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Merge remote-tracking branch 'origin/main' into relax-sus-fdir
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This commit is contained in:
Robin Müller
2023-08-03 13:37:36 +02:00
parent a023fe2c7d b2d9582a46
commit 05fbff2e6d
140 changed files with 3972 additions and 2030 deletions
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25
linux/acs/StrComHandler.cpp
View File

@ -2,6 +2,7 @@
#include <fcntl.h>
#include <fsfw/filesystem/HasFileSystemIF.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <mission/acs/str/strHelpers.h>
@ -23,6 +24,8 @@ extern "C" {
using namespace returnvalue;
static constexpr bool PACKET_WIRETAPPING = false;
StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
lock = MutexFactory::instance()->createMutex();
semaphore.acquire();
@ -52,7 +55,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
case InternalState::POLL_ONE_REPLY: {
// Stopwatch watch;
replyTimeout.setTimeout(200);
replyResult = readOneReply(static_cast<uint32_t>(state));
readOneReply(static_cast<uint32_t>(state));
{
MutexGuard mg(lock);
replyWasReceived = true;
@ -680,6 +683,10 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
const uint8_t* txFrame;
size_t frameLen;
datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
if (PACKET_WIRETAPPING) {
sif::debug << "Sending STR frame" << std::endl;
arrayprinter::print(txFrame, frameLen);
}
ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
if (bytesWritten != static_cast<ssize_t>(frameLen)) {
sif::warning << "StrComHandler: Sending packet failed" << std::endl;
@ -709,13 +716,11 @@ ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requ
}
ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
// Consider it a configuration error if the task is not done with a command -> reply cycle
// in time.
bool replyWasReceived = false;
{
MutexGuard mg(lock);
if (state != InternalState::SLEEPING) {
return BUSY;
return returnvalue::OK;
}
replyWasReceived = this->replyWasReceived;
}
@ -728,7 +733,7 @@ ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buf
*size = replyLen;
}
replyLen = 0;
return replyResult;
return returnvalue::OK;
}
ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
@ -782,8 +787,10 @@ ReturnValue_t StrComHandler::handleSerialReception() {
<< std::endl;
return FAILED;
} else if (bytesRead > 0) {
// sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
// arrayprinter::print(recBuf.data(), bytesRead);
if (PACKET_WIRETAPPING) {
sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
arrayprinter::print(recBuf.data(), bytesRead);
}
datalinkLayer.feedData(recBuf.data(), bytesRead);
}
return OK;
@ -797,6 +804,10 @@ ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
handleSerialReception();
result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
if (result == returnvalue::OK) {
if (PACKET_WIRETAPPING) {
sif::debug << "Received STR reply frame" << std::endl;
arrayprinter::print(replyPtr, replyLen);
}
return returnvalue::OK;
} else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);

25
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 296 translations.
* @brief Auto-generated event translation file. Contains 303 translations.
* @details
* Generated on: 2023-06-13 07:54:32
* Generated on: 2023-08-03 13:36:37
*/
#include "translateEvents.h"
@ -139,6 +139,7 @@ const char *ERROR_STATE_STRING = "ERROR_STATE";
const char *RESET_OCCURED_STRING = "RESET_OCCURED";
const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
const char *COM_ERROR_REPLY_RECEIVED_STRING = "COM_ERROR_REPLY_RECEIVED";
const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@ -260,6 +261,7 @@ const char *TX_OFF_STRING = "TX_OFF";
const char *MISSING_PACKET_STRING = "MISSING_PACKET";
const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
const char *FS_UNUSABLE_STRING = "FS_UNUSABLE";
const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
@ -277,6 +279,8 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
const char *I2C_REBOOT_STRING = "I2C_REBOOT";
const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
const char *ACTIVE_SD_INFO_STRING = "ACTIVE_SD_INFO";
const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@ -285,6 +289,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -572,6 +579,8 @@ const char *translateEvents(Event event) {
return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
case (11902):
return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
case (11903):
return COM_ERROR_REPLY_RECEIVED_STRING;
case (12001):
return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
case (12002):
@ -814,6 +823,8 @@ const char *translateEvents(Event event) {
return EXPERIMENT_TIMEDOUT_STRING;
case (13802):
return MULTI_PACKET_COMMAND_DONE_STRING;
case (13803):
return FS_UNUSABLE_STRING;
case (13901):
return SET_CONFIGFILEVALUE_FAILED_STRING;
case (13902):
@ -848,6 +859,10 @@ const char *translateEvents(Event event) {
return I2C_REBOOT_STRING;
case (14012):
return PDEC_REBOOT_STRING;
case (14013):
return FIRMWARE_INFO_STRING;
case (14014):
return ACTIVE_SD_INFO_STRING;
case (14100):
return NO_VALID_SENSOR_TEMPERATURE_STRING;
case (14101):
@ -864,6 +879,12 @@ const char *translateEvents(Event event) {
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14108):
return MGT_OVERHEATING_STRING;
case (14109):
return TCS_SWITCHING_HEATER_ON_STRING;
case (14110):
return TCS_SWITCHING_HEATER_OFF_STRING;
case (14111):
return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

