eive/eive-obsw
eive/eive-obsw
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Merge pull request 'Update package' (#25) from mueller/update-package into develop

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Reviewed-on: eive/eive_obsw#25
This commit is contained in:
Jakob Meier 2021-03-19 15:48:22 +01:00
commit 3ad60aaabc
48 changed files with 965 additions and 656 deletions
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4
bsp_hosted/fsfwconfig/OBSWVersion.h
View File

@ -3,8 +3,8 @@
const char* const SW_NAME = "eive"; const char* const SW_NAME = "eive";
#define SW_VERSION 0 #define SW_VERSION 1
#define SW_SUBVERSION 2 #define SW_SUBVERSION 0
#define SW_SUBSUBVERSION 0 #define SW_SUBSUBVERSION 0

3
bsp_q7s/InitMission.cpp
View File

@ -11,8 +11,7 @@
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h> #include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h> #include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
#include <iostream> #include <iostream>
/* This is configured for linux without CR */ /* This is configured for linux without CR */

28
bsp_q7s/devices/HeaterHandler.cpp
View File

@ -201,8 +201,8 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
heaterMapIter->second.active = false; heaterMapIter->second.active = false;
heaterMapIter->second.waitMainSwitchOn = false; heaterMapIter->second.waitMainSwitchOn = false;
if (heaterMapIter->second.replyQueue != commandQueue->getId()) { if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
actionHelper.finish(heaterMapIter->second.replyQueue, heaterMapIter->second.action, actionHelper.finish(false, heaterMapIter->second.replyQueue,
MAIN_SWITCH_SET_TIMEOUT ); heaterMapIter->second.action, MAIN_SWITCH_SET_TIMEOUT );
} }
return; return;
} }
@ -229,8 +229,15 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
/* There is no need to send action finish replies if the sender was the /* There is no need to send action finish replies if the sender was the
* HeaterHandler itself. */ * HeaterHandler itself. */
if (heaterMapIter->second.replyQueue != commandQueue->getId()) { if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
actionHelper.finish(heaterMapIter->second.replyQueue, if(result == RETURN_OK) {
heaterMapIter->second.action, result); actionHelper.finish(true, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
}
else {
actionHelper.finish(false, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
}
} }
heaterMapIter->second.active = false; heaterMapIter->second.active = false;
heaterMapIter->second.waitMainSwitchOn = false; heaterMapIter->second.waitMainSwitchOn = false;
@ -250,7 +257,7 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of" sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
<< " main line switch" << std::endl; << " main line switch" << std::endl;
if (heaterMapIter->second.replyQueue != commandQueue->getId()) { if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
actionHelper.finish(heaterMapIter->second.replyQueue, actionHelper.finish(false, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, mainSwitchState); heaterMapIter->second.action, mainSwitchState);
} }
heaterMapIter->second.active = false; heaterMapIter->second.active = false;
@ -282,8 +289,15 @@ void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
triggerEvent(SWITCH_ALREADY_OFF, switchNr); triggerEvent(SWITCH_ALREADY_OFF, switchNr);
} }
if (heaterMapIter->second.replyQueue != NO_COMMANDER) { if (heaterMapIter->second.replyQueue != NO_COMMANDER) {
actionHelper.finish(heaterMapIter->second.replyQueue, /* Report back switch command reply if necessary */
heaterMapIter->second.action, result); if(result == HasReturnvaluesIF::RETURN_OK) {
actionHelper.finish(true, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
}
else {
actionHelper.finish(false, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
}
} }
heaterMapIter->second.active = false; heaterMapIter->second.active = false;
} }

8
bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
View File

@ -108,7 +108,7 @@ void SolarArrayDeploymentHandler::performWaitOn8VActions() {
} else { } else {
if (mainSwitchCountdown.hasTimedOut()) { if (mainSwitchCountdown.hasTimedOut()) {
triggerEvent(MAIN_SWITCH_ON_TIMEOUT); triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
MAIN_SWITCH_TIMEOUT_FAILURE); MAIN_SWITCH_TIMEOUT_FAILURE);
stateMachine = WAIT_ON_DELOYMENT_COMMAND; stateMachine = WAIT_ON_DELOYMENT_COMMAND;
} }
@ -125,7 +125,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
* the deployment sequence. */ * the deployment sequence. */
stateMachine = WAIT_ON_DELOYMENT_COMMAND; stateMachine = WAIT_ON_DELOYMENT_COMMAND;
triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED); triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
SWITCHING_DEPL_SA2_FAILED); SWITCHING_DEPL_SA2_FAILED);
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
} }
@ -135,7 +135,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
" array deployment switch 2 high " << std::endl; " array deployment switch 2 high " << std::endl;
stateMachine = WAIT_ON_DELOYMENT_COMMAND; stateMachine = WAIT_ON_DELOYMENT_COMMAND;
triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED); triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
SWITCHING_DEPL_SA2_FAILED); SWITCHING_DEPL_SA2_FAILED);
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
} }
@ -146,7 +146,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
void SolarArrayDeploymentHandler::handleDeploymentFinish() { void SolarArrayDeploymentHandler::handleDeploymentFinish() {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
if (deploymentCountdown.hasTimedOut()) { if (deploymentCountdown.hasTimedOut()) {
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK); actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
result = gpioInterface->pullLow(deplSA1); result = gpioInterface->pullLow(deplSA1);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"

5
bsp_rpi/InitMission.cpp
View File

@ -3,8 +3,6 @@
#include <fsfwconfig/objects/systemObjectList.h> #include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h> #include <fsfwconfig/OBSWConfig.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
#include <mission/utility/InitMission.h> #include <mission/utility/InitMission.h>
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
@ -14,6 +12,7 @@
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h> #include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
#include <iostream> #include <iostream>
@ -128,7 +127,7 @@ void initmission::initTasks() {
#if RPI_TEST_ACS_BOARD == 1 #if RPI_TEST_ACS_BOARD == 1
FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask( FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc); "ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
result = pst::pollingSequenceAcsTest(acsTask); result = pst::pollingSequenceAcsTest(acsTask);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl; sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;

40
bsp_rpi/ObjectFactory.cpp
View File

@ -1,23 +1,25 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include <bsp_rpi/gpio/GPIORPi.h> #include <bsp_rpi/gpio/GPIORPi.h>
#include <objects/systemObjectList.h> #include <fsfwconfig/objects/systemObjectList.h>
#include <devices/addresses.h> #include <fsfwconfig/devices/addresses.h>
#include <devices/gpioIds.h> #include <fsfwconfig/devices/gpioIds.h>
#include <OBSWConfig.h> #include <fsfwconfig/OBSWConfig.h>
#include <tmtc/apid.h> #include <fsfwconfig/tmtc/apid.h>
#include <tmtc/pusIds.h> #include <fsfwconfig/tmtc/pusIds.h>
#include <fsfwconfig/devices/spi.h>
#include <linux/boardtest/LibgpiodTest.h> #include <linux/boardtest/LibgpiodTest.h>
#include <linux/boardtest/SpiTestClass.h> #include <linux/boardtest/SpiTestClass.h>
#include <linux/gpio/GpioCookie.h> #include <linux/gpio/GpioCookie.h>
#include <linux/gpio/LinuxLibgpioIF.h> #include <linux/gpio/LinuxLibgpioIF.h>
#include <linux/spi/SpiCookie.h> #include <linux/spi/SpiCookie.h>
#include <linux/spi/SpiComIF.h>
#include <mission/core/GenericFactory.h> #include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h> #include <mission/utility/TmFunnel.h>
#include <mission/devices/MGMHandlerLIS3MDL.h> #include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h> #include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h> #include <fsfw/tmtcservices/CommandingServiceBase.h>
@ -26,7 +28,8 @@
#include <fsfw/tmtcpacket/pus/TmPacketStored.h> #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h> #include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <linux/spi/SpiComIF.h> #include <mission/devices/GyroL3GD20Handler.h>
void Factory::setStaticFrameworkObjectIds() { void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@ -97,11 +100,24 @@ void ObjectFactory::produce(){
"GYRO_2_L3G", gpio::Direction::OUT, 1); "GYRO_2_L3G", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookieAcsBoard); gpioIF->addGpios(gpioCookieAcsBoard);
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, std::string spiDev = "/dev/spidev0.0";
gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000); SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER, MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie); objects::SPI_COM_IF, spiCookie);
mgmHandler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
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);
auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie);
gyroL3gHandler->setStartUpImmediately();
#endif /* RPI_TEST_ACS_BOARD == 1 */ #endif /* RPI_TEST_ACS_BOARD == 1 */
} }

