eive/eive-obsw
eive/eive-obsw
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Merge pull request 'v1.9.0' (#175) from develop into main
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Reviewed-on: #175
This commit is contained in:
Robin Müller 2022-03-08 10:32:40 +01:00
commit 48f972f7a2
417 changed files with 42511 additions and 26430 deletions
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@ -0,0 +1,8 @@
---
BasedOnStyle: Google
IndentWidth: 2
---
Language: Cpp
ColumnLimit: 100
ReflowComments: true
---

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@ -8,6 +8,9 @@
!misc/eclipse/**/.cproject
!misc/eclipse/**/.project
#vscode
/.vscode
# Python
__pycache__
.idea

358
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@ -13,34 +13,32 @@ cmake_minimum_required(VERSION 3.13)
set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
if(TGT_BSP MATCHES "arm/q7s")
option(EIVE_BUILD_WATCHDOG "Compile the OBSW watchdog insted" OFF)
option(BUILD_Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
endif()
option(ADD_ETL_LIB "Add ETL library" ON)
option(ADD_JSON_LIB "Add JSON library" ON)
option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
if(NOT FSFW_OSAL)
set(FSFW_OSAL host CACHE STRING "OS for the FSFW.")
set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
endif()
if(TGT_BSP)
if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
option(LINUX_CROSS_COMPILE ON)
option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
elseif(TGT_BSP MATCHES "arm/q7s")
option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
endif()
endif()
# Perform steps like loading toolchain files where applicable.
include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
pre_project_config()
set(PROJECT_NAME_TO_SET eive-obsw-$ENV{USERNAME})
if(EIVE_BUILD_WATCHDOG)
set(PROJECT_NAME_TO_SET eive-watchdog)
endif()
# Project Name
project(${PROJECT_NAME_TO_SET} ASM C CXX)
project(eive-obsw ASM C CXX)
################################################################################
# Pre-Sources preparation
@ -51,34 +49,42 @@ set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
# Set names and variables
set(TARGET_NAME ${CMAKE_PROJECT_NAME})
set(OBSW_NAME ${CMAKE_PROJECT_NAME})
set(WATCHDOG_NAME eive-watchdog)
set(SIMPLE_OBSW_NAME eive-simple)
set(UNITTEST_NAME eive-unittest)
set(LIB_FSFW_NAME fsfw)
set(LIB_EIVE_MISSION eive-mission)
set(LIB_ETL_NAME etl)
set(LIB_CSP_NAME libcsp)
set(LIB_LWGPS_NAME lwgps)
set(LIB_ARCSEC wire)
set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs)
set(LIB_CATCH2 Catch2)
set(LIB_GPS gps)
set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
# Set path names
set(FSFW_PATH fsfw)
set(MISSION_PATH mission)
set(TEST_PATH test/testtasks)
set(UNITTEST_PATH unittest)
set(LINUX_PATH linux)
set(COMMON_PATH common)
set(WATCHDOG_PATH watchdog)
set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)
set(FSFW_HAL_LIB_PATH fsfw_hal)
set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
set(ARCSEC_LIB_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
set(LIB_EIVE_MISSION_PATH mission)
set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp)
set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
set(ADD_LINUX_FILES False)
set(EIVE_ADD_LINUX_FILES False)
# Analyse different OS and architecture/target options, determine BSP_PATH,
# display information about compiler etc.
@ -87,11 +93,11 @@ pre_source_hw_os_config()
if(TGT_BSP)
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
OR TGT_BSP MATCHES "arm/beagleboneblack"
OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse"
)
set(FSFW_CONFIG_PATH "linux/fsfwconfig")
if(NOT BUILD_Q7S_SIMPLE_MODE)
set(ADD_LINUX_FILES TRUE)
set(EIVE_ADD_LINUX_FILES TRUE)
set(ADD_CSP_LIB TRUE)
set(FSFW_HAL_ADD_LINUX ON)
endif()
@ -103,6 +109,12 @@ if(TGT_BSP)
set(FSFW_HAL_ADD_RASPBERRY_PI ON)
endif()
if(TGT_BSP MATCHES "arm/egse")
# Used by configure file
set(EGSE ON)
set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
endif()
if(TGT_BSP MATCHES "arm/beagleboneblack")
# Used by configure file
set(BEAGLEBONEBLACK ON)
@ -117,17 +129,19 @@ else()
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
endif()
# Configuration files
if(NOT EIVE_BUILD_WATCHDOG)
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
if(TGT_BSP MATCHES "arm/q7s")
configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
elseif(TGT_BSP MATCHES "arm/raspberrypi")
elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
endif()
endif()
configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
# Set common config path for FSFW
@ -136,120 +150,48 @@ set(FSFW_ADDITIONAL_INC_PATHS
${CMAKE_CURRENT_BINARY_DIR}
)
# Check whether the user has already installed Catch2 first
find_package(Catch2 3)
################################################################################
# Executable and Sources
################################################################################
# Add executable
add_executable(${TARGET_NAME})
if(ADD_ETL_LIB)
add_subdirectory(${ETL_LIB_PATH})
endif()
if(ADD_JSON_LIB)
add_subdirectory(${LIB_JSON_PATH})
endif()
if(NOT EIVE_BUILD_WATCHDOG)
if(ADD_LINUX_FILES)
add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${BSP_PATH})
add_subdirectory(${COMMON_PATH})
if(ADD_CSP_LIB)
add_subdirectory(${CSP_LIB_PATH})
endif()
endif()
if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
add_subdirectory(${LWGPS_LIB_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH})
add_subdirectory(${TEST_PATH})
add_subdirectory(${ARCSEC_LIB_PATH})
endif()
if(EIVE_BUILD_WATCHDOG)
add_subdirectory(${WATCHDOG_PATH})
endif()
################################################################################
# Post-Sources preparation
################################################################################
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
# Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME}
${LIB_OS_NAME}
${LIB_LWGPS_NAME}
)
if(TGT_BSP MATCHES "arm/q7s")
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_ARCSEC}
)
endif()
endif()
if(NOT EIVE_BUILD_WATCHDOG)
if(ADD_CSP_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_CSP_NAME}
)
endif()
endif()
if(ADD_ETL_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_ETL_NAME}
)
endif()
if(ADD_JSON_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_JSON_NAME}
)
endif()
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_CXX_FS}
)
# Add include paths for all sources.
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
${FSFW_CONFIG_PATH}
${CMAKE_CURRENT_BINARY_DIR}
${ARCSEC_LIB_PATH}
)
if(TGT_BSP MATCHES "arm/q7s")
target_include_directories(${TARGET_NAME} PRIVATE
${ARCSEC_LIB_PATH}
)
endif()
#global compiler options need to be set before adding executables
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(WARNING_FLAGS
-Wall
-Wextra
-Wimplicit-fallthrough=1
-Wno-unused-parameter
-Wno-psabi
add_compile_options(
"-Wall"
"-Wextra"
"-Wimplicit-fallthrough=1"
"-Wno-unused-parameter"
"-Wno-psabi"
"-Wduplicated-cond" # check for duplicate conditions
"-Wduplicated-branches" # check for duplicate branches
"-Wlogical-op" # Search for bitwise operations instead of logical
"-Wnull-dereference" # Search for NULL dereference
"-Wundef" # Warn if undefind marcos are used
"-Wformat=2" # Format string problem detection
"-Wformat-overflow=2" # Formatting issues in printf
"-Wformat-truncation=2" # Formatting issues in printf
"-Wformat-security" # Search for dangerous printf operations
"-Wstrict-overflow=3" # Warn if integer overflows might happen
"-Warray-bounds=2" # Some array bounds violations will be found
"-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
"-Wcast-qual" # Warn if the constness is cast away
"-Wstringop-overflow=4"
# -Wstack-protector # Emits a few false positives for low level access
# -Wconversion # Creates many false positives
# -Warith-conversion # Use with Wconversion to find more implicit conversions
# -fanalyzer # Should be used to look through problems
)
# Remove unused sections.
target_compile_options(${TARGET_NAME} PRIVATE
add_compile_options(
"-ffunction-sections"
"-fdata-sections"
)
# Removed unused sections.
target_link_options(${TARGET_NAME} PRIVATE
add_link_options(
"-Wl,--gc-sections"
)
@ -257,15 +199,162 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
set(COMPILER_FLAGS "/permissive-")
endif()
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
include(FetchContent)
FetchContent_Declare(
Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG v3.0.0-preview4
)
FetchContent_MakeAvailable(Catch2)
#fixes regression -preview4, to be confirmed in later releases
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
endif()
add_library(${LIB_EIVE_MISSION})
# Add main executable
add_executable(${OBSW_NAME})
if(EIVE_CREATE_UNIQUE_OBSW_BIN)
set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
else()
set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
endif()
set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
#watchdog
add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
add_subdirectory(${WATCHDOG_PATH})
target_link_libraries(${WATCHDOG_NAME} PUBLIC
${LIB_CXX_FS}
)
target_include_directories(${WATCHDOG_NAME} PUBLIC
${CMAKE_BINARY_DIR}
)
#unittests
add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
if(EIVE_ADD_ETL_LIB)
add_subdirectory(${LIB_ETL_PATH})
endif()
if(EIVE_ADD_JSON_LIB)
add_subdirectory(${LIB_JSON_PATH})
endif()
if(EIVE_ADD_LINUX_FILES)
add_subdirectory(${LIB_ARCSEC_PATH})
add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${BSP_PATH})
if(ADD_CSP_LIB)
add_subdirectory(${LIB_CSP_PATH})
endif()
add_subdirectory(${COMMON_PATH})
add_subdirectory(${LIB_LWGPS_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${LIB_EIVE_MISSION_PATH})
add_subdirectory(${TEST_PATH})
add_subdirectory(${UNITTEST_PATH})
################################################################################
# Post-Sources preparation
################################################################################
# Add libraries
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_FSFW_NAME}
${LIB_LWGPS_NAME}
${LIB_OS_NAME}
)
target_link_libraries(${OBSW_NAME} PRIVATE
${LIB_EIVE_MISSION}
)
if(TGT_BSP MATCHES "arm/q7s")
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_ARCSEC}
${LIB_GPS}
)
endif()
target_link_libraries(${UNITTEST_NAME} PRIVATE
Catch2
${LIB_EIVE_MISSION}
)
if(TGT_BSP MATCHES "arm/egse")
target_link_libraries(${OBSW_NAME} PRIVATE
${LIB_ARCSEC}
)
endif()
if(ADD_CSP_LIB)
target_link_libraries(${OBSW_NAME} PRIVATE
${LIB_CSP_NAME}
)
endif()
if(EIVE_ADD_ETL_LIB)
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_ETL_NAME}
)
endif()
if(EIVE_ADD_JSON_LIB)
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_JSON_NAME}
)
endif()
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_CXX_FS}
)
# Add include paths for all sources.
target_include_directories(${LIB_EIVE_MISSION} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
${FSFW_CONFIG_PATH}
${CMAKE_CURRENT_BINARY_DIR}
${LIB_ARCSEC_PATH}
)
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
target_include_directories(${LIB_EIVE_MISSION} PUBLIC
${ARCSEC_LIB_PATH}
)
endif()
if(CMAKE_VERBOSE)
message(STATUS "Warning flags: ${WARNING_FLAGS}")
endif()
# Compile options for all sources.
target_compile_options(${TARGET_NAME} PRIVATE
${WARNING_FLAGS}
)
if(${CMAKE_CROSSCOMPILING})
include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
@ -297,11 +386,12 @@ string(CONCAT POST_BUILD_COMMENT
)
add_custom_command(
TARGET ${TARGET_NAME}
TARGET ${OBSW_NAME}
POST_BUILD
COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
COMMENT ${POST_BUILD_COMMENT}
)
include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
set_build_type()

12
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@ -0,0 +1,12 @@
python_script := './cmake/scripts/cmake-build-cfg.py'
default: q7s-debug-make
q7s-debug-make:
{{python_script}} -o linux -g make -b debug -t "arm/q7s" -l build-Debug-Q7S
q7s-release-make:
{{python_script}} -o linux -g make -b release -t "arm/q7s" -l build-Release-Q7S
q7s-debug-ninja:
{{python_script}} -o linux -g ninja -b debug -t "arm/q7s" -l build-Debug-Q7S

