Merge remote-tracking branch 'origin/develop' into meier/ImtqHandler
This commit is contained in:
commit
0bcfafc76d
@ -14,7 +14,7 @@
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#include <fsfw/osal/common/UdpTcPollingTask.h>
|
#include <fsfw/osal/common/UdpTcPollingTask.h>
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#include <fsfw/osal/common/UdpTmTcBridge.h>
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#include <fsfw/osal/common/UdpTmTcBridge.h>
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|
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#include <fsfw/tmtcpacket/pus/tm.h>
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#if OBSW_ADD_TEST_CODE == 1
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#if OBSW_ADD_TEST_CODE == 1
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||||||
|
@ -67,6 +67,8 @@ static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
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|
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static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
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static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
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static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
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}
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}
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#endif /* CONFIG_FSFWCONFIG_H_ */
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#endif /* CONFIG_FSFWCONFIG_H_ */
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@ -163,6 +163,12 @@ void initmission::initTasks() {
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initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
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initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
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}
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}
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#endif /* RPI_ADD_GPIO_TEST == 1 */
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#endif /* RPI_ADD_GPIO_TEST == 1 */
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#if RPI_ADD_UART_TEST == 1
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result = testTask->addComponent(objects::UART_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
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}
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#endif /* RPI_ADD_GPIO_TEST == 1 */
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sif::info << "Starting tasks.." << std::endl;
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sif::info << "Starting tasks.." << std::endl;
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tmTcDistributor->startTask();
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tmTcDistributor->startTask();
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|
@ -8,32 +8,32 @@
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#include "tmtc/pusIds.h"
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#include "tmtc/pusIds.h"
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#include "spiConf.h"
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#include "spiConf.h"
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#include <linux/boardtest/LibgpiodTest.h>
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#include "linux/boardtest/LibgpiodTest.h"
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#include <linux/boardtest/SpiTestClass.h>
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#include "linux/boardtest/SpiTestClass.h"
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#include "linux/boardtest/UartTestClass.h"
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//#include <mission/devices/GyroL3GD20Handler.h>
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#include "mission/core/GenericFactory.h"
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#include <mission/core/GenericFactory.h>
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#include "mission/utility/TmFunnel.h"
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#include <mission/utility/TmFunnel.h>
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#include "mission/devices/MGMHandlerLIS3MDL.h"
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#include <mission/devices/MGMHandlerLIS3MDL.h>
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#include "mission/devices/MGMHandlerRM3100.h"
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#include <mission/devices/MGMHandlerRM3100.h>
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#include "mission/devices/GyroADIS16507Handler.h"
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include <mission/devices/GyroADIS16507Handler.h>