2
bsp_rpi/boardconfig/rpi_config.h
View File

@ -8,7 +8,7 @@
/* Only one of those 2 should be enabled! */ /* Only one of those 2 should be enabled! */
#define RPI_ADD_SPI_TEST 0 #define RPI_ADD_SPI_TEST 0
#define RPI_TEST_ACS_BOARD 1 #define RPI_TEST_ACS_BOARD 0
/* Adapt these values accordingly */ /* Adapt these values accordingly */
namespace gpio { namespace gpio {

7
cmake/scripts/Linux/create_cmake_debug_cfg.sh
View File

@ -16,5 +16,10 @@ fi
build_generator="Unix Makefiles" build_generator="Unix Makefiles"
os_fsfw="linux" os_fsfw="linux"
builddir="Debug-Linux"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" echo "Running command (without the leading +):"
set -x # Print command
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
# Use this if commands are added which should not be printed
# set +x

7
cmake/scripts/Linux/create_cmake_release_cfg.sh
View File

@ -16,5 +16,10 @@ fi
build_generator="Unix Makefiles" build_generator="Unix Makefiles"
os_fsfw="linux" os_fsfw="linux"
builddir="Release-Linux"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" echo "Running command (without the leading +):"
set -x # Print command
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
# Use this if commands are added which should not be printed
# set +x

7
cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh
View File

@ -16,5 +16,10 @@ fi
build_generator="Unix Makefiles" build_generator="Unix Makefiles"
os_fsfw="linux" os_fsfw="linux"
builddir="RelWithDeb-Linux"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" echo "Running command (without the leading +):"
set -x # Print command
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
# Use this if commands are added which should not be printed
# set +x

0
cmake/scripts/Q7S/create_cmake_debug_cfg.sh Normal file → Executable file
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0
cmake/scripts/Q7S/create_cmake_release_cfg.sh Normal file → Executable file
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0
cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh Normal file → Executable file
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0
cmake/scripts/RPi/create_cmake_debug_cfg.sh Normal file → Executable file
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0
cmake/scripts/RPi/create_cmake_release_cfg.sh Normal file → Executable file
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0
cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh Normal file → Executable file
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0
cmake/scripts/RPi/create_cmake_size_cfg.sh Normal file → Executable file
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2
fsfw

@ -1 +1 @@
Subproject commit 92f249dc62cf02a5052fee4e9877bc89b2be1ab5 Subproject commit 778ef4ef230019ca4b155a77518156793cf5d308

2
fsfwconfig/CMakeLists.txt
View File

@ -1,6 +1,6 @@
target_sources(${TARGET_NAME} PRIVATE target_sources(${TARGET_NAME} PRIVATE
ipc/MissionMessageTypes.cpp ipc/MissionMessageTypes.cpp
pollingsequence/PollingSequenceFactory.cpp pollingsequence/pollingSequenceFactory.cpp
) )
target_include_directories(${TARGET_NAME} PUBLIC target_include_directories(${TARGET_NAME} PUBLIC

23
fsfwconfig/OBSWConfig.h
View File

@ -14,17 +14,22 @@
/* These defines should be disabled for mission code but are useful for /* These defines should be disabled for mission code but are useful for
debugging. */ debugging. */
#define OBSW_VERBOSE_LEVEL 1 #define OBSW_VERBOSE_LEVEL 1
#define OBSW_PRINT_MISSED_DEADLINES 1 #define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1 #define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0 #define TEST_LIBGPIOD 0
#define TE0720 0 #define TE0720 0
#define P60DOCK_DEBUG 0 #define P60DOCK_DEBUG 0
#define PDU1_DEBUG 0 #define PDU1_DEBUG 0
#define PDU2_DEBUG 0 #define PDU2_DEBUG 0
#define ACU_DEBUG 1 #define ACU_DEBUG 1
/* Can be used to switch device to NORMAL mode immediately */
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
/* Can be used for low-level debugging of the SPI bus */
#define FSFW_LINUX_SPI_WIRETAPPING 0
#ifdef __cplusplus #ifdef __cplusplus

27
fsfwconfig/devices/spi.h Normal file
View File

@ -0,0 +1,27 @@
#ifndef FSFWCONFIG_DEVICES_SPI_H_
#define FSFWCONFIG_DEVICES_SPI_H_
#include <cstdint>
#include <linux/spi/spiDefinitions.h>
/**
* SPI configuration will be contained here to let the device handlers remain independent
* of SPI specific properties.
*/
namespace spi {
/* Default values, changing them is not supported for now */
static constexpr uint32_t DEFAULT_LIS3_SPEED = 3'900'000;
static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_L3G_SPEED = 3'900'000;
static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
}
#endif /* FSFWCONFIG_DEVICES_SPI_H_ */

26
fsfwconfig/pollingsequence/PollingSequenceFactory.cpp → fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -1,9 +1,11 @@
#include "pollingSequenceFactory.h"
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfwconfig/objects/systemObjectList.h> #include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
{ {
@ -109,6 +111,28 @@ ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of ACS Board PST failed" << std::endl; sif::error << "Initialization of ACS Board PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;

1
fsfwconfig/pollingsequence/PollingSequenceFactory.h → fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -1,5 +1,6 @@
#ifndef POLLINGSEQUENCEFACTORY_H_ #ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_ #define POLLINGSEQUENCEFACTORY_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
class FixedTimeslotTaskIF; class FixedTimeslotTaskIF;

