Merge pull request 'Update' (#12) from mueller/master into develop

Reviewed-on: eive/eive_obsw#12

CMakeLists.txt

@@ -19,6 +19,8 @@ if(NOT OS_FSFW)
 	set(OS_FSFW host CACHE STRING "OS for the FSFW.")
 endif()
 
+set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
+
 # Perform steps like loading toolchain files where applicable.
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
@@ -44,6 +46,8 @@ set(FSFW_PATH fsfw)
 set(MISSION_PATH mission)
 set(CSPLIB_PATH libcsp)
 
+set(WARNING_SHADOW_LOCAL FALSE)
+
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
 include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
@@ -110,7 +114,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 	set(WARNING_FLAGS
 		-Wall
 		-Wextra
-		-Wshadow=local
 		-Wimplicit-fallthrough=1
 		-Wno-unused-parameter
 		-Wno-psabi

README.md

@@ -4,7 +4,7 @@
 
 Target systems:
 
-* OBC
+* OBC with Linux OS
 	* Xiphos Q7S
 	* Based on Zynq-7020 SoC (xc7z020clg484-2)
 		* Dual-core ARM Cortex-A9 
@@ -12,16 +12,19 @@ Target systems:
 		* Artix-7 FPGA (85K pogrammable logic cells)
 	* Datasheet at https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S&fileid=340648
 	* Also a lot of informatin about the Q7S can be found on the xiphos trac platform: https://trac.xiphos.com/trac/eive-q7/wiki/Q7RevB
-* Linux OS
+	* Linux OS built with Yocto 2.5
-	* Built with Yocto 2.5
 	* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git
 * Host System
 	* Generic software components which are not dependant on hardware can also
 	  be run. All host code is contained in the hosted folder
 	* Tested for Linux (Ubuntu 20.04) and Windows 10
+* Raspberry Pi
+    * EIVE OBC can be built for Raspberry Pi as well (either directly on Raspberry Pi or by installing a cross compiler)
 	
+The steps in the primary README are related to the main OBC target Q7S.
 
 ## Setting up development environment
+
 * Install Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html.
   Install the Vivado Design Suite - HLx Editions - 2018.2  Full Product Installation instead of the updates. It is recommended to use the installer
 * Install settings. In the Devices selection, it is sufficient to pick SoC &rarr; Zynq-7000: <br>
@@ -133,65 +136,76 @@ git submodule update
 
 ## Debugging the software via Flatsat PC
 Open SSH connection to flatsat PC:
-````
+
+```sh
 ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
-````
+```
+
 To access the console of the Q7S run the following:
 ```sh
 picocom -b 115200 /dev/ttyUSB0
 ```
+
 To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig on the Q7S serial console.
-````
+
+```sh
 ifconfig
-````
+```
+
 Set IP address and netmask with
-````
+
+```sh
 ifconfig eth0 192.168.133.10
 ifconfig eth0 netmask 255.255.255.0
-````
+```
+
 To launch application from Xilinx SDK setup port fowarding on the localhost.
-````
+
+```sh
 ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
-````
+```
+
 This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.
 
-Note: When now setting up a debug session in the Xilinx SDK, the host must be set to localhost instead of the IP address
+Note: When now setting up a debug session in the Xilinx SDK, the host must be set to localhost instead of the IP address of the Q7S.
-      of the Q7S.
-
 
