eive/eive-obsw
eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into meier/plocTmCamCmdReport
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7
.gitignore vendored
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@ -12,8 +12,13 @@
#vscode
/.vscode
# IntelliJ
/.idea/*
# Python
__pycache__
.idea
# CLion
!/.idea/cmake.xml
generators/*.db

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.gitmodules vendored
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@ -10,9 +10,6 @@
[submodule "thirdparty/lwgps"]
path = thirdparty/lwgps
url = https://github.com/rmspacefish/lwgps.git
[submodule "generators/fsfwgen"]
path = generators/fsfwgen
url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen.git
[submodule "thirdparty/arcsec_star_tracker"]
path = thirdparty/arcsec_star_tracker
url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
@ -22,3 +19,6 @@
[submodule "thirdparty/rapidcsv"]
path = thirdparty/rapidcsv
url = https://github.com/d99kris/rapidcsv.git
[submodule "thirdparty/gomspace-sw"]
path = thirdparty/gomspace-sw
url = https://egit.irs.uni-stuttgart.de/eive/gomspace-sw.git

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.idea/cmake.xml generated Normal file
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@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CMakeSharedSettings">
<configurations>
<configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
<configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Q7S" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
<ADDITIONAL_GENERATION_ENVIRONMENT>
<envs>
<env name="ZYNQ_7020_ROOTFS" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" />
<env name="CROSS_COMPILE" value="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf" />
</envs>
</ADDITIONAL_GENERATION_ENVIRONMENT>
</configuration>
</configurations>
</component>
</project>

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.run/Q7S FM.run.xml Normal file
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@ -0,0 +1,10 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="Q7S FM" type="com.jetbrains.cidr.remote.gdbserver.type" factoryName="com.jetbrains.cidr.remote.gdbserver.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="eive-obsw" TARGET_NAME="eive-obsw" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="eive-obsw" RUN_TARGET_NAME="eive-obsw">
<custom-gdb-server version="1" gdb-connect="localhost:1234" executable="" warmup-ms="0" download-type="NONE" sshConfigName="Q7S FM" uploadFile="/tmp/eive-obsw" defaultGdbServerArgs=":1234 /tmp/eive-obsw">
<debugger kind="GDB" isBundled="true" />
</custom-gdb-server>
<method v="2">
<option name="CLION.COMPOUND.BUILD" enabled="true" />
</method>
</configuration>
</component>

893
CHANGELOG.md
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@ -8,12 +8,886 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
list yields a list of all related PRs for each release.
Starting at v2.0.0, this project will adhere to semantic versioning and the the following changes
will consitute of a breaking change warranting a new major release:
- The TMTC interface changes in any shape of form.
- The behaviour of the OBSW changes in a major shape or form relevant for operations
# [unreleased]
# [v1.12.0]
## Fixed
- Pointing control of the `AcsController` was still expecting submodes instead of modes.
- Limitation of RW speeds was done before converting them to the correct unit scale.
# [v1.37.0] 2023-03-11
eive-tmtc: v2.18.1
## Added
- `SensorProcessing` now includes an FDIR for GPS altitude. If the measured GPS altitude is out
of bounds of the range defined in the `AcsParameters`, the altitude defaults to an altitude
set in the `AcsParameters`.
- `AcsController` will now never command a RW speed larger than the maximum allowed speed.
## Fixed
- `PAPB_EMPTY_SIGNAL_VC1` GPIO was not set up properly.
- Fix for heater names: HPA heater (index 7) is now the Syrlinks heater.
- `AcsParameters` setter were previously all for scalar parameters. Now vector and matrix
parameters use their respective setters.
- Several `AcsController` components had their own implementation of `AcsParameters`. This resulted
in those parameters not being updated, while the actual ones were updated. All instances of
`AcsParameters` not belonging to `AcsController` are eiter removed or replaced by pointer
instances.
- Instead of updating the `gsTargetModeControllerParameters`, the `targetModeControllerParameters`
were updated.
- Instead of updating the `idleModeControllerParameters`, the `targetModeControllerParameters`
were updated.
- Fixed Idle Mode Controller never calling `ptgLaw` and therefore never calculating control
values.
- Fixed wrong check on wether file used for persistant boolean flag on successful still existed.
- Scaling of MTQ Cmds now scales the current values to command with the current values and not
the values of the last step, which would result in undefined behaviour.
- Solved naming collision between file used for solar array deployment and confirmation for
ACS for solar array deployment.
- Fixed that scaling of RW torque would result in a zero vector unless the maximum value was exceeded.
- Bias for the GYR data was substracted within the wrong rf (sensor rf vs body rf).
## Changed
- Refactored TM pipeline to optimize usage of the PTME and communication downlink bandwidth.
This was done by moving the dumping of TMs to the VCs into separate threads with permanent loops.
These threads are then able to process high TM loads on demand. The PUS TM funnel will route
PUS packets to the approrpiate persisten TM stores and then demultiplex the TM to all registered
TM destinations as before.
- Service 5 now handles 40 events per cycle instead of 15
- Remove periodic SD card check. The file system is not mounted read-only anymore when using an
ext4 filesystem
- The `detumbleCounter` now does not get hard reset anymore, if the critical rate does not get
violated anymore. Instead it is incrementally reset.
- The RW antistiction now only takes the RW speeds in account.
- ACS CTRL transition to DETUBMLE is now done in CTRL internally. No
system level handling necessary anymore.
- More fixes and improvements for SD card handling. Extend SD card setup in core controller to
create full initial state for SD card manager are core controller as early as possible, turn
execution of setup file update blocking. This might solve the issue with the SD card manager
sometimes blocking for a long time.
- Request raw MTM measurement twice for IMTQ, might reduce number of times measurement could not
be retrieved.
- Event manager and event service have larger queues now: 45 -> 120 for Service 5, 80 -> 120 for
event manager
- ACS mode changes: The ACS CTRL submodes are now modes. DETUBMLE is now submode of SAFE mode.
- EIVE system now tracks the mode of the ACS subsyste in SAFE mode.
# [v1.36.0] 2023-03-08
eive-tmtc: v2.17.2
## Added
- Star Tracker Assembly
- New `REBOOT_COUNTER` and `INDIVIDUAL_BOOT_COUNTS` events. The first contains the total boot count
as a u64, the second one contains the individual boot counts as 4 u16. Add new core controller
action command `ANNOUNCE_BOOT_COUNTS` with action ID 3 which triggers both events. These events
will also be triggered on each reboot.
## Changed
- Persistent TM stores will now create new files on each reboot.
- Fast ACS subsystem commanding: Command SUS board consecutively with other devices now
- Star Tracker: Use ground confguration for EM and flight config for FM by default.
## Fixed
- Command TCS controller off first for TCS subsystem transition to off.
- Health handling for TCS board assembly
- Mode fallback from IDLE mode to SAFE mode due to ACS errors/events now works properly for
the ACS subsystem
- Bugfix in IDLE transition for system.
- `std::filesystem` API usages: Avoid exceptions by using variants which return an error code
instead of throwing exceptions.
- GPS fix loss was not reported if mode is unset.
- Star Tracker: OFF to NORMAL transition now posssible. Requires FSFW bump which sets
transition source modes properly for those transitions.
FSFW PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/131
- Star Tracker JSON initialization is now done during object initization instead of redoing it
when building a command. This avoids missed deadlines issues in the ACS PST.
- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components.
Bump FSFW to allow this.
- PUS 15 was not scheduled
- Transmitter timeout set to 2 minutes instead of 15 minutes. This will prevent to discharge the
battery in case the syrlinks starts transmitting due to detection of unintentional bitlock. This
happened e.g. on ground when the uplink to the flying latop was established.
- ACS system components are now always scheduled (EM specific)
# [v1.35.1] 2023-03-04
## Fixed
- ACS Board Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
handling.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
- Watchdog fixes
- IMTQ timing fixes
## Added
- Add IMTQ assembly
# [v1.35.0] 2023-03-04
eive-tmtc: v2.16.4
## Added
- Improved the OBSW watchdog by adding a watch functionality. The watch functionality is optional
and has to be enabled specifically by the application being watched by the watchdog when
starting the watchdog. If the watch functionality is enabled and the OBSW has not pinged
the watchdog via the FIFO for 2 minutes, the watchdog will restart the OBSW service via systemd.
The primary OBSW will only activate the watch functionality if it is the OBSW inside the
`/usr/bin` directory. This allows debugging the system by leaving flashed or manually copied
debugging images 2 minutes to start the watchdog without the watch functionality.
## Fixed
- Bumped FSFW: `Countdown` and `Stopwatch` use new monotonic clock API now.
- IMTQ: Various fixes, most notably missing buffer time after starting MGM measurement
and corrections for actuator commanding.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/430
# [v1.34.0] 2023-03-03
eive-tmtc: v2.16.3
This might include the fix for the race condition where CPU usage jumped to 200 %. The race
condition was traced to the `Countdown` class, more specifically to the `getUptime` function where
the `/proc/uptime` file is read.
## Changed
- The SD card prefix is now set earlier inside the `CoreController` constructor
- The watchdog handling was moved outside the `CoreController` into the main loop.
- Moved polling of all SPI parts to the same PST.
- Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS
component commanding again.
- Changed a lot of lock guards to use timeouts
- Queue sizes of TCP/UDP servers increased from 20 to 50
- Significantly simplified and improved lock guard handling in TCS and ACS board polling
tasks.
## Fixed
- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
- Set RM3100 dataset to valid.
- Fixed units in calculation of ACS control laws safe and detumble.
- Bump FSFW for change in Countdown: Use system clock instead of reading uptime from file
to prevent possible race condition.
- GPS: No fix considered a fault now after 30 minutes instead of 5 hours.
- SUS Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
handling.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
## Added
- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
# [v1.33.0] 2023-03-01
eive-tmtc: v2.16.2
## Changed
- Move ACS board polling to separate worker thread.
- Move SUS board polling to separate worker thread.
## Fixed
- Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400
# [v1.32.0] 2023-02-24
eive-tmtc: v2.16.1
## Fixed
- ADIS1650X: Added missing MDL_RANG pool entry for configuration set
- Bumped FSFW for bugfix in health service: No execution complete for targeted health announce
command.
- Removed matrix determinant calculation as part of the `MEKF`, which would take about
300ms of runtime
- Resetting the `MEKF` now also actually resets its stored state
- Bumped FSFW for bugfix in destination handler: Better error handling and able to process
destination folder path.
## Changed
- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
telemetry. Implementation is based on a timed rotating files, with the addition that files
might be generated more often if the maximum file size of 8192 bytes is exceeded.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
- Commented out commanding of actuators as part of the `AcsController`
- Collection sets of the `AcsController` now get updated before running the actual ACS
algorithm
- `GpsController` now always gets scheduled
- The `CoreController` now initializes the initial clock from the time file as early as possible
(in the constructor) if possible, which should usually be the case.
## Added
- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
telemetry.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
- `ExecutableComIfDummy` class to have a dummy for classes like the RTD polling class.
- Added `AcsController` action command to confirm solar array deployment, which then deletes
two files
- Added `AcsController` action command to reset `MEKF`
- `GpsCtrlDummy` now initializes the `gpsSet`
- `RwDummy` now initializes with a non faulty state
# [v1.31.1] 2023-02-23
## Fixed
- ADIS1650X configuration set was empty because the local pool variables were not registered.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/402
- ACS Controller: Correction for size of MEKF dataset and some optimization and fixes
for actuator control which lead to a crash.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
# [v1.31.0] 2023-02-23
eive-tmtc: v2.16.0
## Fixed
- Usage of floats as iterators and using them to calculate a uint8_t index in `SusConverter`
- Removed unused variables in the `AcsController`
- Remove shadowing variables inside ACS assembly classes.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/385
## Changed
COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364
* Moved transmitter timer and handling of carrier and bitlock event from CCSDS handler to COM
subsystem
* Added parameter command to be able to change the transmitter timeout
* Solves [#362](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/362)
* Solves [#360](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/360)
* Solves [#361](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/361)
* Solves [#386](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/386)
- All `targetQuat` functions in `Guidance` now return the target quaternion (target
in ECI frame), which is passed on to `CtrlValData`.
- Moved polling sequence table definitions and source code to `mission/core` folder.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/395
## Added
- `MEKF` now returns an unique returnvalue depending on why the function terminates. These
returnvalues are used in the `AcsController` to determine on how to procede with its
perform functions. In case the `MEKF` did terminate before estimating the quaternion
and rotational rate, an info event will be triggered. Another info event can only be
triggered after the `MEKF` has run successfully again. If the `AcsController` tries to
perform any pointing mode and the `MEKF` fails, the `performPointingCtrl` function will
set the RWs to the last RW speeds and set a zero dipole vector. If the `MEKF` does not
recover within 5 cycles (2 mins) the `AcsController` triggers another event, resulting in
the `AcsSubsystem` being commanded to `SAFE`.
- `MekfData` now includes `mekfStatus`
- `CtrlValData` now includes `tgtRotRate`
# [v1.30.0] 2023-02-22
eive-tmtc: v2.14.0
Event IDs for PDEC handler have changed in a breaking manner.
## Added and Fixed
- PDEC: Added basic FDIR to limit the number of allowed TC interrupts and to allow complete task
lockups in the case an IRQ is immediately re-raised by the PDEC module. This is done by only
allowing a certain number of handled IRQs (whether they yield a valid TC or not) during
time windows of one second. Right now, 800 IRQs/TCs are allowed per time window.
This time window is reset if a TC reception timeout after 500ms occurs. TBD whether the maximum
allowed number will be a configurable parameter. If the number of occured IRQs is exceeded,
an event is triggered and the task is delayed for 400 ms.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
# [v1.29.1] 2023-02-21
## Fixed
- Limit number of handled messages for core TM handlers:
- https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/391
- https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/390
- https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/389
- HeaterHandler better handling for faulty message reception
Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388
- Disable stopwatch in MAX31865 polling task
# [v1.29.0] 2023-02-21
eive-tmtc: v2.13.0
## Changed
- Refactored IMTQ handlers to also perform low level I2C communication tasks in separate thread.
This avoids the various delays needed for I2C communication with that device inside the ACS PST.
(e.g. 1 ms delay between each transfer, or 10 ms integration delay for MGM measurements).
## Added
- Added new heater info set for the TCS controller. This set contains the heater switch states
and the current draw.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
- The HeaterHandler now exposes a mode which reflects whether the heater power
is on or off. It also triggers mode events for its heater children objects
which show whether the specific heaters are on or off. The heater handler
will be part of the TCS tree.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
# [v1.28.1] 2023-02-21
## Fixed
- Patch version which compiles for EM
- CFDP Funnel bugfix: CCSDS wrapping was buggy and works properly now.
- PDEC: Some adaptions to prevent task lockups on invalid FAR states.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
- CMakeLists.txt fix which broke CI/CD builds when server could not retrieve full git SHA.
- Possible regression in the MAX31865 polling task: Using a `ManualCsLockGuard` for reconfiguring
and then polling the sensor is problematic, invalid sensor values will be read.
CS probably needs to be de-asserted or some other HW/SPI specific issue. Letting the SPI ComIF
do the locking does the job.
## Changed
- Add `-Wshadow=local` shadowing warnings and fixed all of them
- Updated generated CSV files: Support for skip directive and explicit
"No description" info string
- The polling threads for actuator polling now have a slightly higher priority than the ACS PST
to ensure timing requirements are met.
## Added
- git post checkout hook which initializes and updates the submodules
automatically.
# [v1.28.0] 2023-02-17
eive-tmtc: v2.12.7
## Added
- In case the ACS Controller does recognize more than one RW to be invalid and therefore not
available, it does not perform pointing control but aborts shortly after `sensorProcessing`. If the
problem persits for 5 ACS cycles, the `MULTIPLE_RW_INVALID` event is triggered, which invokes the
transition of the `AcsSubsystem` to safe mode.
## Changed
- Igrf13 model vector now outputs as uT instead of nT
- Changed timings for `AcsPst`, more time for sun sensors.
- Added values for MGM sensor fusion
- Refactored RW Software: Polling runs in separate thread, all RWs are now polled in under 60 ms.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/381
- Bumped FSFW to allow initializing child modes in `SubsystemBase` derived objects.
## Fixed
- Fixed values for GYR sensor fusion
- Fixed speed types for `rwHandlingParameter`
- Pseudo inverse used for allocating torque to RWs and RW antistiction now actually consider the
state of the RWs
# [v1.27.2] 2023-02-14
Reaction Wheel handling was determined to be (quasi) broken and needs to be fixed in future release
to be usable by ACS controller.
eive-tmtc: v2.12.6
## Added
- Function for the ACS controller to command MTQ and RWs called by all subroutines
- RwHandler now handles commanding of RW speeds via RwSpeedActuationSet
- Tracing supports which allows checking whether threads are running as usual.
## Changed
- Remove 2 TCS threads.
- Move low level polling into ACS PST, move high level device handlers into TCS system task.
- ActCmds now returns command vectors as integers as required by the actuators
and scales them to the appropriate range
- All RwHandler are now polled five times per ACS cycle
- Remove 2 TCS threads. Move low level polling into ACS PST, move high level device handlers into
TCS system task.
- Further reduce number of threads:
1. Remove PUS low priority task, move assigned threads to the generic system task
2. Group events and verification tasks into PUS high priority task
3. Group all other components into PUS medium priority task
4. Add SCEX device handler to PL task, remove dedicated thread
## Removed
- lwgps dependency not compiled anymore, is not used
# [v1.27.1] 2023-02-13
## Fixed
- Fix for SPI ComIF: Set transfer size to 0 for failed transfers
- Fix shadowing issue with locks in MAX31865 low level handler
# [v1.27.0] 2023-02-13
eive-tmtc: v2.12.5
Added EIVE system top mode component. Currently, only SAFE and IDLE mode are
implemented, and the system does not do more than commanding TCS and ACS
into the correct modes. It does not have a lot of mode tracking capabilities
yet because the ACS controller might alternate between SAFE and DETUMBLE.
It takes around 5-10 seconds for the EIVE system to reach the SAFE mode.
The new system is used at software boot to command the satellite into safe mode
on each reboot. This behaviour can be disabled with the
`OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP` flag.
## Added
- New EIVE system component like explained above.
## Changed
- The satellite now commands itself into SAFE mode on each reboot, which
triggers a lot of events on each SW reboot. The TCS subsystem will commanded
to NORMAL mode immediately while the ACS subsystem will be commanded to
SAFE mode. The payload subsystem will be commanded OFF.
- `RELEASE_BUILD` flag moved to `commonConfig.h`
- The ACS subsystem transitions are now staggered: The SUS board assembly
is commanded as a separate transition. This reduces the risk of long bus lockups.
- No INFO mode event translations for release builds to reduce number of
printouts.
- More granular locking inside the MAX31865 low level read handler.
## Fixed
- More DHB thermal module fixes.
- ACS PST frequency extended to 0.8 seconds in debug builds to avoid SPI
bus lockups.
- Local datapool fixes for the `PlocSupervisorHandler`
# [v1.26.4] 2023-02-10
eive-tmtc: v2.12.3
## Fixed
- `SdCardManager.cpp` `isSdCardUsable`: Use `ext4` instead of `vfat` to check read-only state.
# [v1.26.3] 2023-02-09
eive-tmtc: v2.12.2
## Added
- First version of a TCS controller heater control loop, but
the loop is disabled for now.
## Changed
- Reworked dummy handling for the TCS controller.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/325
- Generator scripts now generate files for hosted and for Q7S build.
## Fixed
- GPS Controller: Set fix value to 0 when switching off to allow
`GPS_FIX_CHANGE` to work when switching the GPS back on.
# [v1.26.2] 2023-02-08
## Changed
- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
that scheduling is done in big blocks to reduce risk of missed deadlines.
- Replaced chained locks for polling new sensor data to the `AcsController`.
- Made TM store even larger.
## Fixed
- Bugfix for PDEC handler which causes the PIR register of the PDEC to never
be cleared on release builds. The dummy variable used to read the register
needs to be declared volatile to avoid compiler optimizations.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/374
- Bumped FSFW for fix of possible memory leaks in TCP/IP TMTC bridge
inside the FSFW.
## Added
- Create TCS controller for EM build.
# [v1.26.1] 2023-02-08
- Initialize parameter helper in ACS controller.
# [v1.26.0] 2023-02-08
eive-tmtc v2.12.1
## Changed
### ACS
- Readded calibration matrices for MGM calibration.
- Added calculation of satellite velocity vector from GPS position data
- Added detumble mode using GYR values
- Added inertial pointing mode
- Added nadir pointing mode
- Added ground station target mode
- Added antistiction for RWs
- Added `sunTargetSafe` differentiation for LEOP
- Added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine
which `sunTargetSafe` to use
- Added `gpsVelocity` and `gpsPosition` to `gpsProcessed`
- Removed deprecated `OutputValues`
- Added `HasParametersIF` to `AcsParameters`
- Added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController`
- Updated `AcsParameters` with actual values and changed structure
- Sun vector model and magnetic field vector model calculations are always executed now
- `domainId` is now used as identifier for parameter structs
- Changed onboard GYR value handling from deg/s to rad/s
## Fixed
- Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality
is only used to retrieve the git SHA hash now. Also removed `OBSWVersion.h` accordingly.
- Build system: Fixed small bug, where the version itself was
stored as the git SHA hash in `commonConfig.h`. This will be
an empty string now for regular versions.
- Bump FSFW for important fix in PUS mode service.
### ACS
- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being
transformed in body RF. However, the calibration values are in the body RF. Also fixed the
validity flag of 'mgmVecTotDerivative'.
- Fixed calculation of model sun vector
- Fixed calculation of model magnetic field vector
- Fixed MEKF algorithm
- Fixed several variable initializations
- Fixed several variable types
- Fixed use of `sunMagAngleMin` for safe mode
- Fixed MEKF not using correct `sampleTime`
- Fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up
- Various smaller bugfixes
# [v1.25.0] 2023-02-06
eive-tmtc version: v2.12.0
## Changed
- Updated Subsystem mode IDs to avoid clashes with regular device handler modes.
## Fixed
- `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle
until it does not have any data left anymore. Also, the data is now polled in a permanent loop,
where controller handling is done on 0.2 second timeouts.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368
# [v1.24.0] 2023-02-03
- eive-tmtc v2.10.0
- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
as well. Other modes still need to be tested.
## Fixed
- `AcsController`: Parameter fix in `DetumbleParameter`.
- Set GPS set entries to invalid on MODE_OFF command.
- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
properly
- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
commands the MTQ to match the actual commanding range.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
## Changed
- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table
will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
- ACS Subsystem Sequence Mode IDs updated.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
- Update and tweak ACS subsystem to represent the actual ACS design
- Event handling in the ACS subsystem for events triggered by the ACS controller.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
# [v1.23.1] 2023-02-02
TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
## Fixed
- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00)
instead of unsegmented (0b11).
- Bugfix in FSFW where the MGM RM3100 value Z axis data was parse incorrectly.
PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/123
# [v1.23.0] 2023-02-01
TMTC version: v2.9.0
## Changed
- Bumped FSFW to include improvements and bugfix for Health Service. The health service now
supports the announce all health info command.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
## Fixed
- Bumped FSFW to include fixes in the time service.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
- The CCSDS handler starts the transmitter timer each time it is commanded to MODE_ON and times
out the timer when the handler is commanded to MODE_OFF
- If the timer is timed out the CCSDS handler will disable the TX clock which will cause the
syrlinks to got to standby mode
- PDEC handler now parses the FAR register also in interrupt mode
# [v1.22.1] 2023-01-30
## Changed
- Updated FSFW to include addition where the `SO_REUSEADDR` option is set
on the TCP server, which should improve its ergonomics.
# [v1.22.0] 2023-01-28
TMTC version: v2.6.1
## Added
- First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes
care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
- The CCSDS handler has has a new submode (3) to configure the default datarate.
- Default datarate parameter commanding moved to COM subsystem.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
# [v1.21.0] 2023-01-26
TMTC version: v2.5.0
Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353
## Fixed
- The `OBSW_SYRLINKS_SIMULATED` flag is set to 0 for for both EM and FM.
- MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354
- Subsystem ID clash: CORE subsystem ID was the same as Syrlinks subsystem ID.
## Changed
- Startracker temperature set and PCDU switcher set are diagnostic now
- `SyrlinksHkHandler` renamed to `SyrlinksHandler` to better reflect that it does more than
just HK and is also responsible for setting the TX mode of the device.
- `SyrlinksHandler`: Go to startup immediately because the Syrlinks device should always be on
by default.
- `SyrlinksHandler`: Go to normal mode at startup.
## Added
- The Syrlinks handler has submodes for the TX mode now: RX Only (0), RX and TX default
datarate (1), RX and TX Low Rate (2), RX and TX High Rate (3) and TX Carrier Wave (4).
The submodes apply for both ON and NORMAL mode. The default datarate can be updated using
a parameter command (domain ID 0 and unique ID 0) with value 0 for low rate and 1 for high rate.
- The Syrlinks handler always sets TX to standby when switching off
- The Syrlinks handler triggers a new TX_ON event when the transmitter was switched on successfully
and a TX_OFF event when it was switched off successfully.
- Startracker temperature set and PCDU switcher set are diagnostic now
- The CCSDS handler can accept mode commands now. It accepts ON and OFF commands. Furthermore
it has a submode for low datarate (1) and high datarate (2) for the ON command.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/352
# [v1.20.0] 2023-01-24
## Added
- The Q7S SW now checks for a file named `boot_delay_secs.txt` in the home directory.
If it exists and the file is empty, it will delay for 6 seconds before continuing
with the regular boot. It can also try to read delay seconds from the file.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/340.
- Basic TCS Subsystem component.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319
- Expose base set of STR periodic housekeeping packets
## Changed
- Moved some PDEC/PTME configuration to `common/config/eive/definitions.h`
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319
- The ACS Controller Gyro Sets (raw and processed) and the MEKF dataset are diagnostics now.
- Bumped FSFW for Service 11 improvement which includes size and CRC check for contained TC
- Syrlinks module now always included for both EM and FM
- SA Deployment: Allow specifying the switch interval and the initial channel. This allows testing
the new deployment procedure where each channel is burned for half of the whole burn duration.
It also allows burning only one channel for the whole burn duration. The autonomous mechanism
was adapted to burn each channel for half of the burn time by default.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/347
TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/127
- `Max31865RtdLowlevelHandler.cpp`: For each RTD device, the config is now re-written before
every read. This seems to fix some issue with invalid temperature sensor readings.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/345
## Fixed
- `GyroADIS1650XHandler`: Updated handler to determine correct dynamic range from `RANG_MDL`
register readout. This is because ADIS16505-3BMLZ devices are used on the ACS board and the
previous range setting was wrong. Also fixed a small error properly set internal state
on shut-down.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342
- Syrlinks Handler: Read RX frequency shift as 24 bit signed number now. Also include
validity handling for datasets.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/350
- `GyroADIS1650XHandler`: Changed calculation of angular rate to be sensitivity based instead of
max. range based, as previous fix still left an margin of error between ADIS16505 sensors
and L3GD20 sensors.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/346
# [v1.19.0] 2023-01-10
## Changed
- 5V stack is now off by default
## Fixed
- PLOC SUPV: Minor adaptions and important bugfix for UART manager
- Allow cloning and building the hosted OBSW version without proprietary libraries,
which also avoids the need to have a Gitea account.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/337
## Added
- First version of ACS controller
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329
- Allow commanding the 5V stack internally in software
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/334
- Add automatic 5V stack commanding for all connected devices
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/335
# [v1.18.0] 2022-12-01
## Changed
- PLOC Supervisor: Changes baudrate to 921600
- Renamed `/dev/ul-plsv` to `/dev/ploc_supv`, is not a UART lite anymore
- Renamed `/dev/i2c_eive` to `/dev/i2c_pl` and `/dev/i2c-2` to `/dev/i2c_ps`.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/328
# [v1.17.0] 2022-11-28
## Added
- PLOC Supervisor Update: Update SW to use newest PLOC SUPV version by TAS
PR 1: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/316
PR 2: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/324
PR 3: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/326
# [v1.16.0] 2022-11-18
- It is now possible to compile Linux components for the hosted build conditionally
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/322
- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
- Payload Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
- Add IRQ mode for PDEC handler. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/310
- Extended TM funnels to allow multiple TM recipients.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/312
- DHB: Transitions to normal mode now possible directly, which simplifies subsystem implementations
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313
- MAX3185 Low Level Handler and Device Handler: Simplifications and bugfixes to allow switching
off without triggering unrequested replies
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313
- Add remaining missing TMP1075 device handlers.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/318
# [v1.15.0] 2022-10-27
- Consistent device file naming
- Remove rad sensor from EM build, lead to weird bugs on EM which
prevented `xsc_boot_copy` from working properly
- CFDP closure handling is now working
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/307
- Safety mechanism for SD card handling on graceful reboots
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/308
- Solar Array Deployment handler update
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/305
- IMTQ updates as preparation for ACS controller expansion
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/306
- P60 Module: Reduce number of set IDs, use same set IDs for core, auxiliary
and config HK set across the three PCDU modules
# [v1.14.1] 11.10.2022
- Various bugfixes and regression fixes
- General file handling at program initialization now works properly again
- Scratch buffer preferred SD card handling works again
- Use scoped locks in TCS controller to avoid deadlocks
# [v1.14.0] 10.10.2022
- Provide full SW update capability for the OBSW.
This includes very basic CFDP integration, a software update
procedure specified in detail in the README and some high level
commands to make this easier for operators.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/302
- Update for FSFW: `HasReturnvaluesIF` class replaced by namespace `returnvalue`
- Add some GomSpace clients as a submodule dependency. Use this dependency to deserialize the
GomSpace TM tables
- Add API to retrieve GomSpace device parameter tables
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/287
- Add API to save and load GomSpace config tables
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/293
- Increase number of allowed consescutive action commands from 3 to 16
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/294
- Fix for EM SW: Always create ACS Task
- Added Scex device handler and Scex uart reader
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/303
- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/228
# [v1.13.0] 24.08.2022
- Added first version of ACS Controller with gathers MGM data in a set
- Some tweaks for IMTQ handler
# [v1.12.1] 05.07.2022
- Disable periodic TCS controller HK generation by default
# [v1.12.0] 04.07.2022
## Added
- Dummy components to run OBSW without relying on external hardware
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266
- Basic Thermal Controller
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266
- PUS11 TC scheduler
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/259
- Regular reboot command
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/242
- Commands for individual RTD devices
PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84
- `RwAssembly` added to system components. Assembly works in principle,
issues making 4 consecutives RWs communicate at once..
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/224
@ -27,8 +901,25 @@ list yields a list of all related PRs for each release.
username appended at the end is created as a side-product now
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
## Fixed
- `q7s-cp.py` bugfix
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/256
- Generator scripts output now produce platform-independent artifacts
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/267
### Heater
- Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty.
- SW will attempt to shut down heaters which are on but marked faulty
- Some simplifications for `HeaterHandler`, use `std::vector` instead of `std::unordered_map` for primary container. Using the heater indexes 0 to 7 allows to use natural array indexing
- Some additional input sanity checks in `executeAction`
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/236
## Changed
- CCSDS handler improvements
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/268
- Build unittest as default side product of hosted builds
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/244
- Let CI/CD build host build and run unittest side product in same step