2
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-06-13 07:54:32
* Generated on: 2023-08-03 13:36:37
*/
#include "translateObjects.h"

12
linux/ipcore/AxiPtmeConfig.cpp
View File

@ -16,9 +16,9 @@ AxiPtmeConfig::AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNu
AxiPtmeConfig::~AxiPtmeConfig() {}
ReturnValue_t AxiPtmeConfig::initialize() {
ReturnValue_t result = returnvalue::OK;
UioMapper uioMapper(axiUio, mapNum);
result = uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
ReturnValue_t result =
uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return result;
}
@ -26,8 +26,7 @@ ReturnValue_t AxiPtmeConfig::initialize() {
}
ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
ReturnValue_t result = returnvalue::OK;
result = mutex->lockMutex(timeoutType, mutexTimeout);
ReturnValue_t result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != returnvalue::OK) {
sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to lock mutex" << std::endl;
return returnvalue::FAILED;
@ -41,6 +40,11 @@ ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
return returnvalue::OK;
}
uint8_t AxiPtmeConfig::readCaduRateReg() {
MutexGuard mg(mutex);
return static_cast<uint8_t>(*(baseAddress + CADU_BITRATE_REG));
}
void AxiPtmeConfig::enableTxclockManipulator() {
writeBit(COMMON_CONFIG_REG, true, BitPos::EN_TX_CLK_MANIPULATOR);
}

1
linux/ipcore/AxiPtmeConfig.h
View File

@ -38,6 +38,7 @@ class AxiPtmeConfig : public SystemObject {
* frequency of the clock connected to the bit clock input of PTME.
*/
ReturnValue_t writeCaduRateReg(uint8_t rateVal);
uint8_t readCaduRateReg();
/**
* @brief Next to functions control the tx clock manipulator component

142
linux/ipcore/PapbVcInterface.cpp
View File

@ -7,20 +7,16 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
gpioId_t papbEmptyId, std::string uioFile, int mapNum)
: gpioComIF(gpioComIF),
papbBusyId(papbBusyId),
papbEmptyId(papbEmptyId),
uioFile(std::move(uioFile)),
mapNum(mapNum) {}
PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId,
std::string uioFile, int mapNum)
: gpioComIF(gpioComIF), papbEmptyId(papbEmptyId), uioFile(std::move(uioFile)), mapNum(mapNum) {}
PapbVcInterface::~PapbVcInterface() {}
ReturnValue_t PapbVcInterface::initialize() {
UioMapper uioMapper(uioFile, mapNum);
ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
UioMapper::Permissions::WRITE_ONLY);
UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return result;
}
@ -32,63 +28,27 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
if (size < 4) {
return returnvalue::FAILED;
}
if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
if (pollReadyForPacket()) {
startPacketTransfer(ByteWidthCfg::ONE);
} else {
return DirectTmSinkIF::IS_BUSY;
}
// TODO: This should work but does not.. :(
// size_t idx = 0;
// while (idx < size) {
//
// nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
// if ((size - idx) < 4) {
// *vcBaseReg = CONFIG_DATA_INPUT | (size - idx - 1);
// usleep(1);
// }
// if (pollPapbBusySignal(2) == returnvalue::OK) {
// // vcBaseReg + DATA_REG_OFFSET + 3 = static_cast<uint8_t>(data + idx);
// // vcBaseReg + DATA_REG_OFFSET + 2 = static_cast<uint8_t>(data + idx + 1);
// // vcBaseReg + DATA_REG_OFFSET + 1 = static_cast<uint8_t>(data + idx + 2);
// // vcBaseReg + DATA_REG_OFFSET = static_cast<uint8_t>(data + idx + 3);
//
// // std::memcpy((vcBaseReg + DATA_REG_OFFSET), data + idx , nextWriteSize);
// *(vcBaseReg + DATA_REG_OFFSET) = *reinterpret_cast<const uint32_t*>(data + idx);
// //uint8_t* byteReg = reinterpret_cast<uint8_t*>(vcBaseReg + DATA_REG_OFFSET);
//
// //byteReg[0] = data[idx];
// //byteReg[1] = data[idx];
// } else {
// abortPacketTransfer();
// return returnvalue::FAILED;
// }
// // TODO: Change this after the bugfix. Right now, the PAPB ignores the content of the byte
// // width configuration.5
// // It's okay to increment by a larger amount for the last segment here, loop will be over
// // in any case.
// idx += 4;
// }
for (size_t idx = 0; idx < size; idx++) {
// This delay is super-important, DO NOT REMOVE!
// Polling the GPIO or the config register too often messes up the scheduler.
// TODO: Maybe this should not be done like this. It would be better if there was a custom
// FPGA module which can accept packets and then takes care of dumping that packet into
// the PTME. DMA would be an ideal solution for this.
nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
} else {
abortPacketTransfer();
return returnvalue::FAILED;
}
}
nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
completePacketTransfer();
} else {
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
abortPacketTransfer();
return returnvalue::FAILED;
}
for (size_t idx = 0; idx < size; idx++) {
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
abortPacketTransfer();
return returnvalue::FAILED;
}
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
}
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
abortPacketTransfer();
return returnvalue::FAILED;
}
completePacketTransfer();
return returnvalue::OK;
}
@ -98,63 +58,49 @@ void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
bool checkReadyState) const {
uint32_t busyIdx = 0;
nextDelay.tv_nsec = FIRST_DELAY_PAPB_POLLING_NS;
while (true) {
// Check if PAPB interface is ready to receive data. Use the configuration register for this.
// Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
uint32_t reg = *vcBaseReg;
bool busy = (reg >> 5) & 0b1;
bool ready = (reg >> 6) & 0b1;
if (not busy) {
return returnvalue::OK;
}
if (checkReadyState and not ready) {
return PAPB_BUSY;
}
busyIdx++;
if (busyIdx >= maxPollRetries) {
return PAPB_BUSY;
}
// Ignore signal handling here for now.
nanosleep(&nextDelay, &remDelay);
// Adaptive delay.
if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
nextDelay.tv_nsec *= 2;
}
}
return returnvalue::OK;
bool PapbVcInterface::pollReadyForPacket() const {
// Check if PAPB interface is ready to receive data. Use the configuration register for this.
// Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
uint32_t reg = *vcBaseReg;
return (reg >> 6) & 0b1;
}
void PapbVcInterface::isVcInterfaceBufferEmpty() {
bool PapbVcInterface::isVcInterfaceBufferEmpty() {
ReturnValue_t result = returnvalue::OK;
gpio::Levels papbEmptyState = gpio::Levels::HIGH;
result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
if (result != returnvalue::OK) {
sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return;
sif::error << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return true;
}
if (papbEmptyState == gpio::Levels::HIGH) {
sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
} else {
sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
return true;
}
return;
return false;
}
bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }
bool PapbVcInterface::isBusy() const { return not pollReadyForPacket(); }
void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
inline bool PapbVcInterface::pollReadyForOctet(uint32_t maxCycles) const {
uint32_t reg;
uint32_t idx = 0;
while (idx < maxCycles) {
reg = *vcBaseReg;
// Busy bit.
if (not((reg >> 5) & 0b1)) {
return true;
}
idx++;
}
return false;
}
ReturnValue_t PapbVcInterface::sendTestFrame() {
/** Size of one complete transfer frame data field amounts to 1105 bytes */
uint8_t testPacket[1105];