311
linux/boardtest/SpiTestClass.cpp
View File

@ -1,14 +1,18 @@
#include "SpiTestClass.h" #include "SpiTestClass.h"
#include <fsfwconfig/devices/gpioIds.h> #include <fsfwconfig/devices/gpioIds.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <linux/spi/spidev.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include <fcntl.h> #include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h> #include <fsfw/timemanager/Stopwatch.h>
#include <linux/gpio/gpioDefinitions.h> #include <linux/gpio/gpioDefinitions.h>
#include <linux/gpio/GpioCookie.h> #include <linux/gpio/GpioCookie.h>
#include <linux/utility/Utility.h> #include <linux/utility/Utility.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>
#include <unistd.h> #include <unistd.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <bitset> #include <bitset>
@ -19,7 +23,7 @@ SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objec
if(gpioIF == nullptr) { if(gpioIF == nullptr) {
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl; sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
} }
testMode = TestModes::MGM_LIS3MDL; testMode = TestModes::GYRO_L3GD20H;
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data()); spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data()); spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
} }
@ -38,6 +42,7 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
break; break;
} }
case(TestModes::GYRO_L3GD20H): { case(TestModes::GYRO_L3GD20H): {
performL3gTest(gyro1L3gd20ChipSelect);
break; break;
} }
} }
@ -64,10 +69,10 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
else { else {
currentGpioId = gpioIds::MGM_3_RM3100_CS; currentGpioId = gpioIds::MGM_3_RM3100_CS;
} }
uint32_t rm3100speed = 3'900'000; uint32_t rm3100speed = 976'000;
uint8_t rm3100revidReg = 0x36; uint8_t rm3100revidReg = 0x36;
spi::SpiMode rm3100mode = spi::SpiMode::MODE_3; spi::SpiModes rm3100mode = spi::SpiModes::MODE_3;
//spiTransferStruct.speed_hz = rm3100Speed;
#ifdef RASPBERRY_PI #ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0"; std::string deviceName = "/dev/spidev0.0";
#else #else
@ -85,9 +90,67 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
} }
setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed); setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
uint8_t revId = readStmRegister(fileDescriptor, currentGpioId, rm3100revidReg, false); uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg);
sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) << sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) <<
std::endl; std::endl;
/* Write configuration to CMM register */
writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75);
uint8_t cmmRegister = readRm3100Register(fileDescriptor , currentGpioId, 0x01);
sif::info << "SpiTestClass::performRm3100Test: CMM register value: " <<
std::hex << "0x" << static_cast<int>(cmmRegister) << std::dec << std::endl;
/* Read the cycle count registers */
uint8_t cycleCountsRaw[6];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6);
uint16_t cycleCountX = cycleCountsRaw[0] << 8 | cycleCountsRaw[1];
uint16_t cycleCountY = cycleCountsRaw[2] << 8 | cycleCountsRaw[3];
uint16_t cycleCountZ = cycleCountsRaw[4] << 8 | cycleCountsRaw[5];
sif::info << "Cycle count X: " << cycleCountX << std::endl;
sif::info << "Cycle count Y: " << cycleCountY << std::endl;
sif::info << "Cycle count z: " << cycleCountZ << std::endl;
writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x95);
uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " <<
std::hex << "0x" << static_cast<int>(tmrcReg) << std::dec << std::endl;
TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" <<
std::bitset<8>(statusReg) << std::endl;
/* This means that data is not ready */
if((statusReg & 0b1000'0000) == 0) {
sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
if((statusReg & 0b1000'0000) == 0) {
return;
}
}
uint32_t rm3100DefaultCycleCout = 0xC8;
/* Gain scales lineary with cycle count and is 38 for cycle count 100 */
float rm3100Gain = rm3100DefaultCycleCout / 100.0 * 38.0;
float scaleFactor = 1 / rm3100Gain;
uint8_t rawValues[9];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x24, rawValues, 9);
/* The sensor generates 24 bit signed values */
int32_t rawX = ((rawValues[0] << 24) | (rawValues[1] << 16) | (rawValues[2] << 8)) >> 8;
int32_t rawY = ((rawValues[3] << 24) | (rawValues[4] << 16) | (rawValues[5] << 8)) >> 8;
int32_t rawZ = ((rawValues[6] << 24) | (rawValues[7] << 16) | (rawValues[8] << 8)) >> 8;
float fieldStrengthX = rawX * scaleFactor;
float fieldStrengthY = rawY * scaleFactor;
float fieldStrengthZ = rawZ * scaleFactor;
sif::info << "RM3100 measured field strenghts in microtesla:" << std::endl;
sif::info << "Field Strength X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
sif::info << "Field Strength Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
sif::info << "Field Strength Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
} }
void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) { void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
@ -108,7 +171,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
currentGpioId = gpioIds::MGM_2_LIS3_CS; currentGpioId = gpioIds::MGM_2_LIS3_CS;
} }
uint32_t spiSpeed = 3'900'000; uint32_t spiSpeed = 3'900'000;
spi::SpiMode spiMode = spi::SpiMode::MODE_3; spi::SpiModes spiMode = spi::SpiModes::MODE_3;
#ifdef RASPBERRY_PI #ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0"; std::string deviceName = "/dev/spidev0.0";
#else #else
@ -126,11 +189,108 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false); uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I Regiter 0b" << sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
std::bitset<8>(whoAmIRegVal) << std::endl; std::bitset<8>(whoAmIRegVal) << std::endl;
} }
void SpiTestClass::performL3gTest(uint8_t l3gId) {
/* Configure all SPI chip selects and pull them high */
acsInit();
l3gId = gyro2L3gd20ChipSelect;
/* Adapt accordingly */
if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro2L3gd20ChipSelect) {
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = l3gId;
uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b1101'0111;
if(chipSelectPin == gyro1L3gd20ChipSelect) {
currentGpioId = gpioIds::GYRO_1_L3G_CS;
}
else {
currentGpioId = gpioIds::GYRO_2_L3G_CS;
}
uint32_t spiSpeed = 3'900'000;
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "placeholder";
#endif
int fileDescriptor = 0;
utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface: ");
if(fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
std::bitset<8>(whoAmIRegVal) << std::endl;
if(whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" <<
std::endl;
}
uint8_t ctrlReg1Addr = 0b0010'0000;
{
uint8_t commandRegs[5];
commandRegs[0] = 0b0000'1111;
commandRegs[1] = 0x0;
commandRegs[2] = 0x0;
/* Configure big endian data format */
commandRegs[3] = 0b0100'0000;
commandRegs[4] = 0x0;
writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs,
sizeof(commandRegs));
uint8_t readRegs[5];
readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs,
sizeof(readRegs));
for(uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
if(readRegs[idx] != commandRegs[0]) {
sif::warning << "SpiTestClass::performL3gTest: Read control register" <<
static_cast<int>(idx + 1) << "not equal to configured value" << std::endl;
}
}
}
uint8_t readOutBuffer[14];
readMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readOutBuffer,
sizeof(readOutBuffer));
uint8_t statusReg = readOutBuffer[7];
sif::info << "SpiTestClass::performL3gTest: Status Register 0b" <<
std::bitset<8>(statusReg) << std::endl;
uint16_t l3gRange = 245;
float scaleFactor = static_cast<float>(l3gRange) / INT16_MAX;
/* The sensor spits out little endian */
int16_t angVelocRawX = (readOutBuffer[8] << 8) | readOutBuffer[9];
int16_t angVelocRawY = (readOutBuffer[10] << 8) | readOutBuffer[11];
int16_t angVelocRawZ = (readOutBuffer[12] << 8) | readOutBuffer[13];
float angVelocX = scaleFactor * angVelocRawX;
float angVelocY = scaleFactor * angVelocRawY;
float angVelocZ = scaleFactor * angVelocRawZ;
sif::info << "Angular velocities for the L3GD20H in degrees per second:" << std::endl;
sif::info << "X: " << angVelocX << std::endl;
sif::info << "Y: " << angVelocY << std::endl;
sif::info << "Z: " << angVelocZ << std::endl;
}
void SpiTestClass::acsInit() { void SpiTestClass::acsInit() {
GpioCookie* gpioCookie = new GpioCookie(); GpioCookie* gpioCookie = new GpioCookie();
std::string rpiGpioName = "gpiochip0"; std::string rpiGpioName = "gpiochip0";
@ -174,29 +334,9 @@ void SpiTestClass::acsInit() {
} }
} }
void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value, void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
bool autoIncrement) { int mode_test = SPI_MODE_3;
if(autoIncrement) { int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test);//reinterpret_cast<uint8_t*>(&mode));
reg |= STM_AUTO_INCR_MASK;
}
spiTransferStruct.len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = value;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::writeStmRegister: Write failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
}
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) { if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!"); utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
} }
@ -207,12 +347,114 @@ void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t spe
} }
} }
void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) {
spiTransferStruct.len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = value;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
utility::handleIoctlError("SpiTestClass::writeRegister: Write failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
}
void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement) {
if(autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
writeRegister(fd, chipSelect, reg, value);
}
void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t *values, size_t len) {
if(values == nullptr) {
return;
}
reg |= STM_AUTO_INCR_MASK;
/* Clear read mask */
reg &= ~STM_READ_MASK;
writeMultipleRegisters(fd, chipSelect, reg, values, len);
}
void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t *values, size_t len) {
if(values == nullptr) {
return;
}
sendBuffer[0] = reg;
std::memcpy(sendBuffer.data() + 1, values, len);
spiTransferStruct.len = len + 1;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
}
uint8_t SpiTestClass::readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg) {
return readStmRegister(fd, chipSelect, reg, false);
}
void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t len) {
reg |= STM_AUTO_INCR_MASK;
readMultipleRegisters(fd, chipSelect, reg, reply, len);
}
void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t len) {
if(reply == nullptr) {
return;
}
spiTransferStruct.len = len + 1;
sendBuffer[0] = reg | STM_READ_MASK;
for(uint8_t idx = 0; idx < len ; idx ++) {
sendBuffer[idx + 1] = 0;
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
std::memcpy(reply, recvBuffer.data() + 1, len);
}
uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
bool autoIncrement) { bool autoIncrement) {
reg |= STM_READ_MASK; reg |= STM_READ_MASK;
if(autoIncrement) { if(autoIncrement) {
reg |= STM_AUTO_INCR_MASK; reg |= STM_AUTO_INCR_MASK;
} }
return readRegister(fd, chipSelect, reg);
}
uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
spiTransferStruct.len = 2; spiTransferStruct.len = 2;
sendBuffer[0] = reg; sendBuffer[0] = reg;
sendBuffer[1] = 0; sendBuffer[1] = 0;
@ -222,10 +464,11 @@ uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
} }
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) { if(retval < 0) {
utility::handleIoctlError("SpiTestClass::readStmRegiste: Read failed"); utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
} }
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect); gpioIF->pullHigh(chipSelect);
} }
return recvBuffer[1]; return recvBuffer[1];
} }

19
linux/boardtest/SpiTestClass.h
View File

@ -28,10 +28,11 @@ private:
std::array<uint8_t, 128> recvBuffer; std::array<uint8_t, 128> recvBuffer;
std::array<uint8_t, 128> sendBuffer; std::array<uint8_t, 128> sendBuffer;
struct spi_ioc_transfer spiTransferStruct; struct spi_ioc_transfer spiTransferStruct = {};
void performRm3100Test(uint8_t mgmId); void performRm3100Test(uint8_t mgmId);
void performLis3MdlTest(uint8_t lis3Id); void performLis3MdlTest(uint8_t lis3Id);
void performL3gTest(uint8_t l3gId);
/* ACS board specific code which pulls all GPIOs high */ /* ACS board specific code which pulls all GPIOs high */
void acsInit(); void acsInit();
@ -46,12 +47,26 @@ private:
uint8_t mgm3Rm3100ChipSelect = 27; uint8_t mgm3Rm3100ChipSelect = 27;
static constexpr uint8_t STM_READ_MASK = 0b1000'0000; static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000; static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed); void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value, void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement); bool autoIncrement);
void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
size_t len);
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
size_t len);
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement); uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t len);
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t* reply, size_t len);
}; };

