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parts of p60dock handler

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This commit is contained in:
Jakob Meier
2020-12-04 14:14:08 +01:00
parent c68566a1e1
commit 2f4421b904
19 changed files with 830 additions and 442 deletions
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648
bsp_linux/comIF/ArduinoComIF.cpp
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@ -1,324 +1,324 @@
#include "ArduinoCookie.h"
#include "ArduinoComIF.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <fsfw/globalfunctions/CRC.h>
#include <termios.h>
ArduinoCommInterface::ArduinoCommInterface(object_id_t setObjectId,
const char *serialDevice) :
spiMap(MAX_NUMBER_OF_SPI_DEVICES), rxBuffer(
MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true), SystemObject(setObjectId) {
initialized = false;
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
if (serialPort < 0) {
//configuration error
printf("Error %i from open: %s\n", errno, strerror(errno));
return;
}
struct termios tty;
memset(&tty, 0, sizeof tty);
// Read in existing settings, and handle any error
if (tcgetattr(serialPort, &tty) != 0) {
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
return;
}
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_lflag &= ~ICANON; //Disable Canonical Mode
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
tty.c_cc[VTIME] = 0; // Non Blocking
tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600); //Baudrate
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return;
}
initialized = true;
}
ArduinoCommInterface::~ArduinoCommInterface() {
::close(serialPort);
}
ReturnValue_t ArduinoCommInterface::open(Cookie **cookie, uint32_t address,
uint32_t maxReplyLen) {
//This is a hack, will be gone with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
switch ((address >> 8) & 0xff) {
case 0:
*cookie = new ArduinoCookie(ArduinoCookie::SPI, address, maxReplyLen);
spiMap.insert(address, (ArduinoCookie*) *cookie); //Yes, I *do* know that it is an ArduinoSpiCookie, I just new'd it
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::reOpen(Cookie *cookie, uint32_t address,
uint32_t maxReplyLen) {
//too lazy right now will be irrelevant with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
return HasReturnvaluesIF::RETURN_FAILED;
}
void ArduinoCommInterface::close(Cookie *cookie) {
//too lazy as well, find the correct Map, delete it there, then the cookie...
}
ReturnValue_t ArduinoCommInterface::sendMessage(Cookie *cookie, uint8_t *data,
uint32_t len) {
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == NULL) {
return INVALID_COOKIE_TYPE;
}
return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
len);
}
ReturnValue_t ArduinoCommInterface::getSendSuccess(Cookie *cookie) {
return RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::requestReceiveMessage(Cookie *cookie) {
return RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::readReceivedMessage(Cookie *cookie,
uint8_t **buffer, uint32_t *size) {
handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == NULL) {
return INVALID_COOKIE_TYPE;
}
*buffer = arduinoCookie->replyBuffer;
*size = arduinoCookie->receivedDataLen;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::setAddress(Cookie *cookie,
uint32_t address) {
//not implemented
return RETURN_FAILED;
}
uint32_t ArduinoCommInterface::getAddress(Cookie *cookie) {
//not implemented
return 0;
}
ReturnValue_t ArduinoCommInterface::setParameter(Cookie *cookie,
uint32_t parameter) {
//not implemented
return RETURN_FAILED;
}
uint32_t ArduinoCommInterface::getParameter(Cookie *cookie) {
//not implemented
return 0;
}
ReturnValue_t ArduinoCommInterface::sendMessage(uint8_t command,
uint8_t address, const uint8_t *data, size_t dataLen) {
if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA;
}
//being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
sendBuffer[0] = DleEncoder::STX;
uint8_t *currentPosition = sendBuffer + 1;
size_t remainingLen = sizeof(sendBuffer) - 1;
uint32_t encodedLen;
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_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) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
uint8_t temporaryBuffer[2];
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
temporaryBuffer[1] = dataLen;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
&encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc);
//fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc);
temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX;
}
remainingLen -= 1;
encodedLen = sizeof(sendBuffer) - remainingLen;
ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) {
//we could try to find out what happened...