663
CMakeLists.txt
View File

@ -1,42 +1,50 @@
################################################################################
# ##############################################################################
# CMake support for the EIVE OBSW
#
#
# Author: R. Mueller
################################################################################
# ##############################################################################
################################################################################
# ##############################################################################
# Pre-Project preparation
################################################################################
# ##############################################################################
cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
set(OBSW_VERSION_MAJOR 1)
set(OBSW_VERSION_MINOR 37)
set(OBSW_VERSION_REVISION 0)
# set(CMAKE_VERBOSE TRUE)
option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
option(
EIVE_HARDCODED_TOOLCHAIN_FILE
"\
For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
if a different toolchain file is set externally" ON
)
if a different toolchain file is set externally"
ON)
if(NOT FSFW_OSAL)
set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
set(FSFW_OSAL
linux
CACHE STRING "OS for the FSFW.")
endif()
if(TGT_BSP)
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
option(LINUX_CROSS_COMPILE ON)
endif()
if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
elseif(TGT_BSP MATCHES "arm/q7s")
option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
endif()
option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
if(TGT_BSP MATCHES "arm/q7s"
OR TGT_BSP MATCHES "arm/raspberrypi"
OR TGT_BSP MATCHES "arm/beagleboneblack")
option(LINUX_CROSS_COMPILE ON)
endif()
if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
elseif(TGT_BSP MATCHES "arm/q7s")
option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
endif()
option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
ON)
else()
option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" OFF)
option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
OFF)
endif()
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
@ -56,61 +64,123 @@ include(EiveHelpers)
option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
if(EIVE_Q7S_EM)
set(OBSW_Q7S_EM 1 CACHE STRING "Q7S EM configuration")
set(INIT_VAL 0)
else()
set(OBSW_Q7S_EM 0 CACHE STRING "Q7S EM configuration")
set(INIT_VAL 1)
endif()
set(OBSW_ADD_MGT ${INIT_VAL} CACHE STRING "Add MGT module" )
set(OBSW_ADD_BPX_BATTERY_HANDLER ${INIT_VAL} CACHE STRING "Add MGT module")
set(OBSW_ADD_STAR_TRACKER ${INIT_VAL} CACHE STRING "Add Startracker module")
set(OBSW_ADD_SUN_SENSORS ${INIT_VAL} CACHE STRING "Add sun sensor module")
set(OBSW_ADD_SUS_BOARD_ASS ${INIT_VAL} CACHE STRING "Add sun sensor board assembly")
set(OBSW_ADD_ACS_BOARD ${INIT_VAL} CACHE STRING "Add ACS board module")
set(OBSW_ADD_ACS_HANDLERS ${INIT_VAL} CACHE STRING "Add ACS handlers")
set(OBSW_ADD_RTD_DEVICES ${INIT_VAL} CACHE STRING "Add RTD devices")
set(OBSW_ADD_RAD_SENSORS ${INIT_VAL} CACHE STRING "Add Rad Sensor module")
set(OBSW_ADD_PL_PCDU ${INIT_VAL} CACHE STRING "Add Payload PCDU modukle")
set(OBSW_ADD_SYRLINKS ${INIT_VAL} CACHE STRING "Add Syrlinks module")
set(OBSW_ADD_TMP_DEVICES ${INIT_VAL} CACHE STRING "Add TMP devices")
set(OBSW_ADD_GOMSPACE_PCDU ${INIT_VAL} CACHE STRING "Add GomSpace PCDU modules")
set(OBSW_ADD_RW ${INIT_VAL} CACHE STRING "Add RW modules")
set(OBSW_MAX_SCHEDULED_TCS 500)
################################################################################
if(EIVE_Q7S_EM)
set(OBSW_Q7S_EM
1
CACHE STRING "Q7S EM configuration")
set(INIT_VAL 0)
set(OBSW_STAR_TRACKER_GROUND_CONFIG 1)
else()
set(OBSW_Q7S_EM
0
CACHE STRING "Q7S EM configuration")
set(INIT_VAL 1)
set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
endif()
set(OBSW_ADD_MGT
${INIT_VAL}
CACHE STRING "Add MGT module")
set(OBSW_ADD_BPX_BATTERY_HANDLER
${INIT_VAL}
CACHE STRING "Add MGT module")
set(OBSW_ADD_STAR_TRACKER
${INIT_VAL}
CACHE STRING "Add Startracker module")
set(OBSW_ADD_SUN_SENSORS
${INIT_VAL}
CACHE STRING "Add sun sensor module")
set(OBSW_ADD_SUS_BOARD_ASS
${INIT_VAL}
CACHE STRING "Add sun sensor board assembly")
set(OBSW_ADD_ACS_BOARD
${INIT_VAL}
CACHE STRING "Add ACS board module")
set(OBSW_ADD_GPS_CTRL
${INIT_VAL}
CACHE STRING "Add GPS controllers")
set(OBSW_ADD_CCSDS_IP_CORES
1
CACHE STRING "Add CCSDS IP cores")
set(OBSW_TM_TO_PTME
1
CACHE STRING "Send telemetry to PTME IP core")
set(OBSW_TC_FROM_PDEC
1
CACHE STRING "Poll telecommand from PDEC IP core")
set(OBSW_ADD_TCS_CTRL
${INIT_VAL}
CACHE STRING "Add TCS controllers")
set(OBSW_ADD_HEATERS
${INIT_VAL}
CACHE STRING "Add TCS heaters")
set(OBSW_ADD_PLOC_SUPERVISOR
${INIT_VAL}
CACHE STRING "Add PLOC supervisor handler")
set(OBSW_ADD_SA_DEPL
${INIT_VAL}
CACHE STRING "Add SA deployment handler")
set(OBSW_ADD_PLOC_MPSOC
${INIT_VAL}
CACHE STRING "Add MPSoC handler")
set(OBSW_ADD_ACS_CTRL
${INIT_VAL}
CACHE STRING "Add ACS controller")
set(OBSW_ADD_RTD_DEVICES
${INIT_VAL}
CACHE STRING "Add RTD devices")
set(OBSW_ADD_RAD_SENSORS
${INIT_VAL}
CACHE STRING "Add Rad Sensor module")
set(OBSW_ADD_PL_PCDU
${INIT_VAL}
CACHE STRING "Add Payload PCDU modukle")
set(OBSW_ADD_SYRLINKS
1
CACHE STRING "Add Syrlinks module")
set(OBSW_ADD_TMP_DEVICES
${INIT_VAL}
CACHE STRING "Add TMP devices")
set(OBSW_ADD_GOMSPACE_PCDU
${INIT_VAL}
CACHE STRING "Add GomSpace PCDU modules")
set(OBSW_ADD_RW
${INIT_VAL}
CACHE STRING "Add RW modules")
set(OBSW_ADD_SCEX_DEVICE
${INIT_VAL}
CACHE STRING "Add Solar Cell Experiment module")
set(OBSW_SYRLINKS_SIMULATED
0
CACHE STRING "Syrlinks is simulated")
# ##############################################################################
# Pre-Sources preparation
################################################################################
# ##############################################################################
# Version handling
set(GIT_VER_HANDLING_OK FALSE)
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
determine_version_with_git("--exclude" "docker_*")
set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
if(GIT_INFO)
set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
if(NOT OBSW_VERSION_MAJOR)
set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
endif()
if(NOT OBSW_VERSION_MINOR)
set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
endif()
if(NOT OBSW_VERSION_REVISION)
set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
endif()
set(GIT_VER_HANDLING_OK TRUE)
else()
set(GIT_VER_HANDLING_OK FALSE)
endif()
endif()
if(NOT GIT_VER_HANDLING_OK)
set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
determine_version_with_git("--exclude" "docker_*")
set(GIT_INFO
${GIT_INFO}
CACHE STRING "Version information retrieved with git describe")
if(GIT_INFO)
set(GIT_INFO
${GIT_INFO}
CACHE STRING "Version information retrieved with git describe")
# CMakeLists.txt is now single source of information. list(GET GIT_INFO 1
# OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
# GIT_INFO 3 OBSW_VERSION_REVISION)
list(LENGTH GIT_INFO LIST_LEN)
if(LIST_LEN GREATER 4)
list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
endif()
set(GIT_VER_HANDLING_OK TRUE)
else()
set(GIT_VER_HANDLING_OK FALSE)
endif()
endif()
# Set names and variables
@ -124,24 +194,29 @@ set(LIB_ETL_TARGET etl::etl)
set(LIB_CSP_NAME libcsp)
set(LIB_LWGPS_NAME lwgps)
set(LIB_ARCSEC wire)
set(LIB_GOMSPACE_CLIENTS gs_clients)
set(LIB_GOMSPACE_CSP gs_csp)
set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs)
set(LIB_CATCH2 Catch2)
set(LIB_GPS gps)
set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
set(LIB_DUMMIES dummies)
# Set path names
set(FSFW_PATH fsfw)
set(TEST_PATH test)
set(UNITTEST_PATH unittest)
set(LINUX_PATH linux)
set(LIB_GOMSPACE_PATH ${THIRD_PARTY_FOLDER}/gomspace-sw)
set(COMMON_PATH common)
set(DUMMY_PATH dummies)
set(WATCHDOG_PATH watchdog)
set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)
set(LIB_EIVE_MISSION_PATH mission)
set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp)
set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
@ -149,354 +224,340 @@ set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
set(EIVE_ADD_LINUX_FILES False)
set(EIVE_ADD_LINUX_FILES OFF)
set(FSFW_ADD_TMSTORAGE ON)
# Analyse different OS and architecture/target options, determine BSP_PATH,
# display information about compiler etc.
pre_source_hw_os_config()
if(TGT_BSP)
set(LIBGPS_VERSION_MAJOR 3)
# I assume a newer version than 3.17 will be installed on other Linux board than the Q7S
set(LIBGPS_VERSION_MINOR 20)
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse"
OR TGT_BSP MATCHES "arm/te0720-1cfa"
)
find_library(${LIB_GPS} gps)
set(FSFW_CONFIG_PATH "linux/fsfwconfig")
if(NOT BUILD_Q7S_SIMPLE_MODE)
set(EIVE_ADD_LINUX_FILES TRUE)
set(ADD_CSP_LIB TRUE)
set(FSFW_HAL_ADD_LINUX ON)
endif()
endif()
if(TGT_BSP MATCHES "arm/raspberrypi" )
# Used by configure file
set(RASPBERRY_PI ON)
set(FSFW_HAL_ADD_RASPBERRY_PI ON)
set(LIBGPS_VERSION_MAJOR 3)
# I assume a newer version than 3.17 will be installed on other Linux board
# than the Q7S
set(LIBGPS_VERSION_MINOR 20)
if(TGT_BSP MATCHES "arm/q7s"
OR TGT_BSP MATCHES "arm/raspberrypi"
OR TGT_BSP MATCHES "arm/beagleboneblack"
OR TGT_BSP MATCHES "arm/egse"
OR TGT_BSP MATCHES "arm/te0720-1cfa")
find_library(${LIB_GPS} gps)
set(FSFW_CONFIG_PATH "linux/fsfwconfig")
if(NOT BUILD_Q7S_SIMPLE_MODE)
set(EIVE_ADD_LINUX_FILES TRUE)
set(EIVE_ADD_LINUX_FSFWCONFIG TRUE)
set(ADD_GOMSPACE_CSP TRUE)
set(ADD_GOMSPACE_CLIENTS TRUE)
set(FSFW_HAL_ADD_LINUX ON)
set(FSFW_HAL_LINUX_ADD_LIBGPIOD ON)
set(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS ON)
endif()
elseif(UNIX)
set(EIVE_ADD_LINUX_FILES ON)
endif()
if(TGT_BSP MATCHES "arm/egse")
# Used by configure file
set(EGSE ON)
set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
set(OBSW_ADD_STAR_TRACKER 1)
set(OBSW_DEBUG_STARTRACKER 1)
endif()
if(TGT_BSP MATCHES "arm/beagleboneblack")
# Used by configure file
set(BEAGLEBONEBLACK ON)
endif()
if(TGT_BSP MATCHES "arm/q7s")
# Used by configure file
set(XIPHOS_Q7S ON)
set(LIBGPS_VERSION_MAJOR 3)
set(LIBGPS_VERSION_MINOR 17)
endif()
if(TGT_BSP MATCHES "arm/te0720-1cfa")
set(TE0720_1CFA ON)
endif()
if(TGT_BSP MATCHES "arm/raspberrypi")
# Used by configure file
set(RASPBERRY_PI ON)
set(FSFW_HAL_ADD_RASPBERRY_PI ON)
endif()
if(TGT_BSP MATCHES "arm/egse")
# Used by configure file
set(EGSE ON)
set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
set(OBSW_ADD_STAR_TRACKER 1)
set(OBSW_DEBUG_STARTRACKER 1)
endif()
if(TGT_BSP MATCHES "arm/beagleboneblack")
# Used by configure file
set(BEAGLEBONEBLACK ON)
endif()
if(TGT_BSP MATCHES "arm/q7s")
# Used by configure file
set(XIPHOS_Q7S ON)
set(LIBGPS_VERSION_MAJOR 3)
set(LIBGPS_VERSION_MINOR 17)
endif()
if(TGT_BSP MATCHES "arm/te0720-1cfa")
set(TE0720_1CFA ON)
endif()
else()
# Required by FSFW library
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
# Required by FSFW library
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
if(UNIX)
set(EIVE_ADD_LINUX_FILES ON)
endif()
endif()
include(BuildType)
set_build_type()
set(FSFW_DEBUG_INFO 0)
set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 0)
if(RELEASE_BUILD MATCHES 0)
set(FSFW_DEBUG_INFO 1)
set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1)
endif()
# Configuration files
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h)
if(TGT_BSP MATCHES "arm/q7s")
configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
endif()
configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
# Set common config path for FSFW
set(FSFW_ADDITIONAL_INC_PATHS
"${COMMON_PATH}/config"
${CMAKE_CURRENT_BINARY_DIR}
)
set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
${CMAKE_CURRENT_BINARY_DIR})
################################################################################
# ##############################################################################
# Executable and Sources
################################################################################
# ##############################################################################
#global compiler options need to be set before adding executables
# global compiler options need to be set before adding executables
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
add_compile_options(
"-Wall"
"-Wextra"
"-Wimplicit-fallthrough=1"
"-Wno-unused-parameter"
"-Wno-psabi"
"-Wduplicated-cond" # check for duplicate conditions
"-Wduplicated-branches" # check for duplicate branches
"-Wlogical-op" # Search for bitwise operations instead of logical
"-Wnull-dereference" # Search for NULL dereference
"-Wundef" # Warn if undefind marcos are used
"-Wformat=2" # Format string problem detection
"-Wformat-overflow=2" # Formatting issues in printf
"-Wformat-truncation=2" # Formatting issues in printf
"-Wformat-security" # Search for dangerous printf operations
"-Wstrict-overflow=3" # Warn if integer overflows might happen
"-Warray-bounds=2" # Some array bounds violations will be found
"-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
"-Wcast-qual" # Warn if the constness is cast away
"-Wstringop-overflow=4"
# -Wstack-protector # Emits a few false positives for low level access
# -Wconversion # Creates many false positives
# -Warith-conversion # Use with Wconversion to find more implicit conversions
# -fanalyzer # Should be used to look through problems
)
# Remove unused sections.
add_compile_options(
"-ffunction-sections"
"-fdata-sections"
)
# Remove unused sections.
add_compile_options("-ffunction-sections" "-fdata-sections")
# Removed unused sections.
add_link_options(
"-Wl,--gc-sections"
)
# Removed unused sections.
add_link_options("-Wl,--gc-sections")
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
set(COMPILER_FLAGS "/permissive-")
set(COMPILER_FLAGS "/permissive-")
endif()
add_library(${LIB_EIVE_MISSION})
add_library(${LIB_DUMMIES})
# Add main executable
add_executable(${OBSW_NAME})
set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(WARNING_FLAGS
"-Wall"
"-Wextra"
"-Wimplicit-fallthrough=1"
"-Wno-unused-parameter"
"-Wno-psabi"
"-Wshadow=local"
"-Wduplicated-cond" # check for duplicate conditions
"-Wduplicated-branches" # check for duplicate branches
"-Wlogical-op" # Search for bitwise operations instead of logical
"-Wnull-dereference" # Search for NULL dereference
"-Wundef" # Warn if undefind marcos are used
"-Wformat=2" # Format string problem detection
"-Wformat-overflow=2" # Formatting issues in printf
"-Wformat-truncation=2" # Formatting issues in printf
"-Wformat-security" # Search for dangerous printf operations
"-Wstrict-overflow=3" # Warn if integer overflows might happen
"-Warray-bounds=2" # Some array bounds violations will be found
"-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
"-Wcast-qual" # Warn if the constness is cast away
"-Wstringop-overflow=4"
# -Wstack-protector # Emits a few false positives for low level access
# -Wconversion # Creates many false positives -Warith-conversion # Use
# with Wconversion to find more implicit conversions -fanalyzer # Should
# be used to look through problems
)
target_compile_options(${OBSW_NAME} PRIVATE ${WARNING_FLAGS})
target_compile_options(${LIB_EIVE_MISSION} PRIVATE ${WARNING_FLAGS})
target_compile_options(${LIB_DUMMIES} PRIVATE ${WARNING_FLAGS})
endif()
set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
# Watchdog
if(TGT_BSP MATCHES "arm/q7s")
add_executable(${WATCHDOG_NAME})
add_executable(${WATCHDOG_NAME})
else()
add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
endif()
add_subdirectory(${WATCHDOG_PATH})
target_link_libraries(${WATCHDOG_NAME} PUBLIC
${LIB_CXX_FS}
)
target_include_directories(${WATCHDOG_NAME} PUBLIC
${CMAKE_BINARY_DIR}
)
add_subdirectory(${WATCHDOG_PATH})
target_link_libraries(${WATCHDOG_NAME} PUBLIC ${LIB_CXX_FS})
target_include_directories(${WATCHDOG_NAME} PUBLIC ${CMAKE_BINARY_DIR})
# unittests
if(NOT TGT_BSP)
add_executable(${UNITTEST_NAME})
add_executable(${UNITTEST_NAME})
else()
add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
endif()
if(EIVE_ADD_ETL_LIB)
endif()
if(EIVE_ADD_JSON_LIB)
add_subdirectory(${LIB_JSON_PATH})
add_subdirectory(${LIB_JSON_PATH})
endif()
add_subdirectory(thirdparty/rapidcsv)
add_subdirectory(thirdparty)
if(EIVE_ADD_LINUX_FILES)
if(TGT_BSP MATCHES "arm/q7s")
add_subdirectory(${LIB_GOMSPACE_PATH})
add_subdirectory(${LIB_ARCSEC_PATH})
add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${BSP_PATH})
if(ADD_CSP_LIB)
add_subdirectory(${LIB_CSP_PATH})
endif()
add_subdirectory(${COMMON_PATH})
add_subdirectory(${DUMMY_PATH})
add_subdirectory(${LIB_LWGPS_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${LIB_EIVE_MISSION_PATH})
add_subdirectory(${TEST_PATH})
add_subdirectory(${UNITTEST_PATH})
# This should have already been downloaded by the FSFW
# Still include it to be safe
find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
# Not installed, so use FetchContent to download and provide etl
if(NOT etl_FOUND)
message(STATUS
"No ETL installation was found with find_package. Installing and providing "
"etl with FindPackage"
)
include(FetchContent)
FetchContent_Declare(
etl
GIT_REPOSITORY https://github.com/ETLCPP/etl
GIT_TAG ${FSFW_ETL_LIB_VERSION}
)
list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
endif()
# This should have already been downloaded by the FSFW Still include it to be
# safe find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) Not
# installed, so use FetchContent to download and provide etl if(NOT etl_FOUND)
message(
STATUS
"No ETL installation was found with find_package. Installing and providing "
"etl with FindPackage")
include(FetchContent)
FetchContent_Declare(
etl
GIT_REPOSITORY https://github.com/ETLCPP/etl
GIT_TAG ${FSFW_ETL_LIB_VERSION})
list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
# endif()
# Use same Catch2 version as framework
if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s")
AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
# Check whether the user has already installed Catch2 first
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
include(FetchContent)
if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
AND NOT (TGT_BSP MATCHES "arm/q7s")
AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
# Check whether the user has already installed Catch2 first
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
message(
STATUS
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
)
include(FetchContent)
FetchContent_Declare(
Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG ${FSFW_CATCH2_LIB_VERSION}
)
FetchContent_Declare(
Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif()
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif()
endif()
# The documentation for FetchContent recommends declaring all the dependencies
# before making them available. We make all declared dependency available here
# after their declaration
if(FSFW_FETCH_CONTENT_TARGETS)
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
if(TARGET etl)
add_library(${LIB_ETL_TARGET} ALIAS etl)
endif()
if(TARGET Catch2)
# Fixes regression -preview4, to be confirmed in later releases
# Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
endif()
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
if(TARGET etl)
add_library(${LIB_ETL_TARGET} ALIAS etl)
endif()
if(TARGET Catch2)
# Fixes regression -preview4, to be confirmed in later releases Related
# GitHub issue: https://github.com/catchorg/Catch2/issues/2417
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
endif()
endif()
################################################################################
# ##############################################################################
# Post-Sources preparation
################################################################################
# ##############################################################################
# Add libraries
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_FSFW_NAME}
${LIB_LWGPS_NAME}
${LIB_OS_NAME}
)
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
${LIB_OS_NAME})
target_link_libraries(${OBSW_NAME} PRIVATE
${LIB_EIVE_MISSION}
)
target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION} ${LIB_DUMMIES})
if(TGT_BSP MATCHES "arm/q7s")
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_GPS}
${LIB_ARCSEC}
)
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_GPS} ${LIB_ARCSEC}
${LIB_GOMSPACE_CLIENTS})
endif()
target_link_libraries(${UNITTEST_NAME} PRIVATE
Catch2
${LIB_EIVE_MISSION}
rapidcsv
)
target_link_libraries(${UNITTEST_NAME} PRIVATE Catch2 ${LIB_EIVE_MISSION}
rapidcsv ${LIB_DUMMIES})
if(TGT_BSP MATCHES "arm/egse")
target_link_libraries(${OBSW_NAME} PRIVATE
${LIB_ARCSEC}
)
target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
endif()
if(ADD_CSP_LIB)
target_link_libraries(${OBSW_NAME} PRIVATE
${LIB_CSP_NAME}
)
endif()
if(EIVE_ADD_ETL_LIB)
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_ETL_TARGET}
)
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_ETL_TARGET})
endif()
if(EIVE_ADD_JSON_LIB)
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_JSON_NAME}
)
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_JSON_NAME})
endif()
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_CXX_FS}
)
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_CXX_FS})
# Add include paths for all sources.
target_include_directories(${LIB_EIVE_MISSION} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
${FSFW_CONFIG_PATH}
${CMAKE_CURRENT_BINARY_DIR}
${LIB_ARCSEC_PATH}
)
target_include_directories(
${LIB_EIVE_MISSION} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
${CMAKE_CURRENT_BINARY_DIR} ${LIB_ARCSEC_PATH})
target_include_directories(
${LIB_DUMMIES} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
${CMAKE_CURRENT_BINARY_DIR})
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
target_include_directories(${LIB_EIVE_MISSION} PUBLIC
${ARCSEC_LIB_PATH}
)
target_include_directories(${LIB_EIVE_MISSION} PUBLIC ${ARCSEC_LIB_PATH})
endif()
if(CMAKE_VERBOSE)
message(STATUS "Warning flags: ${WARNING_FLAGS}")
message(STATUS "Warning flags: ${WARNING_FLAGS}")
endif()
if(CMAKE_CROSSCOMPILING)
include (HardwareOsPostConfig)
post_source_hw_os_config()
include(HardwareOsPostConfig)
post_source_hw_os_config()
endif()
if(NOT CMAKE_SIZE)
set(CMAKE_SIZE size)
if(WIN32)
set(FILE_SUFFIX ".exe")
endif()
set(CMAKE_SIZE size)
if(WIN32)
set(FILE_SUFFIX ".exe")
endif()
endif()
if(EIVE_BUILD_WATCHDOG)
set(TARGET_STRING "OBSW Watchdog")
set(TARGET_STRING "OBSW Watchdog")
else()
if(TGT_BSP)
set(TARGET_STRING "Target BSP: ${TGT_BSP}")
else()
set(TARGET_STRING "Target BSP: Hosted")
endif()
if(TGT_BSP)
set(TARGET_STRING "Target BSP: ${TGT_BSP}")
else()
set(TARGET_STRING "Target BSP: Hosted")
endif()
endif()
install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)
string(CONCAT POST_BUILD_COMMENT
"Build directory: ${CMAKE_BINARY_DIR}\n"
"Target OSAL: ${FSFW_OSAL}\n"
"Target Build Type: ${CMAKE_BUILD_TYPE}\n"
"${TARGET_STRING}"
)
string(CONCAT POST_BUILD_COMMENT "Build directory: ${CMAKE_BINARY_DIR}\n"
"Target OSAL: ${FSFW_OSAL}\n"
"Target Build Type: ${CMAKE_BUILD_TYPE}\n" "${TARGET_STRING}")
add_custom_command(
TARGET ${OBSW_NAME}
POST_BUILD
COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
COMMENT ${POST_BUILD_COMMENT}
)
include (BuildType)
set_build_type()
TARGET ${OBSW_NAME}
POST_BUILD
COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
COMMENT ${POST_BUILD_COMMENT})

158
README.md
View File

@ -18,6 +18,7 @@
11. [Q7S OBC](#q7s)
12. [Static Code Analysis](#static-code-analysis)
13. [Eclipse](#eclipse)
14. [CLion](#clion)
14. [Running the OBSW on a Raspberry Pi](#rpi)
15. [Running OBSW on EGSE](#egse)
16. [Manually preparing sysroots to compile gpsd](#gpsd)
@ -95,9 +96,7 @@ When using Windows, run theses steps in MSYS2.
2. Update all the submodules
```sh
git submodule init
git submodule sync
git submodule update
git submodule update --init
```
3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
@ -152,6 +151,78 @@ When using Windows, run theses steps in MSYS2.
cmake --build . -j
```
## Preparing and executing an OBSW update
A OBSW update consists of a `xz` compressed file `eive-sw-update.tar.xz`
which contains the following two files:
1. Stripped OBSW binary `eive-obsw-stripped`
2. OBSW version text file with the name `obsw_version.txt`
These files can be created manually:
1. Build the release image inside `cmake-build-release-q7s`
2. Switch into the build directory
3. Run the following command to create the version file
```sh
git describe --tags --always --exclude docker_* > obsw_version.txt
```
You can also use the `create-version-file.sh` helper shell script
located in the `scripts` folder to do this.
4. Set the Q7S user as the file owner for both files
```sh
sudo chown root:root eive-obsw-stripped
sudo chown root:root obsw_version.txt
```
5. Run the following command to create the compressed archive
```sh
tar -cJvf eive-sw-update.tar.xz eive-obsw-stripped obsw_version.txt
```
You can also use the helper script `create-sw-update.sh` inside the build folder
after sourcing the `q7s-env.sh` helper script to perform all steps including
a rebuild.
After creating these files, they need to be transferred onto the Q7S
to either the `/mnt/sd0/bin` or `/mnt/sd1/bin` folder if the OBSW update
is performed from the SD card. It can also be transferred to the `/tmp` folder
to perform the update from a temporary directory, which does not rely on any
of the SD cards being on and mounted. However, all files in the temporary
directory will be deleted if the Linux OS is rebooted for any reason.
After both files are in place (this is checked by the OBSW), the example command
sequence is used by the OBSW to write the OBSW update to the QSPI chip 0 and
slot 0 using SD card 0:
```sh
tar -xJvf eive-update.tar.xz
xsc_mount_copy 0 0
cp eive-obsw-stripped /tmp/mntupdate-xdi-qspi0-nom-rootfs/usr/bin/eive-obsw
cp obsw_update.txt /tmp/mntupdate-xdi-qspi0-nom-rootfs/usr/share/obsw_update.txt
writeprotect 0 0 1
```
Some context information about the used commands:
1. It mounts the target chip and copy combination into the `/tmp` folder
using the `xsc_mount_copy <chip> <copy>` utility. This also unlocks the
writeprotection for the chip. The mount point name inside `/tmp` depends
on which chip and copy is used
- Chip 0 Copy 0: `/tmp/mntupdate-xdi-qspi0-nom-rootfs`
- Chip 0 Copy 1: `/tmp/mntupdate-xdi-qspi0-gold-rootfs`
- Slot 1 Copy 0: `/tmp/mntupdate-xdi-qspi1-nom-rootfs`
- Slot 1 Copy 1: `/tmp/mntupdate-xdi-qspi1-gold-rootfs`
2. Writing the file with a regular `cp <source> <target>` command
3. Enabling the writeprotection using the `writeprotect <chip> <copy> 1` utility.
## Build for the Q7S target root filesystem with `yocto`
The EIVE root filesystem will contain the EIVE OBSW and the Watchdog component.
@ -218,7 +289,7 @@ helper scripts as well.
4. Run build command by double clicking the created target or by right clicking
the project folder and selecting Build Project.
# <a id="host-commands"></a> Useful and Common Commands (Host)
# <a id="host-commands"></a> Useful and Common Commands
## Build generation
@ -247,14 +318,11 @@ cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
cmake --build . -j
```
### Q7S Watchdog
The watchdog will be built along side the primary OBSW binary.
### Hosted
### Hosted OBSW
You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
Note: Currently this is not supported.
You can use the `clone-submodules-no-privlibs.sh` script to only clone the required (non-private)
submodules required to build the hosted OBSW.
```sh
mkdir cmake-build-debug && cd cmake-build-debug
@ -262,6 +330,21 @@ cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
```
You can also use the `linux` OSAL:
```sh
mkdir cmake-build-debug && cd cmake-build-debug
cmake -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
```
Please note that some additional Linux setup might be necessary.
You can find more information in the [Linux section of the FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu/src/branch/mueller/master/doc/README-linux.md#raising-message-queue-size-limit)
### Q7S Watchdog
The watchdog will be built along side the primary OBSW binary.
### Unittests
To build the unittests, the corresponding target must be specified in the build command.
@ -983,6 +1066,29 @@ Get fill count:
xsc_scratch read | wc -c
```
## Custom device names in Linux with the `udev` module
You can assign custom device names using the Linux `udev` system.
This works by specifying a rules file inside the `/etc/udev/rules.d` folder
which creates a SYMLINK if certain device properties are true.
Each rule is a new line inside a rules file.
For example, the rule
```txt
SUBSYSTEM=="tty", ATTRS{interface}=="Dual RS232-HS", ATTRS{bInterfaceNumber}=="01", SYMLINK+="ploc_supv
```
Will create a symlink `/dev/ploc_supv` if a connected USB device has the
same `interface` and `bInterfaceNumber` properties as shown above.
You can list the properties for a given connected device using `udevadm`.
For example, you can do this for a connected example device `/dev/ttyUSB0`
by using
```txt
udevadm info -a /dev/ttyUSB0
```
## Using `system` when debugging
@ -1036,11 +1142,19 @@ cat /proc/tty/driver
## I2C
Getting information about I2C device
````
Getting information about some I2C device
```sh
ls /sys/class/i2c-dev/i2c-0/device/device/driver
````
This shows the memory mapping of /dev/i2c-0
```
This shows the memory mapping of `/dev/i2c-0`.
You can use the `i2cdetect` utility to scan for I2C devices.
For example, to do this for bus 0 (`/dev/i2c-0`), you can use
```sh
i2cdetect -r -y 0
```
## CAN
@ -1116,6 +1230,22 @@ Finally, you can convert the generated `.xml` file to HTML with the following co
cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
```
# <a id="CLion"></a> CLion
CLion is the recommended IDE for the development of the hosted version of EIVE.
You can also set up CLion for cross-compilation of the primary OBSW.
There is a shared `.idea/cmake.xml` file to get started with this.
To make cross-compilation work, two special environment variables
need to be set:
- `ZYNQ_7020_ROOTFS` pointing to the root filesystem
- `CROSS_COMPILE` pointing to the the full path of the cross-compiler
without the specific tool suffix. For example, if the the cross-compiler
tools are located at `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin`,
this variable would be set
to `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf`
# <a id="eclipse"></a> Eclipse
When using Eclipse, there are two special build variables in the project properties