19
linux/spi/SpiComIF.cpp
View File

@ -1,4 +1,5 @@
#include "SpiComIF.h" #include "SpiComIF.h"
#include <OBSWConfig.h>
#include <linux/utility/Utility.h> #include <linux/utility/Utility.h>
#include <linux/spi/SpiCookie.h> #include <linux/spi/SpiCookie.h>
@ -78,7 +79,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
} }
size_t spiSpeed = 0; size_t spiSpeed = 0;
spi::SpiMode spiMode = spi::SpiMode::MODE_0; spi::SpiModes spiMode = spi::SpiModes::MODE_0;
SpiCookie::UncommonParameters params; SpiCookie::UncommonParameters params;
spiCookie->getSpiParameters(spiMode, spiSpeed, &params); spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
@ -162,7 +163,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED; return OPENING_FILE_FAILED;
} }
spi::SpiMode spiMode = spi::SpiMode::MODE_0; spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0; uint32_t spiSpeed = 0;
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr); spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
@ -188,6 +189,18 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error."); utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED; result = FULL_DUPLEX_TRANSFER_FAILED;
} }
#if FSFW_LINUX_SPI_WIRETAPPING == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Sent SPI data: " << std::endl;
size_t dataLen = spiCookie->getTransferStructHandle()->len;
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::info << "Received SPI data: " << std::endl;
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
#else
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
} }
else { else {
/* We write with a blocking half-duplex transfer here */ /* We write with a blocking half-duplex transfer here */
@ -295,7 +308,7 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) { void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode)); int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) { if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!"); utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");

2
linux/spi/SpiComIF.h
View File

@ -57,7 +57,7 @@ private:
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed); void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
}; };
#endif /* LINUX_SPI_SPICOMIF_H_ */ #endif /* LINUX_SPI_SPICOMIF_H_ */

14
linux/spi/SpiCookie.cpp
View File

@ -1,17 +1,17 @@
#include "SpiCookie.h" #include "SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiMode spiMode, uint32_t spiSpeed): spiAddress(spiAddress), const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode), chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode),
spiSpeed(spiSpeed) { spiSpeed(spiSpeed) {
} }
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize, SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
spi::SpiMode spiMode, uint32_t spiSpeed): spi::SpiModes spiMode, uint32_t spiSpeed):
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) { SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
} }
void SpiCookie::getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed, void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters) const { UncommonParameters* parameters) const {
spiMode = this->spiMode; spiMode = this->spiMode;
spiSpeed = this->spiSpeed; spiSpeed = this->spiSpeed;
@ -97,3 +97,11 @@ void SpiCookie::assignTransferSize(size_t transferSize) {
size_t SpiCookie::getCurrentTransferSize() const { size_t SpiCookie::getCurrentTransferSize() const {
return spiTransferStruct.len; return spiTransferStruct.len;
} }
void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
this->spiSpeed = newSpeed;
}
void SpiCookie::setSpiMode(spi::SpiModes newMode) {
this->spiMode = newMode;
}

14
linux/spi/SpiCookie.h
View File

@ -19,19 +19,25 @@ public:
* @param maxSize * @param maxSize
*/ */
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxReplySize, spi::SpiMode spiMode, uint32_t spiSpeed); const size_t maxReplySize, spi::SpiModes spiMode, uint32_t spiSpeed);
/** /**
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
* slave select or if CS logic is performed with decoders. * slave select or if CS logic is performed with decoders.
*/ */
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize, SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
spi::SpiMode spiMode, uint32_t spiSpeed); spi::SpiModes spiMode, uint32_t spiSpeed);
address_t getSpiAddress() const; address_t getSpiAddress() const;
std::string getSpiDevice() const; std::string getSpiDevice() const;
gpioId_t getChipSelectPin() const; gpioId_t getChipSelectPin() const;
size_t getMaxBufferSize() const; size_t getMaxBufferSize() const;
/** Enables changing SPI speed at run-time */
void setSpiSpeed(uint32_t newSpeed);
/** Enables changing the SPI mode at run-time */
void setSpiMode(spi::SpiModes newMode);
/** /**
* True if SPI transfers should be performed in full duplex mode * True if SPI transfers should be performed in full duplex mode
* @return * @return
@ -81,7 +87,7 @@ public:
void setCsHigh(bool enable); void setCsHigh(bool enable);
void setBitsPerWord(uint8_t bitsPerWord); void setBitsPerWord(uint8_t bitsPerWord);
void getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed, void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters = nullptr) const; UncommonParameters* parameters = nullptr) const;
/** /**
@ -100,7 +106,7 @@ private:
std::string spiDevice; std::string spiDevice;
const size_t maxSize; const size_t maxSize;
spi::SpiMode spiMode; spi::SpiModes spiMode;
uint32_t spiSpeed; uint32_t spiSpeed;
bool halfDuplex = false; bool halfDuplex = false;

4
linux/spi/spiDefinitions.h
View File

@ -1,9 +1,11 @@
#ifndef LINUX_SPI_SPIDEFINITONS_H_ #ifndef LINUX_SPI_SPIDEFINITONS_H_
#define LINUX_SPI_SPIDEFINITONS_H_ #define LINUX_SPI_SPIDEFINITONS_H_
#include <cstdint>
namespace spi { namespace spi {
enum SpiMode { enum SpiModes: uint8_t {
MODE_0, MODE_0,
MODE_1, MODE_1,
MODE_2, MODE_2,