return RETURN_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 RETURN_OK;
}
void ArduinoCommInterface::handleSerialPortRx() {
uint32_t availableSpace = rxBuffer.availableWriteSpace();
uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial,
sizeof(dataFromSerial));
if (bytesRead < 0) {
return;
}
rxBuffer.writeData(dataFromSerial, bytesRead);
uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
&dataLenReceivedSoFar);
//look for STX
size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar)
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
firstSTXinRawData++;
}
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
//there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar);
return;
}
uint8_t packet[MAX_PACKET_SIZE];
uint32_t packetLen;
uint32_t readSize;
ReturnValue_t result = DleEncoder::decode(
dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) {
handlePacket(packet, packetLen);
//after handling the packet, we can delete it from the raw stream, it has been copied to packet
toDelete += readSize;
}
//remove Data which was processed
rxBuffer.deleteData(toDelete);
}
void ArduinoCommInterface::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
if (crc != 0) {
//CRC error
return;
}
uint8_t command = packet[0];
uint8_t address = packet[1];
uint16_t size = (packet[2] << 8) + packet[3];
if (size != packetLen - 6) {
//Invalid Length
return;
}
switch (command) {
case ArduinoCookie::SPI: {
ArduinoCookie **itsComplicated;
ReturnValue_t result = spiMap.find(address, &itsComplicated);
if (result != RETURN_OK) {
//we do no know this address
return;
}
ArduinoCookie *theActualCookie = *itsComplicated;
if (packetLen > theActualCookie->maxReplySize + 6) {
packetLen = theActualCookie->maxReplySize + 6;
}
memcpy(theActualCookie->replyBuffer, packet + 4, packetLen - 6);
theActualCookie->receivedDataLen = packetLen - 6;
}
break;
default:
return;
}
}
//#include "cookies/ArduinoCookie.h"
//#include "ArduinoComIF.h"
//
//#include <fsfw/globalfunctions/DleEncoder.h>
//#include <stdio.h>
//#include <string.h>
//#include <unistd.h>
//#include <fcntl.h>
//#include <errno.h>
//#include <fsfw/globalfunctions/CRC.h>
//
//#include <termios.h>
//
//ArduinoCommInterface::ArduinoCommInterface(object_id_t setObjectId,
// const char *serialDevice) :
// spiMap(MAX_NUMBER_OF_SPI_DEVICES), rxBuffer(
// MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true), SystemObject(setObjectId) {
// initialized = false;
// serialPort = ::open("/dev/ttyUSB0", O_RDWR);
//
// if (serialPort < 0) {
// //configuration error
// printf("Error %i from open: %s\n", errno, strerror(errno));
// return;
// }
//
// struct termios tty;
// memset(&tty, 0, sizeof tty);
//
// // Read in existing settings, and handle any error
// if (tcgetattr(serialPort, &tty) != 0) {
// printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
// return;
// }
//
// tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
// tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
// tty.c_cflag |= CS8; // 8 bits per byte
// tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
// tty.c_lflag &= ~ICANON; //Disable Canonical Mode
// tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
// tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
// tty.c_cc[VTIME] = 0; // Non Blocking
// tty.c_cc[VMIN] = 0;
//
// cfsetispeed(&tty, B9600); //Baudrate
//
// if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
// //printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
// return;
// }
//
// initialized = true;
//
//}
//
//ArduinoCommInterface::~ArduinoCommInterface() {
// ::close(serialPort);
//}
//
//ReturnValue_t ArduinoCommInterface::open(Cookie **cookie, uint32_t address,
// uint32_t maxReplyLen) {
// //This is a hack, will be gone with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
// switch ((address >> 8) & 0xff) {
// case 0:
// *cookie = new ArduinoCookie(ArduinoCookie::SPI, address, maxReplyLen);
// spiMap.insert(address, (ArduinoCookie*) *cookie); //Yes, I *do* know that it is an ArduinoSpiCookie, I just new'd it
// break;
// default:
// return HasReturnvaluesIF::RETURN_FAILED;
// }
// return HasReturnvaluesIF::RETURN_OK;
//}
//
//ReturnValue_t ArduinoCommInterface::reOpen(Cookie *cookie, uint32_t address,
// uint32_t maxReplyLen) {
// //too lazy right now will be irrelevant with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
// return HasReturnvaluesIF::RETURN_FAILED;
//}
//
//void ArduinoCommInterface::close(Cookie *cookie) {
// //too lazy as well, find the correct Map, delete it there, then the cookie...
