eive/eive-obsw
eive/eive-obsw
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Merge pull request 'Update before changing history' (#55) from mueller/staging-1-before-history-change into develop

Browse Source 
Reviewed-on: #55
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
This commit is contained in:
Jakob Meier 2021-07-23 17:20:19 +02:00
commit 09c5cd4373
73 changed files with 1571 additions and 586 deletions
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6
.gitmodules vendored
View File

@ -13,9 +13,9 @@
[submodule "thirdparty/lwgps"]
path = thirdparty/lwgps
url = https://github.com/rmspacefish/lwgps.git
[submodule "fsfw_hal"]
path = fsfw_hal
url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-hal.git
[submodule "generators/fsfwgen"]
path = generators/fsfwgen
url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-generators.git
[submodule "thirdparty/json"]
path = thirdparty/json
url = https://github.com/nlohmann/json.git

31
CMakeLists.txt
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@ -1,8 +1,6 @@
################################################################################
# CMake support for the EIVE OBSW
#
# Developed in an effort to replace Make with a modern build system.
#
# Author: R. Mueller
################################################################################
@ -20,8 +18,10 @@ if(TGT_BSP MATCHES "arm/q7s")
endif()
option(ADD_ETL_LIB "Add ETL library" ON)
if(NOT OS_FSFW)
set(OS_FSFW host CACHE STRING "OS for the FSFW.")
option(ADD_JSON_LIB "Add JSON librara" ON)
if(NOT FSFW_OSAL)
set(FSFW_OSAL host CACHE STRING "OS for the FSFW.")
endif()
if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
@ -48,10 +48,10 @@ set(TARGET_NAME ${CMAKE_PROJECT_NAME})
set(LIB_FSFW_NAME fsfw)
set(LIB_ETL_NAME etl)
set(LIB_CSP_NAME libcsp)
set(LIB_FSFW_HAL_NAME fsfw_hal)
set(LIB_LWGPS_NAME lwgps)
set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs)
set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
# Set path names
set(FSFW_PATH fsfw)
@ -65,6 +65,7 @@ set(FSFW_HAL_LIB_PATH fsfw_hal)
set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
set(ADD_LINUX_FILES False)
@ -75,8 +76,8 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
pre_source_hw_os_config()
if(TGT_BSP)
if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi"
OR ${TGT_BSP} MATCHES "arm/beagleboneblack"
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
OR TGT_BSP MATCHES "arm/beagleboneblack"
)
set(FSFW_CONFIG_PATH "linux/fsfwconfig")
if(NOT Q7S_SIMPLE_MODE)
@ -140,6 +141,10 @@ if(ADD_LINUX_FILES)
add_subdirectory(${LINUX_PATH})
endif()
if(ADD_JSON_LIB)
add_subdirectory(${LIB_JSON_PATH})
endif()
add_subdirectory(${BSP_PATH})
add_subdirectory(${COMMON_PATH})
@ -148,7 +153,6 @@ if(NOT Q7S_SIMPLE_MODE)
add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH})
add_subdirectory(${TEST_PATH})
add_subdirectory(${FSFW_HAL_LIB_PATH})
endif()
@ -156,7 +160,7 @@ endif()
# Post-Sources preparation
################################################################################
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
if(NOT Q7S_SIMPLE_MODE)
# Add libraries for all sources.
@ -164,7 +168,6 @@ if(NOT Q7S_SIMPLE_MODE)
${LIB_FSFW_NAME}
${LIB_OS_NAME}
${LIB_LWGPS_NAME}
${LIB_FSFW_HAL_NAME}
${LIB_CXX_FS}
)
endif()
@ -181,6 +184,12 @@ if(ADD_CSP_LIB)
)
endif()
if(ADD_JSON_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_JSON_NAME}
)
endif()
# Add include paths for all sources.
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
@ -243,7 +252,7 @@ endif()
string(CONCAT POST_BUILD_COMMENT
"Build directory: ${CMAKE_BINARY_DIR}\n"
"Target OSAL: ${OS_FSFW}\n"
"Target OSAL: ${FSFW_OSAL}\n"
"Target Build Type: ${CMAKE_BUILD_TYPE}\n"
"${TARGET_STRING}"
)

67
README.md
View File

@ -14,7 +14,8 @@ Target systems:
* 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 information about the Q7S can be found on
the [Xiphos Traq Platform](https://trac2.xiphos.ca/eive-q7). Press on index to find all
relevant pages.
relevant pages. The most recent datasheet can be found
[here](https://trac2.xiphos.ca/manual/wiki/Q7RevB/UserManual).
* Linux OS built with Yocto 2.5
* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git . EIVE version can be found
[here](https://github.com/spacefisch/linux-xlnx) . Pre-compiled files can be
@ -591,6 +592,20 @@ Eclipse indexer.
# Q7S Utilities and Troubleshooting
## Core commands
Display currently running image:
```sh
xsc_boot_copy
```
Rebooting currently running image:
```sh
xsc_boot_copy -r
```
## pa3tool Host Tool
The `pa3tool` is a host tool to interface with the ProASIC3 on the Q7S board. It was
@ -612,6 +627,40 @@ cat /tmp/test.txt
For more useful combinations, see this [link](https://www.freecodecamp.org/news/the-cat-command-in-linux-how-to-create-a-text-file-with-cat-or-touch/).
## Using the scratch buffer of the ProASIC3
The ProASIC3 has a 1024 byte scratch buffer. The values in this scratch buffer will survive
a reboot, so this buffer can be used as an alternative to the SD cards to exchange information
between images or to store mission critical information.
You can use `xsc_scratch --help` for more information.
Write to scratch buffer:
```sh
xsc_scratch write TEST "1"
```
Read from scratch buffer:
```sh
xsc_scratch read TEST
```
Read all keys:
```sh
xsc_scratch read
```
Get fill count:
```sh
xsc_scratch read | wc -c
```
## Using `system` when debugging
Please note that when using a `system` call in C++/C code and debugging, a new thread will be
@ -695,20 +744,6 @@ Reading data from CAN:
candump can0
````
## Useful Q7S Linux Commands
Display currently running image:
```sh
xsc_boot_copy
```
Rebooting currently running image:
```sh
xsc_boot_copy -r
```
## Preparation of a fresh rootfs and SD card
This section summarizes important changes between a fresh rootfs and the current
@ -724,7 +759,7 @@ EIVE implementation
### SD Cards
- Folder `bin` for binaries, for example the OBSW
- Folder `misc` for miscellaneous files
- Folder `misc` for miscellaneous files. Contains `ls` for directory listings
- Folder `tc` for telecommands
- Folder `tm` for telemetry
- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)

2
bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
View File

@ -33,7 +33,7 @@ namespace pcduSwitches {
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
#if TE0720 == 1
#if BOARD_TE0720 == 1
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
#else

16
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,5 +1,5 @@
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <fsfw/hal/linux/uart/UartComIF.h>
#include <fsfw/hal/linux/uart/UartCookie.h>
#include <mission/devices/GPSHyperionHandler.h>
#include "ObjectFactory.h"
@ -31,12 +31,12 @@
#include "fsfw/osal/common/UdpTmTcBridge.h"
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.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"
#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.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() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;

2
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -24,6 +24,8 @@
#define Q7S_ADD_SPI_TEST 0
#endif
#define Q7S_ADD_SYRLINKS_HANDLER 1
#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
namespace config {

195
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,9 +1,16 @@
#include <bsp_q7s/memory/FileSystemHandler.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include "Q7STestTask.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/tasks/TaskFactory.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "test/DummyParameter.h"
#include <nlohmann/json.hpp>
#include <iostream>
#include <fstream>
@ -13,12 +20,16 @@ Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
}
ReturnValue_t Q7STestTask::performOneShotAction() {
//sdCardTests();
testScratchApi();
//testSdCard();
//testScratchApi();
//testJsonLibDirect();
//testDummyParams();
FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
testFileSystemHandlerDirect(opCode);
return TestTask::performOneShotAction();
}
void Q7STestTask::sdCardTests() {
void Q7STestTask::testSdCard() {
using namespace std;
Stopwatch stopwatch;
int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
@ -61,7 +72,183 @@ void Q7STestTask::testScratchApi() {
}
int number = 0;
result = scratch::readNumber("TEST", number);
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
result = scratch::writeString("TEST2", "halloWelt");
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
}
std::string string;
result = scratch::readString("TEST2", string);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
result = scratch::clearValue("TEST");
result = scratch::clearValue("TEST2");
}
void Q7STestTask::testJsonLibDirect() {
Stopwatch stopwatch;
// for convenience
using json = nlohmann::json;
json helloTest;
// add a number that is stored as double (note the implicit conversion of j to an object)
helloTest["pi"] = 3.141;
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string fileName = mntPrefix + "/pretty.json";
std::ofstream o(fileName);
o << std::setw(4) << helloTest << std::endl;
}
void Q7STestTask::testDummyParams() {
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
DummyParameter param(mntPrefix, "dummy_json.txt");
param.printKeys();
param.print();
if(not param.getJsonFileExists()) {
param.writeJsonFile();
}
ReturnValue_t result = param.readJsonFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
}
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
param.writeJsonFile();
param.print();
int test = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1);
std::string test2 = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2);
sif::info << "Test value (3 expected): " << test << std::endl;
sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
}
void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
auto fsHandler = ObjectManager::instance()->
get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
if(fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl;
}
FileSystemHandler::FsCommandCfg cfg = {};
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// Lambda for common code
auto createNonEmptyTmpDir = [&]() {
if(not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp/test", &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
// Creating sample files
sif::info << "Creating sample files in directory" << std::endl;
result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
};
switch(opCode) {
case(FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
break;
}
case(FsOpCodes::REMOVE_TMP_FILE): {
sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(not std::filesystem::exists("/tmp/test.txt")) {
// Creating sample file
sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
}
result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl;
}
else {
sif::warning << "File removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::CREATE_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
ReturnValue_t result = fsHandler->createDirectory("/tmp/test", &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl;
}
else {
sif::warning << "Directory creation failed!" << std::endl;
}
break;
}
case(FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp/test", &cfg);
}
else {
// Delete any leftover files to regular dir removal works
std::remove("/tmp/test/*");
}
result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed successfully" << std::endl;
}
else {
sif::warning << "Directory removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/test", true, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl;
}
else {