203
README.md
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@ -11,13 +11,18 @@
4. [Useful and Common Host Commands](#host-commands)
5. [Setting up Prerequisites](#set-up-prereq)
6. [Remote Debugging](#remote-debugging)
7. [Direct Debugging](#direct-debugging)
8. [Transfering Files to the Q7S](#file-transfer)
9. [Q7S OBC](#q7s)
10. [Static Code Analysis](#static-code-analysis)
11. [Eclipse](#eclipse)
12. [Running the OBSW on a Raspberry Pi](#rpi)
13. [FSFW](#fsfw)
6. [Remote Reset](#remote-reset)
8. [TMTC testing](#tmtc-testing)
9. [Direct Debugging](#direct-debugging)
10. [Transfering Files to the Q7S](#file-transfer)
11. [Q7S OBC](#q7s)
12. [Static Code Analysis](#static-code-analysis)
13. [Eclipse](#eclipse)
14. [Running the OBSW on a Raspberry Pi](#rpi)
15. [Running OBSW on EGSE](#egse)
16. [Manually preparing sysroots to compile gpsd](#gpsd)
17. [FSFW](#fsfw)
18. [Coding Style](#coding-style)
# <a id="general"></a> General information
@ -35,7 +40,7 @@ Target systems:
relevant pages. The most recent datasheet can be found
[here](https://trac2.xiphos.ca/manual/wiki/Q7RevB/UserManual).
* Linux OS built with Yocto 2.5
* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git . EIVE version can be found
* [Linux Kernel](https://github.com/XiphosSystemsCorp/linux-xlnx.git) . EIVE version can be found
[here](https://github.com/spacefisch/linux-xlnx) . Pre-compiled files can be
found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/q7s-linux-components&fileid=777299).
* Q7S base project can be found [here](https://egit.irs.uni-stuttgart.de/eive/q7s-base)
@ -102,7 +107,7 @@ When using Windows, run theses steps in MSYS2.
```sh
mkdir build-Debug-Q7S && cd build-Debug-Q7S
cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=linux ..
cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
```
@ -117,8 +122,7 @@ When using Windows, run theses steps in MSYS2.
This will invoke a Python script which in turn invokes CMake with the correct
arguments to configure CMake for Q7S cross-compilation.
You can build the hosted variant of the OBSW by replacing `-DOS_FSFW=linux` with
`-DOS_FSFW=host`. There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
5. Build the software with
@ -157,20 +161,47 @@ automatically.
### Q7S OBSW
The EIVE OBSW is the default target if no target is specified.
```sh
mkdir build-Debug-Q7S && cd build-Debug-Q7S
cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
```
### Q7S Watchdog
To build the EIVE watchdog, the corresponding target must be specified in the build command.
The configure steps do not need to be repeated if the folder has already been configured.
```sh
mkdir build-Debug-Q7S && cd build-Debug-Q7S
cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DEIVE_BUILD_WATCHDOG=ON -DCMAKE_BUILD_TYPE=Debug ..
mkdir build-Debug-Watchdog && cd build-Debug-Watchdog
cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . --target eive-watchdog -j
```
### Hosted
You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
Note: Currently this is not supported.
```sh
mkdir build-Debug-Host && cd build-Debug-Host
cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
```
### Unittests
To build the unittests, the corresponding target must be specified in the build command.
The configure steps do not need to be repeated if the folder has already been configured.
```sh
mkdir build-Debug-Unittest && cd build-Debug-Unittest
cmake ..
cmake --build . --target eive-unittests -j
```
## Connect to EIVE flatsat
### DNS
@ -411,12 +442,24 @@ Beagle Bone Black for download here
Download it and unzip it somewhere in the Xilinx installation folder.
You can use the following command if `wget` can be used or for CI/CD:
```
wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
```sh
wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
```
Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
### Updating system root for CI
If the system root is updated, it needs to be manually updated on the buggy file server.
If access on `buggy.irs.uni-stuttgart.de` is possible with `ssh` and the rootfs in the cloud
[was updated](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs&fileid=831849)
as well, you can update the rootfs like this:
```sh
cd /var/www/eive/tools
wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
```
## Setting up UNIX environment for real-time functionalities
Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities
@ -514,10 +557,10 @@ ssh root@192.168.133.10
```
If this has not been done yet, you can access the serial
console of the Q7S like this to set it
console of the Q7S like this
```sh
picocom -b 115200 /dev/ttyUSB0
picocom -b 115200 /dev/q7sSerial
```
The flatsat has the aliases and shell scripts `q7s_ssh` and `q7s_serial` for this task as well.
@ -554,6 +597,63 @@ alias or shell script to do this quickly.
Note: When now setting up a debug session in the Xilinx SDK or Eclipse, the host must be set
to localhost instead of the IP address of the Q7S.
# <a id="remote-reset"></a> Remote Reset
1. Launch xilinx hardware server on flatsat with alias
````
launch-hwserver-xilinx
````
2. On host PC start xsc
3. In xsct console type the follwing command to connect to the hardware server (replace </flatsat-pc-ip-address/> with the IP address of the flatsat PC. Can be found out with ifconfig)
````
connect -url tcp:</flatsat-pc-ip-address/>:3121
````
4. The following command will list all available devices
````
targets
````
5. Connect to the APU of the Q7S
````
target </APU-number/>
````
6. Perform reset
````
rst
````
# <a id="tmtc-testing"></a> TMTC testing
The OBSW supports sending PUS TM packets via TCP or the PDEC IP Core which transmits the data as
CADU frames. To make the CADU frames receivabel by the
[TMTC porgram](https://egit.irs.uni-stuttgart.de/eive/eive-tmtc), a python script is running as
`systemd` service named `tmtc_bridge` on the flatsat PC which forwards TCP commands to the TCP
server of the OBC and reads CADU frames from a serial interface.
You can check whether the service is running the following command on the flatsat PC
```sh
systemctl status tmtc_bridge
```
The PUS packets transported with the CADU frames are extracted
and forwared to the TMTC program's TCP client. The code of the TMTC bridge can be found
[here](https://egit.irs.uni-stuttgart.de/eive/tmtc-bridge). To connect the TMTC program to the
TMTC-bridge a port forwarding from a host must be set up with the following command:
```sh
ssh -L 1537:127.0.0.1:7100 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash
```
You can print the output of the `systemd` service with
```sh
journalctl -u tmtc_bridge
```
This can be helpful to determine whether any TCs arrive or TMs are coming back.
Note: The encoding of the TM packets and conversion of CADU frames takes some time.
Thus the replies are received with a larger delay compared to a direct TCP connection.
# <a id="direct-debugging"></a> Direct Debugging
1. Assign static IP address to Q7S
@ -966,26 +1066,7 @@ cat file.bin | hexdump -v -n X
## Preparation of a fresh rootfs and SD card
This section summarizes important changes between a fresh rootfs and the current
EIVE implementation
### rootfs
- Mount point `/mnt/sd0` created for SD card 0. Created with `mkdir`
- Mount point `/mnt/sd1` created for SD card 1. Created with `mkdir`
- Folder `scripts` in `/home/root` folder.
- `scripts` folder currently contains a few shell helper scripts
- Folder `profile.d` in `/etc` folder which contains the `path-set.sh` script
which is sourced at software startup
- Library `libwire.so` in `/usr/lib` folder
### SD Cards
- Folder `bin` for binaries, for example the OBSW
- Folder `misc` for miscellaneous files. Contains `ls` for directory listings
- Folder `tc` for telecommands
- Folder `tm` for telemetry
- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
See [q7s-package repository README](https://egit.irs.uni-stuttgart.de/eive/q7s-package)
# <a id="static-code-analysis"></a> Running cppcheck on the Software
@ -1033,7 +1114,7 @@ The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debu
1. Install the TCF agent plugin in Eclipse from
the [releases](https://www.eclipse.org/tcf/downloads.php). Go to
Help &rarr; Install New Software and use the download page, for
example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it.
example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**.
Here, the Q7S should show up if the local port forwarding was set up as explained previously.
@ -1072,6 +1153,38 @@ sudo apt-get install gpiod libgpiod-dev
to install the required GPIO libraries before cloning the system root folder.
# <a id="egse"></a> Running OBSW on EGSE
The EGSE is a test system from arcsec build arround a raspberry pi 4 to test the star tracker. The IP address of the EGSE (raspberry pi) is 192.168.18.31. An ssh session can be opened with
````
ssh pi@192.168.18.31
````
Password: raspberry
To run the obsw perform the following steps:
1. Build the cmake EGSE Configuration
* the sysroots for the EGSE can be found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/egse&fileid=1190471)
* toolchain for linux host can be downloaded from [here](https://github.com/Pro/raspi-toolchain)
* toolchain for windows host from [here](https://gnutoolchains.com/raspberry/) (the raspios-buster-armhf toolchain is the right one for the EGSE)
2. Disable the ser2net systemd service on the EGSE
````sh
$ sudo systemctl stop ser2net.service
````
3. Power on the star tracker by running
````sh
$ ~/powerctrl/enable0.sh`
````
4. Run portforwarding script for tmtc tcp connection and tcf agent on host PC
````sh
$ ./scripts/egse-port.sh
````
5. The star tracker can be powered off by running
````sh
$ ~/powerctrl/disable0.sh
````
# <a id="gpsd"></a> Manually preparing sysroots to compile gpsd
Copy all header files from [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/gpsd&fileid=1189985) to the /usr/include directory and all static libraries to /usr/lib.
# <a id="fsfw"></a> Flight Software Framework (FSFW)
An EIVE fork of the FSFW is submodules into this repository.
@ -1091,3 +1204,15 @@ git merge upstream/master
Alternatively, changes from other upstreams (forks) and branches can be merged like that
in the same way.
# <a id="coding-style"></a> Coding Style
* the formatting is based on the clang-format tools
## Setting up eclipse auto-fromatter with clang-format
1. Help &rarr; Install New Software &rarr; Add
2. In location insert the link http://www.cppstyle.com/luna
3. The software package CppStyle should now be available for installation
4. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
5. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle
6. Insert the path to the clang-format executable
7. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
8. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f

0
linux/archive/gpio/CMakeLists.txt → archive/gpio/CMakeLists.txt
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32
archive/gpio/GpioCookie.cpp Normal file
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@ -0,0 +1,32 @@
#include "GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
GpioCookie::GpioCookie() {}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
if (gpioConfig == nullptr) {
sif::debug << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
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 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 { return gpioMap; }
GpioCookie::~GpioCookie() {}

6
linux/archive/gpio/GpioCookie.h → archive/gpio/GpioCookie.h
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@ -1,11 +1,12 @@
#ifndef LINUX_GPIO_GPIOCOOKIE_H_
#define LINUX_GPIO_GPIOCOOKIE_H_
#include "GpioIF.h"
#include "gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "GpioIF.h"
#include "gpioDefinitions.h"
/**
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which
* GPIOs to initialize and whether they should be configured as in- or
@ -18,7 +19,6 @@
*/
class GpioCookie : public CookieIF {
public:
GpioCookie();
virtual ~GpioCookie();

54
archive/gpio/GpioIF.h Normal file
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@ -0,0 +1,54 @@
#ifndef LINUX_GPIO_GPIOIF_H_
#define LINUX_GPIO_GPIOIF_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "gpioDefinitions.h"
class GpioCookie;
/**
* @brief This class defines the interface for objects requiring the control
* over GPIOs.
* @author J. Meier
*/
class GpioIF : public HasReturnvaluesIF {
public:
virtual ~GpioIF(){};
/**
* @brief Called by the GPIO using object.
* @param cookie Cookie specifying informations of the GPIOs required
* by a object.
*/
virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
/**
* @brief By implementing this function a child must provide the
* 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;
/**
* @brief By implementing this function a child must provide the
* functionality to pull a certain GPIO to low logic level.
*
* @param gpioId A unique number which specifies the GPIO to drive.
*/
virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
/**
* @brief This function requires a child to implement the functionality to read the state of
* an ouput or input gpio.
*
* @param gpioId A unique number which specifies the GPIO to read.
* @param gpioState State of GPIO will be written to this pointer.
*/
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
};
#endif /* LINUX_GPIO_GPIOIF_H_ */

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@ -0,0 +1,295 @@
#include "LinuxLibgpioIF.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <gpiod.h>
#include <linux/gpio/gpioDefinitions.h>
#include <unistd.h>
#include <utility>
#include "GpioCookie.h"
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
struct gpiod_chip* chip = gpiod_chip_open_by_label("/amba_pl/gpio@42030000");
sif::debug << chip->name << std::endl;
}
LinuxLibgpioIF::~LinuxLibgpioIF() {}
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
if (gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
return RETURN_FAILED;
}
GpioMap mapToAdd = gpioCookie->getGpioMap();
/* Check whether this ID already exists in the map and remove duplicates */
result = checkForConflicts(mapToAdd);
if (result != RETURN_OK) {
return result;
}
result = configureGpios(mapToAdd);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
/* Register new GPIOs in gpioMap */
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for (auto& gpioConfig : mapToAdd) {
switch (gpioConfig.second->gpioType) {
case (gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE;
}
case (gpio::GpioTypes::GPIOD_REGULAR): {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureRegularGpio(gpioConfig.first, regularGpio);
break;
}
case (gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
gpioCallback->initValue, gpioCallback->callbackArgs);
}
}
}
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio) {
std::string chipname;
unsigned int lineNum;
struct gpiod_chip* chip;
gpio::Direction direction;
std::string consumer;
struct gpiod_line* lineHandle;
int result = 0;
chipname = regularGpio->chipname;
chip = gpiod_chip_open_by_name(chipname.c_str());
if (!chip) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip " << chipname
<< ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
lineNum = regularGpio->lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id " << gpioId
<< std::endl;
gpiod_chip_close(chip);
return RETURN_FAILED;
}
direction = regularGpio->direction;
consumer = regularGpio->consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case (gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio->initValue);
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum
<< " from GPIO instance with ID: " << gpioId << std::endl;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
break;
}
case (gpio::IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str());
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum
<< " from GPIO instance with ID: " << gpioId << std::endl;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
break;
}
default: {
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
return GPIO_INVALID_INSTANCE;
}
}
/**
* Write line handle to GPIO configuration instance so it can later be used to set or
* read states of GPIOs.
*/
regularGpio->lineHandle = lineHandle;
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 1,
gpioCallback->callbackArgs);
}
return GPIO_TYPE_FAILURE;
}
ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 0,
gpioCallback->callbackArgs);
}
return GPIO_TYPE_FAILURE;
}
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio,
unsigned int logicLevel) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
if (result < 0) {
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
<< " to logic level " << logicLevel << std::endl;
return DRIVE_GPIO_FAILURE;
}
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
} else {
}
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (auto& gpioConfig : mapToAdd) {
switch (gpioConfig.second->gpioType) {
case (gpio::GpioTypes::GPIOD_REGULAR): {
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Check for conflicts and remove duplicates if necessary */
result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
}
case (gpio::GpioTypes::CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Check for conflicts and remove duplicates if necessary */
result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
}
default: {
}
}
}
return status;
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
GpiodRegular* gpioToCheck,
GpioMap& mapToAdd) {
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck);
if (gpioMapIter != gpioMap.end()) {
if (gpioMapIter->second->gpioType != gpio::GpioTypes::GPIOD_REGULAR) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
"GPIO type"
<< gpioIdToCheck << ". Removing duplicate." << std::endl;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if (ownRegularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Remove element from map to add because a entry for this GPIO
already exists */
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
<< " detected. Duplicate will be removed from map to add." << std::endl;
mapToAdd.erase(gpioIdToCheck);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
GpioCallback* callbackGpio,
GpioMap& mapToAdd) {
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck);
if (gpioMapIter != gpioMap.end()) {
if (gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
"GPIO type"
<< gpioIdToCheck << ". Removing duplicate." << std::endl;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
/* Remove element from map to add because a entry for this GPIO
already exists */
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
<< " detected. Duplicate will be removed from map to add." << std::endl;
mapToAdd.erase(gpioIdToCheck);
}
return HasReturnvaluesIF::RETURN_OK;
}

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@ -0,0 +1,75 @@
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfwconfig/returnvalues/classIds.h>
#include <linux/gpio/GpioIF.h>
class GpioCookie;
/**
* @brief This class implements the GpioIF for a linux based system. The
* implementation is based on the libgpiod lib which requires linux 4.8
* or higher.
* @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux
* 2019.1.
*/
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
LinuxLibgpioIF(object_id_t objectId);
virtual ~LinuxLibgpioIF();
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
ReturnValue_t pullHigh(gpioId_t gpioId) override;
ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private:
/* Holds the information and configuration of all used GPIOs */
GpioMap gpioMap;
GpioMapIter gpioMapIter;
/**
* @brief This functions drives line of a GPIO specified by the GPIO ID.
*
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, unsigned int logiclevel);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);
/**
* @brief This function checks if GPIOs are already registered and whether
* there exists a conflict in the GPIO configuration. E.g. the
* direction.
*
* @param mapToAdd The GPIOs which shall be added to the gpioMap.
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
GpioMap& mapToAdd);
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
GpioMap& mapToAdd);
/**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/
ReturnValue_t configureGpios(GpioMap& mapToAdd);
};
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

83
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#ifndef LINUX_GPIO_GPIODEFINITIONS_H_
#define LINUX_GPIO_GPIODEFINITIONS_H_
#include <string>
#include <unordered_map>
using gpioId_t = uint16_t;
namespace gpio {
enum Levels { LOW = 0, HIGH = 1 };
enum Direction { IN = 0, OUT = 1 };
enum GpioOperation { READ, WRITE };
enum GpioTypes { NONE, GPIOD_REGULAR, CALLBACK };
static constexpr gpioId_t NO_GPIO = -1;
} // namespace gpio
/**
* @brief Struct containing information about the GPIO to use. This is
* required by the libgpiod to access and drive a GPIO.
* @param chipname String of the chipname specifying the group which contains the GPIO to
* access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on
* the linux command line.
* @param lineNum The offset of the GPIO within the GPIO group.
* @param consumer Name of the consumer. Simply a description of the GPIO configuration.
* @param direction Specifies whether the GPIO should be used as in- or output.
* @param initValue Defines the initial state of the GPIO when configured as output.
* Only required for output GPIOs.
* @param lineHandle The handle returned by gpiod_chip_get_line will be later written to this
* pointer.
*/
class GpioBase {
public:
GpioBase() = default;
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, int initValue)
: gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
virtual ~GpioBase(){};
/* Can be used to cast GpioBase to a concrete child implementation */
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
std::string consumer;
gpio::Direction direction = gpio::Direction::IN;
int initValue = 0;
};
class GpiodRegular : public GpioBase {
public:
GpiodRegular()
: GpioBase(gpio::GpioTypes::GPIOD_REGULAR, std::string(), gpio::Direction::IN, 0){};
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_)
: GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_),
chipname(chipname_),
lineNum(lineNum_) {}
std::string chipname;
int lineNum = 0;
struct gpiod_line* lineHandle = nullptr;
};
class GpioCallback : public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args),
void* callbackArgs)
: GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback),
callbackArgs(callbackArgs) {}
void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args) = nullptr;
void* callbackArgs = nullptr;
};
using GpioMap = std::unordered_map<gpioId_t, GpioBase*>;
using GpioMapIter = GpioMap::iterator;
#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */

