eive/eive-obsw
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read module config and read hk working

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This commit is contained in:
Jakob Meier 2020-12-10 10:01:45 +01:00
parent 988b61a320
commit 106ced9687
10 changed files with 84 additions and 52 deletions
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12
bsp_linux/InitMission.cpp
View File

@ -130,8 +130,16 @@ void InitMission::initTasks(){
sif::error << "Object add component failed" << std::endl;
}
// PeriodicTaskIF* P60DockTask = TaskFactory::instance()->
// createPeriodicTask("P60Dock Task", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE*4,
// 1.6, nullptr);
// result = P60DockTask->addComponent(objects::P60DOCK_HANDLER);
// if(result!=HasReturnvaluesIF::RETURN_OK){
// sif::error << "Object add component failed" << std::endl;
// }
FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
createFixedTimeslotTask("GS_PST_TASK", 10,
createFixedTimeslotTask("GS_PST_TASK", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 1.0, nullptr);
result = pst::gomspacePstInit(GomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -173,6 +181,8 @@ void InitMission::initTasks(){
PusMedPrio->startTask();
PusLowPrio->startTask();
// P60DockTask->startTask();
#if ADD_TEST_CODE == 1
// TestTimeslotTask->startTask();
P60DockTestTask->startTask();

68
bsp_linux/comIF/P60DockComIF.cpp
View File

@ -20,14 +20,16 @@ ReturnValue_t P60DockComIF::initializeInterface(CookieIF *cookie) {
}
P60DockCookie* p60DockCookie = dynamic_cast<P60DockCookie*>(cookie);
uint8_t cspAddress = p60DockCookie->getCspAddress();
if(p60DockCookie == nullptr) {
return NULLPOINTER;
}
char* canInterface = p60DockCookie->getCanIf();
int bitrate = p60DockCookie->getBitrate();
/* Define the memory to allocate for the CSP stack */
int buf_count = 10;
int buf_size = 300;
/* Init CSP and CSP buffer system */
if (csp_init(cspAddress) != CSP_ERR_NONE
if (csp_init(cspClientAddress) != CSP_ERR_NONE
|| csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) {
sif::error << "Failed to init CSP\r\n" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
@ -49,22 +51,42 @@ ReturnValue_t P60DockComIF::initializeInterface(CookieIF *cookie) {
}
/* Start the route task */
unsigned int task_stack_size = 512;
unsigned int task_stack_size = 500;
unsigned int priority = 0;
result = csp_route_start_task(task_stack_size, priority);
if(result != CSP_ERR_NONE){
sif::error << "Failed to start csp route task" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t P60DockComIF::sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) {
if(cookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
P60DockCookie* p60DockCookie = dynamic_cast<P60DockCookie*> (cookie);
if(p60DockCookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
MessageType_t messageType = p60DockCookie->getMessageType();
switch(messageType){
case(P60DockCookie::PING):{
uint32_t timeout = 1000; // ms
unsigned int pingSize = 100; // 100 bytes
uint8_t p60DockAddress = p60DockCookie->getCspAddress();
uint32_t replyTime = csp_ping(p60DockAddress, timeout, pingSize,
CSP_O_NONE);
sif::info << "Ping address: " << p60DockAddress << ", reply after "
<< replyTime << " ms" << std::endl;
/* Store reply time in reply buffer * */
memcpy(replyBuffer, &replyTime, sizeof(replyTime));
break;
}
case(P60DockCookie::REBOOT):{
csp_reboot(p60DockCookie->getCspAddress());
break;
@ -98,19 +120,19 @@ ReturnValue_t P60DockComIF::readReceivedMessage(CookieIF *cookie,
switch(messageType){
case(P60DockCookie::READ_MODULE_CONFIG):{
uint32_t timeout = 1000;
uint32_t timeout = 1000; // ms
uint8_t p60dockAddress = p60DockCookie->getCspAddress();
gs_param_table_instance_t moduleConfig;
moduleConfig.rows = (gs_param_table_row_t*)p60dock_config;
moduleConfig.id = moduleCfgTableNum;
moduleConfig.row_count = p60dock_config_count;
moduleConfig.memory_size = p60dock_config_size;
moduleConfig.memory = replyBuffer;
gs_param_table_instance_t table;
table.rows = (gs_param_table_row_t*)p60dock_config;
table.id = moduleCfgTableNum;
table.row_count = p60dock_config_count;
table.memory_size = P60DOCK_PARAM_SIZE;
table.memory = replyBuffer;
/* Read complete module configuration table from P60 Dock and store data
* in buffer */
int result = gs_rparam_get_full_table(&moduleConfig, p60dockAddress,
moduleConfig.id, GS_RPARAM_MAGIC_CHECKSUM, timeout);
*size = moduleCfgTableSize;
int result = gs_rparam_get_full_table(&table, p60dockAddress,
table.id, GS_RPARAM_MAGIC_CHECKSUM, timeout);
*size = P60DOCK_PARAM_SIZE;
if (result != GS_OK) {
sif::info
<< "Failed retrieving module configuration from P60 dock "
@ -120,18 +142,18 @@ ReturnValue_t P60DockComIF::readReceivedMessage(CookieIF *cookie,
break;
}
case(P60DockCookie::READ_HK):{
uint32_t timeout = 1000;
uint32_t timeout = 1000; // ms
uint8_t p60dockAddress = p60DockCookie->getCspAddress();
tmData.rows = (gs_param_table_row_t*)p60dock_hk;
tmData.id = tmTableNum;
tmData.row_count = p60dock_hk_count;
tmData.memory_size = P60DOCK_HK_SIZE;
tmData.memory = replyBuffer;
table.rows = (gs_param_table_row_t*)p60dock_hk;
table.id = tmTableNum;
table.row_count = p60dock_hk_count;
table.memory_size = P60DOCK_HK_SIZE;
table.memory = replyBuffer;
/* Read complete module configuration table from P60 Dock and store data
* in buffer */
int result = gs_rparam_get_full_table(&tmData, p60dockAddress,
tmData.id, GS_RPARAM_MAGIC_CHECKSUM, timeout);
*size = tmTableSize;
int result = gs_rparam_get_full_table(&table, p60dockAddress,
table.id, GS_RPARAM_MAGIC_CHECKSUM, timeout);
*size = P60DOCK_HK_SIZE;
if (result != GS_OK) {
sif::info
<< "Failed retrieving telemetry from P60 dock with error "

