eive/eive-obsw
eive/eive-obsw
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added service 20

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This commit is contained in:
Robin Müller 2021-02-22 17:36:44 +01:00 committed by Robin Mueller
parent 219150b8ab
commit 430cf22973
24 changed files with 358 additions and 196 deletions
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2
bsp_hosted/InitMission.cpp
View File

@ -11,6 +11,8 @@
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>
#include <iostream>
// This is configured for linux without \cr

190
bsp_q7s/InitMission.cpp
View File

@ -2,6 +2,8 @@
#include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <mission/utility/InitMission.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
@ -13,7 +15,7 @@
#include <iostream>
// This is configured for linux without \cr
/* This is configured for linux without CR */
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
@ -39,144 +41,142 @@ void InitMission::initMission() {
initTasks();
}
void InitMission::initTasks(){
void InitMission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
if(factory == nullptr) {
/* Should never happen ! */
return;
}
/* TMTC Distribution */
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
ReturnValue_t result = TmTcDistributor->addComponent(
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
InitMission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
}
/* UDP bridge */
PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
InitMission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
}
PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
createPeriodicTask("UDP_POLLING", 80,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
InitMission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
}
/* PUS Services */
PeriodicTaskIF* PusVerification = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
PeriodicTaskIF* PusEvents = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 60,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.200, nullptr);
result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.8, nullptr);
result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, nullptr);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
1.6, nullptr);
result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, nullptr);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
//TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */
FixedTimeslotTaskIF * PollingSequenceTableTaskDefault =
TaskFactory::instance()->createFixedTimeslotTask("PST_TASK_DEFAULT",
50, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0,
nullptr);
result = pst::pollingSequenceInitDefault(PollingSequenceTableTaskDefault);
FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, nullptr);
result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!"
<< std::endl;
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
#if TE0720 == 0
FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
FixedTimeslotTaskIF* gomSpacePstTask = factory->
createFixedTimeslotTask("GS_PST_TASK", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, nullptr);
result = pst::gomspacePstInit(GomSpacePstTask);
result = pst::gomspacePstInit(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization "
<< "failed!" << std::endl;
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
#endif
PeriodicTaskIF* testTask = factory->createPeriodicTask(
"GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
#if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if TE0720 == 1 && TEST_LIBGPIOD == 1
PeriodicTaskIF* TestTask = TaskFactory::instance()->
createPeriodicTask("Libgpiod Test Task", 60,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
result = TestTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component libgpiod test task object" << std::endl;
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */
//Main thread sleep
sif::info << "Starting tasks.." << std::endl;
TmTcDistributor->startTask();
UdpBridgeTask->startTask();
UdpPollingTask->startTask();
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
#if TE0720 == 0
GomSpacePstTask->startTask();
gomSpacePstTask->startTask();
#endif
PollingSequenceTableTaskDefault->startTask();
pollingSequenceTableTaskDefault->startTask();
PusVerification->startTask();
PusEvents->startTask();
PusHighPrio->startTask();
PusMedPrio->startTask();
PusLowPrio->startTask();
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#if TE0720 == 1 && TEST_LIBGPIOD == 1
TestTask->startTask();
#endif
testTask->startTask();
sif::info << "Tasks started.." << std::endl;
}

6
bsp_q7s/ObjectFactory.cpp
View File

@ -180,14 +180,14 @@ void ObjectFactory::produce(){
GpioConfig_t gpioConfigMio0(std::string("gpiochip0"), 0,
std::string("MIO0"), gpio::IN, 0);
GpioCookie* gpioCookie = new GpioCookie;
gpioCookie->addGpio(gpioIds::Test_ID, gpioConfigMio0);
gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#elif TE0720 == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
std::string("Heater0"), gpio::OUT, 0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER,
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
#endif
}

7
bsp_rpi/CMakeLists.txt
View File

@ -6,11 +6,8 @@ target_sources(${TARGET_NAME} PUBLIC
add_subdirectory(boardconfig)
add_subdirectory(boardtest)
# wiringPi is deprecated unfortunately..
#target_link_libraries(${TARGET_NAME} PRIVATE
# wiringPi
#)
add_subdirectory(gpio)