 ## Launching an application after boot
 Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds two xdi images).
 Note: It is not possible to modify the current loaded root partition.
 1. Disable write protection of the desired root partition
-````
+
-writeprotect 0 0 0 # unlocks nominal image on nor-flash 0
+   ```sh
-````
+   writeprotect 0 0 0 # unlocks nominal image on nor-flash 0  
+   ```
+
 2. Mount the root partition
-````
+
-xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0
+   ```sh
-````
+   xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0
+   ```
 3. Copy the executable to /bin/usr
 4. Make sure the permissions to execute the application are set
-````
+   ```sh
-chmod +x application
+   chmod +x application
-````
+   ```
+   
 5. Create systemd service in /lib/systemd/system. The following shows an example service.
-````
+   ```sh
-cat > example.service
+   cat > example.service
-[Unit]
+   [Unit]
-Description=Example Service
+   Description=Example Service
-StartLimitIntervalSec=0
+   StartLimitIntervalSec=0
 
-[Service]
+   [Service] 
-Type=simple
+   Type=simple
-Restart=always
+   Restart=always
-RestartSec=1
+   RestartSec=1
-User=root
+   User=root
-ExecStart=/usr/bin/application
+   ExecStart=/usr/bin/application
 
-[Install]
+   [Install]
-WantedBy=multi-user.target
+   WantedBy=multi-user.target
-````
+   ```
 6. Enable the service. This is normally done with systemctl enable. However, this is not possible when the service is
    created for a mounted root partition. Therefore create a symlink as follows.
 ````

bsp_rpi/CMakeLists.txt

@@ -5,6 +5,7 @@ target_sources(${TARGET_NAME} PUBLIC
 )
 
 add_subdirectory(boardconfig)
+add_subdirectory(boardtest)
 
 
 

bsp_rpi/boardtest/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${TARGET_NAME} PRIVATE
+	SpiTest.cpp
+)
+
+
+
+

bsp_rpi/boardtest/SpiTest.cpp

@@ -0,0 +1,43 @@
+#include "SpiTest.h"
+
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <wiringPi.h>
+
+SpiTest::SpiTest(object_id_t objectId): SystemObject(objectId) {
+	wiringPiSetupGpio();
+
+	int spiFd = open(spiDeviceName.c_str(), O_RDWR);
+	if (spiFd < 0){
+		sif::error << "Could not open SPI device!" << std::endl;
+	}
+
+	spiMode = SPI_MODE_3;
+	int ret = ioctl(spiFd, SPI_IOC_WR_MODE, &spiMode);
+	if(ret < 0) {
+		sif::error << "Could not set write mode!" << std::endl;
+	}
+
+	/* Datenrate setzen */
+	ret = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed);
+	if(ret < 0) {
+		sif::error << "Could not SPI speed!" << std::endl;
+	}
+}
+
+ReturnValue_t SpiTest::performOperation(uint8_t opCode) {
+	if(oneShot) {
+
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiTest::initialize() {
+	//transferHandle.rx_buf = reinterpret_cast<__u64>(receiveBuffer);
+	//transferHandle.tx_buf = reinterpret_cast<__u64>(sendBuffer);
+	//transferHandle.speed_hz = 976000;
+	//transferHandle.len = 2;
+	return HasReturnvaluesIF::RETURN_OK;
+}

bsp_rpi/boardtest/SpiTest.h

@@ -0,0 +1,31 @@
+#ifndef BSP_LINUX_TEST_SPITEST_H_
+#define BSP_LINUX_TEST_SPITEST_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <linux/spi/spidev.h>
+#include <string>
+
+class SpiTest: public ExecutableObjectIF, SystemObject {
+public:
+	SpiTest(object_id_t objectId);
+
+	ReturnValue_t performOperation(uint8_t opCode) override;
+	ReturnValue_t initialize() override;
+private:
+	const std::string spiDeviceName = "/dev/spidev0.0";
+	int spiFd = 0;
+
+	uint8_t spiMode = SPI_MODE_3;
+	uint32_t spiSpeed = 976000;
+
+	uint8_t sendBuffer[32];
+	uint8_t receiveBuffer[32];
+	struct spi_ioc_transfer transferHandle;
+
+	bool oneShot = true;
+
+};
+
+
+#endif /* BSP_LINUX_TEST_SPITEST_H_ */

fsfw

@@ -1 +1 @@
-Subproject commit 8ef6283bf4f5cf5d12131c48365a753825fea637
+Subproject commit 1ac2479b28c1114b0876123e0db4155abfbf06fe

libcsp/include/CMakeLists.txt

@@ -1,7 +1,5 @@
 target_include_directories(${LIB_CSP_NAME} PRIVATE
 	${CMAKE_CURRENT_SOURCE_DIR}
-	${CMAKE_CURRENT_SOURCE_DIR}/csp
-	${CMAKE_CURRENT_SOURCE_DIR}/csp/crypto
 )
 
 target_include_directories(${LIB_CSP_NAME} INTERFACE