13
bsp_linux/comIF/P60DockComIF.h
View File

@ -25,7 +25,7 @@
*/
class P60DockComIF: public DeviceCommunicationIF, public SystemObject {
public:
static const uint8_t maxReplyLength = 188;
static const uint16_t maxReplyLength = 412;
P60DockComIF(object_id_t objectId);
virtual ~P60DockComIF();
@ -40,19 +40,18 @@ public:
uint8_t **readData, size_t *readLen) override;
private:
/* This is the CSP address of the OBC. */
uint8_t cspClientAddress = 1;
/* Interface struct for csp protocol stack */
csp_iface_t csp_if;
/* Table definitions. According to gomspace software documentation there
* exist four tables each identified by a number*/
uint8_t boardConfigTableNum = 0;
uint8_t moduleCfgTableNum = 1;
uint8_t calibrationParamTableNum = 2;
uint8_t tmTableNum = 4;
unsigned int moduleConfigTableRows = 32;
uint8_t moduleCfgTableSize = 188;
uint8_t tmTableSize = 188;
uint8_t replyBuffer[188];
gs_param_table_instance_t tmData;
/* Replies of P60 dock are written to this buffer */
uint8_t replyBuffer[P60DockComIF::maxReplyLength];
gs_param_table_instance_t table;
};

4
bsp_linux/comIF/cookies/P60DockCookie.cpp
View File

@ -21,6 +21,10 @@ int P60DockCookie::getBitrate(){
return bitrate;
}
void P60DockCookie::resetMessageType(){
nextMessage = MESSAGE_NONE;
}
void P60DockCookie::setPingMessage(){
nextMessage = PING;
}