sif::warning << "Recursive directory removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl;
}
else {
sif::warning << "Directory removal worked when it should not have!" << std::endl;
}
}
}
}

13
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -9,11 +9,22 @@ public:
private:
ReturnValue_t performOneShotAction() override;
void sdCardTests();
void testSdCard();
void fileTests();
void testScratchApi();
void testJsonLibDirect();
void testDummyParams();
enum FsOpCodes {
CREATE_EMPTY_FILE_IN_TMP,
REMOVE_TMP_FILE,
CREATE_DIR_IN_TMP,
REMOVE_EMPTY_DIR_IN_TMP,
ATTEMPT_DIR_REMOVAL_NON_EMPTY,
REMOVE_FILLED_DIR_IN_TMP,
};
void testFileSystemHandlerDirect(FsOpCodes opCode);
};

261
bsp_q7s/core/CoreController.cpp
View File

@ -1,6 +1,9 @@
#include "CoreController.h"
#include "q7sConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "../memory/scratchApi.h"
#include "../memory/SdCardManager.h"
CoreController::CoreController(object_id_t objectId):
@ -24,7 +27,16 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
}
ReturnValue_t CoreController::initialize() {
return sdCardInit();
ReturnValue_t result = sdCardInit();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: SD card init failed" << std::endl;
}
result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Setting up alloc failure "
"count failed" << std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
@ -38,7 +50,9 @@ ReturnValue_t CoreController::sdCardInit() {
return HasReturnvaluesIF::RETURN_OK;
#else
SdCardManager* sdcMan = SdCardManager::instance();
if(sdcMan == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
// Create update status file
ReturnValue_t result = sdcMan->updateSdCardStateFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -46,93 +60,14 @@ ReturnValue_t CoreController::sdCardInit() {
<< std::endl;
}
auto sdStatus = std::pair<sd::SdStatus, sd::SdStatus>(sd::SdStatus::OFF, sd::SdStatus::OFF);
result = sdcMan->getSdCardActiveStatus(sdStatus);
auto statusPair = SdCardManager::SdStatusPair(sd::SdStatus::OFF, sd::SdStatus::OFF);
result = sdcMan->getSdCardActiveStatus(statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
// Use a lambda to avoid duplicate code
auto setUpSdCard = [&](sd::SdCard sdCard, sd::SdStatus status, std::string sdString) {
std::string mountString;
if(sdCard == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
}
else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
}
if(status == sd::SdStatus::OFF) {
sif::info << "Switching on and mounting SD card " << sdString << " at " <<
mountString << std::endl;
return sdcMan->switchOnSdCard(sdCard, true, &sdStatus);
}
else if(status == sd::SdStatus::ON) {
sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
return sdcMan->mountSdCard(sdCard);
}
else {
sif::info << "SD card " << sdString << " already on and mounted at " <<
mountString << std::endl;
return SdCardManager::ALREADY_MOUNTED;
}
};
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
result = sdcMan->getPreferredSdCard(preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Could not get preferred SD card information from the scratch buffer"
<< std::endl;
}
std::string preferredString;
sd::SdStatus preferredStatus = sd::SdStatus::OFF;
sd::SdStatus otherStatus = sd::SdStatus::OFF;
std::string otherString;
sd::SdCard otherSdc = sd::SdCard::SLOT_0;
if(preferredSdCard == sd::SdCard::SLOT_0) {
preferredStatus = sdStatus.first;
preferredString = "0";
otherSdc = sd::SdCard::SLOT_1;
otherStatus = sdStatus.second;
otherString = "1";
}
else {
preferredString = "1";
preferredStatus = sdStatus.second;
otherStatus = sdStatus.first;
otherSdc = sd::SdCard::SLOT_0;
otherString = "0";
}
sif::info << "Cold redundant SD card configuration, preferred SD card " <<
preferredString << std::endl;
result = setUpSdCard(preferredSdCard, preferredStatus, preferredString);
if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Setting up preferred card " << otherString <<
" in cold redundant mode failed" << std::endl;
// Try other SD card and mark set up operation as failed
setUpSdCard(otherSdc, otherStatus, otherString);
result = HasReturnvaluesIF::RETURN_FAILED;
}
if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
sif::info << "Switching off secondary SD card " << otherString << std::endl;
// Switch off other SD card in cold redundant mode if setting up preferred one walked
// without issues
result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &sdStatus);
if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
sif::warning << "Switching off secondary SD card " << otherString <<
" in cold redundant mode failed" << std::endl;
}
}
// Update status file
sdcMan->updateSdCardStateFile();
return HasReturnvaluesIF::RETURN_OK;
return sdCardColdRedundantInit(sdcMan, statusPair);
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
sif::info << "Hot redundant SD card configuration" << std::endl;
@ -146,3 +81,161 @@ ReturnValue_t CoreController::sdCardInit() {
#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
}
ReturnValue_t CoreController::sdCardSetup(SdCardManager& sdcMan,
SdCardManager::SdStatusPair& statusPair,sd::SdCard sdCard, sd::SdStatus status,
std::string sdString) {
std::string mountString;
if(sdCard == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
}
else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
}
if(status == sd::SdStatus::OFF) {
sif::info << "Switching on and mounting SD card " << sdString << " at " <<
mountString << std::endl;
return sdcMan.switchOnSdCard(sdCard, true, &statusPair);
}
else if(status == sd::SdStatus::ON) {
sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
return sdcMan.mountSdCard(sdCard);
}
else {
sif::info << "SD card " << sdString << " already on and mounted at " <<
mountString << std::endl;
return SdCardManager::ALREADY_MOUNTED;
}
}
ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch(actionId) {
case(LIST_DIRECTORY_INTO_FILE): {
// TODO: Packet definition for clean deserialization
// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
// null termination, at least 7 bytes for minimum target file name /tmp/a with
// null termination.
if(size < 14) {
return HasActionsIF::INVALID_PARAMETERS;
}
// We could also make -l optional, but I can't think of a reason why to not use -l..
// This flag specifies to run ls with -a
bool aFlag = data[0];
data += 1;
// This flag specifies to run ls with -R
bool RFlag = data[1];
data += 1;
size_t remainingSize = size - 2;
// One larger for null termination, which prevents undefined behaviour if the sent
// strings are not 0 terminated properly
std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
// Full target file name
std::string repoName(currentCharPtr);
size_t repoLength = repoName.length();
// The other string needs to be at least one letter plus NULL termination to be valid at all
// The first string also needs to be NULL terminated, but the termination is not included
// in the string length, so this is subtracted from the remaining size as well
if(repoLength > remainingSize - 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
// The file length will not include the NULL termination, so we skip it
currentCharPtr += repoLength + 1;
std::string targetFileName(currentCharPtr);
std::ostringstream oss;
oss << "ls -l";
if(aFlag) {
oss << "a";
}
if(RFlag) {
oss << "R";
}
oss << " " << repoName << " > " << targetFileName;
std::system(oss.str().c_str());
return HasReturnvaluesIF::RETURN_OK;
}
default: {
return HasActionsIF::INVALID_ACTION_ID;
}
}
}
ReturnValue_t CoreController::sdCardColdRedundantInit(SdCardManager* sdcMan,
SdCardManager::SdStatusPair& statusPair) {
sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
if(result == scratch::KEY_NOT_FOUND) {
sif::warning << "CoreController::sdCardInit: "
"Preferred SD card not set. Setting to 0" << std::endl;
sdcMan->setPreferredSdCard(preferredSdCard);
}
else {
sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
"information from the scratch buffer" << std::endl;
}
}
std::string preferredString;
sd::SdStatus preferredStatus = sd::SdStatus::OFF;
sd::SdStatus otherStatus = sd::SdStatus::OFF;
std::string otherString;
sd::SdCard otherSdc = sd::SdCard::SLOT_0;
if(preferredSdCard == sd::SdCard::SLOT_0) {
preferredStatus = statusPair.first;
preferredString = "0";
otherSdc = sd::SdCard::SLOT_1;
otherStatus = statusPair.second;
otherString = "1";
}
else {
preferredString = "1";
preferredStatus = statusPair.second;
otherStatus = statusPair.first;
otherSdc = sd::SdCard::SLOT_0;
otherString = "0";
}
sif::info << "Cold redundant SD card configuration, preferred SD card " <<
preferredString << std::endl;
result = sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Setting up preferred card " << otherString <<
" in cold redundant mode failed" << std::endl;
// Try other SD card and mark set up operation as failed
sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
result = HasReturnvaluesIF::RETURN_FAILED;
}
if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
sif::info << "Switching off secondary SD card " << otherString << std::endl;
// Switch off other SD card in cold redundant mode if setting up preferred one walked
// without issues
result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &statusPair);
if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
sif::warning << "Switching off secondary SD card " << otherString <<
" in cold redundant mode failed" << std::endl;
}
}
// Update status file
sdcMan->updateSdCardStateFile();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::incrementAllocationFailureCount() {
uint32_t count = 0;
ReturnValue_t result = scratch::readNumber(scratch::ALLOC_FAILURE_COUNT, count);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
count++;
return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count);
}

18
bsp_q7s/core/CoreController.h
View File

@ -2,15 +2,29 @@
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include "fsfw/controller/ExtendedControllerBase.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h"
class CoreController: public ExtendedControllerBase {
public:
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
CoreController(object_id_t objectId);
ReturnValue_t initialize() override;
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override;
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
void performControlOperation() override;
static ReturnValue_t incrementAllocationFailureCount();
private:
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
@ -19,6 +33,10 @@ private:
uint32_t *msToReachTheMode);
ReturnValue_t sdCardInit();
ReturnValue_t sdCardSetup(SdCardManager& sdcMan, SdCardManager::SdStatusPair& statusPair,
sd::SdCard sdCard, sd::SdStatus status, std::string sdString);
ReturnValue_t sdCardColdRedundantInit(SdCardManager* sdcMan,
SdCardManager::SdStatusPair& statusPair);
};

237
bsp_q7s/core/InitMission.cpp
View File

@ -3,20 +3,22 @@
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include <mission/utility/InitMission.h>
#include "mission/utility/InitMission.h"
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include "fsfw/platform.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include <iostream>
#include <vector>
/* This is configured for linux without CR */
#ifdef LINUX
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
@ -93,6 +95,15 @@ void initmission::initTasks() {
initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
}
// FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task
PeriodicTaskIF* fsTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
}
#if TEST_CCSDS_BRIDGE == 1
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
@ -102,15 +113,113 @@ void initmission::initTasks() {
}
#endif