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#include <fcntl.h>
#include <linux/obc/Ptme.h>
#include <sys/mman.h>
CCSDSIPCoreBridge::CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId,
LinuxLibgpioIF* gpioComIF, std::string uioPtme,
gpioId_t papbBusyId, gpioId_t papbEmptyId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId),
gpioComIF(gpioComIF),
uioPtme(uioPtme),
papbBusyId(papbBusyId),
papbEmptyId(papbEmptyId) {}
CCSDSIPCoreBridge::~CCSDSIPCoreBridge() {}
ReturnValue_t CCSDSIPCoreBridge::initialize() {
ReturnValue_t result = TmTcBridge::initialize();
fd = open("/dev/uio0", O_RDWR);
if (fd < 1) {
sif::debug << "CCSDSIPCoreBridge::initialize: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
/**
* Map uio device in virtual address space
* PROT_WRITE: Map uio device in writable only mode
*/
ptmeBaseAddress =
static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
if (ptmeBaseAddress == MAP_FAILED) {
sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return result;
}
ReturnValue_t CCSDSIPCoreBridge::handleTm() {
#if OBSW_TEST_CCSDS_PTME == 1
return sendTestFrame();
#else
return TmTcBridge::handleTm();
#endif
}
ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t* data, size_t dataLen) {
if (pollPapbBusySignal() == RETURN_OK) {
startPacketTransfer();
}
for (size_t idx = 0; idx < dataLen; idx++) {
if (pollPapbBusySignal() == RETURN_OK) {
*(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
} else {
sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen
<< " data" << std::endl;
return RETURN_FAILED;
}
}
if (pollPapbBusySignal() == RETURN_OK) {
endPacketTransfer();
}
return RETURN_OK;
}
void CCSDSIPCoreBridge::startPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_START; }
void CCSDSIPCoreBridge::endPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_END; }
ReturnValue_t CCSDSIPCoreBridge::pollPapbBusySignal() {
int papbBusyState = 0;
ReturnValue_t result = RETURN_OK;
/** Check if PAPB interface is ready to receive data */
result = gpioComIF->readGpio(papbBusyId, &papbBusyState);
if (result != RETURN_OK) {
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: Failed to read papb busy signal"
<< std::endl;
return RETURN_FAILED;
}
if (!papbBusyState) {
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: PAPB busy" << std::endl;
return PAPB_BUSY;
}
return RETURN_OK;
}
void CCSDSIPCoreBridge::isPtmeBufferEmpty() {
ReturnValue_t result = RETURN_OK;
int papbEmptyState = 1;
result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
if (result != RETURN_OK) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return;
}
if (papbEmptyState == 1) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl;
} else {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl;
}
return;
}
ReturnValue_t CCSDSIPCoreBridge::sendTestFrame() {
/** Size of one complete transfer frame data field amounts to 1105 bytes */
uint8_t testPacket[1105];
/** Fill one test packet */
for (int idx = 0; idx < 1105; idx++) {
testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
}
ReturnValue_t result = sendTm(testPacket, 1105);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}

129
archive/tmtc/CCSDSIPCoreBridge.h Normal file
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@ -0,0 +1,129 @@
#ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#define MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#include <fsfw/tmtcservices/TmTcBridge.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <cstring>
#include "OBSWConfig.h"
/**
* @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP
* cores responsible for the CCSDS encoding and decoding. The IP cores are implemented
* on the programmable logic and are accessible through the linux UIO driver.
*/
class CCSDSIPCoreBridge : public TmTcBridge {
public:
/**
* @brief Constructor
*
* @param objectId
* @param tcDestination
* @param tmStoreId
* @param tcStoreId
* @param uioPtme Name of the uio device file which provides access to the PTME IP Core.
* @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the
* PTME IP Core. A low logic level indicates the PTME is not ready to
* receive more data.
* @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the
* PTME IP Core. The signal is high when there are no packets in the
* external buffer memory (BRAM).
*/
CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF, std::string uioPtme,
gpioId_t papbBusyId, gpioId_t papbEmptyId);
virtual ~CCSDSIPCoreBridge();
ReturnValue_t initialize() override;
protected:
/**
* Overwriting this function to provide the capability of testing the PTME IP Core
* implementation.
*/
virtual ReturnValue_t handleTm() override;
virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
/** Size of mapped address space. 4k (minimal size of pl device) */
// static const int MAP_SIZE = 0xFA0;
static const int MAP_SIZE = 0x1000;
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
* bit[2]: Set this bit to 1 to abort a transfered packet
* bit[3]: Signals to PTME the start of a new telemetry packet
*/
static const uint32_t PTME_CONFIG_START = 0x8;
/**
* Writing this word to the ptme base address signals to the PTME that a complete tm packet has
* been transferred.
*/
static const uint32_t PTME_CONFIG_END = 0x0;
/**
* Writing to this offset within the PTME memory space will insert data for encoding to the
* PTME IP core.
* The address offset is 0x400 (= 4 * 256)
*/
static const int PTME_DATA_REG_OFFSET = 256;
LinuxLibgpioIF* gpioComIF = nullptr;
/** The uio device file related to the PTME IP Core */
std::string uioPtme;
/** Pulled to low when PTME not ready to receive data */
gpioId_t papbBusyId = gpio::NO_GPIO;
/** High when externally buffer memory of PTME is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
/** The file descriptor of the UIO driver */
int fd;
uint32_t* ptmeBaseAddress = nullptr;
/**
* @brief This function sends the config byte to the PTME IP Core to initiate a packet
* transfer.
*/
void startPacketTransfer();
/**
* @brief This function sends the config byte to the PTME IP Core to signal the end of a
* packet transfer.
*/
void endPacketTransfer();
/**
* @brief This function reads the papb busy signal indicating whether the PAPB interface is
* ready to receive more data or not. PAPB is ready when PAPB_Busy_N == '1'.
*
* @return RETURN_OK when ready to receive data else PAPB_BUSY.
*/
ReturnValue_t pollPapbBusySignal();
/**
* @brief This function can be used for debugging to check wheter there are packets in
* the packet buffer of the PTME or not.
*/
void isPtmeBufferEmpty();
/**
* @brief This function sends a complete telemetry transfer frame data field (1105 bytes)
* to the input of the PTME IP Core. Can be used to test the implementation.
*/
ReturnValue_t sendTestFrame();
};
#endif /* MISSION_OBC_CCSDSIPCOREBRIDGE_H_ */

5
automation/Dockerfile-q7s → automation/Dockerfile
View File

@ -2,7 +2,9 @@ FROM ubuntu:focal
RUN apt-get update
RUN apt-get --yes upgrade
RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl
#tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev
# Q7S root filesystem, required for cross-compilation.
RUN mkdir -p /usr/rootfs; \
@ -14,6 +16,5 @@ RUN mkdir -p /usr/tools; \
curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \
| tar -xz -C /usr/tools
ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

54
automation/Jenkinsfile vendored
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@ -1,48 +1,36 @@
pipeline {
agent any
environment {
BUILDDIR_Q7 = 'build_q7'
BUILDDIR_LINUX = 'build_linux'
}
agent {
docker {
image 'eive-obsw-ci:d2'
args '--sysctl fs.mqueue.msg_max=100'
}
}
stages {
stage('Build Container') {
when {
changeset "automation/Dockerfile-q7s"
branch 'develop'
}
steps {
sh 'docker build -t eive-fsw-build-q7s:gcc8 - < automation/Dockerfile-q7s'
}
}
stage('Clean') {
when {
anyOf {
changelog 'cleanCI'
changeset '*.cmake'
changeset 'CMakeLists.txt'
}
}
steps {
sh 'rm -rf build-q7s-debug'
sh 'rm -rf $BUILDDIR_Q7'
sh 'rm -rf $BUILDDIR_LINUX'
}
}
stage('Build Q7S') {
agent {
docker {
image 'eive-fsw-build-q7s:gcc8'
reuseNode true
}
}
steps {
dir('build-q7s-debug') {
sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=linux ..'
sh 'cmake --build . -j'
dir(BUILDDIR_Q7) {
sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
sh 'cmake --build . -j4'
}
}
}
stage('Deploy') {
when {
tag 'v*.*.*'
}
stage('Unittests') {
steps {
sh 'echo Deploying'
dir(BUILDDIR_LINUX) {
sh 'cmake ..'
sh 'cmake --build . -t eive-unittest -j4'
sh './eive-unittest'
}
}
}
}

7
bsp_egse/CMakeLists.txt Normal file
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@ -0,0 +1,7 @@
target_sources(${OBSW_NAME} PUBLIC
InitMission.cpp
main.cpp
ObjectFactory.cpp
)
add_subdirectory(boardconfig)

192
bsp_egse/InitMission.cpp Normal file
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@ -0,0 +1,192 @@
#include "InitMission.h"
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>
#include <iostream>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR");
ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() {
sif::info << "Make sure the systemd service ser2net on the egse has been stopped "
<< "(alias stop-ser2net)" << std::endl;
sif::info << "Make sure the power lines of the star tracker have been enabled "
<< "(alias enable-startracker)" << std::endl;
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
}
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if (factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc)(void) = nullptr;
#endif
/* TMTC Distribution */
PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
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;
}
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component TMTC Bridge failed" << std::endl;
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component TMTC Polling failed" << std::endl;
}
/* PUS Services */
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
"STAR_TRACKER_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstUart(pst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
pstTasks.push_back(pst);
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strHelperTask->addComponent(objects::STR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
}
pstTasks.push_back(strHelperTask);
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for (const auto& task : taskVector) {
if (task != nullptr) {
task->startTask();
} else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
};
sif::info << "Starting tasks.." << std::endl;
tmtcDistributor->startTask();
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
taskStarter(pstTasks, "PST Tasks");
taskStarter(pusTasks, "PUS Tasks");
sif::info << "Tasks started.." << std::endl;
}
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
taskVec.push_back(pusVerification);
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("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);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}

21
bsp_egse/InitMission.h Normal file
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@ -0,0 +1,21 @@
#ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_
#include <vector>
#include "fsfw/tasks/Typedef.h"
class PeriodicTaskIF;
class TaskFactory;
namespace initmission {
void initMission();
void initTasks();
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
}; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */

49
bsp_egse/ObjectFactory.cpp Normal file
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@ -0,0 +1,49 @@
#include "ObjectFactory.h"
#include <devConf.h>
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <mission/devices/GPSHyperionHandler.h>
#include "OBSWConfig.h"
#include "busConf.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "linux/devices/startracker/StarTrackerHandler.h"
#include "mission/core/GenericFactory.h"
#include "mission/utility/TmFunnel.h"
#include "objects/systemObjectList.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
UartCookie* starTrackerCookie =
new UartCookie(objects::STAR_TRACKER, egse::STAR_TRACKER_UART, UartModes::NON_CANONICAL,
uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
new UartComIF(objects::UART_COM_IF);
starTrackerCookie->setNoFixedSizeReply();
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
starTrackerHandler->setStartUpImmediately();
}

8
bsp_egse/ObjectFactory.h Normal file
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@ -0,0 +1,8 @@
#ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory {
void produce(void* args);
}; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

7
bsp_egse/boardconfig/CMakeLists.txt Normal file
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@ -0,0 +1,7 @@
target_sources(${OBSW_NAME} PRIVATE
print.c
)
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)

8
bsp_egse/boardconfig/busConf.h Normal file
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@ -0,0 +1,8 @@
#ifndef BSP_EGSE_BOARDCONFIG_BUSCONF_H_
#define BSP_EGSE_BOARDCONFIG_BUSCONF_H_
namespace egse {
static constexpr char STAR_TRACKER_UART[] = "/dev/serial0";
}
#endif /* BSP_EGSE_BOARDCONFIG_BUSCONF_H_ */

38
bsp_egse/boardconfig/etl_profile.h Normal file
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@ -0,0 +1,38 @@
///\file
/******************************************************************************
The MIT License(MIT)
Embedded Template Library.
https://github.com/ETLCPP/etl
https://www.etlcpp.com
Copyright(c) 2019 jwellbelove
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files(the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions :
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
******************************************************************************/
#ifndef __ETL_PROFILE_H__
#define __ETL_PROFILE_H__
#define ETL_CHECK_PUSH_POP
#define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0
#endif

15
bsp_egse/boardconfig/gcov.h Normal file
View File

@ -0,0 +1,15 @@
#ifndef LINUX_GCOV_H_
#define LINUX_GCOV_H_
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#ifdef GCOV
extern "C" void __gcov_flush();
#else
void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n"
<< std::flush;
}
#endif
#endif /* LINUX_GCOV_H_ */

10
bsp_egse/boardconfig/print.c Normal file
View File

@ -0,0 +1,10 @@
#include <bsp_egse/boardconfig/print.h>
#include <stdio.h>
void printChar(const char* character, bool errStream) {
if (errStream) {
putc(*character, stderr);
return;
}
putc(*character, stdout);
}

8
bsp_egse/boardconfig/print.h Normal file
View File

@ -0,0 +1,8 @@
#ifndef HOSTED_BOARDCONFIG_PRINT_H_
#define HOSTED_BOARDCONFIG_PRINT_H_
#include <stdbool.h>
void printChar(const char* character, bool errStream);
#endif /* HOSTED_BOARDCONFIG_PRINT_H_ */

6
bsp_egse/boardconfig/rpiConfig.h.in Normal file
View File

@ -0,0 +1,6 @@
#ifndef BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
#define BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
#include <cstdint>
#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

28
bsp_egse/main.cpp Normal file
View File

@ -0,0 +1,28 @@
#include <iostream>
#include "InitMission.h"
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h"
/**
* @brief This is the main program entry point for the egse (raspberry pi 4)
* @return
*/
int main(void) {
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for EGSE from Arcsec"
<< " --" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
<< SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
<< "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
for (;;) {
/* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000);
}
}

2
bsp_hosted/CMakeLists.txt
View File

@ -1,4 +1,4 @@
target_sources(${TARGET_NAME} PUBLIC
target_sources(${OBSW_NAME} PUBLIC
InitMission.cpp
main.cpp
ObjectFactory.cpp

10
bsp_hosted/InitMission.cpp
View File

@ -1,20 +1,19 @@
#include "InitMission.h"
#include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>
#include <iostream>
#include "ObjectFactory.h"
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
@ -55,8 +54,7 @@ void initmission::initTasks() {
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}