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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#include "fsfw/datapoollocal/LocalDataPoolManager.h"
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#include <fsfw/tmtcservices/CommandingServiceBase.h>
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#include "fsfw/tmtcservices/CommandingServiceBase.h"
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#include <fsfw/tmtcservices/PusServiceBase.h>
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#include "fsfw/tmtcservices/PusServiceBase.h"
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#include "fsfw/tmtcpacket/pus/tm.h"
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#include <fsfw/tasks/TaskFactory.h>
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#include "fsfw/tasks/TaskFactory.h"
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/* UDP server includes */
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/* UDP server includes */
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#include <fsfw/osal/common/UdpTmTcBridge.h>
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#include "fsfw/osal/common/UdpTmTcBridge.h"
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#include <fsfw/osal/common/UdpTcPollingTask.h>
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#include "fsfw/osal/common/UdpTcPollingTask.h"
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#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include <fsfw_hal/linux/rpi/GpioRPi.h>
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#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include "fsfw_hal/linux/rpi/GpioRPi.h"
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#include <fsfw_hal/linux/spi/SpiCookie.h>
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#include "fsfw_hal/common/gpio/GpioCookie.h"
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#include <fsfw_hal/linux/spi/SpiComIF.h>
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#include "fsfw_hal/linux/spi/SpiCookie.h"
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#include "fsfw_hal/linux/spi/SpiComIF.h"
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|
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void Factory::setStaticFrameworkObjectIds() {
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void Factory::setStaticFrameworkObjectIds() {
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PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
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PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
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@ -61,10 +61,15 @@ void ObjectFactory::produce(void* args){
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|
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GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
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GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
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GpioCookie* gpioCookie = nullptr;
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GpioCookie* gpioCookie = nullptr;
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static_cast<void>(gpioCookie);
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#if RPI_ADD_SPI_TEST == 1
|
#if RPI_ADD_SPI_TEST == 1
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new SpiTestClass(objects::SPI_TEST, gpioIF);
|
new SpiTestClass(objects::SPI_TEST, gpioIF);
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#endif
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#endif
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|
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#if RPI_ADD_UART_TEST == 1
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new UartTestClass(objects::UART_TEST);
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#endif
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|
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#if RPI_LOOPBACK_TEST_GPIO == 1
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#if RPI_LOOPBACK_TEST_GPIO == 1
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GpioCookie* gpioCookieLoopback = new GpioCookie();
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GpioCookie* gpioCookieLoopback = new GpioCookie();
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/* Loopback pins. Adapt according to setup */
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/* Loopback pins. Adapt according to setup */
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@ -83,6 +88,7 @@ void ObjectFactory::produce(void* args){
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|
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std::string spiDev;
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std::string spiDev;