143
bsp_rpi/InitMission.cpp
View File

@ -1,6 +1,12 @@
#include "InitMission.h"
#include "ObjectFactory.h"
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
#include <mission/utility/InitMission.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
@ -8,9 +14,6 @@
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
#include <iostream>
@ -34,127 +37,129 @@ void InitMission::initMission() {
void InitMission::initTasks(){
/* TMTC Distribution */
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
PeriodicTaskIF* tmTcDistributor = TaskFactory::instance()->
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.100, nullptr);
ReturnValue_t result = TmTcDistributor->addComponent(
ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
PeriodicTaskIF* udpPollingTask = TaskFactory::instance()->
createPeriodicTask("UDP_POLLING", 80,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* PUS Services */
PeriodicTaskIF* PusVerification = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 40,
PeriodicTaskIF* pusVerification = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusEvents = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 60,
PeriodicTaskIF* pusEvents = TaskFactory::instance()->
createPeriodicTask("PUS_EVENTS", 60,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
InitMission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
PeriodicTaskIF* pusHighPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.200, nullptr);
result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
PeriodicTaskIF* pusMedPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.8, nullptr);
result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
1.6, nullptr);
result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
#if OBSW_ADD_TEST_CODE == 1
FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
createFixedTimeslotTask("PST_TEST_TASK", 10,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = pst::pollingSequenceTestFunction(TestTimeslotTask);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::createTasks: Test PST initialization "
<< "failed!" << std::endl;
InitMission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
#endif
PeriodicTaskIF* pusLowPrio = TaskFactory::instance()->
createPeriodicTask("PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
1.6, nullptr);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
PeriodicTaskIF* SpiTestTask = TaskFactory::instance()->
PeriodicTaskIF* testTask = TaskFactory::instance()->
createPeriodicTask("SPI_TEST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
2.0, nullptr);
result = SpiTestTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add SPI test failed" << std::endl;
#if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if RPI_ADD_SPI_TEST == 1
result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif /* RPI_ADD_SPI_TEST == 1 */
#if RPI_ADD_GPIO_TEST == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* RPI_ADD_GPIO_TEST == 1 */
//Main thread sleep
sif::info << "Starting tasks.." << std::endl;
TmTcDistributor->startTask();
UdpBridgeTask->startTask();
UdpPollingTask->startTask();
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
PusVerification->startTask();
PusEvents->startTask();
PusHighPrio->startTask();
PusMedPrio->startTask();
PusLowPrio->startTask();
SpiTestTask->startTask();
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
TestTimeslotTask->startTask();
#endif
testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */
sif::info << "Tasks started.." << std::endl;
}

18
bsp_rpi/ObjectFactory.cpp
View File

@ -1,7 +1,9 @@
#include "ObjectFactory.h"
#include <bsp_rpi/boardtest/SpiTest.h>
#include <bsp_rpi/gpio/GPIORPi.h>
#include <objects/systemObjectList.h>
#include <devices/gpioIds.h>
#include <OBSWConfig.h>
#include <tmtc/apid.h>
#include <tmtc/pusIds.h>
@ -47,11 +49,23 @@ void ObjectFactory::produce(){
objects::TM_STORE, objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
new SpiTest(objects::SPI_TEST);
new LinuxLibgpioIF(objects::GPIO_IF);
#if RPI_TEST_GPIO == 1
#if RPI_ADD_SPI_TEST == 1
new SpiTest(objects::SPI_TEST);
#endif
#if RPI_LOOPBACK_TEST_GPIO == 1
GpioCookie* gpioCookie = new GpioCookie();
/* Loopback pins. Adapt according to setup */
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
int bcmPinSender = 26;
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
int bcmPinReader = 16;
gpio::createRpiGpioConfig(gpioCookie, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
gpio::Direction::OUT, 0);
gpio::createRpiGpioConfig(gpioCookie, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
gpio::Direction::IN, 0);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#endif
}