1
bsp_linux/comIF/cookies/P60DockCookie.h
View File

@ -29,6 +29,7 @@ public:
void setReadModuleCfgMessage();
void setReadHkMessage();
MessageType_t getMessageType();
void resetMessageType();
/* Message type defines the type of the next data transfer between the
* CSP device and the OBC. */

2
gomspace/p60-dock_client/include/gs/p60-dock/param/p60dock_hk.h
View File

@ -42,11 +42,9 @@
#define P60DOCK_HK_ANT6_DEPL 0xBA /* int8_t */
#define P60DOCK_HK_AR6_DEPL 0xBB /* int8_t */
/** Define the memory size */
#define P60DOCK_HK_SIZE 0xBC
extern const param_table_t p60dock_hk[];
extern const int p60dock_hk_count;
extern const int p60dock_config_size;
#endif /* P60DOCK_HK_H_ */

1
gomspace/p60-dock_client/src/p60dock_client.c
View File

@ -64,7 +64,6 @@ const param_table_t p60dock_config[] = {
};
const int p60dock_config_count = sizeof(p60dock_config) / sizeof(p60dock_config[0]);
const int p60dock_config_size = sizeof(p60dock_config);
/**
* Setup info about calibration parameters

24
mission/devices/P60DockHandler.cpp
View File

@ -40,19 +40,16 @@ ReturnValue_t P60DockHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(PING): {
p60DockCookie->setPingMessage();
break;
}
case(READ_MODULE_CFG):{
p60DockCookie->setReadModuleCfgMessage();
internalState = InternalStates::READ_MODULE_CFG;
this->pstStep = GET_READ;
break;
}
case(READ_HK):{
p60DockCookie->setReadHkMessage();
internalState = InternalStates::READ_HK;
this->pstStep = GET_READ;
break;
}
case(PING): {
break;
}
default:
@ -62,19 +59,25 @@ ReturnValue_t P60DockHandler::buildCommandFromCommand(
}
void P60DockHandler::fillCommandAndReplyMap(){
this->insertInCommandAndReplyMap(PING, 3);
this->insertInCommandAndReplyMap(READ_MODULE_CFG, 3);
this->insertInCommandAndReplyMap(READ_HK, 3);
}
ReturnValue_t P60DockHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
switch(internalState) {
case(InternalStates::READ_MODULE_CFG): {
MessageType_t messageType = p60DockCookie->getMessageType();
switch(messageType) {
case(PING):
*foundId = PING;
*foundLen = 4;
break;
case(READ_MODULE_CFG): {
*foundId = READ_MODULE_CFG;
*foundLen = moduleCfgTableSize;
break;
}
case(InternalStates::READ_HK): {
case(READ_HK): {
*foundId = READ_HK;
*foundLen = hkTableSize;
break;
@ -82,6 +85,7 @@ ReturnValue_t P60DockHandler::scanForReply(const uint8_t *start,
default:
return IGNORE_REPLY_DATA;
}
p60DockCookie->resetMessageType();
return HasReturnvaluesIF::RETURN_OK;
}

9
mission/devices/P60DockHandler.h
View File

@ -30,13 +30,8 @@ private:
static const DeviceCommandId_t READ_MODULE_CFG = 0x71; //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t READ_HK = 0x72; //!< [EXPORT] : [COMMAND]
enum class InternalStates {
STATE_NONE,
READ_MODULE_CFG,
READ_HK
};
InternalStates internalState = InternalStates::STATE_NONE;
uint8_t moduleCfgTableSize = 188;
uint16_t moduleCfgTableSize = 412;
uint8_t calibrationTableSize = 174;
uint8_t hkTableSize = 188;
P60DockCookie* p60DockCookie;

2
test/testtasks/P60DockTestTask.cpp
View File

@ -36,7 +36,7 @@ ReturnValue_t P60DockTestTask::pingP60dock(void){
unsigned int pingSize = 100; // 100 bytes
uint32_t replyTime = csp_ping(p60dockAddress, timeout, pingSize, CSP_O_NONE);
sif::info << "Ping address: " << p60dockAddress << ", reply after "
<< replyTime << "ms" << std::endl;
<< replyTime << " ms" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}