6
bsp_egse/CMakeLists.txt
View File

@ -1,7 +1,3 @@
target_sources(${OBSW_NAME} PUBLIC
InitMission.cpp
main.cpp
ObjectFactory.cpp
)
target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
add_subdirectory(boardconfig)

42
bsp_egse/InitMission.cpp
View File

@ -2,7 +2,7 @@
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
@ -40,7 +40,7 @@ void initmission::initMission() {
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
if (factory == nullptr) {
/* Should never happen ! */
return;
@ -55,28 +55,28 @@ void initmission::initTasks() {
PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Add component TMTC Bridge failed" << std::endl;
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Add component TMTC Polling failed" << std::endl;
}
@ -88,7 +88,7 @@ void initmission::initTasks() {
FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
"STAR_TRACKER_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstUart(pst);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
pstTasks.push_back(pst);
@ -96,7 +96,7 @@ void initmission::initTasks() {
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strHelperTask->addComponent(objects::STR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
}
pstTasks.push_back(strHelperTask);
@ -125,11 +125,11 @@ void initmission::initTasks() {
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
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) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
taskVec.push_back(pusVerification);
@ -137,11 +137,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
@ -149,11 +149,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
@ -161,19 +161,19 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
taskVec.push_back(pusMedPrio);
@ -181,11 +181,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);

6
bsp_egse/ObjectFactory.cpp
View File

@ -1,8 +1,8 @@
#include "ObjectFactory.h"
#include <devConf.h>
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <fsfw_hal/linux/serial/SerialComIF.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include "OBSWConfig.h"
#include "busConf.h"
@ -39,7 +39,7 @@ void ObjectFactory::produce(void* args) {
UartCookie* starTrackerCookie =
new UartCookie(objects::STAR_TRACKER, egse::STAR_TRACKER_UART, UartModes::NON_CANONICAL,
uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
new UartComIF(objects::UART_COM_IF);
newSerialComIF(objects::UART_COM_IF);
starTrackerCookie->setNoFixedSizeReply();
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(

8
bsp_egse/boardconfig/CMakeLists.txt
View File

@ -1,7 +1,3 @@
target_sources(${OBSW_NAME} PRIVATE
print.c
)
target_sources(${OBSW_NAME} PRIVATE print.c)
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

6
bsp_hosted/CMakeLists.txt
View File

@ -1,8 +1,4 @@
target_sources(${OBSW_NAME} PUBLIC
InitMission.cpp
main.cpp
ObjectFactory.cpp
)
target_sources(${OBSW_NAME} PUBLIC scheduling.cpp main.cpp ObjectFactory.cpp)
add_subdirectory(fsfwconfig)
add_subdirectory(boardconfig)

2
bsp_hosted/Dockerfile
View File

@ -14,7 +14,7 @@ RUN set -ex; \
rm -rf build-hosted; \
mkdir build-hosted; \
cd build-hosted; \
cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux ..;
cmake -DCMAKE_BUILD_TYPE=Release -DOSAL_FSFW=host ..;
ENTRYPOINT ["cmake", "--build", "build-hosted"]
CMD ["-j"]

158
bsp_hosted/InitMission.cpp
View File

@ -1,158 +0,0 @@
#include "InitMission.h"
#include <OBSWConfig.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>
#include <iostream>
#include "ObjectFactory.h"
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR", false, false, true);
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif
ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
}
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
if (factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc)(void) = nullptr;
#endif
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* PUS Services */
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) {
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
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) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
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) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
PeriodicTaskIF* testTask = factory->createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
static_cast<void>(testTask);
#if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_CODE == 1 */
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */
sif::info << "Tasks started.." << std::endl;
}

9
bsp_hosted/InitMission.h
View File

@ -1,9 +0,0 @@
#ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_
namespace initmission {
void initMission();
void initTasks();
}; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */

6
bsp_hosted/OBSWConfig.h.in
View File

@ -7,7 +7,6 @@
#define FSFWCONFIG_OBSWCONFIG_H_
#include "commonConfig.h"
#include "OBSWVersion.h"
/*******************************************************************/
/** All of the following flags should be enabled for mission code */
@ -24,6 +23,7 @@
#define OBSW_ADD_GPS_0 0
#define OBSW_ADD_GPS_1 0
#define OBSW_ADD_RW 0
#define OBSW_DEBUG_TMP1075 0
#define OBSW_ADD_BPX_BATTERY_HANDLER 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_PL_PCDU 0
@ -100,6 +100,10 @@
/*******************************************************************/
/** CMake Defines */
/*******************************************************************/
#define OBSW_ADD_TMTC_UDP_SERVER 1
#define OBSW_ADD_TMTC_TCP_SERVER 1
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@

93
bsp_hosted/ObjectFactory.cpp
View File

@ -1,48 +1,107 @@
#include "ObjectFactory.h"
#include <fsfw/power/DummyPowerSwitcher.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/controller/ThermalController.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include <mission/tmtc/TmFunnelHandler.h>
#include <objects/systemObjectList.h>
#include <tmtc/apid.h>
#include <tmtc/pusIds.h>
#include "../mission/utility/DummySdCardManager.h"
#include "OBSWConfig.h"
#include "fsfw/platform.h"
#include "fsfw_tests/integration/task/TestTask.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#if OBSW_ADD_TMTC_UDP_SERVER == 1
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h"
#else
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
#include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/TcpTmTcServer.h"
#endif
#include <fsfw/tmtcpacket/pus/tm.h>
#if OBSW_ADD_TEST_CODE == 1
#include <test/testtasks/TestTask.h>
#endif
#include <dummies/AcuDummy.h>
#include <dummies/CoreControllerDummy.h>
#include "dummies/helpers.h"
#ifdef PLATFORM_UNIX
#include <fsfw_hal/linux/serial/SerialComIF.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include "devices/gpioIds.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "linux/devices/ploc/PlocMPSoCHandler.h"
#include "linux/devices/ploc/PlocMPSoCHelper.h"
#include "linux/devices/ploc/PlocSupervisorHandler.h"
#include "linux/devices/ploc/PlocSupvUartMan.h"
#include "test/gpio/DummyGpioIF.h"
#endif
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
}
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
PusTmFunnel* pusFunnel;
CfdpTmFunnel* cfdpFunnel;
StorageManagerIF* tmStore;
StorageManagerIF* ipcStore;
PersistentTmStores persistentStores;
auto sdcMan = new DummySdCardManager("/tmp");
ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
&tmStore, persistentStores);
auto* dummyGpioIF = new DummyGpioIF();
auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
#ifdef PLATFORM_UNIX
new SerialComIF(objects::UART_COM_IF);
#if OBSW_ADD_PLOC_MPSOC == 1
std::string mpscoDev = "";
auto mpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, mpscoDev, uart::PLOC_MPSOC_BAUD,
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
mpsocCookie->setNoFixedSizeReply();
auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
objects::PLOC_SUPERVISOR_HANDLER);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
std::string plocSupvString = "/dev/ploc_supv";
auto supervisorCookie =
new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, plocSupvString, uart::PLOC_SUPV_BAUD,
supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
supervisorCookie->setNoFixedSizeReply();
auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
Gpio(gpioIds::ENABLE_SUPV_UART, dummyGpioIF), pcdu::PDU1_CH6_PLOC_12V,
*supvHelper);
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
#endif
dummy::DummyCfg cfg;
dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF);
HeaterHandler* heaterHandler = nullptr;
// new ThermalController(objects::THERMAL_CONTROLLER);
ObjectFactory::createGenericHeaterComponents(*dummyGpioIF, *dummySwitcher, heaterHandler);
if (heaterHandler == nullptr) {
sif::error << "HeaterHandler could not be created" << std::endl;
} else {
ObjectFactory::createThermalController(*heaterHandler);
}
new TestTask(objects::TEST_TASK);
}

11
bsp_hosted/boardconfig/CMakeLists.txt
View File

@ -1,10 +1,3 @@
target_sources(${OBSW_NAME} PRIVATE
print.c
)
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_sources(${OBSW_NAME} PRIVATE print.c)
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

30
bsp_hosted/comIF/ArduinoComIF.cpp
View File

@ -129,9 +129,7 @@ ArduinoComIF::~ArduinoComIF() {
CloseHandle(hCom);
#endif
}
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) { return returnvalue::OK; }
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
@ -142,10 +140,10 @@ ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, s
return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
}
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@ -158,7 +156,7 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buff
*buffer = arduinoCookie->replyBuffer.data();
*size = arduinoCookie->receivedDataLen;
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
@ -178,14 +176,14 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
ReturnValue_t result =
DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
currentPosition += encodedLen;
@ -199,7 +197,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
result =
DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
currentPosition += encodedLen;
@ -207,7 +205,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
// encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
currentPosition += encodedLen;
@ -224,7 +222,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
result =
DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
currentPosition += encodedLen;
@ -241,16 +239,16 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) {
// we could try to find out what happened...
return RETURN_FAILED;
return returnvalue::FAILED;
}
if (writtenlen != encodedLen) {
// the OS failed us, we do not try to block until everything is written, as
// we can not block the whole system here
return RETURN_FAILED;
return returnvalue::FAILED;
}
return RETURN_OK;
return returnvalue::OK;
#elif WIN32
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
#endif
}
@ -297,7 +295,7 @@ void ArduinoComIF::handleSerialPortRx() {
packet, sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
handlePacket(packet, packetLen);
// after handling the packet, we can delete it from the raw stream,

2
bsp_hosted/comIF/ArduinoComIF.h
View File

@ -5,7 +5,7 @@
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <cstdint>
#include <map>

9
bsp_hosted/comIF/CMakeLists.txt
View File

@ -1,8 +1 @@
target_sources(${TARGET_NAME} PUBLIC
ArduinoComIF.cpp
ArduinoCookie.cpp
)
target_sources(${OBSW_NAME} PUBLIC ArduinoComIF.cpp ArduinoCookie.cpp)

26
bsp_hosted/fsfwconfig/CMakeLists.txt
View File

@ -1,27 +1,17 @@
target_sources(${OBSW_NAME} PRIVATE
ipc/MissionMessageTypes.cpp
)
target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
# If a special translation file for object IDs exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${OBSW_NAME} PRIVATE
objects/translateObjects.cpp
)
target_sources(${UNITTEST_NAME} PRIVATE
objects/translateObjects.cpp
)
target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
endif()
# If a special translation file for events exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${OBSW_NAME} PRIVATE
events/translateEvents.cpp
)
target_sources(${UNITTEST_NAME} PRIVATE
events/translateEvents.cpp
)
target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
endif()
add_subdirectory(pollingsequence)

26
bsp_hosted/fsfwconfig/FSFWConfig.h.in
View File

@ -7,41 +7,41 @@
//! Used to determine whether C++ ostreams are used which can increase
//! the binary size significantly. If this is disabled,
//! the C stdio functions can be used alternatively
#define FSFW_CPP_OSTREAM_ENABLED 1
#define FSFW_CPP_OSTREAM_ENABLED 1
//! More FSFW related printouts depending on level. Useful for development.
#define FSFW_VERBOSE_LEVEL 1
#define FSFW_VERBOSE_LEVEL 1
//! Can be used to completely disable printouts, even the C stdio ones.
#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
#define FSFW_DISABLE_PRINTOUT 0
#define FSFW_DISABLE_PRINTOUT 0
#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.
#define FSFW_COLORED_OUTPUT 1
#define FSFW_COLORED_OUTPUT 1
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 1
#define FSFW_OBJ_EVENT_TRANSLATION 1
#if FSFW_OBJ_EVENT_TRANSLATION == 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include "objects/translateObjects.h"
#define FSFW_DEBUG_INFO 1
#include "events/translateEvents.h"
#include "objects/translateObjects.h"
#else
#endif
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
#define FSFW_NO_C99_IO 1
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
#define FSFW_USE_MODESTORE 0
//! Defines if the real time scheduler for linux should be used.
//! If set to 0, this will also disable priority settings for linux
@ -50,6 +50,8 @@
//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
#define FSFW_USE_REALTIME_FOR_LINUX 0
#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.
@ -58,7 +60,7 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7;
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
@ -70,6 +72,6 @@ static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
}
} // namespace fsfwconfig
#endif /* CONFIG_FSFWCONFIG_H_ */

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

@ -16,7 +16,7 @@
debugging. */
#define OBSW_VEBOSE_LEVEL 1
#define OBSW_USE_CCSDS_IP_CORE 0
#define OBSW_ADD_CCSDS_IP_CORES 0
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME 0
// Set to 1 if telecommands are received via the PDEC IP Core

4
bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
View File

@ -1,10 +1,10 @@
#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <common/config/commonSubsystemIds.h>
#include <cstdint>
#include "eive/eventSubsystemIds.h"
/**
* These IDs are part of the ID for an event thrown by a subsystem.
* Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)

591
bsp_hosted/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 83 translations.
* @brief Auto-generated event translation file. Contains 277 translations.
* @details
* Generated on: 2021-05-17 19:49:55
* Generated on: 2023-03-11 15:01:05
*/
#include "translateEvents.h"
@ -34,6 +34,7 @@ const char *DEVICE_UNREQUESTED_REPLY_STRING = "DEVICE_UNREQUESTED_REPLY";
const char *INVALID_DEVICE_COMMAND_STRING = "INVALID_DEVICE_COMMAND";
const char *MONITORING_LIMIT_EXCEEDED_STRING = "MONITORING_LIMIT_EXCEEDED";
const char *MONITORING_AMBIGUOUS_STRING = "MONITORING_AMBIGUOUS";
const char *DEVICE_WANTS_HARD_REBOOT_STRING = "DEVICE_WANTS_HARD_REBOOT";
const char *FUSE_CURRENT_HIGH_STRING = "FUSE_CURRENT_HIGH";
const char *FUSE_WENT_OFF_STRING = "FUSE_WENT_OFF";
const char *POWER_ABOVE_HIGH_LIMIT_STRING = "POWER_ABOVE_HIGH_LIMIT";
@ -59,7 +60,6 @@ const char *MONITOR_CHANGED_STATE_STRING = "MONITOR_CHANGED_STATE";
const char *VALUE_BELOW_LOW_LIMIT_STRING = "VALUE_BELOW_LOW_LIMIT";
const char *VALUE_ABOVE_HIGH_LIMIT_STRING = "VALUE_ABOVE_HIGH_LIMIT";
const char *VALUE_OUT_OF_RANGE_STRING = "VALUE_OUT_OF_RANGE";
const char *SWITCHING_TM_FAILED_STRING = "SWITCHING_TM_FAILED";
const char *CHANGING_MODE_STRING = "CHANGING_MODE";
const char *MODE_INFO_STRING = "MODE_INFO";
const char *FALLBACK_FAILED_STRING = "FALLBACK_FAILED";
@ -75,22 +75,211 @@ const char *OVERWRITING_HEALTH_STRING = "OVERWRITING_HEALTH";
const char *TRYING_RECOVERY_STRING = "TRYING_RECOVERY";
const char *RECOVERY_STEP_STRING = "RECOVERY_STEP";
const char *RECOVERY_DONE_STRING = "RECOVERY_DONE";
const char *HANDLE_PACKET_FAILED_STRING = "HANDLE_PACKET_FAILED";
const char *RF_AVAILABLE_STRING = "RF_AVAILABLE";
const char *RF_LOST_STRING = "RF_LOST";
const char *BIT_LOCK_STRING = "BIT_LOCK";
const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
const char *CLOCK_SET_STRING = "CLOCK_SET";
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
const char *TEST_STRING = "TEST";
const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
const char *STORE_ERROR_STRING = "STORE_ERROR";
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
const char *BURN_PHASE_START_STRING = "BURN_PHASE_START";
const char *BURN_PHASE_DONE_STRING = "BURN_PHASE_DONE";
const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
const char *DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_ON_FAILED";
const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAILED";
const char *DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_OFF_FAILED";
const char *DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_OFF_FAILED";
const char *AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING = "AUTONOMOUS_DEPLOYMENT_COMPLETED";
const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
const char *ACK_FAILURE_STRING = "ACK_FAILURE";
const char *EXE_FAILURE_STRING = "EXE_FAILURE";
const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE";
const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE";
const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
const char *ERROR_STATE_STRING = "ERROR_STATE";
const char *RESET_OCCURED_STRING = "RESET_OCCURED";
const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_BUILD_FAILED";
const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
const char *MRAM_DUMP_FAILED_STRING = "MRAM_DUMP_FAILED";
const char *MRAM_DUMP_FINISHED_STRING = "MRAM_DUMP_FINISHED";
const char *INVALID_TC_FRAME_STRING = "INVALID_TC_FRAME";
const char *INVALID_FAR_STRING = "INVALID_FAR";
const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
const char *TOO_MANY_IRQS_STRING = "TOO_MANY_IRQS";
const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
const char *MPSOC_SENDING_COMMAND_FAILED_STRING = "MPSOC_SENDING_COMMAND_FAILED";
const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
const char *MPSOC_MISSING_ACK_STRING = "MPSOC_MISSING_ACK";
const char *MPSOC_MISSING_EXE_STRING = "MPSOC_MISSING_EXE";
const char *MPSOC_ACK_FAILURE_REPORT_STRING = "MPSOC_ACK_FAILURE_REPORT";
const char *MPSOC_EXE_FAILURE_REPORT_STRING = "MPSOC_EXE_FAILURE_REPORT";
const char *MPSOC_ACK_INVALID_APID_STRING = "MPSOC_ACK_INVALID_APID";
const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
const char *I_DRO_OUT_OF_BOUNDS_STRING = "I_DRO_OUT_OF_BOUNDS";
const char *U_X8_OUT_OF_BOUNDS_STRING = "U_X8_OUT_OF_BOUNDS";
const char *I_X8_OUT_OF_BOUNDS_STRING = "I_X8_OUT_OF_BOUNDS";
const char *U_TX_OUT_OF_BOUNDS_STRING = "U_TX_OUT_OF_BOUNDS";
const char *I_TX_OUT_OF_BOUNDS_STRING = "I_TX_OUT_OF_BOUNDS";
const char *U_MPA_OUT_OF_BOUNDS_STRING = "U_MPA_OUT_OF_BOUNDS";
const char *I_MPA_OUT_OF_BOUNDS_STRING = "I_MPA_OUT_OF_BOUNDS";
const char *U_HPA_OUT_OF_BOUNDS_STRING = "U_HPA_OUT_OF_BOUNDS";
const char *I_HPA_OUT_OF_BOUNDS_STRING = "I_HPA_OUT_OF_BOUNDS";
const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED";
const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
const char *BATT_MODE_STRING = "BATT_MODE";
const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
const char *SUPV_UPDATE_FAILED_STRING = "SUPV_UPDATE_FAILED";
const char *SUPV_UPDATE_SUCCESSFUL_STRING = "SUPV_UPDATE_SUCCESSFUL";
const char *SUPV_CONTINUE_UPDATE_FAILED_STRING = "SUPV_CONTINUE_UPDATE_FAILED";
const char *SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING = "SUPV_CONTINUE_UPDATE_SUCCESSFUL";
const char *TERMINATED_UPDATE_PROCEDURE_STRING = "TERMINATED_UPDATE_PROCEDURE";
const char *SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING = "SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL";
const char *SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING = "SUPV_EVENT_BUFFER_REQUEST_FAILED";
const char *SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING = "SUPV_EVENT_BUFFER_REQUEST_TERMINATED";
const char *SUPV_MEM_CHECK_OK_STRING = "SUPV_MEM_CHECK_OK";
const char *SUPV_MEM_CHECK_FAIL_STRING = "SUPV_MEM_CHECK_FAIL";
const char *SUPV_SENDING_COMMAND_FAILED_STRING = "SUPV_SENDING_COMMAND_FAILED";
const char *SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING = "SUPV_HELPER_REQUESTING_REPLY_FAILED";
const char *SUPV_HELPER_READING_REPLY_FAILED_STRING = "SUPV_HELPER_READING_REPLY_FAILED";
const char *SUPV_MISSING_ACK_STRING = "SUPV_MISSING_ACK";
const char *SUPV_MISSING_EXE_STRING = "SUPV_MISSING_EXE";
const char *SUPV_ACK_FAILURE_REPORT_STRING = "SUPV_ACK_FAILURE_REPORT";
const char *SUPV_EXE_FAILURE_REPORT_STRING = "SUPV_EXE_FAILURE_REPORT";
const char *SUPV_ACK_INVALID_APID_STRING = "SUPV_ACK_INVALID_APID";
const char *SUPV_EXE_INVALID_APID_STRING = "SUPV_EXE_INVALID_APID";
const char *ACK_RECEPTION_FAILURE_STRING = "ACK_RECEPTION_FAILURE";
const char *EXE_RECEPTION_FAILURE_STRING = "EXE_RECEPTION_FAILURE";
const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
const char *SUPV_REPLY_SIZE_MISSMATCH_STRING = "SUPV_REPLY_SIZE_MISSMATCH";
const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
const char *TX_ON_STRING = "TX_ON";
const char *TX_OFF_STRING = "TX_OFF";
const char *MISSING_PACKET_STRING = "MISSING_PACKET";
const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
const char *REBOOT_HW_STRING = "REBOOT_HW";
const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
const char *VERSION_INFO_STRING = "VERSION_INFO";
const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
const char *FILE_TOO_LARGE_STRING = "FILE_TOO_LARGE";
const char *BUSY_DUMPING_EVENT_STRING = "BUSY_DUMPING_EVENT";
const char *DUMP_WAS_CANCELLED_STRING = "DUMP_WAS_CANCELLED";
const char *DUMP_OK_STORE_DONE_STRING = "DUMP_OK_STORE_DONE";
const char *DUMP_NOK_STORE_DONE_STRING = "DUMP_NOK_STORE_DONE";
const char *DUMP_MISC_STORE_DONE_STRING = "DUMP_MISC_STORE_DONE";
const char *DUMP_HK_STORE_DONE_STRING = "DUMP_HK_STORE_DONE";
const char *DUMP_CFDP_STORE_DONE_STRING = "DUMP_CFDP_STORE_DONE";
const char *translateEvents(Event event) {
switch ((event & 0xffff)) {
switch ((event & 0xFFFF)) {
case (2200):
return STORE_SEND_WRITE_FAILED_STRING;
case (2201):
@ -149,6 +338,8 @@ const char *translateEvents(Event event) {
return MONITORING_LIMIT_EXCEEDED_STRING;
case (2810):
return MONITORING_AMBIGUOUS_STRING;
case (2811):
return DEVICE_WANTS_HARD_REBOOT_STRING;
case (4201):
return FUSE_CURRENT_HIGH_STRING;
case (4202):
@ -199,8 +390,6 @@ const char *translateEvents(Event event) {
return VALUE_ABOVE_HIGH_LIMIT_STRING;
case (7204):
return VALUE_OUT_OF_RANGE_STRING;
case (7301):
return SWITCHING_TM_FAILED_STRING;
case (7400):
return CHANGING_MODE_STRING;
case (7401):
@ -231,6 +420,8 @@ const char *translateEvents(Event event) {
return RECOVERY_STEP_STRING;
case (7512):
return RECOVERY_DONE_STRING;
case (7600):
return HANDLE_PACKET_FAILED_STRING;
case (7900):
return RF_AVAILABLE_STRING;
case (7901):
@ -244,19 +435,395 @@ const char *translateEvents(Event event) {
case (8900):
return CLOCK_SET_STRING;
case (8901):
return CLOCK_DUMP_STRING;
case (8902):
return CLOCK_SET_FAILURE_STRING;
case (9100):
return TC_DELETION_FAILED_STRING;
case (9700):
return TEST_STRING;
case (10600):
return CHANGE_OF_SETUP_PARAMETER_STRING;
case (11101):
case (10800):
return STORE_ERROR_STRING;
case (10801):
return MSG_QUEUE_ERROR_STRING;
case (10802):
return SERIALIZATION_ERROR_STRING;
case (10803):
return FILESTORE_ERROR_STRING;
case (10804):
return FILENAME_TOO_LARGE_ERROR_STRING;
case (11200):
return SAFE_RATE_VIOLATION_STRING;
case (11201):
return SAFE_RATE_RECOVERY_STRING;
case (11202):
return MULTIPLE_RW_INVALID_STRING;
case (11203):
return MEKF_INVALID_INFO_STRING;
case (11204):
return MEKF_INVALID_MODE_VIOLATION_STRING;
case (11300):
return SWITCH_CMD_SENT_STRING;
case (11301):
return SWITCH_HAS_CHANGED_STRING;
case (11302):
return SWITCHING_Q7S_DENIED_STRING;
case (11303):
return FDIR_REACTION_IGNORED_STRING;
case (11400):
return GPIO_PULL_HIGH_FAILED_STRING;
case (11401):
return GPIO_PULL_LOW_FAILED_STRING;
case (11402):
return HEATER_WENT_ON_STRING;
case (11403):
return HEATER_WENT_OFF_STRING;
case (11404):
return SWITCH_ALREADY_ON_STRING;
case (11405):
return SWITCH_ALREADY_OFF_STRING;
case (11406):
return MAIN_SWITCH_TIMEOUT_STRING;
case (11407):
return FAULTY_HEATER_WAS_ON_STRING;
case (11500):
return BURN_PHASE_START_STRING;
case (11501):
return BURN_PHASE_DONE_STRING;
case (11502):
return MAIN_SWITCH_ON_TIMEOUT_STRING;
case (11503):
return MAIN_SWITCH_OFF_TIMEOUT_STRING;
case (11504):
return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
case (11505):
return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
case (11506):
return DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING;
case (11507):
return DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING;
case (11508):
return AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING;
case (11601):
return MEMORY_READ_RPT_CRC_FAILURE_STRING;
case (11102):
case (11602):
return ACK_FAILURE_STRING;
case (11103):
case (11603):
return EXE_FAILURE_STRING;
case (11104):
return CRC_FAILURE_EVENT_STRING;
case (11604):
return MPSOC_HANDLER_CRC_FAILURE_STRING;
case (11605):
return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
case (11606):
return MPSOC_SHUTDOWN_FAILED_STRING;
case (11701):
return SELF_TEST_I2C_FAILURE_STRING;
case (11702):
return SELF_TEST_SPI_FAILURE_STRING;
case (11703):
return SELF_TEST_ADC_FAILURE_STRING;
case (11704):
return SELF_TEST_PWM_FAILURE_STRING;
case (11705):
return SELF_TEST_TC_FAILURE_STRING;
case (11706):
return SELF_TEST_MTM_RANGE_FAILURE_STRING;
case (11707):
return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
case (11708):
return INVALID_ERROR_BYTE_STRING;
case (11801):
return ERROR_STATE_STRING;
case (11802):
return RESET_OCCURED_STRING;
case (11901):
return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
case (11902):
return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
case (12001):
return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
case (12002):
return SUPV_UNKNOWN_TM_STRING;
case (12003):
return SUPV_UNINIMPLEMENTED_TM_STRING;
case (12004):
return SUPV_ACK_FAILURE_STRING;
case (12005):
return SUPV_EXE_FAILURE_STRING;
case (12006):
return SUPV_CRC_FAILURE_EVENT_STRING;
case (12007):
return SUPV_HELPER_EXECUTING_STRING;
case (12008):
return SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING;
case (12100):
return SANITIZATION_FAILED_STRING;
case (12101):
return MOUNTED_SD_CARD_STRING;
case (12300):
return SEND_MRAM_DUMP_FAILED_STRING;
case (12301):
return MRAM_DUMP_FAILED_STRING;
case (12302):
return MRAM_DUMP_FINISHED_STRING;
case (12401):
return INVALID_TC_FRAME_STRING;
case (12402):
return INVALID_FAR_STRING;
case (12403):
return CARRIER_LOCK_STRING;
case (12404):
return BIT_LOCK_PDEC_STRING;
case (12405):
return LOST_CARRIER_LOCK_PDEC_STRING;
case (12406):
return LOST_BIT_LOCK_PDEC_STRING;
case (12407):
return TOO_MANY_IRQS_STRING;
case (12408):
return POLL_SYSCALL_ERROR_PDEC_STRING;
case (12409):
return WRITE_SYSCALL_ERROR_PDEC_STRING;
case (12410):
return PDEC_RESET_FAILED_STRING;
case (12411):
return OPEN_IRQ_FILE_FAILED_STRING;
case (12500):
return IMAGE_UPLOAD_FAILED_STRING;
case (12501):
return IMAGE_DOWNLOAD_FAILED_STRING;
case (12502):
return IMAGE_UPLOAD_SUCCESSFUL_STRING;
case (12503):
return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
case (12504):
return FLASH_WRITE_SUCCESSFUL_STRING;
case (12505):
return FLASH_READ_SUCCESSFUL_STRING;
case (12506):
return FLASH_READ_FAILED_STRING;
case (12507):
return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
case (12508):
return FIRMWARE_UPDATE_FAILED_STRING;
case (12509):
return STR_HELPER_READING_REPLY_FAILED_STRING;
case (12510):
return STR_HELPER_COM_ERROR_STRING;
case (12511):
return STR_HELPER_NO_REPLY_STRING;
case (12512):
return STR_HELPER_DEC_ERROR_STRING;
case (12513):
return POSITION_MISMATCH_STRING;
case (12514):
return STR_HELPER_FILE_NOT_EXISTS_STRING;
case (12515):
return STR_HELPER_SENDING_PACKET_FAILED_STRING;
case (12516):
return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
case (12600):
return MPSOC_FLASH_WRITE_FAILED_STRING;
case (12601):
return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
case (12602):
return MPSOC_SENDING_COMMAND_FAILED_STRING;
case (12603):
return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
case (12604):
return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
case (12605):
return MPSOC_MISSING_ACK_STRING;
case (12606):
return MPSOC_MISSING_EXE_STRING;
case (12607):
return MPSOC_ACK_FAILURE_REPORT_STRING;
case (12608):
return MPSOC_EXE_FAILURE_REPORT_STRING;
case (12609):
return MPSOC_ACK_INVALID_APID_STRING;
case (12610):
return MPSOC_EXE_INVALID_APID_STRING;
case (12611):
return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
case (12612):
return MPSOC_TM_SIZE_ERROR_STRING;
case (12613):
return MPSOC_TM_CRC_MISSMATCH_STRING;
case (12700):
return TRANSITION_BACK_TO_OFF_STRING;
case (12701):
return NEG_V_OUT_OF_BOUNDS_STRING;
case (12702):
return U_DRO_OUT_OF_BOUNDS_STRING;
case (12703):
return I_DRO_OUT_OF_BOUNDS_STRING;
case (12704):
return U_X8_OUT_OF_BOUNDS_STRING;
case (12705):
return I_X8_OUT_OF_BOUNDS_STRING;
case (12706):
return U_TX_OUT_OF_BOUNDS_STRING;
case (12707):
return I_TX_OUT_OF_BOUNDS_STRING;
case (12708):
return U_MPA_OUT_OF_BOUNDS_STRING;
case (12709):
return I_MPA_OUT_OF_BOUNDS_STRING;
case (12710):
return U_HPA_OUT_OF_BOUNDS_STRING;
case (12711):
return I_HPA_OUT_OF_BOUNDS_STRING;
case (12800):
return TRANSITION_OTHER_SIDE_FAILED_STRING;
case (12801):
return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
case (12802):
return POWER_STATE_MACHINE_TIMEOUT_STRING;
case (12803):
return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
case (13000):
return CHILDREN_LOST_MODE_STRING;
case (13100):
return GPS_FIX_CHANGE_STRING;
case (13101):
return CANT_GET_FIX_STRING;
case (13200):
return P60_BOOT_COUNT_STRING;
case (13201):
return BATT_MODE_STRING;
case (13202):
return BATT_MODE_CHANGED_STRING;
case (13600):
return SUPV_UPDATE_FAILED_STRING;
case (13601):
return SUPV_UPDATE_SUCCESSFUL_STRING;
case (13602):
return SUPV_CONTINUE_UPDATE_FAILED_STRING;
case (13603):
return SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING;
case (13604):
return TERMINATED_UPDATE_PROCEDURE_STRING;
case (13605):
return SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING;
case (13606):
return SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING;
case (13607):
return SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING;
case (13608):
return SUPV_MEM_CHECK_OK_STRING;
case (13609):
return SUPV_MEM_CHECK_FAIL_STRING;
case (13616):
return SUPV_SENDING_COMMAND_FAILED_STRING;
case (13617):
return SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING;
case (13618):
return SUPV_HELPER_READING_REPLY_FAILED_STRING;
case (13619):
return SUPV_MISSING_ACK_STRING;
case (13620):
return SUPV_MISSING_EXE_STRING;
case (13621):
return SUPV_ACK_FAILURE_REPORT_STRING;
case (13622):
return SUPV_EXE_FAILURE_REPORT_STRING;
case (13623):
return SUPV_ACK_INVALID_APID_STRING;
case (13624):
return SUPV_EXE_INVALID_APID_STRING;
case (13625):
return ACK_RECEPTION_FAILURE_STRING;
case (13626):
return EXE_RECEPTION_FAILURE_STRING;
case (13627):
return WRITE_MEMORY_FAILED_STRING;
case (13628):
return SUPV_REPLY_SIZE_MISSMATCH_STRING;
case (13629):
return SUPV_REPLY_CRC_MISSMATCH_STRING;
case (13630):
return SUPV_UPDATE_PROGRESS_STRING;
case (13631):
return HDLC_FRAME_REMOVAL_ERROR_STRING;
case (13632):
return HDLC_CRC_ERROR_STRING;
case (13701):
return TX_ON_STRING;
case (13702):
return TX_OFF_STRING;
case (13800):
return MISSING_PACKET_STRING;
case (13801):
return EXPERIMENT_TIMEDOUT_STRING;
case (13802):
return MULTI_PACKET_COMMAND_DONE_STRING;
case (13901):
return SET_CONFIGFILEVALUE_FAILED_STRING;
case (13902):
return GET_CONFIGFILEVALUE_FAILED_STRING;
case (13903):
return INSERT_CONFIGFILEVALUE_FAILED_STRING;
case (13904):
return WRITE_CONFIGFILE_FAILED_STRING;
case (13905):
return READ_CONFIGFILE_FAILED_STRING;
case (14000):
return ALLOC_FAILURE_STRING;
case (14001):
return REBOOT_SW_STRING;
case (14002):
return REBOOT_MECHANISM_TRIGGERED_STRING;
case (14003):
return REBOOT_HW_STRING;
case (14004):
return NO_SD_CARD_ACTIVE_STRING;
case (14005):
return VERSION_INFO_STRING;
case (14006):
return CURRENT_IMAGE_INFO_STRING;
case (14007):
return REBOOT_COUNTER_STRING;
case (14008):
return INDIVIDUAL_BOOT_COUNTS_STRING;
case (14100):
return NO_VALID_SENSOR_TEMPERATURE_STRING;
case (14101):
return NO_HEALTHY_HEATER_AVAILABLE_STRING;
case (14102):
return SYRLINKS_OVERHEATING_STRING;
case (14103):
return PLOC_OVERHEATING_STRING;
case (14104):
return OBC_OVERHEATING_STRING;
case (14105):
return HPA_OVERHEATING_STRING;
case (14106):
return PLPCDU_OVERHEATING_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):
return BIT_LOCK_TX_ON_STRING;
case (14300):
return POSSIBLE_FILE_CORRUPTION_STRING;
case (14301):
return FILE_TOO_LARGE_STRING;
case (14302):
return BUSY_DUMPING_EVENT_STRING;
case (14303):
return DUMP_WAS_CANCELLED_STRING;
case (14305):
return DUMP_OK_STORE_DONE_STRING;
case (14306):
return DUMP_NOK_STORE_DONE_STRING;
case (14307):
return DUMP_MISC_STORE_DONE_STRING;
case (14308):
return DUMP_HK_STORE_DONE_STRING;
case (14309):
return DUMP_CFDP_STORE_DONE_STRING;
default:
return "UNKNOWN_EVENT";
}