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, testTasks);
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for(const auto& task: taskVector) {
if(task != nullptr) {
task->startTask();
}
else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
};
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
coreController->startTask();
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test task vector");
#endif
#if TEST_CCSDS_BRIDGE == 1
ptmeTestTask->startTask();
#endif
fsTask->startTask();
sif::info << "Tasks started.." << std::endl;
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0
/* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(spiPst);
#endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstUart(uartPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(uartPst);
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstGpio(gpioPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(gpioPst);
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
taskVec.push_back(i2cPst);
#else /* BOARD_TE7020 == 0 */
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
}
taskVec.push_back(pollingSequenceTaskTE0720);
#endif /* BOARD_TE7020 == 1 */
}
void initmission::createPusTasks(TaskFactory &factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* PUS Services */
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
taskVec.push_back(pusVerification);
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -120,8 +229,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -131,8 +241,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -150,8 +261,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
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) {
@ -161,58 +273,13 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
#if TE0720 == 0
//TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
#endif
FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask(
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstUart(uartPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* gpioPst = factory->createFixedTimeslotTask(
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstGpio(gpioPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* i2cPst = factory->createFixedTimeslotTask(
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* gomSpacePstTask = factory->createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
#else /* TE7020 == 0 */
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
}
#endif /* TE7020 == 1 */
#if OBSW_ADD_TEST_CODE == 1
PeriodicTaskIF* testTask = factory->createPeriodicTask(
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -225,45 +292,11 @@ void initmission::initTasks() {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if TE0720 == 1 && TEST_LIBGPIOD == 1
#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
coreController->startTask();
#if TE0720 == 0
uartPst->startTask();
gpioPst->startTask();
i2cPst->startTask();
#if Q7S_ADD_SPI_TEST == 0
gomSpacePstTask->startTask();
spiPst->startTask();
#endif /* Q7S_ADD_SPI_TEST == 0 */
#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
pollingSequenceTaskTE0720->startTask();
#endif
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
#endif
#if TEST_CCSDS_BRIDGE == 1
ptmeTestTask->startTask();
#endif
sif::info << "Tasks started.." << std::endl;
#endif /* BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1 */
taskVec.push_back(testTask);
}

13
bsp_q7s/core/InitMission.h
View File

@ -1,9 +1,22 @@
#ifndef BSP_Q7S_INITMISSION_H_
#define BSP_Q7S_INITMISSION_H_
#include "fsfw/tasks/Typedef.h"
#include <vector>
class PeriodicTaskIF;
class TaskFactory;
namespace initmission {
void initMission();
void initTasks();
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
};
#endif /* BSP_Q7S_INITMISSION_H_ */

345
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,4 +1,3 @@
#include <bsp_q7s/boardtest/Q7STestTask.h>
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "tmtc/apid.h"
@ -11,62 +10,68 @@
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include <linux/devices/HeaterHandler.h>
#include <linux/devices/SolarArrayDeploymentHandler.h>
#include <linux/devices/devicedefinitions/SusDefinitions.h>
#include <linux/devices/SusHandler.h>
#include <linux/csp/CspCookie.h>
#include <linux/csp/CspComIF.h>
#include "linux/devices/HeaterHandler.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
#include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "linux/devices/SusHandler.h"
#include "linux/csp/CspCookie.h"
#include "linux/csp/CspComIF.h"
#include <mission/core/GenericFactory.h>
#include <mission/devices/PDU1Handler.h>
#include <mission/devices/PDU2Handler.h>
#include <mission/devices/ACUHandler.h>
#include <mission/devices/PCDUHandler.h>
#include <mission/devices/P60DockHandler.h>
#include <mission/devices/Tmp1075Handler.h>
#include <mission/devices/Max31865PT1000Handler.h>
#include <mission/devices/IMTQHandler.h>
#include <mission/devices/SyrlinksHkHandler.h>
#include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h>
#include <mission/devices/PlocHandler.h>
#include <mission/devices/RadiationSensorHandler.h>
#include <mission/devices/RwHandler.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/PlocDefinitions.h>
#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <mission/utility/TmFunnel.h>
#include <linux/obc/CCSDSIPCoreBridge.h>
#include "mission/core/GenericFactory.h"
#include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/PCDUHandler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/MGMHandlerLIS3MDL.h"
#include "mission/devices/MGMHandlerRM3100.h"
#include "mission/devices/PlocHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/devicedefinitions/PlocDefinitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/utility/TmFunnel.h"
#include "linux/obc/CCSDSIPCoreBridge.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include <fsfw_hal/linux/i2c/I2cCookie.h>
#include <fsfw_hal/linux/i2c/I2cComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include "fsfw/hal/linux/uart/UartComIF.h"
#include "fsfw/hal/linux/uart/UartCookie.h"
#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw/hal/linux/i2c/I2cCookie.h"
#include "fsfw/hal/linux/i2c/I2cComIF.h"
#include "fsfw/hal/linux/spi/SpiCookie.h"
#include "fsfw/hal/linux/spi/SpiComIF.h"
#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw/hal/common/gpio/GpioCookie.h"
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/tmtcpacket/pus/tm.h>
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw/tmtcpacket/pus/tm.h"
/* UDP server includes */
#include <fsfw/osal/common/UdpTmTcBridge.h>
#include <fsfw/osal/common/UdpTcPollingTask.h>
#include <linux/boardtest/SpiTestClass.h>
#include "fsfw/osal/common/UdpTmTcBridge.h"
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "linux/boardtest/SpiTestClass.h"
#if TEST_LIBGPIOD == 1
#include <linux/boardtest/LibgpiodTest.h>
#include "linux/boardtest/LibgpiodTest.h"
#endif
void ObjectFactory::setStatics() {
Factory::setStaticFrameworkObjectIds();
}
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
@ -84,24 +89,55 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args){
Factory::setStaticFrameworkObjectIds();
ObjectFactory::setStatics();
ObjectFactory::produceGenericObjects();
LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF);
new I2cComIF(objects::I2C_COM_IF);
new UartComIF(objects::UART_COM_IF);
#if Q7S_ADD_SPI_TEST == 0
new SpiComIF(objects::SPI_COM_IF, gpioComIF);
#endif /* Q7S_ADD_SPI_TEST == 0 */
new CoreController(objects::CORE_CONTROLLER);
LinuxLibgpioIF* gpioComIF = nullptr;
createCommunicationInterfaces(&gpioComIF);
createTmpComponents();
#if BOARD_TE0720 == 0
#if TE0720 == 1
createPcduComponents();
createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF);
#endif /* OBSW_ADD_ACS_BOARD == 1 */
createHeaterComponents();
createSolarArrayDeploymentComponents();
#if Q7S_ADD_SYRLINKS_HANDLER == 1
createSyrlinksComponents();
#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */
#if Q7S_ADD_RTD_DEVICES == 1
createRtdComponents();
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0"));
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
UartCookie* plocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
UartModes::NON_CANONICAL, 115200, PLOC::MAX_REPLY_SIZE);
new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie);
createReactionWheelComponents(gpioComIF);
#endif /* TE7020 != 0 */
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1
createTestComponents();
#endif /* OBSW_ADD_TEST_CODE == 1 */
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
}
void ObjectFactory::createTmpComponents() {
#if BOARD_TE0720 == 1
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
@ -122,8 +158,27 @@ void ObjectFactory::produce(void* args){
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
i2cCookieTmp1075tcs2);
(void) tmp1075Handler_2;
}
#if TE0720 == 0
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
if(gpioComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid GPIO ComIF"
<< std::endl;
}
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF);
new I2cComIF(objects::I2C_COM_IF);
new UartComIF(objects::UART_COM_IF);
#if Q7S_ADD_SPI_TEST == 0
new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
#endif /* Q7S_ADD_SPI_TEST == 0 */
/* Adding gpios for chip select decoding to the gpioComIf */
gpioCallbacks::initSpiCsDecoder(*gpioComIF);
}
void ObjectFactory::createPcduComponents() {
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
addresses::P60DOCK);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
@ -156,10 +211,9 @@ void ObjectFactory::produce(void* args){
(void) pdu1handler;
(void) pdu2handler;
(void) acuhandler;
}
/* Adding gpios for chip select decoding to the gpioComIf */
gpioCallbacks::initSpiCsDecoder(gpioComIF);
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19,
std::string("Chip Select Radiation Sensor"), gpio::OUT, 1);
@ -170,6 +224,9 @@ void ObjectFactory::produce(void* args){
std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
}
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1,
@ -254,21 +311,35 @@ void ObjectFactory::produce(void* args){
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1);
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2);
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3);
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4);
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5);
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6);
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7);
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8);
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9);
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF, gpioIds::CS_SUS_10);
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF, gpioIds::CS_SUS_11);
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF, gpioIds::CS_SUS_12);
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF, gpioIds::CS_SUS_13);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
gpioIds::CS_SUS_1);
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF,
gpioIds::CS_SUS_2);
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF,
gpioIds::CS_SUS_3);
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF,
gpioIds::CS_SUS_4);
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF,
gpioIds::CS_SUS_5);
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF,
gpioIds::CS_SUS_6);
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF,
gpioIds::CS_SUS_7);
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF,
gpioIds::CS_SUS_8);
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
gpioIds::CS_SUS_9);