4
bsp_rpi/boardconfig/rpi_config.h
View File

@ -1,7 +1,9 @@
#ifndef BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
#define BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
#define RPI_TEST_GPIO 1
#define RPI_ADD_GPIO_TEST 1
#define RPI_ADD_SPI_TEST 1
#define RPI_LOOPBACK_TEST_GPIO 1

1
bsp_rpi/boardtest/CMakeLists.txt
View File

@ -1,6 +1,5 @@
target_sources(${TARGET_NAME} PRIVATE
SpiTest.cpp
RPiGPIO.cpp
)

9
bsp_rpi/gpio/CMakeLists.txt Normal file
View File

@ -0,0 +1,9 @@
target_sources(${TARGET_NAME} PUBLIC
GPIORPi.cpp
)

36
bsp_rpi/gpio/GPIORPi.cpp Normal file
View File

@ -0,0 +1,36 @@
#include "GPIORPi.h"
#include <FSFWConfig.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <linux/gpio/GpioCookie.h>
ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue) {
if(cookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
GpioConfig_t config;
/* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
will not need this */
config.chipname = "gpiochip0";
config.consumer = consumer;
config.direction = direction;
config.initValue = initValue;
/* Sanity check for the BCM pins before assigning it */
if(bcmPin > 27) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
#else
sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED;
}
config.lineNum = bcmPin;
cookie->addGpio(gpioId, config);
return HasReturnvaluesIF::RETURN_OK;
}

26
bsp_rpi/gpio/GPIORPi.h Normal file
View File

@ -0,0 +1,26 @@
#ifndef BSP_RPI_GPIO_GPIORPI_H_
#define BSP_RPI_GPIO_GPIORPI_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <linux/gpio/gpioDefinitions.h>
class GpioCookie;
namespace gpio {
/**
* Create a GpioConfig_t. This function does a sanity check on the BCM pin number and fails if the
* BCM pin is invalid.
* @param cookie Adds the configuration to this cookie directly
* @param gpioId ID which identifies the GPIO configuration
* @param bcmPin Raspberry Pi BCM pin
* @param consumer Information string
* @param direction GPIO direction
* @param initValue Intial value for output pins, 0 for low, 1 for high
* @return
*/
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue);
}
#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

4
fsfwconfig/OBSWConfig.h
View File

@ -11,11 +11,11 @@
#endif
#include "OBSWVersion.h"
#define TEST_LIBGPIOD 0
/* These defines should be disabled for mission code but are useful for
debugging. */
#define OBSW_VERBOSE_LEVEL 1
#define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0
#define TE0720 0

3
fsfwconfig/devices/gpioIds.h
View File

@ -15,7 +15,8 @@ namespace gpioIds {
HEATER_7,
DEPLSA1,
DEPLSA2,
Test_ID
TEST_ID_0,
TEST_ID_1
};
}

40
linux/boardtest/LibgpiodTest.cpp
View File

@ -13,7 +13,7 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
}
gpioInterface->initialize(gpioCookie);
testCase = TestCases::READ;
testCase = TestCases::LOOPBACK;
}
LibgpiodTest::~LibgpiodTest() {
@ -25,7 +25,7 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
switch(testCase) {
case(TestCases::READ): {
result = gpioInterface->readGpio(gpioIds::Test_ID, &gpioState);
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
if (result != RETURN_OK) {
sif::debug << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
<< std::endl;
@ -38,7 +38,7 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
break;
}
case(TestCases::LOOPBACK): {
break;
}
}
@ -46,3 +46,37 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
return RETURN_OK;
}
ReturnValue_t LibgpiodTest::performOneShotAction() {
int gpioState;
ReturnValue_t result;
switch(testCase) {
case(TestCases::READ): {
break;
}
case(TestCases::LOOPBACK): {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction:"
"GPIO pulled high successfully for loopback test" << std::endl;
}
else {
sif::warning << "LibgpiodTest::performOneShotAction: Could not pull GPIO high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) {
sif::info << "LibgpiodTest::performOneShotAction:"
"GPIO state read successfully and is high" << std::endl;
}
else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