2
bsp_hosted/InitMission.h
View File

@ -4,6 +4,6 @@
namespace initmission {
void initMission();
void initTasks();
};
}; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */

26
bsp_hosted/ObjectFactory.cpp
View File

@ -1,14 +1,14 @@
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include <objects/systemObjectList.h>
#include <tmtc/apid.h>
#include <tmtc/pusIds.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include "OBSWConfig.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include "fsfw/osal/common/UdpTcPollingTask.h"
@ -20,7 +20,6 @@
#include <fsfw/tmtcpacket/pus/tm.h>
#if OBSW_ADD_TEST_CODE == 1
#include <test/testtasks/TestTask.h>
#endif
@ -44,18 +43,5 @@ void ObjectFactory::produce(void* args){
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
sif::info << "Setting up UDP TMTC bridge with listener port " <<
UdpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#else
sif::info << "Setting up TCP TMTC bridge with listener port " <<
TcpTmTcServer::DEFAULT_SERVER_PORT << std::endl;
new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#endif
new TestTask(objects::TEST_TASK);
}

3
bsp_hosted/ObjectFactory.h
View File

@ -1,10 +1,9 @@
#ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory {
void setStatics();
void produce(void* args);
};
}; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

4
bsp_hosted/boardconfig/CMakeLists.txt
View File

@ -1,8 +1,8 @@
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
print.c
)
target_include_directories(${TARGET_NAME} PUBLIC
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)

3
bsp_hosted/boardconfig/gcov.h
View File

@ -7,7 +7,8 @@ extern "C" void __gcov_flush();
#else
void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n" << std::flush;
"coverage information is desired.\n"
<< std::flush;
}
#endif

4
bsp_hosted/boardconfig/print.c
View File

@ -9,7 +9,3 @@ void printChar(const char* character, bool errStream) {
}
putc(*character, stdout);
}

101
bsp_hosted/comIF/ArduinoComIF.cpp
View File

@ -1,26 +1,25 @@
#include "ArduinoComIF.h"
#include "ArduinoCookie.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include "ArduinoCookie.h"
// This only works on Linux
#ifdef LINUX
#include <termios.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#elif WIN32
#include <windows.h>
#include <strsafe.h>
#include <windows.h>
#endif
#include <cstring>
ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
const char *serialDevice):
rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true),
SystemObject(setObjectId) {
ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, const char *serialDevice)
: rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES * 10, true), SystemObject(setObjectId) {
#ifdef LINUX
initialized = false;
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
@ -66,7 +65,6 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
sif::info << "Please enter the COM port (c to cancel): " << std::flush;
std::string comPort;
while (hCom == INVALID_HANDLE_VALUE) {
std::getline(std::cin, comPort);
if (comPort[0] == 'c') {
break;
@ -80,37 +78,29 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
0, // Non Overlapped I/O
NULL); // Null for Comm Devices
if (hCom == INVALID_HANDLE_VALUE)
{
if (hCom == INVALID_HANDLE_VALUE) {
if (GetLastError() == 2) {
sif::error << "COM Port does not found!" << std::endl;
}
else {
} else {
TCHAR err[128];
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL,
GetLastError(),
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
err, sizeof(err), NULL);
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, GetLastError(),
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), err, sizeof(err), NULL);
// Handle the error.
sif::info << "CreateFileA Error code: " << GetLastError()
<< std::endl;
sif::info << "CreateFileA Error code: " << GetLastError() << std::endl;
sif::error << err << std::flush;
}
sif::info << "Please enter a valid COM port: " << std::flush;
}
}
}
serialParams.DCBlength = sizeof(serialParams);
if (baudRate == 9600) {
serialParams.BaudRate = CBR_9600;
}
if (baudRate == 115200) {
serialParams.BaudRate = CBR_115200;
}
else {
} else {
serialParams.BaudRate = baudRate;
}
@ -143,29 +133,22 @@ ReturnValue_t ArduinoComIF::initializeInterface(CookieIF * cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data,
size_t len) {
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
len);
return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
}
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) {
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) {
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
@ -178,8 +161,8 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
uint8_t address, const uint8_t *data, size_t dataLen) {
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
size_t dataLen) {
if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA;
}
@ -193,16 +176,15 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
size_t remainingLen = sizeof(sendBuffer) - 1;
size_t encodedLen = 0;
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
remainingLen, &encodedLen, false);
ReturnValue_t result =
DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
&encodedLen, false);
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
@ -215,8 +197,8 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
temporaryBuffer[0] = dataLen >> 8; // we checked dataLen above
temporaryBuffer[1] = dataLen;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
result =
DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
@ -224,8 +206,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
// encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
&encodedLen, false);
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
@ -241,8 +222,8 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
result =
DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
@ -279,8 +260,7 @@ void ArduinoComIF::handleSerialPortRx() {
uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial,
sizeof(dataFromSerial));
ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
if (bytesRead < 0) {
return;
@ -292,13 +272,12 @@ void ArduinoComIF::handleSerialPortRx() {
uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
&dataLenReceivedSoFar);
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, &dataLenReceivedSoFar);
// look for STX
size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar)
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
while ((firstSTXinRawData < dataLenReceivedSoFar) &&
(dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
firstSTXinRawData++;
}
@ -313,10 +292,9 @@ void ArduinoComIF::handleSerialPortRx() {
size_t readSize = 0;
ReturnValue_t result = DleEncoder::decode(
dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
sizeof(packet), &packetLen);
ReturnValue_t result = DleEncoder::decode(dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize,
packet, sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) {
@ -333,9 +311,7 @@ void ArduinoComIF::handleSerialPortRx() {
#endif
}
void ArduinoComIF::setBaudrate(uint32_t baudRate) {
this->baudRate = baudRate;
}
void ArduinoComIF::setBaudrate(uint32_t baudRate) { this->baudRate = baudRate; }
void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
@ -368,8 +344,7 @@ void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
}
std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
cookie.receivedDataLen = packetLen - 6;
}
break;
} break;
default:
return;
}

19
bsp_hosted/comIF/ArduinoComIF.h
View File

@ -4,8 +4,8 @@
#include <fsfw/container/FixedMap.h>
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <cstdint>
#include <map>
@ -17,8 +17,7 @@
// Forward declaration, so users don't peek
class ArduinoCookie;
class ArduinoComIF: public SystemObject,
public DeviceCommunicationIF {
class ArduinoComIF : public SystemObject, public DeviceCommunicationIF {
public:
static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
static const uint8_t MAX_PACKET_SIZE = 64;
@ -34,13 +33,12 @@ public:
/** DeviceCommunicationIF overrides */
virtual ReturnValue_t initializeInterface(CookieIF *cookie) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private:
#ifdef LINUX
@ -59,8 +57,7 @@ private:
SimpleRingBuffer rxBuffer;
ReturnValue_t sendMessage(uint8_t command, uint8_t address,
const uint8_t *data, size_t dataLen);
ReturnValue_t sendMessage(uint8_t command, uint8_t address, const uint8_t *data, size_t dataLen);
void handleSerialPortRx();
void handlePacket(uint8_t *packet, size_t packetLen);

12
bsp_hosted/comIF/ArduinoCookie.cpp
View File

@ -1,8 +1,8 @@
#include <bsp_hosted/comIF/ArduinoCookie.h>
ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
const size_t maxReplySize) :
protocol(protocol), command(protocol), address(address),
maxReplySize(maxReplySize), replyBuffer(maxReplySize) {
}
ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize)
: protocol(protocol),
command(protocol),
address(address),
maxReplySize(maxReplySize),
replyBuffer(maxReplySize) {}

11
bsp_hosted/comIF/ArduinoCookie.h
View File

@ -2,18 +2,14 @@
#define MISSION_ARDUINO_ARDUINOCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <vector>
class ArduinoCookie : public CookieIF {
public:
enum Protocol_t: uint8_t {
INVALID,
SPI,
I2C
};
enum Protocol_t : uint8_t { INVALID, SPI, I2C };
ArduinoCookie(Protocol_t protocol, uint8_t address,
const size_t maxReplySize);
ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize);
Protocol_t protocol;
uint8_t command;
@ -21,7 +17,6 @@ public:
std::vector<uint8_t> replyBuffer;
size_t receivedDataLen = 0;
size_t maxReplySize;
};
#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */

14
bsp_hosted/fsfwconfig/CMakeLists.txt
View File

@ -1,21 +1,27 @@
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
ipc/MissionMessageTypes.cpp
)
target_include_directories(${TARGET_NAME} PUBLIC
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
# If a special translation file for object IDs exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
objects/translateObjects.cpp
)
target_sources(${UNITTEST_NAME} PRIVATE
objects/translateObjects.cpp
)
endif()
# If a special translation file for events exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
events/translateEvents.cpp
)
target_sources(${UNITTEST_NAME} PRIVATE
events/translateEvents.cpp
)
endif()

6
bsp_hosted/fsfwconfig/OBSWConfig.h.in
View File

@ -14,6 +14,12 @@
debugging. */
#define OBSW_VEBOSE_LEVEL 1
#define OBSW_USE_CCSDS_IP_CORE 0
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME 0
// Set to 1 if telecommands are received via the PDEC IP Core
#define OBSW_TC_FROM_PDEC 0
#ifdef __cplusplus
#include "objects/systemObjectList.h"

59
bsp_hosted/fsfwconfig/devices/gpioIds.h
View File

@ -1,59 +0,0 @@
#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
#define FSFWCONFIG_DEVICES_GPIOIDS_H_
#include <linux/gpio/GpioIF.h>
namespace gpioIds {
enum gpioId_t {
HEATER_0,
HEATER_1,
HEATER_2,
HEATER_3,
HEATER_4,
HEATER_5,
HEATER_6,
HEATER_7,
DEPLSA1,
DEPLSA2,
MGM_0_LIS3_CS,
MGM_1_RM3100_CS,
GYRO_0_ADIS_CS,
GYRO_1_L3G_CS,
GYRO_2_L3G_CS,
MGM_2_LIS3_CS,
MGM_3_RM3100_CS,
TEST_ID_0,
TEST_ID_1,
RTD_IC3,
RTD_IC4,
RTD_IC5,
RTD_IC6,
RTD_IC7,
RTD_IC8,
RTD_IC9,
RTD_IC10,
RTD_IC11,
RTD_IC12,
RTD_IC13,
RTD_IC14,
RTD_IC15,
RTD_IC16,
RTD_IC17,
RTD_IC18,
SPI_MUX_BIT_1,
SPI_MUX_BIT_2,
SPI_MUX_BIT_3,
SPI_MUX_BIT_4,
SPI_MUX_BIT_5,
SPI_MUX_BIT_6
};
}
#endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */

3
bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
View File

@ -52,7 +52,6 @@ namespace pcduSwitches {
static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
static const uint8_t INIT_STATE_PLOC = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
}
} // namespace pcduSwitches
#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

5
bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
View File

@ -2,6 +2,7 @@
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <common/config/commonSubsystemIds.h>
#include <cstdint>
/**
@ -9,9 +10,7 @@
* Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
*/
namespace SUBSYSTEM_ID {
enum: uint8_t {
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
};
enum : uint8_t { SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END };
}
#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

7
bsp_hosted/fsfwconfig/fsfwconfig.mk
View File

@ -1,7 +0,0 @@
CXXSRC += $(wildcard $(CURRENTPATH)/cdatapool/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
INCLUDES += $(CURRENTPATH)

3
bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp
View File

@ -1,4 +1,5 @@
#include "MissionMessageTypes.h"
#include <fsfw/ipc/CommandMessage.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
@ -7,5 +8,3 @@ void messagetypes::clearMissionMessage(CommandMessage* message) {
break;
}
}

2
bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h
View File

@ -17,6 +17,6 @@ enum MESSAGE_TYPE {
};
void clearMissionMessage(CommandMessage* message);
}
} // namespace messagetypes
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

3
bsp_hosted/fsfwconfig/objects/systemObjectList.h
View File

@ -1,9 +1,10 @@
#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#include <cstdint>
#include <commonObjects.h>
#include <cstdint>
// The objects will be instantiated in the ID order
namespace objects {
enum sourceObjects : uint32_t {

4
bsp_hosted/fsfwconfig/returnvalues/classIds.h
View File

@ -1,9 +1,10 @@
#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
#define CONFIG_RETURNVALUES_CLASSIDS_H_
#include "commonClassIds.h"
#include <fsfw/returnvalues/FwClassIds.h>
#include "commonClassIds.h"
/**
* Source IDs starts at 73 for now
* Framework IDs for ReturnValues run from 0 to 56
@ -15,5 +16,4 @@ enum {
};
}
#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

1
bsp_hosted/fsfwconfig/tmtc/apid.h
View File

@ -15,5 +15,4 @@ namespace apid {
static const uint16_t EIVE_OBSW = 0x65;
}
#endif /* FSFWCONFIG_TMTC_APID_H_ */

16
bsp_hosted/main.cpp
View File

@ -1,10 +1,9 @@
#include <iostream>
#include "InitMission.h"
#include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h"
#include <iostream>
#ifdef WIN32
static const char* COMPILE_PRINTOUT = "Windows";
#elif LINUX
@ -17,13 +16,12 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
* Linux and Windows.
* @return
*/
int main(void)
{
int main(void) {
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
<< SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
<< FSFW_REVISION << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
@ -33,5 +31,3 @@ int main(void)
TaskFactory::delayTask(5000);
}
}

2
bsp_linux_board/CMakeLists.txt
View File

@ -1,4 +1,4 @@
target_sources(${TARGET_NAME} PUBLIC
target_sources(${OBSW_NAME} PUBLIC
InitMission.cpp
main.cpp
ObjectFactory.cpp

60
bsp_linux_board/InitMission.cpp
View File

@ -1,21 +1,21 @@
#include "InitMission.h"
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include <mission/utility/InitMission.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>
#include <iostream>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
@ -47,7 +47,6 @@ void initmission::initTasks() {
void (*missedDeadlineFunc)(void) = nullptr;
#endif
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@ -65,17 +64,17 @@ void initmission::initTasks() {
}
/* UDP bridge */
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
sif::error << "Add component TMTC Bridge failed" << std::endl;
}
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
sif::error << "Add component TMTC Polling failed" << std::endl;
}
/* PUS Services */
@ -93,8 +92,7 @@ void initmission::initTasks() {
for (const auto& task : taskVector) {
if (task != nullptr) {
task->startTask();
}
else {
} else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
@ -102,8 +100,8 @@ void initmission::initTasks() {
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
taskStarter(pusTasks, "PUS Tasks");
#if OBSW_ADD_TEST_CODE == 1
@ -120,7 +118,8 @@ void initmission::initTasks() {
}
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
@ -182,19 +181,18 @@ void initmission::createPusTasks(TaskFactory& factory,
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("INT_ERR_RPRT",
objects::INTERNAL_ERROR_REPORTER);
initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
@ -213,7 +211,7 @@ void initmission::createTestTasks(TaskFactory& factory,
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#if RPI_ADD_SPI_TEST == 1
#if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
@ -225,23 +223,23 @@ void initmission::createTestTasks(TaskFactory& factory,
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* RPI_ADD_GPIO_TEST == 1 */
#if RPI_ADD_UART_TEST == 1
#if OBSW_ADD_UART_TEST_CODE == 1
result = testTask->addComponent(objects::UART_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
}
#endif /* RPI_ADD_GPIO_TEST == 1 */
taskVec.push_back(testTask);
bool startTestPst = true;
static_cast<void>(startTestPst);
#if OBSW_ADD_TEST_PST == 1
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
"TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pstTest(pstTestTask);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
startTestPst = false;
}
#endif /* RPI_TEST_ACS_BOARD == 1 */
}