4
bsp_hosted/fsfwconfig/events/translateEvents.h
View File

@ -1,8 +1,8 @@
#ifndef FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
#define FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
#include <fsfw/events/Event.h>
#include "fsfw/events/Event.h"
const char* translateEvents(Event event);
const char *translateEvents(Event event);
#endif /* FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_ */

13
bsp_hosted/fsfwconfig/objects/systemObjectList.h
View File

@ -1,10 +1,10 @@
#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#include <commonObjects.h>
#include <cstdint>
#include "eive/objects.h"
// The objects will be instantiated in the ID order
namespace objects {
enum sourceObjects : uint32_t {
@ -16,16 +16,15 @@ enum sourceObjects : uint32_t {
PUS_SERVICE_23 = 0x51002300,
PUS_SERVICE_201 = 0x51020100,
TM_FUNNEL = 0x52000002,
/* Test Task */
TEST_TASK = 0x42694269,
DUMMY_INTERFACE = 0xCAFECAFE,
DUMMY_HANDLER = 0x4400AFFE,
DUMMY_HANDLER = 0x44000001,
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001
ARDUINO_COM_IF = 0x49000001,
DUMMY_COM_IF = 0x49000002,
};
}

428
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,21 +1,116 @@
/**
* @brief Auto-generated object translation file.
* @brief Auto-generated object translation file.
* @details
* Contains 31 translations.
* Generated on: 2021-05-17 19:12:49
* Contains 169 translations.
* Generated on: 2023-03-11 15:01:05
*/
#include "translateObjects.h"
const char *TEST_TASK_STRING = "TEST_TASK";
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB";
const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB";
const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF";
const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF";
const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB";
const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF";
const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB";
const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB";
const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF";
const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF";
const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB";
const char *RW1_STRING = "RW1";
const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
const char *RW2_STRING = "RW2";
const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
const char *RW3_STRING = "RW3";
const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
const char *RW4_STRING = "RW4";
const char *STAR_TRACKER_STRING = "STAR_TRACKER";
const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
const char *ACU_HANDLER_STRING = "ACU_HANDLER";
const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER";
const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
const char *RAD_SENSOR_STRING = "RAD_SENSOR";
const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
const char *STR_HELPER_STRING = "STR_HELPER";
const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
const char *PTME_CONFIG_STRING = "PTME_CONFIG";
const char *PTME_VC0_LIVE_TM_STRING = "PTME_VC0_LIVE_TM";
const char *PTME_VC1_LOG_TM_STRING = "PTME_VC1_LOG_TM";
const char *PTME_VC2_HK_TM_STRING = "PTME_VC2_HK_TM";
const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
const char *SCEX_STRING = "SCEX";
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
const char *TMP1075_HANDLER_TCS_0_STRING = "TMP1075_HANDLER_TCS_0";
const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER";
const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER";
const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY";
const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO";
const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX";
const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8";
const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA";
const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX";
const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA";
const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
const char *UART_COM_IF_STRING = "UART_COM_IF";
const char *ACS_BOARD_POLLING_TASK_STRING = "ACS_BOARD_POLLING_TASK";
const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
const char *SUS_POLLING_TASK_STRING = "SUS_POLLING_TASK";
const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
const char *TCP_TMTC_SERVER_STRING = "TCP_TMTC_SERVER";
const char *UDP_TMTC_SERVER_STRING = "UDP_TMTC_SERVER";
const char *TCP_TMTC_POLLING_TASK_STRING = "TCP_TMTC_POLLING_TASK";
const char *UDP_TMTC_POLLING_TASK_STRING = "UDP_TMTC_POLLING_TASK";
const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
const char *SDC_MANAGER_STRING = "SDC_MANAGER";
const char *PTME_STRING = "PTME";
const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@ -23,9 +118,13 @@ const char *PUS_SERVICE_3_HOUSEKEEPING_STRING = "PUS_SERVICE_3_HOUSEKEEPING";
const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTING";
const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
const char *PUS_SERVICE_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
const char *PUS_SERVICE_201_HEALTH_STRING = "PUS_SERVICE_201_HEALTH";
const char *CFDP_PACKET_DISTRIBUTOR_STRING = "CFDP_PACKET_DISTRIBUTOR";
const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
const char *MODE_STORE_STRING = "MODE_STORE";
const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
@ -34,7 +133,46 @@ const char *TC_STORE_STRING = "TC_STORE";
const char *TM_STORE_STRING = "TM_STORE";
const char *IPC_STORE_STRING = "IPC_STORE";
const char *TIME_STAMPER_STRING = "TIME_STAMPER";
const char *VERIFICATION_REPORTER_STRING = "VERIFICATION_REPORTER";
const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
const char *HEATER_5_STR_STRING = "HEATER_5_STR";
const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
const char *HEATER_7_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
const char *RW_ASSY_STRING = "RW_ASSY";
const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
const char *IMTQ_ASSY_STRING = "IMTQ_ASSY";
const char *STR_ASSY_STRING = "STR_ASSY";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
const char *OK_TM_STORE_STRING = "OK_TM_STORE";
const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
const char *HK_TM_STORE_STRING = "HK_TM_STORE";
const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
const char *LIVE_TM_TASK_STRING = "LIVE_TM_TASK";
const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
const char *NO_OBJECT_STRING = "NO_OBJECT";
@ -42,10 +180,202 @@ const char *translateObject(object_id_t object) {
switch ((object & 0xFFFFFFFF)) {
case 0x42694269:
return TEST_TASK_STRING;
case 0x4400AFFE:
case 0x43000002:
return ACS_CONTROLLER_STRING;
case 0x43000003:
return CORE_CONTROLLER_STRING;
case 0x43000006:
return GLOBAL_JSON_CFG_STRING;
case 0x43400001:
return THERMAL_CONTROLLER_STRING;
case 0x44000001:
return DUMMY_HANDLER_STRING;
case 0x44120006:
return MGM_0_LIS3_HANDLER_STRING;
case 0x44120010:
return GYRO_0_ADIS_HANDLER_STRING;
case 0x44120032:
return SUS_0_N_LOC_XFYFZM_PT_XF_STRING;
case 0x44120033:
return SUS_1_N_LOC_XBYFZM_PT_XB_STRING;
case 0x44120034:
return SUS_2_N_LOC_XFYBZB_PT_YB_STRING;
case 0x44120035:
return SUS_3_N_LOC_XFYBZF_PT_YF_STRING;
case 0x44120036:
return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING;
case 0x44120037:
return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING;
case 0x44120038:
return SUS_6_R_LOC_XFYBZM_PT_XF_STRING;
case 0x44120039:
return SUS_7_R_LOC_XBYBZM_PT_XB_STRING;
case 0x44120040:
return SUS_8_R_LOC_XBYBZB_PT_YB_STRING;
case 0x44120041:
return SUS_9_R_LOC_XBYBZB_PT_YF_STRING;
case 0x44120042:
return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING;
case 0x44120043:
return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING;
case 0x44120047:
return RW1_STRING;
case 0x44120107:
return MGM_1_RM3100_HANDLER_STRING;
case 0x44120111:
return GYRO_1_L3G_HANDLER_STRING;
case 0x44120148:
return RW2_STRING;
case 0x44120208:
return MGM_2_LIS3_HANDLER_STRING;
case 0x44120212:
return GYRO_2_ADIS_HANDLER_STRING;
case 0x44120249:
return RW3_STRING;
case 0x44120309:
return MGM_3_RM3100_HANDLER_STRING;
case 0x44120313:
return GYRO_3_L3G_HANDLER_STRING;
case 0x44120350:
return RW4_STRING;
case 0x44130001:
return STAR_TRACKER_STRING;
case 0x44130045:
return GPS_CONTROLLER_STRING;
case 0x44140013:
return IMTQ_POLLING_STRING;
case 0x44140014:
return IMTQ_HANDLER_STRING;
case 0x442000A1:
return PCDU_HANDLER_STRING;
case 0x44250000:
return P60DOCK_HANDLER_STRING;
case 0x44250001:
return PDU1_HANDLER_STRING;
case 0x44250002:
return PDU2_HANDLER_STRING;
case 0x44250003:
return ACU_HANDLER_STRING;
case 0x44260000:
return BPX_BATT_HANDLER_STRING;
case 0x44300000:
return PLPCDU_HANDLER_STRING;
case 0x443200A5:
return RAD_SENSOR_STRING;
case 0x44330000:
return PLOC_UPDATER_STRING;
case 0x44330001:
return PLOC_MEMORY_DUMPER_STRING;
case 0x44330002:
return STR_HELPER_STRING;
case 0x44330003:
return PLOC_MPSOC_HELPER_STRING;
case 0x44330004:
return AXI_PTME_CONFIG_STRING;
case 0x44330005:
return PTME_CONFIG_STRING;
case 0x44330006:
return PTME_VC0_LIVE_TM_STRING;
case 0x44330007:
return PTME_VC1_LOG_TM_STRING;
case 0x44330008:
return PTME_VC2_HK_TM_STRING;
case 0x44330009:
return PTME_VC3_CFDP_TM_STRING;
case 0x44330015:
return PLOC_MPSOC_HANDLER_STRING;
case 0x44330016:
return PLOC_SUPERVISOR_HANDLER_STRING;
case 0x44330017:
return PLOC_SUPERVISOR_HELPER_STRING;
case 0x44330032:
return SCEX_STRING;
case 0x444100A2:
return SOLAR_ARRAY_DEPL_HANDLER_STRING;
case 0x444100A4:
return HEATER_HANDLER_STRING;
case 0x44420004:
return TMP1075_HANDLER_TCS_0_STRING;
case 0x44420005:
return TMP1075_HANDLER_TCS_1_STRING;
case 0x44420006:
return TMP1075_HANDLER_PLPCDU_0_STRING;
case 0x44420007:
return TMP1075_HANDLER_PLPCDU_1_STRING;
case 0x44420008:
return TMP1075_HANDLER_IF_BOARD_STRING;
case 0x44420016:
return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
case 0x44420017:
return RTD_1_IC4_PLOC_MISSIONBOARD_STRING;
case 0x44420018:
return RTD_2_IC5_4K_CAMERA_STRING;
case 0x44420019:
return RTD_3_IC6_DAC_HEATSPREADER_STRING;
case 0x44420020:
return RTD_4_IC7_STARTRACKER_STRING;
case 0x44420021:
return RTD_5_IC8_RW1_MX_MY_STRING;
case 0x44420022:
return RTD_6_IC9_DRO_STRING;
case 0x44420023:
return RTD_7_IC10_SCEX_STRING;
case 0x44420024:
return RTD_8_IC11_X8_STRING;
case 0x44420025:
return RTD_9_IC12_HPA_STRING;
case 0x44420026:
return RTD_10_IC13_PL_TX_STRING;
case 0x44420027:
return RTD_11_IC14_MPA_STRING;
case 0x44420028:
return RTD_12_IC15_ACU_STRING;
case 0x44420029:
return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING;
case 0x44420030:
return RTD_14_IC17_TCS_BOARD_STRING;
case 0x44420031:
return RTD_15_IC18_IMTQ_STRING;
case 0x445300A3:
return SYRLINKS_HANDLER_STRING;
case 0x49000001:
return ARDUINO_COM_IF_STRING;
case 0x49000002:
return DUMMY_COM_IF_STRING;
case 0x49010006:
return SCEX_UART_READER_STRING;
case 0x49030003:
return UART_COM_IF_STRING;
case 0x49060004:
return ACS_BOARD_POLLING_TASK_STRING;
case 0x49060005:
return RW_POLLING_TASK_STRING;
case 0x49060006:
return SPI_RTD_COM_IF_STRING;
case 0x49060007:
return SUS_POLLING_TASK_STRING;
case 0x50000100:
return CCSDS_PACKET_DISTRIBUTOR_STRING;
case 0x50000200:
return PUS_PACKET_DISTRIBUTOR_STRING;
case 0x50000300:
return TCP_TMTC_SERVER_STRING;
case 0x50000301:
return UDP_TMTC_SERVER_STRING;
case 0x50000400:
return TCP_TMTC_POLLING_TASK_STRING;
case 0x50000401:
return UDP_TMTC_POLLING_TASK_STRING;
case 0x50000500:
return FILE_SYSTEM_HANDLER_STRING;
case 0x50000550:
return SDC_MANAGER_STRING;
case 0x50000600:
return PTME_STRING;
case 0x50000700:
return PDEC_HANDLER_STRING;
case 0x50000800:
return CCSDS_HANDLER_STRING;
case 0x51000300:
return PUS_SERVICE_3_STRING;
case 0x51000400:
@ -58,8 +388,6 @@ const char *translateObject(object_id_t object) {
return PUS_SERVICE_23_STRING;
case 0x51020100:
return PUS_SERVICE_201_STRING;
case 0x52000002:
return TM_FUNNEL_STRING;
case 0x53000000:
return FSFW_OBJECTS_START_STRING;
case 0x53000001:
@ -74,12 +402,20 @@ const char *translateObject(object_id_t object) {
return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
case 0x53000009:
return PUS_SERVICE_9_TIME_MGMT_STRING;
case 0x53000011:
return PUS_SERVICE_11_TC_SCHEDULER_STRING;
case 0x53000015:
return PUS_SERVICE_15_TM_STORAGE_STRING;
case 0x53000017:
return PUS_SERVICE_17_TEST_STRING;
case 0x53000020:
return PUS_SERVICE_20_PARAMETERS_STRING;
case 0x53000200:
return PUS_SERVICE_200_MODE_MGMT_STRING;
case 0x53000201:
return PUS_SERVICE_201_HEALTH_STRING;
case 0x53001000:
return CFDP_PACKET_DISTRIBUTOR_STRING;
case 0x53010000:
return HEALTH_TABLE_STRING;
case 0x53010100:
@ -96,8 +432,86 @@ const char *translateObject(object_id_t object) {
return IPC_STORE_STRING;
case 0x53500010:
return TIME_STAMPER_STRING;
case 0x53500020:
return VERIFICATION_REPORTER_STRING;
case 0x53ffffff:
return FSFW_OBJECTS_END_STRING;
case 0x60000000:
return HEATER_0_PLOC_PROC_BRD_STRING;
case 0x60000001:
return HEATER_1_PCDU_BRD_STRING;
case 0x60000002:
return HEATER_2_ACS_BRD_STRING;
case 0x60000003:
return HEATER_3_OBC_BRD_STRING;
case 0x60000004:
return HEATER_4_CAMERA_STRING;
case 0x60000005:
return HEATER_5_STR_STRING;
case 0x60000006:
return HEATER_6_DRO_STRING;
case 0x60000007:
return HEATER_7_SYRLINKS_STRING;
case 0x73000001:
return ACS_BOARD_ASS_STRING;
case 0x73000002:
return SUS_BOARD_ASS_STRING;
case 0x73000003:
return TCS_BOARD_ASS_STRING;
case 0x73000004:
return RW_ASSY_STRING;
case 0x73000006:
return CAM_SWITCHER_STRING;
case 0x73000007:
return SYRLINKS_ASSY_STRING;
case 0x73000008:
return IMTQ_ASSY_STRING;
case 0x73000009:
return STR_ASSY_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73000101:
return PUS_TM_FUNNEL_STRING;
case 0x73000102:
return CFDP_TM_FUNNEL_STRING;
case 0x73000205:
return CFDP_HANDLER_STRING;
case 0x73000206:
return CFDP_DISTRIBUTOR_STRING;
case 0x73010000:
return EIVE_SYSTEM_STRING;
case 0x73010001:
return ACS_SUBSYSTEM_STRING;
case 0x73010002:
return PL_SUBSYSTEM_STRING;
case 0x73010003:
return TCS_SUBSYSTEM_STRING;
case 0x73010004:
return COM_SUBSYSTEM_STRING;
case 0x73020001:
return MISC_TM_STORE_STRING;
case 0x73020002:
return OK_TM_STORE_STRING;
case 0x73020003:
return NOT_OK_TM_STORE_STRING;
case 0x73020004:
return HK_TM_STORE_STRING;
case 0x73030000:
return CFDP_TM_STORE_STRING;
case 0x73040000:
return LIVE_TM_TASK_STRING;
case 0x73040001:
return LOG_STORE_AND_TM_TASK_STRING;
case 0x73040002:
return HK_STORE_AND_TM_TASK_STRING;
case 0x73040003:
return CFDP_STORE_AND_TM_TASK_STRING;
case 0x73040004:
return DOWNLINK_RAM_STORE_STRING;
case 0x73500000:
return CCSDS_IP_CORE_BRIDGE_STRING;
case 0x90000003:
return THERMAL_TEMP_INSERTER_STRING;
case 0xCAFECAFE:
return DUMMY_INTERFACE_STRING;
case 0xFFFFFFFF:

2
bsp_hosted/fsfwconfig/objects/translateObjects.h
View File

@ -3,6 +3,6 @@
#include <fsfw/objectmanager/SystemObjectIF.h>
const char* translateObject(object_id_t object);
const char *translateObject(object_id_t object);
#endif /* FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */

1
bsp_hosted/fsfwconfig/pollingsequence/CMakeLists.txt Normal file
View File

@ -0,0 +1 @@
target_sources(${OBSW_NAME} PRIVATE DummyPst.cpp)

139
bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp Normal file
View File

@ -0,0 +1,139 @@
#include "DummyPst.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <objects/systemObjectList.h>
ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == returnvalue::OK) {
return returnvalue::OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!" << std::endl;
#endif
return returnvalue::FAILED;
}
}

14
bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h Normal file
View File

@ -0,0 +1,14 @@
#ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_
#include <fsfw/returnvalues/returnvalue.h>
class FixedTimeslotTaskIF;
namespace dummy_pst {
ReturnValue_t pst(FixedTimeslotTaskIF *thisSequence);
}
#endif /* POLLINGSEQUENCEINIT_H_ */

3
bsp_hosted/fsfwconfig/returnvalues/classIds.h
View File

@ -3,7 +3,7 @@
#include <fsfw/returnvalues/FwClassIds.h>
#include "commonClassIds.h"
#include "eive/resultClassIds.h"
/**
* Source IDs starts at 73 for now
@ -13,6 +13,7 @@
namespace CLASS_ID {
enum {
CLASS_ID_START = COMMON_CLASS_ID_END,
CLASS_ID_END // [EXPORT] : [END]
};
}

18
bsp_hosted/fsfwconfig/tmtc/apid.h
View File

@ -1,18 +0,0 @@
#ifndef FSFWCONFIG_TMTC_APID_H_
#define FSFWCONFIG_TMTC_APID_H_
#include <stdint.h>
/**
* Application Process Definition: entity, uniquely identified by an
* application process ID (APID), capable of generating telemetry source
* packets and receiving telecommand packets
*
* SOURCE APID: 0x73 / 115 / s
* APID is a 11 bit number
*/
namespace apid {
static const uint16_t EIVE_OBSW = 0x65;
}
#endif /* FSFWCONFIG_TMTC_APID_H_ */

23
bsp_hosted/fsfwconfig/tmtc/pusIds.h
View File

@ -1,23 +0,0 @@
#ifndef CONFIG_TMTC_PUSIDS_HPP_
#define CONFIG_TMTC_PUSIDS_HPP_
namespace pus {
enum Ids {
PUS_SERVICE_1 = 1,
PUS_SERVICE_2 = 2,
PUS_SERVICE_3 = 3,
PUS_SERVICE_3_PSB = 3,
PUS_SERVICE_5 = 5,
PUS_SERVICE_6 = 6,
PUS_SERVICE_8 = 8,
PUS_SERVICE_9 = 9,
PUS_SERVICE_17 = 17,
PUS_SERVICE_19 = 19,
PUS_SERVICE_20 = 20,
PUS_SERVICE_23 = 23,
PUS_SERVICE_200 = 200,
PUS_SERVICE_201 = 201,
};
};
#endif /* CONFIG_TMTC_PUSIDS_HPP_ */

15
bsp_hosted/main.cpp
View File

@ -1,9 +1,17 @@
#include <objects/systemObjectList.h>
#include <iostream>
#include "InitMission.h"
#include "commonConfig.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/controller/ControllerBase.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/modes/HasModesIF.h"
#include "fsfw/modes/ModeMessage.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/tasks/TaskFactory.h"
#include "scheduling.h"
#ifdef WIN32
static const char* COMPILE_PRINTOUT = "Windows";
#elif LINUX
@ -23,8 +31,11 @@ int main(void) {
<< "v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
<< std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
std::cout << "-- "
<< " BSP HOSTED"
<< " --" << std::endl;
initmission::initMission();
scheduling::initMission();
for (;;) {
// suspend main thread by sleeping it.