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SpiCookie* spiCookie = nullptr;
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SpiCookie* spiCookie = nullptr;
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static_cast<void>(spiCookie);
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#if RPI_TEST_ACS_BOARD == 1
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#if RPI_TEST_ACS_BOARD == 1
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if(gpioCookie == nullptr) {
|
if(gpioCookie == nullptr) {
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|
@ -6,11 +6,18 @@
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#define RPI_ADD_GPIO_TEST 0
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#define RPI_ADD_GPIO_TEST 0
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#define RPI_LOOPBACK_TEST_GPIO 0
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#define RPI_LOOPBACK_TEST_GPIO 0
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#define RPI_TEST_ADIS16507 1
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#define RPI_TEST_ADIS16507 0
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/* Only one of those 2 should be enabled! */
|
// Only one of those 2 should be enabled!
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#define RPI_ADD_SPI_TEST 0
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#define RPI_ADD_SPI_TEST 0
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#if RPI_ADD_SPI_TEST == 0
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#define RPI_TEST_ACS_BOARD 0
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#define RPI_TEST_ACS_BOARD 0
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#endif
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#define RPI_ADD_UART_TEST 1
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||||||
|
#if RPI_ADD_UART_TEST == 1
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#define RPI_TEST_GPS_DEVICE 0
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#endif
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/* Adapt these values accordingly */
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/* Adapt these values accordingly */
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namespace gpio {
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namespace gpio {
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@ -41,6 +41,7 @@
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|||||||
|
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||||||
#include "fsfw_hal/linux/uart/UartComIF.h"
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#include "fsfw_hal/linux/uart/UartComIF.h"
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#include "fsfw_hal/linux/uart/UartCookie.h"
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#include "fsfw_hal/linux/uart/UartCookie.h"
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||||||
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include <fsfw_hal/linux/i2c/I2cCookie.h>
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#include <fsfw_hal/linux/i2c/I2cCookie.h>
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#include <fsfw_hal/linux/i2c/I2cComIF.h>
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#include <fsfw_hal/linux/i2c/I2cComIF.h>
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#include <fsfw_hal/linux/spi/SpiCookie.h>
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#include <fsfw_hal/linux/spi/SpiCookie.h>
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@ -51,7 +52,7 @@
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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#include <fsfw/tmtcservices/CommandingServiceBase.h>
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#include <fsfw/tmtcservices/CommandingServiceBase.h>
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#include <fsfw/tmtcservices/PusServiceBase.h>
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#include <fsfw/tmtcservices/PusServiceBase.h>
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#include <fsfw/tmtcpacket/pus/tm.h>
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|
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/* UDP server includes */
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/* UDP server includes */
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#include <fsfw/osal/common/UdpTmTcBridge.h>
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#include <fsfw/osal/common/UdpTmTcBridge.h>
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@ -390,8 +391,8 @@ void ObjectFactory::produce(void* args){
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solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
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solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