11
bsp_linux_board/InitMission.h
View File

@ -1,9 +1,10 @@
#ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_
#include "fsfw/tasks/Typedef.h"
#include <vector>
#include "fsfw/tasks/Typedef.h"
class PeriodicTaskIF;
class TaskFactory;
@ -11,14 +12,12 @@ namespace initmission {
void initMission();
void initTasks();
void createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
};
}; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */

154
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,47 +1,46 @@
#include <devConf.h>
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include "OBSWConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "OBSWConfig.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "linux/boardtest/LibgpiodTest.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/boardtest/UartTestClass.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/GPSHyperionHandler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/utility/TmFunnel.h"
#include <mission/devices/GPSHyperionHandler.h>
#include "mission/devices/GyroADIS16507Handler.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tasks/TaskFactory.h"
#include "objects/systemObjectList.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
/* UDP server includes */
#if OBSW_USE_TMTC_TCP_BRIDGE == 1
#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
#else
#include "fsfw/osal/common/UdpTmTcBridge.h"
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h"
#endif
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
@ -57,22 +56,10 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
#if OBSW_USE_TMTC_TCP_BRIDGE == 1
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#else
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#endif
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
GpioCookie* gpioCookie = nullptr;
static_cast<void>(gpioCookie);
@ -88,85 +75,93 @@ void ObjectFactory::produce(void* args){
gpioCookie = new GpioCookie();
}
// TODO: Missing pin for Gyro 2
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
"MGM_0_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
"MGM_1_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
"MGM_2_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
"MGM_3_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
"GYRO_1_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
"GYRO_2_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
"GYRO_3_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie);
spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
auto mgmLis3Handler =
new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
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 MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
auto mgmRm3100Handler =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler =
new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler =
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
spiCookie =
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
auto adisHandler =
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisHandler->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, 0);
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, 0);
gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
spiCookie =
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
adisHandler =
new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisHandler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, 0);
spiCookie =
new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler =
new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true);
@ -180,14 +175,13 @@ void ObjectFactory::produce(void* args){
}
void ObjectFactory::createTestTasks() {
new TestTask(objects::TEST_TASK);
#if RPI_ADD_SPI_TEST == 1
#if OBSW_ADD_SPI_TEST_CODE == 1
new SpiTestClass(objects::SPI_TEST, gpioIF);
#endif
#if RPI_ADD_UART_TEST == 1
#if OBSW_ADD_UART_TEST_CODE == 1
new UartTestClass(objects::UART_TEST);
#else
new UartComIF(objects::UART_COM_IF);
@ -217,20 +211,20 @@ void ObjectFactory::createTestTasks() {
spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
nullptr, nullptr);
auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
auto adisGyroHandler =
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisGyroHandler->setStartUpImmediately();
#endif /* RPI_TEST_ADIS16507 == 1 */
#if RPI_TEST_GPS_HANDLER == 1
UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
UartModes::CANONICAL, 9600, 1024);
UartCookie* uartCookie =
new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
uartCookie->setToFlushInput(true);
uartCookie->setReadCycles(6);
GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
objects::UART_COM_IF, uartCookie, false);
GPSHyperionHandler* gpsHandler =
new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
gpsHandler->setStartUpImmediately();
#endif
}

3
bsp_linux_board/ObjectFactory.h
View File

@ -1,12 +1,11 @@
#ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory {
void setStatics();
void produce(void* args);
void createTestTasks();
};
}; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

4
bsp_linux_board/boardconfig/CMakeLists.txt
View File

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

3
bsp_linux_board/boardconfig/gcov.h
View File

@ -7,7 +7,8 @@ extern "C" void __gcov_flush();
#else
void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n" << std::flush;
"coverage information is desired.\n"
<< std::flush;
}
#endif

6
bsp_linux_board/boardconfig/print.c
View File

@ -1,4 +1,4 @@
#include <bsp_q7s/boardconfig/print.h>
#include <bsp_linux_board/boardconfig/print.h>
#include <stdio.h>
void printChar(const char* character, bool errStream) {
@ -8,7 +8,3 @@ void printChar(const char* character, bool errStream) {
}
putc(*character, stdout);
}

2
bsp_linux_board/boardtest/CMakeLists.txt
View File

@ -1,4 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
)

16
bsp_linux_board/main.cpp
View File

@ -1,12 +1,11 @@
#include <iostream>
#include "InitMission.h"
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h"
#include <iostream>
#ifdef RASPBERRY_PI
static const char* const BOARD_NAME = "Raspberry Pi";
#elif defined(BEAGLEBONEBLACK)
@ -19,13 +18,12 @@ static const char* const BOARD_NAME = "Unknown Board";
* @brief This is the main program and entry point for the Raspberry Pi.
* @return
*/
int main(void)
{
int main(void) {
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
<< SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
<< "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
@ -35,5 +33,3 @@ int main(void)
TaskFactory::delayTask(5000);
}
}

20
bsp_q7s/CMakeLists.txt
View File

@ -1,17 +1,25 @@
target_sources(${TARGET_NAME} PUBLIC
#simple mode
add_executable(${SIMPLE_OBSW_NAME} EXCLUDE_FROM_ALL)
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
target_sources(${SIMPLE_OBSW_NAME} PUBLIC
main.cpp
)
#I think this is unintentional? (produces linker errors for stuff in /linux)
target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC
${LIB_FSFW_NAME}
)
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
add_subdirectory(simple)
target_sources(${OBSW_NAME} PUBLIC
main.cpp
)
add_subdirectory(boardtest)
if(Q7S_SIMPLE_MODE)
add_subdirectory(simple)
else()
add_subdirectory(boardconfig)
add_subdirectory(comIF)
add_subdirectory(gpio)
add_subdirectory(core)
add_subdirectory(memory)
add_subdirectory(callbacks)
add_subdirectory(devices)
endif()

9
bsp_q7s/boardconfig/CMakeLists.txt
View File

@ -1,7 +1,12 @@
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
print.c
)
target_include_directories(${TARGET_NAME} PUBLIC
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
print.c
)
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)

166
bsp_q7s/boardconfig/busConf.h
View File

@ -3,98 +3,98 @@
namespace q7s {
static constexpr char SPI_DEFAULT_DEV[] = "/dev/spidev2.0";
static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL5";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
static constexpr char UART_GNSS_DEV[] = "/dev/ul-gps";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
static constexpr char UIO_PTME[] = "/dev/uio1";
static constexpr int MAP_ID_PTME_CONFIG = 3;
/**************************************************************/
/** OBC1E */
/**************************************************************/
static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "/amba_pl/gpio@42020000";
static const char* const GPIO_GYRO_ADIS_LABEL = GPIO_MULTIPURPOSE_1V8_OBC1D;
static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0; // Package Pin: W20
static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2; // AA22
namespace uiomapids {
static const int PTME_VC0 = 0;
static const int PTME_VC1 = 1;
static const int PTME_VC2 = 2;
static const int PTME_VC3 = 3;
static const int PTME_CONFIG = 4;
} // namespace uiomapids
/**************************************************************/
/** OBC1F B0 */
/**************************************************************/
static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000";
static constexpr uint32_t GPIO_FLEX_OBC1F_B0_WIDTH = 20;
static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0;
namespace gpioNames {
static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";
static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select";
static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select";
static constexpr char GYRO_3_L3G_CS[] = "gyro_3_l3g_chip_select";
static constexpr char MGM_0_CS[] = "mgm_0_lis3_chip_select";
static constexpr char MGM_1_CS[] = "mgm_1_rm3100_chip_select";
static constexpr char MGM_2_CS[] = "mgm_2_lis3_chip_select";
static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select";
static constexpr char RESET_GNSS_0[] = "reset_gnss_0";
static constexpr char RESET_GNSS_1[] = "reset_gnss_1";
static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0";
static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1";
static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
static constexpr char GNSS_SELECT[] = "gnss_mux_select";
static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
static constexpr uint32_t GPIO_RW_0_CS = 7; // B20
static constexpr uint32_t GPIO_RW_1_CS = 3; // G22
static constexpr uint32_t GPIO_RW_2_CS = 11; // E18
static constexpr uint32_t GPIO_RW_3_CS = 6; // B19
static constexpr char HEATER_0[] = "heater0";
static constexpr char HEATER_1[] = "heater1";
static constexpr char HEATER_2[] = "heater2";
static constexpr char HEATER_3[] = "heater3";
static constexpr char HEATER_4[] = "heater4";
static constexpr char HEATER_5[] = "heater5";
static constexpr char HEATER_6[] = "heater6";
static constexpr char HEATER_7[] = "heater7";
static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0";
static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1";
static constexpr char SPI_MUX_BIT_0_PIN[] = "spi_mux_bit_0";
static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1";
static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2";
static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3";
static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4";
static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5";
static constexpr char EN_RW_CS[] = "en_rw_cs";
static constexpr char EN_RW_1[] = "enable_rw_1";
static constexpr char EN_RW_2[] = "enable_rw_2";
static constexpr char EN_RW_3[] = "enable_rw_3";
static constexpr char EN_RW_4[] = "enable_rw_4";
static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18; // N22
static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1; // M21
static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5; // C18
static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16; // A16
static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10; // C17
static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
static constexpr char ENABLE_RADFET[] = "enable_radfet";
static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872";
static constexpr char PDEC_RESET[] = "pdec_reset";
// Active low enable pin (needs to be driven low for regular operations)
static constexpr uint32_t GPIO_GYRO_0_ENABLE = 2; // H22
static constexpr char PL_PCDU_ENABLE_VBAT0[] = "enable_plpcdu_vbat0";
static constexpr char PL_PCDU_ENABLE_VBAT1[] = "enable_plpcdu_vbat1";
static constexpr char PL_PCDU_ENABLE_DRO[] = "enable_plpcdu_dro";
static constexpr char PL_PCDU_ENABLE_X8[] = "enable_plpcdu_x8";
static constexpr char PL_PCDU_ENABLE_TX[] = "enable_plpcdu_tx";
static constexpr char PL_PCDU_ENABLE_HPA[] = "enable_plpcdu_hpa";
static constexpr char PL_PCDU_ENABLE_MPA[] = "enable_plpcdu_mpa";
static constexpr char PL_PCDU_ADC_CS[] = "plpcdu_adc_chip_select";
// Active low reset pin (needs to be driven high for regular operations)
static constexpr uint32_t GPIO_RESET_GNSS_0 = 9; // C22
static constexpr uint32_t GPIO_RESET_GNSS_1 = 12; // B21
static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19; // R18
/**************************************************************/
/** OBC1F B1 */
/**************************************************************/
static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000";
// Need to use chip name here for now because the label name is the name for
// gpiochip 5 and gpiochip6
static constexpr char GPIO_FLEX_OBC1F_B1_CHIP[] = "gpiochip6";
static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1_CHIP;
static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0; // D18
/**************************************************************/
/** OBC1C */
/**************************************************************/
static constexpr char GPIO_3V3_OBC1C[] = "/amba_pl/gpio@42040000";
static const char* const GPIO_HEATER_LABEL = GPIO_3V3_OBC1C;
static const char* const GPIO_SOLAR_ARR_DEPL_LABEL = GPIO_3V3_OBC1C;
static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
static constexpr uint32_t GPIO_HEATER_3_PIN = 5;
static constexpr uint32_t GPIO_HEATER_4_PIN = 3;
static constexpr uint32_t GPIO_HEATER_5_PIN = 0;
static constexpr uint32_t GPIO_HEATER_6_PIN = 1;
static constexpr uint32_t GPIO_HEATER_7_PIN = 11;
static constexpr uint32_t GPIO_GYRO_2_ENABLE = 18; // F22
static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4;
static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2;
static constexpr char GPIO_RW_SPI_MUX_LABEL[] = "zynq_gpio";
// Uses EMIO interface to PL, starts at 54
static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 54;
static constexpr uint32_t SPI_MUX_BIT_1 = 13;
static constexpr uint32_t SPI_MUX_BIT_2 = 14;
static constexpr uint32_t SPI_MUX_BIT_3 = 15;
static constexpr uint32_t SPI_MUX_BIT_4 = 16;
static constexpr uint32_t SPI_MUX_BIT_5 = 17;
static constexpr uint32_t SPI_MUX_BIT_6 = 9;
static constexpr uint32_t EN_RW_CS = 17;
}
} // namespace gpioNames
} // namespace q7s
#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

3
bsp_q7s/boardconfig/gcov.h
View File

@ -7,7 +7,8 @@ extern "C" void __gcov_flush();
#else
void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n" << std::flush;
"coverage information is desired.\n"
<< std::flush;
}
#endif

4
bsp_q7s/boardconfig/print.c
View File

@ -8,7 +8,3 @@ void printChar(const char* character, bool errStream) {
}
putc(*character, stdout);
}

6
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -3,8 +3,6 @@
#include <cstdint>
#cmakedefine01 Q7S_SIMPLE_MODE
/*******************************************************************/
/** All of the following flags should be enabled for mission code */
/*******************************************************************/
@ -31,6 +29,10 @@
#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
#ifndef Q7S_SIMPLE_MODE
#define Q7S_SIMPLE_MODE 0
#endif
namespace config {
static const uint32_t SD_CARD_ACCESS_MUTEX_TIMEOUT = 50;

10
bsp_q7s/boardtest/CMakeLists.txt
View File

@ -1,8 +1,10 @@
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
FileSystemTest.cpp
Q7STestTask.cpp
)
if(EIVE_BUILD_Q7S_SIMPLE_MODE)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
FileSystemTest.cpp
)
endif()

15
bsp_q7s/boardtest/FileSystemTest.cpp
View File

@ -1,13 +1,11 @@
#include "FileSystemTest.h"
#include <cstdlib>
#include <iostream>
#include "fsfw/timemanager/Stopwatch.h"
#include <iostream>
#include <cstdlib>
enum SdCard {
SDC0,
SDC1
};
enum SdCard { SDC0, SDC1 };
FileSystemTest::FileSystemTest() {
using namespace std;
@ -22,5 +20,4 @@ FileSystemTest::FileSystemTest() {
// stopwatch.stop(true);
}
FileSystemTest::~FileSystemTest() {
}
FileSystemTest::~FileSystemTest() {}

3
bsp_q7s/boardtest/FileSystemTest.h
View File

@ -5,9 +5,8 @@ class FileSystemTest {
public:
FileSystemTest();
virtual ~FileSystemTest();
private:
};
#endif /* BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_ */