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
gpioIds::CS_SUS_10);
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
gpioIds::CS_SUS_11);
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF,
gpioIds::CS_SUS_12);
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF,
gpioIds::CS_SUS_13);
}
#if OBSW_ADD_ACS_BOARD == 1
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr;
gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
@ -326,20 +397,23 @@ void ObjectFactory::produce(void* args){
//TODO: Adis Gyro (Gyro 0 Side A)
// Commented until ACS board V2 in in clean room again
/* Gyro 1 Side A */
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();
// 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();
//
// /* Gyro 2 Side B */
// spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
// gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
// spiCookie);
// gyroL3gHandler->setStartUpImmediately();
}
/* Gyro 2 Side B */
spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie);
gyroL3gHandler->setStartUpImmediately();
#endif
void ObjectFactory::createHeaterComponents() {
GpioCookie* heaterGpiosCookie = new GpioCookie;
@ -380,7 +454,9 @@ void ObjectFactory::produce(void* args){
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
}
void ObjectFactory::createSolarArrayDeploymentComponents() {
GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(std::string("gpiochip7"), 4,
@ -394,7 +470,9 @@ void ObjectFactory::produce(void* args){
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
}
void ObjectFactory::createSyrlinksComponents() {
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
std::string("/dev/ttyUL0"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE);
syrlinksUartCookie->setParityEven();
@ -402,8 +480,9 @@ void ObjectFactory::produce(void* args){
SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER,
objects::UART_COM_IF, syrlinksUartCookie);
syrlinksHkHandler->setModeNormal();
}
#if Q7S_ADD_RTD_DEVICES == 1
void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
GpioCookie* rtdGpioCookie = new GpioCookie;
GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1,
@ -506,22 +585,38 @@ void ObjectFactory::produce(void* args){
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF, spiRtdIc5, 0);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF, spiRtdIc6, 0);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF, spiRtdIc7, 0);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF, spiRtdIc8, 0);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF, spiRtdIc9, 0);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10, objects::SPI_COM_IF, spiRtdIc10, 0);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11, objects::SPI_COM_IF, spiRtdIc11, 0);
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12, objects::SPI_COM_IF, spiRtdIc12, 0);
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13, objects::SPI_COM_IF, spiRtdIc13, 0);
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14, objects::SPI_COM_IF, spiRtdIc14, 0);
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15, objects::SPI_COM_IF, spiRtdIc15, 0);
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4,
objects::SPI_COM_IF, spiRtdIc4, 0);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5,
objects::SPI_COM_IF, spiRtdIc5, 0);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6,
objects::SPI_COM_IF, spiRtdIc6, 0);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7,
objects::SPI_COM_IF, spiRtdIc7, 0);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8,
objects::SPI_COM_IF, spiRtdIc8, 0);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9,
objects::SPI_COM_IF, spiRtdIc9, 0);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
objects::SPI_COM_IF, spiRtdIc10, 0);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
objects::SPI_COM_IF, spiRtdIc11, 0);
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12,
objects::SPI_COM_IF, spiRtdIc12, 0);
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13,
objects::SPI_COM_IF, spiRtdIc13, 0);
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14,
objects::SPI_COM_IF, spiRtdIc14, 0);
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15,
objects::SPI_COM_IF, spiRtdIc15, 0);
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16,
objects::SPI_COM_IF, spiRtdIc16, 0);
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17,
objects::SPI_COM_IF, spiRtdIc17, 0);
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18,
objects::SPI_COM_IF, spiRtdIc18, 0);
(void) rtdIc3;
(void) rtdIc4;
@ -539,17 +634,9 @@ void ObjectFactory::produce(void* args){
(void) rtdIc16;
(void) rtdIc17;
(void) rtdIc18;
}
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0"));
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
UartCookie* plocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
UartModes::NON_CANONICAL, 115200, PLOC::MAX_REPLY_SIZE);
new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie);
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRw = new GpioCookie;
GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT,
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
@ -616,18 +703,12 @@ void ObjectFactory::produce(void* args){
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
gpioIds::EN_RW4);
rw4SpiCookie->setCallbackArgs(rwHandler4);
}
#endif /* TE0720 == 0 */
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1
void ObjectFactory::createTestComponents() {
new Q7STestTask(objects::TEST_TASK);
#endif
#if TE0720 == 1 && TEST_LIBGPIOD == 1
#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
/* Configure MIO0 as input */
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
std::string("MIO0"), gpio::IN, 0);
@ -636,7 +717,7 @@ void ObjectFactory::produce(void* args){
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#endif
#if TE0720 == 1 && TEST_SUS_HANDLER == 1
#if BOARD_TE0720 == 1 && TEST_SUS_HANDLER == 1
GpioCookie* gpioCookieSus = new GpioCookie;
GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
@ -650,7 +731,7 @@ void ObjectFactory::produce(void* args){
gpioIds::CS_SUS_1);
#endif
#if TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
#if BOARD_TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_N"));
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
@ -664,7 +745,7 @@ void ObjectFactory::produce(void* args){
gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
#endif
#if TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
#if BOARD_TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
std::string("Chip select radiation sensor"), gpio::OUT, 1);
@ -680,7 +761,7 @@ void ObjectFactory::produce(void* args){
radSensor->setStartUpImmediately();
#endif
#if TE0720 == 1 && TEST_PLOC_HANDLER == 1
#if BOARD_TE0720 == 1 && TEST_PLOC_HANDLER == 1
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
PLOC::MAX_REPLY_SIZE);
/* Testing PlocHandler on TE0720-03-1CFA */
@ -689,7 +770,7 @@ void ObjectFactory::produce(void* args){
plocHandler->setStartUpImmediately();
#endif
#if TE0720 == 1 && TE0720_HEATER_TEST == 1
#if BOARD_TE0720 == 1 && TE0720_HEATER_TEST == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
GpioCookie* gpioCookie = new GpioCookie;

17
bsp_q7s/core/ObjectFactory.h
View File

@ -1,9 +1,26 @@
#ifndef BSP_Q7S_OBJECTFACTORY_H_
#define BSP_Q7S_OBJECTFACTORY_H_
class LinuxLibgpioIF;
namespace ObjectFactory {
void setStatics();
void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF);
void createTmpComponents();
void createPcduComponents();
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF);
void createHeaterComponents();
void createSolarArrayDeploymentComponents();
void createSyrlinksComponents();
void createRtdComponents(LinuxLibgpioIF* gpioComIF);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
void createTestComponents();
};
#endif /* BSP_Q7S_OBJECTFACTORY_H_ */

8
bsp_q7s/core/ParameterHandler.cpp Normal file
View File

@ -0,0 +1,8 @@
#include "ParameterHandler.h"
ParameterHandler::ParameterHandler(std::string mountPrefix): mountPrefix(mountPrefix) {
}
void ParameterHandler::setMountPrefix(std::string prefix) {
mountPrefix = prefix;
}

22
bsp_q7s/core/ParameterHandler.h Normal file
View File

@ -0,0 +1,22 @@
#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_
#define BSP_Q7S_CORE_PARAMETERHANDLER_H_
#include <nlohmann/json.hpp>
#include <string>
class ParameterHandler {
public:
ParameterHandler(std::string mountPrefix);
void setMountPrefix(std::string prefix);
void setUpDummyParameter();
private:
std::string mountPrefix;
DummyParameter dummyParam;
};
#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

2
bsp_q7s/core/obsw.cpp
View File

@ -6,7 +6,7 @@
int obsw::obsw() {
std::cout << "-- EIVE OBSW --" << std::endl;
#if TE0720 == 0
#if BOARD_TE0720 == 0
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
#else
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;

4
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -1,8 +1,8 @@
#include "gpioCallbacks.h"
#include <devices/gpioIds.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
#include <fsfw/serviceinterface/ServiceInterface.h>

4
bsp_q7s/gpio/gpioCallbacks.h
View File

@ -1,8 +1,8 @@
#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
#define LINUX_GPIO_GPIOCALLBACKS_H_
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/gpioDefinitions.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
namespace gpioCallbacks {

111
bsp_q7s/memory/FileSystemHandler.cpp
View File

@ -1,9 +1,13 @@
#include "FileSystemHandler.h"
#include "bsp_q7s/core/CoreController.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/memory/GenericFileSystemMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include <cstring>
#include <fstream>
#include <filesystem>
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
@ -24,9 +28,9 @@ ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
// Restart OBSW, hints at a memory leak
sif::error << "Allocation error in FileSystemHandler::performOperation"
<< e.what() << std::endl;
// TODO: If we trigger an event, it might not get sent because were restarting
// Set up an error file or a special flag in the scratch buffer.
// TODO: CoreController: Implement function to restart OBC
// Set up an error file or a special flag in the scratch buffer for these cases
triggerEvent(CoreController::ALLOC_FAILURE, 0 , 0);
CoreController::incrementAllocationFailureCount();
}
}
}
@ -63,6 +67,7 @@ void FileSystemHandler::fileSystemHandlerLoop() {
// This task will have a low priority and will run permanently in the background
// so we will just run in a permanent loop here and check file system
// messages permanently
opCounter++;
TaskFactory::instance()->delayTask(1000);
}
@ -75,7 +80,7 @@ void FileSystemHandler::fileSystemCheckup() {
(statusPair.first == sd::SdStatus::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
}
if((preferredSdCard == sd::SdCard::SLOT_1) and
else if((preferredSdCard == sd::SdCard::SLOT_1) and
(statusPair.second == sd::SdStatus::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
@ -87,15 +92,16 @@ void FileSystemHandler::fileSystemCheckup() {
else {
sdString = "1";
}
sif::warning << "FileSystemHandler::performOperation: Inconsistent" <<
" state detected. Preferred SD card is " << sdString <<
sif::warning << "FileSystemHandler::performOperation: "
"Inconsistent state detected" << std::endl;
sif::warning << "Preferred SD card is " << sdString <<
" but does not appear to be mounted. Attempting fix.." << std::endl;
// This function will appear to fix the inconsistent state
ReturnValue_t result = sdcMan->sanitizeState(&preferredSdCard, &statusPair);
ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
// Oh no.