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gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
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gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
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||||||
|
|
||||||
UartCookie* syrlinksUartCookie = new UartCookie(
|
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
|
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std::string("/dev/ttyUL0"), 38400, SYRLINKS::MAX_REPLY_SIZE);
|
std::string("/dev/ttyUL0"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE);
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syrlinksUartCookie->setParityEven();
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syrlinksUartCookie->setParityEven();
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||||||
|
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||||||
SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER,
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SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER,
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@ -543,8 +544,8 @@ void ObjectFactory::produce(void* args){
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std::string("/dev/i2c-0"));
|
std::string("/dev/i2c-0"));
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new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
|
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
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|
|
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UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyUL3"), 115200,
|
UartCookie* plocUartCookie = new UartCookie(objects::PLOC_HANDLER, std::string("/dev/ttyUL3"),
|
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PLOC::MAX_REPLY_SIZE);
|
UartModes::NON_CANONICAL, 115200, PLOC::MAX_REPLY_SIZE);
|
||||||
PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
|
PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
|
||||||
plocUartCookie);
|
plocUartCookie);
|
||||||
// plocHandler->setStartUpImmediately();
|
// plocHandler->setStartUpImmediately();
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||||||
|
@ -16,7 +16,7 @@ fi
|
|||||||
|
|
||||||
build_generator="Unix Makefiles"
|
build_generator="Unix Makefiles"
|
||||||
os_fsfw="linux"
|
os_fsfw="linux"
|
||||||
builddir="build-Debug-Linux"
|
builddir="build-Debug-Host"
|
||||||
|
|
||||||
echo "Running command (without the leading +):"
|
echo "Running command (without the leading +):"
|
||||||
set -x # Print command
|
set -x # Print command
|
||||||
|
@ -16,7 +16,7 @@ fi
|
|||||||
|
|
||||||
build_generator="Unix Makefiles"
|
build_generator="Unix Makefiles"
|
||||||
os_fsfw="linux"
|
os_fsfw="linux"
|
||||||
builddir="build-Release-Linux"
|
builddir="build-Release-Host"
|
||||||
|
|
||||||
echo "Running command (without the leading +):"
|
echo "Running command (without the leading +):"
|
||||||
set -x # Print command
|
set -x # Print command
|
||||||
|
2
fsfw
2
fsfw
@ -1 +1 @@
|
|||||||
Subproject commit d700fb551c85393b58a3ada96fbd3f807217d14b
|
Subproject commit cae69d540097acba46bffa47fd7afc6a8a19bd15
|
2
fsfw_hal
2
fsfw_hal
@ -1 +1 @@
|
|||||||
Subproject commit 4cff1aa0212e3c1eab3e2af41443fd19c3ffb8a6
|
Subproject commit fce40ebf9a4a45bafedaee2fc87e5aa10e49fdcc
|
@ -1,8 +1,114 @@
|
|||||||
#include <linux/boardtest/UartTestClass.h>
|
#include "UartTestClass.h"
|
||||||
|
#if defined(RASPBERRY_PI)
|
||||||
|
#include "rpiConfig.h"
|
||||||
|
#elif defined(XIPHOS_Q7S)
|
||||||
|
#include "q7sConfig.h"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||||
|
|
||||||
|
#include "lwgps/lwgps.h"
|
||||||
|
|
||||||
|
#include <fcntl.h> // Contains file controls like O_RDWR
|
||||||
|
#include <errno.h> // Error integer and strerror() function
|
||||||
|
#include <unistd.h> // write(), read(), close()
|
||||||
|
|
||||||
|
#define GPS_REPLY_WIRETAPPING 0
|
||||||
|
|
||||||
UartTestClass::UartTestClass(object_id_t objectId): TestTask(objectId) {
|
UartTestClass::UartTestClass(object_id_t objectId): TestTask(objectId) {
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t UartTestClass::performPeriodicAction() {
|
ReturnValue_t UartTestClass::initialize() {
|
||||||
|
#if RPI_TEST_GPS_DEVICE == 1
|
||||||
|
int result = lwgps_init(&gpsData);
|
||||||
|
if(result == 0) {
|
||||||
|
sif::warning << "lwgps_init error: " << result << std::endl;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Get file descriptor */
|
||||||
|
serialPort = open("/dev/serial0", O_RDWR);
|
||||||
|
if(serialPort < 0) {
|
||||||
|
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
|
||||||
|
<< std::endl;
|
||||||
|
}
|
||||||
|
/* Setting up UART parameters */
|
||||||
|
tty.c_cflag &= ~PARENB; // Clear parity bit
|
||||||
|
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
|
||||||
|
tty.c_cflag &= ~CSIZE; // Clear all the size bits