67
misc/eclipse/.cproject
View File

@ -15,7 +15,7 @@
</extensions> </extensions>
</storageModule> </storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" name="eive-mingw-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="org.eclipse.cdt.build.core.emptycfg"> <configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" name="eive-mingw-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath=""> <folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base"> <toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/> <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
@ -218,9 +218,9 @@
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration> </cconfiguration>
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851"> <cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" moduleId="org.eclipse.cdt.core.settings" name="eive-rpi-debug-win"> <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" moduleId="org.eclipse.cdt.core.settings" name="eive-rpi-debug">
<macros> <macros>
<stringMacro name="RPI_SYSROOT" type="VALUE_TEXT" value="C:\Users\Robin\raspberrypi\rootfs"/> <stringMacro name="RPI_SYSROOT" type="VALUE_TEXT" value="/home/rmueller/raspberrypi/rootfs"/>
</macros> </macros>
<externalSettings/> <externalSettings/>
<extensions> <extensions>
@ -233,7 +233,7 @@
</extensions> </extensions>
</storageModule> </storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg"> <configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
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<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base"> <toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -310,7 +310,7 @@
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1620157986" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1620157986" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1227132942" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1227132942" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.864731133" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/> <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.864731133" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/> <builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug-RPi}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.944427471" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler"> <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.944427471" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.319232842" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.319232842" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.44504375" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/> <inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.44504375" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
@ -322,6 +322,7 @@
</option> </option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.864441147" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols"> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.864441147" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/> <listOptionValue builtIn="false" value="LINUX=1"/>
<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
</option> </option>
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.920837857" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/> <inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.920837857" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/>
</tool> </tool>
@ -332,6 +333,7 @@
</option> </option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1683468766" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols"> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1683468766" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/> <listOptionValue builtIn="false" value="LINUX=1"/>
<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
</option> </option>
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/> <inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/>
</tool> </tool>
@ -367,7 +369,7 @@
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration> </cconfiguration>
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171"> <cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171" moduleId="org.eclipse.cdt.core.settings" name="eive-rpi-release-win"> <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171" moduleId="org.eclipse.cdt.core.settings" name="eive-rpi-release">
<macros> <macros>
<stringMacro name="RPI_SYSROOT" type="VALUE_TEXT" value="C:\Users\Robin\raspberrypi\rootfs"/> <stringMacro name="RPI_SYSROOT" type="VALUE_TEXT" value="C:\Users\Robin\raspberrypi\rootfs"/>
</macros> </macros>
@ -382,7 +384,7 @@
</extensions> </extensions>
</storageModule> </storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171" name="eive-rpi-release-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="org.eclipse.cdt.build.core.emptycfg"> <configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171" name="eive-rpi-release" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="org.eclipse.cdt.build.core.emptycfg">
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@ -459,7 +461,7 @@
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<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.636531967" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.636531967" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
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<builder arguments="--build ." buildPath="${workspace_loc:/fsfw_example/Release}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.292623790" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/> <builder arguments="--build ." buildPath="${workspace_loc:/fsfw_example/Release-RPi}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.292623790" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
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@ -516,7 +518,7 @@
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration> </cconfiguration>
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689"> <cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug-win"> <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug">
<macros> <macros>
<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/> <stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
</macros> </macros>
@ -531,7 +533,7 @@
</extensions> </extensions>
</storageModule> </storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg"> <configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath=""> <folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base"> <toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -664,7 +666,7 @@
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration> </cconfiguration>
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200"> <cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-release-win"> <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-release">
<externalSettings/> <externalSettings/>
<extensions> <extensions>
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/> <extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
@ -676,7 +678,7 @@
</extensions> </extensions>
</storageModule> </storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200" name="eive-q7s-release-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg"> <configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200" name="eive-q7s-release" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200." name="/" resourcePath=""> <folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200." name="/" resourcePath="">
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.175672677" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base"> <toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.175672677" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.592910335" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.592910335" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -809,25 +811,28 @@
</cconfiguration> </cconfiguration>
</storageModule> </storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="eive_obsw.null.1569861610" name="eive_obsw"/> <project id="eive_obsw.null.1062489770" name="eive_obsw"/>
</storageModule> </storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/> <storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="refreshScope" versionNumber="2"> <storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="eive-linux-host-debug"/>
<configuration configurationName="eive-q7s-release-win"> <configuration configurationName="eive-q7s-release-win">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/> <resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration> </configuration>
<configuration configurationName="eive-mingw-release"/> <configuration configurationName="eive-mingw-release"/>
<configuration configurationName="eive-rpi-release-win"/> <configuration configurationName="eive-rpi-release-win"/>
<configuration configurationName="eive-linux-host-release"/>
<configuration configurationName="eive-mingw-debug">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="Default"> <configuration configurationName="Default">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/> <resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration> </configuration>
<configuration configurationName="eive-rpi-debug-win"/> <configuration configurationName="eive-rpi-debug-win"/>
<configuration configurationName="eive-q7s-debug-win"/> <configuration configurationName="eive-q7s-debug-win"/>
<configuration configurationName="eive-linux-host-debug"/>
<configuration configurationName="eive-q7s-release"/>
<configuration configurationName="eive-rpi-release"/>
<configuration configurationName="eive-q7s-debug"/>
<configuration configurationName="eive-linux-host-release"/>
<configuration configurationName="eive-mingw-debug">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="eive-rpi-debug"/> <configuration configurationName="eive-rpi-debug"/>
</storageModule> </storageModule>
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"> <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
@ -837,9 +842,17 @@
</storageModule> </storageModule>
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"> <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
<buildTargets> <buildTargets>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j16</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="hardclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="hardclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-f Makefile-Hosted -j16</buildArguments> <buildArguments>-j16</buildArguments>
<buildTarget>hardclean</buildTarget> <buildTarget>hardclean</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -852,25 +865,13 @@
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.2065184927;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.920837857"> <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.2065184927;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.920837857">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo> </scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.628631287;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.216437361">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1535302916;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.96000231">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1031020513;cdt.managedbuild.toolchain.gnu.mingw.base.1031020513.519944638;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.438317679;cdt.managedbuild.tool.gnu.c.compiler.input.336445831">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1595165802;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110"> <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1595165802;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo> </scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.2044466190;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1551006500"> <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.2047596104;cdt.managedbuild.toolchain.gnu.base.2047596104.1629235648;cdt.managedbuild.tool.gnu.c.compiler.base.1751527394;cdt.managedbuild.tool.gnu.c.compiler.input.72239787">
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<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1031020513;cdt.managedbuild.toolchain.gnu.mingw.base.1031020513.519944638;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.205410786;cdt.managedbuild.tool.gnu.cpp.compiler.input.1560428812"> <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.2047596104;cdt.managedbuild.toolchain.gnu.base.2047596104.1629235648;cdt.managedbuild.tool.gnu.cpp.compiler.base.1852610587;cdt.managedbuild.tool.gnu.cpp.compiler.input.1985567520">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.193772074;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.2081570054">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo> </scannerConfigBuildInfo>
</storageModule> </storageModule>

2
misc/eclipse/Host/eive-linux-host-debug-cmake.launch
View File

@ -18,7 +18,7 @@
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/> <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/> <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/> <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/eive_obsw"/> <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug-Linux/eive_obsw"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/> <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/> <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/> <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>

33
misc/eclipse/make/Host/eive-linux-host-debug.launch
View File

@ -1,33 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/linux/devel/eiveobsw-host.elf"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
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</listAttribute>
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
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</launchConfiguration>

33
misc/eclipse/make/Host/eive-linux-host-release-cmake.launch
View File

@ -1,33 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
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<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Release/eive_obsw"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075"/>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
<listEntry value="/eive_obsw"/>
</listAttribute>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
<listEntry value="4"/>
</listAttribute>
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
</launchConfiguration>

33
misc/eclipse/make/Host/eive-linux-host-release.launch
View File

@ -1,33 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
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33
misc/eclipse/make/Host/eive-mingw-debug.launch
View File

@ -1,33 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
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33
misc/eclipse/make/Host/eive-mingw-release.launch
View File

@ -1,33 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
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</launchConfiguration>

107
mission/devices/GyroL3GD20Handler.cpp
View File

@ -1,38 +1,55 @@
#include <mission/devices/GyroL3GD20Handler.h> #include "GyroL3GD20Handler.h"
#include <fsfw/datapool/PoolReadHelper.h> #include <OBSWConfig.h>
GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication, #include <fsfw/datapool/PoolReadGuard.h>
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie): CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this) { dataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(5);
#endif
} }
GyroHandler::~GyroHandler() {} GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
void GyroHandler::doStartUp() { void GyroHandlerL3GD20H::doStartUp() {
if(internalState == InternalState::STATE_NONE) { if(internalState == InternalState::NONE) {
internalState = InternalState::STATE_CONFIGURE; internalState = InternalState::CONFIGURE;
} }
if(internalState == InternalState::STATE_CONFIGURE) { if(internalState == InternalState::CONFIGURE) {
if(commandExecuted) { if(commandExecuted) {
internalState = InternalState::STATE_NORMAL; internalState = InternalState::CHECK_REGS;
commandExecuted = false; commandExecuted = false;
} }
} }
if(internalState == InternalState::CHECK_REGS) {
if(commandExecuted) {
internalState = InternalState::NORMAL;
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
commandExecuted = false;
}
}
} }
void GyroHandler::doShutDown() { void GyroHandlerL3GD20H::doShutDown() {
setMode(_MODE_POWER_DOWN); setMode(_MODE_POWER_DOWN);
} }
ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) { ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch(internalState) { switch(internalState) {
case(InternalState::STATE_NONE): case(InternalState::NONE):
case(InternalState::STATE_NORMAL): { case(InternalState::NORMAL): {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
case(InternalState::STATE_CONFIGURE): { case(InternalState::CONFIGURE): {
*id = L3GD20H::CONFIGURE_CTRL_REGS; *id = L3GD20H::CONFIGURE_CTRL_REGS;
uint8_t command [5]; uint8_t command [5];
command[0] = L3GD20H::CTRL_REG_1_VAL; command[0] = L3GD20H::CTRL_REG_1_VAL;
@ -41,10 +58,13 @@ ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
command[3] = L3GD20H::CTRL_REG_4_VAL; command[3] = L3GD20H::CTRL_REG_4_VAL;
command[4] = L3GD20H::CTRL_REG_5_VAL; command[4] = L3GD20H::CTRL_REG_5_VAL;
return buildCommandFromCommand(*id, command, 5); return buildCommandFromCommand(*id, command, 5);
break; }
case(InternalState::CHECK_REGS): {
*id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
} }
default: default:
// might be a configuration error. /* Might be a configuration error. */
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown " sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl; << "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -52,12 +72,12 @@ ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) { ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = L3GD20H::READ_REGS; *id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0); return buildCommandFromCommand(*id, nullptr, 0);
} }
ReturnValue_t GyroHandler::buildCommandFromCommand( ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
switch(deviceCommand) { switch(deviceCommand) {
@ -120,24 +140,25 @@ ReturnValue_t GyroHandler::buildCommandFromCommand(
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroHandler::scanForReply(const uint8_t *start, size_t len, ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) { DeviceCommandId_t *foundId, size_t *foundLen) {
// SPI, ID will always be the one of the last sent command. /* For SPI, the ID will always be the one of the last sent command. */
*foundId = this->getPendingCommand(); *foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen; *foundLen = this->rawPacketLen;
// Data with SPI Interface has always this answer /* Data with SPI Interface has always this answer */
if (start[0] == 0b11111111) { if (start[0] == 0b11111111) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) { const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) { switch(id) {
case(L3GD20H::CONFIGURE_CTRL_REGS): { case(L3GD20H::CONFIGURE_CTRL_REGS): {
commandExecuted = true;
break; break;
} }
case(L3GD20H::READ_CTRL_REGS): { case(L3GD20H::READ_CTRL_REGS): {
@ -147,18 +168,23 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
commandExecuted = true; commandExecuted = true;
} }
else { else {
// Attempt reconfiguration. /* Attempt reconfiguration. */
internalState = InternalState::STATE_CONFIGURE; internalState = InternalState::CONFIGURE;
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
break; break;
} }
case(L3GD20H::READ_START): { case(L3GD20H::READ_REGS): {
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
packet[5] != ctrlReg5Value) { packet[5] != ctrlReg5Value) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
else {
if(internalState == InternalState::CHECK_REGS) {
commandExecuted = true;
}
}
statusReg = packet[L3GD20H::STATUS_IDX]; statusReg = packet[L3GD20H::STATUS_IDX];
@ -171,8 +197,25 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset; float temperature = 25.0 + temperaturOffset;
#if OBSW_VERBOSE_LEVEL >= 1
if(debugDivider->checkAndIncrement()) {
/* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
std::endl;
sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
#else
sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
#endif
}
#endif
PoolReadHelper readSet(&dataset); PoolReadGuard readSet(&dataset);
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
dataset.angVelocX = angVelocX; dataset.angVelocX = angVelocX;
dataset.angVelocY = angVelocY; dataset.angVelocY = angVelocY;
@ -189,11 +232,11 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
} }
uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000; return 10000;
} }
ReturnValue_t GyroHandler::initializeLocalDataPool( ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
new PoolEntry<float>({0.0})); new PoolEntry<float>({0.0}));
@ -206,12 +249,12 @@ ReturnValue_t GyroHandler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void GyroHandler::fillCommandAndReplyMap() { void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset); insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1); insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1); insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
} }
void GyroHandler::modeChanged() { void GyroHandlerL3GD20H::modeChanged() {
internalState = InternalState::STATE_NONE; internalState = InternalState::NONE;
} }