238
bsp_hosted/scheduling.cpp Normal file
View File

@ -0,0 +1,238 @@
#include "linux/scheduling.h"
#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>
#include <iostream>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "mission/core/scheduling.h"
#include "scheduling.h"
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR", false, false, true);
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif
ObjectManagerIF* objectManager = nullptr;
void scheduling::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
}
void scheduling::initTasks() {
TaskFactory* factory = TaskFactory::instance();
if (factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc)(void) = nullptr;
#endif
/* TMTC Distribution */
PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
"DIST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) {
sif::error << "adding CCSDS distributor failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) {
sif::error << "adding PUS distributor failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
if (result != returnvalue::OK) {
sif::error << "adding TM funnel failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
if (result != returnvalue::OK) {
sif::error << "adding CFDP distributor failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
if (result != returnvalue::OK) {
sif::error << "adding UDP server failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
if (result != returnvalue::OK) {
sif::error << "adding TCP server failed" << std::endl;
}
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
"TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS15", objects::PUS_SERVICE_15_TM_STORAGE);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
"THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = thermalTask->addComponent(objects::CORE_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
}
result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
}
FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
"DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = dummy_pst::pst(pstTask);
if (result != returnvalue::OK) {
sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
}
#if OBSW_ADD_CFDP_COMPONENTS == 1
PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
"CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = cfdpTask->addComponent(objects::CFDP_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
}
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1
PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
"PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
}
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
PeriodicTaskIF* plTask = factory->createPeriodicTask(
"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
scheduling::addMpsocSupvHandlers(plTask);
#if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_CODE == 1 */
PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
"DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
scheduling::scheduleTmpTempSensors(dummyTask);
scheduling::scheduleRtdSensors(dummyTask);
dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
sif::info << "Starting tasks.." << std::endl;
tmtcDistributor->startTask();
udpPollingTask->startTask();
tcpPollingTask->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pstTask->startTask();
thermalTask->startTask();
dummyTask->startTask();
#if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask();
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
plTask->startTask();
#endif
#if OBSW_ADD_CFDP_COMPONENTS == 1
cfdpTask->startTask();
#endif
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */
sif::info << "Tasks started.." << std::endl;
}

6
bsp_hosted/scheduling.h Normal file
View File

@ -0,0 +1,6 @@
#pragma once
namespace scheduling {
void initMission();
void initTasks();
}; // namespace scheduling

9
bsp_linux_board/CMakeLists.txt
View File

@ -1,9 +1,6 @@
target_sources(${OBSW_NAME} PUBLIC
InitMission.cpp
main.cpp
gpioInit.cpp
ObjectFactory.cpp
)
target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
ObjectFactory.cpp)
add_subdirectory(boardconfig)
add_subdirectory(boardtest)
add_subdirectory(fsfwconfig)

80
bsp_linux_board/InitMission.cpp
View File

@ -1,12 +1,14 @@
#include "InitMission.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <linux/InitMission.h>
#include <mission/utility/InitMission.h>
#include <iostream>
@ -36,7 +38,7 @@ void initmission::initMission() {
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
if (factory == nullptr) {
/* Should never happen ! */
return;
@ -51,15 +53,15 @@ void initmission::initTasks() {
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
@ -67,16 +69,22 @@ void initmission::initTasks() {
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Add component TMTC Bridge failed" << std::endl;
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Add component TMTC Polling failed" << std::endl;
}
#if OBSW_ADD_SCEX_DEVICE == 1
PeriodicTaskIF* scexDevHandler;
PeriodicTaskIF* scexReaderTask;
scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
#endif
/* PUS Services */
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
@ -109,6 +117,10 @@ void initmission::initTasks() {
#endif /* OBSW_ADD_TEST_CODE == 1 */
taskStarter(pstTasks, "PST Tasks");
#if OBSW_ADD_SCEX_DEVICE == 1
scexDevHandler->startTask();
scexReaderTask->startTask();
#endif
#if OBSW_ADD_TEST_PST == 1
if (startTestPst) {
pstTestTask->startTask();
@ -120,11 +132,11 @@ void initmission::initTasks() {
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
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) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
taskVec.push_back(pusVerification);
@ -132,11 +144,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
@ -144,11 +156,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
@ -156,19 +168,19 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
taskVec.push_back(pusMedPrio);
@ -176,11 +188,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
@ -189,45 +201,55 @@ void initmission::createPusTasks(TaskFactory& factory,
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
if (result != returnvalue::OK) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::error << "InitMission::createPstTasks: Creating PST failed!" << std::endl;
}
} else {
taskVec.push_back(spiPst);
}
taskVec.push_back(spiPst);
#endif
}
void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif /* RPI_ADD_SPI_TEST == 1 */
#if RPI_ADD_GPIO_TEST == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* RPI_ADD_GPIO_TEST == 1 */
#if OBSW_ADD_UART_TEST_CODE == 1
result = testTask->addComponent(objects::UART_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
}
PeriodicTaskIF* scexReaderTask = factory.createPeriodicTask(
"SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
}
taskVec.push_back(scexReaderTask);
#endif /* RPI_ADD_GPIO_TEST == 1 */
taskVec.push_back(testTask);
@ -237,7 +259,7 @@ void initmission::createTestTasks(TaskFactory& factory,
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
"TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pstTest(pstTestTask);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
startTestPst = false;
}

2
bsp_linux_board/InitMission.h
View File

@ -3,7 +3,7 @@
#include <vector>
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/definitions.h"
class PeriodicTaskIF;
class TaskFactory;

7
bsp_linux_board/OBSWConfig.h.in
View File

@ -28,6 +28,7 @@
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_PL_PCDU 0
#define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_SCEX_DEVICE 1
#define OBSW_ADD_RAD_SENSORS 0
#define OBSW_ADD_SYRLINKS 0
#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
@ -102,6 +103,12 @@
/*******************************************************************/
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
#define OBSW_ADD_CCSDS_IP_CORES 0
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME 0
// Set to 1 if telecommands are received via the PDEC IP Core
#define OBSW_TC_FROM_PDEC 0
#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@

81
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,5 +1,8 @@
#include "ObjectFactory.h"
#include <bsp_linux_board/RPiSdCardManager.h>
#include <linux/devices/ScexUartReader.h>
#include "OBSWConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
@ -18,9 +21,8 @@
#include "mission/core/GenericFactory.h"
#include "mission/devices/GPSHyperionHandler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/utility/TmFunnel.h"
#include "mission/tmtc/TmFunnel.h"
#include "objects/systemObjectList.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
/* UDP server includes */
@ -32,8 +34,8 @@
#include "fsfw/osal/common/UdpTmTcBridge.h"
#endif
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <fsfw_hal/linux/serial/SerialComIF.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
@ -45,8 +47,8 @@
#include "fsfw_hal/linux/spi/SpiCookie.h"
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
@ -54,9 +56,6 @@ void Factory::setStaticFrameworkObjectIds() {
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args) {
@ -67,7 +66,7 @@ void ObjectFactory::produce(void* args) {
GpioCookie* gpioCookie = nullptr;
static_cast<void>(gpioCookie);
SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
SpiComIF* spiComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, spi::DEV, gpioIF);
static_cast<void>(spiComIF);
auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
static_cast<void>(pwrSwitcher);
@ -76,12 +75,17 @@ void ObjectFactory::produce(void* args) {
createRpiAcsBoard(gpioIF, spiDev);
#endif
#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
#if OBSW_ADD_SUN_SENSORS == 1 || OBSW_ADD_RTD_DEVICES == 1
#ifdef RASPBERRY_PI
rpi::gpio::initSpiCsDecoder(gpioIF);
#endif
#endif
#if OBSW_ADD_SCEX_DEVICE == 1
auto* sdcMan = new DummySdCardManager("/tmp");
createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
#endif
#if OBSW_ADD_SUN_SENSORS == 1
createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
#endif
@ -116,73 +120,72 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
gpio::Direction::OUT, gpio::Levels::HIGH);
gpioIF->addGpios(gpioCookie);
SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler =
new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
#if OBSW_TEST_ACS == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately();
#if OBSW_TEST_ACS == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler =
new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
#if OBSW_TEST_ACS == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler =
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately();
#if OBSW_TEST_ACS == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie =
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie, ADIS1650X::Type::ADIS16505);
adisHandler->setStartUpImmediately();
spiCookie =
new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto adisHandler =
new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
ADIS1650X::Type::ADIS16505);
adisHandler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, 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, 0);
new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
gyroL3gHandler->setStartUpImmediately();
#if OBSW_TEST_ACS == 1
gyroL3gHandler->setToGoToNormalMode(true);
#endif
spiCookie =
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, ADIS1650X::Type::ADIS16505);
adisHandler->setStartUpImmediately();
spiCookie =
new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler =
new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
gyroL3gHandler->setStartUpImmediately();
#if OBSW_TEST_ACS == 1
gyroL3gHandler->setToGoToNormalMode(true);
@ -199,7 +202,7 @@ void ObjectFactory::createTestTasks() {
#if OBSW_ADD_UART_TEST_CODE == 1
new UartTestClass(objects::UART_TEST);
#else
new UartComIF(objects::UART_COM_IF);
newSerialComIF(objects::UART_COM_IF);
#endif
#if RPI_LOOPBACK_TEST_GPIO == 1

8
bsp_linux_board/boardconfig/CMakeLists.txt
View File

@ -1,7 +1,3 @@
target_sources(${OBSW_NAME} PRIVATE
print.c
)
target_sources(${OBSW_NAME} PRIVATE print.c)
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

7
bsp_linux_board/boardtest/CMakeLists.txt
View File

@ -1,6 +1 @@
target_sources(${OBSW_NAME} PRIVATE
)
target_sources(${OBSW_NAME} PRIVATE)

6
bsp_linux_board/definitions.h
View File

@ -13,6 +13,12 @@ static constexpr char DEV[] = "/dev/spidev0.1";
}
namespace uart {
static constexpr char DEV[] = "/dev/serial0";
}
/* Adapt these values accordingly */
namespace gpio {
static constexpr uint8_t MGM_0_BCM_PIN = 17;

4
bsp_linux_board/gpioInit.cpp
View File

@ -40,14 +40,14 @@ void rpi::gpio::initSpiCsDecoder(GpioIF* gpioComIF) {
for (const auto& info : muxInfo) {
result = createRpiGpioConfig(spiMuxGpios, info.gpioId, info.bcmNum, info.consumer,
Direction::OUT, Levels::LOW);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Creating Raspberry Pi SPI Mux GPIO failed with code " << result << std::endl;
return;
}
}
result = gpioComIF->addGpios(spiMuxGpios);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
return;
}

24
bsp_q7s/CMakeLists.txt
View File

@ -1,20 +1,13 @@
#simple mode
# simple mode
add_executable(${SIMPLE_OBSW_NAME} EXCLUDE_FROM_ALL)
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
target_sources(${SIMPLE_OBSW_NAME} PUBLIC
main.cpp
)
#I think this is unintentional? (produces linker errors for stuff in /linux)
target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC
${LIB_FSFW_NAME}
)
target_sources(${SIMPLE_OBSW_NAME} PUBLIC main.cpp)
# I think this is unintentional? (produces linker errors for stuff in /linux)
target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
add_subdirectory(simple)
target_sources(${OBSW_NAME} PUBLIC
main.cpp
obsw.cpp
)
target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
add_subdirectory(boardtest)
@ -23,13 +16,12 @@ add_subdirectory(comIF)
add_subdirectory(core)
if(EIVE_Q7S_EM)
add_subdirectory(em)
add_subdirectory(em)
else()
target_sources(${OBSW_NAME} PUBLIC
fmObjectFactory.cpp
)
target_sources(${OBSW_NAME} PUBLIC fmObjectFactory.cpp)
endif()
add_subdirectory(memory)
add_subdirectory(callbacks)
add_subdirectory(xadc)
add_subdirectory(fs)

58
bsp_q7s/OBSWConfig.h.in
View File

@ -8,56 +8,67 @@
#include "commonConfig.h"
#include "q7sConfig.h"
#include "OBSWVersion.h"
/*******************************************************************/
/** All of the following flags should be enabled for mission code */
/*******************************************************************/
#define OBSW_USE_CCSDS_IP_CORE 1
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME 0
// Set to 1 if telecommands are received via the PDEC IP Core
#define OBSW_TC_FROM_PDEC 0
#define OBSW_ENABLE_PERIODIC_HK 0
#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0
// This switch will cause the SW to command the EIVE system object to safe mode. This will
// trigger a lot of events, so it can make sense to disable this for debugging purposes
#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP 1
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_GOMSPACE_PCDU @OBSW_ADD_GOMSPACE_PCDU@
#define OBSW_ADD_MGT @OBSW_ADD_MGT@
#define OBSW_ADD_BPX_BATTERY_HANDLER @OBSW_ADD_BPX_BATTERY_HANDLER@
#define OBSW_ADD_STAR_TRACKER @OBSW_ADD_STAR_TRACKER@
#define OBSW_ADD_PLOC_SUPERVISOR 1
#define OBSW_ADD_PLOC_MPSOC 1
#define OBSW_ADD_PLOC_SUPERVISOR @OBSW_ADD_PLOC_SUPERVISOR@
#define OBSW_ADD_PLOC_MPSOC @OBSW_ADD_PLOC_MPSOC@
#define OBSW_ADD_SUN_SENSORS @OBSW_ADD_SUN_SENSORS@
#define OBSW_ADD_SUS_BOARD_ASS @OBSW_ADD_SUS_BOARD_ASS@
#define OBSW_ADD_ACS_BOARD @OBSW_ADD_ACS_BOARD@
#define OBSW_ADD_ACS_HANDLERS @OBSW_ADD_ACS_HANDLERS@
#define OBSW_ADD_ACS_CTRL 1
#define OBSW_ADD_GPS_CTRL @OBSW_ADD_GPS_CTRL@
#define OBSW_ADD_TCS_CTRL @OBSW_ADD_TCS_CTRL@
#define OBSW_ADD_RW @OBSW_ADD_RW@
#define OBSW_ADD_RTD_DEVICES @OBSW_ADD_RTD_DEVICES@
#define OBSW_ADD_SA_DEPL @OBSW_ADD_SA_DEPL@
#define OBSW_ADD_SCEX_DEVICE @OBSW_ADD_SCEX_DEVICE@
#define OBSW_ADD_HEATERS @OBSW_ADD_HEATERS@
#define OBSW_ADD_TMP_DEVICES @OBSW_ADD_TMP_DEVICES@
#define OBSW_ADD_RAD_SENSORS @OBSW_ADD_RAD_SENSORS@
#define OBSW_ADD_PL_PCDU @OBSW_ADD_PL_PCDU@
#define OBSW_ADD_SYRLINKS @OBSW_ADD_SYRLINKS@
#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0
#define OBSW_MPSOC_JTAG_BOOT 0
#define OBSW_ADD_CCSDS_IP_CORES @OBSW_ADD_CCSDS_IP_CORES@
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME @OBSW_TM_TO_PTME@
// Set to 1 if telecommands are received via the PDEC IP Core
#define OBSW_TC_FROM_PDEC @OBSW_TC_FROM_PDEC@
// This is a really tricky switch.. It initializes the PCDU switches to their default states
// at powerup. I think it would be better
// to leave it off for now. It makes testing a lot more difficult and it might mess with
// something the operators might want to do by giving the software too much intelligence
// at the wrong place. The system component might command all the Switches accordingly anyway
#define OBSW_INITIALIZE_SWITCHES 0
#define OBSW_ENABLE_PERIODIC_HK 0
// Configuration parameter which causes the core controller to try to keep at least one SD card
// working
#define OBSW_SD_CARD_MUST_BE_ON 1
#define OBSW_ENABLE_TIMERS 1
/*******************************************************************/
/** All of the following flags should be disabled for mission code */
/*******************************************************************/
// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
// because UDP packets are not allowed in the VPN
// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
// CCSDS IP Cores.
#define OBSW_ADD_TMTC_TCP_SERVER 1
#define OBSW_ADD_TMTC_UDP_SERVER 1
// Can be used to switch device to NORMAL mode immediately
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 0
#define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
#define OBSW_SYRLINKS_SIMULATED 1
#define OBSW_MPSOC_JTAG_BOOT 0
#define OBSW_STAR_TRACKER_GROUND_CONFIG @OBSW_STAR_TRACKER_GROUND_CONFIG@
#define OBSW_SYRLINKS_SIMULATED @OBSW_SYRLINKS_SIMULATED@
#define OBSW_ADD_TEST_CODE 0
#define OBSW_ADD_TEST_TASK 0
#define OBSW_ADD_TEST_PST 0
@ -96,6 +107,7 @@
#define OBSW_PRINT_CORE_HK 0
#define OBSW_DEBUG_PDU1 0
#define OBSW_DEBUG_PDU2 0
#define OBSW_DEBUG_TMP1075 0
#define OBSW_DEBUG_GPS 0
#define OBSW_DEBUG_ACU 0
#define OBSW_DEBUG_SYRLINKS 0
@ -110,12 +122,12 @@
/*******************************************************************/
/** CMake Defines */
/*******************************************************************/
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
#ifdef __cplusplus
#include "objects/systemObjectList.h"

13
bsp_q7s/boardconfig/CMakeLists.txt
View File

@ -1,12 +1,5 @@
target_sources(${OBSW_NAME} PRIVATE
print.c
)
target_sources(${OBSW_NAME} PRIVATE print.c)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
print.c
)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE print.c)
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

33
bsp_q7s/boardconfig/busConf.h
View File

@ -3,27 +3,38 @@
namespace q7s {
static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi_main";
static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
//! I2C bus using an I2C IP core in the programmable logic (PL)
static constexpr char I2C_PL_EIVE[] = "/dev/i2c_pl";
//! I2C bus using the I2C peripheral of the ARM processing system (PS)
static constexpr char I2C_PS_EIVE[] = "/dev/i2c_ps";
static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ploc_supv";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul_syrlinks";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul_str";
static constexpr char UART_SCEX_DEV[] = "/dev/scex";
static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
static constexpr char UIO_PTME[] = "/dev/uio1";
static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio_pdec_regs";
static constexpr char UIO_PTME[] = "/dev/uio_ptme";
static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio_pdec_ram";
static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
static constexpr int MAP_ID_PTME_CONFIG = 3;
namespace uiomapids {
// Live TM
static const int PTME_VC0 = 0;
// OK/NOK/MISC Store
static const int PTME_VC1 = 1;
// HK store
static const int PTME_VC2 = 2;
// CFDP
static const int PTME_VC3 = 3;
static const int PTME_CONFIG = 4;
} // namespace uiomapids

12
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -16,18 +16,8 @@
/** Other flags */
/*******************************************************************/
#define Q7S_SD_NONE 0
#define Q7S_SD_COLD_REDUNDANT 1
#define Q7S_SD_HOT_REDUNDANT 2
// The OBSW will perform different actions to set up the SD cards depending on the flag set here
// Set to Q7S_SD_NONE: Don't do anything
// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and
// turn off the second SD card if it is on
// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them
#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
// Probably better if this is disabled for mission code. Convenient for development
#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG @Q7S_CHECK_FOR_ALREADY_RUNNING_IMG@
#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0

11
bsp_q7s/boardtest/CMakeLists.txt
View File

@ -1,10 +1,5 @@
target_sources(${OBSW_NAME} PRIVATE
FileSystemTest.cpp
Q7STestTask.cpp
)
target_sources(${OBSW_NAME} PRIVATE FileSystemTest.cpp Q7STestTask.cpp)
if(EIVE_BUILD_Q7S_SIMPLE_MODE)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
FileSystemTest.cpp
)
endif()
target_sources(${SIMPLE_OBSW_NAME} PRIVATE FileSystemTest.cpp)
endif()

243
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,11 +1,14 @@
#include "Q7STestTask.h"
#include <bsp_q7s/core/CoreController.h>
#include <bsp_q7s/memory/FileSystemHandler.h>
#include <bsp_q7s/xadc/Xadc.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw_hal/host/HostFilesystem.h>
#include <gps.h>
#include <libgpsmm.h>
#include <param/param_string.h>
#include <param/rparam_client.h>
#include <cstdio>
#include <ctime>
@ -14,12 +17,17 @@
#include <iostream>
#include <nlohmann/json.hpp>
#include "bsp_q7s/memory/SdCardManager.h"
#include "OBSWConfig.h"
#include "bsp_q7s/fs/SdCardManager.h"
#include "bsp_q7s/fs/helpers.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "p60pdu.h"
#include "test/DummyParameter.h"
using namespace returnvalue;
Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
doTestSdCard = false;
doTestScratchApi = false;
@ -35,13 +43,42 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
if (doTestScratchApi) {
testScratchApi();
}
if (DO_TEST_GOMSPACE_API) {
uint8_t p60pdu_node = 3;
uint8_t hk_mem[P60PDU_HK_SIZE];
param_index_t p60pdu_hk{};
p60pdu_hk.physaddr = hk_mem;
if (!p60pdu_get_hk(&p60pdu_hk, p60pdu_node, 1000)) {
printf("Error getting p60pdu hk\n");
} else {
param_list(&p60pdu_hk, 1);
}
}
if (DO_TEST_GOMSPACE_GET_CONFIG) {
uint8_t p60pdu_node = 3;
param_index_t requestStruct{};
requestStruct.table = p60pdu_config;
requestStruct.mem_id = P60PDU_PARAM;
uint8_t hk_mem[P60PDU_PARAM_SIZE];
requestStruct.count = p60pdu_config_count;
requestStruct.size = P60PDU_PARAM_SIZE;
requestStruct.physaddr = hk_mem;
int result = rparam_get_full_table(&requestStruct, p60pdu_node, P60_PORT_RPARAM,
requestStruct.mem_id, 1000);
param_list(&requestStruct, 1);
return (result == 0);
}
// testJsonLibDirect();
// testDummyParams();
if (doTestProtHandler) {
testProtHandler();
}
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
testFileSystemHandlerDirect(opCode);
if (DO_TEST_FS_HANDLER) {
FsOpCodes opCode = FsOpCodes::CREATE_EMPTY_FILE_IN_TMP;
testFileSystemHandlerDirect(opCode);
}
return TestTask::performOneShotAction();
}
@ -95,23 +132,23 @@ void Q7STestTask::fileTests() {
void Q7STestTask::testScratchApi() {
ReturnValue_t result = scratch::writeNumber("TEST", 1);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
}
int number = 0;
result = scratch::readNumber("TEST", number);
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
result = scratch::writeString("TEST2", "halloWelt");
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
}
std::string string;
result = scratch::readString("TEST2", string);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
@ -143,7 +180,7 @@ void Q7STestTask::testDummyParams() {
}
ReturnValue_t result = param.readJsonFile();
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
}
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@ -154,13 +191,13 @@ void Q7STestTask::testDummyParams() {
int test = 0;
result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
<< " does not exist" << std::endl;
}
std::string test2;
result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, test2);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
<< " does not exist" << std::endl;
}
@ -179,18 +216,18 @@ ReturnValue_t Q7STestTask::initialize() {
void Q7STestTask::testProtHandler() {
bool opPerformed = false;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
// If any chips are unlocked, lock them here
result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
// unlock own copy
result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if (not opPerformed) {
@ -204,7 +241,7 @@ void Q7STestTask::testProtHandler() {
// lock own copy
result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if (not opPerformed) {
@ -218,7 +255,7 @@ void Q7STestTask::testProtHandler() {
// unlock specific copy
result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if (not opPerformed) {
@ -232,7 +269,7 @@ void Q7STestTask::testProtHandler() {
// lock specific copy
result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if (not opPerformed) {
@ -335,150 +372,28 @@ void Q7STestTask::testGpsDaemonSocket() {
}
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", false, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
HostFilesystem hostFs;
auto* sdcMan = SdCardManager::instance();
std::string mountPrefix = sdcMan->getCurrentMountPrefix();
sif::info << "Current mount prefix: " << mountPrefix << std::endl;
auto prefixedPath = fshelpers::getPrefixedPath(*sdcMan, "conf/test.txt");
sif::info << "Prefixed path: " << prefixedPath << std::endl;
if (opCode == FsOpCodes::CREATE_EMPTY_FILE_IN_TMP) {
FilesystemParams params("/tmp/hello.txt");
auto res = hostFs.createFile(params);
if (res != OK) {
sif::warning << "Creating empty file in /tmp failed" << std::endl;
}
// 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", false, &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", false, &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;
}
break;
}
case (FsOpCodes::RENAME_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
break;
}
case (FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
std::string content = "Hello World\n";
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
content.size(), 0, &cfg);
bool fileExists = std::filesystem::exists("/tmp/hello.txt");
if (not fileExists) {
sif::warning << "File was not created!" << std::endl;
}
hostFs.removeFile("/tmp/hello.txt");
}
}
void Q7STestTask::xadcTest() {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
float temperature = 0;
float vccPint = 0;
float vccPaux = 0;
@ -490,39 +405,39 @@ void Q7STestTask::xadcTest() {
float vrefn = 0;
Xadc xadc;
result = xadc.getTemperature(temperature);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
sif::info << "Q7STestTask::xadcTest: Chip Temperature: " << temperature << " °C" << std::endl;
}
result = xadc.getVccPint(vccPint);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
sif::info << "Q7STestTask::xadcTest: VCC PS internal: " << vccPint << " mV" << std::endl;
}
result = xadc.getVccPaux(vccPaux);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
sif::info << "Q7STestTask::xadcTest: VCC PS auxilliary: " << vccPaux << " mV" << std::endl;
}
result = xadc.getVccInt(vccInt);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
sif::info << "Q7STestTask::xadcTest: VCC PL internal: " << vccInt << " mV" << std::endl;
}
result = xadc.getVccAux(vccAux);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
sif::info << "Q7STestTask::xadcTest: VCC PL auxilliary: " << vccAux << " mV" << std::endl;
}
result = xadc.getVccBram(vccBram);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
sif::info << "Q7STestTask::xadcTest: VCC BRAM: " << vccBram << " mV" << std::endl;
}
result = xadc.getVccOddr(vccOddr);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
sif::info << "Q7STestTask::xadcTest: VCC PS I/O DDR : " << vccOddr << " mV" << std::endl;
}
result = xadc.getVrefp(vrefp);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
sif::info << "Q7STestTask::xadcTest: Vrefp : " << vrefp << " mV" << std::endl;
}
result = xadc.getVrefn(vrefn);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (result == returnvalue::OK) {
sif::info << "Q7STestTask::xadcTest: Vrefn : " << vrefn << " mV" << std::endl;
}
}

5
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -3,7 +3,7 @@
#include <libgpsmm.h>
#include "test/testtasks/TestTask.h"
#include "test/TestTask.h"
class CoreController;
@ -16,6 +16,9 @@ class Q7STestTask : public TestTask {
private:
bool doTestSdCard = false;
bool doTestScratchApi = false;
static constexpr bool DO_TEST_GOMSPACE_API = false;
static constexpr bool DO_TEST_GOMSPACE_GET_CONFIG = false;
static constexpr bool DO_TEST_FS_HANDLER = false;
bool doTestGpsShm = false;
bool doTestGpsSocket = false;
bool doTestProtHandler = false;

8
bsp_q7s/callbacks/CMakeLists.txt
View File

@ -1,6 +1,2 @@
target_sources(${OBSW_NAME} PRIVATE
rwSpiCallback.cpp
gnssCallback.cpp
pcduSwitchCb.cpp
q7sGpioCallbacks.cpp
)
target_sources(${OBSW_NAME} PRIVATE rwSpiCallback.cpp gnssCallback.cpp
pcduSwitchCb.cpp q7sGpioCallbacks.cpp)

20
bsp_q7s/callbacks/gnssCallback.cpp
View File

@ -1,25 +1,29 @@
#include "gnssCallback.h"
#include "devices/gpioIds.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/tasks/TaskFactory.h"
ReturnValue_t gps::triggerGpioResetPin(void* args) {
ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
// At least one byte which denotes which GPS to reset is required
if (len < 1 or actionData == nullptr) {
return HasActionsIF::INVALID_PARAMETERS;
}
ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
if (args == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
if (resetArgs->gpioComIF == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
gpioId_t gpioId;
if (resetArgs->gnss1) {
gpioId = gpioIds::GNSS_1_NRESET;
} else {
if (actionData[0] == 0) {
gpioId = gpioIds::GNSS_0_NRESET;
} else {
gpioId = gpioIds::GNSS_1_NRESET;
}
resetArgs->gpioComIF->pullLow(gpioId);
TaskFactory::delayTask(resetArgs->waitPeriodMs);
resetArgs->gpioComIF->pullHigh(gpioId);
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}

5
bsp_q7s/callbacks/gnssCallback.h
View File

@ -1,18 +1,17 @@
#ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
#define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
struct ResetArgs {
bool gnss1 = false;
LinuxLibgpioIF* gpioComIF = nullptr;
uint32_t waitPeriodMs = 100;
};
namespace gps {
ReturnValue_t triggerGpioResetPin(void* args);
ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
}

2
bsp_q7s/callbacks/q7sGpioCallbacks.cpp
View File

@ -47,7 +47,7 @@ void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComIF->addGpios(spiMuxGpios);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
return;
}

81
bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -29,31 +29,32 @@ void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args) {
// Stopwatch watch;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
RwHandler* handler = reinterpret_cast<RwHandler*>(args);
if (handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
uint8_t writeBuffer[2] = {};
uint8_t writeSize = 0;
gpioId_t gpioId = cookie->getChipSelectPin();
GpioIF* gpioIF = comIf->getGpioInterface();
GpioIF& gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if (mutex == nullptr or gpioIF == nullptr) {
MutexIF* mutex = comIf->getCsMutex();
cookie->getMutexParams(timeoutType, timeoutMs);
if (mutex == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
int fileDescriptor = 0;
const std::string& dev = comIf->getSpiDev();
result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
if (result != HasReturnvaluesIF::RETURN_OK) {
result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
if (result != returnvalue::OK) {
return result;
}
@ -74,8 +75,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return rws::SPI_WRITE_FAILURE;
}
/** Encoding and sending command */
@ -99,8 +100,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return rws::SPI_WRITE_FAILURE;
}
idx++;
}
@ -111,14 +112,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return rws::SPI_WRITE_FAILURE;
}
uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if (result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
if (result != returnvalue::OK) {
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return result;
}
@ -126,10 +127,10 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
// There must be a delay of at least 20 ms after sending the command.
// Delay for 70 ms here and release the SPI bus for that duration.
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
usleep(RwDefinitions::SPI_REPLY_DELAY);
result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
if (result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
usleep(rws::SPI_REPLY_DELAY);
result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
if (result != returnvalue::OK) {
return result;
}
@ -138,17 +139,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
* However, receiving more than 5 empty frames will be interpreted as an error.
*/
uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) {
for (idx = 0; idx < 10; idx++) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return rws::SPI_READ_FAILURE;
}
if (idx == 0) {
if (byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
return RwHandler::NO_START_MARKER;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return rws::NO_START_MARKER;
}
}
@ -158,8 +159,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (idx == 9) {
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
return RwHandler::NO_REPLY;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return rws::NO_REPLY;
}
}
@ -174,7 +175,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
byteRead = 0;
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
result = rws::SPI_READ_FAILURE;
break;
}
}
@ -185,7 +186,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
} else if (byteRead == 0x7D) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
result = rws::SPI_READ_FAILURE;
break;
}
if (byteRead == 0x5E) {
@ -198,8 +199,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
continue;
} else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
result = rws::INVALID_SUBSTITUTE;
break;
}
} else {
@ -216,23 +217,23 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (decodedFrameLen == replyBufferSize) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
result = rws::SPI_READ_FAILURE;
break;
}
if (byteRead != FLAG_BYTE) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
<< std::endl;
decodedFrameLen--;
result = RwHandler::MISSING_END_SIGN;
result = rws::MISSING_END_SIGN;
break;
}
}
result = HasReturnvaluesIF::RETURN_OK;
result = returnvalue::OK;
}
cookie->setTransferSize(decodedFrameLen);
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return result;
}
@ -243,7 +244,7 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
int& fd) {
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
return result;
}
@ -257,21 +258,21 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
result = gpioIF->pullLow(gpioId);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
return result;
}
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
close(fd);
if (gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
if (gpioIF->pullHigh(gpioId) != returnvalue::OK) {
sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
}
}
if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
if (mutex->unlockMutex() != returnvalue::OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
;
}

2
bsp_q7s/callbacks/rwSpiCallback.h
View File

@ -1,7 +1,7 @@
#ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
#define BSP_Q7S_RW_SPI_CALLBACK_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"

7
bsp_q7s/comIF/CMakeLists.txt
View File

@ -1,6 +1 @@
target_sources(${OBSW_NAME} PRIVATE
)
target_sources(${OBSW_NAME} PRIVATE)

11
bsp_q7s/core/CMakeLists.txt
View File

@ -1,9 +1,4 @@
target_sources(${OBSW_NAME} PRIVATE
CoreController.cpp
InitMission.cpp
ObjectFactory.cpp
)
target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
ObjectFactory.cpp WatchdogHandler.cpp)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
InitMission.cpp
)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE scheduling.cpp)