3
linux/boardtest/LibgpiodTest.h
View File

@ -23,7 +23,8 @@ public:
virtual ~LibgpiodTest();
protected:
virtual ReturnValue_t performPeriodicAction() override;
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
GpioIF* gpioInterface;

10
linux/gpio/GpioCookie.cpp
View File

@ -4,17 +4,23 @@
GpioCookie::GpioCookie() {
}
void GpioCookie::addGpio(gpioId_t gpioId, GpioConfig_t gpioConfig){
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioConfig_t& gpioConfig){
auto gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter == gpioMap.end()) {
auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
if (statusPair.second == false) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
"to GPIO map" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return;
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_VERBOSE_LEVEL >= 1
sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
GpioMap GpioCookie::getGpioMap() const {

2
linux/gpio/GpioCookie.h
View File

@ -23,7 +23,7 @@ public:
virtual ~GpioCookie();
void addGpio(gpioId_t gpioId, GpioConfig_t gpioConfig);
ReturnValue_t addGpio(gpioId_t gpioId, GpioConfig_t& gpioConfig);
/**
* @brief Get map with registered GPIOs.
*/

1
linux/gpio/GpioIF.h
View File

@ -29,6 +29,7 @@ public:
* functionality to pull a certain GPIO to high logic level.
*
* @param gpioId A unique number which specifies the GPIO to drive.
* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
*/
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;

1
linux/gpio/LinuxLibgpioIF.h
View File

@ -58,6 +58,7 @@ private:
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/
ReturnValue_t configureGpios(GpioMap& mapToAdd);
};
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

3
linux/gpio/gpioDefinitions.h
View File

@ -28,6 +28,9 @@ enum Direction {
* pointer.
*/
typedef struct GpioConfig {
GpioConfig(): chipname(), lineNum(0), consumer(), direction(gpio::Direction::OUT),
initValue(0) {};
GpioConfig(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_):
chipname(chipname_), lineNum(lineNum_), consumer(consumer_),

0
bsp_rpi/boardtest/RPiGPIO.cpp → misc/archive/RPiGPIO.cpp
View File

0
bsp_rpi/boardtest/RPiGPIO.h → misc/archive/RPiGPIO.h
View File

3
mission/core/GenericFactory.cpp
View File

@ -11,6 +11,7 @@
#include <fsfw/pus/CService200ModeCommanding.h>
#include <fsfw/pus/Service17Test.h>
#include <fsfw/pus/Service1TelecommandVerification.h>
#include <fsfw/pus/Service20ParameterManagement.h>
#include <fsfw/pus/Service3Housekeeping.h>
#include <fsfw/pus/Service2DeviceAccess.h>
#include <fsfw/pus/Service5EventReporting.h>
@ -78,6 +79,8 @@ void ObjectFactory::produceGenericObjects() {
apid::EIVE_OBSW, pus::PUS_SERVICE_9);
new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW,
pus::PUS_SERVICE_17);
new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::EIVE_OBSW,
pus::PUS_SERVICE_20);
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
apid::EIVE_OBSW, pus::PUS_SERVICE_200);

22
mission/utility/InitMission.h Normal file
View File

@ -0,0 +1,22 @@
#ifndef MISSION_UTILITY_INITMISSION_H_
#define MISSION_UTILITY_INITMISSION_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
namespace InitMission {
void printAddObjectError(const char* name, object_id_t objectId) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "InitMission::printAddError: Adding object " << name << " with object ID 0x"
<< std::hex << std::setfill('0') << std::setw(8) << objectId
<< " failed!" << std::dec << std::endl;
#else
sif::printError("InitMission::printAddError: Adding object %s with object ID 0x%08x failed!\n" ,
name, objectId);
#endif
}
}
#endif /* MISSION_UTILITY_INITMISSION_H_ */