29
mission/devices/GyroL3GD20Handler.h
View File

@ -1,8 +1,12 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_ #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_ #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "devicedefinitions/GyroL3GD20Definitions.h" #include "devicedefinitions/GyroL3GD20Definitions.h"
#include <OBSWConfig.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
/** /**
* @brief Device Handler for the L3GD20H gyroscope sensor * @brief Device Handler for the L3GD20H gyroscope sensor
@ -10,12 +14,14 @@
* @details * @details
* Advanced documentation: * Advanced documentation:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
*
* Data is read big endian with the smallest possible range of 245 degrees per second.
*/ */
class GyroHandler: public DeviceHandlerBase { class GyroHandlerL3GD20H: public DeviceHandlerBase {
public: public:
GyroHandler(object_id_t objectId, object_id_t deviceCommunication, GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie); CookieIF* comCookie);
virtual ~GyroHandler(); virtual ~GyroHandlerL3GD20H();
protected: protected:
@ -41,14 +47,15 @@ protected:
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
L3GD20H::GyroPrimaryDataset dataset; GyroPrimaryDataset dataset;
enum class InternalState { enum class InternalState {
STATE_NONE, NONE,
STATE_CONFIGURE, CONFIGURE,
STATE_NORMAL CHECK_REGS,
NORMAL
}; };
InternalState internalState = InternalState::STATE_NONE; InternalState internalState = InternalState::NONE;
bool commandExecuted = false; bool commandExecuted = false;
uint8_t statusReg = 0; uint8_t statusReg = 0;
@ -62,6 +69,10 @@ private:
uint8_t commandBuffer[L3GD20H::READ_LEN + 1]; uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX; float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
#if OBSW_VERBOSE_LEVEL >= 1
PeriodicOperationDivider* debugDivider = nullptr;
#endif
}; };

13
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -1,13 +1,13 @@
#include <fsfw/datapool/PoolReadHelper.h>
#include "MGMHandlerLIS3MDL.h" #include "MGMHandlerLIS3MDL.h"
#include <fsfw/datapool/PoolReadGuard.h>
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie): object_id_t deviceCommunication, CookieIF* comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this) { dataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1 #if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(10); debugDivider = new PeriodicOperationDivider(5);
#endif #endif
/* Set to default values right away. */ /* Set to default values right away. */
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
@ -44,8 +44,11 @@ void MGMHandlerLIS3MDL::doStartUp() {
/* Set up cached registers which will be used to configure the MGM. */ /* Set up cached registers which will be used to configure the MGM. */
if(commandExecuted) { if(commandExecuted) {
commandExecuted = false; commandExecuted = false;
/* Replace _MODE_TO_ON with MODE_NORMAL to jump to normal mode quickly */ #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
#endif
} }
break; break;
} }
@ -299,7 +302,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
#endif #endif
} }
#endif #endif
PoolReadHelper readHelper(&dataset); PoolReadGuard readHelper(&dataset);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
dataset.fieldStrengthX = mgmX; dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthY = mgmY; dataset.fieldStrengthY = mgmY;
@ -459,7 +462,7 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
} }
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) { uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 30000; return 10000;
} }
void MGMHandlerLIS3MDL::modeChanged(void) { void MGMHandlerLIS3MDL::modeChanged(void) {