//}
//
//ReturnValue_t ArduinoCommInterface::sendMessage(Cookie *cookie, uint8_t *data,
// uint32_t len) {
// ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
// if (arduinoCookie == NULL) {
// return INVALID_COOKIE_TYPE;
// }
//
// return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
// len);
//}
//
//ReturnValue_t ArduinoCommInterface::getSendSuccess(Cookie *cookie) {
// return RETURN_OK;
//}
//
//ReturnValue_t ArduinoCommInterface::requestReceiveMessage(Cookie *cookie) {
// return RETURN_OK;
//}
//
//ReturnValue_t ArduinoCommInterface::readReceivedMessage(Cookie *cookie,
// uint8_t **buffer, uint32_t *size) {
//
// handleSerialPortRx();
//
// ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
// if (arduinoCookie == NULL) {
// return INVALID_COOKIE_TYPE;
// }
//
// *buffer = arduinoCookie->replyBuffer;
// *size = arduinoCookie->receivedDataLen;
// return HasReturnvaluesIF::RETURN_OK;
//}
//
//ReturnValue_t ArduinoCommInterface::setAddress(Cookie *cookie,
// uint32_t address) {
// //not implemented
// return RETURN_FAILED;
//}
//
//uint32_t ArduinoCommInterface::getAddress(Cookie *cookie) {
// //not implemented
// return 0;
//}
//
//ReturnValue_t ArduinoCommInterface::setParameter(Cookie *cookie,
// uint32_t parameter) {
// //not implemented
// return RETURN_FAILED;
//}
//
//uint32_t ArduinoCommInterface::getParameter(Cookie *cookie) {
// //not implemented
// return 0;
//}
//
//ReturnValue_t ArduinoCommInterface::sendMessage(uint8_t command,
// uint8_t address, const uint8_t *data, size_t dataLen) {
// if (dataLen > UINT16_MAX) {
// return TOO_MUCH_DATA;
// }
//
// //being conservative here
// uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
//
// sendBuffer[0] = DleEncoder::STX;
//
// uint8_t *currentPosition = sendBuffer + 1;
// size_t remainingLen = sizeof(sendBuffer) - 1;
// uint32_t encodedLen;
//
// ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
// remainingLen, &encodedLen, false);
// if (result != RETURN_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) {
// return result;
// }
// currentPosition += encodedLen;
// remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//
// uint8_t temporaryBuffer[2];
//
// //note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
// temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
// temporaryBuffer[1] = dataLen;
//
// result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
// remainingLen, &encodedLen, false);
// if (result != RETURN_OK) {
// return result;
// }
// currentPosition += encodedLen;
// remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//
// //encoding the actual data
// result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
// &encodedLen, false);
// if (result != RETURN_OK) {
// return result;
// }
// currentPosition += encodedLen;
// remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//
// uint16_t crc = CRC::crc16ccitt(&command, 1);
// crc = CRC::crc16ccitt(&address, 1, crc);
// //fortunately the length is still there
// crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
// crc = CRC::crc16ccitt(data, dataLen, crc);
//
// temporaryBuffer[0] = crc >> 8;
// temporaryBuffer[1] = crc;
//
// result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
// remainingLen, &encodedLen, false);
// if (result != RETURN_OK) {
// return result;
// }
// currentPosition += encodedLen;
// remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//
// if (remainingLen > 0) {
// *currentPosition = DleEncoder::ETX;
// }
// remainingLen -= 1;
//
// encodedLen = sizeof(sendBuffer) - remainingLen;
//
// ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
// if (writtenlen < 0) {
// //we could try to find out what happened...
// return RETURN_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 RETURN_OK;
//}
//
//void ArduinoCommInterface::handleSerialPortRx() {
// uint32_t availableSpace = rxBuffer.availableWriteSpace();
//
// uint8_t dataFromSerial[availableSpace];
//
// ssize_t bytesRead = read(serialPort, dataFromSerial,
// sizeof(dataFromSerial));
//
// if (bytesRead < 0) {
// return;
// }
//
// rxBuffer.writeData(dataFromSerial, bytesRead);
//
// uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
//
// uint32_t dataLenReceivedSoFar = 0;
//
// rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
// &dataLenReceivedSoFar);
//
// //look for STX
// size_t firstSTXinRawData = 0;
// while ((firstSTXinRawData < dataLenReceivedSoFar)
// && (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
// firstSTXinRawData++;
// }
//
// if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
// //there is no STX in our data, throw it away...
