||||
gpioComIF->pullLow(gpioId);
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Execute transfer */
|
|
||||||
if(fullDuplex) {
|
|
||||||
/* Initiate a full duplex SPI transfer. */
|
|
||||||
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
|
|
||||||
if(retval < 0) {
|
|
||||||
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
|
|
||||||
result = FULL_DUPLEX_TRANSFER_FAILED;
|
|
||||||
}
|
|
||||||
#if FSFW_LINUX_SPI_WIRETAPPING == 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::info << "Sent SPI data: " << std::endl;
|
|
||||||
size_t dataLen = spiCookie->getTransferStructHandle()->len;
|
|
||||||
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
|
|
||||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
|
||||||
sif::info << "Received SPI data: " << std::endl;
|
|
||||||
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
|
|
||||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
|
||||||
#else
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
/* We write with a blocking half-duplex transfer here */
|
|
||||||
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
|
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
|
|
||||||
std::endl;
|
|
||||||
#else
|
|
||||||
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
|
||||||
result = HALF_DUPLEX_TRANSFER_FAILED;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if(gpioId != gpio::NO_GPIO) {
|
|
||||||
gpioComIF->pullHigh(gpioId);
|
|
||||||
}
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
|
|
||||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
|
||||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
|
||||||
if(spiCookie == nullptr) {
|
|
||||||
return NULLPOINTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool fullDuplex = spiCookie->isFullDuplex();
|
|
||||||
if(fullDuplex) {
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
std::string device = spiCookie->getSpiDevice();
|
|
||||||
int fileDescriptor = 0;
|
|
||||||
utility::UnixFileHelper fileHelper(device, &fileDescriptor, O_RDWR,
|
|
||||||
"SpiComIF::requestReceiveMessage: ");
|
|
||||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
|
||||||
return OPENING_FILE_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t* rxBuf = nullptr;
|
|
||||||
size_t readSize = spiCookie->getCurrentTransferSize();
|
|
||||||
result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
|
|
||||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
|
||||||
MutexGuard(spiMutex, timeoutType, timeoutMs);
|
|
||||||
if(gpioId != gpio::NO_GPIO) {
|
|
||||||
gpioComIF->pullLow(gpioId);
|
|
||||||
}
|
|
||||||
|
|
||||||
if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
|
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
|
|
||||||
#else
|
|
||||||
sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
|
||||||
result = HALF_DUPLEX_TRANSFER_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
if(gpioId != gpio::NO_GPIO) {
|
|
||||||
gpioComIF->pullHigh(gpioId);
|
|
||||||
}
|
|
||||||
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
|
|
||||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
|
||||||
if(spiCookie == nullptr) {
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
uint8_t* rxBuf = nullptr;
|
|
||||||
ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
|
|
||||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
*buffer = rxBuf;
|
|
||||||
*size = spiCookie->getCurrentTransferSize();
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
|
|
||||||
if(buffer == nullptr) {
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
auto iter = spiDeviceMap.find(spiAddress);
|
|
||||||
if(iter == spiDeviceMap.end()) {
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
*buffer = iter->second.replyBuffer.data();
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
|
|
||||||
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
|
|
||||||
if(retval != 0) {
|
|
||||||
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
|
|
||||||
}
|
|
||||||
|
|
||||||
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
|
|
||||||
if(retval != 0) {
|
|
||||||
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,63 +0,0 @@
|
|||||||
#ifndef LINUX_SPI_SPICOMIF_H_
|
|
||||||
#define LINUX_SPI_SPICOMIF_H_
|
|
||||||
|
|
||||||
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
|
||||||
#include <fsfw/objectmanager/SystemObject.h>
|
|
||||||
#include <linux/gpio/GpioIF.h>
|
|
||||||
#include <linux/spi/spiDefinitions.h>
|
|
||||||
#include <returnvalues/classIds.h>
|
|
||||||
|
|
||||||
#include <vector>
|
|
||||||
#include <unordered_map>
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Encapsulates access to linux SPI driver for FSFW objects
|
|
||||||
* @details
|
|
||||||
* Right now, only full-duplex SPI is supported.