// TODO: Trigger medium severity event
sif::error << "Fix failed" << std::endl;
triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
}
}
}
@ -125,27 +131,70 @@ ReturnValue_t FileSystemHandler::appendToFile(const char *repositoryPath, const
// A double slash between repo and filename should not be an issue, so add it in any case
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
std::string(filename);
if(not std::filesystem::exists(fullPath)) {
return FILE_DOES_NOT_EXIST;
}
std::ofstream file(fullPath, std::ios_base::app|std::ios_base::out);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createFile(const char *repositoryPath, const char *filename,
const uint8_t *data, size_t size, void *args) {
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
// A double slash between repo and filename should not be an issue, so add it in any case
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
std::string(filename);
fullPath += std::string(repositoryPath) + "/" + std::string(filename);
if(std::filesystem::exists(fullPath)) {
return FILE_ALREADY_EXISTS;
}
std::ofstream file(fullPath);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::deleteFile(const char *repositoryPath, const char *filename,
ReturnValue_t FileSystemHandler::removeFile(const char *repositoryPath, const char *filename,
void *args) {
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
// A double slash between repo and filename should not be an issue, so add it in any case
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
std::string(filename);
fullPath += std::string(repositoryPath) + "/" + std::string(filename);
if(not std::filesystem::exists(fullPath)) {
return FILE_DOES_NOT_EXIST;
}
int result = std::remove(fullPath.c_str());
if(result != 0) {
sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, void *args) {
std::string fullPath = currentMountPrefix + std::string(repositoryPath);
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
fullPath += std::string(repositoryPath);
if(std::filesystem::exists(fullPath)) {
return DIRECTORY_ALREADY_EXISTS;
}
@ -158,7 +207,14 @@ ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, voi
ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
bool deleteRecurively, void *args) {
std::string fullPath = currentMountPrefix + std::string(repositoryPath);
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
fullPath += std::string(repositoryPath);
if(not std::filesystem::exists(fullPath)) {
return DIRECTORY_DOES_NOT_EXIST;
}
@ -169,6 +225,15 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
}
else {
// Check error code. Most probably denied permissions because folder is not empty
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code" << err.value() << ": " << strerror(err.value()) << std::endl;
if(err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
return GENERIC_FILE_ERROR;
}
}
}
else {
@ -176,9 +241,23 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code" << err.value() << ": " << strerror(err.value()) << std::endl;
// Check error code
if(err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
return GENERIC_FILE_ERROR;
}
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void FileSystemHandler::parseCfg(FsCommandCfg *cfg, bool& useMountPrefix) {
if(cfg != nullptr) {
useMountPrefix = cfg->useMountPrefix;
}
}

30
bsp_q7s/memory/FileSystemHandler.h
View File

@ -15,6 +15,12 @@ class FileSystemHandler: public SystemObject,
public ExecutableObjectIF,
public HasFileSystemIF {
public:
struct FsCommandCfg {
// Can be used to automatically use mount prefix of active SD card.
// Otherwise, the operator has to specify the full path to the mounted SD card as well.
bool useMountPrefix = false;
};
FileSystemHandler(object_id_t fileSystemHandler);
virtual~ FileSystemHandler();
@ -28,27 +34,29 @@ public:
*/
MessageQueueId_t getCommandQueue() const override;
private:
MessageQueueIF* mq = nullptr;
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
SdCardManager* sdcMan = nullptr;
uint8_t opCounter = 0;
void fileSystemHandlerLoop();
void fileSystemCheckup();
ReturnValue_t appendToFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size,
uint16_t packetNumber, void* args = nullptr) override;
ReturnValue_t createFile(const char* repositoryPath,
const char* filename, const uint8_t* data = nullptr,
size_t size = 0, void* args = nullptr) override;
ReturnValue_t deleteFile(const char* repositoryPath,
ReturnValue_t removeFile(const char* repositoryPath,
const char* filename, void* args = nullptr) override;
ReturnValue_t createDirectory(const char* repositoryPath, void* args = nullptr) override;
ReturnValue_t removeDirectory(const char* repositoryPath, bool deleteRecurively = false,
void* args = nullptr) override;
private:
MessageQueueIF* mq = nullptr;
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
SdCardManager* sdcMan = nullptr;
uint8_t opCounter = 0;
void fileSystemHandlerLoop();
void fileSystemCheckup();
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
};

42
bsp_q7s/memory/SdCardManager.cpp
View File

@ -32,8 +32,10 @@ SdCardManager* SdCardManager::instance() {
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
SdStatusPair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
std::unique_ptr<SdStatusPair> sdStatusPtr;
if(statusPair == nullptr) {
statusPair = std::make_unique<SdStatusPair>().get();
sdStatusPtr = std::make_unique<SdStatusPair>();
statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
@ -54,6 +56,10 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
else if(sdCard == sd::SdCard::SLOT_1) {
targetStatus = statusPair->second;
}
else {
// Should not happen
targetStatus = sd::SdStatus::OFF;
}
auto switchCall = [&]() {
if(targetStatus == sd::SdStatus::ON) {
@ -226,26 +232,23 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SdCardManager::sanitizeState(sd::SdCard* prefSdCard, SdStatusPair* statusPair) {
if(prefSdCard == nullptr) {
prefSdCard = std::make_unique<sd::SdCard>(sd::SdCard::SLOT_0).get();
getPreferredSdCard(*prefSdCard);
ReturnValue_t SdCardManager::sanitizeState(SdStatusPair* statusPair, sd::SdCard prefSdCard) {
std::unique_ptr<SdStatusPair> sdStatusPtr;
if(prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {}
}
if(statusPair == nullptr) {
statusPair = std::make_unique<SdStatusPair>().get();
sdStatusPtr = std::make_unique<SdStatusPair>();
statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair);
}
auto sanitizerFunc = [&](sd::SdCard prefSdCard) {
if(statusPair->first == sd::SdStatus::ON) {
return mountSdCard(prefSdCard);
}
else {
return switchOnSdCard(prefSdCard, true, statusPair);
}
};
return sanitizerFunc(*prefSdCard);
return switchOnSdCard(prefSdCard, true, statusPair);
}
void SdCardManager::processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus> &active,
@ -331,3 +334,18 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
result << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
if(prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
return SD_0_MOUNT_POINT;
}
}
if(prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT;
}
else {
return SD_1_MOUNT_POINT;
}
}

22
bsp_q7s/memory/SdCardManager.h
View File

@ -3,12 +3,15 @@
#include "definitions.h"
#include "returnvalues/classIds.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
#include <utility>
#include <string>
#include <optional>
class MutexIF;
@ -40,6 +43,10 @@ public:
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
static constexpr Event SANITIZATION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
// C++17 does not support constexpr std::string yet
static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";
static constexpr char SD_1_DEV_NAME[] = "/dev/mmcblk1p1";
@ -137,14 +144,21 @@ public:
* mounted one, this function will sanitize the state by attempting to mount the
* currently preferred SD card. If the caller already has state information, it can be
* passed into the function.
* @param prefSdCard Preferred SD card captured with #getPreferredSdCard
* @param statusPair Current SD card status capture with #getSdCardActiveStatus
* @param prefSdCard Preferred SD card captured with #getPreferredSdCard
* @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed
* @return
*/
ReturnValue_t sanitizeState(sd::SdCard* prefSdCard = nullptr,
SdStatusPair* statusPair = nullptr);
ReturnValue_t sanitizeState(SdStatusPair* statusPair = nullptr,
sd::SdCard prefSdCard = sd::SdCard::NONE);
/**
* If sd::SdCard::NONE is passed as an argument, this funtion will get the currently
* preferred SD card from the scratch buffer.
* @param prefSdCardPtr
* @return
*/
std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE);
private:
SdCardManager();
@ -153,6 +167,8 @@ private:
void processSdStatusLine(SdStatusPair& active, std::string& line, uint8_t& idx,
sd::SdCard& currentSd);
std::string currentPrefix;
static SdCardManager* factoryInstance;
};

7
bsp_q7s/memory/definitions.h
View File

@ -13,9 +13,10 @@ enum SdStatus: uint8_t {
};
enum SdCard: uint8_t {
SLOT_0,
SLOT_1,
BOTH
SLOT_0 = 0,
SLOT_1 = 1,
BOTH,
NONE
};
}

39
bsp_q7s/memory/scratchApi.cpp
View File

@ -5,7 +5,44 @@ ReturnValue_t scratch::writeString(std::string name, std::string string) {
oss << "xsc_scratch write " << name << " \"" << string << "\"";
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::String");
utility::handleSystemError(result, "scratch::writeString");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t scratch::readString(std::string key, std::string &string) {
std::ifstream file;
std::string filename;
ReturnValue_t result = readToFile(key, file, filename);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
if(pos == std::string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
string = line.substr(pos + 1);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t scratch::clearValue(std::string key) {
std::ostringstream oss;
oss << "xsc_scratch clear " << key;
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::clearValue");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;

104
bsp_q7s/memory/scratchApi.h
View File

@ -4,6 +4,7 @@
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include "returnvalues/classIds.h"
#include <iostream>
#include <fstream>
@ -17,15 +18,86 @@
namespace scratch {
static constexpr char PREFERED_SDC_KEY[] = "PREFSD";
static constexpr char ALLOC_FAILURE_COUNT[] = "ALLOCERR";
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SCRATCH_BUFFER;
static constexpr ReturnValue_t KEY_NOT_FOUND = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
ReturnValue_t clearValue(std::string key);
/**
* Write a string to the scratch buffer
* @param key
* @param string String to write
* @return
*/
ReturnValue_t writeString(std::string key, std::string string);
/**
* Read a string from the scratch buffer
* @param key
* @param string Will be set to read string
* @return
*/
ReturnValue_t readString(std::string key, std::string& string);
/**
* Write a number to the scratch buffer
* @tparam T
* @tparam
* @param key
* @param num Number. Template allows to set signed, unsigned and floating point numbers
* @return
*/
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t writeNumber(std::string key, T num) noexcept;
/**
* Read a number from the scratch buffer.