// rxBuffer.deleteData(dataLenReceivedSoFar);
// return;
// }
//
// uint8_t packet[MAX_PACKET_SIZE];
// uint32_t packetLen;
//
// uint32_t readSize;
//
// ReturnValue_t result = DleEncoder::decode(
// dataReceivedSoFar + firstSTXinRawData,
// dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
// sizeof(packet), &packetLen);
//
// size_t toDelete = firstSTXinRawData;
// if (result == HasReturnvaluesIF::RETURN_OK) {
// handlePacket(packet, packetLen);
//
// //after handling the packet, we can delete it from the raw stream, it has been copied to packet
// toDelete += readSize;
// }
//
// //remove Data which was processed
// rxBuffer.deleteData(toDelete);
//}
//
//void ArduinoCommInterface::handlePacket(uint8_t *packet, size_t packetLen) {
// uint16_t crc = CRC::crc16ccitt(packet, packetLen);
// if (crc != 0) {
// //CRC error
// return;
// }
//
// uint8_t command = packet[0];
// uint8_t address = packet[1];
//
// uint16_t size = (packet[2] << 8) + packet[3];
//
// if (size != packetLen - 6) {
// //Invalid Length
// return;
// }
//
// switch (command) {
// case ArduinoCookie::SPI: {
// ArduinoCookie **itsComplicated;
// ReturnValue_t result = spiMap.find(address, &itsComplicated);
// if (result != RETURN_OK) {
// //we do no know this address
// return;
// }
// ArduinoCookie *theActualCookie = *itsComplicated;
// if (packetLen > theActualCookie->maxReplySize + 6) {
// packetLen = theActualCookie->maxReplySize + 6;
// }
// memcpy(theActualCookie->replyBuffer, packet + 4, packetLen - 6);
// theActualCookie->receivedDataLen = packetLen - 6;
// }
// break;
// default:
// return;
// }
//}

120
bsp_linux/comIF/P60DockComIF.cpp Normal file
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@ -0,0 +1,120 @@
#include "P60DockComIF.h"
#include <csp/csp.h>
#include <csp/drivers/can_socketcan.h>
#include <bsp_linux/comIF/cookies/P60DockCookie.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <gomspace/libparam_client/include/gs/param/rparam.h>
P60DockComIF::P60DockComIF(object_id_t objectId) :
SystemObject(objectId) {
}
P60DockComIF::~P60DockComIF() {
}
ReturnValue_t P60DockComIF::initializeInterface(CookieIF *cookie) {
if(cookie == nullptr) {
return NULLPOINTER;
}
P60DockCookie* p60DockCookie = dynamic_cast<P60DockCookie*>(cookie);
uint8_t cspAddress = p60DockCookie->getCspAddress();
char* canInterface = p60DockCookie->getCanIf();
int bitrate = p60DockCookie->getBitrate();
int buf_count = 10;
int buf_size = 300;
/* Init CSP and CSP buffer system */
if (csp_init(cspAddress) != 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;
}
int promisc = 0; // Set filter mode on
csp_iface_t *csp_if_ptr = &csp_if;
csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc);
/* Set default route and start router */
uint8_t address = CSP_DEFAULT_ROUTE;
uint8_t netmask = 0;
uint8_t mac = CSP_NODE_MAC;
int result = csp_rtable_set(address, netmask, csp_if_ptr, mac);
if(result != CSP_ERR_NONE){
sif::error << "Failed to add can interface to router table"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Start the route task */
unsigned int task_stack_size = 512;
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) {
P60DockCookie* p60DockCookie = dynamic_cast<P60DockCookie*> (cookie);
MessageType_t messageType = p60DockCookie->getMessageType();
switch(messageType){
case(P60DockCookie::REBOOT):{
csp_reboot(p60DockCookie->getCspAddress());
break;
}
default:
break;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t P60DockComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t P60DockComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t P60DockComIF::readReceivedMessage(CookieIF *cookie,
uint8_t** buffer, size_t* size) {
P60DockCookie* p60DockCookie = dynamic_cast<P60DockCookie*> (cookie);
MessageType_t messageType = p60DockCookie->getMessageType();
switch(messageType){
case(P60DockCookie::READ_MODULE_CONFIG):{
uint32_t timeout = 1000;
uint8_t p60dockAddress = p60DockCookie->getCspAddress();
gs_param_table_instance_t moduleConfig;
moduleConfig.rows = moduleConfigTable;
moduleConfig.id = p60dockAddress;
moduleConfig.row_count = p60dock_hk_count;
moduleConfig.memory_size = P60DOCK_HK_SIZE;
moduleConfig.memory = *buffer;
/* Read complete module configuration table from P60 Dock and store data
* in buffer */
int result = gs_rparam_get_full_table(&moduleConfig, p60dockAddress,
node_hk.id, GS_RPARAM_MAGIC_CHECKSUM, timeout);
*size = P60DOCK_HK_SIZE;
if (result != GS_OK) {
sif::info
<< "Failed retrieving module configuration from P60 dock with error code "
<< result << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
break;
}
default:
break;
}
return HasReturnvaluesIF::RETURN_OK;
}

52
bsp_linux/comIF/P60DockComIF.h Normal file
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@ -0,0 +1,52 @@
/*
* P60DockComIF.h
*
* Created on: 01.12.2020
* Author: jakob
*/
#ifndef BSP_LINUX_COMIF_P60DOCKCOMIF_H_
#define BSP_LINUX_COMIF_P60DOCKCOMIF_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <gomspace/libcsp/include/csp/csp_types.h>
#include <gomspace/libcsp/include/csp/csp_error.h>
#include <gomspace/libparam_client/include/gs/param/types.h>
#include <gs/param/internal/types.h>
/**
* @brief This is the communication interface to the cubesat space protocol
* stack. The physical layer used for this implementation is CAN.