562
mission/devices/MGMHandlerRM3100.cpp
View File

@ -1,5 +1,7 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "MGMHandlerRM3100.h" #include "MGMHandlerRM3100.h"
#include <fsfw/globalfunctions/bitutility.h>
#include <fsfw/devicehandlers/DeviceHandlerMessage.h> #include <fsfw/devicehandlers/DeviceHandlerMessage.h>
#include <fsfw/objectmanager/SystemObjectIF.h> #include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@ -7,345 +9,355 @@
MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId, MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie): object_id_t deviceCommunication, CookieIF* comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this) { primaryDataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1 #if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(10); debugDivider = new PeriodicOperationDivider(5);
#endif #endif
} }
MGMHandlerRM3100::~MGMHandlerRM3100() {} MGMHandlerRM3100::~MGMHandlerRM3100() {}
void MGMHandlerRM3100::doStartUp() { void MGMHandlerRM3100::doStartUp() {
if(internalState == InternalState::STATE_NONE) { switch(internalState) {
internalState = InternalState::STATE_CONFIGURE_CMM; case(InternalState::NONE): {
} internalState = InternalState::CONFIGURE_CMM;
break;
if(internalState == InternalState::STATE_CONFIGURE_CMM) { }
internalState = InternalState::STATE_READ_CMM; case(InternalState::CONFIGURE_CMM): {
} internalState = InternalState::READ_CMM;
else if(internalState == InternalState::STATE_READ_CMM) { break;
if(commandExecuted) { }
internalState = InternalState::STATE_CONFIGURE_TMRC; case(InternalState::READ_CMM): {
} if(commandExecuted) {
} internalState = InternalState::STATE_CONFIGURE_TMRC;
}
if(internalState == InternalState::STATE_CONFIGURE_TMRC) { break;
internalState = InternalState::STATE_READ_TMRC; }
} case(InternalState::STATE_CONFIGURE_TMRC): {
else if(internalState == InternalState::STATE_READ_TMRC) { if(commandExecuted) {
if(commandExecuted) { internalState = InternalState::STATE_READ_TMRC;
internalState = InternalState::STATE_NORMAL; }
setMode(_MODE_TO_ON); break;
} }
} case(InternalState::STATE_READ_TMRC): {
if(commandExecuted) {
internalState = InternalState::NORMAL;
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
break;
}
default: {
break;
}
}
} }
void MGMHandlerRM3100::doShutDown() { void MGMHandlerRM3100::doShutDown() {
setMode(_MODE_POWER_DOWN); setMode(_MODE_POWER_DOWN);
} }
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand( ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) { DeviceCommandId_t *id) {
switch(internalState) { switch(internalState) {
case(InternalState::STATE_NONE): case(InternalState::NONE):
case(InternalState::STATE_NORMAL): { case(InternalState::NORMAL): {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
case(InternalState::STATE_CONFIGURE_CMM): { case(InternalState::CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM; *id = RM3100::CONFIGURE_CMM;
break; break;
} }
case(InternalState::STATE_READ_CMM): { case(InternalState::READ_CMM): {
*id = RM3100::READ_CMM; *id = RM3100::READ_CMM;
break; break;
} }
case(InternalState::STATE_CONFIGURE_TMRC): { case(InternalState::STATE_CONFIGURE_TMRC): {
*id = RM3100::CONFIGURE_TMRC; *id = RM3100::CONFIGURE_TMRC;
break; break;
} }
case(InternalState::STATE_READ_TMRC): { case(InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC; *id = RM3100::READ_TMRC;
break; break;
} }
default: default:
// might be a configuration error. /* Might be a configuration error. */
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown " sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
<< "internal state!" << std::endl; std::endl;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
return buildCommandFromCommand(*id, nullptr, 0); return buildCommandFromCommand(*id, nullptr, 0);
} }
ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand( ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
switch(deviceCommand) { switch(deviceCommand) {
case(RM3100::CONFIGURE_CMM): { case(RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER; commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE; commandBuffer[1] = RM3100::CMM_VALUE;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
break; break;
} }
case(RM3100::READ_CMM): { case(RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK; commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0; commandBuffer[1] = 0;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
break; break;
} }
case(RM3100::CONFIGURE_TMRC): { case(RM3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData, return handleTmrcConfigCommand(deviceCommand, commandData,
commandDataLen); commandDataLen);
} }
case(RM3100::READ_TMRC): { case(RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK; commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0; commandBuffer[1] = 0;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
break; break;
} }
case(RM3100::CONFIGURE_CYCLE_COUNT): { case(RM3100::CONFIGURE_CYCLE_COUNT): {
return handleCycleCountConfigCommand(deviceCommand, commandData, return handleCycleCountConfigCommand(deviceCommand, commandData,
commandDataLen); commandDataLen);
} }
case(RM3100::READ_CYCLE_COUNT): { case(RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
RM3100::READ_MASK; std::memset(commandBuffer + 1, 0, 6);
std::memset(commandBuffer + 1, 0, 6); rawPacket = commandBuffer;
rawPacket = commandBuffer; rawPacketLen = 7;
rawPacketLen = 7; break;
break; }
} case(RM3100::READ_DATA): {
case(RM3100::READ_DATA): { commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK; std::memset(commandBuffer + 1, 0, 9);
std::memset(commandBuffer + 1, 0, 9); rawPacketLen = 10;
rawPacketLen = 10; break;
break; }
} default:
default: return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; }
} return RETURN_OK;
return RETURN_OK;
} }
ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand( ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
DeviceCommandId_t *id) { DeviceCommandId_t *id) {
*id = RM3100::READ_DATA; *id = RM3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0); return buildCommandFromCommand(*id, nullptr, 0);
} }
ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start, ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) { size_t *foundLen) {
// SPI, ID will always be the one of the last sent command. /* For SPI, ID will always be the one of the last sent command. */
*foundId = this->getPendingCommand(); *foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen; *foundLen = len;
return HasReturnvaluesIF::RETURN_OK;
// Data with SPI Interface has always this answer
if (start[0] == 0b11111111) {
return RETURN_OK;
}
return DeviceHandlerIF::INVALID_DATA;
} }
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply( ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
DeviceCommandId_t id, const uint8_t *packet) { DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) { switch(id) {
case(RM3100::CONFIGURE_CMM): case(RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT): case(RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): { case(RM3100::CONFIGURE_TMRC): {
// We can only check whether write was sucessful with read operation. /* We can only check whether write was successful with read operation. */
break; if(mode == _MODE_START_UP) {
} commandExecuted = true;
case(RM3100::READ_CMM): { }
if(packet[1] == cmmRegValue) { break;
commandExecuted = true; }
} case(RM3100::READ_CMM): {
else { uint8_t cmmValue = packet[1];
// Attempt reconfiguration. /* We clear the seventh bit in any case
internalState = InternalState::STATE_CONFIGURE_CMM; * because this one is zero sometimes for some reason */
return DeviceHandlerIF::DEVICE_REPLY_INVALID; bitutil::bitClear(&cmmValue, 6);
} if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
break; commandExecuted = true;
} }
case(RM3100::READ_TMRC): { else {
if(packet[1] == tmrcRegValue) { /* Attempt reconfiguration. */
commandExecuted = true; internalState = InternalState::CONFIGURE_CMM;
// Reading TMRC was commanded. Trigger event to inform ground. return DeviceHandlerIF::DEVICE_REPLY_INVALID;
if(mode != _MODE_START_UP) { }
triggerEvent(tmrcSet, tmrcRegValue, 0); break;
} }
} case(RM3100::READ_TMRC): {
else { if(packet[1] == tmrcRegValue) {
// Attempt reconfiguration. commandExecuted = true;
internalState = InternalState::STATE_CONFIGURE_TMRC; /* Reading TMRC was commanded. Trigger event to inform ground. */
return DeviceHandlerIF::DEVICE_REPLY_INVALID; if(mode != _MODE_START_UP) {
} triggerEvent(tmrcSet, tmrcRegValue, 0);
break; }
} }
case(RM3100::READ_CYCLE_COUNT): { else {
uint16_t cycleCountX = packet[1] << 8 | packet[2]; /* Attempt reconfiguration. */
uint16_t cycleCountY = packet[3] << 8 | packet[4]; internalState = InternalState::STATE_CONFIGURE_TMRC;
uint16_t cycleCountZ = packet[5] << 8 | packet[6]; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
if(cycleCountX != cycleCountRegValueX or }
cycleCountY != cycleCountRegValueY or break;
cycleCountZ != cycleCountRegValueZ) { }
return DeviceHandlerIF::DEVICE_REPLY_INVALID; case(RM3100::READ_CYCLE_COUNT): {
} uint16_t cycleCountX = packet[1] << 8 | packet[2];
// Reading TMRC was commanded. Trigger event to inform ground. uint16_t cycleCountY = packet[3] << 8 | packet[4];
if(mode != _MODE_START_UP) { uint16_t cycleCountZ = packet[5] << 8 | packet[6];
uint32_t eventParam1 = cycleCountX << 16 | cycleCountY; if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ); cycleCountZ != cycleCountRegValueZ) {
} return DeviceHandlerIF::DEVICE_REPLY_INVALID;
break; }
} /* Reading TMRC was commanded. Trigger event to inform ground. */
case(RM3100::READ_DATA): { if(mode != _MODE_START_UP) {
result = handleDataReadout(packet); uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
break; triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
} }
default: break;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; }
} case(RM3100::READ_DATA): {
result = handleDataReadout(packet);
break;
}
default:
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
return result; return result;
} }
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand( ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
DeviceCommandId_t deviceCommand, const uint8_t *commandData, const uint8_t *commandData, size_t commandDataLen) {
size_t commandDataLen) { if(commandData == nullptr) {
if(commandData == nullptr) { return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; }
}
// Set cycle count // Set cycle count
if(commandDataLen == 2) { if(commandDataLen == 2) {
handleCycleCommand(true, commandData, commandDataLen); handleCycleCommand(true, commandData, commandDataLen);
} }
else if(commandDataLen == 6) { else if(commandDataLen == 6) {
handleCycleCommand(false, commandData, commandDataLen); handleCycleCommand(false, commandData, commandDataLen);
} }
else { else {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE; commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2); std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2); std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2); std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
rawPacketLen = 7; rawPacketLen = 7;
rawPacket = commandBuffer; rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue, ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen) { const uint8_t *commandData, size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue); RM3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen, ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::BIG); SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
// Data sheet p.30 /* Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." */
// "while noise limits the useful upper range to ~400 cycle counts." if(command.cycleCountX > 450 ) {
if(command.cycleCountX > 450 ) { return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; }
}
if(not oneCycleValue and if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
(command.cycleCountY > 450 or command.cycleCountZ > 450)) { return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; }
}
cycleCountRegValueX = command.cycleCountX; cycleCountRegValueX = command.cycleCountX;
cycleCountRegValueY = command.cycleCountY; cycleCountRegValueY = command.cycleCountY;
cycleCountRegValueZ = command.cycleCountZ; cycleCountRegValueZ = command.cycleCountZ;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand( ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
if(commandData == nullptr) { if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
if(commandDataLen != 1) { if(commandDataLen != 1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
commandBuffer[0] = RM3100::TMRC_REGISTER; commandBuffer[0] = RM3100::TMRC_REGISTER;
commandBuffer[1] = commandData[1]; commandBuffer[1] = commandData[1];
rawPacketLen = 2; rawPacketLen = 2;
rawPacket = commandBuffer; rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void MGMHandlerRM3100::fillCommandAndReplyMap() { void MGMHandlerRM3100::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1); insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 1); insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1); insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 1); insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1); insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1); insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset); insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
} }
void MGMHandlerRM3100::modeChanged(void) { void MGMHandlerRM3100::modeChanged(void) {
internalState = InternalState::STATE_NONE; internalState = InternalState::NONE;
} }
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool( ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
new PoolEntry<float>({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
new PoolEntry<float>({0.0})); return HasReturnvaluesIF::RETURN_OK;
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z,
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
} }
uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) { uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000; return 10000;
} }
ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) { ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
// analyze data here. /* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
// Field strengths in micro Tesla * trickery here to calculate the raw values first */
int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3]) int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
* scaleFactorX; int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6]) int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
* scaleFactorY;
int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9]) /* Now scale to physical value in microtesla */
* scaleFactorZ; float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if OBSW_VERBOSE_LEVEL >= 1 #if OBSW_VERBOSE_LEVEL >= 1
if(debugDivider->checkAndIncrement()) { if(debugDivider->checkAndIncrement()) {
sif::info << "MGMHandlerLIS3: Magnetic field strength in" sif::info << "MGMHandlerRM3100: Magnetic field strength in"
" microtesla:" << std::endl; " microtesla:" << std::endl;
// Set terminal to utf-8 if there is an issue with micro printout. /* Set terminal to utf-8 if there is an issue with micro printout. */
sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl; sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl; sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl; sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
} }
#endif #endif
ReturnValue_t result = primaryDataset.read(); /* TODO: Sanity check on values */
if(result == HasReturnvaluesIF::RETURN_OK) { PoolReadGuard readGuard(&primaryDataset);
primaryDataset.fieldStrengthX = fieldStrengthX; if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthY = fieldStrengthY; primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthZ = fieldStrengthZ; primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.setValidity(true, true); primaryDataset.fieldStrengthZ = fieldStrengthZ;
result = primaryDataset.commit(); primaryDataset.setValidity(true, true);
} }
return result; return RETURN_OK;
} }