1088
bsp_q7s/core/CoreController.cpp
View File

File diff suppressed because it is too large Load Diff

126
bsp_q7s/core/CoreController.h
View File

@ -7,10 +7,12 @@
#include <cstddef>
#include "CoreDefinitions.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "OBSWConfig.h"
#include "bsp_q7s/fs/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/trace.h"
class Timer;
class SdCardManager;
@ -51,31 +53,57 @@ class CoreController : public ExtendedControllerBase {
static constexpr char CHIP_PROT_SCRIPT[] = "get-chip-prot-status.sh";
static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
static constexpr char CONF_FOLDER[] = "conf";
static constexpr char VERSION_FILE_NAME[] = "version.txt";
static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
static constexpr char TIME_FILE_NAME[] = "time.txt";
static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
const std::string VERSION_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
const std::string REBOOT_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
const std::string BACKUP_TIME_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t ANNOUNCE_VERSION = 1;
static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
static constexpr ActionId_t REBOOT_OBC = 32;
static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
//! Reboot using the xsc_boot_copy command
static constexpr ActionId_t XSC_REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
//! Reboot using the reboot command
static constexpr ActionId_t REBOOT_OBC = 34;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
//! [EXPORT] : [COMMENT] Software reboot occurred. Can also be a systemd reboot.
//! P1: Current Chip, P2: Current Copy
static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
//! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
//! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
//! P2: Each byte is the respective reboot count for the slots
@ -83,6 +111,22 @@ class CoreController : public ExtendedControllerBase {
event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
//! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
//! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
//! a SD card.
static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
//! [EXPORT] : [COMMENT]
//! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
//! P2: First four letters of Git SHA is the last byte of P1 is set.
static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
//! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
//! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
//! individual images.
static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
//! [EXPORT] : [COMMENT] Get the boot count of the individual images.
//! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
//! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
CoreController(object_id_t objectId);
virtual ~CoreController();
@ -104,6 +148,7 @@ class CoreController : public ExtendedControllerBase {
static ReturnValue_t generateChipStateFile();
static ReturnValue_t incrementAllocationFailureCount();
static void getCurrentBootCopy(xsc::Chip& chip, xsc::Copy& copy);
static const char* getXscMountDir(xsc::Chip chip, xsc::Copy copy);
ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
@ -124,11 +169,9 @@ class CoreController : public ExtendedControllerBase {
bool sdInitFinished() const;
private:
static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t MUTEX_TIMEOUT = 20;
// Designated value for rechecking FIFO open
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
// States for SD state machine, which is used in non-blocking mode
@ -148,38 +191,50 @@ class CoreController : public ExtendedControllerBase {
SKIP_CYCLE_BEFORE_INFO_UPDATE,
UPDATE_INFO,
// SD initialization done
IDLE,
// Used if SD switches or mount commands are issued via telecommand
SET_STATE_FROM_COMMAND,
IDLE
};
enum class SwUpdateSources { SD_0, SD_1, TMP_DIR };
static constexpr bool BLOCKING_SD_INIT = false;
SdCardManager* sdcMan = nullptr;
MessageQueueIF* eventQueue = nullptr;
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
sd::SdState prefState = sd::SdState::OFF;
SdStates sdFsmState = SdStates::START;
enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
struct SdFsmParams {
SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
sd::SdCard active = sd::SdCard::NONE;
sd::SdCard other = sd::SdCard::NONE;
sd::SdState activeState = sd::SdState::OFF;
sd::SdState otherState = sd::SdState::OFF;
std::string prefChar = "0";
std::string activeChar = "0";
std::string otherChar = "1";
SdStates state = SdStates::START;
std::pair<bool, bool> mountSwitch = {true, true};
// Used to track whether a command was executed
bool commandExecuted = true;
bool initFinished = false;
SdCardManager::SdStatePair currentState;
uint16_t cycleCount = 0;
// These two flags are related to external commanding
bool commandIssued = false;
bool commandFinished = false;
sd::SdState currentlyCommandedState = sd::SdState::OFF;
sd::SdCard commandedCard = sd::SdCard::NONE;
sd::SdState commandedState = sd::SdState::OFF;
} sdInfo;
struct SdCommanding {
bool cmdPending = false;
MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
DeviceCommandId_t actionId;
} sdCommandingInfo;
RebootFile rebootFile = {};
std::string currMntPrefix;
bool doPerformMountedSdCardOps = true;
bool timeFileInitDone = false;
bool performOneShotSdCardOpsSwitch = false;
uint8_t shortSdCardCdCounter = 0;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter;
#endif
Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
/**
* Index 0: Chip 0 Copy 0
@ -191,39 +246,51 @@ class CoreController : public ExtendedControllerBase {
PeriodicOperationDivider opDivider5;
PeriodicOperationDivider opDivider10;
PoolEntry<float> tempPoolEntry = PoolEntry<float>(0.0);
PoolEntry<float> psVoltageEntry = PoolEntry<float>(0.0);
PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
core::HkSet hkSet;
#if OBSW_SD_CARD_MUST_BE_ON == 1
bool remountAttemptFlag = true;
#endif
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
void performMountedSdCardOperations();
ReturnValue_t initVersionFile();
ReturnValue_t initClockFromTimeFile();
ReturnValue_t timeFileHandler();
ReturnValue_t initBootCopy();
ReturnValue_t initWatchdogFifo();
ReturnValue_t performSdCardCheck();
ReturnValue_t backupTimeFileHandler();
ReturnValue_t initBootCopyFile();
ReturnValue_t initSdCardBlocking();
bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode, MessageQueueId_t commander,
DeviceCommandId_t actionId);
void initPrint();
ReturnValue_t sdStateMachine();
void updateSdInfoOther();
ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
bool printOutput = true);
ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);
ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void determinePreferredSdCard();
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
void performRebootFileHandling(bool recreateFile);
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);
ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
ReturnValue_t actionReboot(const uint8_t* data, size_t size);
void performWatchdogControlOperation();
ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
@ -235,6 +302,7 @@ class CoreController : public ExtendedControllerBase {
void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
bool parseRebootFile(std::string path, RebootFile& file);
void rewriteRebootFile(RebootFile file);
void announceBootCounts();
void readHkData();
bool isNumber(const std::string& s);
};

477
bsp_q7s/core/InitMission.cpp
View File

@ -1,477 +0,0 @@
#include "bsp_q7s/core/InitMission.h"
#include <iostream>
#include <vector>
#include "OBSWConfig.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h"
/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR");
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif
ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
}
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if (factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc)(void) = nullptr;
#endif
PeriodicTaskIF* coreController = factory->createPeriodicTask(
"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = coreController->addComponent(objects::CORE_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
}
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
}
#if OBSW_ADD_TCPIP_BRIDGE == 1
// TMTC bridge
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
}
#endif
#if OBSW_USE_CCSDS_IP_CORE == 1
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
}
// Minimal distance between two received TCs amounts to 0.6 seconds
// If a command has not been read before the next one arrives, the old command will be
// overwritten by the PDEC.
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
}
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsTask = factory->createPeriodicTask(
"ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsTask->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_ACS_HANDLERS */
PeriodicTaskIF* sysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
#if OBSW_ADD_ACS_HANDLERS == 1
result = sysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
}
#endif /* OBSW_ADD_ACS_HANDLERS */
#if OBSW_ADD_RW == 1
result = sysTask->addComponent(objects::RW_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
}
#endif
#if OBSW_ADD_SUS_BOARD_ASS == 1
result = sysTask->addComponent(objects::SUS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
}
#endif
#if OBSW_ADD_RTD_DEVICES == 1
result = sysTask->addComponent(objects::TCS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
}
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
// 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 OBSW_ADD_STAR_TRACKER == 1
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strHelperTask->addComponent(objects::STR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
}
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_PLOC_MPSOC == 1
PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
"PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
}
#endif /* OBSW_ADD_PLOC_MPSOC */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
"PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
}
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
#if OBSW_TEST_CCSDS_BRIDGE == 1
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
}
#endif
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
#if OBSW_ADD_TEST_CODE == 1
std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, testTasks);
#endif
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();
#if OBSW_ADD_TCPIP_BRIDGE == 1
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
#endif
#if OBSW_USE_CCSDS_IP_CORE == 1
ccsdsHandlerTask->startTask();
pdecHandlerTask->startTask();
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
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 OBSW_TEST_CCSDS_BRIDGE == 1
ptmeTestTask->startTask();
#endif
fsTask->startTask();
#if OBSW_ADD_STAR_TRACKER == 1
strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
acsTask->startTask();
#endif
#if OBSW_ADD_RTD_DEVICES == 1
sysTask->startTask();
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
sif::info << "Tasks started.." << std::endl;
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
} else {
sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
}
} else {
taskVec.push_back(spiPst);
}
#endif
#if OBSW_ADD_RW == 1
FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
"RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
result = pst::pstSpiRw(rwPstTask);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
} else {
sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
}
} else {
taskVec.push_back(rwPstTask);
}
#endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstUart(uartPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "InitMission::initTasks: UART PST is empty" << std::endl;
} else {
sif::error << "InitMission::initTasks: Creating UART PST failed!" << std::endl;
}
} else {
taskVec.push_back(uartPst);
}
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
result = pst::pstGpio(gpioPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
} else {
sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
}
} else {
taskVec.push_back(gpioPst);
}
#if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
} else {
sif::error << "InitMission::initTasks: Creating I2C PST failed!" << std::endl;
}
} else {
taskVec.push_back(i2cPst);
}
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
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) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
}
taskVec.push_back(gomSpacePstTask);
#endif
}
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* PUS Services */
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(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
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) {
initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
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) {
initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
static_cast<void>(result); // supress warning in case it is not used
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif
#if OBSW_ADD_I2C_TEST_CODE == 1
result = testTask->addComponent(objects::I2C_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
}
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
result = testTask->addComponent(objects::UART_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
}
#endif
taskVec.push_back(testTask);
#endif // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
}
/**
▄ ▄
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▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
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▒▒▒▒▒▒▒▒▒▒▀▀
**/

580
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,19 +1,34 @@
#include "ObjectFactory.h"
#include <fsfw/subsystem/Subsystem.h>
#include <linux/devices/AcsBoardPolling.h>
#include <linux/devices/ImtqPollingTask.h>
#include <linux/devices/RwPollingTask.h>
#include <mission/devices/GyrL3gCustomHandler.h>
#include <mission/devices/MgmLis3CustomHandler.h>
#include <mission/devices/MgmRm3100CustomHandler.h>
#include <mission/system/fdir/StrFdir.h>
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/objects/ImtqAssembly.h>
#include <mission/system/objects/StrAssembly.h>
#include <mission/system/objects/SyrlinksAssembly.h>
#include <mission/tmtc/LiveTmTask.h>
#include <mission/tmtc/PersistentLogTmStoreTask.h>
#include <mission/tmtc/PersistentSingleTmStoreTask.h>
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h"
#include "ccsdsConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "devices/powerSwitcherList.h"
#include "eive/definitions.h"
#include "fsfw/ipc/QueueFactory.h"
#include "linux/ObjectFactory.h"
#include "linux/boardtest/I2cTestClass.h"
@ -21,8 +36,8 @@
#include "linux/boardtest/UartTestClass.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "linux/csp/CspComIF.h"
#include "linux/csp/CspCookie.h"
#include "linux/devices/GPSHyperionLinuxController.h"
#include "linux/devices/GpsHyperionLinuxController.h"
#include "linux/devices/ScexUartReader.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "linux/devices/ploc/PlocMPSoCHandler.h"
@ -31,22 +46,38 @@
#include "linux/devices/ploc/PlocSupervisorHandler.h"
#include "linux/devices/startracker/StarTrackerHandler.h"
#include "linux/devices/startracker/StrHelper.h"
#include "linux/obc/AxiPtmeConfig.h"
#include "linux/obc/PapbVcInterface.h"
#include "linux/obc/PdecHandler.h"
#include "linux/obc/Ptme.h"
#include "linux/obc/PtmeConfig.h"
#include "mission/system/RwAssembly.h"
#include "linux/ipcore/AxiPtmeConfig.h"
#include "linux/ipcore/PapbVcInterface.h"
#include "linux/ipcore/PdecHandler.h"
#include "linux/ipcore/Ptme.h"
#include "linux/ipcore/PtmeConfig.h"
#include "mission/config/configfile.h"
#include "mission/csp/CspCookie.h"
#include "mission/system/fdir/AcsBoardFdir.h"
#include "mission/system/fdir/GomspacePowerFdir.h"
#include "mission/system/fdir/RtdFdir.h"
#include "mission/system/fdir/SusFdir.h"
#include "mission/system/fdir/SyrlinksFdir.h"
#include "tmtc/apid.h"
#include "mission/system/objects/AcsSubsystem.h"
#include "mission/system/objects/RwAssembly.h"
#include "mission/system/objects/TcsBoardAssembly.h"
#include "mission/system/tree/acsModeTree.h"
#include "mission/system/tree/comModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tmtc/tmFilters.h"
#include "mission/utility/GlobalConfigHandler.h"
#include "tmtc/pusIds.h"
#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
#endif
#include <mission/devices/GyrAdis1650XHandler.h>
#include <mission/devices/ImtqHandler.h>
#include <mission/devices/PcduHandler.h>
#include <mission/devices/SyrlinksHandler.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/tmtc/VirtualChannelWithQueue.h>
#include <sstream>
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
@ -61,86 +92,83 @@
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
#include "fsfw_hal/linux/serial/SerialCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/BpxBatteryHandler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/PCDUHandler.h"
#include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h"
#include "mission/devices/PayloadPcduHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
#include "mission/devices/SolarArrayDeploymentHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/system/AcsBoardAssembly.h"
#include "mission/tmtc/CCSDSHandler.h"
#include "mission/tmtc/VirtualChannel.h"
#include "mission/utility/TmFunnel.h"
#include "mission/system/objects/AcsBoardAssembly.h"
#include "mission/tmtc/CcsdsIpCoreHandler.h"
#include "mission/tmtc/TmFunnelHandler.h"
ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;
ResetArgs RESET_ARGS_GNSS;
std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
// DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#if OBSW_TM_TO_PTME == 1
TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
#if OBSW_Q7S_EM == 1
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#else
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
#endif /* OBSW_TM_TO_PTME == 1 */
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
#endif /* OBSW_Q7S_EM == 1 */
LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
}
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
void ObjectFactory::createTmpComponents() {
I2cCookie* i2cCookieTmp1075tcs1 =
new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
I2cCookie* i2cCookieTmp1075tcs2 =
new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
{objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
{objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
// damaged
// {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
std::vector<I2cCookie*> tmpDevCookies;
/* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 =
new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
(void)tmp1075Handler_1;
Tmp1075Handler* tmp1075Handler_2 =
new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
(void)tmp1075Handler_2;
for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
tmpDevCookies.push_back(
new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
auto* tmpDevHandler =
new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
// TODO: Remove this after TCS subsystem was added
// These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
// we set them to normal mode immediately here.
tmpDevHandler->setModeNormal();
}
}
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
SpiComIF** spiRWComIF) {
if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
spiRWComIF == nullptr) {
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
SerialComIF** uartComIF, SpiComIF** spiMainComIF,
I2cComIF** i2cComIF) {
if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
<< std::endl;
}
@ -149,18 +177,16 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF);
*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
*uartComIF = new UartComIF(objects::UART_COM_IF);
*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF);
*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
/* Adding gpios for chip select decoding to the gpioComIf */
q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
*uartComIF = new SerialComIF(objects::UART_COM_IF);
*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
//*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
}
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
P60DockHandler* p60dockhandler =
@ -198,8 +224,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
#endif
}
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
Stack5VHandler& stackHandler) {
using namespace gpio;
if (gpioComIF == nullptr) {
return returnvalue::FAILED;
}
GpioCookie* gpioCookieRadSensor = new GpioCookie;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::RAD_SENSOR;
@ -214,20 +244,18 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
SpiCookie* spiCookieRadSensor =
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
spiCookieRadSensor, gpioComIF);
spiCookieRadSensor, gpioComIF, stackHandler);
static_cast<void>(radSensor);
// The radiation sensor ADC is powered by the 5V stack connector which should always be on
radSensor->setStartUpImmediately();
// It's a simple sensor, so just to to normal mode immediately
radSensor->setToGoToNormalModeImmediately();
#if OBSW_DEBUG_RAD_SENSOR == 1
radSensor->enablePeriodicDataPrint(true);
#endif
return returnvalue::OK;
}
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
PowerSwitchIF* pwrSwitcher) {
void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher) {
using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
@ -329,16 +357,20 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
AcsBoardFdir* fdir = nullptr;
static_cast<void>(fdir);
#if OBSW_ADD_ACS_HANDLERS == 1
#if OBSW_ADD_ACS_BOARD == 1
new AcsBoardPolling(objects::ACS_BOARD_POLLING_TASK, spiComIF, *gpioComIF);
std::string spiDev = q7s::SPI_DEFAULT_DEV;
std::array<DeviceHandlerBase*, 8> assemblyChildren;
SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, mgmLis3::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto mgmLis3Handler0 =
new MgmLis3CustomHandler(objects::MGM_0_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
mgmLis3Handler->setCustomFdir(fdir);
static_cast<void>(mgmLis3Handler);
mgmLis3Handler0->setCustomFdir(fdir);
assemblyChildren[0] = mgmLis3Handler0;
#if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true);
@ -347,15 +379,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif
spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, mgmRm3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto mgmRm3100Handler1 =
new MgmRm3100CustomHandler(objects::MGM_1_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
mgmRm3100Handler->setCustomFdir(fdir);
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
static_cast<void>(mgmRm3100Handler);
mgmRm3100Handler1->setCustomFdir(fdir);
assemblyChildren[1] = mgmRm3100Handler1;
#if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true);
@ -363,15 +395,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY);
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, mgmLis3::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto* mgmLis3Handler2 =
new MgmLis3CustomHandler(objects::MGM_2_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
mgmLis3Handler->setCustomFdir(fdir);
mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
static_cast<void>(mgmLis3Handler);
mgmLis3Handler2->setCustomFdir(fdir);
assemblyChildren[2] = mgmLis3Handler2;
#if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true);
@ -380,13 +412,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, mgmRm3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::RM3100_TRANSITION_DELAY);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto* mgmRm3100Handler3 =
new MgmRm3100CustomHandler(objects::MGM_3_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
mgmRm3100Handler->setCustomFdir(fdir);
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
mgmRm3100Handler3->setCustomFdir(fdir);
assemblyChildren[3] = mgmRm3100Handler3;
#if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true);
@ -397,15 +431,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
// Commented until ACS board V2 in in clean room again
// Gyro 0 Side A
spiCookie =
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto adisHandler =
new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
ADIS1650X::Type::ADIS16505);
new GyrAdis1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, adis1650x::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
adisHandler->setParent(objects::ACS_BOARD_ASS);
static_cast<void>(adisHandler);
assemblyChildren[4] = adisHandler;
#if OBSW_TEST_ACS == 1
adisHandler->setStartUpImmediately();
adisHandler->setToGoToNormalModeImmediately();
@ -414,14 +448,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
adisHandler->enablePeriodicPrintouts(true, 10);
#endif
// Gyro 1 Side A
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, l3gd20h::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(
objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto gyroL3gHandler1 =
new GyrL3gCustomHandler(objects::GYRO_1_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
gyroL3gHandler->setCustomFdir(fdir);
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
static_cast<void>(gyroL3gHandler);
gyroL3gHandler1->setCustomFdir(fdir);
assemblyChildren[5] = gyroL3gHandler1;
#if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true);
@ -431,25 +466,29 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#endif
// Gyro 2 Side B
spiCookie =
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, ADIS1650X::Type::ADIS16505);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
adisHandler =
new GyrAdis1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, adis1650x::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
adisHandler->setParent(objects::ACS_BOARD_ASS);
assemblyChildren[6] = adisHandler;
#if OBSW_TEST_ACS == 1
adisHandler->setStartUpImmediately();
adisHandler->setToGoToNormalModeImmediately();
#endif
// Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, l3gd20h::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::L3G_TRANSITION_DELAY);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto gyroL3gHandler3 =
new GyrL3gCustomHandler(objects::GYRO_3_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
gyroL3gHandler->setCustomFdir(fdir);
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
gyroL3gHandler3->setCustomFdir(fdir);
assemblyChildren[7] = gyroL3gHandler3;
#if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true);
@ -461,27 +500,19 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_GPS == 1
debugGps = true;
#endif
resetArgsGnss1.gnss1 = true;
resetArgsGnss1.gpioComIF = gpioComIF;
resetArgsGnss1.waitPeriodMs = 100;
resetArgsGnss0.gnss1 = false;
resetArgsGnss0.gpioComIF = gpioComIF;
resetArgsGnss0.waitPeriodMs = 100;
auto gpsHandler0 =
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
RESET_ARGS_GNSS.gpioComIF = gpioComIF;
RESET_ARGS_GNSS.waitPeriodMs = 100;
auto gpsCtrl =
new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
AcsBoardHelper acsBoardHelper = AcsBoardHelper(
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
acsBoardHelper, gpioComIF);
static_cast<void>(acsAss);
ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
}
void ObjectFactory::createHeaterComponents() {
void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
HealthTableIF* healthTable,
HeaterHandler*& heaterHandler) {
using namespace gpio;
GpioCookie* heaterGpiosCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
@ -522,11 +553,13 @@ void ObjectFactory::createHeaterComponents() {
Levels::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
gpioIF->addGpios(heaterGpiosCookie);
ObjectFactory::createGenericHeaterComponents(*gpioIF, *pwrSwitcher, heaterHandler);
}
void ObjectFactory::createSolarArrayDeploymentComponents() {
void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
GpioIF& gpioIF) {
using namespace gpio;
GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
@ -539,33 +572,41 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
Levels::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
ReturnValue_t result = gpioIF.addGpios(solarArrayDeplCookie);
if (result != returnvalue::OK) {
sif::error << "Adding Solar Array Deployment GPIO cookie failed" << std::endl;
}
// TODO: Find out burn time. For now set to 1000 ms.
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
solarArrayDeplCookie, objects::PCDU_HANDLER,
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
}
void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
UartCookie* syrlinksUartCookie =
new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
auto* syrlinksUartCookie =
new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
syrlinksUartCookie->setParityEven();
auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
auto syrlinksHandler =
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
syrlinksHandler->setPowerSwitcher(pwrSwitcher);
syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
#if OBSW_DEBUG_SYRLINKS == 1
syrlinksHandler->setDebugMode(true);
#endif
}
void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitch) {
using namespace gpio;
std::stringstream consumer;
auto* camSwitcher =
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
#if OBSW_ADD_PLOC_MPSOC == 1
consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
@ -574,13 +615,14 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
auto mpsocCookie =
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
mpsocCookie->setNoFixedSizeReply();
auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
objects::PLOC_SUPERVISOR_HANDLER);
auto* mpsocHandler = new PlocMPSoCHandler(
objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
mpsocHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
@ -590,13 +632,14 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
gpioComIF->addGpios(supvGpioCookie);
auto supervisorCookie =
new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
supervisorCookie->setNoFixedSizeReply();
auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
pcdu::PDU1_CH6_PLOC_12V, supvHelper);
auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
pcdu::PDU1_CH6_PLOC_12V, *supvHelper);
supvHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
static_cast<void>(consumer);
}
@ -656,123 +699,122 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
gpioIds::EN_RW4};
std::array<RwHandler*, 4> rws = {};
std::array<DeviceHandlerBase*, 4> rws = {};
new RwPollingTask(objects::RW_POLLING_TASK, q7s::SPI_RW_DEV, *gpioComIF);
for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
&rwSpiCallback::spiCallback, nullptr);
rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
rwGpioIds[idx]);
rwCookies[idx]->setCallbackArgs(rws[idx]);
rwCookies[idx] = new RwCookie(idx, rwCookieParams[idx].first, rwCookieParams[idx].second,
rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
auto* rwHandler = new RwHandler(rwIds[idx], objects::RW_POLLING_TASK, rwCookies[idx], gpioComIF,
rwGpioIds[idx], idx);
#if OBSW_TEST_RW == 1
rws[idx]->setStartUpImmediately();
#endif
#if OBSW_DEBUG_RW == 1
rws[idx]->setDebugMode(true);
rwHandler->setDebugMode(true);
#endif
rws[idx] = rwHandler;
}
RwHelper rwHelper(rwIds);
auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
static_cast<void>(rwAss);
createRwAssy(*pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rws, rwIds);
#endif /* OBSW_ADD_RW == 1 */
}
void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
using namespace gpio;
// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
std::stringstream consumer;
consumer.str("PAPB VC0");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
consumer.str("PAPB VC0");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
consumer.str("PAPB VC 1");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
consumer.str("");
consumer.str("PAPB VC 1");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
consumer.str("");
consumer.str("PAPB VC 2");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
consumer.str("");
consumer.str("PAPB VC 2");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
consumer.str("");
consumer.str("PAPB VC 3");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
consumer.str("");
consumer.str("PAPB VC 3");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
// Creating virtual channel interfaces
VcInterfaceIF* vc0 =
new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC0);
VcInterfaceIF* vc1 =
new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC1);
VcInterfaceIF* vc2 =
new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC2);
VcInterfaceIF* vc3 =
new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC3);
VirtualChannelIF* vc0 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
VirtualChannelIF* vc1 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
VirtualChannelIF* vc2 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
VirtualChannelIF* vc3 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
// Creating ptme object and adding virtual channel interfaces
Ptme* ptme = new Ptme(objects::PTME);
ptme->addVcInterface(ccsds::VC0, vc0);
ptme->addVcInterface(ccsds::VC1, vc1);
ptme->addVcInterface(ccsds::VC2, vc2);
ptme->addVcInterface(ccsds::VC3, vc3);
AxiPtmeConfig* axiPtmeConfig =
new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
// Set to high value when not sending via syrlinks
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
#else
static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 15 minutes
#endif
CCSDSHandler* ccsdsHandler = new CCSDSHandler(
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
VirtualChannel* vc = nullptr;
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
*args.ipCoreHandler = new CcsdsIpCoreHandler(
objects::CCSDS_HANDLER, objects::CCSDS_PACKET_DISTRIBUTOR, *ptmeConfig, LINK_STATE,
&args.gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
// This VC will receive all live TM
auto* vcWithQueue =
new VirtualChannelWithQueue(objects::PTME_VC0_LIVE_TM, ccsds::VC0, "PTME VC0 LIVE TM", *ptme,
LINK_STATE, args.tmStore, 500);
args.liveDestination = vcWithQueue;
new LiveTmTask(objects::LIVE_TM_TASK, args.pusFunnel, args.cfdpFunnel, *vcWithQueue);
// Set up log store.
auto* vc = new VirtualChannel(objects::PTME_VC1_LOG_TM, ccsds::VC1, "PTME VC1 LOG TM", *ptme,
LINK_STATE);
LogStores logStores(args.stores);
// Core task which handles the LOG store and takes care of dumping it as TM using a VC directly
new PersistentLogTmStoreTask(objects::LOG_STORE_AND_TM_TASK, args.ipcStore, logStores, *vc,
*SdCardManager::instance());
vc = new VirtualChannel(objects::PTME_VC2_HK_TM, ccsds::VC2, "PTME VC2 HK TM", *ptme, LINK_STATE);
// Core task which handles the HK store and takes care of dumping it as TM using a VC directly
new PersistentSingleTmStoreTask(objects::HK_STORE_AND_TM_TASK, args.ipcStore,
*args.stores.hkStore, *vc, persTmStore::DUMP_HK_STORE_DONE,
*SdCardManager::instance());
vc = new VirtualChannel(objects::PTME_VC3_CFDP_TM, ccsds::VC3, "PTME VC3 CFDP TM", *ptme,
LINK_STATE);
// Core task which handles the CFDP store and takes care of dumping it as TM using a VC directly
new PersistentSingleTmStoreTask(objects::CFDP_STORE_AND_TM_TASK, args.ipcStore,
*args.stores.cfdpStore, *vc, persTmStore::DUMP_CFDP_STORE_DONE,
*SdCardManager::instance());
ReturnValue_t result = (*args.ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
if (result != returnvalue::OK) {
sif::error
<< "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
<< std::endl;
}
GpioCookie* gpioCookiePdec = new GpioCookie;
consumer.str("");
consumer << "0x" << std::hex << objects::PDEC_HANDLER;
// GPIO also low after linux boot (specified by device-tree)
gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, "PDEC Handler", Direction::OUT,
Levels::LOW);
gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
gpioChecker(args.gpioComIF.addGpios(gpioCookiePdec), "PDEC");
struct UioNames uioNames {};
uioNames.configMemory = q7s::UIO_PDEC_CONFIG_MEMORY;
uioNames.ramMemory = q7s::UIO_PDEC_RAM;
uioNames.registers = q7s::UIO_PDEC_REGISTERS;
uioNames.irq = q7s::UIO_PDEC_IRQ;
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, &args.gpioComIF,
gpioIds::PDEC_RESET, uioNames);
GpioCookie* gpioRS485Chip = new GpioCookie;
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
Direction::OUT, Levels::LOW);
@ -780,7 +822,6 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
Direction::OUT, Levels::LOW);
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
// Default configuration enables RX channels (RXEN = LOW)
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
Direction::OUT, Levels::LOW);
@ -788,12 +829,13 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
Direction::OUT, Levels::LOW);
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
gpioChecker(args.gpioComIF.addGpios(gpioRS485Chip), "RS485 Transceiver");
return returnvalue::OK;
}
void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher) {
PowerSwitchIF* pwrSwitcher,
Stack5VHandler& stackHandler) {
using namespace gpio;
// Create all GPIO components first
GpioCookie* plPcduGpios = new GpioCookie;
@ -839,10 +881,9 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
// Create device handler components
auto plPcduHandler = new PayloadPcduHandler(
objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, gpioComIF,
SdCardManager::instance(), pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
auto plPcduHandler =
new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
gpioComIF, SdCardManager::instance(), stackHandler, false);
spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
// plPcduHandler->enablePeriodicPrintout(true, 5);
// static_cast<void>(plPcduHandler);
@ -853,6 +894,7 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
plPcduHandler->setToGoToNormalModeImmediately(true);
plPcduHandler->enablePeriodicPrintout(true, 10);
#endif
plPcduHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
}
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
@ -861,31 +903,56 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif
#if OBSW_ADD_I2C_TEST_CODE == 1
new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
new I2cTestClass(objects::I2C_TEST, q7s::I2C_PL_EIVE);
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
// auto* reader= new ScexUartReader(objects::SCEX_UART_READER);
new UartTestClass(objects::UART_TEST);
#endif
}
void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
UartCookie* starTrackerCookie =
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
auto* strAssy = new StrAssembly(objects::STR_ASSY);
strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
auto* starTrackerCookie =
new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
starTrackerCookie->setNoFixedSizeReply();
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
const char* paramJsonFile = nullptr;
#ifdef EGSE
paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
#else
#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
#else
paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
#endif
#endif
if (paramJsonFile == nullptr) {
sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
}
auto strFdir = new StrFdir(objects::STAR_TRACKER);
auto starTracker =
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
paramJsonFile, strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
starTracker->setPowerSwitcher(pwrSwitcher);
starTracker->connectModeTreeParent(*strAssy);
starTracker->setCustomFdir(strFdir);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
I2cCookie* imtqI2cCookie =
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
new ImtqPollingTask(objects::IMTQ_POLLING);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
pcdu::Switches::PDU1_CH3_MGT_5V);
imtqHandler->enableThermalModule(ThermalStateCfg());
imtqHandler->setPowerSwitcher(pwrSwitcher);
imtqHandler->connectModeTreeParent(*imtqAssy);
static_cast<void>(imtqHandler);
#if OBSW_TEST_IMTQ == 1
imtqHandler->setStartUpImmediately();
@ -897,7 +964,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
}
void ObjectFactory::createBpxBatteryComponent() {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
BpxBatteryHandler* bpxHandler =
new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
bpxHandler->setStartUpImmediately();
@ -907,17 +974,14 @@ void ObjectFactory::createBpxBatteryComponent() {
#endif
}
void ObjectFactory::createMiscComponents() {
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
}
void ObjectFactory::createMiscComponents() { new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER); }
void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
CommandMessage msg;
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
duallane::A_SIDE);
ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::warning << "Sending mode command failed" << std::endl;
}
}