|
|
||||||
* @author R. Mueller
|
|
||||||
*/
|
|
||||||
class SpiComIF: public DeviceCommunicationIF, public SystemObject {
|
|
||||||
public:
|
|
||||||
static constexpr uint8_t spiRetvalId = CLASS_ID::LINUX_SPI_COM_IF;
|
|
||||||
static constexpr ReturnValue_t OPENING_FILE_FAILED =
|
|
||||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
|
|
||||||
/* Full duplex (ioctl) transfer failure */
|
|
||||||
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
|
|
||||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
|
|
||||||
/* Half duplex (read/write) transfer failure */
|
|
||||||
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
|
|
||||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
|
|
||||||
|
|
||||||
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
|
|
||||||
|
|
||||||
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:
|
|
||||||
|
|
||||||
struct SpiInstance {
|
|
||||||
std::vector<uint8_t> replyBuffer;
|
|
||||||
};
|
|
||||||
|
|
||||||
GpioIF* gpioComIF = nullptr;
|
|
||||||
|
|
||||||
MutexIF* spiMutex = nullptr;
|
|
||||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
|
||||||
uint32_t timeoutMs = 20;
|
|
||||||
|
|
||||||
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
|
|
||||||
using SpiDeviceMapIter = SpiDeviceMap::iterator;
|
|
||||||
|
|
||||||
SpiDeviceMap spiDeviceMap;
|
|
||||||
|
|
||||||
|
|
||||||
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
|
|
||||||
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif /* LINUX_SPI_SPICOMIF_H_ */
|
|
@ -1,107 +0,0 @@
|
|||||||
#include "SpiCookie.h"
|
|
||||||
|
|
||||||
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
|
|
||||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
|
|
||||||
chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode),
|
|
||||||
spiSpeed(spiSpeed) {
|
|
||||||
}
|
|
||||||
|
|
||||||
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
|
|
||||||
spi::SpiModes spiMode, uint32_t spiSpeed):
|
|
||||||
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
|
|
||||||
UncommonParameters* parameters) const {
|
|
||||||
spiMode = this->spiMode;
|
|
||||||
spiSpeed = this->spiSpeed;
|
|
||||||
|
|
||||||
if(parameters != nullptr) {
|
|
||||||
parameters->threeWireSpi = uncommonParameters.threeWireSpi;
|
|
||||||
parameters->lsbFirst = uncommonParameters.lsbFirst;
|
|
||||||
parameters->noCs = uncommonParameters.noCs;
|
|
||||||
parameters->bitsPerWord = uncommonParameters.bitsPerWord;
|
|
||||||
parameters->csHigh = uncommonParameters.csHigh;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
gpioId_t SpiCookie::getChipSelectPin() const {
|
|
||||||
return chipSelectPin;
|
|
||||||
}
|
|
||||||
|
|
||||||
size_t SpiCookie::getMaxBufferSize() const {
|
|
||||||
return maxSize;
|
|
||||||
}
|
|
||||||
|
|
||||||
address_t SpiCookie::getSpiAddress() const {
|
|
||||||
return spiAddress;
|
|
||||||
}
|
|
||||||
|
|
||||||
std::string SpiCookie::getSpiDevice() const {
|
|
||||||
return spiDevice;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::setThreeWireSpi(bool enable) {
|
|
||||||
uncommonParameters.threeWireSpi = enable;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::setLsbFirst(bool enable) {
|
|
||||||
uncommonParameters.lsbFirst = enable;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::setNoCs(bool enable) {
|
|
||||||
uncommonParameters.noCs = enable;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
|
|
||||||
uncommonParameters.bitsPerWord = bitsPerWord;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::setCsHigh(bool enable) {
|
|
||||||
uncommonParameters.csHigh = enable;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
|
|
||||||
spiTransferStruct.cs_change = deselectCs;
|
|
||||||
spiTransferStruct.delay_usecs = delayUsecs;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::assignReadBuffer(uint8_t* rx) {
|
|
||||||
if(rx != nullptr) {
|
|
||||||
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
|
|
||||||
if(tx != nullptr) {
|
|
||||||
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
|
|
||||||
return &spiTransferStruct;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
|
|
||||||
this->halfDuplex = halfDuplex;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool SpiCookie::isFullDuplex() const {
|
|
||||||
return not this->halfDuplex;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::assignTransferSize(size_t transferSize) {
|
|
||||||
spiTransferStruct.len = transferSize;
|
|
||||||
}
|
|
||||||
|
|
||||||
size_t SpiCookie::getCurrentTransferSize() const {
|
|
||||||
return spiTransferStruct.len;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
|
|
||||||
this->spiSpeed = newSpeed;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SpiCookie::setSpiMode(spi::SpiModes newMode) {
|
|
||||||
this->spiMode = newMode;
|
|
||||||
}
|
|
@ -1,119 +0,0 @@
|
|||||||
#ifndef LINUX_SPI_SPICOOKIE_H_
|
|
||||||
#define LINUX_SPI_SPICOOKIE_H_
|
|
||||||
|
|
||||||
#include "spiDefinitions.h"
|
|
||||||
#include <fsfw/devicehandlers/CookieIF.h>
|
|
||||||
#include <linux/gpio/gpioDefinitions.h>
|
|
||||||
#include <linux/spi/spidev.h>
|
|
||||||
|
|
||||||
class SpiCookie: public CookieIF {
|
|
||||||
public:
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Each SPI device will have a corresponding cookie. The cookie is used by the communication
|
|
||||||
* interface and contains device specific information like the largest expected size to be
|
|
||||||
* sent and received and the GPIO pin used to toggle the SPI slave select pin.