* @tparam T
* @tparam
* @param name
* @param num
* @return
*/
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t readNumber(std::string key, T& num) noexcept;
// Anonymous namespace
namespace {
static uint8_t counter = 0;
ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& filename) {
using namespace std;
filename = "/tmp/sro" + std::to_string(counter++);
ostringstream oss;
oss << "xsc_scratch read " << name << " > " << filename;
int result = std::system(oss.str().c_str());
if(result != 0) {
if(result == 256) {
sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
else {
utility::handleSystemError(result, "scratch::readNumber");
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
}
file.open(filename);
return HasReturnvaluesIF::RETURN_OK;
}
} // End of anonymous namespace
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t writeNumber(std::string name, T num) noexcept {
inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
std::ostringstream oss;
oss << "xsc_scratch write " << name << " " << num;
oss << "xsc_scratch write " << key << " " << std::to_string(num);
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::writeNumber");
@ -35,24 +107,30 @@ inline ReturnValue_t writeNumber(std::string name, T num) noexcept {
}
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t readNumber(std::string name, T& num) noexcept {
inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
using namespace std;
string filename = "/tmp/sro" + std::to_string(counter++);
ostringstream oss;
oss << "xsc_scratch read " << name << " > " << filename;
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::writeNumber");
return HasReturnvaluesIF::RETURN_FAILED;
ifstream file;
std::string filename;
ReturnValue_t result = readToFile(key, file, filename);
if(result != HasReturnvaluesIF::RETURN_OK) {
std::remove(filename.c_str());
return result;
}
ifstream file(filename);
string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
if(pos == string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
std::string valueAsString = line.substr(pos + 1);
try {
num = std::stoi(valueAsString);
@ -65,8 +143,6 @@ inline ReturnValue_t readNumber(std::string name, T& num) noexcept {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t writeString(std::string name, std::string string);
}
#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */

2
bsp_q7s/spi/Q7sSpiComIF.h
View File

@ -1,7 +1,7 @@
#ifndef BSP_Q7S_SPI_Q7SSPICOMIF_H_
#define BSP_Q7S_SPI_Q7SSPICOMIF_H_
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw/hal/linux/spi/SpiComIF.h>
/**

4
bsp_q7s/spiCallbacks/rwSpiCallback.cpp
View File

@ -1,8 +1,8 @@
#include <bsp_q7s/spiCallbacks/rwSpiCallback.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <mission/devices/RwHandler.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw/hal/linux/spi/SpiCookie.h>
#include <fsfw/hal/linux/UnixFileGuard.h>
#include "devices/gpioIds.h"
namespace rwSpiCallback {

4
bsp_q7s/spiCallbacks/rwSpiCallback.h
View File

@ -2,8 +2,8 @@
#define BSP_Q7S_RW_SPI_CALLBACK_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/linux/spi/SpiComIF.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
namespace rwSpiCallback {

45
cmake/BBBCrossCompileConfig.cmake
View File

@ -1,20 +1,22 @@
# BBB_ROOTFS should point to the local directory which contains all the
# LINUX_ROOTFS should point to the local directory which contains all the
# libraries and includes from the target raspi.
# The following command can be used to do this, replace <ip-address> and the
# local <rootfs-path> accordingly:
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
# LINUX_ROOTFS needs to be passed to the CMake command or defined in the
# application CMakeLists.txt before loading the toolchain file.
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
if(NOT DEFINED ENV{BBB_ROOTFS})
if(NOT DEFINED ENV{LINUX_ROOTFS})
# Sysroot has not been cached yet and was not set in environment either
if(NOT SYSROOT_PATH)
message(FATAL_ERROR
"Define the BBB_ROOTFS variable to point to the Beagle Bone Black rootfs."
"Define the LINUX_ROOTFS variable to point to the Raspberry Pi rootfs."
)
endif()
else()
set(SYSROOT_PATH "$ENV{BBB_ROOTFS}" CACHE FILEPATH "BBB root filesystem path")
message(STATUS "Beagle Bone Black sysroot: ${SYSROOT_PATH}")
set(SYSROOT_PATH "$ENV{LINUX_ROOTFS}" CACHE PATH "Local linux root filesystem path")
message(STATUS "Raspberry Pi sysroot: ${SYSROOT_PATH}")
endif()
if(NOT DEFINED ENV{CROSS_COMPILE})
@ -31,6 +33,15 @@ else()
)
endif()
# Generally, the debian roots will be a multiarch rootfs where some libraries are put
# into a folder named "arm-linux-gnueabihf". The user can override the folder name if this is
# not the case
if(NOT ENV{MULTIARCH_FOLDER_NAME})
set(MULTIARCH_FOLDER_NAME "arm-linux-gnueabihf")
else()
set(MUTLIARCH_FOLDER_NAME $ENV{MULTIARCH_FOLDER_NAME})
endif()
message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
@ -44,8 +55,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
# Useful utilities, not strictly necessary
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
set(CMAKE_CROSSCOMPILING TRUE)
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
@ -54,16 +68,12 @@ set(CMAKE_SYSROOT "${SYSROOT_PATH}")
set(CMAKE_SYSTEM_NAME "Linux")
set(CMAKE_SYSTEM_PROCESSOR "arm")
# Define the compiler
set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
# List of library dirs where LD has to look. Pass them directly through gcc.
# LD_LIBRARY_PATH is not evaluated by arm-*-ld
set(LIB_DIRS
"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/lib/${MUTLIARCH_FOLDER_NAME}"
"${SYSROOT_PATH}/usr/local/lib"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/usr/lib/${MUTLIARCH_FOLDER_NAME}"
"${SYSROOT_PATH}/usr/lib"
)
# You can additionally check the linker paths if you add the
@ -73,11 +83,6 @@ foreach(LIB ${LIB_DIRS})
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
endforeach()
set(CMAKE_PREFIX_PATH
"${CMAKE_PREFIX_PATH}"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
)
set(CMAKE_C_FLAGS
"-march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "Flags for Beagle Bone Black"

6
cmake/HardwareOsPreConfig.cmake
View File

@ -1,13 +1,13 @@
function(pre_source_hw_os_config)
# FreeRTOS
if(${OS_FSFW} MATCHES freertos)
if(FSFW_OSAL MATCHES freertos)
message(FATAL_ERROR "No FreeRTOS support implemented yet.")
# RTEMS
elseif(${OS_FSFW} STREQUAL rtems)
elseif(FSFW_OSAL STREQUAL rtems)
add_definitions(-DRTEMS)
message(FATAL_ERROR "No RTEMS support implemented yet.")
elseif(${OS_FSFW} STREQUAL linux)
elseif(FSFW_OSAL STREQUAL linux)
add_definitions(-DUNIX -DLINUX)
find_package(Threads REQUIRED)
# Hosted

24
cmake/PreProjectConfig.cmake
View File

@ -2,31 +2,31 @@ function(pre_project_config)
# Basic input sanitization
if(DEFINED TGT_BSP)
if(${TGT_BSP} MATCHES "arm/raspberrypi" AND NOT ${OS_FSFW} MATCHES linux)
if(${TGT_BSP} MATCHES "arm/raspberrypi" AND NOT FSFW_OSAL MATCHES linux)
message(STATUS "FSFW OSAL invalid for specified target BSP ${TGT_BSP}!")
message(STATUS "Setting valid OS_FSFW: linux")
set(OS_FSFW "linux")
message(STATUS "Setting valid FSFW_OSAL: linux")
set(FSFW_OSAL "linux")
endif()
endif()
# Disable compiler checks for cross-compiling.
if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
if(${TGT_BSP} MATCHES "arm/q7s")
if(FSFW_OSAL MATCHES linux AND TGT_BSP)
if(TGT_BSP MATCHES "arm/q7s")
set(CMAKE_TOOLCHAIN_FILE
"${CMAKE_SCRIPT_PATH}/Q7SCrossCompileConfig.cmake"
PARENT_SCOPE
)
elseif (${TGT_BSP} MATCHES "arm/raspberrypi")
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
if(NOT DEFINED RASPBIAN_ROOTFS)
message(WARNING "No RASPBIAN_ROOTFS environmental or CMake variable set!")
set(ENV{RASPBIAN_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
elseif(TGT_BSP MATCHES "arm/raspberrypi")
if(NOT DEFINED ENV{LINUX_ROOTFS})
if(NOT DEFINED LINUX_ROOTFS)
message(WARNING "No LINUX_ROOTFS environmental or CMake variable set!")
set(ENV{LINUX_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
else()
set(ENV{RASPBIAN_ROOTFS} "${RASPBIAN_ROOTFS}")
set(ENV{LINUX_ROOTFS} "${LINUX_ROOTFS}")
endif()
else()
message(STATUS
"RASPBIAN_ROOTFS from environmental variables used: $ENV{RASPBIAN_ROOTFS}"
"LINUX_ROOTFS from environmental variables used: $ENV{LINUX_ROOTFS}"
)
endif()

18
cmake/Q7SCrossCompileConfig.cmake
View File

@ -1,10 +1,11 @@
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
if(NOT DEFINED ENV{Q7S_SYSROOT})
# message(FATAL_ERROR
# "Define the Q7S_ROOTFS variable to "
# "point to the raspbian rootfs."
# )
# Sysroot has not been cached yet and was not set in environment either
if(NOT DEFINED SYSROOT_PATH)
message(FATAL_ERROR
"Define the Q7S_ROOTFS variable to point to the Q7S rootfs."