* @author Jakob Meier
*/
class P60DockComIF: public DeviceCommunicationIF, public SystemObject {
public:
P60DockComIF(object_id_t objectId);
virtual ~P60DockComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **readData, size_t *readLen) override;
private:
/* 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 boardConfigTable = 0;
uint8_t modulConfigTable = 1;
uint8_t calibrationParamTable = 2;
uint8_t tmDataTable = 4;
unsigned int moduleConfigTableRows = 32;
};
#endif /* BSP_LINUX_COMIF_P60DOCKCOMIF_H_ */

0
bsp_linux/comIF/ArduinoCookie.cpp → bsp_linux/comIF/cookies/ArduinoCookie.cpp
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0
bsp_linux/comIF/ArduinoCookie.h → bsp_linux/comIF/cookies/ArduinoCookie.h
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38
bsp_linux/comIF/cookies/P60DockCookie.cpp Normal file
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#include "bsp_linux/comIF/cookies/P60DockCookie.h"
P60DockCookie::P60DockCookie(char* canInterface_, uint8_t cspAddress_) :
canInterface(canInterface_), cspAddress(cspAddress_) {
}
P60DockCookie::~P60DockCookie() {
}
uint8_t P60DockCookie::getCspAddress(){
return cspAddress;
}
char* P60DockCookie::getCanIf(){
return canInterface;
}
int P60DockCookie::getBitrate(){
return bitrate;
}
void P60DockCookie::setPingMessage(){
nextMessage = PING;
}
void P60DockCookie::setRebootMessage(){
nextMessage = REBOOT;
}
void P60DockCookie::setReadModuleCfgMessage(){
nextMessage = READ_MODULE_CONFIG;
}
MessageType_t P60DockCookie::getMessageType(){
return nextMessage;
}

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bsp_linux/comIF/cookies/P60DockCookie.h Normal file
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#ifndef BSP_LINUX_COMIF_COOKIES_P60DockCookie_H_
#define BSP_LINUX_COMIF_COOKIES_P60DockCookie_H_
#include <fsfw/devicehandlers/CookieIF.h>
typedef uint32_t MessageType_t;
/**
* @brief This is the cookie for the communication interface to the cubesat
* space protocol (CSP) implementation of gomspace. The communication
* interface uses CAN as the physical layer. Therefore the cookie also
* holds the CAN instance to use.
* @author Jakob Meier
*/
class P60DockCookie: public CookieIF {
public:
/**
* Constructor for the CSP cookie
* @param canInterface_ The CAN interface to use. E.g. "can0" or "can1".
* @param cspAddress_ The CSP address of the target device.
*/
P60DockCookie(char* canInterface_, uint8_t cspAddress_);
virtual ~P60DockCookie();
uint8_t getCspAddress();
char* getCanIf();
int getBitrate();
void setPingMessage();
void setRebootMessage();
void setReadModuleCfgMessage();
MessageType_t getMessageType();
/* Message type defines the type of the next data transfer between the
* CSP device and the OBC. */
static const MessageType_t MESSAGE_NONE = 0x0;
static const MessageType_t PING = 0x1;
static const MessageType_t REBOOT = 0x4;
static const MessageType_t READ_MODULE_CONFIG = 0x71;
private:
char* canInterface;
uint8_t cspAddress;
int bitrate = 1000;
MessageType_t nextMessage = MESSAGE_NONE;
};
#endif /* BSP_LINUX_COMIF_COOKIES_P60DockCookie_H_ */