|
|
||||||
* @param spiAddress
|
|
||||||
* @param chipSelect Chip select. gpio::NO_GPIO can be used for hardware slave selects.
|
|
||||||
* @param spiDev
|
|
||||||
* @param maxSize
|
|
||||||
*/
|
|
||||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
|
|
||||||
const size_t maxReplySize, spi::SpiModes spiMode, uint32_t spiSpeed);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
|
|
||||||
* slave select or if CS logic is performed with decoders.
|
|
||||||
*/
|
|
||||||
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
|
|
||||||
spi::SpiModes spiMode, uint32_t spiSpeed);
|
|
||||||
|
|
||||||
address_t getSpiAddress() const;
|
|
||||||
std::string getSpiDevice() const;
|
|
||||||
gpioId_t getChipSelectPin() const;
|
|
||||||
size_t getMaxBufferSize() const;
|
|
||||||
|
|
||||||
/** Enables changing SPI speed at run-time */
|
|
||||||
void setSpiSpeed(uint32_t newSpeed);
|
|
||||||
/** Enables changing the SPI mode at run-time */
|
|
||||||
void setSpiMode(spi::SpiModes newMode);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* True if SPI transfers should be performed in full duplex mode
|
|
||||||
* @return
|
|
||||||
*/
|
|
||||||
bool isFullDuplex() const;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Set transfer type to full duplex or half duplex. Full duplex is the default setting,
|
|
||||||
* ressembling common SPI hardware implementation with shift registers, where read and writes
|
|
||||||
* happen simultaneosly.
|
|
||||||
* @param fullDuplex
|
|
||||||
*/
|
|
||||||
void setFullOrHalfDuplex(bool halfDuplex);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* This needs to be called to specify where the SPI driver writes to or reads from.
|
|
||||||
* @param readLocation
|
|
||||||
* @param writeLocation
|
|
||||||
*/
|
|
||||||
void assignReadBuffer(uint8_t* rx);
|
|
||||||
void assignWriteBuffer(const uint8_t* tx);
|
|
||||||
/**
|
|
||||||
* Assign size for the next transfer.
|
|
||||||
* @param transferSize
|
|
||||||
*/
|
|
||||||
void assignTransferSize(size_t transferSize);
|
|
||||||
size_t getCurrentTransferSize() const;
|
|
||||||
|
|
||||||
struct UncommonParameters {
|
|
||||||
uint8_t bitsPerWord = 8;
|
|
||||||
bool noCs = false;
|
|
||||||
bool csHigh = false;
|
|
||||||
bool threeWireSpi = false;
|
|
||||||
/* MSB first is more common */
|
|
||||||
bool lsbFirst = false;
|
|
||||||
};
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Can be used to explicitely disable hardware chip select.