)
endif()
else()
set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}" CACHE PATH "Q7S root filesystem path")
endif()
@ -36,8 +37,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
# Useful utilities, not strictly necessary
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
set(CMAKE_CROSSCOMPILING TRUE)
set(CMAKE_SYSROOT "${SYSROOT_PATH}")

70
cmake/RPiCrossCompileConfig.cmake
View File

@ -1,7 +1,7 @@
# Based on https://github.com/Pro/raspi-toolchain but rewritten completely.
# Adapted for the FSFW Example
if(NOT $ENV{RASPBERRY_VERSION})
if(NOT DEFINED ENV{RASPBERRY_VERSION})
message(STATUS "Raspberry Pi version not specified, setting version 4!")
set(RASPBERRY_VERSION 4)
else()
@ -9,23 +9,25 @@ else()
endif()
# RASPBIAN_ROOTFS should point to the local directory which contains all the
# LINUX_ROOTFS should point to the local directory which contains all the
# libraries and includes from the target raspi.
# The following command can be used to do this, replace <ip-address> and the
# local <rootfs-path> accordingly:
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
# LINUX_ROOTFS needs to be passed to the CMake command or defined in the
# application CMakeLists.txt before loading the toolchain file.
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
if(NOT DEFINED ENV{LINUX_ROOTFS})
# Sysroot has not been cached yet and was not set in environment either
if(NOT SYSROOT_PATH)
message(FATAL_ERROR
"Define the RASPBIAN_ROOTFS variable to "
"point to the raspbian rootfs."
"Define the LINUX_ROOTFS variable to point to the Raspberry Pi rootfs."
)
endif()
else()
set(SYSROOT_PATH "$ENV{RASPBIAN_ROOTFS}" CACHE FILEPATH "RPi root filesystem path")
set(SYSROOT_PATH "$ENV{LINUX_ROOTFS}" CACHE PATH "Local linux root filesystem path")
message(STATUS "Raspberry Pi sysroot: ${SYSROOT_PATH}")
endif()
if(NOT DEFINED ENV{CROSS_COMPILE})
@ -42,6 +44,15 @@ else()
)
endif()
# Generally, the debian roots will be a multiarch rootfs where some libraries are put
# into a folder named "arm-linux-gnueabihf". The user can override the folder name if this is
# not the case
if(NOT ENV{MULTIARCH_FOLDER_NAME})
set(MULTIARCH_FOLDER_NAME "arm-linux-gnueabihf")
else()
set(MUTLIARCH_FOLDER_NAME $ENV{MULTIARCH_FOLDER_NAME})
endif()
message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
@ -55,8 +66,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
# Useful utilities, not strictly necessary
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
set(CMAKE_CROSSCOMPILING TRUE)
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
@ -69,22 +83,16 @@ else()
set(CMAKE_SYSTEM_PROCESSOR "arm")
endif()
# Define the compiler
set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
# List of library dirs where LD has to look. Pass them directly through gcc.
# LD_LIBRARY_PATH is not evaluated by arm-*-ld
set(LIB_DIRS
"/opt/cross-pi-gcc/arm-linux-gnueabihf/lib"
"/opt/cross-pi-gcc/lib"
"${SYSROOT_PATH}/opt/vc/lib"
"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/lib/${MULTIARCH_FOLDER_NAME}"
"${SYSROOT_PATH}/usr/local/lib"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/usr/lib/${MULTIARCH_FOLDER_NAME}"
"${SYSROOT_PATH}/usr/lib"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/blas"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/lapack"
"${SYSROOT_PATH}/usr/lib/${MULTIARCH_FOLDER_NAME}/blas"
"${SYSROOT_PATH}/usr/lib/${MULTIARCH_FOLDER_NAME}/lapack"
)
# You can additionally check the linker paths if you add the
# flags ' -Xlinker --verbose'
@ -93,43 +101,38 @@ foreach(LIB ${LIB_DIRS})
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
endforeach()
set(CMAKE_PREFIX_PATH
"${CMAKE_PREFIX_PATH}"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
)
if(RASPBERRY_VERSION VERSION_GREATER 3)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a72 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 4"
CACHE STRING "Flags for Raspberry Pi 4"
)
set(CMAKE_CXX_FLAGS
"${CMAKE_C_FLAGS}"
CACHE STRING "C flags for Raspberry PI 4"
CACHE STRING "Flags for Raspberry Pi 4"
)
elseif(RASPBERRY_VERSION VERSION_GREATER 2)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Raspberry PI 3"
CACHE STRING "Flags for Raspberry Pi 3"
)
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 3"
CACHE STRING "Flags for Raspberry Pi 3"
)
elseif(RASPBERRY_VERSION VERSION_GREATER 1)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Raspberry PI 2"
CACHE STRING "Flags for Raspberry Pi 2"
)
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 2"
CACHE STRING "Flags for Raspberry Pi 2"
)
else()
set(CMAKE_C_FLAGS
"-mcpu=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Raspberry PI 1 B+ Zero"
CACHE STRING "Flags for Raspberry Pi 1 B+ Zero"
)
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 1 B+ Zero"
CACHE STRING "Flags for Raspberry PI 1 B+ Zero"
)
endif()
@ -137,7 +140,6 @@ set(CMAKE_FIND_ROOT_PATH
"${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}"
)
# search for programs in the build host directories
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories

2
cmake/scripts/Q7S/ninja_debug_cfg.sh
View File

@ -28,6 +28,6 @@ fi
echo "Running command (without the leading +):"
set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-l"${build_dir}"
-l "${build_dir}"
# set +x

33
cmake/scripts/Q7S/ninja_release_cfg.sh Executable file
View File

@ -0,0 +1,33 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Release-Q7S"
build_generator="Ninja"
if [ "${OS}" = "Windows_NT" ]; then
python="py"
# Could be other OS but this works for now.
else
python="python3"
fi
echo "Running command (without the leading +):"
set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
-l"${build_dir}"
# set +x

2
cmake/scripts/cmake_build_config.py
View File

@ -98,7 +98,7 @@ def main():
print(f"Navigating into build directory: {build_path}")
os.chdir(build_folder)
cmake_command = f"cmake {generator_cmake_arg} -DOS_FSFW=\"{osal}\" " \
cmake_command = f"cmake {generator_cmake_arg} -DFSFW_OSAL=\"{osal}\" " \
f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} " \
f"{define_string} {source_location}"
# Remove redundant spaces

1
common/config/commonObjects.h
View File

@ -10,6 +10,7 @@ enum commonObjects: uint32_t {
PUS_PACKET_DISTRIBUTOR = 0x50000200,
UDP_BRIDGE = 0x50000300,
UDP_POLLING_TASK = 0x50000400,
FILE_SYSTEM_HANDLER = 0x50000500,
/* 0x43 ('C') for Controllers */
THERMAL_CONTROLLER = 0x43400001,

1
common/config/commonSubsystemIds.h
View File

@ -14,6 +14,7 @@ enum: uint8_t {
PLOC_HANDLER = 111,
IMTQ_HANDLER = 112,
RW_HANDLER = 113,
FILE_SYSTEM = 114,
COMMON_SUBSYSTEM_ID_END
};
}

2
common/config/spiConf.h
View File

@ -2,7 +2,7 @@
#define COMMON_CONFIG_SPICONF_H_
#include <cstdint>
#include <fsfw_hal/linux/spi/spiDefinitions.h>
#include <fsfw/hal/linux/spi/spiDefinitions.h>
/**
* SPI configuration will be contained here to let the device handlers remain independent

BIN
doc/XSC-1542-6025-i_Q7RevB_User_Manual.pdf Normal file
View File

Binary file not shown.