168
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,36 +1,52 @@
#include "Q7STestTask.h"
#include <bsp_q7s/core/CoreController.h>
#include <bsp_q7s/memory/FileSystemHandler.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include "Q7STestTask.h"
#include <gps.h>
#include <libgpsmm.h>
#include <cstdio>
#include <ctime>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <nlohmann/json.hpp>
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "test/DummyParameter.h"
#include <nlohmann/json.hpp>
#include <iostream>
#include <fstream>
#include <cstdio>
Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
doTestSdCard = false;
doTestScratchApi = false;
doTestGps = false;
}
ReturnValue_t Q7STestTask::performOneShotAction() {
//testSdCard();
//testScratchApi();
if (doTestSdCard) {
testSdCard();
}
if (doTestScratchApi) {
testScratchApi();
}
// testJsonLibDirect();
// testDummyParams();
// testProtHandler();
//FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
//testFileSystemHandlerDirect(opCode);
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
testFileSystemHandlerDirect(opCode);
return TestTask::performOneShotAction();
}
ReturnValue_t Q7STestTask::performPeriodicAction() {
if (doTestGps) {
testGpsDaemon();
}
return TestTask::performPeriodicAction();
}
void Q7STestTask::testSdCard() {
using namespace std;
Stopwatch stopwatch;
@ -47,8 +63,7 @@ void Q7STestTask::testSdCard() {
while (iss >> word) {
if (word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
}
else if(word == "off") {
} else if (word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
}
}
@ -118,7 +133,6 @@ void Q7STestTask::testDummyParams() {
ReturnValue_t result = param.readJsonFile();
if (result != HasReturnvaluesIF::RETURN_OK) {
}
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@ -127,8 +141,18 @@ void Q7STestTask::testDummyParams() {
param.writeJsonFile();
param.print();
int test = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1);
std::string test2 = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2);
int test = 0;
result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
<< " does not exist" << std::endl;
}
std::string test2;
result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, test2);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
<< " does not exist" << std::endl;
}
sif::info << "Test value (3 expected): " << test << std::endl;
sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
}
@ -136,8 +160,8 @@ void Q7STestTask::testDummyParams() {
ReturnValue_t Q7STestTask::initialize() {
coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if (coreController == nullptr) {
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object" <<
std::endl;
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
<< std::endl;
}
return TestTask::initialize();
}
@ -146,16 +170,14 @@ void Q7STestTask::testProtHandler() {
bool opPerformed = false;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// If any chips are unlocked, lock them here
result = coreController->setBootCopyProtection(
CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true,
result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
// unlock own copy
result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false,
result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
@ -169,8 +191,7 @@ void Q7STestTask::testProtHandler() {
}
// lock own copy
result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true,
result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
@ -184,8 +205,7 @@ void Q7STestTask::testProtHandler() {
}
// unlock specific copy
result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false,
result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
@ -199,8 +219,7 @@ void Q7STestTask::testProtHandler() {
}
// lock specific copy
result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true,
result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
@ -214,9 +233,28 @@ void Q7STestTask::testProtHandler() {
}
}
void Q7STestTask::testGpsDaemon() {
gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
gps_data_t* gps;
gps = gpsmm.read();
if (gps == nullptr) {
sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
}
sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec;
std::tm* time = gmtime(&timeRaw);
sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
sif::info << "Satellites used: " << gps->satellites_used << std::endl;
sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
sif::info << "Latitude: " << gps->fix.latitude << std::endl;
sif::info << "Longitude: " << gps->fix.longitude << std::endl;
sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
}
void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
auto fsHandler = ObjectManager::instance()->
get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
if (fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl;
@ -227,7 +265,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
// Lambda for common code
auto createNonEmptyTmpDir = [&]() {
if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp/test", &cfg);
result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -245,14 +283,13 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
return result;
};
switch (opCode) {
case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
break;
}
case (FsOpCodes::REMOVE_TMP_FILE): {
@ -262,13 +299,12 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
if (not std::filesystem::exists("/tmp/test.txt")) {
// Creating sample file
sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
}
result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl;
}
else {
} else {
sif::warning << "File removal failed!" << std::endl;
}
break;
@ -278,11 +314,10 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
ReturnValue_t result = fsHandler->createDirectory("/tmp/test", &cfg);
ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl;
}
else {
} else {
sif::warning << "Directory creation failed!" << std::endl;
}
break;
@ -291,17 +326,15 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp/test", &cfg);
}
else {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
} else {
// Delete any leftover files to regular dir removal works
std::remove("/tmp/test/*");
}
result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed successfully" << std::endl;
}
else {
} else {
sif::warning << "Directory removal failed!" << std::endl;
}
break;
@ -311,11 +344,10 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/test", true, &cfg);
result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl;
}
else {
} else {
sif::warning << "Recursive directory removal failed!" << std::endl;
}
break;
@ -325,13 +357,41 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl;
}
else {
} else {
sif::warning << "Directory removal worked when it should not have!" << std::endl;
}
break;
}
case (FsOpCodes::RENAME_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
break;
}
case (FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
std::string content = "Hello World\n";
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
content.size(), 0, &cfg);
}
}
}

13
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -3,14 +3,24 @@
#include "test/testtasks/TestTask.h"
class CoreController;
class Q7STestTask : public TestTask {
public:
Q7STestTask(object_id_t objectId);
ReturnValue_t initialize() override;
private:
bool doTestSdCard = false;
bool doTestScratchApi = false;
bool doTestGps = false;
CoreController* coreController = nullptr;
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
void testGpsDaemon();
void testSdCard();
void fileTests();
@ -27,9 +37,10 @@ private:
REMOVE_EMPTY_DIR_IN_TMP,
ATTEMPT_DIR_REMOVAL_NON_EMPTY,
REMOVE_FILLED_DIR_IN_TMP,
RENAME_FILE,
APPEND_TO_FILE,
};
void testFileSystemHandlerDirect(FsOpCodes opCode);
};
#endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

4
bsp_q7s/callbacks/CMakeLists.txt
View File

@ -1,4 +1,6 @@
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
rwSpiCallback.cpp
gnssCallback.cpp
pcduSwitchCb.cpp
gpioCallbacks.cpp
)

5
bsp_q7s/callbacks/gnssCallback.cpp
View File

@ -1,6 +1,6 @@
#include "gnssCallback.h"
#include "devices/gpioIds.h"
#include "devices/gpioIds.h"
#include "fsfw/tasks/TaskFactory.h"
ReturnValue_t gps::triggerGpioResetPin(void* args) {
@ -15,8 +15,7 @@ ReturnValue_t gps::triggerGpioResetPin(void *args) {
if (resetArgs->gnss1) {
gpioId = gpioIds::GNSS_1_NRESET;
}
else {
} else {
gpioId = gpioIds::GNSS_0_NRESET;
}
resetArgs->gpioComIF->pullLow(gpioId);

2
bsp_q7s/callbacks/gnssCallback.h
View File

@ -1,8 +1,8 @@
#ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
#define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
struct ResetArgs {
bool gnss1 = false;

487
bsp_q7s/callbacks/gpioCallbacks.cpp Normal file
View File

@ -0,0 +1,487 @@
#include "gpioCallbacks.h"
#include <devices/gpioIds.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "busConf.h"
namespace gpioCallbacks {
GpioIF* gpioComInterface;
void initSpiCsDecoder(GpioIF* gpioComIF) {
using namespace gpio;
ReturnValue_t result;
if (gpioComIF == nullptr) {
sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
return;
}
gpioComInterface = gpioComIF;
GpioCookie* spiMuxGpios = new GpioCookie;
GpiodRegularByLineName* spiMuxBit = nullptr;
/** Setting mux bit 1 to low will disable IC21 on the interface board */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_0_PIN, "SPI Mux Bit 1",
Direction::OUT, Levels::HIGH);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_0, spiMuxBit);
/** Setting mux bit 2 to low disables IC1 on the TCS board */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 2",
Direction::OUT, Levels::HIGH);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
/** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 3",
Direction::OUT, Levels::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
/** The following gpios can take arbitrary initial values */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 4",
Direction::OUT, Levels::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 5",
Direction::OUT, Levels::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 6",
Direction::OUT, Levels::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(
q7s::gpioNames::EN_RW_CS, "EN_RW_CS", Direction::OUT, Levels::HIGH);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
return;
}
}
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args) {
using namespace gpio;
if (gpioComInterface == nullptr) {
sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
<< "to specify gpioComIF" << std::endl;
return;
}
/* Reading is not supported by the callback function */
if (gpioOp == gpio::GpioOperation::READ) {
return;
}
if (value == Levels::HIGH) {
switch (gpioId) {
case (gpioIds::RTD_IC_3): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_4): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_5): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_6): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_7): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_8): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_9): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_10): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_11): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_12): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_13): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_14): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_15): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_16): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_17): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_18): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::CS_SUS_0): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_1): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_2): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_3): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_4): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_5): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_6): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_7): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_8): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_9): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_10): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_11): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_RW1): {
disableRwDecoder();
break;
}
case (gpioIds::CS_RW2): {
disableRwDecoder();
break;
}
case (gpioIds::CS_RW3): {
disableRwDecoder();
break;
}
case (gpioIds::CS_RW4): {
disableRwDecoder();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
} else if (value == Levels::LOW) {
switch (gpioId) {
case (gpioIds::RTD_IC_3): {
selectY7();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_4): {
selectY6();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_5): {
selectY5();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_6): {
selectY4();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_7): {
selectY3();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_8): {
selectY2();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_9): {
selectY1();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_10): {
selectY0();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_11): {
selectY7();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_12): {
selectY6();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_13): {
selectY5();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_14): {
selectY4();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_15): {
selectY3();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_16): {
selectY2();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_17): {
selectY1();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_18): {
selectY0();
enableDecoderTcsIc2();
break;
}
case (gpioIds::CS_SUS_0): {
selectY0();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_1): {
selectY1();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_2): {
selectY2();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_3): {
selectY3();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_4): {
selectY4();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_5): {
selectY5();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_6): {
selectY0();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_7): {
selectY1();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_8): {
selectY2();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_9): {
selectY3();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_10): {
selectY4();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_11): {
selectY5();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_RW1): {
selectY0();
enableRwDecoder();
break;
}
case (gpioIds::CS_RW2): {
selectY1();
enableRwDecoder();
break;
}
case (gpioIds::CS_RW3): {
selectY2();
enableRwDecoder();
break;
}
case (gpioIds::CS_RW4): {
selectY3();
enableRwDecoder();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
} else {
sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
}
}
void enableDecoderTcsIc1() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void enableDecoderTcsIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
}
void enableDecoderInterfaceBoardIc1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void enableDecoderInterfaceBoardIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
}
void disableDecoderTcsIc1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void disableDecoderTcsIc2() {
// DO NOT CHANGE THE ORDER HERE
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
}
void disableDecoderInterfaceBoardIc1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void disableDecoderInterfaceBoardIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); }
void disableRwDecoder() { gpioComInterface->pullLow(gpioIds::EN_RW_CS); }
void selectY0() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
}
void selectY1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
}
void selectY2() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
}
void selectY3() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
}
void selectY4() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
}
void selectY5() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
}
void selectY6() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
}
void selectY7() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
}
void disableAllDecoder() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::EN_RW_CS);
}
} // namespace gpioCallbacks

73
bsp_q7s/callbacks/gpioCallbacks.h Normal file
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@ -0,0 +1,73 @@
#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
#define LINUX_GPIO_GPIOCALLBACKS_H_
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
namespace gpioCallbacks {
/**
* @brief This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
* the TCS Board and the interface board.
*/
void initSpiCsDecoder(GpioIF* gpioComIF);
/**
* @brief This function implements the decoding to multiply gpios by using the decoder
* chips SN74LVC138APWR on the TCS board and the interface board.
*/
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args);
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC1 in the schematic.
*/
void enableDecoderTcsIc1();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC2 in the schematic.
*/
void enableDecoderTcsIc2();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC21 in the schematic.
*/
void enableDecoderInterfaceBoardIc1();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC22 in the schematic.
*/
void enableDecoderInterfaceBoardIc2();
void disableDecoderTcsIc1();
void disableDecoderTcsIc2();
void disableDecoderInterfaceBoardIc1();
void disableDecoderInterfaceBoardIc2();
/**
* @brief Enables the reaction wheel chip select decoder (IC3).
*/
void enableRwDecoder();
void disableRwDecoder();
/**
* @brief This function disables all decoder.
*/
void disableAllDecoder();
/** The following functions enable the appropriate channel of the currently enabled decoder */
void selectY0();
void selectY1();
void selectY2();
void selectY3();
void selectY4();
void selectY5();
void selectY6();
void selectY7();
} // namespace gpioCallbacks
#endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */

32
bsp_q7s/callbacks/pcduSwitchCb.cpp Normal file
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@ -0,0 +1,32 @@
#include "pcduSwitchCb.h"
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "devices/gpioIds.h"
void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args) {
LinuxLibgpioIF* gpioComIF = reinterpret_cast<LinuxLibgpioIF*>(args);
if (gpioComIF == nullptr) {
return;
}
if (pdu == GOMSPACE::Pdu::PDU1) {
PDU1::SwitchChannels typedChannel = static_cast<PDU1::SwitchChannels>(channel);
if (typedChannel == PDU1::SwitchChannels::ACS_A_SIDE) {
if (state) {
gpioComIF->pullHigh(gpioIds::GNSS_0_NRESET);
} else {
gpioComIF->pullLow(gpioIds::GNSS_0_NRESET);
}
}
} else if (pdu == GOMSPACE::Pdu::PDU2) {
PDU2::SwitchChannels typedChannel = static_cast<PDU2::SwitchChannels>(channel);
if (typedChannel == PDU2::SwitchChannels::ACS_B_SIDE) {
if (state) {
gpioComIF->pullHigh(gpioIds::GNSS_1_NRESET);
} else {
gpioComIF->pullLow(gpioIds::GNSS_1_NRESET);
}
}
}
}

14
bsp_q7s/callbacks/pcduSwitchCb.h Normal file
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@ -0,0 +1,14 @@
#ifndef BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
#define BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
#include <cstdint>
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
namespace pcdu {
void switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args);
}
#endif /* BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_ */

77
bsp_q7s/callbacks/rwSpiCallback.cpp
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@ -1,28 +1,36 @@
#include "rwSpiCallback.h"
#include "devices/gpioIds.h"
#include "mission/devices/RwHandler.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "devices/gpioIds.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "mission/devices/RwHandler.h"
namespace rwSpiCallback {
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
RwHandler* handler = reinterpret_cast<RwHandler*>(args);
if (handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid"
<< std::endl;
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
uint8_t writeBuffer[2];
uint8_t writeSize = 0;
gpioId_t gpioId = cookie->getChipSelectPin();
GpioIF* gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if (mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
int fileDescriptor = 0;
std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
@ -35,27 +43,12 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
gpioId_t gpioId = cookie->getChipSelectPin();
GpioIF* gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if(mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
return result;
}
/** Disconnect PS SPI peripheral and select AXI SPI core */
if(gpioIF->pullHigh(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio high" << std::endl;
}
/** Sending frame start sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
@ -119,7 +112,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
size_t replyBufferSize = cookie->getMaxBufferSize();
/** There must be a delay of 20 ms after sending the command */
/** There must be a delay of at least 20 ms after sending the command */
usleep(RwDefinitions::SPI_REPLY_DELAY);
/**
@ -133,8 +126,15 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
}
if (idx == 0) {
if (byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_START_MARKER;
}
}
if (byteRead != 0x7E) {
if (byteRead != FLAG_BYTE) {
break;
}
@ -145,9 +145,12 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
}
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
sif::info << "RW start marker detected" << std::endl;
#endif
size_t decodedFrameLen = 0;
while (decodedFrameLen < replyBufferSize) {
/** First byte already read in */
if (decodedFrameLen != 0) {
byteRead = 0;
@ -158,11 +161,10 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
}
}
if (byteRead == 0x7E) {
if (byteRead == FLAG_BYTE) {
/** Reached end of frame */
break;
}
else if (byteRead == 0x7D) {
} else if (byteRead == 0x7D) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
@ -172,20 +174,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++;
continue;
}
else if (byteRead == 0x5D) {
} else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++;
continue;
}
else {
} else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
break;
}
}
else {
} else {
*(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++;
continue;
@ -226,12 +225,8 @@ void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
}
}
if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;;
}
/** Route SPI interface again to PS SPI peripheral */
if(gpioIF->pullLow(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio low" << std::endl;
}
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
;
}
}
} // namespace rwSpiCallback