57
bsp_q7s/core/ObjectFactory.h
View File

@ -1,41 +1,72 @@
#ifndef BSP_Q7S_OBJECTFACTORY_H_
#define BSP_Q7S_OBJECTFACTORY_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <mission/core/GenericFactory.h>
#include <mission/devices/HeaterHandler.h>
#include <mission/system/objects/Stack5VHandler.h>
#include <mission/tmtc/CcsdsIpCoreHandler.h>
#include <mission/tmtc/CfdpTmFunnel.h>
#include <mission/tmtc/PersistentLogTmStoreTask.h>
#include <mission/tmtc/PusTmFunnel.h>
#include <string>
class LinuxLibgpioIF;
class UartComIF;
class SerialComIF;
class SpiComIF;
class I2cComIF;
class PowerSwitchIF;
class HealthTableIF;
class AcsBoardAssembly;
class GpioIF;
namespace ObjectFactory {
struct CcsdsComponentArgs {
CcsdsComponentArgs(LinuxLibgpioIF& gpioIF, StorageManagerIF& ipcStore, StorageManagerIF& tmStore,
PersistentTmStores& stores, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
CcsdsIpCoreHandler** ipCoreHandler)
: gpioComIF(gpioIF),
ipcStore(ipcStore),
tmStore(tmStore),
stores(stores),
pusFunnel(pusFunnel),
cfdpFunnel(cfdpFunnel),
ipCoreHandler(ipCoreHandler) {}
LinuxLibgpioIF& gpioComIF;
StorageManagerIF& ipcStore;
StorageManagerIF& tmStore;
PersistentTmStores& stores;
PusTmFunnel& pusFunnel;
CfdpTmFunnel& cfdpFunnel;
CcsdsIpCoreHandler** ipCoreHandler;
AcceptsTelemetryIF* liveDestination = nullptr;
};
void setStatics();
void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
SpiComIF** spiRwComIF);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher);
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
void createTmpComponents();
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
PowerSwitchIF* pwrSwitcher);
void createHeaterComponents();
ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
PowerSwitchIF& pwrSwitcher);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);
void createImtqComponents(PowerSwitchIF* pwrSwitcher);
void createBpxBatteryComponent();
void createStrComponents(PowerSwitchIF* pwrSwitcher);
void createSolarArrayDeploymentComponents();
void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
void createMiscComponents();
void createTestComponents(LinuxLibgpioIF* gpioComIF);

87
bsp_q7s/core/WatchdogHandler.cpp Normal file
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@ -0,0 +1,87 @@
#include "WatchdogHandler.h"
#include <fcntl.h>
#include <unistd.h>
#include <cerrno>
#include <cstring>
#include <filesystem>
#include "fsfw/serviceinterface.h"
#include "watchdog/definitions.h"
WatchdogHandler::WatchdogHandler() {}
void WatchdogHandler::periodicOperation() {
if (watchdogFifoFd != 0) {
if (watchdogFifoFd == RETRY_FIFO_OPEN) {
// Open FIFO write only and non-blocking
watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
if (watchdogFifoFd < 0) {
if (errno == ENXIO) {
watchdogFifoFd = RETRY_FIFO_OPEN;
// No printout for now, would be spam
return;
} else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with "
<< errno << ": " << strerror(errno) << std::endl;
return;
}
}
sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
performStartHandling();
} else if (watchdogFifoFd > 0) {
// Write to OBSW watchdog FIFO here
const char writeChar = watchdog::first::IDLE_CHAR;
ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
if (writtenBytes < 0) {
sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
<< std::endl;
}
}
}
}
ReturnValue_t WatchdogHandler::initialize(bool enableWatchdogFunction) {
using namespace std::filesystem;
this->enableWatchFunction = enableWatchdogFunction;
std::error_code e;
if (not std::filesystem::exists(watchdog::FIFO_NAME, e)) {
// Still return returnvalue::OK for now
sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
<< " watchdog" << std::endl;
return returnvalue::OK;
}
// Open FIFO write only and non-blocking to prevent SW from killing itself.
watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
if (watchdogFifoFd < 0) {
if (errno == ENXIO) {
watchdogFifoFd = RETRY_FIFO_OPEN;
sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
} else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " << errno
<< ": " << strerror(errno) << std::endl;
return returnvalue::FAILED;
}
}
return performStartHandling();
}
ReturnValue_t WatchdogHandler::performStartHandling() {
char startBuf[2];
ssize_t writeLen = 1;
startBuf[0] = watchdog::first::START_CHAR;
if (enableWatchFunction) {
writeLen += 1;
startBuf[1] = watchdog::second::WATCH_FLAG;
}
ssize_t writtenBytes = write(watchdogFifoFd, &startBuf, writeLen);
if (writtenBytes < 0) {
sif::error << "WatchdogHandler: Errors writing to watchdog FIFO, code " << errno << ": "
<< strerror(errno) << std::endl;
return returnvalue::FAILED;
} else if (writtenBytes != writeLen) {
sif::warning << "WatchdogHandler: Not all bytes were written, possible error" << std::endl;
}
return returnvalue::OK;
}

23
bsp_q7s/core/WatchdogHandler.h Normal file
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@ -0,0 +1,23 @@
#ifndef BSP_Q7S_CORE_WATCHDOGHANDLER_H_
#define BSP_Q7S_CORE_WATCHDOGHANDLER_H_
#include "fsfw/returnvalues/returnvalue.h"
class WatchdogHandler {
public:
WatchdogHandler();
ReturnValue_t initialize(bool enableWatchFunction);
void periodicOperation();
private:
// Designated value for rechecking FIFO open
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
bool enableWatchFunction = false;
ReturnValue_t performStartHandling();
};
#endif /* BSP_Q7S_CORE_WATCHDOGHANDLER_H_ */

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#include "scheduling.h"
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <linux/scheduling.h>
#include <iostream>
#include <vector>
#include "OBSWConfig.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/core/pollingSeqTables.h"
#include "mission/core/scheduling.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/utility/InitMission.h"
/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR");
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif
ObjectManagerIF* objectManager = nullptr;
void scheduling::initMission() {
sif::info << "Building global objects.." << std::endl;
try {
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
} catch (const std::invalid_argument& e) {
sif::error << "scheduling::initMission: Object Construction failed with an "
"invalid argument: "
<< e.what();
std::exit(1);
}
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
}
void scheduling::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = returnvalue::OK;
if (factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc)(void) = nullptr;
#endif
#if OBSW_ADD_SA_DEPL == 1
// Could add this to the core controller but the core controller does so many thing that I would
// prefer to have the solar array deployment in a seprate task.
PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
"SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
}
#endif
PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
}
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
}
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
result = tmTcDistributor->addComponent(objects::TCP_TMTC_SERVER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TCP_TMTC_SERVER", objects::TCP_TMTC_SERVER);
}
#endif
#endif
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
}
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
}
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
"TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
}
#endif
#endif
PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
"SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
}
result = genericSysTask->addComponent(objects::COM_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
}
result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
}
result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
}
result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
#if OBSW_ADD_CCSDS_IP_CORES == 1
result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
}
// Runs in IRQ mode, frequency does not really matter
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
}
#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
// All the TM store tasks run in permanent loops, frequency does not matter
PeriodicTaskIF* liveTmTask =
factory->createPeriodicTask("LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
}
PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
"LOG_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
}
PeriodicTaskIF* hkTmTask = factory->createPeriodicTask(
"HK_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
}
PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
"CFDP_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
}
#if OBSW_ADD_CFDP_COMPONENTS == 1
PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
"CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = cfdpTask->addComponent(objects::CFDP_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
}
#endif
PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
"GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = gpsTask->addComponent(objects::GPS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#if OBSW_ADD_ACS_BOARD == 1
PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask(
"ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
}
#endif
#if OBSW_ADD_RW == 1
PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
"RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = rwPolling->addComponent(objects::RW_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
}
#endif
#if OBSW_ADD_MGT == 1
PeriodicTaskIF* imtqPolling = factory->createPeriodicTask(
"IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = imtqPolling->addComponent(objects::IMTQ_POLLING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
}
#endif
#if OBSW_ADD_SUN_SENSORS == 1
PeriodicTaskIF* susPolling = factory->createPeriodicTask(
"SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = susPolling->addComponent(objects::SUS_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
}
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
}
result = acsSysTask->addComponent(objects::IMTQ_ASSY);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("IMTQ_ASSY", objects::IMTQ_ASSY);
}
result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
}
result = acsSysTask->addComponent(objects::RW_ASSY);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
}
result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
}
result = acsSysTask->addComponent(objects::STR_ASSY);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
}
PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
"TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
scheduling::scheduleRtdSensors(tcsSystemTask);
result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
}
result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
}
#if OBSW_ADD_TCS_CTRL == 1
result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
}
#endif
#if OBSW_ADD_HEATERS == 1
result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
#endif
#if OBSW_ADD_STAR_TRACKER == 1
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strHelperTask->addComponent(objects::STR_HELPER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
}
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_PLOC_MPSOC == 1
PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
"PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
}
#endif /* OBSW_ADD_PLOC_MPSOC */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
"PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
}
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
PeriodicTaskIF* plTask = factory->createPeriodicTask(
"PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
plTask->addComponent(objects::CAM_SWITCHER);
scheduling::addMpsocSupvHandlers(plTask);
#if OBSW_ADD_SCEX_DEVICE == 1
scheduling::scheduleScexDev(plTask);
#endif
#if OBSW_ADD_SCEX_DEVICE == 1
PeriodicTaskIF* scexReaderTask;
scheduling::scheduleScexReader(*factory, scexReaderTask);
#endif
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
AcsPstCfg cfg;
createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
#if OBSW_ADD_TEST_CODE == 1
#if OBSW_TEST_CCSDS_BRIDGE == 1
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
}
#endif
std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, testTasks);
#endif
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();
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
udpPollingTask->startTask();
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
tcpPollingTask->startTask();
#endif
#endif
genericSysTask->startTask();
#if OBSW_ADD_CCSDS_IP_CORES == 1
pdecHandlerTask->startTask();
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
liveTmTask->startTask();
logTmTask->startTask();
hkTmTask->startTask();
cfdpTmTask->startTask();
coreCtrlTask->startTask();
#if OBSW_ADD_SA_DEPL == 1
solarArrayDeplTask->startTask();
#endif
#if OBSW_ADD_ACS_BOARD == 1
acsBrdPolling->startTask();
#endif
#if OBSW_ADD_MGT == 1
imtqPolling->startTask();
#endif
#if OBSW_ADD_SUN_SENSORS == 1
susPolling->startTask();
#endif
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_SCEX_DEVICE == 1
scexReaderTask->startTask();
#endif
#if OBSW_TEST_CCSDS_BRIDGE == 1
ptmeTestTask->startTask();
#endif
#if OBSW_ADD_CFDP_COMPONENTS == 1
cfdpTask->startTask();
#endif
#if OBSW_ADD_STAR_TRACKER == 1
strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_RW == 1
rwPolling->startTask();
#endif
gpsTask->startTask();
acsSysTask->startTask();
if (not tcsSystemTask->isEmpty()) {
tcsSystemTask->startTask();
}
#if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
plTask->startTask();
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test task vector");
#endif
sif::info << "Tasks started.." << std::endl;
}
void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
ReturnValue_t result = returnvalue::OK;
#ifdef RELEASE_BUILD
static constexpr float acsPstPeriod = 0.4;
#else
static constexpr float acsPstPeriod = 0.4;
#endif
FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
"ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
result = pst::pstTcsAndAcs(acsTcsPst, cfg);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
}
} else {
taskVec.push_back(acsTcsPst);
}
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpiAndSyrlinks(spiPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
}
} else {
taskVec.push_back(spiPst);
}
#endif
#if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating I2C PST failed!" << std::endl;
}
} else {
taskVec.push_back(i2cPst);
}
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if (result != returnvalue::OK) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::error << "scheduling::initTasks: GomSpace PST initialization failed!" << std::endl;
}
}
taskVec.push_back(gomSpacePstTask);
#endif
}
void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = returnvalue::OK;
/* PUS Services */
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_15", objects::PUS_SERVICE_15_TM_STORAGE);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
taskVec.push_back(pusMedPrio);
}
void scheduling::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
ReturnValue_t result = returnvalue::OK;
static_cast<void>(result); // supress warning in case it is not used
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif
#if OBSW_ADD_I2C_TEST_CODE == 1
result = testTask->addComponent(objects::I2C_TEST);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("I2C_TEST", objects::I2C_TEST);
}
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
result = testTask->addComponent(objects::UART_TEST);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("UART_TEST", objects::UART_TEST);
}
#endif
taskVec.push_back(testTask);
#endif // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
}
/**
▄ ▄
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▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
▒▒▒▒▒▒▒▒▒▒▀▀
**/

11
bsp_q7s/core/InitMission.h → bsp_q7s/core/scheduling.h
View File

@ -3,21 +3,24 @@
#include <vector>
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/definitions.h"
#include "mission/core/pollingSeqTables.h"
using pst::AcsPstCfg;
class PeriodicTaskIF;
class TaskFactory;
namespace initmission {
namespace scheduling {
void initMission();
void initTasks();
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
}; // namespace initmission
}; // namespace scheduling
#endif /* BSP_Q7S_INITMISSION_H_ */

4
bsp_q7s/em/CMakeLists.txt
View File

@ -1,3 +1 @@
target_sources(${OBSW_NAME} PRIVATE
emObjectFactory.cpp
)
target_sources(${OBSW_NAME} PRIVATE emObjectFactory.cpp)

105
bsp_q7s/em/emObjectFactory.cpp
View File

@ -1,49 +1,95 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <fsfw/health/HealthTableIF.h>
#include <fsfw/power/DummyPowerSwitcher.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/system/tree/system.h>
#include <mission/utility/DummySdCardManager.h>
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "commonObjects.h"
#include "devConf.h"
#include "dummies/helpers.h"
#include "eive/objects.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "linux/ObjectFactory.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "mission/core/GenericFactory.h"
#include "mission/system/tree/comModeTree.h"
void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics();
ObjectFactory::produceGenericObjects();
HealthTableIF* healthTable = nullptr;
PusTmFunnel* pusFunnel = nullptr;
CfdpTmFunnel* cfdpFunnel = nullptr;
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance());
LinuxLibgpioIF* gpioComIF = nullptr;
UartComIF* uartComIF = nullptr;
SerialComIF* uartComIF = nullptr;
SpiComIF* spiMainComIF = nullptr;
I2cComIF* i2cComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
/* Adding gpios for chip select decoding to the gpioComIf */
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
// Hardware is usually not connected to EM, so we need to create dummies which replace lower
// level components.
dummy::DummyCfg dummyCfg;
dummyCfg.addCoreCtrlCfg = false;
#if OBSW_ADD_SYRLINKS == 1
dummyCfg.addSyrlinksDummies = false;
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
dummyCfg.addPowerDummies = false;
#endif
#if OBSW_ADD_ACS_BOARD == 1
dummyCfg.addAcsBoardDummies = false;
#endif
PowerSwitchIF* pwrSwitcher = nullptr;
SpiComIF* spiRwComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
createTmpComponents();
#if OBSW_ADD_GOMSPACE_PCDU == 0
pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
#else
createPcduComponents(gpioComIF, &pwrSwitcher);
#endif
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
new CoreController(objects::CORE_CONTROLLER);
gpioCallbacks::disableAllDecoder(gpioComIF);
createPcduComponents(gpioComIF, &pwrSwitcher);
createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
// Regular FM code, does not work for EM if the hardware is not connected
// createPcduComponents(gpioComIF, &pwrSwitcher);
// createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
// createSyrlinksComponents(pwrSwitcher);
// createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
// createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
// createTmpComponents();
// createSolarArrayDeploymentComponents();
// createPayloadComponents(gpioComIF);
// createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
// TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
// and will cause xsc_boot_copy commands to always boot to 0 0
// createRadSensorComponent(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
createAcsBoardComponents(gpioComIF, uartComIF, *pwrSwitcher);
#endif
createHeaterComponents();
createSolarArrayDeploymentComponents();
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_ADD_SYRLINKS == 1 */
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
createPayloadComponents(gpioComIF);
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher);
#endif
#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_ADD_SYRLINKS == 1 */
#if OBSW_ADD_RW == 1
createReactionWheelComponents(gpioComIF, pwrSwitcher);
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent();
@ -52,13 +98,24 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_STAR_TRACKER == 1
createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_USE_CCSDS_IP_CORE == 1
createCcsdsComponents(gpioComIF);
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if OBSW_ADD_CCSDS_IP_CORES == 1
CcsdsIpCoreHandler* ipCoreHandler = nullptr;
createCcsdsComponents(gpioComIF, &ipCoreHandler);
#if OBSW_TM_TO_PTME == 1
ObjectFactory::addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
#endif
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1
createTestComponents(gpioComIF);
#endif /* OBSW_ADD_TEST_CODE == 1 */
createMiscComponents();
#if OBSW_ADD_SCEX_DEVICE == 1
createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true);
HeaterHandler* heaterHandler = nullptr;
ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
createThermalController(*heaterHandler);
satsystem::init();
}

79
bsp_q7s/fmObjectFactory.cpp
View File

@ -1,44 +1,69 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <fsfw/storagemanager/LocalPool.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "commonObjects.h"
#include "devConf.h"
#include "eive/objects.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "linux/ObjectFactory.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "mission/core/GenericFactory.h"
#include "mission/system/tree/system.h"
#include "mission/tmtc/tmFilters.h"
void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics();
ObjectFactory::produceGenericObjects();
HealthTableIF* healthTable = nullptr;
PusTmFunnel* pusFunnel = nullptr;
CfdpTmFunnel* cfdpFunnel = nullptr;
StorageManagerIF* ipcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
PersistentTmStores stores;
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores);
LinuxLibgpioIF* gpioComIF = nullptr;
UartComIF* uartComIF = nullptr;
SerialComIF* uartComIF = nullptr;
SpiComIF* spiMainComIF = nullptr;
I2cComIF* i2cComIF = nullptr;
PowerSwitchIF* pwrSwitcher = nullptr;
SpiComIF* spiRwComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
createTmpComponents();
new CoreController(objects::CORE_CONTROLLER);
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
/* Adding gpios for chip select decoding to the gpioComIf */
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
new CoreController(objects::CORE_CONTROLLER);
createPcduComponents(gpioComIF, &pwrSwitcher);
createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
#if OBSW_ADD_RAD_SENSORS == 1
createRadSensorComponent(gpioComIF, *stackHandler);
#endif
#if OBSW_ADD_SUN_SENSORS == 1
createSunSensorComponents(gpioComIF, spiMainComIF, *pwrSwitcher, q7s::SPI_DEFAULT_DEV, true);
#endif
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
#endif
createHeaterComponents();
createSolarArrayDeploymentComponents();
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
#if OBSW_ADD_TMP_DEVICES == 1
createTmpComponents();
#endif
createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_ADD_SYRLINKS == 1 */
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
createPayloadComponents(gpioComIF);
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
createPayloadComponents(gpioComIF, *pwrSwitcher);
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher);
@ -52,13 +77,29 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_STAR_TRACKER == 1
createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_USE_CCSDS_IP_CORE == 1
createCcsdsComponents(gpioComIF);
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if OBSW_ADD_CCSDS_IP_CORES == 1
CcsdsIpCoreHandler* ipCoreHandler = nullptr;
CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
&ipCoreHandler);
createCcsdsComponents(ccsdsArgs);
#if OBSW_TM_TO_PTME == 1
if (ccsdsArgs.liveDestination != nullptr) {
pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
}
#endif
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
#if OBSW_ADD_SCEX_DEVICE == 1
createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1
createTestComponents(gpioComIF);
#endif /* OBSW_ADD_TEST_CODE == 1 */
createMiscComponents();
createThermalController(*heaterHandler);
createAcsController(true);
satsystem::init();
}

2
bsp_q7s/fs/CMakeLists.txt Normal file
View File

@ -0,0 +1,2 @@
target_sources(${OBSW_NAME} PRIVATE helpers.cpp SdCardManager.cpp
FilesystemHelper.cpp)

22
bsp_q7s/memory/FilesystemHelper.cpp → bsp_q7s/fs/FilesystemHelper.cpp
View File

@ -3,8 +3,9 @@
#include <filesystem>
#include <fstream>
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "SdCardManager.h"
#include "eive/definitions.h"
#include "fsfw/serviceinterface.h"
FilesystemHelper::FilesystemHelper() {}
@ -12,27 +13,26 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
SdCardManager* sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "FilesystemHelper::checkPath: Invalid SD card manager" << std::endl;
return RETURN_FAILED;
return returnvalue::FAILED;
}
if (path.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
if (path.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
sif::warning << "FilesystemHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (path.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
} else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
std::string(config::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardUsable(sd::SLOT_1)) {
sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
return RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t FilesystemHelper::fileExists(std::string file) {
if (not std::filesystem::exists(file)) {
return FILE_NOT_EXISTS;
}
return RETURN_OK;
return returnvalue::OK;
}

10
bsp_q7s/memory/FilesystemHelper.h → bsp_q7s/fs/FilesystemHelper.h
View File

@ -3,15 +3,15 @@
#include <string>
#include "commonClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "eive/resultClassIds.h"
#include "fsfw/returnvalues/returnvalue.h"
/**
* @brief This class implements often used functions related to the file system management.
*
* @author J. Meier
*/
class FilesystemHelper : public HasReturnvaluesIF {
class FilesystemHelper {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM_HELPER;
@ -26,7 +26,7 @@ class FilesystemHelper : public HasReturnvaluesIF {
*
* @param path Path to check
*
* @return RETURN_OK if path points to SD card and the appropriate SD card is mounted or if
* @return returnvalue::OK if path points to SD card and the appropriate SD card is mounted or if
* path does not point to SD card.
* Return error code if path points to SD card and the corresponding SD card is not
* mounted.
@ -38,7 +38,7 @@ class FilesystemHelper : public HasReturnvaluesIF {
*
* @param file File to check
*
* @return RETURN_OK if file exists, otherwise return error code.
* @return returnvalue::OK if file exists, otherwise return error code.
*/
static ReturnValue_t fileExists(std::string file);

318
bsp_q7s/memory/SdCardManager.cpp → bsp_q7s/fs/SdCardManager.cpp
View File

@ -2,6 +2,7 @@
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <unistd.h>
#include <cstring>
@ -10,34 +11,64 @@
#include <memory>
#include "OBSWConfig.h"
#include "common/config/commonObjects.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "eive/definitions.h"
#include "eive/objects.h"
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include "scratchApi.h"
SdCardManager* SdCardManager::factoryInstance = nullptr;
SdCardManager* SdCardManager::INSTANCE = nullptr;
SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
mutex = MutexFactory::instance()->createMutex();
sdLock = MutexFactory::instance()->createMutex();
prefLock = MutexFactory::instance()->createMutex();
defaultLock = MutexFactory::instance()->createMutex();
MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
}
uint8_t prefSdRaw = 0;
ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
if (result != returnvalue::OK) {
if (result == scratch::KEY_NOT_FOUND) {
sif::warning << "CoreController::sdCardInit: "
"Preferred SD card not set. Setting to 0"
<< std::endl;
setPreferredSdCard(sd::SdCard::SLOT_0);
scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sd::SdCard::SLOT_0));
prefSdRaw = sd::SdCard::SLOT_0;
} else {
// Should not happen.
// TODO: Maybe trigger event?
sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch"
"buffer failed"
<< std::endl;
prefSdRaw = sd::SdCard::SLOT_0;
}
}
sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
}
SdCardManager::~SdCardManager() {}
void SdCardManager::create() {
if (factoryInstance == nullptr) {
factoryInstance = new SdCardManager();
if (INSTANCE == nullptr) {
INSTANCE = new SdCardManager();
}
}
SdCardManager* SdCardManager::instance() {
SdCardManager::create();
return SdCardManager::factoryInstance;
return SdCardManager::INSTANCE;
}
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
SdStatePair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
if (doMountSdCard) {
if (not blocking) {
sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
@ -51,8 +82,8 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair);
if (result != HasReturnvaluesIF::RETURN_OK) {
result = getSdCardsStatus(*statusPair);
if (result != returnvalue::OK) {
return result;
}
}
@ -61,7 +92,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
sd::SdState currentState;
@ -85,10 +116,10 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
} else if (currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true);
} else {
result = HasReturnvaluesIF::RETURN_FAILED;
result = returnvalue::FAILED;
}
if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
if (result != returnvalue::OK or not doMountSdCard) {
return result;
}
@ -98,8 +129,8 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
SdStatePair* statusPair) {
std::pair<sd::SdState, sd::SdState> active;
ReturnValue_t result = getSdCardActiveStatus(active);
if (result != HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = getSdCardsStatus(active);
if (result != returnvalue::OK) {
return result;
}
if (doUnmountSdCard) {
@ -114,7 +145,7 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
if (sdCard == sd::SdCard::SLOT_0) {
if (active.first == sd::SdState::OFF) {
@ -128,7 +159,7 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
if (doUnmountSdCard) {
result = unmountSdCard(sdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
}
@ -159,32 +190,16 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
command << "q7hw sd set " << sdstring << " " << statestring;
cmdExecutor.load(command.str(), blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
if (blocking and result != returnvalue::OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
}
return result;
}
ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
using namespace std;
MutexGuard mg(mutex);
if (not filesystem::exists(SD_STATE_FILE)) {
return STATUS_FILE_NEXISTS;
}
// Now the file should exist in any case. Still check whether it exists.
fstream sdStatus(SD_STATE_FILE);
if (not sdStatus.good()) {
return STATUS_FILE_NEXISTS;
}
string line;
uint8_t idx = 0;
sd::SdCard currentSd = sd::SdCard::SLOT_0;
// Process status file line by line
while (std::getline(sdStatus, line)) {
processSdStatusLine(active, line, idx, currentSd);
}
return HasReturnvaluesIF::RETURN_OK;
ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& sdStates) {
MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
sdStates = this->sdStates;
return returnvalue::OK;
}
ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
@ -195,18 +210,19 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
string mountDev;
string mountPoint;
if (sdCard == sd::SdCard::SLOT_0) {
mountDev = SD_0_DEV_NAME;
mountPoint = SD_0_MOUNT_POINT;
mountPoint = config::SD_0_MOUNT_POINT;
} else if (sdCard == sd::SdCard::SLOT_1) {
mountDev = SD_1_DEV_NAME;
mountPoint = SD_1_MOUNT_POINT;
mountPoint = config::SD_1_MOUNT_POINT;
}
if (not filesystem::exists(mountDev)) {
std::error_code e;
if (not filesystem::exists(mountDev, e)) {
sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
" turn on the SD card"
<< std::endl;
@ -219,7 +235,7 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
string sdMountCommand = "mount " + mountDev + " " + mountPoint;
cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
if (blocking and result != returnvalue::OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
}
return result;
@ -233,15 +249,16 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
string mountPoint;
if (sdCard == sd::SdCard::SLOT_0) {
mountPoint = SD_0_MOUNT_POINT;
mountPoint = config::SD_0_MOUNT_POINT;
} else if (sdCard == sd::SdCard::SLOT_1) {
mountPoint = SD_1_MOUNT_POINT;
mountPoint = config::SD_1_MOUNT_POINT;
}
if (not filesystem::exists(mountPoint)) {
std::error_code e;
if (not filesystem::exists(mountPoint, e)) {
sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
<< "does not exist" << std::endl;
return UNMOUNT_ERROR;
@ -257,7 +274,7 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
}
cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
if (blocking and result != returnvalue::OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
}
return result;
@ -265,23 +282,17 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) {
std::unique_ptr<SdStatePair> sdStatusPtr;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
// Enforce blocking operation for now. Be careful to reset it when returning prematurely!
bool resetNonBlockingState = false;
if (not this->blocking) {
blocking = true;
resetNonBlockingState = true;
}
if (prefSdCard == sd::SdCard::NONE) {
result = getPreferredSdCard(prefSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
}
}
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair);
return returnvalue::FAILED;
}
getSdCardsStatus(*statusPair);
if (statusPair->first == sd::SdState::ON) {
result = mountSdCard(prefSdCard);
@ -299,8 +310,34 @@ void SdCardManager::resetState() {
currentOp = Operations::IDLE;
}
void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
ReturnValue_t SdCardManager::updateSdStatePair() {
using namespace std;
MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
std::error_code e;
if (not filesystem::exists(SD_STATE_FILE, e)) {
return STATUS_FILE_NEXISTS;
}
// Now the file should exist in any case. Still check whether it exists.
fstream sdStatus(SD_STATE_FILE);
if (not sdStatus.good()) {
return STATUS_FILE_NEXISTS;
}
string line;
uint8_t idx = 0;
sd::SdCard currentSd = sd::SdCard::SLOT_0;
// Process status file line by line
while (std::getline(sdStatus, line)) {
processSdStatusLine(line, idx, currentSd);
}
if (sdStates.first != sd::SdState::MOUNTED && sdStates.second != sd::SdState::MOUNTED) {
sdCardActive = false;
}
return returnvalue::OK;
}
void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
using namespace std;
istringstream iss(line);
string word;
@ -321,24 +358,24 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
if (word == "on") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON;
sdStates.first = sd::SdState::ON;
} else {
active.second = sd::SdState::ON;
sdStates.second = sd::SdState::ON;
}
} else if (word == "off") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF;
sdStates.first = sd::SdState::OFF;
} else {
active.second = sd::SdState::OFF;
sdStates.second = sd::SdState::OFF;
}
}
}
if (mountLine) {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED;
sdStates.first = sd::SdState::MOUNTED;
} else {
active.second = sd::SdState::MOUNTED;
sdStates.second = sd::SdState::MOUNTED;
}
}
@ -351,20 +388,21 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
idx++;
}
ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
uint8_t prefSdCard = 0;
ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
auto res = mg.getLockResult();
if (res != returnvalue::OK) {
sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
}
sdCard = static_cast<sd::SdCard>(prefSdCard);
return HasReturnvaluesIF::RETURN_OK;
return sdInfo.pref;
}
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
if (sdCard == sd::SdCard::BOTH) {
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
sdInfo.pref = sdCard;
return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
}
@ -372,29 +410,23 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
// Use q7hw utility and pipe the command output into the state file
std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
cmdExecutor.load(updateCmd, blocking, printCmdOutput);
cmdExecutor.load(updateCmd, true, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
if (blocking and result != returnvalue::OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
}
return result;
}
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;
const char* SdCardManager::getCurrentMountPrefix() const {
MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
if (currentPrefix.has_value()) {
return currentPrefix.value().c_str();
}
return nullptr;
}
SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
@ -424,10 +456,10 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
case (CommandExecutor::EXECUTION_FINISHED): {
return OpStatus::SUCCESS;
}
case (HasReturnvaluesIF::RETURN_OK): {
case (returnvalue::OK): {
return OpStatus::ONGOING;
}
case (HasReturnvaluesIF::RETURN_FAILED): {
case (returnvalue::FAILED): {
return OpStatus::FAIL;
}
default: {
@ -441,28 +473,116 @@ void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
SdCardManager::SdStatePair active;
ReturnValue_t result = this->getSdCardActiveStatus(active);
bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
{
MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
if (markedUnusable) {
return false;
}
}
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
if (not sdCard) {
if (sdStates.first == sd::MOUNTED or sdStates.second == sd::MOUNTED) {
return true;
}
return false;
}
if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) {
if (sdStates.first == sd::MOUNTED) {
return true;
} else {
return false;
}
} else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) {
}
if (sdCard == sd::SLOT_1) {
if (sdStates.second == sd::MOUNTED) {
return true;
} else {
return false;
}
} else {
sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
}
if (sdCard == sd::BOTH) {
if (sdStates.first == sd::MOUNTED && sdStates.second == sd::MOUNTED) {
return true;
}
}
return false;
}
ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
std::ostringstream command;
if (sdcard == sd::SdCard::SLOT_0) {
command << "grep -q '" << config::SD_0_MOUNT_POINT << " ext4 rw,' /proc/mounts";
} else if (sdcard == sd::SdCard::SLOT_1) {
command << "grep -q '" << config::SD_1_MOUNT_POINT << " ext4 rw,' /proc/mounts";
} else {
return returnvalue::FAILED;
}
ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
if (result != returnvalue::OK) {
return result;
}
result = cmdExecutor.execute();
if (result == returnvalue::OK) {
readOnly = false;
return result;
}
readOnly = true;
return returnvalue::OK;
}
ReturnValue_t SdCardManager::remountReadWrite(sd::SdCard sdcard) {
std::ostringstream command;
if (sdcard == sd::SdCard::SLOT_0) {
command << "mount -o remount,rw " << SD_0_DEV_NAME << " " << config::SD_0_MOUNT_POINT;
} else {
command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << config::SD_1_MOUNT_POINT;
}
ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
if (result != returnvalue::OK) {
return result;
}
return cmdExecutor.execute();
}
ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError) {
std::ostringstream command;
if (sdcard == sd::SdCard::SLOT_0) {
command << "fsck -y " << SD_0_DEV_NAME;
} else {
command << "fsck -y " << SD_1_DEV_NAME;
}
ReturnValue_t result = cmdExecutor.load(command.str(), true, printOutput);
if (result != returnvalue::OK) {
return result;
}
result = cmdExecutor.execute();
if (result != returnvalue::OK) {
linuxError = cmdExecutor.getLastError();
}
return result;
}
void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
sdInfo.active = sdCard;
if (sdInfo.active == sd::SdCard::SLOT_0) {
currentPrefix = config::SD_0_MOUNT_POINT;
} else {
currentPrefix = config::SD_1_MOUNT_POINT;
}
}
std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
if (markedUnusable) {
return std::nullopt;
}
return sdInfo.active;
}
void SdCardManager::markUnusable() {
MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
markedUnusable = true;
}