13
linux/ipcore/PapbVcInterface.h
View File

@ -30,8 +30,7 @@ class PapbVcInterface : public VirtualChannelIF {
* @param uioFile UIO file providing access to the PAPB bus
* @param mapNum Map number of UIO map associated with this virtual channel
*/
PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, gpioId_t papbEmptyId,
std::string uioFile, int mapNum);
PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum);
virtual ~PapbVcInterface();
bool isBusy() const override;
@ -81,11 +80,9 @@ class PapbVcInterface : public VirtualChannelIF {
static constexpr long int FIRST_DELAY_PAPB_POLLING_NS = 10;
static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
static constexpr uint32_t MAX_BUSY_POLLS = 1000;
LinuxLibgpioIF* gpioComIF = nullptr;
/** Pulled to low when virtual channel not ready to receive data */
gpioId_t papbBusyId = gpio::NO_GPIO;
/** High when external buffer memory of virtual channel is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
@ -120,13 +117,15 @@ class PapbVcInterface : public VirtualChannelIF {
*
* @return returnvalue::OK when ready to receive data else PAPB_BUSY.
*/
inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
inline bool pollReadyForPacket() const;
inline bool pollReadyForOctet(uint32_t maxCycles) const;
/**
* @brief This function can be used for debugging to check whether there are packets in
* the packet buffer of the virtual channel or not.
*/
void isVcInterfaceBufferEmpty();
bool isVcInterfaceBufferEmpty();
/**
* @brief This function sends a complete telemetry transfer frame data field (1105 bytes)

5
linux/ipcore/PtmeConfig.cpp
View File

@ -26,6 +26,11 @@ ReturnValue_t PtmeConfig::setRate(uint32_t bitRate) {
return axiPtmeConfig->writeCaduRateReg(static_cast<uint8_t>(rateVal));
}
uint32_t PtmeConfig::getRate() {
uint8_t rateReg = axiPtmeConfig->readCaduRateReg();
return (BIT_CLK_FREQ / (rateReg + 1));
}
void PtmeConfig::invertTxClock(bool invert) {
if (invert) {
axiPtmeConfig->enableTxclockInversion();

1
linux/ipcore/PtmeConfig.h
View File

@ -32,6 +32,7 @@ class PtmeConfig : public SystemObject {
* of the CADU clock due to the convolutional code added by the s-Band transceiver.
*/
ReturnValue_t setRate(uint32_t bitRate);
uint32_t getRate();
/**
* @brief Will change the time the tx data signal is updated with respect to the tx clock