0
doc/Q7S-user-manual.pdf → doc/deprecated-Q7S-user-manual14042020.pdf
View File

2
fsfw

@ -1 +1 @@
Subproject commit da8a4470734808bed4d872e47c192af694382c41
Subproject commit a7a4e0f219eb3f23e644f519605a79772a3c951a

1
fsfw_hal

@ -1 +0,0 @@
Subproject commit 8ff09c95a69f1f43fec6104d6cce1e788b2b870d

4
linux/boardtest/LibgpiodTest.h
View File

@ -2,8 +2,8 @@
#define TEST_TESTTASKS_LIBGPIODTEST_H_
#include "TestTask.h"
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
#include <fsfw/objectmanager/SystemObject.h>
/**

8
linux/boardtest/SpiTestClass.cpp
View File

@ -7,10 +7,10 @@
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/utility.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/linux/utility.h>
#include <fsfw/hal/linux/UnixFileGuard.h>
#include <fsfw/hal/common/gpio/gpioDefinitions.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>

4
linux/boardtest/SpiTestClass.h
View File

@ -1,8 +1,8 @@
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
#define LINUX_BOARDTEST_SPITESTCLASS_H_
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
#include <fsfw/hal/linux/spi/SpiCookie.h>
#include <test/testtasks/TestTask.h>
#include <vector>

2
linux/devices/HeaterHandler.cpp
View File

@ -4,7 +4,7 @@
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :

2
linux/devices/HeaterHandler.h
View File

@ -11,7 +11,7 @@
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
#include <unordered_map>
/**

2
linux/devices/SolarArrayDeploymentHandler.cpp
View File

@ -3,7 +3,7 @@
#include <devices/powerSwitcherList.h>
#include <devices/gpioIds.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/objectmanager/ObjectManager.h>

2
linux/devices/SolarArrayDeploymentHandler.h
View File

@ -9,7 +9,7 @@
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
#include <unordered_map>
/**

2
linux/devices/SusHandler.cpp
View File

@ -2,7 +2,7 @@
#include "OBSWConfig.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw/hal/linux/spi/SpiComIF.h>
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :

2
linux/devices/SusHandler.h
View File

@ -3,7 +3,7 @@
#include "devicedefinitions/SusDefinitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
/**
* @brief This is the device handler class for the SUS sensor. The sensor is

2
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -29,7 +29,7 @@ debugging. */
#define TEST_CCSDS_BRIDGE 0
#define PERFORM_PTME_TEST 0
#define TE0720 0
#define BOARD_TE0720 0
#define TE0720_HEATER_TEST 0
#define P60DOCK_DEBUG 0

2
linux/fsfwconfig/devices/gpioIds.h
View File

@ -1,7 +1,7 @@
#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
#define FSFWCONFIG_DEVICES_GPIOIDS_H_
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
namespace gpioIds {
enum gpioId_t {

2
linux/fsfwconfig/devices/powerSwitcherList.h
View File

@ -33,7 +33,7 @@ namespace pcduSwitches {
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
#if TE0720 == 1
#if BOARD_TE0720 == 1
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
#else

3
linux/fsfwconfig/events/subsystemIdRanges.h
View File

@ -12,7 +12,8 @@
*/
namespace SUBSYSTEM_ID {
enum: uint8_t {
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END,
CORE = 116,
};
}

14
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -451,8 +451,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
@ -462,8 +464,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
@ -473,8 +477,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
@ -484,8 +490,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
@ -495,8 +503,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
@ -670,7 +680,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
return HasReturnvaluesIF::RETURN_OK;
}
#if TE7020 == 1
#if BOARD_TE7020 == 1
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
@ -719,4 +729,4 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
}
return HasReturnvaluesIF::RETURN_OK;
}
#endif /* TE7020 == 1 */
#endif /* BOARD_TE7020 == 1 */

1
linux/fsfwconfig/returnvalues/classIds.h
View File

@ -14,6 +14,7 @@ enum {
CLASS_ID_START = COMMON_CLASS_ID_END,
SA_DEPL_HANDLER, //SADPL
SD_CARD_MANAGER, //SDMA
SCRATCH_BUFFER, //SCBU
CLASS_ID_END // [EXPORT] : [END]
};
}

9
linux/obc/CCSDSIPCoreBridge.h
View File

@ -1,11 +1,12 @@
#ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#define MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#include <fsfw/tmtcservices/TmTcBridge.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <string.h>
#include "OBSWConfig.h"
#include <fsfw/tmtcservices/TmTcBridge.h>
#include <fsfw/hal/common/gpio/gpioDefinitions.h>
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
#include <cstring>
/**
* @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP

30
misc/eclipse/.cproject
View File

@ -254,7 +254,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath="">
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -566,7 +566,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -648,6 +648,7 @@
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1527860624" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1772224733" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
</option>
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1331264991" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
</tool>
@ -657,6 +658,7 @@
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1143219558" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -671,6 +673,7 @@
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1199844227" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -802,11 +805,13 @@
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1492082603" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1972256057" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.200467200" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive_obsw/build-Release-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Release-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.978063851" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.92793277" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1389893710" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
</option>
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.2127363958" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
</tool>
@ -814,6 +819,8 @@
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths.1810457326" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1774225921" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -823,8 +830,9 @@
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.281959373" name="GNU Arm Cross C++ Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths.1282228801" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.41651526" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -1032,12 +1040,19 @@
<configuration configurationName="eive-q7s-simple">
<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
</configuration>
<configuration configurationName="eive-linux-host-debug"/>
<configuration configurationName="eive-q7s-release-win">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="eive-mingw-release"/>
<configuration configurationName="eive-rpi-release-win"/>
<configuration configurationName="Default">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="eive-rpi-debug-win"/>
<configuration configurationName="eive-q7s-debug-win"/>
<configuration configurationName="eive-linux-host-debug"/>
<configuration configurationName="eive-q7s-release"/>
<configuration configurationName="eive-rpi-release"/>
<configuration configurationName="eive-q7s-debug">
<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
</configuration>
@ -1045,11 +1060,6 @@
<configuration configurationName="eive-mingw-debug">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="Default">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="eive-rpi-debug-win"/>
<configuration configurationName="eive-q7s-debug-win"/>
<configuration configurationName="eive-rpi-debug"/>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">

1
mission/CMakeLists.txt
View File

@ -1,3 +1,4 @@
add_subdirectory(core)
add_subdirectory(devices)
add_subdirectory(utility)
add_subdirectory(memory)

2
mission/core/GenericFactory.cpp
View File

@ -7,7 +7,7 @@
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <fsfw/internalerror/InternalErrorReporter.h>
#include <fsfw/pus/CService200ModeCommanding.h>
#include <fsfw/pus/Service17Test.h>
#include <fsfw/pus/Service1TelecommandVerification.h>

8
mission/devices/GyroADIS16507Handler.cpp
View File

@ -4,10 +4,10 @@
#include "GyroADIS16507Handler.h"
#if OBSW_ADIS16507_LINUX_COM_IF == 1
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw/hal/linux/utility.h"
#include "fsfw/hal/linux/spi/SpiCookie.h"
#include "fsfw/hal/linux/spi/SpiComIF.h"
#include "fsfw/hal/linux/UnixFileGuard.h"
#include <sys/ioctl.h>
#include <unistd.h>
#endif

2
mission/devices/PCDUHandler.cpp
View File

@ -329,7 +329,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool &localDat
pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1 }));
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( {
pcduSwitches::INIT_STATE_RW }));
#if TE0720 == 1
#if BOARD_TE0720 == 1
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 1 }));
#else
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( {pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN}));

2
mission/devices/PDU2Handler.cpp
View File

@ -265,7 +265,7 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_Q7S, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( { 0 }));
#if TE0720 == 1
#if BOARD_TE0720 == 1
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 1 }));
#else
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 0 }));

2
mission/devices/RwHandler.h
View File

@ -3,7 +3,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
#include <string.h>
/**

5
mission/memory/CMakeLists.txt Normal file
View File

@ -0,0 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC
NVMParameterBase.cpp
)

50
mission/memory/NVMParameterBase.cpp Normal file
View File

@ -0,0 +1,50 @@
#include "NVMParameterBase.h"
#include "fsfw/memory/HasFileSystemIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <fstream>
NVMParameterBase::NVMParameterBase(std::string fullName): fullName(fullName) {
}
ReturnValue_t NVMParameterBase::readJsonFile() {
if(std::filesystem::exists(fullName)) {
// Read JSON file content into object
std::ifstream i(fullName);
i >> json;
return HasReturnvaluesIF::RETURN_OK;
}
return HasFileSystemIF::FILE_DOES_NOT_EXIST;
}
ReturnValue_t NVMParameterBase::writeJsonFile() {
std::ofstream o(fullName);
o << std::setw(4) << json;
return HasReturnvaluesIF::RETURN_OK;
}
void NVMParameterBase::setFullName(std::string fullName) {
this->fullName = fullName;
}
std::string NVMParameterBase::getFullName() const {
return fullName;
}
bool NVMParameterBase::getJsonFileExists() {
return std::filesystem::exists(fullName);
}
void NVMParameterBase::printKeys() const {
sif::info << "Printing keys for JSON file " << fullName << std::endl;
for(const auto& key: keys) {
sif::info << key << std::endl;
}
}
void NVMParameterBase::print() const {
sif::info << "Printing JSON file " << fullName << std::endl;
for(const auto& key: keys) {
sif::info << key << ": " << json[key] << std::endl;
}
}

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#ifndef BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_
#define BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <nlohmann/json.hpp>
#include <string>
#include <filesystem>
class NVMParameterBase {
public:
virtual~ NVMParameterBase() {}
NVMParameterBase(std::string fullName);
bool getJsonFileExists();
/**
* Returns RETURN_OK on successfull read and HasFileSystemIF::FILE_DOES_NOT_EXIST if
* file does not exist yet.
* @return
*/
virtual ReturnValue_t readJsonFile();
virtual ReturnValue_t writeJsonFile();
void setFullName(std::string fullName);
std::string getFullName() const;
template<typename T>
ReturnValue_t insertValue(std::string key, T value);
template<typename T>
ReturnValue_t setValue(std::string key, T value);
template<typename T>
T getValue(std::string key) const;
void printKeys() const;
void print() const;
private:
nlohmann::json json;
std::vector<std::string> keys;
std::string fullName;
};
template<typename T>
inline ReturnValue_t NVMParameterBase::insertValue(std::string key, T value) {
// Check whether key already exists. If it does not, insert it
if (std::find(keys.begin(), keys.end(), key) == keys.end()) {
keys.push_back(key);
}
json[key] = value;
return HasReturnvaluesIF::RETURN_OK;
}
template<typename T>
inline ReturnValue_t NVMParameterBase::setValue(std::string key, T value) {
json[key] = value;
return HasReturnvaluesIF::RETURN_OK;
}
template<typename T>
inline T NVMParameterBase::getValue(std::string key) const {
return json[key];
}
#endif /* BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_ */

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add_subdirectory(testtasks)

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#ifndef BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_
#define BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_
#include "mission/memory/NVMParameterBase.h"
#include <nlohmann/json.hpp>
#include <filesystem>
class DummyParameter: public NVMParameterBase {
public:
static constexpr char DUMMY_KEY_PARAM_1[] = "dummy1";
static constexpr char DUMMY_KEY_PARAM_2[] = "dummy2";
DummyParameter(std::string mountPrefix, std::string jsonFileName):
NVMParameterBase(mountPrefix + "/conf/" + jsonFileName),
mountPrefix(mountPrefix) {
insertValue(DUMMY_KEY_PARAM_1, 1);
insertValue(DUMMY_KEY_PARAM_2, "blablub");
}
private:
std::string mountPrefix;
};
#endif /* BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_ */

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thirdparty/json vendored Submodule

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Subproject commit fb1ee4f94b426a398969b2c96df9784be8e007e6