8
bsp_q7s/callbacks/rwSpiCallback.h
View File

@ -2,12 +2,14 @@
#define BSP_Q7S_RW_SPI_CALLBACK_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
namespace rwSpiCallback {
//! This is the end and start marker of the frame datalinklayer
static constexpr uint8_t FLAG_BYTE = 0x7E;
/**
* @brief This is the callback function to send commands to the nano avionics reaction wheels and
* receive the replies.
@ -40,5 +42,5 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*/
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
}
} // namespace rwSpiCallback
#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

2
bsp_q7s/comIF/CMakeLists.txt
View File

@ -1,4 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
)

6
bsp_q7s/core/CMakeLists.txt
View File

@ -1,6 +1,10 @@
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
CoreController.cpp
obsw.cpp
InitMission.cpp
ObjectFactory.cpp
)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
InitMission.cpp
)

1021
bsp_q7s/core/CoreController.cpp
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File diff suppressed because it is too large Load Diff

115
bsp_q7s/core/CoreController.h
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@ -2,47 +2,83 @@
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "fsfw/controller/ExtendedControllerBase.h"
#include <libxiphos.h>
#include <cstddef>
#include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
class Timer;
class SdCardManager;
class CoreController: public ExtendedControllerBase {
public:
enum Chip: uint8_t {
CHIP_0,
CHIP_1,
NO_CHIP,
SELF_CHIP,
ALL_CHIP
namespace xsc {
enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
} // namespace xsc
struct RebootFile {
static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
bool enabled = true;
size_t maxCount = DEFAULT_MAX_BOOT_CNT;
uint32_t img00Cnt = 0;
uint32_t img01Cnt = 0;
uint32_t img10Cnt = 0;
uint32_t img11Cnt = 0;
bool img00Lock = false;
bool img01Lock = false;
bool img10Lock = false;
bool img11Lock = false;
uint32_t* relevantBootCnt = &img00Cnt;
bool bootFlag = false;
xsc::Chip lastChip = xsc::Chip::CHIP_0;
xsc::Copy lastCopy = xsc::Copy::COPY_0;
xsc::Chip mechanismNextChip = xsc::Chip::NO_CHIP;
xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
};
enum Copy: uint8_t {
COPY_0,
COPY_1,
NO_COPY,
SELF_COPY,
ALL_COPY
};
class CoreController : public ExtendedControllerBase {
public:
static xsc::Chip CURRENT_CHIP;
static xsc::Copy CURRENT_COPY;
static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
static constexpr char VERSION_FILE[] = "/conf/sd_status";
static constexpr char CONF_FOLDER[] = "conf";
static constexpr char VERSION_FILE_NAME[] = "version.txt";
static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
const std::string VERSION_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
const std::string REBOOT_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
static constexpr ActionId_t REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
//! [EXPORT] : [COMMENT] Software reboot occured. Can also be a systemd reboot.
//! P1: Current Chip, P2: Current Copy
static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
//! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
//! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
//! P2: Each byte is the respective reboot count for the slots
static constexpr Event REBOOT_MECHANISM_TRIGGERED =
event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
//! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
CoreController(object_id_t objectId);
virtual ~CoreController();
@ -51,8 +87,8 @@ public:
ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
@ -63,7 +99,7 @@ public:
*/
static ReturnValue_t generateChipStateFile();
static ReturnValue_t incrementAllocationFailureCount();
static void getCurrentBootCopy(Chip& chip, Copy& copy);
static void getCurrentBootCopy(xsc::Chip& chip, xsc::Copy& copy);
ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
@ -78,15 +114,12 @@ public:
* @param updateProtFile Specify whether the protection info file is updated
* @return
*/
ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy,
bool protect, bool& protOperationPerformed, bool updateProtFile = true);
ReturnValue_t setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
bool& protOperationPerformed, bool updateProtFile = true);
bool sdInitFinished() const;
private:
static Chip CURRENT_CHIP;
static Copy CURRENT_COPY;
// Designated value for rechecking FIFO open
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
@ -135,8 +168,9 @@ private:
sd::SdState currentlyCommandedState = sd::SdState::OFF;
sd::SdCard commandedCard = sd::SdCard::NONE;
sd::SdState commandedState = sd::SdState::OFF;
};
SdInfo sdInfo;
} sdInfo;
RebootFile rebootFile = {};
bool doPerformMountedSdCardOps = true;
/**
* Index 0: Chip 0 Copy 0
@ -150,9 +184,8 @@ private:
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
void performMountedSdCardOperations();
ReturnValue_t initVersionFile();
ReturnValue_t initBootCopy();
ReturnValue_t initWatchdogFifo();
@ -164,10 +197,12 @@ private:
ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
bool printOutput = true);
ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void determinePreferredSdCard();
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
void performRebootFileHandling(bool recreateFile);
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
@ -176,9 +211,15 @@ private:
void performWatchdogControlOperation();
ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
bool &protOperationPerformed, bool selfChip, bool selfCopy, bool allChips,
bool allCopies, uint8_t arrIdx);
int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
bool& protOperationPerformed, bool selfChip, bool selfCopy,
bool allChips, bool allCopies, uint8_t arrIdx);
void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
xsc::Copy& tgtCopy);
void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
bool parseRebootFile(std::string path, RebootFile& file);
void rewriteRebootFile(RebootFile file);
};
#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

170
bsp_q7s/core/InitMission.cpp
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@ -1,28 +1,27 @@
#include "InitMission.h"
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include "mission/utility/InitMission.h"
#include "fsfw/platform.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include <iostream>
#include <vector>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h"
/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR", false, false, true);
ServiceInterfaceStream sif::error("ERROR");
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
@ -33,7 +32,6 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
@ -82,19 +80,49 @@ void initmission::initTasks() {
initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
}
/* UDP bridge */
#if OBSW_ADD_TCPIP_BRIDGE == 1
// TMTC bridge
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
"TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
}
#endif
#if OBSW_USE_CCSDS_IP_CORE == 1
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
}
// Minimal distance between two received TCs amounts to 0.6 seconds
// If a command has not been read before the next one arrives, the old command will be
// overwritten by the PDEC.
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
}
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_ACS_HANDLERS */
#if BOARD_TE0720 == 0
// FS task, task interval does not matter because it runs in permanent loop, priority low
@ -105,6 +133,16 @@ void initmission::initTasks() {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
}
#if OBSW_ADD_STAR_TRACKER == 1
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strHelperTask->addComponent(objects::STR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
}
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif /* BOARD_TE0720 */
#if OBSW_TEST_CCSDS_BRIDGE == 1
@ -130,8 +168,7 @@ void initmission::initTasks() {
for (const auto& task : taskVector) {
if (task != nullptr) {
task->startTask();
}
else {
} else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
@ -139,8 +176,17 @@ void initmission::initTasks() {
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
#if OBSW_ADD_TCPIP_BRIDGE == 1
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
#endif
#if OBSW_USE_CCSDS_IP_CORE == 1
ccsdsHandlerTask->startTask();
pdecHandlerTask->startTask();
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if BOARD_TE0720 == 0
coreController->startTask();
#endif
@ -157,47 +203,61 @@ void initmission::initTasks() {
#if BOARD_TE0720 == 0
fsTask->startTask();
#if OBSW_ADD_STAR_TRACKER == 1
strHelperTask > startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif
#if OBSW_ADD_ACS_HANDLERS == 1
acsCtrl->startTask();
#endif
sif::info << "Tasks started.." << std::endl;
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
} else {
taskVec.push_back(spiPst);
}
#endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstUart(uartPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(uartPst);
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstGpio(gpioPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(gpioPst);
#if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(i2cPst);
#endif
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
@ -208,8 +268,7 @@ void initmission::createPstTasks(TaskFactory& factory,
taskVec.push_back(gomSpacePstTask);
#else /* BOARD_TE7020 == 0 */
FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
missedDeadlineFunc);
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
@ -219,7 +278,8 @@ void initmission::createPstTasks(TaskFactory& factory,
}
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* PUS Services */
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
@ -287,19 +347,20 @@ void initmission::createPusTasks(TaskFactory &factory,
taskVec.push_back(pusLowPrio);
}
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#endif
static_cast<void>(result); // supress warning in case it is not used
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
#if OBSW_ADD_TEST_TASK == 1
result = testTask->addComponent(objects::TEST_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_TASK == 1 */
#if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST);
@ -307,6 +368,19 @@ void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFuncti
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif
#if OBSW_ADD_I2C_TEST_CODE == 1
result = testTask->addComponent(objects::I2C_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
}
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
result = testTask->addComponent(objects::UART_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
}
#endif
#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
@ -314,4 +388,28 @@ void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFuncti
}
#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
taskVec.push_back(testTask);
#endif // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
}
/**
▄ ▄
▌▒█ ▄▀▒▌
▌▒▒█ ▄▀▒▒▒▐
▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
▒▒▒▒▒▒▒▒▒▒▀▀
**/

5
bsp_q7s/core/InitMission.h
View File

@ -1,9 +1,10 @@
#ifndef BSP_Q7S_INITMISSION_H_
#define BSP_Q7S_INITMISSION_H_
#include "fsfw/tasks/Typedef.h"
#include <vector>
#include "fsfw/tasks/Typedef.h"
class PeriodicTaskIF;
class TaskFactory;
@ -17,6 +18,6 @@ void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadl
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
};
}; // namespace initmission
#endif /* BSP_Q7S_INITMISSION_H_ */

1436
bsp_q7s/core/ObjectFactory.cpp
View File

File diff suppressed because it is too large Load Diff

10
bsp_q7s/core/ObjectFactory.h
View File

@ -4,6 +4,7 @@
class LinuxLibgpioIF;
class UartComIF;
class SpiComIF;
class I2cComIF;
namespace ObjectFactory {
@ -11,9 +12,11 @@ void setStatics();
void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiComIF);
SpiComIF** spiComIF, I2cComIF** i2cComIF);
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
void createTmpComponents();
void createPcduComponents();
void createPcduComponents(LinuxLibgpioIF* gpioComIF);
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);
@ -22,8 +25,9 @@ void createSolarArrayDeploymentComponents();
void createSyrlinksComponents();
void createRtdComponents(LinuxLibgpioIF* gpioComIF);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
void createTestComponents(LinuxLibgpioIF* gpioComIF);
};
}; // namespace ObjectFactory
#endif /* BSP_Q7S_OBJECTFACTORY_H_ */

7
bsp_q7s/core/ParameterHandler.cpp
View File

@ -1,8 +1,5 @@
#include "ParameterHandler.h"
ParameterHandler::ParameterHandler(std::string mountPrefix): mountPrefix(mountPrefix) {
}
ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
void ParameterHandler::setMountPrefix(std::string prefix) {
mountPrefix = prefix;
}
void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }

4
bsp_q7s/core/ParameterHandler.h
View File

@ -4,8 +4,6 @@
#include <nlohmann/json.hpp>
#include <string>
class ParameterHandler {
public:
ParameterHandler(std::string mountPrefix);
@ -13,10 +11,10 @@ public:
void setMountPrefix(std::string prefix);
void setUpDummyParameter();
private:
std::string mountPrefix;
DummyParameter dummyParam;
};
#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

27
bsp_q7s/core/obsw.cpp
View File

@ -1,14 +1,14 @@
#include "obsw.h"
#include "OBSWVersion.h"
#include "OBSWConfig.h"
#include "InitMission.h"
#include "watchdogConf.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/FSFWVersion.h"
#include <iostream>
#include <filesystem>
#include <iostream>
#include "InitMission.h"
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h"
#include "watchdogConf.h"
static int OBSW_ALREADY_RUNNING = -2;
@ -19,17 +19,18 @@ int obsw::obsw() {
#else
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
#endif
std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION <<
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
<< FSFW_VERSION << "." << FSFW_SUBVERSION << "." << FSFW_REVISION << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
#if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
// Check special file here. This file is created or deleted by the eive-watchdog application
// or systemd service!
if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
sif::warning << "File " << watchdog::RUNNING_FILE_NAME << " exists so the software might "
"already be running. Aborting.." << std::endl;
sif::warning << "File " << watchdog::RUNNING_FILE_NAME
<< " exists so the software might "
"already be running. Check if obsw systemd service has been stopped."
<< std::endl;
return OBSW_ALREADY_RUNNING;
}
#endif

2
bsp_q7s/devices/CMakeLists.txt
View File

@ -1,4 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
target_sources(${OBSW_NAME} PRIVATE
PlocSupervisorHandler.cpp
PlocUpdater.cpp
PlocMemoryDumper.cpp

58
bsp_q7s/devices/PlocMemoryDumper.cpp
View File

@ -1,21 +1,23 @@
#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
#include "fsfw/ipc/QueueFactory.h"
#include "PlocMemoryDumper.h"
#include <fstream>
#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
#include <filesystem>
#include <fstream>
#include <string>
PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId) :
SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
#include "fsfw/ipc/QueueFactory.h"
PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
auto mqArgs = MqArgs(this->getObjectId());
commandQueue = QueueFactory::instance()->createMessageQueue(
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PlocMemoryDumper::~PlocMemoryDumper() {
}
PlocMemoryDumper::~PlocMemoryDumper() {}
ReturnValue_t PlocMemoryDumper::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
@ -38,9 +40,8 @@ ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
if (state != State::IDLE) {
return IS_BUSY;
}
@ -71,13 +72,9 @@ ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId,
return EXECUTION_FINISHED;
}
MessageQueueId_t PlocMemoryDumper::getCommandQueue() const {
return commandQueue->getId();
}
MessageQueueId_t PlocMemoryDumper::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() {
return commandQueue;
}
MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() { return commandQueue; }
void PlocMemoryDumper::readCommandQueue() {
CommandMessage message;
@ -121,17 +118,12 @@ void PlocMemoryDumper::doStateMachine() {
}
}
void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId,
uint8_t step) {
}
void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {
}
ReturnValue_t returnCode) {}
void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
}
void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) {
@ -140,8 +132,7 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
if (mram.endAddress == mram.startAddress) {
triggerEvent(MRAM_DUMP_FINISHED);
state = State::IDLE;
}
else {
} else {
state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
}
break;
@ -153,8 +144,7 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
}
}
void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) {
void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
switch (pendingCommand) {
case (PLOC_SPV::FIRST_MRAM_DUMP):
case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
@ -179,8 +169,7 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
mram.startAddress += MAX_MRAM_DUMP_SIZE;
mram.lastStartAddress = tempStartAddress;
}
else {
} else {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.endAddress;
mram.startAddress = mram.endAddress;
@ -188,8 +177,8 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
MemoryParams params(tempStartAddress, tempEndAddress);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
dumpCommand, &params);
result =
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, dumpCommand, &params);
if (result != RETURN_OK) {
sif::warning << "PlocMemoryDumper::commandNextMramDump: Failed to send mram dump command "
<< "with start address " << tempStartAddress << " and end address "
@ -203,4 +192,3 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
pendingCommand = dumpCommand;
return;
}