98
bsp_q7s/memory/SdCardManager.h → bsp_q7s/fs/SdCardManager.h
View File

@ -12,7 +12,7 @@
#include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw_hal/linux/CommandExecutor.h"
#include "mission/memory/SdCardMountedIF.h"
#include "mission/memory/definitions.h"
@ -25,7 +25,7 @@ class MutexIF;
* state
*/
class SdCardManager : public SystemObject, public SdCardMountedIF {
friend class SdCardAccess;
friend class CoreController;
public:
using mountInitCb = ReturnValue_t (*)(void* args);
@ -36,24 +36,25 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
using SdStatePair = std::pair<sd::SdState, sd::SdState>;
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
sd::SdCard other = sd::SdCard::NONE;
sd::SdCard active = sd::SdCard::NONE;
} sdInfo;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
static constexpr ReturnValue_t ALREADY_ON = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t ALREADY_MOUNTED =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t ALREADY_OFF = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
static constexpr ReturnValue_t OP_ONGOING = returnvalue::makeCode(INTERFACE_ID, 0);
static constexpr ReturnValue_t ALREADY_ON = returnvalue::makeCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t ALREADY_MOUNTED = returnvalue::makeCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t ALREADY_OFF = returnvalue::makeCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t STATUS_FILE_NEXISTS = returnvalue::makeCode(INTERFACE_ID, 10);
static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
static constexpr ReturnValue_t MOUNT_ERROR = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t UNMOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
static constexpr ReturnValue_t POPEN_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 15);
returnvalue::makeCode(INTERFACE_ID, 11);
static constexpr ReturnValue_t MOUNT_ERROR = returnvalue::makeCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t UNMOUNT_ERROR = returnvalue::makeCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR = returnvalue::makeCode(INTERFACE_ID, 14);
static constexpr ReturnValue_t POPEN_CALL_ERROR = returnvalue::makeCode(INTERFACE_ID, 15);
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
@ -63,8 +64,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
// 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";
static constexpr char SD_0_MOUNT_POINT[] = "/mnt/sd0";
static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
static constexpr char SD_STATE_FILE[] = "/tmp/sd_status.txt";
virtual ~SdCardManager();
@ -91,7 +91,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* @param sdCard
* @return
*/
ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const override;
std::optional<sd::SdCard> getPreferredSdCard() const override;
/**
* Switch on the specified SD card.
@ -99,7 +99,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* @param doMountSdCard Mount the SD card after switching it on, which is necessary
* to use it
* @param statusPair If the status pair is already available, it can be passed here
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* @return - returnvalue::OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
@ -111,7 +111,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* @param doUnmountSdCard Unmount the SD card before switching the card off, which makes
* the operation safer
* @param statusPair If the status pair is already available, it can be passed here
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* @return - returnvalue::OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
@ -121,9 +121,9 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* Update the state file or creates one if it does not exist. You need to call this
* function before calling #sdCardActive
* @return
* - RETURN_OK if the state file was updated successfully
* - returnvalue::OK if the state file was updated successfully
* - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
* - RETURN_FAILED: blocking command failed
* - returnvalue::FAILED: blocking command failed
*/
ReturnValue_t updateSdCardStateFile();
@ -133,12 +133,12 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* the status of the SD cards and set the field of the provided boolean pair.
* @param active Pair of booleans, where the first entry is the state of the first SD card
* and the second one the state of the second SD card
* @return - RETURN_OK if the state was read successfully
* @return - returnvalue::OK if the state was read successfully
* - STATUS_FILE_FORMAT_INVALID if there was an issue with the state file. The user
* should call #updateSdCardStateFile again in that case
* - STATUS_FILE_NEXISTS if the status file does not exist
*/
ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
ReturnValue_t getSdCardsStatus(SdStatePair& active);
/**
* Mount the specified SD card. This is necessary to use it.
@ -146,6 +146,20 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* @return
*/
ReturnValue_t mountSdCard(sd::SdCard sdCard);
/**
* Set the currently active SD card. This does not necessarily mean that the SD card is on or
* mounted
* @param sdCard
*/
void setActiveSdCard(sd::SdCard sdCard) override;
/**
* Get the currently active SD card. This does not necessarily mean that the SD card is on or
* mounted
* @return
*/
std::optional<sd::SdCard> getActiveSdCard() const override;
/**
* Unmount the specified SD card. This is recommended before switching it off. The SD card
* can't be used after it has been unmounted.
@ -173,7 +187,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* @param prefSdCardPtr
* @return
*/
std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE) override;
const char* getCurrentMountPrefix() const override;
OpStatus checkCurrentOp(Operations& currentOp);
@ -192,25 +206,43 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
*
* @return true if mounted, otherwise false
*/
bool isSdCardMounted(sd::SdCard sdCard) override;
bool isSdCardUsable(std::optional<sd::SdCard> sdCard) override;
ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);
ReturnValue_t remountReadWrite(sd::SdCard sdcard);
ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
void markUnusable();
private:
CommandExecutor cmdExecutor;
SdStatePair sdStates;
Operations currentOp = Operations::IDLE;
bool blocking = false;
bool sdCardActive = true;
bool printCmdOutput = true;
MutexIF* mutex = nullptr;
bool markedUnusable = false;
MutexIF* sdLock = nullptr;
MutexIF* prefLock = nullptr;
MutexIF* defaultLock = nullptr;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t SD_LOCK_TIMEOUT = 250;
static constexpr uint32_t OTHER_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "SdCardManager";
SdCardManager();
ReturnValue_t updateSdStatePair();
ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
sd::SdCard& currentSd);
void processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd);
std::string currentPrefix;
std::optional<std::string> currentPrefix;
static SdCardManager* factoryInstance;
static SdCardManager* INSTANCE;
};
#endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */

11
bsp_q7s/fs/helpers.cpp Normal file
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@ -0,0 +1,11 @@
#include "helpers.h"
std::filesystem::path fshelpers::getPrefixedPath(SdCardManager &man,
std::filesystem::path pathWihtoutPrefix) {
auto prefix = man.getCurrentMountPrefix();
if (prefix == nullptr) {
return pathWihtoutPrefix;
}
auto resPath = prefix / pathWihtoutPrefix;
return resPath;
}

14
bsp_q7s/fs/helpers.h Normal file
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@ -0,0 +1,14 @@
#ifndef BSP_Q7S_MEMORY_HELPERS_H_
#define BSP_Q7S_MEMORY_HELPERS_H_
#include <filesystem>
#include "SdCardManager.h"
namespace fshelpers {
std::filesystem::path getPrefixedPath(SdCardManager& man, std::filesystem::path pathWihtoutPrefix);
}
#endif /* BSP_Q7S_MEMORY_HELPERS_H_ */

4
bsp_q7s/main.cpp
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@ -12,10 +12,10 @@
* @brief This is the main program for the target hardware.
* @return
*/
int main(void) {
int main(int argc, char* argv[]) {
using namespace std;
#if Q7S_SIMPLE_MODE == 0
return obsw::obsw();
return obsw::obsw(argc, argv);
#else
return simple::simple();
#endif

7
bsp_q7s/memory/CMakeLists.txt
View File

@ -1,6 +1 @@
target_sources(${OBSW_NAME} PRIVATE
FileSystemHandler.cpp
SdCardManager.cpp
scratchApi.cpp
FilesystemHelper.cpp
)
target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp LocalParameterHandler.cpp)

243
bsp_q7s/memory/FileSystemHandler.cpp
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@ -1,243 +0,0 @@
#include "FileSystemHandler.h"
#include <cstring>
#include <filesystem>
#include <fstream>
#include "bsp_q7s/core/CoreController.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/memory/GenericFileSystemMessage.h"
#include "fsfw/tasks/TaskFactory.h"
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler)
: SystemObject(fileSystemHandler) {
auto mqArgs = MqArgs(this->getObjectId());
mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE,
MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
FileSystemHandler::~FileSystemHandler() { QueueFactory::instance()->deleteMessageQueue(mq); }
ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
while (true) {
try {
fileSystemHandlerLoop();
} catch (std::bad_alloc& e) {
// Restart OBSW, hints at a memory leak
sif::error << "Allocation error in FileSystemHandler::performOperation" << e.what()
<< std::endl;
// Set up an error file or a special flag in the scratch buffer for these cases
triggerEvent(CoreController::ALLOC_FAILURE, 0, 0);
CoreController::incrementAllocationFailureCount();
}
}
}
void FileSystemHandler::fileSystemHandlerLoop() {
CommandMessage filemsg;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
while (true) {
if (opCounter % 5 == 0) {
if (coreCtrl->sdInitFinished()) {
fileSystemCheckup();
}
}
result = mq->receiveMessage(&filemsg);
if (result == MessageQueueIF::EMPTY) {
break;
} else if (result != HasReturnvaluesIF::RETURN_FAILED) {
sif::warning << "FileSystemHandler::performOperation: Message reception failed!" << std::endl;
break;
}
Command_t command = filemsg.getCommand();
switch (command) {
case (GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
break;
}
case (GenericFileSystemMessage::CMD_CREATE_FILE): {
break;
}
}
opCounter++;
}
// 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);
}
void FileSystemHandler::fileSystemCheckup() {
SdCardManager::SdStatePair statusPair;
sdcMan->getSdCardActiveStatus(statusPair);
sd::SdCard preferredSdCard;
sdcMan->getPreferredSdCard(preferredSdCard);
if ((preferredSdCard == sd::SdCard::SLOT_0) and (statusPair.first == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
} else if ((preferredSdCard == sd::SdCard::SLOT_1) and
(statusPair.second == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
} else {
std::string sdString;
if (preferredSdCard == sd::SdCard::SLOT_0) {
sdString = "0";
} else {
sdString = "1";
}
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(&statusPair, preferredSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
// Oh no.
triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
}
}
}
MessageQueueId_t FileSystemHandler::getCommandQueue() const { return mq->getId(); }
ReturnValue_t FileSystemHandler::initialize() {
coreCtrl = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if (coreCtrl == nullptr) {
sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle"
<< std::endl;
}
sdcMan = SdCardManager::instance();
sd::SdCard preferredSdCard;
ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (preferredSdCard == sd::SdCard::SLOT_0) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
} else if (preferredSdCard == sd::SdCard::SLOT_1) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath, const char* filename,
const uint8_t* data, size_t size,
uint16_t packetNumber, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / filename;
if (not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
}
std::ofstream file(path, 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,
FileSystemArgsIF* args) {
auto path = getInitPath(args) / filename;
if (std::filesystem::exists(path)) {
return FILE_ALREADY_EXISTS;
}
std::ofstream file(path);
file.write(reinterpret_cast<const char*>(data), size);
if (not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath, const char* filename,
FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / filename;
if (not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
}
int result = std::remove(path.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, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / dirname;
if (std::filesystem::exists(path)) {
return DIRECTORY_ALREADY_EXISTS;
}
if (std::filesystem::create_directory(path)) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "Creating directory " << path << " failed" << std::endl;
return GENERIC_FILE_ERROR;
}
ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, const char* dirname,
bool deleteRecurively, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / dirname;
if (not std::filesystem::exists(path)) {
return DIRECTORY_DOES_NOT_EXIST;
}
std::error_code err;
if (not deleteRecurively) {
if (std::filesystem::remove(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
} 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 {
if (std::filesystem::remove_all(path, err)) {
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;
}
ReturnValue_t FileSystemHandler::renameFile(const char* repositoryPath, const char* oldFilename,
const char* newFilename, FileSystemArgsIF* args) {
auto basepath = getInitPath(args) / repositoryPath;
std::filesystem::rename(basepath / oldFilename, basepath / newFilename);
return HasReturnvaluesIF::RETURN_OK;
}
void FileSystemHandler::parseCfg(FsCommandCfg* cfg, bool& useMountPrefix) {
if (cfg != nullptr) {
useMountPrefix = cfg->useMountPrefix;
}
}
std::filesystem::path FileSystemHandler::getInitPath(FileSystemArgsIF* args) {
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
std::string path;
if (useMountPrefix) {
path = currentMountPrefix;
}
return std::filesystem::path(path);
}

68
bsp_q7s/memory/FileSystemHandler.h
View File

@ -1,68 +0,0 @@
#ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#include <filesystem>
#include <string>
#include "OBSWConfig.h"
#include "SdCardManager.h"
#include "eive/definitions.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/memory/HasFileSystemIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
class CoreController;
class FileSystemHandler : public SystemObject, public ExecutableObjectIF, public HasFileSystemIF {
public:
struct FsCommandCfg : public FileSystemArgsIF {
// 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();
ReturnValue_t performOperation(uint8_t) override;
ReturnValue_t initialize() override;
/**
* Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the object
*/
MessageQueueId_t getCommandQueue() const override;
ReturnValue_t appendToFile(const char* repositoryPath, const char* filename, const uint8_t* data,
size_t size, uint16_t packetNumber,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createFile(const char* repositoryPath, const char* filename,
const uint8_t* data = nullptr, size_t size = 0,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeFile(const char* repositoryPath, const char* filename,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeDirectory(const char* repositoryPath, const char* dirname,
bool deleteRecurively = false,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
const char* newFilename, FileSystemArgsIF* args = nullptr) override;
private:
CoreController* coreCtrl = nullptr;
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();
std::filesystem::path getInitPath(FileSystemArgsIF* args);
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
};
#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

41
bsp_q7s/memory/LocalParameterHandler.cpp Normal file
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@ -0,0 +1,41 @@
#include "LocalParameterHandler.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
LocalParameterHandler::LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan)
: NVMParameterBase(), sdRelativeName(sdRelativeName), sdcMan(sdcMan) {}
LocalParameterHandler::~LocalParameterHandler() {}
ReturnValue_t LocalParameterHandler::initialize() {
ReturnValue_t result = updateFullName();
if (result != returnvalue::OK) {
return result;
}
result = readJsonFile();
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t LocalParameterHandler::writeJsonFile() {
ReturnValue_t result = updateFullName();
if (result != returnvalue::OK) {
return result;
}
return NVMParameterBase::writeJsonFile();
}
ReturnValue_t LocalParameterHandler::updateFullName() {
std::string mountPrefix;
auto activeSd = sdcMan->getActiveSdCard();
if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
mountPrefix = sdcMan->getCurrentMountPrefix();
} else {
return SD_NOT_READY;
}
std::string fullname = mountPrefix + "/" + sdRelativeName;
NVMParameterBase::setFullName(fullname);
return returnvalue::OK;
}

106
bsp_q7s/memory/LocalParameterHandler.h Normal file
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@ -0,0 +1,106 @@
#ifndef BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
#define BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
#include <mission/memory/NvmParameterBase.h>
#include <mission/memory/SdCardMountedIF.h>
#include <string>
/**
* @brief Class to handle persistent parameters
*
*/
class LocalParameterHandler : public NVMParameterBase {
public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_PARAM_HANDLER;
static constexpr ReturnValue_t SD_NOT_READY = returnvalue::makeCode(INTERFACE_ID, 0);
/**
* @brief Constructor
*
* @param sdRelativeName Absolute name of json file relative to mount
* directory
* of SD card. E.g. conf/example.json
* @param sdcMan Pointer to SD card manager
*/
LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan);
virtual ~LocalParameterHandler();
/**
* @brief Will initialize the local parameter handler
*
* @return OK if successful, otherwise error return value
*/
ReturnValue_t initialize();
/**
* @brief Function to add parameter to json file. If the json file does
* not yet exist it will be created here.
*
* @param key The string to identify the parameter
* @param value The value to set for this parameter
*
* @return OK if successful, otherwise error return value
*
* @details The function will add the parameter only if it is not already
* present in the json file
*/
template <typename T>
ReturnValue_t addParameter(std::string key, T value);
/**
* @brief Function will update a parameter which already exists in the json
* file
*
* @param key The unique string to identify the parameter to update
* @param value The new new value to set
*
* @return OK if successful, otherwise error return value
*/
template <typename T>
ReturnValue_t updateParameter(std::string key, T value);
private:
// Name relative to mount point of SD card where parameters will be stored
std::string sdRelativeName;
SdCardMountedIF* sdcMan;
virtual ReturnValue_t writeJsonFile();
/**
* @brief This function sets the name of the json file dependent on the
* currently active SD card
*
* @return OK if successful, otherwise error return value
*/
ReturnValue_t updateFullName();
};
template <typename T>
inline ReturnValue_t LocalParameterHandler::addParameter(std::string key, T value) {
ReturnValue_t result = insertValue(key, value);
if (result != returnvalue::OK) {
return result;
}
result = writeJsonFile();
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
template <typename T>
inline ReturnValue_t LocalParameterHandler::updateParameter(std::string key, T value) {
ReturnValue_t result = setValue(key, value);
if (result != returnvalue::OK) {
return result;
}
result = writeJsonFile();
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
#endif /* BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_ */

22
bsp_q7s/memory/scratchApi.cpp
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@ -1,28 +1,28 @@
#include "scratchApi.h"
ReturnValue_t scratch::writeString(std::string name, std::string string) {
std::ostringstream oss;
oss << "xsc_scratch write " << name << " \"" << string << "\"";
std::ostringstream oss("xsc_scratch write ", std::ostringstream::ate);
oss << name << " \"" << string << "\"";
int result = std::system(oss.str().c_str());
if (result != 0) {
utility::handleSystemError(result, "scratch::writeString");
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::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) {
if (result != returnvalue::OK) {
return result;
}
std::string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
size_t pos = line.find("=");
@ -35,16 +35,16 @@ ReturnValue_t scratch::readString(std::string key, std::string &string) {
return KEY_NOT_FOUND;
}
string = line.substr(pos + 1);
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t scratch::clearValue(std::string key) {
std::ostringstream oss;
oss << "xsc_scratch clear " << key;
std::ostringstream oss("xsc_scratch clear ", std::ostringstream::ate);
oss << key;
int result = std::system(oss.str().c_str());
if (result != 0) {
utility::handleSystemError(result, "scratch::clearValue");
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}

26
bsp_q7s/memory/scratchApi.h
View File

@ -7,7 +7,7 @@
#include <sstream>
#include <type_traits>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include "returnvalues/classIds.h"
@ -21,7 +21,7 @@ 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);
static constexpr ReturnValue_t KEY_NOT_FOUND = returnvalue::makeCode(INTERFACE_ID, 0);
ReturnValue_t clearValue(std::string key);
@ -76,32 +76,32 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
int result = std::system(oss.str().c_str());
if (result != 0) {
if (WEXITSTATUS(result) == 1) {
sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
sif::warning << "scratch::readToFile: 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");
utility::handleSystemError(result, "scratch::readToFile");
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
}
file.open(filename);
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::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 key, T num) noexcept {
std::ostringstream oss;
oss << "xsc_scratch write " << key << " " << std::to_string(num);
std::ostringstream oss("xsc_scratch write ", std::ostringstream::ate);
oss << key << " " << std::to_string(num);
int result = std::system(oss.str().c_str());
if (result != 0) {
utility::handleSystemError(result, "scratch::writeNumber");
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
@ -110,7 +110,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
ifstream file;
std::string filename;
ReturnValue_t result = readToFile(key, file, filename);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
std::remove(filename.c_str());
return result;
}
@ -118,7 +118,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
size_t pos = line.find("=");
@ -138,7 +138,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
}
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
} // namespace scratch

107
bsp_q7s/obsw.cpp
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@ -1,29 +1,46 @@
#include "obsw.h"
#include <pwd.h>
#include <sys/types.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <iostream>
#include "OBSWConfig.h"
#include "bsp_q7s/core/WatchdogHandler.h"
#include "commonConfig.h"
#include "core/InitMission.h"
#include "core/scheduling.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/version.h"
#include "mission/acsDefs.h"
#include "mission/system/tree/system.h"
#include "q7sConfig.h"
#include "watchdog/definitions.h"
static int OBSW_ALREADY_RUNNING = -2;
static constexpr int OBSW_ALREADY_RUNNING = -2;
#if OBSW_Q7S_EM == 0
static const char* DEV_STRING = "Xiphos Q7S FM";
#else
static const char* DEV_STRING = "Xiphos Q7S EM";
#endif
int obsw::obsw() {
WatchdogHandler WATCHDOG_HANDLER;
int obsw::obsw(int argc, char* argv[]) {
using namespace fsfw;
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
std::cout << "-- OBSW v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
<< std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
#if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
std::error_code e;
// Check special file here. This file is created or deleted by the eive-watchdog application
// or systemd service!
if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME, e)) {
sif::warning << "File " << watchdog::RUNNING_FILE_NAME
<< " exists so the software might "
"already be running. Check if obsw systemd service has been stopped."
@ -31,11 +48,85 @@ int obsw::obsw() {
return OBSW_ALREADY_RUNNING;
}
#endif
initmission::initMission();
// Delay the boot if applicable.
bootDelayHandling();
bool initWatchFunction = false;
std::string fullExecPath = argv[0];
if (fullExecPath.find("/usr/bin") != std::string::npos) {
initWatchFunction = true;
}
ReturnValue_t result = WATCHDOG_HANDLER.initialize(initWatchFunction);
if (result != returnvalue::OK) {
std::cerr << "Initiating EIVE watchdog handler failed" << std::endl;
}
scheduling::initMission();
// Command the EIVE system to safe mode
#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
commandEiveSystemToSafe();
#else
announceAllModes();
#endif
for (;;) {
/* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000);
WATCHDOG_HANDLER.periodicOperation();
TaskFactory::delayTask(2000);
}
return 0;
}
void obsw::bootDelayHandling() {
const char* homedir = nullptr;
homedir = getenv("HOME");
if (homedir == nullptr) {
homedir = getpwuid(getuid())->pw_dir;
}
std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";
std::error_code e;
// Init delay handling.
if (std::filesystem::exists(bootDelayFile, e)) {
std::ifstream ifile(bootDelayFile);
std::string lineStr;
unsigned int bootDelaySecs = 0;
unsigned int line = 0;
// Try to reas delay seconds from file.
while (std::getline(ifile, lineStr)) {
std::istringstream iss(lineStr);
if (!(iss >> bootDelaySecs)) {
break;
}
line++;
}
if (line == 0) {
// If the file is empty, assume default of 6 seconds
bootDelaySecs = 6;
}
std::cout << "Delaying OBSW start for " << bootDelaySecs << " seconds" << std::endl;
TaskFactory::delayTask(bootDelaySecs * 1000);
}
}
void obsw::commandEiveSystemToSafe() {
auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
ReturnValue_t result =
MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
}
}
void obsw::announceAllModes() {
auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
CommandMessage msg;
ModeMessage::setModeAnnounceMessage(msg, true);
ReturnValue_t result =
MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
}
}

8
bsp_q7s/obsw.h
View File

@ -3,8 +3,12 @@
namespace obsw {
int obsw();
int obsw(int argc, char* argv[]);
};
void bootDelayHandling();
void commandEiveSystemToSafe();
void announceAllModes();
}; // namespace obsw
#endif /* BSP_Q7S_CORE_OBSW_H_ */

4
bsp_q7s/simple/CMakeLists.txt
View File

@ -1,3 +1 @@
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
simple.cpp
)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE simple.cpp)

4
bsp_q7s/xadc/CMakeLists.txt
View File

@ -1,3 +1 @@
target_sources(${OBSW_NAME} PRIVATE
Xadc.cpp
)
target_sources(${OBSW_NAME} PRIVATE Xadc.cpp)

52
bsp_q7s/xadc/Xadc.cpp
View File

@ -12,20 +12,20 @@ Xadc::Xadc() {}
Xadc::~Xadc() {}
ReturnValue_t Xadc::getTemperature(float& temperature) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
int raw = 0;
int offset = 0;
float scale = 0;
result = readValFromFile<int>(xadc::file::tempRaw.c_str(), raw);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = readValFromFile<int>(xadc::file::tempOffset.c_str(), offset);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = readValFromFile<float>(xadc::file::tempScale.c_str(), scale);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
temperature = (raw + offset) * scale / 1000;
@ -35,84 +35,84 @@ ReturnValue_t Xadc::getTemperature(float& temperature) {
ReturnValue_t Xadc::getVccPint(float& vccPint) {
ReturnValue_t result =
readVoltageFromSysfs(xadc::file::vccpintRaw, xadc::file::vccpintScale, vccPint);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t Xadc::getVccPaux(float& vccPaux) {
ReturnValue_t result =
readVoltageFromSysfs(xadc::file::vccpauxRaw, xadc::file::vccpauxScale, vccPaux);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t Xadc::getVccInt(float& vccInt) {
ReturnValue_t result =
readVoltageFromSysfs(xadc::file::vccintRaw, xadc::file::vccintScale, vccInt);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t Xadc::getVccAux(float& vccAux) {
ReturnValue_t result =
readVoltageFromSysfs(xadc::file::vccauxRaw, xadc::file::vccauxScale, vccAux);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t Xadc::getVccBram(float& vccBram) {
ReturnValue_t result =
readVoltageFromSysfs(xadc::file::vccbramRaw, xadc::file::vccbramScale, vccBram);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t Xadc::getVccOddr(float& vccOddr) {
ReturnValue_t result =
readVoltageFromSysfs(xadc::file::vccoddrRaw, xadc::file::vccoddrScale, vccOddr);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t Xadc::getVrefp(float& vrefp) {
ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefpRaw, xadc::file::vrefpScale, vrefp);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t Xadc::getVrefn(float& vrefn) {
ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefnRaw, xadc::file::vrefnScale, vrefn);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t Xadc::readVoltageFromSysfs(std::string rawFile, std::string scaleFile,
float& voltage) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
float raw = 0;
float scale = 0;
result = readValFromFile(rawFile.c_str(), raw);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = readValFromFile(scaleFile.c_str(), scale);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
voltage = calculateVoltage(raw, scale);
@ -127,7 +127,7 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
fp = fopen(filename, "r");
if (fp == nullptr) {
sif::warning << "Xadc::readValFromFile: Failed to open file " << filename << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
char valstring[MAX_STR_LENGTH] = "";
char* returnVal = fgets(valstring, MAX_STR_LENGTH, fp);
@ -135,10 +135,10 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
sif::warning << "Xadc::readValFromFile: Failed to read string from file " << filename
<< std::endl;
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
std::istringstream valSstream(valstring);
valSstream >> val;
fclose(fp);
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}

2
bsp_q7s/xadc/Xadc.h
View File

@ -3,7 +3,7 @@
#include <string>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
namespace xadc {
using namespace std;

67
bsp_te0720_1cfa/InitMission.cpp
View File

@ -2,7 +2,7 @@
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
@ -36,7 +36,7 @@ void initmission::initMission() {
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
if (factory == nullptr) {
/* Should never happen ! */
return;
@ -51,28 +51,28 @@ void initmission::initTasks() {
PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Add component TMTC Bridge failed" << std::endl;
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "Add component TMTC Polling failed" << std::endl;
}
@ -84,7 +84,7 @@ void initmission::initTasks() {
FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstUart(pst);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
pstTasks.push_back(pst);
@ -93,7 +93,7 @@ void initmission::initTasks() {
PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
"PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
}
#endif /* OBSW_ADD_PLOC_MPSOC == 1*/
@ -102,11 +102,30 @@ void initmission::initTasks() {
PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
"PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
}
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
#if OBSW_ADD_CCSDS_IP_CORES == 1
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
}
// Minimal distance between two received TCs amounts to 0.6 seconds
// If a command has not been read before the next one arrives, the old command will be
// overwritten by the PDEC.
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
}
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for (const auto& task : taskVector) {
if (task != nullptr) {
@ -121,6 +140,10 @@ void initmission::initTasks() {
tmtcDistributor->startTask();
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
#if OBSW_ADD_CCSDS_IP_CORE == 1
pdecHandlerTask->startTask();
ccsdsHandlerTask->startTask();
#endif /* #if OBSW_ADD_CCSDS_IP_CORE == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
@ -137,11 +160,11 @@ void initmission::initTasks() {
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = returnvalue::OK;
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) {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
taskVec.push_back(pusVerification);
@ -149,11 +172,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
@ -161,11 +184,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
@ -173,19 +196,19 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
taskVec.push_back(pusMedPrio);
@ -193,11 +216,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);

2
bsp_te0720_1cfa/InitMission.h
View File

@ -3,7 +3,7 @@
#include <vector>
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/definitions.h"
class PeriodicTaskIF;
class TaskFactory;

3
bsp_te0720_1cfa/OBSWConfig.h.in
View File

@ -13,7 +13,7 @@
/** All of the following flags should be enabled for mission code */
/*******************************************************************/
#define OBSW_USE_CCSDS_IP_CORE 0
#define OBSW_ADD_CCSDS_IP_CORE 0
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME 0
// Set to 1 if telecommands are received via the PDEC IP Core
@ -37,7 +37,6 @@
#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0
#define OBSW_SYRLINKS_SIMULATED 1
#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
#define OBSW_ENABLE_PERIODIC_HK 0
#define OBSW_PRINT_CORE_HK 0
#define OBSW_INITIALIZE_SWITCHES 0

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