|
|
||||||
* Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
|
|
||||||
* (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
|
|
||||||
* @param enable
|
|
||||||
*/
|
|
||||||
void setNoCs(bool enable);
|
|
||||||
void setThreeWireSpi(bool enable);
|
|
||||||
void setLsbFirst(bool enable);
|
|
||||||
void setCsHigh(bool enable);
|
|
||||||
void setBitsPerWord(uint8_t bitsPerWord);
|
|
||||||
|
|
||||||
void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
|
|
||||||
UncommonParameters* parameters = nullptr) const;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* See spidev.h cs_change and delay_usecs
|
|
||||||
* @param deselectCs
|
|
||||||
* @param delayUsecs
|
|
||||||
*/
|
|
||||||
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
|
|
||||||
|
|
||||||
spi_ioc_transfer* getTransferStructHandle();
|
|
||||||
private:
|
|
||||||
size_t currentTransferSize = 0;
|
|
||||||
|
|
||||||
address_t spiAddress;
|
|
||||||
gpioId_t chipSelectPin;
|
|
||||||
std::string spiDevice;
|
|
||||||
|
|
||||||
const size_t maxSize;
|
|
||||||
spi::SpiModes spiMode;
|
|
||||||
uint32_t spiSpeed;
|
|
||||||
bool halfDuplex = false;
|
|
||||||
|
|
||||||
struct spi_ioc_transfer spiTransferStruct = {};
|
|
||||||
UncommonParameters uncommonParameters;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#endif /* LINUX_SPI_SPICOOKIE_H_ */
|
|
@ -1,17 +0,0 @@
|
|||||||
#ifndef LINUX_SPI_SPIDEFINITONS_H_
|
|
||||||
#define LINUX_SPI_SPIDEFINITONS_H_
|
|
||||||
|
|
||||||
#include <cstdint>
|
|
||||||
|
|
||||||
namespace spi {
|
|
||||||
|
|
||||||
enum SpiModes: uint8_t {
|
|
||||||
MODE_0,
|
|
||||||
MODE_1,
|
|
||||||
MODE_2,
|
|
||||||
MODE_3
|
|
||||||
};
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif /* LINUX_SPI_SPIDEFINITONS_H_ */
|
|
@ -1,5 +1,4 @@
|
|||||||
target_sources(${TARGET_NAME} PUBLIC
|
target_sources(${TARGET_NAME} PUBLIC
|
||||||
Utility.cpp
|
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
|
@ -1,52 +0,0 @@
|
|||||||
#include "Utility.h"
|
|
||||||
|
|
||||||
void utility::handleIoctlError(const char* const customPrintout) {
|
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
if(customPrintout != nullptr) {
|
|
||||||
sif::warning << customPrintout << std::endl;
|
|
||||||
}
|
|
||||||
sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
|
|
||||||
std::endl;
|
|
||||||
#else
|
|
||||||
if(customPrintout != nullptr) {
|
|
||||||
sif::printWarning("%s\n", customPrintout);
|
|
||||||
}
|
|
||||||
sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
utility::UnixFileHelper::UnixFileHelper(std::string device, int* fileDescriptor, int flags,
|
|
||||||
std::string diagnosticPrefix):
|
|
||||||
fileDescriptor(fileDescriptor) {
|
|
||||||
if(fileDescriptor == nullptr) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
*fileDescriptor = open(device.c_str(), flags);
|
|
||||||
if (*fileDescriptor < 0) {
|
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno <<
|
|
||||||
"." << std::endl;
|
|
||||||
sif::warning << "Error description: " << strerror(errno) << std::endl;
|
|
||||||
#else
|
|
||||||
sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
|
|
||||||
sif::printWarning("Error description: %s\n", strerror(errno));
|
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
|
||||||
openStatus = OPEN_FILE_FAILED;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
utility::UnixFileHelper::~UnixFileHelper() {
|
|
||||||
if(fileDescriptor != nullptr) {
|
|
||||||
close(*fileDescriptor);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t utility::UnixFileHelper::getOpenResult() const {
|
|
||||||
return openStatus;
|
|
||||||
}
|
|
||||||
|
|
@ -1,36 +0,0 @@
|
|||||||
#ifndef LINUX_UTILITY_UTILITY_H_
|
|
||||||
#define LINUX_UTILITY_UTILITY_H_
|
|
||||||
|
|
||||||
#include <cerrno>
|
|
||||||
#include <cstring>
|
|
||||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
|
||||||
|
|
||||||
#include <fcntl.h>
|
|
||||||
#include <unistd.h>
|
|
||||||
|
|
||||||
namespace utility {
|
|
||||||
|
|
||||||