17
bsp_q7s/devices/PlocMemoryDumper.h
View File

@ -3,18 +3,18 @@
#include <bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h>
#include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include "OBSWConfig.h"
#include "fsfw/action/CommandActionHelper.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
#include "fsfw/tmtcpacket/SpacePacket.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
/**
* @brief Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is
@ -30,7 +30,6 @@ class PlocMemoryDumper : public SystemObject,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
static const ActionId_t NONE = 0;
static const ActionId_t DUMP_MRAM = 1;
@ -50,12 +49,12 @@ public:
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
static const uint32_t QUEUE_SIZE = 10;
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
//! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.
//! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must
//! not be higher than 0x7d000.
static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] The specified end address is lower than the start address
static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1);

205
bsp_q7s/devices/PlocSupervisorHandler.cpp
View File

@ -1,26 +1,28 @@
#include <sstream>
#include <string>
#include <fstream>
#include <filesystem>
#include "PlocSupervisorHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/timemanager/Clock.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include <string>
#include "OBSWConfig.h"
PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this), bootStatusReport(this), latchupStatusReport(
this) {
CookieIF* comCookie)
: DeviceHandlerBase(objectId, uartComIFid, comCookie),
hkset(this),
bootStatusReport(this),
latchupStatusReport(this) {
if (comCookie == NULL) {
sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
}
}
PlocSupervisorHandler::~PlocSupervisorHandler() {
}
PlocSupervisorHandler::~PlocSupervisorHandler() {}
ReturnValue_t PlocSupervisorHandler::initialize() {
ReturnValue_t result = RETURN_OK;
@ -41,7 +43,6 @@ ReturnValue_t PlocSupervisorHandler::initialize() {
return result;
}
void PlocSupervisorHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
@ -50,22 +51,18 @@ void PlocSupervisorHandler::doStartUp(){
#endif
}
void PlocSupervisorHandler::doShutDown(){
setMode(_MODE_POWER_DOWN);
}
void PlocSupervisorHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_FAILED;
switch (deviceCommand) {
@ -330,14 +327,12 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
}
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP) {
*foundId = PLOC_SPV::FIRST_MRAM_DUMP;
return parseMramPackets(start, remainingSize, foundLen);
}
else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
} else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
*foundId = PLOC_SPV::CONSECUTIVE_MRAM_DUMP;
return parseMramPackets(start, remainingSize, foundLen);
}
@ -387,7 +382,6 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
@ -416,7 +410,8 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
default: {
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id"
<< std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
@ -424,17 +419,12 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
return result;
}
void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid(){
void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid() {}
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 500;
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(PLOC_SPV::NUM_TMS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PL, new PoolEntry<uint32_t>({0}));
@ -478,9 +468,9 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
}
ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
uint8_t expectedReplies,
bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = RETURN_OK;
uint8_t enabledReplies = 0;
@ -585,15 +575,15 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::ACK_REPORT);
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::ACK_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::ACK_REPORT << " not in replyMap" << std::endl;
}
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::EXE_REPORT);
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::EXE_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::EXE_REPORT << " not in replyMap" << std::endl;
@ -603,7 +593,6 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
}
ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
@ -616,7 +605,6 @@ ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t f
}
ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_ACK_REPORT);
@ -635,7 +623,8 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
switch (apid) {
case PLOC_SPV::APID_ACK_FAILURE: {
// TODO: Interpretation of status field in acknowledgment report
sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report" << std::endl;
sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_ACK_FAILURE, commandId);
@ -651,7 +640,8 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
break;
}
default: {
sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report"
<< std::endl;
result = RETURN_FAILED;
break;
}
@ -661,7 +651,6 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
}
ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_EXE_REPORT);
@ -679,14 +668,15 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
}
case (PLOC_SPV::APID_EXE_FAILURE): {
// TODO: Interpretation of status field in execution report
sif::error << "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
sif::error
<< "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_EXE_FAILURE, commandId);
}
else {
sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id" << std::endl;
} else {
sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id"
<< std::endl;
}
sendFailureReport(PLOC_SPV::EXE_REPORT, RECEIVED_EXE_FAILURE);
disableExeReportReply();
@ -706,43 +696,41 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
}
ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_HK_REPORT);
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc"
<< std::endl;
sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;
}
uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 |
*(data + offset + 2) << 8 | *(data + offset + 3);
offset += 4;
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.nvm0_1_state = *(data + offset);
offset += 1;
@ -761,7 +749,8 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
sif::info << "PlocSupervisorHandler::handleHkReport: temp_sup: " << hkset.tempSup << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: uptime: " << hkset.uptime << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: cpu_load: " << hkset.cpuLoad << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap
<< std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tcs: " << hkset.numTcs << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tms: " << hkset.numTms << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: soc_state: " << hkset.socState << std::endl;
@ -780,14 +769,14 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
}
ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_BOOT_STATUS_REPORT);
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
" crc" << std::endl;
" crc"
<< std::endl;
return result;
}
@ -835,7 +824,6 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
}
ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
@ -921,8 +909,8 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
<< latchupStatusReport.timeYear << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Msec: "
<< latchupStatusReport.timeMsec << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x"
<< std::hex << latchupStatusReport.timeMsec << std::dec << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x" << std::hex
<< latchupStatusReport.timeMsec << std::dec << std::endl;
#endif
return result;
@ -953,15 +941,13 @@ void PlocSupervisorHandler::setNextReplyId() {
}
size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
size_t replyLen = 0;
if (nextReplyId == PLOC_SPV::NONE) {
return replyLen;
}
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP
|| nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP || nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
/**
* Try to read 20 MRAM packets. If reply is larger, the packets will be read with the
* next doSendRead call. The command will be as long active as the packet with the sequence
@ -978,8 +964,7 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
return replyLen;
}
replyLen = iter->second.replyLen;
}
else {
} else {
sif::debug << "PlocSupervisorHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
@ -987,8 +972,8 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
return replyLen;
}
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
@ -1043,8 +1028,8 @@ void PlocSupervisorHandler::prepareDisableHk() {
}
void PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData) {
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
PLOC_SPV::SetBootTimeout packet(timeout);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
@ -1073,8 +1058,8 @@ ReturnValue_t PlocSupervisorHandler::prepareWatchdogsConfigTimeoutCmd(const uint
if (watchdog > 2) {
return INVALID_WATCHDOG;
}
uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (timeout < 1000 || timeout > 360000) {
return INVALID_WATCHDOG_TIMEOUT;
}
@ -1115,8 +1100,8 @@ ReturnValue_t PlocSupervisorHandler::prepareAutoCalibrateAlertCmd(const uint8_t*
uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return INVALID_LATCHUP_ID;
}
@ -1141,8 +1126,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return INVALID_LATCHUP_ID;
}
@ -1152,8 +1137,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
}
ReturnValue_t PlocSupervisorHandler::prepareSetAdcSweetPeriodCmd(const uint8_t* commandData) {
uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16
| *(commandData + 2) << 8 | *(commandData + 3);
uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
if (sweepPeriod < 21) {
return SWEEP_PERIOD_TOO_SMALL;
}
@ -1178,8 +1163,8 @@ void PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* comma
}
void PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) {
uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
PLOC_SPV::SetAdcThreshold packet(threshold);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
@ -1275,7 +1260,6 @@ void PlocSupervisorHandler::packetToOutBuffer(uint8_t* packetData, size_t fullSi
}
void PlocSupervisorHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;
/* Disable ack reply */
@ -1305,7 +1289,6 @@ void PlocSupervisorHandler::disableAllReplies() {
}
void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
@ -1316,7 +1299,8 @@ void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnV
DeviceCommandInfo* info = &(iter->second.command->second);
if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command" << std::endl;
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command"
<< std::endl;
return;
}
@ -1367,7 +1351,6 @@ ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t *packet, siz
}
ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id) {
ReturnValue_t result = RETURN_FAILED;
// Prepare packet for downlink
@ -1380,8 +1363,7 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id)
}
handleMramDumpFile(id);
if (downlinkMramDump == true) {
handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1,
id);
handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1, id);
}
packetInBuffer = false;
receivedMramDumpPackets++;
@ -1426,16 +1408,15 @@ void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) {
return;
}
uint8_t sequenceFlags = spacePacketBuffer[2] >> 6;
if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT)
&& (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT) &&
(sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
// Command expects at least one MRAM packet more and the execution report
info->expectedReplies = 2;
// Wait maximum of 2 cycles for next MRAM packet
mramReplyInfo->delayCycles = 2;
// Also adapting delay cycles for execution report
exeReplyInfo->delayCycles = 3;
}
else {
} else {
// Command expects the execution report
info->expectedReplies = 1;
mramReplyInfo->delayCycles = 0;
@ -1456,8 +1437,8 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer);
if (id == PLOC_SPV::FIRST_MRAM_DUMP) {
if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT)
|| (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT) ||
(sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
result = createMramDumpFile();
if (result != RETURN_OK) {
return result;
@ -1523,8 +1504,8 @@ ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp)
<< std::endl;
return GET_TIME_FAILURE;
}
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-"
+ std::to_string(time.day) + "--" + std::to_string(time.hour) + "-"
+ std::to_string(time.minute) + "-" + std::to_string(time.second);
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-" +
std::to_string(time.day) + "--" + std::to_string(time.hour) + "-" +
std::to_string(time.minute) + "-" + std::to_string(time.second);
return RETURN_OK;
}

40
bsp_q7s/devices/PlocSupervisorHandler.h
View File

@ -1,12 +1,13 @@
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#include "devicedefinitions/PlocSupervisorDefinitions.h"
#include "OBSWConfig.h"
#include <bsp_q7s/memory/SdCardManager.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/uart/UartComIF.h>
#include "devicedefinitions/PlocSupervisorDefinitions.h"
/**
* @brief This is the device handler for the supervisor of the PLOC which is programmed by
* Thales.
@ -21,7 +22,6 @@
*/
class PlocSupervisorHandler : public DeviceHandlerBase {
public:
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie);
virtual ~PlocSupervisorHandler();
@ -33,12 +33,11 @@ protected:
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData,size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -49,7 +48,6 @@ protected:
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
@ -64,25 +62,32 @@ private:
static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Invalid communication interface specified
static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
//! for PS, 1 for PL and 2 for INT
static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
//! timeouts must be in the range between 1000 and 360000 ms.
static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be larger than 21.
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
//! larger than 21.
static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1 and 2.
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
//! and 2.
static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB);
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe commands are invalid (e.g. start address bigger than stop address)
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe
//! commands are invalid (e.g. start address bigger than stop address)
static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with other apid.
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
//! other apid.
static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
//! been created with the reception of the first dump packet.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
@ -258,7 +263,6 @@ private:
void prepareSetGpioCmd(const uint8_t* commandData);
void prepareReadGpioCmd(const uint8_t* commandData);
/**
* @brief Copies the content of a space packet to the command buffer.
*/

125
bsp_q7s/devices/PlocUpdater.cpp
View File

@ -1,17 +1,19 @@
#include "fsfw/ipc/QueueFactory.h"
#include "PlocUpdater.h"
#include <fstream>
#include <filesystem>
#include <fstream>
#include <string>
PlocUpdater::PlocUpdater(object_id_t objectId) :
SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
#include "fsfw/ipc/QueueFactory.h"
PlocUpdater::PlocUpdater(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
auto mqArgs = MqArgs(this->getObjectId());
commandQueue = QueueFactory::instance()->createMessageQueue(
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PlocUpdater::~PlocUpdater() {
}
PlocUpdater::~PlocUpdater() {}
ReturnValue_t PlocUpdater::initialize() {
#if BOARD_TE0720 == 0
@ -39,8 +41,8 @@ ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_FAILED;
if (state != State::IDLE) {
@ -99,13 +101,9 @@ ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
return EXECUTION_FINISHED;
}
MessageQueueId_t PlocUpdater::getCommandQueue() const {
return commandQueue->getId();
}
MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueIF* PlocUpdater::getCommandQueuePtr() {
return commandQueue;
}
MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
void PlocUpdater::readCommandQueue() {
CommandMessage message;
@ -167,19 +165,19 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
#if BOARD_TE0720 == 0
// Check if file is stored on SD card and if associated SD card is mounted
if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 0 not mounted" << std::endl;
if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 1 not mounted" << std::endl;
} else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
else {
} else {
// update image not stored on SD card
}
#endif /* BOARD_TE0720 == 0 */
@ -193,48 +191,11 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
return RETURN_OK;
}
#if BOARD_TE0720 == 0
bool PlocUpdater::isSdCardMounted(sd::SdCard sdCard) {
SdCardManager::SdStatePair active;
ReturnValue_t result = sdcMan->getSdCardActiveStatus(active);
if (result != RETURN_OK) {
sif::debug << "PlocUpdater::isSdCardMounted: Failed to get SD card active state";
return false;
}
if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) {
return true;
}
else {
return false;
}
}
else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) {
return true;
}
else {
return false;
}
}
else {
sif::debug << "PlocUpdater::isSdCardMounted: Unknown SD card specified" << std::endl;
}
return false;
}
#endif /* #if BOARD_TE0720 == 0 */
void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId,
uint8_t step) {
}
void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {
}
void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
}
void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) {
@ -245,8 +206,7 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
if (remainingPackets == 0) {
packetsSent = 0; // Reset packets sent variable for next update sequence
state = State::UPDATE_VERIFY;
}
else {
} else {
state = State::UPDATE_TRANSFER;
}
break;
@ -263,8 +223,7 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
}
}
void PlocUpdater::completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) {
void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
switch (pendingCommand) {
case (PLOC_SPV::UPDATE_AVAILABLE): {
triggerEvent(UPDATE_AVAILABLE_FAILED);
@ -279,8 +238,7 @@ void PlocUpdater::completionFailedReceived(ActionId_t actionId,
break;
}
default:
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command "
<< std::endl;
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
break;
}
state = State::IDLE;
@ -311,10 +269,12 @@ void PlocUpdater::commandUpdateAvailable() {
calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(), packet.getFullSize());
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
@ -344,8 +304,7 @@ void PlocUpdater::commandUpdatePacket() {
if (remainingPackets == 1) {
payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
}
else {
} else {
payloadLength = MAX_SP_DATA;
}
@ -360,7 +319,8 @@ void PlocUpdater::commandUpdatePacket() {
packet.makeCrc();
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(), packet.getFullSize());
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
@ -382,10 +342,12 @@ void PlocUpdater::commandUpdateVerify() {
ReturnValue_t result = RETURN_OK;
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_VERIFY, packet.getWholeData(), packet.getFullSize());
result =
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
packet.getWholeData(), packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
@ -425,12 +387,9 @@ void PlocUpdater::calcImageCrc() {
void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
if (packetsSent == 0) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
}
else if (remainingPackets == 1) {
} else if (remainingPackets == 1) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
}
else {
} else {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
}
}

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