|
||||||
|
tty.c_cflag |= CS8; // 8 bits per byte
|
||||||
|
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
|
||||||
|
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
|
||||||
|
// Use canonical mode for GPS device
|
||||||
|
tty.c_lflag |= ICANON;
|
||||||
|
tty.c_lflag &= ~ECHO; // Disable echo
|
||||||
|
tty.c_lflag &= ~ECHOE; // Disable erasure
|
||||||
|
tty.c_lflag &= ~ECHONL; // Disable new-line echo
|
||||||
|
tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP
|
||||||
|
tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
|
||||||
|
tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); // Disable any special handling of received bytes
|
||||||
|
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
|
||||||
|
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
|
||||||
|
|
||||||
|
// Non-blocking mode
|
||||||
|
tty.c_cc[VTIME] = 0;
|
||||||
|
tty.c_cc[VMIN] = 0;
|
||||||
|
|
||||||
|
cfsetispeed(&tty, B9600);
|
||||||
|
cfsetospeed(&tty, B9600);
|
||||||
|
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
|
||||||
|
sif::warning << "tcsetattr call failed with error [" << errno << ", " <<
|
||||||
|
strerror(errno) << std::endl;;
|
||||||
|
}
|
||||||
|
// Flush received and unread data. Those are old NMEA strings which are not relevant anymore
|
||||||
|
tcflush(serialPort, TCIFLUSH);
|
||||||
|
#endif
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t UartTestClass::performOneShotAction() {
|
||||||
|
#if RPI_TEST_GPS_DEVICE == 1
|
||||||
|
#endif
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t UartTestClass::performPeriodicAction() {
|
||||||
|
#if RPI_TEST_GPS_DEVICE == 1
|
||||||
|
int bytesRead = 0;
|
||||||
|
do {
|
||||||
|
bytesRead = read(serialPort,
|
||||||
|
reinterpret_cast<void*>(recBuf.data()),
|
||||||
|
static_cast<unsigned int>(recBuf.size()));
|
||||||
|
if(bytesRead < 0) {
|
||||||
|
sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" <<
|
||||||
|
errno << ", " << strerror(errno) << "]" << std::endl;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
else if(bytesRead >= static_cast<int>(recBuf.size())) {
|
||||||
|
sif::debug << "UartTestClass::performPeriodicAction: "
|
||||||
|
"recv buffer might not be large enough" << std::endl;
|
||||||
|
}
|
||||||
|
else if(bytesRead > 0) {
|
||||||
|
// pass data to lwgps for processing
|
||||||
|
#if GPS_REPLY_WIRETAPPING == 1
|
||||||
|
sif::info << recBuf.data() << std::endl;
|
||||||
|
#endif
|
||||||
|
int result = lwgps_process(&gpsData, recBuf.data(), bytesRead);
|
||||||
|
if(result == 0) {
|
||||||
|
sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error"
|
||||||
|
<< std::endl;
|
||||||
|
}
|
||||||
|
recvCnt++;
|
||||||
|
if(recvCnt == 6) {
|
||||||
|
recvCnt = 0;
|
||||||
|
sif::info << "GPS Data" << std::endl;
|
||||||
|
// Print messages
|
||||||
|
printf("Valid status: %d\n", gpsData.is_valid);
|
||||||
|
printf("Latitude: %f degrees\n", gpsData.latitude);
|
||||||
|
printf("Longitude: %f degrees\n", gpsData.longitude);
|
||||||
|
printf("Altitude: %f meters\n", gpsData.altitude);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} while(bytesRead > 0);
|
||||||
|
#endif
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
}
|
}
|
||||||
|
@ -1,15 +1,27 @@
|
|||||||
#ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
|
#ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
|
||||||
#define LINUX_BOARDTEST_UARTTESTCLASS_H_
|
#define LINUX_BOARDTEST_UARTTESTCLASS_H_
|
||||||
|
|
||||||
#include <test/testtasks/TestTask.h>
|
#include "test/testtasks/TestTask.h"
|
||||||
|
#include "lwgps/lwgps.h"
|
||||||
|
|
||||||
|
#include <array>
|
||||||
|
#include <termios.h> // Contains POSIX terminal control definitions
|
||||||
|
|
||||||
class UartTestClass: public TestTask {
|
class UartTestClass: public TestTask {
|
||||||
public:
|
public:
|
||||||
UartTestClass(object_id_t objectId);
|
UartTestClass(object_id_t objectId);
|
||||||
|
|
||||||
|
ReturnValue_t initialize() override;
|
||||||
|
ReturnValue_t performOneShotAction() override;
|
||||||
ReturnValue_t performPeriodicAction() override;
|
ReturnValue_t performPeriodicAction() override;
|
||||||
private:
|
private:
|
||||||
|
|
||||||
|
lwgps_t gpsData = {};
|
||||||
|
struct termios tty = {};
|
||||||
|
int serialPort = 0;
|
||||||
|
std::array<uint8_t, 512> recBuf;
|
||||||
|
uint8_t recvCnt = 0;
|
||||||
|
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* LINUX_BOARDTEST_UARTTESTCLASS_H_ */
|
#endif /* LINUX_BOARDTEST_UARTTESTCLASS_H_ */
|
||||||
|
@ -18,6 +18,7 @@
|
|||||||
#endif
|
#endif
|
||||||
|
|
||||||
#define FSFW_USE_PUS_C_TELEMETRY 1
|
#define FSFW_USE_PUS_C_TELEMETRY 1
|
||||||
|
#define FSFW_USE_PUS_C_TELECOMMANDS 1
|
||||||
|
|
||||||
//! Can be used to disable the ANSI color sequences for C stdio.
|
//! Can be used to disable the ANSI color sequences for C stdio.