10
mission/devices/MGMHandlerRM3100.h
View File

@ -61,18 +61,18 @@ protected:
private: private:
enum class InternalState { enum class InternalState {
STATE_NONE, NONE,
STATE_CONFIGURE_CMM, CONFIGURE_CMM,
STATE_READ_CMM, READ_CMM,
// The cycle count states are propably not going to be used because // The cycle count states are propably not going to be used because
// the default cycle count will be used. // the default cycle count will be used.
STATE_CONFIGURE_CYCLE_COUNT, STATE_CONFIGURE_CYCLE_COUNT,
STATE_READ_CYCLE_COUNT, STATE_READ_CYCLE_COUNT,
STATE_CONFIGURE_TMRC, STATE_CONFIGURE_TMRC,
STATE_READ_TMRC, STATE_READ_TMRC,
STATE_NORMAL NORMAL
}; };
InternalState internalState = InternalState::STATE_NONE; InternalState internalState = InternalState::NONE;
bool commandExecuted = false; bool commandExecuted = false;
RM3100::Rm3100PrimaryDataset primaryDataset; RM3100::Rm3100PrimaryDataset primaryDataset;

4
mission/devices/PCDUHandler.cpp
View File

@ -49,7 +49,7 @@ ReturnValue_t PCDUHandler::initialize() {
sif::error << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl; sif::error << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages( result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
PDU2::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true); PDU2::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from " sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
@ -63,7 +63,7 @@ ReturnValue_t PCDUHandler::initialize() {
sif::error << "PCDUHandler::initialize: Invalid pdu1Handler" << std::endl; sif::error << "PCDUHandler::initialize: Invalid pdu1Handler" << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages( result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
PDU1::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true); PDU1::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from " sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "

77
mission/devices/devicedefinitions/GyroL3GD20Definitions.h
View File

@ -1,11 +1,15 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint> #include <cstdint>
namespace L3GD20H { namespace L3GD20H {
/* Actual size is 15 but we round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
static constexpr uint8_t READ_MASK = 0b1000'0000; static constexpr uint8_t READ_MASK = 0b1000'0000;
static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000; static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
@ -22,7 +26,7 @@ static constexpr uint8_t CTRL_REG_3 = 0b0010'0010;
static constexpr uint8_t CTRL_REG_4 = 0b0010'0011; static constexpr uint8_t CTRL_REG_4 = 0b0010'0011;
static constexpr uint8_t CTRL_REG_5 = 0b0010'0100; static constexpr uint8_t CTRL_REG_5 = 0b0010'0100;
// Register 1 /* Register 1 */
static constexpr uint8_t SET_DR_1 = 1 << 7; static constexpr uint8_t SET_DR_1 = 1 << 7;
static constexpr uint8_t SET_DR_0 = 1 << 6; static constexpr uint8_t SET_DR_0 = 1 << 6;
static constexpr uint8_t SET_BW_1 = 1 << 5; static constexpr uint8_t SET_BW_1 = 1 << 5;
@ -35,7 +39,7 @@ static constexpr uint8_t SET_Y_ENABLE = 1;
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE | static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
SET_Y_ENABLE | SET_X_ENABLE; SET_Y_ENABLE | SET_X_ENABLE;
// Register 2 /* Register 2 */
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7; static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6; static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
static constexpr uint8_t SET_HPM_1 = 1 << 5; static constexpr uint8_t SET_HPM_1 = 1 << 5;
@ -47,10 +51,10 @@ static constexpr uint8_t SET_HPCF_0 = 1;
static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000; static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
// Register 3 /* Register 3 */
static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000; static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
// Register 4 /* Register 4 */
static constexpr uint8_t SET_BNU = 1 << 7; static constexpr uint8_t SET_BNU = 1 << 7;
static constexpr uint8_t SET_BLE = 1 << 6; static constexpr uint8_t SET_BLE = 1 << 6;
static constexpr uint8_t SET_FS_1 = 1 << 5; static constexpr uint8_t SET_FS_1 = 1 << 5;
@ -60,15 +64,16 @@ static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1; static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
static constexpr uint8_t SET_SPI_IF_SELECT = 1; static constexpr uint8_t SET_SPI_IF_SELECT = 1;
static constexpr uint8_t CTRL_REG_4_VAL = 0b0000'0000; /* Enable big endian data format */
static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
// Register 5 /* Register 5 */
static constexpr uint8_t SET_REBOOT_MEM = 1 << 7; static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
static constexpr uint8_t SET_FIFO_ENB = 1 << 6; static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000; static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000;
// In degrees per second (DPS) for now. /* Possible range values in degrees per second (DPS). */
static constexpr uint16_t RANGE_DPS_00 = 245; static constexpr uint16_t RANGE_DPS_00 = 245;
static constexpr uint16_t RANGE_DPS_01 = 500; static constexpr uint16_t RANGE_DPS_01 = 500;
static constexpr uint16_t RANGE_DPS_11 = 2000; static constexpr uint16_t RANGE_DPS_11 = 2000;
@ -76,16 +81,16 @@ static constexpr uint16_t RANGE_DPS_11 = 2000;
static constexpr uint8_t READ_START = CTRL_REG_1; static constexpr uint8_t READ_START = CTRL_REG_1;
static constexpr size_t READ_LEN = 14; static constexpr size_t READ_LEN = 14;
// Indexing /* Indexing */
static constexpr uint8_t REFERENCE_IDX = 6; static constexpr uint8_t REFERENCE_IDX = 6;
static constexpr uint8_t TEMPERATURE_IDX = 7; static constexpr uint8_t TEMPERATURE_IDX = 7;
static constexpr uint8_t STATUS_IDX = 8; static constexpr uint8_t STATUS_IDX = 8;
static constexpr uint8_t OUT_X_L = 9; static constexpr uint8_t OUT_X_H = 9;
static constexpr uint8_t OUT_X_H = 10; static constexpr uint8_t OUT_X_L = 10;
static constexpr uint8_t OUT_Y_L = 11; static constexpr uint8_t OUT_Y_H = 11;
static constexpr uint8_t OUT_Y_H = 12; static constexpr uint8_t OUT_Y_L = 12;
static constexpr uint8_t OUT_Z_L = 13; static constexpr uint8_t OUT_Z_H = 13;
static constexpr uint8_t OUT_Z_H = 14; static constexpr uint8_t OUT_Z_L = 14;
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Device Handler specific */ /* Device Handler specific */
@ -103,27 +108,33 @@ enum GyroPoolIds: lp_id_t {
TEMPERATURE TEMPERATURE
}; };
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, GYRO_DATASET_ID) {}
GyroPrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, GYRO_DATASET_ID)) {}
// Angular velocities in degrees per second (DPS)
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
TEMPERATURE, this);
};
} }
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
/** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
L3GD20H::TEMPERATURE, this);
private:
friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

3
mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
View File

@ -15,6 +15,9 @@ enum opMode {
LOW, MEDIUM, HIGH, ULTRA LOW, MEDIUM, HIGH, ULTRA
}; };
/* Actually 15, we just round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100; static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
static const DeviceCommandId_t SETUP_MGM = 0x00; static const DeviceCommandId_t SETUP_MGM = 0x00;

3
mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h
View File

@ -9,6 +9,9 @@
namespace RM3100 { namespace RM3100 {
/* Actually 10, we round up a little bit */
static constexpr size_t MAX_BUFFER_SIZE = 12;
static constexpr uint8_t READ_MASK = 0b1000'0000; static constexpr uint8_t READ_MASK = 0b1000'0000;
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/

2
test/testtasks/TestTask.cpp
View File

@ -68,7 +68,7 @@ gps_rx_data[] = ""
ReturnValue_t TestTask::performOneShotAction() { ReturnValue_t TestTask::performOneShotAction() {
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
performLwgpsTest(); //performLwgpsTest();
#endif #endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

2
thirdparty/lwgps vendored

@ -1 +1 @@
Subproject commit d276f9722d1311b552e7c99ee5b03a68487a0fc5 Subproject commit 3dbfe390a6784ebc723d3907062cf883c8cf85cd