void handleIoctlError(const char* const customPrintout);
|
|
||||||
|
|
||||||
class UnixFileHelper {
|
|
||||||
public:
|
|
||||||
static constexpr int READ_WRITE_FLAG = O_RDWR;
|
|
||||||
static constexpr int READ_ONLY_FLAG = O_RDONLY;
|
|
||||||
static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
|
|
||||||
|
|
||||||
static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
|
|
||||||
|
|
||||||
UnixFileHelper(std::string device, int* fileDescriptor, int flags,
|
|
||||||
std::string diagnosticPrefix = "");
|
|
||||||
|
|
||||||
virtual~ UnixFileHelper();
|
|
||||||
|
|
||||||
ReturnValue_t getOpenResult() const;
|
|
||||||
private:
|
|
||||||
int* fileDescriptor = nullptr;
|
|
||||||
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
|
|
||||||
};
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif /* LINUX_UTILITY_UTILITY_H_ */
|
|
@ -7,7 +7,7 @@
|
|||||||
<buildSpec>
|
<buildSpec>
|
||||||
<buildCommand>
|
<buildCommand>
|
||||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||||
<triggers>clean,full,incremental,</triggers>
|
<triggers>full,incremental,</triggers>
|
||||||
<arguments>
|
<arguments>
|
||||||
</arguments>
|
</arguments>
|
||||||
</buildCommand>
|
</buildCommand>
|
||||||
|
@ -33,8 +33,8 @@ void MGMHandlerLIS3MDL::doStartUp() {
|
|||||||
/* Will be set by checking device ID (WHO AM I register) */
|
/* Will be set by checking device ID (WHO AM I register) */
|
||||||
if(commandExecuted) {
|
if(commandExecuted) {
|
||||||
commandExecuted = false;
|
commandExecuted = false;
|
||||||
|
internalState = InternalState::STATE_SETUP;
|
||||||
}
|
}
|
||||||
internalState = InternalState::STATE_SETUP;
|
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case(InternalState::STATE_SETUP): {
|
case(InternalState::STATE_SETUP): {
|
||||||
@ -463,7 +463,7 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||||
return 10000;
|
return 20000;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MGMHandlerLIS3MDL::modeChanged(void) {
|
void MGMHandlerLIS3MDL::modeChanged(void) {
|
||||||
|
@ -66,6 +66,14 @@ gps_rx_data[] = ""
|
|||||||
"$GPRMC,183731,A,3907.482,N,12102.436,W,000.0,360.0,080301,015.5,E*67\r\n"
|
"$GPRMC,183731,A,3907.482,N,12102.436,W,000.0,360.0,080301,015.5,E*67\r\n"
|
||||||
"$GPRMB,A,,,,,,,,,,,,V*71\r\n";
|
"$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() {
|
ReturnValue_t TestTask::performOneShotAction() {
|
||||||
#if OBSW_ADD_TEST_CODE == 1
|
#if OBSW_ADD_TEST_CODE == 1
|
||||||
//performLwgpsTest();
|
//performLwgpsTest();
|
||||||
@ -93,18 +101,18 @@ ReturnValue_t TestTask::performActionB() {
|
|||||||
|
|
||||||
void TestTask::performLwgpsTest() {
|
void TestTask::performLwgpsTest() {
|
||||||
/* Everything here will only be performed once. */
|
/* Everything here will only be performed once. */
|
||||||
etl::vector<uint8_t, 30> testVec;
|
sif::info << "Processing sample GPS output.." << std::endl;
|
||||||
|
|
||||||
lwgps_t gpsStruct;
|
lwgps_t gpsStruct;
|
||||||
sif::info << "Size of GPS struct: " << sizeof(gpsStruct) << std::endl;
|
sif::info << "Size of GPS struct: " << sizeof(gpsStruct) << std::endl;
|
||||||
lwgps_init(&gpsStruct);
|
lwgps_init(&gpsStruct);
|
||||||
|
|
||||||
/* Process all input data */
|
/* Process all input data */
|
||||||
lwgps_process(&gpsStruct, gps_rx_data, strlen(gps_rx_data));
|
lwgps_process(&gpsStruct, hyperion_gps_data, strlen(hyperion_gps_data));
|
||||||
|
|
||||||
/* Print messages */
|
/* Print messages */
|
||||||
printf("Valid status: %d\r\n", gpsStruct.is_valid);
|
printf("Valid status: %d\n", gpsStruct.is_valid);
|
||||||
printf("Latitude: %f degrees\r\n", gpsStruct.latitude);
|
printf("Latitude: %f degrees\n", gpsStruct.latitude);
|
||||||
printf("Longitude: %f degrees\r\n", gpsStruct.longitude);
|
printf("Longitude: %f degrees\n", gpsStruct.longitude);
|
||||||
printf("Altitude: %f meters\r\n", gpsStruct.altitude);
|
printf("Altitude: %f meters\n", gpsStruct.altitude);
|
||||||
}
|
}
|
||||||
|
Loading…
Reference in New Issue
Block a user