|
||||||
#define FSFW_COLORED_OUTPUT 1
|
#define FSFW_COLORED_OUTPUT 1
|
||||||
@ -66,6 +67,9 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
|
|||||||
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
|
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
|
||||||
|
|
||||||
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
|
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
|
||||||
|
|
||||||
|
static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
|
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
|
||||||
|
@ -62,6 +62,7 @@ namespace objects {
|
|||||||
TEST_TASK = 0x54694269,
|
TEST_TASK = 0x54694269,
|
||||||
LIBGPIOD_TEST = 0x54123456,
|
LIBGPIOD_TEST = 0x54123456,
|
||||||
SPI_TEST = 0x54000010,
|
SPI_TEST = 0x54000010,
|
||||||
|
UART_TEST = 0x54000020,
|
||||||
DUMMY_INTERFACE = 0x5400CAFE,
|
DUMMY_INTERFACE = 0x5400CAFE,
|
||||||
DUMMY_HANDLER = 0x5400AFFE,
|
DUMMY_HANDLER = 0x5400AFFE,
|
||||||
P60DOCK_TEST_TASK = 0x00005060
|
P60DOCK_TEST_TASK = 0x00005060
|
||||||
|
@ -560,7 +560,7 @@ ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
|
|||||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||||
#endif
|
#endif
|
||||||
|
static_cast<void>(length);
|
||||||
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
}
|
}
|
||||||
|
@ -12,8 +12,6 @@
|
|||||||
namespace CLASS_ID {
|
namespace CLASS_ID {
|
||||||
enum {
|
enum {
|
||||||
CLASS_ID_START = COMMON_CLASS_ID_END,
|
CLASS_ID_START = COMMON_CLASS_ID_END,
|
||||||
LINUX_LIBGPIO_IF, //LINUXGPIO
|
|
||||||
LINUX_SPI_COM_IF, //LINUXSPI
|
|
||||||
SA_DEPL_HANDLER, //SADPL
|
SA_DEPL_HANDLER, //SADPL
|
||||||
CLASS_ID_END // [EXPORT] : [END]
|
CLASS_ID_END // [EXPORT] : [END]
|
||||||
};
|
};
|
||||||
|
@ -1,18 +1,35 @@
|
|||||||
#include "GPSHandler.h"
|
#include "GPSHandler.h"
|
||||||
|
#include "devicedefinitions/GPSDefinitions.h"
|
||||||
|
|
||||||
|
#include "lwgps/lwgps.h"
|
||||||
|
|
||||||
GPSHandler::GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
|
GPSHandler::GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||||
CookieIF *comCookie):
|
CookieIF *comCookie):
|
||||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
|
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
|
||||||
|
lwgps_init(&gpsData);
|
||||||
}
|
}
|
||||||
|
|
||||||
GPSHandler::~GPSHandler() {}
|
GPSHandler::~GPSHandler() {}
|
||||||
|
|
||||||
void GPSHandler::doStartUp() {
|
void GPSHandler::doStartUp() {
|
||||||
|
if(internalState == InternalStates::NONE) {
|
||||||
|
commandExecuted = false;
|
||||||
|
internalState = InternalStates::WAIT_FIRST_MESSAGE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
|
||||||
|
if(commandExecuted) {
|
||||||
|
internalState = InternalStates::IDLE;
|
||||||
|
setMode(MODE_ON);
|
||||||
|
commandExecuted = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void GPSHandler::doShutDown() {
|
void GPSHandler::doShutDown() {
|
||||||
|
internalState = InternalStates::NONE;
|
||||||
|
commandExecuted = false;
|
||||||
|
setMode(MODE_OFF);
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t GPSHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
ReturnValue_t GPSHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||||
@ -31,7 +48,14 @@ ReturnValue_t GPSHandler::buildCommandFromCommand(
|
|||||||
|
|
||||||
ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
|
ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
|
||||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||||
|
// Pass data to GPS library
|
||||||
|
int result = lwgps_process(&gpsData, start, len);
|
||||||
|
if(result != 0) {
|
||||||
|
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
|
||||||
|
<< std::endl;
|
||||||
|
}
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t GPSHandler::interpretDeviceReply(DeviceCommandId_t id,
|
ReturnValue_t GPSHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||||
@ -49,9 +73,10 @@ ReturnValue_t GPSHandler::initializeLocalDataPool(
|
|||||||
}
|
}
|
||||||
|
|
||||||
void GPSHandler::fillCommandAndReplyMap() {
|
void GPSHandler::fillCommandAndReplyMap() {
|
||||||
|
// Reply length does not matter, packets should always arrive periodically
|
||||||
|
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, nullptr, 0, true);
|
||||||
}
|
}
|
||||||
|
|
||||||
void GPSHandler::modeChanged() {
|
void GPSHandler::modeChanged() {
|
||||||
|
internalState = InternalStates::NONE;
|
||||||
}
|
}
|
||||||
|
@ -2,7 +2,14 @@
|
|||||||
#define MISSION_DEVICES_GPSHANDLER_H_
|
#define MISSION_DEVICES_GPSHANDLER_H_
|
||||||
|
|
||||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||||
|
#include "lwgps/lwgps.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Device handler for the Hyperion HT-GPS200 device
|
||||||
|
* @details
|
||||||
|
* Flight manual:
|
||||||
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
|
||||||
|
*/
|
||||||
class GPSHandler: public DeviceHandlerBase {
|
class GPSHandler: public DeviceHandlerBase {
|
||||||
public:
|
public:
|
||||||
GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
|
GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||||
@ -10,6 +17,13 @@ public:
|
|||||||
virtual ~GPSHandler();
|
virtual ~GPSHandler();
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
|
enum class InternalStates {
|
||||||
|
NONE,
|
||||||
|
WAIT_FIRST_MESSAGE,
|
||||||
|
IDLE
|
||||||
|
};
|
||||||
|
InternalStates internalState = InternalStates::NONE;
|
||||||
|
bool commandExecuted = false;
|
||||||
|
|
||||||
/* DeviceHandlerBase overrides */
|
/* DeviceHandlerBase overrides */
|
||||||
ReturnValue_t buildTransitionDeviceCommand(
|
ReturnValue_t buildTransitionDeviceCommand(
|
||||||
@ -33,9 +47,7 @@ protected:
|
|||||||
LocalDataPoolManager &poolManager) override;
|
LocalDataPoolManager &poolManager) override;
|
||||||
|
|
||||||
private:
|
private:
|
||||||
|
lwgps_t gpsData = {};
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#endif /* MISSION_DEVICES_GPSHANDLER_H_ */
|
#endif /* MISSION_DEVICES_GPSHANDLER_H_ */
|
||||||
|
@ -7,10 +7,13 @@
|
|||||||
/**
|
/**
|
||||||
* @brief This is the device handler class for all gomspace devices.
|
* @brief This is the device handler class for all gomspace devices.
|
||||||
*
|
*
|
||||||
* @details All gomspace devices are similar with respect to commanding. Thus
|
* @details
|
||||||
* most of the functionality to command a gomspace device can be
|
* All gomspace devices are similar with respect to commanding. Thusmost of the functionality to
|
||||||
* accommodated in one class. For device specific functions, a new
|
* command a gomspace device can be accommodated in one class. For device specific functions, a new
|
||||||
* class could be created by inheriting from the GomspaceDeviceHandler.
|
* class could be created by inheriting from the GomspaceDeviceHandler.
|
||||||
|
*
|
||||||
|
* Flight manual:
|
||||||
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Gomspace_PCDU_P60_System
|
||||||
*/
|
*/
|
||||||
class GomspaceDeviceHandler: public DeviceHandlerBase {
|
class GomspaceDeviceHandler: public DeviceHandlerBase {
|
||||||
public:
|
public:
|
||||||
|
@ -1,10 +1,10 @@
|
|||||||
#include <fsfw/action/HasActionsIF.h>
|
#include <fsfw/action/HasActionsIF.h>
|
||||||
#include <fsfw/datapool/PoolReadGuard.h>
|
#include <fsfw/datapool/PoolReadGuard.h>
|
||||||
#include <fsfw_hal/linux/utility.h>
|
|
||||||
|
|
||||||
#include "GyroADIS16507Handler.h"
|
#include "GyroADIS16507Handler.h"
|
||||||
|
|
||||||
#if OBSW_ADIS16507_LINUX_COM_IF == 1
|
#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/SpiCookie.h"
|
||||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||||
|
@ -11,6 +11,12 @@ class SpiComIF;
|
|||||||
class SpiCookie;
|
class SpiCookie;
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Device handle for the ADIS16507 Gyroscope by Analog Devices
|
||||||
|
* @details
|
||||||
|
* Flight manual:
|
||||||
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/ADIS16507_Gyro
|
||||||
|
*/
|
||||||
class GyroADIS16507Handler: public DeviceHandlerBase {
|
class GyroADIS16507Handler: public DeviceHandlerBase {
|
||||||
public:
|
public:
|
||||||
GyroADIS16507Handler(object_id_t objectId, object_id_t deviceCommunication,
|
GyroADIS16507Handler(object_id_t objectId, object_id_t deviceCommunication,
|
||||||
|
@ -14,6 +14,8 @@
|
|||||||
* by STMicroeletronics
|
* by STMicroeletronics
|
||||||
* @details
|
* @details
|
||||||
* Datasheet can be found online by googling LIS3MDL.
|
* Datasheet can be found online by googling LIS3MDL.
|
||||||
|
* Flight manual:
|
||||||
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
|
||||||
* @author L. Loidold, R. Mueller
|
* @author L. Loidold, R. Mueller
|
||||||
*/
|
*/
|
||||||
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
|
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
|
||||||
|
@ -14,7 +14,7 @@
|
|||||||
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
|
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
|
||||||
* (https://www.pnicorp.com/rm3100/)
|
* (https://www.pnicorp.com/rm3100/)
|
||||||
* @details
|
* @details
|
||||||
* Advanced documentation:
|
* Flight manual:
|
||||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
|
||||||
*/
|
*/
|
||||||
class MGMHandlerRM3100: public DeviceHandlerBase {
|
class MGMHandlerRM3100: public DeviceHandlerBase {
|
||||||
|
@ -8,9 +8,11 @@
|
|||||||
/**
|
/**
|
||||||
* @brief This is the device handler for the PLOC.
|
* @brief This is the device handler for the PLOC.
|
||||||
*
|
*
|
||||||
* @details The PLOC uses the space packet protocol for communication. To each command the PLOC
|
* @details
|
||||||
* answers with at least one acknowledgment and one execution report.
|
* The PLOC uses the space packet protocol for communication. To each command the PLOC
|
||||||
*
|
* answers with at least one acknowledgment and one execution report.
|
||||||
|
* Flight manual:
|
||||||
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
|
||||||
* @author J. Meier
|
* @author J. Meier
|
||||||
*/
|
*/
|
||||||
class PlocHandler: public DeviceHandlerBase {
|
class PlocHandler: public DeviceHandlerBase {
|
||||||
|
21
mission/devices/devicedefinitions/GPSDefinitions.h
Normal file
21
mission/devices/devicedefinitions/GPSDefinitions.h
Normal file
@ -0,0 +1,21 @@
|
|||||||
|
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
|
||||||
|
#define MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
|
||||||
|
|
||||||
|
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||||
|
|
||||||
|
namespace GpsHyperion {
|
||||||
|
|
||||||
|
static constexpr DeviceCommandId_t GPS_REPLY = 0;
|
||||||
|
|
||||||
|
enum GpsPoolIds: lp_id_t {
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
class GpsPrimaryDataset: public StaticLocalDataSet<5> {
|
||||||
|
public:
|
||||||
|
private:
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_ */
|
@ -1,8 +1,7 @@
|
|||||||
#include <fsfw/ipc/QueueFactory.h>
|
#include <fsfw/ipc/QueueFactory.h>
|
||||||
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
#include <fsfw/tmtcpacket/pus/tm.h>
|
||||||
#include <fsfw/objectmanager/ObjectManager.h>
|
#include <fsfw/objectmanager/ObjectManager.h>
|
||||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||||
#include <fsfw/tmtcpacket/pus/TmPacketPusC.h>
|
|
||||||
#include <mission/utility/TmFunnel.h>
|
#include <mission/utility/TmFunnel.h>
|
||||||
|
|
||||||
object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
|
object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
|
||||||
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
|||||||
Subproject commit 8a8c77ed013f12b178e32b77d2cac9db3dd29c1f
|
Subproject commit 20a44b4b67198d42e83a790191ad6740d0aabf7c
|
Loading…
Reference in New Issue
Block a user